JPH0380712B2 - - Google Patents

Description

[Detailed description of the invention]

[Object of the Invention] (Industrial Application Field) The present invention relates to an elevator speed command method. (Prior Art) Elevators are also becoming faster as buildings become taller, and even such high-speed elevators are required to have excellent ride comfort and landing accuracy.
Elevators require efficient and smooth speed commands that correspond to the distance traveled from the departure floor to the arrival floor. FIG. 1 shows how the speed command, acceleration/deceleration, and jerk of the elevator change. a represents a speed command, b represents an acceleration/deceleration corresponding to the speed command, and c represents a rate of change in acceleration or deceleration. Acceleration operation is performed from time t0 to time t3, constant speed operation is performed from time t3 to time t4, and deceleration operation is performed from time t4 to time t7. Next, jerk running will be explained. Jerk means the rate of change in acceleration, or jerk. Generally, in elevator speed control, the start of constant acceleration/deceleration running (time t0 to t1 and time t4 to
t5) and at the end (time t2-t3 and time t6-t7)
When the vehicle runs with a constant jerk, smooth running is called jerk running. FIG. 2 shows an example of speed commands for long floors and short floors, and in the case of long floor travel 1, the rated speed command of the elevator is given. However, in the case of short floor travel 2, a speed command is given to decelerate the vehicle without reaching the rated speed. This trend is
The higher the speed of the elevator, the greater the speed, and there are various short floor runs that do not reach the rated speed. Even if the speed of the elevator is increased, the following method is generally used for high-speed elevators in order to accurately stop at the arrival floor. (1) From the start of acceleration until the rated speed is reached (times t0 to t3 in Figure 1), speed control is performed based on the speed command related to the time since the start of acceleration, regardless of the distance traveled. (a shown in Figure 2).
In short floor operation, the speed command is a speed command with a smaller acceleration than the speed command described above (2 shown in FIG. 2). The above speed command is tentatively called a time base pattern. (2) When the running elevator reaches a certain distance from the arrival floor, the elevator starts decelerating. In the initial stage of the start of deceleration (times t4 to t5 in FIG. 1), the jerk running described above is performed. During deceleration, the speed of the elevator is controlled by a speed command according to the remaining distance to the arrival floor. For example, in the constant deceleration region (from time t5 in Figure 1)
t6), remaining distance S (m), deceleration β
(m/s ² ), the speed command Vs is given by the following equation. Vs=√2...(1) The above speed command (times t5 to t6 in FIG. 1) is called a distance base pattern (FIG. 2b). (3) Furthermore, when the elevator reaches the vicinity of the arrival floor, a more accurate position signal is given, and the elevator is stopped at the normal landing position. The above speed command (times t6 to t7 in FIG. 1) is called a landing pattern (FIG. 2c). With the above-described speed command, the high-speed elevator can also land at the arrival floor with high precision. As is clear from FIG. 2, the elevator speed command is set in consideration of riding comfort so that the rate of change in acceleration/deceleration does not become too large. In other words, if the speed command given by equation (1) above is used to decelerate to the arrival floor, the ride comfort will deteriorate near the arrival floor, so a little before arriving at the arrival floor, as shown in Figure 2. Switching from distance base pattern b to landing pattern c, the vehicle gradually decelerates. FIG. 3 shows the relationship between the remaining distance S and the speed command during deceleration operation at a constant deceleration (after time t5 in FIG. 1). The remaining distance S here indicates the distance to the arrival floor (destination position) as described above. As shown in FIG. 3, when deceleration is performed using the speed command (solid line) 3 given by the above-mentioned equation (1), a sudden deceleration occurs near the arrival floor, resulting in poor ride comfort. Conventionally, in order to generally improve the ride comfort near the arrival floor, the vehicle is switched to landing pattern 4 a little before the arrival floor and the vehicle is gradually decelerated. Switching from the distance-based pattern to the landing pattern is performed forcibly when the elevator car decelerates in the distance-based pattern and reaches the remaining distance SL (fixed value), regardless of the size of the speed command in the distance-based pattern at that time. A switch is made to the speed command VL. However, as shown in FIG. 3, when switching to landing pattern 4 at landing pattern switching point 5, there is a difference of ΔV between the speed command 3 based on equation (1) above and the speed command based on landing pattern 4. A speed difference occurs, making it impossible to perform smooth switching. Therefore, in order to smoothly transition from the distance base pattern 3 to the landing pattern 4, a speed command 6 (dotted line) is used, which is obtained by shifting the speed command 3 given by equation (1) to the left on the graph by ΔS. In order to smoothly transition the distance base pattern 3 to the landing pattern 4, the speed command 6 needs to be set to a value with the target position slightly before the arrival floor (before the arrival floor by ΔS). In other words, it is given as follows. Vs=√2(-)...(2) ΔS in equation (2) is called the bias distance. ΔS
is arbitrarily set in advance depending on the characteristics of the landing pattern and the gain. Here, the speed command VL of the landing pattern 4 at the switching point 5 from the distance base pattern 6 to the landing pattern 4 is independent of the distance base pattern 6.
This value is preset based on the distance SL to the arrival floor. By the way, the remaining distance S in equations (1) and (2)
is conventionally given as a signal from a device called a floor selector that reduces the movement of the elevator hoistway and the elevator itself. However, in recent years, microcomputers have been introduced to control elevators, and the current position of the elevator, the arrival floor, etc. are calculated as digital quantities using pulses. Therefore, when using a microcomputer,
The remaining distance S is given as a calculated digital quantity. This method has the advantage that the departure floor, current position, and arrival floor can all be stored as information in the memory of the microcomputer, and this information can be used as desired. However, even if the remaining distance S given by the above method is used, the following problems occur. That is, there is a control delay in the control system that actually drives the electric motor of the elevator. The control response speed of elevator control systems is set to be slower than that of general industry, taking ride comfort into consideration, so the control system also has large delays. Furthermore, as shown in FIG. 2, the elevator speed command varies depending on the traveling distance, such as the jerk running time and the constant acceleration/deceleration running time. Generally, according to automatic control theory, the steady position deviation called offset error is determined by the integral order of the control system (also called shape control system, shape control system, etc.).
Uniquely determined by the gain. Errors during transients vary depending on the response speed of the control system and the commands given. The control system that drives the electric motor of the elevator is a shape control system, and deviations in the control system will be explained using the drawings. FIG. 4 shows the relationship between the speed command 7 and the actual speed 8 when the speed command is expressed by a linear function. When the speed command 7 is expressed as a linear function, a constant deviation 9 always occurs between the speed command 7 and the actual speed 8. Furthermore, as shown in FIG. 5, when the speed command 10 can be expressed by a quadratic function, the deviation 12 from the actual speed 11 is not always constant. The deviation 12 gradually increases during a transient period and eventually converges to a certain value. While speed control is performed at a constant acceleration/deceleration, a constant deviation 9 occurs between the speed command 7 and the actual speed 8, as shown in FIG. Also, when running in a jerk, the speed command 1
Since 0 is a quadratic function, a deviation 12 as shown in FIG. 5 occurs between the speed command 10 and the actual speed 11. Furthermore, when the speed command is a linear function (constant acceleration) as shown in Fig. 4, a deviation 9 occurs between the speed command 7 and the actual speed 8 as described above, but the value of acceleration Both have the same value. For example, if the acceleration of the speed command 7 is α, the acceleration of the actual speed will also be α. On the other hand, in the case of the speed command shown in FIG. 5, just as the deviation between the speed command 10 and the actual speed 11 gradually reaches a constant value, the acceleration also gradually increases and finally reaches a constant value. reach. Therefore, in an elevator that transitions from jerk running to constant deceleration running, the deceleration at a constant deceleration is long in operation (long floor running 1 in Figure 2) and in short operation (short floor running 2 in Figure 2). At a certain distance before the arrival floor (the point where the distance-based pattern switches to the landing pattern), the error deviation during the transition and the degree of control system convergence are different. Here, the degree of convergence of the control system refers to, for example, at what point the actual speed of the elevator converges to the constant deceleration value (deceleration value β described above) when transitioning from jerk travel at the start of deceleration to constant deceleration travel in Figure 2. It means. Next, the relationship between the speed command and the actual speed when traveling on a long floor and when traveling on a short floor will be explained in detail.
FIG. 6 shows changes over time in two types of speed commands with different travel distances. 13 indicates a speed command when traveling on a long floor, and 14 indicates a speed command when traveling on a short floor. The speed commands 13 and 14 have different times from the deceleration start points 15 and 16 at a constant deceleration to the landing pattern switching point 17. If the constant deceleration traveling time is long, the deviation between the speed command and the actual speed will reach a constant value, as shown in FIG. 4, and the deceleration will also reach a constant value. However, if the constant deceleration running period is short, as shown in FIG. 5, the deviation that occurs during jerk running means that the deceleration does not reach a constant value at the landing pattern switching point 17. For this reason, there is a difference between the actual speed and deceleration when switching the landing pattern between long floor travel and short floor travel. Similarly, regarding the actual deceleration, in the long floor traveling 13, the constant deceleration β is set by the speed command value.
(m/s ² ) has been reached (converged), but in short floor travel 14, the constant deceleration travel time is short, so there is a control delay in the transient state due to the transition from jerk travel to constant deceleration travel. and the constant deceleration β is not reached due to the deviation. Therefore, when switching the landing pattern, compared to the long floor travel 13,
The actual deceleration of the elevator has a smaller value when traveling on short floors 14. When these relationships are applied to FIG. 3, it becomes as shown in FIG. 7. That is, even if deceleration control is performed based on the speed command 18 during deceleration, as described above, a deviation occurs between the speed command and the actual speed, so for example, during long floor operation, the deviation is constant. It converges to the value, and the actual speed becomes 19. Furthermore, since the deviation has not converged to a constant value at switching point 5 during short floor operation, the actual speed 20 is smaller than the actual speed 19 during long floor operation. As described above, the speed at which the distance-based pattern changes to the landing pattern differs depending on whether the vehicle travels on a long floor or on a short floor, resulting in a problem that it is not constant. The above-mentioned defects affect ride comfort and floor landing system during floor landing control. FIG. 8 shows the relationship between time and speed command, and is a diagram showing a case where the transition from distance base pattern b to landing pattern c is smooth. The landing pattern c is based on the speed command at the switching point 17 as described above.
VL is a preset value. This landing pattern always starts with the speed command VL, and the subsequent speed command pattern is influenced by the distance base pattern b up to the switching point 17. First, when ΔS in equation (2) of distance base pattern b is adjusted so that the speed command in Fig. 8 smoothly switches between distance base pattern b and landing pattern c for short floor operation. I will explain about it. It has already been mentioned that the speed command value at the switching point 17 is larger in long floor operation than in short floor operation. This relationship is shown in FIG. 9, where the speed command b1 during long floor operation has a larger value than the speed command b during short floor operation. Therefore, the speed command VL of the landing pattern c1 at the switching point 17
A deviation of the command value of ΔV1 occurs between the two, resulting in deterioration of ride comfort at the time of switching. Conversely, if the speed command in Figure 8 is adjusted for long-floor operation, then as mentioned above, the speed command for the distance-based pattern during short-floor operation will be lower than the distance-based pattern for long-floor operation. It will be a small value. FIG. 10 shows this situation. The distance base pattern b2 for short floor operation has a smaller value than the distance base pattern b for long floor operation, and a deviation ΔV2 of the speed command occurs between the speed command VL of the landing pattern at switching point 17, and when switching This leads to deterioration of ride comfort. (Problems to be Solved by the Invention) As explained above, the speed commands based on the distance-based pattern when switching from the distance-based pattern to the landing pattern are different during long-floor operation and short-floor operation, so When switching to a landing pattern with a constant speed command, a step occurs in the speed command, making it impossible to smoothly transition from the distance-based pattern to the landing pattern, which adversely affects the ride comfort of the elevator. An object of the present invention is to provide an elevator speed command method that makes the transition of the elevator speed command from a distance-based pattern to a landing pattern good (smooth). [Structure of the Invention] (Means for Solving the Problems) In view of the above-mentioned problems, the present invention starts deceleration using a distance-based pattern that is a function of the remaining distance to the arrival floor when decelerating the elevator, and stops the elevator from arriving near the arrival floor. In an elevator that performs deceleration based on a floor pattern, the actual traveling distance from the departure floor on which the elevator travels to the arrival floor is calculated, the remaining distance from the current position of the elevator to the arrival floor is calculated,
Searching for a bias value corresponding to the actual traveling distance from bias values for correcting the remaining distance, which are set in advance to a large value when the actual traveling distance is long or to a small value when the actual traveling distance is short; An elevator speed command method comprising: subtracting the bias value retrieved from the remaining distance, generating the distance base pattern using the subtracted value, and smoothing the transition from the distance base pattern to the landing pattern. I will provide a. (Function) When the elevator decelerates, it starts decelerating according to a distance-based pattern that is a function of the remaining distance to the arrival floor, and decelerates according to the landing pattern near the arrival floor. Calculate the actual distance traveled to the arrival floor,
Calculating the remaining distance from the current position of the elevator to the arrival floor, and correcting the preset remaining distance to a larger value when the actual traveling distance is long or to a smaller value when the actual traveling distance is short. A bias value corresponding to the actual travel distance is searched from the bias value to be used, the searched bias value is subtracted from the remaining distance, the distance base pattern is generated using this subtracted value, and the distance base pattern is generated from the distance base pattern. Smooth the transition to the pattern. (Example) The present invention will be described based on an example shown in the drawings. In Figure 11, the central processing unit CPU
21, signals from a call device 23 for a hall, car, etc. and a hoistway position detector 24 are inputted via an input/output device 22, and signals for speed commands and operation commands are inputted to the motor drive device 25. Output.
The memory device 26 stores data such as floor data and calculation results. A sheave 28 is connected to a main motor 27 driven by a motor drive device 25 . Main rope 2
9 is wound around a sheave 28, and a car 30 and a counterweight 31 are connected to both ends of the main rope 29. In this embodiment, the bias value of equation (2) mentioned above is made variable in accordance with the distance traveled, thereby improving the transition from the distance-based pattern to the landing pattern during deceleration. be. During long floor operation, the bias value is set to a relatively large value, and during short floor operation, the bias value is set to a relatively small value. That is, as shown in FIG. 12, in the case of long floor operation in which the deviation between the speed command 18 and the actual speed converges to a constant value, the actual speed becomes a curve 19 and smoothly transitions to the landing pattern at the intersection point 5. In order to do this, it is necessary to give a speed command 32 that shifts the speed command 18 to the left on the graph by the bias value ΔS0. Also, when traveling between relatively short floors,
The actual speed becomes a curve 20, and in order to smoothly transition to the landing pattern at the intersection 5, it is necessary to give a speed command 33 that shifts the speed command 18 to the left on the graph by the bias value ΔSn. In the present invention, at switching point 5, the bias value is set to the maximum during long floor operation where the deviation between the speed command and the actual speed converges to a constant value, and the bias value is set to the maximum during short floor operation where the deviation does not converge to a constant value. A bias value smaller than the bias value is selected according to the actual traveling distance. The operation of this embodiment will be explained using the configuration example shown in FIG. 11 and the flowchart shown in FIG. 13. step
100 to detect that a call has occurred on any floor,
At step 101, a driving command corresponding to the driving direction is generated. Set the departure floor data in step 102,
In step 103, the advance function, which performs the function of the advance movable platform of the conventional floor selector through arithmetic processing, starts searching for a call. In step 104, the output of the time-based pattern begins, and in step 105, the predecessor function retrieves the call and sets the arrival floor data. step
In step 106, the actual travel distance S0 (distance from the departure floor to the arrival floor) is calculated using the arrival floor data and departure floor data, and in step 107, the remaining distance is calculated and set using the arrival floor data and current position data (S value set).
do. In step 108, search for and set the bias value according to the actual mileage data S0 (ΔS(b) set)
Then, from the remaining distance S and the bias value ΔS(b), step the remaining distance (S - ΔS(b)) according to the actual traveling distance.
Calculate and set in 109. A distance base pattern corresponding to the remaining distance (S - ΔS(b)) obtained in step 109 is calculated in step 110 (based on equation (2)),
In step 111, the time-based pattern is changed to the distance-based pattern in consideration of jerk, and in step 112, the distance-based pattern is changed to the landing pattern. A distance-based pattern is generated by the procedure described above, but by appropriately setting the bias value shown in step 108, the transition from the distance-based pattern to the landing pattern is made smooth. Next, the details from the actual mileage calculation in step 106 to the search for the bias value S(b) in step 108 are shown in the flowchart of FIG. Actual mileage S0
Set the distance divided appropriately. The number of divisions may be determined depending on the type of short floor running. The higher the rated speed, the greater the number of divisions since there are many short floor runs. The table in FIG. 15 shows bias values ΔS(b) corresponding to the magnitude of the actual traveling distance S0. The travel distance S1 is a travel distance during long floor operation in which the deviation between the actual speed and the speed command during deceleration converges to a constant value. Therefore, the actual mileage is S
If it is 1 or more, the deviation converges to a constant value, so the bias value is set to (ΔS+ΔS0). As is clear from FIG. 12, this bias value ΔS(b) obtains a new speed command by adding a bias value of ΔS0 to the speed command 18 which has already considered the bias value ΔS as a bias value. The bias value in equation (2) is (ΔS+ΔS0). In the case of a trip where the mileage is less than S1, in order to determine the bias value according to the mileage, the mileage S1 is divided into four, for example, and the bias value is set according to each actual mileage. Therefore, using a bias value that takes into account the actual travel distance, equation (2) becomes as follows. Vs=√2(-(b)) =√2{-(+)} ...(3) However, ΔS4<ΔS3<ΔS2<ΔS1<ΔS0, and ΔS0 is the deviation between the speed command and the actual speed is constant. This is the bias value during long floor operation that converges to the value. For example, the distances of S2, S3, and S4 are set (S1>S2>S3>S4). So step 106
First, compare the actual mileage S0 calculated with S4,
If S0<S4, set the bias value ΔS(b) to ΔS+
Set ΔS4. Next, if S0≧S4, then S
Compare 0 with S3. If S0<S3, the bias value ΔS(b) is set to ΔS+ΔS3. In this way, one of five bias values is selected until the bias value ΔS(b) becomes ΔS+ΔS0 when S0≧S1. As mentioned above, the greater the actual mileage, the
A large bias value is selected and the speed command given by equation (2) is corrected to smooth the transition from the distance-based pattern to the landing pattern. Although this embodiment has been described as an apparatus using a microcomputer, it may be constructed using a digital circuit instead of the microcomputer. Furthermore, although it has been described that the remaining distance to the arrival floor is corrected according to the elevator total travel distance data, the total travel distance itself may be corrected if a speed command is generated according to the total travel distance. [Effects of the Invention] The present invention uses an elevator control device having a digital calculation function such as a microcomputer to resolve the delay in the elevator control system and the difference in convergence of the control system due to the traveling distance caused by the speed command method. , calculate the actual travel distance using the elevator departure floor data and arrival floor data, select a bias value according to the actual travel distance, generate and correct a distance-based pattern, and convert the distance-based pattern to the landing pattern. Smooth transitions for improved ride comfort and landing performance.

[Brief explanation of drawings]

FIG. 1 is a diagram showing speed commands, changes in acceleration, and changes in jerk in elevator speed control; FIG. 2 is a diagram showing an example of speed commands for elevators running on long floors and short floors; Figure 3 is a diagram showing the elevator speed command with respect to the traveling distance;
Figures 4 and 5 are diagrams showing the deviation between the speed command and the actual speed, Figure 6 is a diagram showing the speed command of an elevator running on long and short floors, and Figure 7 is a diagram showing the distance-based pattern. A diagram showing the relationship between the speed command and the actual speed, FIG. 8 is a diagram showing the speed command when the transition from the distance base pattern to the landing pattern is good,
Figures 9 and 10 are diagrams showing the speed command when the speed command is not good, unlike Figure 8, Figure 11 is a block diagram of the elevator system showing the configuration of the present invention including a microcomputer, and Figure 12 is the distance base pattern. Figure 1 showing the transition from to implantation pattern.
3 and 14 are flowcharts showing the operation of the present invention, and FIG. 15 is a table showing bias values for actual travel distances. 10... Central processing unit, 11... Input/output device, 14... Motor drive device, 15... Memory device, 16... Main motor.

Claims (1)

[Scope of Claims] 1. When the elevator decelerates, the elevator starts decelerating according to a distance-based pattern that is a function of the remaining distance to the arrival floor, and decelerates according to the landing pattern near the arrival floor, wherein the elevator runs. The actual traveling distance from the departure floor to the arrival floor is calculated, the remaining distance from the current position of the elevator to the arrival floor is calculated, and when the actual traveling distance is long, the actual traveling distance is set to a large value or the actual traveling distance is If it is short, a bias value corresponding to the actual traveling distance is searched from bias values for correcting the remaining distance set in advance to a small value, the searched bias value is subtracted from the remaining distance, and this subtracted value is used to correct the remaining distance. A method for commanding speed of an elevator, comprising: generating a distance-based pattern; and smoothing the transition from the distance-based pattern to the landing pattern.