JPH04297673A - Speed controller three-dimensional parking equipment - Google Patents

Abstract

PURPOSE:To promote processing capacity by balancing generation torque against load torque, and controlling speeds of an induction motor driving an elevator so that it is driven at the maximum speed corresponding to the load torque of a platform. CONSTITUTION:An elevator 7 of a three-dimentional parking equipment 1 is driven by a three phase A.C. induction motor. Generation torque of the motor is balanced against load torque caused by weight on a platform side on which a car is parked. Speeds of the motor is so controlled that the platform is moved at the maximum speed corresponding to the load torque. According to the constitution, the number of cars packed in the equipment can be increased.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed control device for a multilevel parking facility in which an induction motor is used to raise and lower a vehicle-mounted elevator platform along a hoistway to allow vehicles to enter and exit the garage.

0002

2. Description of the Related Art For example, there is an elevator-type multilevel parking facility 1 as shown in FIG. , is provided so as to be movable up and down along the hoistway 4 in the vertical direction. Furthermore, a plurality of parking shelves 5 for accommodating and parking vehicles W are provided on both left and right sides along the hoistway 4, respectively.

[0003] On one side of the upper part of the parking structure 2, a lifting device 7 for raising and lowering the lifting platform 3 is installed. on the other hand,
The elevating table 3 has a substantially rectangular shape in plan view, and is suspended by wire ropes 8 at each of its four corners. These four wire ropes 8 are connected to the parking structure 2, respectively.
After passing through a guide wheel 9 provided on the upper part of the cable, the cable is collected and wound around the drive part 10 of the lifting device 7, and then each end is connected to a counterweight 11. The wire ropes 8 are hoisted and unwound by forward and reverse driving operations of an induction motor (not shown) of the elevating device 7, and the elevating table 3 is raised and lowered.

Further, in FIG. 4, 13 is an entry/exit entrance for entering and exiting the vehicle W, and 14 is a pallet for mounting the vehicle, which is supported on each parking shelf 5, and is transferred to the elevator platform 3 side. It is freely configured.

[0005] In this type of multilevel parking facility,
There is a system in which the induction motor of the elevating device 7 is controlled by an inverter, and the speed command to the inverter is switched depending on the presence or absence of a vehicle W on the elevating platform 3. That is, the load on the platform 3 side is detected, and in a heavy load state where it is determined that a vehicle W is mounted, the vehicle is operated at a low speed, and in a light load state where it is determined that a vehicle W is not mounted. It was configured to run at high speed.

[0006]

[Problems to be Solved by the Invention] However, according to the above-mentioned conventional system, the driving speed is determined by one of two methods, and the driving speed during low-speed driving is set based on the heavy vehicle W, which has a large vehicle weight. Therefore, when lifting or lowering a light vehicle W having a small vehicle weight, the induction motor is operated at low speed with sufficient margin left in the torque generated by the induction motor. Therefore, various vehicles W
However, the optimum speed commensurate with the respective weights of the machines, that is, the size of the load, cannot be obtained, resulting in poor throughput.

SUMMARY OF THE INVENTION In view of the above-mentioned problems, it is an object of the present invention to provide a speed control device for a multilevel parking facility that effectively utilizes the torque generated by an induction motor to improve processing capacity.

[0008]

[Means for solving the problem] The technical means for achieving the above object is to control the driving speed by inverter controlling the induction motor that drives the vehicle-mounted lifting platform along the hoistway. In a speed control device for a multi-story parking facility, the output frequency of the inverter is gradually increased to gradually increase the rotation speed of the induction motor, and the increase in the output frequency of the inverter is stopped when the rotation speed of the induction motor no longer increases. The present invention is characterized in that it is provided with an operating speed control means for controlling the operating speed.

[0009]

[Operation] According to the present invention, when driving a vehicle-mounted lifting platform along a hoistway while controlling an induction motor using an inverter, if the output frequency of the inverter is gradually increased by the driving speed control means, the induction motor The rotational speed of the platform is gradually increased, and the moving speed of the elevator platform is also gradually increased.

If the output frequency of the inverter is subsequently increased gradually, the rotation speed will gradually increase within the constant torque range of the induction motor, but once it exceeds the constant torque range and falls within the constant output range. The generated torque decreases in inverse proportion to the increase in rotational speed. Therefore, a situation arises in which the rotational speed of the induction motor does not increase even if the output frequency is increased. At this time, the torque of the inverter (the torque that the inverter can produce), that is, the torque generated by the induction motor driven by the inverter, and the load torque due to the weight of the lifting platform on which the vehicle is mounted are balanced.

[0011] At this stage, the increase in the output frequency of the inverter is stopped, and thereafter, the induction motor is driven to rotate at the speed in the suspended state, and the torque generated by the induction motor is utilized to the maximum. The lifting platform is operated at a maximum speed according to the load torque.

0012

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.The present invention is applied to the above-mentioned elevator type multi-level parking facility 1 shown in FIG. 4, and FIG. 1 is a block diagram of the speed control device thereof.

In FIG. 1, reference numeral 21 indicates the multi-level parking facility 1.
It is an induction motor as a drive source of the lifting device 7, and includes a converter 22, a smoothing capacitor 23, and an inverter main circuit 2.
4a to a commercial three-phase AC power supply 25, this three-phase AC power supply 25 is full-wave rectified by a converter 22, the rectified output is maintained at a constant DC voltage by a smoothing capacitor 23, and this is connected to the inverter main circuit. The AC power 24a is configured to convert into alternating current power of arbitrary voltage and frequency and supply the power to the induction motor 21.

Reference numeral 26 represents an actual speed calculation section, and the induction motor 2
The actual rotational speed of the induction motor 21 is calculated from the output of a rotary encoder 27 directly connected to the rotary encoder 27.

Reference numeral 28 denotes a speed command unit that specifies the target rotation speed of the induction motor 21, and a target rotation speed signal output from this as a command speed and an actual rotation speed as an actual speed output from the actual speed calculation unit 26. It is configured to input the deviation from the signal to the torque command section 29. Note that an acceleration time is set in advance in the inverter main circuit 24a, and the target rotation speed is sequentially set from the speed command unit 28 so that the speed of the load, that is, the rotation speed of the induction motor 21 reaches the target value in the set acceleration time. A signal is output. For example, acceleration time is 2
If the target value is 1000 rpm in 2 seconds, target rotational speed signals are sequentially output so that the rotational speed of the induction motor 21 reaches 1000 rpm after 2 seconds, and reaches 2000 rpm after another 2 seconds.

The torque command unit 29 uses the speed difference between the command speed and the actual speed, that is, the deviation, to determine how much torque should be output, that is, how much the output frequency of the inverter main circuit 24a should be increased to reach the command speed and the actual speed. It is provided with a function of calculating whether the torque command value can be followed, and outputs the obtained torque command value to the vector calculation section 30. Moreover, when the deviation becomes large,
That is, if the predetermined reference value is exceeded, the actual speed will not be able to follow the command speed even if the maximum torque that can be produced by the inverter main circuit 24a is output, so the increase in the output frequency to the inverter main circuit 24a will be stopped and the actual speed will be It has a function that waits until it follows you.

Next, the torque command value obtained by the torque command section 29 is input to the vector calculation section 30, and the vector calculation section 30 calculates a torque component current corresponding to the input and a predetermined field component perpendicular to this. By vector calculation with the current, a primary current command value corresponding to the above-mentioned torque command value is determined and output. The actual primary current of the induction motor 21 is transferred to the current transformer 31.
The deviation between this actual primary current and the primary current instruction value is detected and fed back by the current control circuit 32.
The current is applied to the inverter main circuit 24a via the pulse width modulation circuit 33, and the actual primary current of the induction motor 21 is configured to be equal to the primary current command value.

The actual speed calculation section 26, speed command section 28, torque command section 29, etc. constitute an operating speed control means, and the inverter main circuit 24a, the actual speed calculation section 26, the torque command section 29, the vector calculation section The inverter 24 includes the section 30, the current transformer 31, the current control circuit 32, the pulse width modulation circuit 33, and the like.

Next, the processing operation of this speed control device is shown in FIG.
This will be explained with reference to the flowchart. First step S
1, it is confirmed whether or not a call has been registered as an activation command for the multilevel parking facility 1. When there is a call registration, the inverter 24
A maximum speed command is output to the motor (step S2), and operation is started.

When the operation is started, variable speed drive is started by vector control of the inverter 24, and the inverter 24
The frequency is output to the induction motor 21 side (step S
3) At this point, the output frequency of the inverter 24 begins to increase. Thereafter, it is substantially determined whether the difference between the torque of the inverter 24 and the load torque, that is, the acceleration torque is positive (step S4). That is, the determination in step S4 is made based on whether or not the actual rotational speed detected by the actual speed calculation section 26 increases when the output frequency of the inverter 24 increases. If the actual rotational speed increases, the acceleration torque is positive, and if the actual rotational speed does not increase, it is determined that the acceleration torque is insufficient. If this acceleration torque is positive, step S
Returning to step 3, the output frequency of the inverter 24 is further increased and supplied to the induction motor 21 side. This step S3
By repeating step S4, the output frequency of the inverter 24 is gradually increased to increase the rotational speed of the induction motor 21, and the rotational speed of the induction motor 21 is increased according to the acceleration time set here. .

Thereafter, when it is determined in step S4 that the acceleration torque is insufficient, that is, when the rotation speed of the induction motor 21 no longer increases, the process proceeds to step S5.
The increase in the output frequency of the inverter 24 is stopped, and the increase in the frequency output to the induction motor 21 side is then stopped, resulting in a constant frequency output state, and thereafter the induction motor 21 is operated at a stable speed (step S6 ). At this point, the elevator platform 3 is operated at a predetermined stable speed.

[0022] Then, when the elevator platform 3 approaches the destination location,
The vehicle is decelerated in accordance with the deceleration command (step S7), and stopped upon reaching the destination location (step S8).

FIG. 3 shows a speed-torque characteristic curve showing the relationship between speed and torque in the above operation, and shows a constant torque range in which the upper limit of controllable torque is constant regardless of speed, and a constant torque range in which the upper limit of controllable torque is constant regardless of speed. It consists of a constant output range in which the upper limit of the torque decreases in inverse proportion to the speed. For example, if the load torque is at the A position, the range above the speed-torque characteristic curve and the A position becomes the acceleration torque, and the speed is increased sequentially. , the acceleration torque is insufficient at a speed position where the speed-torque characteristic curve intersects with the A position, and the speed is finally stabilized at the a position, and the vehicle is thereafter operated at that stable speed. Further, if the load torque is at position B, the speed is similarly stabilized at position b. And if it is in the C position with a lighter load, the speed will always be - regardless of the speed.
Since it is located on the lower side of the torque characteristic curve, the speed is increased according to the set acceleration time, reaches the maximum speed, and is operated at a constant speed at the maximum speed.

The upper limit of the torque is determined by the capacity of the inverter 24, and the capacity of the induction motor is such that a predetermined speed (base speed) can be obtained even under the assumed maximum overload.

The embodiment of the present invention is constructed as described above, and when the vehicle W is mounted on the lifting platform 3 and starts driving, the driving speed control means controls the speed of the vehicle such as a large car, a medium-sized car, a small car, etc. The maximum speed of the platform corresponding to the load torque is automatically selected without any detection of the load exerted by the weight of each of the various vehicles W, and the torque generated by the induction motor is utilized as effectively as possible. , the optimum speed commensurate with the load torque can always be obtained, and the throughput of the multi-story parking facility 1 is improved.

[0026]

As described above, according to the speed control device for a multilevel parking facility of the present invention, the output frequency of the inverter is gradually increased to gradually increase the rotation speed of the induction motor, and the rotation speed of the induction motor is increased. It is equipped with a driving speed control means that stops increasing the output frequency of the inverter when the speed no longer increases, and the torque generated by the induction motor is utilized to the maximum extent possible without performing load detection, making it suitable for various types of vehicles. The optimal speed of the platform can be automatically obtained in accordance with the magnitude of each load torque due to weight, and the throughput of the multi-story parking facility can be improved.

[Brief explanation of drawings]

FIG. 1 is a block diagram of a speed control device for a multi-story parking facility showing an embodiment of the present invention.

FIG. 2 is a flowchart showing the processing operation of the speed control device.

FIG. 3 is a relationship diagram between speed and torque.

FIG. 4 is a schematic cross-sectional view of the multi-story parking facility.

[Explanation of symbols]

1. Multilevel parking facility 3 Lifting platform 4 Hoistway 21 Induction motor 24 Inverter 26 Actual speed calculation section 28 Speed command section 29 Torque command section

Claims (1)

[Claims] Claim 1: A speed control device for a multilevel parking facility in which the driving speed is controlled by inverter control of an induction motor that drives a vehicle-mounted lifting platform along a hoistway, the output frequency of the inverter being gradually increased. The multi-level parking is characterized by comprising operating speed control means that gradually increases the rotational speed of the induction motor and stops increasing the output frequency of the inverter when the rotational speed of the induction motor stops increasing. Equipment speed control device.