JPH04323180A - Elevator device - Google Patents

Abstract

PURPOSE:To provide a highly reliable position data for a moving body by storing the output of an absolute rotary encoder in a certain standard position of the moving body, and comparing the stored value with the present output of the encoder. CONSTITUTION:Both ends of a rope 7 are engagingly locked to an elevator cage 1, the rope 7 is laid between tension pulleys 8, 9 provided on the upper and lower ends of an elevator passage, and a serial absolute rotary encoder 10 and an incremental rotary pulse encoder 11 are connected to the upper tension pulley 8. Since the serial absolute rotary encoder 10 encodes one rotation into the binary code of 21<11> and outputs an absolute value encoded according to rotating angle as a serial data, an absolute position signal can be obtained with the resolution in which the whole length of the elevator passage is granulated to 2<11>X2<13>=2<24> when the SAE 10 is applied to an elevator.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a moving body, such as a control device suitable for an elevator.

0002

[Prior Art] To detect the position of an elevator, a rotary, a pulse, an encoder and a counter are used. (USP46
73062), (3) Japanese Unexamined Patent Publication No. 145091/1982, and (4) Japanese Patent Application Unexamined Publication No. 321272/1999. That is, a rotary, pulse, and encoder are rotated through a rope whose both ends are connected to the elevator car in an endless manner. This encoder generates a number of pulses proportional to the amount of movement of the car, and by adding these pulses when ascending and subtracting them when descending, this count value is used as a position signal of the car.

[0003] In order not to lose the position of the elevator car even during a power outage, as disclosed in the above-mentioned publication (1), an uninterruptible power supply is provided to supply power to both the encoder and the counter. In addition, the above-mentioned publications (2) and (
4) discloses that multiple sets of pulse encoders and counters are provided in order to compensate for erroneous counts. Furthermore, the above-mentioned publication (3) discloses that a pulse encoder and a counter are applied to correction of the landing position of an elevator car.

0004

In the above-mentioned prior art, an uninterruptible power source is required for both the rotary encoder and the counter in order to avoid losing sight of the elevator car position in the event of a power outage. That is, if a power outage occurs while the elevator is running, the distance traveled from the time the power outage occurs until the elevator stops must be counted without fail. Furthermore, if a power outage occurs with the car door open, the weight of the car changes as passengers get off or get on, and the amount of rope stretch changes, causing the car to move. This travel distance is also
Must be counted reliably.

[0005] However, this uninterruptible power supply is a major problem in terms of maintenance and cost, and it is desirable that the capacity be as small as possible.

On the other hand, in a combination of a pulse encoder and a counter, when the elevator car vibrates in the vertical direction due to passengers getting on and off the elevator car, passengers jumping inside the car, etc., pulses are accumulated in one direction and counted. A counting error occurs. This error continues until the next time the position data is corrected, making it necessary to frequently correct the data, and also hindering accurate landing of the elevator. An object of the present invention is to obtain highly reliable location data of a moving object.

Another object of the present invention is to obtain position data of a moving object that will not be lost even in the event of a power outage.

Another object of the present invention is to obtain position data of a moving object that will not be lost even in the event of a power outage using only a small-capacity uninterruptible power supply.

[0009]

[Means for Solving the Problems] In one aspect of the present invention, instead of the pulse encoder and counter, an encoder (commonly called an absolute rotary encoder) that outputs encoded data corresponding to a rotation angle is provided. ) is used. At a certain reference position of the moving object, the output of this encoder is stored, and this stored value is compared with the current output of the encoder to obtain position data of the moving object.

In another aspect of the present invention, the output of the encoder at a certain reference position of the moving object is stored in a storage means having a battery-backed power source (uninterruptible power source).

[0011]

[Operation] The moving body stores the output of the absolute encoder at the reference position, and the distance from the reference position to the moving body can be determined from the difference between the current output of the absolute encoder and the stored value. At this time, even if the moving body vibrates back and forth in the traveling direction, no error will occur in subsequent position data.

Furthermore, even if there is a power outage, as long as the encoder output at the reference position is memorized, accurate current position data of the moving object can be obtained by comparison with the absolute encoder output. .

For example, conventional technology that attempts to operate pulse encoders and counters even during power outages requires an uninterruptible power supply that is expensive and troublesome to maintain. The memory that stores the output is a commercially available C-RA with low power consumption.
It is sufficient to back up M with a battery the size of an eraser and borrow an area of the memory normally used for recording other failure data.
No need to back up.

[0014]

[Embodiment] An embodiment of the present invention will be described below.

FIG. 1 is an overall configuration diagram of an elevator system according to an embodiment of the present invention.

The elevator car 1 and counterweight 2 are suspended from a sheave 4 via a rope 3 in a hanging manner. The sheave 4 is driven by a three-phase induction motor 5 to raise and lower the car and the counterweight. The induction motor 5 is supplied with three-phase alternating current of variable voltage and variable frequency from a three-phase alternating current power source through a power converter 6.

Both ends of a rope 7 are locked to the car 1, and the rope 7 is stretched between tension pulleys 8 and 9 provided at the upper and lower ends of the hoistway.

The upper tension pulley 8 includes a serial absolute rotary encoder 10 and an incremental rotary pulse encoder 11.
are combined.

[0019] Serial Absolute Rotary
The encoder (hereinafter abbreviated as SAE) 10 is, for example,
As shown in FIGS. 2 and 3, one rotation is encoded into 211 binary codes, and the encoded absolute value according to the rotation angle is output as serial data (FIG. 3 shows 211 binary codes). ~24 only shown). Furthermore, regarding the number of rotations, for example, those that output an absolute value of up to 213 are commercially available. Therefore, when this SAE10 is applied to an elevator, an absolute position signal can be obtained with a resolution in which the entire length of the elevator hoistway is subdivided into 211×213=224.

Incremental rotary pulse
As is well known, the encoder 11 outputs pulses according to its rotation angle.

The control device 12 includes encoders 10, 11,
The output of the car reference position detection device 13, the output of the landing zone detection device 14, and a group of outputs from other control devices 15 are input, and control commands are given to the power converter control device 16.

FIG. 4 shows a configuration diagram of the control device 12. Basically, it is a micro processing unit (MP
U) 121, read only memory (ROM) 12
2. It is a microcomputer equipped with a random access memory (RAM) 123, an input/output buffer 124 for inputting and outputting various signals, and a control register 125 that controls execution timing.

Now, as the elevator car goes up and down,
The serially encoded absolute position data generated from the SAE 10 is converted into parallel encoded absolute position data at minute time intervals by the serial/parallel converter 126. The conversion timing of the serial/parallel converter 126 is matched with the timing from the control register 125, and the data is successively latched into the latch 127 and updated.

[0024] Elevator car 1 is located on the 1st floor, 1F, for example.
When the reference position detection device 13 placed at .

As is well known, this C-RAM is a C-MOS type RAM with extremely low power consumption, and is used in elevators to record failure data in case of power outages or other failures. It is prepared.

Now, while the elevator is operating, the necessary elevator car position data can be obtained by subtracting the reference position data stored in the C-RAM 129 from the data latched to the latch 127.

FIG. 5 shows the flow.

The process starts when a position data reading command is given in step 501, and the presence or absence of a reference position signal is determined in step 502. If there is a reference position signal, step 5
03, the contents of the latch 127 are read. Next, in step 504, the reference position data is stored in the C-RAM 12.
Store it in 9.

Returning again to step 502, when the reference position signal disappears, that is, when the elevator car 1 leaves the first floor, which is the reference position, the contents of the latch 127 are read at step 505. This is the current SAE
is the output of C-RAM1 in step 506.
The difference from the reference position data stored in step 29 is calculated to obtain the current position data of car 1, and the process ends in step 507.

As a result, position data that accurately represents the absolute value of the distance L shown in the lower part of FIG. 4 can be obtained. The elevator car position data obtained in this manner can maintain accurate car positions even after a power outage. That is, the output of the SAE 10 can represent the absolute value of the rotation angle of the tension pulley 8 due to the movement of the car 1, and will not be distorted or lost due to a power outage. Furthermore, the same holds true even after the car is vibrated in the vertical direction, and there is no risk of miscounting. C
- As mentioned above, the RAM 129 is maintained non-volatile by the extremely small capacity battery 128, and by simply storing one reference position data in this RAM, it is possible to accurately locate the car 1 and prevent it from disappearing. No location data is obtained.

The control device 12 can create an elevator speed command based on the car position data obtained from time to time as described above. In FIG. 4, signals are input and output from other control devices 15 to, for example, a hall call button, a car call button 151, various registration relays 152, or a response lamp 153, and in addition to creating the speed command, Executes various controls. As shown in FIGS. 1 and 4, an incremental rotary pulse encoder 11 is also coupled to the tension pulley 8. The frequency of output pulses from the encoder 11 is proportional to the running speed of the elevator. Therefore, the speed command created to change continuously based on the output of the SAE 10 and the speed signal obtained based on the output pulse of the pulse encoder 11 are compared to eliminate the difference between them. A torque command can be obtained. The control device 12 performs calculations for vector control of the induction motor 5, and according to the results, gives the power converter control device a primary current command, etc. according to the output frequency command, position angle command, and torque command. Can be done.

Next, the elevator landing error correction operation (referred to as micro-leveling) will be explained using the lower part of FIG. 4 and FIG. 6.

In FIG. 4, the landing zone detection device 14 detects a detection plate 141 attached to the hoistway side in the regular landing zone of each floor. This landing zone detection device can utilize the means for detecting the zone in which the elevator car 1 can open and close the landing and car doors. The correct stopping position of the car 1 is a state in which the detection device 14 is located at the center of the detection target plate 141. Therefore, the output of the landing zone detection device 14 is checked, and the state change of the output is detected, that is, at the edge of the landing zone,
The content of the latch 127 is read, and when it rises, the detected plate 141
The target regular landing position data is set by adding the value equivalent to half the length of the detection target plate 141 and subtracting the value equivalent to the half length of the detection target plate 141 if the detection target plate 141 is descending. The current value of SAE10 is latched 127 for this regular landing position data.
The difference between the two is taken as the level error. Thereby, based on this level error, a speed command is generated that can reduce the landing error to zero, and the speed is controlled.

[0034] Normally, when a power outage occurs, even if the car moves as passengers get on and off, this is not noticeable, and it is often impossible to return it to its normal landing position after power is restored. On the other hand, according to this embodiment, it is possible to perform microleveling to the normal landing level after power is restored.

Furthermore, according to the above embodiment, the position data of the elevator car can be obtained by reading the output of the absolute encoder and calculating the difference between it and the stored reference position data only when necessary. The processing power of the microcomputer can be significantly reduced.

[0036]

According to the present invention, highly reliable position data of a moving object can be obtained.

According to one embodiment of the present invention, even if there is a power outage, it is possible to obtain position data of a moving object that will not be lost.

According to another embodiment of the present invention, it is possible to obtain position data of a moving object without losing sight of it even in the event of a power outage by simply preparing a small-capacity uninterruptible power supply.

[Brief explanation of drawings]

FIG. 1 is an overall configuration diagram of an embodiment showing the present invention applied to an elevator device.

FIG. 2 is a plan view showing the encoding status of a serial absolute rotary encoder.

FIG. 3 is a waveform diagram showing the encoding status of the serial absolute rotary encoder.

FIG. 4 is a diagram showing a specific configuration of the control device 12 in FIG. 1.

FIG. 5 is a diagram showing different flows of the microcomputer section in the above embodiment.

FIG. 6 is a diagram showing different flows of the microcomputer section in the above embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1... Car, 10... Serial absolute rotary encoder, 11... Incremental rotary pulse encoder, 12... Control device, 13... Reference position detector, 14... Landing zone detector.

Claims (10)

[Claims] Claims: 1. An encoder that outputs encoded position data corresponding to a rotation angle of a rotating body as a moving body moves; and an encoder that stores the position data when the moving body is at a specific position. A mobile body control device comprising: means for determining the position of the mobile body from position data output from the encoder and the stored position data. 2. A first encoder that outputs encoded position data corresponding to a rotation angle of a rotary body as the movable body moves, a pulse generating means corresponding to the rotation of the rotary body; A second encoder having a counter for counting, means for determining the position of the moving object based on the output of the first encoder, and means for detecting the speed of the moving object based on the output of the second encoder. Mobile object control device. 3. An encoder that outputs encoded position data corresponding to the rotation angle of a rotating body as the moving body moves, and an uninterruptible encoder that stores the position data when the moving body is at a specific position. A mobile object control device comprising: a storage means having a power source; and means for calculating the position of the mobile object from position data output from the encoder and the stored position data. 4. Means for rotating according to the movement of the car and outputting the absolute value of the rotation angle as a digital value, means for detecting that the car is in a specific position, and an output of the position detecting means. means for storing the digital value at the time when the digital value was present; means for calculating the car position from the currently output digital value and the stored digital value; and means for generating an elevator speed command in accordance with the car position. and,
An elevator device comprising means for controlling the torque generated by the elevator drive motor according to the deviation between the speed command and the actual speed signal. 5. An encoder that rotates according to the movement of the car and outputs the absolute value of the rotation angle as a digital value, and landing zone detection means that generates an output when the car is within a predetermined landing zone. , means for storing the output of the encoder in response to switching of the output of the landing zone detection means;
An elevator apparatus comprising means for calculating the difference between the stored value and the current output value of the encoder, and means for correcting the landing position of the elevator in accordance with the output of the calculation means. 6. An encoder that rotates according to the movement of the car and outputs the absolute value of the rotation angle as a digital value, means for detecting that the car is at a specific reference position, and a means for detecting the reference position. a first storage means for storing the output of the encoder in response to the operation; a means for determining a car position from the output of the encoder and the stored value; and a means for generating an elevator speed command in accordance with the car position. landing zone detecting means for generating an output when the car is within a predetermined landing zone; and a second landing zone detecting means for storing the output of the encoder in response to switching of the output of the landing zone detecting means. 1. An elevator apparatus comprising: storage means; means for calculating a difference between the stored value and the output of the encoder; and means for generating an elevator flooring error correction command according to the output of the output difference calculation means. 7. An encoder that rotates in accordance with the movement of the car and outputs the absolute value of the rotation angle as a digital value; and means for storing the encoder output when the car is at a landing position on the lowest floor. , means for comparing the output of the encoder and the stored value. 8. The elevator apparatus according to claim 7, wherein the storage means stores the encoder output when the car is at a landing position on a plurality of different floors. 9. An encoder that outputs encoded serial position data corresponding to the rotation angle of a rotating body as the moving body moves, means for converting the output of the encoder into parallel data, and the converting means. means for periodically latching and updating the output of the moving body; means for storing the latch data when the moving body is at a specific position; and position data that is the output of the latch means and the stored position data. A moving body control device comprising: means for calculating the position of the moving body from the above. 10. An encoder that outputs encoded position data corresponding to the rotation angle of the rotary body as the movable body moves; and a step of setting position data of a target stop position; storing the output of the encoder when a moving object is present; comparing the difference between the current output value of the encoder and the stored value with the target position data; and moving the object to a position where the comparison results match. A method for controlling the position of a moving body, comprising a step of stopping the body.