US3643762A - Method and apparatus for controlling an elevator for medium to high running speed - Google Patents

Method and apparatus for controlling an elevator for medium to high running speed Download PDF

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US3643762A
US3643762A US89996A US3643762DA US3643762A US 3643762 A US3643762 A US 3643762A US 89996 A US89996 A US 89996A US 3643762D A US3643762D A US 3643762DA US 3643762 A US3643762 A US 3643762A
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nominal value
selector
counter
signal
elevator
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US89996A
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Marcel Schibli
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Inventio AG
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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
    • B66B1/285—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

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  • the nominal value ele- UNITED STATES PATENTS ment includes a time-dependent nominal value setter, a pathdependent nominal value setter, a root former and a dis- 3,523,232 8/ 1970 Hall et al 1 87/29 X criminator
  • the control includes a Selection circuit, com 3,526,300 9/1970 Ferrot "187/2 nected to shaft switches, a nominal value starter, a blocking Vorgt et i it th counter, a p l generator d a t i t mitter.
  • the nominal value element and the selector are con- Primary Examiner-Bemard A. Gllheany nected to the Conn-0
  • the braking distance has a constant length and brake engagement occurs always at the same path point before the target floor and irrespective of the departure floor.
  • This path point usually is marked by a shaft flag mounted in the elevator-shaft and spaced from the target floor by the length of the braking distance.
  • the rated running speed is not attained in certain short runs where the sum of the acceleration and deceleration paths, corresponding to the rated running speed, is greater than the distance between the departure and target floor.
  • the braking distance no longer has a constant length, and brake engagement occurs at different path points before the target floor and as a function of the departure floor.
  • control device with only one high-rated running speed, where the optimum running speed, for each travel path, adjusts or sets itself automatically.
  • a so-called selector which comprises a number of call memories correlated to the floors and a stepping mechanism advanced, with a lead, by pulses depending on the cabin position.
  • the stepping mechanism has a number of position units correlated to the individual floors, and producing a stop signal when the stepping mechanism reaches a position which corresponds to a floor for which a call is stored in the correlated call memory.
  • a nominal voltage increasing according to a certain acceleration law, is preset on the speed-regulated drive and, at the same time, a brake nominal voltage is initiated and this decreases according to a certain deceleration law and corresponds, at every moment, to the maximum permissible speed for serving the next floor.
  • the selector is then advanced by one step to the position corresponding to the next following floor.
  • the braking nominal voltage is preset on the drive if there is a stop signal from the selector.
  • the selector is advanced by one step and, at the same time, a new braking nominal voltage is started and decreases according to the certain deceleration law and corresponds, at every moment, to the maximum permissible speed for serving the next floor. This procedure is repeated until the selector produces a stop signal.
  • This invention relates to a method and apparatus for controlling, for medium to high running speeds, an elevator of the type having a speed-regulated drive and a selector with stepping mechanism for stop predetermination, and in which there is supplied to the drive, from a nominal value element for the acceleration, a first increasing nominal voltage and, producing at a certain path point before each stop, a brake nominal value start pulse which initiates a second nominal voltage which decreases as a function of the path traveled and which, at equality with a voltage corresponding to the instanteous cabin speed, is preset on the drive as a nominal voltage for the deceleration of the elevator.
  • the objective of the present invention is to provide a compromise solution between the expensive control system, which provides an optimum speed for each run, and the system provided with fixed speed steps, which provides optimum speeds for only a few runs.
  • the expensive computation of the respective maximum permissible running speeds is especially to be avoided, and the number of runs which can be carried out at optimum running speed is to be maintained as high as possible, without requiring a large number of fixed nominal running speed steps and a shaft flags per floor.
  • the floors lying in the desired running direction are successively searched for the existence of a call.
  • a pulse sequence is produced, and advances the selector and a counter synchronously step by step.
  • the pulse sequence is interrupted by the counter.
  • the selector is advanced by brake engagement start pulses which are correlated to a predetermined second main running velocity.
  • the counting position of the counter is evaluated to preselect the braking nominal voltage corresponding to the running speed adjusting itself, and the selection of the braking nominal voltage to be supplied to the nominal value element is effected by the start pulse correlated to the target floor as well as to the selected running direction and running speed.
  • the apparatus of the invention comprises a control device in which, for each running direction, a shaft switch, correlated to a first main running velocity and a shaft switch correlated to a second main running velocity are mounted on the elevator cabin.
  • the shaft switches are actuable by shaft flags which are secured in the elevator shaft at a theoretical brake path distance before the floors and correlated to the respective main running velocity.
  • the pulses of the shaft switches are supplied to a selection circuit which, as a function of supplied running direction signals of a selector and speed signals of a counter, transfers the pulses, corresponding to the selected running direction and speed, to a nominal value starter.
  • This starter as a function of a supplied output signal of a blocking circuit, either blocks the pulses or transmits the pulses to a nominal value element.
  • a deceleration nominal voltage correlated to either the first or the second main running velocity
  • a stepping pulse generator blocks the pulses'of a pulse generator, or the pulses of the shaft switches correlated to the second main running velocity, or else transmits the pulses to the selector and to the counter as a function of the running speed signals of the counter and stops signals from the selector supplied to it.
  • the counter controls the blocking circuit, and produces the running velocity signal as a function of its counting position.
  • An object of the invention is to provide an improved and simplified method and apparatus for the control of an elevator for medium to high running speed.
  • Another object of the invention is to provide such a method and apparatus which represents a compromise solution between an expensive control system, providing an optimum speed for each run, and a system having fixed speed steps, providing optimum speeds for only a few runs.
  • a further object of the invention is to provide such a method and apparatus which does not involve expensive computation of the respective maximum permissible running speed for each path of travel.
  • Another object of the invention is to provide such a method and apparatus in which the number of runs which can be carried out at optimum running speed is maintained as high as possible without requiring a large number of fixed nominal running speed steps and a large number of shaft flags per floor,
  • FIG. 1 is a schematic part sectional view and part block diagram illustrating the important parts of an elevator in connection with the control device of the invention
  • FIG. 2 is a schematic wiring diagram of a nominal value element
  • FIG. 3 is a graphic representation-of the curve of the elevator speed as a function of the path traveled between two floors;
  • FIG. 4 is a somewhat schematic vertical sectional view illustrating a particular arrangement of shaft flags in an elevator shaft
  • FIG. 5 is a schematic wiring diagram of a NOR element
  • FIG. 6 is a block diagram of a NOR memory
  • FIG. 7 is a schematic wiring diagram of'a delayed NOR element
  • FIG. 8 is a schematic wiring diagram of a relaxation switch
  • F IG. 9 is a schematic wiring diagram of a bistable multivibrator
  • FIG. 10 is a schematic wiring diagram of the invention control device.
  • FIG. 11 is a graphic illustration, associated with FIG. 4, of the acceleration, constant velocity, and deceleration curves corresponding to various runs of the elevator.
  • an elevator shaft 2 shown only partially, has an elevator cabin 3 guided therein.
  • Cabin 3 is secured to hoisting cable 5 driven by a hoisting machine 4, and serves, for example, nine floors S1 to S9, of which only floors S5 and S6 are illustrated in FIG. 1.
  • the shaft doors arranged on floors S5 and S6 are illustrated at T5 and T6, respectively.
  • Hoisting machine 4 is speed-regulated, and the control arrangement consists of a nominal value element 6, anactual value element 7 and an amplifier 8, in the usual arrangement.
  • the actual value element 7 is a tachometer dynamo coupled with the drive shaft of hoisting machine 4, and which produces an actual voltage proportional to the driving speed.
  • the actual voltage is counterconnected with a nominal voltage produced by nominal value element 6, and proportional to the desired drive speed.
  • Amplifier 8 is controlled by the difference voltage resulting from these two counterconnected voltages and, in turn, controls the drive speed of machine 4.
  • a travel direction switch means is illustrated at 9, and, in a known manner, poles the nominal voltage according to the planned direction of travel.
  • nominal value element 6 produces, over the entire travel path of the elevator, a nominal voltage which increases, during the acceleration of the elevator, as a function of time, remains constant during travel at rated speed, and decreases, during deceleration of the elevator, as a function of the path traveled by cabin 3.
  • path pulses are supplied to nominal value element 6 by a conductor LA, from a photoelectric scanner A mounted on cabin 3 and which scans a perforated tape 10 arranged in elevator shaft 2 and extending over the entire hoisting height.
  • a control device, embodying the invention, is indicated at 11 and, as
  • control device 11 controls, through conductors LSWI, LSW 2 and LV2, the nominal value element 6 and, on the other hand, supplies, through conductor LF stepping pulses to a so-called selector l2.
  • Shaft pulses are supplied to control device 11 from four shaft switches MVlu, MV2u, MVld and MV2d arranged on cabin 3, through respective conductors LVlu, LV2u, LVld and LV2d. As cabin 3 passes along shaft 2, these shaft switches are actuated by shaft flags F, indicated more fully in FIG. 4.
  • Selector 12 is a known elevator control apparatus, with stepping mechanism, described in detail in Swiss Pat. No. 381,831 for a collective control arrangement.
  • selector 12 has a series of nine memory elements corelated to the cabin calls, and which are operable by cabin call transmitters C1-C9, arranged in cabin 3, through respective lines LCl-LC9.
  • Selector 12 also has eight memory elements correlated to the upward or downward floor calls, and which are operable by the upward floor call transmitters Sul -Su8 or, respectively, by the downward floor call transmitters Sd2-Sd9, through the associated respective conductors LSul LSu8 and LSd2 LSd9.
  • the stepping mechanism of selector 12 has nine position units correlated to the individual floors,'and is advanced, with a certain lead, by shaft pulses which are dependent on the position of cabin 3.
  • selector 12 determines the direction of travel to be taken for serving this call, and transmits, through conductors Lu and Ld corresponding travel direction signals to control device 11 and travel direction switch 9. In addition, selector 12 produces a departure signal which is transmitted, through conductor LST, to nominal value element 6 to start the latter.
  • the stepping mechanism is advanced step by step. As soon as the stepping mechanism has reached a position which corresponds to a floor for which one of the correlated callmemory elements has a call stored, selector 12 produces a stop signal which is supplied to control device 11 through conductor LH.
  • nominal value element 6 comprises a time-dependent nominal value setter 6.1, for presetting the nominal acceleration, a path-dependent nominal value setter 6.2, for presetting the nominal deceleration, followed by a root former 6.3, and a discriminator 6.4, which controls the transition from time-dependent to path-dependent nominal value presetting.
  • Nominal value element 6 has two output terminals 6.5 and 6.6, at which the nominal voltage is available, and eight input terminals 67-614.
  • a stabilized DC voltage source (not shown) is connected to input terminals 6.7, 6.8
  • the nominal voltage appears across a condenser CTI which is connected, on the one hand, to the zero potential of terminal 6.8 and, on the other hand, and through two resistances RTl and RT2 to the collector of a transistor TTl which is in collector connection.
  • the emitter of transistor TTI is connected, through a resistance RT3, with the positive potential at terminal 6.7, while the base of this transistor leads into discriminator 6.4.
  • Another condenser CT2 is connected between the junction point of resistances RTl and RT2 and terminal 6.8, at zero potential.
  • Path-dependent nominal value setter 6.2 comprises two condensers CW1 and CW2 each having one terminal connected, at zero potential, to terminal 6.8.
  • the other terminals of condensers CW1 and CW2 can be coupled, through a rest contact SWlk ofa relay SW1, with respective taps TWl and TW2 of a potentiometer PW between terminals 6.7 and 6.8, and can be selectively connected, through a make-and-break contact V2WK of a relay V2W to a resistance RW.
  • the other terminal of resistance RW is connected with a collector of a transistor TWl, whose emitter is connected to the negative potential of terminal 6.9.
  • the base of transistor TWl is connected to the output of a conventional NOR element NW having two inputs, one connected, through terminal 6.11, with conductor LA, and the other connected, through terminal 6.12, with conductor LSWl.
  • NOR element NW is a static circuit element, called a NElTHER-NOR-Element, and produces an output signal 1 when all input signals are 0, but furnishes an output signal 0 as soon as at least one input signal assumes the value 1.
  • the principle of this element will be evident from HO. 5, described hereinafter.
  • a diode DW across which is applied the output voltage of path-dependent nominal value setter 6.2.
  • Relay SW1 is actuated by the control signal from control device 11 through conductor LSW2 applied to terminal 6.13
  • relay V2W is actuated by the control signal from control device 11 applied through conductor LV2 to terminal 6.14.
  • the actuation of relays SW1 and V2W by their respective control signals is effected through respective switching transistors TW2 and TW3, arranged in the usual manner.
  • Root former 6.3 serves to transform the curve form of the output voltage of path-dependent nominal value setter 6.2, and comprises a commercial amplifier LW, such as an amplifier having a very high gain, which is connected in negative feedback by means of nonlinear members in such a way that a certain curve form results.
  • Amplifier LW has applied thereto the positive potential of terminal 6.7 and the negative potential of terminal 6.9, and the output voltage of path-dependent nominal value setter 6.2 is applied to its input. Between the output of amplifier OW and the zero potential of terminal 6.8 there is present the output voltage of root former 6.3.
  • the negative feedback is effected through parallel current branches successively blocking at decreasing voltage, of which the first two branches each comprise a resistance RWl or RW2 and an associated Zener diode ZWl or 2W2, while the third branch comprises a resistance RW3 and a diode DW3.
  • a last parallel branch is provided and comprises a resistance RW4. Due to this negative feedback, the return of amplifier 0W becomes progressively weaker at decreasing input voltage, so that the amplification increases.
  • discriminator 6.4 one output terminal 6.5 is connected to zero potential terminal 6.8, while the other output terminal 6.6 is connected to terminal SD1.1, which is the fixed terminal of a make-and-break contact SDl of a relay SD. Rest contact terminal SD12 associated with movable contact SDl has applied thereto the output voltage of time-dependent nominal value setter 6.1, and working or transfer terminal SD13 has applied thereto the output voltage of root former 6.3.
  • Discriminator 6.4 comprises two operation amplifiers CD1 and OD2, which are connected to the positive potential of terminal 6.7 and to the negative potential of terminal 6.9. These amplifiers serve as flip type difference amplifiers, and flip to the negative side at small negative difference of the input potentials and to the positive side at small positive difference of the input potentials.
  • One output of amplifier ODl is connected, through a potentiometer FBI, to the positive potential of terminal 6.7, and the adjustable tap of this potentiometer is connected to the base of transistor TTl of time-dependent nominal value setter 6.1.
  • One input of amplifier ODl is in connection with rest or back contact terminals SD1.2 associated with movable contact SDl, and the other input is connected, on the one hand and through a potentiometer PD2, with working contact terminal SD13 associated with movable contact SD1 and, on the other hand, with the collector of a transistor TBI whose emitter has applied thereto the negative potential of terminal 6.9 and whose base is maintained at a constant potential by means of a series connection of a resistance RD with a Zener diode ZD, which series connection is connected between terminals 6.8 and 6.9.
  • the movable tap of potentiometer PD2 is connected, through a diode DD, with the collector of transistor T11 of time-dependent nominal value setter 6.1.
  • the output of operation amplifier CD2 is connected to the base of the transistor TD2, whose emitter is connected to the zero potential of terminal 6.8 and whose collector is con nected, through the winding of relay SD, to the positive potential of terminal 6.7.
  • One input of amplifier ODZ is connected with rest terminal SD1.2, and the other input with working terminal SD13, both associated with movable contact SD1.
  • path-dependent nominal value setter 6.2 and those also that of root former 6.3, thus carry the voltage corresponding to condenser CW1 charged to its maximum voltage, this voltage being applied to working contact terminal SD1.2.
  • a small constant current flows through potentiometer PD2, so that, at the associated input of amplifier ODl, the output voltage of root former 6.3, reduced by the voltage drop across potentiometer PD2, is available.
  • Path-dependent nominal value setter 6.2 produces, selectively, one or the other of two different nominal voltages for deceleration of the elevator on approaching a floor.
  • the nominal voltage beginning at a smaller initial value, and produced by discharge of condenser CW1 is required for runs over two floors at the most, and the nominal voltage beginning at a greater initial value, and produced by the discharge of condenser CW2, is for runs extending over three or more floors.
  • the selection is made, at the beginning of each run, by control device 11 which, for runs over more than two floors, supplies a control signal to terminal 6.14 through conductor LV2.
  • Relay V2W is then actuated through transistor TW3, and transfers the make-and-break contact VZWK.
  • Condenser CW1 or, respectively, condenser CW2 is now discharged through the series connection of resistance RW and transistor TWl against the negative potential of terminal 6.9. By the discharge against the negative potential, there is attained that the nominal voltage, dropping to zero, sweeps only the practically linear zone of the exponential function corresponding to the condenser discharge. A change of charge of condenser CW1 or condenser CW2 is prevented by diode DW, since the latter becomes conductive as soon as the condenser voltage changes direction.
  • the output voltage of path-dependent nominal value setter 6.2 has a linearly decreasing response as a function of the path traveled by elevator cabin 3. It is known that good running comfort is obtained when the deceleration is as nearly constant as possible over the entire braking distance. This means that the nominal voltage, or respectively the velocity, must decrease parabolically as a function of the path.
  • the output voltage, decreasing linearly as a function of the path, of pathdependent nominal value setter 6.2 therefore is supplied to root former 6.3.
  • Root former 6.3 transforms this output voltage by means of amplifier OW and of the nonlinear negative feedback members ZWl, ZW2 and DW3 into a parabolic nominal voltage, although, to attain a steep and defined termination, the feedback in the last branch is effected by a linear resistance RW4.
  • the resulting slight falsification of the parabolic form, at the end of the curve, can be accepted without disadvantage, and is even desirable in certain cases.
  • the respective nominal voltage response at the output of the root former is represented, in the diagram of FIG. 3, by the curve USv, which starts at path point P1.
  • the path-dependent nominal value setter 6.2 was started during the acceleration phase of the elevator. When a run over several floors is intended, this start will take place usually only at a later time. In any case, however, the instantaneous value of the time-dependent nominal voltage supplied to rest contact terminal SDl.2 is compared, in discriminator 6.4, with the instantaneous value of the pathdependent nominal voltage applied to the working contact terminal SD13 As soon as the difference between these two nominal voltages USb and USv has decreased to the value of the voltage drop UPDZ of potentiometer PD2, operation amplifier ODI flips to the positive side and transistor TTl is blocked. There then occurs only an equalization of the voltages of the two condensers CTl and CT2 through the resistance RTl.
  • starting of the path-dependent nominal value setter 6.2 occurs through one of the solenoid switches MVlu, MV2u, MVld or MV2a' arranged on cabin 3, and which are actuated by flags F mounted in elevator shaft 2, upon passage of the elevator cabin 3, and furnish a signal to inputs 6.12 and 6.13 of the path-dependent nominal value setter 6.3 through control device 11 and conductors LSWl and LSW2.
  • FIG. 4 The arrangement of these flags is illustrated in FIG. 4, wherein the nine floors of elevator shaft 2 are marked S1 to S9.
  • the flags F1u2 to Flu9, for actuation of shaft switch MVlu are intended for upward travel, and the flanges Fldl to F1d8 are arranged for actuation of shaft switch MVld for downward travel over one or two floors.
  • These flags are mounted in the elevator-shaft, as viewed in the respective directions of travel, in advance of the floor in question by a distance which is equal to the deceleration path preset by path-dependent nominal value setter 6.2 upon discharge of condenser CW1 from the maximum voltage to zero voltage.
  • flags F2144 to F2149 For runs over three or more floors, there are provided, for upward runs, flags F2144 to F2149, actuating shaft switch MV2u, and for downward runs, flags F2d1 to F2116 actuating shaft switch MV2d.
  • These are mounted in the elevator shaft, viewed in the respective direction of travel, in advance of the floor in question and by a distance which is equal to the deceleration path preset by path-dependent nominal value setter 6.2 upon discharge of condenser CW2 from its maximum voltage to zero voltage.
  • the control device is constructed from static components, and particular the so-called NOR elements and memory elements resulting combination of two NOR elements.
  • the control device comprises so-called delayed NOR elements, an oscillator and a counter.
  • the NOR element comprises a transistor Tr.
  • the inputs e1, e2, 63 and e4 of the NOR element are connected with the base of transistor Tr through respective resistances W1, W2, W3 and W4;
  • the emitter of transistor Tr is grounded, while the collector is connected, through a resistance WC, to what, in relation to ground, is a positive potential of a DC voltage source.
  • the collector has further connected thereto'the output a of the NOR element.
  • diodes connected with the base of transistor Tr, through an additional resistance.
  • a memory element G resulting from the interconnection of two NOR-elements N1 and N2, is illustrated in FIG. 6.
  • the output 001 of element N1 is coupled with one of the inputs of element N2, and the output aG2 of element N2 is coupled with one of the inputs of element N1.
  • input eGl presents the signal 1
  • input aG2 the signal 0
  • output aG2 the signal 1
  • the signals at the outputs a6! and aG2 do not change.
  • the output position can be changed only when the signal at input e62 becomes 1.
  • FIG. 7 illustrates a delayed NOR element, which comprises a transistor Trt whose collector, to which the output at is applied, is again connected through a resistance WC1 to what in relation to ground, is a positive potential of a DC voltage source, and whose emitter is again grounded.
  • the base is connected through a resistance W5 with input er of the NOR element.
  • a condenser C is inserted between the base and collector of transistor Trt, and is charged when an input signal appears. The output signal thereby is postponed or delayed by a certain time interval relative to the input signal.
  • the oscillator used in the particular control device 11 selected for illustration consists of a relaxation switch KS shown in F16. 8 and which, for pulse formation, is followed by a bistable multivibrator MV, shown in FIG. 9.
  • Relaxation switch KS includes a condenser CKS which is charged with a certain current through a resistance RKSl, and is discharged through a double base diode DDKS when a predetermined voltage is reached.
  • One plate CKSl of condenser CKS is grounded, while the other plate CKS2 is connected through a diode DKS with control input KS1 of switch KS, through resistance RKSl with what, in relation to ground, is a positive potential of a DC voltage source, and further with the emitter of the double base diode DDKS.
  • One base of diode DDKS is connected through a current limiting resistance RKS2 to the positive potential, and the otherbase, to which the output KS2 of switch KS is connected, through a resistance RKS3 to ground.
  • Input KS1 is coupled with the output of a NOR element.
  • NOR element furnishes an output signal 0
  • plate CKS2 of condenser CKS is grounded through diode DKS.
  • condenser CKS begins to charge toward the positive potential.
  • charging of double base diode DDKS is still blocked, and it becomes conductive when the condenser voltage, applied to its emitter, reaches a certain portion of the voltage connected through the two bases.
  • condenser CKS discharges across resistance RKS3 with a large current.
  • a voltage pulse appears at output KS2 of relaxation switch KS.
  • diode DDKS returns to the blocking state, so that condenser CKS can charge again. The discharge process is repeated with a certain frequency until the output signal of the NOR element becomes 0.
  • the bistable multivibrator MV shown in FIG. 9 and connected after relaxation switch KS, is a known circuit arrangement which does not require further explanation. It includes two transistors TMVl and TMV2, whose emitters are through respective resistances, with a positive potential in relation to ground. The base of each transistor TMVl and TMV2 is coupled with the collector of the other transistor.
  • the changeover pulses are supplied through terminal MV3, and the output signal can be attained either through terminal MVl, from the collector of transistor TMVl, or through terminal MU2, from the collector of transistor TMV2.
  • a return signal can be supplied to the multivibrator through terminal M V4, to return the multivibrator to one position.
  • the return input MV4 and the output MVl are not needed.
  • the output of relaxation switch K5 is conducted to the changeover input MV3 and, by the voltage pulses of switch KS, multivibrator MV is flipped over with a certain frequency and produces, at its output MV2, a corresponding sequence of rectangular pulses.
  • two such bistable multivibrators MV may be joined together.
  • One output MV2 of the first multivibrator MV is then connected to the changeover input MV3'of the second multivibrator MV.
  • the multivibrators flip over whenever the input MV3 is reset from the signal value 1 to the signal value 0.
  • the return inputs MV4 are needed to return the counter to a unique starting position.
  • the nominal value element is again designated 6 and the selector is again designated 12.
  • selec tor 12 furnishes, to control device 11, travel direction signals through conductors Lu and Ld, and the stop signal through conductor LH.
  • MVlu, MV2u, MVld and MVZd are shaft switches which furnish shaft pulses to control device 11 through respective conductors LVlu, LV2u, LVld and LV2d.
  • Control device 11 comprises a selection circuit 11.1, a nominal value starter 11.2, a blocking circuit 11.3. a counter 11.4, a pulse generator 11.5 and a stepping pulse transmitter 11.6.
  • each of the conductors LVlu. LV2u, LVld and LV2d is connected to the first input of a respective NOR-element N1.1, N1.2, N1.3 and N1.4.
  • NOR-element N1.1, N1.2, N1.3 and N1.4 To the second input of each of the elements N1.1 and N13, there is connected a conductor LV2 and, to the second input of each of the elements N1.2 and N1.4, there is connected a conductor LV1.
  • the outputs of elements N1.1 and N1.2 are connected commonly to one of the two inputs of a NOR-element N1.5, and the outputs of elements Nl.3 and Nl.4 are commonly connected to one of the two inputs of a NOR-element N1.6.
  • Each of the elements N1.5 and N1.6 has its output connected with the first input of a respective NOR-element Nl.7 and Nl.8.
  • the second input of element N1.7 has connected thereto a conductor Lu leading from selector 12, and the second input of element N1.8 has connected thereto a conductor Ld coming from selector 12.
  • the outputs of elements N1.7 and N1.8 are each connected to a respective one of two inputs of a NOR-element N1.9, and the output of element N1.9 is delivered, through a conductor 1.1.9, into nominal value starter 11.2 and into blocking circuit 11.3.
  • conductor L1.9 is connected, through a delayed NOR-element ZN2.1, to the first input and, in direct connection, to the second input, of a NOR-element N2.l.
  • An output conductor L3.5 of blocking circuit 11.3 is connected to the third input of element N2.l.
  • the output of element N2.1 is connected with one input of a NOR-element 62.11 of a memory 62.], and the output of memory element 62.11 is connected by conductor LSWl into nominal value element 6.
  • One input ofthe other element 62.12 is connected, through a door contact KT, to the positive potential The door contact KT is closed when the cabin door is open.
  • the output of this memory element is connected, by a conductor LSW2, into nominal value element 6, into blocking circuit 11.3, into stepping pulse transmitter 11.5, and into pulse generator 11.6.
  • In blocking circuit 11.3,conductor L1.9 is connected to the input of a NOR-element N3.1, whose output is connected directly to one input and, through a delayed NOR-element ZN3.1, to the other input, of a NOR-element N3.2.
  • the output of element N32 is connected with one input of a memory element 63.11 of a NOR-memory 63.1, and the input of the other memory element 63.12 is connected to conductor LSW2.
  • the output of memory element 63.12 is connected to the input of a NOR-element N3.3, which has another input connected with conductor L4.11 and a further input connected with a conductor L4.22, and whose output is connected to one input of a NOR-element N3.4.
  • Conductor U1 is connected to the other input of element N34, and the output of this element is connected with the input of a NOR-element N3.5 whose output is connected, through a conductor L35, into nominal value starter 11.2.
  • Counter 11.4 comprises essentially an interconnection of two of the bistable multivibrators MV described with reference to FIG. 9 and designated, in FIG. 10, by MV4.1 and MV4.2.
  • the changeover input of multivibrator MV4.1 is connected to the output of a NOR-element N4.3, which has an input connected with conductor LV2 and an input connected with conductor LF.
  • NOR-element N4.3 At one output of multivibrator MV4.1,
  • a conductor L4.11 which leads into blocking circuit 11.3, into pulse generator 11.5, and to the changeover input of the second multivibrator MV4.2.
  • the second output of multivibrator MV4.1 is connected, by a conductor L4.12, with one input of a NOR-element N4.2. ln multivibrator MV4.2, the first output is not in use while the second output is connected with the second input of NOR-element N4.2 through a conductor L422.
  • the return inputs of multivibrators MV4.1 and MV4.2 are connected jointly to the positive potential through a conductor LKB and a brake control contact KB, while latter is closed when the elevator brake is closed or applied.
  • the output of NOR-element N42 is connected by a conductor LV2 into nominal value element 6, into selection circuit 11.1, into pulse generator 11.5, and to the input of a NOR-element N4.l.
  • the output of element N4.l is connected by a conductor LV1 into selection circuit 11.1 and into stepping pulse transmitter 11.6.
  • Multivibrators MV4.1 and MV4.2 flip over, or change their circuit position, when the input changes over to the signal value 0.
  • Pulse generator 11.5 comprises a NOR-memory 65.1 with two memory elements 65.11 and 65.12. Conductor L4.11 is connected to one input of memory element 65.11, and conductor LSW2 is connected to one input of memory element 65.12. The output of memory element 65.11 is connected to one input of a NOR-element N5.1, which has an input connected to a conductor L5] and an input connected to conductor LH, and whose output is connected with one input of a NOR-element N5.2.
  • Element N5.2 has another input connected with conductor LV2, an input connected with conductor LSW2, and an input connected, through a NOR-element N53 and a contact KV, with the positive potential Contact KV is controlled by a tachometer coupled with the drive machine and closes as soon as the elevator reaches a running speed of about 4 cm./sec.
  • the output of NOR element N5.2 is connected to the input of the oscillator 025.1, which comprises the relaxation switch KS of FIG. 8 and the bistable multivibrator MV' of FIG. 9.
  • the output of the oscillator is connected by a conductor L5 .1 into the stepping pulse transmitter 11.6 and to the NOR-element N5.1.
  • Stepping pulse transmitter 11.6 has two NOR-elements N6.1 and N6.2, each having five inputs, and one NOR-element having three inputs. It also comprises a NOR-element N6.4 having conductor Ll-l connected to its input and conductor LHl connected to its output. Conductors LHl, LSW2, Lu, LV1 and LV2u are connected to the inputs of element N61 and conductors Ll-ll, LSW2, Ld, LV1 and LV2d are connected to the inputs of element N61. The outputs of elements N6.l and N6.2 are connected to respective inputs of element N63. At the third input of element N63, there is connected conductor L5.1 leading from pulse transmitter 11.5. The output of element N63 is connected, through conductor LF, into counter 11.4 and into selector 12.
  • control device 11 With the elevator installation switched on and with cabin 3 at rest on the floor with the door open, is represented, in FIG. 10, bythe signal values 1 and 0 entered on the individual conductors.
  • selector l2 furnishes, to one of the conductors Lu or Ld, a travel direction signal 0, which reaches NOR-elements N1.7 and N6.1 or, respectively, N18 and N6.2, without any effect.
  • the door is closed, and thereby contact KT is opened.
  • the'elevator brake is released, and hence contact KB is opened, whereby counter 1 1.4 is free to advance.
  • selector 12 gives a stop signal 0 through conductorLl-l to an inp'ut of each of the NOR-elements N3.4,'N5.1 and N64.
  • The-output of NOR-element N34 thus becomes 1, so that the signal onconductor L3.5 changes to 0.
  • the ou'tput signal ofbscillator 025.1 then becomes 0 again, owing to which the signal 0 appears at the input of multivibrator MV4.1, which is thereby flipped and produces, at its output connected to conductor L411, the signal 1.
  • This causes a changeover of memory 65.1, so that its element 65.11 produces the output signal 0.
  • conductors LH and L5.1 carry the signal 0, NOR-element N5.1, now changing its output signal, stops oscillator 025.1 through NOR-element N5.2.
  • conductor Lu When the elevator cabin is in upward travel, conductor Lu carries the signal 0.
  • the signals which are supplied to conductors LVlu, LV2u, LVld and LVZd, by the respective solenoid switches MVlu, MV2u, MVld and MV2d, actuated during travel of the cabin only those of the solenoid switch MVlu reach output conductor L1.9 of selection circuit 11.1.
  • the solenoid switch MVlu supplies a signal 0 to conductor LVlu, the output of NOR-element N1.l changes tothe signal value 1, the output of element N1.5 changes to the signal value 0, the output of element N1.7 changes to the signal value 1, and the output of element N1.9 changes to the signal value 0.
  • this signal 0 is fed to nominal value starter 11.2 and blocking circuit 11.3.
  • this input signal 0 causes no change of the output signal 0.
  • ln nominal value starter 11.2 this signal passes directly to one of the three inputs NOR-element N2.l and, through the delayed NOR-element ZN2.1, to another input of element N2.l.
  • all three'inputs of NOR element N2.1 are briefly 0, owing to which memory element 62.1 is changed over and furnishes a start pulse to nominal value element 6.
  • the signal on conductor LSWl changes to 0 and that on conductor LSW2 to 1. Since the signal 0 on conductor LV2 leading into nominal value element 6 was not changed, condenser CW1 is now discharged step by step in the path-dependent nominal value setter 6.2.
  • selector 12 When no call is present for the contiguous floor, to which selector 12 is advanced by a pulse of pulse generator 11.5, and
  • selector 12 does not produce a stop signal 0, first the output signal of oscillator 025.1 again becomes 1, the signal on conductor LF again becomes 0, and the output signal of NOR-element N43 again becomes 1. This causes selector 12 to be again advanced by one step. Now, when there is a call for this next floor, selector 12 then produces a stop signal 0, which is supplied to the NOR-elements N3.4, N5.l and N64, with the effect described above. Although the output signal of memory element 65.11 now shows the value 0, oscillator OZ5.1 is not yet stopped through NOR element N5.1, since it furnishes a signal 1 to the input of element N51.
  • This signal 1 is supplied, through conductor LV2, to nominal value element 6, for the preselection of the path-dependent nominal value curve corresponding to condenser CW2, to NOR-element N52, for stopping oscillator OZ5.1, to NOR-element N4.3, for blocking of the advance of counter 11.4, to NOR-elements N1.1 and N1.3, and, through reversing NOR-element N4.l, to NOR-elements N12 and N1.4 of selection circuit 11.1.
  • Selection circuit 11.1 now supplies only the shaft pulses produced by shaft switch MV2u to output conductor L1.9. Upon the appearance of such a pulse, conductor L1.9 changes to the signal 0, so that nominal value starter 11.2 furnishes a start pulse to nominal value element 6. Since conductor LV2 now has the signal 1, the discharge of condenser CW2 is brought about by this start pulse.
  • NOR-element N6.3 thereby becomes *0, resulting in the advance of selector 12 by one step.
  • Counter 11.4 is not advanced further, as NOR-element N4.3 blocks the signal on conductor LP.
  • the shaft pulse does not cause any pulse transmission of nominal value starter 11.2, as output conductor L3.5 of blocking circuit 11.3 carries the signal 1 as long as no stop pulse is produced.
  • Selector 11 is advanced by shaft pulses through NOR-element N61 until it reaches a circuit position for which the respective floor must be served.
  • Selector 12 then produces a stop signal which is supplied, through conductor LH, to the input of NOR-element N34 and, through reversing NOR-element N64, to the input of NOR-element N61.
  • the output signal on conductor L3.5 thereby becomes 0, so that the next shaft pulse of switch MV2u releases, in nominal value starter 11.2, a start pulse and thus the discharge of condenser CW2 of path-dependent pulse setter 6.2.
  • This shaft pulse does not cause an advance of selector 12 since, due to the stop pulse, the input of element N6.1, connected to the output of element N6.4, presents the signal 1.
  • this signal 1 of conductor LSW2 is conducted to NOR- elements N6.1 or, respectively, N6.2 and N52, to prevent the advance of selector 12 and or oscillator OZ5.1. Additionally, this signal 1 on conductor LSW2 returns NOR-memory 65.1 to the starting position again.
  • contact K5 is reopened. After the elevator has come to a standstill, the elevator brake engages whereby contact KB is closed, while returning multivibrators MV4.1 and MV4.2 of counter 11.4 to the starting position.
  • contact KT is again closed, whereby NOR-memory 62.1 is returned to the starting position.
  • the entire control device 11 is again in the starting position shown in the drawing.
  • FIG. 11 the running speed V of the elevator, or, respectively, the nominal voltage US of nominal value element 6, are plotted on the abscissa.
  • the path s of the elevator On the ordinate, and on the same scale as the elevator shaft 2 of FIG. 4, there is plotted the path s of the elevator, with S1-S9 marking the path points corresponding to the individual floors.
  • a first and lower main running velocity is indicated at V1
  • a second and higher main running velocity is indicated at V1
  • a second and higher main running velocity is indicated at V2.
  • V10 represents the theoretical maximum speed corresponding to the maximum voltage of condenser CW1, and V20 that corresponding to the maximum voltage of condenser CW2, of path-dependent nominal value setter 6.2.
  • FK, SK and KP designate run curves, or nominal value curves, which result with runs extending over differing numbers of floors, and UPD2 designates the adjusted voltage of potentiometer PD2 of nominal value element 6. As soon as the difference between the nominal value element 6. As soon as the difference between the nominal voltages FK and SK fall short of the magnitude of voltage UPDZ, transistor TT1 in nominal value element 6, is blocked.
  • the rounding off of the run curves, attained by means of the arrangement of condenser CT2 of nominal value element 6, are not taken into consideration in the illustrated examples.
  • pulse generator 11.5 is started by contact KV.
  • Selector 12 thereby is advanced by one step to the position corresponding to floor S3, and now immediately releases a stop signal which unblocks blocking circuit 11.3 and prepares the blocking of oscillator 025.1.
  • the signal 0 provided by oscillator 025.1 on conductor L5.1 advances counter 11.4 to the next position, and blocks oscillator 025.1 through NOR element N5.l.
  • shaft flag F1u3 produces, in shaft switch MVlu, a pulse which passes through selection circuit 11.1 to nominal value starter 11.2.
  • shaft switch MVld is actuated by flag F1d2, and shaft switch MV2u by shaft flag F2145.
  • the respective shaft pulses are not transmitted by the selection circuit.
  • contact KV is opened, and oscillator 025.1 is now also blocked by signal 1 on conductor L5.3.
  • the path-dependent nominal voltage SK23 becomes zero, so that cabin 3 stops and the elevator brake engages and closes contact KB.
  • the elevator door is opened, whereby also contact KT is closed.
  • the signal on conductor LST becomes 0, so that relay ST releases and closes contact STK.
  • the time-dependent nominal voltage therefore returns to zero.
  • the elevator is now at floor S3. If cabin call C5 is now actuated, the elevator must run upwardly the distance of two floors. The initiation of the run is effected in the same manner as in the preceding example, and the running speed increases according to curve FK35. However, after selector 12 has been advanced, by the first pulse of oscillator 025.1, to the position corresponding to floor S4, no stop signal is produced. The output of oscillator 025.1 becomes 0 and switches counter 11.4 to the next counting step. Later this output again becomes 1, and switches selector 12 to the position corresponding to floor S5. At this time, a signal 0 is supplied to conductor LH, whereby the blocking circuit 11.3 is unblocked.
  • shaft switches MV2d, MVlu and MV2u are actuated first by shaft flags F2111, HM and F2u6. Only the signal of shaft switch MVlu passes to the output of selection circuit 11.1. Blocking circuit 11.3, however, prevents transmission of this signal to nominal value starter 11.2 but, on the other hand, this signal causes the unblocking of blocking circuit 11.3. After, also, shaft signals, not transmitted by selection circuit 11.1, are produced by shaft flags F1d3 and F2d2, flag F1145 actuates shaft switch MVlu. This shaft signal now releases, in nominal value starter 11.2, the emission of a start signal whereupon, in principle, the same process as in the preceding example repeats. In this case, a
  • Both multivibrators MV4.1 and MV4.2 now are flipped out of their initial position.
  • both inputs of NOR element N4.2 carry the signal 0, so that conductor LV2 has the signal 1 and conductor LV1 the signal 0.
  • Oscillator 025.1 thereby is stopped and the state of selection circuit 11.1 is changed so that only the shaft pulses coming from shaft switch MVZu are transmitted. Further, this signal energizes relay V2W in path-dependent nominal value setter 6.2, so that make-and-break contact V2WK is transferred.
  • shaft switch MVZu is actuated by shaft flag F2148, there is emitted, by nominal value starter 11.2, a start signal which initiates discharge of condenser CW2.
  • the resulting path-dependent nominal voltage follows curve SK58.
  • the elevator continues to run, exactly as in the first example, at a constant speed KF58, but which is higher than the first main running velocity. Then the same deceleration process occurs as in the first example, At the end of the run, by the return of counter 1 1.4, the signal on conductor LV2 again becomes 0 and that on conductor LV1 again becomes 1.
  • cabin 2 is at floor S9 and that, by actuation of floor call Sa'1, it receives a command for a downward run extending over nine floors.
  • Selector 12 now transmits a signal 0 to conductor Ld, add
  • the selector By the shaft pulse produced by shaft flag F2d2, the selector is brought to the position corresponding to floor S1, and therefore emits a stop signal which unblocks blocking circuit 11.3.
  • the shaft pulse produced by shaft switch MV2d by shaft flag F2dl, as cabin 3 continues to move, therefrom is transmitted to nominal value starter 11.2 and results in the generation of a start signal, or, respectively, the discharge of condenser CW2.
  • the difference between the output voltage of root former 6.3 and the time-dependent nominal voltage thus reaches the value preselected by means of potentiometer PD2 long before path-dependent nominal value setter 6.2 is started, so that the elevator runs over a greater distance at the constant second main velocity V2. After this difference voltage has decreased to zero, the elevator is decelerated in the same manner as in the preceding examples.
  • control device 11 can, without substantial change, be designed so that even for runs over more than one floor, a running speed correlated to the second main velocity V2 is attained.
  • control device 11 may be constructed alternatively with other logical elements, for example, AND, OR or NOT elements, storage functions, with integrated circuit elements, or with relays.
  • the nominal value setters may be of any kind, for example a mechanical kind.
  • a counter with an afterconnected DA transformer for the production of the path-dependent brake nominal value there is particularly suitable a counter with an afterconnected DA transformer.
  • the brake nominal value can be obtained also by path integration.
  • the scanning of the perforated tape 10, or a corresponding perforated disk arranged in the machine room and coupled with the driving machine may be effected by induction, for example.
  • the path data, produced by shaft switches MV and shaft flags F, can also be obtained by means of perforated or magnetic tapes arranged in the shaft, or by perforated, slotted, or line disks containing, among other things, a coded information, the scanning of the information carriers being possible by photoelectric, inductive or other suitable means.
  • a method of controlling an elevator including interrupting the pulse sequence for the advance of the selector and the counter upon discovery of a call by the selector.
  • a method of controlling an elevator including the step of interrupting the pulse sequence for the advance of the selector and the counter responsive to receipt of three pulses by the counter.
  • Control arrangement for medium to high running speeds of an elevator of the type including a speed-regulated drive, a selector with stepping mechanism for stop predetermination, a nominal value element supplying to the drive, for accelera tion, a first and increasing nominal voltage and, at a certain path point before each stop, a brake nominal value start pulse which initiates a second nominal voltage which decreases as a function of the path traveled and which, when equal to a voltage corresponding to the instantaneous elevator cabin speed, is applied to the drive as a nominal voltage for deceleration: said control arrangement comprising, in combination, respective shaft switches on said cabin each corresponding to a respective running direction and to a respective first or second main running velocity; shaft flags secured in the elevator shaft at theoretical brake path distances before the respective floors and each operable to actuate a respective shaft switch; a selection circuit connected to said shaft switches to receive pulses therefrom; a selector providing running direction signals to said selection circuit; a counter supplying velocity signal to said selection circuit; a nominal value starter; said selection circuit
  • a control arrangement for an elevator including an output conductor connected to said selection circuit; a NOR-element included in said nominal value starter; and a delayed NOR-element said conductor being directly connected to a first input of said NOR-element, being connected to a second input thereof through said delayed NOR-element, and being connected to a third input of said NOR-element through said blocking circuit.
  • a control arrangement for an elevator including a first output conductor connecting said selection circuit to said blocking circuit; a second output conductor connected to said nominal value starter; a memory element connected to receive the signal on said first output conductor; a NOR-element having three inputs; said memory element being resettable by the signal on said second output conductor to a first input of said NOR-element; third and fourth conductors connecting the outputs of said counter to the second and third inputs of said NOR-element; a second NOR- element having one input connected to the output of said firstmentioned NOR-element; and a fifth conductor supplying the stop signal of said selector to a second input of said second NOR-element.
  • a control arrangement for an elevator as claimed in claim 4, in which said counter has four switch positions; said counter, in its fourth position, changing the velocity signal.
  • said stopping pulse generator includes two first NOR-elements each correlated to a respective running direction; each first NOR-element having a first input receiving the corresponding running direction signal, a second input receiving the stop signal, a third input receiving the velocity signal, a fourth input receiving the nominal value start signal, and a fifth input receiving the shaft pulse signal correlated to the second main running velocity and to the corresponding running direction; a second NOR-element in said stopping pulse generator having first and second inputs each connected to the output of a respective first NOR-element; an output conductor applying the output of said main pulse generator to the third input of said second NOR-element; and means supplying the output of said second NOR-element to said selector and to said counter.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Control (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)
  • Control Of Direct Current Motors (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Types And Forms Of Lifts (AREA)
US89996A 1969-11-18 1970-11-16 Method and apparatus for controlling an elevator for medium to high running speed Expired - Lifetime US3643762A (en)

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CH1725969A CH496617A (de) 1969-11-18 1969-11-18 Verfahren zur Steuerung eines Aufzuges in einem Gebäude für mittlere bis grosse Fahrgeschwindigkeit und Steuereinrichtung zur Durchführung des Verfahrens

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3742445A (en) * 1971-06-10 1973-06-26 Reliance Electric Co Elevator car stopping status evaluation means
US3902572A (en) * 1973-11-28 1975-09-02 Westinghouse Electric Corp Elevator system
US4094386A (en) * 1975-05-07 1978-06-13 Hitachi, Ltd. Speed command generator for elevator
EP0031721A2 (en) * 1979-12-27 1981-07-08 Otis Elevator Company Method and apparatus for controlling elevator door motion
US4351416A (en) * 1979-11-19 1982-09-28 Mitsubishi Denki Kabushiki Kaisha Elevator control device

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH550736A (de) * 1973-04-18 1974-06-28 Inventio Ag Einrichtung zur steuerung eines aufzuges.
FR2313300A1 (fr) * 1975-03-20 1976-12-31 Otis Ascinter Systeme de commande de moteur d'ascenseur
DE2516448C3 (de) * 1975-04-15 1981-11-12 Thyssen Aufzüge GmbH, 7303 Neuhausen Verfahren zur Bestimmung des Beschleunigungsabbruchpunktes für einen Aufzugfahrkorb
DE3021501A1 (de) * 1980-06-07 1981-12-17 M.A.N. Maschinenfabrik Augsburg-Nürnberg AG, 8500 Nürnberg Verfahren und vorrichtung zur regelung eines positionierantriebs, insbesondere fuer transportkabinen

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Publication number Priority date Publication date Assignee Title
US3523232A (en) * 1964-07-06 1970-08-04 Reliance Electric & Eng Co Jerk,acceleration,and velocity limited position pattern generator for an elevator system
US3526300A (en) * 1967-08-08 1970-09-01 Inventio Ag Method and apparatus for control of high speed elevator
US3570630A (en) * 1969-02-03 1971-03-16 Otis Elevator Co Landing selector apparatus

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH368915A (de) * 1959-02-19 1963-04-30 Aufzuege Ag Schaffhausen Aufzuganlage
CH381831A (de) * 1960-11-25 1964-09-15 Schweiz Wagons Aufzuegefab Aufzugsteuerung

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3523232A (en) * 1964-07-06 1970-08-04 Reliance Electric & Eng Co Jerk,acceleration,and velocity limited position pattern generator for an elevator system
US3526300A (en) * 1967-08-08 1970-09-01 Inventio Ag Method and apparatus for control of high speed elevator
US3570630A (en) * 1969-02-03 1971-03-16 Otis Elevator Co Landing selector apparatus

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3742445A (en) * 1971-06-10 1973-06-26 Reliance Electric Co Elevator car stopping status evaluation means
US3902572A (en) * 1973-11-28 1975-09-02 Westinghouse Electric Corp Elevator system
US4094386A (en) * 1975-05-07 1978-06-13 Hitachi, Ltd. Speed command generator for elevator
US4351416A (en) * 1979-11-19 1982-09-28 Mitsubishi Denki Kabushiki Kaisha Elevator control device
EP0031721A2 (en) * 1979-12-27 1981-07-08 Otis Elevator Company Method and apparatus for controlling elevator door motion
EP0031721A3 (en) * 1979-12-27 1981-07-22 Otis Elevator Company Method and apparatus for controlling elevator door motion

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SE360632B (it) 1973-10-01
LU62063A1 (it) 1971-05-11
NL169715B (nl) 1982-03-16
BE758837A (fr) 1971-05-12
DE2055922C3 (de) 1981-08-13
DE2055922B2 (de) 1980-12-11
GB1283638A (en) 1972-08-02
AT309729B (de) 1973-08-27
JPS5117773B1 (it) 1976-06-04
NO130578C (it) 1975-01-08
DK130406C (it) 1975-07-21
FI56663B (fi) 1979-11-30
CH496617A (de) 1970-09-30
NO130578B (it) 1974-09-30
ES385685A1 (es) 1973-10-01
DE2055922A1 (de) 1971-05-27
NL169715C (nl) 1982-08-16
DK130406B (da) 1975-02-17
FI56663C (fi) 1980-03-10
FR2069467A5 (it) 1971-09-03
ZA707698B (en) 1971-09-29
NL7016830A (it) 1971-05-21

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