JPS61226476A - Speed command device for 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 [Field of Application of the Invention] The present invention relates to an elevator speed command device, and particularly to an elevator speed command device when the elevator is in an acceleration state or in an acid state.
This invention relates to improvements in speed command devices.

[Background of the invention]

As is well known, elevators are driven by direct current motors or induction motors via ropes or hydraulic mechanisms. Therefore, the control of this electric motor is 1. It is important to improve the ride comfort and landing accuracy of elevators, and the speed command device for this purpose has also become an important element.

So 1. Generally, from the viewpoint of ride comfort, the elevator speed command is devised so that the maximum acceleration during acceleration and deceleration is set in advance, and the command is smooth within the range of this maximum acceleration.

In addition, from the viewpoint of reducing the above-mentioned landing accuracy, that is, the level difference between the stop position of the elevator corner and the target stop position, when decelerating, a speed command is generated according to the remaining distance to the target stop position. I have to.

In other words, the elevator speed command is based on a time-based speed pattern that increases according to the elapsed time after departure when accelerating, and decreases according to the remaining distance to the target stop position when decelerating, within the maximum allowable acceleration. The speed pattern is designed to satisfy both ride comfort and landing accuracy.

By the way, if a speed difference occurs during the transition from time-based to distance-based, it will cause vibrations to the car, and if this speed difference is large, it will not only impair riding comfort, but also cause the car to be unable to follow the distance-based speed pattern. This also causes a decrease in implantation accuracy.

Therefore, technology for smoothly transitioning from this time-based speed pattern to a distance-based speed pattern is also important. For example, in Japanese Patent Publication No. 58-27193, the above-mentioned time-based speed pattern and distance-based speed pattern are sequentially compared,
A method has been proposed in which the sequential acceleration is changed according to the difference, and an actual time-based speed pattern is generated using the integrated value, thereby smoothly transitioning to a distance-based speed pattern.

However, since this method requires complicated calculations, the circuit becomes complicated, and when it is implemented with a microcomputer, which has recently been applied to elevator control, the processing time becomes long, and the speed command processing I was used to being monopolized by other people, making it difficult to handle other things.

[Purpose of the invention]

SUMMARY OF THE INVENTION An object of the present invention is to provide an elevator speed command device that can smoothly transition from a time-based speed pattern to a distance-paced speed pattern using a simple configuration or calculation, and has excellent ride comfort and landing accuracy. .

[Features of the invention]

The present invention provides a speed command device equipped with a time-based speed pattern generating means that increases according to the time after the elevator starts and a distance-based speed pattern generating means that decreases according to the remaining distance to a target stop position. is a speed change value that detects that the difference between the time-based speed pattern and the distance-based speed pattern has reached a predetermined value, and sequentially decreases from the predetermined value according to the elapsed time from the time of detection. After the detection, a value obtained by subtracting the speed change value from the distance-based speed pattern is outputted as a speed command, so that the one-hour pace is smoothly transitioned from the distance-based speed pattern. It's right there.

[Embodiments of the invention]

Hereinafter, the present invention will be explained in detail using an illustrated embodiment.

FIG. 1 is a functional block diagram of the entire elevator system to which the present invention is applied, and FIG. 2 is a detailed explanatory diagram of the present invention.

Here, first, the operating principle of the present invention will be explained with reference to Figure @2.

In the figure, (A) is a velocity curve, (B) is an acceleration curve, and the horizontal axis indicates the elapsed time t after the elevator is started. The solid line αP\ in this figure (1, 1) is the target acceleration pattern, and the solid line υp in figure (A) is the corresponding speed command.

After the elevator starts, the time-based speed pattern U1 obtained by time integration of the acceleration pattern αIt during the target acceleration and the difference (remaining distance) L from the elevator car position to the target stop position are reduced by a constant acceleration α2. , and calculates a distance-based speed pattern ν2 obtained by speeding up the distance. However, in calculating the distance-based speed pattern ν2, in order to smooth the acceleration change at the end of deceleration, the difference between the actual traveling distance and the remaining distance gL is calculated by taking into account the acceleration change in the time 1゛3 region. Subtract more.

That is, the time-based speed pattern v1 and the distance-based speed pattern υ2 are as follows: shi, = fα, t%dt (1)
v2=2(X2(LLO)
It is found in (2).

Here, in order to switch from acceleration to deceleration in the region of time 'r, , T2 like acceleration pattern αP, time base speed pattern υl and distance pace speed pattern υ are required.
When the difference Δν between 2 and 2 becomes equal to the speed change amount Sx+Sz found from the acceleration change amount in time 'I', -1-'I'2, it is necessary to switch to a different pattern from the time-based speed pattern υ1. That is, this switching point (
The difference Δvo between both speed patterns at time t=to) is Δvo=+α2 'r2+ + (α2+α1+α2)
Tl(3), and when cLl=OL2, Δ
vo=÷(αl+α2) (Tt+Tz)
(4) becomes.

If this time 1 = 10 point is used as a reference and the elapsed time from this point is newly set as T', the speed pattern to be switched from the time base speed pattern vl is, for example, time T/: 'r
1 can be obtained by subtracting the area 32=Δv1, which is determined from the acceleration change amount α2 in the remaining acceleration change time 'r2, from the distance pace speed pattern v2.

That is, to express it generally, when using the condition of equation (4), Δ g' = + ((!x + (h) (Tt +
1'2 '1'') (5) P=υ2-Δ
It can be expressed as v(6).

Also, after time 'r/:Tl-)-'f'2, the acceleration change time is zero, so Δυ=0 and =
υ2(71. That is, it matches the distance pace speed pattern v2.

Furthermore, in the region of time T3 in the second half of deceleration, distance pace speed pattern v2! '2= +(X2 TI (
8) From the time (t=ts), set a new time TI and change the speed pattern Up to T -T# vP=+az(+11.)
(9) It can be stopped by a trap.

In summary, the speed pattern 7Up is the time 1 =! from the start of the elevator. , ), acceleration is performed using a time base velocity pattern 7 (tlp :l: IJ 1 ) based on time integration of the target acceleration pattern (dP=αxt),
At time t = t6 to t2, the speed pattern (v
From time t = t2 to t3, constant acceleration deceleration is performed with distance pace speed pattern v2, and from time 1 = 13 to t4, the acceleration is shifted to deceleration according to target acceleration pattern d2. A speed pattern corresponding to the change will be generated. Also, these patterns υ
All of p can be determined from the target acceleration pattern and the remaining distance to the target stopping position.

As described above, according to one aspect of the present invention, a smooth transition from acceleration to deceleration can be achieved through simple processing, and riding comfort and landing accuracy can be improved.

Next, an example of the overall configuration of an elevator to which the speed command device of the present invention is applied will be described with reference to FIG.

This configuration example illustrates a rope-type AC elevator using an inverter, but in addition to this, a DC elevator
It goes without saying that the device of the present invention can also be applied to a hydraulic elevator. The heavy weight 6 and the seat 7 are raised and lowered. The pulse generator 8 is driven by a driving chip 9 connected to the car 7, and generates a pulse every time the car 7 travels a unit distance*<for example, between 1st and 2nd day. This pulse is input to the speed control device 11, the operation management device 12, and the speed command device 10, and is used to detect the speed and position of the car 7, as is well known.

For example, the operation management device 12 inputs the position of the car 7, a call signal from a hall call device 13 provided at the landing, a destination call device 14 in the car 7, etc., and performs the well-known operation management, that is, the operation control device 12. It determines the direction, next stop call, etc., and performs management control such as starting and stopping.

The speed command device 10, which is a feature of the present invention, inputs the start Φ stop signal and the position signal of the passenger seat 7 from the operation management device 12, and generates the speed command ν2. That is, the time-based speed pattern generation means 101 creates a time-based speed pattern v1, and when the next stop floor is determined, the distance-based speed pattern generation means 102 creates a distance-based speed pattern v2. Match detection means 103
detects that the difference between the distance-based speed pattern v2 and the time-based speed pattern νl has reached a predetermined value Δv6.

The coincidence signal is output to speed change value (ΔV) generating means 104 and switching means 106.

The speed change value generating means 104 calculates the change value ΔV according to the elapsed time T' after the coincidence by executing the equation (5). The subtraction means 105 subtracts the speed change value ΔV from the distance-based speed pattern v2 and outputs it to the switching means 106. Therefore, the switching means 106 outputs the time-based speed pattern νl as the speed command Up before the coincidence,
After the - mark, the command value from the subtraction means 105 is used as the speed command ν.
Output as P.

In this way, the speed command vP from the speed command device 10 is
As explained in the operation principle above, the acceleration period is 1 hour base speed butter 7 U 1, when transitioning from acceleration to deceleration, distance base speed pattern v2 - speed change value ΔV value, after transition, distance base speed pattern v2 , transition continuously.

Therefore, the speed control device 11 controls the inverter 3 and the By controlling the gate of the converter 2, the elevator-driving motor 1, that is, the car 7, can be smoothly controlled in accordance with the speed command υP.

The above explanation has been made using the functional block diagram of FIG. 1, but the present invention can of course be configured with a dedicated node as shown in this block diagram, and the speed command device 10 to operation management device t12 can be implemented by an existing microcomputer. can also be configured.

Therefore, next, we will explain the speed command device 1 which is a feature of the present invention.
An example of a processing flowchart when 10 is realized by a microcomputer will be described with reference to FIGS.

Note that the configuration of the microcomputer itself is well known, so a description thereof will be omitted here.

FIG. 3 is an overall flowchart of speed command processing,
Step 31 is a process for determining time to in FIG. 2, step 32 is a process for determining time t2, step 33 is a process for determining time t3, and step 34 is a process for determining time t4.

Based on these determination results, step 40 calculates the speed command Up up to time to, and step 50 calculates the speed command Up up to time 1.
arithmetic processing of the speed command υP between o- and -12; in step 60, arithmetic processing of the speed command 11P from time t2 to t3;
Step 70 executes arithmetic processing of the speed command νP from time t3 to t4.

Details of these steps 40 to 70 are shown in FIGS.
@ As shown in Figure 7, the details of the process can be found in the second section above.
Since the explanation has been based on the operating principle shown in the figure, the explanation will be omitted.

Next, the operation when the elevator speed reaches the rated speed νmα□7 will be explained using FIGS. 8 and 9.

The movement up to time 1=10 in FIG. 8 is the same as in FIG. 2. The difference from FIG. 2 is that at time t=to, the difference Ju between the 5-hour base speed pattern +71 and the distance base speed pattern v2 is larger than the predetermined value Δν0 described in FIG. In such a case, if the speed pattern is created using the acceleration pattern αl as it is, the result will be that the elevator's rated speed vrnax will be exceeded.

Therefore, during acceleration, not only the difference ΔV between the time base speed pattern 111 and the distance base speed pattern v2 is detected, but also the rated speed v mar and the time pace speed pattern υ! difference Δ
vp is detected, and this difference is a predetermined value Δ1). 7) When TI is reached, the acceleration of the speed pattern Up must be changed regardless of the distance-based speed pattern ν2.

The predetermined value ΔIIPTI at this time can be determined as Δ′FTI=fat′r1(1o) from the change amount α1 of the target acceleration pattern αP at time T1 and time 1′1.

Moreover, in the area of time T1, if time T' is newly taken from t=t6, it can be expressed as follows.

Also, during deceleration, as shown in Figure iJ9, the difference ΔV between the distance base speed pattern v2 and the speed pattern up is a predetermined value Δu.
When it reaches 2, deceleration starts.

This predetermined value ΔvT2 is Δ' T2 = + d2'r2 (12), and the speed pattern in the time domain ゛l'2 is IT p = 1)
2−ΔtJ (13)Δ! l :+dz
(T'2-1'') (14)

Hereinafter, the process after time 1=13 is the same as that in FIG. 2, so the explanation will be omitted.

〔Effect of the invention〕

According to the present invention, it is possible to smoothly transition from a time-based speed pattern that affects ride comfort and landing accuracy to a distance-based speed pattern using a simple configuration or calculation. Therefore, if this speed command device is configured with a dedicated circuit, the device can be simplified, and if it is configured with a computer, the processing time can be shortened, so the load factor for speed commands is reduced, and during that time Since other processes can be executed, the response speed of the No. 46 process of the entire elevator can be increased.

[Brief explanation of drawings]

The figures are one embodiment for explaining the present invention, and Fig. 1 is a block diagram of the entire elevator system to which the present invention is applied. An overall flowchart of the speed command processing when the invention is implemented by a computer, Figures 4 to 7 are detailed flowcharts of each step in Figure 8g3, Figure 8 is an explanatory diagram of the speed pattern when the rated speed is reached, Figure 9 is a speed pattern explanatory diagram when decelerating from the rated speed. 1...Elevator drive induction motor, 7...
...Car, 10...Speed command device, Up
... Speed command, αP ... Target acceleration pattern, υ Bi ... Time pace speed pattern, tJ
2...Distance-based speed pattern, ΔV...
...Speed change value, Δν.・・・・・・Predetermined value. Figure 2: Tail 3, Children Figure 5

Claims (1)

[Claims] 1. An elevator driven by an electric motor,
The speed of the elevator driving electric motor is controlled by using a time-based speed pattern generating means that increases according to the time after the elevator starts, and a distance-based speed pattern generating means that decreases according to the remaining distance to the target stop position of the elevator. In the one that generates the command, means for detecting that the difference between the time-based speed pattern and the distance-based speed pattern reaches a predetermined value, and a means for detecting that the difference between the time-based speed pattern and the distance-based speed pattern reaches a predetermined value, and sequentially decreases from the predetermined value according to the elapsed time after this detection. The speed of an elevator, characterized in that it is provided with means for generating a speed change value, and, after the detection, means for outputting a value obtained by subtracting the speed change value from the distance-based speed pattern as a speed command for the electric motor. Command device. 2. In claim 1, the predetermined value is set as a function of the time required to transition from the time-based speed pattern to the distance-based speed pattern and the acceleration of the time-based and distance-based speed patterns. An elevator speed command device featuring: 3. In claim 1, the speed change value generating means calculates the difference between the time until the time-based speed pattern shifts to the distance-based speed pattern and the elapsed time after the detection, and the time-based speed change value generation means. and a speed command device for an elevator, characterized in that the speed change value is generated as a function of the acceleration of the distance-based speed pattern.