KR102045829B1 - Method of controlling movement of adjustable double-deck elevator - Google Patents

Abstract

The present invention relates to a movement control method of a variable double-deck elevator, the method comprising the steps of determining the moving time from the starting floor to the target floor for the double-deck moving object, whether to move the first or second deck moving object in the double-deck mobile body And determining whether to move the double deck movable body so that the moving time of the double deck movable body is greater than or equal to the moving time of the first or second deck movable body in the process of moving the double deck movable body. Therefore, the present invention can control the movement of the variable double-deck elevator so that the inter-layer adjustment of the first and second deck movable bodies is completed before or at the same time the double deck movable body reaches the starting floor from the starting floor.

Description

Movement control method of variable double deck elevator {METHOD OF CONTROLLING MOVEMENT OF ADJUSTABLE DOUBLE-DECK ELEVATOR}

The present invention relates to a movement control technology of a variable double deck elevator, and more particularly, to a method of controlling the moving speed of a variable double deck elevator based on the interlayer adjustment time of the first and second deck moving bodies.

The double-deck elevator is a type of elevator in which two cars are connected up and down, moving simultaneously on one hoistway. This can carry two consecutive floors at the same time, increasing the capacity of a single hoistway and reducing the building footprint. In addition, the car stops simultaneously on two floors of the building, reducing the number of stops, reducing the waiting and transportation time for passengers. The Adjustable Double-deck Elevator is equipped with a floor spacing device that can adjust the gap between the upper and lower cars even when the floor heights are different for each stop.

Korean Laid-Open Patent Publication No. 10-2001-0036324 (2001.05.07) relates to an operation control apparatus and method of a double deck elevator, and more particularly, to a single car breakdown during normal operation of the upper and lower cars in the double deck elevator. When the car is in a situation where only one car can operate normally, the normal car controller detects the load of the broken car and checks whether the passenger is present in the broken car and returns to the reference floor. By setting the driving mode so that passengers who get off the broken car as much as possible can return first, the passengers can be safely and quickly returned.

Korean Patent Laid-Open No. 10-2010-0032959 (2010.03.29) relates to a method operation control method of an elevator using a load detection device, and more specifically, whether a signal of a load detection device and an impact detection sensor provided in an elevator car is present. According to this control, the elevator car is automatically switched to crime prevention driving so that it is possible to easily cope with an emergency situation of an elevator passenger such as an emergency patient occurrence, thereby ensuring the safety of the elevator device. .

Korean Patent Publication No. 10-2001-0036324 (2001.05.07) Korean Patent Publication No. 10-2010-0032959 (2010.03.29)

One embodiment of the present invention is to control the speed of the double-deck mobile body based on the movement time of the first and second deck mobile body for the inter-layer adjustment, the first and second before the double deck mobile body reaches from the starting layer to the target layer An object of the present invention is to provide a movement control method of a variable double deck elevator capable of completing inter-floor adjustment of a deck moving body.

An embodiment of the present invention can determine the acceleration and the holding time of the acceleration of the double-deck mobile body on the basis of the moving distance from the starting layer to the target floor, the moving time of the first or second deck mobile body and the adjustment time of the S curve An object of the present invention is to provide a moving control method of a variable double deck elevator.

One embodiment of the present invention is to provide a movement control method of a variable double deck elevator that can reduce the vibration and noise inside the moving body by setting the upper limit of the acceleration adjustment of the double-deck moving body.

An embodiment of the present invention is to provide a variable double-deck movement control method that can minimize the chaos of the passengers caused by the movement of the first and second deck after the double deck moving object reaches the target floor.

Among the embodiments, the movement control method of the variable double-deck elevator comprises the steps of (a) determining the travel time from the starting floor to the target floor with respect to the double deck moving object, (b) a first or second within the double deck moving object Determining whether or not the deck moving object should be moved; and (c) if so, the moving time of the double deck moving object is greater than the moving time of the first or second deck moving object during the movement of the double deck moving object. Controlling the movement of the.

The step (c) further includes the step of controlling the acceleration of the double-deck mobile body to be proportional to the moving distance and inversely proportional to the movement time of the first or second deck mobile body if the double-deck mobile body is moved. Can be.

In the step (c), when the adjusted acceleration is less than the acceleration adjustment upper limit threshold, the adjustment time according to the S curve is adjusted in the movement time of the first or second deck moving body to adjust the maintenance time of the controlled acceleration. The method may further include determining.

In the step (c), the step (c1) and the step (c2) may be repeated such that the double-deck moving object is moved by the corresponding moving distance and the moving completion of the first or second deck moving body is performed at the same time. .

In step (c), the acceleration may be controlled to be proportional to the moving distance from the starting layer to the target layer and inversely proportional to the square of the moving time of the first or second deck moving body.

In step (c), the holding time may be controlled to be proportional to the moving time of the first or second deck moving body and inversely proportional to the adjusting time of the S curve.

In the step (c), when the adjusted acceleration is equal to or greater than the acceleration adjustment upper limit threshold, setting the acceleration to the acceleration adjustment upper limit threshold and the moving time of the first or second deck moving object and the adjustment time of the S curve The method may further include controlling a holding time of the set acceleration based on the control.

The disclosed technique can have the following effects. However, since a specific embodiment does not mean to include all of the following effects or only the following effects, it should not be understood that the scope of the disclosed technology is limited by this.

In the variable double deck movement control method according to an embodiment of the present invention, the double deck movable body is controlled from the starting layer to the target layer by controlling the speed of the double deck movable body based on the movement time of the first and second deck movable bodies for the inter-layer adjustment. The interlayer adjustment of the first and second deck moving bodies can be completed before reaching.

In the variable double deck movement control method according to an embodiment of the present invention, the acceleration of the double deck movable body based on the moving distance from the starting floor to the target floor, the moving time of the first or second deck movable body, and the adjusting time of the S curve, The retention time of the acceleration can be determined.

In the variable double deck movement control method according to an exemplary embodiment of the present invention, the upper limit threshold of the acceleration adjustment of the double deck movable body may be set to reduce vibration and noise inside the movable body.

The variable double deck movement control method according to an embodiment of the present invention can minimize the chaos of the passengers caused by the movement of the first and second decks after the double deck moving object reaches the target floor.

1 is a cross-sectional view of a variable double deck elevator 100 according to an embodiment of the present invention.
2 is a flowchart illustrating a process of a variable double deck movement control method according to an embodiment of the present invention.
3 is a 3m running distance. This acceleration is 0.8m / s ^2, and the first movement time for the inter-layer coordination of the second movable body 12 seconds, a graph showing the velocity change of the double-deck mobile.

Description of the present invention is only an embodiment for structural or functional description, the scope of the present invention should not be construed as limited by the embodiments described in the text. That is, since the embodiments may be variously modified and may have various forms, the scope of the present invention should be understood to include equivalents capable of realizing the technical idea. In addition, the objects or effects presented in the present invention does not mean that a specific embodiment should include all or only such effects, the scope of the present invention should not be understood as being limited thereby.

On the other hand, the meaning of the terms described in the present application should be understood as follows.

Terms such as "first" and "second" are intended to distinguish one component from another component, and the scope of rights should not be limited by these terms. For example, the first component may be named a second component, and similarly, the second component may also be named a first component.

When a component is referred to as being "connected" to another component, it should be understood that there may be other components in between, although it may be directly connected to the other component. On the other hand, when a component is referred to as being "directly connected" to another component, it should be understood that there is no other component in between. On the other hand, other expressions describing the relationship between the components, such as "between" and "immediately between" or "neighboring to" and "directly neighboring to", should be interpreted as well.

Singular expressions should be understood to include plural expressions unless the context clearly indicates otherwise, and terms such as "comprise" or "have" refer to a feature, number, step, operation, component, part, or feature thereof. It is to be understood that the combination is intended to be present and does not exclude in advance the possibility of the presence or addition of one or more other features or numbers, steps, operations, components, parts or combinations thereof.

In each step, an identification code (e.g., a, b, c, etc.) is used for convenience of description, and the identification code does not describe the order of the steps, and each step clearly indicates a specific order in context. Unless stated otherwise, they may occur out of the order noted. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. Generally, the terms defined in the dictionary used are to be interpreted to coincide with the meanings in the context of the related art, and should not be interpreted as having ideal or excessively formal meanings unless clearly defined in the present application.

1 is a cross-sectional view of a variable double deck elevator 100 according to an embodiment of the present invention.

Referring to FIG. 1, the variable double deck elevator 100 includes a double deck moving body 120, a main frame 140, a driving unit 160, a control unit 170, a deck connection unit 180, a wire rope 190, and a governor. 191, an emergency stop device 192, a shock absorber 193, and a counterweight 194.

In one embodiment, the double deck movable body 120 may accommodate the first and second deck movable bodies 121 to 122 therein. The first and second deck moving bodies 121 to 122 accommodated may move in the first direction in the first hoistway and simultaneously carry two consecutive floor occupants. The first and second deck moving bodies 121 to 122 may further include a button for selecting a target layer therein, an interphone for communicating with the outside, an emergency lighting device, and the like.

In an embodiment, the first and second deck moving bodies 121 to 122 may stop at odd and even floors, stop at specific floors, and first floors, respectively, based on driving purpose and traffic volume according to the characteristics of the building. The deck moving body 121 may be used in a manner of stopping at the lowermost floor and the second deck moving body 122 at all floors except the uppermost floor.

In one embodiment, the main frame 140 is coupled to both ends of the pair of side members 141 and the upper side of the side member 141 is installed vertically, the drive unit 160 and the control unit 170 may be disposed It may include a lower member 143, both ends are coupled to the lower end of the upper member 142 and the side member 141. In addition, the double deck movable body 120 may provide a movement path to the double deck movable body 120 through the guide rail 141a installed on the side member 141.

The driving unit 160 may include a speed reducer 161, an electric motor 162, and a brake 163.

In one embodiment, the motor 162 is located on the top of the main frame 140, coupled with the reducer 161 through a coupling, and double deck moving body through a wire rope 190 connected to the top of the double deck moving body 120 The torque may be transferred to 120 to raise and lower the double deck movable body 120.

In one embodiment, the reducer 161 may be located on top of the main frame 140 and the input shaft of the reducer 161 is coupled to the output shaft of the motor 162 and the output shaft of the reducer 161 is connected to the sheave. By controlling the wire rope 190 coupled to the upper end of the double-deck mobile body can raise or lower the double-deck mobile body based on the rotation direction of the electric motor. In addition, the reducer 161 may control the moving speed of the double deck moving body 120 by decelerating the rotation of the electric motor 162 at a predetermined ratio through the gear.

In one embodiment, the brake 163 may be located on the top of the main frame 140 and limit the slip due to the weight imbalance between the double deck moving body 120 and the counterweight 195. For example, the brake 163 may correspond to a drum brake. The drum brake is shaped like a cylindrical rotor connected to the rotating shaft of the electric motor 162, and the shoe attached to the brake lever may contact the drum of the cylindrical rotor to stop the main driver.

The controller 170 may include an inverter 171 and a sequence controller 172.

In one embodiment, the inverter 171 may be located on the top of the main frame 140 and converts the voltage and frequency transmitted to the electric motor 162 to control the rotational speed of the electric motor 162 of the electric motor 162. The torque can be converted. More specifically, the position of the double deck moving body 120 can be precisely controlled by performing vector control and sinusoidal PWM control through a dedicated microprocessor.

In one embodiment, the sequence controller 172 may be located on the top of the main frame 140 and may correspond to a programmable logic controller (PLC). The PLC is composed of semiconductor devices such as large scale integration (LSI) and transistors, and can perform basic sequence control functions and numerical operation functions. For example, the sequence controller 172 may sequentially control the position of the double-deck mobile body 120 based on the order of buttons pressed by the occupants in the decks 121 to 122. In addition, the position of the first and second deck movable bodies 121 to 122 is controlled by controlling the deck connection unit 180 based on the distance between the first and second layers which are continuous in the target layer of the double deck movable body 120. can do.

In one embodiment, the deck connection unit 180 is located inside the double deck movable body 120 and connected to the lower end of the first deck movable body 121 and the upper end of the second deck movable body 122 in a roping structure to both deck movable body 121 Independent movement of ˜122). For example, the roping structure is a structure in which a sheave is coupled to a lower end of the first deck moving body 121 and an upper end of the second deck moving body 122 and connected by a rope. Can be. In addition, the movement of the first and second deck moving bodies 121 to 122 may be controlled based on the signal of the sequence controller 172.

In addition, the variable double deck elevator 100 may further include safety politics such as a governor 191, an emergency stop device 192, and a shock absorber 193.

In one embodiment, the governor 191 may be located at the top of the inside of the main frame 140, the double deck moving body 120 is defined by detecting the moving speed of the wire rope 190 connected to the double deck moving body 120 When the speed range is exceeded, the safety switch is operated to safely decelerate and stop the double deck moving body 120, and the descent speed of the double deck moving body 120 increases even after the safety switch is operated. The device 192 can be operated to mechanically stop the double deck moving body 120.

In one embodiment, the emergency stop device 192 may be located at the side end of the double-deck mobile body 120 and when the double-deck mobile body 120 is suddenly moved beyond the prescribed speed due to cutting or other causes of the wire rope 190 The double deck moving body 120 may be stopped by friction by the governor 191. When the double deck moving body 120 falls to the pit without stopping at the lowermost layer, the shock absorber 193 may alleviate the impact and stop it safely.

In one embodiment, the counterweight 195 may be connected to the other end of the wire rope 190 connected to the double deck moving body 120 and positioned on one side of the double deck moving body 120. The counterweight 195 may reduce the energy consumed by the electric motor 162 by offsetting the whole or part of the weight of the double deck moving body 120 by the pulley balance.

2 is a flowchart illustrating a process of a variable double deck movement control method according to an embodiment of the present invention.

Referring to FIG. 2, the variable double deck movement control method includes determining a target layer of a double deck movable body (step S210), determining whether to move the first or second deck movable body (step S220), and a double deck movable body. Comparing the moving time of the first or second deck moving body by calculating the moving time of (step S230), adjusting the acceleration of the double-deck moving body (step S240), determining the holding time of the adjusted acceleration ( Step S250), comparing the adjusted acceleration with the acceleration adjustment upper limit threshold (step S260) and setting the acceleration as the acceleration adjustment upper limit threshold (S270).

In the step (step S210) of determining the target floor of the double-deck mobile body, the controller 170 controls the moving speed of the double-deck mobile body 120 through the inverter 171 and the occupant presses through the sequence control device 172. The position of the double deck moving body 120 can be controlled based on the button.

In addition, the controller 170 may control the electric motor 162 through the inverter 171 to determine the moving direction and the moving speed of the double deck moving body 120. More specifically, the inverter 171 determines the speed pattern of the double-deck mobile body 120 by controlling the voltage and frequency transmitted to the motor to adjust the acceleration, constant speed, and deceleration of the devil deck mobile body 120 according to the S curve. Can be.

In step S220 of determining whether to move the first or second deck moving object, the controller 170 determines whether the inter-layer spacing is necessary based on the preset inter-layer spacing information of the target layer received, and if so, the deck By precisely controlling the connecting unit 180 to move the first and second moving bodies 121 to 122, the position precision control of synchronizing the double deck moving body 120 with the target layer may be performed.

In step (S230) of calculating the moving time of the double-deck mobile body and comparing the moving time of the first or second deck mobile body, the controller 170 according to the moving speed of the double-deck mobile body 120 and the input target layer The arrival time is calculated based on the moving distance of the double deck moving body 120, and the first and second deck moving bodies 121 are based on the moving speeds of the first and second deck moving bodies 121 to 122 and preset interlayer spacing information. It is possible to determine whether to perform the step of calculating the inter-floor adjustment time of ˜122) and comparing them with each other, and according to the result, operating the variable double-deck elevator 100 or comparing the adjusted acceleration with the acceleration adjustment upper limit threshold (step S260). have.

More specifically, the moving time of the double deck moving body 120 according to the received target layer may be calculated as follows.

Here, T _total is the moving time of the double deck moving body 120 according to the input target floor, T _mid is the holding time of acceleration, P _ref is the moving distance of the double deck moving body 120 according to the input target floor, Acc Is the acceleration and T is the time along the S curve. Therefore, by changing the acceleration and the holding time of the acceleration it is possible to adjust the movement time of the double deck moving body 120 according to the input target layer.

In the step of adjusting the acceleration of the double-deck mobile body (step S240), the control unit 170, the first and second deck mobile body according to the interlayer interval information is set the movement time of the double-deck mobile body 120 according to the input target floor The acceleration of the double deck moving body 120 may be adjusted to be equal to or longer than the moving time of 121 to 122. For example, the acceleration can be adjusted as follows.

Here, Acc is the acceleration, T _mid is the acceleration time of the acceleration, P _ref is the moving distance of the double-deck mobile body 120 according to the input target floor, T _deck is the first and second decks according to the preset interval information The movement time of the moving bodies 121-122, T represents time according to the S curve. Therefore, the acceleration is proportional to the moving distance of the double deck moving body 120 according to the input target layer, and inversely proportional to the square of the moving time of the first and second deck moving bodies 121 to 122 according to the predetermined interlayer spacing information. Is set.

In the step of comparing the adjusted acceleration with the acceleration adjustment upper limit threshold (step S260) and setting the acceleration to the acceleration adjustment upper limit threshold (S270), when the acceleration set in step S240 is equal to or greater than the acceleration adjustment upper limit threshold, By setting the acceleration to the acceleration adjustment upper limit threshold, it is possible to reduce the vibration of the variable double-deck elevator (100) due to a sudden acceleration change.

More specifically, by limiting the acceleration of the variable double-deck elevator 100 to the specified range or less, the noise due to the resonance of the rope, the noise caused by the contact of the guide rail 190 and the double deck moving body 120, reducer 161 Can reduce noise. The noise generated by the reducer 161 is a change in the load applied to the output shaft of the reducer 161 while the reducer 161 accelerates and decelerates the power of the electric motor 162 at a required speed through gears during acceleration and deceleration of the elevator. This may occur due to bending or deformation of the output shaft.

In step S250 of determining the adjusted acceleration holding time, the moving time of the double-deck mobile body 120 according to the target floor received by determining the holding time of the acceleration set in step 240 is determined according to the preset interval information. The movement of the double deck movable body 120 may be controlled so as not to be shorter than the movement time of the first and second deck movable bodies 121 to 122. More specifically, it is possible to prevent confusion of passengers that may be caused by the first or second deck movable bodies 121 to 122 moving after the double deck movable body 12 arrives at the target floor.

As a result, the double deck moving body 120 reduces vibration of the variable double deck elevator 100 due to the sudden acceleration change through the variable double deck elevator 100 movement control method. After the double deck movable body 12 arrives at the target floor, confusion of the occupants which may be caused by the movement of the first or second deck movable bodies 121 to 122 may be prevented.

3 is a 3m running distance. This acceleration is 0.8m / s ^2, and the first movement time for the inter-layer coordination of the second movable body 12 seconds, a graph showing the velocity change of the double-deck mobile.

Referring to FIG. 3, when the speed pattern of the double deck moving body 120 is adjusted according to the movement control method of the variable double deck elevator 100, the moving speed of the double deck moving body 120 is in accordance with the S curve at the initial movement. It starts to accelerate slowly and reaches a maximum speed of 30m / m when 6 seconds elapses, and then decreases to 12m / m and reaches 0m / m when 12 seconds. Will be reached.

If the speed pattern is not adjusted, the double deck moving body 120 may generate vibrations due to a sudden speed change, and the movement of the double deck moving body 120 is completed in about 5 seconds, but the occupant until 12 seconds when the interlayer adjustment is completed. It is not possible to get off and the first or second deck movable bodies 121 to 122 may be confused whether the double deck movable body 120 has reached the target layer due to the rising or falling again.

For example, when the first deck movable body 121 needs to be lowered for interlayer adjustment when the target layer of the double deck movable body 120 is higher than the starting layer, the double deck movable body 120 is completed at the same time as the interlayer adjustment is completed. If the first deck movable body 121 descends again after the double deck movable body 120 completes the movement without first reaching the floor, the passenger inside the first deck movable body 121 completes the movement of the double deck movable body 120. When it is determined that the target layer has been reached, it is difficult to know the cause of the first deck moving body 121 descending again.

4 is a graph showing the S curve used in the equation for adjusting the acceleration.

Referring to FIG. 4, the S curve has a “S” shape as a sigmoid function and may be expressed as below.

The sigmoid function may correspond to a monotonically increasing function from 0 to 1 or from -1 to 1. The sigmoid function is defined in the realm of all real numbers and is not necessarily defined as above, but can be differentiated. For example, the integral of a continuous, non-negative “bump-shaped” function is an “S” shape, so it is subject to many common probability distributions. It can correspond to the cumulative distribution function.

Although described above with reference to a preferred embodiment of the present invention, those skilled in the art will be variously modified and changed within the scope of the invention without departing from the spirit and scope of the invention described in the claims below I can understand that you can.

100: variable double deck elevator
120: double deck moving body 121: first deck moving body
122: second deck moving body 140: main frame
141: side member 141a: guide rail
142: upper member 143: lower member
160: drive unit 161: reducer
162: electric motor 163: brake
170: control unit 171: inverter
172: sequence controller 180: deck connection
190: wire rope

Claims (7)

(a) determining a travel time from the starting floor to the target floor on the double deck moving body;
(b) determining whether a first or second deck mover is to be moved within the double deck mover; And
(c) controlling the movement of the double-deck movable body so that the moving time of the double-deck movable body is greater than or equal to the movement time of the first or second deck movable body in the process of moving the double-deck movable body.
Step (c) is
(C1) controlling the acceleration of the double deck movable body by the following equation so that if the double deck movable body is moved, it is proportional to the moving distance and inversely proportional to the square of the moving time of the first or second deck movable body. Movement control method of a variable double deck elevator, characterized in that.
[Equation]

Here, Acc is the acceleration, P _ref is the moving distance of the double-deck mobile body according to the input target floor, T _deck is the moving time of the first and second deck mobile body according to the preset interlayer information, T is the S curve Represents time.
delete The method of claim 1, wherein step (c)
When the acceleration adjusted in the step (c1) is less than the acceleration adjustment upper limit threshold, determining the holding time of the controlled acceleration by adjusting the adjustment time according to the S curve in the movement time of the first or second deck moving body (c2) Movement control method of a variable double deck elevator, characterized in that it comprises a step.
The method of claim 3, wherein step (c)
And repeating steps (c1) and (c2) such that the double-deck mobile body is moved by the corresponding moving distance and the movement of the first or second deck mobile body is simultaneously performed. How to control the movement of the double deck elevator.
The method of claim 3, wherein step (c)
And controlling the acceleration to be proportional to the distance traveled from the starting floor to the target floor and inversely proportional to the square of the travel time of the first or second deck moving body. Way.
The method of claim 3, wherein step (c)
And controlling the holding time to be proportional to the moving time of the first or second deck moving body and inversely proportional to the adjusting time of the S curve.
The method of claim 1, wherein step (c)
Setting the acceleration to the acceleration adjustment upper limit threshold when the adjusted acceleration is greater than or equal to the acceleration adjustment upper limit threshold; And
And controlling the holding time of the set acceleration based on the movement time of the first or second deck moving body and the adjustment time of the S-curve.

Images