JPS59227673A - Generator for speed command of elevator - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a speed command generation device that generates a speed command for controlling the moving speed of an elevator car.

The floor selection device shown is used.

Recently, as such a floor selection device, a device using a microcomputer 1 has been proposed.

This floor selection device: (1) Generates one travel pulse every time the car travels a certain distance.

(2) The current position of the car is totally calculated as the number of running pulses from the reference position ff by counting or down-counting the running pulses according to the direction in which the car is raised or lowered.

(8) The distance from the reference position to each floor is calculated by the number of traveling pulses (
Hereinafter, the number of floor pulses is stored in the memory as the number of floor pulses.

(4) Calculate in advance according to the rated speed of the car and
The preceding position (car position J:v is also the preceding floor position) stored in the memory of (8) is
) and calculates it as the preceding position where deceleration and stop are possible.

(5) There is a call on the floor corresponding to this preceding position range.
For example, if the number of floor pulses of the floor where the call occurs and the preceding position are (6), and the deceleration is determined, the number of floor pulses of the floor where the call occurs and the current, current, and position of the car calculated in (4) above. Calculate the residual pressure from the target floor until the whistle stops, and generate a deceleration command corresponding to the residual pressure.

It is structured as follows.

When using this special floor selection system +W, it is better for the car to travel at a distance of about 1 mm, as it is better for the car to have a short travel distance in terms of landing accuracy and ride comfort. It is constructed in such a way that one running pulse is generated.

By the way, it is generally known that when controlling the speed of an electric motor, etc., speed command values are stored in a memory as a table, and the speed command values are sequentially read out and controlled.

In order to generate a deceleration command by executing the floor selection = tit described in the speed control circuit, it is possible to store the speed command value corresponding to the remaining distance, that is, the number of remaining traveling pulses in the memory as a table. .

The problem is that elevators require a large amount of memory.

Therefore, it is conceivable to create a deceleration command value table corresponding to the number of n running pulses while dividing the frequency of the generated running pulse f 1./n vc.

In this way, the memory capacity becomes 1/ρ, but unless Il″tn is made thicker to some extent in the high-speed range, the memory capacity cannot be achieved without total optical eclipse, and not only is the overall effect small, but it is even worse. The amount of change in the speed command value increases in the low speed range (near the M floor), resulting in problems such as poor riding comfort and poor floor landing accuracy.

Therefore, in the low speed range, it corresponds to n running pulses, and in the high speed range, it corresponds to m running pulses (n < m).
What kind of speed command value table? The problem arises that the riding comfort deteriorates when switching between two tables.

The present invention solves the above problems by reducing memory capacity without impairing landing accuracy, riding comfort, etc. 4- Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

FIG. 1 is a block diagram of an elevator equipped with a speed command generation device according to the present invention.

In the same figure, (1) is attached to one end of the main rope (8), which is driven by a hoisting DC motor (4). It is suspended from the car (5).

The DC motor (4) is fully supplied with DC voltage converted from AC by a converter (γ) consisting of three-phase father currents R, S, T'i thyristors, etc. from a three-phase AC R source (not shown).

In addition, between the tension roller (8) installed at the bottom of the hoistway of the car (1) and the slit disk (9) for generating running pulses formed with a slit (9aX) on the circumference installed in the machine room above it, Both ends are covered with fixed lobes (10) so that the slit disk (9) rotates completely as the car (1) moves up and down.

It consists of sensors, etc., and the slit (9) of the slit disk (9)
Travel pulse (position pulse) 'I'A every time a) is detected.
' Output to '.

The counter (input is an amplifier down counter, and inputs the running pulse PA from the running pulse generation W (11), and when the car (1) rises, it counts up,
When the count value CN decreases, it counts down and outputs the count value CN.

When facing the position detector (the engaging element 05 installed on the car (1) and installed in the hoistway near the scheduled stop floor), a detection pulse FB is output.

The floor selection device (1G) determines the floor where the car (1) is scheduled to stop, and selects the stop floor signal P. Full output.

The small electronic computer (17) calculates the speed in digital values based on the count value CN from the counter (16), the stop floor signal Po from the floor selection device (16), and the signal from the speed control circuit (4). This is a speed generator that outputs a speed command value vlk.

6- is in the closed state before the filter circuit (5)) and the car (1) are started, and the landing relay (not shown) is in the open state when the detector No. 11 (detector 04) detects No. Output via the closed contact (21a).

The landing command generation circuit fil generates a landing command value v2 which decreases as the cartoon (1) approaches the scheduled stop floor based on a signal from the speed control circuit.
1b) output via 'fr.

The tachogenerator IAI is connected to the rotating shaft of the DC motor (4), and generates a force corresponding to the rotational speed of the DC motor (4).

Adder (to) 4 converts the speed command fiM v□ from the small electronic calculator 48 t17) into a speed command value ■
A, and the landing command value from the landing command generation circuit (22)
v, less than seven human power μ, the input speed command value is called the speed command value vP), and the speed signal Vt from the tacho generator (&llI) is added to the deviation signal P that indicates the deviation.
D output.

One firing angle control circuit works, and the speed side @1 circuit (1B) controls the firing angle of all the cyrisks comprising the control converter (6) and changes its output voltage.

FIG. 2 is a diagram showing an example of the small electronic computer (17) of FIG. 1.

This small electronic computer (17) includes an input converter (811) that converts an input signal into a take for this electronic meter 117);
Central processing unit ft (CPU) 1321, interrupt cycle control timing, program for controlling the elevator, acceleration command value, deceleration command value that changes arithmetic, absolute floor position, etc. Read-only memory (ROM) that also serves as a storage means for stored deceleration command values m
4, a random access memory that stores data in memory addresses (RAM), an output converter that converts computer data into elevator signals (paulownia), and a pass line for data bus, address bus, etc. It consists of (a).

That is, this small electronic calculation W IJ'? ) is composed of a well-known microcomputer.

In addition, Figure 6 shows the data stored in ROM1341 and the address.
8-Response and data, C indicates the address and data of the absolute floor position representing each floor position as an absolute position from the reference position.

Next, the operation of the embodiment constructed as described above will be explained with reference to FIGS.

First, an overview of the operation of this embodiment will be described with reference to FIG. In addition, in Figure 4+a), 1°2.3...
・e is the time axis, e...lFi distance axis, in the same figure (b),
01 is standby mode, 02 is acceleration mode, 06 is constant speed mode, 04 is deceleration mode, and 05 is landing mode.

First, when a call is registered on the floor and a car (1) K start command is given, the electronic computer (from 17J to the speed command value that increases over time corresponding to acceleration mode 02 in Fig. The circular acceleration command value is output.

At this time, since the contact (21b) of the relay (not shown) is in the open state and the contact (21a) is in the open state, the speed command value v1 is converted to D-Aff, and then the speed command value VP9- is thereby A DC voltage adjusted by a converter (6) is applied to the DC motor (4) to start it up, the sheave (5) is driven, and the sheave (1) starts running.

At the same time, the tacho generator
), that is, a speed signal V corresponding to the traveling speed of car (1), is output, and is compared with the speed command value VP in an adder to perform automatic speed control, and car (1) is Speed control with precision.

On the other hand, each time the slit disk (9) rotates and travels a certain distance as the car (1) travels, the travel pulse generator (1
A running pulse PA is output from 1), and this running pulse PA is counted up or down by the counter (21), and the count value ON, which indicates the current position f!k of the car (1), is sent to the electronic computer (17). Enter.

Thereby, the electronic computer (17) selects the floor selection device (
10) Stop floor signal from P. The difference between the absolute position of the planned stop floor indicated by n and the current position (1), that is, the remaining distance, is calculated. A deceleration command value is extracted based on this calculation result, details of which will be described later.

Shifting to constant speed mode 03 in FIG. 4, the speed command value V becomes a constant value, and the car (1) runs at the rated speed.

Then, when the speed command value V is equal to the deceleration command value,
Transitioning to deceleration mode 04 in FIG. 4, the speed command value vl decreases and the car (1) decelerates.

After that, when the car (1) reaches the floor before the scheduled stop floor, the position 1a detector 0 outputs the detection pulse PB, so the landing relay is deactivated and its normally open contact (2+a) is in the open state. , the normally closed contact (21b) becomes open.

7n, the landing command value v2 from the landing command generation circuit I22) is inputted to the adder example as the speed command value (a), and the transition to landing mode 05 in FIG. )
The aircraft will land on the planned stop floor with high precision.

Next, the speed command generation operation executed by the small electronic calculator i (17) will be explained with reference to FIGS.

FIG. 5 is a flow diagram showing the general flow of this small electronic computer (17).

6 is a flowchart showing the initial setting subroutine of FIG. 5. In FIG.

In the same figure, in this initial setting, initial setting of the RAM sister), stack pointer setting, interrupt mask cancellation, and activation of the interrupt synchronization control timer (88) are all executed.

FIG. 7 is a flow diagram showing a subroutine of the interrupt processing shown in FIG.

In this figure, in this interrupt processing, calculations of remaining distance and speed command value are executed.

FIG. 8 is a flow diagram showing a subroutine for calculating the remaining distance in FIG. 7.

In the figure, this routine includes a floor selection device (16
) When the stop floor is determined, the stop floor signal P is taken in and the remaining distance is calculated.

That is, the stop floor signal P determines whether there is a request to stop the car (1). is checked and determined, and if there is a stop request, the stop floor signal P. Absolute position data 5n (n-O...n) of the scheduled stop floor shown in FIG. 3 corresponding to
Counter (121 count value ON, that is, car (1
), calculate the absolute value by calculating 5TP-CN, and store this calculation result as the remaining distance RDS in a predetermined address of RAM +351, and then the remaining distance calculation starts. Also, a flag indicating that RA G i
Set (set to %i#)

FIG. 9 is a flow diagram showing a subroutine for calculating the speed command value shown in FIG.

As shown in the same figure, it is determined whether the car (1) is stopped or not,
6f1 while stopped. For example, the operation mode flag MOD is set to standby mode 01, and if the vehicle is not stopped, it is determined whether the landing relay is deenergized (inactive).

As a result of this determination, if the landing relay is de-energized, the operation mode flag MonVc bed mode 05 is set; if it is not de-energized, it is determined whether the flag RAG in FIG. 8 is ant 11 or not. However, when RAG=1, the controller executes a calculation process for extracting a deceleration command value, which will be described later.

Iso mode processing, if MOD=02, acceleration mode processing,
If MOD=03, constant speed mode processing is performed, if MOD=04, deceleration mode processing is performed, if MOD=05, landing mode processing is performed, and then a speed command value vl is output.

Note that the details of each operation mode process have already been proposed, so the details will be omitted.

FIG. 10 is a flow diagram showing a subroutine for extraction calculation of the deceleration command value in FIG. 9.

In the same figure, first, index register (HL) KR
Head address R of remaining distance data stored in OM+34i
Set D (see Figure 5), compare the contents of its index register (HL) ((HL)) = Ro with the remaining distance RDS, and if RDS < ((HL)), the index register is set. (HLX-increment (+1)) and perform the determination process of RDS < ((HL)) again.

Then, if RD 8 (((HL)), then (HL
) - After performing the calculations of RD + VD and setting the deceleration command value data on the in register (HL) IL, extract the deceleration command value data of the index corresponding to this index register (HT, ), and set the deceleration command value data. RA as value ■Do
M (Stored at a predetermined address.

For example, when (HL)-RD engineering+1, RD S <
((HT,)), -f, that is, RD process R, then (HL) = (RDI + 1) - RD process + VDI
=VD]:+i, so the deceleration command value corresponds to the remaining front R1. , is the deceleration command value VD.

is stored as .

Next, the deceleration command value table stored in the ROM m4 will be explained with reference to FIG. 11.

As is well known, the relationship between the remaining distance S and the deceleration command value V is v=
The relationship is r d aEI (α is deceleration). Therefore,
In this embodiment, as shown in Figure 11, the deceleration command value v is divided into equal intervals ΔV, and each deceleration command value changes in an arithmetic series. o, Do□, D. 2... is the deceleration command value data, and the corresponding remaining distances R8, R□.

R2... is the remaining distance data, ROM (34, l
K storage (~The opening command value table is coarse in the high speed range and narrow in the low speed range, so the floor clearance and riding comfort do not deteriorate, and the number of speed command values is reduced, so the memory capacity is small. .

Note that, when the division value of the child series is ΔV, and the experimental interruption period is Δt, it is desirable to set ΔV=α×ΔtXn (n=1...n). The value n is determined by the filter circuit.

As explained above, according to the present invention, all tables of speed command values that change in an arithmetic series are created, so
Memory capacity can be reduced without completely deteriorating riding comfort.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an example of the speed control device d″f:@ of an elevator in which the present invention is fully implemented, FIG. 2 is a block diagram showing an example of the small electronic computer shown in FIG. 1, and FIG. 2
4 is a flowchart showing the subroutines of each process in FIG. 1 and FIG. 5, respectively. 7
A flowchart showing all the subroutines for each process in the figure, Fig. 10 is a flowchart showing the subroutine of the deceleration command value extraction calculation process in Fig. 9, and Fig. 11 shows an example of the relationship between the remaining distance and the deceleration command value. It is a line diagram. (1): Basket (4): Ishiryu Kodoshin (9) Nislit disc (11): Traveling pulse generator (]2
1: Counter α6) Second-order ratio selection device (17)
:Small electronic computer (Y):Tacho generator (B)J:
Adder (344; ROM In the figures, the same reference numerals indicate the same or equivalent parts. Agent Masuo Oiwa - 17- Figure 4 Figure 5 Figure 6 Figure 10 Figure 11 Figure remaining distance S □ Procedural amendment (voluntary) Mr. Commissioner of the Patent Office 1, Indication of case Patent Application No. 1982-101895 2,
Name of the invention Elevator speed command generation device; 3. Relationship with the case of the person making the amendment Patent applicant's representative piece+, I-+Jin8 part 4, heliman 5, column for detailed explanation of the invention of the specification to be amended, and drawings. 6. Contents of the amendment (1) The description and omission of "Normally closed contact of the landing relay, not shown, which becomes open when the detection signal P6 is output" in the second and third lines of page 7 of the specification. [The normally open state of a sapling relay (not shown) that was in a closed state when the detection signal P was output] is corrected. ,. (2) The statement "by addition" on page 7, line 17 of the specification is amended to "by subtraction." (3) Page 9, line 6 of the specification [see also Figure '4']
The statement "with reference to FIG. 4" will be corrected. (4) The statement "that n is" on page 16, line 7 of the specification is amended to read "n is." (5) Correct the drawings Medium Temperature Figure 1 and Figure 4 as shown in the separate sheets. 7. Attached document catalog drawings 1 copy or more 1;

Claims (1)

[Claims] When accelerating a car traveling between multiple floors, the entire time elapsed after the start of travel at the corner is measured and an acceleration command is generated in which the speed command value increases at predetermined intervals, and the car is decelerated. The speed command generator of the elevator counts all the travel pulses generated every time the heel travels a certain distance and generates a deceleration command in which the speed command value decreases according to the counted value. 1. A speed command generation device for an elevator, comprising a deceleration command value storage means for storing a changing deceleration command value.