JPH07206286A - Controller for hydraulic elevator - Google Patents

Abstract

PURPOSE:To change a phase and feedback quantity so as to surely suppress vibration of a car cage by means of a simple method by adding a derivative element to a speed detector detecting a cage speed so as to detect cage acceleration and feeding the acceleration signal to a vibration suppressing controller. CONSTITUTION:Discharged oil from an oil pressure pump 9 supplying working fluid to a hydraulic cylinder 3 lifting/lowering a car cage 5 has pressure pulsation, and if a hydraulic plunger 2 is vibrated by the pressure pulsation, the vibration is transmitted to the car cage 5 via a pulley 1 and a main rope 4 so as to vibrate the car cage 5. Then, the vibration generated by a resonance phenomenon caused because of the main rope 4, an elastic modulus of the working fluid, and mass of the oil pressure plunger 2 is detected by a speed detector 12 via a rope 7 and a pulley 6, and a speed signal is converted into an acceleration signal by a differentiator 13 so as to be taken into a vibration suppressing controller 14, so that a control signal, in which feedback quantity and a phase are adjusted, is outputted. The control signal is converted into a pulse duration signal in a regulation circuit 17, and a modulation rate circuit 19 is regulated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to suppressing vibration of a hydraulic elevator, and more particularly to a PWM control hydraulic elevator device capable of suppressing vibration of a PWM control hydraulic elevator.

[0002]

2. Description of the Related Art In the prior art, as a vibration suppression method for an inverter-controlled hydraulic elevator, as described in Japanese Patent Application Laid-Open No. 4-350080, a cylinder pressure is detected by a hydraulic pressure detector and the detected hydraulic pressure signal is detected. There has been proposed a method of suppressing vibration of a car by adding it to a control signal of a motor control device that drives a hydraulic pump through a hydraulic controller configured by a differential element.

[0003]

In a hydraulic elevator, there are vibration generated by vibration of passengers in a car and vibration generated by pulsation when hydraulic oil is discharged from a hydraulic pump. When the passenger in the car vibrates, the first vibration resonates with the rope and plunger system to cause vibration. Second, the hydraulic pump pressure pulsation becomes cylinder pressure, which is transmitted to the plunger and vibrates the plunger. The vibration is transmitted to the pulley and the rope, and the car oscillates. Due to the relationship between the rope, the hydraulic oil, and the plunger, these vibrations cause a resonance phenomenon in a specific frequency range to further increase the vibration. In the conventional technology, since the cylinder pressure is detected by the hydraulic pressure detector, the vibration component of the hydraulic system is detected, and the vibration components of the car, rope, and plunger system are out of the loop, and the vibration of the car is suppressed. And less effective. Also,
The detected hydraulic signal is so small that it needs to pass through a hydraulic controller composed of a differential element and an amplifier circuit, and an A / D converter for converting an analog signal to a digital signal needs to be attached separately, resulting in a complicated system configuration. There is a problem that it becomes expensive.

An object of the present invention is to provide a PWM that provides a comfortable ride and is capable of reliably suppressing car vibration in a simple manner.
It is to provide a controlled hydraulic elevator.

[0005]

In order to achieve the above object, the present invention detects a car acceleration by adding a speed detector for detecting a car speed and a differential element, and a vibration suppression control for adjusting an acceleration signal. It is configured to be fed back to the modulation rate changing circuit through the adjusting circuit via the adjusting device.

Further, the vibration suppression controller is a method of adjusting the phase and the feedback amount in accordance with the elevator rising, descending, accelerating, steady state, deceleration, car position, and oil temperature conditions, and is determined in advance. The output signal obtained by comparing the acceleration command obtained from the elevator speed pattern with the traveling elevator acceleration signal is fed back.

[0007]

[Operation] When the car is vibrated, vibration is generated. By adding a differential element to the speed detector that detects the car speed, the car acceleration is detected, and this acceleration signal is passed through the vibration suppression controller, so that the elevator is rising, falling, accelerating, steady, When decelerating, changing the phase and feedback amount according to the position of the car and the oil temperature, the acceleration command obtained from the predetermined elevator speed pattern, and the output obtained by comparing with the elevator acceleration / deceleration signal during traveling. By feeding back the signal, the output signal is adjusted to have a phase different from that of the car acceleration signal, and acts to cancel the vibration of the car and the pulsation of pump rotation, thereby suppressing the vibration of the car.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A PWM control hydraulic elevator control apparatus according to the present invention will be described in detail below with reference to FIG. FIG. 1 shows a block diagram of a vibration suppression control device for a PWM control hydraulic elevator. In FIG. 1, 1 is a pulley, 2 is a hydraulic plunger, 3 is a hydraulic cylinder, 4 is a main rope, 5 is a car, 6 is a pulley, 7 is a rope, 8 is a control valve, 9 is a pump, 10 is an oil tank, 11 is an electric motor, 12 is a speed detector, 13 is a differentiator, 14 is a vibration suppression controller, 15 is an acceleration detector, 16 is an oil temperature sensor, 17 is an adjusting circuit, 18 is a modulation rate changing circuit, and 19 is a modulation rate. Circuit, 20 is a reference speed pattern. The reference speed pattern 20 is generated from the speed command generation circuit, is taken into the modulation rate circuit 19, and the pulse width is arbitrarily changed by pulse width modulation control to send a command to the control valve 8 as a pulse signal. The control valve 8 is roughly divided into a pilot valve and a main valve. When a pulse signal arrives, the pilot valve repeatedly turns on and off, oil flows into the main valve, and the pump 9 causes oil to rotate as the electric motor 11 rotates. Oil is sent to the hydraulic cylinder 3 through the suction main valve, the hydraulic plunger 2 is pushed up, and the car 5 installed on the main rope 4 is lifted.

[0009] In a hydraulic elevator, there are vibrations generated by the passengers in the car due to vibration, and vibrations due to pulsation when hydraulic oil is discharged from the hydraulic pump. At first, when the passenger vibrates in the car, the main rope 4, hydraulic plunger 2,
The hydraulic fluid resonates and causes vibration. Secondly, the discharge amount of the hydraulic pump 9 has a pulsation. At this time, pressure pulsation occurs due to the rotation of the pump, and this pressure pulsation becomes cylinder pressure and is transmitted to the hydraulic plunger 2 and the hydraulic plunger 2 vibrates. This vibration is transmitted to the pulley 1, the main rope 4 and the car 5 Vibrate. Due to the relationship between the main rope 4, the hydraulic oil, and the hydraulic plunger 2, this vibration causes a resonance phenomenon in a specific frequency range to further increase the vibration. Therefore, there is a phenomenon that the speed control of the elevator is affected and the landing accuracy is significantly reduced.

The present invention provides an elevator with a comfortable ride by suppressing vibration during traveling of a PWM control hydraulic elevator. As shown in FIG. 1, the velocity detector 12 detects the vibration generated by the resonance phenomenon caused by the elastic coefficient of the rope 4, the hydraulic oil, the mass of the hydraulic plunger 2 and the like via the rope 7 and the pulley 6. An output signal (speed signal) of the speed detector 12 passes through a differentiator 13 composed of differentiating elements (including the speed detector 12 and the differentiator 13, the acceleration detector 1
5) The control circuit converts the acceleration signal into the vibration suppression controller 14 and adjusts the feedback amount and phase to adjust the signal.
The modulation control circuit 1 converts the capture control signal into a pulse width signal, corrects the modulation ratio of the pulse width in the modulation ratio changing circuit 18, and modifies the modulation ratio circuit 1.
Return to 9.

FIG. 2 shows a block diagram of the vibration suppression controller. As shown in FIG. 1, the car vibration is detected by the speed detector 12, and the acceleration signal detected by the differentiator 13 (the output signal of the acceleration detector 15) is taken into the vibration suppression controller 14. The vibration suppression controller 14 performs a plurality of feedback controls. When the elevator is started by the car or hall call command and the operation control of the car and hall call is performed, the call is determined from the determiner 22 in the up and down directions. Next, when the elevator is accelerating in the up direction, SW
By turning on 20a, the acceleration signal is taken into the G1 circuit, during steady running, after turning on SW20b, the acceleration signal is taken into G2, and when decelerating, the SW is turned on again.
By turning on 20a, the acceleration signal is taken into the G1 circuit. Further, when the elevator is accelerating in the down direction, the acceleration signal is taken into the G3 circuit by turning off the SW20a and turning on the SW21a, and during steady running, after turning on the SW21b, the acceleration signal is sent to G4. At the time of capturing and decelerating, the acceleration signal is captured again in the G3 circuit. In the method according to the present invention, the output signal (acceleration signal) from the acceleration detector 15 is taken into the vibration suppression detector 14, the feedback amount is adjusted, the adjusting circuit 17 converts it into a pulse signal, and the result is fed back to the modulation factor circuit 18. . During acceleration, the elevator speed is changing and normal acceleration is detected. For this reason, it cannot be determined whether it is due to disturbance (excitation of the car) and acceleration of the elevator. Further, since the elevator speed does not change during steady running, only acceleration changes due to disturbance can be detected.

The hydraulic elevator has different hydraulic system characteristics during the ascending operation and the descending operation. This is because the electric motor 11 generates a torque generated as an electric motor while the car is being raised, and the descent load energy generates a torque generated as a generator by the energy of the falling load while the car is descending. Therefore, the vibration suppression effect can be enhanced by adjusting to a proper feedback constant value that is different when rising and when falling. Therefore, the control constants of the G1 and G2 circuits are adjusted in operating states such as rising, falling, accelerating, steadily, and decelerating. As a result, there is an advantage that the car vibration can be suppressed more effectively. The effect of suppressing vibration due to disturbance can be increased by increasing the amount of feedback. However, if the elevator is driven with a large amount of feedback, the elevator speed control may be misaligned during elevator acceleration / deceleration, and normal elevator speed control cannot be performed, causing vibration rather than vibration suppression. . Therefore, during acceleration, the gain is set to a low gain that has little effect on elevator speed control, and during steady running, the feedback amount is switched so that the gain is comparatively high and vibration suppression control of the car is performed to control the vibration of the car. Control to increase the vibration suppression effect. Even during deceleration, feedback is performed with a low gain as during acceleration, and the feedback amount is switched so as to have a high gain during steady running. A separate circuit is provided for the up / down direction, and the optimal control constant is used during up / down. Set and adjust the phase to enhance the vibration suppression effect.

In addition to the acceleration signal, the car position,
The oil temperature signal is also included. In order to detect the car position signal, the car position signal is detected by the speed detector 12 and is taken into the G5 circuit of the vibration suppression controller 14 and the phase and the feedback amount are adjusted and taken into the adjusting circuit 17. Regarding the oil temperature, the signal output from the oil temperature sensor 16 is taken into the oil temperature display circuit 21 in the control microcomputer processing, and the feedback amount is adjusted by the G6 circuit of the vibration suppression controller 14 according to the temperature display from the oil temperature display circuit 21. Then, it is taken into the adjustment circuit 17.

FIG. 3 shows a switching circuit diagram of the vibration suppression controller. For example, when the elevator is driving in the up direction,
The speed command value 23 that has been internally processed by the microcomputer is taken out, and the judgment unit 28 is operated until the speed command value 23 becomes a constant value.
When the SW 20a is turned on by the internal processing of
The SW 20a is turned on and the acceleration signal is taken into G1. Further, when the speed command value 23 is changing from FIG. 3, SW20b is turned on by internal processing of the determiner 28, so that SW20a shown in FIG.
Is turned on, and the acceleration signal is switched so as to be taken into G2. Another embodiment is shown in FIG. FIG. 4 is a block diagram of a vibration suppression control device for a PWM control hydraulic elevator. An acceleration command is given by adding a differentiator 34 to the speed pattern from the reference speed pattern 20. Next, the acceleration signal of the car obtained from the acceleration detector 15 and the acceleration command are compared. As a result, the acceleration signal at the time of normal acceleration / deceleration is ignored, and the vibration component for the signal of only the disturbance can be detected. This signal is adjusted by the adjusting circuit 17 and the modulation rate changing circuit 1.
Since the vibration suppression control is carried out by incorporating the data in No. 8, it is possible to suppress the vibration due to the disturbance.

[0015]

According to the present invention, since the vibration generated in the car can be suppressed, it is possible to provide a comfortable and comfortable hydraulic elevator that does not cause discomfort to passengers in the car.

[Brief description of drawings]

FIG. 1 is a block diagram of a vibration suppression control device for a PWM control hydraulic elevator.

FIG. 2 is a block diagram of a vibration suppression controller.

FIG. 3 is a switching circuit diagram of a vibration suppression controller.

FIG. 4 is a block diagram of a vibration suppression control device for a PWM control hydraulic elevator.

[Explanation of symbols]

1 ... pulley, 2 ... hydraulic plunger, 3 ... hydraulic cylinder,
4 ... Main rope, 5 ... Car, 6 ... Pulley, 7 ... Rope, 8 ... Control valve, 9 ... Pump, 10 ... Tank, 11 ... Electric motor, 12 ... Speed detector, 13 ... Differentiator, 14 ... Vibration suppression Controller, 15 ... Acceleration detector, 16 ... Oil temperature sensor, 1
7 ... Adjusting circuit, 18 ... Modulation rate changing circuit, 19 ... Modulation rate circuit, 20 ... Reference speed pattern.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toshiaki Kurosawa 1-6-6 Kandanishikicho, Chiyoda-ku, Tokyo Within Hitachi Building System Service Co., Ltd. (72) Keiichi Senda 1-6-6 Kandanishikicho, Chiyoda-ku, Tokyo Inside the Hitachi Building System Service (72) Inventor Hiromi Inaba 7-1-1 Omika-cho, Hitachi City, Ibaraki Prefecture Hitachi Ltd. Inside Hitachi Research Laboratory (72) Inventor Hideaki Takahashi 1070 Ichige, Katsuta City, Ibaraki Stock Hitachi, Ltd. Mito Factory (72) Inventor, Eiichi Sasaki 1070 Ige, Katsuta City, Ibaraki Prefecture Hitachi, Ltd. Mito Factory

Claims (3)

[Claims] 1. A hydraulic cylinder for raising and lowering a car through a hydraulic plunger, a hydraulic pump for supplying and discharging pressurized oil from an oil tank to the cylinder when the car is raised and lowered, and the hydraulic pump and the hydraulic cylinder. A flow control valve installed between, a pilot valve for controlling the flow control valve, a pulse width modulation rate circuit for controlling the pilot valve,
A reference speed pattern for giving a speed command to the pulse width modulation ratio circuit, a modulation ratio changing circuit for detecting and calculating the speed of the car to correct the speed control during acceleration / deceleration, and a motor for driving the hydraulic pump. In a provided PWM control hydraulic elevator, an acceleration detector configured by a speed detector for detecting the speed of the car and a differential element, and a vibration suppression control for adjusting a phase of an output signal of the acceleration detector and a feedback amount And an adjusting circuit for converting the control signal output from the vibration suppression controller into a pulse width, the output signal of the adjusting circuit is input to the modulation rate changing circuit, and the changed control signal is fed back to the modulation rate command unit. A hydraulic elevator control device having the above structure. 2. The position of the car according to claim 1, wherein the vibration suppression controller receives the output signal of the acceleration detector and receives the output signal of the acceleration detector when the elevator is moving up, down, accelerating, steady, and decelerating. , A hydraulic elevator control device that adjusts the phase and feedback amount according to the oil temperature condition. 3. The hydraulic elevator control device according to claim 1, wherein the vibration suppression controller comprises means for comparing an acceleration command obtained from a predetermined elevator speed pattern with an output signal of the acceleration detector.