JPH04153172A - Control unit for hydraulic elevator - Google Patents

Abstract

PURPOSE:To obtain a stable running characteristic by generating a control command value based on a determined speed pattern to a valve so that a hydraulic jack can be raised and lowered in the determined speed pattern, and correcting the machine difference of every hydraulic elevator on the basis of the command value. CONSTITUTION:A speed control unit 13 inputs signals from an oil temperature sensor 17, a load pressure sensor 16, and a speed detector 18, generates a control command value based on a determined speed pattern to a valve 9 so that a hydraulic jack 2 can be raised and lowered in the determined speed pattern, and controls the flow rate of a flowing pressure oil by the control command value to control the rising and lowering speed of an elevator cage 1. The relation between the elevator speed and the control command value to the valve 9 is determined, whereby the characteristic peculiar to a hydraulic elevator apparatus, and a control command value fitting to each equipment is outputted. Thus, the running control in a fixed speed pattern can be per formed.

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. Control the elevator speed by When the elevator descends, the elevator speed is controlled by controlling the amount of oil that flows back into the tank from the hydraulic cylinder due to the weight of the car using a valve.

However, since conventional hydraulic elevator control devices using flow control methods are open-loop, when the load (oil pressure) or oil temperature of the hydraulic elevator changes, the viscosity of the oil changes, and the volumetric efficiency of the hydraulic pump decreases. There has been a problem in that the running pattern of the car deviates from a predetermined pattern due to the decrease in the driving speed.

Therefore, even when the load pressure or oil temperature fluctuates, a method is being used to reduce variations in the running pattern by outputting a control command value for a speed pattern that is close to the target speed pattern. . As one such method, a method of compensating for speed patterns using fuzzy inference has been attempted. That is, when correcting the control command value based on a predetermined speed pattern based on the human power values of the oil temperature sensor and load pressure sensor for the current pressure oil, the antecedent part adjusts the magnitude of the input value from the sensor and Fuzzy rules whose consequents each represent a control command value are set in advance, the degree of attribution of the input value from the sensor to the antecedent part of the rule is determined, and the consequent part of the rule is determined based on this degree. A control command value is calculated based on the calculated value, and the control command value is corrected based on this calculated value.

(Problem to be Solved by the Invention) However, in such a conventional hydraulic elevator control device, there is a problem that the control command value corrected by fuzzy inference cannot be applied to all hydraulic elevators. This is because equipment such as valves and pumps has some individuality for each elevator, and there are machine differences, and even when outputting the same control current value, the flow rate will differ.

In other words, in the conventional control command value compensation method, the valve,
Because machine differences such as pumps were not considered at all, variations in hydraulic elevator equipment had a direct impact on running characteristics.

This invention has been made in view of the problems of the prior art, and provides a control device for a hydraulic elevator that can always provide stable running characteristics without being affected by machine differences in hydraulic elevator equipment. The purpose is to

[Structure of the Invention] (Means for Solving the Problems) A control device for a hydraulic elevator according to the present invention is connected to a hydraulic jack via a valve for controlling the amount of circulating oil, and is connected to a hydraulic jack for controlling the hydraulic pressure for passing pressure oil through the hydraulic jack. a pump, an electric motor rotatably connected to the hydraulic pump, an oil temperature sensor and a load pressure sensor for pressure oil flowing through the hydraulic jack, a speed detector for detecting the car speed of the elm, and each of the sensors and speed detection. a speed control device that inputs a signal from a hydraulic elevator and generates a control command value for the valve based on a predetermined speed pattern so that the hydraulic elevator can move up and down in a predetermined speed pattern; It is equipped with machine difference correction means for correction.

(Function) In the hydraulic elevator control device of the present invention, the hydraulic pump allows pressure oil to pass through the hydraulic jack via the valve for controlling the amount of circulating oil, and the hydraulic jack is controlled by the circulation of this pressure oil. The car is moved up and down by driving it up and down.

The oil temperature, oil pressure, and elevator speed of the pressure oil flowing through this hydraulic jack are measured by oil temperature sensors, respectively.
It is measured by a load pressure sensor and a speed detector, and the speed control device manually inputs signals from each sensor and speed detector to control the valve in a predetermined speed pattern so that the hydraulic jack can move up and down in a predetermined speed pattern. A control command value is generated based on the control command value, and the flow rate of the circulating pressure oil is controlled using this control command value, thereby controlling the ascending and descending speed of the elevator car. Then, by determining the relationship between the speed of the elevator and the control command value for the valve, the machine difference correction means grasps the characteristics peculiar to the hydraulic elevator equipment, and outputs a control command value suitable for each equipment.

This makes it possible to perform travel control with a constant speed pattern for any elevator, regardless of differences in hydraulic elevator equipment such as valves and pumps.

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

FIG. 2 shows the overall configuration of a hydraulic elevator using a control device according to an embodiment of the present invention. 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. 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 the necessary signals to this speed control device 13, a deceleration switch 1 is installed near each floor of the elevator hoistway.
4. A stop switch 15 is provided, the hydraulic pipe 6 is further provided with an oil pressure sensor 16, the tank 10 is provided with an oil temperature sensor 17, and the car 1 is provided with a speed detector 18. , signals from these switches and sensors are all connected to be input to the speed control device 13.

Note that the oil temperature sensor 17 is connected to the tank 10 as in this embodiment.
Instead of being provided inside, it may be provided inside the hydraulic jack 2 or in the middle of the piping between the hydraulic jack 2 and the hydraulic pump 8, and the position where it is provided is not particularly limited. Furthermore, although oil temperature and load pressure are used as the sensor human force values in this embodiment, the present invention is not limited to these factors, and for example, valve temperature, tank temperature, flow rate, etc. may be used.

The detailed structure of the speed control device 13 is shown in FIG. The speed control device 13 operates the elevator in a predetermined speed pattern based on an external signal input circuit 130 that inputs digital signals from a deceleration switch 14, a stop switch 15, and a speed detector 18, and an operation command from the elevator control device 12. A valve control controller 131 that generates a control current command value necessary for running, and a rising valve 91, a descending valve 92, which will be described later for the valve 9 based on the control current command value.
It is comprised of a valve control unit 132 that outputs opening/closing control signals for valves such as the check valve 96, and a pump control unit 133 that drives and controls the electric motor 7 for the hydraulic pump.

Furthermore, the detailed structure of the valve control controller 131 in the speed control device 13 as an embodiment of the present invention is shown in FIG.

The valve control controller 131 inputs signals from the sensors 16 and 17, and sends a speed command given from the elevator control device 12 and a predetermined speed to the valve 9 so that the hydraulic jack 2 can move up and down at a predetermined speed. A control command value generation unit 21 that generates a control current command value based on a pattern, a speed storage unit 22 that stores the actual running speed of the elevator detected by the speed detector 18, and a comparison unit that stores comparative speeds at high and low speeds. Speed storage unit 23 and speed storage unit 2
The control current command value generation unit 21 compares the actual running speed stored in the elevator 2 with the comparison speed stored in the comparison speed storage unit 23, and sets the actual running speed of the elevator to approach the comparison speed.
The machine difference correction section 24 performs a correction calculation on the control current command value from the control current command value.

FIG. 4 shows the detailed internal structure of the valve 9. The valves 9 include an ascending flow rate control valve 91, a descending flow rate control valve 92, an ascending electromagnetic proportional pilot control valve 93, a descending electromagnetic proportional pilot control valve 94, a stroke sensor 95, and a check valve 9.
6, electromagnetic pilot switching valve 97, emergency manual lowering valve 98,
Maximum pressure limit relief valve 99, strainer 910, 91
1. Filters 912, 913 and apertures 914 to 918
It is made up of.

Next, the operation of the hydraulic elevator control device configured as described above will be explained.

As shown in FIGS. 2 to 4, the elevator control device 1
If there is an ascending command from 2, the electric motor 7 will start rotating and the hydraulic pump 8 will be started. However, since the ascending flow rate control valve 91 is initially in the fully open state, the entire pump flow rate is off to the tank 10. Car 1 is stopped.

Therefore, the ascending electromagnetic proportional pilot control valve 93 operates in response to a current control command from the valve control unit 132, and the ascending flow rate control valve 91 operates in the closing direction. As a result, the bleed-off flow rate to the tank 10 decreases, and this flow rate flows into the cylinder of the hydraulic jack 2 via the stroke sensor 95 and check valve 96, so that the car 1 rises.

Conversely, when descending, the electromagnetic pilot switching valve 97 is energized by the descending command, and the check valve 96 is operated in the opening direction. Furthermore, the descending electromagnetic proportional pilot control valve 94 is operated, and the descending flow rate control valve 92 is operated in the opening direction, whereby the oil in the cylinder of the hydraulic jack 2 is returned to the tank 10, and the car 1 is lowered.

Next, the speed pattern control operation including the speed machine difference correction function will be explained.

As shown in the flowchart of FIG. 5, the control command value generation unit 21 first generates a reference speed pattern, and converts this speed pattern into a current pattern for valve control (steps Sl, S2).

At this time, the current pattern is corrected based on factors such as oil temperature and load pressure that influence oil characteristics (step S3).

This current pattern is output to the valve 9, but in this case, since each elevator device, such as the valve 9 and the hydraulic pump 8, has its own current-flow characteristics (machine difference), this machine difference is This needs to be corrected so that any elevator operates at a constant speed pattern. For this purpose, in the next step S4, the machine difference is corrected. This is the valve 9 as shown in FIG.
When considering the influence of machine differences due to
^, it will be different from QB. Therefore, current-flow characteristics are actually determined and stored as values specific to hydraulic equipment.

This machine difference correction calculation is executed in the machine difference correction section 24, which outputs a test waveform as shown in FIG. 7, controls the valve 9 according to this current command, and actually runs the elevator. The following data is automatically measured and stored in the actual speed storage section 22.

When rising I usO...Current value when the car speed is no longer 0 I ulo...Current value I when the car speed becomes equal to low speed running speed V1 uhO...Current value when car speed becomes high speed running speed vh Current value when the car speed becomes equal to I ueO... Car speed, ) (When the current value decreases when it becomes 0 r dsO... Current value when the car speed is no longer 0 I dlO... Car Current value I dhO when the car speed becomes equal to the low-speed running speed v1: Current value I when the car speed becomes equal to the high-speed running speed vh deO: Current value when the car speed becomes 0 FIG. 8 shows the measurement results of current-speed characteristics during actual rise.

In this way, the actual speeds 1 uso , I ulO , 1 in various running patterns obtained in actual measurements using the test waveforms
uho, IueO; IdsO, IdlO,
IdhO, IdeO, and each corresponding comparison speed 1 us stored in the comparison speed storage unit 23 and set in advance.

Iul, Iuh, Iue; Ids
, Iold, Idh, and Ide, and calculate the correction coefficient kus-kde shown in the following formula,
Remember it in 4.

I uso -k us ・I us I ulO-k ul ・I ul I uho -k uh Urn 1 uh IueO-kue・Iue I dso -kds・I ds IdlO-kd1 No. 1dl IdhO Shinshi 1kdh dispute 1dh I den - kdeeI de Therefore, in the flowchart shown in FIG. 5, when the current pattern is output from the control command value generation section 21, the machine difference correction section 24 multiplies the above correction coefficient by the actual current command value to correct the machine difference. (step S4), and the corrected current command value is 1 usO-1de.

is outputted to the valve 9, and the valve 9 adjusts the valve opening degree based on this current command value to control the flow rate of pressure oil flowing to the hydraulic jack 2, and controls the elevation of the elevator at a predetermined speed (step S5 .S6).

In this way, when the elevator is started up or inspected, the correction coefficient due to the machine difference is applied, the test current shown in Figure 7 is actually applied, the elevator is run, and the actual speed obtained at that time is compared with the corresponding comparison speed. However, it is determined and memorized as a proportional constant, and during actual elevator travel control, the current is corrected for machine differences that have slightly different characteristics depending on the elevator equipment, as well as corrections that depend on oil temperature and load pressure. By outputting a command value, elevator operation can be controlled using the same travel speed pattern regardless of the elevator.

[Effects of the Invention] As described above, according to the present invention, by determining the relationship between the actual speed of the elevator and the control command value for the valve, the unique characteristics of each hydraulic elevator can be grasped, and the A machine difference correction value is found in the control command value that matches the characteristics of each device so that the machine runs in a pattern, and the current command value is corrected and output using the machine difference correction value, so that it can be used for valves, hydraulic pumps, etc. It is possible to always obtain running characteristics with a stable speed pattern regardless of differences in elevator equipment.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of an embodiment of the present invention, Fig. 2 is a system diagram showing the overall configuration of the hydraulic elevator control device of the above embodiment, and Fig. 3 is a valve control in the speed control device of the above embodiment. A block diagram showing the detailed internal configuration of the controller, FIG. 4 is a system diagram showing the detailed configuration of the valve in the above embodiment, FIG. 5 is a flowchart showing the operation of the above embodiment, and FIG. 6 explains the machine difference of the valve. FIG. 7 is a graph showing the test current command waveform for machine difference correction used in the above embodiment, and FIG. 8 is a current-flow characteristic diagram for explaining the machine difference correction calculation in the above embodiment. It is a speed characteristic diagram. 1... Car 2... Hydraulic jack 6.
・Hydraulic piping 7 ・Electric motor 8 ・Hydraulic pump 9 ・Valve 10 ・Tank 12 ・Elevator control device 13 ・Speed control device 16 ・Load pressure sensor 1
7. Oil temperature sensor 18... Speed detector 21.-
Control command value generation unit 22... Actual speed storage unit 23... Comparison speed storage unit 24... Machine difference correction unit 130... External signal input circuit 131... Valve control controller 132... Valve control unit 133... pump control unit

Claims (1)

[Claims] A hydraulic pump connected to a hydraulic jack via a valve for controlling the amount of oil flowing through the hydraulic jack, and an electric motor rotatably connected to the hydraulic jack, and an electric motor connected to the hydraulic jack for rotation. An oil temperature sensor and a load pressure sensor for circulating pressure oil, a speed detector that detects the elevator car speed, and signals from each of the sensors and speed detector are input, and the hydraulic jack moves up and down in a predetermined speed pattern. A control device for a hydraulic elevator, comprising: a speed control device that generates a control command value based on a predetermined speed pattern for the valve; and a machine difference correction means that corrects machine differences between hydraulic elevators.