JPH07125945A - Control device for elevator - Google Patents

Abstract

PURPOSE:To realize the control producing good comfortableness and good landing accuracy without being affected by the fluctuation of a car load caused by a car swing at the time of starting. CONSTITUTION:This elevator control device is provided with an amplitude calculating means 15 monitoring the load signal 7a for a period longer than the vibration period of a rope 3 system and calculating the amplitude 15a from the maximum value and the minimum value of the load signal 7a in this period, a start propriety judging means 16 outputting the start blocking signal 16a to a speed command generating device 10 to block the start of an elevator when the amplitude 15a of the load signal 7a exceeds a prescribed value, an announcement output means 17 outputting an announcement while the start of the elevator is blocked based on the start blocking signal 16a, and an average value calculating means 18 for properly compensating the unbalance torque when the load signal 7a is monitored for the period longer than the natural vibration period of the rope 3 system and the load average value 18a of the load signal 7a in this period is calculated and outputted to an unbalance load compensating device 12.

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 for controlling speed by controlling motor torque based on an elevator speed command signal and a feedback speed, and more particularly to a car based on a load signal in a car. The present invention relates to an elevator control device for compensating the torque of a drive motor by calculating a torque compensation signal for an unbalanced load on the side of the counterweight and on the side of the counterweight.

[0002]

2. Description of the Related Art FIG. 6 is an overall configuration diagram of a conventional elevator control device disclosed in, for example, Japanese Patent Laid-Open No. 3-162374. In the figure, 1 is a motor, 2 is a hoist driven by the motor 1, 3 is a rope wound around a sheave of the hoist 2, 4 is an elevator car attached to one end of the rope 3, 5 Is a counterweight attached to the other end of the rope 3, and drives the motor 1 to move the elevator car 4 up and down.

Reference numeral 6 is a speed detector provided on the rotary shaft of the motor 1 for detecting the feedback speed 6a of the motor 1, 7
Is a load detection device that is provided in the car 4 of the elevator and that detects a loaded load in the car 4 and outputs a load signal 7a; 8 is a power converter that supplies a power source for driving the motor 1;
Is a current detector for detecting a current value 9a supplied to the motor 1, 10 is a speed command generator for generating an elevator speed command signal 10a, and 11 is a speed command generator based on the speed command signal 10a and the feedback speed 6a. 1 is a speed control device that generates a torque command 11a.

12 is a car 4 based on the load signal 7a.
The unbalanced load compensating device calculates an unbalanced load on the side of the counterweight 5 and outputs a torque compensation signal 12a based on the unbalanced load. The adder 13 outputs a torque to the first torque command signal 11a. Compensation signal 12a
To output the second torque command signal 13a. 14
The feedback speed 6a according to the second torque command signal 13a.
And a current value 9a, the torque control device controls the input 14a of the power converter 8.

Next, the operation of the elevator control device according to the above configuration will be described. When a passenger gets into the car 4, the load detection device 7 outputs a load signal 7a proportional to the load in the car 4. Usually, the load detection device 7 has a mechanism for detecting the load inside the car 4 by measuring the force in the vertical direction applied to the car 4 or the car frame.

The load signal 7a is used for monitoring the load in the car 4 and detecting over-riding and determining whether the car is full.
In other words, when it detects that the driver is overriding, an announcement will be given to prompt the passenger to exit the vehicle, and the passing level (usually 80% of the capacity) will be reached.
When the boarding rate is above), the elevator is controlled so that it will pass through even if there is a landing call.

The load signal 7a is also used to improve the speed control performance of the elevator as described below. The unbalanced load compensator 12 uses the load signal 7
Based on a, the motor required torque for balancing the unbalanced load between the car 4 side and the counterweight 5 side is calculated, and this is output as the torque compensation signal 12a. After the elevator is started, the speed control device 11 operates the speed command generation device 10
The first torque command signal 11a is calculated based on the speed command signal 10a and the feedback speed 6a output from Normal,
PI calculation based on the deviation between the speed command signal 10a and the feedback speed 6a is used for the speed control calculation.

Further, since the load signal 7a during running is affected by the acceleration, the load signal 7a extracted immediately before the start-up.
a is used to calculate the torque compensation signal 12a. And
The first torque command signal 11a is the torque compensation signal 12 described above.
a is added by the adder 13 to form a second torque command signal 13a. Based on the second torque command signal 13a, the feedback speed 6a, and the motor current value 9a, the torque control device 13 and the power converter 8 output the motor torque. Control and basket 4
Moves up and down.

In the elevator, it is difficult to control the raising and lowering of the car 4 in the same way all the time because the load in the car 4 changes greatly. However, as described above, the load signal 7a compensates the first torque command signal 11a. By doing so, control with good ride comfort and landing accuracy is realized without being affected by the load inside the car 4.

[0010]

Since the conventional elevator control device is constructed as described above, it has the following problems. When the elevator starts up
When swinging, the load detection device 7 detects not only the load inside the car 4 but also the force applied by the swing of the car 4, so the output load signal 7a fluctuates in synchronization with the swing of the car. Will end up. Therefore, the unbalanced load compensator 12 cannot calculate an appropriate torque compensation signal 12a, and therefore, there are problems that the control characteristics are deteriorated, the riding comfort is deteriorated, and landing shift occurs at the arrival floor. .

Also, the swing of the car 4 is large and the load signal 7a is large.
When the maximum value of the number reaches the full-occupancy detection level, there is a problem that even if the inside of the car 4 is not full, the car 4 does not respond to the hall call and the car 4 passes through, and the service deteriorates.

The present invention has been made in order to solve the above-mentioned problems, and it is not affected by the fluctuation of the load signal in the car caused by the car swaying at the time of starting the elevator, and the ride comfort and the wearing comfort are improved. An object of the present invention is to obtain an elevator control device that can realize control with good floor accuracy.

[0013]

According to a first aspect of the present invention, there is provided an elevator control device for a speed command generator for outputting a speed command signal for an elevator and an elevator for moving up and down with a counterweight attached to one end. A speed detector that detects the feedback speed of a motor that drives a sheave of a hoisting machine with a rope attached to the other end of a car; and a speed detector based on the deviation between the speed command signal and the feedback signal. 1, a speed control device that outputs a torque command, a load detection device that detects the load in the car, and torque compensation for an unbalanced load between the car side and the counterweight side based on a load signal from the load detection device. An unbalance load compensator for calculating a signal, and a controller for controlling the torque of the motor based on a second torque command obtained by adding the torque compensation signal to the first torque command. In an elevator control device including means, immediately before the elevator is started, the load signal from the load detection device is sampled for a period longer than the natural vibration period of the rope system, and its maximum value and minimum value are sampled. And an amplitude calculation means for calculating the amplitude of the load signal from the difference between the load signal and the load command signal. When the amplitude of the load signal exceeds a predetermined value, a start prevention signal is output to the speed command generator to output the speed command signal. It is characterized in that it is provided with a start possibility determination means for preventing the above.

According to a second aspect of the present invention, there is provided an elevator control device in which a speed command generating device for outputting a speed command signal for the elevator and a balance weight are attached to one end and an elevator car which moves up and down is attached to the other end. And a speed detector that detects the feedback speed of a motor that drives a sheave of a hoist around which a rope is wound, and outputs a first torque command based on a deviation between the speed command signal and the feedback signal. An unbalanced load that calculates a torque compensation signal for an unbalanced load on the car side and the counterweight side based on a load signal from the speed control device, the load detection device that detects the load inside the car, and the load detection device. An electric motor equipped with a compensating device and control means for controlling the torque of the motor based on a second torque command obtained by adding the torque compensation signal to the first torque command. In the controller of the motor, immediately before the elevator is started, the load signal from the load detecting device is sampled for a period longer than the natural vibration period of the rope system, and the load is determined from the difference between the maximum value and the minimum value. Amplitude calculating means for calculating the amplitude of the signal, and start for outputting the start command signal to the speed command generating device to prevent the speed command signal from being output when the amplitude of the load signal exceeds a predetermined value. It is characterized in that it is provided with an availability determination means and an announcement output means for outputting an announcement that calls attention to a passenger who is shaking the car based on the activation prevention signal.

According to a third aspect of the present invention, in the elevator control device, the start-up permission / inhibition determining means is configured to set the start-up inhibition signal at least for a period longer than the damping time constant of the rope system when the amplitude of the load signal exceeds a predetermined value. The output of is continued.

Further, in the elevator control device according to a fourth aspect of the present invention, the amplitude calculating means has a ring buffer having a size for storing the number of samples of the load signal corresponding to the natural vibration period of the rope system. Is.

According to a fifth aspect of the present invention, in a control device for an elevator, a speed command generating device for outputting a speed command signal for the elevator, a counterweight is attached to one end, and an elevator car that moves up and down is attached to the other end. And a speed detector that detects the feedback speed of a motor that drives a sheave of a hoist around which a rope is wound, and outputs a first torque command based on a deviation between the speed command signal and the feedback signal. An unbalanced load that calculates a torque compensation signal for an unbalanced load on the car side and the counterweight side based on a load signal from the speed control device, the load detection device that detects the load inside the car, and the load detection device. An electric motor equipped with a compensating device and control means for controlling the torque of the motor based on a second torque command obtained by adding the torque compensation signal to the first torque command. In the controller of the motor, the load signal is sampled for a period longer than the natural vibration period of the rope system, the average value is calculated, and the average value is output as the load signal output to the unbalance load compensator. It is characterized in that a value calculating means is provided.

According to a sixth aspect of the present invention, in the elevator control device, the average value calculating means has a ring buffer having a size for storing the number of samples of the load signal corresponding to the natural vibration period of the rope system. It is a thing.

[0019]

In the elevator controller according to the first aspect of the present invention, immediately before the elevator is started, the amplitude calculation means outputs the load signal from the load detector for a period longer than the natural vibration period of the rope system. The amplitude of the load signal is calculated from the difference between the maximum value and the minimum value by sampling, and the start permission / inhibition determination means outputs a start inhibition signal to the speed command generator when the amplitude of the load signal exceeds a predetermined value. By preventing the speed command signal from being output, the load signal is monitored for a period longer than the natural oscillation period of the rope system immediately before the elevator is started, and the amplitude of the load signal during this period is monitored. Estimate the degree of car sway, and prevent the elevator from starting if the sway is large.

Further, in the elevator controller according to the second aspect of the present invention, the load signal from the load detector is sampled for a period longer than the natural vibration period of the rope system by the amplitude calculation means immediately before the elevator is started. Then, the amplitude of the load signal is calculated from the difference between the maximum value and the minimum value, and the start permission / inhibition determining means outputs a start blocking signal to the speed command generator when the amplitude of the load signal exceeds a predetermined value. In addition to preventing the speed command signal from being output, the announcement output means prevents the elevator from starting by outputting an announcement that calls attention to the passengers who are shaking the car based on the start inhibiting signal. , It is possible to start immediately by sending an announcement to the passengers who are intentionally shaking the car to call their attention.

Further, in the elevator control device according to the third aspect, the start inhibition signal is determined by the start possibility determination means for a period longer than at least the damping time constant of the rope system when the amplitude of the load signal exceeds a predetermined value. By continuing the output of the load signal, even if the amplitude becomes less than the predetermined value, the load signal after the fluctuation is damped is made to wait for the start at least for the time longer than the damping time constant of the rope system. To use.

Further, in the elevator control apparatus according to the fourth aspect, the amplitude calculating means is provided with a ring buffer having a size for storing the number of samples of the load signal corresponding to the natural vibration period of the rope system. With this, the number of samples of the load signal corresponding to the natural vibration period of the rope system can be always secured, and the latest load signal is always stored, so that the accurate load signal can be grasped.

Further, in the elevator controller according to the present invention, the average value calculating means samples the load signal for a period longer than the natural vibration period of the rope system and calculates the average value thereof to calculate the unbalanced load compensator. By outputting the average value as the load signal to be output to, the unbalanced load is calculated using this average value, and appropriate torque compensation is performed.

Further, in the elevator control apparatus according to the sixth aspect, the average value calculating means has a ring buffer having a size for storing the number of samples of the load signal corresponding to the natural vibration period of the rope system. By doing so, the number of load signal samples corresponding to the natural vibration period of the rope system can always be secured, the latest load signal is always stored, the accurate load signal is grasped, and appropriate torque compensation by the load signal is performed. to enable.

[0025]

【Example】

Example 1. An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is an overall configuration diagram illustrating an elevator control device according to a first embodiment. In FIG. 1, 1 to 14 are
The same parts as those of the conventional example shown in FIG. 6 are shown, and the description thereof is omitted. As a new configuration, 15 is an amplitude for monitoring the load signal 7a for a period longer than the natural vibration period of the rope 3 system and calculating the amplitude 15a of the load signal 7a from the maximum value and the minimum value of the load signal 7a during this period. The calculation means calculates the amplitude 15a by the difference between the maximum value and the minimum value. 16 is a load signal 7a
When the amplitude 15a of the signal exceeds a predetermined value, a start permission / inhibition determining means for outputting a start inhibition signal 16a to the speed command generator 10 to prevent the elevator from starting, and 17 indicates that the elevator starts based on the start inhibition signal 16a. An announcement output means for outputting an announcement while being blocked, 18 monitors the load signal 7a for a period longer than the natural oscillation period of the rope 3 system, calculates the average value of the load signal 7a during this period, and calculates the average load value. It is an average value calculating means for outputting as 18a.

Next, the operation of the first embodiment having the above configuration will be described with reference to FIG. FIG. 2 is a time chart when the passenger shakes the car 4 immediately before the start of the elevator,
(A) is a load signal 7 detected by the load detection device 7.
a, (b) are amplitudes 15a of the load signal 7a calculated by the amplitude calculating means 15, and (c) are startability determining means 16
The start prevention signals 16a and (d) output by the above indicate the weight average value 18a of the weight signal 7a calculated by the average value calculating means 18, respectively.

The load detecting device 7 is provided in the car 4 as described above.
Since not only the internal load but also the force applied by the swing of the car 4 is detected, the output of the load signal 7a
2 fluctuates in synchronization with the car shake, as shown in FIG. The cycle of car sway is almost equal to the natural vibration cycle of the rope 3 system, and is usually about 2 to 5 hertz. The amplitude calculating means 15 monitors the output of the load detection device 7 for the load signal 7a that fluctuates as described above for a period longer than the natural vibration cycle of the rope 3 system, and determines the maximum value of the load signal 7a during that period. The amplitude 15a as shown in FIG. 2B is calculated from the minimum value.

The startability determination means 16 is provided with the amplitude 15a.
2 exceeds a predetermined value, a start prevention signal 16a as shown in FIG. 2C is output to the speed command generator 10 to prevent the elevator from starting. At this time, the announcement output means 17 sends an announcement to call attention to the passengers who are shaking the car 4 according to the activation prevention signal 16a. As a result, the elevator can be brought into a state in which it can be started immediately.

The activation propriety determination means 16 stops the passenger from shaking the car 4 and the amplitude 15a of the load signal 7a.
When is less than the predetermined value, the activation blocking signal 16a is turned off to enable the speed command generator 10 to be activated. However, when the activation prevention signal 16a is once turned ON, the activation prevention signal 16a is not turned ON unless the state where the amplitude 15a is less than the predetermined value continues for a predetermined time or more.
It is possible to prevent accidental activation even if the vibration has not subsided. Here, at least the damping time constant of the rope 3 system is secured as the predetermined time.

However, if the vibration 15a of the load signal 7a is not sufficiently damped, it takes a long time before the elevator can be started, which gives passengers an uncomfortable feeling. Therefore,
The average value calculating means 18 monitors the load signal 7a only for a period longer than the natural vibration period of the rope 3 system, obtains the load average value 18a of the load signal 7a during this period, and controls the elevator as a new load signal. To use. This allows
A reasonable load signal can be obtained without delaying the startup.

Next, the processing for realizing each of the above calculation means will be described in detail. First, the amplitude calculating means 15
The process will be described based on the flowchart of FIG. Here, the amplitude calculating means 15 is prepared in advance with a ring buffer (not shown) for storing the load signal 7a. The size of the ring buffer is such that at least the number of samples corresponding to the natural vibration period of the rope 3 system can be secured. For example, the natural vibration period of the rope 3 system is 2
Since it is about 5 Hz, the maximum natural vibration period is 50
Assuming 0 milliseconds, if the operation cycle is 10 milliseconds, the size of the ring buffer is 500 milliseconds / 10 milliseconds = 5.
It becomes 0 words.

In FIG. 3, in step S31, the load signal 7a is sampled for each calculation cycle and sequentially stored in the ring buffer. The latest load signal 7a for 500 milliseconds is always stored in the ring buffer. next,
Load signal 7a in the ring buffer in step S32
The maximum value and the minimum value of are extracted, the difference between the two is calculated, and this is set as the amplitude 15a. Through the above processing, the calculation of the value of the amplitude 15a of the load signal 7a is realized with the minimum required memory capacity. It should be noted that the calculated value of the amplitude 15a is slightly deviated from the defined amplitude value when the average value of the load signal 7a is changed, but it is originally determined whether or not the load signal 7a is changed. Used to judge,
This deviation is not a problem.

Next, the processing of the activation possibility determining means 16 will be described with reference to the flowchart of FIG. Step S
At 41, it is determined whether or not the value of the amplitude 15a of the load signal 7a exceeds a predetermined value. Here, when the value exceeds the predetermined value, the process proceeds to step S42, the activation inhibition signal 16a is turned on, the activation inhibition signal is output, and the activation of the elevator is inhibited. On the other hand, when the value of the amplitude 15a is less than the predetermined value, the process proceeds to step S43.

In step S43, it is determined whether or not a predetermined time has passed since the value of the amplitude 15a became smaller than the predetermined value. Here, if the predetermined time has elapsed, the process proceeds to step S44, and the start blocking signal 15a is turned off to enable the elevator to be started. On the other hand, if the predetermined time has not elapsed, the process proceeds to step S45, and the activation inhibition signal 1
Hold 6a as is. Through the above processing, whether or not the elevator can be started is determined based on the value of the amplitude 15a of the load signal 7a.

Finally, the processing of the average value calculating means 18 will be described with reference to the flowchart of FIG. Step S
In 51, all the load signals 7a stored in the ring buffer shown in step S31 of FIG. 3 are added every calculation cycle to calculate a total value. Next, in step S52, the total value is divided by the size of the ring buffer (50 in this example), and the result is set as the weighted average value 18a. Through the above processing, the calculation of the weight average value 18a of the weight signal 7a is realized with the minimum required memory capacity and a simple algorithm.

Therefore, according to the above embodiment, when the passenger shakes the car 4 at the time of starting the elevator, the degree of the car shake is estimated from the amplitude of the fluctuation of the load signal 7a, and when the shake is large, Until the shaking is stopped by the start stop signal 16a, the start stop signal 16a prevents the elevator from starting. Therefore, it is possible to appropriately compensate the torque by the load signal 7a, and it is possible to prevent the deterioration of the ride comfort and the landing shift on the arrival floor. There is.

Further, the load signal 7a is sampled for a period longer than the natural vibration period of the rope 3 system, and the load average value 18a which is the average value thereof is used as the unbalance load compensator 12.
By calculating the unbalanced load using the load average value 18a, the accurate load signal can be grasped, so that there is an effect that the service can be improved without erroneously passing by.

[0038]

As described above, according to the first aspect of the present invention, the load signal from the load detecting device is sampled for a period longer than the natural vibration period of the rope system immediately before the elevator is started. Amplitude calculation means for calculating the amplitude of the load signal from the difference between the maximum value and the minimum value, and a speed command signal by outputting a start inhibition signal to the speed command generator when the amplitude of the load signal exceeds a predetermined value. Since it is provided with a start possibility determination means for preventing the output of, the load signal is monitored for a period longer than the natural vibration period of the rope system immediately before the elevator is started, and the load signal of this period is monitored. The degree of car sway is estimated from the amplitude, and when the sway is large, it is possible to prevent the elevator from starting, and it is possible to perform appropriate torque compensation by the load signal.

Further, according to claim 2, immediately before the elevator is started, the load signal from the load detecting device is sampled for a period longer than the natural vibration period of the rope system, and the maximum value and the minimum value are sampled. Amplitude calculating means for calculating the amplitude of the load signal from the difference, and when the amplitude of the load signal exceeds a predetermined value, outputs a start blocking signal to the speed command generator to prevent the speed command signal from being output. Since the system includes the activation propriety determination means and the announcement output means for outputting an announcement that calls attention to the passengers who are shaking the car based on the start prevention signal, in addition to the effect of claim 1, intentionally shaking the car By giving an announcement to the passengers who are present to call attention to the passengers, it is possible to quickly start the vehicle.

According to the third aspect, when the amplitude of the load signal exceeds the predetermined value, the activation propriety determination means continues to output the activation inhibition signal for at least a period longer than the damping time constant of the rope system. Therefore, even if the amplitude falls below the specified value, the load signal after the fluctuation is dampened can be used by making the activation wait at least for a time longer than the damping time constant of the rope system. Since the accurate load signal can be grasped and appropriate torque compensation can be performed by the load signal, the ride comfort can be prevented from deteriorating and landing deviation on the arrival floor can be prevented, and the accurate load signal can be grasped.
There is an effect that the service can be improved without accidentally passing through the capacity.

According to a fourth aspect of the present invention, the amplitude calculating means is provided with a ring buffer having a size for storing the number of samples of the load signal corresponding to the natural vibration period of the rope system. It is possible to always secure the number of samples of the load signal corresponding to the natural vibration period, always store the latest load signal, and obtain an accurate load signal.

According to the present invention, the load signal is sampled for a period longer than the natural vibration period of the rope system, the average value is calculated, and the average value is output as the load signal to the unbalance load compensator. Since it is equipped with an average value calculation means that calculates the unbalanced load using the average value, it becomes possible to grasp the accurate load signal and perform appropriate torque compensation by the load signal, which deteriorates the riding comfort and arrives. It is possible to prevent landing shift on the floor and to grasp the accurate load signal, so that it does not accidentally pass through the full capacity,
It has the effect of improving service.

According to a sixth aspect of the present invention, the average value calculating means is provided with a ring buffer having a size for storing the number of samples of the load signal corresponding to the natural vibration period of the rope system. It is possible to always secure the number of samples of the load signal corresponding to the natural vibration period of the system, always store the latest load signal, grasp the accurate load signal, and enable appropriate torque compensation by the load signal. It has the effect of being able to.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram showing an elevator control device according to a first embodiment of the present invention.

FIG. 2 is a time chart immediately before activation according to the present invention.

FIG. 3 is a calculation flowchart of an amplitude calculation means 15 of FIG.

FIG. 4 is a determination flowchart of a startability determination means 16 of FIG.

5 is a calculation flowchart of an average value calculation means 18 of FIG.

FIG. 6 is an overall configuration diagram showing an elevator control device according to a conventional example.

[Explanation of symbols]

 1 motor 2 hoisting machine 3 rope 4 car 5 balancing weight 6 speed detector 6a feedback speed 7 load detecting device 7a load signal 8 power converter 9 current detector 9a current value 10 speed command generator 10a speed command signal 11 speed Control device 11a First torque command signal 12 Unbalanced load compensation device 12a Torque compensation signal 13 Adder 13a Second torque command signal 14 Torque control device 14a Power converter 8 input 15 Amplitude calculation means 15a Amplitude 16 Startability judgment Means 16a Start blocking signal 17 Announcement output means 18 Average value calculation means 18a Weighted average value

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[Procedure amendment]

[Submission date] January 14, 1994

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0007

[Correction method] Change

[Correction content]

The load signal 7a is also used to improve the speed control performance of the elevator as described below. The unbalanced load compensator 12 uses the load signal 7
Based on a , the motor required torque for balancing the unbalanced load between the car 4 side and the counterweight 5 side is calculated, and this is output as the torque compensation signal 12a. After the elevator is started, the speed control device 11 operates the speed command generation device 10
The first torque command signal 11a is calculated based on the speed command signal 10a and the feedback speed 6a output from Normal,
PI calculation based on the deviation between the speed command signal 10a and the feedback speed 6a is used for the speed control calculation.

[Procedure Amendment 2]

[Document name to be corrected] Drawing

[Name of item to be corrected] Figure 1

[Correction method] Change

[Correction content]

[Figure 1]

[Procedure 3]

[Document name to be corrected] Drawing

[Name of item to be corrected] Figure 2

[Correction method] Change

[Correction content]

[Fig. 2]

Claims (6)

[Claims] 1. A speed command generator for outputting a speed command signal for an elevator, and a hoisting machine around which a rope having a counterweight attached to one end and an elevator car moving up and down is attached to the other end. A speed detector that detects the feedback speed of the motor that drives the sheave, a speed control device that outputs a first torque command based on the deviation between the speed command signal and the feedback signal, and the car load is detected. Load detecting device, an unbalance load compensating device that calculates a torque compensation signal for an unbalance load between the car side and the counterweight side based on the load signal from the load detecting device, and the first torque command. A control device for an elevator, comprising: a control means for controlling the torque of the motor based on a second torque command to which the torque compensation signal is added,
Immediately before the elevator is started, the load signal from the load detection device is sampled for a period longer than the natural vibration period of the rope system, and the amplitude of the load signal is calculated from the difference between the maximum value and the minimum value. A calculation means and a start possibility determination means for outputting a start inhibition signal to the speed instruction generator to prevent the speed instruction signal from being output when the amplitude of the load signal exceeds a predetermined value. An elevator control device characterized by the above. 2. A speed command generator for outputting a speed command signal for an elevator, and a hoisting machine around which a rope having a counterweight attached to one end and an elevator car moving up and down is attached to the other end is wound. A speed detector that detects the feedback speed of the motor that drives the sheave, a speed control device that outputs a first torque command based on the deviation between the speed command signal and the feedback signal, and the car load is detected. Load detecting device, an unbalance load compensating device that calculates a torque compensation signal for an unbalance load between the car side and the counterweight side based on the load signal from the load detecting device, and the first torque command. A control device for an elevator, comprising: a control means for controlling the torque of the motor based on a second torque command to which the torque compensation signal is added,
Immediately before the elevator is started, the load signal from the load detection device is sampled for a period longer than the natural vibration period of the rope system, and the amplitude of the load signal is calculated from the difference between the maximum value and the minimum value. A calculation means, a start possibility determination means for outputting a start inhibition signal to the speed instruction generator to prevent the speed instruction signal from being output when the amplitude of the load signal exceeds a predetermined value, and the start operation An elevator control device, comprising: an announcement output means for outputting an announcement that calls attention to a passenger shaking a car based on a blocking signal. 3. The activation possibility determination means continues to output the activation inhibition signal for a period longer than at least the damping time constant of the rope system when the amplitude of the load signal exceeds a predetermined value. Item 3. The elevator control device according to Item 1 or 2. 4. The amplitude calculating means has a ring buffer having a size for storing the number of samples of the load signal corresponding to the natural vibration period of the rope system. Elevator control equipment. 5. A speed command generator for outputting a speed command signal for an elevator, and a hoisting machine having a rope around which a balance weight is attached at one end and an elevator car that moves up and down is attached at the other end. A speed detector that detects the feedback speed of the motor that drives the sheave, a speed control device that outputs a first torque command based on the deviation between the speed command signal and the feedback signal, and the car load is detected. Load detecting device, an unbalance load compensating device that calculates a torque compensation signal for an unbalance load between the car side and the counterweight side based on the load signal from the load detecting device, and the first torque command. A control device for an elevator, comprising: a control means for controlling the torque of the motor based on a second torque command to which the torque compensation signal is added,
An average value calculating means for sampling the load signal for a period longer than the natural vibration period of the rope system, calculating an average value thereof, and outputting the average value as a load signal to be output to the unbalance load compensator is provided. Elevator control device. 6. The elevator control apparatus according to claim 5, wherein the average value calculation means has a ring buffer having a size for storing the number of samples of the load signal corresponding to the natural vibration period of the rope system. .