US3627080A - Speed control system for elevators - Google Patents

Speed control system for elevators Download PDF

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Publication number
US3627080A
US3627080A US857755A US3627080DA US3627080A US 3627080 A US3627080 A US 3627080A US 857755 A US857755 A US 857755A US 3627080D A US3627080D A US 3627080DA US 3627080 A US3627080 A US 3627080A
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United States
Prior art keywords
speed
elevator
integrator
output
voltage
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
US857755A
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English (en)
Inventor
Takeo Yuminaka
Toshiaki Kurosawa
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Hitachi Ltd
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Hitachi Ltd
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Publication date
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Publication of US3627080A publication Critical patent/US3627080A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/285—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical with the use of a speed pattern generator
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S388/00—Electricity: motor control systems
    • Y10S388/90—Specific system operational feature
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S388/00—Electricity: motor control systems
    • Y10S388/90—Specific system operational feature
    • Y10S388/904—Stored velocity profile
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S388/00—Electricity: motor control systems
    • Y10S388/907—Specific control circuit element or device
    • Y10S388/91—Operational/differential amplifier

Definitions

  • This invention relates to a speed control system for elevators, and more particularly it pertains to improvements in a speed control system for elevators wherein during the accelerating operation, a constant speed pattern voltage is produced.
  • a DC elevator uses the Ward-Leonard control system including the static Leonard system, wherein a current flowing through the field winding of the generator is programcontrolled in a stepped manner or a continuously changing current produced by apattern generator is made to flow through the said field winding, thereby permitting the speed of the motor to be changed along a desired speed curve.
  • the desired purpose can be substantially achieved merely by increasing the field current smoothly in terms of time, but during the deceleration control, it is necessary to effect speed control while detecting the elevator. control. That is, in order that the elevator may be made to land precisely at the desired floor, the speed pattern should be changed in accordance with the elevator position.
  • An enhanced floor-landing accuracy and improved riding comfort is essentially required of any elevator.
  • position detecting means such as, for example, a differential transformer.
  • the riding comfort can also be improved.
  • the entire system becomes extremely complicated and expensive.
  • Another object of the present invention is to provide a control system wherein during the decelerating operation, an input to the integrator is maintained at a levelcorresponding to a predetermined deceleration without being corrected when an error signal corresponding to the difference between the output of the speed pattern means which is decreased in a stepped manner and the actual elevator speed is lower than a predetermined level, and only when the said.error signal is higher than the said predetermined level, the input to the integrator is corrected to change the deceleration, thereby reducing the floor-landing error.
  • Still another object of the present invention is to provide a control system wherein the deceleration of the elevator is so controlled as to be maintained in a range between prescribed maximum and minimum deceleration levels.
  • FIG. I is a block diagram showing the system according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing the system according to a second embodiment of the present invention.
  • FIG. 3 is a view useful for. explaining the operation of the present invention.
  • FIG. 4 is a block diagram showing the system according to a third embodiment ofthe present invention.
  • FIGS. 5a and b are views useful for explaining the operation of the system shown in FIG. 4.
  • a constant voltage V is applied to an elevator speed pattern means SO which is adapted to provide a constant voltage V, corresponding to a commanded speed during the acceleration of the elevator and a pattern voltage E. which drops in a stepped manner at present position P P and P in response to the operation of a position detecting means POS during the deceleration of the elevator.
  • the position detector means P08 is so designed as to decrease the pattern voltage E, whenever the elevator arrives at the three positions P P and P as shown in FIG. 3(a).
  • a changeover relay RYl operates to pass the command voltage E, available from the elevator speed pattern S0 to a comparator CR during the accelerating operation, and during the decelerating operation, it operates to pass this voltage to a first amplifier APl.
  • the comparator CP is so designed as to represent a saturation comparison characteristic as shown in the drawing, which may be constituted by a transistor operational amplifier or the like. This comparator is saturated upon application of a small voltage thereto so as to provide a positive or negative constant output voltage V or -V,.
  • the output of the comparator CP is integrated by an integrator I and then negatively fed back to the input side of the comparator CP.
  • the output voltage E, of the integrator I is amplified in a second amplifier APZ and then applied to the field winding F of a Ward-Leonard generator G.
  • a Ward-Leonard motor M is driven in a controlled manner by the output voltage of the generator G, whereby a traction sheave SH is driven in a controlled manner.
  • a tachometer generator PG is coupled directly to the aforementioned motor M to thereby detect the moving speed of the elevator.
  • Output voltage E of the tachometer generator PG is negatively fed back to the first amplifier AP].
  • rope RP which includes a counter weight CW and a cage C with which is connected a tape TP to detect the position thereof, the tape TP being driven in synchronism with the cage C.
  • the movement of this tape TP is detected by a pulley PU, so that the position detector P08 is operated.
  • the position detector is shown as being of a mechanical system, but it goes without saying that an electric system position detector can equally be employed.
  • a relay RYZ is adapted to pass the output voltage I'i, of the first amplifier API to the integrator I only during the decelerating operation.
  • a constant positive output voltage V is provided by the comparator, which, is directly integrated by the integrator I, so that the output voltage E of the latter builds up with a predetermined slope as shown in FIG. 3(e).
  • the output voltage E of the integrator I becomes equal to the pattern voltage E available from the elevator speed pattern means S0 (at the point of time I: in FIG. 3)
  • the output voltage E, of the integrator I is maintained at the value as shown in FIG. 3(e), so that the output of the second amplifier APZ becomes constant.
  • the position detector P08 When the cage reaches deceleration starting point P;, the position detector P08 is operated to reduce the pattern voltage of the elevator speed pattern means SO in such a stepped manner as shown in FIG. 3(a).
  • the pattern voltage E is applied to the first amplifier APl rather than to the comparator CP, due to the operation of the changeover relay RY]; Since the voltage E correponding to the actual speed of the elevator is negatively fed back to the first amplifie API as described above, the output voltage E of the first amplifier APl becomes negative as shown in FIG. 3(c). This voltage is applied to the integrator I through the relay RYZ.
  • the comparator CP since the input to the comparator CP is only the voltage -E, fed back thereto by the integrator I, the comparator CP provides a constant negative voltage --V (FIG. 3(b), so that the overall input Egi-E of the integrator I begins decreasing,
  • the output voltage of the integrator l will be reduced in accordance with a slope opposite to that of the accelerating operation so that such an output voltage as approximately indicated by a dotted line SL in FIG. 3 will be produced.
  • the voltage E which corresponds to the diflerence between the pattern voltage E, and the voltage E corresponding to the actual elevator speed is added to the input to the integrator I. Therefore, in a range such as the interval t, to t, where there occurs a great deviation, the correction input voltage E, becomes high so that the decreasing rate of the output voltage E, of the integrator I also becomes high.
  • the second amplifier APZ makes such a command control as to increase the deceleration of the elevator.
  • the input to the integrator I is changed in accordance with the deviation between the actual elevator speed and the pattern speed at each deceleration point, with a result that the output of the integrator l or the decreasing rate of the pattern applied to the Ward-Leonard system generator G is automatically controlled.
  • the speed pattern is continuously controlled so as to stop the elevator exactly at any desired point.
  • the correction voltage E is smoothly changed in accordance with the deceleration of the elevator so that the output voltage E, of the integrator l is also smoothly decreased, thus resulting in an improved riding comfortability.
  • the floor-landing accuracy is also improved because of the fact that the speed pattern is varied in accordance with the actual elevator speed.
  • w is the elevator speed
  • i is the load current
  • FIG. 2 shows another embodiment of the present invention, wherein a clamping circuit ST is provided in series with the first amplifier APl.
  • a correction voltage E is applied to the integrator I only when the output of first amplifier API is greater than Ac (in absolute value) (when the difference between the pattern voltage E, and the voltage corresponding to the actual elevator speed is greater than the preset value), as shown in FIG. 3(c).
  • Ac in absolute value
  • the overall input E,+E,,' to the integrator I becomes as shown in FIG. 3(d').
  • the output of the integrator or the command for the elevator corresponds to a predetermined deceleration, thus resulting in a high riding comfortability.
  • FIG. 4 there is shown a further embodiment of the present invention wherein the first amplifier API has a dead band such as shown in the drawing.
  • the output voltage E, of this amplifier AP] is applied to the integrator I through a clamping circuit constituted by a diode D and resistor r r, and r
  • the position detector P05 is operated so that the voltage of the elevator speed pattern device 50 is. decreased in stepped manner as shown in FIG. 5(a).
  • the speed voltage E corresponding to the actual elevator speed and the aforementioned command voltage E, are added to each other so as to be an input to the first amplifier API.
  • the output voltage E, of the first amplifier API takes a sawtooth waveform as shown in FIG. 5(c).
  • the output voltage E is added to theoutput E, of the comparator CP through a diode D, and therefore the input voltage E, to the integrator I becomes as shown in FIG. 5(d).
  • the output E, of the integrator I varies as shown in FIG. 5(e since it is obtained by integrating the voltage [5,.
  • FIG. 5 (b) shows the details of FIG. 5 (e).
  • a speed control system for elevators comprising means for driving the elevator, speed pattern means for providing a voltage corresponding to a speed pattern irrespective of the elevator position during the accelerating operation and for reducing said voltage in a stepped manner in response to a position detecting means for providing a signal whenever the elevator arrives at any one of a plurality of preset deceleration points, comparator means having saturation characteristics in the positive and negative directions, integrator means connected to said comparator means for integrating the output of said comparator means and negatively feeding the integrated output back to the input of said comparator means the integrated output of said integrator means also being connected to said means for driving the elevator, correction means including a first amplifier for generating a correction signal in response to a detected difference between said commanded speed and the actual elevator speed and, additionally for supplying said correction signal to said integrator means as an input during the decelerating operation to thereby control the output of said integrator means in accordance with the elevator speed, and changeover relay means for passing said voltage corresponding to the commanded speed from said speed pattern means to said
  • a speed control system for elevators according to claim 1, wherein a clamping circuit for applying said correction signal to said integrator means when the difference between the commanded speed and the actual elevator speed exceeds a predetennined level is provided at the output of said first amplifier.
  • a speed control system for elevators according to claim 1, wherein said first amplifier represents a saturation characteristic, thereby limiting the maximum value of the output decreasing rate of said integrator means.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Control (AREA)
  • Control Of Electric Motors In General (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Control Of Direct Current Motors (AREA)
US857755A 1968-09-16 1969-09-15 Speed control system for elevators Expired - Lifetime US3627080A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP43066106A JPS4815498B1 (es) 1968-09-16 1968-09-16

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US (1) US3627080A (es)
JP (1) JPS4815498B1 (es)
GB (1) GB1236116A (es)

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3774729A (en) * 1972-05-17 1973-11-27 Westinghouse Electric Corp Speed pattern generator for elevator systems
US3783974A (en) * 1972-05-09 1974-01-08 Reliance Electric Co Predictive drive control
US3785463A (en) * 1972-05-09 1974-01-15 Reliance Electric Co Final stopping control
DE2403204A1 (de) * 1973-01-24 1974-08-01 Hitachi Ltd Bremskraftregler fuer aufzug-fahrkoerbe
US3859581A (en) * 1974-01-11 1975-01-07 Gen Electric Analog to digital to analog rate control circuit for traction motor control systems
US3941214A (en) * 1974-04-29 1976-03-02 Armor Elevator Company, Inc. Control system for a transportation system
US4083431A (en) * 1975-05-09 1978-04-11 Hitachi, Ltd. Elevator control apparatus
US4084662A (en) * 1975-09-01 1978-04-18 Nippon Otis Elevator Company Control apparatus for an elevator system
WO1981001834A1 (en) * 1979-12-27 1981-07-09 Otis Elevator Co Elevator door motor compensations
WO1981001835A1 (en) * 1979-12-27 1981-07-09 Otis Elevator Co Elevator door motion bench velocity
WO1981001830A1 (en) * 1979-12-27 1981-07-09 Otis Elevator Co Position controlled elevator door motion
WO1981001831A1 (en) * 1979-12-27 1981-07-09 Otis Elevator Co Time controlled elevator door motion
US4305480A (en) * 1979-12-27 1981-12-15 Otis Elevator Company Integral gain elevator door motion control
US4649328A (en) * 1985-06-26 1987-03-10 General Electric Co. Method for automatic speed loop tune-up in a machine drive
US4684856A (en) * 1983-08-17 1987-08-04 Elevator Gmbh Method and drive for elevator DC drive motor stabilization
CN109018797A (zh) * 2018-07-17 2018-12-18 谢结苟 一种智能物流仓储系统
CN110386524A (zh) * 2019-08-16 2019-10-29 钱良楚 可通用的到站钟
CN114258383A (zh) * 2019-08-27 2022-03-29 三菱电机株式会社 输送装置

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59132774U (ja) * 1983-02-21 1984-09-05 三井造船株式会社 軸継手の着脱要具

Cited By (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3783974A (en) * 1972-05-09 1974-01-08 Reliance Electric Co Predictive drive control
US3785463A (en) * 1972-05-09 1974-01-15 Reliance Electric Co Final stopping control
US3774729A (en) * 1972-05-17 1973-11-27 Westinghouse Electric Corp Speed pattern generator for elevator systems
DE2403204A1 (de) * 1973-01-24 1974-08-01 Hitachi Ltd Bremskraftregler fuer aufzug-fahrkoerbe
US3859581A (en) * 1974-01-11 1975-01-07 Gen Electric Analog to digital to analog rate control circuit for traction motor control systems
US3941214A (en) * 1974-04-29 1976-03-02 Armor Elevator Company, Inc. Control system for a transportation system
US4083431A (en) * 1975-05-09 1978-04-11 Hitachi, Ltd. Elevator control apparatus
US4084662A (en) * 1975-09-01 1978-04-18 Nippon Otis Elevator Company Control apparatus for an elevator system
US4299308A (en) * 1979-12-27 1981-11-10 Otis Elevator Company Position controlled elevator door motion
US4342378A (en) * 1979-12-27 1982-08-03 Otis Elevator Company Elevator door motion bench velocity
WO1981001830A1 (en) * 1979-12-27 1981-07-09 Otis Elevator Co Position controlled elevator door motion
WO1981001831A1 (en) * 1979-12-27 1981-07-09 Otis Elevator Co Time controlled elevator door motion
WO1981001834A1 (en) * 1979-12-27 1981-07-09 Otis Elevator Co Elevator door motor compensations
US4300662A (en) * 1979-12-27 1981-11-17 Otis Elevator Company Elevator door motor compensations
US4305480A (en) * 1979-12-27 1981-12-15 Otis Elevator Company Integral gain elevator door motion control
WO1981001835A1 (en) * 1979-12-27 1981-07-09 Otis Elevator Co Elevator door motion bench velocity
US4342379A (en) * 1979-12-27 1982-08-03 Otis Elevator Company Time controlled elevator door motion
US4684856A (en) * 1983-08-17 1987-08-04 Elevator Gmbh Method and drive for elevator DC drive motor stabilization
US4649328A (en) * 1985-06-26 1987-03-10 General Electric Co. Method for automatic speed loop tune-up in a machine drive
CN109018797A (zh) * 2018-07-17 2018-12-18 谢结苟 一种智能物流仓储系统
CN110386524A (zh) * 2019-08-16 2019-10-29 钱良楚 可通用的到站钟
CN110386524B (zh) * 2019-08-16 2024-05-10 钱良楚 可通用的到站钟
CN114258383A (zh) * 2019-08-27 2022-03-29 三菱电机株式会社 输送装置
CN114258383B (zh) * 2019-08-27 2023-08-18 三菱电机株式会社 输送装置

Also Published As

Publication number Publication date
GB1236116A (en) 1971-06-23
JPS4815498B1 (es) 1973-05-15

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