JPH04101975A - Speed control device for elevator - Google Patents

Abstract

PURPOSE:To obtain excellent speed follow-up performance and improve stop position accuracy without aggravating the riding comfort of an elevator by changing the gain of a speed control amplifier according to the speed deviation quantity between the speed command signal and actual speed signal of the elevator. CONSTITUTION:A speed deviation quantity signal is inputted into a two-stage gain switching circuit 2a and a speed control amplifier 6. The two-stage gain switching circuit 2a places the contacts of gain change-over switches 5a, 5b into the specified state when the speed deviation quantity is less than the specified value, but performs its action when the speed deviation quantity becomes more than the specified value so as to switch the contact of the gain change- over switch 5a onto the gain amplifier 3 side and the contact of the gain change- over switch 35b onto the gain amplifier 4 side. In the case of the speed deviation quantity being more than the specified value, a proportional gain is amplified by a gain amplifier 3, and an integrated gain is amplified by a gain amplifier 4, and then both are inputted into the speed control amplifier 6. The speed control amplifier 6 PI-amplifies the speed deviation signal and outputs it as a torque command signal.

Description

DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application The present invention relates to an elevator speed control device that is effective for use in controlling elevators.

B4 Summary of the Invention The present invention controls the speed of an elevator using a speed control amplifier based on a speed deviation amount between a speed command and an actual speed of the elevator, and the gain of the speed amplifier is changed according to the speed deviation amount. By doing so, an elevator speed control device with good speed followability and good stopping position accuracy is obtained.

C0 Conventional technology In an elevator speed control device, the speed deviation amount between the speed command and the actual speed is obtained, and this speed deviation amount is amplified by an amplifier and used as a torque command to control the torque of the electric motor that is the elevator drive source. There is.

D0 Problems to be Solved by the Invention Elevators are desired to operate faster, provide a more comfortable ride, and stop with less displacement. However, if the acceleration is increased in order to increase the speed, a deviation between the speed command and the actual speed tends to occur, and as a result, the accuracy of the stop position deteriorates. In order to avoid this, a method has been adopted to increase the gain of the speed control amplifier (ASR amplifier), but in this case, vibration tends to occur, resulting in poor ride comfort. Therefore, although the gain is adjusted based on the balance between the two, it is undeniable that the stopping position accuracy and riding comfort deteriorate.

The present invention has been made in view of the above-mentioned problems, and its purpose is to improve speed followability by changing the gain of the speed control amplifier according to the speed deviation amount between the speed command signal and the actual speed signal of the elevator. To provide an elevator speed control device which is excellent in performance and can improve stopping position accuracy without deteriorating the riding comfort of the elevator.

In order to achieve the above-mentioned object, the present invention obtains a speed deviation amount signal from an elevator speed command signal and an actual speed signal, and amplifies this speed deviation amount signal to An elevator speed control device is constituted by a speed control amplifier that controls the speed, and gain switching means that switches the gain of the speed control amplifier depending on the magnitude of the speed deviation amount signal.

The present invention also provides a speed control amplifier that obtains a speed deviation amount from an elevator speed command signal and an actual speed signal, and amplifies this speed deviation amount signal to obtain a torque command signal for an elevator drive unit, and a gain of this speed control amplifier. An elevator speed control device is constituted by gain switching means that changes the gain according to the speed deviation amount signal.

When the deviation amount between the speed command and the actual speed of the F0 action elevator is large, the gain of the speed control amplifier is increased to improve speed followability, and when the speed deviation amount becomes small, the gain is returned to the original gain.

To increase the gain, increase the proportional gain (P gain) and integral gain (I gain) to shorten the time constant.

That is, the combination of P gain and I gain increases the total gain and improves speed followability.

Gain switching means include two-stage gain switching that switches the gain when the speed deviation exceeds a predetermined value, multiple switching that has multiple switching points, and continuous switching that changes the gain continuously according to the amount of speed deviation. be. Further, gain switching may be performed by determining a minimum deviation amount for continuous switching.

G. Examples Examples of the present invention will be described below with reference to FIGS. 1 to 3.

FIG. 1 shows an elevator speed control device according to a first embodiment of the present invention, in which 1 is a matching circuit which receives a speed command signal and an actual speed signal indicating the actual speed of the elevator, and 2a is a matching circuit. a two-stage gain switching circuit which inputs the speed deviation amount signal obtained by the matching circuit 1;
3 is the first one that amplifies the gain (P gain) of the proportional control signal.
4 is a second gain amplifier that amplifies the gain (summer gain) of the integral control signal, 5a is a first gain changeover switch that switches between a P gain signal and a signal obtained by amplifying the P gain signal, and 5b is a gain amplifier. A second gain changeover switch similarly switches between a N-gain signal, the N-gain signal, and a signal obtained by amplifying the N-gain signal; 6 is a matching circuit 1;
A proportional integral amplifier (PI) amplifies the speed deviation amount signal from the
amplifier).

In the speed control device shown in FIG. 1, the speed deviation amount signal from the matching circuit 1 is input to a two-stage gain switching circuit 2a and a speed control amplifier (PI amplifier) 6. The two-stage gain switching circuit 2a switches to the first gain switching circuit 2a when the speed deviation amount is less than a predetermined value. Second
The contacts of the gain changeover switches 5a and 5b are set to the state shown in the figure, and when the value exceeds a predetermined value, the contacts of the first gain changeover switch 5a are switched to the first gain amplifier 3 side, and the second The contact of the gain changeover switch 5b is switched to the second gain amplifier 4 side. That is, when the speed deviation amount is less than a predetermined value, the P gain and I gain are directly input to the PI amplifier 6.

Furthermore, when the speed deviation amount is greater than or equal to a predetermined value, the P gain is amplified by the first gain amplifier 3, and the ■ gain is amplified by the second gain amplifier 3.
After being amplified by a gain amplifier 4, each signal is input to a PI amplifier 6.

The PI amplifier 6 PI amplifies the speed deviation amount signal and outputs it as a torque command signal.

In this way, in an elevator, there is almost no load fluctuation during operation, and vibrations are less likely to occur when the speed deviation is large, so when the speed deviation is large, the gain of the ASR amplifier is increased to improve speed followability. Increase the gain, and when the speed deviation becomes smaller, return to the original gain.

FIG. 2 shows a speed control device according to a second embodiment of the present invention, in which the same or corresponding parts as those in FIG. 1 are given the same reference numerals. In FIG. 2, 2b is a continuous gain switching circuit that receives the speed deviation amount as an input and generates a continuous function signal, and 7a is a continuous gain switching circuit that receives the continuous function signal and proportional gain (P gain) signal of the continuous gain switching circuit and amplifies the P gain. The amplifier No. 1, 7b, is a second amplifier which receives the continuous function signal and integral gain (I gain) signal from the continuous gain switching circuit 2b and amplifies the I gain.

In the speed control device shown in Fig. 2, continuous gain switching circuit 2
b inputs a continuous function signal to the first amplifier 7a and the second amplifier 7b based on the speed deviation amount signal. first amplifier 7a
further inputs the P gain signal, amplifies the gain of the continuous function signal, and inputs the amplified P gain signal to the PI amplifier 6. Further, the second amplifier 7b receives the N-gain signal as input, amplifies the gain of the continuous function signal, and inputs the amplified N-gain signal to the PI amplifier 6. P
The I amplifier 6 continuously amplifies the total gain of the P gain and I gain of the speed deviation amount signal based on the P gain signal from the first amplifier 7a and the N gain signal from the second amplifier 7b to generate a torque command signal. Output.

FIG. 3 shows an elevator speed control system according to a third embodiment of the present invention, in which the same or equivalent parts as those in FIG. 2 are given the same reference numerals.

In this embodiment, a continuous gain switching circuit 2C with a lower limit deviation is used as the gain switching circuit, and when the speed deviation amount is within a predetermined range, the P gain and I gain are maintained at predetermined values, and when the speed deviation amount is above the predetermined range. Then, the P gain and I gain are changed continuously.

H0 Effects of the Invention In the present invention, as described above, the gain of the speed control amplifier is changed according to the speed deviation amount signal between the speed command signal and the actual speed signal of the elevator, so that the riding comfort of the elevator is deteriorated. Therefore, the gain of the speed control amplifier can be adjusted to obtain the optimum speed followability without any problems, and it is possible to obtain an elevator speed control device with good stopping position accuracy even when the acceleration is increased.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of an elevator speed control device according to a first embodiment of the present invention, and FIG. 2 is a block diagram of an elevator speed control device according to a second embodiment of the present invention. FIG. 3 is a block diagram of an elevator speed control device according to a third embodiment of the present invention. ■... Matching circuit, 2a... Two-stage gain switching circuit, 2b... Continuous gain switching circuit, 2C... Continuous gain switching circuit with lower limit deviation, 3... First gain amplifier, 4... ...Second gain amplifier, 5a...First gain changeover switch, 5b...Second gain changeover switch, 6...Speed control amplifier (PI amplifier), 7a...
First amplifier, 7b... second amplifier. 1 other person

Claims (2)

[Claims] (1) A speed control amplifier that obtains a speed deviation amount signal from an elevator speed command signal and an actual speed signal, and amplifies this speed deviation amount signal to control the elevator speed; 1. An elevator speed control device comprising gain switching means that switches according to the magnitude of a deviation amount signal. (2) A speed control amplifier that obtains a speed deviation amount from an elevator speed command signal and an actual speed signal, and amplifies this speed deviation amount signal to obtain a torque command signal for the elevator drive unit, and the gain of this speed control amplifier is 1. An elevator speed control device comprising gain switching means that changes the speed according to a speed deviation amount signal.