JPH04112173A - Controller for hydraulic elevator - Google Patents

Abstract

PURPOSE:To permit the traveling of an elevator with always proper speed pattern by comparing the aimed speed and the actual speed of the elevator and making the speed pattern similar to the aimed speed pattern little by little, confirming the convergence of the ained speed to a certain constant value so that the above-described difference of speed reduces. CONSTITUTION:When an operation instruction is transmitted from an elevator controller 12, an electric motor 7 starts revolution. Then, the electric current control for opening and closing a valve 9 is carried out on the basis of the speed pattern generated by a speed controller 13, and the discharge quantity of a hydraulic pump 8 is controlled, and each elevation speed of the plunger 3 of a hydraulic jack 2 and a cage 1 is controlled. At this time, the rated speed of the elevator and the actual speed of the elevator at present are compared, and in order to reduce the difference, speed control is carried out, confirming the convergence of the actual speed of the elevator at present to a certain value during traveling, so that the speed becomes close to an aimed speed. Accordingly, the cage 1 can be raised and lowered always with the proper speed pattern.

Description

[Detailed description of the invention] [Purpose of the invention] (Industrial application field) The present invention relates to a control device for a hydraulic elevator.

(Prior Art) Hydraulic elevators generally employ a flow control method using valves. With this flow rate control method, when the elevator ascends, the hydraulic pump is rotated at a constant speed, and a fixed amount of oil is returned to the tank from this hydraulic pump.When a start command is issued, the amount of oil returned to the tank is adjusted using a valve. to control the speed of the elevator car. When the elevator is going down, the speed of the elevator car is controlled by controlling the flow rate of oil that flows back from the hydraulic cylinder to the tank due to the car's own weight using a valve.

To explain the operation of such a conventional hydraulic elevator control device, a valve for circulating pressure oil is closed when the car is stopped, and is opened in response to an operation command. The speed control device then controls the amount of pressure oil discharged through this valve to raise the car according to a predetermined speed pattern.

The speed characteristic at this time follows the speed pattern A shown by the solid line in FIG. 9 by the speed control device. That is, the elevator is started by a start command, the car is accelerated to the rated speed v0, and then the rated speed ■. and then decelerate when it reaches the deceleration switch position. And a constant implantation speed v
When the car reaches the upper limit position after being raised at I, a stop switch is activated to stop the car from rising.

During descending operation, the descending speed of the car is controlled by controlling the amount of oil discharged from the hydraulic jack due to the car's own weight using a valve.

(Problem to be Solved by the Invention) However, in such a conventional hydraulic elevator control device, when the load (hydraulic pressure) or oil temperature of the hydraulic elevator changes, the viscosity of the oil changes, and the volumetric efficiency of the hydraulic pump decreases. Therefore, there is a problem that the running pattern of the car deviates from a predetermined pattern.

For example, when the car is raised, the hydraulic pump generally reduces the amount of pressure oil discharged as the load pressure or oil temperature increases, and decreases the amount of pressure oil discharged as the load pressure or oil temperature decreases, as shown in the characteristic diagram in Figure 10. Accordingly, even if the valve current value is set and controlled to a predetermined rating, the actual speed pattern of the car changes to travel pattern A shown by the solid line in Fig. 9 as the load pressure or oil temperature increases. Driving pattern B indicated by dashed line from
As a result, the running speed decreases, and the distance traveled to reach the floor becomes longer, resulting in sluggish driving. Conversely, when the load pressure or oil temperature decreases, the running pattern C shown by the dashed-dotted line in the same figure occurs. As a result, the actual speed during rated running becomes faster, acceleration and deceleration become rapid, and the ride becomes uncomfortable.

Furthermore, when descending, a phenomenon opposite to the above-described phenomenon occurs when ascending.

Therefore, measures have been taken to reduce variations in the actual driving pattern by outputting speed control commands that produce a pattern close to the target speed pattern even when the load pressure or oil temperature fluctuates.

However, with such conventional speed control methods, when attempting to correct the target speed pattern, the actual speed pattern follows the predetermined speed pattern with a delay due to the delay in the response of the target system, resulting in divergence. There was a problem that could lead to a situation where the

This invention was made in view of the problems of the conventional technology, and it is designed to gradually bring the actual speed pattern closer to the target speed pattern while confirming that the actual speed pattern is running to a certain extent. The object of the present invention is to provide a control device for a hydraulic elevator that can apply speed correction and always provide constant running characteristics without fear of divergence.

[Structure of the Invention] (Means for Solving the Problems) The Mll device for a hydraulic elevator of the present invention includes a hydraulic jack that raises and lowers an elevator car, and a valve that controls the amount of pressure oil flowing through the hydraulic jack. a hydraulic pump that is connected to the hydraulic jack via the valve and allows pressure oil to pass therethrough; an oil temperature sensor and an oil pressure sensor for the pressure oil flowing through the hydraulic jack; and a speed detector that detects the speed of the elevator. , a speed pattern generation section that inputs signals from the sensor and generates a predetermined travel speed pattern according to oil temperature and oil pressure; and the hydraulic jack can move up and down according to the predetermined speed pattern generated by the speed pattern generation section. The speed control unit compares a predetermined speed pattern from the speed pattern generation unit with the actual speed of the elevator detected by the speed detector and gives a control command to the valve based on the deviation. and a speed control unit that provides a control command to the valve so that the speed deviation is reduced in stages and the elevator speed is temporarily stabilized at each stage.

(Function) The hydraulic elevator control device of the present invention compares the rated speed of the elevator with the current actual speed of the elevator, and in order to reduce the difference, the current actual speed of the elevator remains constant to some extent while the elevator is running. The speed is controlled so that it approaches the target speed step by step while confirming that the car is moving up and down at the rated speed pattern or a speed pattern close to it.

(Example) Hereinafter, embodiments of the present invention will be explained in detail based on the drawings.

FIG. 1 is a block diagram of an embodiment of the present invention, in which a car 1 is suspended from a lobe 5 wrapped around a pulley 4 that is moved up and down by a plunger 3 of a hydraulic jack 2. As shown in FIG.

A hydraulic pipe 6 supplies pressure oil from a hydraulic pump 8 rotated by an electric motor 7 to a hydraulic jack 2 via a valve 9 composed of an electromagnetic switching valve, and also supplies oil from the hydraulic jack 2 to a valve. The hydraulic pump 8 is disposed between the hydraulic pump 8 and the hydraulic jack 2 so that the water is returned to the tank 10 via the hydraulic pump 8 .

11 is a power source for the electric motor 7.

Reference numeral 12 is an elevator control device that controls the entire operation of the elevator, and 13 is a speed control device that controls the traveling speed of the car 1.

In order to provide necessary signals to the speed control device 13, a deceleration switch 14 and a stop switch 15 are provided near each floor of the hoistway, and a hydraulic pressure sensor 16 is provided in the hydraulic piping 6. Oil temperature sensor 1 is installed in tank 10
7 is provided, and a speed detector 18 is further provided in the car 1, and all signals from these switches and sensors are connected to the speed control device 13 in a manual manner.

The detailed structure of the speed control device 13 is shown in FIG. The speed control device 13 includes an external signal input circuit 20 that inputs digital signals from a deceleration switch 14, a stop switch 15, and a speed detector 18, and a valve control circuit that generates a speed pattern based on operation commands from the elevator control device 12. controller 21 and valve 9 based on the speed pattern.
a valve control unit 22 that outputs valve opening/closing control signals to the valve, and a pump control unit 2 that drives the electric motor 7.
It is composed of 3.

Next, the operation of the hydraulic elevator control device having the above configuration will be explained.

When the car 1 is stopped, the electromagnetic switching valve of the valve 9 is closed.

Then, when a driving command is given from the elevator control device 12, the electric motor 7 starts rotating. Therefore, current control is performed to open and close the valve 9 based on the speed pattern generated by the speed control device 13, and thereby the discharge amount of the hydraulic pump 8 is controlled, and the plunger 3 of the hydraulic jack 2 and the car The lifting speed of 1 is controlled.

Here, as mentioned above, the valve 9 corresponding to the speed pattern A at the rated time shown in FIG. 9 regardless of the oil pressure or oil temperature.
When trying to control the valve opening with current, the flow rate of the pressure oil changes significantly due to changes in oil pressure and oil temperature even if the valve opening is kept constant, and as a result, the actual running waveform also changes in speed pattern. It deviates significantly from A.

Therefore, in order to obtain the predetermined speed pattern A even when the oil pressure and oil temperature change, it is necessary to adjust the opening degree of the valve 9 little by little step by step as shown in Fig. 3. Therefore, it is necessary to bring the speed pattern closer to a predetermined speed pattern v0. For this purpose, the valve control unit 21 in the speed control device 13 is provided with a speed pattern (this speed pattern is used to control the valve 9 at the rated condition) using a combination of oil pressure and oil temperature as shown in FIG. A first data table ATBL for selecting the current command (one-to-one correspondence with the current command), acceleration α, deceleration β, and top pattern S1 for each speed pattern as shown in FIG.
A second data table BTBL that defines the creep pattern S2 is incorporated, and by selecting this speed pattern, the actual speed is controlled so that the actual speed pattern approaches the target speed pattern step by step.

Next, the operation of the valve controller 21 will be explained according to the flowchart shown in FIG.

First, an operation command is input from the elevator control device 12,
The startup routine is entered only when predetermined startup conditions are met (step 5101).

Then, when the elevator starts, each sensor 16.1
Input the oil temperature and oil pressure detection signals from step 7 (step 51).
02).

Next, an address A corresponding to the oil temperature t and oil pressure P at that time is extracted from the first data table ATBL shown in FIG. 4, which is stored in advance (step 3103).

Next, similarly, the second part of FIG.
The address A extracted from the data table BTBL of
, H, that is, acceleration a,
Deceleration β, top pattern S1, and creep turn S2 are extracted (step S104).

Then, from the speed pattern thus extracted, an acceleration pattern based on the acceleration α is output in accordance with a calculation formula stored in advance (Step 1. Step S105).

Next, what is the acceleration pattern? Turn S1
When it becomes equal to , the top pattern S1 as a constant speed pattern is output, this is set as the target speed VO, and speed control is performed to maintain this (step 5106.
5107).

Next, pattern correction processing begins (step S108).
).

The pattern correction process is executed according to the flow shown in the flowchart of FIG.

Enter the current elevator car speed and target speed V.
o (step 5201).

When the actual speed Vr of the elevator is larger than the target speed Vo, a value obtained by decreasing the actual speed V by a predetermined amount α is determined as the speed command value Vs, and this is output as the target speed command Vs of the first stage. (Step 5202). On the other hand, if the actual elevator speed Vr is smaller than the target speed vO, the actual speed V" is set by a predetermined amount α as the speed command value Vs.
A value incremented by 1 is determined and outputted as the target speed command Vs for the first stage (step 5203).

Here, the speed control is performed by controlling the flow rate of pressure oil by current controlling the magnitude of the valve opening of the valve 9, so it takes time for the actual car speed to change due to the valve opening control. Since there is a delay, β1, which is set in advance, is added to the speed command Vs until the actual speed Vr of the car settles down.
The lower car speed is measured for seconds, and when the actual speed Vr of the car has stabilized, the actual speed Vr reaches a certain range of speed command Vs, that is, Vr such that Vs-δ≦V≦Vs+δ. It is determined whether or not there is one (steps 5204, 5205).

In this way, when the actual speed Vr comes to almost match the speed command Vs, the next step is to output this speed command Vs (step 5206), and check whether this speed command Vs has reached the allowable range with respect to the target speed Vo. Please, that is, vO−Δ
It is determined whether V≦Vs≦vO+ΔV (ΔV is a quantity that can be determined experimentally based on the specifications of the actual device) (step 5207).

In this step 5207, when it is determined that the speed command Vs, and hence the actual car speed V', has almost reached the target speed ■0, the car speed control ends. If it is determined that it is not, the process returns to step 5201, and as a second stage correction of the speed command Vs, the actual speed Vr is further increased or decreased by α3 to set a new control target speed (speed command Vs). Speed control is performed so that the actual speed V' approaches this,
Similarly to step 4, the actual speed of the car is controlled so as to reach the target speed vO step by step while correcting it in steps of α1 until the actual speed Vr almost matches the target speed 0.

Here, the stepwise correction amount α is a value obtained from the difference between the 11 target speed and the current actual speed of the elevator, and is a fixed value in this example, but it may also be changed depending on the oil temperature or oil pressure. good.

In the above embodiment, in the stepwise speed control, the actual speed V' is brought closer to the speed command Vs, and this speed command V
Although the speed control is carried out in stages such as waiting for the value of s to almost settle before moving on to the next stage of speed control, the present invention is not limited to this embodiment, and for example, as shown in FIG. 8(a). ,(
As shown in b), the oil amount command r1 corresponding to the speed command Vs,
Alternatively, the oil pressure command r2 is set in stages, and control is performed to bring the actual oil amount or oil pressure measurement value closer to these oil amount commands or oil pressure commands, and the actual measured value settles close to this oil amount command value or oil pressure command value. At this stage, the next stage of oil amount control or oil pressure control may be performed, and the oil amount control or oil pressure control may be repeated in stages until the actual speed finally reaches the target speed Vo.

Returning again to the flowchart of FIG. 6, after this pattern correction processing, when a signal is input from the external signal input circuit 20 to the deceleration switch 14 of the destination floor, a deceleration pattern is outputted using the deceleration rate β (step 5109). .S]],
0).

Next, when the deceleration pattern becomes equal to the creep pattern S2, the creep pattern S2 is maintained and output (step 5i11., Sl, 12). Then, the same pattern correction process as in step 5108 above is performed here as well (step 511.3).

Next, when a signal from the destination floor stop switch 15 is input from the external signal input circuit 20, the pattern output is stopped (
Step 5114. Sl, 1.5).

Since the speed pattern is corrected in this way, the actual running speed of car 1 can be maintained at the same speed as normal (pattern A shown in FIG. 9). become.

Although the oil temperature sensor 17 is provided in the tank 10 in the above embodiment, the oil temperature sensor 17 may also be provided in the middle of the hydraulic piping 6 between the hydraulic jack 2 or the hydraulic jack 2 and the hydraulic pump 8. , there are no particular limitations on its installation position.

[Effects of the Invention] As described above, according to the present invention, even if the oil temperature or oil pressure changes from the time the speed pattern is set, the target speed of the elevator and the actual speed are compared and the deviation is reduced. Since the speed pattern is gradually brought closer to the target speed pattern while confirming that the target speed remains somewhat constant, conventional control is used to correct large deviations. The divergence and overshoot that occur in the equipment do not occur, and the elevator can always run at an appropriate speed pattern without being affected by fluctuations in oil temperature or oil pressure.

[Brief explanation of the drawing]

Fig. 1 is a system diagram of one embodiment of the present invention, Fig. 2 is a block diagram of the speed control device in the above embodiment, Fig. 3 is an explanatory diagram of the running pattern used in the above embodiment, and Fig. 4 is the above Structure diagram of the first data table in the example, fifth
FIG. 6 is a flowchart of the speed control operation in the first embodiment, FIG. 7 is a flowchart showing the flow of pattern correction processing in the speed control operation, and FIG. Figure 8(a). (b) is a flowchart showing another example of the pattern correction processing operation, FIG. 9 is an explanatory diagram showing a running pattern of a conventional elevator, and FIG. 10 is a characteristic diagram of a general hydraulic pump. 1... Car 2... Hydraulic jack 3.
...Plunger 6...Hydraulic piping 7...Electric motor 8...Hydraulic pump 9...Valve
10...Tank 12...Elevator control device 13...Speed control device 14...Deceleration switch 1
5... Stop switch 16... Oil pressure sensor 17.
...Oil temperature sensor 18...Speed detector 20...
External signal input circuit 21...Valve control controller 22...Valve control unit 23...Pump control unit

Claims (1)

[Scope of Claims] A hydraulic jack for raising and lowering an elevator car; a valve for controlling the amount of pressure oil flowing through the hydraulic jack; and a valve connected to the hydraulic jack via the valve to allow pressure oil to pass through. an oil temperature sensor and an oil pressure sensor for the pressure oil flowing through the hydraulic jack; a speed detector that detects the speed of the elevator; a speed pattern generating section that generates a traveling speed pattern of the speed pattern generating section; The speed control unit compares the actual speed of the elevator detected by the elevator and gives a control command to the valve based on the deviation, and reduces the speed deviation step by step, and once the elevator speed is increased at each step. A control device for a hydraulic elevator, comprising: a speed control section that gives a calming control command to the valve.