KR100619616B1 - Elevator controller - Google Patents

Abstract

The present invention provides a control apparatus for an elevator in which the main ropes (13) are separated from each other to be raised by walking on the elevator car (2), and wound around the plurality of winches (9) provided so as to elevate and drive the elevator car (2). To detect the tension of each main rope 13 in the stationary state before starting the elevator car 2, and increase and decrease the output of the corresponding winch machine according to the detected value to drive the elevator car 2 up and down. It is. For this reason, even if the load is biased and loaded on the elevator car 2 so that the tensions of the main ropes 13 are different, the winch machine 9 drives the elevator car 2 at a corresponding output. 2) will not tilt.

Hoist, Main Rope, Elevator, Tension, Lift, Pulley, Crane, Floor Alignment

Description

Elevator control device {ELEVATOR CONTROLLER}

The present invention relates to an elevator control apparatus for driving a plurality of elevator cars.

Since a conventional elevator has driven one elevator car, as a load load becomes large, a capacity also becomes large. For this reason, a large elevator needs a large lifting machine, and the installation stand needed a large capacity crane.

For example, Japanese Unexamined Patent Application Publication No. 6-64863 discloses that a pulley is provided on an elevator car and wound around the pulley to drive two small cars.

Fig. 17 shows the same elevator as that disclosed in Japanese Unexamined Patent Publication No. 6-64863, which drives an elevator car by two.

In other words, the pulley 201 is attached to the elevator car 2, and the pulley 201 is wound around the pulley 201 and raised. The pulley 201 is wound up and lowered by the winches 9L and 9R to catch the counterweights 17L and 17R. have. Each hoist 9L, 9R is an equivalent product comprised of the sheaves 10L, 10R, brakes 11L, 11R, and electric motors 12R, 12R of the same specification. Also, 202, 203L, 203R, and 204L denote pulleys that guide the main rope 13.

By using two winches 9L and 9R, the winch can be miniaturized, and when a speed difference occurs between the winches 9L and 9R, the pulley 201 rotates to share torque between the winches 9L and 9R. Is to equalize all the time.

However, as indicated by the dashed-dotted line in FIG. 17, for example, if the pulley 201 is rotated clockwise for some reason, the main rope 13 is transferred from the hoist 9R side to the hoist 9L side. By the transfer of the main rope 13, the balance weight 17R suspended on the winch 9R is pulled down to be in the state indicated by reference numerals 17L 'and 17R'. When the elevator car 2 is raised in this state, the counterweight 17L 'interferes with the hoistway bottom. When the elevator car 2 is lowered, the counterweight 17R 'interferes with the hoistway ceiling.

That is, when the pulley 201 rotates, the main rope 13 is conveyed, and the relative positional relationship between the elevator car 2 and the counterweights 17L and 17R is changed to reduce the lifting stroke of the elevator car 2. There was.

In addition, brakes 11L and 11R are the most important safety devices. When two winches 9L and 9R are used for such importance, when at least one brake 11L or 11R is operated, elevator car 2 It is desirable to be able to stop).

However, according to FIG. 17, there was also a problem that the elevator car 2 could not be stopped unless both brakes 11L and 11R were operated.

In Japanese Patent Laid-Open No. 7-25553, the relative position displacement of the main rope 13 is zero by detecting the relative angle of the pulley 201 and feeding it back to the speed command input side of one electric motor 12L or 12R. Is disclosed. Accordingly, this makes it possible to equalize the torque sharing between the winches 9L and 9R and to prevent the relative positional displacement of the main rope 13, thereby maintaining the positional relationship between the elevator car 2 and the counterweights 17L and 17R. Can be maintained.

However, by this, the elevator car 2 is no different from that disclosed in Japanese Patent Laid-Open No. 6-64863 in that the elevator car 2 is suspended from the main rope 13 through the pulley 201. Or 11R) does not work, there is a problem that the elevator car 2 cannot be stopped likewise.

The present invention solves the above problems by driving the elevator car with a plurality of winches, and at the same time prevents the relative positional displacement of the main ropes generated by the winches, or prevents the main rope. It is an object of the present invention to provide an elevator control device which can stably lift an elevator car by correcting a case where a relative position displacement occurs.

1. The present invention is to provide a control device for an elevator in which the main rope is individually raised to a plurality of portions of a car moving up and down within the hoistway, and the elevator car is driven up and down by walking on a plurality of winches provided correspondingly. In the previous stop state, the tension of the main rope is detected for each main rope engaging portion, and the output of the corresponding winch is individually increased or decreased according to the detected value so that the elevator car is driven up and down. Therefore, even if the load is biased and loaded on the elevator car, and the tension of the main rope is different for each main rope engaging portion, the winch drives the elevator car with the corresponding output, thereby preventing relative movement of each main rope, The elevator car can be prevented from leaning considerably to one side.

2. The present invention also sums up the tensions detected for each main rope engaging portion in the stopped state of the elevator car before starting, and calculates the congestion degree in the elevator car from the load, for example, by adding the total value as the load in the elevator car. will be. For this reason, in order to detect a load, it is not necessary to provide a detector separately.

3. In addition, the present invention provides a control apparatus of an elevator in which the main rope is individually raised to a plurality of portions of the elevator car that elevate the inside of the hoistway, and wound up and wound up by a plurality of winches provided correspondingly. The main rope is detected by a corresponding winch so as to detect the difference between the floor and the car platform when the elevator car lands on the target floor for each main rope engaging portion and to reduce the difference in conception when the detected value exceeds a predetermined value. Move the catches up and down individually to make the floor fit. For this reason, for example, even if the relative movement occurs in the main rope by the hoist and the elevator car bottom is inclined, the relative movement of the main rope is not accumulated because it is corrected by the floor alignment.

4. In the present invention, in the elevator control apparatus for elevating the elevator car with a plurality of winches, the lift distance is calculated for each winch, and the winch is stopped when the difference in the calculated values exceeds a predetermined value. This can prevent the elevator car from inclining considerably.

5. In addition, the present invention calculates the lifting distance by measuring the rotational angular velocity of the hoist and stops the hoist when the difference in the calculated values exceeds a predetermined value. For this reason, it is not limited to the case where the main rope is actually moved relative to each other, and even if the uneven rotation of the winch occurs and the difference in the rotational angular velocity occurs, the winch can be stopped. Detect early and deal with it.

6. In addition, the present invention is a control device of an elevator to lift and drive the elevator car with a plurality of winches, the power of the electric motor of each winch is measured separately, and stops the winch when the difference in the measured value exceeds a predetermined value Let's do it. For this reason, it is possible to prevent operation in a state where the load is extremely biased in one electric motor, for example, in a state where the elevator car is inclined considerably.

7. The present invention also provides a control apparatus for an elevator, wherein the main rope is individually raised to a plurality of portions of an elevator car that elevates in a hoistway, and is wound around a plurality of hoisting machines installed so as to elevate and drive the elevator car. Calculate the lifting distance from the starting floor to the target floor in advance and give it to each hoist as a common target lifting distance, and calculate the remaining distance from the current position to the target floor for each main rope locking part, The speed is used as the speed command to individually control each winch. This makes it possible to control the speed appropriate to the target lifting distance and to accurately land on the target floor.

8. The present invention also provides a control apparatus for an elevator configured to lift and drive the elevator car by lifting the main ropes individually to a plurality of portions of the elevator car for elevating in a hoistway, and winding a plurality of winches provided correspondingly. At the beginning of the operation command, the speed command is calculated according to the passage of time to collectively control the winch, and the speed appropriate for the remaining distance from the deceleration point set just before the predetermined distance to the target floor is calculated for each main rope engaging portion. Control each winding machine individually as a speed command. As a result, the detection area is reduced compared to the case where the elevator car position is detected over the entire area of the elevating distance. Therefore, the elevator car position detection device can be simplified by a considerable amount, and the speed command corresponding to the remaining distance from the deceleration point can be reduced. Since it is controlled by, the concept can be accurately landed without impairing the riding comfort.

1 is a perspective view showing a whole including a control device of a preferred elevator according to a first embodiment of the present invention.

Fig. 2 is a block diagram showing an electric circuit of a control device of a preferred elevator according to the first embodiment of the present invention.

3 is a longitudinal sectional view showing a main portion of the tension detector 21 according to the first embodiment of the present invention.

4 is an explanatory diagram showing an operating state of the tension detector 21 of the control device according to the first embodiment of the present invention.

5 is a perspective view showing the elevator car position detectors 35 and 41 according to the first embodiment of the present invention.

Fig. 6 is a front view showing the elevator car 2 at the time of conception according to the first embodiment of the present invention.

Fig. 7 is a front view showing the elevator car 2 at the time of conception according to the first embodiment of the present invention.

Fig. 8 is an explanatory diagram showing a speed command Vo with respect to the remaining distance in call answering operation according to the first embodiment of the present invention.

Fig. 9 is an explanatory diagram showing the speed command LVo with respect to the remaining distance in the flooring operation according to the first embodiment of the present invention.

Fig. 10 is a flowchart showing the operation of call answering operation according to the first embodiment of the present invention.

Fig. 11 is a flowchart showing the operation of the floor alignment operation according to the first embodiment of the present invention.

Fig. 12 is a block diagram showing an electric circuit of a control device of a preferred elevator according to the second embodiment of the present invention.

Fig. 13 is a perspective view showing a car position detector 41 according to the second embodiment of the present invention.

Fig. 14 is an explanatory diagram showing time versus speed command Vao and remaining distance vs. speed command Vdo in call answering operation according to the second embodiment of the present invention.

Fig. 15 is a flowchart showing the operation of call answering operation according to the second embodiment of the present invention.

Fig. 16 is a perspective view showing the whole of a preferred elevator according to the third embodiment of the present invention.

It is a conceptual diagram of the elevator provided with the some some conventional winding machine.

Best Mode for Carrying Out the Invention

In order to describe the present invention in more detail, it will be described according to the accompanying drawings. In addition, the same code | symbol is attached | subjected to the same or corresponding part among each figure, and the overlapping description is abbreviate | omitted or abbreviate | omitted suitably.

In addition, in the following example, an elevator is provided with two hoisting machines to the left and right, and it is related with the control of the elevator similar to the elevator disclosed by Unexamined-Japanese-Patent No. 2001-261257, and the element which concerns on the left has " The letter "L" is added to the element related to the right side, and the letter "R" is appended to the end of the sign.

(First embodiment)

1 to 11 show a first embodiment of an elevator control apparatus with a plurality of winches according to the present invention. In this first embodiment, two hoisting machines are provided, particularly at the top of the hoistway, and are commonly given to each hoisting machine with the target hoisting distance from the starting floor to the destination floor, and the remaining distance from the current position to the destination floor is known. Each winch is individually controlled at the correct speed.

1 is a perspective view showing the entire control device of an elevator. In the figure, 1 is the hoistway, 2 is the elevator car, 3 is the car platrorm, 4 is the lower frame supporting the elevator car bottom 3 from the bottom, 5 is perpendicular to the left and right sides of the elevator car 2 The vertical frame installed as 6, the upper frame horizontally installed on the upper part of the elevator car (2). 7 is a pair of elevator car guide rails fixed vertically to the hoistway sidewalls of both sides of the elevator car 2, 8 is a weight guide rail fixedly and vertically fixed to the hoistway sidewalls of the rear surface of the elevator car 2, 2 A pair of weight guide rails 8 are arranged side by side, respectively. 9 is a pair of hoisting units provided on the right and left spaced apart from the top of the hoistway 1, and includes a sheave 10, a brake 11 for stopping the sheave 10, and a sheave 10 for driving the sheave 10. It consists of an electric motor 12. 13 is a pair of left and right main ropes wound on the sheave 10 and hung on the undercarriage 4 of the elevator car, and 14 is a deflector sheave for guiding each main rope 13 to the elevator car 2. , 15 is a shackle rod attached to the end of each main rope 13, 16 is a shackle spring interposed between the lower frame 4 and each of the sackle rod 15, 17 is each It is a counterweight hanging on the other end of the main rope 13, and is provided separately on the left and right sides. 18 is a floor on which the elevator car 2 is implanted, and 19 is a control panel which controls each winch 9. 35 is a pair of left and right gratings attached to the elevator car guide rails 7 in length in the vertical direction, and slits are formed as shown in detail in FIG. 5. 41 is an U-shaped optical sensor, the opening of which is attached to the lower frame 4 on the left and right of the elevator car 2 toward the side wall of the hoistway, and intermittent light penetrating the lattice plate 35 inserted into the opening loosely. The pulse signal (pulse signlas) is output by light. In addition, the grating board 35 and the optical sensor 41 function as an elevator car position detector.

And the said balance weight 17 is set by weight so that the load of 40%-60% of a normal loading load can be exactly parallel when it is loaded in the elevator car 2 normally. In this case, it is assumed that the fuel cell is swollen at 50% of the load, the load is Wf, and it acts evenly on the right and left winches 9, and each sheave 10 has a load torque corresponding to the unbalanced load Wf / 4. Takes Therefore, when either brake 11 is not operated, an unbalanced load is concentrated on the other brake 11. Therefore, the other brake 11 receives a load torque corresponding to the unbalanced load Wf / 4 × 2, but the brake 11 is 250% to 300% of the load torque due to the normal unbalanced load Wf / 4. Since it is set to generate the braking torque of, the elevator car 2 of the load Wf can be stopped by one brake 11.

2 is a block diagram showing an electric circuit of a control device of an elevator. In the figure, 21 is a tension detector attached to the lower surface of the lower frame 4 of the elevator car 2 to detect the tension of each of the main ropes 13 by detecting the expansion and contraction of the sackle spring 16. To show. 51 is an elevator car operating panel, and 52 is a boarding point button attached to each floor 18. Reference numeral 53 is an encoder that generates a pulse signal in accordance with the rotation of each winch machine 9.

60 denotes a driving management device, wherein the driving management device 60 targets a call registration circuit 60a for registering a call by the elevator car operating panel 51 and the boarding point button 52, and the elevation distance to the target floor. A target elevating distance calculation circuit 60b for calculating with the elevating distance Do, an operation command circuit 60c for instructing operation to the target floor, a floor alignment command circuit 60e for instructing floor alignment operation, and And an elevator car internal load detection circuit 60f for calculating the load inside the elevator car 2 by summing the tensions of the respective main ropes 13 in the stopped state of the elevator car 2 before starting.

61L shows the apparatus regarding the lifting of the left side of the elevator car 2, as shown by the dashed line in the figure, and 61R similarly shows the apparatus regarding the lifting of the right side of the elevator car 2. As shown in FIG. Both devices 61L and 61R have the same device configuration and will be collectively described below without distinguishing both. 62 is an operation contact which is closed by the command of the operation command circuit 60c or the floor fitting command circuit 60e and supplies electric power from the power converter 77 to the electric motor 12. 63 is elevator car speed calculating means for calculating the car speed Vm of the elevator car 2 from the number of occurrences of the pulse signal by the encoder 53 per unit time. 64 is a lift distance calculator that integrates the car speed Vm to calculate the lift distance Dm from the starting floor to the current position of the elevator car 2.

65 is a subtractor that calculates the remaining distance Dr to the target floor by subtracting the lifting distance Dm from the target lifting distance Do, and 66 outputs a speed command Vo suitable for the remaining distance Dr. It is a position controller, and the detail of the speed command Vo is shown in FIG. Reference numeral 67 denotes a switch for connecting the terminals a, c by the command of the operation command circuit 60c and connecting the terminals b, c by the command of the floor fitting command circuit 60e. 68 is a subtractor for calculating the speed difference between the speed command Vo and the speed Vm, and 69 is a speed controller for outputting a torque command To suitable for the speed difference.

71 is a switch for connecting the terminals b and c prior to the start of the elevator car 2 and for connecting the terminals a and c with the closing of the driving contact 62, and 72 for the tension detector 21. A stop torque calculator for calculating the stop torque Ts from the tension of the main rope 13 in the stopped state immediately before the detected start, 73 is an adder for adding the stop torque Ts to the torque command To, 74 Denotes a load torque calculator for calculating the load torque Tm from the tension of the main rope 13 through the switch 71, and 75 denotes the addition value of the torque command To and the stop torque Ts and the load torque Tm. 76 is a torque controller for outputting a current command Io suitable for the torque difference, and 77 is an electric power for supplying electric power to the motor 12 according to the current command Io and the output current. 78 is a current transformer for detecting the output current from the power converter 77.

79 is a floor registration area memory in which the floor registration areas LZU and LZD set above and below the layer 18 are recorded, and details of the floor registration areas LZU and LZD are shown in FIG. 80 is an elevator car position calculator that counts the pulse signal of the optical sensor 41 to calculate the elevator car position LDm, and 81 is an elevator car position LDm subtracted from the floor fitting area LZU or LZD. 18 is a subtractor for calculating the remaining distance LDr up to 18), 82 is a floor alignment controller for outputting a speed command LVo suitable for the remaining distance LDr, and the details of the speed command LVo are shown in FIG. do.

85 is a lifting distance comparator comparing the lifting distances (Dm) of the left and right hoist (9), 86 is a current comparator to compare the current value of the current of the left and right hoist (9) is input through each current transformer (78) , 87 denotes that the right and left winches 9 are mounted when the difference in the lift distance Dm by the lift distance comparator 85 exceeds the predetermined value or when the difference in the current value by the current comparator 86 exceeds the predetermined value. It is a safety circuit to stop.

3 is a longitudinal sectional view showing a main portion of the tension detector 21. A plurality of main ropes 13 is usually used on each of the left and right sides, but here, the tension of one main rope 13 is detected. 22 is a bobbin, 23 is a primary winding wound at the center of the bobbin 22, 24 and 25 are secondary windings wound on the bobbin 22 on both sides of the primary winding 23, and It is connected differentially. 26 is a movable iron core loosely inserted into the bobbin 22 and is hung on the shackle rod 15 through the bracket 27 and moves up and down along the expansion and contraction of the sackle spring 16. That is, the tension detector 21 is composed of a differential transformer, the primary winding 23 is connected to the AC power supply 28 of the voltage e1, the voltage (e2a, e2b) to the secondary windings 24, 25, respectively ) Is output. The difference voltage (eo = e2a-e2b) of both is output to the output terminal 29, and when the movable iron core 26 is located in the center of the bobbin 22, the difference voltage eo = 0.

In the setting of the tension detector 21, first, the tension of the left and right main ropes 13 is measured while the elevator car 2 is at no load. In either case, when the smaller tension is applied, the positions of the movable iron cores of both the left and right tension detectors 21 are set such that the output eo becomes "0". Therefore, the output eo of the tension detector 21 is a value proportional to the difference with the value based on the smaller tension of both the left and right main ropes 13 at no load.

4 shows an operating state of the tension detector 21. That is, the tension detectors 21 are mounted on the left and right sides of the elevator car 2, and operate independently of each other to produce outputs eOL and eoR. When the elevator car 2 is stopped, the stop torques TsL and TsR are calculated by the stop torque calculators 72L and 72R in accordance with the outputs eoL and eoR.

As shown in the figure, when the passenger 2a is biased to the right and rides, the main rope 13R on the right side is larger than the main rope 13L on the left side. For this reason, since the side of the right side spring 16R is more compressed, the output eoR becomes a value larger than the said output eoL, and the stop torque TsR is also the same.

FIG. 5 is a perspective view showing an elevator car position detector composed of a grating plate 35 and an optical sensor 41. Slits 36 are provided at a constant pitch d in the grating plate 35 whose length is oriented in a vertical direction. ) Is formed, and on one side, a notch portion 37 for an implantation region is formed, which is formed notches by the same dimensions LU and LD from the center up and down. 38 is a bracket for attaching the grid plate 35 to the elevator car guide rail 7.

On the inner surface of one arm of the main body of the optical sensor 41, projectors 42p and 43p are mounted up and down and a projector 44p inward, spaced apart by a predetermined distance, and on the other side. Are equipped with receivers 42r, 43r, 44r at opposing positions. The light receivers 42r and 43r function as elevator car position encoders that output pulse signals by the light of the light emitters 42p and 43p being interrupted by the grating plate 35. The light receiver 44r detects the bottom fitting regions LZU and LZD by blocking the light of the light projector 44p by the grating plate 35, and detects the implantation regions LU and LD by transmitting light. Therefore, the light receiver 44r functions as an implantation area detector.

Here, the grating plate 35 is a bracket (so that the center of the grating plate 35 coincides with the center of the optical sensor 41 mounted on the lower frame 4 when the elevator car bottom 3 and the layered floor 18 coincide). 38) to the elevator car guide rail (7).

6 shows the elevator car 2 at the time of conception. That is, the elevator car position detector composed of the light sensor 41 and the grating plate 35 is mounted on the left and right sides of the elevator car 2 and operates independently to detect the position of the elevator car bottom 3. As shown in the figure, the elevator car bottom 3 is inclined from left to right with respect to the layered floor 18, and the right light receiver 44rR is in the conception areas LU and LD, but the number on the left is The madness 44rL is assumed to be above and away from the implantation region LU. The floor alignment is performed only on the left side, and only the left side of the elevator car 2 is lowered so that the light receiver 44rL is in the conception areas LU and LD.

7 likewise shows the elevator car 2 at the time of conception. That is, the floor alignment is performed only when both the left and right sides are within the floor fitting regions LZU and LZD. As shown in the figure, the elevator car bottom 3 is tilted higher than the layered floor 18 and stops, and the right light receiver 44rR is in the floor fitting area LZU, but the light receiver 44rL on the left is If it is located above the floor fitting area LZU, the floor fitting is not performed.

Fig. 8 shows the speed command Vo output from the position controller 66 in the call answering operation. In the drawing, the speed command Vo is calculated for the remaining distance Dr to the target floor, so that when the driving command is output at the time to, the speed command vo1 is output as an initial value. When the elevating operation is performed according to the speed command vo1 and the elevating distance calculator 64 outputs the distance Dm1, the remaining distance Dr to the target floor is set as the target elevating distance Do and Dr = (Do-Dm1). ). The speed command vo2 is output with respect to the remaining distance Dr. Similarly, when the user descends by the distance Dm2 from the starting floor according to the speed command vo2, the remaining distance Dr (= Do-Dm2) becomes, and the speed command vo3 is output with respect to the remaining distance Dr. The time t3 which ascends and descends according to the speed command vo3 by the distance Dm3 from the starting floor becomes the current position of the elevator car 2. The new speed command Vo is output for the remaining distance Dr (= Do-Dm3) from this position, and becomes constant when the rated speed Vmax is reached.

When the remaining distance Dr becomes equal to the deceleration distance, the decelerated speed command Vo is then output in correspondence with the remaining distance Dr, and lands on the target floor according to the speed command Vo.

9 shows the speed command LVo in the flooring operation. The speed command LVo of the floor-fitting operation is output from the floor-fitting controller 82, and after outputting the initial value LVmax, the speed command LVo which is gradually reduced in accordance with the remaining distance LDr from the subtractor 81. ) In the bottom fitting areas LZU and LZD, the optical sensor 41 is coupled with the grating 35.

By the combination, the elevator car position calculator 80 detects the driving direction of the elevator car 2 from the operation sequence of the light receiver 42r and the light receiver 43r, and the upper reference position Pu or the lower reference position ( The position LDm of the elevator car 2 is calculated from the number of pulse signals of the light receiver 42r or the light receiver 43r starting from Pd). Therefore, the position LDm of the elevator car 2 is detected with the upper reference position Pu as the starting point in the descending operation, and the lower reference position Pd as the starting point in the rising operation. When the elevator car bottom 3 is out of the conception areas LU and LD and the light to the light receiver 44r is blocked, the floor alignment is performed in accordance with the speed command LVo.

The operation of the call answering operation will be described with reference to FIG. The following is an operation common to the device 61L on the left side and device 61R on the right side, and will be described without distinguishing it.

When the boarding point call or elevator car call is registered in the call registration circuit 60a, the process shifts from step S11 to step S12, and an operation command for responding to the call from the driving command circuit 60c is issued. Is output. In step S13, the elevating distance from the starting floor to the target floor is calculated by the elevating distance calculating circuit 60b, and is a target elevating distance Do which is common to the left device 61L and the right device 61R. Is output. In step S14, the switch 71 is connected to the terminal b to input the output of the tension detector 21 to the stop torque calculator 72, and stops from the tension of the main rope 13 in the stopped state before starting. After the torque Ts is calculated and stored, the switch 71 is connected to the terminal a. In step S15, the switch 67 is also connected to the terminal a. In step S16, the driving contact 62 is closed to open the brake 11, and electric power is supplied to the electric motor 12.

In step S17, the pulse signal of the encoder 53 is input to the elevator car speed calculating means 63 to calculate the elevator car speed Vm, and the elevator car speed Vm is obtained by the elevating distance calculator 64. The integration distance Dm from the starting floor to the current position of the elevator car 2 is calculated. In step S18, the subtractor 65 subtracts the lifting distance Dm from the target lifting distance Do to calculate the remaining distance Dr to the target floor. In step S19, the speed command Vo suitable for the remaining distance Dr is output from the position controller 66. In step S20, the speed difference ΔV between the speed command Vo and the elevator car speed Vm is calculated by the subtractor 68. In step S21, the torque command To is calculated by the speed controller 69 in accordance with the speed difference ΔV. In step S22, the torque command To and the stop torque Ts are added by the adder 73. In step S23, the subtraction unit 75 calculates the torque difference? T between the torque command To and the stop torque Ts, and the load torque Tm. In step S24, the current command Io is calculated by the torque controller 76 according to the torque difference DELTA T. In step S26, electric power is supplied to the electric motor 12 by the power converter 77 according to the current command Io.

When it is detected in step S26 that the elevator car 2 has reached the target floor by the elevator car position detector composed of the grating plate 35 and the optical sensor 41, the process proceeds to step S27 and the driving contact 62 The brake 11 is operated to stop the motor 12 and the motor 12 is returned to step S11 to perform the next call response operation. If the elevator car 2 does not arrive at the target floor in step S26, the process returns to step S17, and the following steps from step S17 to step S26 are repeated to lift the elevator car 2. Drive to the destination floor.

The operation of the floor alignment operation will be described with reference to FIG. The following is the operation common to the device 61L on the left side and device 61R on the right side, and will be described without distinguishing between left and right except where necessary.

In step S31, only when the left and right receivers 44r detect the bottom-fitting areas LZU and LZD together, for example, as shown in Fig. 6, the process proceeds to step S32. As shown in Fig. 7, when there is a light receiver 44r that does not detect the floor fitting areas LZU and LZD, the floor fitting operation is not performed. This is because the floor alignment operation when the difference between the floor 18 and the elevator car floor 3 is large is inappropriate. In the step S32, when the light receivers 44r of the left and right optical sensors 41 together detect the implantation regions LU and LD, the flooring operation is not performed. Because there is no need for floor fitting. As shown in the left side of Fig. 6, when there is a light receiver 44r that does not detect the implantation areas LU and LD, the light receiver 44r detects the implantation area LU.LD in step S33. The floor alignment command circuit 60e on the side which is not provided is operated.

In step S34, the switch 71 is connected to the terminal b to input the output of the tension detector 21 to the stop torque calculator 72, and from the tension of the main rope 13 in the stopped state before starting. After the stop torque Ts is calculated and stored, the switch 71 is connected to the terminal a. In step S35, the switch 67 is also connected to the terminal b. In step S36, the driving contact 62 is closed to open the brate 11, and electric power is supplied to the electric motor 12. In step S37, the floor alignment controller 82 outputs the initial value LVmax as the speed command LVo of the floor alignment operation. The elevator car position LDm is read from the elevator car position calculator 80 in step S38. The elevator car position LDm is formed by the light sensor 41 starting from the upper reference position Pu or the lower reference position Pd when the elevator car 2 lands on the target floor by a call answering operation. It is calculated in advance by the elevator car position calculator 80 from the pulse signal and stored. In step S39, the flooring areas LZU and LZD are read from the flooring area memory 79, and the flooring areas LZU and LZD and the elevator car position LDm are subtracted by the subtractor 81 to form a layered structure. The remaining distance LDr to (18) is calculated. In step S40, as shown in FIG. 9, the floor alignment controller 82 outputs a speed command LVo that decreases step by step in accordance with the remaining distance LDr. In step S41, the speed difference ΔV between the speed command LVo and the elevator car speed Vm is calculated by the subtractor 68.

Step S42 is the same processing as that from step S21 to step S25 in FIG. 10, and the torque command To is calculated by the speed controller 69 according to the speed difference ΔV, and the adder 73 Torque command To and stop lock Ts are added to each other, and the torque difference (△ T) between the sum of torque command To and stop torque Ts and load torque Tm is subtracted by subtractor 75. ) Is calculated, the current command Io is calculated by the torque controller 76 according to the torque difference ΔT, and the power is transferred to the electric motor 12 by the power converter 77 according to the current command Io. It is supplied and the elevator car 2 is driven up and down.

If it is detected in step S43 that the elevator car bottom 3 has entered the conception areas LU and LD by the light receiver 44r, the flow advances to step S44, and the driving contact 62 is opened to release the brakes 11. ) Is stopped and the motor 12 is stopped to finish the flooring operation. If the elevator car bottom 3 has not reached the implantation areas LU and LD in step S43, the process returns to step S38, and the process from step S38 to step S43 is repeated. Drive flooring.

According to the first embodiment, since the main ropes 13 are raised on the left and right sides of the elevator car 2 respectively, and wound around the winch 9 provided correspondingly, the elevator car 2 is driven up and down. Even when the brake 11 is not operated, the elevator car 2 of the loading load Wf can be stopped by the other brake 11.

Moreover, the tension of each main rope 13 in the stopped state before starting the elevator car 2 is detected, and the torque of the corresponding winch machine 9 is increased or decreased individually according to a detection value, and the elevator car 2 is opened. Since the lifting and lowering operation is carried out, even if the load is biased and loaded on the elevator car 2 and the tension of each main rope 13 is different, the winch machine 9 drives the elevator car 2 with a corresponding torque. The relative movement of each main rope 13 can be prevented, and the corresponding car bottom 3 can be prevented from inclining considerably.

In addition, an elevator having a tension detector 21 provided for each main rope 13, and the elevator having the sum of the outputs of the tension detectors 21 in the stationary state of the elevator car 2 before starting being the corresponding load in the car. Since the car internal load detection circuit 60f is provided, it is possible to calculate the degree of congestion by detecting the load inside the elevator car 2 without providing a detector.

Moreover, the winch which respond | corresponds when the difference of the floor 18 and the elevator car bottom 3 when the elevator car 2 landed on the target floor exceeded the upper landing area LU or lower landing area LD. Since the floor alignment is performed separately by (9), for example, even if the relative movement occurs in the main rope 13 by the winch 9 and the elevator car bottom 3 is inclined, it is corrected by the floor alignment. The relative movement of the rope 13 is not accumulated.

Further, the lift distance Dm is calculated for each winch 9 and compared with the lift distance comparator 85, and when the difference exceeds a predetermined value, the safety circuit 87 is operated to stop the winch 9. Since the elevator car bottom 3 is inclined considerably, it can be prevented beforehand.

In particular, since the rotational angular velocity? Of the winch 9 is measured by the encoder 53 and the lifting distance Dm is calculated from this measured value, it is practically not limited to the case where the main rope 13 is relatively moved. In addition, even when uneven rotation of the winch 9 occurs and the difference in the lifting distance Dm can be stopped, the winch can be stopped. Can be.

In addition, the current of the electric motor 12 of each winch 9 is individually measured and compared with the current comparator 86. When the difference exceeds the predetermined value, the safety circuit 87 is operated to operate the winch 9. Since it is made to stop, operation | movement in the state which the load 2 was extremely biased, for example, uneven rotation generate | occur | produces and the car 2 is inclined considerably can be prevented.

In addition, the lifting distance from the starting floor to the target floor is calculated in advance, and is given to each of the winches 9 as a common target lifting distance Do, and the remaining distance Dr from the current position to the target floor is each winch 9. And each of the winches 9 corresponding to the remaining distance Dr is controlled as the speed command Vo, so that the speed control suitable for the target lifting distance Do is possible. It is possible to accurately implant the target layer.

In addition, in the first embodiment, the load bias applied to the winch 9 is detected by the current comparator 86 and compared with the current comparator 86, but the present invention is not limited thereto. The load bias may be detected by comparing the load torques applied to the respective lifters 9.

(2nd Example)

12 to 15 show a second embodiment of the control apparatus of an elevator provided with a plurality of winches according to the present invention.

In the second embodiment, at the beginning of the operation command, the speed command is calculated according to the passage of time to collectively control the winch, and the winch is individually controlled by the speed command suitable for the remaining distance from the deceleration point to the target floor. It is.

Fig. 12 is a block diagram showing the electric circuit of the control device of the elevator, and 91 is a pair of left and right gratings attached to the elevator car guide rails 7 in length in the vertical direction, as shown in Fig. 13. The slit 36 is formed from the upper and lower deceleration points PPu and PPd to the layered position. 100 is an operation management apparatus, which is added to the call registration circuit 60a, the operation command circuit 60c, the floor alignment command circuit 60e, and the elevator car internal load detection circuit 60f, and the optical sensor 41. Is coupled to the grating plate 91 and detects the deceleration point set just before the predetermined distance from the target layer, and the deceleration command circuit 60d commands the deceleration. 101 is a time speed calculator that calculates the speed command Vao in accordance with the passage of time when the operation command is generated from the operation command circuit 60c and collectively controls both winches 9.

102L shows an apparatus for elevating the main rope 13L on the left side of the elevator car 2, as shown by the dashed-dotted line in the drawing, and 102R likewise shows the main rope (on the right side of the elevator car 2). 13R) shows the equipment related to the lifting up and down. Both devices 102L and 102R have the same device configuration and will be collectively described below without distinguishing both. 103 is a deceleration controller which calculates the speed suitable for the residual distance GDr from each deceleration point for each winch | winder 9, and produces | generates the speed command Vdo shown in FIG. In the 104, the terminals a and d are connected by the command of the operation command circuit 60c, and the terminals b and d are connected by the deceleration command circuit 60d to the command of the floor fitting command circuit 60e. This is a switch to which terminals c and d are connected.

105 denotes a portion composed of the same elements as those indicated by numerals 71 to 77 in FIG. 106 is an elevator car position calculator that counts the pulse signal of the optical sensor 41 to calculate the elevator car position GDm, and 107 is a deceleration in which the deceleration distances GZU and GZD from the deceleration point to the floor 18 are recorded. Distance memory. 108 is a subtractor which calculates the remaining distance GDr by subtracting the elevator car position GDm from the deceleration point from the deceleration distance GZU or GZD.

Fig. 13 is a perspective view showing an elevator car position detector composed of a grating plate 91 and an optical sensor 41, and a lattice plate 91 of which length is oriented in the up and down direction is layered from the top and bottom deceleration points PPu and PPd. The furnace for the implantation region in which the slits 36 are formed at a constant pitch d up to (18), and notches are formed on the one side with the same dimensions (LU, LD) up and down about the layer 18. Teeth 37 are formed, and shielding parts 92 specifying bottom fitting areas LZU and LZD above and below the layered layer 18 are placed on top and bottom of the notch part 37 for the implantation area. It is formed in.

That is, the grating plate 91 specifies the deceleration distances GZU and GZD to the layered floor 18 starting from the upper deceleration point PPu or the lower deceleration point PPd, and at the same time, the upper reference position Pu or the lower portion. The bottom alignment areas LZU and LZD starting from the reference position Pd are specified, and the implantation areas LU and LD are specified.

14 shows the speed command Vao output from the time speed calculator 101 and the speed command Vdo output from the deceleration controller 103.

The speed command Vao is increased stepwise every time the predetermined time DELTA t elapses, when the operation command is output from the operation command circuit 60a at time t20, and reaches a constant value when the rated speed Vmax is reached. It becomes

When the optical sensor 41 is coupled to the grating plate 91 at the time t21, the switch 104 is connected to the terminals b and d by the operation of the deceleration command circuit 60d so that the speed command Vdo of the deceleration is reduced. Is output. That is, the elevator car position calculator 106 calculates the elevator car position GDm based on the upper deceleration point PPu in the descending operation and the lower deceleration point PPd in the ascending operation. When the remaining distance GDr is calculated by subtracting the elevator car position GDm from the deceleration distance GZD or GZD in the subtractor 108, the deceleration controller 103 calculates a speed suitable for the remaining distance GDr. This speed is output as the speed command Vdo via the switch 104.

15, the operation of call answering operation in the second embodiment of the present invention will be described. The following is an operation common to the device 102L on the left side and the device 102R on the right side, and will be described without distinguishing it.

When the boarding point call or the elevator car call is registered in the call registration circuit 60a, the process shifts from step S51 to step S52, and an operation command for responding to the call is output from the driving command circuit 60c. In step S53, the switch 71 is connected to the terminal b to calculate and store the stop torque Ts from the tension of the main rope 13 in the stop state before starting, and then switch 71 is connected to the terminal ( Connect to a). In step S54, the switch 104 is connected to the terminal a. In step S55, the driving contact 62 is closed to open the brake 11, and electric power is supplied to the electric motor 12.

In step S56, the speed command Vao is output from the time speed calculator 101 by the operation command of the operation command circuit 60c. In step S57, the speed difference ΔV between the speed command Vao and the elevator car speed Vm is calculated by the subtractor 68. Step S58 is the same processing as that from step S21 to step S25 in Fig. 10, which calculates a torque command To according to the speed difference ΔV, and stop torque (To) in this torque command To. The electric motor 12 is pressurized to raise and lower the elevator car 2 so as to output the torque added with Ts). In step S59, it is checked whether the deceleration command is output from the deceleration command circuit 60d by combining the optical sensor 41 and the grating plate 91. If the deceleration command is not output, the process returns to step S56, and the processing from step S56 to step S59 is repeated.

When the deceleration command is output in step S59, the terminals b and d of the switch 104 are connected in step S60. In step S61, the elevator car position GDm is read from the elevator car position calculator 100 starting from the deceleration point PPu or PPd. In step S62, the deceleration distance GZU or GZD is read out from the deceleration distance memory 107, and the elevator car position GDm is subtracted from the deceleration distance GZU or GZD by the subtractor 108 to form the floor 18. The remaining distance GDr to is calculated. In step S63, the deceleration controller 103 outputs the speed command Vdo that decreases step by step according to the remaining distance GDr, as shown in FIG. In step S64, the speed difference V between the speed command Vdo and the elevator car speed Vm is calculated by the subtractor 68. Step S65 is the same processing as that from step S21 to step S25 in Fig. 10, which calculates the torque command To in accordance with the speed difference DELTA V and stop torque (To) in this torque command To. The motor 12 is pressurized to perform a deceleration operation so as to output a torque obtained by adding Ts). If it is detected in step S66 that the elevator car bottom 3 has entered the conception areas LU and LD by the light receiver 44r, the flow proceeds to step S67, and the driving contact 62 is opened to brake 11 ) Is stopped and the motor 12 is stopped to end the call response operation. If the elevator car bottom 3 does not reach the implantation areas LU and LD in step S66, the process returns to step S61, and the processes from step S61 to step S66 are repeated. Do a call answer operation.

In addition, the floor alignment operation is the same as that of FIG. 11, and description is abbreviate | omitted.

According to the second embodiment, since the speed point Vao is output from the start floor to the deceleration points PPu and PPd as time elapses, the speed command Vao is calculated. This is easy. In addition, since the left and right winding machines 9L and 9R are collectively controlled by the same speed command Vao, the difference in the lifting distances of both is hardly generated.

In addition, since the photosensor 41 and the grating plate 91 detect the position of the elevator car 2 by each main rope directly from the deceleration points PPu and PPd to the layered floor 18 of the target layer, Position control is possible.

(Third Embodiment)

Fig. 16 shows a third embodiment of the control device of an elevator according to the present invention.

In the first and second embodiments, the counterweights 17 are individually suspended from left and right, but in this third embodiment, the common counterweights 13L and 13R are suspended from each other. will be. That is, each of the main ropes 13L and 13R has both ends coupled to a common elevator car 2 and a common counterweight 17A.

Also in the third embodiment, since the balance weight 17A is set to the weight as in the first embodiment, even when one of the brakes 11 is not operated, only the other brake 11 loads the load Wf. Elevator car 2 can be stopped. In particular, since the counterweight 17A is common to the left and right main ropes 13L and 13R in this third embodiment, since the counterweight guide rails 8 are only one pair, installation work is reduced.

As mentioned above, the control apparatus of the elevator provided with the some winding machine which concerns on this invention is suitable for the control apparatus of the elevator which must provide a some winding machine in a narrow place. Moreover, it is suitable also for the control apparatus of the elevator by which lifting of a heavy thing is restrict | limited in installation.

Claims (8)

In the elevator control apparatus which lifts and drives the elevator car by hoisting the main ropes individually to a plurality of parts of the elevator car which elevates the hoistway, and winding them up to a plurality of winches provided correspondingly. The tension of each of the main ropes consisting of one rope or a group of ropes in the lifter unit in the stationary state of the elevator car is individually detected by a tension detector, and the output of the corresponding lifter is increased or decreased according to the detected value. An elevator control apparatus characterized in that the elevator car is driven up and down. In the elevator control apparatus which lifts and drives the elevator car by hoisting the main ropes individually to a plurality of parts of the elevator car which elevates the hoistway, and winding them up to a plurality of winches provided correspondingly. The difference between the floor when the elevator car lands on the target floor and the floor of the elevator car is detected for each engaging portion of the main rope, and when the detected value exceeds a predetermined value, the corresponding winch machine reduces the difference. Elevator control device, characterized in that the floor by moving the main rope engaging portion up and down individually. In the elevator control apparatus which lifts and drives the elevator car by hoisting the main ropes individually to a plurality of parts of the elevator car which elevates the hoistway, and winding them up to a plurality of winches provided correspondingly. Target elevating distance calculating means for calculating in advance the elevating distance from the starting floor to the target floor as a common target elevating distance to the hoisting machine; Lifting distance measuring means for measuring the lifting distance from the starting floor to the current position of the elevator car for each main rope engaging portion, Residual distance calculating means for calculating the remaining distance to the target floor by subtracting the measured value from the target lifting distance for each main rope engaging portion; Lifting position control means for calculating a speed suitable for the remaining distance for each of the winches and outputting it as a speed command. Install it, The elevator control apparatus, characterized in that for controlling the winch corresponding to the speed command individually. delete delete delete delete delete

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