JPH06100251A - Elevator control device - Google Patents

Abstract

PURPOSE:To enable a required computation time to be substantially reduced for an automatic setting work regarding the time pattern of the speed setting value of an electric motor for driving an elevator. CONSTITUTION:The computation and decision of the time pattern of the speed setting value of an electric motor to drive an elevator is undertaken by a speed pattern operation circuit 1a and a speed pattern generation circuit 1b constituting a speed setting circuit 1. The circuit 1a stores an operation formula for determining the speed pattern, and specifies the required speed pattern according to the prior setting of various variables for the determination of the pattern. The result of the determination is converted to a pattern signal having the required signal state via the circuit 1b, and applied to an adder 5 to operate a speed deviation. Also, the speed setting circuit 1 has additional capability of setting one of an elevator travel speed and the time of acceleration and deceleration, and obtaining the other, and displaying the obtained result.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed control of an elevator or the like elevator which has a function of calculating a speed set value having a time characteristic corresponding to an optimum acceleration / deceleration operation state and which controls the speed of a driving electric motor. Regarding the device.

[0002]

2. Description of the Related Art In an elevator or other elevator, in order to keep its operation smooth, its moving speed and acceleration, maximum moving speed, acceleration at deceleration, braking start speed at stop, application period of each speed range or It is necessary to control the speed of the driving electric motor of the elevator by setting the optimum values by associating the parameters such as the moving distance with each other.

Therefore, the speed set value of the electric motor in the speed control changes with time in accordance with the above-mentioned elevator operation specifications, and has a time characteristic composed of a combination of characteristic lines having a plurality of curved regions. Becomes In the conventional speed control device for this type of elevator, the determination of the speed setting value having the above-mentioned time characteristic is performed by the correction based on the result of the trial operation of the actual machine under the condition of the given predetermined moving distance or predetermined moving time. It was carried out repeatedly, and had no means for automatically making arithmetic decisions by presetting various variables.

[0004]

In the conventional speed control device for an elevator, as described above, the determination of the time change characteristic of the speed setting value of the elevator drive motor is repeated, and the correction is repeated according to the result of the trial operation of the actual machine. However, in determining the characteristics of the speed set value, it is inevitable that the adjustment work is complicated and a large amount of time is required.

Incidentally, FIG. 3 is a simplified system diagram of the elevator drive system, and FIG. 4 is an operation diagram of each part of the drive system corresponding to FIG. 3, showing the moving state of the elevator by deceleration as an example. This will be described below. In FIG. 3, 3 is a hoisting electric motor of an elevator (elevator driving electric motor), 11 is a sheave in a hoisting mechanism, 12 is an elevator (car), 13 is a weight, and LS ₁ and LS ₂ are respectively described above. It is a limit switch that specifies a deceleration start position and a mechanical braking (BR) start position of the elevator.

Next, referring to FIG. 4, FIG.
_It is an operation diagram of ₁ and LS ₂ and BR, and FIG. 6B shows a time variation diagram of the moving speed V of the elevator 12. That is, at time t ₂₁ , the LS ₁ operates and the elevator starts decelerating from its rated speed (or maximum speed) V _F, and then at time t ₂₂ , the braking start speed, that is, the creep speed V _F.
The vehicle decelerates to _C , and further, at time t ₂₃ , the LS ₂ operates to start the mechanical braking (BR), and at time t ₂₄ , the elevator stops.

At the time t ₂₁ of the moving speed V of the elevator,
Area surrounding during the time course line of time-integrated value or the moving velocity V up to time t ₂₃ is its time axis from the ones showing the movement distance from the time t ₂₁ of the elevator until time t _23. The change pattern of the moving speed V from time t ₂₁ to time t ₂₃ is determined by the time characteristic of the speed setting value for the electric motor 3.

If the moving distance obtained as the time integrated value of the speed V is L _e and the installation interval between the switches LS ₁ and LS ₂ is L _s , the magnitude relationship between the two can be determined. The following three cases occur. That is, the first is L
_e <L _s , and the creep speed V _{C of the} elevator
In this case, the low-speed movement state in the vehicle becomes long, so that the time required to stop the vehicle becomes long.

The second case is when L _e > L _s , and
The speed at the start of mechanical braking of the elevator becomes higher than the speed V _C , and a large impact is generated at the start of braking. Moreover Part 3 is a case of L _e = L _s, and serves as a most desirable deceleration state in the deceleration stop operation of the elevator.

Accordingly time characteristic of speed setting value in the speed control of the hoisting motor 3 for the elevator drive should be carried out as described above L _e = L _s the relationship with respect to the moving distance of the elevator is established. However, in the above conventional elevator speed control device, regarding the determination of the speed set value satisfying the above relationship, it is unavoidable that the adjustment work is complicated and a large amount of time is required as described above.

In view of the above, it is an object of the present invention to provide a control device for an elevator, which is provided with a means for surely and quickly determining the specifications relating to the time characteristics of the speed set value.

[0012]

In order to achieve the above object, the control device for an elevator according to the present invention is a speed control for an elevator, in which the drive motor is speed-controlled according to a speed set value having an appropriate curved time characteristic. A device for time-dividing the time characteristic of the speed setting value into a plurality of characteristic regions such as an acceleration / deceleration region and a constant velocity region corresponding to an optimum operating state for the elevator, and specifying the time characteristic. In response to the setting of various variables, various calculations are performed in accordance with the characteristic formulas defining the respective characteristic ranges, the speed set value having a required time characteristic is specified and output, and at the same time, the elevator is accelerated from a stopped state or predetermined. For each operation of deceleration from the operating speed to the predetermined low speed, the required acceleration or deceleration time is set to make a calculation decision of the required travel distance corresponding to this, or the required travel distance is set. Shi A speed setting value calculation circuit for determining the calculation of the required acceleration time or deceleration time corresponding thereto is provided, and a means for displaying the calculated required movement distance or required acceleration / deceleration time is provided. And

[0013]

The state from time t ₂₁ to time t ₂₃ regarding the variation pattern of the elevator moving speed V with respect to time as shown in FIG. 4B is determined by the time characteristic of the speed setting value of the elevator driving electric motor. Is. Further, the time set characteristic of the speed set value is the maximum moving speed V _F , the braking start speed (creep speed)
V _C , the time corresponding to the inflection point on the time characteristic, that is, the time when the characteristic mode is changed, can be displayed as a variable by a general mathematical expression, and further, an elevator obtained as a time integral of the moving speed V. It is possible to specify the general formula using a required deceleration time (or acceleration time) such as a moving distance or an elapsed time from the time t ₂₁ to the time t ₂₃ as a preset value.

That is, according to the present invention, the required value of the elevator travel distance or acceleration / deceleration elapsed time as described above and other maximum travel speed or the inflection point corresponding time and the like are used as setting variables to set the variables thereof, and the time t characteristic of the travel speed V. And a calculating means for calculating the required elapsed time when the moving distance is specified or the required moving distance when the elapsed time is specified, and a display means for displaying the calculated result of the required elapsed time or the required moving distance. It is possible to easily and quickly determine the time characteristic of the speed set value of the elevator driving electric motor that enables the optimal operation of the elevator.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will be described below with reference to the elevator drive system diagram of FIG. 1 and the speed set value versus time characteristic diagram of the speed control of the elevator drive motor illustrated in FIG. First, in FIG. 1, reference numeral 1 denotes a speed setting circuit for calculating and determining a speed setting value of an elevator hoisting electric motor (elevator driving electric motor) 3. The speed setting circuit receives a setting signal S _f of required variables and changes the speed setting value with respect to time. It is composed of a speed pattern calculation circuit 1a which performs pattern determination calculation, and a speed pattern generation circuit 1b which receives the output of the calculation circuit 1a as its input and outputs a speed setting signal in a required signal state. Further, 4 is a pulse encoder for detecting the rotation speed of the electric motor, and 5 is a detection value of the rotation speed of the electric motor 3 detected by the encoder.
An adder 2 for calculating the speed deviation between the two by subtracting it from the speed set value output by b is a speed control device for controlling the speed of the electric motor 3 so that the speed deviation becomes an input and the deviation becomes zero. . Furthermore, 11 is a sheave in the elevator hoisting mechanism,
12 baskets (elevators) and 13 are weights.

Next, FIG. 2 shows an example of the time characteristic of the motor speed set value during acceleration of the elevator.
, (A) is a characteristic diagram of the set speed V with respect to time, (b) is a characteristic diagram of acceleration α (= dV / dt) of the speed V with respect to time, and (c) is the acceleration of the acceleration α. The speed V
The characteristic diagram of the jerk (= dα / dt) with respect to time is shown. That is, in the respective characteristic diagrams of FIG. 2, in order to perform the smooth acceleration of the elevator, the acceleration α is linearly increased from the start to the time t ₁₂ , and the maximum value is increased from the time t ₁₂ to the time t _13. No constant value at α _m , and from time t ₁₃ to time t
Up to _15, it shows a state in which it linearly decreases to zero. Therefore, the velocity V obtained as the integrated value of the acceleration α
As shown in FIG. 9 (a), the speed is increased by the square characteristic of the time t from the start to the time t ₁₂ corresponding to each time segment, and is proportional to the time t from the time t ₁₂ to the time t _13. increasing Hayashi, it is from the time t ₁₃ to the time t ₁₅ to time t from the proportional acceleration state 2
The final value V _F is entered through a state of decelerating by the riding characteristic.

Further, the jerk of the velocity V shown in FIG. 3C takes three kinds of values, positive and negative constant values and zero, corresponding to the respective time sections as shown in the figure. It should be noted that each characteristic diagram during deceleration of the elevator is basically determined based on a state in which the polarity in the change pattern of the acceleration α shown in FIG. )
Is obtained as a line symmetry about the vertical axis at time t ₁₅ , the acceleration α is obtained as a line symmetry with respect to the horizontal axis t axis in FIG. It can be obtained as being line-symmetric with respect to the horizontal axis t-axis of (c).

Therefore, the above-mentioned specifications V, α, dα / dt having the contents as shown in the above figures can be represented by a general mathematical expression as a function of time t. Further, for example, when the elevator deceleration in which the positive and negative polarities in FIG. 8B are reversed is targeted, the moving distance L of the elevator is displayed as a mathematical expression as shown in the following expression (1). Here, V _F is the speed at the start of deceleration, V _C is the braking start speed or creep speed, t _D is the required deceleration time, s is the ratio of the speed in the curved deceleration region to the speed V _F , and k is the speed of speed V _C. It is the ratio to V _F.

L = (V _F · t _D / 2) (s + k · k + 1/3) (1) Further, the required deceleration time t _D when the moving distance L is set is
Equation (1) is given by equation (2). t _D = (2L / V _F ) (s + k · k + 1/3) (2) Accordingly, the above-mentioned required variables such as V _F , V _C , s, and k are set and the above L or By setting the required value such as t _D ,
The time characteristic of the set speed V and the equations (1) and (2) can be uniquely specified as arithmetic expressions.

That is, the speed setting circuit 1 shown in FIG.
Receives the setting signals S _f of the required variables such as V _F , V _C , s, k, etc. and determines the time variation pattern of the speed set value and performs the calculation according to the equations (1) and (2). Such an automatic calculation greatly simplifies the adjustment operation related to the speed set value pattern determination.

[0021]

According to the present invention, there is provided a speed control device for an elevator which controls the speed of the drive motor in accordance with a speed set value having an appropriate curve characteristic with respect to time, and which corresponds to an optimum acceleration / deceleration state for the elevator. The time characteristic of the speed set value is divided into a plurality of characteristic areas such as an acceleration / deceleration area and a constant speed area, and various calculations are performed according to a characteristic formula that defines each characteristic area. Determined by automatic calculation, during acceleration operation from the stopped state of the elevator or during deceleration operation from a predetermined operating speed to a predetermined low speed,
Various calculations such as setting a required acceleration or deceleration time and calculating a required moving distance corresponding thereto, or setting a required moving distance and calculating and determining a required acceleration or deceleration time corresponding thereto By providing the function and the function of displaying the calculated moving distance or acceleration / deceleration time, the adjustment time for determining the speed set value for the drive motor speed control in the speed control of the elevator is significantly increased. It is possible to shorten the time and greatly simplify the adjustment work.

[Brief description of drawings]

FIG. 1 is an elevator drive system diagram showing an embodiment of the present invention.

FIG. 2 is a time characteristic diagram of speed setting values for an elevator drive motor.

[Figure 3] Simplified system diagram of elevator drive system

FIG. 4 is an operation diagram of each part of the drive system corresponding to FIG.

[Explanation of symbols]

 1 speed setting circuit 1a speed pattern calculation circuit 1b speed pattern generation circuit 2 speed control device 3 hoisting motor (elevator drive motor) 4 pulse encoder 5 adder 11 sheave in hoisting mechanism 12 car (elevator) 13 weight

Claims (4)

[Claims] 1. A speed control device for an elevator, wherein the speed of the drive motor is controlled according to a speed set value having an appropriate curved time characteristic, and the speed set value corresponding to an optimum operating state of the elevator is set. The time characteristic is divided into a plurality of characteristic areas such as an acceleration / deceleration area and a constant speed area, and various calculations are performed according to the characteristic equations defining each of the characteristic areas by receiving the setting of various variables that specify the time characteristic. The speed setting value having the required time characteristic is specified and output, and at the time of each operation of acceleration from the stopped state of the elevator or deceleration from a predetermined operating speed to a predetermined low speed, the required acceleration or An elevator control device comprising a speed setting value calculation circuit for setting a deceleration time and calculating a required moving distance corresponding to the deceleration time. 2. The elevator control device according to claim 1, further comprising display means for displaying the calculated required moving distance. 3. A control device for an elevator according to claim 1, wherein the required acceleration or deceleration time is set and a corresponding required travel distance is replaced with a required travel distance by setting the required travel distance. A control device for an elevator, comprising a speed setting value calculation circuit for determining the calculation of acceleration time or deceleration time. 4. The elevator control apparatus according to claim 3, further comprising display means for displaying the calculated required acceleration time or deceleration time.