WO2018016033A1 - エレベータの制御装置および制御方法 - Google Patents
エレベータの制御装置および制御方法 Download PDFInfo
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- WO2018016033A1 WO2018016033A1 PCT/JP2016/071282 JP2016071282W WO2018016033A1 WO 2018016033 A1 WO2018016033 A1 WO 2018016033A1 JP 2016071282 W JP2016071282 W JP 2016071282W WO 2018016033 A1 WO2018016033 A1 WO 2018016033A1
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- car
- floor
- speed
- landing plate
- control device
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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
- B66B1/36—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
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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
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B3/00—Applications of devices for indicating or signalling operating conditions of elevators
- B66B3/02—Position or depth indicators
Definitions
- the present invention relates to an elevator control apparatus and control method, and more particularly to more accurate measurement of floor height between floors.
- a position detecting means for detecting the position of a car based on a landing plate provided at a position corresponding to a stop floor of a car in a hoistway and a rope provided in a governor or a hoisting machine
- the floor height information is used to calculate the remaining distance to the stop floor and to control the landing of the car. Accurate floor height information is required to achieve highly accurate landing. For this reason, the floor height is learned using information obtained from the landing plate and the position detection means (see, for example, Patent Documents 1-3 below).
- the floor height measurement data on the final floor especially the lowest floor where the rope is long, includes measurement errors due to rope expansion and contraction caused by the acceleration / deceleration of the car. It becomes difficult to obtain.
- the present invention has been made to solve the above-described problem, and when performing floor height learning using a governor rope or a main rope, the effect of rope expansion and contraction due to acceleration / deceleration is eliminated, and an accurate floor height is learned. It is an object of the present invention to provide an elevator control device and a control method that can be used.
- the present invention provides a floor position detector that detects a floor position by detecting a floor plate provided at a floor position in a hoistway with a floor plate detector provided in the car, and a governor rope or a main rope.
- a car movement distance detection unit that detects a movement distance of the car based on the movement; a drive control unit that performs a floor height learning operation on the car during floor height learning; and the floor detected during the floor height learning operation.
- a measurement processing unit that measures a floor height based on a position and a moving distance of the car, and a storage unit that stores the measured floor height, wherein the drive control unit is at least the lowest floor during the floor height learning operation. It exists in the control apparatus of an elevator etc. which let the said cage
- the height of the floor can be learned without being affected by the expansion and contraction of the rope by controlling the car to pass through the terminal floor, particularly the floor plate on the lowest floor, at a constant speed.
- FIG. 1 is a diagram schematically showing an overall configuration of an elevator control apparatus according to Embodiment 1 of the present invention.
- FIG. It is a figure for demonstrating the car running control at the time of floor height learning by control of the control processing apparatus in Embodiment 1 of this invention. It is a figure for demonstrating the car running control for the floor height measurement of the lowest floor at the time of floor height learning by control of the control processing apparatus in Embodiment 1 of this invention. It is a figure which shows an example of the internal structure of the measurement process part by Embodiment 1 of this invention. It is a figure which shows schematically the whole structure of the elevator control apparatus by Embodiment 2 of this invention.
- FIG. 1 is a diagram schematically showing an overall configuration of an elevator control apparatus according to Embodiment 1 of the present invention.
- a car 1 for passengers to ride on one end of the main rope 2 and a counterweight 3 are attached to the other end.
- the main rope 2 is hung on the hoisting machine 4, and the car 1 and the counterweight 3 are raised and lowered in opposite directions by hoisting or lowering the main rope 2 by the hoisting machine 4.
- the car 1 is provided with a governor 5.
- the governor 5 includes a loop-shaped governor rope 5a to which the car 1 is fixed, and upper and lower governor sheaves 5b on which the governor rope 5a is hung.
- the governor 5 is provided with a rotational speed detector 6 that detects the rotational speed, for example, an encoder, and outputs the rotational speed NRO.
- the rotation speed detector 6 may be provided in the hoisting machine 4 as indicated by a broken line. The rotation speed detector 6 is not shown in other drawings of the present application.
- a landing plate 7 is provided at a position corresponding to the landing zone of each floor.
- a plurality of landing plates 7 are installed on each floor, such as a door zone that is a zone that permits door opening and closing of doors, a relevel zone that permits releveling, and the like.
- the landing plate detector 8 is installed in the car 1 in order to detect the landing plate 7.
- a landing plate detector 8 is installed for each type. The car 1 to which the landing plate detector 8 is attached moves and comes to a height position equivalent to the landing plate 7, and the landing plate detector 8 faces the landing plate 7.
- the detector 8 detects the landing plate 7 and outputs a landing plate detection signal PDS. As will be described later, the landing plate detector 8 detects one of both ends of each landing plate 7 along the traveling direction of the car 1, and this is a measurement point where the rotation speed NRO from the rotation speed detector 6 is counted. Become.
- the control processing device 9 includes a measurement processing unit 10, a storage unit 11, and a drive control unit 12.
- the control processing device 9 can be constituted by, for example, a computer 100 whose schematic configuration is shown in FIG. Input / output is performed via the interface 101.
- the memory 103 stores in advance various function programs indicated by functional blocks for control, which will be described later, and information, data, and the like necessary for processing, and further stores processing results and the like.
- the processor 102 performs arithmetic processing on a signal input via the interface 101 in accordance with various programs, information, and data stored in the memory 103, and outputs a processing result via the interface 101, or a necessary processing process.
- the processing result is stored in the memory 103.
- various functions indicated by blocks described later of the measurement processing unit 10 and the drive control unit 12 in FIG. 1 are stored in the memory 103 as programs.
- the storage unit 11 corresponds to the memory 103.
- the control processing device 9 can also be configured by one or a plurality of digital circuits that execute various functions indicated by blocks described later of the measurement processing unit 10 and the drive control unit 12.
- the measurement processing unit 10 counts the rotation speed NRO from the rotation speed detector 6 in accordance with the measurement command DEC from the drive control unit 12, and the landing plate is detected according to the landing plate detection signal PDS obtained from the landing plate detector 8.
- the count value of the rotational speed NRO at the timing of detection of escape from 7 or detection of entry into the landing plate 7 is measured.
- the floor height is calculated by obtaining a difference in count values relating to landing floors 7 of different floors, for example, adjacent floors.
- the floor height data FHD calculated by the measurement processing unit 10 is stored in the storage unit 11.
- the drive control unit 12 performs the landing control of the car 1 to the stop floor after the floor height learning, based on the floor height data stored in the storage unit 11, By outputting a control command COC to the hoisting machine 4, the landing control of the car 1 to the floor requested by the car call, landing, etc. is performed.
- the drive control unit 12 causes the car 1 to perform a floor height learning operation during floor height learning, and causes the car 1 to travel from the lowest floor to the top floor at the first speed V1 that is the rated speed. Thereafter, the drive control unit 12 causes the car 1 to travel at a second speed V2 that is lower than the first speed V1 in order to obtain the floor height of the lowest floor.
- the second speed V2 is accelerated from the lowest floor to the second speed V2, and the car 1 is at the lowest floor from the time when the speed becomes the second speed V2.
- the landing plate detector 8 of the car 1 passes through the end of the lower floor landing plate 7 from the time when the speed reaches the second speed V2.
- the preset time length is determined by obtaining the natural frequency, damping coefficient, etc. from the machine specifications of the elevator mechanical mechanism including the car 1, the main rope 2, the counterweight 3, the hoisting machine 4, and the governor 5. Is set to a value larger than the time length during which the signal sufficiently attenuates. Taking into account variations in machine specifications, it is preferable to determine with sufficient margin for the obtained decaying time length.
- FIG. 2 is a diagram for explaining car traveling control during floor height learning under the control of the control processing device 9 according to Embodiment 1 of the present invention.
- 2A is a schematic diagram of the elevator
- FIG. 2B is a measurement location
- FIG. 2C is the speed of the car 1
- FIG. 2D is the amount of expansion / contraction of the governor rope 5a
- FIG. . The vertical axis indicates the car position corresponding to (a).
- the drive controller 12 causes the car 1 to travel from the lowest floor to the highest floor at the first speed V1.
- the end of the landing plate 7 indicated by a black circle in FIG.
- FIG. 3 is a diagram for explaining the car traveling control for measuring the floor height of the lowest floor during floor height learning under the control of the control processing device 9 according to Embodiment 1 of the present invention.
- the drive control unit 12 causes the car 1 to travel at a second speed V2 lower than the first speed V1 with respect to the floor height of the lowest floor.
- 3A is a schematic diagram of the elevator
- FIG. 3B is a measurement location
- FIG. 3C is the speed of the car 1
- FIG. 3D is the amount of expansion / contraction of the governor rope 5a
- the vertical axis indicates the car position corresponding to (a).
- the expansion / contraction amount of the governor rope 5a (d) and the expansion / contraction amount of the main rope 2 (e) during acceleration are large, but
- the car 1 is traveling at a constant speed at the measurement point of the landing plate 7 on the lowest floor shown in FIG.
- the length of time shown in FIG. 3 corresponding to the car position until the landing plate detector 8 of the car 1 escapes from the upper end of the landing plate 7 after the speed after the acceleration is finished becomes the second speed V2.
- the set time length is secured for T, and the vibration generated when the acceleration changes is sufficiently attenuated.
- FIG. 4 shows an example of the internal configuration of the measurement processing unit 10 according to Embodiment 1 of the present invention.
- the measurement processing unit 10 includes a floor height measurement unit 10a, an error calculation unit 10b, and a correction unit 10d.
- the storage unit 11 is shown as being shared in the control processing device 9, for example, a dedicated storage area of the measurement processing unit 10 may be set in the storage unit 11, or a separate memory may be provided.
- the floor height measuring unit 10a counts the rotational speed NRO from the rotational speed detector 6 in accordance with the measurement command DEC from the drive control unit 12, and more specifically, the floor plate measuring unit 10a The count value of the number of rotations at the timing of detection of escape from the front end in the traveling direction of the car 1 or entry detection of the car 1 to the front end in the traveling direction on the landing plate 7 is measured. Subsequently, the floor height of the lowermost floor is calculated by calculating the difference in count value between the lowermost floor and the adjacent floor.
- both the lowest floor height LFH1 at the first speed V1 and the lowest floor height LFH2 at the second speed V2 are output as floor height data LFHD.
- the error calculation unit 10b follows the calculation command ACO from the floor height measurement unit 10a, and the floor height LFH1 of the lowest floor at the first speed V1 output from the floor height measurement unit 10a and the second speed.
- the correction unit 10d uses the correction amount ⁇ LFH stored in the storage unit 11 according to the correction command CCO from the floor height measurement unit 10a, and calculates the lowest floor obtained at the first speed V1 included in the correction command CCO.
- the high LFH1 is corrected by the correction amount ⁇ LFH (LFH1 ⁇ LFH).
- the floor height measuring unit 10a replaces the floor height of the lowest floor in the floor height data with the corrected floor height and stores it in the storage unit 11 as floor height data FHD.
- the drive control unit 12 controls the car 1 to run at a constant speed at a second speed V2 lower than the first speed V1 from the lowest floor to the adjacent floor.
- the vehicle travels at the second speed V2 only because of the floor height of the lowermost floor, so that it is difficult to be affected by the lower floor with large rope expansion and contraction and the learning time can be shortened.
- the second speed V2 is set to be a set length of time from when the speed is accelerated to the second speed until the car landing plate detector 8 passes through the landing plate 7.
- the measurement processing unit 10 includes a correction unit 10d that corrects an error when re-learning at the first speed V1.
- a correction unit 10d that corrects an error when re-learning at the first speed V1.
- FIG. FIG. 5 is a diagram schematically showing an overall configuration of an elevator control apparatus according to Embodiment 2 of the present invention.
- the measurement processing unit 10aa counts the rotation speed NRO of the rotation speed detector 6 according to the measurement command DEC from the drive control unit 12aa, detects the escape of the car 1 from the landing plate 7, or enters the landing plate 7 The number of revolutions at the detection timing is measured to calculate the floor height and stored in the storage unit 11.
- the internal configuration of the measurement processing unit 10aa is the same as that shown in FIG. 4 of the first embodiment, for example, but the error calculation unit 10b, the correction unit 10d, and the storage unit 11 are not used.
- the drive control unit 12aa first causes the car 1 to travel by accelerating the lowest floor to a second speed V2 that is lower than the first speed V1 that is the above-described rated speed. Thereafter, the car 1 is reaccelerated where there is no landing plate 7, that is, when the landing plate detector 8 of the car 1 does not face the landing plate 7, and the car 1 runs at the first speed V1 up to the top floor.
- the second speed is a set time in which the length of time from when the speed reaches the second speed until the landing plate detector 8 of the car 1 escapes from the upper end of the landing plate 7 is set in advance. The length is determined to be secured.
- the preferred set time length is the same as in the above embodiment.
- FIG. 6 is a diagram for explaining the car traveling control at the time of floor height learning by the control of the control processing device 9 according to the second embodiment of the present invention.
- 6A to 6E show the same components as those in FIGS. 2 and 3 of the first embodiment.
- the drive control unit 12aa causes the car 1 to travel at the second speed V2 lower than the first speed V1 with respect to the lowest floor. As shown in FIG. 6, since the acceleration time is short at the second speed V2, the car 1 travels at a constant speed at the measurement point of the landing plate 7 on the lowermost floor indicated by a black circle in FIG. 6 (b). .
- the set time length is secured as the time length from when the speed after the acceleration ends to the second speed V2 until the landing plate detector 8 of the car 1 escapes from the upper end of the landing plate 7, Vibration generated when the acceleration changes is also sufficiently attenuated.
- the car 1 After the landing plate detector 8 escapes from the lowest floor landing plate 7, the car 1 is reaccelerated to the first speed V1. There is a sufficient distance to the next floor next to the lowest floor, and the car 1 at the measurement point of the landing plate 7 on the next floor below the lowest floor shown in FIG. The vehicle travels at a constant speed of the first speed V1.
- the car 1 does not pass the landing plate 7 at a constant speed on the top floor side.
- the drive control unit 12aa causes the landing plate detector 8 of the car 1 to move after the car 1 travels at the second speed V2 that is lower than the first speed V1 on the lowest floor.
- the car 1 is reaccelerated at a position not facing the landing plate 7 and travels to the top floor at the first speed V1.
- the second speed V2 has a set time length from the time when the speed after the acceleration is finished becomes the second speed V2 until the landing plate detector 8 leaves the upper end of the landing plate 7. Has been decided to be. Thereby, by the time the car 1 passes through the landing plate 7, the car vibration due to the expansion or contraction of the governor rope or the main rope at the end of acceleration can be attenuated, and the accuracy of floor height learning can be improved.
- FIG. 7 is a diagram schematically showing an overall configuration of an elevator control apparatus according to Embodiment 3 of the present invention.
- the measurement processing unit 10bb is the same as the measurement processing unit 10aa in FIG. 5 of the second embodiment.
- the drive control unit 12bb does not have the landing plate 7, that is, the car is stepwise up to the first speed V1 that is the rated speed for each section where the landing plate detector 8 of the car 1 does not face the landing plate 7. Re-accelerate 1 Further, after the acceleration for each acceleration section, the time length from the landing plate detector 8 to the escape or entry from the landing plate 7 is secured, so that the vibration generated when the acceleration changes is sufficiently attenuated. Control.
- the preferred set time length is the same as in the above embodiment.
- FIG. 8 is a diagram for explaining car traveling control during floor height learning under the control of the control processing device 9 according to the third embodiment of the present invention.
- the drive control unit 12bb travels at the second speed V2 lower than the first speed V1 with respect to the lowest floor.
- the car 1 travels at a constant speed at the measurement point of the landing plate 7 on the lowermost floor shown by a black circle in FIG. 8 (b).
- the set time length is secured as the time length Ta from when the speed after the acceleration is finished to the second speed until the landing plate detector 8 of the car 1 escapes from the upper end of the landing plate 7. Vibration generated when the acceleration changes is also sufficiently attenuated.
- the car 1 After the bottom floor landing plate 7 escapes, the car 1 is re-accelerated to a third speed V3 (V1> V3> V2) lower than the first speed V1 and higher than the second speed V2. As shown in FIG. 8, the acceleration time to the third speed V3 is short. Furthermore, the time length Tb from when the speed after the end of acceleration reaches the third speed V3 until the car 1 enters the landing plate 7 on the adjacent floor is secured, and is generated when the acceleration changes. Vibration is also damped sufficiently. Therefore, the car 1 travels at a constant speed at the measurement location of the landing plate 7 on the next floor next to the lowest floor indicated by a black circle in FIG.
- the drive control unit 12bb performs re-acceleration step by step up to the first speed V1 for each section without the landing plate 7.
- the drive control unit 12bb performs re-acceleration step by step up to the first speed V1 for each section without the landing plate 7.
- the landing plate 7 and the landing plate detector 8 detect the landing plate 7 provided at the floor position in the hoistway by the landing plate detector 8 provided in the car 1 to determine the floor position.
- a floor position detection unit (7, 8) for detection is configured.
- the rotation speed detector 6 constitutes a car movement distance detector (6) that detects the movement distance of the car based on the movement of the governor rope 5a or the main rope 2. Then, the measurement processing unit 10 measures the floor height from the detected floor position and the moving distance of the car during the floor height learning operation.
- the main rope 2 is expanded and contracted as shown in FIGS. 2, 3, 6, and 8.
- the car 1 is raised from the lowest floor to the top floor during floor height learning.
- the same operation is performed even when the car 1 is lowered from the top floor to the bottom floor. Is possible.
- the elevator control apparatus and control method according to the present invention can be widely applied to elevators that use floor height information for landing control among rope type elevators.
Abstract
Description
高精度な着床を実現させるためには、正確な階高情報が必要となる。そのため、着床プレートと位置検出手段から得られる情報を利用して、階高を学習する(例えば下記特許文献1-3等参照)。
図1は、この発明の実施の形態1によるエレベータ制御装置の全体的な構成を概略的に示す図である。エレベータでは、主ロープ2の一端に乗客が乗るためのかご1、他端に釣合錘3が取付けられている。主ロープ2は巻上機4に掛けられ、巻上機4により主ロープ2を巻き上げまたは下げることにより、かご1と釣合錘3を互いに反対の方向に昇降させる。
かご1にはガバナ5が設けられている。ガバナ5は、一部にかご1が固定されたループ状のガバナロープ5aと、ガバナロープ5aが掛けられた上下のガバナシーブ5bとで構成される。ガバナ5には、例えばエンコーダ等からなる回転数を検知する回転数検知器6が設けられ、回転数NROが出力される。回転数検知器6は破線で示すように巻上機4に設けられていてもよい。なお回転数検知器6は本願の他の図では図示は省略されている。
着床プレート検出器8は、着床プレート7を検出するために、かご1に設置される。着床プレート7が、ドアゾーン、リレベルを許可するリレベルゾーン等、複数種設置される場合は、種類毎に着床プレート検出器8が設置される。着床プレート検出器8が取付けられたかご1が移動して着床プレート7と同等の高さ位置にきて、着床プレート検出器8が着床プレート7と対向することで、着床プレート検出器8が着床プレート7を検出して着床プレート検知信号PDSを出力する。着床プレート検出器8は後述するように、各着床プレート7のかご1の進行方向に沿った両端の一方を検出し、これが回転数検知器6からの回転数NROをカウントした計測箇所となる。
また制御処理装置9は、計測処理部10、駆動制御部12の後述するブロックで示される各種機能を実行する1つまたは複数のディジタル回路でも構成可能である。
計測処理部10で算出した階高データFHDは、記憶手部11に記憶される。そしてこの発明には直接関係しないが、駆動制御部12は、階高学習以降、停止階へのかご1の着床制御を行う際に、記憶部11に記憶された階高データに基づいて、巻上機4へ制御指令COCを出力することで、かご呼び、乗場よび等で要求された階へのかご1の着床制御を行う。
予め設定された設定時間長は、かご1、主ロープ2、釣合錘3、巻上機4、ガバナ5を含むエレベータの機械機構の機械仕様から、固有振動数及び減衰係数等を求め、振動が十分に減衰する時間長より大きな値とする。機械仕様のばらつきも考慮して、求めた減衰する時間長に対して十分余裕を含めて決定するとよい。
駆動制御部12はかご1を第1の速度V1で、最下階から最上階までの間を走行させる。階高学習では、図2の(b)に黒丸で示した着床プレート7の端部を計測する。
また、ガバナロープ5aまたは主ロープ2のロープ伸縮の大きさは加減速度の大きさに比例する。加速度と減速度の大きさが等しい場合、最下階へのかご1の減速時には、ガバナロープ5aまたは主ロープ2のロープ伸縮の大きさは等しいが、ロープ伸縮方向が変わる。
上層階の場合は、機械システムが高剛性となり、ロープの伸縮量は小さくなり、階高学習として重畳する誤差は無視できる場合が多い。
図3に示す走行では最下階と次の隣接階での計測が行われている。
階高計測部10aは、階高データのうちの最下階の階高を補正された階高に差し替えて階高データFHDとして記憶部11に記憶する。
階高学習時、駆動制御部12は、かご1を最下階から隣接階までの距離を第1の速度V1よりも低い第2の速度V2で定速走行させるように制御する。これにより、第2の速度V2で走行するのは最下階の階高のためのみとなるため、ロープ伸縮の大きい下層階の影響を受けにくくする上に、学習時間の短縮が可能となる。
また、第2の速度V2は、加速して速度が第2の速度となった時点からかごの着床プレート検出器8が着床プレート7を抜けるまでの時間長が設定時間長が確保されるよう決定する。これにより、かご1が着床プレート7を抜けるまでに、加速終了時のロープ伸縮によるかご振動を減衰させることができ、階高学習の精度を向上できる。
計測処理部10は、第1の速度V1にて再学習する際に、誤差を補正する補正部10dを備えている。これにより、補正量を演算して記憶しておくことにより、調整後の階高については、第1の速度V1での走行のみを行えば良く、かごを最下階の階高補正のために第2の速度V2で走行させる必要が無くなる。
図5は、この発明の実施の形態2によるエレベータ制御装置の全体的な構成を概略的に示す図である。
計測処理部10aaは、駆動制御部12aaからの計測指令DECにより、回転数検知器6の回転数NROをカウントし、かご1の着床プレート7からの脱出検知、または着床プレート7への進入検知のタイミングにおける回転数のカウント値を計測して階高を算出し、記憶部11に記憶する。なお、計測処理部10aaの内部構成については例えば実施の形態1の図4で示したものと同じだが、誤差演算部10b、補正部10d、記憶部11は使用しない。
階高学習時、駆動制御部12aaは、かご1を最下階を第1の速度V1よりも低い第2の速度V2にて定速走行させた後に、かご1の着床プレート検出器8が着床プレート7と対向しないところでかご1を再加速させ、最上階までは第1の速度V1により走行させる。これにより、最下階の階高を個別に学習する必要が無くなる。
また、第2の速度V2は、加速終了後速度が第2の速度V2となった時点から着床プレート検出器8が着床プレート7の上端を離脱するまでの時間長が設定時間長が確保されるよう決定されている。これにより、かご1が着床プレート7を抜けるまでに、加速終了時のガバナロープまたは主ロープの伸縮によるかご振動を減衰させることができ、階高学習の精度を向上できる。
図7は、この発明の実施の形態3によるエレベータ制御装置の全体的な構成を概略的に示す図である。
駆動制御部12bbは、着床プレート7の無い、すなわちかご1の着床プレート検出器8が着床プレート7と対向しない区間毎に、定格速度である第1の速度V1まで、段階的にかご1を再加速させる。また、加速区間毎の加速後、着床プレート検出器8の着床プレート7からの脱出または進入までの時間長が設定時間長が確保されており、加速度変化時に発生する振動も十分減衰するよう制御する。好ましい設定時間長については上記実施の形態の場合と同様である。
駆動制御部12bbは、最下階に対し、第1の速度V1よりも低い第2の速度V2で走行する。図8に示す通り、第2の速度V2では加速時間が短いため、図8の(b)に黒丸で示した最下階の着床プレート7の計測箇所において、かご1が一定速度で走行する。また、加速終了後速度が第2の速度となった時点からかご1の着床プレート検出器8が着床プレート7の上端から脱出するまでの時間長Taが設定時間長が確保されており、加速度変化時に発生する振動も十分減衰する。
階高学習時、駆動制御部12bbは、着床プレート7の無い区間毎に、第1の速度V1まで、段階的に再加速を行う。これにより、例えば二扉構成のかごで階高が短くなる場合であっても、加速によるロープ伸縮の影響を受けにくくするとともに、学習時間のさらなる短縮が図れる。
また、着床プレート7の無い区間毎における加速後、かご1の着床プレート7の脱出または進入までの時間長が設定時間長が確保されるよう制御する。これにより、かご1が着床プレート7を抜けるまでに、加速終了時のロープ伸縮によるかご振動を減衰させることができ、階高学習の精度を向上できる。
また、回転数検知器6は、ガバナロープ5aまたは主ロープ2の動きに基づいてかごの移動距離を検出するかご移動距離検出部(6)を構成する。
そして計測処理部10が、階高学習運転時に、検出された階床位置とかごの移動距離により階高を計測する。
また、上記各実施の形態では階高学習の際にかご1を最下階から最上階へ上昇させていたが、かご1を最上階から最下階へ下降させる運転を行っても同様に実施可能である。
Claims (10)
- 昇降路内の階床位置に設けられた着床プレートを前記かごに設けた着床プレート検出器で検出し階床位置を検出する階床位置検出部と、
ガバナロープまたは主ロープの動きに基づいてかごの移動距離を検出するかご移動距離検出部と、
階高学習時にかごに対して階高学習運転を行う駆動制御部と、
前記階高学習運転時に、検出された前記階床位置と前記かごの移動距離により階高を計測する計測処理部と、
前記計測した階高を記憶する記憶部と、
を備え、
前記駆動制御部が、前記階高学習運転時に少なくとも最下階の前記着床プレートを前記かごを一定速度で通過させる、エレベータの制御装置。 - 前記駆動制御部が、最下階から次の隣接階までの距離を、前記かごを定格速度である第1の速度よりも低い第2の速度で一定速度で走行させる、請求項1に記載のエレベータの制御装置。
- 前記階床位置検出部は、前記着床プレートのかごの進行方向に沿った端部を検出し、
前記第2の速度は、かごを加速して第2の速度に到達した時点から前記着床プレート検出器が前記着床プレートの端部を通過するまでの時間長が設定時間長が確保されるよう決定されている、請求項2に記載のエレベータの制御装置。 - 前記計測部が、
最下階の階高を、かごを前記第2の速度で走行させて計測した階高と、前記第1の速度で走行させて計測した階高との誤差を求めて前記記憶部に記憶する誤差演算部と、
前記第1の速度で再学習した際に、前記誤差で補正する補正部と、
を含む、請求項2または請求項3に記載のエレベータの制御装置。 - 前記駆動制御部は、前記かごを、最下階をかごの定格速度である第1の速度よりも低い第2の速度で一定速度で走行させた後に、前記着床プレート検出器が前記着床プレートを検出しない区間でかごを再加速させて、最上階までは前記第1の速度で走行させる、請求項1に記載のエレベータの制御装置。
- 前記階床位置検出部は、前記着床プレートのかごの進行方向に沿った端部を検出し、
前記第2の速度は、かごを加速して第2の速度に到達した時点から前記着床プレート検出器が前記着床プレートの端部を通過するまでの時間長が設定時間長が確保されるよう決定されている、請求項5に記載のエレベータの制御装置。 - 前記駆動制御部は、前記着床プレート検出器が前記着床プレートを検出しない区間毎に、前記かごの定格速度である第1の速度まで、段階的に前記かごを再加速させる、請求項1に記載のエレベータの制御装置。
- 前記階床位置検出部は、前記着床プレートのかごの進行方向に沿った端部を検出し、
前記駆動制御部は、前記区間毎における加速後、前記着床プレート検出器の前記着床プレートの脱出または進入までの時間長が設定時間長が確保されるようかごの速度を制御する、請求項7に記載のエレベータの制御装置。 - 前記設定時間長が、かごの加速によるエレベータの機械機構の振動が十分に減衰する時間長より大きな時間長である、請求項3,6,8のいずれか1項に記載のエレベータの制御装置。
- かごを階高学習運転をさせ、前記階高学習運転時に、
昇降路内の階床位置に設けられた着床プレートを前記かごに設けた着床プレート検出器で検出し階床位置を検出し、
ガバナロープまたは主ロープの動きに基づいてかごの移動距離を検出し、
検出された前記階床位置と前記かごの移動距離により階高を計測して記憶し、
少なくとも最下階の前記着床プレートを前記かごを一定速度で通過させる、エレベータの制御方法。
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