JPH0543146A - Controller for hydraulic elevator - Google Patents

Abstract

PURPOSE:To provide stable operating characteristics all the time by running a hydraulic elevator actually, detecting a control command value, hydraulic elevator speed, accuracy of arriving at a floor, and elevator car oscillation, and correcting the control command value from these information automatically. CONSTITUTION:A value control controller 131 is provided with a control command generating part 21, a control command value memory part 22, a memory part 23 which obtains an elevator position from a pulse signal from a pulse generator to memorize any displacement between a car floor and a hall floor when an elevator car arrives at the floor, and a memory part 26 which obtains oscillation of the elevator car from the pulse value of the pulse generator and memorizes it. Besides, the previous control current value is corrected and computed by a control command value correcting part 24 based on a previous control current command value which the control command value memory part 22 memorizes and accuracy of arriving at a floor which the floor arriving accuracy memory part 23 memorizes so that floor arriving accuracy and elevator car oscillation may reach prescribed accuracy, and the corrected control current command value is given to a value through a control command value updating part 25 as a new control current command value.

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 hydraulic elevator.

[0002]

2. Description of the Related Art Generally, a hydraulic elevator adopts a flow rate control system using a flow rate control valve. In this control method, when the elevator is raised, the electric motor is rotated at a constant speed, a constant discharge amount of oil from the hydraulic pump is returned to the tank, and when a start command is issued, the amount returned to the tank is adjusted by the flow control valve. By controlling the speed of the car. When the elevator is descending, the speed of the car is controlled by controlling the amount of oil in the hydraulic cylinder that flows back to the tank by the weight of the car by the flow control valve.

However, in this control method, it is necessary to circulate extra oil at the time of rising, and the potential energy is consumed by the heat of oil at the time of descending, resulting in a large energy loss, and there is a problem that the oil temperature rises significantly. is there.

Explaining the operation of such a conventional hydraulic elevator control device, the valve is closed when the car is stopped and is opened by an operation command. The speed control device controls the discharge amount of pressure oil passing through the valve of the valve, and the car moves up according to a predetermined speed pattern.

The speed characteristic at this time follows the speed pattern A indicated by the solid line in FIG. 7 by the speed control device. That is, the car is activated by the start command, accelerates to the high speed V0, then rises at the high speed V0, and starts decelerating when the position of the deceleration switch is reached. Then, when rising at a constant landing speed V1 and reaching the upper limit position, the stop switch is operated to stop the rising. Further, during the descending operation, the descending speed is controlled by the amount of oil discharged from the hydraulic jack due to the weight of the car.

[0006]

However, in such a conventional flow rate control type hydraulic elevator control device, when the load pressure (hydraulic pressure) or the oil temperature of the hydraulic elevator changes, the viscosity of the oil changes and the hydraulic pump There is a problem that the traveling pattern of the car is separated from the predetermined one because the volumetric efficiency is reduced. For example, when the car is raised, the hydraulic pump generally decreases the pressure oil discharge amount when the load pressure (or oil temperature) rises, and decreases the pressure oil discharge amount when the load pressure (or oil temperature) decreases as shown in FIG. When the load pressure (or oil temperature) rises, the speed pattern of the car also increases and accordingly becomes the pattern B of the broken line in FIG. 7, and when the load pressure (or oil temperature) decreases, the running pattern C of the alternate long and short dash line
Becomes Further, in the case of the traveling pattern B indicated by the broken line, the traveling time becomes long, which leads to a decrease in service, and in the case of the traveling pattern C indicated by the alternate long and short dash line, the riding comfort, particularly, the riding comfort at the time of stopping is deteriorated. Occurs. Further, during the descending, the opposite development to that during the ascending occurs. By the way, when arriving at the target floor, the vehicle stops at a certain distance before the target floor by shifting to a low speed and then stopping the output of the fine control command value before the certain distance. Therefore, because the low speed depends on the oil load output (or oil temperature), the landing accuracy, which represents the difference between the car floor level and the hall floor level when the hydraulic elevator stops at the target floor, also loads. It was dependent on pressure (or oil temperature).
If the landing accuracy is not good, for example, when a luggage cart or the like is carried in or out of the car, it is affected. Therefore, it is necessary to stop so that the difference between the car floor level and the hall floor level is as small as possible. However, even if the vehicle can be stopped so that the difference becomes small, if the car is vibrated at the time of stopping, the riding comfort is deteriorated, which is not preferable in terms of performance. The present invention has been made to solve such conventional problems, and an object thereof is to provide a control method for a hydraulic elevator that can always provide stable landing accuracy and riding comfort.

[0007]

SUMMARY OF THE INVENTION A method of controlling a hydraulic elevator according to the present invention is a hydraulic pump connected to a hydraulic jack via a valve for circulating pressure oil to the hydraulic jack, and an electric motor rotationally connected to the hydraulic pump. And an oil temperature sensor for the pressure oil flowing through the hydraulic jack, and signals from these sensors are input to control the valve based on a predetermined speed pattern so that the hydraulic jack can move up and down in a predetermined speed pattern. It is provided with a speed control device that generates a command value and a pulse generator that is installed in a car and that detects the elevator position and car vibration.

[0008]

In the hydraulic elevator control method of the present invention, the hydraulic elevator is actually run, and the control command value, the landing accuracy of the hydraulic elevator, and the car vibration are detected at this time.
Since the control command value is automatically corrected from the information and the target performance, it is possible to provide the speed control of the hydraulic elevator that always realizes stable landing accuracy.

[0009]

Embodiments of the present invention will be described in detail below with reference to the drawings.

FIG. 2 shows an embodiment of the present invention. In this embodiment, the oil temperature sensor 17 is the tank 10
In addition, a load pressure sensor 16 is provided on the hydraulic pipe 6 connecting the hydraulic jack 2 and the valve 9, and a pulse generator 18 is provided on the car 1, respectively. The output values of these are provided to the speed control device 13 as detection signals. Connected to give. A detailed configuration of the speed control device 13 is shown in FIG. This speed control device 13 is an external signal input circuit for inputting digital signals of a deceleration switch 14, a stop switch 15 and a pulse generator 18.
130, a valve controller 131 that generates a speed pattern based on an operation command from the elevator control device 12,
The valve control unit 132 outputs a valve control signal to the valve 9 based on the speed pattern, and the pump control unit 133 drives a pump motor.

In the above embodiment, the oil temperature sensor 17 is installed in the tank.
Although it is provided inside 10, the oil temperature sensor 17 may be provided at the hydraulic jack 2, or in the middle of piping between the hydraulic jack 2 and the hydraulic pump 8, and the position at which it is provided is not particularly limited. Also,
In this embodiment, the oil temperature and the load pressure are used as the sensor input value, but the factors such as the valve temperature, the tank temperature, and the flow rate may be used without being limited to these factors.

A speed control device 13 as an embodiment of the present invention
The detailed configuration of the valve controller 131 in FIG. 1 is shown in FIG. The valve control controller 131 inputs signals of oil temperature and pressure from the sensors 16 and 17, and sends a control current command based on a predetermined speed pattern to the valve 9 so that the hydraulic jack 2 can move up and down in a predetermined speed pattern. A control command generation unit 21 that generates a value and a control command value generation unit
The control command value storage unit 22 that stores the control current command value generated by 21 and the pulse signal generated from the pulse generator 18 are integrated to determine the distance, and the elevator position is calculated from this distance. And a storage unit 23 that stores the floor displacement of the landing, a storage unit 26 that obtains and stores the car vibration from the pulse value generated by the pulse generator 18, and a previous control current stored in the control command value storage unit 22. From the command value and the landing accuracy stored in the landing accuracy storage unit 23, a control command value correction unit that corrects and calculates the previous control current value so that the elevator landing accuracy and the car vibration approach a predetermined accuracy. 24,
A control command value updating unit 25 for providing the valve 9 with the control current command value corrected by the control command value correcting unit 24 as a new control current command value.

Next, the operation of the control device for the hydraulic elevator constructed as described above will be described. When the car 1 is stopped, the electromagnetic switching valve of the valve 9 is closed. When a driving command is issued, the electric motor 7 starts rotating. Storage device
The opening / closing of the valve of the valve is controlled based on the speed pattern generated by the speed control device 13 from the data of 19, so that the discharge amount of the hydraulic pump 8 is controlled and the hydraulic jack 2
The lifting and lowering of the plunger 3 and the car 1 of 1 are controlled.

Next, the internal operation of the valve 9 which controls the speed control of the hydraulic elevator having the above construction will be described with reference to FIG. First, the operation at the time of rising will be described. Since the pump is started by the ascending command and the ascending flow rate control valve 91 is fully opened, the pump flow rate is bleed off to the full tank and the car is stopped. By the control current from the valve control unit 132, the rising electromagnetic proportional pilot control valve 93 operates and the rising flow rate control valve 91 operates in the closing direction. This reduces the bleed-off flow rate to the tank, which is dependent on the stroke sensor 95 and check valve.
As it flows into the cylinder through 96, the car rises. Next, the operation when descending will be described. The electromagnetic pilot switching valve 97 is excited by the down command, and the check valve
96 operates in the opening direction. Further, the descending electromagnetic proportional pilot control valve 94 operates, and the descending flow rate control valve 92 operates in the opening direction. This causes the oil in the cylinder to flow into the tank, causing the car to descend.

Here, as described above, when it is attempted to control the speed according to a constant speed pattern regardless of the load pressure and the oil temperature, the characteristics of the oil change due to the change of the load pressure and the oil temperature. The running waveform of changes drastically.

Therefore, in order to obtain a predetermined speed pattern even when the load pressure and the oil temperature are changed, it is necessary to use the method shown in FIG.
It is necessary to generate a pattern as shown in. That is,
When the normal load pressure and oil temperature patterns are A0, when the load pressure and oil temperature are high, the volumetric efficiency of the hydraulic pump decreases and the discharge amount is small, so the pattern A1 is used, and the load pressure and oil temperature are low. Since the discharge amount of the hydraulic pump is sometimes large, the pattern A2 is generated respectively. Therefore, the control current value table of FIG. 6 is stored in the control current value generation unit 21 of FIG. 1 based on the input values of the oil temperature sensor and the load pressure sensor, and stored in the storage device 19. From the table, the starting current, high speed current, low speed current and stop current that form the traveling pattern are obtained.

By the way, the control current data in the control current value table of FIG. 6 depends on the operating environment of the hydraulic elevator, the secular change of equipment, and the adjustment error at the time of on-site adjustment. Among the updating methods, the updating method of the low speed current and the stop current has a feature of the present invention. That is, the low-speed current adjusts the landing accuracy, and the stop current adjusts the car vibration at the time of landing. However,
In order to adjust the stop current, it is first necessary to adjust the low speed current. The reason for this is that car vibration occurs regardless of the stop current when the low speed is not an appropriate value during the adjustment of the stop current. Therefore, as shown in FIG. 9, only when the low speed is within the target range in STP101, it is necessary to interlock so that the operation proceeds to STP103 and the stop current is adjusted. The adjustment method here will be described below.

First, a method of updating the low speed current will be described. Now, the control current value of the control current value table of FIG.
The level difference between the car floor and the hall floor is set to zero by outputting the control current value according to the load pressure and the oil temperature. Here, how to obtain the level difference L will be described.
The detailed configuration of the landing accuracy storage unit 23 shown in FIG. 1 is illustrated.
Shown in 10. First, the pulse input unit 234 inputs the pulse signal generated by the pulse generator 18. Next, the stored signal of the stop position pulse storage unit 233 that stores this pulse signal when the car stops and the data of the floor level data storage unit 231 that stores the floor level signal in advance are compared. The difference is obtained by the comparison unit 232. Further, this value is stored in the landing error storage unit 235 and the level difference is output to the control command value correction unit 24. This situation is shown in FIG. A pulse signal is preset for each floor, and 1F is stored as 100 H and 2F is stored as D15 (H). Compare this value with the pulse signal at the car stop position. The example in the figure shows that the pulse signal had D17 (H) when the car left 1F and stopped at 2F. Therefore, since the car stopped earlier than the level in the traveling direction of the car, the level difference in this case is +2. If the vehicle stops at D13 (H) on the 2nd floor, it will stop before the level in the traveling direction, and the level difference will be -2. In this way, by adding a sign to the level difference, a shortage or overrun is represented. By the way, when the low speed current value Ix is output at the load pressure Px and the oil temperature Tx, the level difference L
Is becoming zero. However, even if the control current value Ix was output, but the actual landing accuracy of the hydraulic elevator did not reach zero, the control current value Ix itself should be reviewed and the correction value ΔI added. Therefore, it needs to be corrected. For example, low speed current value Ix
However, when the output has not reached the level L, the low speed current value Ix needs to be increased. Further, in the case of overrun at L before the level, it is necessary to reduce the value of the low speed current value Ix. Therefore, the correction value ΔI is obtained as follows. If the corrected current value Ix0 (= Ix + ΔI) can be used to stop at the distance L0 from the level, the relationship between the control current value and the speed is almost linear in the low-speed running region, so IXO: LO = Ix: L (1) From the equation (1), IX0 = (LO / L) Ix (2), and therefore ΔI = ((LO-L) / V) Ix (3). Here, when obtaining ΔI, L and Ix are the conditions set in the previous running, and are not values determined from the current running state. Therefore, the current data is corrected based on the previous travel data. The previous control current value is I (n-
1), when the previous high speed is V (n-1) and the current control current value is I (n), I (n) = I (n-1) + α · ΔI = I (n-1) + Α · ((LO−L (n−1)) / L (n−1)) · I (n−1) (4) The current control current value is obtained. Here, a coefficient of α ≦ 1 is provided to prevent a sudden correction. As a result, the speed gradually approaches the target speed LO. Also,
I (n-1), L (n-1), and LO are stored in the storage device 19 and the control current value I (n-1) in the storage device 19 is stored as the current control current value I (n). Update. For example, when the load pressure is Px and the oil temperature is Tx, when I01 of the control current value table shown in FIG. 7 is output, I01 is updated with the current control current value.

Next, a method of updating the stop current will be described. Assuming that the relationship between the stop current and the car vibration is linear, the control current value is obtained as in the above embodiment. The previous control current value is IL (n-1), the previous car vibration is G (n-1),
GO is the target car vibration, and IL is the current control current value.
If (n), IL (n) = IL (n-1) + β · ΔIL = IL (n-1) + β · ((GO-G (n-1)) / G (n-1)) · IL (N-1) (5) The current control current value is calculated as (5). Here, a coefficient of β ≦ 1 is provided to prevent a sudden correction. A car vibration detection method according to the present invention will be described with reference to FIG. Figure 1
2 shows a detailed configuration of the car vibration storage unit 26 shown in FIG. First, the pulse input unit 264 inputs the pulse signal generated by the pulse generator 18. This pulse signal is sampled by the sampling unit 263 at regular intervals. Here, how to determine the sampling interval will be described. It is assumed that sampling is performed at a constant interval ΔT, the amount of change ΔPuls of the pulse signal is obtained, and the frequency is obtained from this value. However, the frequency f that has meaning in the measurement
Is f <fN / 2 from the sampling theorem when the highest measurement frequency is fN. For example, in order to measure the frequency of 4HZ, 4 <fN / 2, and when replaced with the period (sampling interval), 0.125> 1 / fH = ΔT. Therefore, to measure the frequency of 4HZ,
Sampling interval should be less than 125msec. Next, the analysis unit 262 obtains the frequency based on the sampling theorem, stores this value in the car vibration storage unit 261 and outputs it to the control command value correction unit 24. Next, another embodiment will be described. In the embodiment of the present invention, the electric motor rotationally connected to the hydraulic pump is caused to rotate at a constant speed when rising,
The method of controlling the hydraulic elevator by controlling the flow rate by changing the opening / closing amount of the valve is applied, but not limited to this method, the method of controlling the flow rate by controlling the rotation speed of the pump is also applied. Is also applicable. That is, an AC electric motor is rotatably connected to a hydraulic pump, and a frequency command based on a predetermined speed pattern is given to a frequency control device for controlling the power supply frequency for the AC electric motor. This can be dealt with by changing the term corresponding to the current command value in the equation (4) or (5) to the frequency command value.

[0020]

As described above, according to the present invention, in the hydraulic elevator control method of the present invention, the hydraulic elevator is actually run, and the control command value at this time, the hydraulic elevator speed, the landing accuracy, and the car. Since the vibration is detected and the control command value is automatically corrected from these information, it is possible to provide the speed control of the hydraulic elevator that always realizes stable traveling characteristics.

[Brief description of drawings]

FIG. 1 is a system diagram of an embodiment of the present invention.

FIG. 2 is a control block diagram of a hydraulic elevator.

FIG. 3 is a block diagram of the speed control device in FIG.

FIG. 4 is a configuration circuit diagram of a valve used in FIG.

FIG. 5 is an explanatory diagram of a traveling pattern used in FIG. 1.

FIG. 6 is a diagram showing a control current value table.

FIG. 7 is a conventional velocity pattern diagram.

FIG. 8 is a characteristic diagram of a hydraulic pump.

FIG. 9 is a flowchart of an adjustment procedure.

FIG. 10 is a configuration diagram of a landing accuracy storage unit.

FIG. 11 is a diagram showing an example of detection of landing accuracy.

FIG. 12 is a configuration diagram of a car vibration storage unit.

[Explanation of symbols]

 1: Car basket 2: Hydraulic jack 3: Plunger 4: Pulley 5: Rope 6: Hydraulic piping 7: Electric motor 8: Hydraulic pump 9: Valve 10: Tank 11: Power supply 12: Elevator control device 13: Speed control device 14: Deceleration Switch 15: Stop switch 16: Load pressure sensor 17: Oil temperature sensor 18: Pulse generator 19: Storage device 21: Control command value generation unit 22: Control command value storage unit 23: Landing speed storage unit 24: Control command value Modifying unit 25: Control command value updating unit 26: Car vibration storage unit

Claims (1)

[Claims] 1. A hydraulic pump connected to a hydraulic jack via a valve for passing pressure oil through the hydraulic jack, an electric motor rotatably connected to the hydraulic pump, and an oil temperature for the pressure oil flowing through the hydraulic jack. A sensor and a load pressure sensor, a valve for controlling the amount of oil, and signals from these sensors are input to the valve based on a predetermined speed pattern so that the hydraulic jack can move up and down in a predetermined speed pattern. In a hydraulic elevator control system including a speed control device that generates a control command value, a pulse generator that is installed in a car and that generates a pulse signal according to the number of revolutions, a storage unit that stores the control command value, and a pulse generator. Means to store the elevator landing accuracy from the pulse value emitted from the generator and the cage from the pulse value emitted from the pulse generator Means for obtaining vibration, means for correcting the control command value so that the landing accuracy and car vibration of the elevator approach the target performance from the detected previous control command value, flooring accuracy and car vibration, and the storage means. And a means for updating the control command value stored in the control command value to a corrected control command value.