WO2011027463A1 - Elevator control device - Google Patents
Elevator control device Download PDFInfo
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- WO2011027463A1 WO2011027463A1 PCT/JP2009/065509 JP2009065509W WO2011027463A1 WO 2011027463 A1 WO2011027463 A1 WO 2011027463A1 JP 2009065509 W JP2009065509 W JP 2009065509W WO 2011027463 A1 WO2011027463 A1 WO 2011027463A1
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- control parameter
- elevator
- travel
- learning function
- travel control
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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
-
- 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
Definitions
- This invention relates to the elevator control apparatus provided with the learning function which updates a travel control parameter according to load.
- an elevator control device that has a learning function for updating a travel control parameter based on the identification result of the travel state quantity during normal operation after installation of the elevator, and optimizes variable speed drive (see, for example, Patent Document 1). .
- the traveling control parameter for calculating the speed command value is dynamically adjusted according to the comparison result between the traveling state amount detected during traveling of the car and the threshold value. Yes.
- the traveling control parameters are automatically adjusted within the allowable capacity range of the driving equipment, and the car can be operated with high efficiency.
- the prior art has the following problems.
- the speed command value calculated using the automatically adjusted travel control parameter is accidentally excessive for some reason, or when it becomes an abnormal low speed value or a value corresponding to a stop
- the corresponding measures were not clear.
- the validity of the learning algorithm or the state of the elevator apparatus is not determined based on the value of the travel control parameter obtained by the learning function.
- the present invention has been made to solve the above-described problems, and an object of the present invention is to obtain a high-performance elevator control device by increasing the reliability of learning results in an elevator control device having a learning function. To do.
- An elevator control apparatus includes a learning function unit that updates a travel control parameter based on a result of identification of a travel state amount during normal operation after installation of an elevator, and performs optimization of variable speed drive If the travel control parameter obtained by the learning function unit is outside the allowable travel control parameter range estimated from the allowable fluctuation rate of the elevator basic device specification value, the elevator service is stopped, or a predetermined It further includes a learning function check unit that performs rated traveling using the traveling control parameter and determines that the learning function unit is normal when the traveling control parameter is within the allowable traveling control parameter range.
- the elevator control device of the present invention learning is performed in an elevator control device having a learning function by adding the function of judging the validity of the learning function and the state of the elevator device based on the learned parameter value. As a result, the reliability of the results can be increased and a high-performance elevator control device can be obtained.
- Embodiment 1 is an overall configuration diagram of an elevator apparatus including an elevator control apparatus according to Embodiment 1 of the present invention. It is a flowchart which shows a series of operation
- FIG. 1 is an overall configuration diagram of an elevator apparatus including an elevator control apparatus according to Embodiment 1 of the present invention.
- the elevator apparatus shown in FIG. 1 includes a car 1, a counterweight 2, a rope 3, a hoisting machine 4, a deflecting wheel 5 (arranged as necessary), and an elevator control device 10.
- the elevator control apparatus 10 has the parameter learning part (learning function part) 11 and the learning function check part 12, and was detected at the time of the normal driving
- the elevator control device 10 of the present invention has a technical feature in that it includes a learning function check unit 12, and this function will be mainly described based on a flowchart.
- FIG. 2 is a flowchart showing a series of operations of the elevator control apparatus according to Embodiment 1 of the present invention. In the following description, the contents executed by the learning function check unit 12 are also included in the elevator control device 10 and described.
- the parameter learning unit 11 in the elevator control device 10 stores the basic device specification values of the installed elevator, such as the weight of the counterweight 2, the capacity of the car 1, the lifting process, etc., as basic state quantities after the elevator is installed. Is done.
- the capacity learning of the installed elevator car 1 and the basic device specification values such as the lifting and lowering process are used as the basic state quantity for the parameter learning unit. 11 is stored.
- basic device specification values may be stored in the parameter learning unit 11 at the time of factory shipment. In this case, the storage work at the installation site can be eliminated.
- the basic device specification values are stored on site, it is possible to set the basic state quantity with higher accuracy in accordance with the installation environment.
- a method may be used in which the basic state quantity is stored at the time of factory shipment and the site is confirmed and corrected after the elevator is installed.
- step S ⁇ b> 202 the elevator control device 10 learns an initial running state amount such as a driving current by causing the car 1 to perform a prescribed inspection running while the car 1 is unmanned, and stores it in the parameter learning unit 11.
- the elevator will determine the exact car weight, inertial weight, running resistance, etc. only after it is installed, it will perform inspection running considering the learning results not only in the unmanned state but also in the full load state. It is desirable to learn the running state quantity.
- step S203 the elevator control apparatus 10 calculates a travel control parameter based on the initial travel state quantity identified in the previous step S202, and the calculated travel control parameter is stored in the previous step S201. It is determined whether or not it is within the allowable travel control parameter range estimated based on the basic state quantity.
- the elevator control device 10 can estimate a certain allowable traveling control parameter within a certain range from the allowable variation rate of the basic state quantity. Therefore, the elevator control device 10 allows the travel control parameter calculated based on the initial travel state amount obtained by learning during the inspection travel after installation to be within the range of the allowable travel control parameter estimated from the basic state amount. By checking whether or not there is, it is possible to determine the validity of the learning algorithm that calculates the travel control parameter based on the identification result of the travel state quantity in the test travel stage.
- Patent Document 1 As a learning method of the traveling control parameter based on the traveling state quantity, for example, the method disclosed in Patent Document 1 can be applied.
- step S203 If the elevator control device 10 determines in step S203 that the travel control parameter calculated based on the initial travel state quantity is outside the allowable travel control parameter range, has any abnormality occurred in the elevator? Alternatively, the elevator service is stopped because the detection algorithm of the travel control parameter is not valid.
- step S203 when the elevator control device 10 determines in step S203 that the travel control parameter calculated based on the initial travel state quantity is within the allowable travel control parameter range, the elevator is in a normal state, and It is determined that the detection algorithm for the travel control parameter is appropriate. And the elevator control apparatus 10 transfers a process to step S204, and starts a normal elevator service (normal driving
- a normal elevator service normal driving
- step S205 the elevator control device 10 learns the travel control parameters during the normal operation during the travel after entering the normal operation.
- the travel control parameter based on the travel state quantity in step S205 for example, the method disclosed in Patent Document 1 can be applied.
- step S205 the learning of the travel control parameters in step S205 is not necessarily performed sequentially. For example, it is also possible to obtain the travel pattern from the value of the scale signal based on the travel control parameter based on the initial travel state quantity after installation. In this case, although not as much as sequential identification, since the travel control parameters are identified at the inspection travel stage after installation, the travel control parameters are optimized to some extent, and the algorithm during travel is simplified. There are benefits. It is also conceivable to update the base travel control parameter at every appropriate timing.
- step S206 the elevator control apparatus 10 determines whether or not each of the traveling control parameters during normal operation identified in the previous step S205 is within a predetermined allowable parameter fluctuation range.
- the determination method here is the same as in the previous step S203.
- step S206 determines in step S206 that the travel control parameter is outside the predetermined allowable parameter fluctuation range, whether any abnormality has occurred in the elevator or the travel control parameter detection algorithm is valid. If not, stop the elevator service.
- the elevator control device 10 can also determine that there is a high possibility that some abnormality has occurred in the elevator.
- step S206 when an abnormality is determined in step S206, since there is no maintenance staff because it is in normal operation, it is preferable to display, record, or issue a report (operator call) to the maintenance center so that the maintenance staff can understand. .
- the elevator control device 10 determines that the travel control parameter is outside the predetermined allowable parameter fluctuation range in step S206, the elevator is in normal operation, and instead of immediately stopping the elevator service, The learning function can be disabled and the elevator service can be continued using the specified rated travel control parameters.
- the prescribed rated travel control parameter is determined in consideration of changes assuming aging, temperature changes, measurement variations, and the like.
- the elevator control device 10 disables the learning function and performs a test drive in a no-load state (specified rated travel), and there should be no problem with the resulting travel control parameters. For example, the normal operation can be resumed at the specified rated travel while the learning function is disabled.
- step S206 when it is determined in step S206 that the travel control parameter is within the predetermined allowable parameter fluctuation, the elevator control apparatus 10 determines that the elevator is in a normal state and the travel control parameter learning result is also correct. . And the elevator control apparatus 10 continues an appropriate normal driving
- the traveling control parameters are automatically adjusted within the allowable driving equipment capability range, and the car can be operated with high efficiency.
- step S207 the elevator control device 10 determines whether or not the validity of the learning function of the traveling control parameter should be determined by performing the inspection traveling in a no-load state periodically at a predetermined interval.
- This inspection traveling can be realized, for example, by performing a midnight maintenance mode operation, and the validity of the learning function of the traveling control parameter can be determined reliably in a no-load state.
- step S208 the elevator control device 10 performs the inspection travel and learns the travel control parameters in the no-load state.
- a learning method of the travel control parameter based on the travel state quantity in step S208 for example, the method disclosed in Patent Document 1 can be applied.
- step S209 the elevator control device 10 determines the validity of the learning result of the travel control parameter identified in the previous step S208.
- a determination method based on whether or not the vehicle travels within the allowable travel control parameter range is applied, similar to step S203 or step S206 above. it can.
- another determination method it is also possible to determine whether or not the initial travel control parameter calculated before entering the normal operation in the previous step S202 is more than a predetermined value.
- This inspection traveling may or may not be performed during regular maintenance.
- regular maintenance maintenance personnel can check directly, so it can be done more reliably.
- the previous steps S201 to S203 are performed again, and the maintenance staff may judge an abnormality in the elevator apparatus from the values of the basic state quantity and the allowable travel control parameter range, or update those values. Conceivable.
- inspection running and confirmation of learning results may be performed remotely via a network.
- the inspection frequency can be increased, the reliability of the learning result can be increased, and the inspection cost can be reduced.
- the validity of the detection result of the learning algorithm can be confirmed, and hardware problems of the elevator apparatus can be predicted. Furthermore, when it is determined that the learning result is not valid, the elevator service is stopped or the mode is shifted to the rated travel mode, and the operator can be notified that maintenance is necessary.
- the maximum speed and acceleration that can be output are accurately determined based on the learning result performed after installation in the field, which is different from the value at the shipping stage. It can happen. Therefore, it is conceivable that elevator safety devices such as emergency stops, buffers, and speed governors should be installed at the highest possible speed and acceleration. Thus, installation is simplified by defining the elevator safety device based on the maximum rating without depending on the learning result.
- the application to the government office should also be made based on the maximum speed, and the application related to the governor should be made at the maximum speed, and based on the travel control parameters initially learned at the time of elevator installation, for example, the governor
- the setting of the governor may be changed so as to operate at a lower speed, such as by replacing the spring. In this case, a speed abnormality can be detected at a lower speed more practically, and the abnormal state detection function is improved.
- the validity of the learning algorithm and the state of the elevator apparatus can be determined based on the learned parameter values. Further, the validity of the learning algorithm can be verified at the inspection running stage before entering normal operation, the stage during normal operation, the stage of midnight maintenance mode operation, and the periodic inspection stage by maintenance personnel. As a result, in the elevator control device having a learning function, the reliability of the learning result can be increased and a high-performance elevator control device can be obtained.
Abstract
Description
自動調整された走行制御パラメータを用いて演算された速度指令値が、何らかの原因で誤って過大な値となってしまった場合、あるいは異常な低速値または停止に相当する値となってしまった場合に、それに対応する方策が明確でなかった。換言すると、学習機能で求めた走行制御パラメータの値に基づいて、学習アルゴリズムの妥当性あるいはエレベータ装置の状態を判断することは行っていなかった。 However, the prior art has the following problems.
When the speed command value calculated using the automatically adjusted travel control parameter is accidentally excessive for some reason, or when it becomes an abnormal low speed value or a value corresponding to a stop However, the corresponding measures were not clear. In other words, the validity of the learning algorithm or the state of the elevator apparatus is not determined based on the value of the travel control parameter obtained by the learning function.
図1は、本発明の実施の形態1におけるエレベータ制御装置を含むエレベータ装置の全体構成図である。図1に示すエレベータ装置は、かご1、釣合い錘2、ロープ3、巻上機4、そらせ車5(必要に応じて配置)、およびエレベータ制御装置10を含んで構成されている。
FIG. 1 is an overall configuration diagram of an elevator apparatus including an elevator control apparatus according to
Claims (4)
- エレベータの据付後の通常運転時に、走行状態量の同定結果に基づいて走行制御パラメータを更新する学習機能部を備え、可変速駆動の最適化を行うエレベータ制御装置において、
前記学習機能部により求められた前記走行制御パラメータが、エレベータの基本装置仕様値の許容変動率から推定される許容走行制御パラメータ範囲外に存在する場合には、エレベータサービスを停止する、あるいは所定の走行制御パラメータを用いた定格走行を行い、前記走行制御パラメータが、前記許容走行制御パラメータ範囲内に存在する場合には、学習機能部が正常であると判断する学習機能チェック部をさらに備えるエレベータ制御装置。 In an elevator control device that includes a learning function unit that updates a travel control parameter based on the identification result of the travel state amount during normal operation after installation of the elevator, and that optimizes variable speed drive,
When the travel control parameter obtained by the learning function unit is outside the allowable travel control parameter range estimated from the allowable fluctuation rate of the basic device specification value of the elevator, the elevator service is stopped, or a predetermined Elevator control further comprising a learning function check unit that performs rated traveling using a traveling control parameter and determines that the learning function unit is normal when the traveling control parameter is within the allowable traveling control parameter range. apparatus. - 請求項1に記載のエレベータ制御装置において、
前記学習機能部は、据付後の無負荷状態による検査走行時に初期の走行制御パラメータを算出し、
前記学習機能チェック部は、通常運転に入る前段階で、前記初期の走行制御パラメータが、エレベータの基本装置仕様値の許容変動率から推定される許容走行制御パラメータ範囲外に存在する場合には、エレベータサービスを停止し、前記初期の走行制御パラメータが、前記許容走行制御パラメータ範囲内に存在する場合には、学習機能部が正常であると判断し、前記通常運転に移行する
エレベータ制御装置。 In the elevator control device according to claim 1,
The learning function unit calculates an initial traveling control parameter at the time of inspection traveling in an unloaded state after installation,
The learning function check unit is a stage before entering the normal operation, when the initial travel control parameter is outside the allowable travel control parameter range estimated from the allowable fluctuation rate of the basic device specification value of the elevator, The elevator control device that stops the elevator service and determines that the learning function unit is normal when the initial travel control parameter is within the allowable travel control parameter range and shifts to the normal operation. - 請求項2に記載のエレベータ制御装置において、
前記学習機能部は、前記通常運転移行後の走行時に走行制御パラメータを算出し、
前記学習機能チェック部は、算出した前記走行制御パラメータが、前記許容走行制御パラメータ範囲外に存在する場合には、エレベータサービスを停止する、あるいは所定の走行制御パラメータを用いた定格走行を行い、前記走行制御パラメータが、前記許容走行制御パラメータ範囲内に存在する場合には、学習機能部が正常であると判断し、前記走行制御パラメータを適用して前記通常運転を継続して行う
エレベータ制御装置。 The elevator control device according to claim 2,
The learning function unit calculates a travel control parameter during travel after transition to the normal operation,
When the calculated travel control parameter is outside the allowable travel control parameter range, the learning function check unit stops the elevator service or performs rated travel using a predetermined travel control parameter, An elevator control device that determines that the learning function unit is normal when the travel control parameter is within the allowable travel control parameter range, and continues the normal operation by applying the travel control parameter. - 請求項2または3に記載のエレベータ制御装置において、
前記学習機能部は、前記通常運転移行後に行う保守モード運転での走行時に走行制御パラメータを算出し、
前記学習機能チェック部は、前記保守モード運転での走行時に算出した前記走行制御パラメータが、前記許容走行制御パラメータ範囲外に存在する場合、または前記初期の走行制御パラメータに対して所定値以上離れている場合には、エレベータサービスを停止する
エレベータ制御装置。 In the elevator control device according to claim 2 or 3,
The learning function unit calculates a travel control parameter when traveling in the maintenance mode operation performed after the transition to the normal operation,
The learning function check unit is configured such that the travel control parameter calculated during travel in the maintenance mode operation is outside the allowable travel control parameter range, or separated from the initial travel control parameter by a predetermined value or more. Elevator control device to stop the elevator service if there is.
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CN200980160969.2A CN102471013B (en) | 2009-09-04 | 2009-09-04 | Elevator control device |
PCT/JP2009/065509 WO2011027463A1 (en) | 2009-09-04 | 2009-09-04 | Elevator control device |
KR1020137034464A KR101553135B1 (en) | 2009-09-04 | 2009-09-04 | Elevator control device |
KR1020127004649A KR101374415B1 (en) | 2009-09-04 | 2009-09-04 | Elevator control device |
EP09848994.1A EP2474495B1 (en) | 2009-09-04 | 2009-09-04 | Elevator control device |
JP2011529753A JP5289574B2 (en) | 2009-09-04 | 2009-09-04 | Elevator control device |
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Cited By (3)
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WO2012160888A1 (en) * | 2011-05-20 | 2012-11-29 | 三菱電機株式会社 | Elevator apparatus |
CN104098004A (en) * | 2013-04-07 | 2014-10-15 | 上海三菱电梯有限公司 | Elevator control method and elevator control device |
JP2021109737A (en) * | 2020-01-10 | 2021-08-02 | 株式会社日立製作所 | Elevator control device and elevator control method |
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WO2016109231A2 (en) * | 2014-12-29 | 2016-07-07 | Otis Elevator Company | System and method of maintaining performance of a system |
WO2018158601A1 (en) | 2017-03-01 | 2018-09-07 | Omron Corporation | Monitoring devices, monitored control systems and methods for programming such devices and systems |
WO2024056930A1 (en) * | 2022-09-12 | 2024-03-21 | Kone Corporation | A method, an elevator computing unit, and a load estimation system for producing load data of an elevator car of an elevator system |
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- 2009-09-04 EP EP09848994.1A patent/EP2474495B1/en active Active
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CN102471013A (en) | 2012-05-23 |
EP2474495A1 (en) | 2012-07-11 |
JP5289574B2 (en) | 2013-09-11 |
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KR20140021037A (en) | 2014-02-19 |
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JPWO2011027463A1 (en) | 2013-01-31 |
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