US3887039A - Device for controlling a lift or the like - Google Patents

Device for controlling a lift or the like Download PDF

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Publication number
US3887039A
US3887039A US459198A US45919874A US3887039A US 3887039 A US3887039 A US 3887039A US 459198 A US459198 A US 459198A US 45919874 A US45919874 A US 45919874A US 3887039 A US3887039 A US 3887039A
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signal
lift
storey
stepping
signal generator
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US459198A
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Klaus Boniek
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Inventio AG
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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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  • ABSTRACT A device for controlling a lift provided with a lift-car which is displace-able along a lift-shaft interconnecting a plurality of storeys, the device comprising drive means responsive to a control signal to displace the lift car along the shaft, a plurality of storey switch devices each associated with a respective storey and each arranged to generate a storey signal when the lift is displaced past the respective switch device, lift-call signal processor means provided with means to store lift-call signals for respective storeys and with stepping means having a respective stage corresponding to each storey, the processor means generating a halt signal when the stepping means reaches a stepping stage corresponding to a storey for which a lift-call signal is stored in the storage means.
  • first signal generator means responsive to an initiating signal to generate a control signal which increases towards a predetermined maximum value to control the acceleration of the lift and which during travel of the lift at its maximum speed is maintained at said predetermined maximum value.
  • second signal generator means for generating a succession of retardation signals each of which initially has a respective maximum value and which decreases in value to corre spond at any moment to the maximum lift-car speed permissible for the service of the next servable storey.
  • Comparator means serve to compare the signal generated by the first signal generator with the respectively present retardation signal, the comparator means the absence of the halt signal being responsive to a predetermined difference in magnitude between the compared signals to generate a stepping pulse and in the presence of the halt signal to apply the respectively present retardation signal to the drive means, the stepping means being stepped on through a switching step on departure of the lift-car from its initial location at the start of each journey and being stepped on through a switching step in response to each stepping pulse generated by the comparator means.
  • the second signal generator means is responsive to each stepping movement of the stepping means to generate a further retardation signal
  • the second signal generator means comprises means for generating a series of distance-analogue signals each corresponding in magnitude to the distance between storeys immediately successive in the direction of travel of the lift car, means for connecting successive ones of the distance-analogue signals in a stepwise manner to output means of the distance-analogue signal generator on the occurrence of each stepping movement of the stepping means, means for disconnecting the distance-analogue signals in a stepwise manner from the output means on the occurrence of each storey signal, integrator means for integrating a signal provided by an actual value signal generator mechanically coupled to the drive means, the output signal of the integrator means being of zero value at the beginning of each lift-car journey and being re-set to zero value on the occurrence of each storey signal, difference signal generator means to provide an output signal equal at each instant to the difference between the output signal of the distance-analogue signal generator and of the integrator means, and root former means having input
  • the present invention relates to a new and improved device for controlling a lift or elevator with a speedregulated drive.
  • the braking path possesses a constant length, and the application of the brake occurs independently of the departure storey, always at the same path point in front of the target storey.
  • This path point is mostly marked by a shaft vane disposed in the lift shaft at a location removed from the target storey by the length of the braking path.
  • the nominal travel speed is not reached in the case of particular short journeys where the sum of the acceleration and retardation paths corresponding to the nominal travel speed is greater than the distance between departure and target storey.
  • the braking path no longer possesses a constant length, and the brake application ensues in dependence upon the departure storey at different path points in front of the target storey.
  • This system possesses a call storage which possesses a series of call memories associated with the storeys, a stepping mechanism which possesses a series of position units associated with the individual storeys, and a stop call indicator which generates a holding signal, when the stepping mechanism reaches a position, which corresponds to a storey, for which a call is stored in the call-store.
  • an ideal or reference value voltage increasing according to a determined acceleration law is delivered to the speed controlled drive, and simultaneously there is triggered a braking ideal or reference value voltage which decreases according to a determined retardation or deceleration law and which corresponds at any moment to the maximal speed permissible for the serving of the next storey.
  • the stepping mechanism is thus steppedon or indexed through one switching step to the position corresponding to the next following storey.
  • the two reference value voltages have reached the same voltage value, and provided that there is present a holding signal from the stop call indicator, the braking reference value voltage is delivered to the drive.
  • the stepping mechanism is indexed by one switching step, and there is simultaneously triggered a new braking reference value voltage, which decreases according to the determined retardation law and which at any moment corresponds to the maximal speed permissible for the serving of the next storey. This procedure is repeated for such length of time until the stop call indicator generates a holding signal.
  • Another known control arrangement constitutes a compromise between the expensive control system which provides an optimal speed for each journey, and the system provided with fixed speed stages or steps and which permits optimal speeds only for few journeys.
  • this control arrangement operating at two main travel speeds, a pulse sequence is generated directly after beginning of travel, this pulse sequence synchronously stepwise indexing a stepping mechanism and a counter, whereby the storeys lying in the direction of travel are scanned for the presence of a call.
  • the pulse sequence is interrupted by the counter.
  • the retardation or deceleration of the lift or elevator car begins through brake application start pulses which are delivered by shaft switches. if no call is present after the interruption of the pulse sequence, then the stepping mechanism is indexed until the finding of a call by brake application start pulses, which are associated with a second, larger main travel speed.
  • the pre-selection of the braking reference value voltage which corresponds to the travel speed setting itself, and the selection of the start pulse which is fed to the reference value setting device, and which is associated with the target storey and the chosen direction and speed.
  • the disadvantage of this control system resides in the fact that the first, smaller main travel speed is determined by the smallest storey distance, so that during certain journeys no optimal speeds are achieved.
  • a further disadvantage resides in the fact that calls which occur after the start for journeys in the same direction of travel to storeys which lie within the selected travel path in certain cases no longer can be considered.
  • a primary object of the invention aims at the provision of a device for controlling a lift which is not associated with these drawbacks and wherein there can be realized optimum speeds for each journey with economically acceptable expenditure of equipment.
  • a device for controlling a lift provided with a lift-car which is displaceable along a lift-shaft interconnecting a plurality of storeys, the device comprising drive means responsive to a control signal to displace the lift car along the shaft, a plurality of storey switch devices each associated with a respective storey and each arranged to generate a storey signal when the lift is displaced past the respective switch device.
  • lift-call signal processor means provided with means to store lift-call signals for respective storeys and with stepping means having a stage respectively corresponding to each storey, the processor means generating a halt signal when the stepping means reaches a stepping stage corresponding to a storey for which a lift-call signal is stored in the storage means, first signal generator means responsive to an initiating signal to generate a control signal which increases towards a predetermined maximum value to control the acceleration of the lift and which during travel of the lift at its maximum speed is maintained at said predetermined maximum value, second signal generator means for generating a succession of retardation signals each of which initially has a respective maximum value and which decreases in value to correspond at any moment to the maximum lift-car speed premissible for the service of the next servable storey, comparator means to compare the signal generated by the first signal generator with the respectively present retardation signal, the comparator means in the absence of the halt signal being responsive to a predetermined difference in magnitude between the compared signals to generate a stepping pulse and in the presence of
  • FIG. 1 schematically illustrates the most important parts of a lift or elevator in conjunction with a control device embodying the invention
  • FIG. 2 is a graphical representation of the course of the timeor path-dependent lift speed
  • FIG. 3 is a circuit diagram of a path determining device or arrangement
  • FIG. 4 is a block diagram of two control stages for controlling the storey distance relays of the path determining unit
  • FIG. 5 is a circuit diagram of an ideal or reference value setting device
  • FIG. 6 is a graphical representation of the course of the output voltages of a path determining unit and an integrator
  • FIG. 7 is a graphical representation of the course of the output voltage of the path determining device or arrangement.
  • FIG. 8 is a graphical representation of the course of the timeor path-dependent lift speed in greater detail than the showing of FIG. 2.
  • reference character 1 designates an elevator or lift shaft, only part of which has been shown, and in which a lift car 2 is guided.
  • the lift car or elevator cabin 2 is secured at a hoisting cable 4 driven by a speed regulated winding engine 3.
  • This lift car 2 services a number of building storeys S1 to Tn, only three of which are conveniently shown in this FIGURE.
  • Shaft doors disposed at these storeys are designated by reference characters TI to Tn.
  • the winding engine 3, a regulating device or arrangement 5, an actual value indicator or setting device 6 and an ideal or reference value indicator or setting device 7 form a regulating circuit arranged in usual sequence.
  • the actual value indicator device 6 is a tachometer dynamo which is coupled with the drive shaft of the winding engine 3 and generates a voltage which is proportional to the drive speed.
  • the reference value indicator or setting device 7, as explained more fully in the following description of FIG. 5, generates over the entire travel path of the lift or elevator car 2 an ideal or reference value voltage which is proportional to the desired drive speed and which increases during the acceleration as a function of time, remains constant dur' ing the journey at nominal travel speed, and decreases during the retardation or deceleration independence upon the path traversed or travelled by the lift-car 2.
  • the actual value voltage and the referennce or ideal value voltage are compared in the regulating device or arrangement 5, and the differential voltage resulting therefrom is amplified.
  • a travel direction switching device 8 determines in known manner the polarity of the reference or ideal value voltage in accordance with the prevailing direction of travel.
  • a path determining device or arrangement is designated by reference character 9, a control apparatus consisting of stepping or indexing mechanism 10.1 and a call processor 10.2 by reference character 10, and a logic circuit by reference character 11.
  • the path determining arrangement 9 is connected at the input side via line LMl to LMn with storey switches Ml to Mn which are mounted at the storeys S1 to Sn and which switches are actuated during the travellingpast of the lift car 2.
  • the path determining arrangement 9 is connected via lines LS1 to LSn with the stepping mechanism 10.1 of the control apparatus and also is connected via lines Lu2, Ld2 and Ldu with the logic circuit 11.
  • the path determining arrangement 9 is also connected to the actual value indicator or setting device 6.
  • the path determining arrangement 9 is connected at its output side with the reference value indicator device 7.
  • the control apparatus 10 is a known lift control apparatus, for instance as described in detail in Swiss patent 381 831 for a collective control, the disclosure of which is incorporated herein by reference.
  • the call processor 10.2 in the case of n storeys, possesses a series of n memory elements which are associated with the car calls and which are actuatable via lines LCl to LCn by car call generators C1 to Cn disposed in the lift or elevator car 2.
  • n-l memory elements which are associated with the upwards or the downwards storey calls and which are actuatable by upwards storey call generators Sul to Sun-l or downwards storey call generators Sd2 to Sdn via lines LSul to LSun-l or LSa'Z to LSdn.
  • the stepping mechanism 10.1 displays n position units associated with the individual storeys, and is advanced or indexed by pulses generated in the logic circuit 11 via a line LF2 with a predetermined lead.
  • the call processor 10.2 determines the direction of travel necessary to service this call and transmits the result via conductors Lul, Ldl to the logic circuit 11.
  • the stepping mechanism 10.1 is stepwise indexed. As soon as it has reached a position which corresponds to a storey, for which the associated memory element has stored a lift-car signal, there occurs the hold predetermination in which the call processor 10.2 generates a halt signal which is fed to the logic circuit 11 via a line LI-I.
  • the logic circuit 1 1 comprises an arrangement of digital logic coupling elements (not shown). It receives from the call processor 10.2 via the line LSTI a departure signal which, after checking all safety precautions necessary for a journey, is transmitted via a line LST2 to the reference or ideal value indicator device 7. Via a line LFl the logic circuit 11 receives from the reference value indicator or setting device 7 a signal, which is only then transmitted via a line LF2 to the stepping mechanism 10.1 for its indexing through one switching or indexing step, when no hold predetermination is present. Moreover, the logic circuit 11 receives direction information via the lines Lul from the call processor 10.2, and it transmits such information via the lines Lu2, Ld2 to the travel direction switching device 8 and via the lines Lu2, Ld2 and Ldu to the path determination arrangement 9.
  • the control principle which is the basis of the circuit arrangement according to FIG. 1 is known from Swiss Pat. No. 479,479, the disclosure of which is incorporated herein by reference, and will be more fully explained with reference to FIG. 2.
  • the path traversed by the lift or elevator car 2 is plotted along the abscissa and the speed v of the lift car 2 along the ordinate v.
  • the path points corresponding to the storeys are designated by S4 to S8 along the abscissa.
  • the course of the speed during the acceleration phase of the lift or elevator is represented by the curve v and that during the journey at constant speed by the curve v which corresponds to the maximal attainable travel speed v,,,,,,.
  • the retardation or deceleration curves v v,,, v1 and v show the respective course of an ideal or reference speed given by the ideal or reference value setting device 7 during the retardation phase, when the lift should stop at the path point S5, S6, S7 or $8 displaying the same index as the curve.
  • the points of intersection of the ideal retardation curves v,,, v,, v and v, with the curves v and v,,. are designated by reference characters A, B, C and D.
  • the stepping mechanism 10. Upon departure of the lift car 2 from the storey $4, the stepping mechanism 10.] is indexed to the storey S5, and simultaneously the reference or ideal value setting device 7 is started for the generation of the retardation curve v As soon as the lift car 2 reaches the point of intersection A of the curves v, and v there is checked whether a hold predetermination is present for the storey S5. If this is the case, then the retardation ideal value according to curve v is applied to control the speed of the lift, so that the lift is retarded or decelerated according to this curve v and comes to standstill at the storey S5. If, on the other hand, no hold prede termination is present, i.e.
  • the stepping mechanism 10.1 is indexed further through one indexing or switching step to the storey S6, and simultaneously the reference value setting device 7 is started for the generation of the retardation or deceleration curve v,,.
  • the analogous procedure then repeats when the lift car reaches the points of intersection B, C and D.
  • the path determining arrangement 9 consists of a path determining unit 9.] in which the storey distances are formed in the form of analogue currents, a computing or computer stage 9.2 in which there is determined the braking path in the form of an analogue voltage and delivered to an input 7.9 of the reference value indicator device 7, and a control device or arrangement 9.3 for controlling the path presetting unit 9.].
  • the path determining unit 9.1 is composed of a number corresponding to the storey number n of parallel current branch circuits Szl to Szn.
  • the branches Szl to Szn there are connected in series a respective potentiometer PVl to PVn, a relay contact SVKl to SVKn and a resistor or resistance RVl to RVn.
  • the relay contacts SVKl to SVKn are actuated by storey distance relays SVI to Svn which, on the one hand, are connected via a terminal 9.4 with the positive pole of a direct-current voltage source and, on the other hand, are connected via lines LVI to LVn with the control arrangement 9.3.
  • the two outputs of the path pre-setting unit 9.1 are connected with two terminals 9.5 and 9.6.
  • the computer stage 9.2 receives the actual value voltage which is proportional to the drive speed, from the actual value indicator device 6 via two terminals 9.7 and 9.8.
  • This voltage is applied via a bridge circuit B consisting of four relay contacts SUKl, SUK2, SDKl and SDK2, to a potentiometer PR].
  • the tap of the potentiometer PR] is connected via a potentiometer PR2 to the middle of a potential or voltage divider consisting of a resistance RR1 and a potentiometer PR3.
  • the ends of this voltage or potential divider RR1 and PR3 are connected via a relay two-way contact SIKI with the input of an integrator l.
  • Integrator I is constituted by an operation amplifier with suitable feedback, as such is employed in analogue computers.
  • Its feedback circuit consists of two identical parallel branch circuits, each containing a capacitor CR1 or CR2, respectively.
  • the two capacitors CR1 and CR2 are alternately discharged or short-circuited by means of a relay two-way contact SIK3 via a discharge resistor or resistance RR2.
  • the one or the other feedback branch can be switched-in via a relay two-way contact SIK2.
  • the output of the integrator I is connected via a resistor RR3 with the input of difference generator or adder A.
  • the adder A is likewise an operational or differential amplifier. such as is known from analogue computers, with suitable feedback.
  • the path determining unit 9.1 which simultaneously constitute input terminals for the computer stage 9.2, there is connected in series a potentiometer PR4, a relay contact SEK and a resistor RR4.
  • This connection forms a further branch circuit SzE which is parallel with branches Szl to S2n of the path determining unit 9.1.
  • the terminal 9.5 is moreover connected with a stabilised direct-current voltage source 9.21, and the terminal 9.6 is connected with the input of the adder A.
  • the feedback circuit of the adder A consists of two parallel branches, one of which includes a capacitor CR3 and the other a resistor RRS.
  • the output of the adder A is connected with a terminal 9.9, by means of which the voltage corresponding to the braking path is delivered to the root former 7.2.
  • the control device or arrangement 9.3 is composed of a number corresponding to the storey number of control stages 9.3.1 to 9.3.n which will be considered more fully during the description of FIG. 4.
  • the control stages receive control pulses from the storey switches Ml to Mn via the conductors or lines LM1 to LMn and from the stepping mechanism 10.1 via the conductors or lines LS1 to LSn. Moreover, they receive travel direction information from the logic circuit 11 via the lines Lu2, Ld2, and a switch-off or cut-off signal via the line Ldu when no travel direction information is present.
  • the switching pulses generated in the control stages 9.3.1 to 9.3.n for the storey distance relays SV1 to Svn are transmitted to the path determining unit 9.1 via the lines LVl to LVn.
  • the control stages are furthermore connected with one another by lines LSt2 to LSm.
  • the control stages 9.3.1 to 9.3.n of the control arrangement 9.3 consist in each case of six NOR-elements N1 to N6, the NOR-elements N2 and N3 forming a NOR-memory G according to conventional circuit design.
  • the line LM1 leads via the NOR-element N1 of the control stage 9.3.1 to an input of the NOR-element N2, which is provided with three inputs, the second input of which is connected with the line Ldu and the third input of which is connected with the output of the NOR-element N3.
  • the two inputs of the NOR-element N3 one input is connected with the output of the NOR-element N2, while the line SL1 is connected with the other input.
  • the output of the NOR-element N3 leads to an input of the NOR- element N5 which is provided with two inputs, the second input of the latter being connected with the line Ld2. Of the two inputs of the NOR-element N4, the one is connected with the line Lu2, while the other is connected via the line LSt2 with the output of the NOR memory G of the control stage 9.3.2.
  • the outputs of the NOR-elements N4 and N5 are connected to the two inputs of the NOR-element N6, the output of which, on the one hand, is connected via the line LVI with the path determining unit 9.1 and, on the other hand, with ground.
  • the numbers at the inputs and outputs characterise the switching conditions of the NOR-elements.
  • the first number indicates the signals at standstill, the second the signals at departure and the third the signals during travelling through a storey.
  • a logic signal I signifies positive voltage and a logic signal 0" no voltage.
  • FIGS. 6 and 7 The voltages appearing at the outputs of the path presetting or determining unit 9.1, of the integrator l and of the adder A during operation of the lift are represented in FIGS. 6 and 7.
  • the path traversed by the lift or elevator car 2 as well as the path points S1 to S5 corresponding to the individual storeys are plotted in each case along the abscissa and the different voltages along the ordinate.
  • the output voltage waveform of the path determining unit 9.1 is designated by USV, wherein USVl, USV1+USV2 and so forth represent the individual voltage steps.
  • the voltage course negative in relation to the output voltage USV of the integrator I is designated by Ul.
  • FIG. 7 there is shown the course of the output voltage UA of the adder A or of the path determining device or arrangement 9.
  • the above-described path determining arrangement 9 operates as follows:
  • the output of the NOR-memory G of the control stage 9.3.2 displays the logic signal 1.
  • This signal passes via the line LST2 to the second input of the NOR-element N4 of the control stage 9.3.1, the output of which thus displays the logic signal 0.
  • the output circuit of the NOR-element N6 is thus opened or non-conductive, the storey distance relay SV1 connected via the line LVI of the path determining unit 9.1 is without current, and the relay contact SVKl is opened or non-conductive.
  • the actual value indicator device 6 coupled with the winding engine 3 does not deliver any voltage to the terminals 9.7 and 9.8 of the computer stage 9.2 at standstill of the lift.
  • the output voltage of the integrator I is also zero. Since the storey distance relays SVl to SVn are without current, and thus no path determining voltages appear at the input of the adder A, the output voltage at the terminal 9.9 of the computer stage 9.2 is also zero.
  • the storey switch Ml closes and the stepping mechanism 10.] is indexed to the next storey (S2). Consequently, the logic signal 1 arrives via the line LM] and the logic signal via the line LS] at the control stage 9.3.1. Since at the same time the logic signal 0 is delivered via the line Ldu, the logic signal 1 appears at the output of the NOR-memory G. Negated travel direction signals 0 and 1 pass via the lines Lu2 and Ld2 to the inputs of the NOR-elements N4 and N5 respectively. Since the second input of the NOR-element N5 is connected with the output of the NOR-memory G, it likewise displays the logic signal 1.
  • the output of the NOR-element N5 thus has the logic signal 0. Since the lines LS2 and LM2 conduct the logic signals 1, the output of the NOR-memory G of the control stage 9.3.2 displays the logic signal 0. This signal passes via the line LSt2 to the second input of the NOR-element N4 of the control stage 9.3.1, the output of which thus displays the logic signal 1.
  • the two inputs of the NOR-element N6, which are connected with the outputs of the NOR- elements N4 and N5, thus carry the signals 1 and 0 respectively.
  • the output circuit of the NOR-element N6 is thus closed, the storey distance relay SVl, connected via the line LVl with such output circuit, of the path determining unit 9.1 is energised, and the relay contact SVKl is closed. Consequently, there appears at the input of the adder A a voltage USV] which corresponds to the distance between the first and second storey and which is determined by the potentiometer PV! and the resistor RVl, the potentiometer PVI serving for the exact setting of the required voltage value.
  • the voltage corresponding to the instantaneous lift speed of the actual value indicator device 6 is continually fed to the integrator l via the terminals 9.7 and 9.8 and the bridge circuit B and integrated over the distance between two storeys.
  • the integrator l is set to zero at the beginning of a journey and during the travelling-through of a storey.
  • the relay two-way contacts SlKl, SIK3 are switched-over, the capacitor CR1 or CR2, as the case may be, being discharged across the resistor RR2, while simultaneously the capacitor CR2 or CR1 is available for the integration.
  • Deviations of the actual value voltage and the integration time-constants are compensated by means of the potentiometers PR1, PR2 and PR3.
  • the relays Sll to Sl3, SU and SD necessary for the actuation of the relay contacts SlKl to SIK3, SUKi, SUK2, SDK] and SDKZ, and the controls belonging thereto, are not further represented or more closely explained.
  • the output voltage Ul of the integrator I is supplied via the resistor RR3 to the adder A and subtracted from the output voltage USV of the path determining unit 9.1.
  • the amplified voltage difference UA thus appearing at the output of the adder A is transmitted via the terminal 9.9 to the root former 7.2 of the reference value setting or indicator device 7, where it is transformed into the braking ideal or reference value voltage.
  • the storey switch M2 is actuated.
  • the line LM2 thus conducts the logic signal 0. Since the line LS2 already conducts the logic signal 0, the output of the NOR- memory G of the control stage 9.3.2 exhibits the logic signal 1.
  • This signal passes via the line LSt2 to the input of the NOR-element N4 of the control stage 9.3.], the output of which thus changes to the logic signal 0. Since the output of the NOR-element N5 exhibits without change the signal 0, the output of the subsequently connected NOR-element N6 has the logic signal 1.
  • the storey distance relay SVl connected via the line LVl is thus de-energised and the relay contact SVKI opened.
  • relay contact SEK closes and switches the voltage USE, which corresponds to the remaining path and which is determined by the potentiometer PR4 and the resistor RR4, to the input of the adder A.
  • the relay SE necessary for the actuation of the relay contact SEK and the control belonging thereto are not further shown or discussed.
  • the reference value setting or indicator device 7 consists of a time-dependent idea] or reference value setter 7.1 for generating the acceleration ideal or reference value, a root former 7.2, which transforms its input magnitude into the path-dependent retardation idea] or reference value, and a speed comparator 7.3 which controls the transition from timedependent or constant (corresponding to maximum speed) to path-dependent ideal or reference value voltage.
  • the reference value setting or indicator device 7 possesses seven connecting terminals 7.4 to 7.10, the ideal or reference value voltage being removed at the terminal 7.5.
  • a stabilised direct-current voltage source which has not been particularly shown, is connected at the terminals 7.6, 7.7 and 7.8, zero potential being applied at the terminal 7.7, a positive potential at the terminal 7.6 and a negative potential of equal magnitude at the terminal 7.8.
  • the reference value voltage appears at the timedependent reference value setter 7.1 across a capacitor CTl which, on the one hand, is connected with the zero potential of the terminal 7.7 and, on the other hand, is connected via a potentiometer PT] and a resistor RTl with the collector of a transistor TTl connected as a constant current source.
  • the emitter of this transistor TTl is connected via a resistor RT2 with the positive potential appearing at the terminal 7.6, while the base leads to the tap of a potentiometer PT2.
  • the potentiometer PT2 is connected, on the one hand, with the positive potential appearing at the terminal 7.6 and, on the other hand, between a Zener diode ZT and a resistor RT3 which are connected in series and connected in circuit between the terminals 7.6 and 7.8. Between the potentiometer PTl and the resistor RTl there is connected a further capacitor CT 2 which, on the other hand, is connected with the terminal 7.7, i.e. is at zero potential.
  • the series connection of the resistor RT] with the capacitor CT 2 is bridged by means of a twoway contact STK which is actuatable by a relay ST, the
  • the rest contact terminal STK.1 of which is connected with the collector of the transistor T'Tl, while a connection or line leads from its working contact terminal STK.2 to the speed comparator 7.3.
  • the relay ST is actuated by the departure signal delivered via the line LST2 to the terminal 7.4, the two-way contact STK switching over from the rest contact position (STKJ) into the working contact position (STK.2).
  • the departure signal remains for such length of time and thus the twoway contact STK remains in the working contact position (STK.2) for such length of time until the lift has completed the corresponding journey, i.e. until the holding or stop brake of the lift is operated.
  • a diode DTl is connected between the resisor RT! and the ca pacitor CT2.
  • a diode DT2 connected with opposite polarity to the diode DT1 is connected by means of its second terminal with the tap of a potentiometer PT3 which is connected in circuit between the terminals 7.6 and 7.7.
  • a resistor RT4 is inserted between the diodes DTl, DT2 and the negative potential appearing at the terminal 7.8.
  • the root former 7.2 serves for the transformation of the output voltage of the path determining arrangement 9. It consists of an operational or differential amplifier OW which is feedback connected in such a manner by means of non-linear elements that its output voltage alters with the root of the input voltage.
  • the output voltage delivered via the terminal 7.9, of the path determining arrangement 9 is applied to the input of the operational amplifier OW.
  • the output voltage, corresponding to the path-dependent reference or ideal value, of the root former 7.2 appears at the output of the operational amplifier OW. This output voltage is non-linearly related to the voltage input to the root former 7.2.
  • the negative feedback occurs via parallel current branches which successively block during dropping of the voltage, the first two of which consist in each case of a resistor RW1 and RW2 respectively and a Zener diode ZWl and ZW2 respectively, the third of a resistor RW3 and a diode DW3, and a last parallel branch is formed by a resistor RW4.
  • the negative feedback of the operational amplifier OW becomes increasingly weaker during dropping of the input voltage, so that the gain or amplification increases.
  • the output voltage corresponding to the pathdependent reference or ideal value of the root former 7.2 is applied in the speed comparator 7.3 via a resistor RG1 to the base of a transistor T61.
  • the collector of the transistor TG1 is connected with the positive potential appearing at the terminal 7.6, while its emitter is connected via a resistor RG2 with the collector of a transistor TG2 connected as a constant current source.
  • the emitter of the transistor TG2 is connected via a potentiometer TGl with the negative potential appearing at the terminal 7.8. Its base is kept at constant potential by means of a series circuit, connected between the terminals 7.7 and 7.8, of a resistor RG3 and a Zener diode ZG.
  • the speed comparator 7.3 is provided with two operational amplifiers G1 and 0G2 operating as triggers.
  • the input 2 of the operational amplifier 001 is connected via a resistor RG4 with the emitter of the transistor T01 and via a closing contact SGK of a relay S0 with the output of the timedependent reference value setter 7.1 leading to the terminal 7.5.
  • the input 3 of the operational amplifier 001 is directly connected at the output of the timedependent reference value indicator or setter 7.1.
  • the output of the operational amplifier 0G] is connected with the input of a NOR-element NGl, the output of which, on the one hand, is connected with the zero potential appearing at the terminal 7.7 and, on the other hand, is connected via the relay SG with the terminal 7.4.
  • the input 2 of the operational amplifier 062 is connected via a resistor RG5 and the resistor RG2 with the emitter of the transistor TG], while the input 3 thereof is connected with the output of the timedependent reference or ideal value setter 7.1.
  • the output of the operational amplifier 062 is connected via a NOR-element NG2 with the terminal 7.10.
  • a voltage divider consisting of three resistors RG6, RG7 and RG 8 is connected between the positive potential appearing at the terminal 7.6 and the negative potential appearing at the terminal 7.8.
  • a connection which is connected between the resistors RG6 and RG7 leads to the working contact terminal STK.2 of the time-dependent reference or ideal value setter 7.1.
  • a diode DG1 is connected in circuit between the resistors RG7 and RG8 and the input 2 of the operational amplifier 001. With the working contact setting (STK.2) of the two-way contact STK there thus appears an exactly defined potential at the input 2 of the operational amplifier 06].
  • a potentiometer PG2 Connected in parallel with the resistor RG2 is a potentiometer PG2, the tap of which is connected via a diode DG2 with the collector of the transistor TTl of the time-dependent ideal value indicator or setter 7.1.
  • a diode DG3 is, on the one hand, likewise connected with the collector of the transistor TT] and, on the other hand, via a resistor RG9 with the collector of the transistor TG2.
  • the mode of operation of the reference value setting or indicator device 7 is more fully explained hereinafter with reference to FIG. 8.
  • the path s traversed by the lift car 2 as well as the path points S1 to S6 corresponding to the individual storeys are plotted along the abscissa, and the reference or ideal value voltage U, appearing at the terminal 7.5 of the reference value setting or indicator device 7 or the speed v corresponding to it of the lift car 2 along the ordinate.
  • the capacitors CT1 and CT2 are short-circuited via the two-way contact STK, so that the capacitor voltages are zero.
  • the actual value indicator or setting device 6 coupled with the winding engine 3 furnishes no voltage to the inputs 9.7 and 9.8 of the path determining device or arrangement 9, so that also its output 9.9 or the input 7.9 of the root former 7 .2 and thus also the output 7.5 of the reference value setting device 7 are zero.
  • the relay ST is energised and the two-way contact STK is switched over into the working contact position (STK.2).
  • the capacitors CT] and CT2 are now charged via the transistor TT1 with constant current, the charging current being settable by means of the potentiometer F12.
  • the charging of the capacitor CT2 occurs via the resistor RTl, while the charging of the capacitor CT1 occurs via the resistor RTl and the potentiometer PT1. Consequently, there occurs a delay of the voltage rise at the capacitor CT1, which brings about a rounding or smoothing of the voltage course at the beginning of the charging operation, which can be adjusted by means of the potentiometer PTI.
  • the voltage course USb at the output 7.5 of the reference value setting device 7 now linearly increases as a function of time. there being attained an approximately constant acceleration of the lift or elevator car 2.
  • the diode DTl When the voltage at the capacitor CT2 reaches the value set at the potentiometer PT3, then the diode DTl conducts and charging of the capacitor CT2 is interrupted.
  • the capacitor CTl reaches this voltage peak somewhat later on in time owing to the time-constant determined by the components CTl and PT], whereby the voltage ascent transforms with a rounded or smoothed portion R! (FIG. 8) into a constant voltage course USk, corresponding to the maximum constant travel speed of the lift car 2.
  • the diode DT2 ensures that the charging current will be removed via the resistor RT4 at the negative potential of the terminal 7.8.
  • the output voltage UA of the path determining arrangement 9 and delivered to the root former 7.2 possesses a linearly decreasing course as a function of the path through which the left car 2 has moved.
  • a good travelling comfort is realized if the deceleration or retardation is also constant as much as possible over the entire braking path. in other words, the reference voltage value a, and the speed v corresponding thereto must parabolically decrease as a function of the path s according to the equation v K s.
  • the output voltage UA of the path determining device or arrangement 9 is thus transformed at the root former 7.2 by means of the operational amplifier OW and the non-linear negative feedback elements ZWl, 2W2, DW3 into a parabolic-shaped reference value voltage USv, wherein especially for realizing a steep and defined termination the feedback in the last branch is carried out in the last branch by means of a linear resistor RW4.
  • the thus-occurring slight falsification of the parabolic-shape at the end of the curve can be accepted without disadvantage and in some instances is even desirable.
  • the starting time point for the decreasing path-dependent reference value voltage of the deceleration phase coincides with the starting time point of the increasing time-dependent reference value of the acceleration phase of the lift car 2.
  • the speed comparator 7.3 there is now compared the momentary value of the time-dependent reference value voltage USb with the momentary value of the path-dependent reference value voltage USv.
  • the time-dependent reference or ideal value voltage USb is thus delivered to the inputs 3 of the operational or differential amplifiers G1 and 0G2 acting as triggers, while the pathdependent reference value voltage USv tapped-off the emitter of the transistor TGl is delivered, on the one hand, via the resistor RG4 and, on the other hand, via the resistors RG2 and RG5 to the inputs 2 of the operational amplifiers 0G1 and 0G2 respectively.
  • the voltage drop URG2 occurring at the resistor R62 is kept constant by means of the difference of the two reference or ideal value voltages USb, USv has dropped to the value of the voltage drop URG2, then the operational amplifier 0G2 switches.
  • the logicsignal 1 thus appears at its output, and the logic signal 0 at the output of the NOR-element NG2 connected thereafter.
  • This signal arrives via the line LFl at an input of a NOR-element NL of the logic circuit 11. Since also the other input connected with the line LH of the NOR-element NL displays the signal 0 when a hold predetermination is not present, thus the logic signal 1 appear at the output of this NOR-element. [n consequence of this, a pulse is conducted via the line LF2 connected with the output of the NOR-element NL to the stepping mechanism 10.1, and the latter is further indexed one step.
  • the signal 1 appears at the corresponding input of the NOR-element or gate NL. Since the logic signal 0 delivered by the speed comparator 7.3 via the line LFl is present at the other gate input, the output of the NOR-element NL displays the logic signal 0.
  • the stepping mechanism 10.1 is thus not further indexed, rather there is initiated the transition from the acceleration phase i.e. from the travel at constant speed to the retardation or deceleration phase. In this case, the path-dependent reference or ideal value voltage USv begins to fall towards zero, the diode DG3 becomes conductive and the capacitor CT2 discharges.
  • the discharge current flowing via the transistor T62 to the negative potential of the terminal 7.8 is, however, limited by the resistor RG9, so that the smoothing or rounding-off portion R2 (FIG. 8) of the timedependent or constant reference value voltage USb or USk is first initiated.
  • the diode DG2 begins to conduct, during further dropping of the path-dependent reference value voltage USv, at a point set by means of the potentiometer PGZ.
  • the capacitor CT2 is now discharged with low resistance via the tap of the potentiometer PG2.
  • the discharge of the capacitor CTl follows with a delay governed by the time-constant provided by the components CTl XPTl.
  • the rounding-off R2 (FIG.
  • the output UAl of the adder A or of the path determining arrangement 9 arrives at the root former 7.2 of the reference or ideal value setting device 7 and appears at its output as the initial value of the pathdependent reference or ideal value voltage course USv for the storey S2 (FIG. 8).
  • the output voltage UI (FIG. 6) of the integrator I increases as a function of the path or distance.
  • the voltages Ul are now continuously substracted from the voltages USV of the path determining unit 9.1 in the adder A, so that the output voltage UA of the adder A initially linearly decreases.
  • This linear voltage course UA is transformed in the root former 7.2 into the parabolically extending path-dependent reference or ideal value voltage course USv (FIG. 8).
  • the decreasing reference value voltage course USv and the increasing reference value voltage course USb approach one another up to a voltage difference URG2.
  • URG2 a voltage difference
  • This voltage arrives at the root former 7.2 and appears at its output as an initial value of the pathdependent reference or ideal value voltage course USv for the storey S3 (FIG. 8). Since during the further course of travel of the lift car 2 at the output voltage Ul of the integrator I further increases as a function of the path or distance, the output voltages of the adder A and the root former 7.2 also again drop. Before the lift car 2 travels past the storey S2, there is obtained twice the voltage difierence URGZ between the pathdependent reference or ideal value voltage course USv and the time-dependent ideal value voltage course USb, so that the above-described procedure is repeated twice.
  • the output voltages of the path determining unit 9.1 and the adder A have now reached the values USVl USV2 USV3 USV4 and UA4 respectively, while the output voltage of the root former 7.2 is equal to the initial value of the path-dependent reference or ideal value voltage course USv for the storey S5.
  • the integrator I is set to zero and the storey switch M2 is actuated, whereupon the storey distance relay SVl of the path determining unit 9.1 is de-energised. Consequently, the out- 5 put voltage course USV (FIG. 6) of the path determining unit 9.1 is reduced by the amout USVl.
  • the output voltage Ul of the integrator I directly before it is set to zero is of the same magnitude, however possesses the opposite sign, the output voltage UA of the adder A does not alter.
  • the nominal or rated travel speed v,,.,, is reached.
  • the time-dependent reference or ideal value voltage USk remains constant, while the lift car 2 continues to travel at the speed v,,,,,,..
  • the output voltage 5 UI of the integrator I again increases, and is again set to zero during travelling-through the storey S3.
  • the storey distance relay SV2 is switched-off by a pulse from the storey switch M3 via the lines LM3 and L813 (FIGS. 3, 4).
  • the output voltage USV of the path determining unit 9.1 is diminished by the amount USV2, while the output voltages UA of the adder and USv of the root former 7.2 furthermore decrease linearly and parabolically, respectively.
  • the difference beween the path-dependent ideal or reference value voltage course USv for the storey S5 and the constant ideal or reference value voltage USk becomes equal to the value URG2. Since for the storey S5, as is assumed in this journey example, a call is present, and thus a hold predetermination is present, the stepping mechanism 10.1 does not switch to the next storey, but the braking operation is introduced.
  • the integrator I is set to zero, and the corresponding voltages USV3, USV4 are switched-off by means of the storey distance relays 8V3 and 5V4.
  • the output voltage USV of the path determining unit 9.1 has risen again at this point (FIG. 6) designated by P by closure of the relay contact SEK to a voltage USE corresponding to the remaining path.
  • the integration error over this remaining path is small, so that for practical purposes no stopping error occurs.
  • the output voltage U] of the integrator I is of the same magnitude as the counterconnected voltage USE of the path determining unit 9.1, while the output voltage UA of the adder A and the output voltage USv serving as path-dependent reference or idea] value for the braking phase of the root former 7.2 are each zero.
  • a device for controlling a lift provided with a liftcar which is displaceable along a lift-shaft interconnecting a plurality of storeys comprising drive means responsive to a control signal to displace the lift car along the shaft, a plurality of storey switch devices each associated with a respective storey and each arranged to generate a storey signal when the lift is displaced past the respective switch device, lift-call signal processor means provided with storage means to store lift-call signals for respective storeys and with stepping means having a respective stepping stage corresponding to each storey, the processor means generating a halt signal when the stepping means reaches a stepping stage corresponding to a storey for which a lift-call signal is stored in the storage means, first signal generator means responsive to an initiating signal to generate a control signal which increases towards a predetermined maximum value to control the acceleration of the lift and which during travel of the lift at its maximum speed is maintained at said predetermined maximum value, second signal generator means for generating a succession of retardation signals each of which
  • the dis tance-analogue signal generator comprises a plurality of parallel connected branch circuits, each branch circuit corresponding to a respective storey and each comprising a potentiometer, a relay controlled switch means and a resistor connected in series with one another to cause the electrical current flowing in each branch circuit when the respective switch means is rendered conductive to be proprotional to the distance separating the storey corresponding to that branch from the storey immediately successive in the direction of travel of the lift-car.
  • the distance-analogue signal generator comprises a further branch circuit connected in parallel with said first mentioned branch circuit, the further branch circuit comprising a series circuit of a potentiometer, a further relay controlled switch and a resistor, the further branch circuit being associated with a portion of the path of travel of the lift-car which is provided in front of each target storey and which is substantially smaller than the smallest interstorey distance, the further relay controlled switch being actuated at the beginning of travel of the car along said path portion and the integrator being re-set to its zero value simultaneously with such actuation.
  • said integrator means possesses a feedback circuit which comprises two parallel identical branch circuits each including a capacitor, the capacitor in the one identical branch circuit being discharged through a resistor by means of a first relay controlled two-way switch, and the capacitor in the other identical branch circuit being selectively connected in the feedback circuit by a second relay controlled two-way switch, both the first and the second relay controlled two-way switches being simultaneously switchable at the beginning of travel of the lift-car and during the passage of a storey by the lift car.
  • a device as defined in claim 4 comprising a third relay controlled two-way switch which is simultaneously switchable with the first and second relay controlled two-way switches and by means of which the voltage of the actual value signal generator is connectable to the input of the integrator via a resistive device.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Control (AREA)
  • Types And Forms Of Lifts (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)
US459198A 1973-04-18 1974-04-08 Device for controlling a lift or the like Expired - Lifetime US3887039A (en)

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CH583873A CH550736A (de) 1973-04-18 1973-04-18 Einrichtung zur steuerung eines aufzuges.

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BR (1) BR7403129D0 (da)
CA (1) CA1003136A (da)
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DE (1) DE2418339C2 (da)
DK (1) DK134898B (da)
EG (1) EG13325A (da)
ES (1) ES423020A1 (da)
FI (1) FI59073C (da)
FR (1) FR2226352B1 (da)
GB (1) GB1443082A (da)
HU (1) HU172802B (da)
IN (1) IN139100B (da)
IT (1) IT1007948B (da)
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4130184A (en) * 1976-05-27 1978-12-19 Mitsubishi Denki Kabushiki Kaisha Elevator speed control system
EP0031721A2 (en) * 1979-12-27 1981-07-08 Otis Elevator Company Method and apparatus for controlling elevator door motion
US4350226A (en) * 1981-05-27 1982-09-21 Otis Elevator Company Elevator floor stop look-ahead
US4351416A (en) * 1979-11-19 1982-09-28 Mitsubishi Denki Kabushiki Kaisha Elevator control device
US4844205A (en) * 1987-06-12 1989-07-04 Inventio Ag Stopping control for an elevator

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2641983C2 (de) * 1976-09-17 1982-08-12 Loher Gmbh Elektromotorenwerke, 8399 Ruhstorf Verfahren zur zeitlichen Verzögerung des Bremsbeginns bei geregelten Transportantrieben und eine Vorrichtung zu deren Ausführung
US4258829A (en) * 1979-07-27 1981-03-31 Westinghouse Electric Corp. Elevator system

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3526300A (en) * 1967-08-08 1970-09-01 Inventio Ag Method and apparatus for control of high speed elevator

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1756946C3 (de) * 1967-08-08 1975-11-13 Inventio Ag, Hergiswil, Nidwalden (Schweiz) Steuereinrichtung für einen Aufzug für grosse Fahrgeschwindigkeit
BE758837A (fr) * 1969-11-18 1971-05-12 Inventio Ag Procede de commande d'un ascenseur circulant a moyenne ou grande vitesse et appareillage de commande pour la mise en oeuvre du procede

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3526300A (en) * 1967-08-08 1970-09-01 Inventio Ag Method and apparatus for control of high speed elevator

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4130184A (en) * 1976-05-27 1978-12-19 Mitsubishi Denki Kabushiki Kaisha Elevator speed control system
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
US4350226A (en) * 1981-05-27 1982-09-21 Otis Elevator Company Elevator floor stop look-ahead
US4844205A (en) * 1987-06-12 1989-07-04 Inventio Ag Stopping control for an elevator

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IT1007948B (it) 1976-10-30
GB1443082A (en) 1976-07-21
NL184566C (nl) 1989-09-01
NO741378L (no) 1974-10-21
FI59073B (fi) 1981-02-27
ES423020A1 (es) 1976-04-16
FI59073C (fi) 1981-06-10
ZA741956B (en) 1975-03-26
CA1003136A (en) 1977-01-04
SE388184B (sv) 1976-09-27
DK134898B (da) 1977-02-07
NL7405221A (da) 1974-10-22
DK134898C (da) 1977-06-27
IN139100B (da) 1976-05-08
HU172802B (hu) 1978-12-28
NL184566B (nl) 1989-04-03
NO136183C (no) 1977-08-10
DE2418339C2 (de) 1982-12-02
EG13325A (en) 1981-03-31
DE2418339A1 (de) 1974-10-31
BR7403129D0 (pt) 1974-12-03
FR2226352A1 (da) 1974-11-15
FR2226352B1 (da) 1977-09-16
CH550736A (de) 1974-06-28
BE813446A (fr) 1974-07-31
NO136183B (da) 1977-04-25

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