JPH06227763A - Control device for hydraulic elevator - Google Patents

Abstract

PURPOSE:To keep running performance at a constant value by determining a control amount of a valve device to control a pressure oil flow rate to a hydraulic jack based on a deviation between the actual speed of an elevator car and a reference speed and an accumulation value thereof and correcting the control amount by means of a detected actual speed. CONSTITUTION:A speed control device 13 is operated to input the actual speed Vplg of a car 1 detected by a speed detector 18 and a deviation DELTAV between a reference speed Vref and the actual speed is calculated by an adder 21. According to the actual speed Vplg, the throttle alpha of a valve device and a proportional gain Kp are calculated and further a sum of the deviation DELTAV and a correction item responding to an integrated value is determined by an adder 22 to calculate a control amount Iref. The control amount Iref is outputted to a valve device G (S) to control a pressure oil flow rate of a hydraulic jack. Correction of the throttle value alpha is set such that a correction amount is increased togetherwith lowering of a speed from a relation with the actual speed Vplg. A proportional gain Kp and an integrated time is decided from a two-dimensional data table through combination of an oil temperature and a load pressure.

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 for controlling the lifting speed of a hydraulic elevator.

[0002]

2. Description of the Related Art Generally, a hydraulic elevator adopts a flow rate control system using a flow rate control valve device. With this control method, when the elevator is raised, the electric motor is rotated at a constant speed, a constant discharge amount of oil from the 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 appropriately by the valve device. By performing the squeezing control, the flow rate of the pressure oil supplied to the hydraulic jack that raises and lowers the elevator car is changed, and the speed of the elevator car is controlled. When the elevator is descending, the flow rate of the oil in the hydraulic jack flowing back to the oil tank due to the weight of the car is controlled by the valve device, so that the descending speed of the car is controlled.

However, in such a hydraulic elevator control system, there is a relational characteristic between the control current given to the valve device and the flow rate of the oil according to the control current as the viscosity of the oil changes due to the temperature and pressure of the oil. It greatly fluctuates, the running characteristics are greatly affected by temperature and pressure, and especially the error that occurs between the car floor level and the hall floor level when landing (hereinafter,
This error is called a level error).

Therefore, temperature / pressure compensation of speed has conventionally been performed so that the traveling characteristics of the elevator are kept constant without being affected by the temperature and pressure of the oil, and the value input from the temperature and pressure sensor immediately before the start of the hydraulic elevator. Based on the above, the control current for the valve device is calculated and output. For example, in the case of elevator rise at high temperature and high pressure,
Since the discharge amount of the pump is small, the proportional solenoid of the valve device is controlled to open larger than usual to obtain the flow rate.

[0005]

However, in such a conventional hydraulic elevator control device, since the response delay of the valve device to be controlled is not taken into consideration in the temperature / pressure compensation control, the temperature / pressure control is not performed. Even when the control current corresponding to is output, the deceleration start timing is delayed and a level error occurs. As an example, the deceleration start command is output because the response delay of the rising flow rate control valve is different between the case where the elevator is raised while the oil is at a low temperature and the case where the elevator is raised while the oil is at a high temperature. The actual speed does not decrease even if the current value for starts to decrease.

Therefore, a method of determining the control amount for the valve device based on the deviation between the speed reference and the car speed and the accumulation of the deviations is conceivable. , The response time also fluctuates, resulting in overgain during acceleration / deceleration,
There was a phenomenon that vibration occurred.

The present invention has been made in view of the above-mentioned conventional problems, and a valve device is provided in accordance with a deviation between a speed reference and an actual speed and an accumulation of the deviation according to a traveling state of a hydraulic elevator and a state of oil. It is an object of the present invention to provide a hydraulic elevator control device capable of always obtaining a constant traveling characteristic by correcting the control amount of.

It is another object of the present invention to provide a hydraulic elevator control device capable of further stabilizing the traveling characteristics by further correcting the control amount according to the oil temperature and the load pressure. .

[0009]

According to a first aspect of the present invention, there is provided a hydraulic elevator control device which circulates a hydraulic pump for supplying pressure oil to a hydraulic jack, an electric motor for rotationally driving the hydraulic pump, and a hydraulic jack. A valve device for controlling the flow rate of pressure oil, a speed detector for detecting the actual speed of the elevator car, a deviation between the speed reference and the actual speed detected by the speed detector, and a cumulative value of the deviation for the valve device. A speed control unit that determines the control amount and a control amount correction unit that corrects the control amount output by the speed control unit according to the actual speed detected by the speed detector are provided.

According to another aspect of the present invention, there is provided a hydraulic elevator control device which controls a hydraulic pump for supplying pressure oil to the hydraulic jack, an electric motor for rotationally driving the hydraulic pump, and a flow rate of the pressure oil flowing through the hydraulic jack. Valve device, and an oil temperature sensor for detecting the oil temperature of the pressure oil flowing through the hydraulic jack,
A load pressure sensor that detects the load pressure of the pressure oil, a speed detector that detects the actual speed of the elevator car, and a valve based on the deviation between the speed reference and the actual speed detected by the speed detector and the cumulative value of the deviation. A speed control unit that determines the control amount for the device and a control amount correction unit that corrects the control amount of the speed control unit according to the oil temperature detected by the oil temperature sensor and the load pressure detected by the load pressure sensor are provided. .

[0011]

In the hydraulic elevator control system according to the present invention, when the control amount for the valve device is determined by the deviation between the preset speed reference and the actual speed detected by the speed detector and the cumulative value of the deviation. By correcting the control amount according to the current actual speed of the elevator car,
Vibrations generated during car acceleration / deceleration are eliminated and stable speed control is realized.

Further, in the hydraulic elevator control device according to the present invention, the control amount for the valve device is determined by the deviation between the preset speed reference and the actual speed detected by the speed detector and the cumulative value of the deviation. At this time, by correcting the control amount according to the oil temperature and the load pressure, the vibration generated when the car is accelerated or decelerated is eliminated, and stable speed control is realized.

[0013]

Embodiments of the present invention will now be described in detail with reference to the drawings.

FIG. 2 shows the overall construction of a hydraulic elevator using the control device of an embodiment of the present invention. As shown in FIG. 2, the car 1 of the hydraulic elevator is
It is suspended from a rope 5 wound around a pulley 4 which is moved up and down by a plunger 3 of a hydraulic jack 2. The hydraulic pipe 6 for circulating the pressure oil to the hydraulic jack 2 transfers the pressure oil from the hydraulic pump 8 driven by the electric motor 7 via a valve device 9 composed of an electromagnetic switching valve group described later. Is arranged between the hydraulic jack 2 and the hydraulic pump 8 so that the oil of the hydraulic jack 2 is returned to the oil tank 10 via the valve device 9.

A power supply 11 for supplying electric power to the electric motor 7.
Is provided. And an elevator control device 12 for controlling the entire operation control of the hydraulic elevator,
Speed control device 13 for controlling the traveling speed of the car
Is provided.

A deceleration switch 14 and a stop switch 15 are installed near each floor of the elevator hoistway in order to give necessary signals to the speed control device 13, and a hydraulic sensor 16 is provided in the hydraulic pipe 6. An oil temperature sensor 17 is installed in the oil tank 10, and a speed detector 18 is installed in the car 1. All signals from these switches and sensors are input to the speed control device 13. It is like this.

As shown in detail in FIG. 3, the speed controller 13 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 an elevator controller. A valve control controller 131 that generates a control current command value required to drive the elevator in a predetermined speed pattern based on the operation command from 12, and a rising valve 91 to be described later for the valve device 9 based on the control current command value. , A lowering valve 92, a check valve 96, and the like, and a valve control unit 132 that outputs an opening / closing control signal for a valve group, and a pump control unit 133 that drives the electric motor 7.

As shown in FIG. 4, the valve device 9 includes an ascending flow rate control valve 91, a descending flow rate control valve 92, an ascending electromagnetic proportional pilot control valve 93, and a descending electromagnetic proportional pilot control valve 9.
4, stroke sensor 95, check valve 96, electromagnetic pilot switching valve 97, emergency manual lowering valve 98, maximum pressure limiting relief valve 99, strainers 910 and 911, filters 912 and 913, and throttles 914 to 918. .

The raising / lowering operation of the elevator car by the hydraulic elevator having such a structure will be described. In FIGS. 2 and 4, if there is an ascending command from the elevator controller 12, the electric motor 7 starts to rotate and the hydraulic pump 8 is started. However, the pump flow rate is initially bleed off to the tank 10 because the rising flow control valve 91 is fully open, and the car 1 is stopped.

Therefore, an upward electromagnetic proportional pilot control valve 93 is generated by a current control command from the valve control unit 132.
And the rising flow rate control valve 91 operates in the closing direction. This reduces the bleed-off flow rate to tank 10,
This flow rate is determined by the stroke sensor 95 and the check valve 96.
Since it flows into the cylinder of the hydraulic jack 2 via the, the car 1 rises.

On the contrary, at the time of descending, the electromagnetic pilot switching valve 97 is excited by the descending command, 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, whereby the oil in the cylinder of the hydraulic jack 2 is returned to the tank 10 and the car 1 descends.

Here, as described above, when the current control of the valve opening of the valve device 9 corresponding to the rated speed pattern is performed regardless of the load pressure and the oil temperature, the load pressure and the oil temperature change. Even if the valve opening is kept constant, the flow rate of pressure oil changes significantly, and as a result, the actual traveling waveform also deviates significantly from the speed pattern. Therefore, in order to obtain a predetermined speed pattern even when the load pressure and the oil temperature change, the speed of the elevator is controlled while the speed is corrected by the control circuit shown in FIG.

FIG. 1 shows a block diagram of an embodiment common to the control device for a hydraulic elevator according to the first and second aspects of the invention. This control device is built in the speed control device 13 as a software program. To explain the configuration, the speed reference Vref and the speed detector 18 given according to the speed pattern will be described.
The deviation ΔV with respect to the actual speed Vplg detected by the adder 21 is obtained, and this is multiplied by the aperture α as a correction term for correcting according to the actual speed and the proportional gain Kp, and further, a correction term proportional to the deviation ΔV. And the correction term corresponding to the integrated value of the deviation ΔV are obtained by the adder 22 and output to the valve device 9 as the control amount Iref.

The throttle α is obtained from the characteristic graph of FIG. 5, and the proportional gain Kp and the integration time Ti are the oil temperature from the oil temperature sensor 17 and the load pressure from the load pressure sensor 16 shown in FIG. It is determined from a two-dimensional data table defined by a combination of detected values.

The diaphragm α as a correction term based on the actual speed will be described with reference to FIG. 5. In the graph of FIG. 5, the vertical axis represents the speed Vplg detected by the speed detector 18, and the horizontal axis represents the diaphragm α. , V2 is the rated speed, V1 is the low speed when landing,

[0026]

[Equation 1] At the start of deceleration, the correction amount of the control amount due to the speed deviation is reduced as much as possible, and the correction amount is gradually increased as the speed starts to gradually decrease. In this way, the response time of the valve device 9 which varies depending on the car speed is controlled by the control amount according to the car speed.

Further, the proportional gain Kp and the integration time Ti for correcting the control amount based on the oil temperature and the load pressure will be described based on the two-dimensional data table of FIG. Divide and load pressure 3kg
・ F / cm ² It is divided into 5 stages for each
The proportional gain Kp and the integration time Ti are set for each direction of P) and descent (DN).

That is, the oil temperature t is 20 ° or less, 20 to 30.
°, 30-40 °, 40-50 °, 50 ° or more, and the load pressure P is 16 kgf / cm ² Less than,
16-19kgf / cm ² , 19-22kgf / c
m ² , 22-25kgf / cm ² , 25 kgf /
cm ² It is set in the above five stages.

Therefore, when the speed control of the hydraulic elevator is performed as described above, the data shown in FIG. 6 is obtained from the combination of the load pressure P from the load pressure sensor 16 and the oil temperature t from the oil temperature sensor 17. The proportional gain Kp and the integration time Ti on the ascending side (UP) or the descending side (DN) of the corresponding column are found by referring to the table, and these are used respectively to control the target G (s) in the control circuit shown in FIG. ), The speed control amount for the valve device 9 is given as the current value Iref.

For example, at the time of rising, the car speed is the rated speed V2, and the load pressure P is 17 kg.f / cm.
² When the oil temperature t is 25 °, α1 is set as the aperture α from the characteristic graph of FIG. 5, and 38 is set as the proportional gain Kp and 9 is set as the integration time Ti from the data table of FIG. By using these values for the throttle α, the proportional gain Kp, and the integration time Ti of the control circuit of FIG. 1, the control amount I subjected to speed correction, load pressure, and oil temperature correction has been applied.
ref will be obtained. The above operation will be described in more detail with reference to the flowchart shown in FIG.

First, it is determined whether or not the elevator car has entered the deceleration start region from the rated traveling state (step S1). If deceleration is started, the next step S2 is performed.
In step S3, if it is determined that deceleration has started in the state one cycle before, and if it is determined that deceleration has started for the first time, the control amount at the time of deceleration start is set to the initial value of the integral term in step S3. This prevents car vibration that occurs due to fluctuations in the control amount at the start of deceleration. In this case, the initial value Xi (0) of the integral term is

[0032]

## EQU00002 ## Xi (0) = Iref (0)-(Vref (0) -Vplg (0)). Alpha..multidot.Kp. In the next step S4, the aperture α is calculated and set, and in the following step S5, the speed deviation e
(N) is calculated as e (n) = | Vref−Vplg |. Further, in the next step S6, the proportional term Xp of the speed deviation is calculated as Xp = Kp · α · e (n), and in step S7, the integral term Xi of the speed deviation is calculated as

[0033]

[Equation 3] Ask as. Here, Xib is the integral term data one cycle before. Finally, in step S8, the control amount Iref is obtained as Iref = Xp + Xi, and the speed control is performed based on this.

The control amount Iref thus obtained is saved as back data of the integral term for the calculation of the next cycle, thereby completing the control calculation of one cycle (step S9).

Thus, the speed control is performed while correcting the control amount based on the actual speed and the load pressure and the oil temperature state at the same time, whereby the speed control can be performed without causing vibration during acceleration / deceleration.

The present invention is not limited to the above embodiment. As an embodiment of the invention of claim 1, in the control circuit shown in FIG. The configuration can be such that the velocity deviation is corrected only by α.

Further, as an embodiment of the invention of claim 2, in the control circuit shown in FIG. 1, the throttle correction term α based on the actual speed is omitted and the gain and the integration time based on the oil temperature and the load pressure are corrected. It can be configured as it is.

[0038]

As described above, according to the invention of claim 1,
When the control amount for the valve device is determined by the deviation between the preset speed reference and the actual speed detected by the speed detector and the cumulative value of the deviation, the control amount is corrected according to the current actual speed of the elevator car. Therefore, the vibration generated when the car is accelerated or decelerated due to the control delay can be eliminated, and stable speed control can be realized.

According to the second aspect of the invention, when the control amount for the valve device is determined by the deviation between the preset speed reference and the actual speed detected by the speed detector and the accumulated value of the deviation, Since the control amount is corrected according to the temperature and the load pressure, the control amount can be corrected according to the characteristics of the valve device that fluctuate significantly due to the changes in the oil temperature and the load pressure. Vibration that occurs during deceleration can be eliminated and stable speed control can be realized.

[Brief description of drawings]

FIG. 1 is a block diagram of an embodiment common to the inventions of claims 1 and 2. FIG.

FIG. 2 is a system diagram of a general hydraulic elevator used in the above embodiment.

FIG. 3 is a block diagram showing an internal configuration of a speed control device in the hydraulic elevator.

FIG. 4 is a system diagram showing an internal configuration of a valve device in the hydraulic elevator.

FIG. 5 is an aperture α for actual speed correction in the above embodiment.
FIG. 3 is a speed-throttle relation characteristic graph used to determine the value of FIG.

FIG. 6 is a two-dimensional data table showing the correspondence between the proportional gain, the oil temperature of the integration time, and the load pressure in the control circuit of the above embodiment.

FIG. 7 is a flowchart showing the control operation of the above embodiment.

[Explanation of symbols]

 1 basket 2 hydraulic jack 3 plunger 6 hydraulic piping 7 electric motor 8 hydraulic pump 9 valve 10 tank 12 elevator control device 13 speed control device 14 deceleration switch 15 stop switch 16 hydraulic sensor 17 oil temperature sensor 18 speed detector 130 external signal input circuit 131 Valve control controller 132 Valve control unit 133 Pump control unit α Aperture value Kp Proportional gain Ti Integration time Iref Control amount Vref Speed reference Vplg Actual speed

Claims (2)

[Claims] 1. A hydraulic pump for supplying pressure oil to a hydraulic jack, an electric motor for rotationally driving the hydraulic pump, a valve device for controlling a flow rate of the pressure oil flowing through the hydraulic jack, and an actual elevator car. A speed detector for detecting a speed; a speed controller for determining a control amount for the valve device based on a deviation between a speed reference and an actual speed detected by the speed detector and a cumulative value of the deviation; Control apparatus for a hydraulic elevator, comprising: a control amount correction unit that corrects the control amount output by the speed control unit according to the actual speed detected by the container. 2. A hydraulic pump for supplying pressure oil to a hydraulic jack, an electric motor for rotationally driving the hydraulic pump, a valve device for controlling a flow rate of the pressure oil flowing through the hydraulic jack, and the hydraulic jack. An oil temperature sensor that detects the oil temperature of the circulating pressure oil, a load pressure sensor that detects the load pressure of the pressure oil, a speed detector that detects the actual speed of the elevator car, and a speed reference and the speed detector A speed control unit that determines a control amount for the valve device based on a deviation from the detected actual speed and a cumulative value of the deviation, and an oil temperature detected by the oil temperature sensor and a load pressure detected by the load pressure sensor. A control device for a hydraulic elevator, comprising: a control amount correction unit that corrects the control amount of the speed control unit accordingly.