JPS62211277A - Speed 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 Industrial Application] The present invention relates to a speed control device for an elevator, and particularly to a speed control device that suppresses vibrations within a car.

[Conventional technology]

In a loaf-type elevator, the elevator car, counterweight, and other mechanical elements, as well as the ropes that suspend the elevator heel and counterweight from the hoist, constitute a so-called spring/pawn system. are doing.

The transfer function in the case of 7 from the torque generated by the hoisting machine in this spring 1 mass system to the rotational speed of the hoisting machine is generally expressed by the above equation (1).

Here, T is the hoisting machine generated torque ωr is the hoisting machine rotation speed J is the equivalent moment of inertia of the mechanical system of the hoisting machine rotor t, and A1 to Fl are the car positions in the hoistway, respectively. It is a constant determined depending on the load in the car and the characteristics of other mechanical elements in the hoistway.

As is clear from Equation (1), the spring-mass system in an elevator generally has multiple resonance points and anti-resonance points, and at each resonance point, the transmission characteristics of a second-order lag system with a small damping constant This results in a sharp and significant rise in gain, as seen in the image below.

In particular, in high-head elevators, the frequency of the resonance point is low, and as shown in Figure 5, it has a value close to the crossover frequency when the transfer function of the elevator speed control system is plotted on a Bode diagram. In many cases.

As a result, the gain at the resonance point of the elevator speed control system including the spring/mass system is such that the crossover frequency of the speed control system is kept below a predetermined value in terms of system responsiveness and elevator landing performance. Since it cannot be set,
Torque disturbances generated by some electrical or mechanical excitation force, which can be sufficiently negative on the Bode diagram, will not be damped (and will induce vibrations within the car).

To deal with such vibrations, conventional methods add a certain gain and phase compensation to the speed feedback signal obtained by the speed generator attached to the unwinding machine, and use the output signal as a cage circular vibration suppression signal to control the drive winding. The method used was to superimpose it on the torque command signal of the upper machine.

FIG. 6 is a circuit diagram showing an example of an elevator controlled by a conventional variable voltage/variable frequency power supply, in which three-phase commercial power is converted to direct current by a converter (1) and then supplied to an inverter (2). Ru.

The inverter (2) converts the input DC power into a three-phase variable voltage ψ/variable frequency power, and then supplies the power to an induction motor (4) as a hoisting motor.

Therefore, the induction motor (4) rotates according to the frequency and voltage of the power supplied from the inverter (2). When this induction motor (4) rotates, a lobe (
By winding up or unwinding 6), the cage (γ) and counterbalance spit (8) provided at both ends of the rope type (6) are moved up and down.

The regenerative output of the induction i shift (4) is returned as regenerative power to the three-phase commercial power source via the inverter (2) and the regenerative converter (1B).

On the other hand, a speed detector CI is installed on the output shaft of the induction motor (4).
From →, a speed signal A is generated according to the rotational speed of the induction motor (4). This speed signal input is determined by the speed pattern generator (the difference from the speed command signal B generated from 151 is as much as 1), and the deviation signal is supplied to the speed control device η. When this speed control device (17) inputs a deviation signal, it generates a voltage control signal C and a current control signal R for controlling this deviation signal to zero, and controls the voltage control device (18) and the current control device. (Supplied to Go.

Voltage control device! IC18) controls the voltage of the DC output power supply supplied to the inverter (2) by controlling the gate paths of the thyristors that constitute the converter (1) and the regenerative converter (19) i in accordance with the zero pressure control signal C. do.

The current control device α controls the output current of the three-phase AC power supply by controlling the base current of the transistors constituting the inverter (2) according to the current control signal.

Therefore, converter (1), inverter (2), speed [
A variable voltage that performs power supply control for controlling rotation in accordance with a speed command signal B output from a control device q7), a voltage control device lt, (to), and a current control device (111 is a speed change pattern generator 驎).・Configure variable current control power supply section 1.
This means that

FIG. 7 shows a specific example of the speed control system (equipped with an in-car vibration suppression circuit). In this FIG. 1, the in-car vibration suppression circuit φl applies a constant gain and Phase compensation is added, and the difference between the output signal and the torque command signal of the torque command calculation circuit (a) is determined by an adder.

The torque command signal C1 corrected to suppress squirrel cage vibration is inputted to the current command/voltage command calculation circuit, and the current control device (1) and voltage control device (current control signal and outputs voltage control signal C.

[Problem that the invention seeks to solve]

However, in the conventional configuration, the vibration suppression circuit (21)
The output is superimposed on the torque command signal so as to suppress vibrations in a certain frequency band. Therefore, if the car vibration frequency of the elevator changes, there is no effect in suppressing it, and because the vibration frequency band of the car vibration of the elevator differs between lower floors and upper floors, the problem is that conventional devices are not sufficiently effective. There was a point.

In other words, the conventional device is configured to add a certain gain and phase compensation to the speed feedback signal, and use the output signal as a car circular vibration suppression signal, which is superimposed on the torque command signal. In some cases, there are problems in that a sufficient vibration suppression effect cannot be obtained and therefore vibrations may be amplified.

The present invention was made in order to solve the above-mentioned conventional problems, and it is an object of the present invention to provide an elevator speed control device 5IT that can obtain a sufficient vibration suppression effect at any car position in the hoistway. The purpose is

[Means for solving problems]

The elevator speed control device xt according to the present invention is equipped with a vibration suppression circuit in which the vibration suppression frequency for suppressing vibrations within the car changes to a predetermined value depending on the position of the car in the hoistway. .

[Effect]

In this invention, when the frequency of the element that vibrates the car of the drive hoist changes as it moves from the lower floor to the upper floor, the vibration suppression circuit operates accordingly.

〔Example〕

Embodiments of an elevator speed control device according to the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of one embodiment. In the figure, yjX6
Identical or corresponding parts are indicated by the same reference numerals as those in the figures, and their explanations will be omitted. An example is a position detector, where the car position detection signal E
f: Speed control device (designed to send out 1 force).

The other configurations are the same as in FIG. 6. The internal structure of the speed control device u7) is shown in a block diagram in FIG. Fig. 2 corresponds to the conventional Fig. 7, and in place of the in-car vibration suppression circuit (zl) in Fig. 7, an in-car vibration suppression circuit (7) and an in-car vibration frequency calculation circuit are provided. It is something.

Next, this speed control device 07) will be explained.

Speed U Haturn generator t (to)) to speed command signal 8
is added to addition 4 knowledge). Further, the speed signal A from the speed detection 5H is added to the addition g5α6), and a deviation signal between the two is determined and sent to the torque command calculation circuit.

The torque command calculation circuit (2o) generates a torque command signal F'fc from the deviation signal and applies it to the input signal F'fc.

Further, the speed signal A is applied to an in-car vibration suppression circuit.

The car circular vibration frequency calculation circuit (support) inputs the car nodal speed signal G and the car position detection signal E, calculates the car circular vibration frequency for each floor, and transfers the car vibration suppression circuit example to the floor. Output another frequency data H.

The in-car vibration suppression circuit creates a vibration suppression signal for each floor based on the frequency data H and applies it to the adder (4). This adder (23) calculates the deviation between the output of the in-car vibration suppression circuit example and the torque command signal F output from the torque command calculation circuit (20) and adds it to the current command and voltage command calculation circuit.

The deviation signal from the current command and voltage command calculation circuit (adder) is input as the corrected torque command signal C1, and the current control signal Df and current control device pressure are added to the voltage control signal C. Add to equipment (g).

FIG. 3 is a diagram specifically showing the above-mentioned in-car vibration suppression circuit (g5+) and the car circle vibration frequency calculation circuit (I20). A vibration suppression signal is output by changing it for each floor based on the output of the vibration frequency calculation circuit.

Then, the in-car vibration frequency calculation circuit Liu calculates the car circular vibration frequency from the car nodal speed signal F, and sets the vibration frequency for each floor based on the car position detection signal E.

FIG. 4 is a flowchart showing the operation of the car vibration frequency calculation circuit (to), and the operation of the example of the in-car vibration suppression circuit will be explained based on FIG.

First, in step S1, an acceleration feedback signal is input, and in step S2, a vibration component in the acceleration feedback signal is calculated.

In steps 83 and 84, it is determined whether the vibration component data calculated in step S2 is at least one predetermined level, and if it is at least one predetermined level, a counter for vibration frequency calculation is set.

In steps 85 and 86, it is determined whether the sampling time has ended, and if the sampling time has ended, the vibration frequency is calculated from the vibration counter value between samplings.

Next, in step S7, the car position signal is fetched, and the vibration frequency is stored in the memory for each floor based on the floor data.

The in-car vibration suppression circuit (7) varies the time constants T and T2 for each floor by using the t vibration frequency calculation circuit obtained by the in-car vibration frequency calculation circuit 4). II7'f: Suppress.

In addition, in this embodiment, if the elevator car uses all the speed and speed signals, it can also use the load detection device installed under the car floor, use the speed signal, or It may also be the displacement of other equipment in the hoistway and machine room that vibrates in a phase relationship of .

〔Effect of the invention〕

As explained above, according to the present invention, even if the frequency of the cage vibration of the drive hoisting machine fluctuates, the time constant of the vibration suppression circuit is changed for each floor, so any cage vibration can be suppressed.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an embodiment of the elevator speed control device according to the present invention, FIG. 2 is a block diagram showing the internal configuration of the elevator speed control device shown in FIG. 1, and FIG. Fig. 4 is a flowchart showing the operation flow of the vibration suppression circuit, and Fig. 5 shows the transmission of the speed control system in a conventional elevator speed control device. A Bode diagram showing characteristics, FIG. 6 is a block diagram of a conventional elevator speed control device, and FIG. 7 is a block diagram showing a detailed configuration of the speed control device in the elevator speed control device of FIG. 6. . In the figure, (17) is a speed control device, -heel position detector, 2) is an in-car vibration suppression circuit, and @) is a car circle vibration frequency calculation circuit. In each figure, the same reference numerals indicate the same or corresponding parts.

Claims (2)

[Claims] (1) In an elevator controlled by a speed control system equipped with acceleration detection means, a car position detection signal from a car position detector is input, and the car position changes as the car moves from the lower floor to the upper floor. An elevator speed control device comprising an in-car vibration suppression circuit that calculates a vibration frequency by inputting an acceleration feedback signal for each car position, and changes the time constant of a vibration suppression filter according to the car position. (2) The elevator speed control device according to claim 1, wherein the time constant of the vibration suppression filter is changed by learning the vibration frequency according to the car position.