JPS6146390B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement in a device for generating a speed command signal for an elevator.

In order to decelerate an elevator car to provide a comfortable ride and accurately land it on the floor where it is scheduled to stop, a speed feedback control method is used to control the speed of the car in accordance with a deceleration command signal. In recent years, it has been considered to perform this process in conjunction with an electronic computer.

In other words, as will be described in detail later, the car position signal is detected by counting pulses corresponding to the moving distance of the car, and when the car reaches a predetermined distance before the scheduled stop floor, the pulses are counted and the car position signal is detected. The remaining distance to the scheduled stop floor is calculated sequentially. and,
Read out the deceleration command value corresponding to this remaining distance,
This is used as a deceleration command signal to decelerate the car and land it on the floor. Pulses corresponding to the moving distance of the car are obtained from a pulse generator directly connected to the shaft of the electric motor, but the car position signal obtained by this and the actual car position may deviate from each other due to the following factors: occurs.

(a) Difference between the nominal speed value and the actual speed value due to differences in hoisting machines (differences in reduction ratio).

(a) Wear of the sheave (c) Elongation, slippage, wear, and deformation of the main rope The cumulative error due to this misalignment increases as the traveling distance increases. The deceleration distance of medium-speed elevators is 2~
Since a distance of 3 m is required, the above-mentioned deviation affects landing accuracy.

In order to improve the above-mentioned problems, the present invention has devised the following elevator speed command generation device.

This apparatus will be explained below with reference to FIGS. 1 and 2.

In the figure, 1 and 2 are the first and second floors, respectively.
A is a cam for detecting a deceleration preparation point installed in the hoistway and placed a predetermined distance A before the second floor 2; 2R is a cam for detecting a remaining distance correction point placed a predetermined distance B shorter than the distance A; 3 is a car, 4 is a first position detector provided in the car 3 and operates when it engages with the cam 2A, 5 is a second position detector that operates when it engages with the cam 2R, and 6 is from the pulse generator described above. A pulse is generated, 7 is an electronic computer, 8 is a converter that converts the input into information for the electronic computer, 9 is a central processing unit, 10 is a readout in which a deceleration command value corresponding to the change in the remaining distance is stored. Dedicated memory (below
11 is a write/readable memory (hereinafter referred to as RAM) for storing data in memory addresses; 12 is a bus line for an address bus, a data bus, etc.;

Note that the distance A is set equal to the deceleration distance required for the car 3 to stop and land properly when it is running at full speed.

In Fig. 2, 14 is a speed command signal, 14a is its deceleration command signal, 15a is the actual speed when the car 3 is raised with no load or lowered with full load, and 15b is the actual speed when the car 3 is raised with full load or lowered with no load. It is.

Next, the operation of this device will be explained.

When the car 3 rises, a pulse 6 is generated from a pulse generator (not shown). Cart 3 at time t ₁
When the vehicle reaches a predetermined distance A (hereinafter referred to as deceleration preparation point) before the scheduled stop floor (the called floor, in this case, the second floor 2), and the first position detector 4 engages with the cam 2A, The first position detector 4 outputs an output, and the distance A is the remaining distance to the scheduled stop floor 2 of the RAM 11.
is written to a predetermined address. Thereafter, as the car 3 travels, the pulses 6 are counted and the remaining distance to the scheduled stop floor 2 is calculated moment by moment. Then, the deceleration command value corresponding to each of these remaining distances is stored in the ROM10.
are sequentially read out and output from the converter 8, which becomes the deceleration command signal 14a to control the speed of the car 3. When the car 3 reaches a predetermined distance R before the scheduled stop floor 2 (hereinafter referred to as the remaining distance correction point) at time _t2 , and the second position detector 5 engages with the cam 2R,
The second position detector 5 emits an output, and the distance R is written as the remaining distance at a predetermined address in the RAM 11.
The remaining distance is corrected. Thereafter, the deceleration command value is read from the ROM 10 in the same manner as above, and the car 3 decelerates and lands on the second floor 2. The installation position of the cam 2R is selected so that even if the car 3 travels a distance R, the above-mentioned deviation accumulates only to a negligible extent.
Therefore, the above-mentioned deviation does not occur while traveling the distance R, and the car 3 can accurately land on the second floor 2.

In this way, when the car 3 reaches the remaining distance correction point, the remaining distance is corrected, but when the difference between distance A and distance R is long, the amount of correction of the remaining distance is likely to be large. The relationship between the speed command signal 14 and the actual car speeds 15a, 15b at this time is as shown in FIG.

Generally, the braking torque of an AC motor is non-linear with respect to speed, and therefore the gain of the speed control system cannot be made sufficiently large. Therefore, the actual speed 1
The waveforms of 5a and 15b are as shown in FIG. 2 depending on the load inside the car and the running direction, that is, the motor load.
For example, when raising with no load or lowering with full load, car 3
Assume that the vehicle reaches the deceleration preparation point at time t ₁ and reaches the remaining distance correction point at time t ₂ . The actual speed at this remaining distance correction point is considerably higher than the normal speed commanded by the speed command signal 14. Due to the remaining distance correction at time _t2 , the speed command signal 14 drops as shown in the figure and becomes the normal speed command value, but due to the lack of gain in the speed control system, the actual speed 15a does not immediately fall to the normal speed. do not have.
Therefore, since the car 3 lands on the floor at a speed higher than the normal landing speed, the car 3 passes the second floor 2 and stops automatically. On the other hand, when full load is raised or no load is lowered, the followability to the speed command signal 14 is good and the actual speed 15b decreases quickly, so the landing speed becomes too low and it stops before reaching the second floor 2. It turns out.

The present invention has been made to solve the above-mentioned problems, and provides an elevator speed command generation device that eliminates fluctuations in landing accuracy due to the load inside the car and the running direction of the car.

FIGS. 3 to 6 show an embodiment of this invention,
This is to improve the problem explained in FIG.

In the figure, 16 is a load detector installed under the floor of car 3 to detect the load inside car 3, 17 is an up direction signal indicating that car 3 is traveling up, and 18 is a signal indicating that car 3 is also traveling down. 10a is the data stored in the ROM 10,
The correction amounts α, 14b, and 14c for correcting the remaining distance are corrected deceleration command signals. The rest is the same as in FIG.

Assuming that the car 3 is now under full load, the load detector 16 is emitting a full load signal and the down direction signal 18 is also being emitted. Now, the central processing unit 9 detects that the full load of the car 3 is decreasing, reads the correction amount α from the ROM 10, and
Store B-α in RAM11. When car 3 reaches the remaining distance correction point and the calculated remaining distance is corrected to B-α, the deceleration command signal after the remaining distance correction point becomes the corrected deceleration command signal 14b in FIG. A value lower than the command signal 14a is output. As a result, the target speed becomes lower, so the actual speed 15a is lowered to a speed that allows normal landing.
The same applies when the car 3 rises under no load.

Next, when the car 3 is raised with full load or lowered with no load, B+α is stored in the RAM 11 at the remaining distance correction point. The deceleration command signal after the remaining distance correction point at this time becomes the corrected deceleration command signal 14c in FIG. 6, and a value higher than the normal deceleration command signal 14a is output. As a result, the target speed becomes high, so the actual speed 15b does not drop too much, and normal landing is possible.

In each of the above embodiments, when car 3 reaches the remaining distance correction point, the calculated remaining distance is longer than distance B, and as a result of this being corrected or corrected, the deceleration command signal becomes lower at the remaining distance correction point. explained. However, conversely, if the calculated remaining distance is shorter than the distance B, correction or correction is also performed, but a detailed explanation will be omitted.

FIGS. 7 and 8 show other embodiments of the device for detecting the car load and running direction.

In Figure 7, 17 is the hanging weight, 18 is the main rope,
19 is a sheave of the hoisting machine, 20 is an induction motor for hoisting, and 21 is a load/direction detection device that detects the car load and running direction using the braking current of the motor 20 and issues signals 21a and 21b. The rest is the same as in FIG.

Electric motor 2 when car 3 reaches the remaining distance correction point
If the zero braking current is smaller than the specified value, it is a full load rise or no load fall, and a signal 21a is generated. Moreover, if it is larger than the specified value, it is a full load drop or a no load rise, and a signal 21b is generated.

In FIG. 8, 22 is a speedometer generator which generates a speed signal 22a driven by the electric motor 20, and 23 is an analog-to-digital converter. The rest is the same as in FIG. The speed signal 22a is converted into a digital value by the converter 23 and taken into the central processing unit 9. The central processing unit 9 compares the converted actual speed and the speed command value to find the deviation, and if the deviation before correction is greater than or equal to the specified value at the remaining distance correction point, the control will be increased without load or lowered with full load, or less than the specified value. If so, it is determined that it is a full load increase or a no load decrease.

In addition, in Fig. 3, one type of correction amount α is used, but
The car load is further subdivided and detected, and the optimum correction amount α ₁ , α ₂ , α ₃ ... α _o corresponding to the load is stored in the ROM10.
If it is stored in the memory, read out and corrected according to the load, more appropriate landing accuracy can be obtained.

As explained above, in this invention, when the car reaches a first point a predetermined distance before the scheduled stop floor, the remaining distance from the car position to the scheduled stop floor is calculated and a corresponding deceleration command signal is issued. When the car reaches a second point closer to the scheduled stopping floor than the first point, the remaining distance is determined, and the distance from the second point to the scheduled stopping floor is determined according to the running direction of the car and the load inside the car. Since the distance is corrected, it is possible to eliminate variations in landing accuracy due to the running direction of the car and the load inside the car.

[Brief explanation of the drawing]

Fig. 1 is a configuration diagram showing an example of an elevator speed command generation device, Fig. 2 is a diagram of the speed command signal and actual speed curve according to Fig. 1, and Fig. 3 is a main part configuration diagram showing an embodiment of the present invention. , FIG. 4 is a storage state diagram of the read-only memory in the computer shown in FIG. 3, FIGS. 5 and 6 are speed command signal and actual speed curve diagrams according to FIG. 3, and FIGS. 7 and 8 are diagrams of the speed command signal and actual speed curve according to FIG. FIG. 4 is a configuration diagram showing another embodiment of the car load and car running direction detection device shown in FIG. 3; 1, 2... 1st floor and 2nd floor, 2A... Cam for detecting deceleration preparation point, 2B... Cam for detecting remaining distance correction point, 3... Car, 4... First position detector, 5... Second position detector,
6...Pulse for car movement, 7...Electronic computer, 9...
Central processing unit, 10... Read-only memory, 11...
Writable and readable memory, 14...Speed command signal.
Note that the same parts in the figures are indicated by the same reference numerals.

Claims (1)

[Claims] 1. When the car reaches a first point a predetermined distance before the scheduled stop floor, the remaining distance from the car position to the scheduled stop floor is calculated, and a deceleration command signal corresponding to this remaining distance is issued. a running direction detector for detecting the running direction of the car, an in-car load detector for detecting the load in the car, and a second point where the car is closer to the scheduled stop floor than the first point. a position detector for detecting that the point has been reached; a correction means for correcting the distance from the second point to the scheduled stopping floor according to the traveling direction of the car and the load in the car; and the position detector is operated. A speed command generating device for an elevator, characterized in that it is provided with a correction means for correcting the remaining distance to the distance corrected by the correction means.