JPH0485273A - Elevator control device - Google Patents

Abstract

PURPOSE:To ensure a good feeling of riding comfortableness even at start time by compensating large start torque, required in the case of starting an elevator from a stop condition of its riding cage, in accordance with a load condition and an oil temperature condition of a reduction gear. CONSTITUTION:In the case of starting an elevator from its stop condition, a load of a riding cage 9 is detected by a load detecting means 13, and oil temperature of a reduction gear 17 is detected by an oil temperature detecting means 18. Detected signals of these means serve as parameters to calculate a necessary start torque compensation amount which is added to a rotational speed control output to perform torque compensation in a dead band, and uncontinuity of a torque command value of an electric motor 7, in the case of a transfer from a stop condition to a start, is compensated so as to enable the riding cage 9 to smoothly start. In this way, a good feeling of riding comfortableness can be ensured without generating large vibration in the case of starting the elevator from its stop condition.

Description

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

(Prior Art) Conventionally, an elevator control device generally has a configuration as shown in FIG. To explain this conventional elevator control device, a speed command generation device 1 outputs a speed command signal 1a for a car 9 and gives it to a speed control amplifier 2. The speed control amplifier 2 is connected to the electric motor 7 that drives the car 9.
The speed signal 3a of the speed detector 3 coupled to the speed command generator 1 is compared with the speed command signal 1a from the speed command generator 1, and a current command 2a corresponding to the difference is outputted to the current control amplifier 4.
Add to.

The current control amplifier 4 calculates the deviation between this current command 2a and the current signal 5a of the current detector 5 that detects the current of the motor 7, and applies the load signal 6a from the unbalanced torque command device 16 to the deviation. In addition, this is output to the power conversion device 8 as a power control signal 4a.

Power conversion device 8 controls the power supplied to electric motor 7 based on this power control signal 4a.

A main rope 11 to which a car 9 and a counterweight 10 are connected is wound around a sheave 12, and an electric motor 7 rotates by receiving control power from this power converter 8, and is constituted by a gear train. The sheave 12 is interlockedly rotated via a speed reducer 17, and the car 9 is driven up and down.

A hoistway position signal device Wj115 is attached to the car 9, which detects the landing switches 16A, 16B, . When the signal is sent to the generator 1, the speed command generator 1 outputs a speed command signal based on this upon landing on the floor. Furthermore, a load detector 1 is installed in the car 9.
3 is provided, the load detection signal 13a is provided to the unbalanced torque command device 6, and the unbalanced torque command device 6 generates a signal for correcting the unbalanced torque with the counterweight 10, and outputs the current control amplifier 4. It is designed to be given to

In recent years, with the rapid development of microcomputer technology, digital control using micro combinators has come to be widely adopted for elevator control. The elements, that is, the speed command generator 1, the speed control amplifier 2, and the current control amplifier 4 are controlled by the microcomputer 2.
1, and these functions are now being performed digitally.

(Problems to be Solved by the Invention) However, such conventional elevator control devices have the following problems.

When the electric motor 7 is driven from the stationary state of the car 9, the efficiency of the reducer 17 changes greatly immediately before and immediately after the drive, that is, at the time when static friction is switched to dynamic friction, and as shown in FIG. As shown, the torque of the electric motor 7 is a certain constant value T,.

Until this occurs, the car 9 is not driven at all, that is, a dead band DB occurs. This dead band DB varies greatly depending on the load condition of the elevator car 9.

Furthermore, generally, a large amount of lubricating oil is injected into the gear train portion of the reduction gear 17, and the width of this dead band DB has the property of changing greatly depending on the temperature of the lubricating oil.

The existence of this dead band has caused the following problems. That is, in general, the speed control system of an elevator employs proportional-integral control in order to control the deviation between the speed command signal 1a and the speed signal 3a to zero, as shown in FIG. 7(a).

As shown in FIG. 7(b), within the dead band DB, the feedback value of the speed signal 3a is 0, so the torque command value 6a of the electric motor 7 is changed as shown in FIG. 7(c) by the integral element of the speed control system. The torque command swings extremely quickly and returns to the normal command value after passing through the dead band DB, indicating discontinuity in the torque command as shown in part A. Due to this discontinuity in the torque command value, large vibrations occur within the car 9, deteriorating the riding comfort.

The present invention has been made in view of the above-mentioned conventional problems, and is an elevator that does not generate large vibrations when starting the elevator from a stopped state in an elevator equipped with a reduction gear in the drive section. An object of the present invention is to provide an elevator control device that can ensure good riding comfort.

[Structure 1 of the invention (Means for solving the problem) This invention connects a sheave to an electric motor via a speed reducer, and by rotating the sheave in forward and reverse directions, a car suspended from the main rope can be An elevator control device for driving the elevator up and down, comprising: a rotational speed control means for the electric motor, a current control means for the electric motor, a load detection means for detecting the load of the car, an oil temperature detection means for detecting the oil temperature of the reduction gear; When starting the elevator, the start torque compensation amount of the electric motor in the dead band of the reducer is calculated based on the load detection value of the load detection means and the oil temperature detection value of the oil temperature detection means, and is added to the output of the rotation speed control means. The starting torque compensation calculation means is provided with a start torque compensation calculation means.

(Function) In the elevator control device of the present invention, the rotation speed control means outputs a rotation speed control signal for the electric motor, and the current control means outputs a current control signal corresponding to this rotation speed control signal, thereby controlling the electric motor at a predetermined level. Rotate at rotational speed.

When starting the elevator from a stopped state,
The load detection means detects the load of the car, the oil temperature detection means detects the oil temperature of the reducer, and the start torque compensation calculation means calculates a necessary start torque compensation amount using these detection signals as parameters, By adding this to the rotation speed control output, torque compensation in the dead band is performed, compensating for discontinuity in the motor torque command value when transitioning from a stopped state to a starting state, and enabling a smooth start of the car. shall be.

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

FIG. 1 shows an embodiment of the invention. In this embodiment, the same elements as those in the conventional example shown in FIG. 6 are designated by the same reference numerals and will be described.

The feature of this embodiment is that the elevator control device 1:20 is composed of a microcomputer. and a microcomputer 22 capable of executing each function of the current control amplifier 4, and a ROM 23 in which programs are stored.
It is equipped with a RAM 24 for temporarily storing the contents of calculation results, an input signal interface (IIF) 25 for reading input signals, and an output interface (OIF) 26 for outputting output signals. are connected to each other by a data bus line 27.

Input signals to the microcomputer 22 include a speed detection signal 3a from the speed detector 3, a current detection signal 5a from the current detector 5, a torque command signal 6a from the unbalanced torque command device 6, and a position detection signal from the hoistway position detection device 15. The signals 15a are respectively inputted via input interfaces 25.

Furthermore, the reducer 17 that decelerates the rotational force of the electric motor 7 is equipped with a thermal device 18 for detecting the temperature of the lubricating oil in the gear train therein, and the microcomputer 22 controls the thermal device 18. Oil temperature detection signal 18a
can be read via the input interface 25.

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

Figure 2 is a graph showing the relationship between the driving direction and the start torque compensation amount. During upward operation, the start torque compensation amount X is set upward with the same polarity relative to the speed command, and during downward operation, the start torque compensation amount is set as a negative pole, and this start torque compensation amount X is added to the speed control output by taking into account the polarity of the electric motor 7. Note that this starting torque compensation amount X needs to be compensated only at the time of starting, and becomes unnecessary as the speed increases, so it is set to be gradually decreased when the speed exceeds a predetermined speed.

FIG. 3 is a graph showing the relationship between the load signal 13a of the car 9 and the corresponding start torque compensation amount X1, and FIG. 4 is a graph showing the oil temperature detection signal 18 by the thermal device [18].
This is a graph showing the relationship between g and the corresponding start torque compensation amount X2, and the relationships shown in these graphs are set in advance in the microcomputer 22 as functions using load and oil temperature as parameters.

The starting torque compensation amount X1 for the load in Fig. 3 is determined by setting the torque compensation amount when the load is 50% as the minimum, and starting from that point, the torque compensation amount will be the same regardless of whether it changes toward 0% or 100%. It is a function of increasing characteristics.

Also, start torque compensation amount X2 for oil temperature in Fig. 4
is a constant oil temperature T. The torque compensation amount is reduced as part of the curve until the temperature T is reached. In the above description, it is assumed to be a function of characteristics that is a constant value.

Next, the start torque compensation operation will be explained.

As shown in the flowchart of FIG. 5, when a starting command is applied to the elevator from a stopped state, first, the load signal 6a and oil temperature signal 18a are taken in to compensate for the starting torque of the dead band DB of the reducer 17. , a start torque compensation value X1 for the load and a start torque compensation value X2 for the oil temperature are calculated separately. In other words, for example, if the microcomputer 22 reads the load W and oil temperature T, the microcomputer 22 responds to the load W and oil temperature T according to preset functions as shown in FIGS. 3 and 4. Start torque compensation amount XI
, X2 (steps Sl, S2).

Subsequently, the microcomputer 22 adds the values of the starting torque compensation amounts Xi and X2, further takes into account the driving direction, determines the polarity, and obtains the torque compensation amount X shown in FIG. Note that this polarity is the same as the polarity of the torque command that drives the electric motor 7 in the operating direction as shown in FIG. 2, and is calculated as positive polarity during upward operation and negative polarity during downward operation (step S3 ).

The elevator is started, and its speed is set to a predetermined speed, and the start torque compensation amount is attenuated with a constant slope as shown in FIG. 2 (steps S4 and S5).

The start torque compensation amount X calculated in this way is added to the output result of the speed control calculation in the microcomputer 22 separately from the unbalanced torque command signal 6a based on the load signal 13a, and Torque compensation is performed (step S6).

The torque command value obtained in this way is then used for current control calculations to obtain the necessary current command value, which is input to the power conversion device 8 and the power conversion device! 8 obtains the necessary electric power and controls the rotational speed of the electric motor 7.

In this way, in the elevator control device of this embodiment, in order for the microcomputer 22 to perform start torque compensation control for the dead band DB when starting the reducer 17, it first reads the load conditions and calculates the start torque compensation amount that matches the conditions. Furthermore, the oil temperature in the reducer 17 is read from the thermal device 18, a start torque compensation amount that matches the temperature condition is calculated, and these are added together, and the driving direction of the electric motor 7 is also taken into account to perform start torque compensation. By calculating the amount and adding it to the output of normal speed control calculations, it compensates for the large starting torque required when transitioning from a stopped state to starting, and achieves smooth starting with less vibration. .

Note that the starting torque compensation amount X1 for the load used in the above embodiment, and the starting torque compensation amount X2 for the oil temperature.
is not particularly limited to what is shown in the drawings, and should be arbitrarily determined depending on the characteristics of the actual elevator.

Furthermore, in the above embodiment, speed control and current control are performed by a microcomputer, but the sixth embodiment of the conventional example
As shown in the figure, the speed command generation means, speed control means, and current control means are individually configured with electric circuits, and the start is based on the load signal and oil temperature signal from the load detection means and oil temperature detection means. It is also possible to separately provide a start torque compensation amount calculation means for calculating the torque compensation amount, and to add the start torque compensation amount to the speed control calculation result manually input from the speed control means to the current control means.

[Effects of the Invention] As described above, according to the present invention, the large starting torque required when starting an elevator car from a stopped state is compensated for according to the load state and the oil temperature state of the reducer. As a result, the necessary starting torque is applied to the electric motor to quickly start the elevator even within the dead band when the car is stopped and there is a large deviation between the speed command and the actual speed of the car. This eliminates the problem of large vibrations occurring in the dead band and worsening the ride comfort as in the conventional case, and it is possible to ensure a good ride comfort even during startup.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of an embodiment of the present invention, Fig. 2 is a graph explaining the start torque compensation processing operation of the above embodiment, and Fig. 3 is a car load and corresponding start torque compensation in the above embodiment. Graph showing the relationship with quantity,
FIG. 4 is a graph showing the relationship between the oil temperature of the reducer and the corresponding start torque compensation amount in the above embodiment.
The figure is a flowchart showing the operation of the above embodiment, FIG. 6 is a block diagram of the conventional example, and FIG. 7 is a timing chart explaining the operation of the conventional example. 3...Speed detector 5...Current detector 6...
・Unbalanced torque command device 7...Electric motor 8...Power conversion device 9・
... Car 10... Counterweight 12... Sheave 13... Load detector 17... Reducer 18... Thermal device 20... Elevator control device 22... Microcomputer 23...・・ROM 24・RAM 25・
...Input signal interface 26...Output signal interface 27...Data bus line

Claims (1)

[Scope of Claims] An elevator control device in which a sheave is coupled to an electric motor via a speed reducer, and a car suspended from a main rope is driven up and down by the forward and reverse rotation of the sheave, comprising: a rotational speed control means; a current control means for the electric motor; a load detection means for detecting the load of the car; an oil temperature detection means for detecting the oil temperature of the reduction gear; A start torque compensation amount of the electric motor in the dead band of the reduction gear is calculated based on the load detection value of the load detection value and the oil temperature detection value of the oil temperature detection means, and is added to the output of the rotation speed control means. An elevator control device comprising compensation calculation means.