WO2011004445A1 - エレベーター装置 - Google Patents

エレベーター装置 Download PDF

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Publication number
WO2011004445A1
WO2011004445A1 PCT/JP2009/062297 JP2009062297W WO2011004445A1 WO 2011004445 A1 WO2011004445 A1 WO 2011004445A1 JP 2009062297 W JP2009062297 W JP 2009062297W WO 2011004445 A1 WO2011004445 A1 WO 2011004445A1
Authority
WO
WIPO (PCT)
Prior art keywords
control
traveling
speed
magnetic pole
detection
Prior art date
Application number
PCT/JP2009/062297
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
湯村　敬
Original Assignee
三菱電機株式会社
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 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to KR1020117027555A priority Critical patent/KR20130056148A/ko
Priority to PCT/JP2009/062297 priority patent/WO2011004445A1/ja
Priority to EP09847050.3A priority patent/EP2452908B1/en
Priority to JP2011521718A priority patent/JP5460712B2/ja
Priority to KR1020137024936A priority patent/KR101354827B1/ko
Priority to CN200980160248.1A priority patent/CN102471019B/zh
Publication of WO2011004445A1 publication Critical patent/WO2011004445A1/ja

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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
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/3492—Position or motion detectors or driving means for the detector
    • 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
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
    • B66B1/40—Means for stopping the cars, cages, or skips at predetermined levels and for correct levelling at landings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B7/00—Other common features of elevators
    • B66B7/12—Checking, lubricating, or cleaning means for ropes, cables or guides
    • B66B7/1207—Checking means
    • B66B7/1215—Checking means specially adapted for ropes or cables
    • B66B7/123—Checking means specially adapted for ropes or cables by analysing magnetic variables

Definitions

  • the present invention relates to an elevator apparatus having a simple hoisting machine structure and improved landing accuracy.
  • Patent Document 1 improves the accuracy at low speed by the magnetic pole position estimation method.
  • the number of magnetic poles is limited in a stopped state or in an ultra-low speed state, an elevator apparatus with high landing accuracy cannot be obtained only by the magnetic pole position estimation method.
  • the present invention has been made to solve the above-described problems, and provides an elevator apparatus that can utilize magnetic pole position estimation control and achieve high landing accuracy even in a stopped state or at an ultra-low speed. With the goal.
  • the elevator apparatus estimates a magnetic pole position by using an induced voltage generated when the motor of the hoisting machine rotates, and performs magnetic pole position estimation for controlling a car driven by the rotation of the hoisting machine.
  • the control method determines whether or not the vehicle is in a switching traveling state according to the detector provided outside the hoisting machine for detecting the position or speed of the car and the traveling speed or moving position of the car
  • the car position control control method is applied to control the traveling of the car.
  • a control unit that controls the traveling of the car based on the above.
  • the traveling control using the magnetic pole position estimation control method and the traveling control based on the detection result by the detector provided outside the hoisting machine, the traveling speed or the moving position of the car By providing the control unit that can be switched according to the above, it is possible to obtain an elevator apparatus that can utilize the magnetic pole position estimation control and can achieve high landing accuracy even in a stopped state or at an ultra-low speed.
  • Embodiment 1 of this invention It is a general view of the elevator apparatus in Embodiment 1 of this invention. It is a conceptual diagram of the permanent-magnet-type synchronous motor to which the magnetic pole position estimation control in Embodiment 1 of this invention is applied. It is a conceptual diagram of the induction type rope tester used with the elevator apparatus in Embodiment 1 of this invention. It is explanatory drawing regarding the control method of the elevator apparatus in Embodiment 1 of this invention. It is a figure which shows the other example of installation of the rope tester in Embodiment 1 of this invention. It is explanatory drawing of the control switching timing of the elevator apparatus in Embodiment 1 of this invention.
  • FIG. 1 is an overall view of an elevator apparatus according to Embodiment 1 of the present invention.
  • the elevator apparatus according to the first embodiment is required for performing a drive mechanism unit 10 for driving an elevator car up and down, a control unit 20 for performing control of raising and lowering the car, and an elevator control by the control unit 20.
  • the state detection unit 30 generates a detection signal.
  • the drive mechanism unit 10 includes a hoisting machine 11, a car 12, a weight 13, a rope 14, a deflector 15 and a speed governor 16.
  • the motor of the hoisting machine 11 is a permanent magnet type synchronous motor, and although not shown in detail, the hoisting machine 11 includes an electric motor, a sheave, a brake housing, and the like.
  • a rope 14 having one end connected to the car 12 and the other end connected to a weight 13 is hung on the sheave. Further, a deflecting wheel 15 is disposed in the route of the rope 14 as necessary.
  • car 12 performs raising / lowering operation by driving a sheave with an electric motor. The brake applies braking force to the sheave to stop the car 12 and releases the braking force to make the car 12 free.
  • the state detector 30 includes an encoder 31 for measuring the speed or position of the car 12, a rope tester 32, a door position detector 33 (not shown) for detecting the landing position of the car 12, A floor plate 34 is included.
  • the encoder 31 is provided in the speed governor 16.
  • the rope tester 32 can be provided in the middle of the hoistway as shown in FIG. 1, and can also be provided in the sheave part of the hoisting machine 11 as will be described later with reference to FIG.
  • both the encoder 31 and the rope tester 32 are shown as detectors used for measuring the speed or position of the car 12 when the traveling control to which the magnetic pole position estimation control method is applied is not performed. However, any one may be used, and other detectors may be used.
  • the door position detection unit 33 (not shown) is provided on the side surface of the car 12.
  • the landing plate 34 is provided at a position corresponding to the landing on each floor in the hoistway. As the car 12 moves up and down, the door position detection unit 33 detects the landing plate 34 to detect whether or not the position of the car 12 is at a door opening / closing position corresponding to the landing on each floor. .
  • the control unit 20 performs traveling control of the car 12 based on the detection signal from the state detection unit 30. More specifically, the “magnetic pole position estimation control” in Patent Document 1 shown as the prior art is applied to the elevator in the first embodiment. Travel control by this “magnetic pole position estimation control” is performed by estimating the magnetic pole position using the induced voltage generated when the motor of the hoisting machine 11 rotates and controlling the rotation of the hoisting machine 11. It has been broken.
  • FIG. 2 is a conceptual diagram of a permanent magnet type synchronous motor to which the magnetic pole position estimation control according to Embodiment 1 of the present invention is applied.
  • the encoder 31 or the like has a configuration capable of running control without separately providing magnetic pole position detection.
  • the induced voltage decreases as the speed decreases, so that it becomes difficult to detect the magnetic pole position in the ultra-low speed state.
  • the number of magnetic poles of the synchronous motor is smaller than that of the encoder 31, and the number is limited. For this reason, even if control improvement is performed by using the magnetic pole position estimation control, there are cases where the accuracy and reliability are deteriorated as compared with the encoder 31. Therefore, even when the magnetic pole position estimation control is applied, it has been difficult in practice to be completely encoderless.
  • an elevator apparatus that uses magnetic pole position estimation control
  • another traveling using a detection unit that detects the speed or position of the car.
  • traveling control with improved accuracy and reliability is realized.
  • this detection unit first, the case where the rope tester 32 is used will be described below.
  • the rope tester 32 an induction type rope tester that is widely used at present is utilized.
  • FIG. 3 is a conceptual diagram of an induction type rope tester used in the elevator apparatus according to Embodiment 1 of the present invention.
  • the inductive rope tester 32 as shown in FIG. 3 monitors the case where the detected voltage becomes a predetermined value or more because the peak of the induced voltage occurs if a part of the rope strand is broken. The wire breakage can be detected.
  • the maintenance staff attaches the rope tester 32 to the rope portion at the maintenance timing and monitors the detected voltage to check whether it is normal.
  • the sensitivity of the rope tester 32 is set so that the broken wire can be clearly detected based on the detection voltage during traveling at the inspection speed A as shown in the lower right of FIG.
  • the inspection speed A here corresponds to, for example, a normal traveling speed. That is, since the pitch of the rope strand is very fine in millimeters, the detection voltage at the sensitivity suitable for the inspection speed A is not suitable for position detection because the signal of the peaks and valleys of the strand is measured in noise.
  • FIG. 4 is an explanatory diagram relating to a method for controlling the elevator apparatus according to Embodiment 1 of the present invention.
  • FIG. 4A corresponds to normal traveling
  • FIG. 4B corresponds to low / ultra-low traveling.
  • the detection method of the rope tester 32 may be based on light.
  • the optical system since the peaks and valleys of the strand are seen at the position, the lower the speed, the more accurately the detection can be made. As a result, the accuracy of position control using the signal of the rope tester 32 can be increased.
  • other methods may be used as long as the shape of the strand can be detected. Furthermore, when one strand of wire can be detected from low speed to high speed with one sensitivity and signal processing, and strand detection can be performed, it is not necessary to switch the sensitivity.
  • FIG. 5 is a diagram illustrating another installation example of the rope tester according to the first embodiment of the present invention.
  • the rope tester 32 may be provided in the sheave part of the hoisting machine 11.
  • the rope tester 32 can be configured to be almost integrated with the hoisting machine 11, the space can be reduced, and the rope tester 32 can be used as a substitute for preventing the slippage of the rope.
  • FIG. 6 is an explanatory diagram of the control switching timing of the elevator apparatus according to Embodiment 1 of the present invention.
  • the first switching timing it is possible to switch to an ultra-low speed just before landing. That is, the case where the speed is equal to or lower than the ultra-low speed immediately before landing corresponds to a “switching traveling state” in which traveling control is performed using a signal from the detection unit.
  • the speed region where the signal of the rope tester 32 is used for travel control is limited to a region where the speed is not higher than the super low speed. Therefore, the sensitivity of the rope tester 32 is a first detection sensitivity suitable for detecting a broken wire of a rope when exceeding an ultra-low speed, and a second detection sensitivity suitable for detecting a strand pitch when the speed is less than or equal to an ultra-low speed. It is easy to optimally set the two sensitivities. As a result, a high quality signal can be extracted from the rope tester 32.
  • the second switching timing a point at which the speed control is switched to the position control when the elevator approaches the landing can be considered. That is, the case where the position control is performed corresponds to a “switching traveling state” in which the traveling control using the signal of the detection unit is performed.
  • the magnetic pole position estimation control is applied only at the time of speed control, and the traveling control using the signal of the rope tester 32 is applied only at the time of position control.
  • the control system becomes simple and a control configuration that can be easily realized can be achieved.
  • the sensitivity of the rope tester 32 is set such that the sensitivity of the rope tester 32 is suitable for detecting the wire breakage of the rope at the time of speed control, and at the time of position control.
  • the two sensitivities, the second sensitivity suitable for detecting the strand pitch in the case, are optimally set.
  • a rope is used as an example of a detection unit that detects the speed or position of a car in a control region where accuracy or reliability by magnetic pole position estimation control is a problem.
  • the case where the tester 32 is applied has been described.
  • the encoder 31 is applied as the detection unit, the wire test cannot be detected, but the rope tester 32 is not necessary, so that the space can be reduced. Further, the cost can be reduced as compared with the case where the rope tester 32 is used.
  • such an encoder can be provided in the speed governor 6 or can be provided as a contact type outside the hoisting machine 11.
  • the control unit 20 always monitors the difference in detection results (difference in detection speed or difference in detection position) in each control method, regardless of which method is being executed, and has a predetermined tolerance. If the difference is greater than or equal to the difference, it can be determined that a control abnormality has occurred.
  • the traveling control to which the magnetic pole position estimation control method is applied A control unit capable of switching between traveling control based on a detection result by a detector provided outside the machine is provided.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Maintenance And Inspection Apparatuses For Elevators (AREA)
  • Elevator Control (AREA)
  • Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)
PCT/JP2009/062297 2009-07-06 2009-07-06 エレベーター装置 WO2011004445A1 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
KR1020117027555A KR20130056148A (ko) 2009-07-06 2009-07-06 엘리베이터 장치
PCT/JP2009/062297 WO2011004445A1 (ja) 2009-07-06 2009-07-06 エレベーター装置
EP09847050.3A EP2452908B1 (en) 2009-07-06 2009-07-06 Elevator device
JP2011521718A JP5460712B2 (ja) 2009-07-06 2009-07-06 エレベーター装置
KR1020137024936A KR101354827B1 (ko) 2009-07-06 2009-07-06 엘리베이터 장치
CN200980160248.1A CN102471019B (zh) 2009-07-06 2009-07-06 电梯装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2009/062297 WO2011004445A1 (ja) 2009-07-06 2009-07-06 エレベーター装置

Publications (1)

Publication Number Publication Date
WO2011004445A1 true WO2011004445A1 (ja) 2011-01-13

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ID=43428887

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2009/062297 WO2011004445A1 (ja) 2009-07-06 2009-07-06 エレベーター装置

Country Status (5)

Country Link
EP (1) EP2452908B1 (ko)
JP (1) JP5460712B2 (ko)
KR (2) KR101354827B1 (ko)
CN (1) CN102471019B (ko)
WO (1) WO2011004445A1 (ko)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017033312A1 (ja) * 2015-08-26 2017-03-02 三菱電機株式会社 エレベーターの移動距離計測装置およびエレベーターの移動距離計測方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59650A (ja) * 1982-06-28 1984-01-05 Hitachi Ltd ワイヤ−ロ−プの電磁探傷装置
JPS5931274A (ja) * 1982-08-09 1984-02-20 株式会社東芝 エレベ−タ乗かご位置検出装置
WO2005115902A1 (ja) * 2004-05-28 2005-12-08 Mitsubishi Denki Kabushiki Kaisha エレベータのロープ滑り検出装置、及びエレベータ装置
JP2008230797A (ja) 2007-03-22 2008-10-02 Mitsubishi Electric Corp エレベータ用制御装置
JP2009051656A (ja) * 2007-08-29 2009-03-12 Mitsubishi Electric Corp エレベータ制御装置

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6194984A (ja) * 1984-10-15 1986-05-13 三菱電機株式会社 エレベ−タの位置制御装置
KR100852571B1 (ko) * 2006-05-12 2008-08-18 미쓰비시덴키 가부시키가이샤 엘리베이터의 로프 미끄러짐 검출 장치, 및 엘리베이터장치
FI118382B (fi) * 2006-06-13 2007-10-31 Kone Corp Hissijärjestelmä

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59650A (ja) * 1982-06-28 1984-01-05 Hitachi Ltd ワイヤ−ロ−プの電磁探傷装置
JPS5931274A (ja) * 1982-08-09 1984-02-20 株式会社東芝 エレベ−タ乗かご位置検出装置
WO2005115902A1 (ja) * 2004-05-28 2005-12-08 Mitsubishi Denki Kabushiki Kaisha エレベータのロープ滑り検出装置、及びエレベータ装置
JP2008230797A (ja) 2007-03-22 2008-10-02 Mitsubishi Electric Corp エレベータ用制御装置
JP2009051656A (ja) * 2007-08-29 2009-03-12 Mitsubishi Electric Corp エレベータ制御装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2452908A4 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017033312A1 (ja) * 2015-08-26 2017-03-02 三菱電機株式会社 エレベーターの移動距離計測装置およびエレベーターの移動距離計測方法
CN107922149A (zh) * 2015-08-26 2018-04-17 三菱电机株式会社 电梯的移动距离计测装置以及电梯的移动距离计测方法

Also Published As

Publication number Publication date
CN102471019A (zh) 2012-05-23
EP2452908A4 (en) 2015-01-07
EP2452908B1 (en) 2016-08-31
KR101354827B1 (ko) 2014-01-24
EP2452908A1 (en) 2012-05-16
CN102471019B (zh) 2015-05-06
JPWO2011004445A1 (ja) 2012-12-13
JP5460712B2 (ja) 2014-04-02
KR20130056148A (ko) 2013-05-29
KR20130133851A (ko) 2013-12-09

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