WO2003050028A1 - Appareil de commande d'ascenseur - Google Patents

Appareil de commande d'ascenseur Download PDF

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Publication number
WO2003050028A1
WO2003050028A1 PCT/JP2002/012851 JP0212851W WO03050028A1 WO 2003050028 A1 WO2003050028 A1 WO 2003050028A1 JP 0212851 W JP0212851 W JP 0212851W WO 03050028 A1 WO03050028 A1 WO 03050028A1
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WO
WIPO (PCT)
Prior art keywords
stop floor
car
floor
speed pattern
next stop
Prior art date
Application number
PCT/JP2002/012851
Other languages
English (en)
Japanese (ja)
Inventor
Masaya Sakai
Takaharu Ueda
Kouichi Sasakawa
Original Assignee
Mitsubishi Denki Kabushiki Kaisha
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Denki Kabushiki Kaisha filed Critical Mitsubishi Denki Kabushiki Kaisha
Priority to DE10296269.3T priority Critical patent/DE10296269B4/de
Priority to KR1020037010449A priority patent/KR100568397B1/ko
Publication of WO2003050028A1 publication Critical patent/WO2003050028A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/285—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical with the use of a speed pattern generator

Definitions

  • the present invention relates to an elevator control device that adjusts an acceleration and a maximum speed by changing a speed pattern or the like applied to a motor such as an elevator according to a load.
  • FIG. Figure 15 is a diagram showing the relationship between the output frequency (speed: hereafter frequency means the same as speed) and torque of a conventional elevator control device.
  • f O is the base frequency (rated speed)
  • T in a X is the maximum output torque value
  • T x is the torque value required at the first load
  • T y is the second load (ex.
  • Fx indicates the maximum output frequency that can be output with the first load
  • fy indicates the maximum output frequency that can be output with the second load.
  • the maximum output frequency for the first load is such that the torque obtained in a frequency band higher than the frequency fX is smaller than the torque TX required for the first load. Therefore, the frequency is lower than fx. Also, the maximum output frequency for the second load (required torque T y) is less than the frequency ⁇ y because the torque obtained in a frequency band higher than the frequency fy is smaller than the torque T y required for the second load. .
  • the operating frequency was set to a frequency lower than the output frequency at which the torque for the maximum load could be obtained, and the motor was rotated.
  • the maximum output frequency can be set high when the load is small, but if the load is large, the maximum output frequency must be set low, and sufficient torque cannot be obtained and it is impossible to raise with an elevator. Due to problems, it is necessary to set the maximum output frequency to a frequency that provides sufficient torque at the maximum load, and operate was there.
  • the maximum output frequency was set to fX, and the maximum output frequency was fX even when the load was small. For this reason, when the load is small, the maximum output frequency is low, so that it takes time to accelerate, and there is a problem that the operating time cannot be shortened and the efficiency is poor.
  • Japanese Patent Application Laid-Open No. 3-56308 discloses a method in which a power value is obtained from a voltage and a current at a frequency equal to or higher than the rated frequency, and the speed setting value is compared with the power value at the rated frequency. Outputting to the transmission.
  • a variable speed device having an inverter unit for converting DC power into a variable frequency and a variable voltage AC power
  • the input side of the inverter unit is provided.
  • a voltage detection circuit that detects the DC bus voltage
  • a current detection circuit that detects the current of each phase on the output side of the inverter
  • a control circuit for automatically determining the magnitude of the applied load, determining the maximum output frequency, and outputting the determined output frequency.
  • the maximum speed was changed according to the load in order to reduce the operation time.
  • increasing the maximum speed does not necessarily shorten the operation time. If the travel distance is short, the operation time may be shorter when the acceleration is higher than the maximum speed. Therefore, changing the maximum speed only according to the load has a problem in that the driving time becomes longer depending on the moving distance.
  • the present invention has been made to solve the above problems, and has an elevator control device capable of changing a maximum speed and an acceleration according to a load and a moving distance, thereby shortening an operation time.
  • the purpose is to provide. Disclosure of the invention
  • An elevator control device is an elevator that drives a hoist having a counterweight connected to a passenger car via a rope by a motor fed by an inverter, wherein the weight of the passenger car is used as a car load.
  • Base Car speed pattern generating means for generating a car speed pattern in which the passenger car reaches the next stop floor within the allowable driving range of the motor and in the shortest time.
  • component temperature detection means for measuring the temperature of the components constituting the inverter
  • limit temperature setting means for setting a temperature rise limit value of the components
  • Temperature rise allowable value calculating means for calculating a temperature rise limit allowable value based on the temperature and the temperature rise limit value set by the limit temperature setting means
  • the car speed pattern generating means comprises: Is within the allowable driving range of the motor based on the temperature rise limit allowable value, the power load, and the next stop floor, and the expected temperature rise amount of the component is the temperature rise limit allowable value.
  • the passenger power bar will generate a car speed pattern that will reach the next stop floor.
  • the speed pattern generating means sets the upper limit of the car maximum speed, the car acceleration, and the rate of change of the car acceleration when generating the car speed pattern.
  • the power speed pattern generating means converts a motor torque waveform related to a power speed drive command given to the motor into a current value flowing through the constituent element, and the current value waveform corresponds to the temperature rise limit allowable value.
  • the car speed pattern is generated based on the conditions constrained by the value function.
  • the next stop floor setting means calculates the next stop floor for generating the car speed pattern from the number of times the elevator is started and the statistic of the moving distance from the car departure floor to the next stop stop floor. It is the average stop floor of Rigogo.
  • next stop floor setting means may set the average stop floor of the car as a stop floor at each departure floor where the expected value of the travel time to the stop determination floor is minimized.
  • the next stop floor setting means sets the average stop floor of the car based on the statistics of the stop determination floor for each time zone in which the passenger demand is different.
  • the car speed pattern generating means generates a power speed pattern by comparing the next stop floor with the average stop floor of the car.
  • the car speed pattern generating means may include a stoppable floor at which the car can be stopped and the car stoppable floor. This is to generate a power go speed pattern by comparing the average stop floor of power go.
  • FIG. 1 is a configuration diagram showing Embodiment 1 of the present invention
  • FIG. 2 is a characteristic diagram showing a relationship between a generated torque and a rotation speed of the motor according to the first embodiment of the present invention.
  • FIG. 3 is a schematic diagram for deriving an elevator mechanical system model according to Embodiment 1 of the present invention.
  • FIG. 4 is a diagram showing a car speed pattern and a motor torque pattern in Embodiment 1 of the present invention.
  • FIG. 5 is a flowchart showing a car speed pattern calculation procedure according to the first embodiment of the present invention.
  • FIG. 6 is a diagram showing the relationship between the parameters and the constraints in the calculation of the car speed pattern according to the first embodiment of the present invention.
  • FIG. 7 is a diagram showing an example of calculation of a car speed pattern according to the first embodiment of the present invention.
  • FIG. 8 is a diagram for explaining the diagram at the bottom of FIG.
  • FIG. 9 is a diagram showing a moving distance of a gyro at the time of driving with a gyro speed pattern in the middle stage of FIG. 7.
  • FIG. 10 is a configuration diagram showing a second embodiment of the present invention.
  • FIG. 11 is a flowchart showing a procedure of calculating a car speed pattern according to the second embodiment of the present invention.
  • FIG. 12 is a diagram showing a moving floor of a car and its occurrence probability according to the third embodiment of the present invention.
  • FIG. 13 is a flowchart showing a simplified speed pattern calculation procedure according to the third embodiment of the present invention.
  • FIG. 14 is a diagram showing a calculation example of a speed pattern according to the fourth embodiment of the present invention.
  • FIG. 15 is a diagram showing the relationship between the output frequency and the torque of a conventional acceleration / deceleration device. BEST MODE FOR CARRYING OUT THE INVENTION
  • FIG. 1 is a configuration diagram showing Embodiment 1 of the present invention.
  • 1 is the next stop floor setting means for setting the next stop floor
  • 2 is the car load detection means
  • 3 is the power load obtained by the car load detection means 2 and the next stop floor setting means 1.
  • Car speed pattern generating means for generating a car speed pattern in which the passenger power go 7 reaches the next stop floor within the allowable driving range of the motor 5 and in the shortest time from the next stop floor to be executed
  • 4 is an inverter
  • 6 Is a hoist having a counterweight 8 connected to a passenger basket 7 via a rope.
  • the next stop floor setting means 1 can be realized by providing a device for registering the next stop floor in a landing and a rickshaw. It can also be set remotely by wireless or other communication means.
  • FIG. 2 is a diagram showing characteristics of motor torque and motor rotation speed.
  • FIG. 3 is a diagram showing the relationship between the motor 5, the hoist 6, the cage 7, and the counterweight 8.
  • the lower part of Fig. 4 shows the motor torque pattern, and the upper part shows the car speed pattern at that time.
  • FIG. 5 is a flowchart showing a processing procedure for generating a car speed pattern.
  • the motor 5 can operate in an area including a hatched area surrounded by a motor torque axis and a curve and an area including a boundary thereof.
  • This region may be a convex set. Even if it is not the case, the motion region may be approximated to be a convex set.
  • the region where the torque is positive indicates the power state, and the region where the torque is negative indicates the regenerative state.
  • this area is represented by ⁇ .
  • Tm is the motor torque
  • J is the motive moment of the hoist
  • r is the radius of the hoist
  • m1 is the weight of the counterweight
  • m2 is the mass of the power
  • ⁇ Power acceleration and ⁇ represent the rotating speed of the hoist, respectively.
  • g be the gravitational acceleration.
  • Equation (1) the relational expression between the car acceleration and the motor torque is expressed as shown in Equation (1).
  • the configuration is not limited to this configuration as long as the relationship between the two can be described by a linear function. I'm sorry.
  • the rotation speed of the motor is equal to the rotation speed of the hoist, and V is the car speed
  • the car speed can be calculated from the motor speed as follows.
  • FIG. 2 can be converted into a relational expression between the motor torque and the car speed.
  • the motor rotation speed and the winding machine rotation speed are assumed to be equal, the conversion is not limited to the above equation (2) as long as the relational expression between the two can be described by a linear function.
  • the present invention can be applied to a case where a reduction gear is used.
  • the upper speed pattern is calculated based on the above equation (1) and its integral with respect to the lower torque pattern.
  • tO to t7 indicate time
  • ⁇ t1 to ⁇ t7 indicate time intervals
  • V0 to V7 indicate power speeds for each time
  • TmO to Tm7 indicate motor torque for each time.
  • ⁇ 11 to ⁇ 17 are the movement amounts of the gyro during the sections At1 to ⁇ t7, respectively.
  • al and ⁇ 2 are the absolute values of the car acceleration in section 2 and At6, respectively, and can be calculated as shown in the figure using the above equation (1) and T M1 and T M2 . Also, ⁇ 1 ⁇ ⁇
  • V 0 to v 7 can be calculated as shown in the figure using ctl, hi 2, 61 to 64 and t 1 to At 7 calculated above.
  • ⁇ 11 to ⁇ 17 can be calculated as shown in the figure using V0 to ⁇ 7, ⁇ 1, ⁇ 2, 6 ⁇ to ⁇ 4, and At1 to ⁇ t7 calculated above. Therefore, ⁇ 11 to ⁇ 17 can be described using the time section At1 to ⁇ 7 and the motor torques ⁇ 1 and ⁇ 2 as parameters.
  • L A 1 1 + ⁇ ⁇ 2 + ⁇ 1 3 + ⁇ 1 4 + ⁇ 1 5 + ⁇
  • the values of the weight ml of the counterweight 8, the radius r of the hoist 6, the moment of inertia J of the hoist 6, and the gravitational acceleration g are read.
  • the car weight m 2 is detected by the car load detecting means 2.
  • step 24 the constraint conditions in FIG. 6 are set, and the upper limit value of the car maximum speed, the upper limit value of the car acceleration, and the upper limit value of the car jerk are determined.
  • the car speed pattern that reaches the earliest within the constraints according to the load is generated.
  • the restriction on the speed of the bargo has the effect of adjusting the maximum speed of the elevator, and can keep the speed of the cage within a desired range, thereby preventing the speed from increasing too much.
  • V— from the maximum rotation speed of the motor to be larger than the car speed derived from the above equation (2), the car reaches the fastest speed within the range of motor characteristics without limiting the car maximum speed.
  • a speed pattern can be generated. Setting the upper limit to a small value in the constraints on gyro acceleration has the effect of improving the ride comfort of the elevator.
  • the generated torque of the motor is suppressed, excessive operation of the motor and the inverter can be avoided, and energy can be saved.
  • the torque constraint has the effect of keeping the speed pattern and torque pattern in Fig. 4 within the operating range of the motor. For example, if the boundary of ⁇ is approximated by combining a straight line, the simultaneous inequality condition can be obtained, and the torque can be easily solved.
  • Fig. 4 the time section is divided into At1 to ⁇ 7, and the torque pattern is set as shown in the lower part of Fig. 4. If a torque pattern that is convex in the section and the torque pattern from the start of deceleration to the deceleration stop is a concave function in each time section is selected, the torque constraint is evaluated only with the torque constraint at the end point of the time section in the same manner as described above. it can.
  • the torque pattern in the entire section falls within the operating range of the motor.
  • the car speed can be obtained by converting the torque pattern into the power acceleration pattern and integrating the converted pattern.
  • the operating distance can be obtained by integrating the above-mentioned speed pattern. If a method such as limiting the maximum value of each of the car acceleration constraints and jerk constraints in each time interval can be formulated as an optimization problem in the same manner as described above. At this time, by smoothing the torque pattern or increasing the number of time sections, a smoother speed pattern can be generated, and the riding comfort is improved.
  • the unknown variables were defined as torque and time interval.However, if the combination of variables is such that the speed pattern is uniquely determined, the same effect can be obtained by selecting another combination. is there. For example, select unknown variables for acceleration and time interval Can also be formulated as an optimization problem. At this time, the constraint expression becomes equivalent to the one described above. Also, the objective function does not change.
  • the speed pattern calculated by the optimization problem solution process in step 25, the speed pattern generation process in step 26, or the corresponding data is calculated in advance and the speed pattern is calculated.
  • the same effect as described above can also be realized by storing the data in a table provided in the memory provided in the memory generation means 3 and reading and using the data. At this time, since the calculation by the optimization problem solving process in step 25 is not required, it can be realized with a less expensive calculation device.
  • Fig. 7 the upper, middle, and lower rows are the motor torque pattern and car speed pattern, respectively, and Fig. 2 is a diagram (torque constraint line) obtained by converting Fig. 2 into motor torque and car speed by the above equation (2).
  • the middle car speed pattern is obtained by the upper motor torque pattern.
  • the curved line indicated by a hexagon represents the driving locus of the motor with respect to the motor torque pattern in the upper part and the car speed pattern in the middle part.
  • the maximum car speed, jerk, and acceleration were set to certain upper limits in all patterns (the same for all three patterns).
  • the upper limit of the maximum car speed is set higher than the number of revolutions that can be output by the motor, so that it can be as large as possible within the range where the motor can be driven.
  • the travel distance is the same for all patterns.
  • FIG. 8 is a diagram for explaining the motor drive locus in the lower part of FIG. Drive motor
  • the trajectory moves on the hexagonal side with time as shown in the figure.
  • the symbols in the figure correspond to Figure 4. Therefore, the maximum car speed is the speed on the point of V3 or V4.
  • the amount indicated by the arrow in the figure is proportional to the absolute value of the gyro acceleration.
  • the absolute value of the slope of the side shown in the figure is inversely proportional to the jerk time (acceleration / jerk).
  • the speed pattern is generated in the area where the motor can be driven.
  • the boundary of the motor torque constraint region at V3 or V4 it can be seen that the pattern generates the maximum possible speed.
  • Fig. 9 shows the graph (car travel distance) obtained by integrating the velocity pattern in the middle part of Fig. 7. From this figure, it can be seen that the movement distance is the specified value for all patterns. From the above, it can be seen that, while satisfying the constraint condition expression (4) above, the speed pattern in which the acceleration and jerk fall within the upper limit values and reach the earliest is generated according to the car load.
  • Embodiment 2
  • FIG. 10 is a configuration diagram showing Embodiment 2 of the present invention. This embodiment is different from the configuration of FIG. 1 described in the first embodiment in that electronic component temperature detection means 11 as component element temperature detection means, limit temperature setting means 12, and temperature rise allowable value calculation means 13 is newly provided.
  • electronic component temperature detecting means 11 is for detecting the temperature of an electronic device such as an inverter and the electronic components constituting the electronic device, and includes, for example, a temperature sensor such as a thermistor.
  • the limit temperature setting means 12 is for setting an upper limit value or a lower limit value of the temperature which guarantees that the above-mentioned electronic device operates normally.
  • the temperature rise allowable value calculating means 13 and the temperature detected by the electronic component temperature detecting means 11 This is for calculating the temperature margin of the electronic device by comparing the temperatures set by the limit temperature setting means 12.
  • the calculation method of the shortest time speed pattern in the second embodiment takes into account the temperature rise of the electronic device as a constraint on the calculation method of the first embodiment, and has an effect of preventing the destruction of the electronic device due to heat. is there.
  • Embodiment 2 will be described with reference to an example of a temperature rise amount of an inverter element.
  • the convergence value (expressed as W) of the temperature rise of the inverter is proportional to the time average value (expressed as I s) obtained by dividing the time integral value of the absolute direct amount of the current pattern flowing through the inverter by the convergence time until convergence. I do. That is, if k is a proportionality constant, the following equation (7) holds.
  • k can be known by conducting experiments or the like in advance.
  • the above equation (7) is the time integral value of the absolute value of the current pattern (represented by i a ) flowing through the inverter in a certain time interval (represented by T int ) including one up and down movement of the car. divided by the time average value (represented by I i nt) is if you continue to drive the elevator under the constraint that is less than I s, which means that it is possible to suppress the temperature rise below W.
  • I int is represented by the following equation (8) (the integration start time is set to 0 for simplicity of explanation).
  • the current value of the inverter is calculated from the motor torque command value and the motor rotation speed.
  • the temperature margin of the inverter is calculated by the temperature rising allowable value calculating means 13 in FIG. 10, and the inverter temperature detected by the electronic component temperature detecting means 11 and the limit temperature setting means are set. It is calculated by taking the difference from the limit temperature of the inverter set in advance by 1 and 2.
  • the temperature margin calculated in step 31 is represented by W—.
  • V—, ⁇ —, ⁇ 2-, ⁇ —, ⁇ 2-, ⁇ - corresponding to the constraint condition represented by the above equation (4) Specify 3—, 64— and the time interval T int .
  • Equation (9) is a constraint condition equation for the temperature rise of the inverter element, which can suppress the temperature rise to W— or less, and as a result, has the effect of preventing the inverter from being damaged by heat.
  • the amount of temperature rise when the elevator is started at each time interval T s can be limited to a certain value or less. This makes it possible to consider operation patterns for various passenger generation patterns.
  • the same effect as in the present embodiment can be obtained by restricting the amount of temperature rise by a function using a torque value instead of a current value. Further, since the torque value is proportional to the acceleration, the same effect as in the present embodiment can be obtained by restricting the amount of temperature rise by a function using the acceleration.
  • the integral value of the gyro acceleration is the gyro speed
  • the integral value of the absolute value of the gyro acceleration is twice the value of the maximum gyro speed in consideration of gyro acceleration and deceleration. The same effect as in the present embodiment can be obtained by measuring the amount of temperature rise based on the maximum speed of the iron.
  • the configuration of the present embodiment is substantially the same as the configuration of FIG. 1 described in the first embodiment or FIG. 10 of the above-described embodiment, but the next stop floor is set as described later.
  • the function of the next stop floor setting means 1 is different from the case of FIGS. 1 and 10.
  • the speed pattern generation means 3 functions as an arithmetic processing device.
  • step 21 for performing parameter reading processing to step 26 for performing speed pattern generation processing is the same as in the first and second embodiments.
  • the optimization problem for minimizing the arrival time in the motor driving area shown in FIG. The speed and jerk are determined, and the speed pattern shown in Fig. 4 is calculated using them.
  • the step 21 for performing the next stop floor setting process is different from the first and second embodiments in that the average stop floor of the car is set.
  • the following is an example of a method for determining the average stop floor.
  • FIGS. Fig. 12 is a graph showing the moving floor and the probability of occurrence of the rickshaw from the departure floor to the stop decision floor in a certain time section when there is a stop floor with an owl size n floor in the hoistway. It is.
  • the average stop floor of kyogo can be set as the following formula (10) in which the expected value of the moving floor is converted into the distance.
  • the statistics shown in FIG. 12 may be provided for each departure floor, and the average stop floor may be set for each departure floor as described above.
  • next stop floor is fixed to one value for each departure floor or one departure floor, it is not necessary to calculate the next stop floor every time the elevator is started, and it is only necessary to read it as a parameter.
  • the calculation procedure of the control device can be simplified as shown in FIG. 13, and the amount of calculation can be reduced.
  • the following procedures (a) to (c) include the expected value of the time required for the moving of the kyogo to the stop determination floor at each departure floor. Is shown below. It is assumed that the travel distance of the car to each floor and the frequency of occurrence have the statistical data shown in Fig.12.
  • the curves in the figure indicate the speed of the elevator when the car call enters on the way and stops on the way to the elevator speed pattern generated by using the first embodiment and the fourth embodiment, respectively. Shows a pattern.
  • a and B in the figure represent the car speed patterns calculated using Embodiment 4 and Embodiments 1 and 2, respectively.
  • a next stop floor larger than the average stop floor is set, and the speed pattern is calculated accordingly.
  • Embodiments 1 and 2 shown in B the car acceleration is reduced in order to raise the upper limit of the car maximum speed. This shows that the vehicle is decelerating.
  • the next stop floor is set as the average stop floor, so that the difference between the next stop floor and the stop determination floor is smaller than in Embodiments 1 and 2.
  • the operation time is shorter with the first and second embodiments.
  • the speed pattern is obtained using an average stop floor that minimizes the expected value of the car travel time by using the amount of car movement, the starting frequency for each stop decision floor, and the statistics of the car load. As a result, the travel time of passengers can be reduced on average.
  • Embodiment 5 depending on the probability distribution of the stop decision floor, the total operation time reduced compared to Embodiments 1 and 2 is larger than the total increase in operation time. However, it has the effect of improving operating efficiency. Also, since the average stop floor is used for the next stop floor, there is no extreme change in the moving distance due to the power call after the start of the movement as compared with Embodiments 1 and 2. This means that low acceleration, low jerk and high maximum speed operating patterns set for long travel distances are less frequently applied for short travel distances. This reduces the variation in arrival time for the same travel distance, thereby reducing passenger discomfort.
  • Embodiment 5 Embodiment 5
  • the statistics shown in Fig. 12 used in the procedure for setting the average stop floor described in Embodiments 3 and 4 above are used for each time period when passenger demand is different, such as when commuting or leaving work. Prepare them, and use them to determine the average stop floor for each time zone using the method described above. Then, the average stop floor is switched for each corresponding time zone and set as the average stop floor, and the car speed pattern is calculated. As a result, the statistics used to determine the average stop floor more accurately reflect actual passenger demand. Therefore, the set average stop floor is closer to the actual average stop floor, so that further improvement in operation efficiency can be realized.
  • Embodiment 6 Embodiment 6.
  • the travel distance of the car to the average stop floor is compared with the travel distance of the next stop floor set by the passenger before the movement of the rikosago, and Set the next stop floor according to the situation, and calculate the car speed pattern.
  • the car speed pattern obtained by setting the next stop floor as the average stop floor is used when the next stop floor is set to be the average stop floor and the vehicle arrives earlier than when calculating the power stop speed pattern. This can prevent delays in reaching the stop decision floor. For example, the following cases correspond to this.
  • next stop floor set by the passenger before the car moves is smaller than the average stop floor, the next stop floor is reset to the next stop floor set by the passenger before the rickshaw moves, In other cases, the next stop floor is set as the average stop floor.Thus, it is possible to eliminate the case where the traveling time is definitely slowed down by calculating the car speed pattern using the average stop floor, and further improve the operation efficiency. The reason for this is explained below.
  • the acceleration and the jerk each reach faster than increasing the maximum speed, rather than increasing the maximum speed. This is because if the moving distance of the rig is short, the time to operate at the maximum speed is relatively shorter than the acceleration time or jerk time.
  • the motor operation trajectory is as shown in Fig. 8. Therefore, high torque is required for the motor in order to achieve high acceleration and high jerk, but Fig. 2 shows that the maximum speed cannot be increased as the torque increases.
  • the travel distance is shortened when a car call is received, so the above-mentioned reason (the shorter the next stop floor, the lower the maximum speed, the higher the acceleration, the higher the jerk solution can be obtained, and the travel distance As the speed becomes shorter, it is faster to increase the acceleration and jerk than to increase the maximum speed). Therefore, the car speed pattern is obtained earlier without setting the next stop floor as the average stop floor. As a result, if the travel distance due to the next stop floor set before the movement of the car is smaller than the average stop floor, it is determined that the next stop floor is reset to the stop floor set before the movement of the rickshaw, and the stop is determined earlier. The floor is reached, resulting in improved operating efficiency.
  • the average stop floor is compared with the stoppable floor, and when the average stop floor is set in the express zone, for example, when there is an express zone in the ascent / descent process, the next stop floor is reset.
  • Calculate the car speed pattern For example, set as follows. When the next stop floor, which is the stoppable floor set by the passenger before the mosquito moves, passes through the express zone and the travel distance there is greater than the travel distance of the average stop floor, Resets the next stop floor to the end floor of the express zone section.
  • the average stop floor is set as the next stop floor and the car speed pattern is calculated. It is possible to prevent delays in reaching the stop decision floor, and to suppress an increase in operating time. The reason is the same as described above. In other words, the longer the next stop floor, the higher the maximum speed, the lower the acceleration, and the lower the jerk solution.The higher the maximum speed, the faster the acceleration and the jerk. By reaching.
  • an elevator for driving a hoist having a counterweight connected to a passenger power bar via a mouth by a motor fed by an inverter.
  • Car load detecting means for measuring the weight of the car as a car load
  • next stop floor setting means for setting the next stop floor
  • the power load obtained by the power load detection means and the next stop floor setting means is provided.
  • a power go speed pattern generating means for generating a power go speed pattern in which the passenger power go reaches the next stop floor within the allowable driving range of the motor based on the next stop floor and in the shortest time. This has the effect of shortening the travel time of passengers and increasing the efficiency of basket operation.
  • the weight of the passenger car is measured as a car load.
  • Car load detection means next stop floor setting means for setting the next stop floor, component temperature detection means for measuring the temperature of the components constituting the inverter, and setting the temperature rise limit value of the components Limit temperature setting means; and a temperature rise allowable value calculation for calculating a temperature rise limit allowable value based on the component temperature obtained from the component temperature detection means and the temperature rise limit value set by the limit temperature setting means.
  • a power speed pattern generating means for generating a power speed pattern for the passenger power to reach the next stop floor in the shortest time when the expected temperature rise of the component is within the temperature rise limit allowable value.
  • the speed pattern generating means sets the upper limit of the car maximum speed, the car acceleration, and the rate of change of the car acceleration when generating the bolster speed pattern, so that the ride comfort of the elevator can be improved.
  • the car speed pattern generating means may include a car speed drive provided to the motor.
  • the motor torque waveform related to the motion command is converted to the current value flowing through the above-mentioned components, and the current value waveform generates the car speed pattern based on the condition restricted by the function of the temperature rise limit allowable value. Therefore, the amount of temperature rise is predicted from the waveform of the current flowing through the component, and there is an effect that the traveling time of the passenger is shortened within a range where the destruction of the component such as the electronic device can be prevented.
  • the next-stop floor setting means calculates the next-stop floor for generating the car speed pattern from the number of activations of the elevator and the statistic of the moving distance from the departure floor to the next stop-stop floor.
  • the average stop floor of the ergogo it is not necessary to set the next stop floor for each number of activations of the elevator, thereby simplifying the calculation process, speeding up the speed pattern generation process, and further averaging the stop.
  • the operation time can be shortened as compared with the conventional method when the next stop floor is changed due to the call of the rigo after the start of the movement of the rigo.
  • next stop floor setting means sets the average stop floor of the car as the stop floor at each departure floor where the expected value of the travel time to the stop determination floor is minimized. This has the effect that the next stop floor can be set so that the effect of reducing the traveling time of the passengers is increased.
  • next stop floor setting means sets the average stop floor of the car based on the statistics of the stop determination floor for each time zone with different passenger demand, the average stop floor is set according to the passenger demand. Therefore, there is an effect that the effect of reducing the traveling time of passengers is further increased.
  • the above-mentioned gyro speed pattern generation means generates a car speed pattern by comparing the next stop floor with the average gyro stop floor, so that the next stop floor is set as an average stop floor. If there is a stop floor to calculate a speed pattern that will arrive more reliably than when calculating the speed pattern, the stop floor can be set as the next stop floor, further improving operating efficiency. This has the effect.
  • the car speed pattern generating means compares the stoppable floor at which the car can be stopped with the average stop floor of the rikgo to generate a powergo speed pattern, so that the average stop floor is not a stoppable floor.
  • an elevator control device capable of changing the maximum speed and the acceleration degree according to the load and the moving distance, and shortening the operation time.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Control (AREA)

Abstract

Appareil de commande d'ascenseur permettant d'améliorer le mouvement d'une benne d'ascenseur par la réduction du temps de fonctionnement grâce à l'ajustement de la vitesse maximale et de l'accélération en fonction de la charge et de la course. Dans cet ascenseur, un moteur (5) alimenté à partir d'un inverseur (4) entraîne une machine de traction (6) comprenant une masse d'équilibrage (8) reliée à la benne de passagers (7) par un câble. L'appareil de commande de l'ascenseur comprend un moyen de détection (2) de charge dans la benne, qui permet de mesurer le poids de la benne pour passagers (7) en tant que charge de benne, un moyen de réglage (1) du prochain arrêt à l'étage, qui sert à déterminer l'étage suivant auquel s'arrête l'ascenseur, et un moyen de génération d'un schéma de vitesse (3) qui se base sur le poids de la benne, obtenu par le moyen de détection (2), et sur l'étage d'arrêt suivant, fixé par le moyen de réglage (1) de prochain arrêt à l'étage, pour générer un schéma de vitesse de l'ascenseur selon lequel la benne (7) arrive à l'étage d'arrêt suivant dans le délai le plus bref, sans dépasser les limites de fonctionnement admises pour le moteur (5).
PCT/JP2002/012851 2001-12-10 2002-12-09 Appareil de commande d'ascenseur WO2003050028A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE10296269.3T DE10296269B4 (de) 2001-12-10 2002-12-09 Steuervorrichtung für Aufzüge
KR1020037010449A KR100568397B1 (ko) 2001-12-10 2002-12-09 엘리베이터의 제어 장치

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2001-375697 2001-12-10
JP2001375697 2001-12-10
JP2002060752A JP4158883B2 (ja) 2001-12-10 2002-03-06 エレベータおよびその制御装置
JP2002-60752 2002-03-06

Publications (1)

Publication Number Publication Date
WO2003050028A1 true WO2003050028A1 (fr) 2003-06-19

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PCT/JP2002/012851 WO2003050028A1 (fr) 2001-12-10 2002-12-09 Appareil de commande d'ascenseur

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JP (1) JP4158883B2 (fr)
KR (4) KR100868129B1 (fr)
CN (1) CN1302975C (fr)
DE (1) DE10296269B4 (fr)
WO (1) WO2003050028A1 (fr)

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US7681697B2 (en) 2005-08-25 2010-03-23 Mitsubishi Electric Corporation Elevator operation control device which controls the elevator based on a sensed temperature
US7740112B2 (en) 2005-09-30 2010-06-22 Mitsubishi Electric Corporation Elevator operation control device for selecting an operation control profile
US7748502B2 (en) 2006-04-13 2010-07-06 Mitsubishi Electric Corporation Elevator apparatus
US7823705B2 (en) 2005-09-30 2010-11-02 Mitsubishi Electric Corporation Elevator apparatus control by measuring changes in a physical quantity other than temperature
US7833992B2 (en) 2001-05-18 2010-11-16 Merck Sharpe & Dohme Conjugates and compositions for cellular delivery
US7931128B2 (en) 2005-07-26 2011-04-26 Mitsubishi Electric Corporation Elevator device
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US7833992B2 (en) 2001-05-18 2010-11-16 Merck Sharpe & Dohme Conjugates and compositions for cellular delivery
JP4575076B2 (ja) * 2004-08-05 2010-11-04 三菱電機株式会社 エレベータ装置
JP2006044894A (ja) * 2004-08-05 2006-02-16 Mitsubishi Electric Corp エレベータ装置
US7931128B2 (en) 2005-07-26 2011-04-26 Mitsubishi Electric Corporation Elevator device
US7681697B2 (en) 2005-08-25 2010-03-23 Mitsubishi Electric Corporation Elevator operation control device which controls the elevator based on a sensed temperature
US7740112B2 (en) 2005-09-30 2010-06-22 Mitsubishi Electric Corporation Elevator operation control device for selecting an operation control profile
US7823705B2 (en) 2005-09-30 2010-11-02 Mitsubishi Electric Corporation Elevator apparatus control by measuring changes in a physical quantity other than temperature
US7588125B2 (en) 2005-11-14 2009-09-15 Mitsubishi Electric Corporation Elevator control device
US7748502B2 (en) 2006-04-13 2010-07-06 Mitsubishi Electric Corporation Elevator apparatus
CN114890258A (zh) * 2022-05-05 2022-08-12 国新电梯科技股份有限公司 一种电梯智能速度控制方法和系统
CN114890258B (zh) * 2022-05-05 2023-09-08 国新电梯科技股份有限公司 一种电梯智能速度控制方法和系统
CN116395512A (zh) * 2023-03-28 2023-07-07 宁波汉科思液压有限公司 一种液压系统及控制方法
CN116395512B (zh) * 2023-03-28 2024-01-12 宁波汉科思液压有限公司 一种液压系统及控制方法

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DE10296269B4 (de) 2019-12-24
CN1491179A (zh) 2004-04-21
KR20050106129A (ko) 2005-11-08
KR100568397B1 (ko) 2006-04-05
KR100868129B1 (ko) 2008-11-10
CN1302975C (zh) 2007-03-07
KR20050046023A (ko) 2005-05-17
KR20040016838A (ko) 2004-02-25
JP4158883B2 (ja) 2008-10-01
KR100995161B1 (ko) 2010-11-17
KR20080111527A (ko) 2008-12-23
DE10296269T5 (de) 2004-03-04
JP2003238037A (ja) 2003-08-27

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