JP7395065B2 - elevator system - Google Patents

Description

TECHNICAL FIELD This disclosure relates to elevator systems.

In conventional elevator control devices, the amount of sway of the rope is estimated based on the sway of the building detected by the building sway detector and the position of the car. If the estimated rope swing amount is equal to or greater than the set value, a damping floor is set and the car is moved to the damping floor. The damping floor is a floor that can attenuate the swinging of the rope (see, for example, Patent Document 1).

Patent No. 5489303

In the conventional elevator control device as described above, the amount of sway of the rope is estimated based on the sway of the building and the position of the car. However, the sway of the rope caused by the sway of the building changes depending on the rope's natural frequency. Furthermore, the natural frequency of the rope varies depending on the car position. Therefore, estimating the amount of rope sway from the amount of building sway requires extremely complex calculations.

The present disclosure has been made to solve the above-mentioned problems, and aims to provide an elevator system that can easily estimate the amount of shaking of an estimated object.

An elevator system according to the present disclosure includes an elevator system main body having an elevator device installed in a building, and the elevator device includes a car, a counterweight, and at least one of the car and the counterweight. An acceleration detector that detects vertical acceleration, which is the acceleration in the vertical direction that occurs in the body, and horizontal acceleration, which is the acceleration in the horizontal direction that occurs in the elevating object, and is connected to the elevating object and has flexibility. The device has an estimated object that is a long object and a control device, and the control device has a sway estimating section, and the sway estimating section estimates the estimated object based on vertical acceleration and horizontal acceleration. In addition to estimating the amount of shaking, it is determined whether abnormal shaking is occurring in the estimated object.

According to the elevator system of the present disclosure, it is possible to easily estimate the amount of shaking of the estimated object.

1 is a schematic configuration diagram showing an elevator system according to Embodiment 1. FIG. FIG. 2 is a block diagram showing a control system of the elevator system in FIG. 1. FIG. FIG. 2 is an explanatory diagram schematically showing shaking occurring in a plurality of main ropes in FIG. 1. FIG. 3 is a flowchart showing the operation of the control device in FIG. 2. FIG. FIG. 2 is a schematic configuration diagram showing an elevator system according to a second embodiment. 6 is a block diagram showing a control system of the elevator system of FIG. 5. FIG. 7 is a flowchart showing the operation of the control device of FIG. 6. 3 is a schematic configuration diagram showing an example of an elevator system according to Embodiment 3. FIG. 9 is a block diagram showing a control system of the elevator system of FIG. 8. FIG. FIG. 3 is a configuration diagram showing a first example of a processing circuit that implements each function of the control device of Embodiments 1 to 3; FIG. 3 is a configuration diagram showing a second example of a processing circuit that implements each function of the control device according to Embodiments 1 to 3;

Hereinafter, embodiments will be described with reference to the drawings.
Embodiment 1.
FIG. 1 is a schematic configuration diagram showing an elevator system according to a first embodiment. In FIG. 1, a building 50 is provided with a hoistway 51 and a machine room 52. The machine room 52 is provided above the hoistway 51.

The elevator system of the first embodiment includes an elevator system main body 30. The elevator system main body 30 is provided in a building 50. The elevator system main body 30 of the first embodiment has one elevator device 31. That is, the elevator system main body 30 of the first embodiment is composed of only one elevator device 31.

The elevator device 31 includes a hoist 11, a diversion wheel 13, a plurality of main ropes 14, a car 15, a counterweight 16, a plurality of compensation ropes 17, a balance wheel 18, a car acceleration detector 19, and a control device. It has 20.

The hoist 11 is provided in a machine room 52. The hoist 11 also includes a drive sheave 12, a hoist motor (not shown), and a hoist brake (not shown). The hoist motor rotates the drive sheave 12. The hoist brake keeps the drive sheave 12 stationary. Further, the hoist brake brakes the rotation of the drive sheave 12.

A plurality of main ropes 14 are wound around the drive sheave 12 and the deflection wheel 13. In FIG. 1 only one main rope 14 is shown. The cage 15 is connected to the first ends of the plurality of main ropes 14. The counterweight 16 is connected to the second ends of the plurality of main ropes 14.

The car 15 and the counterweight 16 are suspended within the hoistway 51 by a plurality of main ropes 14. Further, the car 15 and the counterweight 16 are moved up and down within the hoistway 51 by rotating the drive sheave 12.

Inside the hoistway 51, a pair of car guide rails (not shown) and a pair of counterweight guide rails (not shown) are installed. A pair of car guide rails guide the elevator car 15 up and down. A pair of counterweight guide rails guide the lifting and lowering of the counterweight 16.

A plurality of compensating ropes 17 are suspended between the lower part of the car 15 and the lower part of the counterweight 16. In FIG. 1, only one compen rope 17 is shown. The plurality of compensating ropes 17 compensate for the weight imbalance of the plurality of main ropes 14 on one side and the other side of the drive sheave 12.

The balancing wheel 18 is provided at the bottom of the hoistway 51. A plurality of compensation ropes 17 are wound around the balance wheel 18. The balancing wheel 18 applies tension to the plurality of compensating ropes 17.

A car acceleration detector 19 is provided in the car 15. The elevator according to the first embodiment is a car 15. The car acceleration detector 19 detects the vertical acceleration ACv0 and horizontal acceleration ACh0 of the car 15. Vertical acceleration ACv0 is acceleration that occurs in the car 15 in the vertical direction. The horizontal acceleration ACh0 is the acceleration that occurs in the car 15 in the horizontal direction.

The plurality of main ropes 14 and the plurality of compensating ropes 17 are each connected to the car 15. Further, each of the plurality of main ropes 14 and the plurality of compensating ropes 17 is a long object having flexibility. The objects to be estimated in the first embodiment are a plurality of main ropes 14 and a plurality of compen ropes 17.

A signal from car acceleration detector 19 is sent to control device 20 . The control device 20 is provided in the machine room 52.

FIG. 2 is a block diagram showing a control system of the elevator system of FIG. 1. The control device 20 includes an operation control section 21 and a sway estimation section 22 as functional blocks.

The operation control unit 21 controls the operation of the car 15 by controlling the hoist 11 . Further, the operation control unit 21 controls the operation of the car 15 using a plurality of operation modes. The plurality of operation modes include a normal operation mode and a controlled operation mode.

The normal operation mode is a mode in which the car 15 is operated normally. The normal operation is an operation method in which the car 15 is automatically moved to the destination floor in response to calls from within the car 15 and calls from a plurality of landings.

The controlled operation mode is an operation mode in which the car 15 is operated under controlled conditions. Controlled operation is an operation method in which the car 15 is moved to a position where the shaking of the estimated object is suppressed.

The car acceleration detector 19 separately detects the vertical acceleration ACv0 and the horizontal acceleration ACh0, and outputs signals corresponding to each to the sway estimation unit 22.

The sway estimating unit 22 estimates the amount of sway of the object to be estimated based on the vertical acceleration ACv0 and horizontal acceleration ACh0 detected by the car acceleration detector 19, and determines whether abnormal sway is occurring in the object to be estimated. Determine.

FIG. 3 is an explanatory diagram schematically showing the shaking that occurs in the plurality of main ropes 14 in FIG. 1. Long-period vibrations occur in the building 50 due to an earthquake occurring in a remote location or strong winds. At this time, the building 50 shakes at its own natural frequency. Therefore, the vibration frequency of the building 50 in long-period vibration is low. Furthermore, long-period vibrations often continue for a long time.

When the plurality of main ropes 14 resonate with the long-period vibration of the building 50, even if the shaking of the building 50 is small, the shaking of the plurality of main ropes 14 gradually becomes larger. When the swings of the plurality of main ropes 14 increase, vertical vibrations occur in the car 15 depending on the amount of swing. That is, when the swings of the plurality of main ropes 14 become large, vibrations in the vertical direction occur in the car 15 according to the amount of amplitude of the plurality of main ropes 14 in the horizontal direction.

Further, when the building 50 vibrates in the horizontal direction, horizontal vibrations also occur in the equipment in the hoistway 51. Therefore, when long-period vibration occurs in the building 50, vertical vibration and horizontal vibration occur in the car 15 at the same time.

On the other hand, vertical vibrations of the car 15 also occur when passengers board the car 15. For this reason, it is not possible to determine whether or not shaking is occurring in the estimated object simply based on the vertical vibration.

Therefore, the sway estimation unit 22 estimates the amount of sway of the object to be estimated due to the sway of the building 50 based on the vertical vibration and horizontal vibration generated in the car 15, and also estimates the amount of sway of the object to be estimated due to the sway of the building 50, for example, due to long-period vibration. Determine whether there is abnormal shaking of the estimated object.

Here, a first frequency band and a second frequency band are set in the vibration estimating unit 22. The first frequency band and the second frequency band are each set based on the primary natural period of the building 50.

Specifically, the first frequency band is a frequency band that includes the natural frequency of the building 50. Further, the second frequency band is a frequency band that includes 1/2 of the natural frequency of the building 50.

When long-period vibration occurs in the building 50, the building 50 vibrates at the natural frequency of the building 50, so the car 15 in the hoistway 51 also horizontally vibrates at the natural frequency of the building 50. For this reason, the sway estimating unit 22 performs filter processing to extract a component of the first frequency band from the horizontal acceleration ACh0 detected by the car acceleration detector 19, for example, bandpass filter processing, to calculate the horizontal acceleration ACh1.

Further, the vertical acceleration ACv0 detected by the car acceleration detector 19 includes gravitational acceleration. Therefore, the sway estimation unit 22 removes the gravitational acceleration from the vertical acceleration ACv0. To remove the gravitational acceleration, the magnitude of the gravitational acceleration may be directly subtracted, or the average value of the gravitational acceleration over a certain period of time while the car 15 is stopped may be subtracted.

Furthermore, since the sway of the estimated object occurs in resonance with the long-period vibration of the building 50, the estimated object also sways at the natural frequency of the building 50. The vertical vibration of the car 15 occurs in accordance with the amplitude of the estimated object in the horizontal direction. Therefore, the frequency of the vertical vibration of the car 15 occurs at a frequency corresponding to the vibration frequency of the estimated object, that is, the natural frequency of the building 50.

The frequency of the vertical vibration of the car 15 caused by the shaking of the estimated object is 1/2 of the natural frequency of the building 50. For this reason, the sway estimating unit 22 performs filter processing, for example, band-pass filter processing, to extract a component of the second frequency band from the vertical acceleration ACv0 after removing the gravitational acceleration, and calculates the vertical acceleration ACv1.

Then, the sway estimation unit 22 estimates the amount of sway of the estimation target based on the vertical acceleration ACv1 after filter processing and the horizontal acceleration ACh1 after filter processing, and also determines whether abnormal sway has occurred in the estimation target. Determine whether there is.

The sway estimation unit 22 is set with a first vertical threshold LCv1, a first horizontal threshold LCh1, a second vertical threshold LCv2, and a second horizontal threshold LCh2.

The first vertical threshold LCv1 and the second vertical threshold LCv2 are criteria for determining the vertical acceleration ACv1 of the car 15, respectively. Further, the second vertical threshold LCv2 is larger than the first vertical threshold LCv1. That is, LCv2>LCv1.

The first horizontal threshold LCh1 and the second horizontal threshold LCh2 are criteria for determining the horizontal acceleration ACh1 of the car 15, respectively. Further, the second horizontal threshold LCh2 is smaller than the first horizontal threshold LCh1. That is, LCh2<LCh1.

The sway estimating unit 22 determines that an abnormal sway is occurring in the estimation target when the vertical acceleration ACv1 is greater than or equal to the first vertical threshold LCv1 and the horizontal acceleration ACh1 is greater than or equal to the first horizontal threshold LCh1. .

At this time, the sway estimating unit 22 detects the estimation target when the state in which the vertical acceleration ACv1 is equal to or higher than the first vertical threshold LCv1 and the horizontal acceleration ACh1 is equal to or higher than the first horizontal threshold LCh1 continues for a set time or longer. It may be determined that the object is shaking abnormally.

The first vertical threshold LCv1 is set to a size that prevents the estimated object from colliding with equipment in the hoistway 51 due to shaking of the estimated object.

The first horizontal threshold LCh1 is set to a magnitude that allows it to be estimated that the shaking of the estimated object is caused by the shaking of the building 50.

When the sway estimation unit 22 determines that abnormal sway is occurring in the estimated object, the driving control unit 21 sets the driving mode to the controlled driving mode.

If the vertical acceleration ACv1 is equal to or greater than the second vertical threshold LCv2, the sway estimating unit 22 determines that excessive sway is occurring in the estimation target.

When the sway estimation unit 22 determines that excessive sway is occurring in the estimated object, the operation control unit 21 stops the car 15 at the nearest floor without changing the operation mode to the controlled operation mode, and stops the car 15 at the nearest floor. Stop driving.

When the driving mode is the controlled driving mode, when the sway estimating unit 22 determines that the horizontal acceleration ACh1 has become less than the second horizontal threshold LCh2, the driving control unit 21 returns the driving mode to the normal driving mode. The second horizontal threshold LCh2 is a threshold for detecting that the shaking of the building 50 has subsided.

At this time, the shaking estimating unit 22 determines that the horizontal acceleration ACh1 has become less than the second horizontal threshold LCh2 if the state in which the horizontal acceleration ACh1 is less than the second horizontal threshold LCh2 continues for more than the set time. good.

FIG. 4 is a flowchart showing the operation of the control device 20 of FIG. The control device 20 repeatedly executes the process shown in FIG. 4 during normal operation of the car 15.

In step S101, the control device 20 determines whether the vertical acceleration ACv1 is greater than or equal to the first vertical threshold LCv1. If the vertical acceleration ACv1 is less than the first vertical threshold LCv1, the control device 20 maintains the normal operation mode in step S107 and ends the process.

If the vertical acceleration ACv1 is greater than or equal to the first vertical threshold LCv1, the control device 20 determines in step S102 whether the horizontal acceleration ACh1 is greater than or equal to the first horizontal threshold LCh1. If the horizontal acceleration ACh1 is less than the first horizontal threshold LCh1, the control device 20 maintains the normal operation mode in step S107, and ends the process.

If the horizontal acceleration ACh1 is greater than or equal to the first horizontal threshold LCh1, the control device 20 moves the car 15 to the nearest floor and stops it in step S103. Then, the passengers in the car 15 are moved to the landing, and the car 15 is emptied.

After that, in step S104, the control device 20 determines whether the vertical acceleration ACv1 is less than the second vertical threshold LCv2. If the vertical acceleration ACv1 is less than the second vertical threshold LCv2, the control device 20 performs controlled operation in step S105.

In the controlled operation, for example, the control device 20 moves the car 15 to a non-resonant floor and stops the car 15 with the door closed. The non-resonant floor is a floor where the estimated object does not resonate with the shaking of the building 50.

After that, in step S106, the control device 20 determines whether the horizontal acceleration ACh1 has become less than the second horizontal threshold LCh2. If the horizontal acceleration ACh1 is not less than the second horizontal threshold LCh2, the control device 20 returns to the process of step S104.

When the horizontal acceleration ACh1 becomes less than the second horizontal threshold LCh2, the control device 20 returns the driving mode to the normal driving mode in step S107, and ends the process.

In step S104, if the vertical acceleration ACv1 is not less than the second vertical threshold LCv2, that is, if the vertical acceleration ACv1 is greater than or equal to the second vertical threshold LCv2, the control device 20 controls the operation of the car 15 in step S108. Pause.

After that, in step S109, the control device 20 determines whether the maintenance staff has completed the restoration work. The control device 20 continues to suspend operation of the car 15 until the restoration work is completed. When the restoration work is completed, the control device 20 returns the operation mode to the normal operation mode in step S107, and ends the process.

In such an elevator system, the sway estimation unit 22 estimates the amount of sway of the estimated object based on the vertical acceleration ACv1 and the horizontal acceleration ACh1, and determines whether abnormal sway has occurred in the estimated object. do. Therefore, without using the position of the car 15 as a variable, the amount of shaking of the estimated object can be easily estimated by simple calculation.

Further, the shaking of the estimated object can be easily estimated from the vertical acceleration ACv1 of the car 15. Furthermore, by checking whether the building 50 is shaking based on the horizontal acceleration ACh1 of the car 15, it is possible to accurately detect the occurrence of shaking of the estimated object. Thereby, it is possible to suppress the deterioration of service due to unnecessary controlled operation.

Further, the sway estimating unit 22 performs filter processing to extract a component in the first frequency band from the horizontal acceleration ACh0 detected by the car acceleration detector 19. Further, the sway estimating unit 22 performs filter processing to extract a component in the second frequency band from the vertical acceleration ACv0 detected by the car acceleration detector 19. Then, the sway estimation unit 22 estimates the amount of sway of the estimation target based on the filtered vertical acceleration ACv1 and the filtered horizontal acceleration ACh1.

Therefore, the influence of vibrations caused by factors other than the shaking of the building 50, such as passengers boarding the car 15, can be removed, and the amount of shaking of the estimated object due to the shaking of the building 50 can be estimated with higher accuracy. I can do it.

In addition, when the vertical acceleration ACv1 is equal to or greater than the first vertical threshold LCv1 and the horizontal acceleration ACh1 is equal to or greater than the first horizontal threshold LCh1, the sway estimating unit 22 determines that abnormal sway is occurring in the estimation target object. judge.

Therefore, it is possible to accurately determine whether or not there is abnormal shaking of the estimated object due to the shaking of the building 50. Thereby, it is possible to suppress the deterioration of service due to unnecessary controlled operation.

Further, when the sway estimating unit 22 determines that abnormal sway is occurring in the estimated object, the driving control unit 21 sets the driving mode to the controlled driving mode. Therefore, the shaking of the estimated object can be efficiently attenuated.

Furthermore, when the vertical acceleration ACv1 is equal to or greater than the second vertical threshold LCv2, the shaking estimation unit 22 determines that excessive shaking has occurred in the estimation target object. When the sway estimation unit 22 determines that excessive sway is occurring in the estimated object, the operation control unit 21 stops the car 15 at the nearest floor without changing the operation mode to the controlled operation mode, and stops the car 15 at the nearest floor. 15 operations will be suspended.

Thereby, it is possible to suppress the occurrence of secondary damage caused by performing controlled operation while the estimated object is subject to excessive shaking.

Further, when the driving mode is the controlled driving mode, when the sway estimating unit 22 determines that the horizontal acceleration ACh1 has become less than the second horizontal threshold LCh2, the driving control unit 21 returns the driving mode to the normal driving mode. . Thereby, after the shaking of the building 50 subsides, the operation mode can be smoothly shifted to the normal operation mode.

In addition, in the above example, when the vertical acceleration ACv1 is equal to or greater than the second vertical direction threshold value LCv2, it is determined that excessive shaking has occurred in the estimation target object. However, if the horizontal acceleration ACh1 is greater than or equal to the third horizontal threshold LCh3, it may be determined that the estimated object is shaking excessively. In this case, a third horizontal threshold ACh3 that is larger than the first horizontal threshold LCh1 is set in the shaking estimator 22.

Furthermore, in the above example, it is determined that the shaking of the building 50 has subsided when the horizontal acceleration ACh1 becomes less than the second horizontal threshold LCh2. However, it may be determined that the shaking of the building 50 has subsided when the vertical acceleration ACv1 becomes less than the third vertical threshold LCv3. In this case, a third vertical threshold LCv3 that is smaller than the first vertical threshold LCv1 is set in the sway estimation unit 22.

Embodiment 2.
Next, FIG. 5 is a schematic configuration diagram showing an elevator system according to the second embodiment. The elevator device 31 of the second embodiment has the same configuration as the elevator device 31 of the first embodiment, and also includes a weight acceleration detector 23.

The weight acceleration detector 23 is provided on the counterweight 16. In the second embodiment, both the car 15 and the counterweight 16 are elevating bodies. Weight acceleration detector 23 detects vertical acceleration AMv0 and horizontal acceleration AMh0 of counterweight 16. The vertical acceleration AMv0 is the acceleration generated in the counterweight 16 in the vertical direction. The horizontal acceleration AMh0 is an acceleration in the horizontal direction that occurs in the counterweight 16.

A signal from the weight acceleration detector 23 is sent to the control device 20.

FIG. 6 is a block diagram showing a control system of the elevator system of FIG. 5. The weight acceleration detector 23 separately detects the vertical acceleration AMv0 and the horizontal acceleration AMh0, and outputs signals corresponding to each to the sway estimation unit 22.

The sway estimation unit 22 estimates the amount of sway of the estimation target based on the vertical acceleration ACv0, the horizontal acceleration ACh0, and the vertical acceleration AMv0 and the horizontal acceleration AMh0, and determines whether abnormal sway is occurring in the estimation target. Determine.

The sway estimating unit 22 performs filter processing, for example, band-pass filter processing, to extract a component in the first frequency band from the horizontal acceleration AMh0 detected by the weight acceleration detector 23, and calculates the horizontal acceleration AMh1.

Further, the sway estimation unit 22 removes the gravitational acceleration from the vertical acceleration AMv0 detected by the weight acceleration detector 23.

Further, the sway estimating unit 22 performs filter processing, for example, band-pass filter processing, to extract a component in the second frequency band from the vertical acceleration AMv0 after removing the gravitational acceleration, and calculates the vertical acceleration AMv1.

Then, the sway estimation unit 22 estimates the estimated target based on the filtered vertical acceleration ACv1, the filtered horizontal acceleration ACh1, the filtered vertical acceleration AMv1, and the filtered horizontal acceleration AMh1. Estimate the amount of shaking.

A first car vertical direction threshold LCv1, a first car horizontal direction threshold LCh1, a second car vertical direction threshold LCv2, and a second car horizontal direction threshold LCh2 are set in the sway estimation unit 22.

The first car vertical threshold LCv1 is the same as the first vertical threshold LCv1 of the first embodiment. The first car horizontal threshold LCh1 is the same as the first horizontal threshold LCh1 of the first embodiment. The second car vertical threshold LCv2 is the same as the second vertical threshold LCv2 of the first embodiment. The second car horizontal threshold LCh2 is the same as the second horizontal threshold LCh2 of the first embodiment.

In addition, the sway estimation unit 22 is set with a first weight vertical threshold LMv1, a first weight horizontal threshold LMh1, a second weight vertical threshold LMv2, and a second weight horizontal threshold LMh2.

The first weight vertical direction threshold LMv1 and the second weight vertical direction threshold LMv2 are criteria for determining the vertical acceleration AMv1 of the counterweight 16, respectively. Further, the second weight vertical direction threshold LMv2 is larger than the first weight vertical direction threshold LMv1. That is, LMv2>LMv1.

The first weight horizontal direction threshold LMh1 and the second weight horizontal direction threshold LMh2 are criteria for determining the horizontal acceleration AMh1 of the counterweight 16, respectively. Further, the second weight horizontal direction threshold LMh2 is smaller than the first weight horizontal direction threshold LMh1. That is, LMh2<LMh1.

Here, at least one of the conditions that the vertical acceleration ACv1 of the car 15 is equal to or greater than the first car vertical direction threshold LCv1 or the condition that the vertical acceleration AMv1 of the counterweight 16 is equal to or greater than the first weight vertical direction threshold LMv1 is satisfied. A state in which the condition is satisfied is defined as a state in which the first condition is satisfied.

Further, a state in which the horizontal acceleration ACh1 of the car 15 is equal to or greater than the first car horizontal direction threshold LCh1 and the horizontal acceleration AMh1 of the counterweight 16 is equal to or greater than the first weight horizontal direction threshold LMh1 is defined as a second condition satisfaction state.

The sway estimating unit 22 determines that abnormal sway is occurring in the estimation target when the first condition is satisfied and the second condition is satisfied.

At this time, the sway estimating unit 22 may determine that abnormal sway is occurring in the estimation target if the first condition satisfaction state and the second condition satisfaction state continue for a set time or longer.

The first weight vertical threshold LMv1 is set to a size that prevents the estimated object from colliding with equipment in the hoistway 51 due to shaking of the estimated object.

The first weight horizontal direction threshold LMh1 is set to a magnitude that allows it to be estimated that the shaking of the estimated object is caused by the shaking of the building 50.

When the sway estimation unit 22 determines that abnormal sway is occurring in the estimated object, the driving control unit 21 sets the driving mode to the controlled driving mode.

If the vertical acceleration ACv1 of the car 15 is greater than or equal to the second car vertical direction threshold LCv2, or if the vertical acceleration AMv1 of the counterweight 16 is greater than or equal to the second weight vertical direction threshold LMv2, the sway estimation unit 22 determines whether the estimation target object It is determined that excessive shaking is occurring.

When the sway estimation unit 22 determines that excessive sway is occurring in the estimated object, the operation control unit 21 stops the car 15 at the nearest floor without changing the operation mode to the controlled operation mode, and stops the car 15 at the nearest floor. Stop driving.

Further, a state in which the horizontal acceleration ACh1 of the car 15 is less than the second car horizontal direction threshold LCh2 and the horizontal acceleration AMh1 of the counterweight 16 is less than the second weight horizontal direction threshold LMh2 is defined as a third condition satisfaction state. .

When the driving mode is the controlled driving mode, when the sway estimating unit 22 determines that the third condition is satisfied, the driving control unit 21 returns the driving mode to the normal driving mode. The second car horizontal direction threshold LCh2 and the second weight horizontal direction threshold LMh2 are thresholds for detecting that the shaking of the building 50 has subsided.

At this time, the sway estimating unit 22 may determine that the third condition is satisfied if the third condition is satisfied for a set time or longer.

FIG. 7 is a flowchart showing the operation of the control device 20 of FIG. 6. The control device 20 repeatedly executes the process shown in FIG. 7 during normal operation of the car 15.

In step S201, the control device 20 determines whether the above first condition is satisfied. If the first condition is not satisfied, the control device 20 maintains the normal operation mode in step S207, and ends the process.

If the first condition is satisfied, the control device 20 determines in step S202 whether the second condition is satisfied. If the second condition is not satisfied, the control device 20 maintains the normal operation mode in step S207, and ends the process.

If the second condition is satisfied, the control device 20 moves the car 15 to the nearest floor and stops it in step S203. Then, the passengers in the car 15 are moved to the landing, and the car 15 is emptied.

Thereafter, in step S204, the control device 20 determines that the vertical acceleration ACv1 of the car 15 is less than the second car vertical direction threshold LCv2, and the vertical acceleration AMv1 of the counterweight 16 is less than the second weight vertical direction threshold LMv2. Determine whether there is. If the vertical acceleration ACv1 of the car 15 is less than the second car vertical threshold LCv2, and the vertical acceleration AMv1 of the counterweight 16 is less than the second weight vertical threshold LMv2, the control device 20, in step S205, Carry out controlled operation.

In the controlled operation, for example, the control device 20 moves the car 15 to a non-resonant floor and stops the car 15 with the door closed.

Thereafter, in step S206, the control device 20 causes the horizontal acceleration ACh1 of the car 15 to become less than the second car horizontal direction threshold LCh2, and the horizontal acceleration AMh1 of the counterweight 16 to become less than the second weight horizontal direction threshold LMh2. Determine whether it has happened. If the conditions that the horizontal acceleration ACh1 of the car 15 becomes less than the second car horizontal direction threshold LCh2 and the horizontal acceleration AMh1 of the counterweight 16 become less than the second weight horizontal direction threshold LMh2 are not met, the control device 20 returns to the process of step S204.

When the horizontal acceleration ACh1 of the car 15 becomes less than the second car horizontal direction threshold LCh2 and the horizontal acceleration AMh1 of the counterweight 16 becomes less than the second weight horizontal direction threshold LMh2, the control device 20 stops the operation in step S207. Return the mode to normal operation mode and end the process.

If the vertical acceleration ACv1 of the car 15 is equal to or greater than the second car vertical threshold LCv2 in step S204, the control device 20 stops the operation of the car 15 in step S208. Further, if the vertical acceleration AMv1 of the counterweight 16 is equal to or greater than the second weight vertical direction threshold LMv2 in step S204, the control device 20 also stops the operation of the car 15 in step S208.

After this, in step S209, the control device 20 determines whether the maintenance staff has completed the restoration work. The control device 20 continues to suspend operation of the car 15 until the restoration work is completed. When the restoration work is completed, the control device 20 returns the operation mode to the normal operation mode in step S207, and ends the process.

Except for the configuration shown in FIGS. 5 and 6 and the operation shown in FIG. 7, the configuration and operation of the elevator system are the same as in the first embodiment.

Even with such an elevator system, the same effects as in the first embodiment can be obtained. Furthermore, in addition to the vertical acceleration ACv1 and horizontal acceleration ACh1 of the car 15, the vertical acceleration AMv1 and horizontal acceleration AMh1 of the counterweight 16 are used, so that the accuracy of estimating the amount of shaking of the estimated object can be improved.

Furthermore, when the first condition is satisfied and the second condition is satisfied, the sway estimation unit 22 determines that abnormal sway is occurring in the estimation target object. Therefore, the accuracy of determining abnormal shaking of the estimated object can be improved. Thereby, it is possible to suppress the deterioration of service due to unnecessary controlled operation.

Embodiment 3.
Next, an elevator system according to a third embodiment will be described. The elevator system main body of Embodiment 3 has two or more elevator devices. The sway estimation unit in each elevator device also refers to signals from acceleration detectors in other elevator devices when estimating the amount of sway of the corresponding estimation target.

The lifting bodies in each elevator system are both a car and a counterweight.

The sway estimation unit in each elevator device determines that abnormal sway is occurring in the estimation target when the first condition is satisfied and the second condition is satisfied. At this time, the sway estimating unit 22 may determine that abnormal sway is occurring in the estimation target if the first condition satisfaction state and the second condition satisfaction state continue for a set time or longer.

The state in which the first condition is satisfied is at least one of the conditions that the vertical acceleration of the corresponding car is equal to or greater than the first car vertical direction threshold, or the condition that the vertical acceleration of the corresponding counterweight is equal to or greater than the first weight vertical direction threshold. One side is satisfied.

The second condition satisfaction state is such that the horizontal acceleration of two or more of the elevating objects in all elevator devices is greater than or equal to the corresponding threshold of the first car horizontal direction threshold and the first weight horizontal direction threshold. state.

FIG. 8 is a schematic configuration diagram showing an example of an elevator system according to the third embodiment. FIG. 9 is a block diagram showing a control system of the elevator system of FIG. 8.

In FIG. 8, two elevator devices 31 and 31a are provided in a building 50. That is, the elevator system main body 30 in FIG. 8 has two elevator devices 31 and 31a. The configuration of each elevator device 31, 31a is similar to the elevator device 31 of the second embodiment.

In FIGS. 8 and 9, components related to the elevator device 31 are given the same reference numerals as in the second embodiment. In FIGS. 8 and 9, the components related to the elevator device 31a are given the same reference numerals as in the second embodiment with an "a" added.

The sway estimation unit 22 also refers to signals from the car acceleration detector 19a and the weight acceleration detector 23a when estimating the amount of sway of the estimated object included in the elevator device 31. The sway estimation unit 22a also refers to signals from the car acceleration detector 19 and the weight acceleration detector 23 when estimating the amount of sway of the estimated object included in the elevator device 31a.

The first condition satisfaction state in the sway estimation unit 22 of the elevator device 31 is as follows. In other words, the first condition satisfaction state includes a condition in which the vertical acceleration ACv1 of the car 15 is equal to or greater than the first car vertical direction threshold value LCv1, and a condition in which the vertical acceleration AMv1 of the counterweight 16 is equal to or greater than the first weight vertical direction threshold value LMv1. At least one of these conditions is satisfied.

The first condition satisfaction state in the sway estimation unit 22a of the elevator device 31a is as follows. In other words, the first condition satisfaction state includes a condition in which the vertical acceleration ACv1 of the car 15a is equal to or greater than the first car vertical direction threshold value LCv1, and a condition in which the vertical acceleration AMv1 of the counterweight 16a is equal to or greater than the first weight vertical direction threshold value LMv1. At least one of these conditions is satisfied.

The second condition satisfaction state in each of the sway estimation unit 22 and the sway estimation unit 22a is as follows. That is, the second condition satisfaction state is such that the horizontal acceleration ACh1 or AMh1 of two or more of the car 15, the counterweight 16, the car 15a, and the counterweight 16a is equal to or greater than the corresponding horizontal direction threshold LCh1 or LMh1. state.

When the first condition is satisfied and the second condition is satisfied, the sway estimating unit 22 determines that abnormal sway is occurring in the estimated object included in the elevator device 31. When the first condition is satisfied and the second condition is satisfied, the sway estimating unit 22a determines that abnormal sway is occurring in the estimated object included in the elevator device 31a.

The configuration and operation of the elevator system are the same as in the second embodiment, except that the elevator system main body has two or more elevator devices and the function of the sway estimation unit in each elevator device.

In such an elevator system, the sway estimation unit in each elevator device also refers to signals from acceleration detectors in other elevator devices when estimating the amount of sway of the corresponding estimation target. Therefore, the accuracy of detecting the shaking of the building 50 can be improved, and the accuracy of estimating the amount of shaking of the estimated object can be improved.

Further, the sway estimating unit in each elevator device refers to the horizontal acceleration of the elevating body in all elevator devices when determining whether abnormal sway is occurring in the corresponding estimation target. Therefore, the accuracy of detecting the shaking of the building 50 can be further improved, and the accuracy of estimating the amount of shaking of the estimated object can be further improved.

Note that in the third embodiment, the elevator system main body 30 may include three or more elevator devices 31.

Further, in the first embodiment, the elevator system main body 30 may include two or more elevator devices 31.

Furthermore, in the first to third embodiments, the estimation target may be a governor rope (not shown). Further, when multiple belts are used instead of multiple main ropes, the estimation target may be the multiple belts. That is, the estimated object is a rope or a belt.

Further, in Embodiments 1 to 3, an equipment acceleration detector is provided in another equipment that is in contact with the estimation target, for example, the balance wheel 18, and when estimating the amount of shaking of the estimation target, the equipment acceleration detector You may also refer to signals from.

Further, in the first to third embodiments, the layout of the elevator device 31 is not limited to the layout shown in FIG. For example, the roping method may be a 2:1 roping method.

Further, the elevator device 31 may be a machine room-less elevator, a double-deck elevator, or a one-shaft multi-car type elevator. The one-shaft multi-car system is a system in which an upper car and a lower car placed directly below the upper car move up and down a common hoistway independently.

Further, each function of the control device 20 of the first to third embodiments is realized by a processing circuit. FIG. 10 is a configuration diagram showing a first example of a processing circuit that implements each function of the control device 20 of the first to third embodiments. The processing circuit 100 in the first example is dedicated hardware.

Further, the processing circuit 100 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. Applicable. Further, each function of the control device 20 may be realized by a separate processing circuit 100, or each function may be realized by the processing circuit 100 collectively.

Further, FIG. 11 is a configuration diagram showing a second example of a processing circuit that implements each function of the control device 20 of the first to third embodiments. The processing circuit 200 of the second example includes a processor 201 and a memory 202.

In the processing circuit 200, each function of the control device 20 is realized by software, firmware, or a combination of software and firmware. Software and firmware are written as programs and stored in memory 202. The processor 201 implements each function by reading and executing programs stored in the memory 202.

It can also be said that the program stored in the memory 202 causes the computer to execute the procedures or methods of each part described above. Here, the memory 202 includes, for example, RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (Electrical Non-volatile memory such as ically Erasable and Programmable Read Only Memory) It is a permanent or volatile semiconductor memory. Furthermore, magnetic disks, flexible disks, optical disks, compact disks, mini disks, DVDs, etc. also correspond to the memory 202.

Note that some of the functions of each part described above may be realized by dedicated hardware, and some may be realized by software or firmware.

In this way, the processing circuit can implement the functions of each section described above using hardware, software, firmware, or a combination thereof.

14, 14a main rope (estimated object), 15, 15a car (elevating object), 16, 16a counterweight (elevating object), 17, 17a compen rope (estimated object), 19, 19a car acceleration detector, 20, 20a control device, 21, 21a operation control unit, 22, 22a shaking estimation unit, 23, 23a weight acceleration detector, 30 elevator system main body, 31, 31a elevator device, 50 building.

Claims (10)

An elevator system body having an elevator device installed in a building,
The elevator device includes:
basket,
counterweight,
an acceleration detector that detects a vertical acceleration that is an acceleration in the vertical direction that occurs in the elevating object that is at least one of the car and the counterweight, and a horizontal acceleration that is the acceleration in the horizontal direction that occurs in the elevating object;
The estimation target object is a long object connected to the elevating body and has flexibility, and a control device.
The control device includes a shaking estimator,
The sway estimation unit estimates the amount of sway of the estimated object based on the vertical acceleration and the horizontal acceleration, and determines whether abnormal sway is occurring in the estimated object. A first frequency band and a second frequency band are set in the shaking estimator based on the primary natural period of the building, respectively,
The sway estimation unit performs filter processing to extract a component of the first frequency band from the horizontal acceleration detected by the acceleration detector, and extracts a component of the second frequency band from the vertical acceleration detected by the acceleration detector. Apply filter processing to extract band components,
The sway estimating unit estimates the amount of sway of the estimated object based on the vertical acceleration after filter processing and the horizontal acceleration after filter processing, and determines whether abnormal sway has occurred in the estimation object. 2. The elevator system according to claim 1, wherein the elevator system determines whether or not the vehicle is occupied. A first vertical threshold, which is a criterion for determining the vertical acceleration, and a first horizontal threshold, which is a criterion for determining the horizontal acceleration, are set in the shaking estimator,
The sway estimation unit determines that abnormal sway is occurring in the estimation target when the vertical acceleration is equal to or greater than the first vertical threshold and the horizontal acceleration is equal to or greater than the first horizontal threshold. The elevator system according to claim 1 or claim 2. The control device includes:
further comprising an operation control unit that controls the operation of the car in a plurality of operation modes including a normal operation mode and a controlled operation mode,
The controlled operation mode is the operation mode in which the car is moved to a position where shaking of the estimated object is suppressed,
4. The elevator system according to claim 3, wherein when the vibration estimation section determines that abnormal vibration has occurred in the estimation target object, the operation control section sets the operation mode to the controlled operation mode. A second vertical threshold, which is larger than the first vertical threshold, is set in the sway estimation unit as a criterion for determining the vertical acceleration;
The sway estimation unit determines that excessive sway is occurring in the estimation target when the vertical acceleration is equal to or greater than the second vertical threshold;
The operation control unit stops the car at the nearest floor without changing the operation mode to the controlled operation mode when it is determined by the sway estimating unit that excessive sway is occurring in the estimated object, The elevator system according to claim 4, wherein operation of the car is suspended. A second horizontal threshold smaller than the first horizontal threshold is set in the sway estimation unit as a criterion for determining the horizontal acceleration;
When the driving mode is the controlled driving mode, the driving control unit changes the driving mode to the normal driving mode when the shaking estimating unit determines that the horizontal acceleration has become less than the second horizontal threshold. The elevator system according to claim 4 or claim 5. The elevating body is both the car and the counterweight,
The sway estimation unit estimates the amount of sway of the estimation target based on the vertical acceleration and the horizontal acceleration of the car and the vertical acceleration and the horizontal acceleration of the counterweight, and The elevator system according to any one of claims 1 to 6, which determines whether an object is shaking abnormally. The elevating body is both the car and the counterweight,
The sway estimator includes a first car vertical threshold that is a criterion for the vertical acceleration of the car, a first car horizontal threshold that is a criterion for the horizontal acceleration of the car, and a first car horizontal threshold that is a criterion for the horizontal acceleration of the car. A first weight vertical direction threshold that is a criterion for the vertical acceleration and a first weight horizontal threshold that is a criterion for the horizontal acceleration of the counterweight are set,
At least one of the conditions that the vertical acceleration of the car is greater than or equal to the first car vertical threshold, and the condition that the vertical acceleration of the counterweight is greater than or equal to the first weight vertical threshold are satisfied; And, when the horizontal acceleration of the car is equal to or greater than the first car horizontal direction threshold, and the horizontal acceleration of the counterweight is equal to or greater than the first weight horizontal direction threshold, the sway estimating unit determines the estimation target. The elevator system according to claim 1 or 2, wherein the elevator system determines that abnormal shaking occurs in an object. The elevator system main body has two or more of the elevator devices,
3. The sway estimation unit in each of the elevator devices also refers to signals from the acceleration detectors in other elevator devices when estimating the amount of sway of the corresponding estimation target. Elevator system as described. The elevating body in each of the elevator devices is both the car and the counterweight,
The sway estimation unit in each of the elevator devices includes a first car vertical threshold that is a criterion for the vertical acceleration of the car, and a first car horizontal threshold that is a criterion for the horizontal acceleration of the car; A first weight vertical direction threshold that is a criterion for the vertical acceleration of the counterweight and a first weight horizontal threshold that is a criterion for the horizontal acceleration of the counterweight are set,
The sway estimating unit in each of the elevator apparatuses determines that the vertical acceleration of the corresponding car is equal to or greater than the first car vertical threshold, and that the vertical acceleration of the corresponding counterweight is in the first weight vertical direction. at least one of the conditions of being equal to or greater than a threshold is satisfied, and the horizontal acceleration of two or more of the elevating objects in all the elevator devices is equal to or greater than the first car horizontal direction threshold and 10. The elevator system according to claim 9, wherein when the first weight is equal to or greater than a corresponding threshold among the horizontal direction thresholds, it is determined that abnormal shaking is occurring in the corresponding estimated object.

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