KR102308394B1 - Elevator control apparatus and method for estimating expansion/contraction amount of governor rope - Google Patents

Abstract

A control device (16) for an elevator provided with a current position calculator (21) for calculating a current position of a car based on a counter value of a governor encoder (15), wherein the current position calculator (21) is an implantation plate detector (12, 13) detects any of the implantation plates 9 and 10 provided according to the respective floor positions of the building and starts movement from a stationary state, and the state in which the implantation plates 9 and 10 are not detected The amount of movement until it is calculated based on the counter value of the governor encoder 15, and by comparing the calculated movement amount with the actual length of the implantation plate, the count error of the governor encoder caused by expansion and contraction of the governor rope By estimating , the amount of expansion and contraction of the governor rope on the floor where the movement started is estimated.

Description

ELEVATOR CONTROL APPARATUS AND METHOD FOR ESTIMATING EXPANSION/CONTRACTION AMOUNT OF GOVERNOR ROPE

The present invention relates to an elevator control device and a method for estimating the amount of expansion and contraction of the governor rope for estimating the error of the governor encoder caused by the expansion and contraction of the governor rope when the position of the car is detected using the governor encoder.

For example, Patent Document 1 discloses a conventional elevator. This conventional elevator is equipped with two governor speed detectors, The position of the cage|basket|car is grasped based on the detection value of these two governor speed detectors. For this reason, in an elevator with a long hoistway, even if the governor rope is stretched and contracted, the position of the car can be accurately grasped.

Patent Document 1: Japanese Patent Laid-Open No. 2006-176215

However, the prior art has the following problems.

The one described in Patent Document 1 requires two governor velocity detectors. For this reason, in a normal elevator, in order to consider expansion and contraction of a governor rope, it is necessary to add a new governor speed detector.

The present invention has been made in order to solve the above problems, without adding a new governor speed detector, the elevator control device and governor rope that can estimate the error of the governor encoder caused by the expansion and contraction of the governor rope An object of the present invention is to obtain a method for estimating the amount of expansion and contraction.

The elevator control device according to the present invention includes a current position calculator for calculating the current position of the car based on the counter value of the governor encoder output according to the rotation of the governor around which the governor rope connected to the car is wound. As a control device of an elevator, the current position calculator detects any of the landing plates provided according to the location of each floor of the building, and the current position calculator detects any of the landing plates provided in the car of the elevator, and starts movement from a stationary state. The movement amount until the state not detected is calculated based on the counter value of the governor encoder, and by comparing the calculated movement amount and the actual length of the implantation plate, By estimating the count error, the amount of expansion and contraction of the governor rope on the floor where the movement was started is estimated.

In addition, the method for estimating the amount of expansion and contraction of the governor rope according to the present invention is based on the counter value of the governor encoder output according to the rotation of the governor around which the rope connected to the car is wound, the current position of the car is calculated In the elevator control device provided with a position calculator, as a method for estimating the amount of expansion and contraction of a governor rope executed by the current position calculator, the landing plate detector provided in the elevator car is any of the landing plates provided according to the location of each floor of the building. A movement amount calculation step of calculating the amount of movement from a state where it detects By comparing the movement amount and the actual length of the landing plate, by estimating the count error of the governor encoder caused by the expansion and contraction of the governor rope, it has an estimation step of estimating the amount of expansion and contraction of the governor rope on the floor where the movement started. .

According to the present invention, in consideration of the length of the implantation plate detected by the implantation plate detector, there is provided a configuration capable of estimating the error of the governor encoder caused by the expansion and contraction of the governor rope. As a result, without adding a new governor speed detector, it is possible to obtain an elevator control device and a method for estimating the amount of expansion and contraction of the governor rope that can estimate the error of the governor encoder caused by the expansion and contraction of the governor rope.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram of the elevator to which the control apparatus of the elevator in Embodiment 1 of this invention was applied.
Fig. 2 is a block diagram of a current position calculator provided in the elevator control device according to the first embodiment of the present invention.
It is a block diagram of the governor rope expansion-contraction estimator provided in the elevator control apparatus in Embodiment 1 of this invention.
Fig. 4 is a configuration diagram of a car position calculator provided in the elevator control device according to the first embodiment of the present invention.
It is explanatory drawing which shows the expansion-contraction amount of the governor rope estimated by the control apparatus of the elevator in Embodiment 1 of this invention.
6 is a block diagram of an elevator to which the elevator control device according to the second embodiment of the present invention is applied.
Fig. 7 is a configuration diagram of a current position calculator provided in the elevator control device according to the second embodiment of the present invention.
Fig. 8 is a flowchart showing a series of adjustment processing executed by the adjustment calculator for the output of the governor rope expansion and contraction amount estimator in the second embodiment of the present invention.
Fig. 9 is a block diagram of an elevator to which the elevator control device according to the third embodiment of the present invention is applied.
Fig. 10 is a block diagram of a current position calculator provided in the elevator control device according to the third embodiment of the present invention.
Fig. 11 is a flowchart showing a series of adjustment processing executed by the adjustment calculator for the output of the governor rope expansion and contraction amount estimator in the third embodiment of the present invention.
12 is a block diagram of an elevator to which the elevator control device according to the fourth embodiment of the present invention is applied.
It is an example of time series information of the amount of governor rope expansion and contraction in the conception operation period of the control apparatus of the elevator in Embodiment 4 of this invention.
Fig. 14 is a block diagram of an elevator to which the elevator control device according to the fifth embodiment of the present invention is applied.
Fig. 15 is a block diagram of an elevator to which the elevator control device according to the sixth embodiment of the present invention is applied.

EMBODIMENT OF THE INVENTION Hereinafter, preferable embodiment of the elevator control apparatus of this invention is demonstrated using drawings. In addition, in each figure, the same code|symbol is attached|subjected to the same or corresponding part. The overlapping description of this part is suitably simplified or omitted.

Embodiment 1.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram of the elevator to which the control apparatus of the elevator in Embodiment 1 of this invention was applied. In Fig. 1, the hoistway 1 passes through each floor of a building (not shown). The motor 2 is provided in the upper part of the hoistway 1 . The sheave 3 is provided in the upper part of the hoistway 1 and is attached to the rotating shaft of the motor 2 . The main rope 4 is wound around a sheave 3 .

The car 5 is provided inside the hoistway 1 and is suspended at one end of the main rope 4 . On the other hand, the counterweight 6 is provided inside the hoistway 1, and is suspended on the other end of the main rope (4).

The governor 7 is provided at the upper portion of the hoistway 1 . The governor rope 8 is wound around the governor 7 and connected to the car 5 .

Each of the plurality of door zone plates 9 is provided inside the hoistway 1 as a first landing plate at a position along the door zone on each floor. Each of the plurality of re-level zone plates 10 is provided as a second landing plate in a position corresponding to the re-level zone on each floor in the hoistway 1 . The length in the vertical direction of the relevel zone plate 10 is shorter than the length in the vertical direction of the door zone plate 9 .

The weight detection device 11 is provided in the car 5 so that the weight value of the load inside the car 5 can be detected. A door zone plate detector 12 is provided in the car 5 as a first landing plate detector. And the door zone plate detector 12 detects the door zone plate 9 when it is arrange|positioned at the same height as the door zone plate 9, and when detecting the door zone plate 9, a door zone arranged to transmit a signal.

The relevel zone plate detector 13 is provided in the car 5 as a second landing plate detector. Then, the relevel zone plate detector 13 detects the relevel zone plate 10 when disposed at the same height as the relevel zone plate 10 and detects the relevel zone plate 10 when the relevel zone plate 10 is detected. , is provided to transmit the relevel zone signal.

The motor speed detector 14 is connected to the motor 2 and is provided to transmit a motor encoder counter signal in accordance with the rotation speed of the motor 2 . The governor speed detector 15 is connected to the governor 7 and is provided to transmit a governor encoder counter signal according to the rotation speed of the governor 7 .

The control device 16 includes a drive circuit 17 , a speed controller 18 , and a main control unit 19 . The main control unit 19 includes a driving command calculator 20 , a current position calculator 21 , and a speed command calculator 22 .

The operation command calculator 20 calculates the operation command of the elevator and transmits the calculated operation command.

The current position calculator 21 receives the governor encoder counter signal from the governor speed detector 15 . In addition, the current position calculator 21 receives the door zone signal from the door zone plate detector 12 . Also, the current position calculator 21 receives the relevel zone signal from the relevel zone plate detector 13 .

In addition, the current position calculator 21 is based on the governor encoder counter signal, the door zone signal, the relevel zone signal, the starting floor information, the destination floor information, the acceleration/deceleration pattern, and the start/stop signal. , calculates the position of the current car 5 .

The speed command calculator 22 receives the motor encoder counter signal from the motor speed detector 14 . In addition, the speed command calculator 22 receives the door zone signal from the door zone plate detector 12 . Also, the speed command calculator 22 receives the relevel zone signal from the relevel zone plate detector 13 . In addition, the speed command calculator 22 receives the driving command from the driving command calculator 20 . In addition, the speed command calculator 22 receives a signal regarding the current position of the car 5 from the current position calculator 21 .

And, the speed command calculator 22 is a speed command value based on the governor encoder counter signal, the door zone signal, the relevel zone signal, the operation command, and the signal regarding the current position of the car 5 . to calculate In addition, the speed command calculator 22 transmits the starting floor information, the target floor information, the acceleration/deceleration pattern, and the start/stop signal to the current position calculator 21 . Also, the speed command calculator 22 transmits the speed command value to the speed controller 18 .

The speed controller 18 drives the drive circuit 17 based on the speed command value. The drive circuit 17 drives the motor 2 based on the speed command value. The sheave 3 rotates following the drive of the motor 2 . The main rope 4 moves along with the rotation of the sheave 3 . The car 5 and the counterweight 6 go up and down at a desired speed following the movement of the main rope 4 along a guide rail (not shown).

Next, the function of the current position calculator 21 will be described in detail with reference to FIG. 2 . Fig. 2 is a configuration diagram of a current position calculator 21 provided in the elevator control device according to the first embodiment of the present invention. The current position calculator 21 includes a governor rope expansion and contraction amount estimator 23 , a governor rope expansion and contraction amount memory 24 , and a car position calculator 25 .

The governor rope expansion and contraction amount estimator 23 is based on the governor encoder counter signal, the door zone signal, the relevel zone signal, and the start/stop signal, the governor rope 8 corresponding to the floor on which the car 5 starts. ) to estimate the amount of stretching. The amount of expansion and contraction of the governor rope 8 corresponds to the error of the governor encoder caused by the expansion and contraction of the governor rope 8 , that is, the error of the position of the car 5 .

The governor rope expansion and contraction amount memory|storage 24 in this Embodiment 1 has a memory|storage function and a processing function. In addition, it is also possible to configure the governor rope expansion and contraction amount storage 24 as only a storage function to read/write data from peripheral devices to the governor rope expansion and contraction amount storage 24. .

And, the governor rope expansion and contraction amount memory 24 corresponds to the estimate of the expansion and contraction amount of the governor rope 8 estimated by the governor rope expansion and contraction amount estimator 23 with the activation layer information, and the governor rope 8 of each floor ) as the amount of expansion and contraction.

In addition, the governor rope expansion and contraction amount memory 24 interpolates ( The information of the expansion and contraction amount of the governor rope 8 estimated by interpolation) and the information of the said layer are correlated and memorize|stored.

The governor rope expansion and contraction amount memory 24 updates information on the expansion and contraction amount of the governor rope 8 associated with the layer whenever the governor rope expansion and contraction amount estimator 23 estimates the expansion and contraction amount of the governor rope 8. So, remember again.

And the governor rope expansion-contraction memory|storage 24 transmits the information of the expansion-contraction amount of the governor rope 8 matched with the floor corresponding to the target floor information of the cage|basket|car 5. In addition, the governor rope expansion and contraction amount storage 24 transmits the estimated value of the expansion and contraction amount of the governor rope 8 by the governor rope expansion and contraction amount estimator 23 according to a command from the outside in correspondence with the information on the layer. do.

The car position calculator 25 includes a governor encoder counter signal, a door zone signal, a relevel zone signal, an acceleration/deceleration pattern, and a governor rope 8 associated with a floor corresponding to the destination floor information of the car 5 . ), the current position of the car 5 is calculated based on the estimated value of the expansion and contraction amount.

Next, using FIG. 3, the function of the governor rope expansion-contraction estimator 23 is demonstrated in detail. 3 : is a block diagram of the governor rope expansion-contraction estimator 23 provided in the elevator control apparatus in Embodiment 1 of this invention.

The governor rope stretching amount estimator 23 includes a door zone plate length storage 26 , a relevel zone plate length storage 27 , a first storage 28 , a second storage 29 , A third reservoir 30 and a selector 31 are provided.

The door zone plate length storage 26 stores information about the length of the door zone plate 9 which is a design fixed value. Meanwhile, the relevel zone plate length storage 27 stores information about the length of the relevel zone plate 10 , which is a fixed design value.

The first storage 28 stores information about a value corresponding to the governor encoder counter signal when the car 5 leaves the N floor (N is an integer) based on the start/stop signal. do. The second storage 29 corresponds to the N-floor governor encoder counter signal when the car 5 leaves the N-floor relevel zone after leaving the N-floor based on the re-level zone signal, based on the re-level zone signal. Stores information about values. Further, the third storage 30 is a value corresponding to the signal of the governor encoder counter of the N-floor when the car 5 further travels to escape the N-floor door zone based on the door zone signal. store information about

The selector 31 includes a door zone plate length reservoir 26 , a relevel zone plate length reservoir 27 , a first reservoir 28 , a second reservoir 29 , and a third reservoir 30 . From among a plurality of kinds of estimation values obtained from information stored in each of , an estimation value of the amount of expansion and contraction of the governor rope 8 is selected. In addition, the selector 31 transmits the selected estimate as an estimate of the amount of expansion and contraction of the governor rope 8 corresponding to the activation layer.

Here, in explaining the calculation method of the estimated value, each value is defined by the following symbols.

Z1: 1/2 the length of the relevel zone plate 10

Z2: 1/2 the length of the door zone plate 9

C1: A value corresponding to the governor encoder counter signal stored in the first storage 28

C2: A value corresponding to the governor encoder counter signal stored in the second storage 29

C3: A value corresponding to the governor encoder counter signal stored in the third storage 30

For example, the selector 31 selects the estimated value A of the expansion/contraction amount of the governor rope 8 represented by the following formula (1).

Estimate A(N)=Z1-(C2-C1) (1)

For example, the selector 31 selects the estimated value B of the expansion/contraction amount of the governor rope 8 represented by the following formula (2).

Estimate B(N)=Z2-(C3-C1) (2)

For example, the selector 31 selects the estimated value C of the expansion/contraction amount of the governor rope 8 represented by the following formula (3).

Estimated C(N)=(Z2-Z1)-(C3-C2) (3)

In addition, when calculating the estimated value A(N), the estimated value B(N), and the estimated value C(N), in order to remove the influence by the difference in the stop position of the car, the conception error of the car position is approximately zero. ), it is conceivable to perform the calculation operation of these estimates.

Moreover, when the estimated value A(N), the estimated value B(N), and the estimated value C(N) differ by more than a certain allowable value at the time of ascending and descending of the cage|basket|car 5, it divides into the time of ascending/lowering, and the estimated value It is conceivable to calculate and store in each of the first storage 28, the second storage 29, and the third storage 30 separately for rising/falling.

Next, the function of the cage|basket|car position calculator 25 is demonstrated in detail using FIG. 4 is a block diagram of a car position calculator 25 provided in the elevator control device according to the first embodiment of the present invention.

The car position calculator 25 shown in FIG. 4 is equipped with the integrator 32 and the governor rope expansion-contraction corrector 33. As shown in FIG. Moreover, the governor rope expansion and contraction amount corrector 33 is provided with the correction value calculator 34 and the switch 35. As shown in FIG.

The integrator 32 calculates the position of the temporary car 5 by integrating the value corresponding to the governor encoder counter signal.

The governor rope expansion and contraction corrector 33 is an estimate of the expansion and contraction amount of the governor rope 8 corresponding to the target floor from the governor rope expansion and contraction storage 24, the door zone signal of the target floor, the relevel zone signal of the target floor , and the deceleration pattern signal is used to correct the amount of expansion and contraction of the governor rope 8 .

Specifically, the correction value calculator 34 in the governor rope expansion and contraction corrector 33 is the estimated value of the expansion and contraction amount of the governor rope 8 corresponding to the target floor, the deceleration timing by the deceleration pattern signal, the relevel zone of the target floor The correction value of the expansion/contraction amount of the governor rope 8 is calculated using the timing by the signal, the timing by the door zone signal of the target floor, etc.

In addition, the switch 35 is switched so as to stop transmission of the correction value of the expansion/contraction amount of the governor rope 8 from the correction value calculator 34 when not receiving the deceleration pattern signal. On the other hand, the switch 35 is switched so as to transmit the correction value of the expansion/contraction amount of the governor rope 8 from the correction value calculator 34 when receiving the deceleration pattern signal.

At this time, the current position of the cage 5 is, from the value of the position of the temporary cage 5 transmitted from the integrator 32, of the governor rope 8 from the governor rope expansion and contraction corrector 33. It is calculated by subtracting the correction value of the expansion and contraction amount.

Next, the estimated value of the expansion-contraction amount of the governor rope 8 is demonstrated using FIG. It is explanatory drawing which shows the expansion-contraction amount of the governor rope estimated by the control apparatus of the elevator in Embodiment 1 of this invention. The horizontal axis of FIG. 5 is the ratio (%) of the distance from the lowest floor for all the ascending and descending strokes of the car 5 . In addition, the vertical axis|shaft of FIG. 5 is the estimated value (mm) of the expansion-contraction amount of the governor rope 8 memorize|stored in the governor rope expansion-contraction memory|storage 24. As shown in FIG.

As shown in Fig. 5, the lower the ratio of the distance from the lowest floor for all the lifting strokes of the car 5, the lower the estimate of the amount of expansion and contraction of the governor rope 8 stored in the governor rope expansion and contraction storage 24 is Big. That is, the closer it is to the vicinity of the lowest floor, the larger the amount of expansion and contraction of the governor rope 8 is.

As described above, the elevator control device according to the first embodiment takes into account the length of the landing plate detected by the re-level zone plate detector or the door zone plate detector when the movement is started, and relates to the stationary floor at the start of movement. , it has a configuration capable of estimating the error of the governor encoder caused by the expansion and contraction of the governor rope. For this reason, without adding a new governor speed detector, the error of the governor encoder which arises by expansion-contraction of a governor rope can be estimated.

As a result, the position of the car 5 can be accurately grasped even when the governor rope 8 expands and contracts due to the spring characteristics during acceleration/deceleration of the car of an elevator with a long ascending and descending stroke, such as a skyscraper. have.

In the elevator control device according to the first embodiment, when the car is decelerating for stopping at the destination floor, the door zone plate detector goes from a state in which the landing plate is not detected to a state in which the landing plate is detected. , it has a configuration capable of correcting the position of the car using the already calculated error estimate of the governor encoder caused by expansion and contraction of the governor rope. For this reason, even when a car decelerates and takes an idea, the position of a car can be grasped|ascertained accurately. As a result, the landing error of the car and the vibration at the time of landing of the car can be suppressed, and the ride comfort of the car can be improved.

Moreover, the elevator control apparatus which concerns on Embodiment 1 is provided with the structure which correlates and memorize|stores the information regarding the error of the governor encoder which arises by expansion-contraction of a governor rope, and layer information. For this reason, according to the position on each floor, the position of a cage|basket|car can be grasped|ascertained correctly.

Moreover, in the elevator control device according to the first embodiment, the error of the governor encoder caused by the expansion and contraction of the governor rope is estimated with respect to the floor where the error of the governor encoder caused by the expansion and contraction of the governor rope is not estimated. It is provided with the structure which associates and stores the information of the error of the governor encoder which arises by expansion-contraction of the governor rope estimated by interpolation, based on the several layered information, and layered information. For this reason, the position of a cage|basket|car can be grasped|ascertained suitably also about the floor which a cage|basket|car initially conceives.

Further, in the elevator control apparatus according to the first embodiment, whenever the governor rope expansion and contraction amount estimator estimates the error of the governor encoder caused by the expansion and contraction of the governor rope, the A configuration is provided for updating and storing the error information of the governor encoder. For this reason, it can respond also to the secular change of the expansion-contraction characteristic of a governor rope.

In addition, the elevator control device according to the first embodiment can transmit information on the error of the governor encoder caused by the expansion and contraction of the governor rope estimated by the governor rope expansion and contraction amount estimator in correspondence with the information on the floor to the outside. A configuration is available. For this reason, at the time of maintenance work of an elevator, etc. WHEREIN: The information of the error of the governor encoder which arises by expansion-contraction of a governor rope can be utilized effectively.

Embodiment 2.

In the second embodiment, in the elevator control apparatus according to the first embodiment, the governor rope expansion and contraction amount estimator 23 in the current position calculator 21 detects a detection error by the dynamic characteristic of the governor mechanism. How to respond to the occurrence of

6 is a block diagram of an elevator to which the elevator control device according to the second embodiment of the present invention is applied. The configuration of Fig. 6 in the second embodiment is the same as the configuration of Fig. 1 in the previous embodiment 1 except for some added or changed elements. Therefore, detailed description of the same element is abbreviate|omitted, and it demonstrates below centering on the calculator 50 for adjustment newly added.

The calculator 50 for adjustment detects that an adjustment operation is performed by receiving an adjustment process start signal from the operation command calculator 20 . Moreover, the calculator 50 for adjustment acquires the conception error measurement information based on the actual position of the cage|basket|car in the target floor after performing an adjustment operation|movement by input operation of the measurement result by a maintenance worker. Then, the adjustment calculator 50 performs calculation for adjusting the output of the governor rope expansion and contraction amount estimator 23 based on the conception error measurement information, and transmits an amplification factor command signal to the current position calculator 21 . do.

Next, the function of the present position detector 21 in this Embodiment 2 is demonstrated in detail using FIG. Fig. 7 is a configuration diagram of the current position calculator 21 provided in the elevator control device according to the second embodiment of the present invention.

The basic configuration of the current position calculator 21 is the same as the current position calculator 21 of the first embodiment shown in FIG. 2 above. Accordingly, detailed descriptions of the same elements are omitted, and the newly added amplification factor corrector 40 will be mainly described below.

The amplification factor corrector 40 is inserted between the governor rope expansion and contraction amount estimator 23 and the governor rope expansion and contraction amount memory 24 . And, the amplification factor corrector 40 receives the transmission signal from the governor rope expansion and contraction amount estimator 23 and the transmission signal from the adjustment calculator 50, and stores the signal after the amplification factor correction in the governor rope expansion and contraction amount memory 24 ) is sent to

The information output from the governor rope expansion and contraction amount estimator 23 includes the starting layer information and the governor rope expansion and contraction amount estimation value information. On the other hand, the amplification factor corrector 40 does not process the activation layer information among these two pieces of information, and only processes the governor rope expansion and contraction estimated value information based on the transmission information from the adjustment calculator 50. .

Specifically, the amplification factor corrector 40 multiplies the amplification factor corresponding to the amplification factor command signal obtained from the adjustment arithmetic unit 50 with respect to the governor rope expansion and contraction estimated value information, and the multiplication result is the governor rope expansion and contraction amount. It is transmitted to the memory|storage 24.

8 is a flowchart showing a series of adjustment processing executed by the calculator 50 for adjustment with respect to the output of the governor rope expansion and contraction amount estimator 23 in the second embodiment of the present invention. The adjustment process in this Embodiment 2 is performed by the following procedure.

First, in step S801, when the adjustment processing start signal is received from the operation command operator 20, the adjustment calculator 50 doubles the amplification factor information, which is the amplification factor command signal, by one, and sets the initial setting. do. Next, in step S802 , the adjustment calculator 50 acquires the conception error measurement information input by the maintenance worker based on the measurement result after the elevator adjustment operation is performed by the control device 16 .

The adjustment operation of the above-mentioned elevator is specifically as follows. First, the control device 16 sets the floor to be adjusted as the starting floor and the preset floor as the destination floor, and moves the car 5 . And, in this movement operation, the amplification factor corrector 40 acquires the estimated value of the starting layer governor rope expansion and contraction estimated by the governor rope expansion and contraction amount estimator 23 , and transmits it to the governor rope expansion and contraction amount memory 24 . do.

Next, the control device 16 sets the layer to be adjusted as the target layer, executes a movement operation accompanied by correction using the estimated value, returns to the floor to be adjusted, and then measures the conception error measurement information by the maintenance staff. make it The description of the adjustment operation is above.

Next, in step S803, the calculator 50 for adjustment determines whether or not the acquired conception error measurement information falls within the evaluation reference range. And when the conception error measurement information falls within the evaluation reference range, it progresses to step S804, the calculator 50 for adjustment stores the present amplification factor information, and completes the serial process.

On the other hand, when the conception error measurement information does not fall within the evaluation criteria, the flow advances to step S805, and the adjustment calculator 50 determines whether the conception error measurement information has exceeded the evaluation standard range or whether the conception error measurement information is evaluated as the evaluation standard. It is determined whether the range has not been reached.

Then, when the adjustment calculator 50 determines that the conception error measurement information has exceeded the evaluation reference range, it proceeds to step S806, increases the amplification factor by a predetermined increment with respect to the current set value, and proceeds to step S802 go back

On the other hand, when it is determined that the conception error measurement information has not reached the evaluation reference range, the adjustment calculator 50 proceeds to step S807 to decrease the amplification factor by a predetermined amount of decrease relative to the current set value, and step S802 return to

And when it returns to step S802 via step S806 or step S807, the control apparatus 16 uses the updated new amplification factor, and makes adjustment operation of an elevator again. Then, serial processing is continued until the conception error information acquired after the adjustment operation falls within the evaluation reference range.

By such a series of processing in FIG. 8, the estimated value of the governor rope expansion and contraction of the governor rope expansion and contraction amount estimator 23 that detects the amount of expansion and contraction of the governor rope is corrected, and an appropriate amplification rate in which the implantation error becomes the evaluation reference range can be obtained. As a result, it is possible to realize an elevator control device capable of reducing a detection error due to the dynamic characteristics of the governor mechanism.

In addition, as demonstrated using FIG. 5 in the previous Embodiment 1, the expansion/contraction amount of the governor rope 8 changes in each layer. For this reason, it is necessary to also change a correction value corresponding to the change of the amount of expansion and contraction in each layer.

With respect to the estimated value of the amount of expansion and contraction of the governor rope, a method of adding the implantation error on each floor as a correction value is also conceivable. However, in this method, since the correction value in each layer changes, it is necessary to acquire the value associated with each layer, and it takes time for adjustment.

On the other hand, the correction method in Embodiment 2 of this invention correct|amends with respect to the estimated value of the amount of expansion and contraction of a governor rope by the amplification factor which made the implantation error as a parameter. Therefore, it is possible to respond to a change in the correction value in each layer with one common amplification factor, and there is no need for adjustment in each layer.

As mentioned above, according to Embodiment 2, even when a detection error generate|occur|produces by the dynamic characteristic of a governor mechanism, the structure which can calculate the amplification factor which correct|amends the estimated value of a governor rope expansion and contraction is provided. As a result, it is possible to correct the detection error resulting from the dynamic characteristics and to set the implantation error to an appropriate value serving as the evaluation reference range.

Embodiment 3.

In the second embodiment, when the amplification factor adjustment process is performed, if the implantation error measurement information exceeds the evaluation reference range, a predetermined increment is added, and the implantation error measurement information does not reach the evaluation reference range If not, the subtraction process of the predetermined reduction amount was performed.

However, in such an adjustment process, when the predetermined increment and decrement amounts are not appropriate values, there is a fear that a state in which they do not converge quickly may occur. For example, when the increment or decrement amount is smaller than an appropriate value, there is a problem in that a large number of trials are required until the conception error converges to the evaluation reference range. Conversely, when the increment or decrement amount is larger than the appropriate value, there is a problem in that the conception error does not converge to the evaluation reference range but diverges.

Therefore, in this Embodiment 3, the detection error correction process of the governor rope expansion-contraction estimator 23 is compared with the correction process in the previous Embodiment 2, and the method which can be performed more quickly and stably is demonstrated.

9 is a block diagram of an elevator to which the elevator control device according to the third embodiment of the present invention is applied. Moreover, FIG. 10 is a block diagram of the present position calculator 21 provided in the elevator control apparatus in Embodiment 3 of this invention. The configuration of FIG. 9 in the third embodiment is the same as the configuration of FIG. 6 in the previous second embodiment except for some added or changed elements. Accordingly, detailed descriptions of the same elements will be omitted, and the newly added correction processing will be mainly described below.

Comparing the calculator 50 for adjustment in this third embodiment with the calculator 50 for adjustment in the previous second embodiment, the estimated value of the moving layer governor rope expansion and contraction amount from the current position calculator 21 is further It has a function of receiving, calculating an amplification factor, and transmitting an amplification factor command signal to the current position calculator 21 .

Here, in explaining the adjustment processing of the amplification factor performed by the adjustment calculating unit 50, with respect to the two pieces of information received by the adjustment calculating unit 50, the conception error measurement information is converted to the signal A, the starting layer governor rope expansion and contraction amount estimation value. is called signal B.

11 is a flowchart showing a series of adjustment processing executed by the calculator 50 for adjustment with respect to the output of the governor rope expansion and contraction amount estimator 23 in the third embodiment of the present invention. In addition, step S801 - step S804 in FIG. 11 are the same as the process of FIG. 8 in the previous 2nd Embodiment. The adjustment process in this Embodiment 3 is performed by the following procedure.

First, in step S801, when the adjustment processing start signal is received from the operation command operator 20, the adjustment calculator 50 doubles the amplification factor information, which is the amplification factor command signal, by one, and sets the initial setting. do. Next, in step S802 , the adjustment calculator 50 acquires the conception error measurement information input by the maintenance worker as the signal A after the elevator adjustment operation is performed by the control device 16 .

The adjustment operation of the above-mentioned elevator is specifically as follows. First, the control device 16 sets the floor to be adjusted as the starting floor, and moves the car 5 using the preset floor as the destination floor. And, in this movement operation, the amplification factor corrector 40 acquires the activation layer governor rope expansion and contraction amount estimated by the governor rope expansion and contraction amount estimator 23 as a signal B, and the governor rope expansion and contraction amount memory 24 and Together, it transmits to the calculator 50 for adjustment.

Next, the control device 16 sets the layer to be adjusted as the target layer, executes a movement operation accompanied by correction using the estimated value, returns to the layer to be adjusted, and then sends a signal to the maintenance worker as the conception error measurement information. Measure A.

Next, in step S803, the calculator 50 for adjustment determines whether or not the signal A which is the acquired conception error measurement information falls within the evaluation reference range. And when the conception error measurement information falls within the evaluation reference range, it progresses to step S804, the calculator 50 for adjustment stores the present amplification factor information, and completes the serial process.

On the other hand, when the signal A which is conception error measurement information does not enter into the evaluation reference|standard range, it progresses to step S1101, and the calculating machine 50 for adjustment acquires the moving layer governor rope expansion-contraction estimation value as the signal B. Moreover, in step S1102, the calculator 50 for adjustment determines the amplification factor of the signal B which is an estimate of the amount of expansion and contraction of a moving layer governor rope based on the two signals of the signal A and the signal B.

Therefore, the amplification factor is defined as a function F using the signal A and the signal B as parameters, and can be expressed as the following equation (4).

Amplification Factor=F(Signal A, Signal B) (4)

The function F for determining the amplification factor command signal can be set as follows, for example. The amplification factor corrector 40 multiplies the signal B, which is the estimated value of the moving layer governor expansion and contraction amount, by the amplification factor received as the amplification factor command signal to obtain a multiplication result. Here, it is ideal that the multiplication result is ((signal A)+(signal B)) which is a signal obtained by correcting the signal A which is the implantation error measurement information, and in this case, the implantation error can be made zero.

Therefore, the amplification factor corresponding to the amplification factor command signal can be defined, for example, as a function of the following formula (5).

amplification factor

=F(signal A, signal B)

=((Signal A)+(Signal B))/(Signal B) (5)

After the amplification factor is set using the above formula (5), the flow returns to step S802, and the processing after the adjustment operation is performed again. The amplification factor adjustment process continues until the implantation error information falls within the evaluation reference range, but in principle, the number of judgment processes is reduced to two or less.

Although not shown in the flowchart of FIG. 11, if the implantation error does not converge within the evaluation reference range within two times, the following adjustment can be made. That is, the adjustment calculator 50 assumes the XY plane in which the amplification factor command value is the X-axis and the implantation error amount is the Y-axis, and stores the first and second amplification factor command values and information on the implantation error. Then, the adjustment calculator 50 plots the first and second results on the XY plane, calculates the X-intercept of the straight line passing through these two points, and sets it as the amplification factor. By calculating the amplification factor in this way, the implantation error can be made substantially zero.

By providing the serial process shown in FIG. 11, it becomes possible to quickly correct|amend the estimated value of a governor rope expansion-contraction, and to obtain the appropriate amplification factor which makes an implantation error into an evaluation reference range.

As mentioned above, according to Embodiment 3, even when a detection error generate|occur|produces due to the dynamic characteristic of a governor mechanism, the structure which can calculate the amplification factor which correct|amends the estimated value of a governor rope expansion and contraction is provided quickly. As a result, it becomes possible to correct the detection error resulting from the dynamic characteristics and to obtain an appropriate amplification factor with the implantation error as the evaluation reference range.

In addition, by reducing the number of trials until the detection error converges to the evaluation reference range, it becomes possible to quickly obtain an appropriate amplification rate with the implantation error as the evaluation reference range.

Embodiment 4.

In the previous embodiment 1, the correction process of the amplification factor effective for the apparatus in which the dynamic characteristic of a governor rope expansion-contraction amount responds with respect to a deceleration pattern signal without a time delay was demonstrated. On the other hand, in this Embodiment 4, the correction process of an amplification factor in the case where the dynamic characteristic of the amount of governor rope expansion and contraction has a time delay with respect to a deceleration pattern signal is demonstrated.

In an elevator with a long ascending and descending stroke, the dynamic characteristic of the amount of expansion and contraction of the governor rope may have a high-range blocking characteristic with respect to the deceleration pattern signal. In this case, as for the dynamic characteristics of the amount of expansion and contraction of the governor rope, a time delay or waveform change occurs with respect to the deceleration pattern signal. This time delay and waveform fluctuation|variation become a factor of the estimation error of a governor rope expansion-contraction estimator, As a result, there exists a problem that the implantation position error of the cage|basket|car 5 generate|occur|produces.

Therefore, in this Embodiment 4, the correction process of the amplification factor effective when the dynamic characteristic of a governor rope expansion-contraction amount has a high-frequency cutoff characteristic with respect to a deceleration pattern signal is demonstrated.

12 is a block diagram of an elevator to which the elevator control device according to the fourth embodiment of the present invention is applied. The configuration of Fig. 12 in the fourth embodiment is the same as the configuration of Fig. 1 in the previous embodiment 1 except for some added or changed elements. Accordingly, detailed descriptions of the same elements will be omitted, and the newly added low-pass filter 60 will be mainly described below. In addition, this low-pass filter 60 corresponds to the characteristic correction part which corrects based on the dynamic characteristic of the amount of extension of a governor rope with respect to the present position of a cage|basket|car.

The low-pass filter 60 receives time series information of the current car position from the current position calculator 21, and sends a signal on which a filter operation for cutting off a high frequency band is performed on the received time series information to the speed command calculator ( 22) is sent.

Next, the dynamic characteristic of the amount of expansion and contraction of the governor rope in Embodiment 4 of this invention is demonstrated using FIG. It is an example of time series information of the amount of governor rope expansion and contraction in the conception operation period of the control apparatus of the elevator in Embodiment 4 of this invention.

In Fig. 12, a dotted line is a deceleration pattern signal that has been rewritten for reference. This deceleration pattern signal makes the acceleration of a cage|basket|car the unit of a vertical axis, the time axis is made to match with the time series information of the amount of governor rope expansion and contraction, and it is drawn.

The dynamic characteristic of the amount of expansion and contraction of the governor rope in this example is a characteristic that smoothly changes while the start and end portions of the trapezoidal waveform are delayed on the time axis with respect to the trapezoidal waveform that is the deceleration pattern signal. This characteristic is a characteristic in which the high frequency band is cut off with respect to the deceleration pattern signal.

Such a high-pass cutoff characteristic can be simulated by a low-pass filter. The low-pass filter can be realized, for example, with the transfer characteristics shown by the following equation (6).

LPF(s)=1/(Ts+1) (6)

In addition, LPF(s) represents the transfer function of the low-pass filter, and T is a time constant. By changing the time constant T of Equation (6) above, it becomes possible to simulate the dynamic characteristics of the amount of expansion and contraction of the governor rope with a smaller error than before.

The time series information of the current car position output by the present position calculator 21 is a signal synchronized with the deceleration pattern signal. Therefore, the time series information of this present car position does not simulate the dynamic characteristic of a governor rope expansion-contraction amount, ie, high frequency cutoff characteristic.

Therefore, if the time series information of the current car position is passed through a low-pass filter as shown in Equation (6) above, the current car position in which the dynamic characteristics of the governor rope expansion and contraction amount is simulated with a smaller error than before. time series information can be obtained.

This information expresses the position of the car 5 more accurately than before. Therefore, when the time series information of the current car position is transmitted to the speed command calculator 22 by the low-pass communication filter 60 after passing the low-pass filter, the landing position error of the car 5 and the elevator Vibration at the time of implantation of the compartment 5 can be suppressed. By such a restraining effect, the ride comfort of the car 5 can be improved.

As mentioned above, according to Embodiment 4, when the dynamic characteristic of the amount of governor rope expansion and contraction has a time delay with respect to a deceleration pattern signal, the low-pass filter for simulating a primary delay is provided. As a result, the landing position error of the cage|basket|car resulting from a primary delay and the vibration at the time of landing can be suppressed.

Embodiment 5.

It goes without saying that the configuration provided with the low-pass filter 60 described in the fourth embodiment can also be applied to the configuration of the second embodiment. Fig. 14 is a block diagram of an elevator to which the elevator control device according to the fifth embodiment of the present invention is applied. By setting it as such a structure, also to the previous Embodiment 2, the effect which suppresses the landing position error of the cage|basket|car resulting from a primary delay and the vibration at the time of landing can be added.

Embodiment 6.

It goes without saying that the configuration including the low-pass filter 60 described in the fourth embodiment can also be applied to the configuration in the third embodiment. Fig. 15 is a block diagram of an elevator to which the elevator control device according to the sixth embodiment of the present invention is applied. By setting it as such a structure, also to the previous 3rd Embodiment, the effect which suppresses the landing position error of the cage|basket|car resulting from a primary delay and the vibration at the time of landing can be added.

Claims (14)

Based on the counter value of the governor encoder output according to rotation of the governor around which the governor rope connected to the car of the elevator is wound, a control device of an elevator provided with a current position calculator for calculating the current position of the car,
The current position calculator is, from a state in which the landing plate detector provided in the car detects any of the landing plates provided according to the location of each floor of the building and is stopped, the speed is controlled based on the speed command value according to the acceleration/deceleration pattern. The movement amount until the start of movement in accordance with the movement of the car by driving of the motor to a state in which the implantation plate is not detected is calculated based on the counter value of the governor encoder, and the calculated movement amount and The floor in which the movement started by estimating the count error of the governor encoder caused by expansion and contraction by the spring characteristic of the governor rope at the time of acceleration/deceleration of the car by comparing the actual length of the landing plate Estimating the amount of extension of the governor rope on the
elevator control unit. The method according to claim 1,
The current position calculator,
an expansion/contraction estimator for estimating the count error corresponding to the starting layer when starting movement from the starting floor;
an expansion/contraction storage unit for storing information on the count error estimated by the expansion/contraction estimator in association with information on a layer corresponding to the starting layer;
During the deceleration stop operation when the car moves from the departure floor for which the count error has been calculated to the destination floor, the landing plate detector changes from not detecting to detecting the landing plate on the destination floor. At one timing, the current position of the car is calculated by extracting the count error stored in the expansion and contraction amount memory as a value corresponding to the target floor, and correcting the counter value of the governor encoder by the extracted count error Having a Khan Position Calculator
elevator control unit. 3. The method according to claim 2,
The expansion and contraction amount estimator estimates the count error in each starting layer from which movement is started, correlates the estimated count error information with the layer information corresponding to the starting layer, and stores it in the expansion and contraction amount memory
elevator control unit. 3. The method according to claim 2,
In the case where the stretch amount estimator has a layer for which count errors are not estimated, and the count errors corresponding to the plurality of layers have already been estimated and stored in the expansion and contraction amount memory, interpolation based on the count errors corresponding to the plurality of layers By performing , the count error of the layer for which the count error is not estimated is estimated and stored in the expansion and contraction amount memory
elevator control unit. 5. The method according to any one of claims 2 to 4,
The stretch amount estimator estimates the count error every time movement starts from the starting floor, and updates the data in the stretch amount memory by the newly estimated count error.
elevator control unit. 5. The method according to any one of claims 2 to 4,
The expansion/contraction estimator has a function of reading out data in the expansion/contraction storage and transmitting it to the outside in response to a request command from the outside.
elevator control unit. 5. The method according to any one of claims 2 to 4,
A characteristic correction unit that corrects the current position of the car output from the current position calculator based on the dynamic characteristic of the governor rope expansion and contraction amount
A control device for an elevator additionally provided. 8. The method of claim 7,
The characteristic correction unit is composed of a low-pass filter that blocks a high-frequency band of the output of the current position calculator.
elevator control unit. 5. The method according to any one of claims 2 to 4,
An adjustment calculator that acquires implantation error measurement information measured when it stops on the target floor and adjusts the count error estimated by the expansion/contraction estimator based on the implantation error measurement information
A control device for an elevator further provided. 10. The method of claim 9,
The adjustment calculator calculates an amplification rate based on the conception error measurement information, and performs adjustment by multiplying the count error estimated by the expansion and contraction amount estimator by the amplification rate.
elevator control unit. 11. The method of claim 10,
The adjustment calculator increases or decreases the amplification factor based on a result of determining whether the conception error measurement information exceeds, falls within, or does not reach the evaluation reference range, and adjusts the amplification rate a plurality of times. converging amplification
elevator control unit. 11. The method of claim 10,
The adjustment calculator calculates the amplification rate based on the count error estimated by the expansion and contraction amount estimator and the implantation error measurement information.
elevator control unit. 13. The method of claim 12,
The adjustment calculator calculates, as the amplification factor, a value obtained by dividing a result of adding the count error and the conception error measurement information by the count error.
elevator control unit. In the elevator control device provided with a current position calculator for calculating the current position of the car based on the counter value of the governor encoder output according to the rotation of the governor rope connected to the car of the elevator is wound, , As a governor rope expansion and contraction amount estimation method executed by the current position calculator,
In a state in which an implantation plate detector provided in the car detects any of the implantation plates provided according to each floor position of the building and is stationary, the speed is controlled based on the speed command value according to the acceleration/deceleration pattern. a movement amount calculation step of calculating, based on the counter value of the governor encoder, the movement amount from starting movement according to the movement of the car until it becomes a state in which the implantation plate is not detected;
By comparing the movement amount calculated in the movement amount calculation step and the actual length of the landing plate, the governor encoder generated by expansion and contraction by the spring characteristics of the governor rope at the time of acceleration/deceleration of the car By estimating the count error, the estimation step of estimating the amount of expansion and contraction of the governor rope on the floor where the movement started
A method for estimating the amount of extension of the governor rope.

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