WO2018173146A1 - エレベータの制御装置および巻上ロープの伸縮量推定方法 - Google Patents

エレベータの制御装置および巻上ロープの伸縮量推定方法 Download PDF

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Publication number
WO2018173146A1
WO2018173146A1 PCT/JP2017/011410 JP2017011410W WO2018173146A1 WO 2018173146 A1 WO2018173146 A1 WO 2018173146A1 JP 2017011410 W JP2017011410 W JP 2017011410W WO 2018173146 A1 WO2018173146 A1 WO 2018173146A1
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WO
WIPO (PCT)
Prior art keywords
car
expansion
contraction amount
remaining distance
estimated
Prior art date
Application number
PCT/JP2017/011410
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English (en)
French (fr)
Japanese (ja)
Inventor
英敬 石黒
英二 横山
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 JP2019506791A priority Critical patent/JP6710319B2/ja
Priority to PCT/JP2017/011410 priority patent/WO2018173146A1/ja
Priority to CN201780088181.XA priority patent/CN110402229B/zh
Priority to KR1020197026835A priority patent/KR102205550B1/ko
Publication of WO2018173146A1 publication Critical patent/WO2018173146A1/ja

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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
    • B66B1/44—Means for stopping the cars, cages, or skips at predetermined levels and for taking account of disturbance factors, e.g. variation of load weight
    • 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 device that estimates the amount of expansion / contraction of the hoisting rope and a method for estimating the amount of expansion / contraction of the hoisting rope.
  • the present invention has been made to solve the above-described problems, and an object of the present invention is to provide an elevator control device and a hoisting rope expansion / contraction amount estimation method capable of estimating the hoisting rope expansion / contraction amount.
  • the elevator control device includes a hoisting machine, a hoisting rope wound around the hoisting machine, whether the hoisting rope is wound up by the hoisting machine, and moving up and down the hoistway.
  • a hoisting machine comprising a landing plate provided corresponding to each floor in the road and a landing plate detector provided in a car and outputting a detection signal when the landing plate is detected.
  • a control device that estimates the amount of expansion / contraction of the upper rope as an estimated amount of expansion / contraction, and the control device calculates and outputs a car position of the car, and a car position output by the car position calculator,
  • a remaining distance calculator for calculating and outputting a first remaining distance from the departure floor to the destination floor when the operation is controlled from the departure floor to the destination floor, and a first distance output by the remaining distance calculator Remaining distance and landing pre The first remaining distance at the start of detection signal input and the plate-stop position from the plate detection start position of the landing plate to the car stop position based on the detection signal input from the detector and the target floor
  • An expansion / contraction amount estimator that calculates a difference from the inter-distance and estimates the difference as an estimated expansion / contraction amount.
  • the method of estimating the amount of expansion / contraction of the hoisting rope of the elevator includes the hoisting machine, the hoisting rope wound around the hoisting machine, and the hoisting rope being wound up by the hoisting machine.
  • a method for estimating an amount of expansion / contraction of a hoisting rope as an estimated amount of expansion / contraction in an elevator provided, the method comprising: calculating and outputting a car position of the car; and from the car position to the destination floor.
  • an elevator control device capable of estimating the amount of expansion / contraction of the hoisting rope and a method for estimating the amount of expansion / contraction of the hoisting rope.
  • FIG. 1 is an overall configuration diagram illustrating an elevator including an elevator control device 9 according to Embodiment 1 of the present invention.
  • a car 1 and a counterweight 3 are suspended in a hoistway by a hoisting rope 2 wound around a hoisting machine 4 and a deflecting wheel 6.
  • the car 1 and the counterweight 3 move in the vertical direction in the hoistway when the hoisting rope 2 is hoisted by the hoisting machine 4.
  • the hoisting machine 4 is provided with a rotational speed detector 5 that detects the rotational speed of the hoisting machine 4.
  • the rotation speed detector 5 outputs, for example, a pulse signal as a rotation speed to the control device 9 according to the rotation speed of the hoisting machine 4.
  • the rotation speed detector 5 is configured using, for example, an encoder.
  • Car 1 travels from the departure floor to the destination floor according to the operation command, and stops at the car stop position in the landing zone of the destination floor.
  • the landing zone is provided for each floor of the building where the elevator is installed.
  • the landing plate 7 is provided in the hoistway corresponding to the landing zone of each floor. That is, the landing plate 7 is provided corresponding to each floor in the hoistway.
  • the landing plate detector 8 is provided in the car 1 and outputs a detection signal to the control device 9 when the landing plate 7 is detected. That is, when entry of the car 1 into the landing zone is started, the landing plate 7 corresponding to the landing zone is detected and a detection signal is output to the control device 9. The landing plate detector 8 continues to output a detection signal to the control device 9 while detecting the landing plate 7.
  • a plate may be further provided corresponding to a door zone that permits the opening / closing operation of the car door.
  • the car 1 is further provided with a plate detector for detecting the plate corresponding to the door zone.
  • a plate may be further provided corresponding to the relevel zone that permits the relevel operation of the car 1.
  • the car 1 is further provided with a plate detector for detecting the plate corresponding to the relevel zone.
  • the control device 9 is realized by, for example, a memory and a microcomputer that executes a program stored in the memory.
  • the control device 9 includes a car position calculator 91, an operation command calculator 92, a remaining distance calculator 93, an expansion / contraction amount estimator 94, a speed command calculator 95, a speed converter 96, and a hoisting machine controller 97.
  • Each function of the control device 9 may be realized by the same microcomputer or may be realized by individual microcomputers.
  • the car position calculator 91 calculates and outputs the car position which is the position of the car 1 in the hoistway. Specifically, the car position calculator 91 calculates and outputs the car position based on the rotational speed input from the rotational speed detector 5 and the detection signal input from the landing plate detector 8. .
  • the operation command calculator 92 calculates an operation command for controlling the operation of the car 1 from the departure floor to the destination floor.
  • the operation command calculator 92 generates and outputs a departure floor and a destination floor corresponding to the calculated operation command as operation information.
  • the remaining distance calculator 93 is based on the car position output from the car position calculator 91 and the destination floor when the car 1 is controlled from the departure floor to the destination floor.
  • the first remaining distance which is the remaining distance to the stop position, is calculated and output.
  • the remaining distance calculator 93 grasps the destination floor of the car 1 by acquiring the operation information output from the operation command calculator 92.
  • the remaining distance calculator 93 Since the remaining distance calculator 93 knows in advance the car stop position for each floor, if the target floor is known, the car stop position corresponding to the target floor can be obtained. Therefore, the remaining distance calculator 93 can obtain the first remaining distance from the car position to the car stop position using the information on the car position and the destination floor of the car 1.
  • the expansion / contraction amount estimator 94 controls the operation of the first remaining distance output from the remaining distance calculator 93, the detection signal input from the landing plate detector 8, and the car 1 from the departure floor to the destination floor.
  • the difference between the first remaining distance at the start of detection signal input and the distance between the plate and the stop position corresponding to the destination floor is calculated based on the destination floor at the time, and the difference is used as the estimated expansion / contraction amount.
  • the expansion / contraction amount estimator 94 grasps the destination floor of the car 1 by acquiring the operation information output from the operation command calculator 92.
  • the plate detection start position means a position where the landing plate detector 8 starts detection of the landing plate 7, and the distance between the plate and the stop position means the car from the plate detection start position of the landing plate 7. It means the distance to the stop position.
  • the estimated amount of expansion / contraction means an estimated value of the amount of expansion / contraction of the hoisting rope 2.
  • FIG. 2 is an explanatory diagram for explaining a method of estimating the estimated expansion / contraction amount by the expansion / contraction amount estimator 94 according to Embodiment 1 of the present invention.
  • the upper diagram shows the time change of the first remaining distance output by the remaining distance calculator 93
  • the lower diagram shows the time change of the detection signal input to the expansion / contraction amount estimator 94. Yes.
  • a time point when the detection signal is input to the expansion / contraction amount estimator 94 that is, a time point when the detection signal is switched from the OFF state to the ON state is defined as time t1.
  • the landing plate detector 8 provided in the car 1 is located at the plate detection start position.
  • the plate detection start position is the edge position of the landing plate 7.
  • the actual first remaining distance at time t1 is the distance from the plate detection start position to the car stop position, that is, the distance between the plate and the stop position.
  • the first remaining distance output from the remaining distance calculator 93 is different from the actual first remaining distance, that is, the plate-stop position distance. This is because the car position calculated by the car position calculator 91 is shifted from the actual car position by the amount of expansion and contraction due to the influence of the expansion and contraction of the hoisting rope 2.
  • the expansion / contraction amount estimator 94 is configured to calculate the difference between the first remaining distance at the time t1 and the distance between the plate and the stop position and estimate the difference as the estimated expansion / contraction amount.
  • the expansion / contraction amount estimator 94 Since the expansion / contraction amount estimator 94 knows the distance between the plate and the stop position in advance for each floor, if the target floor is known, the distance between the plate and the stop position corresponding to the target floor can be obtained. Therefore, the expansion / contraction amount estimator 94 can obtain the estimated expansion / contraction amount corresponding to the destination floor using the information regarding the destination floor of the car 1, the first remaining distance, and the detection signal.
  • the expansion / contraction amount estimator 94 is configured to generate and hold in advance an expansion / contraction amount estimation map that associates the car position with the estimated expansion / contraction amount.
  • FIG. 3 is an explanatory diagram showing an example of an expansion / contraction amount estimation map generated by the expansion / contraction amount estimator 94 according to Embodiment 1 of the present invention.
  • the expansion / contraction amount estimator 94 estimates the estimated expansion / contraction amount corresponding to the arbitrary destination floor by the method described above.
  • the arbitrary destination floor may be any floor among the floors other than the top floor.
  • the expansion / contraction amount estimator 94 assumes that the estimated expansion / contraction amount corresponding to the top floor is 0 and, as shown in FIG. 3, in the coordinate system in which the horizontal axis is the car position and the vertical axis is the estimated expansion / contraction amount.
  • the expansion / contraction amount estimator 94 generates an expansion / contraction amount estimation map by approximating the plotted data with an approximate expression such as a linear expression. In this way, the expansion / contraction amount estimator 94 generates an expansion / contraction amount estimation map using the estimated expansion / contraction amount corresponding to an arbitrary destination floor, assuming that the estimated expansion / contraction amount corresponding to the top floor is zero.
  • the expansion / contraction amount estimator 94 estimates the estimated expansion / contraction amount corresponding to each of the plurality of destination floors without assuming that the estimated expansion / contraction amount corresponding to the top floor is 0, and the data plotted in the coordinate system is obtained.
  • the expansion / contraction amount estimation map may be generated by increasing and approximating the plotted data with an approximate expression.
  • the expansion / contraction amount estimator 94 may be configured to generate the expansion / contraction amount estimation map using the estimated expansion / contraction amount corresponding to each of the plurality of destination floors.
  • the expansion / contraction amount estimator 94 appropriately estimates an estimated expansion / contraction amount corresponding to the destination floor, and updates the expansion / contraction amount estimation map using the estimation result. It may be configured to.
  • the expansion / contraction amount estimator 94 holds the expansion / contraction amount estimation map generated in advance, so that the estimated expansion / contraction amount corresponding to each floor can be estimated from the map.
  • this estimated expansion / contraction amount is used for controlling the hoisting machine 4. That is, the expansion / contraction amount estimator 94 uses the expansion / contraction amount estimation map to use the estimated expansion / contraction amount for control of the hoist 4, and the destination floor when the car 1 is controlled from the departure floor to the destination floor. Is extracted from the map and output to the speed converter 96.
  • the estimated expansion / contraction amount appropriate for the destination floor is changed by changing the value of the estimated expansion / contraction amount according to the destination floor using the expansion / contraction amount estimation map. Therefore, it is possible to expect improvement in accuracy of landing control of the car 1 regardless of the stop floor of the car 1.
  • the speed command calculator 95 determines that the car 1 is based on the first remaining distance output from the remaining distance calculator 93 and the detection signal input from the landing plate detector 8. A car speed command for controlling the speed of the car 1 when operation is controlled from the departure floor to the destination floor is calculated.
  • FIG. 4 is an explanatory diagram for explaining a method of calculating a car speed command by the speed command calculator 95 according to the first embodiment of the present invention.
  • the upper diagram shows the time change of the car speed command output by the speed command calculator 95
  • the lower diagram shows the change of the detection signal input to the speed command calculator 95.
  • the output of the speed command calculator 95 until the first remaining distance reaches the constant deceleration start distance is omitted, and the first remaining distance after the first deceleration becomes the constant deceleration start distance.
  • the output of the speed command calculator 95 is extracted and shown. Further, as shown in the following diagram, the time point when the detection signal is input to the speed command calculator 95, that is, the time point when the detection signal is switched from the OFF state to the ON state is defined as time t1.
  • the speed command calculator 95 sets the car 1 in a preset speed pattern until the car 1 starts from the departure floor until the first remaining distance reaches the constant deceleration start distance. Calculates and outputs the moving car speed command.
  • the speed command calculator 95 calculates and outputs a car speed command for decelerating the car 1 with a constant deceleration. To do.
  • the constant deceleration start distance value and the constant deceleration value are set in advance.
  • negative acceleration is expressed as deceleration.
  • the speed command calculator 95 calculates and outputs a car speed command for decelerating and stopping the car with a fixed jerk.
  • the constant jerk value is set in advance.
  • the speed command calculator 95 decelerates the car 1 at a constant deceleration when the first remaining distance output by the remaining distance calculator 93 reaches a constant deceleration start distance, and from the landing plate detector 8. If a detection signal is input, a car speed command for decelerating and stopping the car 1 with a fixed jerk is calculated and output.
  • the speed converter 96 converts the car speed command output by the speed command computing unit 95 into a converted car speed command that takes into account the expansion and contraction of the hoisting rope 2 and outputs the converted car speed command.
  • FIG. 5 is a configuration diagram showing the speed converter 96 according to the first embodiment of the present invention.
  • the speed converter 96 includes a second-order differentiator 961, an ⁇ 2 calculator 962, a divider 963, and an adder 964.
  • the second-order differentiator 961 calculates and outputs a first value obtained by second-order differentiation of the car speed command output by the speed command calculator 95. If the noise after the second-order differentiation with respect to the car speed command becomes large, the second-order differentiator 961 appropriately passes the value through a low-pass filter that does not increase the phase delay. You may make it output.
  • the ⁇ 2 calculator 962 calculates and outputs a second value obtained by dividing the deceleration value of the car 1 by the estimated expansion / contraction amount output by the expansion / contraction amount estimator 94.
  • ⁇ 2 means the square value of the natural frequency of the mechanical system including the hoisting rope.
  • the ⁇ 2 computing unit 962 divides the acceleration value of the car 1 by the estimated expansion / contraction amount when the acceleration value corresponding to the car speed command calculated by the speed command computing unit 95 is positive. The second value obtained is calculated and output.
  • the divider 963 calculates and outputs a third value obtained by dividing the first value output by the second-order differentiator 961 by the second value output by the ⁇ 2 calculator 962. .
  • the adder 964 adds the car speed command output by the speed command calculator 95 to the third value output by the divider 963, and outputs the added value as a converted car speed command.
  • the speed converter 96 is a value obtained by second-order differentiation of the car speed command based on the car speed command output by the speed command calculator 95 and the estimated expansion / contraction amount output by the expansion / contraction amount estimator 94.
  • a value obtained by adding the car speed command to the value obtained by dividing the deceleration of the car 1 by the estimated expansion / contraction amount is calculated and output as a converted car speed command.
  • FIG. 6 is an explanatory diagram showing the change over time of the output of the speed converter 96 according to Embodiment 1 of the present invention.
  • the time change of the output of the speed command calculator 95 shown in FIG. 4 is also shown.
  • illustration of the output of the speed converter 96 until the first remaining distance reaches the constant deceleration start distance is omitted, and the first remaining distance is constant deceleration.
  • the output of the speed converter 96 after the start distance is extracted and illustrated.
  • the speed command calculator 95 outputs a car speed command for decelerating the car 1 at a constant deceleration to the speed converter 96 as described above.
  • the converted car speed command indicated by the broken line and the car speed command indicated by the solid line have the same value.
  • the speed command calculator 95 After time t1, the speed command calculator 95 outputs to the speed converter 96 a car speed command for decelerating and stopping the car 1 with a constant jerk as described above.
  • the converted car speed command indicated by the broken line and the car speed command indicated by the solid line have different values after time t1 when the car 1 is decelerated and stopped with a constant jerk.
  • the hoisting machine controller 97 controls the hoisting machine 4 according to the conversion car speed command output by the speed converter 96.
  • a speed control system of the hoisting machine 4 according to the conversion car speed command for example, a speed control system by feeding back the rotation speed of the hoisting machine 4 and feeding back the current of the hoisting machine 4 And inverter PWM control.
  • FIG. 1 the case where the speed control system by feeding back the rotation speed of the hoisting machine 4 is illustrated as a control system of the hoisting machine 4 is illustrated.
  • the speed detector 98 acquires the rotational speed of the hoisting machine 4, converts the rotational speed into a car speed, and gives the car speed to the hoisting machine controller 97.
  • the hoisting machine controller 97 controls the hoisting machine 4 so that the car speed obtained from the speed detector 98 matches the converted car speed command.
  • the hoisting machine controller 97 controls the hoisting machine 4 so that the car speed obtained from the speed detector 98 matches the converted car speed command.
  • the car position is calculated, the first remaining distance from the calculated car position to the car stop position on the destination floor is calculated, and the first remaining distance and the landing plate detection are calculated.
  • the difference between the first remaining distance at the start of detection signal input and the distance between the plate detection stop position and the plate stop position from the plate detection start position is calculated based on the detection signal input from the vessel and the destination floor. It is configured to calculate and estimate the difference as the estimated expansion / contraction amount. Thereby, the expansion-contraction amount of the hoisting rope currently wound around the hoisting machine of an elevator can be estimated.
  • the estimated expansion / contraction amount estimated by the expansion / contraction amount estimator for hoisting machine control, it is possible to control the car speed in consideration of expansion / contraction of the hoisting rope during normal elevator service, and perform special adjustment operations. Can be omitted.
  • a car speed command is issued to decelerate the car at a constant deceleration before detecting the landing plate and to decelerate and stop the car at a constant jerk after detecting the landing plate.
  • By performing the output speed control it is possible to estimate the amount of expansion and contraction of the hoisting rope during the constant deceleration of the car.
  • Embodiment 2 a description will be given of a control device 9 including a speed command calculator 95 that differs from the first embodiment in the method of calculating the car speed command.
  • description of points that are the same as those of the first embodiment will be omitted, and points different from the first embodiment will be mainly described.
  • FIG. 7 is an overall configuration diagram showing an elevator including the elevator control device 9 according to Embodiment 2 of the present invention.
  • the expansion / contraction amount estimator 94 uses the expansion / contraction amount estimation map to calculate the estimated expansion / contraction amount corresponding to the destination floor when the car 1 is controlled from the departure floor to the destination floor. It is extracted from the map and output to the speed converter 96, and the estimated expansion / contraction amount is output to the remaining distance calculator 93.
  • the remaining distance calculator 93 calculates the first remaining distance as in the first embodiment, and further calculates the first remaining distance and the estimated expansion / contraction amount output by the expansion / contraction amount estimator 94. Based on this, the second remaining distance is calculated and output.
  • FIG. 8 is an explanatory diagram for explaining a second remaining distance calculation method by the remaining distance calculator 93 according to the second embodiment of the present invention.
  • the upper diagram shows temporal changes in the first remaining distance and the second remaining distance calculated by the remaining distance calculator 93
  • the lower diagram shows the second remaining distance from the first remaining distance. A time variation of the correction amount for calculating the remaining distance is shown.
  • the correction amount is equal to the value of the estimated expansion / contraction amount corresponding to the destination floor until the second remaining distance reaches the plate-stop position distance corresponding to the destination floor. After the remaining distance becomes the distance between the plate and the stop position, it is equal to a value obtained by gradually decreasing and changing the estimated expansion / contraction amount with time. Note that the degree of reduction when the estimated amount of expansion / contraction is changed with time is set in advance.
  • the remaining distance calculator 93 calculates a value obtained by subtracting the correction amount shown in the lower figure from the first remaining distance shown in the upper figure as the second remaining distance. That is, the remaining distance calculator 93 calculates the second remaining distance by subtracting the estimated expansion / contraction amount from the calculated first remaining distance, and if the second remaining distance becomes the plate-stop position distance, The second remaining distance is calculated while decreasing the estimated expansion / contraction amount.
  • the speed command calculator 95 decelerates the car 1 at a constant deceleration when the second remaining distance reaches a constant deceleration start distance, When the remaining distance becomes the distance between the plate and the stop position, a car speed command for decelerating and stopping the car 1 with a constant jerk is calculated and output.
  • the speed command calculator 95 calculates and outputs a car speed command according to the second remaining distance (for example, in 1 mm increments) according to the speed pattern map.
  • FIG. 9 is an explanatory diagram showing an example of a speed pattern map used by the speed command calculator 95 according to the second embodiment of the present invention. In FIG. 9, the change in the car speed command after the second remaining distance becomes the distance between the plate and the stop position is extracted and shown.
  • the speed pattern map is a map prepared in advance in which the second remaining distance is associated with the car speed command, and the speed command calculator 95 is configured to hold the map. Note that the speed pattern map has a finite number of data to be held, so that the data is used after linear interpolation.
  • the car 1 can be moved in a preset speed pattern until the second remaining distance reaches a constant deceleration start distance, and thereafter, the second remaining distance becomes constant after the constant deceleration start distance.
  • the second remaining distance is associated with the car speed command so that the car 1 is decelerated by deceleration.
  • the car 1 is decelerated and stopped with a constant jerk until the second remaining distance becomes the distance between the plate and the stop position and thereafter becomes zero.
  • the second remaining distance and the car speed command are associated with each other.
  • the speed converter 96 calculates and outputs the converted car speed command using the car speed command calculated as described above, as in the first embodiment, and the hoisting machine controller 97 The hoisting machine 4 is controlled according to the conversion car speed command.
  • the first remaining distance when using the estimated expansion / contraction amount estimated by the expansion / contraction amount estimator for the control of the hoisting machine, the first remaining distance with respect to the configuration of the first embodiment.
  • the second remaining distance is further calculated using the estimated amount of expansion and contraction, and the car speed command is calculated using the second remaining distance.
  • the case where the estimated expansion / contraction amount estimated by the expansion / contraction amount estimator 94 is used for control of the hoisting machine 4 is illustrated, but the present invention is not limited to this.
  • the hoisting machine The estimated expansion / contraction amount may be used for control of devices other than 4, or the estimated expansion / contraction amount may be used for monitoring the expansion / contraction amount of the hoisting rope 2.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Elevator Control (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)
PCT/JP2017/011410 2017-03-22 2017-03-22 エレベータの制御装置および巻上ロープの伸縮量推定方法 WO2018173146A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2019506791A JP6710319B2 (ja) 2017-03-22 2017-03-22 エレベータの制御装置および巻上ロープの伸縮量推定方法
PCT/JP2017/011410 WO2018173146A1 (ja) 2017-03-22 2017-03-22 エレベータの制御装置および巻上ロープの伸縮量推定方法
CN201780088181.XA CN110402229B (zh) 2017-03-22 2017-03-22 电梯的控制装置以及曳引绳索的伸缩量估计方法
KR1020197026835A KR102205550B1 (ko) 2017-03-22 2017-03-22 엘리베이터의 제어 장치 및 권상 로프의 신축량 추정 방법

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JP2010180026A (ja) * 2009-02-06 2010-08-19 Mitsubishi Electric Corp エレベーターの制御装置
WO2016063379A1 (ja) * 2014-10-22 2016-04-28 三菱電機株式会社 エレベータの制御装置
WO2016203650A1 (ja) * 2015-06-19 2016-12-22 三菱電機株式会社 エレベータの制御装置およびガバナロープ伸縮量推定方法

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JPWO2018173146A1 (ja) 2019-11-07
KR102205550B1 (ko) 2021-01-21

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