WO2012160888A1

WO2012160888A1 - Elevator apparatus

Info

Publication number: WO2012160888A1
Application number: PCT/JP2012/059562
Authority: WO
Inventors: 力雄近藤; 酒井　雅也
Original assignee: 三菱電機株式会社
Priority date: 2011-05-20
Filing date: 2012-04-06
Publication date: 2012-11-29
Also published as: DE112012002180T5; DE112012002180B4; CN103492301A; JPWO2012160888A1; CN103492301B; JP5634603B2

Abstract

Provided is an elevator apparatus having a function of identifying a driving force loss determined according to a car position and a driving force loss proportional to a payload. An elevator apparatus is provided with: a car (1) coupled to a weight (2) by a rope (3); a hoist (5) for hoisting the rope; a control device (12) for controlling the drive of the hoist; and an estimation device (13) for identifying a first driving force loss dependent on a payload or a second driving force loss dependent on a car position as a numerical value model, and estimating a driving force loss from the numerical value model.

Description

Elevator equipment

The present invention relates to an elevator apparatus, and more particularly to a technique for accurately estimating a driving force loss that occurs when a car travels.

The elevator device is equipped with a scale device to detect the weight of the car. Patent Document 1 is known as a document dealing with a technique for correcting a scale device. Here, the driving force loss that occurs when the car travels is specified, and the loaded weight in the car is estimated from the driving force that excludes this driving force loss.

The driving force loss (running loss) that occurs in the elevator device depends on the contact state between the rail and the guide and the load weight, and varies depending on the property. Therefore, when the driving force loss is estimated without considering the influence of the car position and the load weight, or when the driving force loss is set to a predetermined value in advance, there is an error between the estimated driving force loss and the actual driving force loss. Occurs. Because of this error, when the estimated load weight is used for the determination of the traveling abnormality, the elevator apparatus may determine that the traveling abnormality is in spite of the normal state. Moreover, when using it for the control of an elevator, the operation performance deteriorates by allowing for an error due to estimation variation.

JP 6-32440 A

The present invention has been made to solve the above-described problems, and provides an elevator apparatus having a function of identifying a driving force loss determined according to a car position and a driving force loss proportional to the loaded weight. To aim.

The elevator apparatus according to the present application includes numerical values for the first driving force loss depending on the load weight, the hoisting machine that winds up the rope, the control device that controls the driving of the hoisting machine, An estimation device that identifies the model and estimates the driving force loss from the numerical model.

The elevator apparatus according to the present application can accurately identify the driving force loss and accurately estimate the load weight. In addition, since the load weight is estimated with high accuracy during operation, the control performance can be improved by determining the control parameters based on the inertial mass and driving force required for car traveling.

It is a figure which shows the structure of the elevator apparatus concerning this invention. It is a figure which shows the tendency of a driving force loss. 6 is a diagram for explaining a numerical model according to Embodiment 1. FIG. It is a flowchart which shows the procedure which learns a driving force loss. 6 is a diagram for explaining a numerical model according to Embodiment 2. FIG. 10 is a diagram for explaining a numerical model according to Embodiment 3. FIG.

Embodiment 1 FIG.
FIG. 1 shows the configuration of an elevator apparatus according to the present invention. The elevator apparatus has a car 1, a weight 2, a rope 3, a pulley 4, a hoisting machine 5, a deflector 6, a guide 7, a rail 8, a guide 9, a rail 10, in the same manner as a general elevator system. A scale device 14 is provided. The car 1 and the weight 2 are connected by a rope 3. The rope 3 is wound around the pulley 4. By driving the pulley 4 to rotate by the hoisting machine 5, the car 1 operates in the vertical direction. The load weight (L) of the car 1 is detected by using a scale device 14. When the car 1 is loaded with half the rated weight, the weight 2 and the car 1 are balanced. The hoisting machine 5 is provided with a torque sensor for detecting the torque of the drive shaft.

The operation of the elevator device is performed by the control device 12 controlling the inverter 11 and driving the hoisting machine 5. The control device 12 is connected to the estimation device 13. The estimation device 13 specifies the driving force loss (traveling loss) during traveling of the car 1 and stores the characteristics, and estimates the driving power loss from the stored characteristics. In the following, identifying the driving force loss and storing the characteristic is referred to as “identification”, and estimating the driving force loss from the stored characteristic is referred to as “estimation”.

The estimation device 13 includes an input unit 21 that receives a signal, a processing unit 22 that processes the received signal, an output unit 23 that outputs a data signal to the control device 12, and a storage unit 24 that stores data. The input unit 21 receives a signal for calculating the driving force (Fiq) from the inverter 11, and the control device 12 outputs a position signal of the car 1, an acceleration / deceleration pattern signal, a signal corresponding to the current loading state, and an estimation. A command signal or the like to the device 13 is input. The processing unit 22 that receives these signals operates in accordance with a command signal from the control device 12. In the process of identifying the driving force loss in this operation, it is necessary to temporarily store information relating to the input signal and to read out the stored information. Therefore, the processing unit 22 and the storage unit 24 are mutually connected. It is possible to send and receive information.

The driving force loss identified in the processing unit 22 and the estimated driving force loss are transmitted to the output unit 23 and input to the control device 12. In the configuration according to the present embodiment, it is possible to confirm the identified driving force loss and the current estimated driving force loss by accessing the control device 12. In addition, if the above-mentioned signal is input to the estimation device 13, input from other than the inverter 11 and the control device 12 can be used for identifying the driving force loss. As a signal for calculating the driving force of the hoisting machine 5, a torque current value signal of the hoisting machine, an output signal of the torque sensor, a torque command signal of the inverter 11, a torque current command signal, and the like can be used.

Next, a numerical model for learning (estimating) driving force loss from the signal input to the estimation device 13 will be described. The driving force loss includes friction loss due to contact between the guide 7 and the rail 8, friction loss due to contact between the guide 9 and the rail 10, rotation loss of the hoisting machine 5, and bearings of pulleys such as the deflector 6. All of the rotation loss is included. Of these, the contact state between the guides (7 and 9) and the rails (8 and 10) differs depending on the position of the car 1, so that the friction loss due to the contact tends to depend on the car position x. On the other hand, the rotation loss is proportional to the axial force applied to the rotation shaft, and therefore tends to be proportional to the load weight L of the car 1. Therefore, as a numerical model, a numerical model proportional to the load weight L, a numerical model depending on the car position x, a model combining these two numerical models, and the like can be considered.

Since the driving force loss tends to depend on the car position x and is proportional to the load weight L, the driving force loss when the load weight is different maintains the same profile shape depending on the car position x. It shows a tendency that the loss depending on the load weight L is adjusted as a whole. The driving force loss for each car position is illustrated in FIG. The driving force loss Fa indicates the case where the car is not loaded, and the driving force loss Fb indicates the case where the car is loaded.

The estimation device 13 identifies and estimates the driving force loss based on Equation 1 shown in FIG. 3 in order to accurately grasp both the tendency depending on the car position x and the tendency proportional to the loaded weight L. Here, the driving force loss Floss (x, L) indicates that it is a function of the car position x and the load weight L of the car. The loaded weight L is based on the state in which the weight 2 and the car 1 are balanced.

In Equation 1, the first term on the right side is the driving force loss (first driving force loss) depending on the loaded weight, and the second term on the right side is the driving force loss (second driving force loss) depending on the car position. Show. If the proportionality constant k1 [loss] to the load weight L in Equation 1 and the driving force loss component k2 [loss] depending on the car position x are identified, the car position x and the load weight L are used as arguments, and It becomes possible to estimate the driving force loss Floss (x, L).

The driving force Fiq (x, L) of the hoisting machine 5 is a function of the car position x and the load weight L, and satisfies the balance relationship shown in Equation 2. According to Equation 2, the driving force Fiq (x, L) is the force Fcab (x) due to the weight of the rope / cables affecting the car, etc., and the car and the weight in a state where the weight and the car are balanced. From the inertial mass M (x) of the entire drive system including the ropes / cables, the gravitational acceleration g, and the car acceleration α (x) corresponding to the car position x can be estimated. Here, the sign of each term indicates the upward direction of the car as positive. Since the driving force loss Floss works in the opposite direction to the traveling direction, it is indicated by a positive / negative sign. Regarding the driving force Fiq, the balance relationship in the case of the upward operation of the car is shown in Equation 3, and the balance relationship in the case of the downward operation of the cage is shown in Equation 4, respectively.

When the loading weight L is the same, Formula 5 is obtained by the difference between Formula 3 and Formula 4. Equation 5 is used to estimate the driving force loss based on the driving force Fiq that pulls the car 1. In order to estimate, the control device 12 operates the car 1 up and down with speed changes having the same acceleration at the same car position x for the two loaded weights (L1, L2). When the driving force at each car position is stored and the difference is divided by 2, the driving force loss Floss (x, L) is obtained.

The proportionality constant k1 [loss] of Equation 1 can be calculated from Equation 6 from the driving force loss associated with the two load weights (L1, L2) obtained in this way. Similarly, the driving force loss component k2 [loss] in Equation 1 can be calculated as in Equation 7a.

In Equation 5, even when the speed change is not the same at the same car position, the driving force loss can be obtained by calculating the final term including the acceleration. However, if the acceleration is the same, the final term on the right side is zero. Therefore, the identification error can be reduced. Moreover, even if the driving force at constant speed operation that does not include the acceleration / deceleration region is taken out, the error can be reduced because the final term becomes zero, but if the speed changes with the same acceleration at the same car position, the acceleration / deceleration will be It is possible to identify the driving force loss without error even in the vicinity of the upper and lower terminal floors that are necessarily required.

Next, a specific procedure for estimating the driving force loss in the present embodiment will be described with reference to FIG. In learning of driving force loss, the loading state is first set to 0% (STEP 1). Thereafter, the control device 12 is accessed and reciprocating is performed in the vertical direction (STEP 2). The driving force obtained by the reciprocating travel is stored in the storage unit 24 (STEP 3). Next, the loading state is set to 100% (STEP 4), and the vehicle is reciprocated in the vertical direction (STEP 5), and the obtained driving force is stored in the storage unit 24 (STEP 6). Finally, based on the equations 6 and 7a, information necessary for estimating the driving force loss is identified from the stored driving force (STEP 7).

If the accuracy of identification is not desired, a method of operating only in one loading state may be used. In this case, if learning is performed only in a no-load state in which the work of loading the weight is not necessary, L = 0 is set in Equation 1. Regardless of the loading state, the driving force loss component k2 is equal to the driving force loss Floss (x, 0), thereby eliminating the trouble of changing the loading weight L of the car and omitting the learning steps STEP4 to STEP6. I can do things. In this case, the driving force loss component k2 [loss] in Expression 7b can be obtained independently from the proportionality constant k1 [loss].

According to the above, it is possible to identify the driving force loss with high accuracy, and if the driving force loss of an abnormal size that is not assumed in the identification result is detected, the car is caught in the hoistway, It can be judged that there is a contact abnormality with the rail.

The elevator apparatus according to the present embodiment can accurately detect the driving power loss depending on the car position and the driving power loss proportional to the load weight, which vary from one property to another, so that there is no excess driving power loss. It can be confirmed, and it can be determined whether or not the elevator apparatus can be normally operated. In addition, by accurately identifying the driving force loss that varies from property to property even in the vicinity of the hoistway terminal floor, it is possible to check for the presence or absence of excessive driving force loss, regardless of the hoistway position. It can be determined whether normal operation is possible.

Embodiment 2. FIG.
The elevator apparatus according to the second embodiment of the present invention detects an abnormality by comparing the driving force estimated using the identified driving force loss with the directly detected driving force. Here, the direct detection includes the case where the driving force is detected from the output of the torque sensor provided on the hoisting machine drive shaft and the case where the driving force is estimated from the torque current of the hoisting machine 5 (inverter 11). .

The driving force Fiq required for traveling can be estimated based on the right side of Equation 2. Among these, since the control device 12 has information on the load weight L and the acceleration α (x), the information is transmitted from the control device 12 to the estimation device 13. Further, the driving force loss can be identified as disclosed in the first embodiment. Other necessary information is the inertia mass M (x) and the force Fcab (x) resulting from the weight of the cables. These can be identified from the driving force stored in the storage unit 24 in the vertical operation. .

In identifying the inertial mass M (x) and the force Fcab (x), the load weight was arbitrarily set to the same condition, and the acceleration / deceleration pattern was run so as to be the same α (x) in the vertical operation and directly detected. Get driving force. Based on this driving force, Expression 8 shown in FIG. 5 is obtained from Expression 3 and Expression 4.

The driving force Fdrive of Formula 8 is obtained by excluding the driving force loss Floss from the driving force Fiq necessary for operation. The influence of the ropes / cables on the force Fcab tends to be adjusted in proportion to the car position x. If different positions of the car in the range in which the car is traveling at a constant speed are defined as car position x1 and car position x2, the position-dependent proportional constant k1 [cab] is obtained by Equation 9. Further, the influence component k2 [cab] that the rope / cables exerts on the force Fcab at the car position x0 is obtained as shown in Expression 10.

Generally, the influence of ropes / cables on the force Fcab is designed to be zero when the car is in the middle position, and the car position x0 indicates the distance to the car middle position. The force Fcab (x) due to the weight of the cables depending on the car position is determined based on Equation 11. It can be seen that the inertial mass M (x) is obtained from Equation 8 to Equation 12.

As described above, each term shown on the right side of Equation 2 can be estimated from the information that the control device 12 has in advance and the driving force obtained by the learning travel by the vertical operation. Comparing this estimated driving force Fiq with the directly detected driving force Fiq, it is determined that there is a catch or abnormal contact with the rail when the directly detected driving force Fiq is larger. Monitoring is possible, and it is possible to quickly detect a running abnormality. In order to determine that the directly detected driving force is larger than the estimated driving force, an error or variation due to detection or identification is determined in advance as a predetermined value (hereinafter, the determined size is set as a specified value). ) When the driving force detected directly from the estimated driving force is greater than the specified value or when the driving force directly detected is smaller than the estimated driving force, it is detected directly from the estimated driving force. It is also included that the abnormality is determined when the difference in the driving force is smaller than a specified value.

Embodiment 3 FIG.
The elevator apparatus according to the third embodiment of the present invention accurately estimates the load weight by accurately identifying the driving force loss from the driving force during traveling and excluding the influence thereof. A formula for estimating the load weight L is obtained by substituting Equation 1 into Equation 2 and transforming it as shown in Equation 13 shown in FIG. There is no term on the weight on the right side of Equation 13.

Here, the driving force Fiq (x, L) represents the force directly detected during traveling. By calculating using the coefficients on the right side, the loaded weight L can be accurately estimated. If this result is used, it is possible to estimate the load weight with high accuracy during operation, and it is possible to improve performance by determining necessary inertial mass and driving force and determining control parameters. Further, the weighing device 14 can be corrected with high accuracy by comparing the loading weight estimated with accuracy with the loading weight obtained by the weighing device 14 measured while the car is stopped.

The elevator device applies a control method that estimates the operation load based on the loaded weight, increases the operation speed to the limit allowed by the capabilities of the hoist 5 and the inverter 11, and improves the operation efficiency. According to the third embodiment, since the elevator apparatus can estimate the loaded weight value with high accuracy and reduce the estimation error, the operation efficiency can be further improved. For example, in order to determine the speed so that the capacity of the hoisting machine 5 is used within a range not exceeding the rated current, Expressions 14 and 15 are used.

The speed Vp at the maximum speed during power running is the driving power loss Floss (x, L), the rated power Ht of the hoist, the rated load capacity Lrated, the load weight L in the car, the counter rate γ, and the car load weight. It depends on the detection error Er and the power running efficiency ηp of the electric motor and the inverter. Similarly, the speed Vr at the maximum speed during regenerative travel is the driving force loss Floss (x, L), the rated power Ht of the hoisting machine, the rated load amount Lrated, the load weight L in the car, the counter rate γ, the car It depends on the detection error Er of the loaded weight and the efficiency ηr during regenerative travel of the electric motor or the inverter. The counter rate γ is set to 0.5 when 50% of the rated load is balanced with the weight.

Of these parameters, those other than the driving force loss are stored in the storage unit 24 of the estimation device 13, and the corresponding parameters are read from the storage unit 24 when the speed V is calculated. Although there are variations in the car load detection error Er and the driving force loss Floss (x, L), it is possible to operate without exceeding the rated current if the estimated maximum value is applied to obtain the speed. In particular, the detection error Er can be reduced by using the load weight L accurately estimated by the estimation device 13 according to the present embodiment. Moreover, if the driving force loss Floss is accurately estimated by identifying the driving force loss according to the first embodiment, the variation can be estimated to be small, and the speed can be increased to improve the operation efficiency.

In the estimation of the load weight according to the present invention, since the influence of the driving force loss and acceleration at the car position to be accelerated / decelerated is taken into consideration, it can be accurately estimated even during acceleration / deceleration before reaching the maximum speed. In addition, the load weight can be specified with high accuracy and can be used as an alternative to the weighing device. In addition, the load weight can be accurately identified, and the vehicle can be operated at the maximum speed without expecting more errors than necessary.

1 car, 5 hoist, 11 inverter, 12 control device, 13 estimation device.

Claims

Whether it is connected with a weight and a rope,
A hoist to wind up the rope;
A control device for controlling the driving of the hoisting machine;
An elevator apparatus comprising: an estimation device that identifies a first driving force loss depending on a load weight of the car based on a numerical model, and estimates the driving force loss from the numerical model.
The elevator apparatus according to claim 1, wherein in the numerical model, the first driving force loss is proportional to the loaded weight.
The elevator apparatus according to claim 1, wherein the estimation device identifies a second driving force loss depending on a car position based on the numerical model.
The elevator apparatus according to claim 2, wherein the estimation device identifies a second driving force loss depending on a car position based on the numerical model.
The control device operates the car in the vertical direction with the same acceleration at a predetermined car position,
The estimation device calculates the first driving force loss and the second driving force loss from the first driving force detected directly in the upward operation and the second driving force detected in the downward operation. The elevator apparatus according to claim 3, wherein the elevator apparatus is identified.
The control device operates the car in the vertical direction with the same acceleration at a predetermined car position,
The estimation device calculates the first driving force loss and the second driving force loss from the first driving force detected directly in the upward operation and the second driving force detected in the downward operation. The elevator apparatus according to claim 4, wherein the elevator apparatus is identified.
The control device compares the driving force estimated from the numerical model with the driving force directly detected, and when the directly detected driving force is larger than the driving force estimated from the numerical model, it is a running abnormality. The elevator apparatus according to any one of claims 1 to 6, wherein a determination is made.
Whether it is connected with a weight and a rope,
A hoist to wind up the rope;
A control device for controlling the driving of the hoisting machine;
The first driving force loss that depends on the load weight of the car and the second driving force loss that depends on the car position are identified as numerical models, and the identified numerical model, the directly detected driving force, An elevator apparatus comprising: an estimation device that estimates a load weight of the car based on an inertial mass, an acceleration of the car, and a force applied by a cable weight.
The elevator apparatus according to claim 8, wherein the maximum operation speed of the car is determined based on the estimated load weight and the rated power of the hoisting machine.