KR0186106B1 - Starting compensating method and equipment of an elevator - Google Patents

Abstract

The present invention relates to the start compensation of the elevator, the elevator is normal that the adjustment of the start compensation value of the elevator carried out at the time of installation or maintenance of the elevator through the execution error until the start shock does not occur By using the torque characteristics when operating at speed, the installer or maintenance personnel only set the operation mode, so that the load compensation is automatically calculated and stored under no load and full load (rated load). The present invention relates to a method and apparatus for compensating start of an elevator to be conveniently performed.

Description

Method and device for starting compensation of elevator

1 is a block diagram of a conventional elevator system for compensation.

2 is a detailed view of the start compensation device of FIG.

3 is a graph showing the characteristics between the load component torque value and the load output from the load / torque converter of FIG.

4 is a flowchart for adjusting a conventional start compensation value.

5 is a configuration diagram of an embodiment of the start compensation device for an elevator according to the present invention.

6 is a characteristic diagram of the speed and torque of the electric motor when the elevator in full load is normally operated in the ascending direction according to the start compensator of FIG.

7 is a characteristic diagram of a speed feedback value and a torque value of FIG. 5 when an elevator in a no-load or a full-load state is operated in an upward direction in an operation mode for starting compensation adjustment.

8 is a flow chart for adjusting the start compensation value of the present invention.

* Explanation of symbols for main parts of the drawings

200: torque control unit 200a: first subtractor

200b: speed control unit 200c: torque / current conversion unit

200d: second subtractor 200e: current control unit

201: Speed command generating means

The present invention relates to the start compensation of an elevator, and in particular, the adjustment of the start compensation value of the elevator performed at the time of installation or maintenance of the elevator is adjusted by the installer and the maintenance worker through trial and error until no start shock occurs. Accurate start-up compensation by automatically calculating and storing load component torques at no load and full load (rated load) as the installer or maintenance personnel only set the operation mode by using the torque characteristics when operating at normal speed. The present invention relates to a method and apparatus for compensating start of an elevator.

In general, an elevator load compensator writes a torque command so that a load detection device for a passenger in a car and a motor corresponding to the detected load can be generated in order to eliminate a shock felt by a person when the elevator starts. It consists of a starting compensation device.

In addition, since the starting compensation value of the electric motor may vary depending on the installation site, the starting compensation value of the no-load and rated load is adjusted and stored in the storage device at the elevator installation site, and the start-up shock of the elevator is not generated again. By trial and error, the mandatory compensation value was finally adjusted.

The conventional compensating device for an elevator includes a car 100 on which a passenger boards, as shown in FIG. A count weight (balance weight) 103 connected to the car 100 and the rope 110 to balance the car 100; A pulley (SHEAVE) 109 supporting the rope 110 connecting the count weight 103 and the car 100 and transmitting power to move the car 100 to a certain position; A converter unit 104 converting the input three-phase AC power (R, S, T) into a DC power and smoothing the output; An inverter unit 106 for converting the DC power converted and inputted from the converter unit 104 back into three-phase AC power and outputting the same; Two current transformers 111 and 112 respectively detecting currents of the two-phase power generated by the inverter unit 106; An electric motor 107 for generating torque by the three-phase AC power of the inverter unit 106 to move the actual car 100 through the pulley 109; An encoder unit 108 for detecting a speed of the electric motor 107 and generating a pulse corresponding thereto; A load detection device (101) positioned at a lower position of the car (100) to detect a load of a passenger or the like; The current feedback value S3 detected by the two current transformers 111 and 112 and the encoder unit 108 are detected in accordance with the load component torque values S5 in the no-load and full-load conditions adjusted at the elevator installation. The actual speed feedback value S2, the load detection value S4 of the load detection element 101 and the external speed command value S1 to calculate the voltage command value S13 for controlling the torque of the motor 107. A start compensation device 102 for generating a); The drive unit 105 is configured to control the driving of the electric motor 107 by switching the inverter unit 106 by the voltage command value S13 of the start compensation device 102.

As shown in FIG. 2, the starting compensation device 102 obtains a difference between the speed command value S1 input from the outside and the actual speed feedback value S2 detected by the encoder 108. FIG. A subtractor 102a; A speed controller 102c for converting the difference value obtained in the first subtractor 102a into a speed component torque value S11; Load / torque generated by converting the load detection value S4 detected by the load detection element 101 into the load component torque value S10 according to the load component torque value S5 in the previously stored no load and full load state. A conversion unit 102b; An adder (102d) for generating an actual torque value by summing the speed component torque value (S11) of the speed control unit (102c) and the load component torque value (S10) of the load / torque converter (102b); A torque / current converter 102e for converting the torque value summed by the adder 102d into a torque component current value S12; A second subtractor (102f) for obtaining a difference between the torque component current value (S12) converted by the torque / current converter (102e) and the current feedback value (S3) detected by the current transformer (111) (112); And a current control unit 102g for outputting the voltage command value S13 corresponding to the current difference value obtained by the second subtractor 102f to the drive unit 105.

Referring to Figs. 2 to 4, the conventional elevator start compensation device configured as described above, first, when the elevator installation or maintenance, the input three-phase AC power (R, S, T) through the converter unit 104 In addition to being converted to a power source, it is smoothed and input to the inverter unit 106.

The inverter unit 106 converts the DC power input through the converter unit 104 back into AC power and supplies it to the electric motor 107.

The electric motor 107 is driven by a three-phase AC power input through the inverter unit 106 to support the pulley 109 for supporting the rope 110 connecting the car 100 and the count weight 103. When the car 100 is moved, at this time, the load detection value S4 corresponding to the load of the passenger, such as a passenger in the car 100 by the load detection device 101 located below the car 100 is It is input to the starting compensation device 102.

In addition, the current transformers 111 and 112 detect a two-phase current from the three-phase AC power converted by the inverter unit 106 and apply the current to the start compensation device 102 as a current feedback value S3. 108 detects the speed of the electric motor 107 and inputs the speed feedback value S2 corresponding to the detection speed to the start compensation device 102.

Subsequently, the start compensator 102 adjusts and stores the current transformer according to the load component torque value S5 at no load and full load, which are adjusted and stored as shown in FIG. 3 according to the installation environment of the elevator during installation or maintenance of the elevator. The current feedback value S3 detected by the reference numerals 111 and 112, the speed feedback value S2 of the encoder unit 108, the load detection value S4 of the load detection element 101, and the external speed command value S1. ) Is generated to generate a voltage command value S13 for controlling the torque of the actual electric motor 107.

That is, the load detection value S4 output from the load detection element 101 is converted into the load component torque value S10 through the load / torque conversion unit 102b of the start compensation device 102 and added to the adder 102d. Is entered.

On the other hand, the first subtractor 102a of the start compensation device 102 is the difference between the speed command value S1 input from the outside and the actual speed feedback value S2 of the motor 107 detected by the encoder unit 108. Is obtained and input to the speed controller 102c.

The speed controller 102c generates a speed component torque value S11 corresponding to the difference value obtained by the first subtractor 102a and inputs it to the adder 102d.

Therefore, the adder 102d sums the load component torque value S10 converted and inputted by the load / torque converting unit 102b and the speed component torque value S11 input by the speed control unit 102c to actual torque. Is input to the torque / current converter 102e.

The torque / current converter 102e converts the sum of the load component torque value S10 and the speed component torque value S11 input from the adder 102d into a torque component current value S12 to convert the second subtractor ( 102f).

The second subtractor 102f includes a torque component current value S12 input from the torque / current converter 102e and a current feedback value S3 of the actual motor 107 detected and input by the current transformer 111. The difference is obtained and input to the current control unit 102g.

The current controller 102g generates a voltage command value S13 corresponding to the current difference value obtained by the second subtractor 102f, and inverts the inverter 106 in the drive unit 105 according to the generated voltage command value S13. By controlling, the torque of the electric motor 107 according to the load state of the car 100 is corrected and controlled.

Here, the load / torque converting unit 102b converts the load detection value S4 according to the graph (㉣- 바와) as shown in FIG. 3 to convert the load component torque value S10 into a starting compensation value. It outputs, the no-load and load according to the graph (그래프 -㉠) is adjusted and stored at the time of installation or maintenance of the elevator.

That is, even if the same load is loaded on the car 100, the slope of the graph is different according to the traveling distance of the car 100, the internal decoration of the car 100, the installation conditions, and the like. In order to compensate the starting by adjusting the load component torque value S10 output from the unit 102b, the load component torque value S5 at no load and full load is adjusted at the installation site of the elevator, and the adjusted no load is adjusted. And the load component torque value S5 in the full load state is stored in the storage device.

The load / torque conversion value is adjusted through a signal flow as shown in FIG. 4. If the load component torque value (S10) indicated by 3 of FIG. 3 is an accurate load / torque conversion value, the currently detected load detection value is input. In accordance with S4 and the load / torque conversion value S5 stored in the storage device, the load component torque value S10 is calculated in the load / torque conversion section 102b (ST1), and the calculated load component torque value S10. The elevator is operated (ST2). At this time, the installer or maintenance worker of the elevator judges whether or not an impact has occurred during starting (ST3), and if the starting shock has not occurred, recognizes the current load component torque value (S10) as a correct load / torque conversion value. Then, the adjustment of the load component torque value S5 in the said no load and full load state is completed (ST4).

However, if the load component torque value S5 in the no-load and full-load state as shown in the graph of FIG. 3 is currently stored in the storage device, a starting shock will be generated. According to the direction in which the starting shock occurs, the load component torque value S5 in the no-load and full-load states is corrected to the value of the graph or graph of FIG. 3 (ST5), and the elevator is operated again (ST2). ), Until the starting shock does not occur, i.e., until the current load component torque value S10 becomes the value shown in the graph of FIG. ) To be repeated (ST5).

However, in the conventional compensator for the start compensator, since the compensating start compensator performed during the installation or maintenance of the elevator does not accurately know the load / torque change value, the compensating start using the load detection value and an arbitrary load / torque conversion value is performed. To make a value, by repeatedly operating the elevator until the start shock does not occur by performing the process of changing the start compensation value there is a problem that can not be precisely adjusted and loss of personnel, time and labor.

Accordingly, an object of the present invention is to set up the operation mode for the adjustment of the start compensation value in order to improve the inaccuracy of the start compensation value adjustment according to the prior art caused by the installation or maintenance of the elevator. The present invention provides a method and apparatus for compensating the start of an elevator, which can conveniently and accurately perform the start compensating of the elevator by automatically calculating and storing load component torques under no load and full load.

The elevator compensation method for achieving the object of the present invention, in the operation mode for adjusting the start compensation of the elevator, the specified speed command value and the load component torque value corresponding to the load detection value of the elevator A first step of ignoring the elevator and determining whether a difference between the speed command value and the speed feedback value of the elevator according to the speed command value is a predetermined value after a predetermined time has elapsed since the operation of the elevator starts. Step 2 and, if it is determined that the difference value is a predetermined value, the third step of storing the torque value of the current speed component as a torque value in the no-load or full load state to complete the operation mode, and stored according to the operation mode Generate a starting compensation value calculated according to the load detection value of the elevator by referring to the torque value at no load and full load state. It comprises a fourth step of baggage to be specific.

In addition, the start compensation device of the elevator for achieving the object of the present invention is a speed command for generating an arbitrary speed command value when the operation mode for adjusting the load component torque value when the car of the elevator is no load and full load is set The start compensation value of the elevator is calculated according to the generating means, the speed command value, the speed feedback value of the elevator, and the current feedback value output from the current transformer, and the voltage command value corresponding to the calculated start compensation value. And torque control means for controlling the torque of the electric motor for moving the car of the elevator.

5 is a configuration diagram of an embodiment of the start compensation device for an elevator according to the present invention applied to the elevator system of FIG. 1, and as shown therein, an operation mode for adjusting load component torque values under no load and full load. Is set, the speed command generation unit 201 of the microprocessor for generating an arbitrary speed command value S1 ', the speed command value S1' output from the speed command generation unit 201, and the encoder The starting compensation value is calculated according to the speed feedback value S2 output from the unit 108 and the current feedback value S3 output from the current transformers 111 and 112, and the calculated starting compensation value. By generating the voltage command value S13 corresponding thereto, the torque control unit 200 controls the torque of the electric motor 107, and the same reference numerals are given to the same parts as in the prior art in the figure.

The torque control unit 200 and the first subtractor 200a for obtaining a difference between the speed command value S1 ′ output from the speed command generation unit 201 and the speed feedback value S2 of the electric motor 107 and In the operation mode, the difference value obtained by the first subtractor 200a is converted into a torque value S11 'and according to the speed feedback value S2 corresponding to the converted torque value S11', no load and full load. The load component torque value in the state is stored, and after the operation mode is completed, the load / torque conversion is performed according to the load component torque value and the load detection value S4 at the pre-stored no-load and full-load state. A speed control unit 200b for calculating the converted torque component torque value and the speed component torque value according to the speed feedback value S2, and outputting the torque value S11 'obtained by the calculation as a start compensation value of the elevator, The torque value S11 'obtained by the speed control part 200b is converted into the torque component current value S12. A method for obtaining a difference between the torque / current converter 200c and the torque component current value S12 converted by the torque / current converter 200c and the current feedback value S3 detected by the current transformer 111. It consists of the 2 subtractor 200d and the current control part 200e which outputs to the drive part 105 the voltage command value S13 corresponding to the difference value calculated by the 2nd subtractor 200d.

The operation and effect of the present invention configured as described above will be described in detail with reference to FIGS. 1 and 5 to 8 as follows.

After the operation mode is completed, when the full-load elevator is normally elevated, the elevator stops at the designated floor through the process of acceleration, constant speed, and deceleration, as shown in FIG. The torque value S11 ′ output from the control unit 200b is the same as that of FIG. 6B, and the load component corresponding to the torque corresponding to the unbalanced load between the car 100 and the count weight (balance weight) 103. The torque value is displayed as shown in FIG.

Accordingly, the actual torque command input to the torque / current converter 200c is as shown in FIG. 6 (d). If the friction is ignored, the load component torque value in the normal speed section is the same as the actual torque command. Done.

However, the characteristics as shown in FIG. 6 may appear when the load detection device 101 has a very good performance and the load component torque value is ideally accurately adjusted.

Therefore, the present invention adjusts the starting compensation value by using the principle that the actual torque command and the load component torque become equal in the normal speed section of FIG.

That is, if the operation mode is set at step ST100 at the time of installation or maintenance of the elevator, the speed command generation unit 201 outputs a predetermined speed command value S1 'at step ST101, and the speed command value. (S1 ') may be 0, for example.

In step ST102, the elevator is operated by ignoring the load component torque value corresponding to the current load detection value S4, so that the load component torque value at no load and full load state is automatically obtained.

That is, the first subtractor 200a is a difference between the speed command value S1 'output from the speed command generation unit 201 and the speed feedback value S2 of the motor 107 detected by the encoder unit 108. Obtain and output to the speed control unit 200b. The speed controller 200b disregards the load component torque value corresponding to the load detection value S4 and converts the difference value output from the first subtractor 200a into a torque value S11 'which is a start compensation value. .

Subsequently, the converted torque value S11 'is converted into the torque component current value S12 via the torque / current converter 200c, and the current controller 200e calculates the torque component calculated by the second subtractor 200d. The difference between the current value S12 and the current feedback value S3 is converted into a voltage command value S13 and outputted to the drive unit 105.

In addition, the torque of the electric motor 107 is adjusted by the switching operation of the inverter unit 106 under the control of the drive unit 105, so that operation of the elevator in accordance with the starting compensation value is performed.

By the way, as described in the above step ST102, for example, when the speed command value S1 'is set to 0, the load component torque value corresponding to the load detection value S4 is not considered, and the speed command value ( When only the difference value between S1 ') and the speed feedback value S2 is converted to generate a torque value S11' including only a speed component, as shown in FIG. 7A, in the case of full load or no load The unbalanced load causes the car 100 to temporarily descend or rise.

Accordingly, the speed feedback value S2 according to the speed of the car 100 is detected as a speed command value S1 'set at the step ST101, that is, a value other than zero.

Therefore, in step ST103, the speed control unit 200b determines that the difference between the speed command value S1 'and the speed feedback value S2 is the speed command value S1' set at the step ST101, that is, 0. As shown in FIG. 7B, the speed component torque value S11 'is generated so that the speed of the elevator is controlled.

Subsequently, in step ST104, the speed control unit 200b determines whether the speed feedback value S2 is equal to the speed command value S1 'set at the step ST101, that is, 0, and judges that it is not the same. The above step STl03 is performed again.

Since the speed command value S1 'is set to 0 in the step ST101, the speed feedback is performed as shown in Fig. 7 after the steps ST103 and ST103 have been repeatedly performed for a time t1 of several seconds. The value S2 becomes substantially equal to the speed command value S1 'set to 0, for example, and thus the torque value S11' is kept constant.

Therefore, at steps ST105 and ST106, the speed controller 200b checks whether the car 100 is currently in a no load state or a full load state.

If it is determined that the car 100 is currently in the no-load state, at step ST107, the speed controller 200b stores the current torque value S11 'as the load component torque value in the no-load state. When it is determined that the car 100 is currently in the full load state, in step ST108, the speed controller 200b stores the current torque value S11 'as the load component torque value in the full load state. .

Subsequently, if it is determined in step ST109 that the operation mode is not completed, the steps ST101 to ST108 are performed again. That is, the above process is performed twice in the no-load state and the full-load state, and as shown in FIG. 3, the graph of the load component torque value with respect to the load is made, thereby completing the operation mode. do.

When the elevator is normally operated after the operation mode is completed as described above, the speed controller 200b receives the load detection value S4 at step ST110, and performs load / torque conversion according to the graph made in the operation mode. The starting compensation of the elevator is made by calculating the torque value of the speed component according to the torque value of the load component and the speed feedback value S2 obtained by performing and generating the torque value S11 '.

As described in detail above, the present invention automatically calculates and stores load component torques at no load and full load, and adjusts accurate start compensation values only when an installer or a maintenance worker sets an operation mode at an elevator installation site. Will be carried out, and has the effect of reducing the loss of personnel, time and labor.

Claims (6)

A first step of designating an arbitrary speed command value and operating the elevator ignoring the load component torque value corresponding to the load detection value of the elevator in an operation mode for adjusting the start compensation of the elevator; A second step of determining whether a difference between the speed command value and the speed feedback value of the elevator according to the speed command value is a predetermined value after a predetermined time has elapsed since the operation of the elevator is started; If it is determined that the difference value is a predetermined value, a third step of storing the torque value of the current speed component as a torque value at no load or at full load to complete the operation mode; And a fourth step of generating a starting compensation value calculated according to the load detection value of the elevator with reference to the torque values in the no load and the full load state stored according to the operation mode. The start compensation method of the elevator according to claim 1, wherein the operation mode is performed in a state in which the car of the elevator is under no load and at full load. The method of claim 1, wherein the fourth step converts the load corresponding to the load detection value into the load component torque value according to the torque value at the no load and the full load state stored in the third step, and converts the load into the load component torque value. And a start compensation value is generated by calculating a speed torque value corresponding to the torque value and the speed feedback value. The start compensation method of an elevator according to claim 1, wherein the first step generates an inverted value of the speed feedback value as a torque value of the current speed component. Speed command generating means for generating an arbitrary speed command value when an operation mode for adjusting the load component torque value in a state where the car of the elevator is at no load and at full load is set; In the operation mode, the load detection value is ignored and the load component torque value at no load and full load state is stored according to the difference between the speed command value and the speed feedback value of the elevator. Torque control that controls the torque of the motor for moving the elevator car by calculating the start compensation value of the elevator according to the load component torque value and the actual load detection value and generating a voltage command value corresponding to the calculated start compensation value. An elevator compensation device, characterized in that configured by means. 6. The apparatus of claim 5, wherein the torque control means includes: a first subtractor for obtaining a difference between the speed command value and the speed feedback value; In the operation mode, it is determined whether the difference value is a predetermined value, and stores the load component torque value in the no-load and full-load state.After the operation mode is completed, the speed component and the load component are changed according to the stored load component torque value. Speed control means for generating the starting compensation value included; Torque / current conversion means for converting the torque value output from the speed control means into a torque component current value; A second subtractor for obtaining a difference between the torque component current value converted by the torque / current conversion means and the current feedback value detected by the current transformer; And a current control means for outputting a voltage command value corresponding to the difference value obtained in the second subtractor to the driving means.