JPH10331416A - Controller for gondola - Google Patents

Abstract

PROBLEM TO BE SOLVED: To lift and lower a gondola at a high speed even in the long lift of a high-rise building etc., while solfly starting and stopping the gondola, and to correct the inclination of the gondola automatically in constitution, in which a plurality of winches are installed. SOLUTION: An inclination sensor 30 detecting the inclination of the gondola is connected on the input side of a controller 10 controlling the whole operation by program control, two control sections 50, 50 conducting the variable-speed control of an induction motor are connected on the output side, and winches 61, 62 are joined with the control sections 50, 50 respectively. The winch 61 is conjoined on the right side of the gondola and the winch 62 on the left side respectively. Control is performed in a vector control mode 51 conducting vector control at the time of a lifting command, and the mode is changed over to a V/F control mode 52 conducting V/F control at the time of a lowering command. Operation for correcting the inclination of the gondola is carried out properly by the left and right winches 61, 62 in response to the detecting value of the inclination sensor 30.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a gondola in which a drive motor of a hoist for raising and lowering the gondola is appropriately controlled in accordance with a load condition. The present invention relates to a control device of a gondola that can be operated.

[0002]

2. Description of the Related Art As is well known, the outer wall of a building is
It is common to use a so-called gondola as a scaffold for various high-place work such as maintenance. The gondola is suspended along the outer wall of the building and moved up and down.

[0003] In other words, with reference to Fig. 2 according to the present invention, a gondola 1 for working at height is wound around a wire rope 2 hung from the roof of a building around sheaves of hoists 61 and 62. As a result, it moves up and down while holding by the friction generated between the sheave and the wire rope 2. The hoisting machines 61 and 62 are usually mounted on the right and left sides of the gondola 1, respectively, so that two hoists are shared. In general, a three-phase or single-phase induction motor is used as the drive source, and its control is directly started and stopped via a relay.

[0004]

However, such a conventional gondola has a problem that it cannot cope with a use situation such as a high-rise building where the lift is long.

That is, in a high-rise building or the like, there is a demand that a long head be lifted and lowered at a high speed. However, since the lift of the gondola becomes longer, the power cable connected to the hoist attached to the gondola also becomes longer.
The starting current required by the drive motor of the hoist is large, and the power loss (voltage drop) on the cable is proportional to the cable length and the current value. It is no longer possible to raise and lower the gondola at high speed.

Further, since the drive motor of the hoist is directly started and stopped, a large shock is generated at the time of starting and stopping, and the riding comfort is poor.

Further, in the configuration in which the hoist is mounted on each of the left and right sides of the gondola, it is inevitable that the sheave rotation operation amount is displaced when ascending and descending, so that the gondola is inclined. It has to be performed appropriately, and the longer the head, the more frequently it must be corrected, which is bothersome.

In view of the above-mentioned problems, the present invention can raise and lower a high-rise building or the like at a high speed even with a long head, and can start and stop the software in a soft manner. An object of the present invention is to provide a control device for a gondola that can automatically correct the inclination of the gondola with the configuration provided.

[0009]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention controls the rotation of a drive motor of a hoist attached to a gondola, and winds a rope suspended from the top of a building around a sheave of the hoist. A gondola control device for raising and lowering the gondola by applying a vector control means for vector-controlling a drive motor of a hoist when an ascent command is issued, and a drive motor of the hoist when a descent command is issued. And V / F control means for performing V / F control of

At least one hoist is mounted on each of the right and left sides of the gondola, and an inclination sensor for detecting the inclination of the gondola, and the operation of the hoist is raised according to the detection value of the inclination sensor. In some cases, the right-side hoist is accelerated or decelerated, and when the descent is lowered, the right-side hoist is accelerated or decelerated to correct the inclination of the gondola.

Therefore, in the control device of the gondola of the present invention, the vector control is performed at the time of ascending, and according to the vector control, a large torque can be generated without increasing the current. Therefore, the power supply cable for power supply can be lengthened because it is not necessary to increase the current. At the time of lowering, V / F control is performed. According to the V / F control, the voltage drop inside the induction motor tends to increase and the torque becomes insufficient as the speed becomes lower. The disadvantage is negligible because it is applied to the descent control that is completed. In the V / F control, the slip S of the induction motor is somewhat larger than that in the vector control, and the efficiency is poor. For this reason, it is not necessary to provide a special resistor for absorbing the regenerative power on the control means side.

In both the vector control and the V / F control, since the voltage and the frequency are varied to control the speed of the induction motor, the voltage and the frequency must be gradually varied to start and stop the induction motor. , The speed can be changed gently, and the start and stop can be performed by software.

Further, the inclination of the gondola is detected by the inclination sensor, and upon receiving the detection signal, the inclination correcting means accelerates or decelerates the right or left hoist when ascending, and reverses the direction when descending. The speed of the hoist is increased or decreased, so that the inclination of the gondola can be automatically corrected. Since the inclination correction is performed by the left and right winding machines at the time of ascent and descent, the correction process itself is the same, and the left and right control units are the same product.

[0014]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is a configuration diagram illustrating an embodiment of a control device for a gondola of the present invention. FIG. 2 is a perspective view showing the appearance of a gondola to which the control device for the gondola is applied.

The control device of the gondola is configured so that the overall operation is managed by a controller 10 that performs program control. The controller 10 is a so-called microcomputer, and has on its input side a switch box 20 for instructing a control command, an inclination sensor 30 for detecting the inclination of the gondola 1, and for monitoring operation states of other parts. Sensors 31 to 37 are connected. Then, on the output side of the controller 10,
A display unit 4 for performing various displays such as an operation state and an error display.
0 and two control units 50 and 50 for controlling the speed change of the induction motor. Hoists 61, 62 are connected to the respective output sides of the control units 50, 50. As shown in FIG. 2, the hoist 61 is attached to the right side of the gondola 1, and the hoist 62 is located on the left side of the gondola 1. And load is shared by these two units.
These essential parts such as the controller 10 are connected to one box 3
And is disposed substantially at the center of the gondola 1.

That is, the gondola 1 is configured so that two wire ropes 2 are suspended from the roof of a building, and each of them is raised and lowered by winding them around the sheaves of the hoists 61 and 62. In addition, in each wire rope 2,
An auxiliary rope 4 for double safety is suspended along the two ropes, and both ropes are taken into the hoists 61 and 62,
Although not shown, the wire rope 2 is passed through the lock device, and the auxiliary rope 4 is passed through the auxiliary lock device. When the hoisting machines 61 and 62 break down, both the lock devices are mechanically locked, and It is designed to work.

The hoists 61 and 62 are driven by an induction motor. The control units 50, 50 change the voltage and frequency to control the speed of the induction motor. The control units 50 are so-called inverter devices, which have a plurality of control modes based on software programs, and can be switched by commands. ing. That is, at the time of a rise command, a vector control mode 51 is provided in which vector control is performed to determine and correct a current component that generates torque by vector calculation, and at the time of a fall command, V / F control that performs V / F control that makes voltage and frequency proportional is performed. The mode 52 is configured to be switched.

The switch box 20 includes the controller 1
At 0, various control commands are instructed, and an ascent switch 21 for instructing an ascending command, a descending switch 22 for instructing a descending command, and an ordinary stop command for the induction motors of the hoists 61, 62. Various switches such as a stop switch 23 for emergency stop and an emergency switch 24 for emergency stop are provided.

When the ascending switch 21 is pressed, an ascending command is given to the controller 10 as shown in the flowchart of FIG. 3 (S3).
A vector control command is issued to the control units 50 and 50 (S
4) The control units 50 and 50 enter the vector control mode 51, in which the induction motors of the hoists 61 and 62 are rotated forward by vector control.

When the down switch 22 is pressed, the controller 1
0 is given a descending command (S5), whereby the controller 10 issues a V / F control command to the control units 50, 50 (S6), and the control units 50, 50 enter the V / F control mode 52. , The induction motors of the hoists 61 and 62
Reverse rotation by F control.

When the stop switch 23 is pressed, the controller 1
0 is given a stop command (S7), whereby the controller 10 issues an operation stop command to the control units 50, 50 (S8), and the control units 50, 50 enter a standby state.
The driving of the induction motors of the hoists 61 and 62 is stopped.

The emergency switch 24 is connected so as to function directly. When the emergency switch 24 is pressed, the power system power supply is directly turned off, and the mechanical brake operates.

Note that the controller 10 has two stages of control commands for the ascending and descending speeds. When the ascending switch 21 and the descending switch 22 are pressed shallowly, the mode becomes the low speed mode.
Pressing deeply switches to high-speed mode. In this low-speed mode, the standard value of the frequency is set to approximately 1/2 of that in the high-speed mode, so that the elevating speed is reduced by half.

The tilt sensor 30 detects the tilt of the gondola 1 by causing a pair of capacitors having a structure in which a floating electrode is shared to fluctuate in capacity according to the amount of tilt. Upon receiving the detection signal from the inclination sensor 30, the controller 10 first determines the control operation (T1) as shown in the flowchart of FIG. The signal is sent to the control unit 50 on the right side to be fetched (T3), and the operation for correcting the inclination is performed by the hoist 61 on the right side. That is, when the gondola 1 rises to the right (T4, yes), the frequency of the control output is lowered from the standard value (T5), and the right hoist 6
1 is decelerated so that the left side catches up, and if the gondola 1 rises leftward (T6, yes
s), raise the frequency of the control output from the standard value (T
7) Increase the speed of the drive motor of the right winder 61 to catch up on the right side.

If it is time for the descending control (T8), the detection signal of the inclination sensor 30 is sent to the left control unit 50 to be taken in (T9), and the operation for correcting the inclination is performed on the left hoist 62. To be performed. That is, when the gondola 1 rises to the right (S10, yes), the frequency of the control output is lowered below the standard value (T11), and the drive motor of the left hoist 62 is decelerated so as to catch up with the right side. Conversely, if it rises to the left (T12, yes), the control output frequency is raised above the standard value (T13), and the left winder 6
Increase the speed of the first drive motor to catch up with the left side.

Sensors for monitoring the operation state of each part include a right lock sensor 31 and a left lock sensor 32 which output an ON signal when the lock devices of the winders 61 and 62 are mechanically locked; 62 is a right overwind sensor 3 that outputs an ON signal when the wire rope 2 is overwound.
3 and the left-hand over-end sensor 34, the right-hand rope end sensor 35 and the left-hand rope end sensor 36 that output an ON signal when detecting the end of the wire rope 2 taken into the hoists 61 and 62, and the gondola 1 on the wall of the building. There is provided a wall suction sensor 37 for detecting an operation state of a suction device for temporarily fixing the suction device by sucking the suction device.

The display section 40 is adapted to display an LED, and is also provided with an alarm buzzer. That is, the detection signals of the above-described sensors are taken into the controller 10, and the result determined by the controller 10 is as follows:
The information is appropriately displayed on the display unit 40, particularly when the lock device is mechanically locked and when the wire rope 2
When the end of the device is detected, an error message is displayed and an alarm buzzer sounds.

In the controller 10, the control unit 5
The operating states of 0 and 50 are also monitored. If an abnormality occurs in one of them, the other which is operating normally also stops, an error is displayed on the display unit 40, and an alarm buzzer sounds. ing.

With the above configuration, in the control device of the gondola of the present embodiment, vector control is performed at the time of ascending, and V / F control is performed at the time of descending. According to vector control,
Correction to the voltage drop inside the induction motor automatically becomes appropriate, and it is possible to generate a large torque without increasing the current.Therefore, it is most suitable for ascending control that requires a large torque when starting the induction motor, Since the current does not need to be increased, the power supply cable for power supply can be lengthened. Further, according to the V / F control, the voltage drop inside the induction motor increases as the speed decreases, and the magnetic force for obtaining the rotational force tends to be insufficient, and the torque tends to be insufficient. The disadvantage is negligible because it is applied to a descent control that requires only a light torque to start. In the V / F control, the slip S of the induction motor is slightly larger than that in the vector control, and the efficiency is poor. Therefore, the regenerative electric power returned from the induction motor at the time of descending decreases.
Therefore, it is not necessary to provide a special resistor for absorbing the regenerative power in the control unit 50, which is advantageous in terms of downsizing. Therefore, it is possible to ascend and descend at a high speed even in a long head of a high-rise building or the like. In any of the vector control and the V / F control, the voltage and the frequency are varied in order to control the speed of the induction motor. The stop can be performed gently by changing the voltage and frequency gradually, and the start and stop can be performed by software. As a result, the rider of the gondola 1 does not feel uneasy and can have a comfortable and favorable ride.

The inclination of the gondola 1 is detected by the inclination sensor 30, and the controller 10 performs control for correcting the inclination in response to the detection signal of the inclination sensor 30, so that the inclination of the gondola 1 is automatically corrected. It is possible,
A horizontal posture can be maintained. In this inclination correction control, the operation for correcting the inclination is performed by the right hoist 61 when the ascending is performed, and is performed by the left hoist 62 when the descent is lowered. The process itself is the same and control can be simplified.

Further, various displays such as an operation state and an error display are performed by the display unit 40, and an alarm buzzer is sounded in an operation state that is important in terms of safety. Is excellent.

[0032]

As described above, in the present invention,
Vector control is performed at the time of ascending, and vector control can generate a large torque without increasing the current.This is optimal for ascending control, and it is not necessary to increase the current. Can be longer. The V / F control is performed at the time of descending, and the V / F control tends to become insufficient in torque as the speed becomes lower. However, since the present invention is applied to the descending control, the disadvantage can be ignored.
Since the V / F control is inefficient compared to the vector control and the regenerative power at the time of descent is reduced, it is not necessary to provide a resistor for absorbing the regenerative power on the control means side. There is also an advantage in terms of conversion. Therefore, it can be raised and lowered at a high speed even in a long head such as a high-rise building,
Since the voltage and the frequency are variable in both the vector control and the V / F control, the induction motor can be started and stopped gradually by changing the voltage and the frequency gradually, so that the speed can be changed gradually. The stop can be performed softly, so that the rider of the gondola does not feel uneasy and the ride comfort can be made comfortable and favorable.

Further, the inclination of the gondola is detected by the inclination sensor, and upon receiving the detection signal, the inclination correcting means
The hoist on the right side is accelerated or decelerated when ascending, and the hoist on the opposite side from ascending is accelerated or decelerated when descending, so that the inclination of the gondola can be automatically corrected and the horizontal attitude is maintained can do. Since the inclination is corrected by the hoisting machines on the left and right sides at the time of ascending and at the time of descending, the correcting process itself is the same, and there is an excellent effect that the control can be simplified.

[Brief description of the drawings]

FIG. 1 is a configuration diagram illustrating an embodiment of a control device for a gondola of the present invention.

FIG. 2 is a perspective view showing an appearance of a gondola to which the control device of FIG. 1 is applied.

FIG. 3 is a flowchart illustrating an operation of the control device of FIG. 1;

FIG. 4 is a flowchart illustrating an operation of the control device of FIG. 1;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Gondola 2 Rope (wire rope) 10 Inclination correction means (controller) 30 Inclination sensor 51 Vector control means (vector control mode) 52 V / F control means (V / F control mode) 61 Winding machine 62 Winding machine

Claims (2)

[Claims] 1. A gondola control device for controlling the rotation of a drive motor of a hoist attached to a gondola, winding a rope suspended from an upper part of a building around a sheave of the hoist, and elevating the gondola. Vector control means for vector-controlling the drive motor of the hoist when an ascending command is issued, and V / F control means for V / F controlling the drive motor of the hoist when a descent command is issued. A control device for a gondola, comprising: At least one hoist is attached to each of the right and left sides of the gondola, and an inclination sensor for detecting the inclination of the gondola, and an operation of the hoist according to a detection value of the inclination sensor, Includes inclination correcting means for increasing or decreasing the speed of the right or left hoist when ascending, and increasing or decreasing the speed of the hoist on the opposite side to ascending when descending to correct the inclination of the gondola. The control device for a gondola according to claim 1.