JPS6186378A - Speed-command generator 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 generation device, and more particularly to an elevator speed command generation device that provides good response characteristics to a system that includes a response delay.

[Background of the invention]

The conventional speed command generation device for elevators was published in Japanese Patent Application Laid-Open No. 1986-
As described in Japanese Patent No. 42573, during the first half of the operation, a time-based speed command is given to the control system, and during the second half, a distance-based speed command is given to the control system.

However, if the response of the control system is always constant, the transition between the two speed commands will be relatively smooth, but if the response varies, the transient deviation of the time-based speed command may be This is carried over into the base speed command operation system, causing not only a shock during transition, but also an unnecessary vibration phenomenon in the speed command. The reason for this phenomenon is as follows. The distance-based speed command is created according to the distance traveled by the elevator. Since the moving distance changes according to the speed of the elevator, if an overshoot or undershoot occurs in the speed, the moving distance also oscillates, which causes the distance-based speed command to be fed back, causing a vibration phenomenon.

[Purpose of the invention]

An object of the present invention is to provide an elevator speed command that can realize a good riding comfort regardless of the response of the control system.6 [Summary of the Invention] The present invention is characterized by The objective is to control time-based speed commands according to response capability.

[Embodiments of the invention]

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

Although a DC elevator will be described as an example here, the present invention can be similarly applied to an AC elevator that uses vector control in combination with field control.

Further, in the embodiment, a case where a microcomputer is used will be exemplified, and the overall hardware configuration will be explained first, then the operating principle, and finally the software configuration for realizing the operating principle.

FIG. 1 shows an embodiment of a DC elevator control device to which the present invention is applied, and is an overall configuration diagram thereof. In the figure, 1 is an elevator control device with a microprocessor 10.
1. A ROM 102 in which procedures such as speed command generation processing, speed control processing, or failure state processing are written, a temporary storage RAM 103, a counter 104 that counts buses, and a latch 105 ,
Digital-to-analog converter 106 for outputting field current command. Analog-to-digital converter 107 and bus 108 for inputting the motor speed to the control device 1
It is composed of elements such as 2 is a current control device constituting a field current control system; -13 is a current detector; 4 is a thyristor device; 5 is a motor field controlled in both positive and negative directions;
6 is an armature, 7 is a car, 8 is a counterweight, 9 is a brake, 10 is a speed detector that detects the motor speed, 1
1 is a pulse generator that detects movement information of the car.
do.

Next, the operating principle of this embodiment will be explained using FIG. 2.

FIG. 2 shows the speed commands Vt, V given to the controller of the elevator drive motor. As shown in the figure, in the first half of the operation, there is no need to perform fixed point stop control (position control) yet, so a time-based speed command vt is generated. For example, this command is an acceleration change rate of 1 m/s3 at the beginning of movement, holds that value when the acceleration reaches 1 m/s2, and when the stopping floor is determined from the call button information on the car or floor, it becomes a distance-based speed command. This is a time-based speed command that transitions to deceleration at a rate of change of -1 m/s3 so as to smoothly transition to V.

■, is the difference between the target scheduled stopping floor and the car position, that is, the remaining distance, and the required deceleration, for example -0, 8 m.
/s''.In other words, on the deceleration side, a distance-based speed command is required to configure a fixed-point stop control system for the elevator.

Here, in the figure, a plurality of time-based speed commands vt are shown. For example, if the speed command shown by a solid line is a standard pattern, the patterns shown by a dotted line or a dotted line are commands used when the current response is slow. In other words, for those with a slow response, the change is started a little earlier than standard in order for the current to converge to a predetermined value without overshoot. In this way, when the time-based speed command is changed to the distance-based speed command, the deviation can be reduced even in the state of a slow response system, and the riding comfort can be improved.

FIG. 3 shows a detailed explanatory diagram of this transition part. Here, rather than showing the speed command, we use the acceleration command (which becomes the time-based speed command when integrated) and the torque current waveform to clearly understand the difference. (a) is the normal acceleration command change rate (-1 m/s") when the command changes from zero to -0, 8
This shows how the slow-responsive torque current changes when the torque current changes up to "m/s".The partial change rate at which the current begins to change is gradual, causing undershoot as shown in the figure. This vibration continues for a while, but before the vibration decays, the transition to the distance-based speed command occurs as described above, so the problem is not just an undershoot.

The problem spreads to mutual interference between the command and the system.

(b) shows a current response waveform when the modified command of the present invention is used instead of the standard acceleration command for a system with similar response capability. The initial rate of change in deceleration is -1,0m/
By increasing the velocity from s3 to -1,52m/s3,
Maximize the slope of the current at the point where the current starts to change,
The target deceleration (-0.8 m/s) is shown as an example.

) When the command approaches a certain level, reverse the command change rate to -0.33m/s to prevent current undershoot.
It has been changed to something gentle. This allows the current to follow the command without undershoot as shown by the dotted line, and mutual interference with the distance-based speed command can be prevented.

Additionally, the issuance of the modification command in (b) is limited to cases where response capability is insufficient. The reason for doing this is that if the response capability is sufficient, the current will follow the command change rate of -1.52 m/s 3 , and the riding comfort will deteriorate.

The software configuration of the control device section 1 for realizing the above-described operation will be described below.

FIG. 4 is a basic flowchart for explaining the outline of the processing of the control device 1. Here, a single task level case is shown in which all various types of processing are performed at predetermined time intervals.

First, at 150, abnormalities such as current value and speed are detected. Next, at 200, it is determined whether there is an operation request. If not, do nothing and wait for the next timer interrupt. If there is a request, 25
At 0, it is checked whether the initialization necessary for operation has been completed. If not, at 300, initialization processing such as setting constants and releasing the brake is performed, and at step 350.
It is determined whether the target stop floor has been reached at step 400, and if it has arrived, it performs operation end processing such as closing the brake at step 400 and waits for the next timer interrupt. If it has not arrived yet, it issues a time-based speed command at step 450. Select vt or distance-based speed command v4. In process 500, the speed command is compared with the actual speed of the elevator to determine the torque command (here, we are using a system in which the motor armature current is controlled to be constant and the field current is controlled to be positive or negative, so the torque command is A field current command) is created and output as a current command to the current control device W2 via the digital-to-analog converter 106, thereby causing the motor to generate the required torque.

Next, FIG. 5 shows details of the speed command creation indicated by 450 in the figure. When creating the speed command, first refer to 4 in the diagram.
In step 51, the distance difference between the car and the target scheduled stop floor, that is, the remaining distance is calculated. Using this remaining distance, a distance-based speed command is created in step 452 to be used in the latter half of driving. 453
is the process of creating a time-based speed command to be used in the first half of driving.

In 454, it is determined whether it is the first half or the second half of driving, and if it is the first half, the time-based speed command V is selected as the speed command in 455, and if it is the second half, the distance-based speed command is selected as the speed command in 456. It is. In the present invention, among the speed command creation 450, the time-based speed command V is particularly characteristic, so 453 in the figure will be explained in more detail. First, the 4530 determines whether the command should be a standard one or a modified one depending on the response ability of the torque current.
- 4532, in which the necessity of correction is determined by estimating the change area of the torque current at the start of deceleration based on the number of passengers in the car and the operating direction of the elevator. For example, in the case of the field-controlled elevator shown in Fig. 1, the response is slow in the region where the value of the field current is small, and the response is relatively fast in the region where the value is large, so depending on the load and operating conditions, the torque current at the start of deceleration, It is determining the response. Then, in steps 4533 and 4534, a modified speed command and a standard speed command are respectively created.6 Figure 7 shows the details of the speed command creation process 4533 and 4534, and (a) shows the procedure for creating the modified command.

At step 45330, it is first determined whether or not to create a command with a large rate of change.
Create an acceleration command with a large rate of change as shown in b),
This is integrated by 45333 to create a speed command, and in the latter half of the start of deceleration, an acceleration command with a small rate of change is processed by 45332.
Create a speed command by integrating this.

On the other hand, (b) shows the procedure for creating a standard speed command.

45340 and the standard rate of change (e.g. -1,0 m/s
”) is created and integrated by 45341 to create a speed command. Here, as a method for creating a speed command, an acceleration command is created.

An indirect method of integrating this is explained as an example, but this method has the advantage of being able to create a smooth speed command using a simpler algorithm than the method of directly creating a speed command.

FIG. 8 is a memory map for storing data used in the embodiment of the present invention. (a) is distance-based speed command v1
This is a floor height table that is the calculation data for the remaining distance that is the basis for creation. (b) is a table for creating a distance-based speed command from the remaining distance, and (c) shows an area for temporarily storing various information.

In this way, according to one embodiment, for a system in which the torque current is a field current whose response time varies depending on the current value, it is possible to create a speed command commensurate with the response capability, so that the system is always stable. A comfortable ride can be achieved.

A flowchart for implementing another embodiment of the present invention is shown in FIG. Here, the modified speed command creation method is different from that in FIG. 7(a). Here, attention is paid to the fact that the acceleration command waveform shown in FIG. 3(b) can be created by first-order delay processing. 45334゜45335 is a set of target acceleration (for example -0,8 m/s2), 4533
Reference numeral 6 uses this target acceleration as input and performs first-order delay processing to create an acceleration command A1, and reference numeral 45333 integrates this acceleration command A1 to create a velocity command V. This method has another effect in that a relatively smooth acceleration command can be created through simple processing.

Furthermore, if the speed command is corrected based on the difference between the torque command and the generated torque, there is another effect that it is possible to perform control that is more suited to the actual situation than the feedforward control that is performed based on the load and driving direction described above.

Additionally, in the above explanation, we have taken as an example the correction execution near the transition from the time-based speed command to the distance-based speed command according to the response ability of the system, but depending on the response ability of the system Creating a command that prevents the current from overshooting can also be applied immediately after the elevator starts (the first half of the time-based speed command). An example thereof is shown in FIG. In this case, there is no advantage in shifting to distance-based speed commands, but it is clear that it has the effect of improving riding comfort.

C Effects of the Invention] As described above, according to the present invention, it is possible to automatically generate a speed command commensurate with the response ability of the elevator-controlled object.
A stable and comfortable ride can be achieved at all times.

[Brief explanation of drawings]

The figures are drawings of embodiments of the present invention; Fig. 1 is an overall configuration diagram of hardware suitable for a DC elevator; Fig. 2;
Fig. 3 is an explanatory diagram of the operating principle of one embodiment, Fig. 4 is an overall flowchart regarding elevator operation, Figs. 5 to 7 are detailed flowcharts regarding speed command generation, and Fig. 8 is a main part of this embodiment. FIG. 9 is a flowchart showing another embodiment of the memory map, and FIG. 10 is a diagram showing acceleration. DESCRIPTION OF SYMBOLS 1... Elevator control device, 2... Current control device, 10... Speed detector, 11... Pulse generator, 1
o1... Microprocessor, 102... ROM,
103...RAM, 104...Counter, 106.
...D/A converter. Ward 3 (Ku) -Q,jj”n/,,3 Figure 4

Claims (1)

[Claims] 1. In an elevator that controls the speed of the elevator by inputting a time-based speed command to the control device during the first half of the operation and a distance-based speed command during the second half of the operation, the above-mentioned time-based speed is controlled according to the response ability of the torque control current. An elevator speed command generator characterized by controlling a command value.