JPH0720808B2 - Elevator control device - Google Patents

Description

Description: TECHNICAL FIELD OF THE INVENTION The present invention relates to an elevator controller, and more particularly to an elevator controller including a speed reference generator, which is suitable for optimal control of elevator speed.

[Technical background of the invention]

Along with recent advances in semiconductor technology and cost reductions, elevator control devices have also become smaller and have higher performance, and it has become possible to control elevators with advanced control technology. As a result, an elevator with better ride comfort than before and an accurate landing deviation on the target floor within a few mm has been realized. These performances are most affected by the characteristics and performances of the speed reference generator among the elevator control devices. That is, the ride comfort of the elevator is determined by the acceleration / deceleration or the rate of change of the acceleration / deceleration, that is, the effect of acceleration on the human body. It is greatly influenced by the speed standard at the time of stop. For this reason, conventionally, especially during deceleration, a control method has been adopted that obtains a constant deceleration and accurate landing accuracy by using a speed reference corresponding to the distance to the target position, which is called a distance reference pattern. .

[Problems of background technology]

When using such a distance reference pattern, it is necessary to calculate the distance between the elevator car position and the landing target.
This distance is called the deceleration distance. Although various methods such as counting pulses are known for calculating the deceleration distance,
If an error occurs in this calculation, it will cause an error in deceleration and landing accuracy.

FIG. 1 is an explanatory diagram when an error occurs in the distance pattern, where the horizontal axis corresponds to the distance and the vertical axis corresponds to the speed.

In the figure, distance reference pattern 1 shows a pattern at the time of normal deceleration. Therefore, according to this pattern, the predetermined speed reference value 3 is obtained at the stop detection point 2, so that deceleration, landing accuracy, etc. can be controlled normally.

On the other hand, if an error occurs due to a misreading of the car position of the elevator or an incorrect calculation of the deceleration distance, for example, if the deceleration is too early as shown in the distance reference pattern 4, if it is stopped as it is, it will stop before the target. Will result. In order to prevent this and drive up to the stop detection point 2, a method of continuing the operation at a predetermined speed reference value 3 has been conventionally used, but the speed reference value 3 in this case is the speed when normally decelerated. Since it is a reference value and is set relatively small in order to improve the landing accuracy and the stop shock, there is a problem that the driving time to the stop detection point 2 is long and the serviceability for passengers deteriorates.

[Object of the Invention]

Therefore, the object of the present invention is to solve the above-mentioned drawbacks of the prior art, and to land on the target floor quickly and accurately even if an error occurs in the distance reference pattern, and therefore excellent serviceability for passengers. It is to provide an elevator control device.

[Outline of Invention]

In order to achieve the above object, the present invention provides an electric motor control means for controlling the speed of an electric motor that drives an elevator hoisting machine, a means for calculating the position of an elevator car, and a first position a certain distance before the floor. Means for detecting the arrival of the elevator car in the vehicle and generating a first detection signal, and detecting that the elevator car has reached a second position closer to the floor than the first position, and a second detection A speed reference pattern is generated based on the means for generating the signal and the relative distance between the calculated position of the elevator car and the target floor, and either the speed reference pattern or the first minimum speed reference is generated before the generation of the first detection signal. After the generation of the first detection signal, the larger signal of the speed reference pattern and the second minimum speed reference smaller than the first minimum speed reference is set as the speed reference, and
And a speed reference generating means for sending the obtained speed reference to the electric motor control means after the detection signal is generated.

Example of Invention

 Embodiments of the present invention will be described below with reference to the drawings.

FIG. 2 is a schematic configuration diagram of an elevator controller according to an embodiment of the present invention. In the figure, an elevator car 10 is connected to an elevator hoisting machine 9 together with a counterweight 11. The elevator hoisting machine 9 is driven by the elevator electric motor 8 to move the elevator car 10 up and down. That is, when the speed reference 6 calculated by the speed reference generator 5 is sent to the elevator motor controller 7 and a motor control command is further sent to the elevator motor 8, the elevator motor 8 is controlled to a predetermined speed and the elevator motor 8 is controlled. The hoisting machine 9 drives a rope 25 connecting the elevator car 10 and the counterweight 11. As a result, the elevator car 10 is operated according to the speed reference 6 calculated by the speed reference generator 5. The elevator car 10 will be directed to each floor 12 or 13 at the request of passengers in the normal car or at the elevators on each floor. The elevator car 10 is provided with a car position detecting device 14, which detects a target floor 12 or 13 based on a distance relationship with a floor position detecting device 15 attached to a wall of a building or the like, The target floor detection signals 17 and 18 of various types are sent to the speed reference generator 5 via the elevator cable 16. On the other hand, the pulse generator 21 generates a pulse signal 22 corresponding to the rotation of the elevator motor 8 and sends it to the speed reference generator 5 and the elevator motor controller 7.

The two kinds of target floor detection signals 17 and 18 sent from the car position detecting device 14 detect the target floor at different positions, as shown in the position chart of FIG. That is, FIG. 3 (A) shows the target floor detection signal 18, and FIG. 3 (C) shows the positional relationship between the target floors 12, 13 for landing. For example, from the floor 12 to the target floor 13. If heading, target floor detection signal
17 is detected at a position 19 slightly away from the target floor 13, and the target floor detection signal 18 is detected at a position 20 closer to the target floor 13.

On the other hand, in detecting the position of the elevator car 10,
A pulse generator 21 attached to the elevator electric machine 8 that drives the elevator hoisting machine 9 is used, and the pulse 22 generated from this is input to the speed reference generator 5, and a counter provided in the speed reference generator 5 is used. By elevator car
10 positions are detected.

FIG. 4 is a block diagram showing the detailed structure of the speed reference generator 5. As shown in the figure, the speed reference generator 5 stores a central processing unit 23 for performing arithmetic control, a program memory 24 for storing arithmetic processing programs, a data memory 25 for storing various data, and target floor detection signals 17, 18. It comprises an input device 26 for inputting, a pulse count input device 27 for counting the pulses 22 from the pulse generator 21, a bus line 29 for linking data and control signals, and a speed reference output device 29 for sending out the speed reference 6.

In such a configuration, the central processing unit 23 sequentially fetches data from the program memory 24, and executes various processes according to the contents and operates. Then, during the process or as a result, write necessary data to the data memory 25,
Processing is advanced by reading from the data memory 25. On the other hand, the signal indicating the position of the elevator car 10 to the stop target floor, that is, the target floor detection signals 17 and 18 are input through the input device 26. Then, the speed reference signal 6 as a result of the calculation is output from the speed reference output device 29 to the elevator motor controller 7. In each of the above operations, the transmission of data between the respective elements is carried out on the bus line 28.

Next, the operation of the speed reference generator 5 based on the processing procedure written in the program memory 24 will be described according to the flow chart of FIG. Note that only the deceleration landing routine related to the present invention in the speed reference generation program will be shown here.

At the time of deceleration landing, first, the current position of the elevator car 10 is detected by the pulse counting device 27. In this case, the pulse generated in synchronization with the movement of the elevator car 10
22 is counted up in the ascending direction and counted down in the descending direction. From the relative relationship between the current count value and the count value corresponding to each floor, the elevator car 10
Calculate the position of. When the difference between the target floor and the current position of the elevator car 10 reaches the preset deceleration distance, the program of the deceleration landing pattern 501 of the flow chart shown in FIG. The data corresponding to the deceleration distance written in the data memory 25 is read and used as the distance reference pattern. Next, in the routine 503, the target floor detection signal 17 indicating a position slightly away from the target floor is checked, and if it is not detected, that is, if it is relatively far from the target floor, it is already calculated in the routine 504. The distance reference pattern is compared with the first lowest pattern which is set slightly larger than the original lowest pattern (second lowest pattern). As a result of this comparison, if the former is larger, the former is set as the speed reference 6 in routine 505, and if the latter is larger, the latter is set as speed reference 6 in routine 506, and is output from the speed reference output device 29 in routine 507.

Next, when the target floor detection signal 17 is input and it is found that the target is relatively close to the target, the second minimum pattern smaller than the first minimum pattern in the routine 508 and set as the original minimum pattern and the distance reference. Compare with the pattern. As a result of this comparison, when the former is larger than the latter, the former is set as the speed reference 6 in the routine 509, and is output from the speed reference output device 29 in the routine 507. On the other hand, when the latter is large, on the contrary, the distance reference pattern is set to the speed reference 6 in the routine 505, and the speed reference output device 2 is set in the routine 507.
Output from 9.

The speed reference for deceleration landing obtained through the above-described processing is as shown in the explanatory view of FIG. That is, when deceleration is being performed by the distance reference pattern 4 corresponding to the deceleration distance, the distance reference pattern 4 is the first lowest pattern 31 which is set slightly larger than the second lowest pattern (original lowest pattern). When it reaches the point 32 of equality, the speed is the first
Switch to the lowest pattern 31 of. Next, the elevator car
When 10 is further approached to the target floor and the target floor detection signal 17 detected at a position slightly away from the target floor is detected, the speed becomes the first
Smaller than the lowest pattern, and switches to the second lowest pattern 33 set as the original lowest pattern. Then, the elevator car 10 further approaches the target floor and stops when the target floor detection signal 18 detected at a position closer to the target floor is input.

In other words, when landing, a minimum pattern of two levels of speed is set according to the distance from the target floor, and even if a distance reference pattern occurs that is a point far ahead of the actual target for some reason, the first minimum Since the speed reference based on the pattern 31 is large, the time required to travel to the target floor can be shortened. The second lowest pattern 33 when approaching the target floor
Since the speed standard is switched to a smaller speed reference by, the shift when the elevator car 10 is stopped and the deviation from the target position when the flooring is stopped can be reduced.

〔The invention's effect〕

As described above, according to the present invention, it is possible to shorten the operating time to the target floor during deceleration of the elevator car, reduce the risk of landing, and obtain an elevator control device with even better landing accuracy. be able to.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a deceleration landing pattern in a conventional elevator control device, FIG. 2 is a schematic configuration diagram of an elevator control device according to an embodiment of the present invention, and FIGS. 3 (A), (B), ( C) is a position chart of the target floor detection signal of the present invention, FIG. 4 is a block diagram of the speed reference generator shown in FIG. 2, and FIG. 5 is a flow chart for explaining the operation of the configuration of FIG. FIG. 6 is an explanatory diagram of a deceleration landing pattern in this embodiment. 5 ... Speed reference generator, 7 ... Elevator motor controller, 8 ... Elevator motor, 10 ... Elevator car, 12,1
3 ... Floor, 14 ... Car position detection device, 15 ... Floor position detection device, 6 ... Speed reference output device.

Claims (1)

[Claims] 1. A motor control means for controlling a speed of an electric motor for driving an elevator hoisting machine, a means for calculating a position of an elevator car, and an elevator car reaching a first position a certain distance before a floor. And a second means for detecting that the elevator car has reached a second position closer to the floor than the first position.
And a speed reference pattern based on the relative distance between the calculated position of the elevator car and the target floor, and the speed reference pattern and the first minimum speed reference before the generation of the first detection signal. Whichever is larger is used as the speed reference, and after the generation of the first detection signal, the larger one of the speed reference pattern and the second minimum speed reference smaller than the first minimum speed reference is used as the speed reference. And a speed reference generating means for sending the obtained speed reference to the motor control means after the detection signal is generated.