JPH0570046A - Control device for elevator - Google Patents

Abstract

PURPOSE:To reduce vibration during operation and a stop, improve the comfortableness to ride in a cage and the stop position precision, and shorten the operation time by setting a target orbit expressed by a polynomial for the time including at least septenary terms in an elevator driving a cage based on the preset target orbit. CONSTITUTION:An elevator is quite the same as a robot in view of a dynamic system and has a motor, thus it can be considered as the further simplified dynamic system. In the elevator driving a cage based on a preset target orbit, the septenary polynomial of the equation is used, the cage is driven while xp is used as the target value of the position of the cage, thus vibration can be suppressed, where xs is the start position of the cage, xe is the stop position of the cage, (t) is time, and T is the arrival time.

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 an elevator, and more particularly to a target track for driving a car and a car door.

[0002]

2. Description of the Related Art FIGS. 7 to 11 are views showing a conventional elevator control device, FIG. 7 is a block diagram of the elevator, and FIG.
9 is a target trajectory diagram, FIG. 9 is a mechanical configuration diagram of one joint of the robot, FIG. 10 is a configuration diagram of a robot arm, and FIG. 11 is a curve diagram showing a robot motion simulation result by the target trajectory of FIG.

In FIG. 7, (1) is an electric motor controlled by the control device (2), (3) is a disc brake fixed to the shaft of the electric motor (1), and (4) is a rotation of the electric motor (1). Multi-stage helical gears that reduce the speed and transmit to the drive sheave (5), (6) deflector wheel,
(7) is the main rope wound around the drive sheave (5) and the deflector (6), (8) is a car connected to one end of the main rope (7), and (9) is also connected to the other end. It is a counterweight that was made.

A conventional elevator control device is constructed as described above and is controlled according to a target trajectory as shown in FIG. FIG. 8A shows a trapezoidal target speed (speed command value) (1
1) and FIG. 8B shows a trapezoidal target acceleration (acceleration command value) (12).

When viewed as a dynamic system, the mechanical system of the elevator shown in FIG. 7 is considered to have exactly the same structure as one link of the robot manipulator having a flexible joint shown in FIG. In FIG. 9, (15) is a link on the base side,
(16) is a DC motor installed at the tip of the link (15), (17)
Is a link on the hand side and is connected to the electric motor (16) via a harmonic drive speed reducer (18) having low rigidity. That is, the elevator and robot are both motor driven,
The rigidity of the multistage helical gear (4) and the main rope (7) corresponds to the rigidity of the weak harmonic drive reducer (18), and the mass of the car (8) and the counterweight (9) becomes the link (17). ) Is equivalent to the moment of inertia.

In order to show the function of such a mechanical system, a simulation was conducted for a robot arm.
The robot to be simulated is the horizontal joint robot shown in FIG. This robot has a first link (21), a second link (22) and a third link (23), which are connected by joints (24) to (26), respectively. Of these, the first link (21) is movable in the directions (X ₁ , Y ₁ , Z ₁ ) with respect to the joint (24), and the angle is θ ₁ . The second link (22) is movable in the direction (X ₂ , Y ₂ , Z ₂ ) with respect to the joint (25) and its angle is θ ₂ . The third link (23) is movable in the direction (X ₃ , Y ₃ , Z ₃ ) with respect to the joint (26) and its angle is θ ₃ .

In this robot, the joints (24) to (26) are simultaneously set to the trapezoidal target speed (11) shown in FIG. 8A, and the robot is operated by PD (proportional + derivative) control. The result of the motion simulation is shown in FIG. Figure 1
1 (a) to (c) are the first to third links (21) to (2), respectively.
The movement of 3) is converted to the angle θ ₁ of the joints (24) to (26) with respect to the time t.
It illustrates with a target value ω ₁ p~ω ₃ p angular velocity ω ₁ ~ω ₃ of through? _3. As shown in FIG. 11, it can be seen that large vibrations are generated in the robot arm during movement and after stopping.

Next, FIG. 12 is a front view of a car door portion of a conventional elevator. (31) is a frame, (32) is a door installed on the frame (31) and controlled by a control device (2). Closed Motor, (33)
Is a first pulley fixed to the shaft of the electric motor (32), and (34) is a frame
The second pulley supported by (31), (35) is the first belt wound around the first and second pulleys (33) and (34), and (36) is fixed on the shaft of the second pulley (34). The third pulley, (37) is the frame body (31)
The fourth pulley (38) supported by the third and fourth pulleys (3
6) It is the second belt wrapped around (37).

[0009] (39A) (39B) is a car door arranged corresponding to the car doorway, (40) is a door rail fixed to the frame body (31), car doors (39A) (39B) is the upper part It is suspended on the door rail (40) by the door roller (41) supported by. Also, the upper part of the car door (39A) (39B) is connected rod (42),
Each is connected to both sides of the second belt (38).

The elevator door-closing electric motor (3
2) is also controlled according to the target trajectory as shown in FIG. The rotation of the electric motor (32) is controlled by the first pulley (35) via the first belt (35).
(33) to the second and third pulleys (34) (36) and the second belt (3
It is transmitted to 8). The movement of the second belt (38) is transmitted to the car doors (39A, 39B) via the connecting rod (42), and the car doors (3
The door rollers (41) guide the 9A and 39B on the door rail (40) to open and close the car entrance.

The mechanical system of such a door-closing device is exactly the same as the structure of the robot arm described with reference to FIGS. 8 to 10 when viewed as a dynamic system, and as shown in FIG. Is also generating large vibrations.

[0012]

In the conventional elevator control device as described above, the mechanical system of the elevator and the door closing device is the same as that of the robot.
It is expected that the same phenomenon as that shown in 1 will occur. Basket
The generation of vibration during driving (8) causes passengers to feel uncomfortable, and residual vibration after stopping causes a problem in improving the accuracy of the car stop position and shortening the operating time.

Further, the vibration generated during the opening and closing of the car doors (39A) (39B) causes noise and makes passengers feel uncomfortable, and the residual vibration after the stop causes a shock at the time of full opening and full closing. There is a problem that it becomes a cause and affects the life of each part.

The present invention has been made to solve the above problems, and the first to third inventions thereof can prevent deterioration of riding comfort due to vibration and improve the accuracy of the car stop position. It is an object to provide an elevator control device.

Further, it is an object of the fourth to sixth inventions to provide an elevator control device capable of suppressing generation of door noise and impact due to vibration.

[0016]

The elevator control apparatus according to the first aspect of the present invention is directed to the movement of the car.
A target trajectory represented by a polynomial with respect to time including at least a 7th-order term is set.

Further, the elevator control apparatus according to the second aspect of the present invention sets the target trajectory such that the velocity, acceleration, and jerk (differential value of acceleration) at the starting point of the car are all zero. is there.

Further, the elevator control apparatus according to the third aspect of the present invention sets the target trajectory such that the speed, acceleration, and jerk at the car stop point are all zero.

Further, the elevator control apparatus according to the fourth aspect of the present invention sets a target trajectory expressed by a polynomial with respect to time including at least a 7th order term for the movement of the car door.

The elevator control system according to the fifth aspect of the present invention sets a target trajectory such that the velocity, acceleration, and jerk of the starting point of the car door are all zero.

The elevator control apparatus according to the sixth aspect of the present invention sets the target trajectory such that the velocity, acceleration, and jerk at the stopping point of the car door are all zero.

[0022]

In the first aspect of the present invention, since the target trajectory expressed by the polynomial expression including at least the seventh order term is set for the movement of the car, the vibration during the operation and the stop of the car is reduced.

According to the second aspect of the present invention,
In the third aspect of the present invention, the target trajectory is set so that the velocity, acceleration, and jerk of the car at the starting point of the car are all zero. Therefore, vibrations at the time of starting or stopping the car are reduced.

In the fourth aspect of the present invention,
With respect to the movement of the car door, since the target trajectory expressed by a polynomial expression including at least the 7th order is set, the vibration during the opening and closing of the car door and during the stop of the car door is reduced.

In the fifth aspect of the present invention,
In the sixth aspect of the invention, at the start point of the car door, the target trajectory is set so that the speed, acceleration, and jerk at the stop point of the car door are all zero, so vibrations at the start or stop of the car door are reduced. To be done.

[0026]

【Example】

Example 1. FIG. 1 is a target trajectory curve diagram showing an embodiment of the first to third inventions of the present invention, FIGS. 2 to 5 are diagrams for explaining Embodiment 1 by taking a horizontal joint robot as an example, and FIG. Trajectory curve diagrams, FIGS. 3 to 5 are curve diagrams showing the results of the robot operation simulation, and the same parts as those of the conventional device are denoted by the same reference numerals. 7 and 10 are also used in this embodiment.

In FIG. 1, x_pGoal of the position of the basket (8)
The value is expressed by a 7th-order equation with respect to time as follows. x_p= (X_e-X_s) {-20 (t / T)⁷+70 (t / T)⁶  -84 (t / T)^Five+35 (t / T)^Four} + X_s(1) where x_s: Start position of the car 8 x_e: Stop position of the car 8 t: Time T: Arrival time

Next, this will be described by replacing it with a horizontal joint robot. In FIG. 2, θ _ip is the angle θ _i (i =
The target value of 1, 2, 3, ..., Link number) is 0 (ra
Using d) as an initial value, a joint rotation angle change reaching π / 2 (rad) in 1 second is given by a 7th-order orbit with respect to time t as shown in, for example, JP-A-62-216003. There is. θ _ip = π / 2 (−20t ⁷ + 70t ⁶ −84t ⁵ + 35t ⁴ ) FIGS. 3 to 5 show driving simulation results when the robot is driven by PD control using this trajectory as a target value.

FIG. 3 shows the motion of the joints (24) to (26) by the rotation angle θ ₁
For through? _3, have the meanings indicated with these target values θ _1p ~θ _3p, FIG. 4 shows these angular velocity ω ₁ ~ω _3. The target value velocities ω _{1p to} ω _3p are obtained by differentiating the 7th-order orbit, which is the target position, with respect to time, and are trajectories represented by 6th-order polynomials. Further, FIG. 5 assumes an initial disturbance, and shows the simulation results for the angular velocities ω _{1 to} ω ₃ when the initial velocity 0.25 (rad) is given to all the links (21) to (23). It is a thing.

As shown in FIGS. 3 and 4, a time delay in the response from the target trajectory is recognized in the motion of the robot arm, but vibration during motion or residual vibration after stopping may not occur at all in the arm. I understand. Further, it can be seen from FIG. 5 that the arm vibration due to the initial disturbance also disappears during the operation and no residual vibration occurs. From the above simulation,
It has been shown that the target trajectory of FIG. 2 is effective in preventing arm vibration.

As described above, if the elevator is viewed as a dynamic system, it is completely the same as the robot, and since it has only one electric motor 1, it can be considered as a further simplified dynamic system. Therefore, vibration can be suppressed by driving using the 7th-order polynomial orbit of the equation (1).

Further, it is easily confirmed that the orbit expressed by the equation (1) has the following properties. [S _p ] _{t = 0} = [A _p ] _{t = 0} = [B _p ] _{t = 0} = 0 (2) [S _p ] _{t = T} = [A _p ] _{t = T} = [B _p ] _{t = T} = 0 (3) where S _p : target velocity value A _p : target acceleration value B _p : target jerk value

Example 2. Now, from FIGS. 3 and 4, the target trajectory is given by the equation (2), that is, [S _p ] _{t = 0} = [A _p ] _{t = 0} = [B _p ] _{t = 0} = 0 (2) As long as the conditions are satisfied, it can be seen that vibration generation at the time of startup can be prevented.

Example 3. In addition, by setting the target trajectory so that it satisfies the condition (3), that is, [S _p ] _{t = T} ＝ [A _p ] _{t = T} ＝ [B _p ] _{t = T} = 0 (3) It can be seen that the occurrence of residual vibration after the stop can be prevented.

Example 4. Furthermore, in general, the target trajectory is (2)
Formula and Formula (3), that is, [S _p ] _{t = 0} = [A _p ] _{t = 0} = [B _p ] _{t = 0} = 0 (2) [S _p ] _{t = T} = [A _p ] _{t = It} can be seen that by setting so that the condition of _T = [B _p ] _{t = T} = 0 (3) is satisfied, it is possible to prevent the occurrence of vibration at the time of starting and the occurrence of residual vibration after stopping.

Example 5. FIG. 6 is a target trajectory curve diagram showing an embodiment of a fourth invention in which the present invention is applied to a car door. Note that FIGS. 3 to 5 and FIG. 12 are also used in this embodiment.

In FIG. 6, θ _p is the target rotation angle of the door-closing electric motor (12), and is represented by the following 7th order equation with respect to time. θ _p = (θ _e −θ _s ) {− 20 (t / T) ⁷ +70 (t / T) ⁶ −84 (t / T) ⁵ +35 (t / T) ⁴ } + θ _s (4) where θ _s : Initial rotation angle of door-closing electric motor (12) θ _e : Target reaching rotation angle of door-closing electric motor (12) t: Time T: Arrival time (opening / closing time)

The operation of this embodiment can be explained in exactly the same manner as described above with reference to FIGS. 2 to 5, and the vibration of the car doors (39A, 39B) can be suppressed.

Further, it is easily confirmed that the orbit expressed by the equation (4) has the following properties. [θ _p ′] _{t = 0} ＝ [θ _p ″] _{t = 0} ＝ [θ _p ″] _{t = 0} = 0 (5) [θ _p ′] _{t = T} ＝ [θ _p ″] _{t = T} ＝ [ θ _p ″] _{t = T} = 0 (6) where θ _p ′: Target rotational speed value θ _p ″: Target rotational acceleration value θ _p ″: Target rotational jerk value

Example 6. (Fifth Invention) Now, referring to FIGS. 3 and 4, the target trajectory of the door-closing motor (12) is _{expressed by} equation (5), that is, [θ _p ′] _{t = 0} = [θ _p ″] _{t = 0} = [Θ _p ″] _{t = 0} = 0 As long as the condition given by (5) is satisfied, it can be understood that the vibration at the time of starting can be prevented.

Example 7. (Sixth Invention) In addition, the target trajectory is _{expressed by the} equation (6), that is, [θ _p ′] _{t = T} ＝ [θ _p ″] _{t = T} ＝ [θ _p ″] _{t = T} = 0 (6) It can be seen that the residual vibration after the stop can be prevented by setting so as to satisfy the condition.

Example 8. In the fifth to seventh embodiments, the belt and the pulley are used as the transmission mechanism, but the same effect can be obtained by using the link mechanism.

[0043]

As described above, in the first invention of the present invention, the target trajectory expressed by a polynomial with respect to time including at least the 7th order term is set for the movement of the car. Vibration at rest is reduced,
The riding comfort of the car and the stop position accuracy can be improved, and the operation time can be shortened.

In the second invention, the starting point of the car is
In the third aspect of the invention, since the target trajectory is set such that the speed, acceleration and jerk of the car at the stopping point are all zero, the vibration at the time of starting or stopping the car is reduced, and the car stop position accuracy is reduced. There is an effect that it is possible to improve the operating efficiency and shorten the operating time.

Further, according to the fourth aspect of the present invention, the target trajectory expressed by a polynomial with respect to time including at least the 7th order is set for the movement of the car door. This is effective in reducing the noise and impact of the door and preventing the shortening of the life of each part.

In the fifth aspect of the invention, the target trajectory is set so that the velocity, acceleration and jerk of the car door start point and the sixth aspect of the car door stop point are all zero. Therefore, vibration at the time of starting or stopping the car door is reduced, the noise and impact of the door can be suppressed, and the life of each part can be prevented from being shortened.

[Brief description of drawings]

FIG. 1 is a target trajectory curve diagram showing a first embodiment of the present invention.

FIG. 2 is a diagram for explaining the first embodiment by taking a horizontal joint robot as an example, and is a target trajectory curve diagram.

FIG. 3 is a curve diagram showing a result of a robot driving simulation according to FIG.

4 is the same as FIG.

FIG. 5 is the same as FIG.

FIG. 6 is a target trajectory curve diagram showing a fifth embodiment of the present invention.

FIG. 7 is a configuration diagram showing a conventional elevator control device.

FIG. 8 is a target trajectory curve diagram of FIG. 7.

FIG. 9 is a mechanical configuration diagram of one joint of the robot.

FIG. 10 is a configuration diagram of a robot arm.

FIG. 11 is a curve diagram showing a robot motion simulation result based on the target trajectory of FIG. 8.

FIG. 12 is a front view of a car door portion showing a conventional door closing device for an elevator.

[Explanation of symbols]

1 electric motor 2 control device 8 car 32 door closed motor 39A car door 39B car door x _p target position θ _p target rotation angle

[Procedure amendment]

[Submission date] January 23, 1992

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0006

[Correction method] Change

[Correction content]

In order to show the function of such a mechanical system, a simulation was conducted for a robot arm.
The robot to be simulated is the horizontal joint robot shown in FIG. This robot has a first link (21), a second link (22) and a third link (23), which are connected by joints (24) to (26), respectively. Of these, the first link (21) is around the joint (24)
It is rotatable and its angle is θ ₁ . Second link (2
2) is rotatable about the joint (25) and its angle is θ ₂ . The third link (23) is rotatable about the joint (26) and its angle is θ ₃ .

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0039

[Correction method] Change

[Correction content]

Further, it is easily confirmed that the orbit expressed by the equation (4) has the following properties. [θ _p '] _{t = 0} ＝ [θ _p "] _{t = 0} ＝ [θ _p "'] _{t = 0} = 0 (5) [θ _p '] _{t = T} ＝ [θ _p "] _{t = T} ＝ [θ _p "'] _{t = T} = 0 (6) where θ _p ' : Target rotational speed value θ _p " : Target rotational acceleration value θ _p "' : Target rotational jerk value

[Procedure 3]

[Document name to be amended] Statement

[Item name to be corrected] 0040

[Correction method] Change

[Correction content]

Embodiment 6. (Fifth Invention) Now, referring to FIGS. 3 and 4, the target trajectory of the door-closed motor (12) is _{expressed by the} equation (5), that is, [θ _p '] _{t = 0} = [θ _p ″] _{t = 0} = [Θ _p "'] _{t = 0} = 0 As long as the condition given by (5) is satisfied, it can be seen that vibration generation at startup can be prevented.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0041

[Correction method] Change

[Correction content]

Example 7. (Sixth invention) Further, the target trajectory is the equation (6), that is, [θ _p '] _{t = T} = [θ _p "] _{t = T} = [θ _p "'] _{t = T} = 0 (6) It can be seen that the residual vibration after the stop can be prevented by setting so as to satisfy the condition. ─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] January 30, 1992

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0006

[Correction method] Change

[Correction content]

In order to show the function of such a mechanical system, a simulation was conducted for a robot arm. The robot to be simulated is the horizontal joint robot shown in FIG. This robot is the first
It has a link (21), a second link (22) and a third link (23), which are connected by joints (24)-(26), respectively.
Of these, the first link (21) is rotatable about the joint (24) and its angle is θ ₁ . The second link (22) is rotatable about the joint (25) and its angle is θ ₂ . Third link (23) is joint (26)
, It can rotate around it, and its angle is θ ₃
Is.

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0039

[Correction method] Change

[Correction content]

Further , it is easily confirmed that the orbit expressed by the equation (4) has the following properties. [θ _p '] _{t = 0} ＝ [θ _p "] _{t = 0} ＝ [θ _p "'] _{t = 0} = 0 (5) [θ _p '] _{t = T} ＝ [θ _p "] _{t = T} ＝ [θ _p "'] _{t = T} = 0 (6) where, θ _p ': Target rotational speed value θ _p ": Target rotational acceleration value θ _p "': Target rotational jerk value

[Procedure 3]

[Document name to be amended] Statement

[Item name to be corrected] 0040

[Correction method] Change

[Correction content]

[0040] Example 6. (Fifth Invention) Now, referring to FIGS. 3 and 4, the target trajectory of the door-closed motor (12) is _{expressed by the} equation (5), that is, [θ _p '] _{t = 0} = [θ _p ″] _{t = 0} = [Θ _p "'] _{t = 0} = 0 As long as the condition given by (5) is satisfied, it can be seen that vibration generation at startup can be prevented.

[Procedure amendment 4]

[Document name to be amended] Statement

[Correction target item name] 0041

[Correction method] Change

[Correction content]

[0041] Example 7. (Sixth invention) Further, the target trajectory is the equation (6), that is, [θ _p '] _{t = T} = [θ _p "] _{t = T} = [θ _p "'] _{t = T} = 0 (6) It can be seen that the residual vibration after the stop can be prevented by setting so as to satisfy the condition.

Claims (6)

[Claims] 1. A control device for an elevator, wherein in an elevator that drives a car based on a predetermined target trajectory, the target trajectory expressed by a polynomial with respect to time including at least a 7th order is set. 2. An elevator control for driving a car based on a predetermined target trajectory, wherein the target trajectory is set such that the speed, acceleration and jerk of the starting point of the car are all zero. apparatus. 3. An elevator control for driving a car based on a predetermined target trajectory, wherein the target trajectory is set such that the speed, acceleration and jerk of the car at the stopping point are all zero. apparatus. 4. A control device for an elevator, wherein in an elevator that drives a car door based on a predetermined target trajectory, the target trajectory expressed by a polynomial with respect to time including at least a 7th order is set. 5. An elevator for driving a car door based on a predetermined target track, wherein the target track is set such that the speed, acceleration and jerk of the starting point of the car door are all zero. Control device. 6. In an elevator that drives car doors based on a predetermined target trajectory, the speed of the car stop point,
An elevator control device characterized in that the above-mentioned target trajectory is set so that the acceleration and jerk are all zero.