JPH115674A - Jerk compensating method of elevator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make improvements in an depressing effect of overshooting. SOLUTION: This jerk compensator is provided with a jerk detecting part 15 detecting a jerk from an acceleration command NA by a first-order differential and outputting it as a jack command NJ, a filter 31 eliminating a ripple of the command NJ, a jerk maximum value detection processing part 32 detecting the maximum value of the command NJ and holding it, and an adder 3 adding a jerk compensating signal to each torque command from a jerk compensating gain part 33 and a speed control amplifier 2, and at the time of the jerk command rising, the processing part 32 incessantly holds the maximum value of the command NJ, outputting it to the compensating gain part 33, and at the time of its falling, a signal out of the processing part 32 to be inputted into this compensating gain part 33 is made zero at the time when the jerk filter output of the processing part 32 becomes less than the constant level. An elevator subject to the jerk compensation by a jerk final command being constantly high-speed respondized till the jerk becomes less than the constant level from the jerk maximum value detection.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevator jerk compensation method for suppressing an overshoot of an elevator speed.

[0002]

2. Description of the Related Art Jerk compensation is a compensation method in a speed control system in which a feedforward torque is provided by second-order differentiation of speed or first-order differentiation information of acceleration in order to suppress overshoot of speed.

At present, as shown in FIGS. 9 and 10, since only a speed command or an acceleration command is given from a controller, jerk compensation is performed by detecting jerk on the speed control side. In the figure, 3 is an adder for adding a jerk compensation torque to the torque command from the speed control amplifier 2, and 4 is an elevator drive motor controlled by the jerk-compensated torque command.

[0004] Reference numeral 11 (12 to 14) denotes an acceleration command calculation unit for obtaining an acceleration command NA by differentiating the speed command NV.
2 is a delay circuit that obtains the previous value of the speed command NV, 13 is a subtractor that calculates the difference between the speed command NV and the previous value from the circuit 12,
Reference numeral 14 denotes a division circuit that divides the difference signal by an interval time of the controller and outputs an acceleration command NA.

Reference numeral 15 (16 to 18) denotes a jerk detection calculation unit for detecting the jerk NJ by differentiating the acceleration command NA according to the following equation (1), 16 denotes a delay circuit for obtaining the previous value of the acceleration command NA from the controller, 17 is an acceleration command NV
A subtractor 18 calculates the difference between the difference signal and the previous value from the circuit 16, and a division circuit 18 divides the difference signal by an interval time for speed control to output a detected jerk NJ.

Reference numeral 21 (22, 26) denotes a jerk detection calculation unit for detecting the jerk NJ from the speed command NV according to the expression (2) described later, and 22 (23 to 25) and 26 (27 to 29).
Are each configured in the same manner as the arithmetic unit 15.

Reference numeral 51 denotes a filter processing unit which removes a ripple of the detection jerk NJ output from the jerk detection calculation unit 15 (21) and outputs a jerk filter value NJLPF;
52 is a filter value of the filtered jerk NJL
A jerk compensation gain unit that changes PF to a jerk final output NJCMD and outputs the result to the adder 3.

[0008]

(Equation 1)

FIG. 11 shows a relationship among a speed command, an acceleration command, and a jerk command.
FIG. 12 shows the flow of the jerk operation.

[0010]

FIG. 9 and FIG.
In the jerk compensation method, since the interval of the speed command NV or the acceleration command NA given from the controller is later than that of the speed control, the jerk NJ detected on the speed control side causes a ripple as shown in FIG. Filter processing is performed to reduce the effect of the ripple, and jerk compensation is performed using the result of dulling the ripple.

Therefore, there are the following problems. (1) Since the detection jerk is filtered, the jerk compensation is delayed and the effect of suppressing the overshoot is reduced. (2) If the time constant of the filter is shortened in order to speed up the jerk compensation, the compensation gain cannot be increased due to the ripple component.

SUMMARY OF THE INVENTION The present invention has been made in view of such a conventional problem, and an object of the present invention is to provide an elevator jerk compensation method capable of improving the effect of suppressing overshoot.

[0013]

According to the present invention, a jerk is detected and converted into a jerk command, the jerk command is processed, and a jerk compensation is performed through a jerk compensation gain unit in addition to a torque command from a speed control amplifier. In an elevator jerk compensation method, a maximum value detection processing unit that detects and holds a maximum value of a jerk command and a filter processing unit that filters a jerk command are provided. The maximum value of the command is constantly held and output to the torque compensation gain section,
At the time of falling, the signal input to the jerk compensation gain section is set to zero when the filter output of the jerk from the filter processing section falls below a certain level.

Alternatively, a jerk holding section for holding the jerk command value as an initial value of the jerk compensation when the jerk command becomes equal to or higher than a set level, and a cushion section for gradually converging the held initial value to zero. When the jerk command exceeds the set level, the jerk holding unit holds the jerk command value as the initial value of the jerk and outputs it to the compensation gain unit, and then the initial value is gradually converged to 0 by the cushion unit. The remaining compensation amount is slowly compensated by a speed amplifier.

The jerk detection is based on first order differential information of an acceleration command or second order differential information of a speed command.

[0016]

BEST MODE FOR CARRYING OUT THE INVENTION

First Embodiment FIG. 1 is a control block diagram of a jerk compensation method according to a first embodiment, and FIG. 2 is a time chart of a detection process (FIG. 11).
FIG. 3 shows a flowchart of the jerk operation. The same components as those shown in FIG. 9 are denoted by the same reference numerals, and the description thereof will not be repeated.

In FIG. 1, reference numeral 15 denotes a jerk detection calculating section for detecting a jerk NJ from a speed command NA from a controller according to the equation (1). Reference numeral 31 denotes a jerk filter for removing a ripple of the jerk command NJ from the jerk detecting calculating section. A filter processing section 32 for outputting a value NJLPF detects a maximum value of the jerk command NJ and outputs a jerk final output NJCMD.
A maximum value detection processing unit 51 that switches between the jerk final output NJCMD and 0 based on the filter value NJLPF and outputs the same, and 33 outputs the output of the changeover switch S1 to the adder 3 as a jerk compensation signal. This is a jerk compensation gain section.

In this method, jerk detection is performed based on first order differential information of an acceleration command. As a jerk command, the rising edge constantly holds the maximum value of the detected jerk. When the filter output falls below a certain level, it is set to zero.

FIG. 3 shows a calculation flow of the jerk compensation method.
Will be described. In step 101, the equation (1) is operated to detect the jerk NJ, and in step 102, the filtering is performed. 10
At 3,104, a maximum value detection process is performed. That is, at 103, the jerk command N which is the jerk detected by the equation (1)
J is compared with the absolute value of NJCMD which is the final jerk command, and if | NJCMD | <| NJ |
In step 4, NJ is held as the jerk final command NJCMD. Thereby, the maximum value of the detected jerk NJ can be constantly held as the jerk final command NJCMD.

When the above-mentioned | NJCMD | <| NJ | is not satisfied (at the time of the falling edge of NJ), the NJ filter value NJLPF is compared with a set value, and the set value> NJLPF
Is established, processing is performed so that the jerk final command NJCMD becomes zero. (See FIG. 2).

As described above, by determining the detected jerk, a high-speed response of the jerk command and a rippleless jerk command can be realized.

Second Embodiment FIG. 4 shows a control block diagram of a jerk compensation system according to a second embodiment. This method (FIG. 4) is used in the first embodiment.
The jerk detection unit 15 based on equation (1) in FIG. 1 is replaced with a jerk detection unit 21 based on equation (2) in FIG. 10 in the related art, and the other configuration is the same as that in FIG. The same components as those in FIG. 10 are denoted by the same reference numerals, and description thereof will be omitted. Further, the time chart and the calculation flow of the second embodiment are the same as those of FIGS. 2 and 3 of the first embodiment.

Third Embodiment FIG. 5 is a control block diagram of a jerk compensation system according to a third embodiment, and FIG. 6 is a time chart of a detection process (FIG. 11).
FIG. 7 shows a flowchart of the jerk operation. The same components as those shown in FIG. 9 are denoted by the same reference numerals, and the description thereof will not be repeated.

In FIG. 5, reference numeral 15 denotes a jerk detection calculating section for detecting a jerk NJ from the speed command NA from the controller according to the equation (1). Reference numeral 41 designates that a jerk has occurred when the detected jerk has exceeded a set level. A jerk holding unit for holding it as an initial value of the jerk compensation, 42
Indicates that the initial value held by the jerk holding unit 41 is gradually reduced to 0.
S2 is a changeover switch for switching between jerk final output and cushion processing output.
Reference numeral 3 denotes a jerk compensation gain unit that changes the jerk final output from the changeover switch S1 into a jerk compensation signal.

In an elevator, jerk that occurs during one acceleration / deceleration operation occurs four times as shown in FIG. The switching occurs when 1) the polarity of the jerk changes 2) when the polarity of the acceleration changes. When either of these two conditions is satisfied, it can be determined that a new jerk has been switched.

In this method (FIG. 5), the above condition is satisfied,
When the jerk NJ detected from the first derivative of the acceleration exceeds a set level, it is determined that a jerk has occurred. The jerk is set as an initial value of the jerk compensation, and then the initial value is gradually converged to zero. Is a method in which the speed amplifier 2 compensates slowly.

The operation flow of this method will be described with reference to FIG. At step 201, the equation (1) is calculated to detect the jerk NJ, and at steps 202 and 203, the switching of the jerk is determined from the jerk polarity and the polarity of the acceleration. When the polarity of the jerk changes and the polarity of the acceleration changes, 204 Turns on the flag A. Here, the flag A is a status indicating that a new jerk has been switched. When the flag A is ON at 205, the detection jerk NJ at 207
Is compared with the set value. If NJ exceeds the set value, 21
0 holds the jerk NJ as NJCMD and 21
1 turns on the flag B. Flag B is a status indicating that a new jerk has been detected. Further, since a new jerk NJ is detected, the flag A is turned off.

On the other hand, if the flag A is OFF at 205,
If the jerk NJ does not exceed the set value at 207 and if the flag B is ON at 208, a new jerk NJ
Since it is not necessary to hold the NJCMD, the 209 cushion process is performed, and the held NJCMD is constantly gradually converged toward zero (FIG. 6). The remaining compensation amount is slowly compensated by the speed control amplifier.

This method also realizes a high-speed response of the jerk command and a ripple-less jerk command.

Fourth Embodiment FIG. 8 is a control block diagram of a jerk compensation system according to a fourth embodiment. This method (FIG. 8) is used in the third embodiment.
The jerk detecting unit 15 based on the equation (1) in FIG. 5 is replaced with the jerk detecting unit 21 based on the equation (2) in FIG. 10 in the related art. The other configuration is the same as that in FIG.
The same reference numerals are given to the same components as those in FIG. 10 and FIG. In addition, the time chart and the operation flow of the fourth embodiment are the same as those of FIGS. 6 and 7 of the third embodiment.

[0031]

Since the present invention is configured as described above, the following effects can be obtained.

(1) Since the rise of the jerk command is fast, the effect of compensation is enhanced.

(2) Since the ripple is not included in the jerk command, the compensation gain section can be increased.

(3) As a result, the effect of suppressing the overshoot of the car speed is improved.

[Brief description of the drawings]

FIG. 1 is a control block diagram of a jerk compensation method according to a first embodiment.

FIG. 2 is a time chart of a jerk detection process in the method of FIGS. 1 and 4;

FIG. 3 is a flowchart of a jerk operation in the method shown in FIGS. 1 and 4;

FIG. 4 is a control block diagram of a jerk compensation method according to a second embodiment.

FIG. 5 is a control block diagram of a jerk compensation method according to a third embodiment.

FIG. 6 is a time chart of a jerk detection process in the methods of FIGS. 5 and 8;

FIG. 7 is a flowchart of a jerk operation in the method of FIGS. 5 and 8;

FIG. 8 is a control block diagram of a jerk compensation method according to a fourth embodiment.

FIG. 9 is a control block diagram of a jerk compensation method according to a conventional example.

FIG. 10 is a control block diagram of a jerk compensation method according to another conventional example.

FIG. 11 is a graph showing a relationship between an elevator speed command, an acceleration command, and a jerk command.

FIG. 12 is a time chart of a jerk detection process in a conventional method.

FIG. 13 is a flowchart of a conventional jerk operation.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Subtractor for speed deviation detection 2 ... Speed control amplifier 3 ... Adder for jerk compensation 4 ... Elevator drive motor 11 ... Acceleration command calculation unit 15 ... Jerk detection calculation unit (acceleration first-order differential information detection calculation unit) 21 ... Jerk Detection calculation section (speed second-order differential information detection calculation section) 31 ... Filter processing section 32 ... Maximum value detection processing section 33 ... Jerk compensation gain section 41 ... Jerk holding section 42 ... Cushion processing section 43 ... Jerk compensation gain section 51 ... Filter Processing unit 52: Jerk compensation gain unit NJ: Detection jerk, jerk command NJLPF: Jerk filter value NJCMD: Jerk final output (command) NV: Speed command NA: Acceleration command S1, S2: Switch by calculation.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Yasuhiro Yoshida 2-1-1-17 Osaki, Shinagawa-ku, Tokyo Inside the company Meidensha Co., Ltd. (72) Inventor Masayuki Mori 2-1-1, Osaki, Shinagawa-ku, Tokyo Stock Company Inside the company Meidensha (72) The inventor Kyoichi Masuda 2-1-1-17 Osaki, Shinagawa-ku, Tokyo Inside the company Meidensha

Claims (4)

[Claims] 1. A jerk is detected and a jerk command is issued.
In a jerk compensation method for an elevator which performs an arithmetic processing of the jerk command and adds a torque command from a speed control amplifier via a jerk compensation gain unit to a jerk compensation, a maximum value detection processing unit which detects and holds a maximum value of the jerk command. And a filter processing unit for filtering the jerk command.When the jerk command rises, the maximum value detection processing unit constantly holds the maximum value of the jerk command and outputs it to the torque compensation gain unit. A jerk compensation method for an elevator, wherein a signal input to the jerk compensation gain unit is set to zero when a jerk filter output from the processing unit falls below a certain level. 2. A jerk command is detected and a jerk command is issued.
This jerk command is arithmetically processed, and in addition to the torque command from the speed control amplifier via the jerk compensation gain unit, in an elevator jerk compensation method in which jerk compensation is performed, the jerk command value is set when the jerk command exceeds a set level. A jerk holding unit that holds the initial value of the jerk compensation and a cushion unit that gradually converges the held initial value to 0 are provided. When the jerk command exceeds a set level, the jerk holding unit sets the jerk command value. Characterized in that the initial value of the jerk is held as an initial value of the jerk and output to the compensation gain section, and then the initial value is gradually converged to 0 by the cushion section, and the remaining compensation amount is slowly compensated by the speed amplifier. Jerk compensation method. 3. The jerk compensation method for an elevator according to claim 1, wherein the jerk detection is based on first-order differential information of an acceleration command. 4. The elevator jerk compensation method according to claim 1, wherein the jerk detection is based on second-order differential information of a speed command.