JPH08301539A - Elevator control device and control method - Google Patents

Abstract

PURPOSE: To provide an elevator control device and a control method suppressing the vertical vibration of a car to improve a speed follow-up characteristic so as to shorten landing time, to heighten landing accuracy and to ensure a riding comfort. CONSTITUTION: A grade of disturbance acting upon an elevator is estimated by a disturbance estimator 8 from the target speed of a car and the actual speed of the car. An arithmetic element 15 subtracts driving force, detected by a driving force detecting device, from the output of a converter 7 for converting the output of a target car speed generator 5 into target driving force, so as to compute the fluctuating component of driving force. The arithmetic element 15 further subtracts the estimated disturbance from the fluctuating component of driving force, and the output is returned to the command of a controller 13 for a motor 3 through a gain device 12. Disturbance and vibration of the car in a high frequency area is thereby compensated by the return of the fluctuating component of driving force, and disturbance and the vibration of the car in a low frequency area is compensated by disturbance compensation by the disturbance estimator 8 so as to suppress the vertical vibration of the elevator.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a fluid pressure elevator,
The present invention relates to an elevator control device and control method for controlling the speed of a car of various elevators such as a traction type elevator and a rope type linear elevator.

[0002]

2. Description of the Related Art As a main type of conventional elevators, there are a fluid pressure elevator, a traction type elevator, and a rope type linear elevator. First,
The fluid pressure elevator is of a type that raises and lowers a car by supplying or discharging pressure fluid to a fluid pressure actuator. Next, a traction type elevator is a sheave (pulley for driving) driven by a rotary motor. It is a type of lifting and lowering a car and a counterweight suspended at both ends of the sheave by rotating the. A rope-type linear elevator is a type of elevator in which a car and a counterweight are hung on both ends of a pulley arranged on the ceiling, and the car is lifted and lowered by the generated force of a linear motor provided in the counterweight. .

That is, in a fluid pressure elevator, a car is moved up and down by supplying or discharging a pressure fluid to a fluid pressure actuator. The flow rate of the pressure fluid is
Generally, the number of rotations of the fixed displacement pump is adjusted by a variable speed rotary motor driven by an inverter and controlled, or is controlled by using a flow control valve.
In the traction type elevator, ropes are hung around the sheave installed on the roof of the building, and a car and a counterweight are placed at both ends of the rope. Then, the sheave is rotated by using the variable speed rotary motor driven by the inverter and the decelerator to raise and lower the car. In a rope-type linear elevator, a rope is hung on a pulley located on the ceiling of the hoistway, and a cage and a counterweight are placed at both ends. Then, the counterweight is driven by a variable speed linear motor provided in the counterweight to raise and lower the car.

In any of the above conventional elevator systems, the rotation speed of the variable speed rotary motor, the rotation speed of the variable speed linear motor, and the opening of the flow rate control valve are calculated in advance for the car target. It is adjusted to a value that achieves the velocity pattern. As the car target speed pattern, for example, in a fluid pressure elevator, the speed waveform shown in FIG. 24 or the acceleration waveform shown in FIG. 25 is often used.

FIG. 26 shows a typical control device for driving a fluid pressure elevator as an example of a control device for executing such control. In the control device of FIG. 26,
First, the output of the car target speed generator 5 is converted into a motor target speed by the motor speed converter 6. The subtractor 9 subtracts the actual motor rotation speed detected by the motor rotation speed detection device 10 from this motor target rotation speed, and passes the output to the motor controller 13. The motor controller 13 accelerates / decelerates the motor 3 according to the input value. The output shaft of the motor 3 is coupled to the pump 17, and the pump 17 discharges a fluid flow rate that is substantially proportional to the rotation speed. The fluid flows into the cylinder 19 through the control valve 18 that is opened only when the elevator is driven, and expands and contracts the cylinder 19. As a result, the car 1 that is directly or indirectly coupled to the syrinda 19 moves up and down.

By the way, all of the above-mentioned elevators of various types have a vibration degree of freedom in their mechanical parts. In fluid pressure elevators, the compression and expansion of hydraulic fluid in the fluid pressure cylinders and the expansion and contraction of ropes, and also in traction type elevators and rope type linear elevators, the expansion and contraction of ropes cause vibration freedom. These vibration degrees of freedom are excited by acceleration / deceleration of the elevator car, and induce longitudinal vibration of the car.

As an example, a fluid pressure elevator is shown in FIG.
When driven by the control device shown in FIG. 26 in accordance with the velocity waveform shown in FIG. 26, its velocity waveform is shown in FIG. 27, and its acceleration waveform is shown in FIG. Both the velocity waveform of FIG. 27 and the acceleration waveform of FIG. 28 indicate that large vibration is occurring. The biggest problem caused by the vertical vibration of the car is that the comfort of the elevator is deteriorated.

Further, the vibration of the elevator mechanism adversely affects the speed control performance of the car. For example, consider a case where a driving method is used in which, after reaching a target position before the high speed running including the maximum speed, a landing operation is performed to reach the target position at a low speed called a landing speed. This driving method is generally called a 2-speed driving method, and the velocity waveform shown in FIG. 24 and the acceleration waveform shown in FIG. 25 are typical examples. At this time, when the elevator mechanism vibrates, the maximum speed and the landing speed fluctuate, which causes a problem that the landing operation time becomes long. There are also elevators that use a driving system that stops the car directly at the target position without using the 2-speed drive system. This driving method is
Generally called the direct landing method. Also at this time, if the elevator mechanism vibrates again,
There is a problem that the accuracy of the stop position of the car (imposition accuracy) deteriorates.

Further, as shown in FIG. 28, which is an acceleration waveform during the operation of the fluid pressure elevator, in the elevator, vibration occurs in the acceleration response at the time of accelerating the car due to the vibration freedom of the mechanism portion. Therefore, in order to keep the maximum value of the acceleration within a level where passengers do not feel uncomfortable, there arises a problem that the maximum acceleration when creating the car target speed pattern must be reduced. This tendency is remarkable in a fluid pressure elevator in which vibration easily occurs. For example, in a general traction type elevator or a rope type linear elevator, the maximum acceleration is set to 0.9 m / s ² , whereas in the fluid pressure elevator, the maximum acceleration is set to 0. 5m /
Often set to about s ² .

Finally, in any type of elevator, a vibration of a mechanical section may be excited by a disturbance such as a jump of a passenger to cause the car to vibrate. At this time,
The acceleration of the car momentarily increases, and in some cases,
There is a problem that the malfunction of the emergency stop device is triggered.

According to the prior art, in order to solve the above-mentioned problems caused by the vibration degree of freedom of the mechanism portion, in particular with respect to a fluid pressure elevator, Japanese Patent Laid-Open No. 4-3500.
In Japanese Patent Laid-Open No. 80, a control device that detects the pressure of a fluid pressure cylinder and feeds back the differential value thereof is proposed. An outline of this control device is shown in FIG. This control device is characterized in that the fluid pressure cylinder pressure detected by the pressure sensor 21 is pseudo-differentiated by the filter 49 and negatively fed back via the gain device 47 and the subtractor 48. The filter 49 for extracting the differential value of the fluid pressure cylinder pressure is
It has a configuration represented by the following mathematical formula.

[Equation 1] Here, s represents a Laplace operator. Further, T1 and T2 are coefficients that determine the characteristics of the filter, and are adjusted so that vibrations are appropriately removed. The output of the filter 49 approximately matches the differential value of the fluid pressure cylinder pressure in the relatively low frequency range. Hereinafter, this method will be referred to as a pressure differential feedback method. Fig. 30 shows the speed response of the fluid pressure elevator and Fig. 3 shows its acceleration response when this method is used.
It is shown in FIG. Comparing these FIGS. 30 and 31 with FIG. 27 and FIG. 28 described above, it can be seen that vibration is reduced. However, on the other hand, it is confirmed that there is a problem that the overshoot of the velocity and the acceleration is increased.

[0012]

DISCLOSURE OF THE INVENTION According to the present invention, vibration in various elevators such as a fluid pressure elevator, a traction type elevator, and a rope type linear elevator is suppressed, particularly, vibration in the vertical direction thereof is suppressed, and the ride comfort of the elevator is improved. It is an object of the present invention to provide an elevator control device and a control method capable of improving the above.

On the other hand, in the case of only the fluid pressure elevator, according to Japanese Patent Application No. 6-2958 filed by the same applicant, a method of eliminating vibration by the control device shown in FIG. 32 is considered. In the control device shown in FIG. 32,
The output of the car target speed generator 5 is converted to the pressure command converter 20.
Is converted into a target pressure command. Then, the pressure of the fluid pressure cylinder 19 is detected by the pressure sensor 21, and the difference unit 5
When 0, the pressure fluctuation component is calculated by subtracting from the target pressure command. Then, this value is fed back to the motor controller 13 via the gain device 12 and the adder 11. Hereinafter, this method is referred to as a pressure fluctuation component feedback method. FIG. 33 shows the speed response of the fluid pressure elevator and the acceleration response thereof when using this method. 33 and 34, not only vibration is reduced, but also overshoot of velocity and acceleration is suppressed. However, if the difference between the truly necessary pressure and the target pressure command obtained by calculation is large due to the influence of disturbances such as the friction of the packing of the fluid pressure cylinder 19 and the leakage of the pump 17, the steady speed characteristic deteriorates. Tend. Therefore, in FIGS. 33 and 34, the maximum speed and the landing speed are lower than the target speed, and there is a problem that the target position cannot be reached within the time region shown in the drawing.

Therefore, particularly for an elevator using a two-speed drive system, the aim is to shorten the landing time by improving the accuracy of the maximum speed and the landing speed, and to use the direct landing system. For elevators, improve the landing accuracy.

With regard to the fluid pressure elevator, the overshoot of the acceleration response is suppressed to increase the maximum acceleration when calculating the target car speed, thereby shortening the time required to move the elevator.
Finally, by suppressing the vibration of the elevator, it is possible to reduce the malfunction of the emergency stop device.

[0016]

In the present invention, as means for achieving the above-mentioned object of the present invention, at least a car target speed generation for generating a car target speed which is a target speed of an elevator car Means, driving force control signal generation means for generating a driving force control signal for controlling the driving force for driving the elevator based on the car target speed from the car target speed generation means, and the elevator car And a car speed detecting means for detecting the moving speed of the car, and a control device for the elevator, which constitutes a control system for controlling the driving force generating means for generating the driving force for driving the car of the elevator. A target speed of the car from the car target speed generation means and an elevator car moving speed from the car speed detection means More, provided the disturbance estimating means for estimating a disturbance acting on the elevator, the elevator control device configured to negative feedback estimated disturbance acting on the elevator obtained by the disturbance estimating means to said control system has been proposed.

Further, in the present invention, as a means for achieving the above-mentioned object, the device for generating the elevator car target speed, the device for converting the elevator car target speed into the motor rotation speed command, and Equipped with a device that detects the car speed, a device that converts the target car speed into a driving force command, a device that detects the car driving force, and a disturbance estimator. It is calculated by the disturbance estimator using the actual car speed, the estimated disturbance value is negatively fed back to the motor speed command, and the difference between the driving force command value and the actual driving force is negatively fed back to the motor speed command. An elevator control device configured as described above has been proposed.

Further, according to the present invention, in order to achieve the above-mentioned object, at least the car target speed generating means for generating the car target speed which is the target speed of the car of the elevator, and the car target speed. Driving force control signal generating means for generating a driving force control signal for controlling the driving force for driving the elevator based on the target speed of the car from the generating means, and a car for detecting the moving speed of the elevator car. And a speed detecting means,
In an elevator control device comprising a control system for controlling a driving force generating means for generating a driving force for driving a car of an elevator, a target speed of the car from the car target speed generating means and the car Elevator for estimating the disturbance acting on the elevator from the moving speed of the car from the speed detecting means, negatively feeding back the estimated disturbance acting on the elevator obtained by the estimation to the control system, and thus controlling the driving force generating means. Is proposed.

[0019]

That is, according to the above elevator control device and control method proposed by the present invention, the disturbance acting on the elevator is estimated by the disturbance estimating means or the disturbance estimator, and the estimated disturbance value is used as the elevator car. By virtue of the negative feedback to the control system for controlling the driving force generating means for generating the driving force for driving the vehicle, the vibration generated in the elevator car is removed. Further, in the present invention, particularly, in an elevator control device using a speed-variable motor as the driving force generation means, a driving force for a car target speed is further provided on the means constituting the elevator control device. Equipped with a device for converting to a command and a device for detecting the driving force of the car, and by negatively feeding back the difference between the driving force command value and the actual driving force to the motor speed command, a greater vibration elimination effect can be obtained. it can.

However, the driving force referred to here means, in a fluid pressure elevator, the tension of a rope that transmits the pressure in the fluid pressure cylinder or the power generated by the fluid pressure cylinder to the car. Further, in the traction type elevator and the rope type linear elevator, it means the tension of the rope that drives the car or the torque generated by the motor.

That is, the above disturbance estimating means and disturbance estimator in the present invention calculate the sum of disturbances such as unnecessary driving force, friction and motor torque ripple generated by the elevator car vibration. . For this reason,
By negatively feeding back this estimated disturbance value to the control system that controls the driving force generating means that generates the driving force that drives the elevator car, not only the effect of the disturbance on the elevator speed control device can be eliminated, but also the car Vibration can also be suppressed. However, this effect is limited to a relatively low frequency region. Therefore, when accuracy of the elevator speed response in a relatively high frequency range is required, an accurate speed response can be obtained by using the method of detecting the driving force and negatively feeding back the difference from the target driving force. Obtainable.

[0022]

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. First, FIG. 1 shows a schematic configuration for explaining the control principle of an elevator apparatus that employs an elevator control apparatus that implements the elevator control method of the present invention. As is clear from FIG. The elevator system is equipped with an elevator car 1
, A power transmission unit 2, a motor 3, and an elevator control device 4.

The car target speed generator 5 in the elevator control device 4 generates a target speed represented by the target speed described above with reference to FIG. This target speed is passed to the motor rotation speed converter 6, the driving force command converter 7 and the disturbance estimator 8. The motor revolution speed converter 6 converts the passed car target speed into a motor revolution speed command value, and the driving force command converter 7 converts the passed car target speed into a driving force command value.

The motor rotation speed command value output from the motor rotation speed converter 6 is passed to the positive (+) input terminal of the difference unit 9, and the difference unit 9 uses this value to detect the rotation speed of the motor 3. The value obtained by subtracting the value of the motor rotation speed obtained from 10 is passed to the adder 11. The adder 11 further adds the compensation value obtained from the gain device 12 to this value, and passes the addition result to the motor controller 13. Then, the motor controller 13 accelerates / decelerates the motor 3 at a rotation speed corresponding to this value (output from the adder 11).

The power generated by the rotation of the motor 3 drives the elevator car 1 via the power transmission unit 2 of the elevator system. At this time, the speed of the car 1 is detected by the car speed detection device 14, and the detected car speed is passed to the disturbance estimator 8. The disturbance estimator 8 is configured to estimate the magnitude of the disturbance acting on the elevator (car) using the car speed and the car target speed, and the estimated disturbance value is calculated by an arithmetic unit. Pass to 15. The arithmetic unit 15 subtracts the driving force which is the output of the driving force detector 16 from the driving force command value, and further outputs a value obtained by subtracting the output of the disturbance estimator 8 to the gain device 12.

Next, FIG. 2 attached herewith shows an embodiment in which the elevator control device described above is applied to an indirect push-up type fluid pressure elevator. Correspondence between each component of the embodiment applied to this indirect lift type fluid pressure elevator and each component shown in FIG. 1 is as follows. That is, the power transmission unit 2 of FIG.
It becomes the control valve 18, the fluid pressure cylinder 19, the pulley 29 and the rope 28, and the driving force becomes the pressure of the fluid pressure cylinder (cylinder pressure). Therefore, the driving force command converter 7 of FIG. 1 becomes the pressure command converter 20 of FIG. 2, and the driving force detector 16 of FIG. 1 becomes the pressure sensor 21 of FIG. That is,
In the present embodiment, the compensation by the disturbance estimator 8 is further combined with the pressure fluctuation component feedback method already described.

FIG. 3 shows an example of a specific configuration of the disturbance estimator 8. That is, the disturbance estimator 8 includes a filter 22, a filter 23, a differencer 24, and an adder 25.
The input is the car speed v and the car target speed v _r , and the estimated disturbance value d is the output. First,
The subtractor 24 calculates the car speed v from the car speed v
_The value v _e obtained by subtracting _r is output. Further, the adder 25 adds the outputs of the filter 22 and the filter 23 and outputs the estimated disturbance value d. The output estimated disturbance value d is packing friction generated in the fluid pressure cylinder 19, pressure loss in the piping and the pump 17, leakage of the pump 17, expansion and contraction of the rope 28 that transfers cylinder power to the car, and working fluid in the fluid pressure cylinder 19. It is the sum of compressive elasticity, etc. The specific design method of the disturbance estimator 8 will be described below.

First, in designing the disturbance estimator 8 described above, an ideal speed response model from the car target speed v _r to the car speed v is set. Here, the ideal velocity response model is designed as a quadratic vibration system represented by the following equation.

[Equation 2] Here, v (s), v _r (s) and d (s) are Laplace transforms of v, v _r and d, respectively. Further, k _d and c _d are coefficients that determine the responsiveness and stability of the ideal model. When k _d is increased, the responsiveness is increased but the stability is deteriorated.
Increasing c _d sacrifices responsiveness at the cost of increased stability. The relationship between these two can be judged by the damping rate ζ expressed by the following equation.

(Equation 3)

Normally, k _d and c _d may be set so that the damping ratio ζ is in the range of 0.2 to 1.0.
Further, FIG. 4 shows the step response of the system of the above (Formula 2) in which the damping ratio ζ is set in the above range. Here, the disturbance d
Is modeled as showing a response similar to the target speed v _{r of the} car. When the above equation is arranged for the disturbance d (s), the following equation is obtained.

[Equation 4]

That is, if the elevator system matches the ideal speed response model, the disturbance acting on the basis of the above equation can be calculated. Even if the elevator system is different from the ideal speed response model, if the difference in the response is considered to be a kind of disturbance, a speed response close to the ideal speed response model can be obtained by compensating for the above disturbance component. It will be. However, the execution of the above (Equation 4) requires pure differentials of the first and second orders, so that it easily diverges in the high frequency region. Therefore, the above (Equation 4)
Is not executed as it is, but is executed in combination with a third-order low-pass filter as in the following equation to obtain the estimated disturbance value d (s).

(Equation 5) The above equation can be further rearranged into the following equation.

(Equation 6)

By comparing the above equation with the configuration of FIG.
The filter 22 is a third-order filter having the following configuration (Equation 7).

(Equation 7) Further, the filter 23 described above is a third-order filter having the following configuration (Equation 8).

(Equation 8)

FIGS. 5 and 6 show the frequency domain gain characteristics of the filters 22 and 23. Both filters 22 and 23 are stable filters whose gain decreases in the high frequency region.

Using the disturbance estimator 8 designed by the above method, an example of a fluid pressure elevator car speed response when the embodiment of the indirect push-up type fluid pressure elevator shown in FIG. 2 is executed by an actual machine is shown in FIG. FIG. 8 shows an example of the acceleration response. From the elevator car speed response (v) and acceleration response (a) shown in FIGS. 7 and 8, the vibration of the car is suppressed, and the overshoot of the speed response and the acceleration response is completely suppressed. In addition, the speed steady-state characteristics are improved, and the maximum speed and the landing speed completely match the target speed.

As described above, by using the disturbance estimator 8 as in this embodiment, the ride comfort is improved, the landing time is shortened,
It can be confirmed that the landing accuracy can be improved, the travel time can be shortened by increasing the maximum acceleration, and the malfunction of the safety gear can be reduced.

The disturbance estimator 8 shown in FIG. 3 can be realized by an analog electronic circuit using, for example, an operational amplifier, or a digital circuit using a microprocessor. An algorithm for implementing the disturbance estimator 8 of FIG. 3 by a digital circuit is shown in FIG. 9 attached. In the algorithm shown in FIG. 9, d / dt (V _e ), V _e and d are used as internal variables.

First, in this algorithm, d / dt (V
_e ), V _e and d are initialized (step S1). Specifically, d / dt (V _e ) = V _e = d = 0 may be set.
Next, confirm that the sampling time Δt of digital processing has elapsed (when “YES” in step S2).
After that, the calculation represented by the following formula is performed (step S
3).

[Equation 9]

[Equation 10]

As a result, the obtained disturbance estimated value d is output (step S4), and the operation of waiting until the time Δt elapses (when "NO" in step S2) is repeated. That is, it is a process of numerically integrating the simultaneous differential equations represented by the above (Equation 9) at each sampling time. In this process, if the coefficients k _d1 , k _d2 , and k _d3 in the equation are set as in the following equation, it becomes completely equivalent to the disturbance estimator 8 in FIG.

[Equation 11] The coefficients k _d1 , k _d2 , and k _d3 do not have to be set according to the above equation, and may be set so that the poles of the simultaneous differential equations shown in (Equation 9) above are stable.

In the above-described embodiments, the ideal velocity response model when designing the disturbance estimator 8 of FIG. 3 is the second-order vibration system, but the disturbance estimator 8 described above can be used even if other models are used.
Is feasible. For example, instead of the above (Equation 2), a first-order response model shown in the following equation may be used.

(Equation 12)

Here, λ is a time constant that determines the quick response of the first-order response. A typical response example of this first-order response model is shown in FIG. At this time, the above (Equation 6) is changed to the following equation.

(Equation 13) Therefore, the filter 22 shown in FIG. 3 is a secondary filter represented by the following mathematical formula.

[Equation 14] Further, the filter 23 is a secondary filter represented by the following mathematical formula.

(Equation 15)

Further, for example, 2 shown in (Equation 2) above
Instead of the next-order response model, a third-order response model represented by the following equation may be used.

[Equation 16] Here, λ ₂ , λ ₁ , and λ ₀ are time constants that determine the quick response and stability of the third-order response system, and should be selected so that at least a stable system is obtained.

FIG. 11 shows a typical response example of this third-order response model. At this time, the above equation (6) is changed to the following equation.

[Equation 17] Therefore, the filter 22 in FIG. 3 is a fourth-order filter represented by the following mathematical formula.

(Equation 18) Then, the filter 23 becomes a fourth-order filter represented by the following mathematical formula.

[Formula 19]

In general, the higher the model selected, the more quickly the disturbance estimator 8 can be constructed. However, in order to set up a stable and highly responsive system, the task of selecting the coefficients that determine the characteristics of the model becomes complicated, the structure of the obtained disturbance estimator becomes complicated, and the structure is complicated. Has little advantage in selecting an excessively high-order model because of the small improvement in quick response. Therefore, in practice, it is preferable to select a first-order to third-order model.

FIG. 12 shows a modified example of the indirect push-up type hydraulic elevator of FIG. 2 according to the present invention. That is, in the embodiment shown in FIG. 2, the pressure of the fluid pressure cylinder as the driving force is detected. However, the pressure sensor 21
Are often noisy in their output and are often expensive. Therefore, in the modified example of FIG. 12, the rope tension detected by the rope tension sensor 26 installed at the car-side rope end is used as the driving force without using the pressure of the fluid pressure cylinder. Therefore, the driving force command converter 7 becomes the rope tension command converter 27.

Further, FIG. 13 shows another modification according to the present invention. In the other modified example, unlike the modified example of FIG. 12, the rope tension sensor 26 is installed not at the car side rope end but at the hoistway side rope end. As an example of the rope tension sensor 26, for example, the mechanism shown in FIG. 14 may be used.

In the mechanism of FIG. 14, the strain sensor 30 is attached to the thimble rod spring 31 inserted between the thimble rod 32 connected to the end of the rope 28 and the car suspension 51.
Is installed. By detecting the strain of the thimble rod spring 31 by this strain sensor 30, the rope 2
A tension of 8 can be measured. In general, strain sensor 3
Although the output of 0 contains a lot of noise, it can be manufactured at low cost, so this configuration is effective when it is necessary to keep the manufacturing cost low. Further, since the mass of the thimble rod 32 is considered to be sufficiently small, the rope tension is similarly measured by detecting the amount of expansion and contraction of the thimble rod spring 31 by the displacement sensor 33 as in the mechanism shown in FIG. can do. Generally, the noise included in the output of the displacement sensor is very small, and thus this configuration is effective when the noise adversely affects the control characteristics.

Next, FIG. 16 shows an elevator apparatus according to another embodiment of the present invention. The elevator apparatus shown in FIG. 16 is applied to the indirect push-up type fluid pressure elevator shown in FIGS. 2, 12 and 13, but the present invention is applied to the indirect tension type fluid pressure elevator. . In this embodiment, when the car 1 is raised, one end of the rope 28 is fixed to the hoistway ceiling 34, the rope 28 is hung over the moving pulley 29a and the static pulley 29b, and the other end is fixed to the car 1. Then, the car 1 is raised by pulling the moving pulley 29a downward, and the car is lowered by pulling the moving pulley 29a upward by the weight of the car 1. In this system, the cylinder 19
Since only the pulling force acts on the plunger 35 and it is not necessary to consider the buckling, the plunger 35 can be made small in diameter and can be driven by a fluid having a relatively high pressure with a small pressure receiving area. However, when the pressure receiving area becomes small, the equivalent rigidity of the fluid generally decreases, so that the influence of the vibration of the mechanical section becomes large, and the tendency of deterioration of the riding comfort becomes remarkable.
Therefore, such an indirect tension type fluid pressure elevator has the effect of the present invention as compared with the above indirect pushup type fluid pressure elevator, that is, by using the disturbance estimator 8.
The effects of improving the riding comfort, shortening the landing time, improving the landing accuracy, shortening the moving time by increasing the maximum acceleration, and reducing the malfunction of the emergency stop device are further enhanced.

FIG. 17 shows an elevator apparatus according to still another embodiment of the present invention. Figure 2 above,
In the embodiment shown in FIGS. 12, 13 and 16, the rotational speed of the fixed displacement pump 17 is adjusted and controlled by the variable speed rotary motor 3 when driving the fluid pressure cylinder. In this embodiment, when raising the car 1, the lowering control valve 18b is kept closed and the fixed displacement pump 17 is rotated by the fixed rotation speed motor 36. Then, by adjusting the opening degree of the rising control valve 18a, the flow rate of the fluid sent to the fluid pressure cylinder 19 through the check valve 37 is controlled, and the excess flow rate is returned to the tank 38. On the other hand, when lowering the car 1, the raising control valve 18b
Keeps the motor open while the motor 36 is stopped. Then, the flow rate of the fluid returned from the fluid pressure cylinder 19 to the tank 38 is controlled by adjusting the opening degree of the lowering control valve 18a. The fluid pressure drive device as described above is generally called a bleed-off control system.

In this embodiment, the target car speed from the target car speed generator 5 is the control valve opening converter 39.
Is converted into a control valve target opening degree by the subtractor 9, the actual control valve opening degree is subtracted, and the adder 11 performs pressure fluctuation component feedback and disturbance compensation before being passed to the control valve drive device 40. . Then, the control valve drive device 40 drives the control valves 18a and 18b in the opening direction or the closing direction according to the input value. As described above, the present invention can be similarly applied to the fluid pressure elevator driven by the bleed-off control system controlled by the ascending control valve 18a and the descending control valve 18b.

Generally, as in the embodiment shown in FIGS. 2, 12, 13 and 16 above, the variable speed rotary motor 3
The method of controlling the rotation speed of the fixed displacement pump 17 by means of the above shows a higher response than the above bleed-off control method
However, the motor 3 and the motor controller 13 become expensive. Therefore, when the need for high responsiveness is small and there is a strong demand for manufacturing cost reduction, it is effective to adopt the bleed-off control method and apply the present invention as in the embodiment of FIG. .

Further, FIG. 18 shows an elevator apparatus according to still another embodiment of the present invention. In the above-described embodiments of FIGS. 2, 12, 13, 16 and 17, the present invention is applied to a fluid pressure elevator, but in the present embodiment, the present invention is further applied to a traction type. It is applied to an elevator. In this method, the rope 28 is stretched over the sheave 41 and the warp wheel 52 installed on the roof of the building, and the car 1 and the counterweight 42 are arranged at both ends thereof. Then, the car 1 is moved up and down by rotating the sheave using the variable speed rotary motor 3 driven by the motor controller 13 including an inverter and the speed reducer 43. In addition,
In this embodiment, the rope tension sensor 26 causes the rope 28
Is used as the driving force. For this reason,
The driving force command converter 7 in FIG. 1 is a rope tension command converter 27.
Becomes The output of the disturbance estimator 8 of the present embodiment is the sum of the friction of the speed reducer 43 occurring in the traction elevator, the torque ripple of the motor 3, and the expansion and contraction of the rope 28.

Further, FIG. 19 shows a modified example of the other embodiment of FIG. 18 according to the present invention. In the embodiment of FIG. 18, the rope is used for applying the present invention to a traction type elevator. Although the tension of 28 is detected and used as the driving force, instead of this, a torque sensor 44 is provided between the speed reducer 43 and the sheave 41 in this embodiment, and the torque signal detected thereby is used as the driving force. It is a thing. Therefore, the driving force command converter 7 in FIG. 1 is a torque command converter 45. This torque sensor 44 is generally expensive, but unlike the case where the rope tension sensor 26 of FIG. 19 is used, since it can be arranged in the machine room on the top of the building where the control device is installed, it is protected from signal noise. It will be easier to do.

FIG. 20 shows still another embodiment according to the present invention. 2, FIG. 12, FIG. 13, and FIG.
6 and FIG. 17, the present invention is applied to a fluid pressure elevator, and further, the embodiments of FIGS. 18 and 19 are shown to be applied to a traction type elevator. However, in the present embodiment, the rope type is used. The elevator apparatus which is an example applied to a linear elevator is shown.
In this method, a pulley 29c arranged on the ceiling of the hoistway,
Rope 28 is hung on 29d, and the car 1 is mounted on both ends of the rope.
And a counterweight 42 is arranged. And the counterweight 42
A counterweight 4 with a variable speed linear motor 46 provided inside.
2 is driven to raise and lower the car 1. In this embodiment, the rope tension sensor 26 detects the tension of the rope 28 and uses it as the driving force. Therefore, the driving force command converter 7 in FIG. 1 is the rope tension command converter 27. The output of the disturbance estimator 8 of this embodiment is the sum of the torque ripple of the linear motor 46 generated in the rope type linear elevator, the expansion and contraction of the rope 28, and the like.

FIG. 21 shows another embodiment according to the present invention. This embodiment is similar to FIG.
Although it is applied to an indirect push-up type fluid pressure elevator, however, unlike the embodiment shown in FIG. 2, the arithmetic unit 15, the pressure command converter 20 and the pressure sensor 21 are not provided. That is, the method is one in which only the disturbance compensation by the disturbance estimator 8 is performed without returning the fluctuation component of the driving force. The structure of the disturbance estimator 8 may be the same as that of the embodiment shown in FIG.

The ideal speed response model of the control apparatus according to this embodiment is constructed as a second order vibration system, and the speed waveform when the elevator is actually driven is shown in FIG. 22 and its acceleration waveform is shown in FIG. Show. As is clear from these two figures, it can be confirmed that the vibration suppressing effect, the overshoot suppressing effect, and the steady-state characteristic are all good.
However, comparing the velocity waveform and the acceleration waveform of FIGS. 22 and 23 with the waveforms of FIGS. 7 and 8 which are the execution results of the embodiment in which the pressure fluctuation component feedback is also used, the difference from the target velocity and the target acceleration are compared. It can be seen that the difference between and is slightly larger. This is because, in the embodiment of FIG. 21, a third-order low-pass filter is used when designing the disturbance estimator 8, so that the response of the disturbance estimator 8 in the high frequency region is lowered. On the other hand, when the pressure fluctuation component feedback is also used as in the embodiment of FIG. 2, the pressure fluctuation component feedback compensates the compensation in the high frequency region where the disturbance estimator 8 cannot respond, so the velocity and acceleration tracking characteristics are Will be good.

However, since the difference between the responses of the above two methods is very small, the embodiment of FIG. 2 is used when the accuracy of the target trajectory is high, while the driving force detecting sensor is omitted and the method is simple. When it is desired to construct an inexpensive control device, the configuration of the embodiment shown in FIG. 21 may be used. Further, the method of performing only the disturbance compensation by the disturbance estimator 8 without returning the fluctuation component of the driving force as in the embodiment shown in FIG. 21 is applicable not only to the fluid pressure elevator but also to the traction type elevator and the rope type linear elevator. Is also applicable.

Finally, all of the above-mentioned embodiments have only described a fluid pressure elevator for raising and lowering a car by supplying or discharging a pressure fluid to a fluid pressure actuator. It is not limited to a pressure elevator, but a traction type elevator that raises and lowers a car and a counterweight that are hung at both ends of the sheave by rotating the sheave with a rotary motor, and is also placed on the ceiling. It goes without saying that the present invention is also applicable to a rope-type linear elevator of a type in which a car and a counterweight are hung at both ends of a pulley, and a car is lifted and lowered by the generated force of a linear motor provided in the counterweight.

[0057]

As is apparent from the above detailed description, according to the elevator control device of the present invention, vibrations in various types of elevators including a fluid pressure elevator, a traction type elevator, and a rope type linear elevator, in particular, It becomes possible to suppress the vibration in the vertical direction, which improves the ride comfort of the elevator, shortens the landing time, and improves the landing accuracy.
Moreover, it is possible to increase the maximum acceleration and shorten the elevator travel time, and by suppressing the elevator vibration, it is possible to reduce the malfunction of the emergency stop device. To do.

[Brief description of drawings]

FIG. 1 is a block diagram showing an outline of an elevator apparatus for realizing an elevator control method according to the present invention.

FIG. 2 is a diagram showing an embodiment in which the elevator control device according to the present invention is applied to an indirect lift type fluid pressure elevator.

FIG. 3 is a circuit diagram showing an example of a specific structure of a disturbance estimator of the elevator control device shown in FIG.

4 is used to design the disturbance estimator of FIG.
It is a figure which shows the step response of a next model.

5 is a diagram showing an example of frequency response gain characteristics of a filter which constitutes the disturbance estimator of FIG.

FIG. 6 is a diagram showing an example of frequency response gain characteristics of a filter which constitutes the disturbance estimator of FIG. 3 again.

FIG. 7 is a diagram showing a speed response when a fluid pressure elevator is driven by the elevator control device shown in FIG. 2;

8 is a diagram showing an acceleration response when a fluid pressure elevator is driven by the elevator control device shown in FIG. 2;

9 is a flowchart showing an algorithm for realizing the disturbance estimator of FIG. 3 by a digital circuit.

FIG. 10 is a diagram showing a step response of a first-order model used when designing the disturbance estimator of FIG. 3;

FIG. 11 is a diagram showing a step response of a cubic model used when designing the disturbance estimator of FIG. 3;

FIG. 12 is a diagram showing an embodiment in which the elevator control device according to the present invention is applied to an indirect push-up type fluid pressure elevator.

13 is a diagram showing a modified example of the embodiment applied to the indirect push-up type fluid pressure elevator shown in FIG.

FIG. 14 is a diagram showing a structure of an apparatus for detecting rope tension by measuring a strain amount of the thimble rod spring shown in FIG.

15 is a diagram showing a structure of a device for detecting rope tension by measuring the amount of displacement of the thimble rod spring shown in FIG.

FIG. 16 is a diagram showing another embodiment in which the elevator control device according to the present invention is applied to an indirect tension type fluid pressure elevator.

FIG. 17 is a diagram showing still another embodiment in which the elevator control device according to the present invention is applied to an indirect push-up type fluid pressure elevator driven by a bleed-off control system.

FIG. 18 is a diagram showing still another embodiment in which the elevator control device according to the present invention is applied to a traction elevator.

19 is a diagram showing a modified example of the embodiment applied to the traction elevator shown in FIG.

FIG. 20 is a diagram showing yet another embodiment in which the elevator control device according to the present invention is applied to a rope-type linear elevator.

FIG. 21 is a view showing still another embodiment in which the elevator control device according to the present invention is applied to an indirect lift type fluid pressure elevator.

22 is a diagram showing a speed response when a fluid pressure elevator is driven by the elevator control device shown in FIG. 21.

FIG. 23 is a diagram showing an acceleration response when the fluid pressure elevator is driven by the elevator control device shown in FIG. 21.

FIG. 24 is a diagram showing a typical example of a car target speed when driving an elevator.

FIG. 25 is a diagram showing a typical example of a car target acceleration when driving an elevator.

FIG. 26 is a diagram showing a typical example of a conventional fluid pressure elevator control device.

FIG. 27 is a diagram showing a speed response when a fluid pressure elevator is driven by the control device according to the related art shown in FIG. 26.

FIG. 28 is a diagram showing an acceleration response when a fluid pressure elevator is driven by the control device according to the related art of FIG. 26.

FIG. 29 is a diagram showing another example of a conventional control device that suppresses vibration of a fluid pressure elevator.

FIG. 30 is a diagram showing a speed response when a fluid pressure elevator is driven by the control device according to the related art shown in FIG. 29.

FIG. 31 is a diagram showing an acceleration response when a fluid pressure elevator is driven by the control device according to the related art shown in FIG. 29.

FIG. 32 is a diagram showing the structure of a control device for suppressing vibration of a fluid pressure elevator proposed in the prior application of the present application.

33 is a diagram showing a speed response when the fluid pressure elevator is driven by the control device of FIG. 32.

34 is a diagram showing an acceleration response when the fluid pressure elevator is driven by the control device of FIG. 32.

[Explanation of symbols]

 1 Elevator Car 2 Power Transmission Unit 3 Motor 4 Elevator Control Device 5 Car Target Speed Generator 6 Motor Rotation Speed Converter 7 Driving Force Command Converter 8 Disturbance Estimator 9 Difference Unit 10 Motor Speed Detection Device 11 Adder 12 Gain device 13 Motor controller 14 Car speed detector 15 Arithmetic unit 16 Driving force detector 17 Pump 18 Control valve 19 Fluid pressure cylinder 20 Pressure command converter 21 Pressure sensor 22 Filter 23 Filter 24 Difference unit 25 Adder 26 Rope tension sensor 27 Rope tension command converter 28 Rope 29 Pulley 30 Strain sensor 31 Thimble rod spring 32 Thimble rod 33 Displacement sensor 34 Hoistway ceiling 35 Plunger 36 Fixed rotation motor 37 Check valve 38 Tank 39 Control valve Openness converter 40 Control valve Drive equipment Position 41 Sheave 42 Counterweight 43 Speed reducer 44 Torque sensor 45 Torque command converter 46 Linear motor 47 Gain device 48 Subtractor 49 Filter 50 Subtractor 51 Riding car suspension 52 Warping wheel

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Haruo Watanabe 502 Jinritsu-cho, Tsuchiura-shi, Ibaraki Machinery Research Institute, Hiritsu Manufacturing Co., Ltd. In the Mechanical Research Laboratory (72) Inventor Eiichi Sasaki 1070 Ige, Hitachinaka City, Ibaraki Prefecture Stock Company Hitachi Ltd. Mito Factory

Claims (26)

[Claims] 1. A car target speed generating means for generating a car target speed that is a target speed of a car of an elevator, and an elevator driven based on the car target speed from the car target speed generating means. For driving the elevator car, the driving force control signal generating unit for generating a driving force control signal for controlling the driving force for driving the elevator car, and the car speed detecting unit for detecting the moving speed of the elevator car. An elevator control device comprising a control system for controlling a driving force generating means for generating a driving force, further comprising: a car target speed from the car target speed generating means and the car speed detecting means. Disturbance estimating means for estimating the disturbance acting on the elevator based on the moving speed of the elevator car from the An elevator control device, characterized in that the estimated disturbance acting on the elevator obtained by the stage is negatively fed back to the control system. 2. The elevator control device according to claim 1, further comprising a driving force detection unit that detects a driving force applied to a car of the elevator, and the driving force detection unit detects the driving force. A control device for an elevator, characterized in that it is configured to negatively feed back to the control system including a driving force. 3. The elevator control device according to claim 2, further comprising a driving force commanding unit that commands a driving force applied to a car of the elevator, and the driving force from the driving force commanding unit. A control device for an elevator, characterized in that the command is configured to be positively fed back to the control system. 4. An elevator car target speed generating device, a car target speed converting device to a motor speed command, a car speed detecting device, and a car target speed driving force command. A device for converting, a device for detecting a car driving force, and a disturbance estimator, and the value of the disturbance acting on the elevator is calculated by the disturbance estimator using the car target speed and the actual car speed, and An elevator control device, characterized in that an estimated disturbance value is negatively fed back to a motor rotation speed command, and a difference between a driving force command value and an actual driving force is negatively fed back to a motor rotation speed command. 5. The elevator control device according to claim 4, wherein the fluid pressure cylinder is expanded or contracted by controlling the flow rate of fluid supplied to or discharged from the fluid pressure cylinder, and directly or indirectly to the fluid pressure cylinder. Targeting a fluid pressure elevator that raises and lowers a car that is electrically connected, packing friction that acts on the fluid pressure elevator, pressure loss in piping and pump parts, pump leakage, rope expansion and contraction, and working fluid elasticity An elevator control apparatus, wherein the sum of the effects of the above is estimated by the disturbance estimator to perform feedback compensation. 6. The elevator control device according to claim 5, wherein the device for converting the car target speed into a driving force command is a device for converting into a cylinder pressure command, and detects the car driving force. An elevator control device characterized in that the device is a device for detecting a cylinder pressure, and is configured such that a difference between a cylinder pressure command value and an actual cylinder pressure is negatively fed back to a motor rotation speed command. 7. The elevator control device according to claim 5, wherein the device that converts the car target speed into a driving force command is a device that converts into a rope tension command,
The device for detecting the car driving force is a device for detecting rope tension, and is configured to negatively feed back the difference between the rope tension command value and the actual rope tension to the motor rotation speed command. Elevator control device. 8. The elevator control device according to claim 4, wherein the rope is stretched over a sheave driven by a motor through a speed reducer, and a cage and a counterweight are installed at both ends of the rope. However, a traction elevator that raises and lowers the car by adjusting the sheave rotation speed by the motor is a control target, and friction of a speed reducer acting on the traction elevator, a torque ripple of a motor, and an influence of expansion and contraction of a rope. An elevator control device, characterized in that the sum of is estimated by a disturbance estimator to perform feedback compensation. 9. The elevator control device according to claim 8, wherein the device that converts the car target speed into a driving force command is a device that converts into a rope tension command,
The device for detecting the car driving force is a device for detecting rope tension, and is configured such that the difference between the rope tension command value and the actual rope tension is negatively fed back to the motor rotation speed command. Elevator control device. 10. The elevator control device according to claim 8, wherein the device that converts the passenger car target speed into a driving force command is a device that converts into a motor generated torque command, and detects the passenger car driving force. Is a device for detecting the motor generated torque, and is configured to negatively feed back the difference between the motor generated torque command value and the actual motor generated torque to the motor rotation speed command. apparatus. 11. The elevator control device according to claim 4, wherein the rope is hung over a pulley arranged on the ceiling of the hoistway, and a cage and a counterweight are installed at both ends of the rope, and fishing is performed. The torque ripple of the linear motor that acts on the rope type linear elevator is controlled by controlling the rope type linear elevator that raises and lowers the car by driving the linear motor installed in the combined weight.
An elevator control device, characterized in that the disturbance estimator estimates the sum of the effects of expansion and contraction of the rope to perform feedback compensation. 12. The elevator control device according to claim 4, wherein the device that converts the car target speed into a driving force command is a device that converts into a rope tension command, and the car driving force is converted into a rope tension command. 5. The elevator according to claim 4, wherein the detecting device is a device for detecting the rope tension, and the difference between the rope tension command value and the actual rope tension is negatively fed back to the motor rotation speed command. Control device. 13. An elevator car equipped with a device for generating a car target speed of the elevator, a device for converting the car target speed into a motor rotation speed command, a device for detecting the car speed, and a disturbance estimator. Elevator control characterized in that the disturbance value is calculated by the disturbance estimator using the car target speed and the actual car speed, and the estimated disturbance value is negatively fed back to the motor rotation speed command. apparatus. 14. The elevator control device according to claim 13, wherein the fluid pressure cylinder is expanded and contracted by controlling the flow rate of fluid supplied to or discharged from the fluid pressure cylinder.
A control target is a fluid pressure elevator that raises and lowers a car directly or indirectly connected to the fluid pressure cylinder,
The above-mentioned disturbance estimator is used to estimate the sum of the effects of packing friction acting on the fluid pressure elevator, pressure loss of the pipe and pump, leakage of the pump, expansion and contraction of the rope, and elasticity of the working fluid for feedback compensation. An elevator control device characterized in that 15. The elevator control device according to claim 13, wherein the rope is stretched over a sheave driven by a motor via a speed reducer, and a cage and a counterweight are installed at both ends of the rope. The traction type elevator that raises and lowers the car by adjusting the sheave rotation speed by the motor is a control target, and the friction of the speed reducer acting on the traction type elevator, the torque ripple of the motor, and the influence of the expansion and contraction of the rope. An elevator control device characterized in that the sum is estimated by a disturbance estimator to perform feedback compensation. 16. The elevator control device according to claim 13, wherein the rope is wound around a pulley arranged on the ceiling of the hoistway, and a balance and a balance weight are installed at both ends of the rope. A rope-type linear elevator that raises and lowers a car by driving a linear motor installed inside is controlled, and the sum of the torque ripple of the linear motor that acts on the rope-type linear elevator and the influence of rope expansion and contraction is calculated. An elevator control device characterized by a feedback estimator for feedback compensation. 17. The elevator control apparatus according to claim 4 or 13, wherein the disturbance estimator is configured by a second-order filter. 18. The elevator control apparatus, wherein the disturbance estimator according to claim 4 or 13 is configured by a third-order filter. 19. The elevator control apparatus, wherein the disturbance estimator according to claim 4 or 13 is configured by a fourth-order filter. 20. The disturbance acting on the elevator is estimated from the target speed of the car and the detected moving speed of the car, and the estimated disturbance acting on the elevator obtained by the estimation is negatively fed back to the driving force control system of the car. An elevator control method characterized by the above. 21. The elevator control method according to claim 20, wherein the driving force applied to the elevator car is detected, and the detected driving force is also negatively fed back to the driving force control system. Characteristic elevator control method. 22. The elevator control method according to claim 21, wherein a driving force command for instructing a driving force applied to a car of the elevator is generated from a target speed of the car, and the driving force command is generated. A method of controlling an elevator, characterized in that positive feedback is provided to the driving force control system. 23. The elevator control method according to claim 20, wherein the disturbance acting on the elevator is estimated based on a difference between the target speed of the car and the detected car moving speed. Characteristic elevator control method. 24. The elevator control method according to claim 20, wherein the estimation of the disturbance acting on the elevator is obtained as a vibration system of a second order or a higher order. . 25. The elevator control method according to claim 20, wherein the fluid pressure cylinder is expanded or contracted by controlling the flow rate of the fluid supplied to or discharged from the fluid pressure cylinder, or directly to the fluid pressure cylinder. A control method for an elevator, wherein a control target is a fluid pressure elevator that raises and lowers an indirectly connected car. 26. The elevator control method according to claim 20, wherein a rope is hung on a sheave driven by a motor through a speed reducer, and a cage and a counterweight are installed at both ends of the rope. Then, a traction type elevator that raises and lowers the car by adjusting the sheave rotation speed with the motor is a control target.