JPH054780A - Hydraulic elevator control device - Google Patents

Abstract

PURPOSE:To reduce time and labor required for adjusting work by multiplying the valve control current command value by such a correction factor as to enlarge/reduce a reference speed pattern to perform the correction of a speed pattern. CONSTITUTION:In relation to a reference pattern outputted from a speed control device 13, a pattern correcting means performs the correction of enlarging or reducing the shape of the reference speed pattern on the basis of the oil temperature and load pressure detection value from an oil temperature sensor 17 and a load pressure sensor 16. Such a current pattern as to realize the speed pattern based on this correction is formed to control a valve device 9, and thus a stable travel characteristic is secured regardless of the characteristic change of oil caused by the fluctuation of oil temperature and load pressure. This results in reducing time and labor required for adjusting work.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hydraulic elevator control device.

[0002]

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

In this control system, it is originally necessary to circulate extra oil when ascending, and the potential energy is consumed when the oil is descending due to heat generation of the oil, so that energy loss is large, and thus the oil temperature is largely increased. Is.

Explaining the operation of such a conventional hydraulic elevator control device, the valve device is closed when the car is stopped and is opened by an operation command. Then, the speed control device controls the amount of pressure oil discharged through the valve of the valve device, and raises the car according to a predetermined reference speed pattern.

The speed characteristic at this time follows the speed pattern A indicated by the solid line in FIG. 8 by the speed control device. That is, the car is started by the start command, accelerates to the rated speed Vh, then rises at the rated speed Vh, and starts decelerating when the position of the deceleration switch is reached. And a constant landing speed V
When it ascends at 1 and reaches the upper limit position, the stop switch is operated to stop the ascent. 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 hydraulic elevator control device, when the load pressure or the oil temperature of the hydraulic elevator changes, the viscosity of the oil changes and the volumetric efficiency of the hydraulic pump decreases. Therefore, there is a problem that the traveling pattern of the car is separated from the predetermined pattern. For example, when the car is raised, the hydraulic pump generally decreases the discharge amount of pressure oil when the load pressure or the oil temperature rises, and increases the discharge amount of the pressure oil when the load pressure or the oil temperature decreases, as shown in FIG. Accordingly, the speed pattern of the car also changes from the solid line traveling pattern A to the broken line traveling pattern B when the load pressure or the oil temperature rises. Further, at the time of descending, a phenomenon opposite to that at the time of ascending occurs. In the case of the traveling pattern B indicated by the broken line, the problem that the traveling time becomes long occurs.

Therefore, even if the load pressure or the oil temperature fluctuates, there is a measure to reduce the variation of the running pattern by outputting the control command value of the speed pattern which becomes a pattern close to the target reference speed pattern. It is taken. As a method of realizing this, as shown in FIG. 10, based on the input values T and P of the oil temperature sensor and the load pressure sensor for the current pressure oil, the acceleration α is calculated from a preset parameter table for speed pattern generation. , A high speed Vhigh, a deceleration β, and a low speed Vlow are selected.

However, in such a conventional flow rate control type hydraulic elevator control device, the acceleration, high speed, deceleration and low speed of the current pattern are used as parameters, so that the pattern is compensated by temperature and pressure. ,
Also, when the adjustment work is carried out at the time of local delivery, there are many parameters to be adjusted, and there has been a problem that the adjustment work requires a lot of time and labor. In addition, there is a problem in that the temperature and pressure compensation process becomes complicated in order to ensure the consistency of the parameters.

The present invention has been made in order to solve such a conventional problem, and corrects the traveling characteristics of a hydraulic elevator by a control circuit having a simple structure, without being affected by temperature and pressure. An object of the present invention is to provide a hydraulic elevator control device that can realize stable traveling characteristics by a simple adjustment work.

[0010]

DISCLOSURE OF THE INVENTION The present invention is directed to a hydraulic jack for raising and lowering a car, a hydraulic pump connected to the hydraulic jack for passing pressure oil to the hydraulic jack, and a pressure oil circulating in the hydraulic jack. An oil temperature sensor and a load pressure sensor, a valve device for controlling the amount of oil flowing through the hydraulic jack, and a signal from the sensor group to input the valve so that the hydraulic jack can move up and down in a predetermined speed pattern. In the control device of the hydraulic elevator including a speed control device for generating a control command value based on a predetermined reference speed pattern for the device, the speed control device changes the shape of the reference speed pattern. , A pattern for generating and outputting a control command value by enlarging or reducing based on an input value from the sensor group Those with a positive means.

[0011]

According to the hydraulic elevator control apparatus of the present invention, the pattern correcting means forms the reference speed pattern based on the oil temperature and the load pressure detection value from the sensor group with respect to the reference speed pattern output from the speed control apparatus. Is performed to generate a current pattern that realizes a speed pattern based on this correction, and to control the valve device to prevent changes in oil characteristics due to changes in oil temperature or load pressure. Regardless of ensuring stable driving characteristics.

[0012]

Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 is a block diagram of an embodiment of the present invention.
Reference numeral 1 denotes a car, and the car 1 is suspended by a rope 5 wound around a pulley 4 which is moved up and down by a plunger 3 of a hydraulic jack 2. Reference numeral 6 denotes a hydraulic pipe, which supplies oil from a hydraulic pump 8 rotatably driven by an electric motor 7 to a hydraulic jack 2 via a valve device 9 and also supplies oil from the hydraulic jack 2 to a tank 10 via the valve device 9. It is provided between the hydraulic pump 8 and the hydraulic jack 2 in order to recirculate the oil. 11 is an electric motor 7
Power source.

Reference numeral 12 is an elevator control device that controls all operation of the hydraulic elevator, and 13 is a speed control device that controls the traveling speed of the car 1. In order to give necessary signals to the speed control device 13, the speed reduction switch 14 and the stop switch 1 are provided near each floor of the hoistway.
5, the hydraulic pipe 6 is provided with a load pressure sensor 16, the tank 10 is provided with an oil temperature sensor 17, and the car 1 is further provided with a position detector 18.

The detailed structure of the speed control device 13 is shown in FIG. 2, and includes an external signal input circuit 130 for inputting digital signals of the deceleration switch 14, the stop switch 15 and the speed detector 18, and the elevator control device 12. Valve control controller 131 that generates a speed pattern based on the operation command of the above, and a valve control unit 132 that outputs a control signal to the valve device 9 based on the speed pattern.
And a pump control unit 133 that drives the electric motor 7.

The location where the oil temperature sensor 17 is provided is not particularly limited to the inside of the tank 10, and it may be provided in the hydraulic jack 2 or in the middle of the pipe between the hydraulic jack 2 and the hydraulic pump 8. Further, although the oil temperature and the load pressure are used as the control factors in the above embodiment, the control factors are not limited to these factors,
For example, the valve temperature, the tank temperature, the oil flow rate, etc. can be used.

Next, the operation of the control device for the hydraulic elevator constructed as above will be described. When the car 1 is stopped, the electromagnetic switching valve of the valve device 9 is closed. Then, when the operation command is given from the elevator controller 12, the electric motor 7 starts rotating. Therefore, the opening / closing of the valve device 9 is controlled based on the speed pattern generated by the speed control device 13, whereby the discharge amount of the hydraulic pump 8 is controlled, and the lifting of the plunger 3 of the hydraulic jack 2 and the car 1 is controlled. To be done.

Next, the detailed internal operation of the valve device 9 which controls the speed control of the hydraulic elevator will be described with reference to FIG.

First, the operation at the time of rising is as follows. Since the pump is activated by the ascending command and the ascending flow rate control valve 91 is in the fully open state, the entire pump flow rate is bleed off to the tank 10, and the car 1 is stopped.
Here, the rising electromagnetic proportional pilot control valve 93 operates by the control current from the valve control unit 132, and the rising 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 the check valve 96, so that the car 1 rises.

Next, the operation at the time of descending will be described.
The downward command excites the electromagnetic pilot switching valve 97, 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. As a result, the oil in the cylinder of the hydraulic jack 2 flows into the tank 10, so that the car 1 is lowered.

In FIG. 3, 98 is an emergency manual lowering valve, 99 is a maximum pressure limiting relief valve, 910 and 911 are strainers, 912 and 913 are filters, and 914 to 91.
Reference numeral 8 is a diaphragm.

Here, if speed control is always performed according to a constant speed pattern irrespective of changes in oil temperature and load pressure, the characteristics of the oil change due to changes in load pressure and oil temperature, so the actual running waveform is It changes drastically. Therefore, even if the load pressure and the oil temperature change, the actual speed always accelerates in a predetermined reference speed pattern, runs at a rated high speed, decelerates, and runs at a low speed to stop.
It is necessary to perform oil temperature pressure compensation processing.

Next, the temperature / pressure compensation process of the embodiment of the present invention will be described. FIG. 4 is a speed control processing block diagram for realizing this temperature pressure compensation processing. This speed control process is executed in the valve controller 131 in the speed control device 13 shown in FIG. A target reference speed pattern P1 is prepared in advance, and this speed pattern P1 is used as a current pattern P2 for valve control.
Convert to. The opening / closing degree of the valve of the valve device 9 is controlled by the current pattern P2, and the flow rate passing through the valve device is controlled (P4). As a result, the car speed is finally controlled (P5). Here, in order to obtain a running characteristic that is not affected by the oil temperature and pressure, the oil temperature T and the load pressure P are input, and a pattern compensation process P3 that compensates the current pattern based on these values is provided.

Next, the speed current pattern output processing in this embodiment will be described with reference to the flowchart of FIG. This speed current pattern output process is performed at regular intervals as an interrupt process in the valve controller 131 of FIG. For example, when traveling at a constant speed, a constant control command value is continuously output, and at the time of acceleration, the control command value is increased stepwise to perform speed control. Therefore, the processing interval is Δt,
Assuming that the speed according to the control command value output in this processing is v and the speed according to the control command value output in the previous processing is vo, 1) When v> vo, acceleration = (v−vo) / Δt 2 ) When v = vo, speed = v 3) When v <vo, deceleration = (vo-v) / Δt.

First, when an operation command is input from the elevator controller 12 while the elevator is stopped, step S10 is performed.
The condition of 1 becomes true, and the process proceeds to the next step S102.

In step S102, a protective operation such as confirmation of the closed state of the door is confirmed. Then, if the confirmation is obtained, the process proceeds to the next step S103.

Since the elevator is initially stopped, step S103 becomes false and the process proceeds to step S114.

In step S114, the oil temperature T and the load pressure P are constantly input, and the correction coefficient ko (= k (Ti, Pj)) is obtained from the data table shown in FIG.

When an operation command is input, step S103
Becomes true, and the process proceeds to S104. In this step S104, a velocity current pattern is generated according to the traveling state of the elevator.

First, in step S105, an acceleration start jerk pattern at the start is generated, and when the predetermined acceleration is reached, the process proceeds to the acceleration process of step S106.
Here, the predetermined acceleration is obtained by adding the acceleration current value previously stored in the valve control controller 131 as fixed data and the acceleration correction current obtained previously.

Next, when the predetermined speed is reached, the acceleration end jerk pattern of step S107 is generated, and when the rated speed is reached, the process proceeds to the constant speed processing of step S108. Here, the rated speed is calculated by adding the speed current value stored in advance in the valve controller 131 as fixed data and the speed correction current obtained previously.

When the vehicle reaches the deceleration start point during traveling at the rated speed, the deceleration start jerk pattern is generated in step S109, and when the predetermined deceleration is reached, the deceleration processing in the next step S110 is started. Here, the predetermined deceleration is obtained by adding the deceleration current value previously stored in the valve controller 131 as fixed data and the previously obtained deceleration correction current.

Further, when the elevator reaches a predetermined distance from the target floor, the deceleration end jerk process of step S111 is started.

In the next step S112, the velocity current pattern generated in steps S105 to S111 is corrected by the correction coefficient ko obtained in step S114 at the time of stop, and the valve device 9 is controlled in the next step S113. The control current is output with the corrected current pattern.

Next, a method for obtaining the correction coefficient ko of the current pattern, which is a feature of the embodiment of the present invention, will be described. FIG. 7 shows the IQ characteristic of the hydraulic valve device 9, and this IQ characteristic diagram shows how much flow rate can be obtained when what current value is given to the valve device 9. It represents the relationship between the current and the flow rate.
This characteristic shows that the slope and starting current I depend on temperature and load pressure.
s changes.

Therefore, in the hydraulic elevator control apparatus of this embodiment, the reference IQ characteristic data is stored in advance in the valve controller 131, and the inclination of the IQ characteristic and the starting current Is are changed. By doing so, temperature / pressure compensation and on-site adjustment are performed.

In the IQ characteristic diagram in FIG. 7, the temperature and pressure when the basic current pattern stored in advance is measured are (T, P), and the characteristic at this time is represented by the solid line. There is. Also, at a certain temperature and pressure (T ',
The characteristic of P ') is shown by a wavy line. Here, two certain flow rates Q
The current values for the respective flow rates in the (T, P) state and the (T ', P') state of 1 and Q2 are as follows. That is, as for the IQ characteristics due to temperature and pressure, the relationship between the current and the flow rate can be treated almost linearly in the vicinity of high speed and low speed. Also, the current value I required for starting
Since s is sequentially compensated, if the ratio of I1 'to I1 is k1 and the ratio of I2' to I2 is k2,
It can be said that k1 and k2 are almost equal. Therefore, assuming that the characteristics of I1 and I2 are basic current patterns, 1
A current pattern having the characteristics of I1 'and I2' can be generated by the ratio calculated from the corrected current value with respect to the basic current pattern of the point.

That is, Ix = ko * Io is set as a general correction formula. Then, in this way, the correction coefficient ko
The correction calculation of the basic current pattern Io means that the basic current pattern Io is reduced or expanded.
That is, with respect to the basic current pattern Io calculated in the processing of steps S105 to S111 in FIG.
In step S112, the current pattern I is generated by performing the pattern correction with the correction coefficient ko, and by outputting this in step S113, the temperature and pressure compensated current pattern can be output, which is always stable. It is possible to raise and lower the car in a constant speed pattern.

The correction coefficient table shown in FIG. 6 in the embodiment of the present invention is created and stored in advance from empirical values with reference to the temperature-pressure characteristic diagram as shown in FIG. 9, for example. At the time of on-site adjustment, run at high speed under typical temperature and pressure conditions at several points, measure the actual current value Iri under each condition, and obtain the ratio kri with the predicted current value Ipi under the temperature and pressure conditions. , In the correction coefficient table shown in FIG. 6, the correction coefficient koi at points corresponding to these temperature and pressure conditions is compared, and the ratio κi is calculated as follows: κi = kri / koi The correction coefficient koi in the correction coefficient table of FIG. 6 is corrected as follows.

That is, as the final correction coefficient Koi, Koi = koi * κi is calculated, a correction coefficient table for this Koi is prepared, and the above correction calculation is performed based on this table. is there. Of course, in this case, if the empirical value is accurate and the correction ratio κi is 1, the correction coefficient table of FIG. 6 prepared in advance can be used as it is.

Further, it is possible to form each numerical value of the correction coefficient table while self-learning by a fuzzy model, and the method of generating the table is not particularly limited.

[0041]

As described above, according to the present invention, the correction of the speed pattern according to the temperature and pressure conditions is applied to the valve control current command value by one correction coefficient for enlarging or reducing the reference speed pattern. Since it is executed by the above, the correction of each position of the speed pattern is uniformly performed with one correction coefficient as compared with the conventional case where the parameters of each position of the speed pattern are corrected one by one. As a result, the adjustment work only needs to be performed at a few points, and the time and labor required for the adjustment work can be significantly reduced.

[Brief description of drawings]

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

FIG. 2 is a block diagram of a speed control device according to the above embodiment.

FIG. 3 is a configuration circuit diagram of the valve device of the above embodiment.

FIG. 4 is a block diagram showing a correction calculation processing procedure of the embodiment.

FIG. 5 is a flowchart illustrating the operation of the above embodiment.

FIG. 6 is an explanatory diagram of a correction coefficient table used in the above embodiment.

FIG. 7 is an IQ characteristic diagram of the flow control valve in the above embodiment.

FIG. 8 is an explanatory diagram of a traveling pattern of a conventional example.

FIG. 9 is a characteristic diagram of a general hydraulic pump.

FIG. 10 is an explanatory diagram of a parameter table of a conventional example.

[Explanation of symbols]

 1 Car 2 Hydraulic jack 6 Hydraulic piping 7 Electric motor 8 Hydraulic pump 9 Valve device 12 Elevator control device 13 Speed control device 16 Load pressure sensor 17 Oil temperature sensor 18 Position detector 130 External signal input circuit 131 Valve control controller 132 Valve control unit 133 Pump control unit

Claims (1)

Claims: 1. A hydraulic jack for raising and lowering a car,
A hydraulic pump connected to the hydraulic jack for passing pressure oil through the hydraulic jack, an oil temperature sensor and a load pressure sensor for the pressure oil flowing through the hydraulic jack, and a valve for controlling the amount of oil flowing through the hydraulic jack. A signal from the device and the sensor group is input, a control command value based on a predetermined reference speed pattern is generated for the valve device so that the hydraulic jack can move up and down in a predetermined speed pattern, and the elevator speed is controlled. In a control device for a hydraulic elevator equipped with a speed control device, the speed control device expands or reduces the shape of the reference speed pattern based on an input value from the sensor group, thereby providing a control command value. A control device for a hydraulic elevator comprising pattern correction means for generating and outputting.