WO2012160888A1 - Appareil d'ascenseur - Google Patents

Appareil d'ascenseur Download PDF

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Publication number
WO2012160888A1
WO2012160888A1 PCT/JP2012/059562 JP2012059562W WO2012160888A1 WO 2012160888 A1 WO2012160888 A1 WO 2012160888A1 JP 2012059562 W JP2012059562 W JP 2012059562W WO 2012160888 A1 WO2012160888 A1 WO 2012160888A1
Authority
WO
WIPO (PCT)
Prior art keywords
driving force
car
loss
elevator apparatus
force loss
Prior art date
Application number
PCT/JP2012/059562
Other languages
English (en)
Japanese (ja)
Inventor
力雄 近藤
酒井　雅也
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 DE112012002180.0T priority Critical patent/DE112012002180B4/de
Priority to JP2013516245A priority patent/JP5634603B2/ja
Priority to CN201280019460.8A priority patent/CN103492301B/zh
Publication of WO2012160888A1 publication Critical patent/WO2012160888A1/fr

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Classifications

    • 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
    • B66B5/0006—Monitoring devices or performance analysers
    • B66B5/0037—Performance analysers
    • 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
    • B66B1/3407—Setting or modification of parameters of 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
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/3476—Load weighing or car passenger counting devices

Definitions

  • 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.
  • Patent Document 1 is known as a document dealing with a technique for correcting a scale device.
  • 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.
  • 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 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 can accurately identify the driving force loss and accurately estimate the load weight.
  • the control performance can be improved by determining the control parameters based on the inertial mass and driving force required for car traveling.
  • FIG. 6 is a diagram for explaining a numerical model according to Embodiment 1.
  • FIG. 10 is a diagram for explaining a numerical model according to Embodiment 3.
  • 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.
  • the load weight (L) of the car 1 is detected by using a scale device 14.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the gravitational acceleration g, and the car acceleration ⁇ (x) corresponding to the car position x can be estimated.
  • the sign of each term indicates the upward direction of the car as positive.
  • 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.
  • 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).
  • the driving force loss Floss (x, L) is obtained.
  • Equation 1 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.
  • 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.
  • 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).
  • 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.
  • the driving force loss component k2 [loss] in Expression 7b can be obtained independently from the proportionality constant k1 [loss].
  • the elevator apparatus 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 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.
  • 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.
  • the control device 12 since the control device 12 has information on the load weight L and the acceleration ⁇ (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. .
  • 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.
  • 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.
  • 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).
  • 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 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.
  • the driving force Fiq (x, L) represents the force directly detected during traveling.
  • 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.
  • 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 ⁇ , and the car load weight. It depends on the detection error Er and the power running efficiency ⁇ p of the electric motor and the inverter.
  • 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 ⁇ , the car It depends on the detection error Er of the loaded weight and the efficiency ⁇ r during regenerative travel of the electric motor or the inverter.
  • the counter rate ⁇ is set to 0.5 when 50% of the rated load is balanced with the weight.
  • 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.
  • 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.
  • 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.
  • the load weight can be specified with high accuracy and can be used as an alternative to the weighing device.
  • the load weight can be accurately identified, and the vehicle can be operated at the maximum speed without expecting more errors than necessary.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Engineering (AREA)
  • Elevator Control (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Maintenance And Inspection Apparatuses For Elevators (AREA)

Abstract

L'invention porte sur un appareil d'ascenseur, lequel appareil a pour fonction d'identifier une perte de force d'entraînement déterminée en fonction d'une position de cabine et une perte de force d'entraînement proportionnelle à une charge utile. Un appareil d'ascenseur comporte : une cabine (1) accouplée à un poids (2) par un câble (3) ; un dispositif d'élévation (5) pour élever le câble ; un dispositif de commande (12) pour commander l'entraînement du dispositif d'élévation ; et un dispositif d'estimation (13) pour identifier une première perte de force d'entraînement en fonction d'une charge utile ou une seconde perte de force d'entraînement en fonction d'une position de cabine sous la forme d'un modèle de valeur numérique, et estimer une perte de force d'entraînement à partir du modèle de valeur numérique.
PCT/JP2012/059562 2011-05-20 2012-04-06 Appareil d'ascenseur WO2012160888A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE112012002180.0T DE112012002180B4 (de) 2011-05-20 2012-04-06 Aufzuganlage
JP2013516245A JP5634603B2 (ja) 2011-05-20 2012-04-06 エレベーター装置
CN201280019460.8A CN103492301B (zh) 2011-05-20 2012-04-06 电梯装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2011113612 2011-05-20
JP2011-113612 2011-05-20

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WO2012160888A1 true WO2012160888A1 (fr) 2012-11-29

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JP (1) JP5634603B2 (fr)
CN (1) CN103492301B (fr)
DE (1) DE112012002180B4 (fr)
WO (1) WO2012160888A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021004130A (ja) * 2019-06-27 2021-01-14 東芝エレベータ株式会社 昇降機監視方法、及び昇降機監視装置

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106608571A (zh) * 2015-10-26 2017-05-03 天津鑫宝龙电梯集团有限公司 一种能够精确称重的电梯称重系统

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JPH0470906A (ja) * 1990-07-04 1992-03-05 Hitachi Ltd 制御装置
WO2005102895A1 (fr) * 2004-03-30 2005-11-03 Mitsubishi Denki Kabushiki Kaisha Dispositif de contrôle d'ascenseur
JP2006193297A (ja) * 2005-01-14 2006-07-27 Mitsubishi Electric Corp エレベータ装置
JP2009113979A (ja) * 2007-11-09 2009-05-28 Mitsubishi Electric Corp エレベータの制御装置
WO2011027463A1 (fr) * 2009-09-04 2011-03-10 三菱電機株式会社 Dispositif de commande d'ascenseur
JP2011111259A (ja) * 2009-11-25 2011-06-09 Mitsubishi Electric Corp エレベータ制御装置
WO2011108047A1 (fr) * 2010-03-03 2011-09-09 三菱電機株式会社 Dispositif de commande pour ascenseur

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JPH06321440A (ja) 1993-05-11 1994-11-22 Mitsubishi Electric Corp エレベーターの制御装置
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WO2005092764A1 (fr) 2004-03-29 2005-10-06 Mitsubishi Denki Kabushiki Kaisha Dispositif de commande d'un ascenseur
KR20060129506A (ko) 2006-09-25 2006-12-15 미쓰비시덴키 가부시키가이샤 엘리베이터 제어 장치
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Publication number Priority date Publication date Assignee Title
JPH0470906A (ja) * 1990-07-04 1992-03-05 Hitachi Ltd 制御装置
WO2005102895A1 (fr) * 2004-03-30 2005-11-03 Mitsubishi Denki Kabushiki Kaisha Dispositif de contrôle d'ascenseur
JP2006193297A (ja) * 2005-01-14 2006-07-27 Mitsubishi Electric Corp エレベータ装置
JP2009113979A (ja) * 2007-11-09 2009-05-28 Mitsubishi Electric Corp エレベータの制御装置
WO2011027463A1 (fr) * 2009-09-04 2011-03-10 三菱電機株式会社 Dispositif de commande d'ascenseur
JP2011111259A (ja) * 2009-11-25 2011-06-09 Mitsubishi Electric Corp エレベータ制御装置
WO2011108047A1 (fr) * 2010-03-03 2011-09-09 三菱電機株式会社 Dispositif de commande pour ascenseur

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2021004130A (ja) * 2019-06-27 2021-01-14 東芝エレベータ株式会社 昇降機監視方法、及び昇降機監視装置

Also Published As

Publication number Publication date
CN103492301B (zh) 2015-12-09
JP5634603B2 (ja) 2014-12-03
JPWO2012160888A1 (ja) 2014-07-31
DE112012002180B4 (de) 2018-05-03
CN103492301A (zh) 2014-01-01
DE112012002180T5 (de) 2014-02-13

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