JPH06127853A - Peed controller for elevator - Google Patents

Abstract

PURPOSE:To prevent the generation of vibration in a car even if the deviation between the unbalanced load value computed at the starting time of an elevator car and the updated value detected at the landing time is large. CONSTITUTION:A load detection signal 21a obtained by adding/subtracting the specified value to/from a load detection signal 11a, computed at the starting time of a car, every speed operation cycle in a load detection signal correcting circuit 21 is outputted at the landing time of the car. The deviation between the load detection signals at the starting and landing time is moderately corrected so as to prevent the generation of vibration in the car. The speed deviation and the load detection signal are added at an adder 19, and a current command signal computed at a computing means 20 is outputted.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to speed control of an elevator, and more particularly to improvement of riding comfort when landing.

[0002]

2. Description of the Related Art FIGS. 7 to 9 show, for example, JP-A-1-313.
FIG. 8 is a diagram showing a speed control device for an elevator in which the load detector shown in Japanese Patent No. 285 is installed, FIG. 7 is an overall configuration diagram, FIG. 8 is a block diagram of a speed control arithmetic circuit, and FIG. Is.

In FIG. 7, (1) is an elevator car, (2) is a counterweight, (3) is a main rope wound around a drive sheave (4), and the car (1) and the car (1) are provided at both ends thereof. The counterweight (2) is combined. (5) is an electric motor for driving the drive sheave (4), which is connected to the three-phase AC power source (6) through a power conversion circuit (7). (8) is a basket from the rotation of the electric motor (5)
(1) is a pulse generator that generates a pulse proportional to the moving distance, and (9) is a counting circuit that counts the pulses from the output of the pulse generator (8) and outputs a velocity feedback signal (9a).

(10) is composed of a microcomputer (hereinafter referred to as "microcomputer"), and calculates a current command signal (10a) from a speed command signal (described later), a speed feedback signal (9a) and a load detection signal (11a). Speed control calculation circuit that outputs to the power conversion circuit (7), (11) is installed in the car (1), detects the load in the car (1), and outputs a load detection signal (11a) corresponding to it Detector, (12) is an input adjustment circuit for balanced load that is composed of a switch and outputs a corrected load detection signal (12a), and (13) is an unbalanced load that also outputs a corrected load detection signal (13a). It is a time input adjustment circuit.

In FIG. 8, the speed control arithmetic circuit (10) is
CPU (10A), ROM (10B), RAM (10C), input port
(10D) and output port (10E), input port (10D) speed feedback signal (9a) and load detection signal (13a) are input, output port (10E) current command signal (10a) Is output.

In FIG. 9, (16) is a speed command signal, and (17)
Is an adder that adds the speed command signal (16) and the speed feedback signal (9a), (18) is an operational amplifier connected to the adder (17), (19) is the output of the operational amplifier (18) and load detection An adder for adding the signal (13a), (20) is connected to the adder (19), and the current command signal (10
It is a calculation means that outputs a).

The conventional elevator speed control device is constructed as described above, and the pulse of the pulse generator (8) is counted by the counting circuit (9) and output from the speed feedback signal (9a).
It is input to the speed control arithmetic circuit (10), where it is collated with the speed command signal (16) by the adder (17). Output of adder (17),
That is, the deviation between both signals (16) and (9a) is amplified by the operational amplifier (18). On the other hand, the load detector (11) is under balanced load (car (1)
When the weight of the counterweight (2) is balanced), the load detection signal (11a) becomes zero when the load is unbalanced and the load detection signal (11a) is output. (12) outputs the load detection signal (12a) in which the error of the load detection signal (11a) under the balanced load is corrected. Further, the unbalanced load input adjustment circuit (13) outputs the load detection signal (13a) in which the error in the unbalanced load is corrected.

The output of the operational amplifier (18) and the load detection signal (13
a) is added by the adder (19), the current command signal (10a) is calculated by the calculation means (20), and the current command signal (10a) is sent to the power conversion circuit (7).
With this, the power conversion circuit (7) controls the applied voltage of the electric motor (5) to control the electric motor speed.

Here, the load detection signal (13a) input to the adder (19) is a value that stores the unbalanced load value that was taken in when the car (1) was started, and this stored constant value during running. The value is input as the load detection signal (13a). Then, when the car (1) is stopped, the door stops while opening the door immediately before the landing position on the floor to be stopped, so that a person gets on and off as the door is opened. Therefore, even if the speed command signal is corrected by the load detection signal (13a) stored at startup,
Since the actual imbalance value is different, it is not possible to accurately stop at the landing position, and a slight landing error will occur. In order to prevent this, the load detection signal (11a) is fetched again and the load detection signal (13a) is updated.

[0010]

In the conventional elevator speed control device as described above, the load detection signal (13a) stored at the time of startup is used as the correction of the speed command signal at the time of landing.
Since the load detection signal (11a) is re-acquired and updated without using, the problem of causing vibration in the car immediately before landing occurs if the deviation of the update value is large.

The present invention has been made in order to solve the above problems, and provides an elevator speed control device capable of preventing vibration in a car even if the deviation of the update value of the load detection signal is large. The purpose is to do.

[0012]

A speed control device for an elevator according to a first aspect of the present invention calculates an unbalanced load value at the time of landing of a car and at the time of startup of the car in an elevator that updates an unbalanced load value. A load detection signal correction means for adding and subtracting a predetermined value to the unbalanced load value for each cycle of speed calculation and converging to an updated value is provided.

The elevator speed control device according to the second aspect of the invention is composed of a first-order lag filter circuit and is added to a speed control arithmetic circuit for inputting an unbalanced load value at the time of landing of a car and converging it to an updated value. The load detection signal correction means is provided.

In the elevator speed control device according to the third aspect of the invention, a correction table for storing a large number of constant values corresponding to the unbalanced load values in advance and a car landing time correction table are used for starting and landing. And a load detection signal correction means for extracting a constant value corresponding to the unbalanced load value at the time and adding it to the speed control circuit.

[0015]

In the first aspect of the present invention, a predetermined value is added / subtracted at each speed calculation cycle when the car is landed so as to converge to an updated value. In the second aspect, the unbalanced load value is set to the primary value. Output through the delay filter circuit,
In the third aspect of the invention, the corresponding constant value is extracted and output between the unbalanced load values at the time of startup and at the time of landing, so that the load detection signal is gently corrected in both cases.

[0016]

【Example】

Example 1. 1 and 2 are views showing an embodiment of the present invention, FIG. 1 is a configuration diagram of a main part, and FIG. 2 is an operation flow chart. The same parts as those of the conventional device are indicated by the same reference numerals (also in other embodiments. the same). 7 and 8 are also used in this embodiment. However, the load detection signal (13a) is the load detection signal (21a)
(The same applies to the other examples).

In FIG. 1, reference numeral (21) is a microcomputer, a load detection signal correction circuit for inputting the load detection signal (11a) and outputting the load detection signal (21a), WIN is a load detection signal update flag, and SLOK. Is a landing detection flag.

Next, the load detection signal correction circuit (2
The operation 1) will be described with reference to FIG. In step (31), the load detection signal (11a) at the time of landing is input and stored in the load value X. In step (32), load detection signal when starting or landing
Whether the update timing is (11a) or not is determined by whether the load detection signal update flag WIN is not "0". It should be noted that this update flag WIN is fetched by transmission with another CPU that controls the operation command of the elevator. If the update flag WIN is "0", this process ends. If not "0", proceed to step (33).

In step (33), the load detection signal (11
Whether or not it is the update timing of a), the landing detection flag SLO
It is determined whether K is not "0". The detection flag SLOK is also fetched by transmission with another CPU, like the update flag WIN. If the detection flag SLOK is not "0", the process proceeds to step (34) and the load detection signal (1
Update 1a). When the detection flag SLOK is "0", it is determined that the update is performed at the time of startup, and the process jumps to step (37) to set the load value X to the output value (corresponding to the load detection signal (21a)) Y.
To store. Further, since the load detection signal (11a) during traveling is stored, the load value X is also stored in the latch value Xs.

In step (34), it is judged whether the load value at the time of landing, that is, the update value X is smaller than the latch value Xs latched during traveling. If the update value X is small, the step (3
Going to 5), the predetermined value a is subtracted from the latch value Xs and stored in the latch value Xs. When update value X is large, step
It jumps to (36), adds the predetermined value b to the latch value Xs, and stores it in the latch value Xs. In step (38), it is determined whether the value subtracted in step (36) has reached the update value X, that is, whether the latch value Xs added in step (36) has reached the update value X in step (39). . If it has converged, the updated value X is stored in the output value Y in step (40), and if it has not converged, it is stored in the latch value Xs in step (41).

As described above, since the predetermined value a is subtracted from the latch value Xs or the predetermined value b is added for each calculation cycle, the latch value Xs gradually decreases or increases and converges to the update value X. . Therefore, the vibration inside the car (1) does not occur when landing.

Example 2. 3 and 4 show a second embodiment of the present invention.
FIG. 3 is a diagram showing an embodiment of the invention of FIG.
Is an operation flowchart. In FIG. 3, reference numeral (22) is a position calculation circuit which inputs the speed feedback signal (9a) and outputs the position signal (22a) to the load detection signal correction circuit (21).

Next, the load detection signal correction circuit (2
The operation 1) will be described with reference to FIG. In step (51), the load detection signal (11a) is input and stored in the load value X. In step (52), it is determined whether the load detection signal (11a) is updated at the time of activation or landing depending on whether the update flag WIN is "0". If the update flag WIN is "0", this process ends. If not "0", proceed to step (53).

In step (53), the load detection signal (1
Whether or not it is the update timing of 1a) is determined by the position signal (22a), which is the calculation result of the position calculation circuit (22), in the vicinity of the value S representing the landing position. If near the landing position, step (54)
Proceed to and the load detection signal (11a) at the time of landing is updated. If it is not in the vicinity of the landing position, it is determined that the update has been made at the time of activation, and the process jumps to step (56) to store the load value X in the output value Y. In steps (54) and (55), the primary delay is calculated by the mathematical formula shown in Formula 1 based on the updated value at the time of landing, and the calculation result is stored in the output value Y.

[0025]

[Equation 1]

Here, T: time Y: result A calculated in the previous cycle A. In this way, the load detection signal (11a) gradually decreases or increases by the first-order delay calculation and reaches the updated value X, so that at the time of landing No vibration occurs in the car (1).

Example 3. 5 and 6 show a third embodiment of the present invention.
FIG. 5 is a diagram showing an embodiment of the invention of FIG.
Is an operation flowchart. In FIG. 5, (23) is R
Load detection signal correction table that is composed of OM and has a predetermined constant arrayed, and when the load detection signal (21a) is input from the load detection signal correction circuit (21), the specified constant is sent by the output signal (23a). Is.

Next, the load detection signal correction circuit (2
The operation 1) will be described with reference to FIG. In step (61), the load detection signal (11a) is input and stored in the load value X. The initial value of the initial update flag XFL is "0". Load detection signal (11a) when starting or landing in step (62)
It is determined whether or not the update timing is 0 depending on whether the update flag WIN is not "0". If the update flag WIN is “0”,
This process ends. If not "0", proceed to step (63).

In step (63), the load detection signal (1
The landing detection flag SL indicates whether it is the update timing of 1a).
Judge whether OK is not "0". Landing detection flag SL
If OK is not "0", the process proceeds to step (64) to update the load detection signal (11a) at the time of landing. Further, when the landing detection flag SLOK is "0", it is determined that the update is performed at the time of starting, and the process jumps to step (66) to store the load value X in the output value Y. Further, since the load detection signal (11a) during traveling is stored, the load value X is also stored in the latch value Xs.

At the step (64), it is judged whether or not the update is the first time when landing, whether the first update flag XFL is "0". In the case of the first time, proceed to step (65) to obtain the deviation between the update value X and the latch value Xs latched at startup,
Store in variable a and zero in table pointer b.
In step (67), the constant table value of the ideal correction curve set in the ROM is extracted based on the deviation a and the table pointer b, and stored in the output value Y. Step (68)
Then, the pointer b is updated for the next extraction of the constant table, and the initial update flag XFL is set to FF. with this,
Next time, the process proceeds from step (64) to step (67) to extract the next constant table value.

In this way, the update value X and the latch value Xs
Since the constant table value is extracted from the deviation of
The load detection signal (11a) gradually decreases or gradually increases to reach the updated value, and the vibration in the car (1) at the time of landing does not occur.

[0032]

As described above, according to the first aspect of the present invention, a predetermined value is added / subtracted at each speed calculation cycle when the car is landed so as to converge to the updated value. The load value is output through the first-order lag circuit, and in the third invention, the constant value corresponding to the unbalanced load value at the time of starting and landing is extracted and output. The detection signal is gently corrected, and even if there is a large deviation between the load detection signal at startup and the updated value at landing,
This has the effect of preventing vibration in the car.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a main part showing a first embodiment of the present invention.

2 is an operation flowchart of the load detection signal correction circuit in FIG.

FIG. 3 is a main part configuration diagram showing a second embodiment of the present invention.

FIG. 4 is an operation flowchart of the load detection signal correction circuit in FIG.

FIG. 5 is a main part configuration diagram showing a third embodiment of the present invention.

6 is an operation flowchart of the load detection signal correction circuit of FIG.

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

8 is a block diagram of the speed control arithmetic circuit of FIG.

9 is a main part configuration diagram of the speed control arithmetic circuit of FIG. 7.

[Explanation of symbols]

 1 car 2 counterweight 5 electric motor 10 speed control arithmetic circuit 11 load detector 11a load detection signal 19 adder 21 load detection signal correction circuit 21a load detection signal 22 position detection circuit 23 load detection signal correction table

Claims (3)

[Claims] 1. A car detector having a load detector for detecting a load inside a car, and having a circuit for adding a load detection signal output from the load detector to a speed control arithmetic circuit constituted by a computer, for starting a car. In an elevator that sometimes calculates an unbalanced load value corresponding to the weight difference between the car and the counterweight, and updates this when the car is landing on the ground,
A load detection signal that outputs, as the load detection signal, a correction signal that adds or subtracts a predetermined value to the unbalanced load value calculated at the time of starting the car at the time of landing of the car and converges to the updated value at each cycle of the speed calculation. An elevator speed control device comprising a correction means. 2. A car detector is provided with a load detector for detecting a load inside the car, and a circuit for adding a load detection signal output from the load detector to a speed control arithmetic circuit composed of a computer, to start the car. In an elevator that sometimes calculates an unbalanced load value corresponding to the weight difference between the car and the counterweight, and updates this when the car is landing on the ground,
A load detection signal correction means for outputting the correction signal for inputting the unbalanced load value and converging it to the updated value when the car is on the floor, which is composed of a first-order lag filter circuit, as the load detection signal. Elevator speed control device. 3. A car is equipped with a load detector for detecting the load inside the car, and has a circuit for adding a load detection signal output from the load detector to a speed control arithmetic circuit constituted by a computer, and starting the car. In an elevator that sometimes calculates an unbalanced load value corresponding to the weight difference between the car and the counterweight, and updates this when the car is landing on the ground,
A correction table that stores a large number of constant values corresponding to the unbalanced load values in advance, and the constant value corresponding to the unbalanced load value at the time of starting and landing from the correction table when the car is landing Is provided and the correction signal is output as a load detection signal. The elevator speed control device is provided with the load detection signal correction means.