JPS60148878A - Controller for hydraulic 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 [Technical Field of the Invention] The present invention relates to a control device for a hydraulic elevator that controls a flow rate according to a pattern signal to run a car.

[Prior art]

In order to prevent a shock at startup in a system in which the flow rate of a hydraulic elevator is controlled according to a pattern and the car is run, a bias pattern that supplies a low flow rate and a running pattern are used at startup by switching between the bias pattern and the running pattern, or by using an adder. A method has been proposed in which the flow rate is controlled by superimposing pattern signals.

However, in this bias pattern generation circuit that provides a low flow rate in advance, if a failure occurs in this circuit and an abnormally large or small flow rate bias is applied, problems such as starting shock and overspeeding will occur.

Furthermore, in systems that control the discharge and discharge of hydraulic pumps based on patterns (for example, electric motor rotation speed control, variable discharge amount pump control, etc.), if the bias is excessive, a problem will occur in which the pump will rise at worst when falling.

[Synopsis of the invention]

This invention was made for the purpose of eliminating such drawbacks, and by providing a limiter on the output of the bias pattern generation circuit to cut off abnormal bias, it is possible to operate with integrity even in the event of bias abnormality. This paper proposes a control system for surface pressure elevators.

[Embodiments of the invention]

Figures 1 to 8 are hydraulic elevators according to the present invention! In the figure, (1) is a hoistway, (2) is a cylinder buried in the pit of this hoistway (1), (8) is a pressure oil filled with this cylinder, (4) ) is the plunger supported by this pressure oil, (5) is the cage placed on the top of this plunger (4), (5a) is the foot floor, and (6) is installed below this cage floor (5a). Load detection device, (
7) is the landing floor, (8) the cam attached to the heel (5), (9) is the deceleration switch for decelerating the moving heel (5), (stops the restraint heel (5) The stop command switch (11) always functions as a check valve, and is switched when the electromagnetic coil (+ +b) is energized to cause the reverse direction to exceed 4. (++
a) is a pipe that is connected between the cylinder (2) and the solenoid switching valve and sends pressure oil; (12) is a pipe that rotates in the reverse direction, and
) is a hydraulic pump that sends and receives pressure oil to and from the electromagnetic switching valve 01), (13) is a three-phase interrogation motor that drives this hydraulic pump (L2), and α4 is this three-phase interrogation motor. Negative motive (
J3) is a speed generator that detects the number of rotations, (15) is a pipe (
15a) is an oil tank that sends and receives pressure oil to and from the hydraulic pump (15a), (16) is an oil temperature detection device that detects the oil temperature of this oil tank (+5), and R, S, and T are three-phase AC ft [ , (21
) is a luxury circuit that converts three-phase alternating current into direct current, (y) is a capacitor that smoothes this direct current, (4)) is an inverter that controls the pulse width of direct current and generates three-phase alternating current with variable voltage and frequency. An example is a regenerative inverter that returns DC to three-phase AC'1 sources R, S, and T.
4a), the oil temperature signal (+6a) of the oil temperature detection device 06), the deceleration command signal (9a), and the normally open contact (50Tc) that is closed from when the start command is issued until the stop command is issued. The generated operation command signal and the normally open contact of the operation contactor (
This is a speed control device into which signals (5[]aa) generated by 3Oa) are respectively input, and outputs a signal (25a) to control the inverter μs). (50a)
-(300) are normally open contacts of the operating contactor +301 shown in FIG. 6, which connect the three-phase induction motor 03) to the inverter).

Fig. 2 shows the details of the speed control device f25) shown in Fig. 1, and (41U) is a delay circuit that outputs an output after a predetermined time delay after the normally open contact (3QTc) is closed. is a rising running pattern generation circuit, and as shown in FIG.
When the deceleration command signal (9a) is issued at time t3, the speed decreases and once reaches a constant speed increase, and becomes zero at time t6. (41D) is a descending running pattern generation circuit, which is shown in Fig. 5(41D).
The driving pattern signal shown in b') is output.

(41Ua) is the upper contact (41Da) that remains closed during the period of upward operation, (41Db) is the lower contact that remains closed during the period of downward operation, fm+ is the variation in the amount of leakage of the pump in advance, This is to initialize the amount of leakage based on the load and oil temperature.With no load and at a specified temperature, a command is issued to rotate the hydraulic pump (wind) at a rotation equivalent to the amount of leakage at 12+. The setting bias pattern circuit (u.3) is an arithmetic unit that is activated by the oil temperature signal (+6a) and the load signal (6a), and performs one-addition correction on the output of the setting bias pattern circuit decoy via an adder. It is something to do. (g)) When the normally open contact (30Tc) closes, the bias pattern generation circuit sends a stop command signal (30a ) becomes zero when uttered.The @phrase indicates the running pattern generation circuit (41U) or (
41D) and the output of the bias pattern generation circuit 1461 to output the pattern signals shown in FIGS. 5(C) and (C'). Conversion circuit that converts the level to voltage level,
118) is a subtracter that takes the difference between the output of the adder (-) and the output of the conversion circuit (conversion), and song j is a transmission circuit that transmits the output of this subtracter f'18+ at a predetermined amplification degree. (50) is the frequency command signal by adding the output of this transmission circuit axis and the output of the converter circuit. An adder that outputs n
A function generating circuit that generates a voltage command signal V in response to the frequency command signal ω of the inverter (50j), a function generating circuit that generates a voltage command signal V in response to the frequency command signal ω of the inverter ( 4) Signal (25a) to be output from
There is a standard sine 2% raw circuit that outputs . (581, - is the maximum and minimum bias return circuit, (53a), (54
a) is the output number d, 955+ inputs the piecing pattern signal (45a) and the above Ryokawa power signal (53a),
(54a) is a limiter circuit that compares the two and limits the output if it is too large or too small.

Figure 6 shows the control circuit connection diagram, (+) and (-) are for control relaxation, (to) is a start command circuit that is closed by a call signal, door closed detection signal, etc., and (30T) is a start command circuit with one end closed. An operation command time relay (3QT) whose other end is connected to the control power supply (+) through the start command circuit 11!
a) is the normally open contact of this timed relay (30T),
One end is connected to the control power supply (+) via the normally closed contact (+ob) of the stop command switch 10), and the other end is the time relay (30T).
is connected to the -' end of (3oTb) is the normally open contact of the timed relay (30T), (30TO), (
6oTd) is also the normally open contact of the time relay (30T),
The contactor is an operating contactor controlled by a normally open contact (3 (ITl)), and the normally open contact (30a) shown in FIGS. 1 to 6.

(30b), (50c), (30a), (5of
) is opened and closed.

Fig. 4 shows details of a bias limiter circuit having a minimum limiter circuit (55A) and a maximum limiter circuit (55B), (R work) ~ (R,), (R work.) ~ (R work 3). .

("2x) + ("22) td low resistance (Trl) ~ (
Tr3] is a transistor, and Vi is the input voltage to the bias limiter circuit, that is, the output voltage VB of the bias pattern generation circuit ←6) shown in FIG. Normally, it outputs a positive voltage.

vo is a similar output voltage, and a positive voltage gives positive rotation. Also, under normal conditions (R□) −(R2) −(R3) −(R
), outputs vo□=-vi, vo=-vo 工, v1=vo. Also, since leakage correction can only be done in the positive direction (the direction in which oil is supplied to cylinder (2)),
V is the voltage that gives the motor (1B) forward rotation. , Vi
Both are correct. vL is the minimum bias setting voltage from the minimum bias setting circuit (541) shown in FIG.

Now, assume that the bias pattern signal (45a) is normal.

When the car is stopped and you call in the upward direction, the car (5
) is issued a start command after the door is closed, and the time relay (30
T) is excited. When the time relay (3'OT) starts moving and leaves the stopping point, the self-holding O time relay (30T) energizes the operating contactor (-), and the normally open contacts (30a) to (30e) When power is supplied to the electric motor (1B) and a signal is output from the normally open contact (30Tc), the bias pattern retains its current value until time t. A bias pattern occurs. Due to this bias pattern, a three-phase alternating current of low voltage and frequency is emitted from the inverter), and the electric motor (181 drives the pump (I21) at a low rotation speed equivalent to the layer leakage of the hydraulic pump (181) calculated in advance. Therefore, (51 will not rise.

A certain period of time after the time-limited relay (30T) is energized, time t.

The output is output from between the delay circuits, the travel pattern is output from the upward travel pattern generation circuit (41U), the bias pattern and the travel pattern are added as shown in Figure 5 (C), and the pressure oil is output from the pump (121). gradually increases the supply amount and pushes and moves the check valve (111), and as shown in FIG. 6, the engine (5) starts running and eventually reaches a constant speed at time t2.

When the car (5) comes to a predetermined position in front of the destination floor, the cam (8)
) activates the deceleration command switch (9). Then, at time t3, the upward running pattern generation circuit (4+tr) gradually decreases and decelerates9, and eventually reaches a constant low speed and continues upward (5). At time t5, the cam (8) switches to the stop command switch (
10), the start command circuit example is opened by the operation of the deceleration command switch (9) and the normally closed contact (T
By opening Ob), the time relay (30T) is deenergized and the output of the ascending running pattern generating circuit (4+U) has dropped to zero, so the running pattern is reduced to a length, and the cylinder (2)
Since the discharge amount to decreases, the check valve (111) gradually closes, and the valve (5) at the top of the circle (5) comes to a nearly stopped state.

The time-limited relay (30T) is de-energized, but the time-limited contact (soT)
Since b) remains closed for a certain period of time, it is a time-limited relay (chrysanthemum).
is in an excited state, and ′ (motivation αB) continues to rotate due to the bias pattern signal (45a). Time-limited contact (50T
When b) is opened after the time limit, due to the deenergization of the time relay (column), the normally open contacts (30a) to (300) cut off the power supply to the motor (1B) at time t7, and the normally open contacts (30d)
As a result, the bias pattern generation circuit 151 is also cut off, and at time t8, the electric motor ti11) and (5) also stop.

Next, during the descent, when a start command is issued after the door has been closed, the time relay (30T) is energized and the contact (3QT) is activated.
b) is closed, the time relay (13L1+) is energized, and the electric motor (13) is closed by closing the contacts (30a) to (30Q).
As power is supplied to the pump, a bias pattern is generated, and at time to, the pump (I21) rotates at a low speed in the direction of discharging oil from the pump (I21), as in the case of rising.This corrects the leakage.

Further, the solenoid valve coil (11b) is energized by the contacts (30f) and (5oTa) to open the valve gap.

After a certain period of time, an output is generated between the delay circuits, and at time t'
, the running pattern is output from the descending running pattern generation circuit (41D), and the bias pattern and the running pattern are added as shown in FIG.
gradually lowers the rotation and rotates from zero rotation to the reverse direction,
As shown in FIG. 6, the heel (5) travels in a downward direction and eventually reaches a constant speed at time t'2. When the cam (8) activates the deceleration command switch (9), time t'3
It decelerates at , then reaches a constant low speed and continues descending. When the stop command switch is activated, the running pattern is further reduced, and from then on it rotates by the bias pattern, and the pump (121) supplies only the leakage amount, so the car (5) is not activated at time t16. stops.

In addition, due to the operation of the stop command switch, a time relay (3
0T) is demagnetized and the contact (30Td) is opened, so
The solenoid valve coil (+ +b) demagnetizes and the valve (1 sword) gradually closes and stops the pressure oil from the cylinder (2), so the cage (5)
remains stopped. Thereafter, as in the case of rising, the power supply to the electric motor III (181) and the bias pattern are cut off at time t'8 after a certain period of time, and the pump (121) stops.

Next, a case where the bias pattern is abnormally high will be explained with reference to FIG.

If there is no limiter circuit, the operation contactor il+ is energized by the start command as described above and a bias pattern signal (45a) is generated, but since this No. 100 hani is abnormally thick, it can be A large amount of discharge is given, which exceeds the amount of discharge, and the car t51 travels upward at times ts and t' with large shocks and vibrations.

Therefore, when descending, the vehicle will rise despite the descending operation command, resulting in a dangerous operation.

When the running pattern is accelerated to the bias pattern at delay time, time t, and t/□, the speed becomes overspeed when rising and slow when falling.

Next, during ascending operation, the normally closed contact (+Ob) is opened when the stop point is reached, and even if the continuous rotation command time relay (30T) is deenergized at time t6, the car (51Fi) does not stop, and therefore the overshoot state As a result, the normally open contact (30T1)) continues to run until the time limit operation contactor (6) is deenergized, and the car (6) stops in the over-travel state, and in the worst case, the door open zone There is also a risk of it coming off and becoming stuck.

In addition, during descending operation, the running pattern decelerates at the deceleration command point at time t13, but as shown in Figs. 7(a') and (b'
), if the bias pattern is abnormally high, even after time t/2 when the speed changes from deceleration to constant low speed, the pattern signal to the electric motor 9 uH+ will be between normal rotation and reverse V (
The cage (6) is in a rising state.

If the bias pattern is abnormally sieved in this way, it will cause poor riding comfort, poor layering, and dangerous operation. In addition, as mentioned above, if the electric NJ machine is rotated in the same way or in the opposite direction, the air flow and layer ratio will deteriorate, and if the direction of rotation is reversed, negative pressure will occur. .

Next, with reference to FIG. 4 and FIG.

(2) When the bias pattern signal (45a) is abnormally high In this case, vi>vH. At this time, the limiter circuit -
output V. is suppressed to vH, and extremely excessive voltages are suppressed.

That is, when the input v1 is a very high voltage, the maximum bias setting voltage v1i and the resistance (R2□), CR2□
), the transistor (Tr) becomes conductive, and the feedback resistance becomes low, so the output voltage is V. will decrease, and anything above the above will be limited. Therefore, the starting shock when ascending is not so large, and the rowing method when stopping is not so great that it exceeds the door opening range and becomes jammed, but is suppressed to the extent that bedsores are slightly large.

Also, when descending, it takes a little while to move up in the upward direction, but since the delay time between the delay circuits is short, it immediately runs in the downward direction, and when decelerating or stopping, it does not run in the opposite direction (in the upward direction), so the running time is longer. becomes slightly longer.

Therefore, although there may be a slight deterioration in driving performance (for example, the ride quality may become worse or the speed may become slower), there is no problem in terms of safety and the vehicle can be driven without causing any practical problems.

(2) When the voltage is abnormally low (vi is a negative voltage or a low positive voltage) In this case, vl<vL. At this time, the comparator output vs becomes a positive saturation voltage, and the transistor (Tr
l) fJ is cut off, transistor (Tr-) conducts, and the minimum bias setting voltage v1. The inverted voltage of is applied to the resistor (R3), resulting in an output voltage of V. becomes vL, V18
The following voltages are the bias voltages of vL.

However, if the bias becomes a reverse voltage, the motor 08) will not be able to compensate for the leakage of the pump (+21), but on the contrary, it may begin to drain oil from the cylinder (2) side, creating a negative pressure. If you prevent Vo from becoming less than v1, or at least from the reverse vomiting side, there will be only a slight start-up shock and slow speed when ascending, and when descending, there will be a slight downward movement when starting. It is suppressed by jumping out and the speed becoming slightly faster.Therefore, in this case as well, as in case (2), practical operation can be carried out without any safety problems.

■When the bias pattern signal (45a) is royal, in this case Vi>vL, the comparator output vs becomes a negative saturation voltage, the transistor (Trl) turns on, the minimum limiter circuit (55A) does not work, and V . Since l is lower than the maximum limiter setting voltage v)l, the transistor (Tr3) does not work and Vo=V□ is output.

In the circuit shown in FIG. 4, a negative voltage vl is treated as an abnormally low voltage, but the input voltage v1 may be converted into an absolute value and suppressed by a maximum limiter circuit (55B).

Further, the settings of vL and vH depend on the specifications of the hydraulic elevator, and the applicable load range and oil temperature range are determined in advance.

That is, if leakage i Q/, pump leakage coefficient, car load L, and oil temperature T, then Q' - f (K, L, T)
For example, VH can be determined as the voltage corresponding to the rotational speed equivalent to leakage at maximum load and oil temperature upper limit, and vL can be determined as the voltage at no load and oil temperature lower limit. good.

Therefore, by installing the limit circuit, safe operation is possible even when the bias pattern is abnormal.

In the above embodiment, the rotational speed control of the electric motor was explained, but if it has a bias pattern, variable discharge amount pump control, proportional solenoid valve control, etc. may be used. The effects of co-workers can be obtained not only in but also in things that can be changed.

In the above embodiment, the bias pattern is made into a step shape, but it can be similarly applied to a bias pattern with a step shape.

In the above example, the bias pattern generation circuit was configured with analog elements, but it may also be processed by a microcomputer, the above circuit can be realized by software processing, or it can be realized by doubling it with analog elements. , in this case, the reliability can be very high. [Effects of the invention] As described above, this invention provides a limiter on the output side of the bias pattern generation circuit, so even if the bias pattern is abnormal, it will not be possible to operate. You can drive safely without any problems.

[Brief explanation of the drawing]

Fig. 1 is a system diagram showing a control device for a hydraulic elevator according to the present invention, Fig. 2 is a detailed diagram of the speed control device shown in Fig. 1, Fig. 5 is a control circuit connection diagram, and Fig. 4 is a bias limiter circuit. 5 is a diagram showing changes over time in the bias pattern, running pattern, and electric motor pattern. Figure 6 is a diagram showing the relationship between electric motor (number of patterns and car speed).
This figure is a diagram equivalent to FIG. 6 showing the case where the bias pattern is abnormal, and FIG. 8 is a diagram equivalent to FIG. 7 showing the case where a bias limiter circuit is provided. (2) - Cylinder (6) Cart (plow) Hydraulic pump (13) Three-phase induction electric motor similar) Writing speed control device (41[), (41D) Travel pattern generator Circuit decoy...Setting bias pattern circuit←6)...Bias pattern generation circuit +, l501...Adder Same...-Converter (181, example...Subtractor (to, Φ maximum bias setting circuit (541...) Minimum bias setting circuit (-) Bias limiter circuit (55A) Minimum limiter circuit (55E) Maximum limiter circuit The same reference numerals in each figure indicate the same or equivalent parts. Agent: Oiwa Yu Dan Figure 5 Figure 6 Figure 7 Figure 8 Showa Year Month Day 2, Name of the invention II7 control device for hydraulic elevator 3, Relationship to the case of the person making the amendment Patent applicant address 2 Marunouchi, Chiyoda-ku, Tokyo Chome 2-3 Name
(601) Mitsubishi Electric Co., Ltd. Representative Hitoshi Katayama, Part 4, Claims column, Detailed explanation of the invention column 6 of agent specification
Contents of the amendment (1) The claims of the specification will be amended in a separate document. (2) The statement ``sending pipe,'' on page 6, line 18 of the specification, is amended to read ``sending and receiving pipe.'' (8) “Stop command signal (3)” on page 6, line 6 of book aA#7
oa) is issued" is corrected to "The contact (!10(1) opens with the stop command signal."). (4) "Bias pattern" on page 6, lines 5 and 6 of the specification. Add the description ``through the bias limiter circuit'' in front of it. (5) Correct the description ``Next...'' in the 8th line 15 of the 8A narrow cylinder as follows. ``Conventional The operation will be explained with reference to Figures 1 to 6.'' (6) The statement ``Because it is falling'' on page 10, line 9 of the specification is amended to ``Because it is falling.'' (7) Specification The description "open" on page 10, line 16 of the specification is corrected to "open." (10) The statement "However," on page 17, line 5 of the specification is corrected to "in this way." (11) Specification The description ``1 Unable to operate'' on page 18, line 6 of the specification is corrected to ``abnormal operation''. (+2) The description r(54iJ) on page 19, line 6 of the specification is deleted. (13) Amend Figure 1 as shown in the attached sheet.B List of Attached Documents (1) 1 page containing the amended scope of claims (1 copy)
2) Drawing after correction One or more documents describing the scope of claims after correction A bias pattern generation circuit that generates a bias pattern signal to give a lower discharge amount from the pump, and a running pattern that generates a running pattern signal to make the car run. and a pattern generation circuit, in which the bias pattern signal and the running pattern signal are switched or superimposed with an adder, and the flow rate is controlled according to this pattern to cause the car to run, on the output side of the bias pattern generation circuit, A control device for a hydraulic elevator, characterized in that a limiter is arranged to suppress the upper and lower limits of a bias pattern signal.

Claims (1)

[Claims] A bias pattern generation circuit that generates a bias pattern signal to provide a pump discharge amount, and a travel pattern generation circuit that generates a travel pattern signal to cause the car to travel,
In the car that runs the car by switching the bias pattern signal and the running pattern signal or superimposing them with an adder and controlling the flow rate according to this pattern, the upper and lower limits of the bias pattern signal are connected to the output side of the bias pattern generation circuit. A control device for a hydraulic elevator, characterized in that a limiter is arranged to press down.