JPS61145090A - Method of controlling speed 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 [Technical Field of the Invention] The present invention relates to a method for controlling the speed of an elevator controlled by a microcomputer.

[Technical background of the invention and its problems]

In digital speed control devices for electric motors, position detectors such as pulse generators and brushless resolvers that generate pulses at rotational positions that divide one revolution into two are often used as speed detectors.

By the way, since this position detector generates a noise or a pulse every time it rotates by 1/P, a reference time interval (timing) is required to detect the speed.

In other words, this means that the speed detection value obtained by processing the output pulse of the position detector shows the average value at the above reference timing, and not the instantaneous value at the time the detection value was obtained. means. Moreover, a detected value can only be obtained every certain period.

On the other hand, when controlling an electric motor with a microcombeater, various processes are performed in a time-sharing manner, so speed control calculations are controlled at certain cycles. This cycle is usually synchronized with the timing that serves as the reference for the above-mentioned detection.

FIG. 2 is a schematic diagram showing an outline of a device for controlling an electric motor in an elevator using a microcomputer, and FIG. 3 is a timing chart for explaining the operation of this device.

In FIG. 2, numeral 1 is a speed command device that generates a speed command output, and its output signal 1a is sent to the microconbeater 2.
It is connected so that it can be taken in. Reference numeral 3 denotes a motor drive device composed of semiconductor switches such as giant transistors), and this motor drive device 3 has an output that varies the voltage and frequency applied to the motor 4 according to the control signal 2a given by the microcomputer 2. Electric power is applied to the electric motor 4 to drive it. Note that a three-phase induction motor is assumed here as the motor.

5 is a position detector sb for detecting the rotational position of the electric motor 4;
7 receives the detection signal 5a from the position detector 5 and generates an output signal of the number of pulses corresponding to the detected position and a data confirmation signal 7b for identifying whether the signal is valid or not. It is a pulse converter. A timer 6 provides an interrupt signal 6a to the microcomputer 2 in synchronization with the data confirmation signal 7b at certain time intervals.

Next, the operation of the control device having the above configuration will be explained using the timing chart of FIG.

The operation of the elevator is performed by controlling the motor drive device 3 to a speed determined by the speed command signal 1a output from the speed command device 1, and controlling the torque of the electric motor 4.

That is, the speed command signal 1a is transmitted to the microcomputer 2.
On the other hand, the rotational position of the electric motor 40 is given to the position detector 5.
, and generates a detection output at each predetermined rotational position. Then, the detection output of the position detector 5 is given to a pulse converter 7, where the detection output is converted into an output signal 7a having the number of pulses corresponding to the detected position. At the same time, the pulse converter 7 outputs a data confirmation signal 7b indicating that the output signal 7a is valid, and is applied to the microconbeater 2. Further, the timer 6 outputs an output signal 6a at a predetermined period, and this is given to the microcomputer 2 as an interrupt signal. This interrupt signal 6a
If this indicates that the data confirmation signal 7b is valid when it is at the "L" level, it is output in synchronization with the down edge of the data confirmation signal 7b.

Therefore, the microcomputer 2 performs predetermined interrupt processing every time this interrupt signal is received. This interrupt processing is indicated by (1) and (I[) in the time chart.

Assuming (1), if the interrupt processing is \(I) →
Processing is performed in the order of (II)→(g). Here, assuming that the process of (D) is the allocated time for speed control calculation, count the number of output pulses of the pulse converter 7 during the period of (■), and find the actual speed of the elevator. A control signal 2a that corrects the deviation between the actual speed and the speed command output is calculated and output, and is provided to the motor drive device 3.

Therefore, the electric motor driving device 3 generates an output corresponding to the control signal 2a to drive the electric motor 4, so that the elevator is operated in a manner that follows the command speed.

Incidentally, FIG. 3 shows an example in which the timing of the data confirmation signal 7b and the timer output signal (interrupt signal) 6a are given to the microcomputer 2. In addition, the interrupt period T (sampling time) to the microcomputer 2 depends on the stability of the control system and the contents of interrupt processing (I) and (II).
, (III) can be determined by considering the calculation time.

After the process (I), preset input/output processing or other necessary processes (■) and (to) are performed, and these are (1), (n), GO.
) are sequentially executed during one sampling period on the speed side #.

Now, when driving an elevator with the speed i'UIJ control device that performs digital speed control using a microcomputer as described above, it is necessary to suppress the resonance that exists in the mechanical system and reduce the vibration given to the elevator car. , various compensations are made.

FIG. 4 is a block diagram schematically showing an elevator control system capable of performing vibration compensation.

In Figure 4, 10 is the speed command value FRREF and the actual XV
-<- This is a speed control calculating section that calculates the torque command value TA of the electric motor for driving the elevator based on the deviation of the evening speed PR. Reference numeral 11 denotes a mechanical transmission section including a current control system, which corresponds to the motor drive device 3 and the motor 4 in FIG.

That is, its output FfL becomes the actual speed of the elevator.

Now, as mentioned above, 12.13 is a loop provided to reduce the vibration inside the car during operation of the elevator, and 12 is an inertial system simulation section, which uses the torque command value TA to calculate the It calculates the velocity when the system is regarded as a completely rigid body. The deviation D-8PH between the output FRH of the inertial system simulation section 12 and the actual speed signal F is considered to be a factor that generates the cage vibration of the elevator.

Therefore, it is sufficient to perform control to eliminate this difference. Reference numeral 13 denotes a compensation calculation unit that calculates a torque command value TB for suppressing vibration from the deviation (deviation between the output FRH and the actual speed signal F) D-8PH. Also,
TL is an unbalanced load torque command value that compensates for the unbalanced load of the elevator.

In such a system, the speed control section 10 generates a torque command value TA that eliminates the difference between the speed command and the actual speed signal F, and combines this with the unbalanced load torque command value TL and the calculation of the compensation calculation section 13. A control signal TM is obtained by adding a torque command value TB for suppressing vibration of the car during operation.
By applying this to the mechanical transmission section 11, it generates an output with a voltage and frequency corresponding to the control signal TM, which is applied to the electric motor to drive it, and generates a torque corresponding to the control signal TM to drive the elevator. operate.

In FIG. 4, the part surrounded by a broken line, that is, the vibration suppression calculation loop consisting of the inertial system simulation unit 12 and the compensation calculation unit 13 will be referred to as the PTAL-B speed control calculation unit. In the timing chart of FIG. 3, the arithmetic processing of this part is performed within the period (g) allocated for speed control calculation.

Now, if you try to perform speed control including vibration suppression calculation using a digital control method using the method described above, as mentioned above, the speed can only be detected every certain lap XAT, so even though it is sufficient for normal speed control, In the control calculation (PIAL-B speed calculation) that suppresses vibration by capturing minute deviations in speed, there is a problem that the above-mentioned cycle is not enough, especially for those with high vibration frequency, and the vibration suppression effect inevitably deteriorates. .

As a solution to this problem, it is possible to shorten the speed control sampling period T to increase speed control calculation processing, but (D, (If)) in various interrupt processing in a microcomputer.

(g) Considering the execution time of each, there is a limit to K.

[Purpose of the invention]

The present invention has been made in view of the above circumstances, and its purpose is to interrupt high-frequency vibrations of the car during operation by interrupting only the speed control calculation process for suppressing car vibrations at short intervals. It is an object of the present invention to provide a speed control method for a combeater-controlled elevator, which is capable of sufficiently and effectively suppressing the combinator-controlled elevator.

[Summary of the invention]

That is, in order to achieve the above object, the present invention provides a speed control process that generates a command giving a target speed for elevator operation and calculates the control output of the elevator drive system necessary to obtain the corresponding speed from the actual speed of the elevator. etc., the computer interrupts various processes at predetermined intervals, and also simulates the speed of the elevator from the control output calculated to obtain the target speed and the actual speed, and calculates the difference between the simulated speed and the actual speed. A vibration suppression control calculation process for calculating the correction control amount necessary to reduce the difference is executed during the speed control process period, and the vibration suppression control calculation process is applied to the control output obtained by the speed control process. In an elevator control device that suppresses vibration of an elevator car during speed control by adding a corrected control amount obtained by By making it occur frequently according to the detection cycle,
The number of vibration suppression control calculations is increased so that vibrations with high vibration frequencies can be sufficiently suppressed.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to the drawings.

The present invention allows only the vibration suppression calculation part to be changed to the output period of the data confirmation signal 7b of the pulse converter 7, that is, the valid period of the speed detection signal, without changing the sampling period T of speed control, which is problematic to change. By doing so, the apparent sampling period of the vibration suppression control calculation is shortened, and the suppression effect can be sufficiently exhibited even for high frequency vibrations.

The present invention will be explained below with reference to FIGS. 1, 2, and 4.

In the present invention, when controlling the speed control device shown in FIG.
B (the vibration suppression calculation loop consisting of the inertial simulator 12 and the compensation calculation unit 13 in FIG. 4) has a high processing priority, and the data is The interrupt priority is set so that the microcomputer 2K interrupts the speed control calculation in synchronization with the down edge of the confirmation signal 7b, and
The PIAL-B calculation process is set to be executed after the conventional speed control calculation.

Then, the processing order within the speed control sampling period T is determined according to the processing time and priority, and here, PIAL-B f
i calculation, (II), (1), (DI) (7) in the order, and the processing of speed control calculation (1) is synchronized with the down edge of the data confirmation signal 7b at times other than when the PIAL-B calculation section is included. Make it.

With this setting, first, in FIG. 1, at time 11:00, the microcomputer 2 is interrupted by the generation of the data confirmation signal 7b and the timer signal 6a. That is, when the timer signal 6a is generated, the timer signal 6a for the PIAL-B interrupt is given to the microcomputer 2 in synchronization with the down edge of the data confirmation signal 7b which is simultaneously output from the pulse converter 7 in FIG. . Then, the microcomputer 2 enters an interrupt process and executes the vibration suppression control calculation PIAL-B shown in FIG. 4 described above.

In this case, the value obtained by the previous speed control calculation (1) is used as the output signal F⇠H from the inertial system simulation section 12. Note that it is zero at the initial stage.

Immediately after the calculation, the vibration suppression torque command value TB is output, added to the torque command value TA obtained by the previous speed control operation ff(1), and given to the electric motor 4 as the torque command value TM. As a result, the electric motor 4 is subjected to torque control and vibration suppression control.

Time 12 to t3 is a time during which some of the input/output required for controlling the elevator is mainly processed. Time 13 to t4 is a wait time for detecting a down edge of data confirmation signal 7b.

Next, at time t4, when a down edge of the data confirmation signal 7b is detected, the microcomputer 2
Normal speed control calculations are performed between 4 and t5. That is, calculations are performed to obtain the torque command value TA in FIG. 4.

Next, the actual speed signal FB of the elevator detected in synchronization with the data confirmation signal 7b at time t4 between times t5 and t6.
The torque command value TA obtained between t4 and t5 is
Calculation PIAL-B of vibration suppression control is executed, and the electric motor 4 is controlled as described above. 16 to t7 is the time during which input/output processing necessary for elevator control is performed. however,(
A portion of the remaining 10 is processed within the calculation time (g).

After time t7, the microcomputer 2 extracts the interrupt processing routine, and thereafter, when a new 6 interrupt signal is input, the speed control described above is repeated.

In this way, the present invention does not change the sampling period T of the normal speed control, but only the control calculation PIAL-B part of the vibration suppression control is adjusted to the L level of the data confirmation signal 7b indicating the point in time when the actual speed data of the elevator is obtained. This is done for each output according to the output period. Therefore, since vibration suppression control is performed more frequently than other controls, it can be controlled to reduce the difference between the actual speed of the elevator and the current speed of the elevator bale mechanical system, and the Not only can the vibrations of the car be suppressed, but also by performing this suppression correction frequently, a sufficient suppressing effect can be obtained even against high-frequency vibrations.

[Sparkling effect]

As described in detail above, according to the present invention, the control calculation for vibration suppression control is performed for each detectable speed, so even if the sampling period of the speed control system cannot be shortened, the appearance for vibration suppression control is improved. The sampling period has become shorter, so that it can sufficiently suppress high-frequency vibrations, and the comfort of the elevator ride can be further improved. It is possible to provide an elevator speed control method that has the following effects.

[Brief explanation of the drawing]

Fig. 1 is a timing chart for explaining the method of the present invention, Fig. 2 is a block diagram showing the schematic configuration of an elevator speed control device using a microcomputer, and Fig. 3 is a timing chart for explaining the operation of the conventional device. chart,
FIG. 4 is a functional block diagram for explaining the outline of the elevator speed control system using the microcombi. 1.: Speed command device, 2.. Microcomputer,
3... Motor drive device, 4... Electric motor, 5... Position detector, 6... Timer, 7... Pulse converter, 1
0... Speed control section, 11... Mechanical transmission section, 12.
...Inertial simulation section, 13... Compensation calculation section.

Claims (1)

[Claims] Interrupts the computer at predetermined intervals to perform various processes, such as speed control processing that generates a command to give a target speed for elevator operation and calculates the control output of the elevator drive system necessary to obtain the corresponding speed from the actual speed of the elevator. Simulate the speed of the elevator from the control output calculated to obtain the target speed and the actual speed, calculate the difference between the simulated speed and the actual speed, and reduce the difference from this. A vibration suppression control arithmetic process for determining the correction control amount necessary for the vibration suppression process is executed during the speed control process period, and the correction control amount obtained by the vibration suppression process is added to the control output obtained by the speed control process to generate the elevator drive system. In the elevator control device, the vibration suppression control calculation process is performed in accordance with the actual speed detection period of the elevator, and is given as a control amount to control the elevator drive system and perform vibration suppression control of the elevator car during the speed control. A method for controlling the speed of an elevator, characterized in that the speed is controlled at high frequency.