JPH1025069A - Speed control device for elevator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To simplify a balance compensation circuit, by correcting the deviation of an unbalanced load to output a balance direction signal, and determining a balance signal position compensating signal in accordance with the cage position by a torque current direction signal and a balance direction signal direct before cage stopping, to correct the balance direction signal by the compensating signal at the time of the next start. SOLUTION: In a balance compensation circuit 31, a value, obtained by subtracting a balance direction signal WOUT from a torque current direction value WW direct before cage stopping by an adder 23, as a balance signal position compensating signal WERR is memorized in a RAM 10c. At the time of the next start, the value of the WERR memorized in the RAM 10c is added to a balance direction signal WOUT at the time of the next travel by an adder 24, to output a balance signal WADD by turning ON a balance signal latch switch 22, to be added to a torque current direction signal ws obtained by outputting the balance signal SADD by an operation amplifier 18 by an adder 19, and a torque current direction value WW, at a stationary time needed at the time of the next start, can be obtained to be inputted into an operation part 20, and a torque current direction signal 10a is outputted to an electric power converting circuit, to control speed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevator speed control device that performs speed control using a load detection signal of a load in a car.

[0002]

2. Description of the Related Art A conventional elevator speed controller of this type is, for example, shown in FIG. In FIG. 26, 1 is an elevator car, 2 is a counterweight, 3 is a rope wrapped around a drive sheave 4, and a car 1 and a counterweight 2 are respectively connected to both hanging ends of the rope 3. ing. Reference numeral 5 denotes an electric motor that drives the drive sheave 4, and is connected to a three-phase power supply 6 via a power conversion circuit 7. 8 is a pulse encoder that generates a pulse proportional to the moving distance of the car 1 from the rotation of the electric motor 5, 9 is a pulse encoder 8
The counting circuit 10 counts the pulses and outputs a speed feedback signal 9a. The microcircuit 10 takes in the speed feedback signal 9a from the counting circuit 9, performs predetermined arithmetic processing, and outputs a torque current command signal 10a to the power conversion circuit 7. On a computer,
As shown in FIG. 27, the CPU 10a, the ROM 10b, the RA
M10c, an input port 10d, and an output port 10e.

[0003] 1a, 1b, 1c are plates attached to the hoistway to recognize the position of the car, 28 is
This is a car position detector that is provided on the car and outputs a detection signal when facing the plates 1a, 1b, and 1c. 11
A load detector that detects a load in the basket and outputs a scale detection signal 11a corresponding to the load, and 12 is a scale detection signal 11a.
Is an equilibrium load input adjustment circuit that corrects the deviation under a balanced load to create a balance torque signal 12a, and 13 is an unbalanced load input adjustment circuit that corrects the deviation under an unbalanced load and creates a balance command signal 13a. . 14 is a car position signal 15 at the time of starting
a, and a balance signal position compensation signal 1 according to the car position.
4a is a balance signal adjustment circuit that outputs 4a to the microcomputer 10.

FIG. 28 shows a circuit configuration of speed control means of the microcomputer 10. Microcomputer 1
The speed command signal 16a calculated at 0 and the speed feedback signal 9a input from the outside are added by the adder 17, and then amplified by the operational amplifier 18. The signal amplified by the operational amplifier 18 is added to the balance command signal 13 a by the adder 19, and the added signal and the balance signal position compensation signal 14 a are input to the calculation unit 20. 10a is output.

Next, the operation will be described. The balance detection signal balance load adjustment detected by the speed control device as described above adjusts the load in the car to a value equivalent to the counterweight 2, and moves the car 1 to the floor corresponding to the intermediate position of the hoistway. The gain of the balanced load input adjusting circuit 12 is adjusted by a rotary switch or the like so that the scale input signal at this time becomes exactly zero. In addition, the unbalanced load adjustment of the detected scale signal is performed by setting the load in the car to no load and similarly setting the gain of the unbalanced load input adjustment circuit 13 so as not to cause a shock at the time of starting at the floor corresponding to the intermediate position of the hoistway. Is adjusted with a rotary switch or the like. Next, in the elevator using the principle of sloping, when the car 1 is moved to the top floor and when the car is moved to the bottom floor, even if the load in the car is the same weight as the counterweight 2, Since the weight of the main rope 3 suspending the car and the counterweight 2 and the control cable suspended from the car 1 change depending on the position of the car, the load imbalanced on the sheave 4 (hereinafter referred to as unbalance) Call) occurs.

Therefore, as a means for correcting the imbalance due to the car position, a weighing signal adjusting circuit 14 is separately provided in FIG. 14, and the car is moved to the top floor and the bottom floor so that there is no shock at the start at each position. Thus, the gain of the scale signal adjustment circuit 14 is adjusted by a rotary switch or the like. FIG. 29 shows the car 1 by the scale signal adjustment circuit 14.
FIG. 9 is a diagram showing the compensation amount of the imbalance of the counterweight, in which the car position signal 15a is taken in at the time of starting, so that the imbalance amount can be linearly compensated according to the car position.

[0007]

When the balance signal adjusting circuit 14 for correcting such imbalance due to the car position is added, the car position information is required, which not only complicates the balance compensation circuit but also reduces the time required for installation. Adjustment of the compensation circuit is required, and the adjustment work is also troublesome. In addition, if the adjustment is not accurate, there is a problem that the starting comfort such as a start shock is adversely affected.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and simplifies a balance compensation circuit for compensating an unbalance amount between a car side and a counterweight side depending on a car position, and facilitates installation adjustment. It is another object of the present invention to provide an elevator speed control device capable of preventing start-up shock due to an adjustment error of the compensation circuit.

[0009]

According to a first aspect of the present invention, there is provided a speed control device for an elevator, comprising: a basket connected to one end of a rope via a sheave driven by a hoist; An elevator speed control device having a connected counterweight and inputting a scale detection signal output from load detection means for detecting the load of the car to speed control means for controlling the speed of the car. An unbalanced load adjusting unit that corrects the deviation of the unbalanced load based on the balance detection signal from the load detection unit and outputs a balance command signal, and a torque current of the speed control unit immediately before the car stops. A weighing signal position compensation signal corresponding to the car position is obtained based on the weighing command signal from the unbalanced load adjusting means and the weighing command signal from the unbalanced load adjusting means. Those having a balance compensation circuit for correcting the issue.

The elevator speed control device according to a second aspect of the present invention includes a basket connected to one end of the rope and a counterweight connected to the other end of the rope via a sheave driven by a hoist. A speed control device for an elevator, wherein the speed control device is provided on the car and configured to input a scale detection signal output from load detection means for detecting the load of the car to speed control means for controlling the speed of the car. An unbalanced load adjusting unit that corrects the deviation at the time of the unbalanced load based on the balance detection signal from the load detection unit and outputs a balance command signal, and a car stop determination unit that determines whether the car has stopped, Based on the torque current command signal of the speed control means and the weighing command signal from the unbalanced load adjustment means when the car was judged to have stopped by the car stop judgment means, the car position was determined. Compensation signal output means for outputting a signal position compensation signal; and storage means for storing a weighing signal position compensation signal from the compensation signal output means. Based on the command signal and the torque signal command signal when the car stops based on the balance signal position compensation signal stored in the storage means, the bias of the load applied to the sheave is corrected according to the position of the car. Is what you do.

The speed control device for an elevator according to a third aspect of the present invention is the elevator speed control device according to the second aspect, further comprising noise removal means for removing noise included in the balance signal position compensation signal output from the compensation signal output means. And outputting a balance signal position compensation signal from which noise has been removed from the noise removing means to the storage means.

According to a fourth aspect of the present invention, in the elevator speed control apparatus according to the second aspect of the present invention, the car stop determining means determines whether the car has stopped based on a brake control signal for controlling the brake of the hoist. It is configured to judge.

According to a fifth aspect of the present invention, in the elevator speed control apparatus according to the second aspect of the present invention, the car stop judging means is calculated based on a pulse signal from a pulse generating means connected to the driving means of the hoist. It is configured to judge whether the car has stopped based on the actual speed signal of the car and a running mode signal indicating the running state.

The elevator speed control device according to a sixth aspect of the present invention is the elevator speed control device according to the second aspect of the present invention, wherein the starting floor of the car is based on a pulse signal from a pulse generating means connected to the driving means of the hoist. Is calculated from the remaining distance value to the target floor, and whether the car has stopped is determined based on the remaining distance value.

The elevator speed control device according to a seventh aspect of the present invention is the elevator speed control device according to the second aspect, wherein the car stop judging means is provided with a car position detection signal and a pulse generation means connected to the driving means of the hoist. It is configured to determine whether the car has stopped based on the actual speed signal of the car calculated based on the pulse signal.

According to an eighth aspect of the present invention, in the elevator speed control apparatus according to the second to seventh aspects, the storage means stores the scale signal position compensation signal from the compensation signal output means in accordance with the car position signal. And a weighing signal position compensation signal average value calculating means for calculating an average value for each floor of the weighing signal position compensation signal stored in the storage means is provided. Of the scale signal position compensation signal.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 FIG. Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same reference numerals as those in FIGS. 26 and 28 showing the conventional example indicate the same or corresponding components. FIG.
FIG. 2 is an overall configuration diagram of the elevator speed control device of the present invention, FIG. 2 is a configuration diagram of speed control means of the microcomputer 10, and FIG. 3 is a diagram when there is imbalance due to the car position (lowest floor / top floor position, etc.). FIG. 4 is a waveform diagram of the torque current command value after the balance compensation is added, and FIG. 4 is a flowchart of the operation.

FIG. 1 shows a conventional example in which the scale signal adjustment circuit 14 of FIG. 26 is omitted. In FIG. 2, reference numeral 31 denotes a balance compensation circuit that takes in a brake control signal 21a, a torque current command value WW based on the speed command signal 16a and the speed feedback signal 9a, and a balance command signal WOUT (13a), and outputs a balance signal. Is a scale signal latch switch that latches (stores) the value of. In the balance compensation circuit 31, a compensation signal 23 subtracts the balance command signal WOUT from the torque current command value WW based on the speed command signal 16a and the speed feedback signal 9a output from the adder 19 and outputs a balance signal position compensation signal WERR. The adder 10c as an output means is an adder 23.
RAM, which is a storage means for storing the balance signal position compensation signal WERR output from the CPU, adds the balance signal position compensation signal WERR output from the RAM 10c to the balance command signal WOUT at the next run, and outputs the balance signal WADD. It is an adder.

Next, an outline of the operation will be described with reference to FIGS. In the balance compensation circuit 31, the brake control signal 21
The stop timing of the car is determined from a, and a value obtained by subtracting the weighing command signal WOUT (13a) from the torque current command value WW immediately before the car is stopped by the adder 23 is stored in the RAM 10c as a weighing signal position compensation signal WERR. Next, FIG. 3A shows a waveform diagram of the torque current command value after the balance compensation is added, and FIG. 3B shows a speed waveform diagram corresponding to FIG. 3A. In the figure, the curve indicating the value of the torque current command signal during running is obtained by adding the scale command signal WOUT. At the time of the current stop, the torque current command value WW when the vehicle stands still is the value of the scale command signal WOUT. It is obtained by adding the value of the balance signal position compensation signal WERR.

At the time of the next stop, the torque current command value WW at the time of stopping is determined by the next weighing command signal WOUT.
To the value of the balance signal position compensation signal WERR at the time of the current stop. As described above, the static torque component remains in the torque current command value WW immediately before the normal stop, and the balance command signal WOUT and the balance signal position compensation signal WER which is an unbalance component corresponding to the car position are included in the static torque component.
Both R are included. Therefore, the torque current command value W
If the balance command signal WOUT is subtracted from W, the balance signal position compensation signal WERR of the car stop position remains.

Therefore, at the next start-up, when the weighing signal latch switch 22 is turned on by the weighing command signal 13a, it is determined that the weighing signal is to be started, and the WERR stored in the RAM 10c is determined.
Is added to the weighing command signal WOUT for the next run by the adder 24 to output a weighing signal WADD, and the weighing signal WADD is added to the torque current command signal WS output from the operational amplifier 18 by the adder 19, A torque current command value WW required for standing still at the time of startup is obtained. The torque current command value WW is input to the calculation unit 20, and the calculation unit 20 outputs a torque current command signal 10a to the power conversion circuit 7 to perform speed control.

Next, the operation of the balance compensation circuit 31 will be described with reference to the flowchart of FIG. In step S1, it is determined whether or not the vehicle is traveling by looking at the traveling recognition signal created for the speed control calculation. If the vehicle is running, the process proceeds to step S2. In step S2, it is determined whether or not the movement of the car has stopped based on the brake control signal 21a. Note that the brake control signal 2
The reference numeral 1a designates that the brake is normally applied after a predetermined time has elapsed after the car has recognized the stop position, but is turned on at a timing shorter than the predetermined time.
When the brake control signal 21a is turned on, it is determined that the vehicle is about to stop, and the process proceeds to step S3. If not, the process proceeds to step S5.

In step S3, a balance signal position compensation signal WERR corresponding to the car position is obtained from the torque current command value WW and the balance command signal WOUT by the following equation (1). WERR = WW-WOUT (1) Next, in step S4, the W calculated in step S3.
The ERR is stored in the RAM 10c. Next, step S5
Then, the update condition of the balance compensation signal at the time of starting from the balance signal latch switch 22 shown in FIG. 2 is determined. Normally, the starting weighing value latches (stores) the value of the weighing command signal 13a (FIG. 1) at the time when the passenger's getting on and off immediately before the start is completed (immediately before the door closing command is issued), and adds the latched value to the torque current. By doing so, the starting shock due to the bias of the load at the time of starting is eliminated.

Accordingly, when the weighing signal latch switch 22 is turned on by the weighing command signal 13a, it is determined that the operation is started, and the flow advances to step S6 to latch (store) the value of the weighing command signal 13a. If the value latch signal is not ON, the process proceeds to step S7. In step S6, the new balance command signal 13 of the unbalanced load input adjustment circuit 13
The weight signal WADD is obtained by the following equation (2) from WOUT which is a and the weight signal position compensation signal WERR stored in the RAM 10c during the previous run. WADD = WOUT + WERR (2)

Next, in step S7, a torque current command value WW is obtained from the scale signal WADD created in step S6 and the torque current command signal WS of the speed control means by the following equation (3). WW = WS + WADD (3) Note that the balance signal position compensation signal WERR stored in the RAM 10c in step S4 is added to WOUT in step S6 and used at the next run, and in step S7 after step S4, before running. WER obtained when stopping
WADD is calculated using R.

As described above, the scale compensation circuit for compensating for the imbalance between the car side and the counterweight side depending on the car position can be simplified, and the installation adjustment can be easily performed. A start shock due to an adjustment error can be prevented.

Embodiment 2 FIG. In the first embodiment, the balance command signal 1 is used as the unbalance compensation value from the torque current command value WW.
Weighing signal position compensation signal WER obtained by subtracting the value of 3a
Although the value of R is used, in the present embodiment, the value of the balance signal position compensation signal WERR is further used as a compensation value for the imbalance during the next running by using the value obtained through the primary delay circuit. Things. Generally, in the speed control circuit, the speed feedback signal 9a contains noise of a low-frequency mechanical fine vibration component and appears as it is in the torque current command value without being attenuated. A more accurate imbalance amount can be obtained by removing the mechanical fine vibration component.

FIG. 5 shows the configuration of the balance compensation circuit 31a in the speed control means of the microcomputer 10. This configuration is obtained by adding a first-order delay circuit 25, which is the noise removing unit of FIG. 2 of the first embodiment. FIG. 6 shows the configuration of the primary delay circuit 25. In the figure, the deviation WERR between the input WERR and the output WERROUT is shown.
D2 is fed back, and WERRD3 which is a part for suppressing the change of the input.
And outputs WERROUT. The primary delay circuit 25 is a filter that cuts low frequency components.

Next, the operation of the balance compensation circuit 31a will be described with reference to the flowchart of FIG. In the figure, the difference from the flow chart of the first embodiment shown in FIG.
The unbalance amount in step S4a indicating the operation of
And the addition of the process of step S8, and the other means are the same as in the first embodiment, and will not be described. Step S8 is performed by the primary delay circuit 25.
WERR input from step S3 and WER output
The deviation WERRD2 is obtained from ROUT by the following equation (4), and WERRD3, which is the amount of suppression of the change in the input, is obtained from the WERRD2 and the time constant T by the equation (5).

Next, WERROUT3 is obtained from WERR according to equation (6), and this is output. WERRD2 = WERROUT−WERR (4) WERRD3 = WERRD2 × T (5) WERROUT = WERRD3 + WERR (6) Next, in step S4a, the weighing signal position compensation signal is stored in the RAM as WERR in the first embodiment, but here WERROUT. And stored in the RAM.

As described above, a more accurate amount of imbalance can be obtained, and a shock at the time of starting can be better prevented.

Embodiment 3 FIG. In the first embodiment, the timing immediately before the stop is determined based on the brake control signal 21a. However, in the present embodiment, a pulse encoder which is a pulse generating means directly connected to the electric motor 5 axis which is a driving means of the hoisting machine. The stop timing is recognized based on the actual speed feedback signal of the car calculated based on the pulse signal from Step 8, and the balance command signal 13a is subtracted from the torque current command (including the compensation value of the balance compensation circuit) immediately before the stop. This value is used as a scale signal position compensation signal for the stop floor.

FIG. 8 shows the configuration of the balance compensation circuit 31b in the speed control means of the microcomputer 10. In this configuration, instead of the brake control signal 21a input to the balance compensation circuit 31 of FIG.
a and a traveling mode signal 26 indicating the traveling state of the car (acceleration, constant speed, deceleration). The traveling mode signal 26 is generated by a speed command calculating unit that outputs the speed command signal 16a of the microcomputer 10.

Next, the operation of the balance compensation circuit 31b will be described with reference to the flowchart of FIG. The flowchart differs from the flowchart of the first embodiment in FIG. 4 in that the conditions for determining immediately before the stop in step S2a are changed from the brake control signal 21a to the traveling mode signal and the speed feedback signal 9a. In step S2a, it is determined whether or not the elevator has shifted to the deceleration mode based on the traveling mode signal. If the actual speed feedback signal value is 0 speed in the deceleration mode, it is determined that the car has stopped. The other steps S are the same as those in the first embodiment, and will not be described.

As described above, the scale compensation circuit for compensating the imbalance between the car side and the counterweight side depending on the car position can be simplified, the installation adjustment can be easily performed, and the compensation circuit can be adjusted. The starting shock due to the error can be prevented.

Embodiment 4 FIG. In the first embodiment, the timing immediately before the stop is determined based on the brake control signal 21a. However, in the present embodiment, the pulse signal of the pulse counting circuit 9 shown in FIG. The remaining distance value is calculated from the accumulated value of the pulse values, the stop timing is recognized from the remaining distance value, and the value obtained by subtracting the balance command signal 13a from the torque current command value WW immediately before the stop is used as the balance signal position compensation of the stop floor. It is a signal. FIG. 10 shows a balance compensation circuit 3 in the speed control means of the microcomputer 10.
1c shows a configuration. This configuration corresponds to the brake control signal 21a input to the balance compensation circuit 31 of FIG.
Instead of using a pulse signal from the pulse counting circuit 9 and further adding a remaining distance calculation circuit 27 as remaining distance calculation means for calculating the amount of movement of the car based on the pulse signal and calculating the remaining distance. It is.

Next, the operation of the balance compensation circuit 31 will be described with reference to the flowchart of FIG. 4 differs from the flowchart in FIG. 4 in that the condition for determining immediately before the stop in step S26 is changed to the remaining distance value instead of the brake control signal 21a, and in steps S9 and S10.
Is added. In step S9, the distance from the starting floor to the target floor is determined by the following equation (7) from the inter-floor distance and the like, and is set as the remaining distance value. Remaining distance = (| target floor−starting floor |) * inter-floor distance (7) In step S10, the deviation ΔP of the pulse signal within a predetermined time (calculation period) is obtained by the following equation (8). ΔP = previous pulse signal-current pulse signal (8)

Next, the deviation ΔP is multiplied by a coefficient K to obtain the following equation.
The remaining distance to the target floor is obtained in (9) and (10). The coefficient K
Is a conversion coefficient for calculating the movement amount of the car from the pulse change amount. Current running distance = previous running distance + ΔP * coefficient K (9) Current remaining distance = previous remaining distance−running distance (10) The remaining distance value obtained by the above procedure is 0 in step S2b.
It is determined that the vehicle has stopped at the target position by determining whether or not the vehicle has reached the target position. The other steps S are the same as those in the first embodiment, and will not be described.

As described above, the scale compensation circuit for compensating for the imbalance between the car side and the counterweight side depending on the car position can be simplified, and the installation adjustment can be easily performed. A start shock due to an adjustment error can be prevented.

Embodiment 5 In the first embodiment, the timing immediately before the stop is determined based on the brake control signal 21a. In the present embodiment, the stop position of each floor can be detected in advance in the hoistway as shown in FIG. 26 showing a conventional example. Is detected based on a detection signal 28a from a car position detection circuit 28, which is a car position detection means, and a car actual speed signal 9a. And the balance command signal WOUT is calculated from the torque current command value WW immediately before the stop.
The value obtained by subtracting (13a) is the value of the balance signal position compensation signal at the stop floor.

FIG. 12 shows the configuration of the balance compensation circuit 31d in the speed control means of the microcomputer 10. In this configuration, instead of the brake control signal 21a input to the scale compensation circuit 31 of FIG. 2 of the first embodiment, the actual speed signal 9a and the car position detection indicating that the car floor has come to the same position as the landing floor. A car position detection signal 28a from the circuit 28 is input.

Next, the operation of the balance compensation circuit 31a will be described with reference to the flowchart of FIG. In the figure, the point different from the flowchart 4 of the first embodiment is the step S2c.
Then, instead of the brake control signal 21a, it is determined whether or not the actual car speed signal 9a is 0 speed and the plate signal indicating that the car floor is at the same position as the landing floor is ON. The other steps S are the same as those in the first embodiment, and will not be described.

As described above, by recognizing not only the actual speed but also the car position, it is determined that the vehicle has stopped at the target position in a normal operation, so that more accurate compensation can be performed.
A start shock due to an adjustment error of the compensation circuit can be better prevented.

Embodiment 6 FIG. In this embodiment, a torque current command signal WW is calculated by obtaining an average value of a balance signal position compensation signal WERR of a starting floor. FIG. 14 shows the configuration of the balance compensation circuit 31e in the speed control means of the microcomputer 10. In this configuration, the balance signal position compensation signal average value calculation means 32 is added to FIG. 2 and the car position signal 21b is input. FIG.
In the content diagram of the AM10d table TAB, regarding the traveling counter corresponding to the car position (stop floor), the number of traveling times 1
A balance signal position compensation signal WERR is stored for each N.

Next, the operation of the balance compensation circuit 31e will be described with reference to the flowchart of FIG. In the figure, different points from the flowchart in the first embodiment in FIG.
4b to S4e to store the weighing signal position compensation signal WERR and the weighing signal position compensation signal average value W in step S13
This is an ERRAVE operation. In step S4b, the balance signal position compensation signal WERR calculated in step S3,
From the car position signal 21b, the balance signal position compensation signal WERR is stored in a memory area corresponding to the running counter value in the RAM 10d table TAB as follows.

TAB (car position; travel counter) ← WE
RR Here, TAB (car position; travel counter) indicates a designated position of a two-dimensional data table of “car position” and “travel counter”. Next, in step S4c, the traveling counter corresponding to the car position is incremented by one as follows. TAB (car position; travel counter +1) In step S4d, it is determined whether the travel counter has exceeded N. If it does not exceed the data number N, the process proceeds to step S7. If it exceeds the data number N, the process proceeds to step S4e, and the travel counter is reset. Let it be 1.

In step S13, the past N weighing signal position compensation signals W corresponding to the car position, that is, the stopped floor, are set.
The sum ERRAD of the ERR and the average value WERRAVE of the balance signal position compensation signal are calculated by the following equations (11) and (12). WERRAD = TAB (car position; travel counter (# 1)) +... TAB (car position; travel counter (#N)) (11) WERRAVE = WERRAD / N (12)

As described above, the balance signal position compensation signal WER
Since N is obtained for each stop floor and the average value is calculated, it is possible to control with high accuracy.

Embodiment 7 FIG. This embodiment is different from the sixth embodiment in that the weighing signal position compensation signal WERR is transferred to the RAM 10d via the primary delay circuit 25 in the same manner as in the second embodiment.
Is stored in the memory. FIG. 17 shows a balance compensation circuit 3 in the speed control means of the microcomputer 10.
1f shows the configuration. This configuration is shown in FIG.
5 is added. FIG. 18 shows a configuration of the primary delay circuit 25 similar to FIG.

Next, the operation of the balance compensation circuit 31f will be described with reference to the flowchart of FIG. In the figure, different points from the flowchart in FIG. 16 of the sixth embodiment are the operations of the primary delay circuit 25 in step S8 (the same as in FIG. 7),
Weighing signal position compensation signal WERROU in step S4f
This is the storage of T. Here, step S4f corresponds to steps S4b to S4e in FIG. However, step S
WERR of 4b shall be replaced with WERROUT. As described above, a more accurate imbalance amount can be obtained, and the shock at the time of starting can be further reduced.

Embodiment 8 FIG. In this embodiment, the timing immediately before the stop in the sixth embodiment is determined by the brake control signal 2
In contrast to the determination based on 1a, the recognition is made based on the actual speed signal 9a as in the third embodiment. FIG. 20 shows the configuration of the balance compensation circuit 31g in the speed control means of the microcomputer 10. In this configuration, instead of the brake control signal 21a input to the scale compensation circuit 31e of FIG. 14, a travel moat signal 26, an actual speed signal 9a, and a car position signal 21b similar to those of FIG. 8 are input. is there.

Next, the operation of the balance compensation circuit 31g will be described with reference to the flowchart of FIG. In the figure, the point different from the flowchart in FIG. 16 of the sixth embodiment is that the deceleration mode immediately before the stop in step S2a and the actual speed signal 9a is 0
This is a point of judgment in the state where the speed is reached (same as FIG. 9). Here, step S4g corresponds to step S4b in FIG.
To S4e. As described above, the scale compensation circuit for compensating for the balance between the car side and the counterweight side depending on the car position can be simplified, and the installation adjustment can be easily performed.
Further, it is possible to prevent a start shock due to an adjustment error of the compensation circuit.

Embodiment 9 FIG. In this embodiment, the timing immediately before the stop in the sixth embodiment is determined by the brake control signal 2
In contrast to the determination based on 1a, the recognition is performed based on the remaining distance value calculated from the pulse signal 9a of the pulse counting circuit 9 as in the fourth embodiment. FIG.
Reference numeral 2 denotes the configuration of the balance compensation circuit 31 in the speed control means of the microcomputer 10. This configuration corresponds to the brake control signal 21a input to the balance compensation circuit 31e of FIG.
Instead of this, the output of the remaining distance calculation circuit 27 and the car position signal 21b similar to FIG. 10 are input.

Next, the operation of the balance compensation circuit 31h will be described with reference to the flowchart in FIG. In the figure, the difference from the flowchart in the sixth embodiment shown in FIG. 16 is that the step S2b judges immediately before the stop using the remaining distance value and that steps S9 and S10 are added (the same as FIG. 11). Here, step S4g corresponds to steps S4b to S4 in FIG.
e. As described above, the scale compensation circuit for compensating for the imbalance between the car side and the counterweight side depending on the car position can be simplified, the installation adjustment can be easily performed, and the starting shock due to the adjustment error of the compensation circuit can be reduced. Can be prevented.

Embodiment 10 FIG. In this embodiment, the timing immediately before the stop in the sixth embodiment is determined based on the brake control signal 21a, but the position plates 1a to 1c of the hoistway are detected similarly to the fifth embodiment. Is to be recognized. FIG. 24 shows the configuration of the balance compensation circuit 31i in the speed control means of the microcomputer 10. In this configuration, the same car position detection signal 28a and actual speed signal 9a as in FIG. 12 are input instead of the brake control signal 21a input to the balance compensation circuit 31e in FIG.

Next, the operation of the balance compensation circuit 31i will be described with reference to the flowchart in FIG. In the figure, the difference from the flowchart in FIG. 16 of the sixth embodiment is that the actual speed signal 9a or zero immediately before the stop in step S2c and the car 1
Plate signal indicating that the floor is at the same position as the landing is ON
(Same as FIG. 13). Here, step S4g corresponds to step S4b in FIG.
To S4e.

[0057]

As described above, in the first aspect of the present invention, the offset of the unbalanced load is corrected based on the scale detection signal corresponding to the load of the car, the scale command signal is output, and the car stops. Since the weighing signal position compensation signal corresponding to the car position is obtained based on the immediately preceding torque current command signal and the weighing command signal, and the next start-up, the weighing command signal is corrected based on the weighing signal position compensation signal. The balance compensation circuit can be simplified, the installation adjustment can be easily performed, and the starting shock due to the adjustment error of the compensation circuit can be prevented.

According to the second aspect of the present invention, based on a balance detection signal corresponding to the load on the car, the offset during unbalanced load is corrected and a balance command signal is output to determine whether the car has stopped. Outputs and stores a balance signal position compensation signal corresponding to the car position based on the torque current command signal and the balance command signal when it is determined that the motor has stopped, and when starting up, a new balance command signal and the above From the torque current command signal when the car stops based on the stored scale signal position compensation signal,
Since the offset of the load applied to the sheave is corrected according to the position of the car, the scale compensation circuit can be simplified, the installation adjustment can be easily performed, and furthermore, the adjustment error of the compensation circuit can be improved. Can be prevented from starting shock.

According to the third invention, there is further provided a noise removing means for removing noise included in the balance signal position compensation signal output from the compensation signal output means, and the balance signal position compensation in which noise is removed from the noise removal means. Since the signal is output to the storage means, a more accurate amount of imbalance can be obtained, and a shock at the time of starting can be more effectively prevented.

Further, in the fourth invention, since it is configured to determine whether the car has stopped based on a brake control signal for controlling the brake of the hoist, the scale compensation circuit can be simplified, and In addition, the installation adjustment can be easily performed, and further, the starting shock due to the adjustment error of the compensation circuit can be prevented.

In the fifth invention, the car actual speed signal calculated based on the pulse signal from the pulse generating means connected to the driving means of the hoist and the running mode signal indicating the running state are used. Since it is determined whether the car has stopped, the scale compensation circuit can be simplified, the installation adjustment can be easily performed, and further, the starting shock due to the adjustment error of the compensation circuit can be prevented. .

In the sixth invention, the remaining distance value from the starting floor of the car to the target floor is calculated based on the pulse signal from the pulse generating means connected to the driving means of the hoist. Since it is determined whether the car has stopped based on the remaining distance value, the scale compensation circuit can be simplified, the installation adjustment can be easily performed, and the start-up shock caused by the adjustment error of the compensation circuit can be simplified. Can be prevented.

In the seventh invention, the car stops based on the car position detection signal and the actual car speed signal calculated based on the pulse signal from the pulse generating means connected to the drive means of the hoist. I decided to judge whether
More accurate compensation can be performed, and a starting shock due to an adjustment error of the compensation circuit can be more effectively prevented.

In the eighth invention, the balance signal position compensation signal is stored in accordance with the car position signal, and the average value of the balance signal position compensation signal for each floor is calculated, and this is used when the next start is performed. Since the balance signal position compensation signal is used, in addition to the effects of the second to seventh inventions, control can be performed with higher accuracy by averaging the balance signal position compensation signal.

[Brief description of the drawings]

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

FIG. 2 is a circuit configuration diagram of a speed control unit according to the first embodiment of the present invention.

FIG. 3 is a diagram showing a waveform of a torque current command value of the speed control means of FIG. 2;

FIG. 4 is a flowchart showing the operation of the first embodiment of the present invention.

FIG. 5 is a circuit configuration diagram of speed control means according to Embodiment 2 of the present invention.

FIG. 6 is a configuration diagram of a first-order delay circuit according to a second embodiment of the present invention;

FIG. 7 is a flowchart showing the operation of the second embodiment of the present invention.

FIG. 8 is a circuit configuration diagram of speed control means according to Embodiment 3 of the present invention.

FIG. 9 is a flowchart showing the operation of the third embodiment of the present invention.

FIG. 10 is a circuit configuration diagram of speed control means according to a fourth embodiment of the present invention.

FIG. 11 is a flowchart showing the operation of the fourth embodiment of the present invention.

FIG. 12 is a circuit configuration diagram of speed control means according to Embodiment 5 of the present invention.

FIG. 13 is a flowchart showing the operation of the fifth embodiment of the present invention.

FIG. 14 is a circuit configuration diagram of speed control means according to Embodiment 6 of the present invention.

FIG. 15 is a content diagram of a RAM table according to the sixth embodiment of the present invention.

FIG. 16 is a flowchart showing the operation of the sixth embodiment of the present invention.

FIG. 17 is a circuit configuration diagram of speed control means according to a seventh embodiment of the present invention.

FIG. 18 is a configuration diagram of a first-order delay circuit according to a seventh embodiment of the present invention.

FIG. 19 is a flowchart showing the operation of the seventh embodiment of the present invention.

FIG. 20 is a circuit configuration diagram of speed control means according to the eighth embodiment of the present invention.

FIG. 21 is a flowchart showing the operation of the eighth embodiment of the present invention.

FIG. 22 is a circuit configuration diagram of speed control means according to the ninth embodiment of the present invention.

FIG. 23 is a flowchart showing the operation of the ninth embodiment of the present invention.

FIG. 24 is a circuit configuration diagram of speed control means according to the tenth embodiment of the present invention.

FIG. 25 is a flowchart showing the operation of the tenth embodiment of the present invention.

FIG. 26 is an overall configuration diagram of a conventional elevator control device.

FIG. 27 is a schematic configuration diagram of the microcomputer of FIG. 26;

FIG. 28 is a circuit configuration diagram of a conventional speed control means.

FIG. 29 is a diagram showing a compensation amount of imbalance between a car side and a counterweight side by an adjustment switch.

[Explanation of symbols]

1 car, 2 counterweight, 4 sheave, 8 pulse encoder, 10c, 10dRAM, 9 counting circuit, 11 load detector, 13 unbalanced load input adjustment circuit, 23 compensation signal output means (adder), 24 adder , 25 primary delay circuit, 27 remaining distance calculation circuit, 28 car position detector, 31, 31a to 31i balance compensation circuit, 32 scale signal position compensation signal average value calculation means.

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Sadaaki Kojima 2-3-2 Marunouchi, Chiyoda-ku, Tokyo Inside Mitsubishi Electric Corporation (72) Inventor Hiroshi Araki 2-3-2 Marunouchi, Chiyoda-ku, Tokyo Mitsubishi Electric Corporation

Claims (8)

[Claims] 1. A car connected to one end of a rope via a sheave driven by a hoist, and a counterweight connected to the other end of the rope, provided on the car, In an elevator speed control device configured to input a scale detection signal output from load detection means for detecting a load to speed control means for controlling the speed of the car, based on the scale detection signal from the load detection means An unbalanced load adjusting means for correcting a bias at the time of an unbalanced load and outputting a balance command signal; a torque current command signal of the speed control means immediately before the car stops, and a balance command from the unbalanced load adjustment means. A balance compensation circuit for obtaining a balance signal position compensation signal corresponding to the car position based on the signal, and correcting the balance command signal based on the balance signal position compensation signal at the time of next start. The speed control of the elevator. 2. A car connected to one end of a rope via a sheave driven by a hoist, and a counterweight connected to the other end of the rope, provided on the car, In an elevator speed control device configured to input a scale detection signal output from load detection means for detecting a load to speed control means for controlling the speed of the car, based on the scale detection signal from the load detection means Unbalanced load adjusting means for correcting the deviation during unbalanced load and outputting a balance command signal, car stop determining means for determining whether the car has stopped, and determining that the car has stopped by the car stop determining means Compensation signal output means for outputting a balance signal position compensation signal corresponding to the car position based on the torque current command signal of the speed control means and the balance command signal from the unbalanced load adjustment means when the speed control is performed. Storage means for storing a weighing signal position compensation signal from the compensation signal output means, and when starting up, a new weighing command signal from the unbalanced load adjusting means and the weighing signal stored in the storage means are provided. An elevator speed control device, comprising correcting a bias of a load applied to the sheave according to a position of the car from a torque current command signal when the car stops based on a signal position compensation signal. 3. A noise removing means for removing noise included in the balance signal position compensation signal output from said compensation signal output means, and said scale signal position compensation signal from which noise has been removed from said noise removing means is stored in said storage means. 3. The speed control device for an elevator according to claim 2, wherein the control signal is output to the elevator. 4. The elevator speed control according to claim 2, wherein the car stop judging means judges whether or not the car has stopped based on a brake control signal for controlling a brake of the hoist. apparatus. 5. A car stop determining means based on a car actual speed signal calculated based on a pulse signal from a pulse generating means connected to a driving means of a hoist and a running mode signal indicating a running state. 3. The elevator speed control device according to claim 2, wherein it is configured to determine whether the car has stopped. 6. A car provided with a remaining distance calculating means for calculating a remaining distance value from a starting floor of the car to a target floor based on a pulse signal from a pulse generating means connected to a driving means of the hoist. 3. The elevator speed control device according to claim 2, wherein the stop determination means is configured to determine whether the car has stopped based on the remaining distance value from the remaining distance calculation means. 7. A car stop judging means is calculated based on a car position detection signal from the car position detecting means for detecting a car position and a pulse signal from a pulse generating means connected to the driving means of the hoist. 3. The elevator speed control device according to claim 2, wherein it is configured to determine whether the car has stopped based on an actual speed signal of the car. 8. A storage means for storing a balance signal position compensation signal from a compensation signal output means in accordance with a car position signal, and each floor of the balance signal position compensation signal stored in the storage means. 8. A balance signal position compensation signal average value calculating means for calculating an average value of each of the weights, wherein the average value is used as a balance signal position compensation signal at the next activation. The speed control device for an elevator according to any one of the claims.