JPH07144839A - Controller for hydraulic elevator - Google Patents

Abstract

PURPOSE:To obtain a controller for a hydraulic elevator which can always provide the stable traveling characteristics with a simple constitution. CONSTITUTION:A controller for a hydraulic elevator is equipped with a hydraulic pump 8 which is connected with a hydraulic jack 2 through a valve 9 and allows the pressurized oil to flow into the hydraulic jack 2, electric motor 7 for revolution-driving the hydraulic pump 8, pressure sensor 16 for the pressurized oil which flows into the hydraulic jack 2, oil. temperature sensor 17 for detecting the temperature of the pressurized oil which flows in the hydraulic jack 2, speed detector 18 for detecting the speed of a car 1, and a speed controller 13 which produces the control instruction value according to the difference between the input signal supplied from the hydraulic pump 8 and a specific speed standard pattern, for the valve 9 so that the car 1 rises and lowers with a specific speed pattern. The temperature and the pressure on start are inputted into the input values of the control instruction values which are set on the start of the elevator, and the control instruction value is outputted, referring the control instruction values which are set previously according to the temperature and pressure on the basis of the above-described input.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a hydraulic elevator.

[0002]

2. Description of the Related Art Conventionally, as a control device for controlling the speed of a car of a hydraulic elevator, there are mainly a flow rate control system as a first example and a rotational speed control system of a hydraulic pump as a second example.

In the flow rate control system, when the car is raised, the electric motor that drives the hydraulic pump is rotated at a constant speed, and a constant discharge amount of oil supplied from the hydraulic pump to the hydraulic cylinder of the hydraulic jack is delivered to the tank. When the elevator is commanded to start, the amount of oil returned from the hydraulic cylinder to the tank is adjusted by the flow control valve, and the speed of the car is controlled by this. Further, when the car is descending, the flow control valve controls the amount of oil that causes the oil in the hydraulic cylinder to flow back to the tank due to the weight of the car, thereby controlling the speed of the car. The flow rate control valve in this case controls the current value given from the speed control circuit to the flow rate control valve, so that the flow rate control valve outputs the flow rate corresponding to the current value. As described above, the first example is a method of controlling the speed of the elevator by the oil flow rate.

The rotational speed control system of the hydraulic pump uses inverter control to operate the AC electric motor at a variable speed, thereby controlling the rotational speed of the hydraulic pump to control the flow rate and the speed of the car. It is a method to do.

[0005]

In the conventional flow rate control method described above, speed control is often performed by open loop control, and the viscosity of oil changes when the load pressure (hydraulic pressure) or the oil temperature of the hydraulic elevator changes. However, there is a problem that the traveling pattern of the car is separated from a predetermined one because the volumetric efficiency of the hydraulic pump is reduced. In particular, when the elevator is traveling at a low speed, the oil viscosity has a great influence. Therefore, there are problems that the elevator cannot be stopped when traveling at a low speed, and that the elevator cannot be stopped accurately at the target floor when landing.

In order to solve this problem, a method has been proposed in which the elevator car speed is fed back and the valve control current, which is a speed control command value, is controlled according to the deviation from the speed reference. An example of this control method is PID control, which is a type of classical control theory. When the PID control is used for the speed control of the hydraulic elevator, the speed characteristics are controlled so as to approach the speed reference in real time, so that the traveling characteristics are stable unlike the case of the open loop control.

However, if the temperature or pressure of the oil changes, the characteristics of the hydraulic elevator system to be controlled will fluctuate greatly, so it is necessary to output the control amount most suitable for the situation. That is, when performing proportional-plus-integral control by speed feedback control after starting, it is necessary to tune parameters such as proportional gain and integral time so that the riding comfort and traveling performance of the elevator are optimized.

This parameter tuning may be difficult to tune due to the characteristics of hydraulic equipment, and when the hydraulic elevator lands on the target floor, the floor surface of the landing side and the car side shifts. In order to make the value as small as possible, when the hydraulic elevator lands on the target floor at a low speed, it is necessary to adjust so as to be able to quickly respond to the target speed reference.

However, since the natural vibration peculiar to hydraulic equipment is likely to continue during high-speed traveling, adjustment is made to minimize the influence of external disturbance such as vibration inside the car. This means that when the hydraulic elevator is running on the floor, it is necessary to make adjustments with emphasis on target value tracking, and in the high speed region, adjustments with emphasis on disturbance suppression. However, since parameters such as proportional gain and integration time have only one degree of freedom,
It was necessary to make conflicting adjustments, which made the adjustment difficult.

In general, when the hydraulic elevator is moved up, the hydraulic elevator cannot operate until the pressures on the hydraulic pump (primary side) and the hydraulic jack side (secondary side) match at the time of starting, so that the speed is low. By feeding back, it is impossible to control the flow rate flowing into the hydraulic jack.

Therefore, it is necessary to switch the control method between starting and running after starting. However, in order to perform pressure compensation at the time of starting, a hydraulic pump and a pressure sensor for detecting the pressure on the hydraulic jack side, etc. are required, which not only increases the system cost but also controls the hydraulic pump side. And it takes time to adjust the pressure on the hydraulic jack side,
There is a problem that it takes a long time for the car to start.

Further, even when the feedback control based on the speed is carried out, the starting control amount, which is the initial value of the control amount, greatly varies depending on the temperature and pressure, so that it is necessary to set the control amount corresponding to the temperature and pressure.

On the other hand, the rotational speed control system of the hydraulic pump has a problem that the structure is complicated. The present invention has been made to solve such conventional problems, and is a control device for a hydraulic elevator that can always obtain stable traveling characteristics with a simple configuration without being affected by variations in hydraulic equipment and the like. The purpose is to provide.

[0014]

In order to achieve the above object, the invention according to claim 1 is connected to at least a hydraulic jack for vertically moving a car through an oil amount control means for controlling the oil amount. A hydraulic pump that allows pressure oil to pass through the hydraulic jack; an electric motor that rotationally drives the hydraulic pump; pressure detection means that detects the pressure of the pressure oil that flows through the hydraulic jack; and pressure oil that flows through the hydraulic jack. Temperature detecting means for detecting the temperature of the car, speed detecting means for detecting the speed of the car, and the oil amount control means for moving the car up and down in a predetermined speed pattern. Input signal and a speed control device that generates a control command value according to a deviation of a predetermined speed reference pattern, and the start value is set to the initial value of the control command value set when the elevator is started. Input the oil temperature detection value detected by the temperature detection means and the oil pressure detection value detected by the pressure detection means, and refer to the control command value preset for each temperature and pressure based on the both detection values. The control device for a hydraulic elevator is characterized in that the control command value is output.

In order to achieve the above object, the invention according to claim 2 is connected to at least a hydraulic jack for vertically moving a car through an oil amount control means for controlling an oil amount, and a pressure is applied to the hydraulic jack. A hydraulic pump for passing oil, an electric motor for rotationally driving this hydraulic pump, a pressure detecting means for detecting the pressure of oil on the cylinder side of the hydraulic jack, and a temperature for detecting the temperature of the pressure oil flowing through the hydraulic jack. Detecting means, oil amount detecting means for detecting the amount of oil between the hydraulic pump and the valve, speed detecting means for detecting the speed of the car, and enabling the car to move up and down in a predetermined speed pattern. With respect to the oil amount control means,
An input signal from the speed detecting means and a speed control device that generates a control command value in accordance with a deviation of a predetermined speed reference pattern are provided, and as an initial value of the control command value set at the time of starting the elevator, at the time of starting, When the oil temperature detection value detected by the temperature detection means and the oil pressure detection value detected by the pressure detection means are input, and when this oil pressure detection value is less than the reference value, this insufficient pressure is commensurate. A control device for a hydraulic elevator, wherein a control command value is output so as to increase the amount of oil.

In order to achieve the above object, the invention according to claim 3 is connected to at least a hydraulic jack for vertically moving a car through an oil amount control means for controlling an oil amount, and a pressure is applied to the hydraulic jack. A hydraulic pump that allows oil to pass therethrough, an electric motor that rotationally drives the hydraulic pump, a pressure detection unit that detects the pressure of pressure oil that flows through the hydraulic jack, and a temperature that detects the temperature of the pressure oil that flows through the hydraulic jack. Detection means, speed detection means for detecting the speed of the car, and an input signal from the speed detection means for the oil amount control means so that the car can move up and down in a predetermined speed pattern, And a speed control device that generates a control command value according to the deviation of the speed reference pattern, and a proportional gain and an integration time for each temperature and pressure are stored as a table in the speed control device. Then, when obtaining the control command value, the detection values from the temperature detection means and the pressure detection means are respectively input, and based on the both detection values, the table is referred to so that the control command value is output. This is a control device for a hydraulic elevator characterized in that

In order to achieve the above object, the invention according to claim 4 is connected to at least a hydraulic jack for vertically moving a car through an oil amount control means for controlling an oil amount, and a pressure is applied to the hydraulic jack. A hydraulic pump that allows oil to pass therethrough, an electric motor that rotationally drives the hydraulic pump, a pressure detection unit that detects the pressure of pressure oil that flows through the hydraulic jack, and a temperature that detects the temperature of the pressure oil that flows through the hydraulic jack. Detection means, speed detection means for detecting the speed of the car, and an input signal from the speed detection means for the oil amount control means so that the car can move up and down in a predetermined speed pattern, With a speed control device that generates a control command value according to the deviation of the speed reference pattern of, the step response is measured in an open loop for each temperature and pressure of the controlled object. The time constant, the gain and the dead time are obtained from the result, and the proportional gain and the integration time are stored as a table in the speed control device according to the temperature and pressure from these data, and the temperature detecting means is used when obtaining the control command value. And a detection value from the pressure detecting means, respectively, and based on the both detection values, the control command value is output by referring to the table, and the control device for the hydraulic elevator is characterized.

In order to achieve the above object, the invention according to claim 5 is connected to at least a hydraulic jack for vertically moving a car through an oil amount control means for controlling an oil amount, and a pressure is applied to the hydraulic jack. A hydraulic pump that allows oil to pass therethrough, an electric motor that rotationally drives the hydraulic pump, a pressure detection unit that detects the pressure of pressure oil that flows through the hydraulic jack, and a temperature that detects the temperature of the pressure oil that flows through the hydraulic jack. Detection means, speed detection means for detecting the speed of the car, and an input signal from the speed detection means for the oil amount control means so that the car can move up and down in a predetermined speed pattern, And a speed control device that generates a control command value according to the deviation of the speed reference pattern, and changes the size of the control command value during elevator acceleration, deceleration, and high-speed traveling. A hydraulic elevator control system, characterized in that had Unishi.

In order to achieve the above object, the invention according to claim 6 is connected to at least a hydraulic jack for vertically moving a car through an oil amount control means for controlling an oil amount, and a pressure is applied to the hydraulic jack. A hydraulic pump that allows oil to pass therethrough, an electric motor that rotationally drives the hydraulic pump, a pressure detection unit that detects the pressure of pressure oil that flows through the hydraulic jack, and a temperature that detects the temperature of the pressure oil that flows through the hydraulic jack. Detection means, speed detection means for detecting the speed of the car, and an input signal from the speed detection means for the oil amount control means so that the car can move up and down in a predetermined speed pattern, And a speed control device that generates a control command value according to the deviation of the speed reference pattern, and a proportional gain and integration time for each temperature and pressure are stored in the speed control device as a table. Then, when obtaining the control command value, the detection values from the temperature detection means and the pressure detection means are respectively input, based on the both detection values, the table is referred to, and the control command value is output. , Means for changing the magnitude of the control command value during acceleration, deceleration, and high-speed traveling of the elevator, and the temperature detection means and the pressure detection at the time of startup to the initial value of the control command value set when the elevator is started. Enter the detected value from each method,
A control device for a hydraulic elevator, characterized in that it comprises means for making an initial value by referring to a control command value preset for each temperature and pressure based on both detected values.

[0020]

According to the invention corresponding to claim 1, the control command value set in advance for each temperature and pressure from the oil temperature and oil pressure at the time of start is used as the initial value of the control command value set at the elevator start. As a result, it will be easier to make local adjustments and the time required for the car to start moving will be shorter.

According to the second aspect of the invention, the oil value commensurate with the initial value of the control command value set when the elevator is started and the pressure at which the temperature of the oil at the time of starting and the pressure in the hydraulic jack are lower than the reference value. Since the control command value that becomes the amount is used, the on-site adjustment becomes easy and the time required for the car to start moving can be shortened.

According to the invention corresponding to claim 3, the proportional gain and the integration time are stored as a table for each temperature and pressure,
When obtaining the control command value, the table is referred to based on the temperature detection value and the pressure detection value to output the control command value, so that the velocity waveform with respect to the temperature and the pressure becomes constant.

According to the fourth aspect of the invention, the step response of the controlled object is measured by open loop for each temperature and pressure, the time constant, the gain and the dead time are obtained from the results, and from these data, for each temperature and pressure. Since the proportional gain and the integration time are stored as a table and the control command value is obtained, the table is referred to based on the temperature detection value and the pressure detection value, and the control command value is output.
The proportional gain Kp and the integration time TI can be calculated not empirically.

According to the invention corresponding to claim 5, since the magnitude of the control command value is changed during acceleration, deceleration and high speed traveling of the elevator, even if the speed control waveform is constant, Strong against disturbance and improved responsiveness.

According to the invention corresponding to claim 6, in addition to the operation of the invention according to claim 1, the proportional gain and the integration time are stored as a table for each temperature and pressure, and when the control command value is obtained, the temperature detection value is obtained. Based on the pressure detection value and the pressure detection value, the control command value is output by referring to the table, and the magnitude of the control command value is changed during acceleration, deceleration, and high speed traveling of the elevator. As the initial control command value set at the time of starting, the control command values set in advance for each temperature and pressure were referred to as the initial value based on the temperature detection value and the pressure detection value at the time of starting. Performance is improved and speed control is improved.

[0026]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a schematic configuration of a first embodiment of a control device for a hydraulic elevator according to the present invention. The hydraulic elevator consists of a car 1, a hydraulic jack 2, a plunger 3,
The pulley 4, the rope 5, the hydraulic pipe 6, the pump electric motor 7, the hydraulic pump 8, the valve 9, the tank 10, the power source 11, the elevator control device 12, the speed control device 13, the deceleration switch 14, and the stop switch 15 are configured. Since it is known, its description is omitted here.

In this embodiment, an oil temperature sensor 17 is provided in the tank 10, a load pressure sensor 16 is provided on a hydraulic pipe 6 connecting the hydraulic jack 2 and the valve 9, and the speed of the car 1 is further increased. A detector 18 is provided, and each of these detection output values is input to the speed control device 13, and is configured to generate a control command value according to the deviation of a predetermined speed reference pattern.

This speed control device 13 includes a deceleration switch 1
4, an external signal input circuit 130 for inputting digital signals of the stop switch 15 and the speed detector 18, a valve controller 131 for generating a speed pattern based on an operation command from the elevator controller 12, and a valve based on the speed pattern. 9, a valve control unit 132 that outputs a valve control signal and a pump control unit 133 that drives the pump motor 7.

Next, the operation of the hydraulic elevator control device configured as described above will be described. When the car 1 is stopped, the electromagnetic switching valve of the valve 9 is closed. When a driving command is issued, the electric motor 7 starts rotating. Therefore, the opening / closing of the valve body of the valve 9 is controlled based on the speed pattern generated by the speed control device 13, and thus the hydraulic pump 8
The amount of oil discharged from the vehicle is controlled, and the elevation of the plunger 3 of the hydraulic jack 2 and the car 1 is controlled.

Next, the internal operation of the valve 9 that controls the speed of the hydraulic elevator will be described with reference to FIG.
First, the operation at the time of rising will be described. Since the pump is started by the ascending command and the ascending flow rate control valve 91 is fully opened, the pump flow rate is bleed off to the full tank and the car 1 is stopped. The rising electromagnetic proportional pilot control valve 93 operates by the control current from the valve control unit 132, and the rising flow rate control valve 91 operates in the closing direction. As a result, the bleed-off flow rate to the tank 10 decreases, and this flow rate flows into the cylinder via the stroke sensor 95 and the check valve 96, so that the car rises.

Next, the operation when descending will be described. The downward command excites the electromagnetic pilot switching valve 97,
The check valve 96 operates in the opening direction. Further, the descending electromagnetic proportional pilot control valve 94 operates to operate the descending flow rate control valve 9
2 moves in the opening direction. As a result, the oil in the cylinder flows into the tank 10, so that the car 1 moves down.

In FIG. 3, reference numeral 98 is an emergency manual lowering valve, 99 is a maximum pressure limiting relief valve, 910 is an oil temperature sensor, 911 is a load pressure sensor, 912, 913 are strainers, 914, 915 are filters, 916, 917. , 9
Reference numerals 18, 919 and 920 are diaphragms.

Next, the speed control device of FIG. 1 which is a feature of this embodiment will be described with reference to FIGS. 2 and 4.
The speed control of the present embodiment has a configuration in which a control amount adjusting function (hereinafter referred to as a diaphragm function) α is added to the proportional-plus-integral control. A speed feedback signal (VPLG) which is a signal from the speed detector 18 and a preset speed reference (VPLG)
REF) deviation based on the current reference (IRE)
F) is calculated. The proportional gain KP and the integration time TI are parameters for adjusting the speed of the car 1 to follow the speed reference. Since the characteristics of oil vary greatly depending on the oil temperature and oil pressure, KP,
I need to change TI.

In this embodiment, the proportional gain KP and the integration time TI are prepared in advance in the speed controller 13 as a table for each temperature and pressure, and the control is performed based on these values.
In order to obtain these KP and TI, the controlled object is delayed by the primary delay T
Modeled as s + dead time Ls system, step response was measured by open loop for each temperature and pressure, time constant T, gain K and dead time L were determined from these results, and from these data, proportional gains were calculated for each temperature and pressure. The integration time is stored in the speed control device 13 as a table.

The first-order lag + dead time system is G (s) = K / (1 + Ts) exp (-Ls), and in this embodiment, the time constant T, the gain K, and the dead time L are obtained by the CHR method.

KP = 0.35 × T / KLTI = 1.2T The above-mentioned throttle function smoothly switches the target value following function for following the elevator speed to the speed reference and the disturbance suppressing function. The purpose is to do. That is, due to the characteristics of the valve 9, it is necessary to increase the control amount during acceleration / deceleration in order to enhance the followability with respect to the target value, and to suppress the disturbance in the high speed region to suppress disturbance.

However, since the control parameters KP and TI of the proportional-plus-integral control have only one degree of freedom, the size of the control amount is adjusted by this diaphragm function. The shape of the function of the diaphragm function and the switching timing will be described below with reference to FIG. 5, but the actual speed is V, the rated speed is VTOP,
Let VL be an arbitrary speed (a value smaller than the rated value). <At acceleration> α = α3 (V ≦ VTOP −VL) α = (α3−α1) / VL × [VREF− (IDRTATE−V
L)] + α3 (VTOP-VL <V≤VTOP) α = α1 (VTOP <V) <At deceleration> α = α2 (V≤VTOP-VL) α = (α2-α1) / VL × [VREF- (IDRTATE -V
L)] + α2 (VTOP-VL <V ≦ VTOP) α = α1 (VTOP <V) In this case, the aperture switching timing is based on the speed reference, but the actual elevator speed is slightly behind the speed reference. In this case, when the actual speed value VPLG does not sufficiently follow the speed reference, the control amount may be switched, so that the actual value may deviate from the reference. Therefore, in this embodiment, not only the speed reference but also the actual speed value needs to be incorporated in the aperture switching timing condition.

For example, the diaphragm is switched under the following conditions. (1) Even when the speed reference VREF shifts to steady running, the throttle is fully opened (100%) until the deviation ΔV from the actual VPLG is within a predetermined value.

(2) As a backup of (1),
Even if the condition (1) is not satisfied, the throttle is changed from fully open (100%) to a predetermined value when the elapsed time after the speed reference VREF shifts to the steady running exceeds a certain value.

Next, the control algorithm of the proportional-plus-integral control in the present invention will be described. When changing from the acceleration region to the high speed region, it is necessary to change the aperture α, and it is possible to prevent a sudden change in the control amount due to this change.

The digital operation method generally includes a position-type proportional-integral algorithm for calculating and outputting all values at every control sampling cycle, and a speed-type proportional-integral algorithm for calculating only the change and adding it to the previous value to obtain the current value. There is an integration algorithm.

In the present embodiment, in order to prevent the influence on the riding comfort due to the abrupt change of the control amount by the diaphragm function,
A velocity proportional integral algorithm is adopted. The algorithm is shown below. △ P (n) = P (n)-P (n-1) = αn ・ KP ・ e (n)-α n-1 ・ KP ・ e (n-1) = αn ・ KP ・ (e (n) -e (n-1))… Proportional operation △ I (n) = I (n)-I (n-1) = αn ・ KP ・ 1 / TI ・ △ t ・ e (n)… Integral operation PI (n ) = PI (n-1) + (△ P (n) + △ I (n))… Control amount However, e (n) = ｜ Vref (n) -Vplg (n) ｜ P (n) = αn KP ・ e (n) I (n) = I (n-1) + αn ・ KP ・ 1 / TI ・ △ t ・ e (n) PI (n) is the current value and PI (n-1) is the previous value.

As a result, the control amount changes gently even if the aperture α changes greatly. With this algorithm,
Not only the change in the throttle, but also the influence on the ride comfort due to the change in the control amount when switching KP and TI for each temperature and pressure can be mitigated.

Next, at the start of speed control, it is necessary to give an initial value to the current reference (IREF) depending on the current flow rate characteristic of the valve. This method will be described. When the rising starting current for each temperature and pressure for each valve is obtained as shown in FIG. 6, a curve regression equation for estimating the rising starting current (Ius) is obtained.

Ius = α ₁ · T + α ₂ · T ² +… + α _m ·
T ^m + β ₁ · P + β ₂ · P ² +… + β _n · P ⁿ + γ · Iu
s (T _I, P _J ) + δ where α ₁ , ..., α _m , β ₁ , ..., β _n , γ, δ are coefficients.

Next, from the valve data, the average of the rising starting current values at the temperature T _I ° C and the pressure P _J kgf / cm ² is obtained. The obtained average value of Ius is substituted for Ius in the curve regression equation obtained above, and the obtained result is used as the representative value of Ius.

However, Ius must be flow rate-corrected according to the discharge amount of the pump. A value obtained by performing flow rate correction on the representative value of Ius is stored in the microcomputer as table data, table data is selected according to the discharge amount, and it is given as an initial value.

The present invention is not limited to the above embodiment, but may be configured as follows, for example. In the example above,
Although the oil temperature sensor 17 is provided in the tank 10, the oil temperature sensor 17 may be provided on the hydraulic jack 2 or on the pipe between the hydraulic jack 2 and the hydraulic pump 8 or the like, and the position to be provided is not particularly limited.

In the above embodiment, the oil temperature and the load pressure are used as the sensor input value, but the valve temperature, the tank temperature, the flow rate, etc. may be used without being limited to these factors. In this case, a pressure sensor is provided on the cylinder side of the hydraulic jack 2, a flow rate sensor is provided between the valve 9 and the hydraulic pump 8, and the detection outputs of both sensors are provided to the speed control device 13.
When the detection output detected by the pressure sensor in the speed control device 13 is less than a predetermined reference value, the control command value is output so that the oil amount increases to meet the insufficient pressure. You may comprise.

[0050]

According to the present invention described above, it is possible to provide a control device for a hydraulic elevator that achieves the following effects. That is, the control command value is generated according to the deviation of the speed detection signal of the car and the predetermined speed reference pattern, and the magnitude of this control command value is increased during acceleration and deceleration of the elevator and during high speed traveling. To change. Therefore, it is possible to perform control with emphasis on the target value followability during acceleration / deceleration and the disturbance suppression during steady running. Further, since the speed control device has a function of not rapidly changing the control command value, the ride comfort is not affected even when the control command value is changed according to the traveling state. Further, since the control command value set in advance for each temperature and pressure from the temperature and pressure at the time of starting is used as the initial value of the control command value set at the time of elevator start, adjustment on site becomes simple. As a result, it is possible to provide a control device for a hydraulic elevator that always realizes stable traveling.

[Brief description of drawings]

FIG. 1 is a diagram showing a schematic configuration of a first embodiment of a control device for a hydraulic elevator according to the present invention.

FIG. 2 is a block diagram showing a schematic configuration of the speed control device of FIG.

FIG. 3 is a circuit diagram showing the configuration of the valve of FIG.

FIG. 4 is a block diagram of the speed control device of FIG. 1.

5 is a diagram showing the shape and switching timing of the function of the gain diaphragm function of FIG.

6 is a diagram showing rising starting current values by temperature and pressure for each valve in FIG. 1;

[Explanation of Codes] 1 ... Car, 2 ... Hydraulic jack, 3 ... Plunger, 4
... Pulley, 5 ... Rope, 6 ... Hydraulic piping, 7 ... Electric motor, 8
... hydraulic pump, 9 ... valve, 10 ... tank, 11 ... power supply, 12 ... elevator control device, 13 ... speed control device, 14 ... deceleration switch, 15 ... stop switch, 16 ...
Load pressure 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, 91 ... Ascending flow control valve, 92 ... Downward flow control valve, 93 ... Upward solenoid proportional pilot control valve, 9
4 ... Down solenoid proportional pilot control valve, 95 ... Stroke sensor, 96 ... Check valve, 97 ... Electromagnetic pilot switching valve, 98 ... Emergency manual down valve, 99 ... Maximum pressure limiting relief valve, 910 ... Oil temperature sensor, 911 ... Load Pressure sensor,
912, 913 ... Strainer, 914, 915 ... Filter, 916, 917, 918, 919, 920 ... Aperture.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toshihiro Koyama No. 1 Toshiba-cho, Fuchu-shi, Tokyo Toshiba Corporation Fuchu factory

Claims (6)

[Claims] 1. A hydraulic pump, which is connected to at least a hydraulic jack for moving a car up and down through an oil amount control means for controlling the amount of oil, and which allows pressurized oil to pass through the hydraulic jack; Motor, pressure detecting means for detecting the pressure of the pressure oil flowing through the hydraulic jack, temperature detecting means for detecting the temperature of the pressure oil flowing through the hydraulic jack, and speed detection for detecting the speed of the car. And a control command value for the oil amount control means according to a deviation between an input signal from the speed detection means and a predetermined speed reference pattern so that the car can move up and down in a predetermined speed pattern. It is equipped with a speed control device, and the initial value of the control command value set when the elevator starts,
Input the oil temperature detection value detected by the temperature detection means at the time of starting and the oil pressure detection value detected by the pressure detection means, and based on both detection values, a control command value preset for each temperature and pressure. A control device for a hydraulic elevator, characterized in that a control command value is output with reference to. 2. A hydraulic pump which is connected to at least a hydraulic jack for moving a car up and down through an oil amount control means for controlling the amount of oil, and which allows the hydraulic oil to pass through the hydraulic jack, and a rotational drive of this hydraulic pump. Motor, pressure detecting means for detecting the pressure of oil on the cylinder side of the hydraulic jack, temperature detecting means for detecting the temperature of the pressure oil flowing through the hydraulic jack, and oil pressure between the hydraulic pump and the valve. An oil amount detecting means for detecting the amount, a speed detecting means for detecting the speed of the car, and a speed detecting means for the oil amount control means so that the car can move up and down in a predetermined speed pattern. Input signal and a speed control device that generates a control command value according to the deviation of a predetermined speed reference pattern, and sets the initial value of the control command value set when the elevator starts. The temperature detection value of the oil detected by the temperature detection means at the time of starting and the pressure detection value of the oil detected by the pressure detection means are input, and when the pressure detection value of the oil is less than the reference value, this A control device for a hydraulic elevator, wherein a control command value is output so as to increase the amount of oil commensurate with the amount of insufficient pressure. 3. A hydraulic pump which is connected to at least a hydraulic jack for moving a car up and down through an oil amount control means for controlling the amount of oil, and which allows hydraulic oil to pass through the hydraulic jack, and a rotational drive for this hydraulic pump. Motor, pressure detecting means for detecting the pressure of the pressure oil flowing through the hydraulic jack, temperature detecting means for detecting the temperature of the pressure oil flowing through the hydraulic jack, and speed detection for detecting the speed of the car. And a control command value for the oil amount control means according to a deviation between an input signal from the speed detection means and a predetermined speed reference pattern so that the car can move up and down in a predetermined speed pattern. And a speed control device for storing the proportional gain and the integration time for each temperature and pressure as a table in the speed control device, and when the control command value is obtained, the temperature detection is performed. A control device for a hydraulic elevator characterized in that detection values from the means and the pressure detection means are respectively inputted, and based on the detection values, the table is referred to and a control command value is output. 4. A hydraulic pump which is connected to at least a hydraulic jack for moving a car up and down through an oil amount control means for controlling the amount of oil, and which allows the hydraulic oil to pass through the hydraulic jack, and the hydraulic pump is rotationally driven. Motor, pressure detecting means for detecting the pressure of the pressure oil flowing through the hydraulic jack, temperature detecting means for detecting the temperature of the pressure oil flowing through the hydraulic jack, and speed detection for detecting the speed of the car. And a control command value for the oil amount control means according to a deviation between an input signal from the speed detection means and a predetermined speed reference pattern so that the car can move up and down in a predetermined speed pattern. It is equipped with a speed controller that controls the temperature and pressure of the controlled object by open loop, and the time constant, gain and dead time are calculated from these results. From these data, the proportional gain and the integration time for each temperature and pressure are stored as a table in the speed control device, and when the control command value is obtained, the detection values from the temperature detection means and the pressure detection means are input respectively. Then, the control device for the hydraulic elevator is characterized in that the control command value is output by referring to the table based on the both detected values. 5. A hydraulic pump which is connected to at least a hydraulic jack for moving a car up and down through an oil amount control means for controlling the amount of oil, and which allows the hydraulic oil to pass through the hydraulic jack, and the hydraulic pump is rotationally driven. Motor, pressure detecting means for detecting the pressure of the pressure oil flowing through the hydraulic jack, temperature detecting means for detecting the temperature of the pressure oil flowing through the hydraulic jack, and speed detection for detecting the speed of the car. And a control command value for the oil amount control means according to a deviation between an input signal from the speed detection means and a predetermined speed reference pattern so that the car can move up and down in a predetermined speed pattern. The control of a hydraulic elevator is characterized in that the magnitude of the control command value is changed during acceleration, deceleration, and high-speed traveling of the elevator. Your device. 6. A hydraulic pump, which is connected to at least a hydraulic jack for moving a car up and down through an oil amount control means for controlling the amount of oil, and which allows the hydraulic oil to pass through the hydraulic jack, and the hydraulic pump is rotationally driven. Motor, pressure detecting means for detecting the pressure of the pressure oil flowing through the hydraulic jack, temperature detecting means for detecting the temperature of the pressure oil flowing through the hydraulic jack, and speed detection for detecting the speed of the car. And a control command value for the oil amount control means according to a deviation between an input signal from the speed detection means and a predetermined speed reference pattern so that the car can move up and down in a predetermined speed pattern. The temperature detection is performed when the control command value is obtained by storing a proportional gain and an integration time for each temperature and pressure as a table in the speed control device. Means and the detection value from the pressure detection means, respectively, based on these detection values, referring to the table, means for outputting a control command value, and during the acceleration, deceleration and high-speed traveling of the elevator, The detection values from the temperature detection means and the pressure detection means at the time of starting are input to the means for changing the magnitude of the control command value and the initial value of the control command value set at the time of starting the elevator. A control device for a hydraulic elevator, characterized in that it comprises means for referring to a control command value preset for each temperature and pressure based on the above, and setting it as an initial value.