JPH07112877A - Control device and control method of elevator - Google Patents

Abstract

PURPOSE:To enable the smooth arrival of an elevator cage at a floor by carrying out speed control in accordance with a floor-arrival pattern based on the difference between a target stopping position of the turning shaft of a winding machine and the present shaft position at the time when the cage has reached a floor-arrival zone. CONSTITUTION:Floor-apprival switches for detecting the position of an elevator cage and outputting a detection signal 26a are provided above and below the floor-arrival zones of the respective story floors in the elevating/lowering shaft of an elevator, and the detection signal 26a is input into a floor-arrival zone detecting part 32. In a winding-machine shaft position calculating part 33 into which the position signal 5a of a position detector is input, winding-machine shaft position data 33a are output, and these position data 33a together with the floor-arrival zone signal 32a sent from the floor-arrival zone detecting part 32 are input into a floor-arrival pattern calculating means 34, and therein the floor-arrival pattern is calculated on the basis of the difference between the present shaft position of the winding machine and the target stopping shaft position. Then, the speed of the elevator cage is controlled through a speed control calculating means 37 on the basis of the floor-arrival pattern.

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 control method.

[0002]

2. Description of the Related Art Conventionally, an elevator controller has a structure as shown in FIG. 4, and a speed command generator 1 outputs a speed command signal 1a for a car 2 to a speed control amplifier 3. The speed control amplifier 3 converts a position signal 5a from a position detector 5 connected to a hoisting machine 4 for driving a car 2 into a speed signal by a position / speed converter 6 and outputs the speed signal 6a. The speed command signal 1a from the speed command generator 1 is compared, and the current command 3a corresponding to the difference is output to the current control amplifier 7.

The current control amplifier 7 calculates the deviation between the current command 3a and the current signal 8a of the current detector 8 which detects the current of the hoisting machine 4, and the unbalanced torque command device 9 calculates the deviation. And the power control signal 7a is output to the power converter 10.

The power converter 10 has the power control signal 7a.
The electric power supplied to the hoisting machine 4 is controlled based on the above. In this case, the main rope 12 to which the car 2 and the counterweight 11 are connected is wound around the sheave 13, and the hoisting machine 4 rotates the sheave 13.

A landing device 14 provided on the car 2 is a landing detection plate 15 provided on each floor of the elevator hoistway.
Detecting A, 15B, ... And outputting a landing signal 14a to the speed command generator 1. The speed command generator 1 outputs the speed command signal 1a based on the landing signal 14a.

Further, a load detector provided on the car 2
16 outputs a load detection signal 16a to the unbalanced torque command device 9. The unbalanced torque command device 9 outputs a load signal 9a for correcting the unbalanced torque of the car 2 and the counterweight 11 to the current control amplifier 7.

By the way, with the recent development of the micro computer technology, digital control by the micro computer is being widely adopted also for the control of the elevator, and in the conventional control device for the elevator shown in FIG. Even if there are any components in the broken line 17, that is, the functions of the speed command generator 1, the speed control amplifier 3, the position / speed converter 6 and the current control amplifier 7 are performed by a microcomputer. Has appeared.

When the speed of the elevator is controlled,
The speed command generator 1 outputs the speed command signal 1a based on the speed reference as shown in FIG. This speed reference is a time-based pattern area R calculated with time as a base.
₁ (time t _{1 to} t ₆ ) and the remaining distance to the destination floor
Distance-based pattern area R ₂
(Time t ₆ ~t _7), implantation pattern for causing the landing a car - consists from emission region R ₃ and (t ₇ ~t _8).

Of these, in the time-based pattern region R ₁ , the car 2 has a mode 1 called an acceleration start jerk mode in which the change in acceleration is constant, and a mode in the constant acceleration region. -Mode 2, mode 3 called acceleration end jerk mode, mode 4 which is a constant running mode area,
It is operated in mode 5 called the deceleration start jack mode.

In the distance-based pattern area R ₂ , the car 2 is driven in the mode 6 which is a constant deceleration area, and in the landing pattern area R ₃ , the car 2 is smooth. The vehicle is driven in mode 7 called a landing jerking mode in which the change in acceleration (negative acceleration) is constant, that is, the jerk is constant so that the user can accurately land. Switching from the distance base pattern area R ₂ to the landing pattern area R ₃ is performed by inputting a landing signal 14a from the landing apparatus 14.

[0011]

In the conventional elevator control system, in order to make the elevator car 2 land on the elevator smoothly and accurately, it is based on the landing pattern as described above when landing. The landing signal 14a that triggers the switching to the landing pattern is the landing detection plate 15 provided on each floor of the hoistway by the landing device 14 provided in the car 2.
It is obtained by detecting A, 15B, ....

However, in order to smoothly switch from the distance base pattern to the landing pattern, the landing detection plate should be accurately and accurately attached to the hoistway side, and the landing device should be accurately and accurately mounted on the car. Need to be installed. At least two types of landing detection plates are required for each floor, one for ascending operation and one for descending operation, and the number of installation plates will be considerable if it becomes a higher floor, and it will take a huge amount of time for installation. It requires labor.

The present invention has been made to solve such conventional problems, and is an elevator control device capable of performing a landing operation smoothly and accurately without using a landing detection plate or a landing device. And a control method.

[0014]

In order to solve the above-mentioned problems, an elevator control apparatus according to a first aspect of the present invention provides a hoisting machine shaft for detecting an axial position of a hoisting machine of a car of an elevator. Position calculation means and landing zone for each car floor
Landing zone detecting means for detecting entry into the landing zone and means for calculating the hoisting machine axis position when this landing zone detection means detects that the car has entered the landing zone The landing pattern calculation means for calculating the landing pattern based on the difference between the current axial position of the hoisting machine and the target stop axis position, and the landing pattern by this landing pattern calculation means. And a speed control calculation means for controlling the speed of the elevator car based on the engine speed.

According to a second aspect of the present invention, there is provided an elevator control device, wherein a hoisting machine axial position calculating means for detecting an axial position of a hoisting machine of a car of an elevator and a car landing on each floor. The landing zone detection means for detecting that the car has entered the zone, and the landing zone detection means for the car
When it is detected that the car has entered the operation mode, the difference between the current shaft position of the hoisting machine and the target stop shaft position by the hoisting machine shaft position calculation means is determined separately by the ascending and descending operating directions of the car. The landing pattern calculation means for calculating the landing pattern by multiplying the gain obtained, and the speed for controlling the speed of the elevator car based on the landing pattern by the landing pattern calculation means And a control calculation means.

Further, in the elevator control method according to the third aspect of the present invention, the axis position of the hoisting machine of the elevator car is detected, and the car is set in the landing zone of each floor.
When the landing zone detection means detects that the car has entered the landing zone, the current axis of the hoisting machine is detected. The landing pattern is calculated by multiplying the difference between the position and the target stop axis position by a gain that is determined separately for the ascending operation direction and the descending operation direction of the car, and the elevator pattern is calculated based on this landing pattern. Controls the speed of the car basket.

[0017]

In the elevator control apparatus according to the present invention having the above-mentioned structure, the landing zone detecting means for detecting that the car has entered the landing zone of each floor is a car. Is detected in the landing zone,
The landing pattern is calculated based on the difference between the current shaft position of the hoisting machine and the target stop shaft position by the hoisting machine shaft position calculating means for detecting the shaft position of the hoisting machine that drives the car. The speed of the car is controlled based on the landing pattern.

Further, in the elevator control device according to the second and third aspects of the invention, the landing zone for detecting that the car has entered the landing zone of each floor.
The current axis of the hoisting machine by the hoisting machine shaft position calculating means that detects the axial position of the hoisting machine that drives the car when the car detecting means detects that the car has entered the landing zone. The landing pattern is calculated by multiplying the difference between the position and the target stop axis position by GENI, which is determined separately for the ascending and descending operating directions of the elevator, and the car landing pattern is calculated based on this landing pattern. Control the speed.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the invention described in claim 1 will be described with reference to the drawings. FIG. 1 is a block diagram of an elevator control apparatus according to an embodiment of the invention described in claim 1. The same parts as those in FIG. 4 are designated by the same reference numerals, and the description thereof will be omitted.

The feature of this embodiment resides in an elevator controller 20 composed of a microcomputer, and the elevator controller 20 is a microcomputer.
23, a ROM 22 in which a program is stored, a RAM 21 for temporarily storing the contents of calculation results, an input interface 24 for reading an input signal, and an output for outputting an output signal. Interface 25, which are connected to each other via a data bus line 27.

Further, in the elevator hoistway, the position of the car is detected above and below the landing zone of each floor to detect a signal.
A landing switch 26 for outputting 26a is provided. still,
The landing switch 26 is not as complicated as the conventional landing detection plate, and is not required to be installed in the hoistway as accurately as the conventional landing detection plate. It is a switch with a simple structure that can output an on / off signal by passing through.

FIG. 2 shows the above-mentioned microcomputer 23.
Among them, the functions relating to the present invention are described in detail. The microcomputer 23 uses a normal speed pattern (time-based pattern, distance-based pattern).
The speed pattern calculation unit 31 for calculating, the landing zone detection unit 32 for outputting the landing zone signal, and the hoisting machine shaft position data 33
a hoisting machine axis position calculating section 33, a landing pattern calculating section 34 for calculating a landing pattern in the landing zone from the hoisting machine axis position data 33a, and a landing zone Within the pattern, the speed pattern switching calculation unit 36 for switching the speed command from the normal speed pattern to the landing pattern and the position signal 5a from the position detector 5 are converted into the speed signal 35a. It has a speed conversion calculation unit 35 for performing a calculation and a speed control calculation unit 37 for performing a speed control calculation based on the deviation between the speed command 36a and the speed signal 35a.

Next, the control at the time of landing in the control device for the elevator having the above construction will be described. The speed pattern calculation unit 31 outputs the speed reference of the time-based pattern area R ₁ until time t _{6 in} FIG. Further, the speed pattern calculation unit 31 uses the remaining distance to the target stop position of the car 2 as the base from the time t ₆ to the time t _{7 as} the speed reference of the distance vesper pattern region R ₂ . Is output. In this case, if the speed of the car 2 is V, the deceleration is β, and the remaining distance to the target stop position is S.

[0024]

[Equation 1] Therefore, if the remaining distance S to the destination floor of the elevator is known, the speed pattern calculation unit 31 calculates the above equation (1) at every predetermined sampling time to calculate the distance-based pattern. Can occur. The remaining distance S is obtained from preset absolute position data of each floor and position data of the car 2. next,
Upon reaching the time t _7, landing zone detection unit 32 receives the detection signal 26a from the landing switch 26 provided in the hoistway, thereby Chakuyukazo - down detection unit 32 is Chakuyukazo - tone signal
32a is output. The hoisting machine axis position calculation unit 33 is the position detector 5
The position signal 5a of (brushless resolver or pulse generator) is input and the hoisting machine shaft position data 33a is output.
(For example, if the data for one axis rotation (mechanical angle 360 °) is expressed in hexadecimal as 4000H [bit], the data for mechanical angle 45 ° is 800H [bit].) Landing pattern The calculation unit 34 includes the hoisting machine shaft position data 33a and the landing zone signal 32.
Upon receiving a, the landing pattern in the landing zone is calculated by the following procedure.

That is, at the time t _{7, the} landing zone signal 32
Hoisting machine shaft position data 33 when a is on (when landing zone enters)
Letting the value of a be θ _o , the hoisting machine axis position data θ _p at the target stop position

[0026]

[Mathematical formula-see original document] θ _p = θ _o ± θ _c (2) However, ± is the rise of the elevator car,
Determined by the descent. Here, θ _c is the amount of change in the hoisting machine shaft position when the car 2 moves the distance (landing distance) between the landing switch 26 and the target stop position. That is, θ _c is the data of one rotation of the hoisting machine, P [bit], the diameter of the sheave 13 is D, and the landing distance of the landing zone is X.

[0027]

[Equation 3] Is a value determined (calculated) in advance by. Next, the landing pattern calculation unit 34 calculates the deviation amount Δθ from the value θ _X of the hoisting machine shaft position data 33a after the landing zone signal 32a is turned on at time t ₇ to the target stop position.

[0028]

[Mathematical formula-see original document] Δθ = θ _P −θ _X (4) Calculates moment by moment. A value proportional to the deviation amount Δθ is set as the speed reference V. The speed reference V is time t ₇ ~
It is a landing pattern that is linear to the deviation amount Δθ of the hoisting machine axis position to the target stop position during t ₈ , and the landing pattern calculation unit
Reference numeral 34 converts a linear relationship between the deviation amount Δθ and the speed reference into a relationship between time and the speed reference, and outputs a speed reference 34a with a jerk as shown in FIG.

The velocity pattern - down switch operation unit 36 Chakuyukazo - receiving a tone signal 32a, the speed until the time t ₆ as shown in FIG. 5 pattern - a speed reference 31a by emission calculation unit 31, and from the time t ₇ t ₈
Until then, the speed reference 34a by the landing pattern calculator 34a
Is output as the speed command 36a.

The speed control calculator 37 calculates the deviation between the speed command 36a and the speed signal 35a by proportional integration, and controls the speed of the elevator car according to the speed command.
Output a. The speed conversion calculation unit 35 uses the position signal 5a.
Is a calculation unit for converting the speed signal into a speed signal 35a. Power converter 10
Supplies the electric power corresponding to the electric power control signal 37a output from the speed control calculation unit 37 to the hoisting machine 4 to control the speed of the car 2 to land on the target stop position smoothly and accurately.

Next, an embodiment of the invention described in claim 2 will be described. According to the second aspect of the invention, the speed reference V is obtained by multiplying the deviation amount Δθ calculated by the equation (4) in the above embodiment by the gain G. The value of the gain G is a value for correcting the variation of the landing pattern due to the variation of the detection position of the landing switch in the ascending operation direction and the descending operation direction of the car. Therefore, the landing pattern calculation unit 34
Is the speed reference V obtained by multiplying the deviation amount Δθ calculated by the equation (4) by the gain G.

[0032]

[Equation 5] V = G · Δθ = G · (θ _P −θ _X ) ... This speed reference V is time t ₇
The landing pattern is linear to the deviation amount Δθ of the hoisting machine axis position to the target stop position between t ₈ and t ₈ , and the landing pattern calculation unit 34 linearly deviates the deviation amount Δθ from the speed reference. This relationship is converted into a relationship between time and a speed reference, and a speed reference 34a with a jerk is output as shown in FIG. Hereinafter, the operations of the speed pattern switching calculation unit 36 and the speed control calculation unit 37 for inputting the speed reference 34a are the same as those described in the above embodiment.

Next, an embodiment of the invention described in claim 3 will be described with reference to the drawings. FIG. 3 is a flow chart showing the operation of the microcomputer 23 which realizes the function of the invention described in claim 3. The micro computer 23 determines in step 1 whether or not the current position of the car 2 is in the landing zone, and if it is in the zone, in step 2 it is determined whether or not the landing zone is entered. To judge. If it is a rush, the elevator preset in step 3 by the above equation (3)
Load the variation theta _c hoist shaft position when the motor cab moves implantation distance, winding shaft position data of inrush step 4 - cell values theta _X of data as theta _o - Busuru . Further, in step 5, the value θ _p of the hoisting machine axis position data at the target stop position is calculated by the above equation (2). After the plunge, in step 6, the deviation amount Δθ of the hoisting machine shaft position up to the target stop position in the landing zone is calculated by the above equation (4).
Further, in step 7, the preset gain G is read, and in step 8, the speed reference V is calculated by the above equation (5).

[0034]

According to the present invention, when the car arrives at the landing zone, the speed is controlled by the landing pattern based on the difference between the target stop position of the rotating shaft of the hoisting machine and the current shaft position. By doing so, it is possible to perform smooth landing control without using the landing detection plate installed on each floor and the landing device installed on the car, and further, the target stop position of the rotary shaft of the hoisting machine. The difference between the current axis position and the current axis position is multiplied by the gain G to obtain the landing pattern, thereby correcting the variation of the landing pattern due to the variation in the detection position of the landing switch in the ascending driving direction and the descending driving direction of the car. be able to.

[Brief description of drawings]

FIG. 1 is a block diagram of an elevator control device according to an embodiment of the present invention.

FIG. 2 is a functional block diagram for explaining the function of the microcomputer in the embodiment shown in FIG.

FIG. 3 is a flowchart showing the operation of a microcomputer that realizes the elevator control method according to the third embodiment of the invention.

FIG. 4 is a circuit block diagram of a conventional elevator control device.

FIG. 5 is a characteristic diagram of a speed pattern of an elevator.

[Explanation of symbols]

 31 ... Velocity pattern calculation unit 32 ... Landing zone detection unit 33 ... Hoisting machine axis position calculation unit 34 ... Landing pattern calculation unit 35 ... Velocity conversion calculation unit 36 ... Velocity pattern switching calculation unit 37 ... Speed control calculator

Claims (3)

[Claims] 1. A hoisting machine axial position calculating means for detecting an axial position of a hoisting machine for an elevator car, and a landing for detecting that the car has entered a landing zone of each floor. The zone detecting means and the landing zone detecting means are provided in the car for the landing zone.
The landing pattern for calculating the landing pattern based on the difference between the current axial position of the hoisting machine and the target stop shaft position by the hoisting machine shaft position calculating means A control device for an elevator, comprising: a vehicle arithmetic means; and a speed control arithmetic means for controlling a speed of a car of the elevator based on the flooring pattern by the flooring pattern computing means. 2. A hoisting machine axial position calculating means for detecting an axial position of a hoisting machine for an elevator car, and a landing for detecting that the car has entered a landing zone of each floor. The zone detecting means and the landing zone detecting means are provided in the car for the landing zone.
When it is detected that the car has entered the engine, the difference between the current shaft position of the hoisting machine and the target stop shaft position calculated by the hoisting machine shaft position calculation means is determined by the ascending and descending operation directions of the car A landing pattern calculation means for calculating a landing pattern by multiplying separately determined gains, and a car for the elevator based on the landing pattern by the landing pattern calculation means. Control device for an elevator having speed control calculation means for controlling the speed of the vehicle. 3. An elevator car's hoisting machine's axial position is detected, and said car's entry into the landing zone of each floor is detected by landing zone detection means, The implantation zone
When the car detection means detects that the car has entered the landing zone, the difference between the current shaft position of the hoisting machine and the target stop shaft position indicates the rising operating direction of the car. A method of controlling an elevator, wherein a landing pattern is calculated by multiplying a gain determined separately depending on a descending operation direction, and the speed of a car of the elevator is controlled based on the landing pattern.