JPS6013947B2 - Elevator speed control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides an elevator control device that improves landing performance without impairing riding comfort during elevator deceleration.

The speed command given to the elevator speed control device only needs to be increased smoothly over time during acceleration, but in order to obtain a good landing during deceleration, the elevator position is detected and the speed corresponding to that position is increased. It is necessary to make it a directive.

By the way, in order to satisfy good landing performance and ground clearance using this method, a large number of position detections are required, and for this reason, the device is extremely complicated for elevators with a very long deceleration distance, such as high-speed elevators. And expensive. One way to solve the above-mentioned complexity of counterfeiting is to use a device that is attached to the governor pulley or floor controller and generates a pulse output in response to the movement of the elevator to detect the position almost continuously while the elevator is decelerating. Conventionally, a method has been used in which the ideal speed command is generated using the calculated speed command. An example of a device using this method is shown in FIG. In FIG. 1, 1 is a pulse generator that generates a pulse every time the elevator moves a certain distance, and 2 is a pulse generator that counts the number of output pulses of the pulse generator 1 and generates a position signal EI that gives the distance to the elevator's target position. 3 is a square root circuit, and 4 is an elevator speed regulator. When the elevator decelerates at a constant speed, the relationship between the elevator speed V and the distance L to the elevator stop position is as follows. V = Nomatsu L
......[1} Here, a represents the absolute value of the deceleration of the elevator.

Therefore, when decelerating the elevator at a constant deceleration, the square root of the elevator position signal EI is calculated as shown in FIG. control the speed of the elevator. By the way, in general, in medium-to-high-distance elevators, in order to ensure good riding comfort, it is necessary to make the acceleration and deceleration of the elevator into a trapezoidal waveform as shown in FIG.

In such a deceleration pattern, the speed V of the elevator and the distance L to the stop position of the elevator are no longer [1
This cannot be expressed by a simple relationship such as Equation 1, but is a very complex functional relationship, and a speed command cannot be generated by a simple circuit such as the square root circuit 3 in FIG. The present invention
It is an object of the present invention to provide a speed control device that satisfies good landing performance and riding comfort with a simple device even in a speed control device having a trapezoidal wave acceleration/deceleration command.

FIG. 3 shows an embodiment of the present invention.

Components in the figure that are the same as those in FIG. 1 are designated by the same reference numerals. In FIG. 3, 5 is a speed command pattern generation circuit with trapezoidal acceleration, 6 is a reference speed command generation circuit, 7 is a speed error calculation circuit, 8 is a normally open contact of relay to be described later, Eo is a speed command value,
Ep is the output of the speed command pattern generation circuit 5. The operation of the apparatus of the present invention will be explained below with reference to FIGS. 2 and 3.
In FIG. 2, a constant deceleration command is given between time points t and t2, and the relationship between the speed V of the elevator during this period and the distance L to the stop position of the elevator is expressed by the following equation.

Here, a is the absolute value of the deceleration, and b is the absolute value of the rate of change in the deceleration from the start of deceleration to t and from t2 to the time of landing.

Therefore, the reference speed command generation circuit 6 converts the elevator position signal EI corresponding to the distance L into the reference speed command signal Es corresponding to the formula V of [2} using an arithmetic circuit including a square root circuit.

On the other hand, the relay contact 8 is constructed by an embodiment circuit as described later.
If it is closed only between times t and t2, the difference signal (speed error signal) Er between the elevator reference speed command Es calculated by the speed error calculation circuit 7 and the elevator speed feedback signal Ee will be at the time t. , to t2 only, and the speed command pattern generating circuit 5 generates an ideal standard speed command Es for the elevator position output from the standard speed command generating circuit 6.
A speed command Ep is supplied to the speed regulator 4 of the elevator so that the elevator speed coincides with the elevator speed, so that the elevator can accurately land on the floor. FIG. 4 shows an embodiment of a relay operating circuit having a speed command pattern generating circuit 5 and a normally open contact 8. As shown in FIG.

Further, FIG. 5 is an explanatory diagram of the operation of the circuit of FIG. 4. In Fig. 4, OAI to OA4 are operational amplifiers, R, to R, 3 are resistors, DI to 03 are diodes, ZD, to ZD3 are Zener diodes, CI to C2 are capacitors, Q, to Q3 are transistors, and Ry is The normally open contact 8 is opened and closed by the winding of the relay. In addition, in the same figure, Eo, Eb, Ea, Ep, Em
, Ey, and Ed represent the voltages at the positions shown, Eo is the speed command voltage, and Eb, Ea, and Ep act as commands for zero rate of acceleration change, acceleration, and speed, respectively. It is voltage.

Further, Em is the output voltage of the operational amplifier OA4, Ey is the voltage applied to the relay winding Ry, and each of the above voltages Eo to E
m changes as shown in FIG. Further, Ed is a set voltage set to a constant negative voltage. Next, the operation of the circuit shown in FIG. 4 will be explained with reference to FIG.

First, the acceleration of the elevator will be explained.

In the initial state, the negative set voltage d is input to the inverting input terminal of the operational amplifier OA4, so its output voltage Em
is exactly saturated. Further, all other voltages are 0. When the speed command voltage Eo is input to the inverting input terminal of the operational amplifier PAl (t3 in Fig. 6), its output voltage Eb
is positively saturated, but its value is suppressed to the voltage specified by the Zener diode ZDI. When this voltage b is input to the inverting input terminal of the operational amplifier OA2, the operational amplifier O
The output voltage Ea of the integrator consisting of A2, resistor R5, and capacitor CI decreases linearly, but its minimum value is suppressed to the voltage defined by the Jenner diode voltage 3.
Next, when this voltage Ea is input to the inverting input terminal of the operational amplifier OA3, the output voltage p of the integrator consisting of the operational amplifier OA3, the resistor R7, and the capacitor C2 increases in a quadratic curve. When the voltage a reaches the voltage defined by the Zener diode ZD3 (FIG. 5L), the voltage Ep increases linearly. Here, the voltage Ep is input to the inverting input terminal of the operational amplifier OAI via the resistor R2, and the voltage Ep
a is input to the non-inverting input terminal of operational amplifier OAI via resistor R3.

Therefore, operational amplifier OAI operates as a comparator that compares the absolute value l(Eo+Ep)/2l of the input to the inverting input terminal and the absolute value lEal of the input to the non-inverting input terminal.
When the value of voltage Ep is small, l(Eo + Ep)/2l
>lEal, the output voltage of operational amplifier OAI is positive. When the voltage Ep increases to l(Eo + Ep)/2l - lEal (t5 in Figure 5), the output of the operational amplifier PAl is inverted and becomes negatively saturated, and its value is defined by the Jenner diode ZD2. voltage.

When voltage Eb becomes negative, voltage Ea begins to increase linearly,
Further, the voltage Ep continues to increase in a quadratic curve. Voltage Ea is 0
Since the voltage Ea has been adjusted so that Eo + Ep = 0 at the time when (t6 in Figure 5), the input voltage (Eo + Ep)/2 to the operational amplifier OAI and Ea both become 0 at that point. , therefore, its output voltage Eb also becomes 0 and acceleration ends, and Ep becomes a constant positive voltage. Next, a case where the elevator decelerates will be explained.

When the elevator reaches the deceleration starting point (see FIG. 5), the speed command voltage Eo becomes zero. Then, since the input of the inverting input terminal of the operational amplifier OAI becomes Ep/2 (at this time, the input voltage of the non-inverting input terminal Ea=0), its output voltage Eb
is negatively saturated and has a value defined by the Jenner diode ZD2. When voltage Eb becomes negative, voltage Ea, which is its integral output, increases linearly. By the way, since the voltage Ea is input to the inverting input terminal of the operational amplifier OA4 via the resistor R8 and the set voltage Ed is input to the inverting input terminal of the operational amplifier OA4 via the resistor R9, between lEal and lEdl, the inverting input terminal of the operational amplifier OA4 is input to the inverting input terminal of the operational amplifier OA4. The input voltage is negative, so the output voltage Em of operational amplifier OA4 is positively saturated. Voltage E
When a increases and (Ed+Ea)/2 tries to rise above 0 (t8 in Figure 5), the output voltage Em of the operational amplifier OA4 tries to saturate negatively, but since the diode D2 becomes conductive, The voltage Em has a value lower than (Ea+Ed)/2 by the forward voltage drop of the diode D2. Furthermore, since the diode D3 is conductive, the transistor Q2 becomes conductive and lowers the voltage Ea, so that the maximum value of the voltage Ea is eventually suppressed to the absolute value lEdl of the set voltage Ed (known voltage limiting circuit). . Therefore, the input voltage at the inverting input terminal of operational amplifier OA4 (Ed+Ea)/
2 becomes approximately 0, and its output voltage Em also becomes approximately 0.
Note that the voltage Ep, which is the integral output of the voltage Ea, decreases in a quadratic curve while the voltage Ea increases linearly (Fig. Figures t8-et al.) decrease linearly. Furthermore, Ea(=lEd!)>E
When p/2 (see Figure 5), the output voltage b of the operational amplifier OAI is inverted and becomes a positive voltage defined by the Zener diode ZDI, and therefore the voltage Ea begins to decrease linearly. In addition, the voltage Ep continues to decrease in a quadratic curve until the time point. Then, Ea=Ep=0, so Eb=0, and the deceleration operation ends. The above describes the operation of the known speed command pattern generation circuit. The operation of the apparatus of the present invention when using the speed command pattern generating circuit described above will be explained below. When the voltage Em becomes almost 0 during deceleration in FIG. 5, the transistor Q becomes conductive and the voltage Ey becomes a high level voltage and is applied to the relay winding Ry, and the point 8 is closed. When contact 8 closes, speed error signal Er is input to the inverting input terminal of operational amplifier PA4.

Therefore, as already explained, (Ea+Ed)/23
What was held at 0 will now be held at (Ea+Ed+Er)/3/0. Therefore, when the speed error signal Er is negative, that is, when the actual speed of the elevator is greater than the reference speed command, the voltage Ea increases and the voltage E
It serves to increase the rate of decrease of p and reduce the actual speed of the elevator.

Conversely, when the speed error signal Er is positive, that is, when the actual speed of the elevator is smaller than the reference speed command, the voltage Ea
decreases, lowering the rate of decrease in voltage Ep, and suppressing a decrease in the actual speed of the elevator, so that the actual speed is corrected to match the reference speed command. The voltage Ep continues to decrease, and Ea (in this case, Ea3IEd+Erl)>E
When p becomes (t9 in Figure 5), the voltage Ea starts to decrease linearly, and Ea<lEd+Erl, that is, (Ea + Ed+Er)/
3<0, the output voltage Em of the operational amplifier OA4 saturates positively, the transistor Q becomes non-conductive, and the voltage Ey becomes 0.
become. Therefore, the relay winding Ry. The excitation of is cut off, contact 8 is opened, and the correction operation is completed. As described above, in this embodiment, the speed error signal Er is input only during the constant deceleration command (from t8 to t8), and the acceleration command Ea and the speed command E
p is controlled so that the actual speed of the elevator becomes the ideal speed.

In the embodiment of the present invention, the speed error signal Er is input to the speed command pattern generation circuit 5, but the elevator speed regulator 4
Of course, it is also possible to have the user input the information.

As explained above, according to the present invention, even in a speed control device having a trapezoidal wave acceleration/deceleration command, it is possible to control the elevator speed during deceleration to have an ideal relationship with the elevator position using an extremely simple device. This allows for a comfortable ride and good landing performance.

Brief explanation of the drawings Z Figure 1 is a diagram explaining the conventional ideal speed command device for position,
FIG. 2 is a diagram showing a trapezoidal wave acceleration command pattern, FIG. 3 is a diagram showing an embodiment of the speed control device according to the present invention, and FIG.
This figure shows an embodiment of the speed command pattern generating circuit used in the apparatus of the present invention, and FIG. 5 is a diagram explaining the operation of the circuit shown in FIG. 4.

1...Pulse generator, 2...Position signal generator, 3...Square root circuit, 4...Elevator speed regulator, 5... - Speed command pattern generation circuit, 6...Reference speed command generation circuit with square root circuit.

Figure 1 Figure 2 Figure 3 Figure 4 Figure 5

Claims (1)

[Claims] 1 Speed command pattern generation circuit that takes a trapezoidal acceleration/deceleration waveform,
A pulse generator that generates a pulse every time the elevator moves a certain distance, an elevator position signal generator that counts the number of output pulses of the pulse generator and calculates the elevator position, and receives the output of the elevator position signal generator when the elevator decelerates. It has a reference speed command generation circuit that calculates the ideal speed for the elevator position only during the constant deceleration period, and calculates the difference signal between the elevator's actual speed feedback signal and the output signal of the reference speed command generation circuit during the constant deceleration period. A speed control device for an elevator, characterized in that a speed command pattern correction signal is input to the speed command pattern generation circuit only during a period.