WO2018016061A1 - Elevator - Google Patents

Elevator Download PDF

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Publication number
WO2018016061A1
WO2018016061A1 PCT/JP2016/071473 JP2016071473W WO2018016061A1 WO 2018016061 A1 WO2018016061 A1 WO 2018016061A1 JP 2016071473 W JP2016071473 W JP 2016071473W WO 2018016061 A1 WO2018016061 A1 WO 2018016061A1
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WIPO (PCT)
Prior art keywords
speed
car
hoisting machine
detected
car speed
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PCT/JP2016/071473
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French (fr)
Japanese (ja)
Inventor
利治 松熊
Original Assignee
株式会社日立製作所
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Application filed by 株式会社日立製作所 filed Critical 株式会社日立製作所
Priority to PCT/JP2016/071473 priority Critical patent/WO2018016061A1/en
Priority to CN201680086287.1A priority patent/CN109195897B/en
Publication of WO2018016061A1 publication Critical patent/WO2018016061A1/en

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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
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
    • B66B11/04—Driving gear ; Details thereof, e.g. seals
    • B66B11/08—Driving gear ; Details thereof, e.g. seals with hoisting rope or cable operated by frictional engagement with a winding drum or sheave
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
    • B66B5/04—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions for detecting excessive speed
    • B66B5/06—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions for detecting excessive speed electrical

Definitions

  • This invention relates to an elevator.
  • Patent Document 1 a hoisting machine speed detecting unit that detects the speed of the hoisting machine using an encoder attached to the hoisting machine, and a car speed detecting unit that detects the speed of the car using an encoder attached to the governor.
  • a speed controller that decelerates the speed of the hoist when an abnormality is detected, a speed of the hoist detected by the speed detector of the hoist and a car speed detected by the car speed detector It is described that a speed abnormality detection device that detects a rope slip from the difference between the two is provided, and the speed control unit adjusts the deceleration of the hoist according to the presence or absence of the rope slip by the speed abnormality detection device.
  • rope slip is detected only by the difference between the speed of the hoisting machine and the car speed obtained from the governor.
  • a rope slip is erroneously determined due to an abnormality in the speed detection of the hoisting machine or an abnormality in the encoder attached to the governor, and an error is detected in the rope slip, the speed detection error of the hoisting machine, or the encoder attached to the governor Abnormality may not be detected.
  • the present invention provides an electric motor, a hoisting machine driven by the electric motor, a rope hung on the hoisting machine, a hook connected to the rope, and a balance connected to the other end of the rope.
  • an elevator comprising a weight, a control device that controls the raising and lowering of the car, a hoisting machine speed detecting device that detects the rotational speed of the hoisting machine, and a car speed detecting device that detects the speed of the car
  • the control device is Detected by the speed control unit that transmits the rotational speed command determined based on the rotational speed of the hoisting machine to the electric motor, and the rotational speed of the hoisting machine detected by the hoisting machine speed detecting device and the car speed detecting device
  • An elevator comprising a speed abnormality detection unit that detects an abnormality of the hoisting machine speed detection device based on the car speed and the speed command transmitted from the speed control unit to the electric motor.
  • an abnormality of the hoisting machine speed detecting device an abnormality of the car speed detecting device, and sheave wear or main rope slip of the hoisting machine can be detected.
  • Example 1 of this invention It is a figure when the structure of Example 1 of this invention is shown and a cage
  • FIG. 1 is an overall view of an elevator control apparatus showing an embodiment of the present invention.
  • the elevator according to the present embodiment is a traction type elevator using friction between a main rope and a hoisting machine, and includes an electric motor 2 for raising and lowering the elevator.
  • a hoisting machine 1 driven by the electric motor 2 is attached to the rotating shaft of the electric motor 2.
  • the elevator car 7 is connected to the counterweight 8 and the counterweight via the hoisting machine 1 by the main rope 9.
  • the hoisting machine 1 is provided with a machine encoder 3 as a rotational speed detecting means for outputting a pulse corresponding to the rotational speed of the hoisting machine 1.
  • This machine encoder 3 is for detecting the rotational speed of the hoisting machine.
  • the governor 4 having a pulley is attached to the upper part of the hoistway where the car 7 moves up and down.
  • a governor rope 10 is attached between the pulley of the governor 4 and the pulley 5 attached to the lower part of the hoistway.
  • the speed governor rope 10 is connected to the car 7 at both ends, circulates as the car 7 is raised and lowered, and rotates the pulley of the speed governor 4 as the speed governor rope 10 circulates.
  • the governor 4 is provided with a governor encoder 6 as a rotational speed detecting means for outputting a pulse corresponding to the rotational speed of the pulley of the governor 4.
  • the governor encoder 6 is for detecting the car speed.
  • the machine encoder 3 for detecting the rotational speed of the hoist 1 and the governor encoder 6 for detecting the car speed are connected to a control device 15 that controls the car 7 to move up and down.
  • the control device 15 includes a hoisting machine speed detection unit 11 connected to the machine encoder 3.
  • the hoisting machine speed detector 11 receives the pulse signal output from the machine encoder 3 and calculates the rotational speed of the hoisting machine 1 based on the input pulse signal.
  • the control device 15 includes a car speed detection unit 12 connected to the governor encoder 6.
  • the car speed detector 12 receives the pulse signal output from the governor encoder 6 and calculates the ascending / descending speed of the car 7 based on the input pulse signal.
  • the machine encoder 3 and the hoisting machine speed detecting unit 11 are collectively referred to as a hoisting machine speed detecting device
  • the governor encoder 6 and the car speed detecting unit 12 are collectively referred to as a car speed detecting device.
  • the control device 15 includes a speed control unit 13 that controls the driving of the electric motor 2 and is detected by the rotational speed of the hoisting machine 1 detected by the hoisting machine speed detecting device and the car speed detecting device.
  • the speed of the car 7 is input.
  • the speed control unit 13 controls the rotation of the electric motor 2 using the rotation speed of the hoisting machine 1 detected by the hoisting machine speed detecting device as a feedback value.
  • control device 15 includes a speed abnormality detection unit 14.
  • the speed abnormality detecting unit 14 includes a rotation speed of the hoisting machine 1 detected by the hoisting machine speed detecting device, an ascending / descending speed of the car 7 detected by the car speed detecting device, and a speed control unit 13.
  • the calculated rotation speed command value of the motor 2 is input, the difference between the rotation speed of the hoisting machine 1 and the speed of the car 7, the difference between the rotation speed command value of the motor 2 and the rotation speed of the hoisting machine 1, the motor 2
  • the difference between the rotational speed command value and the speed of the car 7 is calculated. These differences are compared with a predetermined determination value to determine whether the hoisting machine speed detecting device and the car speed detecting device are normal or abnormal.
  • the speed abnormality detection device 14 is such that the difference between the rotational speed of the hoisting machine 1 and the speed of the car 7 is a predetermined value or more, and the difference between the rotational speed command value of the electric motor 2 and the rotational speed of the hoisting machine 1. Is determined to be abnormal in the hoisting machine speed detection device.
  • the difference between the rotational speed of the hoist 1 and the speed of the car 7 is greater than a predetermined value, the difference between the rotational speed command value of the motor 2 and the speed of the car 7 is greater than a predetermined value, and the rotational speed command value of the motor 2 is When the speed of the car 7 is smaller than the speed of the car 7 or the speed of the car 7 is 0, it is determined that the car speed detecting device is abnormal.
  • the difference between the rotational speed of the hoist 1 and the speed of the car 7 is greater than or equal to a predetermined value, the rotational speed command value of the motor 2 is greater than the predetermined value of the speed of the car 7, and the rotational speed command value of the motor 2 is When the speed is higher than the speed of the car 7, it is determined that the rope slip of the main rope 9 or the sheave wear of the hoisting machine 1 occurs.
  • the difference between the rotational speed of the hoisting machine 1 and the speed of the car 7 and the difference between the rotational speed command value of the electric motor 2 and the rotational speed of the hoisting machine 1, the rotational speed command value of the electric motor 2 and the speed of the car 7 The predetermined value for comparing the differences is determined from the worst value satisfying the performance of the elevator such as landing accuracy.
  • the speed control unit 13 feeds back the speed of the car 7 detected by the car speed detecting unit 12 as a feedback value. And the motor 2 is controlled.
  • the speed control unit 13 uses the rotation speed of the hoisting machine 1 detected by the hoisting machine speed detection unit 11 as a feedback value. Take control. In this case, the abnormality of the basket speed detecting device is stored and output to the management center or the display device.
  • the speed abnormality detection device 14 determines that the hoisting machine speed detection device is abnormal, and the speed control unit 13 switches the speed of the car 7 detected by the car speed detection unit 12 to a feedback value and transmits it to the motor 2.
  • the difference between the speed command to be performed and the speed of the car 7 detected by the car speed detecting unit 12 is equal to or greater than a predetermined value, the car speed detecting unit 12 is determined, and the electric motor 2 is emergency stopped.
  • FIG. 2 is a flowchart showing the operation of the elevator control device 15 according to the first embodiment.
  • the speed abnormality detection device 14 determines whether the difference between the rotational speed of the hoist 1 and the speed of the car 7 is equal to or less than a first predetermined value (step S1). If it is determined in step S1 that the difference is equal to or smaller than the predetermined value (YES in step S1), it is determined that there is no abnormality, and normal operation is continued toward the destination floor, and step S1 is performed until arrival at the destination floor (step S8). If it is determined that the difference is greater than the first predetermined value (NO in step S1), it is determined whether the difference between the rotational speed command value of the electric motor 2 and the rotational speed of the hoisting machine 1 is equal to or less than a second predetermined value. (Step S2).
  • step S3 If it is determined that the difference calculated in step S2 is equal to or less than the second predetermined value (YES in step S2), whether the speed of the car 7 is 0 or the rotation speed command value of the electric motor 2 is less than the speed of the car 7 Judgment is made (step S3).
  • the speed abnormality detection device 14 Judge as failure. In this case, since normal operation is not affected, normal operation is continued toward the destination floor, and step S1 is performed until arrival at the destination floor (step S8). In addition, although normal operation was continued here, you may make it move to the nearest floor and stop.
  • step S3 If it is determined in step S3 that the rotational speed command value of the electric motor 2 is larger than the speed of the car 7 (NO in step S3), the speed abnormality detection device 14 detects the sheave wear of the hoist 1 or the main rope 9 And a signal for switching the speed feedback value to the speed control unit 13 from the speed detected by the hoisting machine speed detecting device to the speed detected by the car speed detecting device is output.
  • the speed control unit 13 receives the signal and switches the speed feedback value from the speed detected by the hoisting machine speed detecting device to the speed detected by the car speed detecting device, and continues control of the electric motor 2 (step S4).
  • step S2 If it is determined that the difference calculated in step S2 is greater than the predetermined value (NO in step S2), the speed abnormality detection device 14 determines that the hoisting machine speed detection device is out of order and returns to the speed control unit 13. A signal for switching the speed feedback value from the speed detected by the hoisting machine speed detecting device to the speed detected by the car speed detecting device is output.
  • the speed control unit 13 receives the signal and switches the speed feedback value from the speed detected by the hoisting machine speed detecting device to the speed detected by the car speed detecting device, and continues control of the electric motor 2 (step S5).
  • Step S6 After the speed feedback value is switched from the speed detected by the hoisting machine speed detecting device to the speed detected by the car speed detecting device, it is determined whether the difference between the rotational speed command value of the motor 2 and the speed of the car 7 is equal to or less than a predetermined value. (Step S6). Thereafter, normal operation is continued toward the destination floor, and step S1 is performed until arrival at the destination floor (step S8).
  • step S6 If the difference between the rotational speed command value of the electric motor 2 and the speed of the car 7 is equal to or smaller than a predetermined value in step S6 (YES in step S6), the car speed detection device is determined to be normal and normal operation is performed toward the destination floor. And step S1 is carried out until the destination floor arrives (step S8). If the difference between the rotational speed command value of the electric motor 2 and the speed of the car 7 is larger than the predetermined value in step S6 (NO in step S6), both the hoisting machine speed detecting device and the car speed detecting device are out of order. It determines with having carried out, it stops an elevator and stops driving
  • the elevator according to the first embodiment compares the rotational speed of the hoist 1, the speed of the car 7, and the rotational speed command value of the electric motor 2 calculated by the speed control unit 13.
  • the failure of the upper machine speed detection device, the failure of the car speed detection device, and the sheave wear of the hoisting machine 1 or the rope slip of the main rope 9 can be detected, and it is possible to cope with each failure. Even if one of the two speed detection devices fails, it is possible to continue normal operation by controlling the motor 2 of the speed control unit 13 with the speed feedback value of the normal speed detection device. .
  • the car can be moved to the nearest floor more safely by using the other speed detection device without performing normal operation.

Abstract

In patent literature 1, detecting rope slippage solely on the basis of the difference between the speed of a hoist machine and a car speed determined from a speed governor could lead to problems in which abnormalities in rope slippage determination and hoist machine speed detection as well as abnormalities in an encoder mounted on the speed governor cannot be detected. To address the above-mentioned problem, the present invention provides an elevator provided with an electric motor, a hoist machine that is driven by the electric motor, a rope that is wound around the hoist machine, a car, a control device that controls the vertical movement of the car, a hoist machine speed detection device that detects the rotational speed of the hoist machine, and a car speed detection device that detects the speed of the car, wherein the control device is provided with a speed control unit that transmits, to the electric motor, a rotational speed instruction determined on the basis of the rotational speed of the hoist machine and a speed abnormality detection unit that detects an abnormality in the hoist machine speed detection device on the basis of the hoist machine rotational speed detected by the hoist machine speed detection device, the car speed detected by the car speed detection device, and the speed instruction transmitted to the electric motor from the speed control unit.

Description

エレベーターElevator
　この発明は、エレベーターに係わる。 This invention relates to an elevator.
　本技術分野に関する文献として、例えば下記特許文献１がある。この文献には、巻上機に取付けられたエンコーダにより巻上機の速度を検出する巻上機速度検出部と、調速機に取付けられたエンコーダによりかごの速度を検出するかご速度検出部と、異常を検出した場合に巻上機の速度を減速させる速度制御部と、巻上機の速度検出部にて検出された巻上機の速度とかご速度検出部にて検出されたかご速度との差分からロープスリップを検出する速度異常検出装置を有し、速度制御部は、速度異常検出装置によるロープスリップの有無に応じて巻上機の減速度を調整すると記載されている。 There is, for example, the following Patent Document 1 as a document relating to this technical field. In this document, a hoisting machine speed detecting unit that detects the speed of the hoisting machine using an encoder attached to the hoisting machine, and a car speed detecting unit that detects the speed of the car using an encoder attached to the governor. A speed controller that decelerates the speed of the hoist when an abnormality is detected, a speed of the hoist detected by the speed detector of the hoist and a car speed detected by the car speed detector It is described that a speed abnormality detection device that detects a rope slip from the difference between the two is provided, and the speed control unit adjusts the deceleration of the hoist according to the presence or absence of the rope slip by the speed abnormality detection device.
特開２０１４－１０１２１０号公報JP 2014-101210 A
　特許文献１では、巻上機の速度と調速機から求められるかご速度の差分のみでロープスリップを検出している。この場合、巻き上げ機の速度検出異常や調速機に取付けられたエンコーダ異常の発生により誤ってロープスリップと判定し、ロープスリップの判定や巻き上げ機の速度検出異常や調速機に取付けられたエンコーダ異常を検出出来ない可能性がある。 In Patent Document 1, rope slip is detected only by the difference between the speed of the hoisting machine and the car speed obtained from the governor. In this case, a rope slip is erroneously determined due to an abnormality in the speed detection of the hoisting machine or an abnormality in the encoder attached to the governor, and an error is detected in the rope slip, the speed detection error of the hoisting machine, or the encoder attached to the governor Abnormality may not be detected.
　前記課題を解決するため、本発明は　電動機と、電動機により駆動される巻上機と、巻上機に掛けられたロープと、ロープに接続されるかごと、ロープの他端に接続されるつり合い重りと、かごを昇降を制御する制御装置と、巻上機の回転速度を検出する巻上機速度検出装置と、かごの速度を検出するかご速度検出装置と、を備えるエレベーターにおいて、制御装置は、巻き上げ機の回転速度を元に決定された回転速度指令を電動機に送信する速度制御部と、巻上機速度検出装置にて検出された巻上機の回転速度、かご速度検出装置にて検出されたかご速度、及び速度制御部から電動機へ送信された速度指令に基づいて、巻上機速度検出装置の異常を検出する速度異常検出部を備えることを特徴とするエレベーター。 In order to solve the above problems, the present invention provides an electric motor, a hoisting machine driven by the electric motor, a rope hung on the hoisting machine, a hook connected to the rope, and a balance connected to the other end of the rope. In an elevator comprising a weight, a control device that controls the raising and lowering of the car, a hoisting machine speed detecting device that detects the rotational speed of the hoisting machine, and a car speed detecting device that detects the speed of the car, the control device is Detected by the speed control unit that transmits the rotational speed command determined based on the rotational speed of the hoisting machine to the electric motor, and the rotational speed of the hoisting machine detected by the hoisting machine speed detecting device and the car speed detecting device An elevator comprising a speed abnormality detection unit that detects an abnormality of the hoisting machine speed detection device based on the car speed and the speed command transmitted from the speed control unit to the electric motor.
　本発明によれば、、巻上機速度検出装置の異常、かご速度検出装置の異常、および巻上機のシーブ磨耗もしくは主ロープスリップがそれぞれ検出可能となる。 According to the present invention, an abnormality of the hoisting machine speed detecting device, an abnormality of the car speed detecting device, and sheave wear or main rope slip of the hoisting machine can be detected.
本発明の実施例１の構成を示し、かごが最下階にある場合の図である。It is a figure when the structure of Example 1 of this invention is shown and a cage | basket | car exists in the lowest floor. 上記実施例１におけるエレベータ制御装置の動作を示すフローチャートである。It is a flowchart which shows operation | movement of the elevator control apparatus in the said Example 1. FIG.
　図１は本発明の実施例を示すエレベータ制御装置の全体図である。図1に示すように、本実施例に係るエレベータは、主ロープと巻上機との摩擦を用いたトラクション式のエレベータであり、このエレベータを昇降させるための電動機２を備えている。この電動機２の回転軸には、この電動機２によって駆動される巻上機１が取付けられている。エレベータ乗りかご７は主ロープ９によって巻上機１を介してつり合い重り８とつるべ状に接続されている。また、巻上機１には、巻上機１の回転数に応じたパルスを出力する回転数検出手段としてのマシンエンコーダ３が取付けられている。このマシンエンコーダ３は、巻上機の回転速度を検出するためのものである。 FIG. 1 is an overall view of an elevator control apparatus showing an embodiment of the present invention. As shown in FIG. 1, the elevator according to the present embodiment is a traction type elevator using friction between a main rope and a hoisting machine, and includes an electric motor 2 for raising and lowering the elevator. A hoisting machine 1 driven by the electric motor 2 is attached to the rotating shaft of the electric motor 2. The elevator car 7 is connected to the counterweight 8 and the counterweight via the hoisting machine 1 by the main rope 9. Further, the hoisting machine 1 is provided with a machine encoder 3 as a rotational speed detecting means for outputting a pulse corresponding to the rotational speed of the hoisting machine 1. This machine encoder 3 is for detecting the rotational speed of the hoisting machine.
　一方、乗りかご７が昇降する昇降路の上部に滑車を有する調速機４が取付けられている。この調速機４の滑車と昇降路下部に取付けられた滑車５との間に調速機ロープ１０が取付けられている。この調速機ロープ１０は、両端が乗りかご７に連結されており、乗りかご７の昇降に伴って循環し、この調速機ロープ１０の循環に伴い調速機４の滑車を回転させる。また、調速機４には、この調速機４の滑車の回転数に応じたパルスを出力する回転数検出手段としてのガバナエンコーダ６が取付けられている。このガバナエンコーダ６は、かご速度を検出するためのものである。 On the other hand, the governor 4 having a pulley is attached to the upper part of the hoistway where the car 7 moves up and down. A governor rope 10 is attached between the pulley of the governor 4 and the pulley 5 attached to the lower part of the hoistway. The speed governor rope 10 is connected to the car 7 at both ends, circulates as the car 7 is raised and lowered, and rotates the pulley of the speed governor 4 as the speed governor rope 10 circulates. Further, the governor 4 is provided with a governor encoder 6 as a rotational speed detecting means for outputting a pulse corresponding to the rotational speed of the pulley of the governor 4. The governor encoder 6 is for detecting the car speed.
　さらに、巻上機１の回転速度を検出するマシンエンコーダ３とかご速度を検出するガバナエンコーダ６は、乗りかご７を昇降制御する制御装置１５に接続されている。この制御装置１５マシンエンコーダ３に接続された巻上機速度検出部１１を備えている。この巻上機速度検出部１１は、マシンエンコーダ３から出力されるパルス信号が入力され、この入力されたパルス信号に基づいて巻上機１の回転速度を算出する。また、制御装置１５は、ガバナエンコーダ６に接続されたかご速度検出部１２を備えている。このかご速度検出部１２は、ガバナエンコーダ６から出力されるパルス信号が入力され、この入力されたパルス信号に基づいて乗りかご７の昇降速度を算出する。 Furthermore, the machine encoder 3 for detecting the rotational speed of the hoist 1 and the governor encoder 6 for detecting the car speed are connected to a control device 15 that controls the car 7 to move up and down. The control device 15 includes a hoisting machine speed detection unit 11 connected to the machine encoder 3. The hoisting machine speed detector 11 receives the pulse signal output from the machine encoder 3 and calculates the rotational speed of the hoisting machine 1 based on the input pulse signal. The control device 15 includes a car speed detection unit 12 connected to the governor encoder 6. The car speed detector 12 receives the pulse signal output from the governor encoder 6 and calculates the ascending / descending speed of the car 7 based on the input pulse signal.
　ここで、マシンエンコーダ３と巻上機速度検出部１１とをあわせて巻上機速度検出装置、ガバナエンコーダ６とかご速度検出部１２をあわせてかご速度検出装置と呼ぶこととする。 Here, the machine encoder 3 and the hoisting machine speed detecting unit 11 are collectively referred to as a hoisting machine speed detecting device, and the governor encoder 6 and the car speed detecting unit 12 are collectively referred to as a car speed detecting device.
　制御装置１５は、電動機２の駆動を制御する速度制御部１３を備えており、巻上機速度検出装置にて検出された巻上機１の回転速度と、かご速度検出装置にて検出された乗りかご７の速度が入力されている。通常、この速度制御部１３は巻上機速度検出装置にて検出された巻上機１の回転速度をフィードバック値として電動機２の回転制御を行っている。 The control device 15 includes a speed control unit 13 that controls the driving of the electric motor 2 and is detected by the rotational speed of the hoisting machine 1 detected by the hoisting machine speed detecting device and the car speed detecting device. The speed of the car 7 is input. Normally, the speed control unit 13 controls the rotation of the electric motor 2 using the rotation speed of the hoisting machine 1 detected by the hoisting machine speed detecting device as a feedback value.
　また、制御装置１５は、速度異常検出部１４を備える。この速度異常検出部１４は、巻上機速度検出装置にて検出された巻上機１の回転速度と、かご速度検出装置にて検出された乗りかご７の昇降速度と、速度制御部１３で算出される電動機２の回転速度指令値が入力され、巻上機１の回転速度と乗りかご７の速度の差分、電動機２の回転速度指令値と巻上機１の回転速度の差分、電動機２の回転速度指令値と乗りかご７の速度の差分をそれぞれ算出する。これらの差分が、予め定めた判定値と比較して巻上機速度検出装置およびかご速度検出装置の正常または異常を判定する。 Moreover, the control device 15 includes a speed abnormality detection unit 14. The speed abnormality detecting unit 14 includes a rotation speed of the hoisting machine 1 detected by the hoisting machine speed detecting device, an ascending / descending speed of the car 7 detected by the car speed detecting device, and a speed control unit 13. The calculated rotation speed command value of the motor 2 is input, the difference between the rotation speed of the hoisting machine 1 and the speed of the car 7, the difference between the rotation speed command value of the motor 2 and the rotation speed of the hoisting machine 1, the motor 2 The difference between the rotational speed command value and the speed of the car 7 is calculated. These differences are compared with a predetermined determination value to determine whether the hoisting machine speed detecting device and the car speed detecting device are normal or abnormal.
　具体的には、速度異常検出装置１４は、巻上機１の回転速度と乗りかご７の速度の差分が所定値以上かつ、電動機２の回転速度指令値と巻上機１の回転速度の差分が所定値以上の場合に巻上機速度検出装置の異常と判定する。
巻上機１の回転速度と乗りかご７の速度の差分が所定値以上かつ、電動機２の回転速度指令値と乗りかご７の速度の差分が所定値以上かつ、電動機２の回転速度指令値が乗りかご７の速度より小さいまたはかご７の速度が０の場合にかご速度検出装置の異常と判定する。 Specifically, the speed abnormality detection device 14 is such that the difference between the rotational speed of the hoisting machine 1 and the speed of the car 7 is a predetermined value or more, and the difference between the rotational speed command value of the electric motor 2 and the rotational speed of the hoisting machine 1. Is determined to be abnormal in the hoisting machine speed detection device.
The difference between the rotational speed of the hoist 1 and the speed of the car 7 is greater than a predetermined value, the difference between the rotational speed command value of the motor 2 and the speed of the car 7 is greater than a predetermined value, and the rotational speed command value of the motor 2 is When the speed of the car 7 is smaller than the speed of the car 7 or the speed of the car 7 is 0, it is determined that the car speed detecting device is abnormal.
　巻上機１の回転速度と乗りかご７の速度の差分が所定値以上かつ、電動機２の回転速度指令値が乗りかご７の速度の差分が所定値以上かつ、電動機２の回転速度指令値が乗りかご７の速度より大きい場合に主ロープ９のロープスリップまたは巻上機１のシーブ磨耗と判定する。 The difference between the rotational speed of the hoist 1 and the speed of the car 7 is greater than or equal to a predetermined value, the rotational speed command value of the motor 2 is greater than the predetermined value of the speed of the car 7, and the rotational speed command value of the motor 2 is When the speed is higher than the speed of the car 7, it is determined that the rope slip of the main rope 9 or the sheave wear of the hoisting machine 1 occurs.
　ここで、巻上機１の回転速度と乗りかご７の速度の差分、電動機２の回転速度指令値と巻上機１の回転速度の差分、電動機２の回転速度指令値と乗りかご７の速度の差分を比較する所定値は、例えば着床精度等エレベータの性能を満足する最悪値から決定される。 Here, the difference between the rotational speed of the hoisting machine 1 and the speed of the car 7, the difference between the rotational speed command value of the electric motor 2 and the rotational speed of the hoisting machine 1, the rotational speed command value of the electric motor 2 and the speed of the car 7 The predetermined value for comparing the differences is determined from the worst value satisfying the performance of the elevator such as landing accuracy.
　速度異常検出装置１４で主ロープ９がロープスリップを検出または巻き上げ機速度検出装置を異常と判定した場合、速度制御部１３はかご速度検出部１２にて検出された乗りかご７の速度をフィードバック値に切替えて電動機２の制御を行う。 When the speed abnormality detecting device 14 detects that the main rope 9 detects the rope slip or the winding machine speed detecting device is abnormal, the speed control unit 13 feeds back the speed of the car 7 detected by the car speed detecting unit 12 as a feedback value. And the motor 2 is controlled.
　また、速度異常検出装置１４でカゴ速度検出装置を異常と判定した場合、速度制御部１３は巻上機速度検出部１１にて検出された巻上機１の回転速度をフィードバック値として電動機２の制御を行う。なお、この場合カゴ速度検出装置の異常を記憶し、管理センタや表示装置に出力する。 When the speed abnormality detection device 14 determines that the car speed detection device is abnormal, the speed control unit 13 uses the rotation speed of the hoisting machine 1 detected by the hoisting machine speed detection unit 11 as a feedback value. Take control. In this case, the abnormality of the basket speed detecting device is stored and output to the management center or the display device.
　また、速度異常検出装置１４で巻上機速度検出装置を異常と判定し、速度制御部１３がかご速度検出部１２にて検出された乗りかご７の速度をフィードバック値に切替えて電動機２に送信する速度指令とかご速度検出部１２にて検出された乗りかご７の速度の差が所定値以上場合かご速度検出部１２と判定し、電動機２を非常停止させる。 Further, the speed abnormality detection device 14 determines that the hoisting machine speed detection device is abnormal, and the speed control unit 13 switches the speed of the car 7 detected by the car speed detection unit 12 to a feedback value and transmits it to the motor 2. When the difference between the speed command to be performed and the speed of the car 7 detected by the car speed detecting unit 12 is equal to or greater than a predetermined value, the car speed detecting unit 12 is determined, and the electric motor 2 is emergency stopped.
　次にエレベータの動作について図２を参照して説明する。図２は実施例１におけるエレベータの制御装置１５の動作を示すフローチャートである。 Next, the operation of the elevator will be described with reference to FIG. FIG. 2 is a flowchart showing the operation of the elevator control device 15 according to the first embodiment.
　まず、エレベータを通常運転中に速度異常検出装置１４にて巻上機１の回転速度と乗りかご７の速度の差分が第一の所定値以下かどうか判定する（ステップＳ１）。上記ステップＳ１にて差分が所定値以下と判定した場合（ステップＳ１のＹＥＳ）は異常無しとして、目的階へ向けて通常運転を継続し、目的階到着までステップＳ１を実施する（ステップＳ８）。また、前記差分が第一の所定値より大きいと判定した場合（ステップＳ１のＮＯ）は電動機２の回転速度指令値と巻上機１の回転速度の差分が第二の所定値以下かどうか判定する（ステップＳ２）。上記ステップＳ２にて算出した差分が第二の所定値以下と判定した場合（ステップＳ２のＹＥＳ）、乗りかご７の速度が０、または電動機２の回転速度指令値が乗りかご７の速度未満かどうか判定する(ステップＳ３)。　ステップＳ３にて乗りかご７の速度が０、または電動機２の回転速度指令値が乗りかご７の速度未満と判定した場合（ステップＳ３のＹＥＳ）、速度異常検出装置１４は、かご速度検出装置の故障と判定する。この場合、通常運転には影響が無いため、目的階へ向けて通常運転を継続し、目的階到着までステップＳ１を実施する（ステップＳ８）。なお、ここでは通常運転を継続するとしたが、最寄り階に移動し、停止する様にしてもよい。また、ステップＳ３にて電動機２の回転速度指令値が乗りかご７の速度より大きいと判定した場合（ステップＳ３のＮＯ）、速度異常検出装置１４は、巻上機１のシーブ磨耗または主ロープ９のロープスリップと判定し、速度制御部１３への速度フィードバック値を巻上機速度検出装置で検出した速度からかご速度検出装置で検出した速度へ切替える信号を出力する。速度制御部１３は、前記信号を受けて、速度フィードバック値を巻上機速度検出装置で検出した速度からかご速度検出装置で検出した速度へ切替え電動機２の制御を継続する（ステップＳ４）。 First, during normal operation of the elevator, the speed abnormality detection device 14 determines whether the difference between the rotational speed of the hoist 1 and the speed of the car 7 is equal to or less than a first predetermined value (step S1). If it is determined in step S1 that the difference is equal to or smaller than the predetermined value (YES in step S1), it is determined that there is no abnormality, and normal operation is continued toward the destination floor, and step S1 is performed until arrival at the destination floor (step S8). If it is determined that the difference is greater than the first predetermined value (NO in step S1), it is determined whether the difference between the rotational speed command value of the electric motor 2 and the rotational speed of the hoisting machine 1 is equal to or less than a second predetermined value. (Step S2). If it is determined that the difference calculated in step S2 is equal to or less than the second predetermined value (YES in step S2), whether the speed of the car 7 is 0 or the rotation speed command value of the electric motor 2 is less than the speed of the car 7 Judgment is made (step S3). When it is determined in step S3 that the speed of the car 7 is 0 or the rotational speed command value of the electric motor 2 is less than the speed of the car 7 (YES in step S3), the speed abnormality detection device 14 Judge as failure. In this case, since normal operation is not affected, normal operation is continued toward the destination floor, and step S1 is performed until arrival at the destination floor (step S8). In addition, although normal operation was continued here, you may make it move to the nearest floor and stop. If it is determined in step S3 that the rotational speed command value of the electric motor 2 is larger than the speed of the car 7 (NO in step S3), the speed abnormality detection device 14 detects the sheave wear of the hoist 1 or the main rope 9 And a signal for switching the speed feedback value to the speed control unit 13 from the speed detected by the hoisting machine speed detecting device to the speed detected by the car speed detecting device is output. The speed control unit 13 receives the signal and switches the speed feedback value from the speed detected by the hoisting machine speed detecting device to the speed detected by the car speed detecting device, and continues control of the electric motor 2 (step S4).
　また、ステップＳ２にて算出した差分が所定値より大きいと判定した場合（ステップＳ２のＮＯ）、速度異常検出装置１４は、巻上機速度検出装置の故障と判定して、速度制御部１３への速度フィードバック値を巻上機速度検出装置で検出した速度からかご速度検出装置で検出した速度へ切替える信号を出力する。速度制御部１３は、前記信号を受けて、速度フィードバック値を巻上機速度検出装置で検出した速度からかご速度検出装置で検出した速度へ切替え電動機２の制御を継続する（ステップＳ５）。速度フィードバック値を巻上機速度検出装置で検出した速度からかご速度検出装置で検出した速度へ切替えた後、電動機２の回転速度指令値と乗りかご７の速度の差分が所定値以下かどうか判定する（ステップＳ６）。
その後、目的階へ向けて通常運転を継続し、目的階到着までステップＳ１を実施する（ステップＳ８）。 If it is determined that the difference calculated in step S2 is greater than the predetermined value (NO in step S2), the speed abnormality detection device 14 determines that the hoisting machine speed detection device is out of order and returns to the speed control unit 13. A signal for switching the speed feedback value from the speed detected by the hoisting machine speed detecting device to the speed detected by the car speed detecting device is output. The speed control unit 13 receives the signal and switches the speed feedback value from the speed detected by the hoisting machine speed detecting device to the speed detected by the car speed detecting device, and continues control of the electric motor 2 (step S5). After the speed feedback value is switched from the speed detected by the hoisting machine speed detecting device to the speed detected by the car speed detecting device, it is determined whether the difference between the rotational speed command value of the motor 2 and the speed of the car 7 is equal to or less than a predetermined value. (Step S6).
Thereafter, normal operation is continued toward the destination floor, and step S1 is performed until arrival at the destination floor (step S8).
　ステップＳ６にて電動機２の回転速度指令値と乗りかご７の速度の差分が所定値以下の場合（ステップＳ６のＹＥＳ）は、かご速度検出装置は正常と判断し、目的階へ向けて通常運転を継続し、目的階到着までステップＳ１を実施する（ステップＳ８）。また、ステップＳ６にて電動機２の回転速度指令値と乗りかご７の速度の差分が所定値より大きい場合（ステップＳ６のＮＯ）は、巻上機速度検出装置およびかご速度検出装置の両方が故障していると判定し、エレベータを非常停止させて運転を中止する（ステップＳ７）。 If the difference between the rotational speed command value of the electric motor 2 and the speed of the car 7 is equal to or smaller than a predetermined value in step S6 (YES in step S6), the car speed detection device is determined to be normal and normal operation is performed toward the destination floor. And step S1 is carried out until the destination floor arrives (step S8). If the difference between the rotational speed command value of the electric motor 2 and the speed of the car 7 is larger than the predetermined value in step S6 (NO in step S6), both the hoisting machine speed detecting device and the car speed detecting device are out of order. It determines with having carried out, it stops an elevator and stops driving | operation (step S7).
　以上のように、上記実施例１におけるエレベータは、巻上機１の回転速度、乗りかご７の速度および速度制御部１３によって算出される電動機２の回転速度指令値をそれぞれ比較することで、巻上機速度検出装置の故障、かご速度検出装置の故障および巻上機１のシーブ磨耗または主ロープ９のロープスリップをそれぞれ検出可能であり、各故障に対する対応が可能である。また、前記２つの速度検出装置のうち１つが故障した場合でも、正常な速度検出装置の速度フィードバック値で速度制御部１３の電動機２を制御することで、通常運転を継続することが可能となる。また、通常運転を実施しなくとも他方の速度検出装置を使うことでより安全に最寄り階までかごを移動させる事ができる。


























As described above, the elevator according to the first embodiment compares the rotational speed of the hoist 1, the speed of the car 7, and the rotational speed command value of the electric motor 2 calculated by the speed control unit 13. The failure of the upper machine speed detection device, the failure of the car speed detection device, and the sheave wear of the hoisting machine 1 or the rope slip of the main rope 9 can be detected, and it is possible to cope with each failure. Even if one of the two speed detection devices fails, it is possible to continue normal operation by controlling the motor 2 of the speed control unit 13 with the speed feedback value of the normal speed detection device. . In addition, the car can be moved to the nearest floor more safely by using the other speed detection device without performing normal operation.


























１・・・巻上機
２・・・電動機
３・・・巻上機１の回転速度を検出するエンコーダ
４・・・調速機
５・・・プーリ
６・・・乗りかご７の速度を検出するエンコーダ
７・・・乗りかご
８・・・つり合い重り
９・・・主ロープ
１０・・・調速機ロープ
１１・・・巻上機速度検出部
１２・・・かご速度検出部
１３・・・速度制御部
１４・・・速度異常検出装置
１５・・・制御装置 DESCRIPTION OF SYMBOLS 1 ... Hoisting machine 2 ... Electric motor 3 ... Encoder 4 which detects the rotational speed of the hoisting machine 1 ... Speed governor 5 ... Pulley 6 ... The speed of the car 7 is detected Encoder 7 ... Car 8 ... Balance weight 9 ... Main rope 10 ... Speed governor rope 11 ... Hoisting machine speed detector 12 ... Car speed detector 13 ... Speed control unit 14 ... speed abnormality detection device 15 ... control device

Claims (7)

  1. 　電動機と、前記電動機により駆動される巻上機と、前記巻上機に掛けられたロープと、
    前記ロープに接続されるかごと、前記ロープの他端に接続されるつり合い重りと、前記かごを昇降を制御する制御装置と、前記巻上機の回転速度を検出する巻上機速度検出装置と、前記かごの速度を検出するかご速度検出装置と、を備えるエレベーターにおいて、
    前記制御装置は、前記巻き上げ機の回転速度を元に決定された回転速度指令を前記電動機に送信する速度制御部と、
    前記巻上機速度検出装置にて検出された前記巻上機の回転速度、前記かご速度検出装置にて検出されたかご速度、及び前記速度制御部から前記電動機へ送信された速度指令に基づいて、前記巻上機速度検出装置の異常を検出する速度異常検出部を備えることを特徴とするエレベーター。     An electric motor, a hoisting machine driven by the electric motor, a rope hung on the hoisting machine,
    A car connected to the rope, a counterweight connected to the other end of the rope, a control device for controlling the raising and lowering of the car, and a hoisting machine speed detecting device for detecting the rotational speed of the hoisting machine; A car speed detecting device for detecting the speed of the car, and an elevator comprising:
    The control device, a speed control unit that transmits a rotational speed command determined based on the rotational speed of the hoisting machine to the electric motor,
    Based on the rotational speed of the hoisting machine detected by the hoisting machine speed detecting device, the car speed detected by the car speed detecting device, and the speed command transmitted from the speed control unit to the electric motor. An elevator comprising a speed abnormality detection unit that detects an abnormality of the hoisting machine speed detection device.
  2. 　請求項１に記載のエレベータにおいて、前記速度異常検出部は、前記巻上機の回転速度から計算されたかご速度と、前記かご速度検出装置にて検出されたかごの速度の差が第一の所定値を超え、前記かご速度指令と前記巻上機の回転速度から計算されたかご速度の差が第二の所定値を超えた場合、前記巻上機速度検出装置を異常として検出することを特徴とするエレベーター。 2. The elevator according to claim 1, wherein the speed abnormality detection unit has a first difference between a car speed calculated from a rotation speed of the hoist and a car speed detected by the car speed detection device. If the difference between the car speed command calculated from the car speed command and the rotational speed of the hoisting machine exceeds a second predetermined value, the hoisting machine speed detecting device is detected as abnormal. A featured elevator.
  3. 　請求項２に記載のエレベータにおいて、
    　前記速度異常検出部は、前記巻上機速度検出装置にて検出された前記巻上機の回転速度、前記かご速度検出装置にて検出されたかご速度、及び前記速度制御部から前記電動機へ送信された速度指令に基づいて、前記かご速度検出装置の異常を検出することを備えることを特徴とするエレベーター。     The elevator according to claim 2,
    The speed abnormality detection unit transmits the rotational speed of the hoisting machine detected by the hoisting machine speed detection device, the car speed detected by the car speed detection device, and the speed control unit to the motor. An elevator comprising detecting an abnormality of the car speed detecting device based on the speed command.
  4. 　請求項３に記載のエレベータにおいて、
    　請求項１に記載のエレベータにおいて、前記速度異常検出部は、前記巻上機の回転速度から計算されたかご速度と、前記かご速度検出装置にて検出されたかごの速度の差が第一の所定値を超え、前記かご速度指令と前記巻上機の回転速度から計算されたかご速度の差が第二の所定値以内であり、前記かご速度検出装置にて検出されたかごの速度が０または前記速度指令値以上の場合、前記かご速度検出装置を異常として検出することを特徴とするエレベーター。     The elevator according to claim 3,
    2. The elevator according to claim 1, wherein the speed abnormality detection unit has a first difference between a car speed calculated from a rotation speed of the hoist and a car speed detected by the car speed detection device. A car speed difference exceeding a predetermined value, a difference between the car speed calculated from the car speed command and the rotational speed of the hoisting machine is within a second predetermined value, and the car speed detected by the car speed detecting device is 0. Alternatively, the elevator detects the car speed detection device as an abnormality when the speed is equal to or greater than the speed command value.
  5. 　請求項４に記載のエレベータにおいて、
    　前記速度異常検出部は、前記巻上機速度検出装置にて検出された前記巻上機の回転速度、前記かご速度検出装置にて検出されたかご速度、及び前記速度制御部から前記電動機へ送信された速度指令に基づいて、ロープスリップ又はシーブ磨耗を検出することを備えることを特徴とするエレベーター。     The elevator according to claim 4,
    The speed abnormality detection unit transmits the rotational speed of the hoisting machine detected by the hoisting machine speed detection device, the car speed detected by the car speed detection device, and the speed control unit to the motor. An elevator comprising detecting rope slip or sheave wear based on a speed command that has been made.
  6. 　請求項５に記載のエレベータにおいて、
    　請求項１に記載のエレベータにおいて、前記速度異常検出部は、前記巻上機の回転速度から計算されたかご速度と、前記かご速度検出装置にて検出されたかごの速度の差が第一の所定値を超え、前記かご速度指令と前記巻上機の回転速度から計算されたかご速度の差が第二の所定値以内であり、前記かご速度検出装置にて検出されたかごの速度が０より大きく前記速度指令以下の場合、ロープスリップ又はシーブ磨耗として検出することを特徴とするエレベーター。     The elevator according to claim 5,
    2. The elevator according to claim 1, wherein the speed abnormality detection unit has a first difference between a car speed calculated from a rotation speed of the hoist and a car speed detected by the car speed detection device. A car speed difference exceeding a predetermined value, a difference between the car speed calculated from the car speed command and the rotational speed of the hoisting machine is within a second predetermined value, and the car speed detected by the car speed detecting device is 0. An elevator that is detected as rope slip or sheave wear when larger than the speed command.
  7. 　請求項６に記載のエレベータにおいて、
    　前記速度異常検出部が、前記巻上機速度検出装置をするか、ロープスリップ又はシーブ摩耗として検出した場合、前記速度制御部は前記かご速度検出装置にて検出されたかご速度を元に決定された回転速度指令を前記電動機に送信する、ことを特徴とするエレベーター。     The elevator according to claim 6,
    When the speed abnormality detection unit performs the hoisting machine speed detection device or detects as rope slip or sheave wear, the speed control unit is determined based on the car speed detected by the car speed detection device. An elevator characterized by transmitting a rotation speed command to the electric motor.
PCT/JP2016/071473 2016-07-22 2016-07-22 Elevator WO2018016061A1 (en)

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