JPH07252037A - Drive control device for hydraulic elevator - Google Patents

Abstract

PURPOSE:To make a hydraulic pump side pressure equal to a hydraulic jack side pressure immediately without being affected by the temperature of hydraulic oil in a hydraulic pressure control made before a cage is lifted. CONSTITUTION:An inverter 23 to control an electric motor 14 for driving a hydraulic pump 9 is provided with a torque controller 29 to output a compensating torque command value which reduces an output difference between a pump pressure detector 17 and a jack pressure detector 16 and a pressure balance speed command calculator 34 to output a command value which zeros the torque command value based on the torque command value output from a speed controller 27, to the speed controller 27.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive control device for a hydraulic elevator, for example, a drive for a hydraulic elevator of a type in which a hydraulic pump is driven by a variable speed controlled electric motor to send hydraulic pressure to a hydraulic jack to drive a car. The present invention relates to a control device.

[0002]

2. Description of the Related Art In a conventional hydraulic elevator drive control device, an electric motor is rotated at a constant speed when the car is being raised.
Of the fixed amount of oil discharged from the hydraulic pump, the amount of oil sent to the hydraulic jack is adjusted by the flow control valve, and when the car descends, the oil that flows back from the hydraulic jack to the tank by the weight of the car The traveling speed of each car is controlled by adjusting the amount with the flow control valve. This method has a large energy loss for returning an excessive amount of oil from the hydraulic pump to the tank during the ascending operation, and a large oil temperature rise due to conversion of potential energy into heat during the descending operation.

On the other hand, recently, an induction motor has been variable-voltage-variable-frequency controlled (hereinafter referred to as VVV) using an inverter or the like.
A method has been proposed in which the discharge amount of a pump driven by an induction motor is variably controlled by controlling the speed by F control). With this method, only the required amount of oil is sent to the hydraulic jack according to the speed command value during the ascending operation, and the electric motor is regeneratively braked by the amount of oil that recirculates to the tank during the descending operation, which reduces energy consumption and raises the oil temperature. It is also possible to obtain a highly efficient hydraulic elevator that can be kept low.

By the way, in this VVVF controlled hydraulic elevator, the electromagnetic switching valve that opens and closes the flow path of the pressure oil may be simply opened or closed. However, at the same time when the induction motor is rotated when the elevator is started, When the electromagnetic switching valve is opened, the pressure on the pump side is lower than the pressure on the jack side, so that the car is lowered and a large start shock and vibration are generated. On the other hand, for example, JP-A-4-21357.
As disclosed in Japanese Patent Publication No. 6, a pressure sensor for detecting the pressure on the jack side and the pressure on the pump side is provided, the torque of the electric motor is controlled in response to the deviation, and the speed is determined based on the output of the pressure controller. It has been proposed that the pressure on the jack side and the pressure on the pump side be made equal by calculating a command value, and that the starting shock is suppressed by running the car. FIG. 11 shows a configuration diagram of a drive control device for this conventional hydraulic elevator. In the figure, 1 is a cylinder installed in a pit of a hoistway, 2 is pressure oil filled in this cylinder 1, 3 is a plunger supported by this pressure oil 2, and 1-3 are hydraulic jacks. To do. Also, 4
Is a deflector wheel attached to the top of the plunger 3, 5 is a rope fixed to the pit at one end and hung on the deflector wheel 4, 6 is a cage attached to the other end of the rope 5, and 7 is always a check valve. An electromagnetic switching valve that is switched by energizing the electromagnetic coil to conduct in the opposite direction, 8
Is a pipe which is connected between the cylinder 1 and the electromagnetic switching valve 7 and sends pressure oil, 9 is a reversible operation, and is a hydraulic pump which sends and receives hydraulic pressure to and from the electromagnetic switching valve 7 via the pipe 10, 11 is oil, An oil tank 12 stores oil 11, and sends and receives oil to and from the hydraulic pump 9 via a pipe 13. Reference numeral 14 is a three-phase induction motor IM that drives the hydraulic pump 9 and applies torque to the hydraulic pump 9.
Give to. A speed detector 15 detects the rotation speed of the induction motor 14 and outputs a voltage proportional to the rotation speed of the induction motor 14. Further, 16 is a jack side pressure sensor for detecting the pressure in the pipe 8, 17 is a pump side pressure sensor for detecting the pressure in the pipe 10, 18 is a three-phase AC source, 19
Is a converter for converting three-phase alternating current into direct current, 20 is a smoothing capacitor for smoothing the output of the converter 19, 21 is a regenerative resistor for consuming regenerative power, and 22 is a regenerative transistor that conducts in a regenerative state. , 23 is an inverter for driving the induction motor 14, 24 is a pressure controller PC to which the outputs of the sensors 16, 17 are supplied, 25
Is an adder for adding the output of the pressure balance speed command calculator 31 and the car traveling pattern command 26, and 27 is a speed controller S to which the output of the adder 25 and the output of the speed detector 15 are supplied.
C, 28 are current detectors for detecting the input current of the induction motor 14, 29 is a torque controller VC for controlling the inverter 23 according to the outputs of the current detector 28, the speed detector 15 and the adder 30, Reference numeral 30 denotes an adder that adds the output of the speed controller 27 and the output of the pressure controller 24, and 31 has a transfer function having an inverse characteristic of the transfer function of the speed controller 27, and depending on the output of the pressure controller 24, The pressure balance speed command calculator PBSP calculates a pressure balance speed command for invalidating the DC component of the deviation from the output of the speed detector 15.

Next, the operation will be described with reference to the drawings. If the car 6 is called now, the jack side pressure sensor 16
And the value of the pump side pressure sensor 17 are
Entered in. Then, the output is input to the torque controller 29 via the adder 30. The torque controller 29 drives the inverter 23 by the output of the pressure controller 24, the output of the speed detector 15 and the output of the current detector 28, and the inverter 23 drives the induction motor 14. Then, the pressure controller 24 automatically adjusts the pressure balance torque command input to the torque controller 29 so that the output deviation between the jack side pressure sensor 16 and the pump side pressure sensor 17 becomes zero. At this time, the induction motor 14 rotates, but the pressure balance torque command is transferred to the pressure balance speed command calculator 31.
The pressure balance speed command calculator 31 automatically calculates a speed command value that is substantially proportional to the pressure balance torque command and inputs the speed command value to the speed controller 27. The DC component of the deviation from the output of the controller 15 becomes small, and since the traveling pattern command 26 is not output, the speed controller 27 operates so as to also reduce the torque command output to stop the induction motor 14. To do. In this way, the jack side pressure and the pump side pressure become equal. Solenoid switching valve 7 after pressure becomes equal
open. At this time, since the pressure on the jack side and the pressure on the pump side are equal, the hydraulic jack does not move. Of course the basket doesn't move either. Then, the induction motor 14 is driven by the car traveling pattern command 26 to move the car 6 up and down. At this time, the pressure controller 24 is not operated, and the pressure balance torque command when the pressure is balanced and the output value of the pressure balance speed command calculator 31 at that time are stored, and the values are respectively stored in the torque controller 29 and the speed control. Input to the container 27.

Since the conventional technique is configured as described above, the output of the pressure balance speed command calculator 31 is determined only by the value of the pressure balance torque command. That is, the jack side pressure sensor 1 output by the pressure controller 24.
6 and the pressure balance torque command value that makes the output deviation of the pump side pressure sensor 17 zero are almost the same at high temperature as at low temperature.
The output of 1 is the same at high temperature and low temperature. That is,
When the oil temperature becomes high, the leakage of the hydraulic pump 9 increases, so the pressure balance speed command output from the pressure balance speed command calculator 31 becomes relatively small. As a result, the torque command output by the speed controller 27 to stop the induction motor 14 becomes large, and the time until the jack side pressure and the pump side pressure become equal becomes long. Further, if the gain of the pressure controller 24 is set to be larger than the gain of the speed controller 27, the jack side pressure and the pump side pressure will eventually become equal, but if the oil temperature rises, the jack side pressure will be There is a problem that it takes a long time until the pump side pressure becomes equal.

[0007]

A compensating torque for compensating for the differential pressure between the pump side pressure and the jack side pressure is applied to the input of the torque controller, and the pressure balance speed command calculated from the compensating torque at this time is used for speed control. In the system of adding pressure to the pump, the effect of pump leakage due to changes in oil temperature is large, and at high temperatures, the pressure balance speed command output by the pressure balance speed command calculator becomes relatively small due to the increase in the amount of pump leakage. , There was a problem that the torque command output by the speed controller to stop the induction motor became large, the time until the pressure on the jack side became equal to the pressure on the pump side, and the response until the car started was delayed. .

The present invention has been made in order to solve the above problems. A first object of the present invention is to quickly change the pump side pressure to the jack side pressure with little change in response time at low temperature and high temperature. An object of the present invention is to provide a drive control device for a hydraulic elevator that can be equalized.

A second object of the present invention is to provide a drive control device for a hydraulic elevator which suppresses overshoot after the pressure on the pump side reaches the pressure on the jack side and can start the car smoothly. A third object of the present invention is to provide a drive control device for a hydraulic elevator that can prevent an abnormal increase in the pump side pressure or the rotation speed of the electric motor. Also,
A fourth object is to provide a drive control device for a hydraulic elevator in which the pump side pressure is prevented from rising above the jack side pressure when the car is lowered, and the operation of the solenoid valve is stable.

[0010]

SUMMARY OF THE INVENTION A drive control device for a hydraulic elevator according to the present invention includes an electric motor for driving a hydraulic pump that feeds pressure oil to a hydraulic jack for raising and lowering a car, and a speed detector for detecting the speed of the electric motor. A current detector that detects the operating current of the electric motor, a solenoid valve that blocks the flow of pressure oil, a pump side pressure detector that detects the hydraulic pump side hydraulic pressure, and a jack that detects the hydraulic jack side hydraulic pressure. A side pressure detector, a pressure controller that outputs a deviation signal according to the output difference between the pump side pressure detector and the jack side pressure detector, a speed command value for running the car, and a torque according to the output of the speed detector. The speed controller that outputs a command value, the torque command value, the deviation signal, and the output to the electric motor controller that controls the electric motor based on the output of the current detector and the speed detector. A torque controller that outputs a compensation torque command value that reduces the difference, and a pressure balance speed command calculator that outputs a command value that makes the torque command value zero based on the torque command value to the speed controller It was done like this.

Further, the drive control apparatus for the hydraulic elevator according to the present invention calculates the differential calculator for differentially calculating the output of the speed detector, and the output of the differential calculator and the command value of the pressure balance speed command calculator. And an adder for outputting a signal to the speed controller.

Further, the drive control apparatus for the hydraulic elevator according to the present invention includes a holding circuit for obtaining a reference value from the output of the jack side pressure detector and outputting the reference value to the pressure controller as the output of the jack side pressure detector. It was prepared.

Further, the drive control apparatus for the hydraulic elevator according to the present invention obtains a reference value from the output of the jack side pressure detector, and outputs a step-like signal which makes the reference value the output of the jack side pressure detector. A circuit and a first-order lag filter for blunting the stepped signal and outputting the blunted signal to the pressure controller are provided.

Further, the drive control device for the hydraulic elevator according to the present invention is provided with a pressure limiter for limiting the upper limit of the output value of the pressure controller.

Further, the drive control device for the hydraulic elevator according to the present invention is provided with a speed limiter for restricting the upper limit of the output value of the pressure balance speed command calculator.

Further, the drive control device for the hydraulic elevator according to the present invention compares the output ratio of the pump side pressure detector with respect to the jack side pressure detector, and shifts to the traveling pattern when the output ratio becomes a predetermined value or more. A first comparison circuit for outputting a signal to be output is provided.

Further, the drive control device for the hydraulic elevator according to the present invention compares the output ratio of the pump side pressure detector with respect to the jack side pressure detector, and when the output ratio does not reach a predetermined value within a predetermined time, the traveling pattern is detected. A second comparator circuit for outputting a signal for stopping the shift to the negative mode.

Further, the drive control apparatus for the hydraulic elevator according to the present invention stores the command value of the pressure balance speed command calculator when the outputs of the pump side pressure detector and the jack side pressure detector before the car are balanced. After the storage device and the car landing, the command value is decreased according to the descent of the car,
And a pressure balance speed command subtraction circuit for outputting to a speed controller.

[0019]

In the drive control apparatus for the hydraulic elevator according to the present invention, the torque controller outputs the compensation torque command value for reducing the output deviation between the pump side pressure detector and the jack side pressure detector to the electric motor controller for controlling the electric motor, Based on the torque command value output by the speed controller to the torque controller, the pressure balance speed command calculator feedback-controls the speed controller so that this torque command value becomes zero. The pressure on the pump side quickly becomes equal to the pressure on the jack side with little change in the response due to.

Further, the hydraulic elevator drive control device according to the present invention calculates the speed by calculating the output of the speed detector and the output of the differential calculator and the command value of the pressure balance speed command calculator. Since the controller is provided with an adder that outputs a signal, the differential calculator suppresses fluctuations in the rotation speed of the electric motor and suppresses overshoot after the pump side pressure is increased to the jack side pressure. .

Further, the drive control device for the hydraulic elevator according to the present invention is provided with the holding circuit for obtaining the reference value from the output of the jack side pressure detector and outputting the reference value to the pressure controller. The output of the vessel is considered to be constant during pressure control, and is not affected by fluctuations in the jack side pressure due to car shaking or the like.

Further, the drive control device for the hydraulic elevator according to the present invention obtains a reference value from the output of the jack side pressure detector, and a holding circuit for outputting the reference value as a step signal and a step signal. Since it is equipped with a first-order lag filter that outputs to the pressure controller,
The pressure on the pump side is not affected by fluctuations in the pressure on the jack side due to shaking of the car, and the pressure on the pump side easily follows the pressure on the jack side. Therefore, the overshoot after the pressure on the pump side is increased to the pressure on the jack side is suppressed.

Further, the drive control device for the hydraulic elevator according to the present invention is provided with the pressure limiter for controlling the upper limit of the output value of the pressure controller, so that the pressure limiter can control the hydraulic pressure when the pump pressure detector malfunctions. Suppress abnormally high pump side pressure.

Further, since the drive control device for the hydraulic elevator according to the present invention is provided with the speed limiter for controlling the upper limit of the output value of the pressure balance speed command calculator, the speed limiter leaks due to a failure of the electromagnetic switching valve or the like. Prevents the motor from rotating at an abnormally high speed when the flow rate is abnormally high.

Further, the drive control device for the hydraulic elevator according to the present invention compares the output ratio of the pump side pressure detector with the jack side pressure detector, and when the output ratio exceeds a predetermined value, a signal for shifting to the traveling pattern. Since the first comparison circuit for outputting is output, the traveling is started before the hydraulic pump side pressure reaches the hydraulic jack side pressure.

Further, in the drive control device for the hydraulic elevator according to the present invention, after the pressure control is started, the second comparison circuit is
The output ratio of the pump side pressure detector to the jack side pressure detector is compared, and if the output ratio does not reach a predetermined value within a predetermined time, a signal to stop shifting to the traveling pattern is output and traveling is stopped. .

Further, the drive control device for the hydraulic elevator according to the present invention stores the command value of the pressure balance speed command calculator when the outputs of the pump side pressure detector and the jack side pressure detector before the car are balanced. Since the device and the pressure balance speed command subtraction circuit that reduces the command value of the pressure balance speed command calculator according to the descent of the car after landing the car and outputs it to the speed controller are provided, the hydraulic pump side The pressure never exceeds the pressure on the hydraulic jack side.

[0028]

【Example】

Example 1. An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of the present invention.
In the figure, the same reference numerals as those in FIG. 11 indicate the same or corresponding portions, and therefore their explanations are omitted. In the figure, 32 is a differential calculator for differentially calculating the output of the speed detector 15, 33 is a subtractor for calculating the output of the speed controller 27 from 0 input, and 34 is a subtractor 33.
Is supplied to calculate the value at which the output of the speed controller 27 becomes zero, and outputs the value to the speed controller 27, 35 is a pressure balance speed command calculator, and 35 is a differential calculator 32 and a pressure balance speed command calculator. An adder for adding the output of the adder 34, 36
Is an adder for adding the output of the adder 35 and the car traveling pattern command 26, 37 is an adder for adding the output of the speed controller 27 and the output of the pressure controller 24, and 46 to 49 are coils only at the time of starting (Fig. (Not shown) is a relay contact that is excited and closed.

Next, the operation of the embodiment of the present invention will be described with reference to the drawings. If the car 6 is called, the relay coil (not shown) is excited and the contacts 46 to 49 are closed. Next, the value of the jack side pressure sensor 16 and the value of the pump side pressure sensor 17 are input to the pressure controller 24, and the pressure difference between the hydraulic pressures of the sensors 16 and 17 is output as a deviation signal. Then, the output is input to the torque controller 29 via the adder 37. The torque controller 29 uses the output of the pressure controller 24, the output of the speed controller 27, and the output of the current detector 28 to control the inverter 23, which is a motor controller.
The induction motor 14 is driven by the inverter 23. Then, the pressure controller 24 automatically adjusts the value input to the torque controller 29 so that the output deviation between the jack side pressure sensor 16 and the pump side pressure sensor 17 becomes zero. At this time, the induction motor 14 rotates, but the speed controller 27 tries to stop the induction motor 14 because the traveling pattern signal 26 is not output. Therefore, the output of the speed controller 27 becomes zero. Therefore, the pressure balance speed command calculator 33 automatically adjusts the value input to the speed controller 27. Since this value is adjusted so that the output of the speed controller 27 becomes zero, even if the leakage flow rate of the pump 9 increases due to the rise of the oil temperature, the output of the pressure balance speed command calculator 33 shows the speed at that time. Since the output of the speed detector 15 becomes almost the same value as the output of the detector 15, the output of the speed detector 15 does not operate to stop the induction motor 14, so that the pressure increase on the pump side due to the increase of the leak flow rate of the pump 9 There is no delay in response. That is, the pressure balance speed command calculator 33 operates so as to prevent the speed controller 27 from operating. Further, the differential detector 32 is used to detect the speed detector 15
The differential value of the output of is calculated and added by the adder 35 with the output of the pressure balance speed command calculator 34 and input to the speed controller 27. The output of the adder 35 is the sum of the value calculated so that the output of the speed controller 27 becomes zero, the differential value by the differential calculator 32, and the rotational acceleration of the induction motor 14, and the output of the speed controller 27. , The speed controller 27 does not work to stop the induction motor 14 because the speed controller 27 is kept at approximately zero except for suppressing the speed fluctuation of the induction motor 14 due to the differential value.

In this way, the jack side pressure and the pump side pressure become equal. After the pressures become equal, the coil of the relay is demagnetized to open the contacts 46 to 49. At this time, the pressure controller 24, the differential calculator 32, and the pressure balance speed command calculator 34 do not operate, and the respective output values when the pressure is balanced are stored in a storage device (not shown). Values of torque controller 29 and speed controller 2 respectively.
7 to open the electromagnetic switching valve 7. At this time, since the pressure on the jack side and the pressure on the pump side are equal, the hydraulic jack does not move. Of course, the basket 6 does not move either. then,
The induction motor 14 is driven by the car speed command 26, and the car 6 is moved up and down.

As described above, the pressure balance speed command calculator 34 sets the output of the speed controller 27 to zero, so that the difference between the pressure on the jack side and the pressure on the pump side becomes zero from the pressure controller 24. It is output to the torque controller 29. The pump-side pressure can be quickly made equal to the jack-side pressure without being affected by the increase in pump leakage due to the change in oil temperature. Further, the differential calculator 32 suppresses the rapid speed fluctuation of the induction motor 14 and suppresses the overshooting after the pump side pressure reaches the jack side pressure, so that the pump is opened when the electromagnetic switching valve 7 is opened. The side pressure becomes more equal to the jack side pressure, and the pump side pressure is over
The shock of the basket due to the car is reduced. Further, since the pressure balance speed command calculator 33 operates so as to block the operation of the speed controller 27, the speed controller 2 is operated during pressure control.
Although it is considered that the operation of 7 is unnecessary, if the speed controller 27 is suddenly operated by the traveling pattern command 26 at the end of the pressure control, a shock of the car occurs, so the speed controller 27
The operation pattern is changed from the operating state to the traveling pattern. Further, the traveling pattern command 26 drives the induction motor 14 to move the car 6 up and down. At this time, the pressure controller 24 is kept from operating and the output value of the pressure controller 24 when the pressure is balanced. The output value of the pressure balance speed command calculator 34 at that time is stored and the values are input to the torque controller 29 and the speed controller 27, respectively. In this case, if the pressure controller 24 is operated when the electromagnetic switching valve 7 is closed, it is possible to immediately move the car 6 by the liberel pattern signal, for example, even during the liberel operation.

Example 2. 2 is a block diagram showing an embodiment of another aspect of the present invention. In the figure, the same reference numerals as those in FIG. In the figure, the output of the jack side pressure sensor 16 immediately before starting holds a reference value in which the fluctuation of the jack side pressure generated by the passengers getting on and off the car, etc. is held, and the holding circuit for outputting the reference value to the pressure controller 24. 38 are provided. Here, the pressure controller 24 automatically adjusts the value input to the torque controller 29 so that the output deviation between the jack side pressure sensor 16 and the pump side pressure sensor 17 becomes zero. During control, if the car fluctuates due to passengers getting on and off or the car moving inside the car, the pressure control becomes unstable. In order to prevent such a problem, the holding circuit 38 stores the output of the jack side pressure sensor 16 several times during the predetermined period during which the car is closed after the passengers have finished getting on and off, and the average value thereof is calculated. The reference value is held, and the influence of the fluctuation of the jack side pressure generated by outputting the reference value to the pressure controller 24 is avoided.

Example 3. FIG. 3 is a block diagram showing an embodiment of another aspect of the present invention. In the figure, the same reference numerals as those in FIG. In the figure, a first-order lag filter 39 is provided on the output side of the holding circuit 38. With this configuration, the reference value held by the holding circuit 38 is output as a step-shaped signal, but the first-order lag filter 39 adds the reference value to the pressure controller 24 as a signal with a slow rising. It becomes easy to follow the jack side pressure of the signal whose rising is slow, and it is possible to suppress overshoot after the pressure is increased to a value equal to the jack side pressure.

Example 4. FIG. 4 is a configuration diagram showing an embodiment of another aspect of the present invention. In the figure, the same reference numerals as those in FIG. In the figure, a pressure limiter 40 is provided on the output side of the pressure controller 24 to prevent the output of the pressure controller 24 from exceeding a predetermined value. With this configuration, the pressure mitter 40 suppresses the output of the pressure controller 24 from exceeding a predetermined value.
It is possible to prevent the output of the pressure controller 24 from being abnormally increased due to a failure of the jack side pressure sensor 16 and the pump side pressure sensor 17 which are electric power sensors, and the actual hydraulic pump side pressure to become abnormally high, leading to unsafe operation. To do.

Example 5. FIG. 5 is a block diagram showing an embodiment of another aspect of the present invention. In the figure, the same reference numerals as those in FIG. In the figure,
A speed limiter 41 that regulates the upper limit of the output of the adder 35 is provided on the output side of the adder 35. With this configuration, when the leakage flow rate becomes abnormally large due to a failure of the electromagnetic switching valve 7 or the like, the speed limiter 41 limits the output to the speed controller 27, so the speed controller 27 decelerates the induction motor 14. Thus, the induction motor 14 can be prevented from rotating at a dangerous rotational speed beyond the rated rotational speed in order to compensate for the leakage flow rate. In this embodiment, the limiter 41 is provided on the output side of the adder 35, but the same effect can be obtained by providing the speed limiter 41 on the output side of the pressure balance speed command calculator 34.

Example 6. FIG. 6 is a configuration diagram showing an embodiment of another aspect of the present invention. In the figure, the same reference numerals as those in FIG. Also, FIG.
0 is an explanatory diagram for explaining the relationship between time and pump side pressure, with the horizontal axis representing time and the vertical axis representing pump side pressure value. In the figure, a comparison circuit 4 which is a first comparison circuit for comparing the outputs of the jack side pressure sensor 16 and the pump side pressure sensor 17
2 is provided and the output of the comparison circuit 42 is set to the traveling pattern command 26.
Is input to a circuit (not shown) that generates By this comparison circuit 42, it is possible to immediately shift to the car traveling mode when the pump side pressure reaches the first set value shown in FIG. 10, which is preset with respect to the jack side pressure,
It is possible to minimize the dead time from start-up until the car actually travels. The first set value is usually set to 90 to 100% of the jack side pressure. In this case, a shock to the car occurs at startup because the pump side pressure has not risen to the jack side pressure.However, select a value that allows for shock in terms of riding comfort, and start the car until it actually travels. We try to minimize the dead time.

Example 7. FIG. 7 is a block diagram showing an embodiment of another aspect of the present invention. In the figure, the same reference numerals as those in FIG. In the figure, a comparison circuit 4 which is a third comparison circuit for comparing the outputs of the jack side pressure sensor 16 and the pump side pressure sensor 17
2A is provided, the output of the comparison circuit 42A is input to the circuit that generates the traveling pattern command 26, and a timer 43 that measures the time during the pressure control from the start is provided. This timer 4
3 takes some time until the pump side pressure reaches the first set value shown in FIG. 10 due to some abnormality, and before the wasteful time from the start to the actual traveling of the car unnecessarily increases, that is, FIG. When the hydraulic pump side pressure reaches the second set value shown in Fig. 10 when the first set time shown in Fig. 10 is reached, the comparison circuit 42A outputs a command to shift to the car traveling mode. It is possible to minimize the dead time from startup to the actual traveling of the car. In addition, this second set value is usually set to a value lower than the first set value, and the shock of the car at the time of startup due to the hydraulic pump side pressure not reaching the hydraulic jack side pressure is a value that is acceptable for passenger safety. Has been selected. Also,
Normally, the time for the pressure on the hydraulic pump side to reach the pressure on the hydraulic jack is about 0.4 to 0.6 sec, so this first set time is set to about 1 sec.

Example 8. FIG. 8 is a block diagram showing an embodiment of another aspect of the present invention. In the figure, the same reference numerals as those in FIG. In the figure, a comparison circuit 42B and a timer 4 which are second comparison circuits
An abnormality detection circuit 44 that operates by the output of 3A is provided. In the abnormality detection circuit 44, the output of the timer 43A reaches the preset second setting time shown in FIG.
When the comparison circuit 42B detects that the pump-side pressure has not reached the second set value shown in FIG. 10, it is detected as an abnormality, and the pressure control is stopped to make the elevator unrestartable. Prevent abnormal operation of the computer.

Example 9. FIG. 9 is a block diagram showing an embodiment of another aspect of the present invention. In the figure, the same reference numerals as those in FIG. In the figure, there is provided a pressure balance speed command subtraction circuit 45 for gradually reducing the pressure balance speed command stored in the storage device during the pressure control of the operation when the car descends. The pressure balance speed command subtraction circuit 45 gradually decreases the stored pressure balance speed command during the pressure control of the operation after the elevator is landed and outputs the pressure balance speed command to the speed controller 27 so that the pressure on the hydraulic pump side is increased. Since it is a lower value than the pressure at the floor, the pressure difference due to the floor, especially when traveling from the top floor to the bottom floor, the jack side pressure after landing is lower than the jack side pressure before traveling. In the values held by the pressure controller 24 and the pressure balance speed command calculator 34, the pressure on the pump side becomes higher than the pressure on the jack side, and it is possible to prevent the electromagnetic switching valve 7 from being difficult to close. The reliability of the drive device for the elevator is improved.

[0040]

As described above, according to the present invention, the torque controller outputs the compensating torque command value for reducing the output deviation between the pump side pressure detector and the jack side pressure detector to the electric motor controller controlling the electric motor. , Based on the torque command value that the speed controller outputs to the torque controller, if the pressure balance speed command calculator feedback-controls the speed controller so that this torque command value becomes zero, the oil temperature changes. Since there is little change in the response due to, the pump-side pressure quickly becomes equal to the jack-side pressure, there is an effect that a drive control device for a hydraulic elevator with little change in the car start response time can be obtained.

Further, according to the following invention, the differential calculator for differentially calculating the output of the speed detector, and the output of the differential calculator and the command value of the pressure balance speed command calculator are calculated and signaled to the speed controller. The addition of an adder that outputs a value suppresses rapid fluctuations in the rotation speed of the electric motor, suppresses overshoot after the pump-side pressure is increased to the jack-side pressure, and prevents shocks at the start of travel. There is an effect that a drive control device for a hydraulic elevator that can suppress vibrations accompanying this can be obtained.

Further, according to the next invention, when a reference value is obtained from the output of the jack side pressure detector and a holding circuit for outputting the reference value to the pressure controller is provided, an apparent jack due to car shaking or the like is provided. It is possible to obtain a drive control device for a hydraulic elevator that operates stably without being affected by fluctuations in side pressure.

Further, according to the following invention, a reference value is obtained from the output of the jack side pressure detector, and a holding circuit for outputting the reference value as a step-like signal and a pressure controller by blunting the step-like signal. By providing a first-order lag filter for outputting to, the pressure on the pump side can be followed by the output of the first-order lag filter without being affected by the apparent fluctuation of the jack-side pressure due to car sway or the like. The drive control device for the hydraulic elevator can suppress the overshoot after the pressure is increased to the jack side pressure, and can suppress the shock at the start of traveling and the accompanying vibration.

Further, according to the next invention, when the pressure limiter for limiting the upper limit of the output value of the pressure controller is provided, the pump side pressure becomes abnormally high when the pump pressure detector malfunctions. It is possible to obtain a drive control device for a hydraulic elevator that suppresses the above and operates stably.

Further, according to the next invention, when the speed limiter for limiting the upper limit of the output value of the pressure balance speed command calculator is provided, the electric motor can be operated when the leakage flow rate is abnormally large due to a failure of the electromagnetic switching valve. It is possible to obtain a drive control device for a hydraulic elevator, which suppresses the rotation at an abnormally high speed and operates stably.

According to the next invention, the output ratio of the pump side pressure detector to the jack side pressure detector is compared, and when the output ratio exceeds a predetermined value, the signal for shifting to the traveling pattern is output. If the comparison circuit of No. 1 is provided, the traveling is started before the output of the pump side pressure detector reaches the output of the jack side pressure detector, so that the dead time is minimized and it is possible to shift to the car traveling. There is an effect that the drive control device can be obtained.

According to the next invention, after the pressure control is started, the second comparison circuit compares the output ratio of the pump side pressure detector with the jack side pressure detector, and the output ratio becomes a predetermined value within a predetermined time. If the signal is output to stop the transition to the traveling pattern when it does not meet the requirements, and the traveling is stopped, an abnormality is detected before the car travels when some kind of equipment abnormality occurs and unsafe operation is prevented. There is an effect that a drive control device for a hydraulic elevator capable of achieving the above can be obtained.

Further, according to the following invention, a storage device for storing the command value of the pressure balance speed command calculator when the outputs of the pump side pressure detector and the jack side pressure detector before the car are balanced, and a car After landing, if a pressure balance speed command subtraction circuit that decreases the command value of the pressure balance speed command calculator according to the descent of the car and outputs it to the speed controller is provided, the hydraulic pump side pressure will change to the hydraulic jack side. Since the pressure is not exceeded, the hydraulic valve can be easily closed after landing regardless of the pressure difference due to the floor height, and the drive control device for the hydraulic elevator that operates stably can be obtained.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing a drive control device for a hydraulic elevator equipped with a pressure balance speed command calculator and a differential calculator according to an embodiment of the present invention.

FIG. 2 is a configuration diagram showing a hydraulic elevator having a holding circuit according to an embodiment of the present invention.

FIG. 3 is a configuration diagram showing a drive control device for a hydraulic elevator including a holding circuit and a first-order lag filter according to an embodiment of the present invention.

FIG. 4 is a configuration diagram showing a drive control device for a hydraulic elevator including a pressure limiter according to an embodiment of the present invention.

FIG. 5 is a configuration diagram showing a drive control device for a hydraulic elevator having a speed limiter according to an embodiment of the present invention.

FIG. 6 is a configuration diagram showing a drive control device for a hydraulic elevator including a first comparison circuit according to an embodiment of the present invention.

FIG. 7 is a configuration diagram showing a drive control device for a hydraulic elevator including a second comparison circuit according to an embodiment of the present invention.

FIG. 8 is a configuration diagram showing a drive control device for a hydraulic elevator including an abnormality detection circuit according to an embodiment of the present invention.

FIG. 9 is a configuration diagram showing a drive control device for a hydraulic elevator including a subtraction circuit according to an embodiment of the present invention.

FIG. 10 is an explanatory view of a pressure control elapsed time, a change in pump side pressure, and a treatment at that time according to an embodiment of the present invention.

FIG. 11 is a configuration diagram showing a drive control device for a conventional hydraulic elevator.

[Explanation of symbols]

 2 Pressure oil 6 Basket 7 Electromagnetic switching valve 9 Hydraulic pump 14 Induction motor 15 Speed detector 16 Jack side pressure sensor 17 Pump side pressure sensor 23 Inverter which is a motor controller 24 Pressure controller 26 Torque controller 27 Speed controller 28 Current Detector 32 Differential calculator 34 Pressure balance speed command calculator 35, 36, 37 Adder 38 Holding circuit 39 First-order lag filter 40 Pressure limiter 41 Speed limiter 42, 42A, 42B Comparison circuit 43 Timer-43A Timer-44 Abnormal Detection circuit 45 Subtraction circuit

Claims (9)

[Claims] 1. A motor for driving a hydraulic pump that feeds pressure oil to a hydraulic jack for raising and lowering a car, a speed detector for detecting the speed of the motor, a current detector for detecting an operating current of the motor, and A solenoid valve that blocks the flow of pressure oil, a pump side pressure detector that detects the hydraulic pump side hydraulic pressure, a jack side pressure detector that detects the hydraulic jack side hydraulic pressure, the pump side pressure detector and the jack side pressure detector , A pressure controller that outputs a deviation signal according to the output difference, a speed controller that outputs a speed command value that drives the car and a torque command value that corresponds to the output of the speed detector, the torque command value, and the above A torque controller that outputs a compensation torque command value that reduces the output deviation to a motor controller that controls the electric motor based on the deviation signal and the outputs of the current detector and the speed detector; A drive device for a hydraulic elevator, comprising: a pressure balance speed command calculator that outputs a command value for making the torque command value zero based on a torque command value to the speed controller. 2. A differential calculator that differentiates the output of the speed detector, and an adder that calculates the output of the differential calculator and the command value of the pressure balance speed command calculator and outputs a signal to the speed controller. The drive device for the hydraulic elevator according to claim 1, further comprising: 3. A holding circuit for determining a reference value from the output of the jack side pressure detector and outputting the reference value to the pressure controller as the output of the jack side pressure detector. The drive device of the hydraulic elevator according to the item. 4. A holding circuit that obtains a reference value from the output of the jack side pressure detector, outputs a step-like signal that uses the reference value as the output of the jack side pressure detector, and blunts the step-like signal. The drive device for the hydraulic elevator according to claim 1 or 2, further comprising a first-order lag filter for outputting to a pressure controller. 5. The drive device for the hydraulic elevator according to claim 1, further comprising a pressure limiter that regulates an upper limit of an output value of the pressure controller. 6. The drive device for the hydraulic elevator according to claim 1, further comprising a speed limiter for restricting an upper limit of an output value of the pressure balance speed command calculator. 7. A first comparison circuit for comparing the output ratio of the pump side pressure detector with respect to the jack side pressure detector, and outputting a signal for shifting to the traveling pattern when the output ratio exceeds a predetermined value. The drive device for the hydraulic elevator according to claim 1 or 2. 8. A signal comparing the output ratio of the pump side pressure detector to the jack side pressure detector and outputting a signal for stopping the transition to the traveling pattern when the output ratio does not reach a predetermined value within a predetermined time. A first comparison circuit comprising:
The drive device for the hydraulic elevator according to claim 2 or 3. 9. A storage device for storing a command value of a pressure balance speed command calculator when the outputs of the pump side pressure detector and the jack side pressure detector are balanced before the car is started, and the command after the car is landed. The value decreases as the car descends,
The drive device for the hydraulic elevator according to claim 1 or 2, further comprising a pressure balance speed command subtraction circuit for outputting to a speed controller.