KR19980037059A - Acceleration / Deceleration Pattern Generation Method of Elevator - Google Patents

Abstract

The present invention relates to a method for generating a driving speed pattern to be applied to the speed control device of the elevator to improve the passenger comfort.

According to the driving control of the elevator car according to the conventional speed pattern, since the maximum speed for each speed pattern is limited to several patterns, the driving time cannot be minimized, so that efficient driving is impossible.

In the present invention: calculate the maximum speed according to the moving distance, set the maximum acceleration and acceleration to improve the ride comfort, determine the acceleration or deceleration according to the difference between the maximum speed and the current speed, the current acceleration and acceleration Considering this, calculate the speed difference that will change until the acceleration reaches zero, and set the acceleration or deceleration by comparing this with the actual speed error.

And, by calculating the acceleration according to the acceleration or deceleration, limiting to the highest acceleration and deceleration, and then calculating the speed, the acceleration or deceleration is always zero at the point when the target speed is reached, thereby minimizing the speed change, so that the riding comfort To maintain.

Description

Acceleration / deceleration pattern generation method of elevator

The present invention relates to a method for generating a driving speed pattern to be applied to the speed control device of the elevator to improve the passenger comfort.

Factors affecting the ride comfort felt by a passenger in a car include speed changes during acceleration and deceleration.

However, if the acceleration or deceleration time is longer, the riding comfort is improved, but the traveling time of the elevator is longer, so the riding comfort and the traveling time are in a mutually opposite relationship.

In addition, the ride comfort is large for each individual in relation to a person's senses and psychological effects, it is known that the ride comfort is generally good if the acceleration is constant.

Therefore, in order to improve the ride comfort and to shorten the travel time, a technique is required to make a speed pattern for determining the running speed of the elevator and to control the elevator in accordance with the speed pattern.

As a conventional method of determining the speed pattern, a method of controlling the speed of the car so as to determine several speed patterns in advance and to select one suitable pattern corresponding to the moving distance of the elevator car and to follow this is mainly used in a low speed elevator. Has been used.

Figure 1 shows the configuration of the elevator control device, Figure 2 shows a conventional speed pattern.

As shown in FIG. 1, the elevator control device sends a group management control device 1 which manages operation of a plurality of elevators in a group, and sends status information of each elevator to the group management control device 1 according to the command. Corresponds to the speed pattern of the foot control device 2 for outputting the speed control device, a speed pattern generator 3 for generating a speed pattern in response to the control signal of the foot control device 2, and a speed pattern generator 3; An inverter unit 4 for driving the motor 5 by the control unit 4a, an electric motor 5 driven under the control of the inverter unit 4, and driving of the motor 5 Lifter 6 for elevating the elevator car 8 by means of a lifter, a balance weight 7 for balancing the lifter 6 by the hoister 6, and an elevator lifted by the hoister 6 Car 8.

It looks at the conventional elevator car running control operation by such an elevator control device.

The group management control device 1 operates and manages a plurality of elevators in a group, and calculates an optimum driving state from the call in each platform and the driving direction and position of the car and instructs each control device 2.

This reduces waiting time and makes efficient use of the elevator.

On the other hand, each stage control apparatus 2 sends the state information of each elevator to the group management control apparatus 1, and sends a control signal to the inverter part 4 for driving the electric motor 5 according to the instruction | command.

Then, the speed pattern generator 3 calculates the current optimum speed in accordance with the control signal of the respective control devices 2 and inputs the calculation information to the inverter unit 4.

The control unit 4a of the inverter unit 4 receives the above speed pattern information and the control signal of the control unit 2 to switch the three-phase power to control the driving speed of the motor 5, whereby the winding machine ( Travel control is performed so that the elevator car 8 follows the speed pattern by causing 6) to rotate forward or reverse at an appropriate speed.

The speed pattern generator 3 may be included in the foot controller 2, and the speed pattern generated therein is stored in several memories in the memory as shown in FIG. According to the instruction from the control device 2, one of the patterns is selected to follow the speed of the elevator car 8.

According to the driving control of the elevator car by the conventional speed pattern such as the second diagram, the maximum speed for each speed pattern is limited to several patterns, and thus, the efficient driving is not possible.

Therefore, in order to improve ride quality, the momentary output is taken into account in consideration of the current acceleration, speed, and remaining movement distance without changing the acceleration rapidly to move in the shortest time while maintaining the acceleration (+ acceleration) constant. By calculating the speed and sending it to the motor drive inverter, it is possible to achieve both the purpose of securing the riding comfort and improving the running efficiency.

That is, the present invention has a speed pattern as shown in FIG. 3, and the procedure of generating the speed pattern is as shown in FIG. 4. To calculate the maximum speed according to the moving distance and to improve ride comfort. Set the maximum acceleration and acceleration, and decide the acceleration or deceleration according to the difference between the maximum speed and the current speed, and calculate the speed difference that will change to the point of acceleration when considering the current acceleration and acceleration. Acceleration or deceleration is set by comparing the actual speed error.

And, by calculating the acceleration according to the acceleration or deceleration, limiting to the highest acceleration and the highest deceleration, and then calculating the speed, the acceleration or deceleration becomes zero at the point when the target speed is reached, thereby minimizing the speed change. Keep it good

1 is a circuit diagram of the elevator control device

2 is a conventional elevator acceleration and deceleration pattern diagram

3 is an elevator acceleration / deceleration pattern diagram according to the present invention.

4 is a flowchart of a method for generating an elevator acceleration / deceleration pattern according to the present invention.

Figure 3 is an example of the speed pattern generated by the method of generating a speed pattern of the elevator in the present invention shows the characteristics of the speed change with time, and the acceleration or deceleration pattern with time, the acceleration period in the above speed pattern The acceleration has a positive value and the deceleration has a negative value.

In addition, as shown in FIG. 3, the change in acceleration is changed to have a constant acceleration to improve the ride comfort.

The procedure for generating the velocity pattern is shown in FIG.

First, the speed pattern generator 3 receives control signals corresponding to the platform call information from the group management device 1, the platform control device 2, the driving direction and position information of the car, and the like.

From this information and instruction, the speed pattern generator 3 sets the maximum acceleration for improving the riding comfort and sets the acceleration.

And, calculate the maximum speed according to the distance to move.

The next step is to calculate the speed difference that will change until the acceleration becomes zero, taking into account the current acceleration and acceleration, and at this time determine the acceleration or deceleration according to the difference between the set maximum speed and the current speed of the elevator car 8. do.

The acceleration speed or the acceleration speed is set by comparing the calculated speed error with the speed change amount calculated by the acceleration and the acceleration speed.

After setting the acceleration or deceleration as described above, the acceleration according to the set acceleration or deceleration is calculated, and the final speed is calculated after limiting to the highest acceleration and deceleration.

The calculated speed information is provided as drive information of the electric motor 5 through the inverter unit 4, whereby the electric motor 5 is driven to lift and run the elevator car 8 by the hoist 6. Let it go.

Since the distance to be moved in accordance with the elevating driving of the elevator car 8 changes instantaneously, it repeats all the above steps after the step of calculating the error between the maximum speed and the current speed according to the distance to be moved again. The elevator car 8 follows the vehicle in any one speed pattern as shown in FIG.

By the above, since the acceleration or deceleration becomes zero at the time when the target speed is reached, the speed change is minimized, and therefore the riding comfort of the passengers in the elevator car 8 can be improved.

The speed pattern generation method of the elevator of the present invention is applied to a general motor speed control inverter, it is also possible to use the same operation flow to control the speed change to the S-shaped curve to minimize the torque impact on the motor load.

In the present invention, the speed of the car is calculated through real-time calculation of the optimum speed pattern in consideration of the current acceleration, the current speed, and the distance to be moved, thereby controlling the speed of the elevator, thereby improving ride comfort and operating efficiency. In addition, it is also applicable to high-speed elevators with a large variation in travel distance as well as at low speed.

Claims (2)

A first step of setting the highest acceleration and the acceleration according to the driving command of the elevator car; The second process of determining the acceleration or deceleration according to the difference between the maximum speed and the current speed according to the moving distance of the elevator car, and calculating the speed difference that will change until the acceleration becomes zero in consideration of the current acceleration and acceleration. and; A third step of comparing the speed error calculated above with the actual speed error and setting acceleration or deceleration according to the magnitude; Acceleration / deceleration pattern generation method of an elevator characterized in that the control by the fourth process of calculating the acceleration according to the acceleration or deceleration set in the above, limiting to the highest acceleration and deceleration and calculating the speed and outputs the final speed command. . The method of claim 1, wherein the second to fourth processes are processed in real time until the target driving of the elevator car is completed.