JPH03249076A - Start-up compensation device for elevator - Google Patents

Abstract

PURPOSE:To perform a preferable start-up compensation in a rescue operation after an emergency stoppage, by using a start-up compensation value before the emergency stoppage, or a predetermined start-up compensation value based on a signal from a weighing device provided under an elevator box, when the emergency stoppage fakes place. CONSTITUTION:A first start-up compensation torque instruction generating device 82 generates a start-up compensation torque instruction to get a value of a pulse counter 84 closer to a value, of a memory 85, which means a balance point so that the difference between them may be within a predetermined value when an elevator is normally operated and stopped, and then started again. A torque control means 81 controls a motor 6 based on this start-up conmensation torque instruction. A start-up compensation torque instruction memorizing means 87 is connected to the generating means 82, and the start-up compensation torque at the time of starting is stored in the memorizing means 87, and in case an emergency stoppage is generated, an allowance signal is put off to close its normal closed contact 1002, and the start-up compensation torque at the time of previous normal operation stored in the memorizing means 87 is inputted into he means 81 as a start-up compensation torque instruction.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an elevator starting compensation device, and in particular,
The present invention relates to an elevator start compensation device suitable for use in starting an elevator after an emergency stop using a rotary elastically supported brake.

[Prior Art] As a conventional technology regarding an elevator starting compensation device,
For example, Japanese Patent Application No. 63-63341 (Japanese Unexamined Patent Publication No. 1-242
The technique described in Japanese Patent Publication No. 375) is known.

This conventional technology has a structure in which the brake that holds the unbalanced torque of the elevator stationary is rotatably supported with respect to the hoisting machine, and uses a pulse generator directly connected to the motor shaft to brake the unbalanced torque after the elevator is held stationary. The system detects the change in the position of the elevator and compensates for the start of the elevator.

Hereinafter, an example of such a conventional elevator starting compensation device will be explained with reference to the drawings.

FIG. 5 is a block diagram showing an example of the prior art, and FIG. 6 is a time chart explaining its operation.

In FIG. 5, 1 is a car, 2 is a counterweight, 3 is a lobe, 4 is a hoisting machine, 5 is a sheave, 6 is a motor, 7 is a pulse encoder, 8 is an elevator control device,
9 is a brake device, 81 is a torque control means, 82 is a torque command generator, 83 is a speed command generator, 84 is a pulse counter, 85 is a memory, and 91 is an elastic body.

In the prior art shown in FIG. 5, an elevator car 1 and a counterweight 2 are connected by a lobe 3 and suspended from a sheave 5 in a hanging shape. The sheave 5 is connected via the hoisting machine 4 to a three-phase induction motor 6 whose drive is controlled by an elevator control device 8 .

The elevator control device 8 includes a torque control means 81, a torque command generation device 82, and a speed command generation device 83, and controls the electric motor 6 based on the speed command, as well as a pulse encoder directly connected to the electric motor 6. It is equipped with a pulse counter 84 for counting pulses from 7 and a memory 85 to compensate for the start of the elevator.

In the illustrated prior art, the brake device 9 that holds the elevator stationary is connected to the hoisting machine 4 through an elastic body 91.
The rotation is elastically supported.

Therefore, during elevator stop control, after the elevator car 1 is stopped by electrical control under the control of the elevator control device 8, the hoist 4 is held by the brake device and the electrical control is stopped. Due to the unbalanced torque between the car 1 and the counterweight 2, the elastic body 91 is displaced and the brake device 9 swings slightly in the rotational direction.

This displacement and the direction of this displacement can be detected by a pulse encoder 7 directly connected to the motor 6. The output of the pulse encoder 7 is connected to a pulse counter 84 and a memory 85 for storing the number of pulses, and both can be used to compensate for the start of the elevator.

Hereinafter, a method of compensation for starting an elevator according to the prior art will be explained with reference to a time chart shown in FIG.

For example, when the elevator is in ascending operation, the car 1 travels according to the speed characteristics of the elevator as shown in FIG. 6(a) under the control of the elevator control device 8. The moment the elevator finishes running and stops (time T)
In this case, the brake device 9 is in an open state, and the unbalanced torque of the elevator-motion system is maintained by the torque of the electric motor 6. After this time T1, a short time T! After INc has elapsed, the brake device is put into operation, as shown in FIG. 6(b).

The ON section in FIG. 6(b) shows a state in which the brake device 9 operates and generates a braking force to keep the elevator motion system stationary. FIG. 6(d) shows the output value of the pulse counter 84 that counts the number of pulses of the encoder 7, and shows how this output value changes according to the running of the elevator. −
This indicates the current location of the .

Now, assuming that this pulse count value at time T1 is PNl, the motion system of the elevator is held stationary by the torque of the electric motor 6 during the time T+n1CO until the brake is actually activated and the elevator is held completely stationary. Therefore, the number of pulses mentioned above does not change and the PNIO value is maintained. Memory (usually random access memory (RAM)) is a means of capturing this moment and storing the number of pulses.
] Store the pulse number PNI in 85. This situation is the 6th
It is shown in figure (e). It is more effective if the memory 85 and pulse counter 84 are backed up by a battery and are non-volatile memories that do not volatize even during a power outage.

Now, when the brake operates and the first door of the car opens and passengers get on and off, the load inside the car changes, and the elastic body 91
is deformed, and the brake device 9 is rotationally displaced. The motor shaft is connected to the brake shaft, so the motor shaft also rotates.
Pulses are generated from the encoder 7 along with this rotation.

FIG. 6(d) shows that the rotational displacement of the brake device 9 changes over time T.
In this example, car 1 is displaced in the direction in which the pulse count value decreases, that is, in the direction in which car 1 descends, indicating that the loading capacity has increased even more than when it stopped last time. It is shown.

Immediately before the elevator responds to the next call and generates the start command shown at time Ts in FIG.
ΔPN decreases from NI.

When a start command is generated at time T, a in FIG. 6(C), the torque command generator 82 reads the number of pulses PNI at the previous stop from the storage means 85, and
The current number of pulses PN2 is read from the pulse counter 84, and the direction of the torque to be applied is determined based on the magnitude relationship. In this example, as described above, since PNI>PN2, torque is applied in the upward direction to generate a motor torque command for starting compensation that gradually increases as shown in FIG. 6(f).

As the motor torque gradually increases, the electric motor 6 rotates little by little, and the pulse counter 84 changes to the pulse encoder 7.
Count the pulses that occur. Pulse counter 8
When the value of 4 matches the stored content of the storage means 85, it means that the motor torque corresponding to the unbalanced torque is generated and a balanced state has been reached, and the torque command is as follows.
It is held at that value and completes startup compensation.

This torque command value can also be varied by adding or subtracting a bias value.

After completion of this starting compensation, when the coil of the brake device 9 is excited and the brake is released, the torque control means 81 controls the electric motor 6 according to the speed command from the speed command generator 83 to control the elevator to ascend. I do.

Note that the above-mentioned brake release command is issued after a predetermined time period has elapsed since the start command was issued, and when the number of pulses of the encoder was It may be set as a time sufficient to approach the stopped value [time T4 shown in FIG. 6 (cl)].

[Problems to be Solved by the Invention] The above-mentioned conventional technology can perform accurate startup compensation during normal operation, but if the elevator makes an emergency stop for some reason, the brake cannot be activated as in the case of maintenance operation. When the elevator is stopped by braking, etc., there is no time TKNC for holding the unbalanced torque of the elevator system by the torque of the motor 6, so startup compensation for rescue operations after emergency stops, operations during maintenance operations, etc. can be accurately performed. However, when the elevator is started, it may jump out abnormally or reverse itself.

The purpose of the present invention is to solve the problems of the prior art described above,
To provide an elevator start-up compensation device that can perform good start-up compensation even when carrying out rescue operation, maintenance operation, etc. after an emergency stop, in elevator start-up compensation using a brake device that supports rotary elasticity. There is a particular thing.

[Means for Solving the Problems] According to the present invention, the object is to provide a signal (hereinafter simply referred to as a permission signal) for permitting start-up compensation by an encoder;
encoder pulse counter.

memory, performs startup compensation using an encoder only when the permission signal is in operation, and performs startup compensation using the encoder only when the permission signal is inactive, that is, in the case of an emergency stop, etc. value or with a predetermined starting compensation value based on a signal from a weighing device located under the car.

This is achieved by providing elevator start compensation.

Furthermore, the present invention aims to improve reliability by backing up the permission signal, a pulse counter for output pulses of the encoder, memory, etc. with a battery, and making them nonvolatile signals that do not disappear even in the event of a power outage.

[Function] The permission signal is activated when the elevator stops electrically, and the value output by the pulse counter is detected by the encoder during the period when the unbalanced torque of the elevator and the torque of the motor are balanced. This is the balance point for the number of pulses. At this time, since the permission signal is operating, the next time the elevator is started, the start compensation can be performed using the encoder. When the elevator is started, the starting compensation value at that time is stored in the nonvolatile memory, and the permission signal is turned off until the next time the elevator is stopped by electrical braking. State is preserved.

Therefore, if the elevator comes to an emergency stop after the elevator has been started, this permission signal is in an OFF state, and if the elevator is to be rescued at low speed next time, start compensation using an encoder cannot be performed. do not have. The startup compensation in this case is performed using the previous startup compensation value because the startup compensation value used last time is stored in the nonvolatile memory.

Furthermore, when the permission signal is off, simple startup compensation can be performed based on the state of a weighing device (for example, a microswitch that operates at 20% of the rated load) provided under the car.

[Embodiment] Hereinafter, an embodiment of the elevator starting compensation device according to the present invention will be described in detail with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention, and FIG. 2 is a time chart explaining its operation. 1st
In the figure, 86 is a second starting torque compensation torque command generation device, 87 is a starting compensation torque command storage means, 101.
102 is a vibration-proof rubber, 103 is a weighing device, 871 is a temporary delay circuit, and other symbols are the same as in FIG. 1.

One embodiment of the present invention shown in FIG.
0. 1003, etc., is different from the prior art described above, and in other respects, it is configured similarly to the prior art.

In the following description, the torque command generating device 82 that is provided in the prior art and also provided in the embodiment of the present invention will be referred to as a first start-up compensation torque command generating device 82.

In one embodiment of the invention shown in FIG.
A brake device 9 that holds the drive system stationary is connected to the hoisting machine 4 via an elastic body 91, and is connected to the hoisting machine 4 via an elastic body 91.
At the time of stop control, under the control of the elevator control device 8,
After the car 1 is stopped by electrical control, the hoist 4 is held by the brake device. Thereafter, when the electrical control is stopped, the elastic body 91 is displaced due to the unbalanced torque between the car 1 and the counterweight 2, and the brake device 9 is rotationally displaced in the rotational direction and swings a little.

This displacement and the direction of this displacement can be detected by a pulse encoder 7 directly connected to a motor 6 connected to the hoist 4 . That is, the pulse encoder 7 generates pulses in synchronization with the rotation of the motor 6, and the number of pulses is added or subtracted by the pulse counter 84. This pulse counter 84 adds the generated pulses during elevator upward operation, and subtracts the pulses during downward operation.

The output of pulse counter 84 is connected to memory 85. The memory 85 stores and holds the value of the pulse counter 84 at the moment the elevator stopped under electrical control. That is, the content of the memory 85 is the value of the pulse counter 84 when the motor torque and the unbalanced torque of the elevator are balanced. This memory 85 may be reset after the elevator is running, and may also store the output of the pulse counter 84 while the elevator is running.
The data may be sequentially captured and stored.

The memory 85 includes the first starting compensation torque command generation device 82
connected to the first starting compensation torque command generating device 82
When the elevator is normally operated, stopped, and then started, the value of the pulse counter 84 approaches the value of the memory 85, which means the balance point, and the difference is within a predetermined value. A starting compensation torque command is generated as follows.

The torque control means 81 can control the motor 6 according to this starting compensation torque command.

The operation regarding compensation for starting the elevator in such a normal state is similar to that of the prior art described above.

By the way, if a running elevator comes to an emergency stop for some reason, or if it performs an inching operation such as during construction or maintenance operations, the elevator will stop using the brakes rather than stopping electrically. As a result, the pulse counter 84 cannot detect the number of pulses at the balance point where the motor torque and the unbalanced torque of the elevator are balanced. Therefore, if you try to perform a rescue operation (usually a low-speed operation) in this state, an abnormal number of pulses will be stored in the memory 85, so if you use the contents of this memory 85, accurate startup compensation will not be possible. can't do it.

Therefore, in one embodiment of the present invention, the encoder 7
A signal (permission signal) is provided to permit the start-up compensation as described above to be performed, and when this permission signal is on, the memory 85 and pulse counter 8 are activated as described above.
Starting compensation is performed by comparing the values of the starting compensation torque command storage means 87, and when the permission signal is off, the starting compensation is not performed as described above and starting compensation is performed using the value of the starting compensation torque command storage means 87. Simple starting compensation is performed using a signal from the starting compensation torque command generating device 86.

That is, in one embodiment of the present invention, the starting compensation torque command storage means 87 is connected to the first starting compensation torque command generating device 82.
The starting compensation torque at the time of starting the elevator is stored in this storage means. If an emergency stop occurs, the enable signal is turned off and its normally closed contact 100.
is closed, and the starting compensation torque during the previous normal operation, which is stored in the storage means 87, is input to the torque control means 81 as the starting compensation torque command.

At this time, the torque command value may be given in steps, but better starting compensation can be achieved by gradually increasing the torque command via the -order delay circuit 871.

Further, vibration-proof rubber 101, 102 and a weighing device 103 are provided under the car l. This weighing device 103 consists of a simple microswitch that turns on and off depending on the deflection of vibration-proof rubber 101 and 102, and is set to operate at about 20% of the rated load capacity. There is. This weighing device 103 is connected to a second starting compensation torque command generating device 86, and when the permission signal is off and during construction/maintenance operation, the second starting compensation torque command generating device 86 Simple startup compensation can be performed using

That is, the second starting compensation torque command generation device 86 is
Based on the on/off signal from the weighing device 103, a predetermined compensation torque value held in advance is selected, and the selected compensation torque is applied to the torque control means 81 via the normally closed contact 1003 of the permission signal. In this case as well, although not shown, the compensation torque is transmitted to the torque control means 8 via a temporary delay circuit.
1, and the same effect as described above can be obtained. Thereby, the torque control means 81 can compensate for starting the elevator in the same way as in the case described above.

In such an embodiment of the present invention, the signal of the starting compensation torque command storage means 87 is configured to have priority over the second starting compensation torque command generating device 86. Furthermore, the above-mentioned permission signal, pulse counter 84, memory 85, and starting compensation torque command storage means 87 are backed up by a battery, and the signals will not volatilize even in the event of a power outage.
The reliability of startup compensation can be improved. Note that the permission signal is generated by a management control device (not shown) or the like.

The embodiment of the present invention described above includes a starting compensation torque command storage means 87 and a second
However, the present invention may include only one of these.

Next, the operation when using the starting compensation torque command storage means 87 will be further explained with reference to the time chart shown in FIG.

In Figure 2, (a) is the speed characteristic of the elevator, (
b) shows a high-speed driving command, (c) shows a low-speed driving (rescue driving) command, (d) shows a permission signal, and (e) shows a brake signal.

During normal high-speed operation, the elevator is braked and stopped electrically, and at time T, the motor torque and the unbalanced torque of the elevator drive system are in equilibrium, and at this time, the encoder allows start compensation. Turn on the signal.

As shown in (f) and (g), the value PNI of the pulse counter 84 during the period TxNcO from time T1 until the brake device 9 operates is stored and held in the memory 85.

It is assumed that a passenger enters or exits the vehicle before the activation command is issued at time T2, and the value of the pulse counter 84 decreases by ΔPN to PN2.

When a start command is issued at time T2, start compensation is first performed, and a start compensation torque as shown in (h) is applied to the motor, and the brake device 9 slowly swings so that the value of the pulse counter 84 becomes PN2. The time T increased from PNI to PNI.
, the start compensation is completed, the elevator is started, and the permission signal is turned off at the same time.

Consider a case where the elevator comes to an emergency stop for some reason at time T4. At this time, the high-speed operation command is immediately turned off, the brake is turned on, and the elevator comes to an emergency stop. In this case, since the elevator has not been stopped by braking electrically, the number of pulses in the memory 85 does not mean the balance point of the elevator, so it is necessary to compensate for the next startup. cannot be used.

Generally, when an elevator makes an emergency stop, the elevator is rescued at low speed to the nearest floor to prevent passengers from being crushed.

When a low-speed operation command for performing a rescue operation is issued at time T6, in this case, since the permission signal is off as described above, the normally open contact 100. of the permission signal is turned off. is open, the torque control means 81 cannot receive the compensation torque command from the first starting compensation torque generating device 82, and instead receives the value stored in the starting compensation torque command storage means 87. (This value is stored at time T in FIG. 2) is taken as the starting compensation torque command tA.

Since this starting compensation torque command is applied via the -time delay circuit 871, it slowly rises from time T to time T. When the elevator reaches the destination floor at time T, the braking is controlled electrically, so the permission signal is turned on at this time, and the balance point is stored in the memory 85 as at time T. The pulse number PN3 is stored and prepared for the next high speed operation.

3 is a front view of the brake device 9 of FIG. 1, and FIG. 4 is a sectional view thereof.

The brake device 9 is coupled to a member 94 fixed to the hoisting machine 4 via elastic rubbers 911 to 913 such as rubber, and inside the brake member 95 are coils 961 and 962 that constitute a well-known disc brake. Spring 97, spline 9
8. It has a built-in lining 99 and the like.

In this brake device 9, the elastic body 911 holds the brake member 9.5 stationary to prevent the unbalanced torque between the elevator car and the counterweight from being transmitted through the shaft 12 of the hoisting machine. -913 are displaced, and the brake member 95 is rotationally displaced with respect to the fixed member 13 (machine room structure).

When the brake member 95 is stopped, the movable member 95 is stopped by a spring 97.
1 is pressed, the elevator is held stationary by the frictional force with the lining 951, and the coils 961 and 962 are excited, thereby attracting the movable member 951, releasing the brake force, and enabling the elevator to operate.

In the embodiment of the present invention described above, the brake device 9 was configured to be directly connected to the shaft of the hoist 4, but in the present invention, the brake device 9 is arranged between the hoist 4 and the electric motor 6. Alternatively, it may be placed on the opposite load side of the electric motor 6.

In addition, instead of elastically supporting the brake device on the machine room structure, it is possible to simply provide a slight gap to the structure (fixed part).
Since the brake member is rotationally displaced relative to the brake member, it is possible to detect the direction of the unbalanced torque and the balanced state, and the present invention can be applied to such cases as well.

[Effects of the Invention] As explained above, according to the present invention, correct start compensation can be easily performed even when performing rescue operation or maintenance operation after an emergency stop, so elevator safety is improved. This will improve riding comfort.

[Brief explanation of drawings]

Fig. 1 is a block diagram showing the structure of an embodiment of the present invention, Fig. 2 is a time chart explaining its operation, Fig. 3 is a front view of the brake device, Fig. 4 is a sectional view thereof, and Fig. 5 is a cross-sectional view of the brake device. The figure is a block diagram showing an example of the prior art, and FIG. 6 is a time chart explaining its operation. l...Car, 2...Counterweight, 3...Rope, 4...Hoisting machine,
5... Sheave, 6... Motor, 7...
... Pulse encoder, 8 ... Elevator control device, 9 ... Brake device, 81 ...
Torque control means, 82...Torque command generation device, 83...Speed command generation device, 84...
・Pulse counter, 85...Memory, 86...
...Second starting torque compensation torque command generator, 8
7... Starting compensation torque command storage means, 91...
...Elastic body, 101.102...Vibration-proof rubber,
103...Weighing device, 871...-Time delay circuit. Figure 2 Figure 4 Figure 6

Claims (1)

[Scope of Claims] 1. An elevator car and a counterweight are arranged in a spiral manner via a hoisting machine, are rotationally elastically supported with respect to the hoisting machine, and are structured to swing in the direction of rotation. An elevator system comprising: a brake that holds unbalanced torque between a car and a counterweight stationary; and a first start-up compensation torque command generator that performs start-up compensation of the elevator based on the amount of displacement of the brake when the elevator is stopped. 2. The elevator starting compensation device according to claim 1, further comprising a permission signal for permitting starting compensation by the first starting compensation torque command generating device. 2. The elevator starting compensation device according to claim 1, wherein the permission signal is activated when the elevator is braked and stopped by the torque of an electric motor that drives the elevator. 3. The elevator starting compensation device according to claim 1 or 2, further comprising a storage means for storing the starting compensation value from the first starting compensation torque command generating device. . 4. When the permission signal is inactive, the elevator start-up is compensated based on the contents of the storage means that stores the start-up compensation value. Elevator start-up compensation device described in Section 1. 5. Claim 1, characterized in that the car is equipped with a second starting compensation torque command generating device that performs starting compensation using a signal from a weighing device provided under the car when the permission signal is not activated. , the elevator starting compensation device according to item 2 or 3. 6. The elevator starting compensation device according to claim 3 or 4, characterized in that the output of the starting compensation value storage means is provided with a first-order delay circuit. 7. The displacement amount of the brake when the elevator is stopped is determined by an encoder coupled to the shaft of the elevator driving electric motor;
Claims 1 to 6 include a pulse counting means for counting output pulses of the encoder and a means for storing the counted number of pulses. Elevator start compensation device. 8. Starting the elevator according to claim 7, wherein the pulse counting means, the means for storing the number of pulses, the permission signal, and the storing means for the starting compensation value are backed up by a battery. Compensation device. 9. The elevator car and the counterweight are arranged in a spiral shape via a hoisting machine, are rotatably supported on the hoisting machine, and have a structure that swings in the direction of rotation. An elevator system comprising: a brake that holds unbalanced torque stationary; and a first starting compensation torque command generating device that performs starting compensation of the elevator based on the amount of displacement of the brake when the elevator is stopped. a permission signal that is activated when the elevator is braked to a stop due to the torque of the electric motor driving the elevator, which permits startup compensation by the startup compensation torque command generation device; and a startup compensation value from the first startup compensation torque command generation device. and a second starting compensation torque command generating device that performs starting compensation based on a signal from a weighing device provided under the car, and when the permission signal is inactive, the starting compensation storage means An elevator start-up compensation device, characterized in that the start-up compensation device performs start-up compensation by giving priority to the second start-up compensation torque command generation device.