JPH0133418B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an elevator control device, and particularly to a control device suitable for a case where a logic control section of an elevator is configured by a microcomputer.

[Conventional technology]

Recently, highly functional, highly reliable, low-priced, compact microcomputers (hereinafter referred to as microcomputers) have appeared, and various industrial equipment is becoming microcomputers, and even elevators are being used as group management control devices. Products that utilize elevators have been announced. In addition, some products have been announced in which the elevator control device (hereinafter referred to as the car control device) that controls each car is made into a microcontroller.

[Problems to be Solved by the Invention] A problem when applying a microcomputer to a machine control device is that an inexpensive microcomputer has a slower processing speed than a normal digital computer.
This is particularly a problem when controlling the electric motor that drives the car. i.e. the elevator speeds up to 120 per minute
In the case of traveling at 1 mm, if speed control is performed every 1 mm, the microcontroller must perform processing every 500 microseconds. A medium-sized microcontroller is considered incapable of processing because one machine cycle takes one microsecond.

The present invention has been made in view of the above, and includes:
The purpose is to provide an elevator control device that makes it possible to control the elevator even when a microcontroller with a slow processing speed is used in the logic control section of each elevator, and that also makes it easy to input and output signals to each microcontroller. It's about doing.

[Means to solve the problem]

It is an object of the present invention to provide a logic control unit for controlling each elevator that inputs at least a large number of call signals and car floor position signals, determines a stop floor and an operating direction, and determines at least a call answering light and a car floor position signal. Receives at least a start command and a signal regarding arrival at the destination floor from the first microcontroller for call response control, which controls the lighting of the position indicator light, and the first microcontroller for call response control, and responds to the elevator position. This is achieved by providing a second speed control microcontroller that performs speed control.

[Effect]

The present invention uses a plurality of microcontrollers in the machine control device, and in particular, a call response control microcontroller,
By performing functionally distributed processing with the speed control microcontroller, processing speed is improved overall.

〔Example〕

1 to 5 are one embodiment of the elevator control device according to the present invention, and FIGS. 6 to 12 are diagrams illustrating its operation.

FIGS. 1 and 2 are block diagrams for explaining the overall configuration of an embodiment according to the present invention.

In FIG. 1, RST is a three-phase AC power supply, and the speed of the three-phase induction motor IM is controlled by a thyristor firing circuit 11 controlling thyristors SCR1 and SCR2 connected in antiparallel. The above three-phase induction motor IM is the brake drum of the brake device BR.
BD and sheave S are connected, and sheave S has cage C.
A counterweight CW is suspended by a rope R. When the elevator departs, the electromagnetic contactors 15-1 to 15-3 close according to a command from the logic control unit 13 of the elevator control device.
Further, the electromagnetic contactors 17-1 to 17-2 are also closed, and the brake device BR is opened. The speed command value 19 from the logic control unit 13 that is output at the same time is converted from digital to analog by the D/A converter 21, inputted to the thyristor firing circuit 11, and SCR1, SCR
2 is controlled to start, the three-phase induction motor IM starts, and the car C starts running. Although not shown hereafter, the speed value of the car C is fed back to the logic control section and the thyristor firing circuit 11, and the speed of the elevator is controlled according to the speed command value.
Furthermore, a position pulse (not shown) generated each time the car C moves is also taken into the logic control section 13,
The car position, that is, the minute position (several millimeters) of the elevator car based on the pulse, and the car floor position signal based on this minute position are created, and a speed command corresponding to the minute position of the car is output. Ru.

In addition, in this figure, the electromagnetic contactors 23-1 to 23-2
3-3 is for operating the elevator at low speed, and these electromagnetic contactors 23-1 to 23-3,
When the electromagnetic contactors 17-1 and 17-2 are turned on at the same time, the three-phase induction motor IM is operated at low speed.
This purpose is to drive the car to the nearest floor in the event that it stops between floors.

FIG. 2 shows details of the logic control section 13. The logic control unit 13 includes a microcontroller 31 and a microcontroller 33.
It consists of two microcomputers. Input to the microcontrollers 31 and 33 is performed from an input device 35 through a switching device (switching means) 37 of input/output devices. On the other hand, the outputs from the microcontrollers 31 and 33 are conversely transferred to the switching circuit 37.
It is outputted to the output device 39 via. Further, the microcontrollers 31 and 33 are provided with microcontroller failure detection circuits 41 and 43, respectively.

The microcontrollers 31 and 33, which will be explained in more detail below, are the same in this embodiment.
The same parts on the microcomputer 33 side will be explained with reference numerals in parentheses. When the power is turned on to the microcontrollers 31 and 33, the output terminal
A signal is output from the RES, and is input to the input terminals of the failure detection circuits 41 and 43 via signal lines 45 and 47. The microcontrollers 31 and 33 have internal clock pulse generators, and perform all operations based on this clock pulse. A portion of this clock pulse signal is applied from output terminal signal C to input terminal C of failure detection circuits 41 and 43 via signal lines 49 and 51. The output terminals for the results of the calculations of the microcontrollers 31 and 33 and the input terminals for the original signals for the calculations are terminals IN, OUT, PA0, and PA1. In addition, there is a terminal PB as a communication terminal for exchanging data between the microcontrollers 31 and 33, which is connected by a communication line 53. The input terminal IN is connected to the output terminal INA (INB) of the switching circuit 37 via signal lines 55 and 59. These terminals INA and INB connect the input terminal IN signal to the output terminal INA when there is no signal at the input terminal C of the switching circuit 37, and connect the input terminal IN signal to the output terminal INB when there is a signal. . Note that this relationship applies to input terminal OUTA.
The same applies to the connection of OUTB and OUTB to the output terminal OUT, and this switching is performed at the same time. These input terminals OUTA and OUTB are the output terminals OUT of the microcontrollers 31 and 33 and the signal line 61,
63. Terminal IN of switching circuit 37
The input device 35 includes a push button (call signal generating means) 65 and a switch 6 for operating the elevator.
7 and a contact signal 69 from a speed control section, etc., are input via a signal line 71. On the other hand, the outputs from the microcontrollers 31 and 33 are input from the output terminal OUT of the switching circuit 37 to the output device 39 via the signal line 73. This signal causes the indicator lights 75 of the device 39 (including the microcomputer's failure indicator light, call answering light, car position indicator light, etc.) and the coils 77 of relays and electromagnetic contactors (including the electromagnetic contactors 15 and 17). , although not shown in FIG. 1, it also operates the electromagnetic contactor that determines whether the elevator goes up or down (which reverses the phase rotation of the electric motor IM).

The output terminals PA0 of the microcontrollers 31 and 33 are inputted to the input terminals R of the circuits 41 and 43 via signal lines 79 and 81. These circuits 41 and 43 have terminals
After clearing the internal pulse counter with the RES signal, the clock pulses from terminal C are counted and a failure signal is output from output terminal T after a certain period of time. Since the counter is reset by the signal to the terminal R, it is not output from the terminal T. That is, if the microcomputer 31 malfunctions due to noise or the like and goes out of control, no signal is sent to this terminal R, so the counter operates and outputs. This failure detection circuit 41, 43
is a so-called watchdog timer. These output signal lines 83 and 85 are input to the input terminal PA1 of the other microcontroller, and only the signal line 83 of the microcontroller 31 is connected to the input terminal C of the switching circuit 37.

The role of these microcontrollers 31 and 33 is that the microcontroller 31 is constantly connected to the input device 35 and the output device 39, inputs signals from the elevator call signal generation means, and sequentially services the elevator in response to the call. Responsible for logical operations (determining stopping floor and driving direction). and,
When the microcontroller 31 decides to run the elevator, it is transmitted to the microcontroller 33 via the communication line 53, and the microcontroller 33 sends a speed command value corresponding to the elevator position to the signal line 86.
(corresponding to speed command value 19 in Figure 1)
1) as a digital quantity. The converter 87 converts this digital quantity into an analog quantity and inputs it to the thyristor ignition circuit 11, thereby determining the speed of the electric motor IM and causing the elevator to run. Such a microcomputer 31 mainly operates as a sequence processing (call response control) computer, and the microcomputer 33 operates as a speed command processing (speed control) computer.

The details within the block will be further explained below using figures. FIG. 3 is a detailed block diagram of the microcontrollers 31 and 33. Regarding the microcontroller,
Currently, there are various types of microcontrollers on the market, and each one has its own characteristics, so it is difficult to explain in detail about general microcontrollers.
This will be explained using the manufacturer name and model of the microcomputer used in this example. In this embodiment, a HMCS6800 series system manufactured by Hitachi, Ltd. is used, and the system is configured to be optimal for this system. However, it goes without saying that other microcontroller systems can be used in the same manner, and the effects of the present invention remain the same. Also, to simplify the explanation, the format of each LSI is listed and detailed explanations are omitted.

The core of Microcontroller 31 or 33 is
MPU (Microprocessing Unit) (HMCS6800)
HD46800D) 101. Computer programs are ROM (Read Only Memory)
(HMCS6800 HN46830A and HN462716) 1
Temporary data used for calculations is stored in RAM (Random Access Memory).
(HM46810 of HMCS6800) Stored in 105.
An address bus 107 and a data bus 109 are connected between the ROM 103, ROM 105 and the MPU 101, respectively. In addition to this, Microcontroller 31,
PIA (Peripheral
Intertace Adapter) (HD46821 of HMCS6800)
It is also connected to 111, 113, and 115. this
The PIA 115 is connected to an input terminal IN for inputting data from the input device 35 to the microcontroller and an output terminal OUT for outputting data to the output device 39. The PIA 111 is programmed as an output terminal PA0 and an input terminal PA1. In this way, PIA is an LSI that can be freely modified for input/output using a program. However, if the computer goes out of control, there is a risk that this PIA input/output set register (Data Direction Register) may be rewritten. If the terminal that was set for input at this time is switched to output, this effect will also extend to the other terminal. In other words, there are two outputs in one signal line, and in addition to damage caused by the inability of signals to be transmitted, the output element will be destroyed when different signals are output. In this embodiment, as a means to prevent this damage, a switching circuit 37 is inserted between the input device 35 and switched by a signal from the failure detection circuit 41. I try to avoid any inconvenience. That is, it is possible to prevent the output terminal of the input device 35 from being damaged and at the same time, it is possible to input an accurate input signal to the microcomputer 33. In addition, this PIA111, 113, 1
There is an input terminal at 15, which gives a signal when the power is turned on, etc., and initializes all the internal registers.

CPG (Clock Pulse) supplies clock pulses to the input terminals φ ₁ and φ ₂ of the MPU 101 mentioned above.
Generator) (HD26501 of HMCS6800) 117. A crystal oscillator 119 is connected to this CPG 117 to generate clock pulses. this
When the power is turned on, the CPG 117 temporarily generates a signal from its output terminal, sets the initial value of each LSI, and then generates a clock pulse to start operating as a computer.

FIG. 4 is a detailed block diagram of the switching circuit 37. Input from the input device 35 enters the input terminal IN from the signal line 71, and goes to the TSG (Tri State Gate) 13.
The microcontroller 31 of No. 1 and the input block to the microcontroller 33 of TSG 133 are connected in parallel.
The output of the TSG 131 is output from the output terminal INA, and the output of the TSG 133 is output from the output terminal INB. The output from the microcontroller 31 is sent from the input terminal OUTA to the TSG135.
The output from 3 is connected to TSG137. TSG
135 and TSG 137 are connected in parallel with each other and then output from the output terminal OUT to the output device 39. Note that in this switching, when there is no signal at the input terminal C, the outputs of the TSGs 133 and 137 become high impedance, no signal is transmitted to the terminal INB, and the signal from the terminal OUTB is not transmitted to the terminal OUT. On the other hand, the output of NOT (negation) element 139 is
Since the control gates are connected to the TSGs 133 and 135, the input to the microcontroller 31 and the output from the microcontroller 31 are transmitted to the input device 35 and the output device 39, respectively, through the TSGs 131 and 135. In this way, the input device 35
and TSG131 between microcontrollers 31 and 33,
133 is inserted, and the fault signal from the signal line 83 causes high impedance, so changing from input to output when the microcontroller goes out of control may destroy the element or affect the input signal to the other side. There isn't. If there is a fault signal, the opposite state will occur, and the input device 35 and output device 39 will be in the opposite state.
Microcontroller 33 through TSG133, 137
connected to.

FIG. 5 is a detailed block diagram of the failure detection circuits 41 and 43. Microcontroller 3 is connected to input terminal C.
Clock pulses from the counters 1 and 33 are constantly input, and this signal is applied to the input T of the multistage counter 151. This signal causes the counter 151 to count, and when the final stage is reached, a signal is output from the output terminal Q, and further from the output terminal T to the signal line 83,
85. A NAND element 153 is connected to a reset input R of this counter 151. One input of this NAND element 153 is connected to an input terminal, and the microcontroller 31,
When there is a signal on signal lines 45 and 47 from 33, all counters 151 are reset. Since it is also connected to the input terminal R, the counter 151 is reset by this signal when the microcontroller program is operating normally.

Next, the failure monitoring means for the microcomputer section will be comprehensively explained. The failure detection circuits 41 and 43 are
When the power is turned on, the counter 151 is reset by signals on the signal lines 45 and 47, and then the counter 151 operates.
At this time, the program is also executed. This program is designed to output a signal from terminal PA0 at regular intervals. Therefore, the counter 151 never outputs any output from the terminal Q. However, if the microcontroller malfunctions due to noise or the like, the address at which the program is executed changes, and normal processing is no longer performed. In other words, the reset signal that was periodically output to the signal lines 79 and 81 during normal operation is no longer output, so the counter 1
51 continues counting and outputs a failure signal from terminal Q, and this signal is sent to terminal PA of the other microcontroller.
Enter 1. Since the microcontrollers 31 and 33 regularly check the signal at this terminal PA1, the presence of this signal indicates that the other microcontroller is out of order. Then, based on this signal, processing in the event of a failure is performed.

Note that it is also possible to eliminate the input of the signal line 83 to the microcontroller 33. That is, if the microcomputer 31 fails, an input starts to be input from the signal line 59, and this indicates that the microcomputer 31 has failed. However, since it is detected indirectly, it takes time to detect it, and a corresponding software program is required.

Now, in the above, the hardware of the elevator control device has been mainly explained. In the following, the software of the microcomputer will be mainly explained, and furthermore, the operation and effects of the present invention will be explained in detail.

FIG. 6 is a flowchart of one embodiment showing the entire program of the microcomputer 31. Block 610 indicates that the following program is executed from the time the microcontroller is powered on.
In block 620, first, the microcontroller 31 is initialized. That is,
Initialization of registers in MPU 101,
Initialize the PIAs 111, 113, and 115 (set for input and output), clear the data area in the RAM 105, etc.

The next block 630 performs elevator sequencing. For example, it is for servicing an elevator in response to a call that has occurred, storing the call that has occurred, and lighting a response light based on these signals and the floor position signal of the car.
Determining the direction of the elevator and lighting it, lighting the car position indicator light, turning on and releasing the electromagnetic contactor 15 and the brake electromagnetic contactor 17, starting commands to generate speed commands to the microcontroller 33, and sending signals to reach the destination floor. Since these methods, such as sending, are well known, detailed explanations thereof will be omitted. In addition, as a detailed explanation regarding the present invention, a more detailed flow is shown in FIG.

In the next block 640, the output signal of the failure detection circuit of the other microcomputer 33 is monitored, and if there is a failure, the rescue operation control function performs processing to rescue the passengers in the car. The detailed flow of this block is shown in FIGS. 9, 10, and 11.

In the next block 680, a reset signal for the counter 151 of the failure detection circuit is outputted from the output terminal PA0 of the PIA 111. As can be seen from this flow, this reset signal is always performed after processing blocks 630 and 640, and is also periodically repeated. Therefore, when the microcontroller stops executing a predetermined program, this periodic output disappears, and the failure detection circuit operates. Note that in order to repeat the flow periodically in this way, the flow within each block does not remain in one place. This method will be discussed further when the detailed flow is explained.

FIG. 7 is a flowchart showing the overall configuration of the other microcomputer 33. Block 7
10,720 are blocks 610 and 620 described above.
This is the same process as .

Block 730 performs speed command processing. That is, when a start command for generating a speed command is sent from the microcomputer 31 via communication, the speed command is gradually increased according to the position of the elevator. Then, when a signal indicating that the elevator has arrived at the destination floor is sent in the same way, the speed command is lowered in accordance with the elevator's position in order to stop at the destination floor, and the speed command is set to zero and returns to the initial state. This zero speed signal is sent to the microcontroller 31 via communication, and the block 630 of the microcontroller 31 performs a stop process.
Stop and open the door.

The next block 740 is a process for monitoring the microcomputer 31, and the content of this process is similar to that of block 640. Block 780 also performs the same processing as block 680, so a description thereof will be omitted.

As shown in the above flow, the microcontroller 31 performs sequence processing, and the microcontroller 33 performs only speed control processing that requires responsiveness due to the functional distribution of speed command generation processing. It has become possible to use computers with low processing power in elevator control devices.

In particular, details of the rescue operation control function will be explained using the detailed flow below.

FIG. 8 shows the details of block 630. In block 631, the above-described sequence processing is performed only when the other microcomputer is operating normally. In the event of an abnormality, the rescue operation control function is activated. Note that this determination of normality or abnormality is made in block 640.

FIG. 9 is a detailed flowchart of block 640. In block 641, since the failure signal of the aforementioned failure detection circuit is input to the input terminal PA1 of the PIA 111, it is checked whether there is a signal at this terminal PA1. If there is no signal, it is normal, so the process in block 680 is performed, and then the sequence process in block 635 is performed. If there is a signal, it is abnormal, and the elevator is stopped by emergency stop processing in block 643 (if the microcomputer is malfunctioning, it may issue an incorrect speed command, so stop it immediately). Then, in block 650, a rescue operation process is performed to rescue the passenger.

A detailed flow of this emergency stop process is shown in FIG. In block 644, there is no problem when the elevator is stopped because there is no danger, but emergency stop processing must be performed while the elevator is running. However, this is not the case when the elevator has already entered the rescue operation process and is running.
It is restricted by block 645. block 647
Then, the electromagnetic contactors 15 and 17 are released, the power to the motor is cut off, and the brake is applied to bring the elevator to an emergency stop.

FIG. 11 is a detailed flowchart of block 650 of the rescue operation process. In block 651, the next process is determined depending on whether the elevator is running. In other words, if the stop process has just been performed in block 647, the vehicle is running;
Furthermore, the next block 653 is also NO, and no processing is performed. After the above-mentioned stop processing is performed and the elevator has stopped, the process proceeds to block 655, where it is determined whether the stopped position is within the door zone (is it a position where it is okay to open the elevator door...the floor of the car matches the floor of the building? If it is within the zone, the door is opened by the door opening process in block 657, and the rescue operation process ends. However, if it is outside the zone, the car must be moved into the door zone, so a rescue run command process is executed in block 659. In this process, the electromagnetic contactor 2
Input 3 and 17 and run the electric motor IM at low speed. After this, the elevator will be running in a rescue operation, so block 631 will remain closed for a while.
-640-641-643-644-645-6
50-651-653-661-680- processing is performed. Block 661 in this loop
When the elevator enters the door zone, a stop processing block 663 is entered, the electromagnetic contactors 17 and 23 are released, and the elevator is stopped. When stopped, block 631-640-64
1-643-644-650-651-655-
At 657-680-, the door opening process of block 657 is performed, and the rescue operation ends.

Next, the rescue operation control function when the microcomputer 31 fails will be explained. FIG. 12 shows details of block 730, which is similar to FIG. 8 described above. The details of block 740 are also exactly the same as the detailed flow of FIG.

As mentioned above, when the microcontroller 31 breaks down, the signals of the input/output devices 35 and 39 are switched so that they can be controlled by the microcontroller 33, and the electromagnetic contactors 23 and 17, which cannot be controlled under normal conditions, are Since it can be controlled, all processes can be performed in the same way. Therefore, even if microcontroller 31 fails, microcontroller 33
With the rescue operation control function, it is possible to save passengers from being trapped in the car, and even if the microcomputer 33 is out of order, it can be saved in the same way, so it has the effect of eliminating accidents where passengers become trapped in the car due to computer failure. .

Note that the reset signal to the failure detection circuit is always sent to blocks 630-640 as described above.
-680 and so on in order.

As described above, in this embodiment, the rescue operation was performed using the failure detection circuit, but when an abnormality occurs in the communication between each microcontroller, it may be determined that there is a failure and the rescue operation is performed. Also, in the flow of the microcontroller 31, blocks 643 and 650 are provided separately,
Although described in this embodiment, these functions may be performed within block 635. In other words, there is a microcomputer 3 inside the normal sequence processing.
The process may also include the rescue operation function in the event of a failure in step 3.

Although the switching circuit 37 is provided in this embodiment, only the constant input may be input to the microcontroller 33.

〔Effect of the invention〕

As described above, according to the present invention, since the elevator control device is composed of two microcontrollers, parts that require responsiveness such as speed control are also performed by the microcontroller with low processing capacity. Furthermore, since the distributed processing is divided into sequence control (call response control) and speed command generation processing (speed control), connection with input/output devices can be easily performed.

[Brief explanation of drawings]

1 to 5 are hardware configuration diagrams of an embodiment of an elevator control device according to the present invention, and FIG.
Figure 2 is the overall configuration diagram, Figure 3 is the configuration diagram of the microcontroller, Figure 4 is the configuration diagram of the switching circuit, Figure 5 is the configuration diagram of the failure detection circuit, and Figures 6 to 12 are the above hardware configurations. This is a flowchart for explaining. IM...Induction motor, BR...Brake device, C
...Basket, 31, 33...Microcontroller, 35...
...Input device, 37...Switching circuit, 39...Output device, 41, 43...Failure detection circuit.

Claims (1)

[Claims] 1. In an elevator that travels between multiple floors, an electric motor that drives the elevator, and a logic control unit for controlling the elevator in response to elevator calls, each elevator has:
The logic control unit includes first and second microcomputers, includes communication means for connecting the first and second microcomputers, and includes a communication means for connecting the first and second microcomputers.
The microcomputer is connected to an input circuit that inputs a large number of elevator call signals and elevator car floor position signals, and an output circuit that lights up a call answering light and a car position indicator light in response to the above call signals. The first microcomputer determines the floor to stop and the driving direction based on the input signal, controls an output circuit that lights up the call answering light and the car position indicator light, and communicates the information to the second microcomputer via the communication means. The second microcomputer is connected to the first microcomputer, and the second microcomputer is connected to the first microcomputer.
An elevator control device characterized in that it controls the speed according to the position of the elevator car based on a start command and a signal regarding arrival at a destination floor sent from a microcomputer.