JPH0680326A - Elevator control device - Google Patents

Abstract

PURPOSE:To prevent speed from becoming unstable in the neighbourhood of the lowest speed and to improve driving comfortability by slacking deceleration in the case when delay of deceleration start is large and deceleration becomes larger than specified deceleration concerning a device carrying out distance base deceleration control. CONSTITUTION:Furnished with a deceleration distance computing circuit 11 to compute residual distance between stop target floors, that is, deceleration distance 11a by way of receiving a target floor position data 5b from a drive control circuit 5 and an elevator position data 10a from a position detection circuit 10, a deceleration starting position 12a is detected by a deceleration start detection circuit 12 in accordance with the deceleration distance 11a. Additionally, deceleration time speed standard speed 13a to correspond with the deceleration distance 11a is generated from a deceleration speed standard generation circuit 13, and however, at this time, in the case when time change of a deceleration time speed standard is detected and it exceeds a specified rate of change, the deceleration distance 11a is corrected to be simulatively longer in correspondence with the variation amount of this rate of change. Thereafter, by decelerating and controlling a cage in accordance with each of the aforementioned data 12a, 13a, the cage is lowered to a target floor.

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, and in particular, to stop an elevator, deceleration control is performed by calculating a speed reference from a remaining distance to a landing position on a stop floor,
The present invention relates to an elevator control device that performs so-called distance-based deceleration control.

[0002]

2. Description of the Related Art Conventionally, various drive systems have been generally adopted for elevators. A system for controlling an electric motor by using a power converter such as an inverter, or a plunger driven by hydraulic pressure to drive an elevator car. However, in order to carry people between the elevators and carry out the inter-floor traffic,
It is required that the ride be comfortable and that there is little step difference with the floor of the landing when stopped. That is, if the acceleration / deceleration is not suppressed to a value equal to or lower than a predetermined value, passengers will feel uncomfortable, and even if the acceleration / deceleration changes greatly, the riding comfort will deteriorate.
Furthermore, after the elevator reaches a predetermined speed, it slows down and stops, and when the door opens and passengers disembark, the level difference with the floor of the landing, that is, the landing error must be made small, and passengers may stumble when getting on and off. There is.

Therefore, in order to improve the landing accuracy, the position at which deceleration is started from a constant speed operation state and the speed reference during deceleration are constantly checked by the relationship between the position of the stop target floor and the current position of the elevator. However, deceleration control must be performed, and the deceleration start point must be accurately determined based on the difference between the stop target floor and the current position of the elevator, that is, the remaining distance.

It is the speed reference signal that determines the performance of such an elevator, and it is an important factor for the operating condition of the elevator, especially for accurately operating to the stop target floor.

Therefore, conventionally, a speed reference generating device is provided with a speed reference pattern as shown in FIG. This speed reference pattern is configured to stop after an acceleration period 1, a constant speed period 2, a constant deceleration period 3, and a minimum speed period 4, and the floor where the elevator is currently stopped in response to a car call or a hall call. When moving from to the target stop floor, the vehicle is operated according to the speed reference pattern shown in FIG. That is, the elevator starts moving and accelerates to a rated speed with a constant acceleration (acceleration period 1), and after reaching a predetermined rated speed, the elevator starts to stop at the constant speed and a deceleration start point set to a predetermined distance before the target floor. Drive (constant speed period 2), then decelerate at a constant deceleration (constant deceleration period 3), and if the predetermined minimum speed period 4 is reached after passing this constant deceleration period 3, stop at the stop target floor It runs at the lowest speed and stops at the stop position (lowest speed period 4).

In the speed control according to such a speed reference, in order to prevent passengers from feeling uncomfortable, it is necessary to maintain a predetermined acceleration / deceleration period 3 at a predetermined acceleration / deceleration, and stop at the stop target floor. However, the deceleration start timing and constant deceleration period are important in order to meet these requirements, and the elevator ride quality and landing accuracy, which are the main performances of the elevator, must be kept constant. The deceleration period is greatly related.

A conventional method of deceleration control during a constant deceleration period, which is such an important factor, will be described. FIG. 4 shows a change in speed from a certain speed to a stop. If the horizontal axis represents time t and the vertical axis represents speed v, the triangular area s represents the traveling distance, that is, the deceleration distance s to the target point. Will be represented. Therefore, if the deceleration is β (constant), the deceleration distance s is expressed by the following equation (1).

[0008]

[Equation 1] Therefore, the speed v is expressed by the following equation (2), and is a function of the deceleration distance s if the deceleration β is constant.

V = √ (2β · s) (2) FIG. 5 is a graph showing the relationship between the speed v and the deceleration distance s. The abscissa represents the deceleration distance and the ordinate represents the speed v. Then, when the deceleration distance s remains by s1, the speed v at that time is set to v1, but when the deceleration distance s remains only s2, the speed v at that time is set to v2.

[0010]

However, the conventional elevator control device has the following problems. That is, FIG. 5 is a characteristic graph when the elevator can be operated based on a predetermined speed reference. Actually, there is an operation delay due to the control circuit or load condition, and the actual speed of the elevator will follow the speed reference. However, the deceleration start timing is delayed, and the actual speed becomes higher than the speed reference. Although this delay amount varies depending on the control method, a large delay may occur in the case of hydraulic control. When the operation delay increases, the actual speed becomes higher than the speed reference for achieving the constant deceleration as shown in FIG.
As a result, the actual distance traveled at regular intervals increases, and the deceleration must be increased because the vehicle must decelerate within such a short remaining distance. Speed will slow down the speed reference.

FIG. 6 shows the relationship between the speed reference during deceleration and the actual speed. Since the actual speed 31 greatly lags the target constant deceleration speed reference 30, the actual speed reference 32 is reduced. The speed must be large, and as a result, when switching to the lowest speed (this switching to the lowest speed is as shown in FIG. (Detected and forcibly carried out), the speed of the gap vg suddenly increases, shock is generated and the riding comfort is deteriorated, or the speed cannot respond further, and the elevator is running while operating at the minimum speed reference. There was a problem that the state was close to a stop, and after that, it tried to drive again by raising to the minimum speed standard and became an unstable operating state, and the accuracy at the time of landing became unstable.

The present invention has been made in view of the above conventional problems. When the deceleration start delay is large and the deceleration is larger than a predetermined deceleration, the speed is reduced by slowing the deceleration. It is an object of the present invention to provide an elevator control device that prevents the vehicle from becoming unstable near the minimum speed, provides a comfortable ride, and has good landing accuracy.

[0013]

The elevator control device of the present invention determines an operating direction of an elevator, a stop target floor, and controls a traveling start, a traveling stop, a traveling speed, and a door opening / closing operation, and A drive circuit that drives an elevator according to a command from the operation control circuit, a position detection circuit that detects a position corresponding to the movement of the elevator, and a deceleration distance is calculated based on information from the operation control circuit and information from the position detection circuit. A deceleration distance calculation circuit, a deceleration speed reference calculation circuit that calculates a deceleration speed reference corresponding to the deceleration distance calculated by this deceleration distance calculation circuit, and a temporal change of the deceleration speed reference output by this deceleration speed reference calculation circuit. If a predetermined rate of change is exceeded, the deceleration distance is simulated longer corresponding to the variation of the rate of change, and the reduction rate given to the deceleration speed reference calculation circuit is reduced. Those having a degree correction circuit.

[0014]

In the elevator controller of the present invention, the position detection circuit detects the position corresponding to the movement of the elevator, and the deceleration distance calculation circuit detects the driving direction of the elevator.
A deceleration speed reference calculation circuit that calculates the deceleration distance based on the information from the operation control circuit that controls the target stop floor, running speed, etc. and the information from the position detection circuit, and the deceleration speed reference corresponding to the obtained deceleration distance And the operation control circuit controls the drive circuit based on this, and controls the deceleration operation during the constant deceleration speed period.

In this case, the deceleration correction circuit detects the temporal change of the speed reference during deceleration output from the deceleration speed reference calculation circuit, and when the predetermined change rate is exceeded, it corresponds to the variation of the change rate. Then, the deceleration distance is simulated and given to the deceleration speed reference calculation circuit, and based on this, the deceleration speed is modified so that the actual speed, which cannot be avoided in the past, is lower than the minimum speed in the minimum speed period. Since it becomes too small, the speed fluctuation that occurred when switching to the minimum speed period is suppressed, the riding comfort is improved, and the landing accuracy is kept high.

[0016]

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

FIG. 1 is a circuit block diagram of an embodiment of the present invention, in which a driving direction is determined in response to a car call or a landing call of an elevator, a stop target floor is set, and a stop floor next to the stop target floor is determined. To the target stop floor of the elevator according to the speed pattern as shown in FIG. 3, the operation control circuit 5 performing a series of operation control of performing the speed control up to and stopping at the target floor to open and close the door. A speed reference generation circuit 6 for generating a speed reference according to the above, a drive device control circuit 7 for controlling a drive device for elevating and lowering an elevator car, and a drive device 8 for vertically moving an elevator car controlled by the drive device control circuit 7. , A position detecting pulse generator 9 that outputs a pulse corresponding to the number of revolutions of the drive device 8, and counts pulse signals from the position detecting pulse generator 9. And a position detecting circuit 10 for detecting a car position by the.

The elevator controller of this embodiment also includes
The deceleration distance calculation circuit 11 and the position detection circuit 10 which receive the target floor position data 5b from the operation control circuit 5 and the position detection data 10a from the position detection circuit 10 and calculate the remaining distance to the stop target floor, that is, the deceleration distance. Based on the elevator position data 10a from the vehicle and the deceleration distance from the deceleration distance calculation circuit 11, the deceleration start position is detected and given to the speed reference generation circuit 6.
The deceleration speed reference generation circuit 13 for generating the deceleration speed reference corresponding to the deceleration distance 11a by 1 and giving it to the speed reference generation circuit 6 and the speed reference signal 6 output from the speed reference generation circuit 6
and a speed reference time change detection circuit 14 for detecting a time change of a and instructing the deceleration speed reference generation circuit 13 to output a correction value of the speed reference during deceleration when there is a change rate of a predetermined value or more. ing.

Further, FIG. 2 shows a deceleration speed reference generation circuit 13
2 shows a detailed configuration of the speed reference time change detection circuit 14, the deceleration speed reference generation circuit 13 includes a deceleration distance correction circuit 15 and a correction speed reference generation circuit 16, and the speed reference time change detection circuit 14 is a speed reference. It comprises a change rate calculation circuit 17 for calculating the time change rate and a storage circuit 18 for storing the previous speed reference for the change rate calculation circuit 17.

Next, the operation of the elevator control device having the above configuration will be described.

In the operation control circuit 5, processing related to the operation of the elevator is performed based on the call signal from the hall, the car, etc., and the speed reference is generated to drive the drive device 8 such as the electric motor hoist to operate the elevator. An operation command signal 5a is sent to the circuit 6.

In the speed reference generation circuit 6, a predetermined speed reference signal 6a is sent to the drive device control circuit 7 during the acceleration period, constant speed period, etc., and the drive device 8 drives the elevator in a predetermined direction at a predetermined speed. To do.

Then, the position detection circuit 10 counts the signal 9a from the position detection pulse generator 9 attached to the drive unit 8 to calculate the position of the elevator,
This position detection signal 10a is sent to the deceleration distance calculation circuit 11.

The target floor position data 5b is sent from the operation control circuit 5 to the deceleration distance calculation circuit 11, and from the position detection signal 10a and the target floor position data 5b,
The deceleration distance is calculated by calculating the distance difference between the current position of the elevator and the stop target floor. And this deceleration distance 11a
Is sent to the deceleration start detection circuit 12 and the deceleration speed reference generation circuit 13.

When the deceleration speed reference generation circuit 13 recognizes that the deceleration distance 11a has entered the constant deceleration period, as will be described later, the deceleration speed corresponding to the deceleration distance is calculated and given to the speed reference generation circuit 6.

In this way, when the elevator approaches the stop target floor, the deceleration distance 11a is calculated, and it is detected that the deceleration distance has become equal to or less than a fixed value, and the deceleration start detection circuit 12 outputs the deceleration start signal 12a to the speed reference generation circuit. Send to 6. Upon receiving the deceleration start signal 12a, the speed reference generation circuit 6 recognizes that the constant deceleration period has been entered, and the deceleration distance calculation circuit 1
1 receives the speed reference 13a at the time of constant deceleration corresponding to the deceleration distance 11a calculated by 1 and outputs it as the speed reference 6a to the drive device control circuit 7, and controls the drive device 8 based on this to control the drive speed of the elevator car. To slow down.

However, deceleration may be greatly delayed after the start of deceleration, and in that case, deceleration may be large. Therefore, in this embodiment, the speed reference 6a output from the speed reference generation circuit 6 is monitored by the speed reference temporal change detection circuit 14, and the speed reference temporal change rate becomes large, and the deceleration exceeds the predetermined value. Up to
The signal 14a is sent to the deceleration speed reference generation circuit 13 to reduce the change in the speed reference output corresponding to the change in the deceleration distance according to the procedure described later, and prevent the deceleration from becoming too large. By correcting this deceleration, the delay of the actual speed becomes smaller, the speed reference and the actual speed come closer, and as a result, the deceleration also returns to the predetermined value.
It becomes possible to output a predetermined speed reference.

That is, as shown in FIG. 2, the speed reference generation circuit 6 outputs the speed reference 6a (v) during the constant deceleration period. As a result, the distance to the stop target floor becomes closer, and the deceleration distance 11 from the deceleration distance calculation circuit 11 is reduced.
a (s) becomes smaller.

On the other hand, the speed reference generation circuit 6 outputs the speed reference v (= √ (2β · s)) corresponding to the deceleration distance s. However, if the operation delays due to the control delay or the like, the deceleration is performed. Grows larger. Therefore, in order to detect this, the speed reference temporal change detection circuit 14 compares the speed reference signals v at regular time intervals, and detects a change in the speed reference signals, that is, deceleration.

This operation will be described in detail. The speed reference time change detection circuit 14 detects the speed reference signals, v (t-2), v (t-1), v (t), v ( t + 1), v
(t + 2), ... Are stored in the memory circuit 18, and the speed v (t-1) previously stored in the change rate calculation circuit 17 is compared with the current speed reference v (t) to obtain a constant time interval. The rate of change of the velocity of the vehicle, that is, the deceleration 14a (β '),
This is sent to the deceleration speed reference generation circuit 13.

In the deceleration speed reference generation circuit 13, the deceleration β'is determined based on the comparison between the predetermined deceleration β and the received deceleration β'in the deceleration distance correction circuit 15.
When it is larger than the above, the deceleration distance s is corrected to s ′ by the calculation of the following equation (3).

[0032]

[Equation 2] With respect to the corrected deceleration distance s'obtained in this way, the corrected speed reference generation circuit 16 obtains the corrected speed reference v'in the following manner based on the above equation (2), and uses this as the speed reference signal 13a. It is sent to the speed reference generation circuit 6.

V ′ = √ (2β ′ · s ′) ...
(2 ') In this way, if the deceleration β'is the predetermined deceleration, the deceleration distance s'is left unchanged from the original deceleration distance s, and if β'is larger than β, the deceleration distance s' is measured. When the simulated value is larger than the deceleration distance s and the speed reference v ′ is calculated based on this, the change in the speed reference is made small, the deceleration is prevented from increasing, and the deceleration becomes too large. It prevents the occurrence of shock caused by the rapid increase in speed when switching to the minimum speed period that occurred in 1) and secures landing accuracy.

[0034]

As described above, according to the present invention, the deceleration distance calculation circuit calculates the deceleration distance based on the information on the stop target floor and the position information, and the deceleration speed reference corresponding to the obtained deceleration distance is used. Calculated by the deceleration speed reference calculation circuit, and based on this, when controlling the drive circuit and controlling the deceleration operation in the constant deceleration speed period, the deceleration correction circuit outputs the deceleration speed reference When a change over time is detected and the rate of change exceeds a predetermined rate, the deceleration distance is simulated and lengthened correspondingly to the variation of the rate of change and given to the deceleration speed reference calculation circuit. Since the correction is made loosely, the actual speed, which was inevitable in the past, becomes too small than the minimum speed of the minimum speed period, so the speed change that occurred when switching to the minimum speed period. Suppressed, it can be kept high implantation accuracy while improving ride quality.

[Brief description of drawings]

FIG. 1 is a circuit block diagram of an embodiment of the present invention.

FIG. 2 is a circuit block diagram showing a detailed internal configuration of a deceleration speed reference generation circuit and a speed reference time change detection circuit portion in the above embodiment.

FIG. 3 is an explanatory diagram showing a general speed reference pattern.

FIG. 4 is a graph showing a relationship between a speed reference and time in a general constant deceleration period.

FIG. 5 is a graph showing a relationship between a speed reference and a deceleration distance in a general constant deceleration period.

FIG. 6 is an explanatory diagram showing an operation of a conventional example.

[Explanation of symbols]

 5 Operation control circuit 6 Speed reference generation circuit 7 Drive device control circuit 8 Drive device 9 Position detection pulse generator 10 Position detection circuit 11 Deceleration distance calculation circuit 12 Deceleration start detection circuit 13 Deceleration speed reference generation circuit 14 Speed reference temporal change Detection circuit 15 Deceleration distance correction circuit 16 Correction speed reference generation circuit 17 Change rate calculation circuit 18 Storage circuit

Claims (1)

[Claims] 1. An operation control circuit for determining an elevator operation direction, a stop target floor, and controlling traveling start, traveling stop, traveling speed, and door opening / closing operation, and a drive circuit for driving the elevator according to a command from the operation control circuit. A position detection circuit that detects a position corresponding to the movement of the elevator, a deceleration distance calculation circuit that calculates a deceleration distance based on information from the operation control circuit and information from the position detection circuit, and the deceleration distance calculation circuit. A deceleration speed reference calculation circuit for calculating a deceleration speed reference corresponding to the deceleration distance to be calculated, and a temporal change of the deceleration speed reference output from the deceleration speed reference calculation circuit are detected, and when a predetermined change rate is exceeded, An elevator control device comprising: a deceleration correction circuit that artificially lengthens the deceleration distance in accordance with the variation of the change rate and provides the deceleration speed reference calculation circuit.