WO2005092764A1 - Dispositif de commande d'un ascenseur - Google Patents

Dispositif de commande d'un ascenseur Download PDF

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Publication number
WO2005092764A1
WO2005092764A1 PCT/JP2004/004442 JP2004004442W WO2005092764A1 WO 2005092764 A1 WO2005092764 A1 WO 2005092764A1 JP 2004004442 W JP2004004442 W JP 2004004442W WO 2005092764 A1 WO2005092764 A1 WO 2005092764A1
Authority
WO
WIPO (PCT)
Prior art keywords
car
speed
acceleration
deceleration
elevator control
Prior art date
Application number
PCT/JP2004/004442
Other languages
English (en)
Japanese (ja)
Inventor
Masaya Sakai
Takaharu Ueda
Masunori Shibata
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 PCT/JP2004/004442 priority Critical patent/WO2005092764A1/fr
Priority to CN200480039519.5A priority patent/CN1902116B/zh
Priority to EP04724134A priority patent/EP1731466B1/fr
Priority to JP2006511378A priority patent/JPWO2005092764A1/ja
Publication of WO2005092764A1 publication Critical patent/WO2005092764A1/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
    • B66B1/02—Control systems without regulation, i.e. without retroactive action
    • B66B1/06—Control systems without regulation, i.e. without retroactive action electric
    • B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
    • B66B1/18—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements with means for storing pulses controlling the movements of several cars or cages
    • B66B1/20—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements with means for storing pulses controlling the movements of several cars or cages and for varying the manner of operation to suit particular traffic conditions, e.g. "one-way rush-hour traffic"
    • 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 apparatus that makes a speed of a car at constant speed traveling and an acceleration / deceleration at acceleration / deceleration traveling variable.
  • the load according to the load in the car (hereinafter referred to as the "car load") is changed.
  • the speed of the car at a constant speed and the acceleration and deceleration of the car during acceleration / deceleration are changed within the driving range of the motor and the electric equipment driving the motor.
  • the spare capacity of motor cars is utilized and the car operation efficiency is improved.
  • the present invention has been made to solve the above-described problems, and an elevator system capable of further improving the operation efficiency while using all the components within an allowable load.
  • the aim is to obtain a control device.
  • FIG. 1 is a configuration diagram showing an elevator apparatus according to Embodiment 1 of the present invention
  • FIG. 2 is a block diagram showing a specific configuration example of the speed pattern generation unit in FIG. 1
  • FIG. 3 is a graph showing a relationship between a car load and an acceleration upper limit value for a plurality of component devices,
  • Figure 4 is a graph showing the relationship between the car load and the upper limit of deceleration for multiple components.
  • Fig. 5 is a graph showing the relationship between the car load and the car speed at a constant speed for a plurality of components
  • Figure 6 is a graph showing the relationship between the car load and the upper limit of acceleration / deceleration that does not exceed the traction capacity.
  • Figure 7 is a graph showing the relationship between the car load and the car speed and acceleration / deceleration that does not exceed the power supply capacity.
  • FIG. 8 is a graph showing the relationship between the outputtable torque and speed range of the motor section
  • FIG. 9 is a configuration diagram showing an elevator apparatus according to Embodiment 6 of the present invention.
  • FIG. 1 is a configuration diagram showing an elevator device according to Embodiment 1 of the present invention.
  • a driving device (hoist) 1 is installed above the hoistway.
  • the hoisting machine 1 has a motor section 2 and a drive sheave 3 rotated by the motor section 2.
  • the motor section 2 is provided with a brake section (not shown) for braking the rotation of the drive sheep 3.
  • a rotatable deflector 4 is provided above the hoistway.
  • a plurality of (only one is shown in the figure) main ropes 5 are wound around the drive sheave 3 and the deflector wheel 4.
  • a basket 6 is suspended from one end of the main rope 5.
  • a counterweight 7 is installed at the other end of the main port 5.
  • the weight of the counterweight 7 is set to be balanced when the loaded weight of the car 6 is about half the full load.
  • the elevator control device that controls the operation of the motor unit 2 includes a car load detection unit 8, a speed pattern generation unit 9, and a motor control unit 10.
  • the car load detector 8 detects the load weight (car load) in the car 6 and sends the detection result to the speed pattern generator 9. Further, as the car load detecting unit 8, a known weighing device can be used. Further, the car load detection unit 8 may be a device that obtains a car load by converting a current value or the like of the motor unit 2.
  • the motor control unit 10 controls the driving of the motor unit 2 according to the speed pattern generated by the speed pattern generation unit 9. Further, the motor control unit 10 has a control unit main body such as an invertor and a means for executing a control program therefor.
  • a control unit main body such as an invertor and a means for executing a control program therefor.
  • the speed pattern generation unit 9 calculates the speed pattern of the car 6 (or the mobile unit 2) and calculates the speed pattern of the car 6 and the information on the limitation of the speed and acceleration / deceleration of the car 6. And a constraint setting unit 12 for sending to the user. Signals from the car load detector 8 are input to the pattern generator 11 and the constraint setting unit 12 respectively.
  • the pattern generation unit main body 11 generates a speed pattern that reaches the destination floor in the shortest time according to the loaded weight in the car 6.
  • a method of calculating the velocity pattern for example, a method disclosed in Japanese Patent Application Laid-Open No. 2003-238807 can be used.
  • the speed and acceleration / deceleration of the car 6 used for generating the speed pattern may be the upper limit values of the speed and acceleration / deceleration obtained by the constraint condition setting unit 12.
  • the constraint condition setting unit 12 limits the speed and acceleration / deceleration of the car 6 so as to prevent the components of the elevator from being overloaded.
  • the component devices include, for example, a motor unit 2, a motor controller 10, a main rope 5, power devices such as a power transformer and a breaker, a regenerative device, a brake device, a safety device, a storage battery, and the like.
  • the constraint condition setting unit 12 sends information on the speed and acceleration / deceleration limit of the car 6 to the pattern generation unit main body 11 according to the loaded weight in the car 6.
  • FIG. 2 is a block diagram showing a specific configuration example of the speed pattern generation unit 9 in FIG.
  • the speed pattern generation unit 9 is provided with an input / output unit 13, a CPU (processing unit) 14, and a storage unit 15, and these also serve as the pattern generation unit main body 11 and the constraint condition setting unit 12. I have.
  • the detection signal from the car load detection unit 8 is sent to the CPU 14 through the input / output unit 13.
  • the command signal to the motor control unit 10 is output from the input / output unit 13.
  • the storage unit 15 stores a ROM for storing a program for generating a speed pattern and a program for setting a constraint condition, and a RAM for temporarily storing data used for calculation in the CPU 14.
  • the CPU 14 executes arithmetic processing based on a program included in the storage unit 15.
  • the speed of the car at constant speed traveling and the acceleration / deceleration at acceleration / deceleration traveling are variable according to the car load.
  • the speed pattern is made variable by the car load by utilizing the remaining power of the motor unit 2 and the motor control unit 10 during the night.
  • the speed pattern is limited in consideration of the drive limits of various components that are affected by the speed and acceleration / deceleration of the car 6.
  • the drive limit of a component means the maximum allowable load that does not result in a load condition even if the relevant device is used continuously or for a predetermined period of time. Even if the load is less than the allowable maximum load, the applicable equipment is guaranteed to operate normally without failure or damage.
  • the upper limit values of the degree of the car 6 at the time of constant speed traveling and the acceleration / deceleration at the time of acceleration / deceleration traveling are set by the constraint condition setting unit 12 according to the car load.
  • Fig. 3 is a graph showing the relationship between the car load and the upper limit of acceleration for multiple components (multiple types).
  • Fig. 4 shows the relationship between the car load and the upper limit of deceleration for multiple components.
  • Fig. 5 is a graph showing the relationship between the car load and the car speed of a plurality of components at a constant speed.
  • the constraint condition setting unit 1 and 2 set in advance in accordance with the load weight in the car 6.
  • the permissible values (upper limit values) of the speed and acceleration / deceleration of the car 6 are determined for the plurality of component devices thus obtained, and the lowest permissible value is sent to the pattern generation unit main body 11 as information relating to the restriction.
  • the information on the upper limit as shown in FIGS. 3 to 5 may be stored in advance in the constraint setting section 11 as a table value, or may be obtained each time by an arithmetic expression.
  • the upper limit of the speed of the car 6 at a constant speed and the upper limit of the acceleration and deceleration at the time of acceleration / deceleration are set in consideration of the drive limits of various components.
  • the speed pattern is generated using the maximum car speed and acceleration / deceleration within the range, or the car speed and acceleration / deceleration that reach the destination floor in the shortest time, so that the components are not overloaded. The operation efficiency can be further improved.
  • an upper limit value for restricting jerk (change rate of acceleration / deceleration) may be set.
  • the upper limit value of the acceleration / deceleration of the car 6 is set according to the condition restricted by the traction capacity between the drive ship 3 and the main rope 5 which are components of the elevator. .
  • the traction capacity mentioned here refers to the ability to move the car 6 up and down without the main rope 5 slipping on the drive sheave 3 (the drive sheave 3 does not idle). Further, the traction capacity is determined by, for example, a coefficient of friction between the driving sheave 3 and the main rope 5 and a winding angle of the main rope 5 around the driving sheave 3.
  • the slippage of the main rope 6 is caused by the tension acting between the driving sheave 3 of the main rope 5 and the car 6 and the tension acting between the driving sheave 3 of the main rope 5 and the counterweight 7. This is when the ratio with the applied tension exceeds the value determined by the truncation ability.
  • Factors that cause the above tension include the weight of the car 6, the weight of the counterweight 7, and the generated torque of the motor 2.
  • the acceleration / deceleration of the car 6 is determined by the generated torque of the motor 2, and conversely, the weight and the counterweight of the car 6
  • the corresponding torque generated by the motor unit 2 can be obtained.
  • the weight of the car 6 side, the weight of the counterweight 7 and the acceleration / deceleration of the car 6 are determined, the above-mentioned tension ratio can be obtained, and thereby the upper limit value of the acceleration / deceleration without obtaining the traction capacity can be obtained. I can do it.
  • Fig. 6 is a graph showing the relationship between the car load and the upper limit of the acceleration / deceleration that does not exceed the traction capacity, and shows the car load when the car 6 rises and the upper limit of the acceleration / deceleration C at that time—an example.
  • the figure when the car 6 descends is omitted, the same thinking power s as when the car 6 ascends can be applied. That is, a case where the car 6 moves up will be described below, but the same applies to a case where the car 6 moves down.
  • the upper limit of acceleration / deceleration is set by the constraint condition setting unit 12 based on the car load detected by the car load detection unit 8. At this time, if the car load is detected as L1, for example, the upper limit value ⁇ 1 of acceleration and the upper limit value 2 of deceleration are selected from FIG. After that, the speed pattern is generated by the pattern generation unit main body 11 in a manner similar to that described in the first embodiment, while the upper limit is not exceeded, and the car 6 is driven.
  • the upper limit of the acceleration / deceleration of the car 6 is set according to the car load within the range of the traction capacity. Acceleration / deceleration can be adjusted in the absence of such an occurrence to improve operation efficiency.
  • the information on the upper limit value as shown in FIG. 6 may be stored in advance in the constraint condition setting unit 11 as a table value, or may be obtained each time by an arithmetic expression).
  • the speed and acceleration / deceleration at the time of constant speed traveling are restricted under the condition that the power consumption of the elevator during the regular driving does not exceed the capacity of the power supply equipment which is a component device of the elevator.
  • Acceleration / deceleration during traveling Upper limit The value is set by the constraint setting unit 12.
  • a speed pattern is generated that will reach the destination floor in a short time within a range where the power consumption of the elevator does not exceed the power supply capacity.
  • the constraint condition setting section 12 sets an upper limit value of the speed at the time of constant speed running and an upper limit value of the acceleration / deceleration at the time of acceleration / deceleration running so as to satisfy the constraint conditions according to the car load.
  • the pattern generation unit main body 11 generates a speed pattern based on the upper limit value set by the constraint condition setting unit 12 and the car load.
  • Figure 7 is a graph showing the relationship between car load and car speed and acceleration / deceleration that do not exceed the power supply capacity. The relationship in FIG. 7 is calculated using the following equation.
  • k represents a constant, for example, a coefficient for converting the power consumption of the elevator to power supplied by the power supply equipment.
  • the power consumption of the erepeta can be determined, for example, by the product of the torque generated by the motor section 2 and the rotation speed at that time.
  • the constraint condition setting unit 12 sets the upper limit values of the speed, acceleration and deceleration at the time of constant speed running to v m, hi 2 and hi 1 respectively. This prevents the power supply system from being overloaded or shutting down due to operation exceeding the power supply capacity.
  • the power supply equipment capacity can be, for example, the capacity of the power supply supplied in the evening or the capacity of the power breaker.
  • the power supply capacity can also be the power consumption when the car 6 is traveling at a certain speed with the rated load capacity. Further, the power supply capacity may be the maximum power consumption when the car 6 is running at a certain acceleration / deceleration with the rated capacity.
  • the power supply equipment capacity may be used as the battery capacity of the storage battery.
  • the speed at a constant speed traveling is set so that the vehicle can reach the destination floor in a shorter time without exceeding the power supply capacity of the storage battery.
  • the acceleration and deceleration during acceleration and deceleration are set.
  • the storage battery's power supply capacity is smaller than that of a normal power supply, so it is not possible to drive the car at a high speed or accelerate or decelerate the car at a large acceleration / deceleration.
  • Use a basket so that you can reach the destination floor in a shorter time within the power supply capacity of the storage battery.
  • the information on the upper limit as shown in FIG. 7 may be stored in advance in the constraint condition setting unit 11 as a table value, or may be obtained each time by an arithmetic expression.
  • the upper limit of the speed at the time of constant speed traveling and the acceleration / deceleration at the time of acceleration / deceleration traveling are set so as not to exceed the processing capacity of the electric power regenerated to the power supply side during the regenerative operation.
  • the regenerative processing capacity means the power that can be regenerated by the regenerative equipment that is a component of ELEBE. Specifically, it is the power that can be consumed by the regenerative resistor, which is a regenerative device, and the regenerative capacity of the regenerative device, which is a regenerative device.
  • the regenerative power becomes larger as the difference between the weight of the car 6 and the weight of the counterweight 7 is larger, and as the traveling speed and acceleration / deceleration of the car 6 are larger, similarly to the power consumption of the elevator. Also, since the regenerative power can be calculated by the product of the torque generated by motor section 2 and the rotation speed at that time, the same method as in the third embodiment can be applied. Therefore, using the same diagram (omitted) as in Fig. 7, under the condition that the regenerative processing capacity is not exceeded according to the car load, the speed at constant speed running and acceleration / deceleration running are set by the constraint condition setting unit 12. The upper limit of the acceleration / deceleration can be set individually. Then, the pattern generation unit main body 11 generates a speed pattern based on the upper limit value set by the constraint condition setting unit 12 and the car load.
  • the fourth embodiment it is possible to prevent the regenerative device from being overloaded due to the operation exceeding the regenerative processing capacity. In addition, this makes it possible to suppress heat generation of the regenerative device. Furthermore, it is possible to avoid a stop of the elevator due to an overload state, and it is possible to prevent a decrease in service. Furthermore, the operating efficiency can be improved by changing the speed pattern within the regenerative processing capacity.
  • the motor The control unit 10 includes a field weakening control unit (not shown).
  • Field-weakening control is a motor-based control method applied to permanent magnet motors, in which a demagnetizing effect is obtained by passing a negative current in the field magnetic flux direction (d-axis direction). As a result, the terminal voltage of the motor is suppressed, and driving at a higher rotation speed becomes possible.
  • FIG. 8 is a graph showing the relationship between the outputtable torque of the motor unit 2 and the speed range.
  • (a) shows a region where output is possible when field weakening control is not performed
  • (b) shows a region where output is possible when field weakening control is performed.
  • the upper limit value of the speed at the time of constant speed traveling can be set to a higher speed without changing the electric equipment. This is particularly effective when the difference between the weight of the car 6 and the weight of the counterweight 7 is small. The reason for this is that when the difference in weight is small, the required torque over time is small, so the power consumption and regenerative power at night are also small, and as a result, there are restrictions on power supply equipment capacity and regenerative capacity. This is because it is less susceptible to the effects of conditions, etc., and because of the nature of the field weakening control, the smaller the generated torque, the higher the rotational speed of the motor can be.
  • the motor control unit 10 is provided with the field-weakening control unit, so that the car speed at the time of constant speed traveling can be reduced without increasing the capacity of the inverter and the power supply equipment.
  • the upper limit can be raised, and operation efficiency can be improved.
  • FIG. 9 is a configuration diagram showing an elevator apparatus according to Embodiment 6 of the present invention.
  • the speed pattern generation unit 9 is provided with a detection value correction unit 16.
  • the detected value correction section 16 receives information on the weight of the car 6 detected by the car load detection section 8.
  • the detection value correction unit 16 adds a preset correction value to the loaded weight and outputs the result to the pattern generation unit main body 11 and the constraint condition setting unit 12.
  • the correction value used in the detection value correction unit 16 is detected by the car load detection unit 8. If the load weight in the basket 6 includes an error, the error is corrected. For example, if a correction value is added so that the difference between the weight of the entire car 6 side and the weight of the counterweight becomes large (and thus a negative correction value may be added), this is equivalent to the added correction value.
  • the weight of the car is a
  • the true value of the loaded weight in the car is b
  • the detected value of the loaded weight in the car 6 detected by the car load detector 8 is b1
  • the weight of the counterweight is c
  • the correction value is d (d> 0)
  • the difference between the weight of the entire car 6 and the weight of the counterweight is ⁇ ⁇ ⁇ m
  • a m a + b—c.
  • the value of the loaded weight in the car 6 used to generate the speed pattern is b l
  • the IA m I may be smaller by b—b 1 than the actual value. Therefore, a speed pattern is generated for a value smaller than IAmI by the above error.
  • the speed pattern set for IA m I (upper limit of speed at constant speed and acceleration / deceleration during acceleration / deceleration) is generally not affected by weight difference larger than IA m I. Will not fall within the driving limits of
  • the detection value correction unit 16 adds the correction amount d> Ib1 ⁇ bI to the car load detection value b1 and outputs the corrected car load detection value b1 + d to the no-turn generation unit main unit 1 1 And output to the constraint setting section 12. Since the weight difference becomes larger when the corrected value is used as compared with I ⁇ ⁇ I, the speed at the time of constant speed running and the speed at the time of acceleration / deceleration running set by the constraint condition setting unit 12 are set. The upper limit value of the acceleration / deceleration and the speed pattern calculated by the pattern generation unit main body 11 do not exceed the drive limit of the component device.
  • the output value of the car load detection unit 8 includes an error
  • the output value can be corrected by the detection value correction unit 16, and thereby, the driving of the components of the elevator can be performed.
  • speed at constant speed running and acceleration / deceleration at running speed Speed can be set to the maximum. As a result, the operation efficiency of the elevator can be improved overnight.
  • the correction amount d may be set to, for example, a value corresponding to the detection accuracy of the car load detection unit 8.

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

Abstract

L'invention concerne un dispositif de commande d'un ascenseur qui permet de modifier la vitesse d'une cabine durant sa course à vitesse constante et une accélération/décélération durant une course de vitesse accélérée/décélérée en fonction d'un poids de charge dans la cabine. Ce dispositif de commande d'un ascenseur possède une unité de détermination de condition de limitation permettant de limiter au moins un élément parmi la vitesse et l'accélération/décélération de la cabine de façon à empêcher des surcharges des composantes constitutives de l'ascenseur.
PCT/JP2004/004442 2004-03-29 2004-03-29 Dispositif de commande d'un ascenseur WO2005092764A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
PCT/JP2004/004442 WO2005092764A1 (fr) 2004-03-29 2004-03-29 Dispositif de commande d'un ascenseur
CN200480039519.5A CN1902116B (zh) 2004-03-29 2004-03-29 电梯控制装置
EP04724134A EP1731466B1 (fr) 2004-03-29 2004-03-29 Dispositif de commande d'un ascenseur
JP2006511378A JPWO2005092764A1 (ja) 2004-03-29 2004-03-29 エレベータ制御装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2004/004442 WO2005092764A1 (fr) 2004-03-29 2004-03-29 Dispositif de commande d'un ascenseur

Publications (1)

Publication Number Publication Date
WO2005092764A1 true WO2005092764A1 (fr) 2005-10-06

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PCT/JP2004/004442 WO2005092764A1 (fr) 2004-03-29 2004-03-29 Dispositif de commande d'un ascenseur

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EP (1) EP1731466B1 (fr)
JP (1) JPWO2005092764A1 (fr)
CN (1) CN1902116B (fr)
WO (1) WO2005092764A1 (fr)

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WO2011027463A1 (fr) * 2009-09-04 2011-03-10 三菱電機株式会社 Dispositif de commande d'ascenseur

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WO2008117423A1 (fr) 2007-03-27 2008-10-02 Mitsubishi Electric Corporation Dispositif de freinage pour un ascenseur
FI121879B (fi) 2010-04-16 2011-05-31 Kone Corp Hissijärjestelmä
FI20105587A0 (fi) * 2010-05-25 2010-05-25 Kone Corp Menetelmä hissikokoonpanon kuormituksen rajoittamiseksi sekä hissikokoonpano
CN103492301B (zh) 2011-05-20 2015-12-09 三菱电机株式会社 电梯装置
CN103253563B (zh) * 2012-02-17 2014-10-22 上海三菱电梯有限公司 电梯及其控制方法
JP5947094B2 (ja) * 2012-04-25 2016-07-06 株式会社日立製作所 エレベータ
CN104995116B (zh) * 2013-02-14 2018-03-20 奥的斯电梯公司 电池供电的电梯系统中的电梯轿厢速度控制
CN104016200B (zh) * 2014-02-28 2016-12-07 永大电梯设备（中国）有限公司 一种电梯曳引能力侦测方法
WO2016091198A1 (fr) * 2014-12-11 2016-06-16 冯春魁 Procédé et système pour acquisition de paramètres, commande, fonctionnement et contrôle de charge pour ascenseur
CN106429663A (zh) * 2016-09-23 2017-02-22 苏州汇川技术有限公司 可变速电梯运行控制系统及方法
CN110642177A (zh) * 2019-09-17 2020-01-03 太原理工大学 适应不同工况的提升机紧急制动系统

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Title
See also references of EP1731466A4 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011027463A1 (fr) * 2009-09-04 2011-03-10 三菱電機株式会社 Dispositif de commande d'ascenseur
CN102471013A (zh) * 2009-09-04 2012-05-23 三菱电机株式会社 电梯控制装置
KR101553135B1 (ko) 2009-09-04 2015-09-14 미쓰비시덴키 가부시키가이샤 엘리베이터 제어장치

Also Published As

Publication number Publication date
EP1731466B1 (fr) 2012-04-25
CN1902116B (zh) 2012-04-04
CN1902116A (zh) 2007-01-24
JPWO2005092764A1 (ja) 2008-02-14
EP1731466A4 (fr) 2009-11-04
EP1731466A1 (fr) 2006-12-13

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