CN1042519C

CN1042519C - Elevator Control

Info

Publication number: CN1042519C
Application number: CN93104905A
Authority: CN
Inventors: 安江正德
Original assignee: Mitsubishi Electric Corp
Current assignee: Mitsubishi Electric Corp
Priority date: 1992-06-02
Filing date: 1993-04-22
Publication date: 1999-03-17
Anticipated expiration: 2013-04-22
Also published as: KR940000356A; JPH05330747A; CN1079441A; KR960016115B1; JP3359658B2

Abstract

A control device for an elevator comprises: a torque command signal output device for outputting a torque command signal and controlling the speed of the elevator; a load detection device for detecting the load of the elevator; A starting detection device during the period; an oscillator connected to the starting detection device and the load detection device and outputting a shaking signal having a frequency corresponding to the load during the starting; the shaking signal output by the oscillator Added to the torque command signal; so that the elevator does not need to increase the starting torque to overcome the static friction, and obtain the effect of smooth starting.

Description

Elevator control gear

The present invention relates to elevator control gear, particularly can carry out the elevator control gear of elevator starter smoothly.

Fig. 4 is the block diagram of the existing elevator control gear of expression.Among Fig. 4, the 1st, electrical motor, the 2nd, the lifting winch that drives by electrical motor 1, the 3rd, be wrapped in the jackstay on the rope sheave (not having diagram) of

lifting winch

2,4 are mounted in the lift car of jackstay 3 one ends, and 5 are arranged on the weight equalizer of jackstay 3 other ends.

6 be arranged on rotative speed on the motor rotation axis, that be used to detect electrical motor and as the speed detector of feedback speed signal 6a output again; 7 are arranged on scale device on the car 4, that detect the load (for example, passenger's weight) in the car 4 and export as load signal 7a; The 8th, be connected to electrical motor 1, the power converter of the power supply of driving motor 1 is provided; 9 are arranged between power converter 8 and the electrical motor 1, detect the current probe of motor current as current signal 9a output.

Again, the 10th, the speed command generation device of the speed command signal of generation elevator; The 11st, be connected to the outgoing side of speed command generation device 10 and speed detector 6, according to speed command signal 10a and feedback speed signal 6a, produce the speed control unit of the 1st torque instruction signal 11a; The 12nd, be connected to the outgoing side of scale device 7, by the load signal 7a of the car 4 of scale device 7 output, the unbalance load of calculation car 4 sides and weight equalizer 5 sides, according to unbalance load, the scale compensating device of output torque compensating signal 12a; The 13rd, be connected to speed control unit 11 and scale compensating device 12 outgoing side, compensated torque signal 12a is added on the 1st torque instruction signal 11a, thereby obtain the adder of the 2nd torque instruction signal 11b; The 14th, be connected to speed detector 6, the outgoing side of current probe 9 and adder 13, by the 2nd torque instruction signal 11b, feedback speed signal 6a and current signal 9a form the torque control unit of the incoming signal 14a that transports to power converter 8.

Then, the action to the existing elevator control gear that constitutes as mentioned above explains.

If the passenger takes advantage of in the car 4,, draw compensated torque signal 12a by 12 calculations of scale compensating device by the load of scale device 7 detection cars 4.The motor torque that compensated torque signal 12a balances each other corresponding to the unbalance load that is used for car 4 sides and weight equalizer 5 sides.Behind the elevator starter, according to speed command signal 10a and feedback speed signal 6a, by speed control unit 11 outputs the 1st torque instruction signal 11a.Usually, the PI calculation of depending on speed command signal 10a and feedback speed signal 6a deviation is adopted in the calculation of speed control.The 1st torque instruction signal 11a by adder 13 and compensated torque signal 12a addition, becomes the 2nd torque instruction signal 11b.The 2nd torque instruction signal 11b is input to torque control unit 14, and according to the output signal 14a of torque control unit 14, power converter 8 driving motors 1 make car 4 liftings.

Because existing elevator control gear constitutes as mentioned above, thereby has following problems.

Generally, in order to make static object setting in motion, must apply the external force that is used to overcome maximum static friction force.The kinetic force of friction of this maximum static friction force during with object of which movement compared, and is much bigger power.When starting has the elevator of reductor, because in gear each parts such as (not having diagram) of reductor, big static friction force works, and is necessary to apply big starting torque.But after the starting, because it is little to overcome the torque ratio starting torque of kinetic force of friction, elevator is by the torque actuated bigger than needed torque, and speed control unit will compensate this, thereby follows big vibration to take place.

With reference to Fig. 5 this is explained.Before the elevator starter, shown in Fig. 5 b, in the 2nd torque instruction signal 11b, be provided for compensating the torque of unbalance load in advance.During elevator starter, shown in Fig. 5 a, speed command signal 10a rises, and is big with the deviation change of feedback speed signal 6a, by the PI computing, is the value place that overcomes static friction force just at the 2nd torque instruction signal 11b, the elevator setting in motion.But, as mentioned above, in case after the starting, because with the torque actuated greater than necessary torque, elevator is crossed to quicken.Thus, speed control unit reduces torque instruction signal 11b rapidly.Shown in Fig. 5 c, in the acceleration signal of car 4, produce big vibration.If the response of speed control system is very rapid, such vibration is suppressed, but in the common elevator, the response of control system can not be very fast.

The present invention is for addressing the above problem, the elevator control gear of the vibration when its purpose is to obtain starting that a kind of inhibition causes because of static friction force.

Relating to elevator control gear of the present invention has: the output torque command signal, by driving motor, carry out the torque instruction signal output unit of elevator speed control; Be arranged on load detection device on the described elevator, that detect described elevator load; Detection from described elevator starter to reaching the detection of start device during starts that predetermined speed is ended; Be connected to the oscillator of shaking (デ Ren ザ) signal on described detection of start device and the described load detection device, at described output frequency during starts and described load accordingly; Described dither signal by this oscillator output adds on the described torque instruction signal.

Elevator control gear of the present invention, its effect is as follows.

During elevator starter, add to the dither signal on the torque instruction signal, make electrical motor according to its frequency and amplitude vibration, since motor vibration, the gear vibration of reductor, and static friction force becomes kinetic force of friction, thereby unnecessary big starting torque.After elevator one starting, driving torque does not have big variation, and smooth starting becomes possibility.

Below, narrate embodiments of the invention in conjunction with the accompanying drawings.

Fig. 1 is the block diagram of the elevator control gear of the expression embodiment of the invention.

Fig. 2 is the figure of the relation of expression unbalance load and compensated torque signal.

The figure of each signal waveform when Fig. 3 is the starting of expression embodiments of the invention.

Fig. 4 is the block diagram of the existing elevator control gear of expression.

The figure of each signal waveform when Fig. 5 is the starting of the existing elevator control gear of expression.

Embodiment 1

Below, with reference to accompanying drawing, embodiments of the invention are described.

Fig. 1 is the block diagram of expression elevator control gear of the present invention.The 15th, be connected to the detection of start device of speed detector 6 and elevator starter switch (do not have diagram), this detecting device detects and reaches predetermined speed from elevator starter up to elevator and end during starts, at this during starts, output detection of start signal 15a; The 16th, be connected to scale device 7 and detection of start device 15, in during starts, produce and the slight sinusoidal ripple of corresponding amplitude of load signal 7a and frequency oscillator as dither signal 16a; The 17th, dither signal 16a is added to the adder that the 2nd torque instruction signal 11b went up and exported to as the 3rd torque instruction signal 11c torque control unit 14.Electrical motor 1 is same as shown in Figure 4 to torque control unit 14.

Again, the amplitude of dither signal 16a and frequency are to set like this, even reductor (not having diagram) vibration, by the decay of reductor and wirerope 3 systems, this vibration does not reach car 4.Again, in having the elevator of reductor, because when power operation and regenerative brake, for the load of unbalance load, the driving torque property difference of electrical motor is very big, and the relation of the unbalance load of scale compensating device 12 and compensated torque signal 12a is set for as shown in Figure 2.Among Fig. 2, FLU represents the maximum occasion of loading when elevator rises, and NLD represents the minimum occasion of loading when elevator descends, the maximum occasion of load when FLD represents elevator decline, the occasion of load minimum when NLU represents the elevator rising.

The action of device is described with reference to Fig. 1, Fig. 3 then.The acceleration signal of speed command signal 10a when Fig. 3 a, 3b, 3c represent to start respectively and feedback speed signal 6a, the 3rd torque instruction signal 11c, car 4.

In the time of starting, detection of start signal 15a is by 15 outputs of detection of start device, and dither signal 16a is by oscillator 16 outputs.By adder 17, dither signal 16a added to the 2nd torque instruction signal 11b and form the 3rd torque instruction signal 11c as the incoming signal of transporting to torque control unit 14.Since dither signal 16a, electrical motor 1 slight vibration, by the vibration of electrical motor 1, the gear of reductor (not having diagram) is slight vibration also, even the reductor vibration, because the decay of reductor and wirerope system, vibration does not reach car 4.Thereby from appearance, elevator is static, but the friction force of reductor is not a static friction force, and become kinetic force of friction, thereby, rise at speed command signal 10a, during the motion beginning, do not need big driving torque, feedback speed signal 6a rate of following command signal 10a, elevator smooth starting yet.

Again, in case elevator begins action, reach predetermined speed, detection of start device 15 stops to export detection of start signal 15a, and oscillator 16 stops output jitter signal 16.Thereby after elevator began action, by the 2nd torque instruction signal 11b, elevator turned round smoothly.

More than, in an embodiment of the present invention, speed command generation device 10, speed control unit 11, scale device 7, scale compensating device 12 and adder 13 constitute the torque instruction signal output unit in the claim 1; The 2nd torque instruction signal 11b constitutes the torque instruction signal in the claim 1; The load detection device that scale device 7 constitutes in the claim 1; The detection of start device that detection of start device 15 and speed detector 6 constitute in the claim 1.Again, in an embodiment, though adopt small sinusoidal waveform as dither signal 16a, the present invention is not defined as sinusoidal waveform, and employing pulse wave etc. also can.

As mentioned above, relate to elevator control gear of the present invention and comprise: the output torque command signal, by driving motor, carry out the torque instruction signal output unit of elevator speed control; Be arranged on load detection device on the described elevator, that detect described elevator load; Detection from described elevator starter up to reaching the detection of start device during starts that predetermined speed is ended; Be connected to this detection of start device and described load detection device, during starts described, output has the oscillator with the dither signal of described load correspondent frequency.Because the described dither signal of described oscillator output is added on the described torque instruction signal, less than the increase of the starting torque that causes because of static friction, the kinetic energy that rises that has the elevator of reductor carries out smoothly.

Claims

1. one kind produces the second compensated torque signal and drives the apparatus for contrelling elevator speed that elevator motor carries out speed control according to the indication of this second compensated torque signal by the first compensated torque signal that obtained by differing from of the actual speed of speed command signal and car and according to the compensated torque signal sum that the scale device that is arranged on car is obtained, and it is characterized in that it also comprises:

Detection when described elevator starter to reaching the detection of start device during starts that predetermined speed is ended;

Between described detection of start device prescribed phase, output has the oscillator corresponding to the dither signal of the frequency of the signal of described scale device;

Described dither signal by this oscillator output is added to the described second compensated torque signal and carries out speed control as the 3rd compensated torque signal driving motor.