JPH0157039B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an elevator control device that performs automatic landing control of an elevator car.

[Technical background of the invention]

Due to recent advances in semiconductor technology, microcomputers are now used in most elevator control devices. As a result of the adoption of microcomputers, the following points have changed significantly.

The first point is that the floor selector that was used to scale the hoistway to 1/50 to 1/100 for detecting the position of the elevator car has disappeared, and in its place a pulse generator has been used to detect the position of the car. By counting the number of pulses generated by this pulse generator in proportion to the movement and processing the values using a microcomputer, the car position can now be detected and controlled in mm units.

Second, the relay-based sequence control system was replaced by a microcomputer, which greatly reduced the number of relays, improved reliability, and made maintenance easier.

Thirdly, due to the second point mentioned above, the control device can be made smaller.

By employing a microcomputer in this way, various advantages can be obtained.

In addition, microcomputers were also used for speed control and speed patterns, which are the basics of how elevators are operated.Accelerations and ratings are created using ideal patterns based on time, and decelerations are created using microcomputers. In order to accurately stop at the landing position on the destination floor, a distance-based pattern based on the position pulse of the pulse generator is now used, making it possible to achieve highly accurate landing.

However, the above-mentioned adjustment of the speed pattern and adjustment of the landing position are not done automatically; once the elevator is installed on-site, the speed control system is adjusted, and after the adjustment is completed, the speed pattern is adjusted. The landing position is adjusted manually. Also, after the installation is completed, 2-3
After about a few months, the elevator mechanical system becomes accustomed and the load torque changes, making it necessary to adjust the landing position again.

[Purpose of the invention]

The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide an elevator control device that can be operated by automatically adjusting the level of the car landing position to the optimum state at any time by simple operation. .

[Summary of the invention]

That is, in order to achieve the above object, the present invention includes a pulse generating means that generates a pulse output corresponding to the moving distance of the car, and a pulse generating means that generates a pulse output corresponding to the moving distance of the car, and a pulse generator that is set in advance based on the position information of the car obtained by counting the pulse output. In an elevator control device that controls the landing of a car and has means for generating a control output according to a car position according to a speed pattern, the car passing speed or means for obtaining time information, means for comparing this information with a standard value, and a means for obtaining the correction amount of the car deceleration position necessary for correcting the error in the landing position, and also adjusting the passing speed to the standard value based on the comparison result. means for correcting the car deceleration position by the correction amount so that the deceleration position is moved away from the landing position when the speed is greater than the desired speed, and the deceleration position is moved closer to the landing position when the speed is smaller than the car position; Acceleration/deceleration operation control is performed according to a fixed speed pattern, and information on the speed or passing time of the car passing through a predetermined section near the landing position is obtained, and from this information, a predetermined speed is determined corresponding to the predicted error in the landing position. The amount of correction is determined, and the deceleration point of the speed pattern is corrected by the amount of correction.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of the apparatus of the present invention. 1 in the figure performs arithmetic processing by executing the control procedure determined by the program,
A microcomputer that generates a control output, 2 is an input buffer of this microcomputer 1, and 3
is an output buffer, 4 is a pulse generator that generates a pulse output corresponding to the amount of movement of the elevator car, and 5 is a pulse generator that uses the output of this pulse generator 4 to count up and down according to the direction of movement of the elevator car, and to generate car position information. 6 is a limit switch provided on the car to obtain information for correcting deceleration; 7 is a correction switch that instructs correction; 8 is a speed control circuit that controls the speed of the elevator; ,
The outputs of the limit switch 6 and correction switch 7 are sent to the microcomputer 1 via an input buffer 2.
The output of the microcomputer 1 is also given to the speed control circuit 8 via the output buffer 3, and the speed control circuit 8 is input to the microcomputer 1.
The configuration is such that speed control is performed according to the output of the motor.

FIG. 2a is a diagram showing the mounting position of the limit switch 6, and FIG. 2b is a diagram showing the structure of the limit switch 6. The limit switch 6 is placed at a predetermined distance from the support 6a as shown in figure b.
Two sets of limit switch elements L ₁ and L ₂ are installed. This limit switch element L ₁ ,
L ₂ generally uses a reed switch that operates magnetically, and it can be turned off by placing the reed switch and a magnet facing each other to keep the switch on at all times, or by inserting an induction iron plate between the reed switch and the magnet. The configuration mentioned above is used. For example, the two sets of limit switch elements are
_L2 limit switch elements are arranged adjacent to each other.

Such a limit switch 6 is mounted near the upper side of the car 10, with limit switch elements L ₁ and L ₂ lined up along the moving direction of the car 10, as shown in FIG. 2a. Further, a guide iron plate 12 is provided in the hoistway 11 of the elevator so as to pass between the reed switches and the magnets constituting the limit switch elements L ₁ and L ₂ when the car 10 is raised or lowered. This induction iron plate 12 is installed, for example, in the vicinity of the landing level on each landing floor, and due to the time difference in which the limit switch elements L ₁ and L ₂ are operated by this induction iron plate 12, the position near the landing level is adjusted. It is used to detect the speed of the car 13.

Therefore, the microcomputer 1 receives the car position information from the up-down counter 5 and outputs speed control commands in a predetermined speed pattern while knowing the car position, and also outputs speed control commands in a predetermined speed pattern near the landing position. It has a function to output a deceleration control command to decelerate the aircraft when it reaches this point, and control the aircraft to land on the floor. Also, by pressing the correction switch 7, the microcomputer 1 detects the speed of the car 10 near the landing position from the output of the limit switch 6, and detects when the speed is too fast to stop at the landing position level. It has a function to modify the set value of the deceleration point according to the speed. Note that 13 in FIG. 2 is a rope for hanging the car 10.

In such a configuration, upon receiving an input from a floor registration button (not shown), a car call button, etc., the microcomputer 1 registers this input, and the microcomputer 1 registers this input, and sets the robot to land in sequence on the registered landing floors. A speed output and a car movement direction command are generated in accordance with the speed pattern determined and given to the speed control circuit 8.
Thereby, the speed control circuit 8 generates a speed control output corresponding to this input, and operates the elevator car.

The position of the car is determined by counting the output pulses of the pulse generator 4 in conjunction with the movement of the car, depending on the moving direction of the elevator car, such as an up-down counter 5 that counts up if the car is going up or counts down if it is going down. Know by value. When the count value of the up-down counter 5 reaches the deceleration point (deceleration position) of the landing floor of the car 10, the microcomputer 1 gives a deceleration control command to the speed control circuit 8 to decelerate the car 10 and make it land on the floor. .

As mentioned above, after several months have elapsed since the elevator was completely installed, the load torque changes due to the acclimatization of the elevator mechanical system, causing a shift in the landing position. Therefore, in this apparatus, when it becomes necessary to correct the landing position, by pressing the correction switch 7, this can be done automatically.

This point will be explained in detail below. FIG. 3 is a diagram showing a speed pattern of the elevator, and the car 10 is operated according to such a speed pattern. This figure shows an ideal pattern in which the landing position of the car can be landed without deviation (hereinafter, this landing deviation is referred to as a level error).
That is, the vehicle enters constant speed operation from accelerated operation, and when the target landing floor is approached, the vehicle enters deceleration operation at a preset deceleration point l _SLD of the landing floor, thereby landing on the floor. In an ideal state, the car 10 is set to land at the set position of the desired landing floor by entering deceleration operation at the deceleration point l _SLD .

However, due to changes in load torque, etc., the deceleration point
l When deceleration operation is started with _SLD , if a level error occurs, it becomes necessary to correct the value to the deceleration point where this level error disappears.

This device automatically corrects the deceleration point l _SLD , and determines whether or not it is possible to land on the floor with a level error close to zero by determining the speed of the car 10 using the detection output of the limit switch 6. Do by knowing.

That is, a control iron plate 12 for operating the limit switch 6 is arranged at an appropriate position near the car landing position in the hoistway 11, and when the car 10 passes through the position of this control iron plate 12, the control iron plate 12 is placed at an appropriate position in the vicinity of the car landing position. The reed switches L ₁ and L ₂ forming the limit switch 6 arranged in the same direction operate sequentially. The difference t between the operating times is determined by the microcomputer 1, and the speed of the car 10 is obtained from this difference.

L1 and L2 in Figure 3 are reed switches
It shows the operating points of L ₁ and L ₂ , where la is the variable tolerance range of the deceleration point l _SLD that issues the deceleration command, and lo is the tolerance range of the landing level error.

Therefore, when the landing level error exceeds lo, the value of the deceleration point l _SLD is corrected, but the judgment of whether or not to make this correction and the magnitude of the correction are made at the above-mentioned time t.
Depends on the size of the

That is, if the value of t is small, it means that the speed at which the point L2 is reached is high, which is excessive considering the level error. Furthermore, if the value of t is large, it means that the speed at which the line enters the L2 point is low, and considering the level error, it will stop before it reaches the L2 point. By calculating the time difference t between the two operating points L2 and L1 using the microcomputer 1, it is possible to judge whether or not to correct the value of the deceleration point l _SLD , and to determine whether correction is necessary. In this case, the amount of correction is calculated from the value of t and the correction is performed automatically.

4 and 5 are flowcharts showing the procedure for automatically correcting the deceleration point l _SLD . The microcomputer 1 performs arithmetic processing according to this flowchart and performs automatic correction. The level error tolerance in this case is in the range of lo. FIG. 4 shows a simple method, and FIG. 5 shows a highly accurate method.

First, the explanation will be given with reference to FIG. When this program is started, the program enters step st1 and determines whether or not the correction switch 7 has been pressed. If pressed, the program enters step st2 and proceeds to execute the automatic adjustment program starting from st2. In st2, it is determined whether the car 10 has landed within the allowable level error range lo or whether it will land. This can be determined, for example, from the count value of the up-down counter 5, and when predicting whether or not it will land on the floor, it can be determined by calculation from the passing speed or passing time since the speed pattern is constant. Can be done. As a result of this determination, if the implantation is within lo, there is no need to make any corrections, so exit from this program and
If the implantation occurs in an area outside of lo, move on to step st3. Here, since the easiest condition for adjustment is generally when the car 10 is empty (no load), an example with no load is shown.

st3 is a routine that determines whether the elevator is going up or down. This is because the load conditions are different depending on whether the elevator is going up or down.
Determine the direction of movement.

As a result of this judgment, if it is rising, it moves to step st4, and if it is falling, it moves to step st5.
Therefore, here, the elevator is operated in one direction, the above t is determined from the output of the limit switch 6, and the elevator is divided into three categories, large, medium, and small, depending on the magnitude of the value of t. , take out the correction value set appropriately in advance for this divided category (the correction value for the corresponding category among la ₁ and ~la ₃ if it is rising, and la ₄ to _{la 6} if it is falling), In the last step, the value of the deceleration point l _SLD that has been used for control up to now is corrected with this corrected value, and this corrected deceleration point is replaced with the old value.

Here, the three classifications of large, medium, and small according to the value of t may be done as follows, for example. That is, in order to divide the area to be adjusted into coarse adjustment area/medium adjustment area/fine adjustment area, for example, lo(5~
The maximum value lmax at which the door can be opened when landing in an area outside of the range (approximately 20mm)
is determined, and the difference between lo and lmax is divided into three parts, for example, in an arithmetic or geometric series, or divided into three parts by weighting, as appropriate depending on the circumstances of the actual machine. Then, it is determined by setting the classification of the passage time obtained by back calculation from the passage speed range in which landing is possible in each of these divisions. Then, determine which of these categories the actual transit time falls under, decide whether it falls under large, medium, or small, and calculate the size of the implantation deviation amount for each of the above-mentioned large, medium, and small areas. The amount of deceleration position correction determined as appropriate for each category (large, above, etc.)
Apply the correction amount (correction amount for coarse adjustment/fine adjustment according to medium and small) to the value of deceleration point l _SLD to obtain a new value.
In an actual elevator, the landing error of an elevator is distributed across both positive and negative regions (above or below the floor level), so the judgments at st4 and st5 are made earlier than the standard time. It is divided into two cases: slow and each case is classified into the above-mentioned three categories, and the correction amount is set with positive and negative polarities according to each case. Then, the corresponding one may be selected depending on whether it is early or late.

This completes the correction, so from now on, drive using this new deceleration point value. Here, one of the three categories is selected depending on the size of t, and the value set here is used, so it is possible that the level error will not be corrected sufficiently with one correction. be. In such a case, by operating the correction switch 7 again and re-executing the above routine, the deceleration point can be corrected so that the landing position falls within the tolerance range lo.

In the case of Figure 5, the correction value is not fixed as in the case of Figure 4, but a certain small correction value ls is used and the correction is repeated several times until the landing position falls within the range of tolerance lo. It is something to do.

That is, steps st11 to st13 in the figure have the same content as steps st1 to st3 in FIG. 4, and the correction switch 7 is operated to check whether the landing position exceeds the range of tolerance lo. , the elevator is operated to determine the direction at that time. Then, when the direction is upward, it enters step st14, and when it is downward, it enters step st15.
Then, it is determined whether or not the time from the time of L2 operation to the time of L1 operation is longer than the standard time t, and if it is larger, the process goes to st16 when rising, and if it is smaller, the process goes to st17 when rising. Also, when descending, if it is large, it will go to st17, and if it is small, it will go to st16. Here, the value of the deceleration point l _SLD is corrected by ls, and it is determined in st18 whether or not the corrected l _SLD falls within the settable deceleration point range la. Here l _SLD1 is the minimum range of la, and l _SLD2 is the maximum range. Then, if it is within the range, set this modified l _SLD as the new deceleration point value, and
It is determined whether or not the level error of the landing position falls within the tolerance range lo, and if it does not fall within the tolerance range lo, execute again from st11 and repeat the correction. Then, the execution of the patch program ends when it is settled in lo. la in st18
If it is determined that the deceleration point is out of range, the process moves to st19, sets the standard deceleration point value, displays an error message, and ends the correction program execution.

In other words, when it deviates from la, it means that there is some abnormality, so if you repeat the correction, the l _SLD value will deviate greatly, so if this value exceeds a predetermined range, set it to the standard value and finish the correction. .

As a result of the above, in addition to being able to automatically correct the implantation level just by operating the correction switch,
Even if the response speed changes due to adjustment of the speed control system, level errors can be automatically corrected.

It should be noted that the present invention is not limited to the embodiments described above and shown in the drawings, and can be implemented with appropriate modifications within the scope of the gist.For example, in order to know the speed near the landing position of the car, A method using a limit switch was shown, but since the car position and speed can be known from the output of the pulse generator, positions corresponding to the L2 and L1 positions are determined and the speed or passing time between these positions is determined by software. It is also possible to process and measure the In this case, the configuration can be made simpler. In addition, although a limit switch was used in the above embodiment, other elements such as an optical switch may be used as long as the position can be detected.Moreover, correction can be controlled by operating a correction switch. However, it is also possible to omit this and always perform automatic correction. In this case, it is effective when the load fluctuates due to break-in of the mechanical system.

〔Effect of the invention〕

As described in detail above, the present invention includes a pulse generating means that generates a pulse output corresponding to the moving distance of the car, and a preset speed pattern based on the car position information obtained by counting the pulse output. In an elevator control device that controls the landing of a car and has means for generating a control output according to the car position, the car passing speed or time information is obtained in a predetermined section near a preset landing position. and from this information, obtain the correction amount of the car deceleration position necessary to correct the error in the landing position, and also obtain the correction amount by this correction amount,
means for correcting the value of the car deceleration position, and performs acceleration/deceleration operation control according to a fixed speed pattern depending on the car position, and also receives information on the speed or passing time of the car passing through a predetermined section near the landing position. Based on this information, a predetermined correction amount corresponding to the predicted error in the landing position is determined, and the deceleration point of the speed pattern is corrected by this correction amount.
Even if the landing level deviates due to changes in elevator load due to mechanical system familiarization, etc., this can be automatically corrected to the normal landing position, as well as changes in response due to speed control system adjustments. It is possible to provide an elevator control device that is easy to adjust and maintain, including the ability to correct errors.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing one embodiment of the present invention;
Figure 2 is a diagram to explain the relationship between the structure and position of the limit switch, Figure 3 is a diagram to explain the ideal speed pattern of an elevator, and Figures 4 and 5 are diagrams to explain the correction program in the microcomputer. It is a flowchart showing an example. 1... Microcomputer, 2... Input buffer, 3... Output buffer, 4... Pulse generator, 5... Up/down counter, 6... Limit switch, 7... Correction switch, 8... Speed control circuit, 10...basket, 12...control iron plate.

Claims (1)

[Claims] 1. Pulse generating means that generates a pulse output corresponding to the moving distance of the car, and a preset speed pattern based on the car position information obtained by counting the pulse output. means for obtaining car passing speed or time information in a predetermined section in the vicinity of a preset landing position in an elevator control device that controls the landing of a car. and a means for comparing this information with a standard value, and from the result of this comparison, the amount of correction of the car deceleration position necessary to correct the error in the landing position is obtained, and the passing speed is greater than the standard speed. and means for correcting the car deceleration position by the correction amount so that the deceleration position is moved away from the floor landing position when the deceleration is small, and the deceleration position is moved closer to the floor landing position when the deceleration is small. 2. The elevator control system according to claim 1, characterized in that a switch operated by the arrival of a car is used as means for obtaining passing speed or time information of a predetermined section. 3. As a means for obtaining passing speed or time information for a predetermined section, a calculation means is used that calculates the car position information based on the pulse output of the pulse generating means and the number of pulse outputs while passing through the predetermined section. An elevator control device according to claim 1, characterized in that: