WO2020065788A1 - Dispositif de commande d'ascenseur et ascenseur l'utilisant - Google Patents

Dispositif de commande d'ascenseur et ascenseur l'utilisant Download PDF

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Publication number
WO2020065788A1
WO2020065788A1 PCT/JP2018/035779 JP2018035779W WO2020065788A1 WO 2020065788 A1 WO2020065788 A1 WO 2020065788A1 JP 2018035779 W JP2018035779 W JP 2018035779W WO 2020065788 A1 WO2020065788 A1 WO 2020065788A1
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WIPO (PCT)
Prior art keywords
car
control device
elevator
speed command
elevator control
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PCT/JP2018/035779
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English (en)
Japanese (ja)
Inventor
真輔 井上
大沼　直人
尚史 保立
真貴 宮前
勇来 齊藤
健史 近藤
義人 大西
Original Assignee
株式会社日立製作所
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Priority to PCT/JP2018/035779 priority Critical patent/WO2020065788A1/fr
Publication of WO2020065788A1 publication Critical patent/WO2020065788A1/fr

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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
    • 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 provided with a car position detecting means.
  • Elevator position control is performed by detecting the remaining distance to the destination floor in the speed control system and creating a speed command according to the remaining distance.
  • the target of speed control is usually a hoisting machine incorporating a motor
  • a magnetic pole position and a speed feedback amount in the motor are detected by a pulse generator (for example, an encoder or a resolver) provided in the synchronous motor.
  • a pulse generator for example, an encoder or a resolver
  • a proportional integral type controller or a proportional integral differential type (PID type) controller is usually used.
  • Patent Literature 1 and Patent Literature 2 are known.
  • the position of the car including the amount of expansion and contraction of the main rope is detected using a detector provided on the car and a plurality of detected objects installed near each floor in the hoistway. You. Thereby, the landing error can be reduced, and the car vibration can be suppressed.
  • the installation position of the detector provided on each floor is set to a position immediately before landing where the expansion and contraction of the rope calms down to the original state. For this reason, due to the load condition in the car, changes in speed, etc., at the timing when the detector provided in the car passes through the detector, the rope expands and contracts, or a slight slippage between the sheave and the rope occurs. If this occurs, an error occurs in the detected value of the car position, and the speed command is corrected including this error. In this case, it is difficult to reduce the landing error.
  • the present invention provides an elevator control device capable of correcting a speed command with high accuracy according to a car position, and an elevator using the same.
  • an elevator control device includes a first controller that controls a speed of an electric motor in accordance with a speed command of an electric motor that drives a car, wherein the first controller is an electric motor.
  • a first position detection unit that detects the first position of the car according to the rotation of the car, and a second position detection unit that detects the second position of the car according to the movement of the car in the hoistway
  • a speed command correction unit that continuously corrects a speed command during traveling of the car based on the first position and the second position.
  • the speed command can be corrected with high accuracy according to the car position.
  • FIG. 1 is an overall configuration diagram of an elevator according to a first embodiment.
  • 2 shows a detection target 2 formed of a barcode tape.
  • 2 shows a detection target 2 made of a magnetic tape.
  • 2 shows a detection target 2 formed of a perforated tape.
  • 7 shows a modification of the absolute position detector.
  • FIG. 2 is a block diagram illustrating a configuration of an elevator controller according to the first embodiment.
  • 6 is a flowchart illustrating a process executed by a speed command correction unit.
  • FIG. 6 is an overall configuration diagram of an elevator according to a second embodiment.
  • FIG. 1 is an overall configuration diagram of an elevator that is Embodiment 1 of the present invention.
  • a sheave 104 and a warp wheel 105 are provided in an upper part of a hoistway in a building.
  • the main rope 101 is wound around the sheave 104 and the warp sheave 105.
  • a car 100 and a counterweight 112 are connected to one end and the other end of the main rope 101, respectively. By such a main rope 101, the car 100 and the counterweight 112 are suspended in the hoistway.
  • the pulse generator 107 is attached to the electric motor 106.
  • the pulse generator 107 generates a pulse signal according to the rotation of the electric motor 106.
  • a rotary encoder, a resolver, or the like can be applied as the pulse generator 107.
  • the pulse signal output from the pulse generator 107 is input to the elevator controller 109.
  • the elevator controller 109 calculates the speed of the electric motor 106, the equivalent position and the moving distance of the car 100 in the moving direction in the hoistway by counting the pulse signals.
  • the “equivalent position and moving distance” means the vertical position and moving distance of the car obtained from the rotational displacement of the electric motor 106 indicated by the count value of the pulse signal output from the pulse generator 107. doing. Therefore, such equivalent positions and moving distances include effects such as expansion and contraction and slippage of the rope.
  • the elevator of this embodiment further includes an absolute position detector that detects an absolute position of the car 100 in the hoistway in the vertical direction.
  • the absolute position detector includes a position detector 1 provided in the car 100 and a long shape (for example, a tape shape, a rope shape, a ribbon shape, an elongated rod shape, etc.) suspended in a hoistway. ) To be detected 2).
  • the absolute position of the car in the hoistway is detected by the position detector 1 detecting the object 2 to be detected.
  • the detection target 2 has absolute position information in the vertical direction in the hoistway, for example, height information from a reference floor along the longitudinal direction.
  • the absolute position information is obtained by changing electromagnetic characteristics, optical characteristics, mechanical shapes and properties, surface geometric pattern shapes, and the like along the longitudinal direction of the detection object 2.
  • a magnetic sensor, a magnetostrictive sensor, an optical sensor, an image sensor, or the like is applied as the position detector 1 that detects absolute position information set on the detection target 2.
  • the detection target 2 is installed at a predetermined distance from the car 100 so as not to contact the car 100.
  • the position detector 1 is installed at a position where the detected object 2 can be detected in the car 100. Since the position detector 1 is fixed to the car 100, the absolute position information detected by the position detector 1 indicates the absolute position of the car 100 in the hoistway.
  • the length direction of the detection target 2 extends from the top to the bottom in the hoistway along the height direction in the hoistway.
  • absolute position information is continuously set from a portion located at the top in the hoistway to a portion located at the bottom in the hoistway and a portion therebetween.
  • the absolute position of the car 100 (for example, the height of the position of the car 100 from the reference floor) can be continuously detected within the range in which the car 100 can move.
  • the output of the position detector 1 is connected to the elevator controller 109. Therefore, the absolute position signal output from the position detector 1 is input to the elevator controller 109. As will be described later, influences such as expansion and contraction and slippage of the rope in the speed control system are compensated based on the absolute position of the car 100 detected by the absolute position signal.
  • FIGS. 2 to 5 show specific examples of the detection target 2.
  • FIG. 2 shows the detection target 2 made of a barcode tape.
  • a bar code indicating the absolute position information is continuously printed on the surface of the thin strip-shaped base made of metal, resin or the like along the longitudinal direction, that is, the height direction of the hoistway.
  • Bar codes 201A and 201B adjacent to each other indicate absolute position information having different values.
  • An optical sensor is used as the position detector 1, and the absolute position information is detected by optically reading a barcode.
  • the size of the barcode is appropriately set according to the desired position resolution.
  • FIG. 3 shows the detection target 2 made of a magnetic tape.
  • a thin magnetic body applied or affixed to the surface of a thin non-magnetic base made of a non-magnetic metal or resin is magnetized in the longitudinal direction, that is, in the height direction of the hoistway.
  • the detection target 2 has a plurality of magnetization regions along the longitudinal direction, and different magnetization regions have different magnetization patterns and indicate different absolute position information.
  • a magnetic sensor is used as the position detector 1, and the absolute pattern information is detected by magnetically reading a magnetization pattern.
  • Each of the magnetized regions 301A and 301B in FIG. 3 has a magnetized portion of a plurality of tracks (seven tracks in FIG. 3), and each of the magnetized portions has any of the magnetization directions upward and downward in the drawing as indicated by arrows.
  • the magnetization directions upward and downward in the drawing as indicated by arrows.
  • the absolute position information is indicated by a binary code. As shown in FIG. 3, the magnetization regions 301A and 301B show different absolute position information because the patterns of the magnetization directions for seven tracks are different from each other.
  • the size of the magnetized region and the number of tracks are appropriately set according to the desired position resolution, the height of the hoistway, and the like.
  • FIG. 4 shows the detection target 2 made of a perforated tape.
  • the thin strip-shaped substrate made of metal, resin, or the like has a plurality of (seven in FIG. 4) hole regions along the longitudinal direction, that is, the width direction perpendicular to the height direction of the hoistway.
  • the detection target 2 has a plurality of perforation pattern regions having a plurality of (seven in FIG. 4) hole regions along the longitudinal direction. Different perforation pattern areas indicate different absolute position information.
  • the position detector 1 an optical sensor is used, and the absolute position information is detected by optically detecting the presence or absence of a hole in the hole area.
  • the perforated pattern areas 401A and 401B in FIG. 4 have a plurality of (seven in FIG. 4) hole areas in the width direction, and each hole area is provided with a hole penetrating the base (see FIG. 4). 4, and is in a state where no hole is provided (indicated by a dotted circle in FIG. 4).
  • the number of holes in a plurality (seven in FIG. 4) of hole regions in the drilling pattern region is determined.
  • the absolute position information is indicated by the number of bits corresponding to the number of the hole areas in the drilling pattern area, that is, a 7-bit binary code.
  • the perforation pattern areas 401A and 401B show different absolute position information because the patterns of the presence or absence of holes in the seven hole areas are different from each other.
  • the size and number of the hole areas are appropriately set according to the desired position resolution, the height of the hoistway, and the like.
  • the detected object 2 shown in FIGS. 2 to 4 is detected by the position detector 1 provided in the car 100.
  • the position detector 1 is a magnetic sensor or an optical sensor, and is connected to the car 100. That is, the detection target 2 and the car 100 are magnetically or optically connected to each other via the position detector 1 so that the car 100 can move.
  • the absolute position detector composed of the detected object 2 and the position detector 1 can be used at the place where the car has moved even if the car moves (for example, by expansion and contraction of the main rope 101) irrespective of the rotation of the electric motor 106.
  • the absolute position of the car 100 can be detected. Therefore, the value of the absolute position of the car detected by the absolute position detector including the object 2 and the position detector 1 is different from the actual absolute position due to the expansion and contraction of the main rope 101 and the slip of the main rope 101. Does not substantially include the error of
  • FIG. 5 shows a modification of the absolute position detector.
  • the absolute position detector of the present modified example includes a governor device and a rotary encoder.
  • the governor itself is based on a known technique.
  • a governor pulley 501 connected to a governor mechanism (not shown) is fixedly provided at the top of the hoistway, and a tension pulley 502 is provided at the bottom of the hoistway.
  • the governor pulley 501 and the tension pulley 502 are provided with an endless governor rope 503.
  • the governor rope 503 is tensioned by the tension pulley 502, and is stretched without slack between the top and bottom along the height direction of the hoistway.
  • the car 100 engages with the governor rope 503 via the engaging portion 504. Thereby, the governor rope 503 is driven in accordance with the movement of the car 100.
  • a governor mechanism (not shown) connected to the governor pulley 501 operates to stop the movement of the governor rope 503. While the engaging portion 504 stops together with the governor rope 503, the car 100 continues to move.
  • an emergency stop device (not shown) provided on the car 100 operates to stop the car 100.
  • the rotary encoder 505 is directly and mechanically connected to the rotation shaft of the governor pulley 501. Note that the rotary encoder 505 and the rotation shaft of the governor pulley 501 may be mechanically connected via a roller or the like.
  • the rotary encoder 505 rotates together with the governor pulley 501 and outputs a pulse signal according to the rotation. That is, the rotary encoder 505 outputs a pulse signal in synchronization with the vertical movement of the car 100.
  • the absolute position of the car 100 is detected by the elevator controller 109 based on the pulse signal.
  • the governor rope 503 and the car 100 which are a part of the absolute position detector, engage with each other via the engaging portion 504. That is, the absolute value detector and the car 100 are mechanically connected via the engaging portion 504 so that the car 100 can move.
  • the absolute position detector composed of the governor device and the rotary encoder can be used even if the car moves regardless of the rotation of the electric motor 106 (for example, due to expansion and contraction of the main rope 101). 100 absolute positions can be detected. Therefore, the value of the absolute position of the car detected by using the absolute position detector shown in FIG. 5 substantially indicates an error from the actual absolute position due to expansion and contraction of the main rope 101 and slippage of the main rope 101. Not included.
  • the absolute position of the car 100 in the hoistway can be continuously or continuously detected while the car 100 is traveling.
  • FIG. 6 is a block diagram illustrating the configuration of the elevator controller 109 according to the first embodiment.
  • a computer system such as a microcomputer operates as a functional unit of each block by executing a predetermined program, that is, by using predetermined software.
  • the speed command creation unit 20 receives the remaining distance from the current position of the car 100 to the destination floor (destination floor), and creates a speed command for the elevator, that is, a rotation speed command for the electric motor 106, based on the input remaining distance.
  • the generated speed command ⁇ * is output.
  • the speed command creating unit 20 determines whether the position of the car 100 is determined based on the remaining distance in a speed pattern (acceleration, constant speed (e.g., rated speed), deceleration) in one traveling stroke from the departure floor to the destination floor. Is determined. Then, the speed command creation unit 20 creates the speed command ⁇ * according to the determined area and the remaining distance.
  • the remaining distance is provided in advance by the control device (not shown) acquiring the position information, the departure floor information, and the destination floor information of the car 100 from the elevator controller 109, and acquiring the obtained departure floor information and destination floor information. It is created based on floor position information that records the position of each floor of the building. For example, the remaining distance is calculated by calculating the travel distance of the car 100 from these information and dividing the calculated travel distance from the distance between the departure floor and the destination floor calculated from the floor position information. Is done. The remaining distance may be calculated in the elevator controller 109 in the same manner.
  • Speed command correcting unit 21 the speed command from the speed command generation unit 20 omega *, as described below, cage position information from the car position information P A and second position detector 27 from the first position detector 26 P The speed command is corrected based on B , and a corrected speed command ⁇ ** is output.
  • the speed control unit 22 receives a difference between a corrected speed command ⁇ ** from the speed command correction unit 21 and a speed detection value ⁇ from a speed detection unit 25, which will be described later, and controls the controller such as a proportional-integral controller. To perform a feedback control to generate and output a current command i * that matches the detected speed value ⁇ with the speed command ⁇ ** .
  • the current control unit 23 inputs the difference between the current command i * from the speed control unit 22 and the output current of the power converter 108, that is, the detected value i of the motor current of the electric motor 106, and controls the controller such as a proportional-integral controller. To generate a voltage command v * that matches the current detection value i with the current command i * , and outputs the command to the power converter 108.
  • i and i * are current values in the rotation coordinates.
  • the power converter 108 is a voltage-type converter, for example, a voltage-type inverter. For this reason, the power converter 108 supplies a desired current to the electric motor 106 by PWM control using the voltage command v * from the current control unit 23 as a modulation wave.
  • the power converter 108 may be a current-type converter. In this case, elevator controller 109 outputs a current command to the power converter.
  • the electric motor 106 rotates at the speed ⁇ when the electric power is supplied from the electric power converter 108 and supplies power to the elevator mechanism 24.
  • the elevator mechanism 24 represents an elevator mechanism system including a sheave of an electric motor (a hoist) to a car (including a car room, a floor surface, a car frame, and the like).
  • the pulse generator 107 outputs a pulse signal according to the rotation of the electric motor 106.
  • the pulse generator 107 is a rotary type, and is mechanically connected to the rotating shaft of the electric motor 106 directly or via a speed change mechanism. As a result, the pulse generator 107 rotates in synchronization with the rotation of the electric motor 106, and outputs a number of pulse signals corresponding to the amount of rotational displacement with the rotation of the rotor of the electric motor 106. Note that the pulse generator 107 generates a pulse signal regardless of the movement of the car 100 when the electric motor 106 rotates. For this reason, the movement of the car 100 that occurs without the rotation of the electric motor 106, such as expansion and contraction and slippage of the main rope 101, is not reflected in the number of pulses generated by the pulse generator 107.
  • the speed detector 25 receives a pulse signal from the pulse generator 107, calculates a speed ( ⁇ ) based on the input pulse signal, and outputs the calculated speed ( ⁇ ) as a detected speed value. For example, the speed detection unit 25 calculates the movement amount (the rotational displacement amount of the electric motor) from the number of pulse signals input per unit time, the pulse width, and the like. The speed ( ⁇ ) is calculated by dividing by time.
  • the first position detector 26 counts the number of pulses input from the pulse generator 107, and calculates the moving distance of the car 100 from the departure floor based on the number of pulses to be counted. Further, the first position detection unit 26 detects the departure floor information and the destination floor information acquired by a signal from a hall call button or a car call button (not shown), and the position of each floor of the building, which is set in the elevator controller 109 in advance.
  • the absolute position of the car 100 in the hoistway (hereinafter, referred to as “first absolute position”) is calculated and output from the calculated value of the moving distance of the car 100 based on the recorded floor position information and the like. I do.
  • the expansion and contraction of the main rope 101 Includes errors from the actual absolute position due to the influence of slip and slip.
  • the second position detection unit 27 inputs data including the absolute position information of the car 100 output from the absolute position detectors (1, 2), appropriately changes the data format and the like, and changes the data in the hoistway. It is output as the absolute position of the car 100 (hereinafter, referred to as a "second absolute position").
  • the second position detection unit 27 when the data from the absolute position detector (1, 2) is transmitted to the elevator controller 109 using the communication means in the elevator system, the second position detection unit 27 Then, only the absolute position information of the car 100 is extracted and the above-described data processing is performed.
  • the elevator controller 109 sends a speed command to a general speed control device including a speed command creating unit 20, a speed control unit 22, a current control unit 23, and a speed detection unit 25.
  • a speed command correction unit 21, a first position detection unit 26, and a second position detection unit 27 for correction are added. That is, in the first embodiment, the speed command to the general speed control system is corrected based on the second absolute position of the car 100 detected using the absolute position detector. Therefore, the configuration of the control device and the configuration of the control program are not complicated.
  • FIG. 7 is a flowchart showing a process executed by the speed command correction unit 21 in the elevator controller 109.
  • step S1 the speed command correction unit 21 determines a first absolute position P A to be input from the first position detector 26, whether the P B are equal to the input from the second position detector 27.
  • Speed command correcting unit 21 determines that is equal to P A and P B (YES in step S1), the without executing the correction processing of the speed command, i.e. step S2 is skipped, and the process ends.
  • the speed command correction unit 21 determines that the the P A and P B different (NO in step S1), the correction of the velocity command, i.e., performs step S2.
  • Speed command correcting unit 21 first, on the basis of the P A and P B inputted, it calculates the car position deviation ⁇ P by Equation (1).
  • ⁇ P P A ⁇ P B
  • the car position deviation ⁇ P is determined by the amount of movement of the car 100 in the hoistway height direction due to the expansion and contraction of the main rope 101 and the slip of the main rope 101 in the groove of the sheave 104, that is, regardless of the rotation of the electric motor 106. It corresponds to the amount of movement that occurs.
  • the remaining distance input to the speed command creating unit 20 is S
  • S is the current position P and floor position information of the car 100 by the control device not shown in FIG. It is calculated from: Therefore, the remaining distance calculated based on the current position P is represented as S (P).
  • the speed command creation unit 20 sets the speed command v * of the car based on the speed pattern (acceleration, low speed, deceleration) of the car 100 at the current position P and the remaining distance S (P), and further sets v * .
  • the speed command ⁇ * of the electric motor 106 is converted, and this ⁇ * is output to the speed command correction unit 21.
  • the speed command correcting unit 21 adds the ⁇ P to the current position P by using the car position deviation ⁇ P calculated by the previous equation (1) as a correction amount, thereby obtaining the corrected car position P, as shown in the equation (2).
  • P * P + ⁇ P (2)
  • the speed command correction unit 21 sets the corrected speed command v ** of the car 100 using a predetermined formula according to the speed pattern. For example, when the car is decelerating, the speed command correction unit 21 sets v ** by Expression (3).
  • v ** (2 ⁇ ⁇ S (P * )) 1/2 (3)
  • ⁇ is the magnitude of the acceleration (negative value) at the time of deceleration.
  • S (P * ) is the remaining distance calculated by the speed command correction unit 21 in the same manner as S (P) based on the corrected current position P *.
  • the speed command correction unit 21 converts the calculated v ** into a corrected speed command ⁇ ** of the electric motor 106, and outputs this ⁇ ** .
  • the speed command correction unit 21 if it is determined that the same P A and P B at step S1 (Fig. 7), a speed command omega * input from the speed command generation unit 20, without correcting, omega ** Output as
  • the speed command correction unit 21 executes the processing of FIG. 7 at predetermined time intervals.
  • the speed command correction unit 21 a deviation between a first absolute position P A that is output from the first position detecting section 26, a second absolute position P B output from the second position detector 27
  • the above-described correction processing (step S2 in FIG. 7) is executed at predetermined time intervals.
  • a predetermined time interval is set so as to synchronize with the control cycle of the speed control. For example, the predetermined time interval is made to coincide with the control cycle.
  • the speed command correction unit 21 continuously executes the correction process many times while the car 100 is traveling.
  • the predetermined time interval may be set independently of the control cycle.
  • the speed command correction unit 21 executes the correction process asynchronously with the speed control system.
  • the speed command correction unit 21 continuously executes the correction processing at predetermined time intervals, so that the expansion and contraction of the main rope 101 and the slip between the main rope 101 and the sheave 104 are more absolutely absolute.
  • the speed command is corrected when a difference occurs between the position PA and the second absolute position PB. As a result, the ability to follow the speed command is improved.
  • the control performance of the elevator controller 109 can be improved without using a control elevator model.
  • the speed to the speed control system is determined based on the absolute position of the car detected using the absolute position detector that continuously detects the position of the car in the hoistway.
  • the speed command can be corrected immediately when the error occurs. For this reason, even if there is an influence of a change in the load condition or speed in the car, the landing error can be reduced. Furthermore, the speed command is also corrected immediately when vibration occurs in the car during acceleration / deceleration, so that even when the vibration is affected, the landing error can be reduced. it can.
  • the followability to the speed command can be improved without changing the configuration of the controller.
  • the object 2 to be detected in the absolute position detector is not limited to those shown in FIGS. 2 to 4, but may be various types such as a tape on which magnetic information or optical information is written or a metal rope.
  • the absolute position detector may be composed of a toothed belt suspended in a hoistway and an absolute encoder with gears provided in a car. Further, the absolute position detector may include a camera provided in the car and an image processing device that determines the position of the car based on a camera image.
  • the position detector 1 may be shared by the elevator controller 109 and another control device independent of the elevator controller 109 (for example, a safety-only control device).
  • FIG. 8 is an overall configuration diagram of an elevator according to a second embodiment of the present invention. Hereinafter, points different from the first embodiment will be mainly described.
  • the output of the position detector 1 is input to the second controller 40 independent of the elevator controller 109 via the communication path 41. Further, the output of the position detector 1 is input to the elevator controller 109 via the communication path 42 via the second controller 40. Therefore, in the second embodiment, the elevator controller 109 and the second controller 40 are shared.
  • signals are transmitted by serial communication (hereinafter simply referred to as “communication”) or bus (parallel communication).
  • the second controller 40 is installed near the elevator controller 109 as shown in FIG.
  • the second controller 40 may be installed in another place such as the car 100 as long as the communication path 41 and the communication path 42 can be set.
  • the configuration of the elevator controller 109 is the same as that of the first embodiment (FIG. 6).
  • the flow of the process executed by the speed command correction unit 21 is the same as that of the first embodiment (FIG. 7). However, as described below, the contents of the correction processing (step S2 in FIG. 7) are different from the first embodiment.
  • the detection signal from the position detector 1 is transmitted to the elevator controller 109 via the communication paths 41 and 42 and the second controller 40. Therefore, due to the delay of the transmission time, the signal from the pulse generator 107 and the signal from the position detector 1 which are simultaneously acquired by the elevator controller 109 include the position information of the car at different time points. Therefore, if the correction processing is performed based on these simultaneously acquired signals, an error occurs in the correction processing itself. Such a situation becomes remarkable when a signal is transmitted by communication.
  • the speed command correction unit 21 first calculates the car position deviation ⁇ P by using equation (4).
  • ⁇ P P A (N ⁇ A) ⁇ P B (N) (4)
  • P B (N) indicates a second absolute position P B calculated at the time when the elevator controller 109 acquires a signal from the position detector 1.
  • P A (N ⁇ A) is obtained from the pulse generator 107 acquired before the time point A (for example, A cycle before the control cycle) before the elevator controller 109 acquires the signal from the position detector 1. shows a first absolute position P a, which is calculated based on the signal.
  • the value of “A” is set in the elevator controller 109 in advance.
  • the expected value ⁇ T can be expressed by equation (5).
  • ⁇ T T C + (1 /) ⁇ (T 1 + T 2 ) (5)
  • communication on the communication path 41 and the communication path 42 is asynchronous. If the delay factor such as retransmission of data is not taken into account, the communication cycle itself becomes the maximum value of the delay time due to the communication, but depending on the reception timing in the elevator controller 109, the reception may be shorter than this maximum value. obtain. Therefore, in Expression (5), the maximum value (T 1 + T 2 ) of the delay time due to communication is multiplied by (1 /) and averaged.
  • the speed command correction unit 21 executes a correction process in the same manner as in the first embodiment by using the above equations (2) and (3). .
  • the function of the second controller 40 includes, for example, a function as a safety system.
  • the second controller 40 based on a signal input from the position detector 1, the second controller 40 detects an abnormal approach of the car to the terminal end of the hoistway, and detects excessive travel of the car at the terminal end of the hoistway, and performs detection. At times, a car stop command is given to the elevator controller 109 or emergency stop means to stop the car. Further, as another specific example, the second controller 40 detects that the position of the car is in the door-open prohibition zone based on a signal input from the position detector 1, and uses a door switch or the like to operate the car. When the open state of the door or the landing door is detected, a car stop command is given to the elevator controller 109 or the emergency stop means to stop the car.
  • the second controller 40 includes an absolute position detection unit similar to the second position detection unit 27 (FIG. 6) in the elevator controller 109, and detects a car detected based on a signal input from the position detector 1. A predetermined control operation such as a safety system is performed according to the absolute position. Therefore, the second controller 40 can perform the control operation with high accuracy even if the main rope expands or contracts or slips.
  • the speed command in the speed control system can be corrected with high accuracy even if the plurality of controllers also serve as the absolute position detector. According to the second embodiment, the same effects as those of the first embodiment can be obtained.
  • the position detector 1 can be shared by a plurality of controllers, the number of detectors used in the entire elevator can be reduced. For this reason, it is possible to reduce the space and cost of the elevator.
  • the elevator controller 109 calculates ⁇ P in accordance with the delayed time between the present time and the delayed time.
  • the present invention is not limited thereto, and the elevator controller 109 estimates the ⁇ P based on past data.
  • ⁇ P may be calculated using the current car position, that is, in accordance with the current time. In this case, an approximate curve of the position information sent from the position detector 1 is obtained based on the past several sampling data, and the information of the position detector 1 at the present time can be estimated based on the forbidden polarity. .
  • the present invention is not limited to the embodiments described above, but includes various modifications.
  • the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all of the configurations described above. Further, for a part of the configuration of each embodiment, it is possible to add, delete, or replace another configuration.
  • each of the above embodiments can be applied to an elevator having a machine room and also to a so-called machine room-less elevator.

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Abstract

La présente invention concerne : un dispositif de commande d'ascenseur qui peut corriger de manière très précise une commande de vitesse en fonction d'une position de cabine ; et un ascenseur l'utilisant. Le dispositif de commande d'ascenseur selon l'invention comprend un premier dispositif de commande (109) qui commande la vitesse d'un moteur électrique pour entraîner une cabine de passagers en fonction d'une instruction de vitesse pour le moteur électrique, ledit premier dispositif de commande comprenant : une première unité de détection de position (26) qui détecte une première position d'une cabine de passagers en fonction de la vitesse d'un moteur électrique (106) ; une seconde unité de détection de position (27) qui détecte une seconde position de la cabine de passagers en fonction du mouvement de la cabine de passagers dans une cage d'ascenseur ; et une unité de correction d'instruction de vitesse (21) qui corrige en continu, sur la base de la première position et de la seconde position, l'instruction de vitesse pendant le déplacement de la cabine de passagers.
PCT/JP2018/035779 2018-09-26 2018-09-26 Dispositif de commande d'ascenseur et ascenseur l'utilisant WO2020065788A1 (fr)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113056429A (zh) * 2018-12-14 2021-06-29 株式会社日立制作所 电梯控制装置
WO2023144985A1 (fr) * 2022-01-28 2023-08-03 三菱電機株式会社 Système de commande d'ascenseur
WO2023188164A1 (fr) * 2022-03-30 2023-10-05 三菱電機株式会社 Système d'ascenseur

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005289532A (ja) * 2004-03-31 2005-10-20 Mitsubishi Electric Corp エレベータ制御装置
JP2008239260A (ja) * 2007-03-26 2008-10-09 Hitachi Ltd エレベータ速度検出方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005289532A (ja) * 2004-03-31 2005-10-20 Mitsubishi Electric Corp エレベータ制御装置
JP2008239260A (ja) * 2007-03-26 2008-10-09 Hitachi Ltd エレベータ速度検出方法

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113056429A (zh) * 2018-12-14 2021-06-29 株式会社日立制作所 电梯控制装置
EP3896021A4 (fr) * 2018-12-14 2022-07-27 Hitachi, Ltd. Appareil de commande d'ascenseur
WO2023144985A1 (fr) * 2022-01-28 2023-08-03 三菱電機株式会社 Système de commande d'ascenseur
WO2023188164A1 (fr) * 2022-03-30 2023-10-05 三菱電機株式会社 Système d'ascenseur

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