CN109850705B - Control device for elevator - Google Patents
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- CN109850705B CN109850705B CN201811219727.3A CN201811219727A CN109850705B CN 109850705 B CN109850705 B CN 109850705B CN 201811219727 A CN201811219727 A CN 201811219727A CN 109850705 B CN109850705 B CN 109850705B
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Abstract
本发明提供一种能够恰当地修正轿厢的计算位置的电梯用控制装置。该电梯用控制装置包括：控制器，其基于来自编码器的信号计算表示在井道内进行升降动作的轿厢的位置的位置数据，其中所述编码器随轿厢的升降而输出脉冲；和存储器，其存储设置在井道内的被检测体的上端的修正位置数据和被检测体的下端的修正位置数据，所述控制器，在设置于轿厢的能够检测被检测体的检测传感器检测到被检测体的端部时，基于计算出的位置数据判断检测传感器检测到的是被检测体的下端还是上端，并使用与检测传感器检测到的端部对应的存储在存储器中的修正位置数据，对轿厢的当前的位置数据进行修正。
The present invention provides an elevator control device capable of properly correcting the calculated position of a car. The control device for an elevator includes: a controller that calculates position data representing the position of a car performing an ascending and descending motion in a hoistway based on a signal from an encoder that outputs pulses in accordance with the ascending and descending of the car; and a memory , which stores the corrected position data of the upper end of the detected object and the corrected position data of the lower end of the detected object provided in the hoistway. When detecting the end of the object, it is determined based on the calculated position data whether the detection sensor detects the lower end or the upper end of the object to be detected, and uses the corrected position data stored in the memory corresponding to the end detected by the detection sensor, The current position data of the car is corrected.
Description
Technical Field
The present invention relates to an elevator control device, and is particularly suitable for an elevator control device that calculates position data of a car based on a signal from an encoder, for example.
Background
In many elevators, in order to realize various functions such as floor stopping control and abnormality monitoring, the position of a car is calculated using a pulse signal generated from an encoder provided in a hoisting machine, a governor, or the like. When a slip occurs between the main hoist rope and the hoist and between the governor rope and the governor, there may be a deviation between the calculated position of the car obtained from the pulse signal of the encoder and the actual position. Therefore, a technique for correcting the calculated position of the car has been proposed.
In recent years, there has been a technique in which an elevator is provided with a shield plate for determining a stop position of a car for each floor, a car position detection device for detecting the shield plate is mounted on the car, and an elevator control device performs floor stop control such that the elevator stops after moving by a distance of half the length in the height direction of the shield plate when detecting a lower end portion or an upper end portion of the shield plate of a target floor to be stopped (see patent document 1).
Documents of the prior art
Patent document
Patent document 1: japanese patent laid-open publication No. 2016-124692
Disclosure of Invention
Technical problem to be solved by the invention
However, the technique described in patent document 1 can perform floor stopping control of the car using the shielding plate, but cannot correct a deviation between a calculated position and an actual position of the car, which is required when other control such as abnormality monitoring is performed.
The present invention has been made in view of the above problems, and provides an elevator control device capable of appropriately correcting a calculated position of a car.
Means for solving the problems
In order to solve the technical problem, the present invention provides a control device for an elevator, including: a controller that calculates position data indicating a position of a car that performs a lifting operation in a hoistway based on a signal from an encoder that outputs a pulse in accordance with the lifting of the car; and a memory that stores corrected position data of an upper end of a detected body provided in the hoistway and corrected position data of a lower end of the detected body, wherein when a detection sensor provided in the car and capable of detecting the detected body detects an end of the detected body, the controller determines whether the detection sensor detects the lower end or the upper end of the detected body based on the calculated position data, and corrects current position data of the car using the corrected position data stored in the memory corresponding to the end detected by the detection sensor.
With the above configuration, since the position data of the car can be corrected so as to correspond to the actual position of the car, the control relating to the position of the car can be performed with high accuracy.
Effects of the invention
The invention can calculate the position of the lift car with high reliability.
Drawings
Fig. 1 is a diagram showing an example of the overall structure of an elevator according to the first embodiment.
Fig. 2 is a diagram showing an example of information stored in the memory according to the first embodiment.
Fig. 3 is a diagram showing an example of a flow chart of the car position correction process according to the first embodiment.
Detailed Description
Embodiments of the present invention are described in detail below with reference to the accompanying drawings.
(1) First embodiment
Fig. 1 is a diagram showing an example of the overall structure of an elevator according to the first embodiment.
The elevator of the present embodiment is a so-called traction type elevator in which a car 1 and a counterweight 2 are connected by a main rope 3. The car 1 is raised and lowered in the hoistway by driving the main rope 3 by the motor 4.
The motor 4 is provided with a hoisting machine brake 5, and the rotation of the motor 4 is stopped by operating the hoisting machine brake 5.
The governor rope 6 is pulled by the elevator car 1 to rotate the governor 7. The speed governor 7 is provided with an encoder 8, and the encoder 8 rotates together with the speed governor 7 to generate a pulse signal.
A detection sensor 9 is provided in an upper portion of the car 1, and the detection sensor 9 can detect a detection object 10 provided at each floor position. As the object 10, an existing device such as a shutter or an elevator door provided for door region determination or the like may be used, or a dedicated object may be newly used.
The control cabinet 11 is an example of an elevator control device, and includes a control controller 12 and a safety controller 13. The control controller 12 outputs an operation command to the motor 4 and the brake 5 to control the up-and-down operation (up-and-down operation) of the car 1.
The safety controller 13 is connected to the encoder 8 and the detection sensor 9, and calculates the position (position data) and the speed (speed data) of the car 1 from signals of the encoder and the detection sensor as needed. When an abnormal state such as an over-stop or an over-speed of the car 1 is detected, the safety controller 13 cuts off power supply to the motor 4 and the brake 5 to bring the car 1 into a braking state.
Here, in order to secure the safety of the car 1 (realize the safety function), the safety controller 13 is a controller independent of the control controller 12, and calculates the position of the car 1 based on a signal (pulse) from the encoder 8 that is not used when the control controller 12 calculates the position of the car 1.
However, when a slip occurs between the governor rope 6 and the governor 7 or the governor rope 6 vibrates, the position of the car 1 calculated from the pulse signal of the encoder 8 may deviate from the actual position. In addition, when the elevator is installed in a skyscraper, if the car 1 decelerates during the super-high speed movement, the moving direction of the car 1 may be erroneously determined.
For this reason, the safety controller 13 corrects the current position data (current position data) of the car 1 based on the signal from the detection sensor 9.
A part or all of the functions (processes) of the security controller 13 may be realized by a CPU (Central Processing Unit), not shown, reading a program stored in a memory and executing the program (software), may be realized by hardware such as a dedicated circuit, or may be realized by a combination of software and hardware. A part or all of the functions of the safety controller 13 may be realized by a computer that can communicate with the safety controller 13. Incidentally, the same applies to the control controller 12.
Fig. 2 is a diagram showing an example of information stored in a memory included in the security controller 13 according to the present embodiment.
The safety controller 13 stores the position of the car 1 calculated based on the pulse signal from the encoder 8 as current position data 14. The safety controller 13 also stores object position data 16 indicating the position of the detection sensor 9 when the lower end or the upper end of the object 10 is detected.
The subject position data 16 is an example of lower-end corrected position data and upper-end corrected position data provided for each subject 10, and is constituted by lower-end data and upper-end data for each floor, and is stored in advance (for example, at the time of installation and debugging).
The safety controller 13 corrects the current position data 14 based on the object position data 16 according to a process flow described later. The safety controller 13 stores the corrected current position data 14 as the last corrected position data 15 (the most recently corrected position data).
The above is a schematic configuration of the elevator of the present embodiment.
Fig. 3 is a flowchart of a process of correcting current position data (car position correction process) in the present embodiment. The car position correction process is performed periodically, and the cycle thereof is sufficiently short. The present embodiment will be described below in steps.
Step S101: the safety controller 13 updates the current position data 14 based on the signal of the encoder 8 (encoder signal). After that, the safety controller 13 performs the process of step S102.
Step S102: the safety controller 13 determines whether or not the detection sensor 9 detects the end of the object 10. More specifically, the safety controller 13 determines that the end of the object 10 is detected based on the detection sensor 9 switching from the non-detection state to the detection state. When determining that the detection is detected, the safety controller 13 shifts the process to step S103, and when determining that the detection is not detected, the car position correction process is ended.
Step S103: the safety controller 13 determines whether or not the difference between the current position data 14 and the last corrected position data 15 is equal to or greater than a predetermined value. The predetermined value is predetermined to be shorter than the distance between the objects 10 (the inter-floor distance in this example). When the safety controller 13 determines that the difference between the current position data 14 and the last corrected position data 15 is smaller than the predetermined value, the detection sensor 9 may repeatedly detect the end portion of the same subject 10 (may generate chatter vibration), and therefore the car position correction process is terminated so as not to unnecessarily correct the current position data 14. When the safety controller 13 determines that the difference between the current position data 14 and the last corrected position data 15 is equal to or greater than the predetermined value, the process proceeds to step S104.
Step S104: the safety controller 13 determines the magnitude relationship between the current position data 14 and the last corrected position data 15. The safety controller 13 shifts the process to step S105 when determining that the current position data 14 is larger, and shifts the process to step S106 when determining that the current position data 14 is not larger.
Step S105: since the current position data 14 is larger than the last corrected position data 15, it can be determined that the current position of the car 1 is higher than the position at the last time the detection sensor 9 detected the object 10, and the end of the object 10 detected by the detection sensor 9 in step S102 is the lower end. Accordingly, the safety controller 13 changes the current position data 14 to the lower end data (lower end position) of the floor in the object position data 16. After that, the safety controller 13 performs the process of step S107.
Step S106: in contrast to step S105, since the current position data 14 is smaller than the last corrected position data 15, it can be determined that the end of the object 10 detected by the detection sensor 9 in step S102 is the upper end. Accordingly, the safety controller 13 changes the current position data 14 to the upper end data (upper end position) of the floor in the detected body position data 16. After that, the safety controller 13 performs the process of step S107.
Step S107: the safety controller 13 changes the last corrected position data 15 to the current position data 14. After that, the safety controller 13 ends the car position correction process.
As described above, the safety controller 13 determines whether the detection sensor 9 detects the lower end or the upper end of the object 10 based on the magnitude relationship between the current position data 14 and the last corrected position data 15, and corrects the current position data 14 based on the result. With this configuration, even when slippage occurs between the governor rope 6 and the governor 7 and the current position data 14 during travel of the car 1 deviates from the actual position of the car 1, the current position data 14 can be corrected to an accurate value each time the detection sensor 9 detects the object 10.
Further, the present invention is not limited to the above. For example, although the encoder 8 is provided on the governor 7 in the above description, it may be provided on the motor 4. The encoder 8 may be connected to the control controller 12, and the control controller 12 may store data corresponding to the current position data 14, the last corrected position data 15, and the detected body position data 16, and may correct the data by the same car position correction process.
In the present embodiment, the position data (calculated position) of the car is corrected by determining whether the detected lower end or upper end of the detected body is present, so that the accuracy of the calculated position with respect to the actual position can be improved, and the control regarding the position of the car can be performed with high accuracy.
With the above configuration, the position of the car with high reliability can be calculated.
(2) Other embodiments
The above embodiment describes the case where the present invention is applied to the safety controller 13 or the control controller 12, but the present invention is not limited to this, and can be widely applied to other various controllers.
In addition, although the above embodiment has described the case where it is determined whether or not the difference between the current position data 14 and the last corrected position data 15 is equal to or greater than the predetermined value in step S103, the present invention is not limited to this, and it may be determined whether or not a predetermined time or more has elapsed between the current detection and the last detection in step S103, or another configuration may be adopted which can avoid the case where the same subject 10 is read and corrected a plurality of times.
In the above-described embodiment, the case where the moving direction (ascending and descending) of the car is determined using the magnitude relationship between the current position data 14 and the last corrected position data 15 in step S104 has been described, but the present invention is not limited to this, and the moving direction of the car may be determined from the amount of change in the current position data 14 (the history of the position data, the phase difference of the pulses, and the like), or another configuration that can specify the moving direction of the car may be employed.
The above embodiment describes the case where the detection sensor 9 is provided at the upper part of the car 1, but the present invention is not limited to this, and may be provided at the lower part of the car 1, at the center part of the car 1, or at another part.
In the above embodiment, the case where the subject 10 is installed between floors has been described, but the present invention is not limited to this, and may be installed for a plurality of floors, may be installed at an end station, or may be installed at other locations.
The above embodiment shows an example of the size and shape of the subject 10 in fig. 1, but the present invention is not limited to this, and the size and shape of the subject 10 can be appropriately set.
In the above embodiment, the case where the safety controller 13 performs the control related to the safety based on the corrected calculated position has been described, but the present invention is not limited to this, and the safety controller 13 may notify the corrected calculated position to the control controller 12. In this case, various controls can be performed by the control controller 12 based on the corrected calculated position.
The above-described configuration may be appropriately modified, replaced, combined, or omitted without departing from the scope of the technical idea of the present invention.
Information such as programs and data for realizing the functions described above can be stored in a storage device such as a memory, a hard disk, or an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.
Description of the reference numerals
1 … … car, 2 … … counterweight, 3 … … main sling, 4 … … motor, 5 … … tractor brake, 6 … … speed governor rope, 7 … … speed governor, 8 … … encoder, 9 … … detection sensor, 10 … … detection object, 11 … … control cabinet, 12 … … control controller, 13 … … safety controller.
Claims (2)
1. An elevator control device, comprising:
a controller that calculates position data indicating a position of a car that performs a lifting operation in a hoistway based on a signal from an encoder that outputs a pulse as the car moves up and down; and
a memory for storing corrected position data of an upper end of a subject to be detected and corrected position data of a lower end of the subject to be detected, the corrected position data being provided in the hoistway,
the controller, when a detection sensor capable of detecting the detected body provided to the car detects an end of the detected body, judges whether the detection sensor detects a lower end or an upper end of the detected body based on the calculated position data, and corrects the current position data of the car using corrected position data stored in the memory corresponding to the end detected by the detection sensor,
the controller stores the corrected position data in the memory,
and determining whether the detection sensor detects the lower end or the upper end of the detected body based on the magnitude relation between the current position data of the car and the position data after the latest correction.
2. The control device for an elevator according to claim 1, characterized in that:
and correcting the current position data of the car when the difference between the current position data of the car and the position data after the latest correction is judged to be larger than a preset value.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2017231279A JP6804430B2 (en) | 2017-11-30 | 2017-11-30 | Elevator control device |
| JP2017-231279 | 2017-11-30 |
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| Publication Number | Publication Date |
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| CN109850705A CN109850705A (en) | 2019-06-07 |
| CN109850705B true CN109850705B (en) | 2021-03-16 |
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| CN201811219727.3A Active CN109850705B (en) | 2017-11-30 | 2018-10-19 | Control device for elevator |
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| JP (1) | JP6804430B2 (en) |
| CN (1) | CN109850705B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114555506B (en) * | 2019-10-10 | 2023-03-28 | 株式会社日立制作所 | elevator system |
| WO2021192209A1 (en) * | 2020-03-27 | 2021-09-30 | 三菱電機株式会社 | Position detection device for elevator and elevator control system using same |
| CN115490104B (en) * | 2021-02-22 | 2023-10-17 | 上海三菱电梯有限公司 | Elevator identification method, identification system and elevator |
| WO2023135648A1 (en) * | 2022-01-11 | 2023-07-20 | 三菱電機株式会社 | Position computation device and elevator system |
Family Cites Families (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH075248B2 (en) * | 1987-07-09 | 1995-01-25 | 三菱電機株式会社 | Elevator control device |
| JPH0346982A (en) * | 1989-07-12 | 1991-02-28 | Toshiba Corp | Elevator position detecting device |
| JPH04125273A (en) * | 1990-09-14 | 1992-04-24 | Toshiba Corp | Elevator |
| JPH07242373A (en) * | 1994-03-07 | 1995-09-19 | Toshiba Corp | Control device for hydraulic elevator |
| JPH08324902A (en) * | 1995-06-07 | 1996-12-10 | Mitsubishi Denki Bill Techno Service Kk | Landing position correcting device for car |
| EP2361869A4 (en) * | 2008-12-11 | 2014-05-14 | Mitsubishi Electric Corp | Elevator apparatus |
| JP2010180026A (en) * | 2009-02-06 | 2010-08-19 | Mitsubishi Electric Corp | Control device for elevator |
| US9809419B2 (en) * | 2013-01-23 | 2017-11-07 | Mitsubishi Electric Corporation | Elevator apparatus |
| JP6317077B2 (en) * | 2013-07-05 | 2018-04-25 | 株式会社日立製作所 | Elevator safety system |
| WO2016063379A1 (en) * | 2014-10-22 | 2016-04-28 | 三菱電機株式会社 | Elevator control apparatus |
| JP6324325B2 (en) * | 2015-01-07 | 2018-05-16 | 株式会社日立ビルシステム | Elevator car monitoring device and monitoring method |
| CN107835780B (en) * | 2015-07-22 | 2019-05-21 | 三菱电机株式会社 | Lift appliance |
| JP6158264B2 (en) * | 2015-09-14 | 2017-07-05 | 東芝エレベータ株式会社 | Elevator control device |
| CN205616407U (en) * | 2016-05-18 | 2016-10-05 | 贵州天义电梯成套设备有限公司 | Elevator car with school normal position puts detection device nearby |
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- 2017-11-30 JP JP2017231279A patent/JP6804430B2/en active Active
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| Publication number | Publication date |
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| JP2019099324A (en) | 2019-06-24 |
| CN109850705A (en) | 2019-06-07 |
| JP6804430B2 (en) | 2020-12-23 |
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