JPH05781A - Controller for elevator - Google Patents

Abstract

PURPOSE:To obtain a controller for an elevator which always carries out the correct floor adjustment operation by using a floor arrival device having a simple structure. CONSTITUTION:A controller is equipped with a floor arrival instruction signal generator 30 equipped with a proportional integration element for continuously calculating the distance Vc in which an elevator cage actually shifts from a prescribed point in the vicinity of a stage floor and the estimated shift distance VR, and a comparison element which generates an output when the shift distance and a prescribed value are compared and accord, and a floor arrival instruction signal 30a is prepared on the basis of the output of the comparison element, and speed feedback control is performed, using the above-described signal as the input signal for an elevator control system.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevator control device capable of accurately maintaining a stop position of an elevator car when the elevator is stopped.

[0002]

2. Description of the Related Art Generally, the entire construction of an elevator control system is as shown in FIG. That is, in the figure, 1 is a speed command device that generates a speed command signal 1a from acceleration to deceleration stop of an elevator, 2 is a speed detection device that generates a speed signal 2a of an electric motor, and 3 is a speed command signal 1a and a speed signal 2a.
And a speed controller that generates a current command signal 3a by comparing
Reference numeral 4 is a current controller that generates a phase control signal 4a by comparing the current command signal 3a with the current signal 5a from the main circuit current detector 5. Reference numeral 6 is an armature of a DC motor that drives an elevator. 4a is connected to the thyristor Leonard device 7 having an input signal.

Reference numeral 8 is a sheave mechanically coupled to the electric motor armature 6, and 9 is a main rope connecting an elevator car 10 and a suspension weight 11. Further, a landing detection device 12 is attached to the elevator car 10, and a zero signal is detected at the normal landing point as shown in FIG. 3 depending on the relative position to the landing detection plate 13 attached to each floor of the hoistway. A landing signal 12a is generated so that

In such an apparatus, the elevator which has been accelerated or decelerated by the speed command signal 1a from the speed command device 1 inputs the landing signal 12a to the speed adjuster 3 by the operation of the switch SW in the vicinity of the landing and then arrives at the floor. Control is performed.

Further, even when the elevator car 10 is stopped at a regular landing position on an arbitrary floor, when a passenger gets on or off, the main rope 9 expands or contracts to lift or sink the elevator car 10 and the elevator car 10 is lifted. A step (hereinafter referred to as a level error) is generated between the floor of the car 10 and the floor FL, but in this case as well, floor alignment is performed again at the regular landing position by the landing signal 12a.

[0006] By the way, as is well known, the demand for the flooring accuracy of an elevator car is extremely strict, and is generally ± 1.
It should be about 0 mm, and especially for high-end models, it should be less than ± 5 mm.

Therefore, it is possible to devise the landing detection plate 13 as a guide plate having a special shape so as to improve the landing accuracy, but it takes time and labor to process and the cost is increased. Further, since the landing signal 12a greatly changes depending on the shape of the guide plate, it is difficult to always optimize the riding comfort of the elevator.

Therefore, as shown in FIG. 4, an elevator car position detecting device near the floor is provided with, for example, inductor relays IR1 and IR2 which may be reed switches and permanent magnets (or photoelectric devices composed of a projector and a light receiver). The elevator car 10 is provided with a simple device composed of a rectangular shield plate 23 (which may be a light shield plate) made of plain steel.
Is present between the ± S ₁ point (± 125 mm in the normal case) and the ± S ₂ point (± 10 mm in the normal case) before the level, the inductor relays IR1, IR2 shown in FIG.
Based on the operation of the
By giving a to the speed controller 3, the elevator car 10 is always kept within a predetermined level range by cutting when reaching a point ± S ₂ before the level.

[0009]

However, in the case of elevator operation such as re-floating operation, the load fluctuates very frequently due to passengers getting on and off.
The elevator car 10 follows a very poorly,
As a result, the actual floor alignment movement distance of the elevator car 10 varies, and it is not possible to always obtain a satisfactory landing accuracy.

This means that even if the speed regulator 3 of the elevator control system is configured as a so-called PI system to eliminate the steady deviation as shown in FIG. 6, the control system always changes its steady state due to the load fluctuation. It did not lead to a fundamental solution to the above problem. The present invention has been made in view of the above points, and in particular, an object thereof is to provide an elevator control device including a landing command generation device that can obtain a satisfactory landing accuracy during re-floating operation. To do.

[0011]

SUMMARY OF THE INVENTION The present invention relates to an elevator car in which feedback control is performed on the speed of the elevator near the floor by a landing command signal obtained from an elevator car position detecting device for detecting the car position of the elevator. The proportional integral element for proportionally integrating the speed signal of the proportional signal from a predetermined point near the floor, and the set value corresponding to the level error between the predetermined point and the floor and the proportional integral element output are compared, and the output is inverted when they match. And a landing command signal generator, which is obtained from a comparison element output of the landing command generator.

[0012]

With the above construction, the level adjustment is automatically performed according to the actual elevator car speed.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a block diagram showing the entire elevator control system according to the present invention, and FIG. 7 is an internal circuit diagram of the landing command signal generator in FIG. In the drawings, the same reference numerals as those in FIGS. 2 to 5 designate the same components, but 30 is the landing signal 23a of the inductor relay IR and the speed signal 2a of the speed detecting device 2.
Based on the above, a landing command signal generator for issuing a landing command signal 30a according to the present invention, OP1 and OP2 are DC operational amplifiers, C is a capacitor, D is a diode, R1 to R5 are resistors, VR is a variable resistor, and IR. _a is an inductor relay IR
Both 1 and IR2 are closed until they reach a position facing the shield plate 23, and a contact that opens when the elevator car 10 reaches a position ± S ₂ before the level, that is, a positive power source. Voltage.

8A and 8B, the elevator car 10 deviates below the floor by a predetermined value or more due to passengers getting on and off the vehicle (the same applies when the elevator car 10 deviates by more than a predetermined value or more), and FIG.
If the square wave landing command signal 30a shown in (a) is input to the elevator control system having the delay element shown in FIG.
The elevator car 10 is operated as shown in FIG. 8 (b).

Therefore, when the elevator car 10 is operated as described above, the voltage of each part in FIG. 7, that is, the voltage V _c across the capacitor and the output voltage V _{OP1 of the} DC operational amplifier _OP1.
Is a value having the following physical meaning.

That is, since the contact IR _a is closed until the elevator car 10 starts rising and reaches the point S ₂ before the level, both the voltages V _c and V _OP1 maintain OV, but S _When passing through the _two points, the contact point IR _a opens, so the capacitor C starts to accumulate electric charges, and the voltage V _c (the value obtained by integrating the speed signal 2 a, which is proportional to the distance actually moved by the elevator car 10 from the S ₂ point. ) Begins to show.

The voltage V _R across the resistor R ₂ is the flow distance from the current speed after passing the point S ₂ , that is, the elevator car 10 after the landing command signal 30a becomes zero.
It shows a value proportional to the moving distance of. That is, assuming that the response time constant of the elevator control system is τ, the flow distance L from an arbitrary elevator car speed V ₀ is expressed by the _equation 1.

[0018]

[Equation 1]

Therefore, if τ = R ₂ / R ₁ , the output voltage V _OP1 of the DC operational amplifier OP1 shown in FIG. 7 indicates the moving distance of the elevator car in consideration of the flow distance (expected distance). Which is a predetermined voltage V _c indicating the level error at the predetermined S ₂ point and the DC operational amplifier OP.
It will be understood that the landing command signal 30a may be dropped to zero at the time point when the comparison is made in step 2 and the set voltage V _c is reached.

Therefore, the DC operational amplifier OP shown in FIG.
By passing the output voltage V _OP2 of ₂ through the diode D, the waveform can be converted into the landing command signal 30a shown in FIG.

By inputting such a landing command signal 30a into the speed controller 3 and performing feedback control, the actual speed of the elevator car can be adjusted according to the actual speed of the elevator car even if the load fluctuates significantly due to passengers getting on and off. Accurate control is possible with the flow distance taken into consideration.

In the embodiment, the switch SW is used to switch between the speed command signal 1a and the landing command signal 30a for input, but the landing command signal 30a is input to the speed command device 1, Switching within the speed command device 1,
The control system may be configured such that the landing command signal 30a is added to the speed command signal 1a (the speed command signal 1a is of course zero at the time of re-flooring, so that the same thing as when switching is performed). However, the present invention is not limited to the embodiment because it is possible.

[0023]

As described above, according to the present invention, the elevator car is controlled by the landing command signal in consideration of the distance actually moved by the elevator car and the distance the elevator car will move from now on. In addition, the elevator landing position can be maintained automatically. Further, the elevator car position detecting device for obtaining the landing command signal can be configured by an extremely simple device.

[0024]

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an entire elevator control system according to the present invention.

FIG. 2 is a configuration diagram showing an entire conventional elevator control system.

FIG. 3 is a waveform diagram of a landing signal 12a in FIG.

FIG. 4 is an explanatory diagram of a level detection mechanism of an elevator car position detection device.

5 is an operation explanatory view of the elevator car position detecting device in FIG. 4. FIG.

FIG. 6 is a block diagram of an elevator control system in FIG.

7 is a detailed circuit diagram of a landing command generation device 30 in FIG.

FIG. 8 is a signal waveform diagram of each part in FIG.

[0025]

[Explanation of symbols]

IR, IR1, IR2 inductor relay 10 elevator car 12 landing detection device 23 shield plate 23a landing signal 30 landing command signal generator 30a landing command signal OP1, OP2 DC operational amplifier C capacitor R _{1 to} R ₅ resistance V _c Set voltage value 2 Speed detection device 2a Speed signal

Claims (2)

[Claims] 1. A speed signal of an elevator car in the vicinity of the floor in a feedback control of the speed of the elevator near the floor by a landing command signal obtained from an elevator car position detecting device for detecting the car position of the elevator. A proportional integral element for proportionally integrating from a predetermined point, a set value corresponding to the level error between the predetermined point and the floor and the proportional integral element output, and a comparison element for inverting the output when they match. Equipped with a landing command signal generator,
The elevator control device, wherein the landing command signal is obtained from the comparison element of the landing command signal generator. 2. The proportional-integral element according to claim 1 is configured by connecting a series circuit of a capacitor and a resistor to a feedback section of a DC operational amplifier, and a normally closed contact is connected to both ends of the series circuit to provide an elevator car. 2. The elevator control device according to claim 1, wherein is an electronic circuit that opens the normally closed point when the vehicle reaches a predetermined point.