JPH08133616A - Elevator position control method and device therefor - Google Patents

Abstract

PURPOSE: To dispense with a car passage detector by using a pulse encoder as a speed detector, discriminating the rotating direction of a driving motor from the output pulse of the pulse encoder, and obtaining an elevator deceleration start point to change a speed command from the count value of an up-down counter. CONSTITUTION: When a motor IM is driven by the output of a main circuit 2, the normal/reverse rotation of the motor IM is detected by a normal/reverse rotation detecting circuit 15 from the code pulse of a pulse encoder PP, and the counting direction of an up-down counter circuit 17 is switched up or down. Quadruple frequency generated from the speed pulse of the pulse encoder PP by a quadruple frequency generating circuit 16 is counted by the up-down counter circuit 17, and the count value is latched by a latch part 18 every speed control cycle. On the basis of this count value, a CPU 5 computes the present position of a car, and when the car is detected to have passed a deceleration start point, the deceleration pattern of a speed command SP is generated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevator control device for controlling a car car landing position of an elevator.

[0002]

2. Description of the Related Art An elevator has a machine room 32 installed above a hoistway 31 as shown in FIG.
5 is controlled so that it can be accurately landed on the floor of the destination floor. Conventionally, the elevator has performed this landing position control as follows.

A car passage detector is provided at a position apart from the floor of the car by a fixed distance (point X in FIG. 2).
As shown in Fig. 3, the moving distance (deceleration distance) from when the car starts decelerating to when it stops is defined as the distance from the landing position to the car passing detector, and deceleration is started by the output of this detector. If so, the car arrives at the landing position just when the speed command becomes zero.

As shown in FIG. 4, a conventional elevator speed control device is composed of a converter unit 1, an inverter main circuit 2 for driving an electric motor IM for driving an elevator, and an inverter device including inverter control circuits (3 to 9). Has been done. Then, in the speed control of the electric motor IM, in the speed control unit 10 constituted by the CPU 5, the deviation between the speed command SP and the speed detection SFB from the speed detector PP of the electric motor IM is set to P.
It is amplified by the I amplifier 11 and is added to the speed command SP by the adder 12 to obtain the output frequency command f _S, and the output voltage command V _S for this frequency command f _s is calculated to make the inverter main circuit 2 the driver circuit. PWM control is performed via 6.

The speed command SP is set and output by the CPU 5, but when the deceleration start point detector (FIG. 2) detects passage of the car, the CPU 5 generates a speed command deceleration pattern (FIG. 3). Decelerate the elevator.

In FIG. 4, 3 is a DC voltage detector for detecting the DC voltage of the inverter main circuit, and 4 is an A / D converter for converting the detected DC voltage into a digital signal. Therefore, it is taken into the CPU 5. Further, reference numeral 8 is a regenerative power consumption circuit, and when the inverter enters the regenerative mode and the DC voltage rises due to the feedback power from the electric motor IM, the comparator 7 detects this voltage rise and the switching element S via the driver circuit 9.
1 is controlled so that the regenerative power is consumed by the resistor R1.

[0007]

[Problems to be Solved by the Invention]

(1) In the conventional elevator control device, a speed detector is connected to the drive motor, and the ride comfort is improved by performing speed control using this speed detection, and further, the output of the car passing detector is accepted. By decelerating and starting the position control, the landing position fluctuation with respect to the load fluctuation is compensated.

Here, it is possible to know the current position of the elevator car by integrating the output of the speed detector. Despite the fact that the elevator has the function of knowing the current position, equipping the car passage detector for knowing the start point of deceleration causes a cost increase.

(2) The speed detector PP is attached to the shaft of the elevator driving electric motor IM as shown in FIG. 8, and the elevator car 35 is driven by the driving electric motor IM.
It is suspended by a rope 34 on a drive sheave 33 which is connected to the shaft of directly or via a gear.

Here, the car 35 moves due to the frictional force between the rope 34 and the drive sheave 33, but the rope may slip during a sudden torque change, acceleration / deceleration, or high speed operation. . When the rope slips, there is no one-to-one relationship between the rotation of the drive motor and the car position, and if the elevator position is controlled, it will move a long distance, such as from the end of a building floor. In this case, or because of the error accumulated during repeated operation, an error may occur in obtaining the deceleration start point of the elevator, and as a result, an error in the landing position may occur.

The present invention has been made in view of the above-mentioned conventional problems, and an object thereof is to provide an elevator position control device in which a car passage detector can be omitted and a rope slippage. An object of the present invention is to provide a position control method for an elevator and a method thereof that can keep the landing position stable by suppressing the accumulation of error within a certain value.

[0012]

In order to achieve the above-mentioned object, an elevator position control device according to the present invention comprises: (1) a driving electric motor so that a speed command and a speed detection value from a speed detector match. In an elevator control device that controls and controls the speed command by changing the speed command to a deceleration pattern by detecting the deceleration start point, a pulse encoder is used as the speed detector, and the rotation direction of the drive motor is determined from the output pulse of this pulse encoder. A forward / reverse rotation detection circuit, and an up / down counter for counting the output pulse whose count direction is switched by the forward / reverse rotation detection signal, and the deceleration start point of the elevator is obtained from the count value of the up / down counter. To do.

(2) A pulse encoder for detecting the speed, a circuit for discriminating the rotation direction of the motor from the output pulse of the pulse encoder, and an up / down counter circuit for obtaining the deceleration start point of the elevator from the output pulse of the pulse encoder. In an elevator control device equipped with
A circuit that detects the change point of the on / off state of the door zone signal, a storage unit that stores the detected change point as the reference value of the count value, and a deceleration based on the difference between the stored reference value and the count value data of the current position. A deceleration start point is obtained while updating the distance data of each floor for determining the deceleration start point by providing a calculation unit for obtaining the start point.

(3) A pulse encoder for detecting the speed, a circuit for discriminating the rotation direction of the motor from the output pulse of the pulse encoder, and an up / down counter circuit for obtaining the deceleration start point of the elevator from the output of the pulse encoder. In the elevator control device provided with a circuit for detecting the change point of the on / off state of the door zone signal,
The deceleration start point is obtained by matching the counter output value with the pre-stored deceleration position data, and the deceleration start position is initialized to the absolute data of the position of the floor at the detected change point of the on / off state of the door zone. An arithmetic unit is provided, and the deceleration start point is obtained while updating the data of the floor position and deceleration start position of each floor.

[0015]

With respect to (1), the forward / reverse rotation detection circuit detects normal rotation or reverse rotation of the driving electric motor from the output pulse of the pulse encoder, and switches the counting direction of the up / down counter for counting the output pulse. Since the count value of the up-down counter is proportional to the ascent and descent distance of the car,
The car position can be known from this count value. Since the deceleration start point of the elevator can be detected by this, the deceleration start point can be detected and the car landing position can be controlled without mounting the car passage detector in the hoistway.

Regarding (2), when the door zone signal is turned on,
The circuit for detecting the off-state change point detects the off-change point of the door zone signal, that is, the position at a predetermined distance from the floor. The storage unit stores the count value of the counter based on this change point. Therefore, the reference value is updated every time the change point of the door zone signal is detected, that is, every floor. The calculation unit for obtaining the deceleration start point obtains the deceleration start point from the difference between the stored reference value of the position and the data of the count value of the current counter. Since the distance data of each floor for determining the deceleration start point is updated for each floor, the position error caused by driving between floors is not integrated.

Regarding (3), the ON / OFF of the door zone signal
The circuit for detecting the change point in the off state detects the change point in which the door zone signal turns off, that is, the position at a predetermined distance from the floor. The deceleration start position calculation unit finds a point at which the current counter output value matches the previously stored deceleration position data and sets it as the deceleration start point, and when the change point of the door zone signal is detected, the counter is set to the position of the corresponding floor. Initialize to absolute data of. As a result, the floor position and deceleration start point position data are updated for each floor, so that errors caused by operation between floors will not be accumulated.

[0018]

【Example】

Example 1 Example 1 of the present invention will be described with reference to FIG. FIG. 1 shows the configuration of an elevator controller. It should be noted that conventional FIG.
The same components as those shown in are attached with the same notations and an overlapping description thereof will be omitted.

In FIG. 1, PP is a pulse encoder for speed detection of the induction motor IM, and 15 is a pulse encoder P.
A forward / reverse rotation detection circuit that detects forward or reverse rotation of the electric motor IM from the P code pulse, 16 is a quadruple frequency generation circuit that converts the speed pulse of the pulse encoder PP into a frequency 4f that is quadruple, and 17 is a forward / reverse rotation detection circuit 15 The count direction of the counter is switched by the forward rotation or reverse rotation detection signal from 4
An up / down counter 18 which counts up or down counts the quadruple frequency from the frequency doubler generation circuit, and a counter output latch unit 18 which latches this count value at each speed control cycle. This latched count value is CP
The speed command SP is switched to a deceleration pattern when the elevator car position is read and calculated by U5 and the car deceleration start position is detected. Other configurations are the same as the conventional ones.

With the above-described structure, when the electric motor IM is driven by the output of the main circuit 2, the forward / reverse rotation detecting circuit 15 detects the normal or reverse rotation of the electric motor IM from the code pulse of the pulse encoder PP. , The up / down counter circuit is switched between up and down. On the other hand, the quadruple frequency generation circuit 16 is a pulse encoder P
Since the quadruple frequency is generated from the speed pulse of P and is output to the up / down counter circuit 17, the up / down counter circuit 17 counts up or down the quadruple frequency while the motor is rotating normally or reversely. The count value is latched in the latch unit 18 every speed control cycle.

The CPU 5 calculates the current position of the car based on the count value of this counter, and detects whether the car of the elevator has passed the place where the conventional deceleration start point passing detector is attached. When the CPU 5 detects that the position corresponding to the deceleration start point has been passed, the deceleration pattern of the speed command SP is generated. Then, the inverter main circuit 2 is controlled by this speed command SP as in the conventional case.

Embodiment 2 An elevator has a signal called a door zone (DZ) for controlling a door, and a detector for detecting this DZ signal is provided. This is shown in FIG. In FIG. 6, the position of the car can be accurately known by the combination of the DZU signal and the DZD signal. DZU
The center of the position where both the signal and the DZD signal are turned on is the floor level of the floor.

When the elevator car is accurately stopped at the floor position, both DZU / DZD are on.
Then, when the car rises, first the DZD signal turns off,
Then, the DZU signal is turned off. When the next floor approaches, the DZD signal turns off first, and then the DZU signal turns on. In the case of the example in FIG. 6, it suffices to stop at a position 15 mm ahead of the position where both the DZU signal and the DZD signal are turned on.

FIG. 5 shows the configuration of the elevator control device according to the second embodiment. In the figure, the same components as those shown in FIG. 1 are designated by the same reference numerals, and the duplicate description thereof will be omitted. In the figure, 21 is a counter output storage difference calculation unit and a deceleration start point calculation unit to which data from the counter output latch unit 18 is input, and 23 is a door zone signal DZ.
This is an edge detection circuit that detects edges of U and DZD and outputs them to the arithmetic unit 21. Distance data between floors is stored in advance in the memory of the CPU (5).

When performing the UP operation of the elevator, the arithmetic unit 21 is based on the point where the DZU signal detected by the edge detection circuit 23 is OFF, that is, the position 75 mm above the floor level, and the counter output unit 18 at that position is used as a reference. The counter value is stored, and from the difference between this reference count value and the current count value and the distance to the next floor stored in the memory,
Find the deceleration start point. When the DOWN operation is performed, the deceleration start point is similarly obtained based on the OFF point of the DZD signal detected by the edge detection circuit 23, that is, the position 75 mm below the floor level. In the case of moving from the first floor to the third floor, the control is performed with the point at which the DZU signal on the second floor turns off as the position reference.

By controlling in this way, the position reference is corrected when all floors pass, so the error is limited to the amount generated during the movement of one floor, and the error is not accumulated. Therefore, the deceleration start point is not greatly mistaken, and the landing position can be stabilized.

Third Embodiment FIG. 7 shows the configuration of an elevator control device according to the third embodiment. In the figure, the same components as those shown in FIGS. 1 and 5 are designated by the same reference numerals, and their duplicate description will be omitted.
In the figure, 22 is a deceleration start point calculation part. CP
The memory of U (5) stores deceleration start position data on each floor in advance.

The deceleration start point calculation unit 22 determines the U of the elevator.
When the P operation is performed, the deceleration point is obtained by matching the counter output value from the counter output latch unit 18 with the stored deceleration start position data, and the edge detection circuit 2
The position of the DZU signal detected by 3 is turned off, that is, the position of 75 mm above the floor level is used as a reference to initialize the absolute position data +75 mm of the floor in the up / down count circuit 17 to correct the car position. .

When performing the DOWN operation, the deceleration point is obtained in the same manner as described above, and the absolute point of the floor is determined based on the OFF point of the DZD signal detected by the edge detection circuit 23, that is, the position 75 mm below the floor level. Position data-7
The car position is corrected by initializing 5 mm data in the up / down count circuit 17.

According to this embodiment, since the deceleration start point can also be preset as an absolute position, the error is limited to the amount generated during the movement of the first floor as in the second embodiment.

[0031]

Since the present invention is configured as described above, it has the following effects.

(1) According to the first aspect of the present invention, the fact that the car has passed the deceleration point can be detected by using the signal of the pulse encoder which is the speed detector of the drive motor.

(2) Therefore, the deceleration start point detector, which is conventionally mounted in the hoistway, becomes unnecessary, and the cost is reduced.

(3) According to claims (2) to (5), when the elevator car has passed each floor level,
Since the position can be corrected, the position error due to the slip of the rope can be suppressed to the amount generated during the movement of the first floor, and the stable landing position can be controlled. Further, the influence of the error due to the error integration when the repeated operation is performed is eliminated.

(4) Since the sequence used for this control shares the signal used for opening and closing the door called the door zone, there is no increase in cost.

[Brief description of drawings]

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

FIG. 2 is a side view of a hoistway illustrating a mounting position of a deceleration start point detector of an elevator.

FIG. 3 is a diagram showing a speed command pattern.

FIG. 4 is a structural explanatory view of a conventional elevator control device.

FIG. 5 is a configuration explanatory diagram of an elevator control device according to a second embodiment.

FIG. 6 is an explanatory diagram of a door zone signal.

FIG. 7 is an explanatory diagram of a configuration of an elevator control device according to a third embodiment.

FIG. 8 is an explanatory diagram of an elevator system.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Converter part 2 ... Inverter main circuit 5 ... CPU 6 ... Driver circuit 10 ... Speed control part 15 ... Forward / reverse rotation detection circuit 16 ... Quadruple frequency generation circuit 17 ... Up-down counter 18 ... Counter output latch part 21 ... Counter output memory Difference calculation unit Deceleration start point calculation unit 22 ... Deceleration start point calculation unit 23 ... Door zone input edge detection circuit IM ... Elevator drive induction motor PP ... Speed detector or pulse encoder

Claims (5)

[Claims] 1. An elevator control device for controlling a driving electric motor so that a speed command and a speed detection value from a speed detector match, and changing the speed command to a deceleration pattern by detecting a deceleration start point. A pulse encoder is used as a speed detector, and a forward / reverse rotation detection circuit that determines the rotation direction of the drive motor from the output pulse of this pulse encoder, and the count direction is switched by this forward / reverse rotation detection signal to count the output pulse. A position control device for an elevator, wherein an up-down counter is provided, and a deceleration start point of the elevator is obtained from a count value of the up-down counter. 2. A deceleration of an elevator using a pulse encoder as a speed detector, comprising a circuit for discriminating a rotation direction of a motor from an output pulse of the pulse encoder and an up / down counter circuit for integrating the output pulse. The elevator control device that obtains the starting point from the count value of the up / down counter has a function of detecting the change point of the on / off state of the door zone and storing this point as the reference value. A position control method for an elevator, characterized in that a deceleration start point is obtained from a difference between count value data. 3. A pulse encoder for detecting a speed, a circuit for discriminating a rotation direction of a motor from an output pulse of the pulse encoder, and an up / down counter circuit for obtaining a deceleration start point of an elevator from an output pulse of the pulse encoder. In the elevator control device provided, a circuit that detects a change point of the on / off state of the door zone signal, a storage unit that stores the detected change point as a reference value of the count value, the stored reference value and the current position A position control device for an elevator, comprising: a calculation unit that obtains a deceleration start point from the difference between the count value data of 1., and obtains the deceleration start point while updating the distance data of each floor for determining the deceleration start point. 4. A deceleration of an elevator using a pulse encoder as a speed detector, comprising a circuit for discriminating a rotation direction of a motor from an output pulse of the pulse encoder and an up / down counter circuit for integrating the output pulse. In the elevator controller that obtains the start point from the count value of the up / down counter, the function to detect the change point of the on / off state of the door zone and initialize the counter to the absolute value data of the position of the floor at this point An elevator position control method, comprising: determining a deceleration start point by matching a counter output value with a deceleration start position stored in advance. 5. A pulse encoder for detecting a speed, a circuit for discriminating a rotation direction of a motor from an output pulse of the pulse encoder, and an up / down counter circuit for obtaining a deceleration start point of an elevator from an output of the pulse encoder. In the elevator control device, the circuit that detects the change point of the on / off state of the door zone signal and the deceleration start point is obtained by matching the counter output value with the previously stored deceleration position data, and the detected door zone is turned on.・ Providing a deceleration start position calculation unit that initializes the counter to absolute data of the position of the floor at the change point of the off state, and obtain the deceleration start point while updating the data of the floor position and deceleration start point position of each floor. Elevator position control device.