JPS6181374A - Controller 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 control device, and in particular, to an elevator control device that can realize downsizing of a power conversion device for a drive motor without impairing riding comfort. Regarding equipment.

[Background of the Invention] Japanese Utility Model Application No. 52-134964 regarding miniaturization of a power supply device for an elevator drive motor. Japanese Patent Publication No. 54-20549.
Examples include JP-A-55-7148. These generate speed commands that reduce acceleration and deceleration compared to normal times during emergency operation (such as when using private power generation equipment), and although they are effective in reducing the size of power converters, they are In addition to being limited to emergency operation, it does not necessarily satisfy necessary and sufficient conditions, such as loosening the slope of the speed command during both acceleration and deceleration, and has the disadvantage of unnecessarily extending operation time. On the other hand, there are Japanese Patent Laid-Open Nos. 53-136248 and 57-51669, which aim to extend this idea to normal operation and make the power converter more compact.
Since the slope of the speed command is lowered from the beginning when the motor starts moving, it cannot be said to be the optimal method from the viewpoint of operating time. Japanese Patent Laid-Open No. 58-789 proposed that the acceleration command could be lowered only when necessary to lower the slope of the speed command, thereby maintaining operational efficiency and downsizing the power converter.
This is published in Publication No. 75.

However, in this method, when the main current value reaches a predetermined level, a fixed value is subtracted from the acceleration command value that was used as a seed for the speed command, thereby lowering the acceleration command and lowering the slope of the speed command. Therefore, the acceleration value decreases during acceleration.

Improvements in ride comfort remained, such as a sudden change in the acceleration conversion rate, which is directly related to ride comfort.

[Purpose of the invention]

The riding comfort is important for the purpose of the present invention as an elevator.
An object of the present invention is to provide an elevator control device that can realize miniaturization of a power supply device for a drive motor without significantly impairing operating time.

[Summary of the invention]

A feature of the present invention is that when it becomes necessary to limit the output of the drive motor power supply device, by holding the acceleration command value at that time, the slope of the speed command is made lower than when it is not restricted.

[Embodiments of the invention]

Hereinafter, the present invention will be explained in detail using Examples.

Note that although a DC elevator will be described as an example here, the same method can be applied to an AC elevator as well.

In addition, in the examples, a case where a microcomputer is used will be given as an example, and the overall general configuration will be explained first, then the operating principle, the hardware configuration, and finally the software configuration for realizing the operating principle, and other embodiments. .

FIG. 1 shows an embodiment of a DC elevator control device to which the present invention is applied, and is a diagram of its overall configuration.

In the figure, 1 is an elevator control device, 110 is an acceleration command generation processing unit that time-dependently generates an acceleration command α1, which is the seed of the time-based speed command VT, and 120 is a controller that detects a torque command and sets it in advance. Determine whether the torque command has reached a value equivalent to the acceleration command holding level, and
s, an acceleration command control processing unit that issues a command to the acceleration command generation processing unit 110 to hold the acceleration command at the current value, gently lower the slope of the speed command, and suppress the increase in current; 130 is a time-based speed command creation processing unit that integrates the acceleration command α to create a time-based speed command vt mainly used in the first half of driving, and 140 calculates the travel distance in response to a call from the floor or car. A traveling distance detection processing section, 150 is a moving distance detection processing section that calculates the moving distance by counting the output of the pulse generator 10, 160 is a remaining distance detection processing section that calculates the remaining distance to the target stopping floor, and 170 is a remaining distance detection processing section. A distance-based speed command creation processing unit 180 calculates a distance-based speed command V corresponding to the distance, and selects either one of the time-based speed command Vt or the distance-based speed command V, and generates a torque command creation processing unit 190. 190 is a torque command creation processing unit which compares the speed command and the output of the motor speed detector 11 and creates a torque command; 2 represents the current command and the output of the current detector 3; The power conversion device 4 compares the current feedback value with
5 is a motor field winding, 6 is an armature, 7 is an elevator-car, 8 is a counterweight, 9 is a brake, 10 is a pulse generator, 11
is a speed detector.

Next, the operation of this embodiment will be explained using FIG. 2. Figure 2 shows simulation results for distance-based speed commands, armature current, acceleration commands, time-based speed commands, and elevators. In the figure, the solid line shows the results when the commands are not restricted and the elevator is operated freely , the broken line is the result when using the present invention. Now, we will explain the broken line over time. First, the rate of change from point A is 1 m/
The acceleration command that increases at sa starts to increase. This rate of change in acceleration is a physiological constant that is directly related to the comfort of riding in an elevator, and is gradually increased on a time basis. The elevator is operated according to a time-based speed command obtained by integrating this acceleration command. The acceleration command is increased as time passes, and at that time, it is also determined whether the output of the power conversion device has reached a predetermined level. When it is detected that the output has reached the predetermined level at point B, the acceleration command is held at the value at that time. If there is no limit, the acceleration command continues to increase and is gradually decreased from the zero point in order to converge to a predetermined steady speed. In the case of the embodiment of the present invention, since the acceleration command is suppressed, the speed command also becomes low, and the point (point D) at which the acceleration command gradually decreases is delayed from the zero point. Point D is detected by determining whether the time-based speed command has reached a predetermined value, or whether the difference between the time-based speed command and the distance-based speed command has reached a predetermined value. When this point D is detected, a time-based acceleration command is created that gradually decreases at a predetermined rate of change (-1 m/s" in this case) using the held acceleration command value as an initial value. For example, the acceleration command does not decrease during elevator acceleration, or the rate of change of the acceleration command does not change suddenly, so there is no negative effect on the comfort of the first passenger.Furthermore, the armature current limit is unlimited. When compared with point E in the case, it can be seen that it is suppressed like point F, and the desired target has been achieved.

In addition, regarding command creation at the start of deceleration and during deceleration (speed command transfer, command creation method, etc.), JP-A-58
42573, Japanese Unexamined Patent Publication No. 56-117969, etc., and therefore will not be described here.

FIG. 3 is a basic flowchart for explaining the outline of the processing of the elevator control device 1. Here, we have shown the case of a single task level in which all types of processing are performed at predetermined intervals. First, in the acceleration command control process 120, it is determined whether or not it is necessary to stop increasing the acceleration command and maintain the acceleration command at the current value, and a flag is set.

Next, in acceleration command generation processing 110, if the acceleration command hold flag is not set, no restriction is applied to the acceleration command, and if the flag is set, the acceleration command is held at the current value, etc. create. In the time-based speed command creation process 130, the acceleration command is integrated to create a time-based speed command. In the remaining distance detection 160, the remaining distance between the destination stop floor and the position of the passenger seat is calculated from the total travel distance and the travel distance. In the distance-based speed command creation process 170, a distance-based speed command is created by table reference or square root calculation of the remaining distance and the distance-based speed command. In speed command selection 180, either time-based speed command or distance-based speed command is selected and torque command creation processing 19 is performed.
Give to 0. In the torque command creation process 190, a deviation between the speed command and the actual speed of the elevator and an integral calculation are performed, and a torque command, that is, an armature current command is created and input to the current control device 2.

A series of processes are performed cyclically to control the elevator.

Next, the acceleration command control process 120 will be explained with reference to FIG. First, in step 121, it is determined whether the torque command value has reached the holding level of the acceleration command, and if Yes, in step 122, a flag is set to instruct an operation to hold the acceleration command at the current value. If No in process 121, it is determined that there is no need to hold the acceleration command, and the flag is not set.

The acceleration command generation process 110 shown in FIG. 3 will be explained with reference to FIG. First, in process 111, it is determined whether or not the acceleration command retention flag is set. If flag 6 is not set, it is determined that the acceleration command is normal acceleration without any restriction, and then in judgment 112, the acceleration command is normal. Determine whether the maximum value has been reached, and if Yes, process 1
At step 14, processing is performed to hold the acceleration command at the maximum value.

If the maximum value has not been reached yet, in step 113, the acceleration command is gradually increased at a predetermined rate of change. If the acceleration command retention flag is set, it is determined in decision 115 whether or not the acceleration command should start decreasing from the current value; if NO, the current acceleration command is retained, and if YES, decision 117 is made. In step 118, it is determined whether the acceleration command has sufficiently reached O. If the answer is No, an acceleration command is created in which the predetermined rate of change in acceleration gradually decreases, and the acceleration command creation process ends. In this way, when there is a command hold flag in the acceleration command generation process, a process is added to hold the acceleration command at its current value.

FIG. 6 shows a flowchart of time-based speed command creation processing. In process 131, a time-based velocity command is created by integrating the acceleration command created in the acceleration command creation process.

FIG. 7 is an overall hardware configuration diagram of an embodiment of the present invention. The elevator control device 1 consists of several elements. A microprocessor 101 executes the software processing described above.

102 is an element for storing software in POM. 103 is a RAM element used for temporary storage of calculation results. A programmable counter 104 counts the output of the pulse generator 10 that generates pulses as the elevator moves, and is an element for calculating the distance traveled by the elevator. 105 is a data temporary storage element, and 106 is a digital-to-analog converter for converting a current command, which is a digital quantity, into an analog quantity and outputting it. Reference numeral 107 is an analog-to-digital converter for converting an analog speed signal, which is the output of the speed generator 118 of the elevator, into a digital quantity. 108 is a pass line connecting the microprocessor and its peripheral elements.

As described above, according to one embodiment of the present invention, the output of the power converter is suppressed by detecting that the output of the power converter has reached a predetermined level and holding the acceleration command at the current value. There is an industrial effect that the power conversion device can be downsized without causing sudden changes in the acceleration of the elevator and deteriorating the riding comfort.

A flowchart of another embodiment of the present invention is shown in FIG.

Here, the acceleration command control process is different from that in FIG. 4. Here, attention is focused on making the limit level of the power converter sufficiently close to the actual saturation level of the power converter to utilize 100% of the power of the power converter. In other words, even if the acceleration command is held after detecting the saturation level of the converter, the torque command will have at least a delay from the acceleration command to the time-based speed command, a delay from the speed command to the generation of the torque command, etc. The value will always be larger than the saturation level of the converter, which may cause the elevator speed to overshoot at the end of acceleration, so set the detection level to a value slightly smaller than the saturation level of the converter, with some margin. It was necessary to use it. In this embodiment, the torque command or output current is processed through an advance element that cancels out the operational delay from the acceleration command to the converter output.
After making the correction in step 3, the correction value is used for level judgment 1 of the predetermined value.
24, it is possible to make full use of the full potential of the conversion device, although the compensating calculation process may become somewhat complicated.

〔Effect of the invention〕

According to the present invention, it is possible to reduce the size of the conversion device and provide smooth riding comfort.

[Brief explanation of the drawing]

The drawings are for detailed explanation of the present invention.
The figure is an overall configuration diagram when applied to a DC elevator, Figure 2 is an explanatory diagram of the operation of one embodiment, Figures 3 to 6 are flowcharts, and Figure 7 is a hardware configuration diagram of the present invention. FIG. 8 is a configuration diagram of another embodiment. DESCRIPTION OF SYMBOLS 1... Elevator control device, 2... Current control device, 4... Power conversion device, 10... Pulse generator, 1
DESCRIPTION OF SYMBOLS 1... Speed generator, 101... Microprocessor, 102... ROM, 103... RAM, 104...
...Programmable timer module, 106...Digital-analog converter, 107...Analog-digital converter, 110...Acceleration command generation processing section, 12
0: Acceleration command control processing unit, 130: Time-based speed command creation processing unit.

Claims (1)

[Claims] 1. A drive motor that drives an elevator car and a counterweight, a power conversion device that supplies power to this drive motor, and a predetermined acceleration change rate that generates an acceleration command while satisfying an acceleration value. A time-based speed command is created by integrating this signal, a distance-based speed command is created according to the remaining distance to the target stopping floor, and one of the time-based and distance-based speed commands is selected and output. and a torque command generating device that calculates a deviation between the speed command and a speed signal of the drive motor and provides a torque command to the power converter, the power converter detecting a level of the power converter. and, when the value reaches a first predetermined value, the acceleration command value is maintained at the current value. 2. The elevator control device according to claim 1, wherein the level detection of the power conversion device is performed based on the output level of the torque command generation device. 3. The elevator control device according to claim 1, wherein the level detection of the power converter is performed based on the output current level of the power converter. 4. The elevator control device according to claim 1, wherein the level detection of the power conversion device is performed based on the amount of passengers in the car and the driving direction. 5. Claims characterized in that when the difference between the distance-based speed command and the time-based speed indication command reaches a second predetermined value, the current value holding operation of the acceleration is canceled and the command is gradually decreased. Control device for the elevator according to paragraph 1. 6. The elevator control device according to claim 5, wherein the second predetermined value is variably controlled as a function of the acceleration command holding value. 7. The elevator control device according to claim 1, wherein when the time-based speed command reaches a third predetermined value, the current value holding operation of the acceleration is canceled and the command is gradually decreased. 8. The elevator control device according to claim 1, wherein the torque command generation device includes an integral element.