JP2002193566A - Elevator device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that the vertical vibration with the same phase mode and the opposite phase mode is generated in a rope for suspending a car by fluctuation of the driving force and, especially, that the vertical vibration with the same phase mode remains to deteriorate the comfortableness of getting in a pulley type elevator device. SOLUTION: A car 14 can be elevated along a guide rail, and this car and a balance weight 22 are suspended through the rope 16. The rope 16 is wound around a sheave 18 for applying the tensile force to the rope 16 and for changing direction of the rope. The sheave 18 is driven by a winding motor 24 to apply the tensile force to the rope 16 and to elevate the car 14. A reaction force displacing means such as a vibration control rubber 46 is provided to enable the vertical movement of the winding motor 24 with the reaction force of the driving torque when giving the tensile force to the rope 16.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevator apparatus for suppressing the vibration of a car, and more particularly, to a good vibration control effect on the vertical vibration of the car and realization of a suitable ride comfort. The present invention relates to an elevator device that can be designed.

[0002]

2. Description of the Related Art In an elevator apparatus, a car generally moves up and down along a guide rail laid in an elevator shaft, and the car is moved up and down by a rope tensioned by a driving device. Since the car is suspended by ropes, the car swings due to imbalance in load load and passenger movement, but such lateral swing is suppressed by the guide roller unit consisting of wheels and suspensions that contact the guide rail. You. On the other hand, in a conventional elevator apparatus, a single drive device applies tension to a rope to raise and lower a car. Normally, in an elevator system, the direction of the rope tension that suspends the car is changed by using a sheave (for example, a main sheave) installed above the shaft in order to prevent the entire weight of the car from being used as a driving load of the driving device. The counterweight, which has a weight corresponding to the weight of the car, is suspended in such a manner as to be suspended by the tension. Further, when the elevator lifting process is long, if there is a large difference in height between the car and the counterweight, the weight difference of the ropes suspending these places a load on the driving device as a tension difference, so the second A rope is suspended and connected to a counterweight via a sheave (e.g., compensive) installed at the bottom of the elevator shaft so that there is no significant change in the rope tension applied to the driving device regardless of the height difference between the rider and the counterweight. It is configured.

[0003] In the conventional elevator apparatus configured as described above, when the drive device is activated to raise and lower the car, the rope itself has a spring effect, and therefore, before and after the sheave for changing the direction of the rope tension. On the other hand, a phenomenon occurs in which the rope is elongated on the one hand and compressed on the other. Such expansion and contraction of the rope propagates as longitudinal vibration of the rope, and this longitudinal vibration finally reaches the car. The longitudinal vibrations that reach the car cause the car to swing up and down, which impairs ride comfort. In addition, when the ascending / descending stroke is long, such as in a skyscraper, the inertia of the rope itself becomes very large, and a very large driving force is required for the driving device when the car is accelerated or decelerated. When the driving device applies a large driving force to the rope, the above-described degree of expansion and contraction of the rope also increases, longitudinal vibration having a large amplitude at a low frequency occurs, and a large slow vertical swing occurs in the car. Conventionally, in order to suppress the longitudinal vibration of a car, a method is known in which the car is doubled and a suspension is interposed between the floor of the outer car frame and the floor of the inner cab (for example, Japanese Patent Laid-Open No. 7-291559). JP, JP-A-7-330249, etc.) and a method of controlling the driving force so as to suppress longitudinal vibration of the car by transmitting information about the pitching of the car to the drive device (for example,
JP-A-7-206286, JP-A-8-31074
No. 9, publication No. 9) and the like have been proposed. However, even in such a case, the following problem occurs.

In a conventional elevator apparatus, a sheave intervening on a route along a rope from a car to a counterweight is rotated by a driving device to raise and lower the car. When a tension is applied to the rope by rotating the sheave by the driving device, a reaction force is generated, and the driving device itself receives the rotational force. In general, since the center of gravity and the center of rotational force of the driving device do not coincide with each other, the driving device that has received the reaction force of the rope tension via the sheave vertically moves. in this case,
Since the rigidity of the machine bed supporting the driving device is high, the vertical movement has a small amplitude and a high frequency. On the other hand, as described above, when the sheave is rotated by the driving device, longitudinal vibration occurs along the rope, but this vertical movement is rope longitudinal vibration that moves the rider and the counterweight up and down in opposite phases. In other words, when the drive device rotates the sheave, not only the rope vertical vibrations that move up and down in the opposite phase but also the rope vertical vibrations that move up and down in the same phase are generated in the rider and the counterweight. The former is the anti-phase mode, and the latter is the in-phase mode. Among these vibration modes, the vibration in the opposite phase mode can be easily suppressed by controlling the tension acting on the rope, that is, the torque of the driving device. However, the vibration in the same phase mode can be controlled in the direction of the tension generated by the driving device. Is different between the car side and the counterweight side, making it difficult to suppress.

[0005] In a system in which information about the pitch of the car is transmitted to a driving device and the driving force is controlled so as to suppress the longitudinal vibration of the car, the information about the pitch of the car is in an anti-phase mode and an in-phase mode. Because the torque of the drive unit is controlled by the extra in-phase mode information, when the car is shaking in the in-phase mode, there is a problem that longitudinal vibration occurs on the car instead. is there. Also, in the low-frequency region of the longitudinal vibration of the car, it is difficult to distinguish between the original acceleration due to the vertical movement of the car and the acceleration caused by the vertical vibration of the rope, so the floor of the outer car frame and the inner cab In the method in which the suspension is interposed between the floor and the floor, the suspension is tuned in a frequency region that does not interfere with the original acceleration caused by the elevation of the car. In other words, the suspension can effectively remove vibrations in the high-frequency range, and the longer the vertical stroke, the lower the natural frequency of the rope, which interferes with the frequency range of the original acceleration associated with raising and lowering the car. There is a problem that the longitudinal vibration of the vehicle propagates to the cab and the ride quality deteriorates.

[0006]

As described above, in the conventional elevator apparatus, there is a problem that longitudinal vibration of the rope generated when the driving apparatus drives the rope propagates to the car, thereby deteriorating ride comfort. there were. The present invention has been made in view of the above circumstances, and an object of the present invention is to quickly attenuate longitudinal vibration of a rope, thereby suppressing vertical swing of a car, and an elevator apparatus capable of realizing a good ride comfort. Is to provide.

[0007]

In order to achieve the above object, an elevator apparatus according to a first aspect of the present invention provides a car capable of ascending and descending along a guide rail, a rope for suspending the car, and a rope for suspending the car. A sheave for changing the direction of tension applied to the rope, a driving means for applying tension to the rope, and a counterweight suspended on the opposite side of the rope to the car and offsetting the weight of the car via the rope; And a reaction force displacing means for vertically moving the driving means based on a reaction force of a driving force when applying tension to the rope. As described above, the longitudinal force in the same phase mode and the longitudinal vibration in the opposite phase mode are generated on the rope by the driving force of the driving means. According to the present invention, the reaction force of the driving force when the tension is applied to the rope. Based on
Since the driving means is moved up and down to apply tension to the rope, the longitudinal vibration of the rope in the in-phase mode and the anti-phase mode can be easily attenuated. Since the vibration does not remain, the car does not pitch due to the rope longitudinal vibration. As a result, there is no pitching of the car, and a good ride quality can be realized.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 shows a main part of an elevator apparatus 10 according to a first embodiment of the present invention. As shown in FIG. 1, in this elevator apparatus, a guide rail 12 is laid in an elevator shaft in a vertical direction by a predetermined mounting method, and a car 14 moves up and down along the guide rail 12. A first rope 16 is attached to the car 14 in a predetermined manner and suspended. The first rope 16 is wound around a first sheave (main sheave) 18 provided in a machine room above the elevator shaft, and the tension of the first rope 16 generated when supporting the weight of the car 14. Is further reversed, and a counterweight 22 is attached to the other end via the deflecting sheave 20 in a predetermined manner. The counterweight 22
It has a weight that substantially balances the tension of the first rope 16 caused by the weight of the car 14. The first sheave 18 located in the machine room is directly connected to a rotating portion of a hoisting motor 24 as driving means, and by driving the hoisting motor 24, the first car 18 is driven through the first sheave 18.
The first rope 16 is provided with tension for raising and lowering the fourth rope 4. One end of a second rope 26 is connected to the car 14, and the other end of the second rope 26 is attached to the counterweight 22 in a predetermined manner and depends therefrom. The bend located below the second rope 26 is
Around the sheave (compensive) 28 of the second
The movement of the rope 26 causes the second sheave 28 to rotate. The second sheave 28 is provided with a sheave support means 30 as a driving means which is driven in the vertical direction and applies tension to the second rope 26.

The car 14 is composed of a car frame 32 as an outer car having sufficient rigidity against the tension of the ropes 16 and 26, and a car room 36 disposed inside the car frame 32 for carrying a load. Guide roller units 34 for guiding the car 14 along the guide rails 12 are provided at the four corners of the car frame 32, and between the car room 36 and the car frame 32 via the car frame 32. Rider 36
A suspension 38 is provided to block the longitudinal vibration high frequency components of the ropes 16 and 26 penetrating into the car frame 32 and to support the car 36 with respect to the car frame 32. The hoisting motor 24 includes a rotary motor 40 and a motor control unit 42. The rotary motor 40 is attached to the machine bed 44 together with the deflecting sheave 20 by a predetermined method. It is installed on the upper floor 47 of a building (not shown). In addition, deflected sheave 2
Needless to say, 0 can be freely rotated by the tension of the rope 16. The sheave support means 30 includes a sheave base 50.
The second sheave 28 via a bearing 48 attached to the
Is rotatably supported. Sheave base 50 is bearing 4
Sheave guide 5 arranged so as to sandwich 8 from both sides
4 guides the member along the second sheave 28 in the vertical direction. At both ends of the sheave base 50, hydraulic cylinders 52 for driving the second sheave 28 in the vertical direction are provided, and the operation of the hydraulic cylinder 52 causes the second sheave 28 to move up and down. ing. At a predetermined height of the sheave guide 54, a sensor support 56 and a position sensor 58 are attached, and the position sensor 58 determines the distance between the bearing 48 and the sensor support 56 in the vertical direction of the second sheave 28. Is detected. The output of the position sensor 58 is introduced to the tension control unit 60, and the tension control unit 60 controls the expansion and contraction pressure of the hydraulic cylinder 52 based on the output of the position sensor 58 to move the second sheave 28 up and down. The tension applied to the rope 26 is controlled.
The lower ends of the sheave guide 54 and the hydraulic cylinder 52 are fixed to a floor 62 on the lower floor of a building (not shown).

The motor control section 42 is configured as shown in FIG. In the following block diagrams, arrow lines indicate signal paths, and bar lines indicate power paths around the rotary motor 40. The motor control unit 42 includes a first sensor unit 64, a torque calculation unit 66, and a drive control unit 68.
A first sensor unit 64 having a rotation angle detector 70 and a rotation angle feed speed conversion unit 72 detects the feed speed of the rope from the rotation angle of the first sheave 18, and based on the output of the first sensor unit 64. And a torque calculation unit 66 having a speed target value generator 76, an integral compensator 80, and a gain compensator 74.
Calculates the output torque command value of the rotary motor 40. The drive control unit 68 controls the drive of the rotary electric motor 40 based on the torque command value calculated by the torque calculation unit 66. The speed target value generator 76 in the torque calculating section 66 outputs a rope feed speed target value pattern by the lobe 18 in a time series, and a subtracter 78 subtracts the rope feed speed signal from the output of the speed target value generator 76. And output the speed deviation. The integration compensator 80 integrates the output of the subtractor 78 to calculate a distance deviation and multiplies the integration result by a predetermined gain to output the result. The subtracter 82 subtracts the output of the gain compensator 74 from the output of the integration compensator 80 and outputs the result of the subtraction as a torque command value. Here, the rotation angle detector 70 is incorporated in the rotary electric motor 40 and is not shown in FIG.

The tension control unit 60 is configured as shown in FIG. The tension control unit 60 includes a second sensor unit 83, a shaft pressure calculation unit 84, and a second drive control unit 85. The second sensor unit 83 detects the vertical movement of the second sheave 28, and An oil pressure calculation unit 84 calculates a shaft pressure command value for the hydraulic cylinder 52 based on the output of the second sensor unit 83. The second drive control unit 85 controls the oil pressure of the two hydraulic cylinders 52 based on the shaft pressure command value calculated by the shaft pressure calculation unit 84, and sets the shaft pressure equal to one half of the command value to each of the two. Output to the hydraulic cylinder 52. Second sensor unit 8
Reference numeral 3 denotes a position sensor 58 for detecting a minute vertical movement distance of the second sheave 28, a position deviation from a predetermined height position of the second sheave 28 based on an output signal of the position sensor 58, and a second sheave 28. Is provided with a position signal conversion unit 86 for calculating the vertical speed of. The shaft pressure calculator 84 includes a gain compensator 87, a gain compensator 88, an adder 89, a zero target value generator 90, and a subtractor 91, and the gain compensator 87 and the gain compensator 88 each include a position signal converter 86. Is multiplied by a predetermined gain, and an adder 89 adds the outputs of the gain compensator 87 and the gain compensator 88. The subtractor 91 subtracts the output of the adder 89 from the output of the zero target value generator 90 and uses the result of the subtraction as the shaft pressure command value in the second
Is output to the drive control unit 85. Here, the drive control unit 85
The horizontal line from to the hydraulic cylinder 52 indicates a hydraulic pressure path.

Next, the operation of the elevator apparatus according to the first embodiment configured as described above will be described. When a call is received from a state where the elevator cab 36 is stopped at a predetermined floor of a building (not shown), a speed pattern up to the calling floor is generated by the target speed value generator 76 and is generated in time series. On the other hand, the rotation angle detector 70 detects the rotation angle of the sheave 18, and the rotation angle feed speed conversion unit outputs the feed speed of the rope 16 at the time of stoppage, that is, zero. The speed target value of the rope 17 output in time series from the speed target value generator 76 and the feed speed of the rope 16 output from the sensor unit 64 are subtracted by the subtractor 78, and the calculation result, that is, the speed deviation is calculated by the integration compensator 80. Is input to For simplicity of explanation, a case where the car 14 on the lower floor moves to the higher floor will be described below. In this case, the speed target value becomes a substantially trapezoidal speed pattern in time series as shown in FIG. When the car 14 is stopped, when the speed target value gradually increases, the integration compensator 80 integrates the speed deviation to form a position deviation, which is multiplied by a predetermined gain and output. The feed speed output of the sensor unit 64 is input to a gain compensator 74, and is output after being multiplied by a predetermined gain. As the speed target value increases, the integral compensator 80 outputs a torque command value having a magnitude proportional to the position deviation, and the gain compensator 74 outputs a torque command proportional to the speed deviation. As a result, in the stage of the region indicated by A in FIG. 4 where the speed target value is relatively small, the calculation result of the subtraction 82 is mainly due to the torque command value proportional to the position deviation output from the integration compensator 80. The calculation result of the subtractor 82 is output to the drive control unit 66, and the rotary electric motor rotates with a torque that matches the calculation result of the subtractor 82,
Tension is applied to the first rope 18 via the first sheave 18, and the car 14 starts to ascend as the first sheave 18 starts feeding the first rope 16. At the beginning of the rise of the car 14, the speed target value is small, but increases with time. B in FIG. 4 where the speed target value increases
In the region indicated by, the rotation speed of the first sheave 18 whose rotation has started due to the position deviation as a main factor increases, and the feed speed also increases. The increase in the feed speed is detected by the first sensor unit 64 and output to the subtractor 78 and the gain compensator 74. In the subtractor 78, the output of the gain compensator 74 increases in proportion to the increase of the feed speed as the increase rate of the feed speed approaches the increasing speed target value. As a result, the rate of increase of the speed target value and the rate of increase of the feed rate become equal, and the output of the subtractor 78 becomes a constant value. When the output of the subtractor 78 becomes a constant value, the output of the integration compensator 80 increases at a constant rate with respect to time. At this time, if the gain of the integral compensator 80 and the gain of the gain compensator 74 are set to appropriate values, the increase rate of the output of the integral compensator 80 and the increase rate of the output of the gain compensator 74 become equal, and The torque command value of the device 82 becomes a constant value. In this case, if the output of the subtractor 82 is a constant value, the subtractor 78
Must also be constant, and the rate of increase of the speed target value is equal to the rate of increase of the feed rate. That is, car 14
Will follow the target speed pattern with a slight delay as shown by the broken line in FIG. In the region C in FIG. 4 where the speed target value is constant, the output of the subtracter 78 decreases because the speed target value is constant while the feed speed increases. When the output of the subtractor 78 decreases, the output of the integration compensator 80 also decreases.
Since the output of No. 4 maintains the rate of increase of the feed speed, the output of the subtractor 82 decreases and eventually outputs a negative torque command value. Then, the feed speed that has been accelerated at the rate of increase of the target speed is reduced. When the feed speed is reduced, the first sensor unit 64
, The output increase rate of the gain compensator 74 also decreases, and the negative torque of the subtractor 82 increases in the positive direction. Then, the deceleration of the feed speed is reduced, the speed deviation between the target speed and the feed speed is reduced, and the output increase rate of the integration compensator 80 is reduced. Eventually, the output increase rate of the integral compensator 80 becomes zero, that is, a constant value, and the gain compensator 7
The output of No. 4 also becomes a constant value equal to the output of the integral compensator 80, the speed target value matches the feed speed, and the torque command value becomes substantially zero.

Next, when the target speed pattern starts to decelerate as shown in a region D in FIG. 4, the speed target value decreases and the output of the subtractor 78 becomes negative. Then, the output of the integration compensator 80 decreases, and the subtractor 82 outputs a negative torque. In this region, as in the region A, the deviation between the feed speed and the speed target value is small, so the torque command value proportional to the position deviation output from the integration compensator 80 is the main factor. The calculation result of the subtractor 82 is output to the drive control unit 66, and the rotary electric motor supplies the torque that matches the calculation result of the subtractor 82 to the first sheave 18.
, The tension is applied to the first rope 18, and the first sheave 18 starts to apply a brake to the feed of the first rope 16, and the ascending car 14 starts to apply the brake. At the beginning of the braking of the car 14, the speed deviation is small, but increases with time. In a region indicated by E in FIG. 4 where the speed target value decreases, the rotational speed of the first sheave 18 whose deceleration has started due to the position deviation is further reduced, and the feed speed is also reduced. The reduced feed speed is the first sensor unit 6
4 and output to the subtractor 78 and the gain compensator 74. In the subtractor 78, the output of the gain compensator 74 decreases in proportion to the decrease of the feed speed as the decrease rate of the feed speed approaches the decreasing speed target value. As a result, the rate of increase of the speed target value and the rate of increase of the feed rate become equal, and the output of the subtractor 78 becomes a constant value. When the output of the subtractor 78 has a constant value, the output of the integration compensator 80 decreases at a constant rate with respect to time. At this time, since the gain of the integral compensator 80 and the gain of the gain compensator 74 are set to appropriate values, the rate of decrease in the output of the integral compensator 80 and the rate of decrease in the output of the gain compensator 74 become equal. , The torque command value of the subtractor 82 becomes a constant value. In this case, if the output of the subtracter 82 is a constant value, the output of the subtractor 78 must also be constant, and the rate of decrease in the target speed value and the rate of decrease in the feed rate are equal. In other words, the braking of the car 14 follows the target speed pattern slightly behind as shown by the broken line in FIG.
Then, in a region F in FIG. 4 where the speed target value becomes zero, the feed speed decreases while the speed target value becomes zero, so that the absolute value of the negative output of the subtractor 78 decreases.
When the output of the subtractor 78 decreases, the rate of change of the output of the integration compensator 80 also decreases, but since the output of the gain compensator 74 maintains the rate of decrease of the feed rate, the output of the subtractor 82 increases, Eventually, a positive torque command value is output. Then, a braking force acts on the feed speed that has been reduced at the rate of increase of the target speed. When a braking force acts on the feed speed, the first sensor 64
, The output decrease rate of the gain compensator 74 also decreases, and the positive torque of the subtractor 82 decreases. Then, the braking of the feed speed is weakened, the speed deviation between the target speed and the feed speed is reduced, and the output reduction rate of the integration compensator 80 is reduced. Eventually, the output reduction rate of the integral compensator 80 becomes zero,
In other words, the output value of the gain compensator 74 becomes a constant value and the output value of the gain compensator 74 becomes a constant value equal to the output of the integral compensator 80. The feed speed becomes zero similarly to the speed target value, and the car 14 arrives at the floor where the call was made. . Then, in the regions A, C, D and F in which the torque command value fluctuates, the first rope 16 and the second rope 26 generate rope longitudinal vibration in the opposite phase mode. However, the longitudinal vibration in the opposite phase mode is parallel to the direction in which the rope of the first sheave 18 is fed, and is detected by the first sensor unit 64 as a pulsation in the feed speed of the first rope 16. Then, for this pulsation,
Since a torque command value having a magnitude proportional to the pulsation speed and having an opposite direction is output via the gain compensator 74 and the subtractor 82 and a damping force acts, the longitudinal vibration of the rope in the opposite phase mode can be easily suppressed. Can be.

On the other hand, when the torque command value fluctuates in the regions A, C, D and F, a reaction torque from the first sheave 18 acts on the rotary electric motor 40. This allows
The upper machine bed 44 and the deflecting sheave 20 attempt to rotate integrally with the rotary electric motor 40 from the vibration isolating rubber 46, but the composite center of gravity of these three bodies does not match the rotational axis of the rotary electric motor 40. When the car 14 moves up, the three centers of gravity move in the direction of gravity. Then, the first sheave 18, the first rope 16, the car 14, the second sheave 28, the second rope 26 and the counterweight 22
, Longitudinal vibrations that rise and fall as a whole occur. However, in the elevator apparatus 10 of the present embodiment,
In addition to the vibration isolating rubber 46 as the reaction force displacing means, the second sheave 28 is provided with a sheave support means 30 as a driving means for applying tension to the rope. Is suppressed. That is, when the rope longitudinal vibration in the in-phase mode occurs, the second sheave 28 generally moves up and down with a small amplitude. However, due to the action of the vibration isolating rubber 46 as the reaction force displacing means, such vibrations have a relatively low frequency range and a large stroke. For this reason, the longitudinal vibration in the same phase mode is easily detected by the position sensor 58 in the second sensor unit 83 provided in the tension control unit 60 of the sheave support means 30, and the position signal conversion unit 86 detects the first vibration with respect to the predetermined position. The position deviation and the moving speed of the second sheave 28 are output. The output of the second sensor unit 83 is supplied to a shaft pressure calculating unit 84, where the position deviation is multiplied by a gain compensator 87 and the moving speed is multiplied by a predetermined gain by a gain compensator 88. The sum of the multiplication results is subtracted from the zero target value by the subtractor 91 and is calculated as a shaft pressure command value to the hydraulic cylinder 52. The drive control unit 85 controls the oil pressure so that the two hydraulic cylinders 52 generate one half of the shaft pressure equal to the output value of the shaft pressure calculation unit 84. For this reason, an axial pressure equal to the command value of the hydraulic cylinder 52 is applied to the second rope 26 and the first rope 16 via the second sheave 28 as tension. Here, the gain compensator 88 uses the second
The moving speed of the sheave 28 is multiplied by a gain, and the axial pressure of the hydraulic cylinder 52 acts as a damping force on the second sheave 28 that vibrates up and down. For this reason,
Longitudinal vibration in the in-phase mode is effectively attenuated. Therefore, even if tension is applied to the first rope 16 by the hoisting motor 24 during acceleration or deceleration of the car 14 and longitudinal rope vibration in the in-phase mode and the anti-phase mode occurs, the motor control unit 42 and the tension control unit 60 Performs tension control on the first rope 16 and the second rope 26, so that the longitudinal vibration of the rope is quickly attenuated. Therefore, the first rope 1
6 can achieve a good ride quality on the car 14 suspended in the car 6, and also when the car 14 is excited by longitudinal vibration in the same phase mode or the opposite phase mode due to an earthquake or the like. Since the vibration is suppressed, it is possible to increase the reliability of the elevator apparatus without giving the passenger anxiety. Further, since the position deviation of the second sheave 28 is fed back to the shaft pressure command value of the hydraulic cylinder 52 via the gain compensator 87 in the tension controller 60 of the sheave support means 30, the apparent spring in the same phase mode is used. Constants can be set freely. For this reason, it is possible to set the natural frequency of the rope longitudinal vibration system in the mode to a value that is difficult for humans to perceive, and if longitudinal vibration in the same phase mode occurs, the influence on the riding comfort is minimized. Can be suppressed.

Next, a second embodiment of the present invention will be described with reference to FIG. In the first embodiment, the sheave support means 3 is used to attenuate the longitudinal vibration of the rope in the same phase mode.
0 is used, but this is not limited at all as a driving means for controlling the rope tension to attenuate the longitudinal vibration in the same phase mode, and as a second driving means as shown in FIG. A sheave motor 92 may be attached to the second sheave 28. Note that, for simplicity of explanation,
The same parts as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted. Sheave motor 92
Is composed of a rotary motor 94 having a rotary shaft 93 directly connected to the second sheave 28, and a motor control unit 95. The rotary motor 94 is fixed to a machine bed 96, and a vibration isolating rubber as a reaction force displacing means is provided. It is attached to a sheave base 98 via 97. The sheave base 98 has linear guides 100 mounted at four corners, and an end fixed to a floor of a building (not shown) by a fixing member 102 and penetrates the linear guide 100 to freely move the sheave base 98 in the vertical direction. Guide rod 104 for guiding to the
The acceleration sensor 106 is mounted below the center line of the upper rotating shaft 93.

As shown in FIG. 6, the motor control unit 95 includes a first sensor unit 108, a second sensor unit 110, a torque calculation unit 112, and a drive control unit 114.
From the rotation angle of the first sensor unit 10
8, the second sensor unit 110 detects the
, And converts the acceleration into a positional deviation of the machine bed 96 with respect to a vertical speed and a predetermined height, and outputs the result. Torque calculator 112
Calculates the output torque command value of the rotary electric motor 94 based on the outputs of the sensor unit 108 and the sensor unit 110. The drive control unit 114 controls the coil excitation current of the rotary motor 94 based on the torque command value calculated by the torque calculation unit 112, and causes the rotary motor 94 to output a torque equal to the command value. The first sensor unit 108 is the same as the case of the hoisting motor 24, and thus the description thereof is omitted. In the following, components having the same functions as those of the first embodiment are indicated by dashes at the same locations. Use the same number. The second sensor unit 110 calculates an acceleration sensor 106 and a vertical deviation of the machine bed 96 and a positional deviation with respect to a predetermined height based on the vertical acceleration of the machine bed 96 detected by the acceleration sensor 106. An acceleration signal converter 116 for outputting is provided. The torque computing unit 112 is a gain compensator 11 that multiplies the rope feed speed signal output from the first sensor unit 108 by a predetermined gain.
8. A speed target value generator 85 'that outputs a target value pattern of the rope feed speed by the first sheave 18 in time series, and a rope feed speed signal is subtracted from the output of the speed target value generator 85' to reduce the speed deviation. Output subtractor 86 ', subtractor 86'
And outputs a product obtained by multiplying the integration result by a predetermined gain and outputting the result obtained by subtracting the output of the gain compensator 84 'from the output of the integration compensator 87'. It comprises a subtractor 88 'for outputting as a first torque command value.

Here, the rotation angle detector 70 'is incorporated in the rotary electric motor 94 and is not shown in FIG. Further, the torque calculation unit 112 includes a gain compensator 118 that multiplies the vertical position deviation signal of the machine bed 96 output from the sensor unit 110 by a predetermined gain, a gain compensator 120 that multiplies the speed signal by a predetermined gain, A gain compensator 122 for multiplying the acceleration signal by a predetermined gain, an adder 124 for calculating the sum of outputs of the gain compensators 118 to 122,
A subtractor 128, a subtracter 88, and a subtractor 128 for subtracting the output of the adder 124 from the zero target value of the zero target value generator 126 and outputting the subtraction result as a second torque command value
And an adder 130 that calculates the sum of the outputs of the first and second torque command values and outputs the sum of the first and second torque command values. Next, the operation of the elevator apparatus 10 'according to the second embodiment configured as described above will be described. When a call is received from a state where the car 14 is stopped at a predetermined floor of a building (not shown), a speed pattern up to the calling floor is generated by the speed target value generator 85 of the motor control unit 42 and the motor control unit 95, and Output in a sequential manner. Here, the torque command value output from the subtractor 88 of the motor control unit 42 and the first torque command value output from the subtractor 88 'of the motor control unit 95 are calculated in the same process. The gain of the compensator 84 ′ is half the gain of the gain compensator 84.
Since the gain of the integral compensator 87 'is set to a half of the gain of the gain compensator 84, the car 14 arrives at the calling floor in the same manner as in the first embodiment of the present invention. .

During this time, due to torque fluctuations of the hoisting motor 24 and the sheave motor 94, rope longitudinal vibrations in the opposite phase mode and the same phase mode are generated. Among them, the longitudinal vibration of the rope in the opposite phase mode is based on the torque command value output from the subtractor 88 of the motor controller 42 and the subtractor 88 ′ of the motor controller 95.
Are calculated in the same process, the gain of the gain compensator 84 'is half the gain of the gain compensator 84, and the gain of the integral compensator 87' is Is set to one half of the gain of the filter 84, so that the longitudinal vibration of the rope in the anti-phase mode
Is effectively suppressed in the same process as in the embodiment. On the other hand, even in the elevator apparatus 10 'of the present embodiment,
The second sheave 28 includes a sheave motor 92 as a driving means for applying tension to the rope, and the longitudinal vibration of the rope in the same phase mode is effectively suppressed. That is, when the rope longitudinal vibration in the in-phase mode occurs, the second sheave 2
8. The sheave motor 92 and the machine bed 96 move up and down together. This vertical vibration is detected by the acceleration sensor 106, and the acceleration signal converter 116 outputs a position deviation, a moving speed, and an acceleration of the second sheave 28 with respect to a predetermined position. The output of the second sensor unit 110 is introduced to a torque calculation unit 112, where a predetermined gain is multiplied by the position deviation by the gain compensator 118, the moving speed by the gain compensator 120, and the acceleration by the gain compensator 122. , After the operation results are summed by the adder 124,
The second torque command value to the rotary electric motor 94 is calculated by subtraction from the zero target value of the zero target value generator 85 'by the subtractor 128. When the rotary motor 94 rotates the second sheave 28 with a torque equal to the second torque command value by the drive control unit 114, a reaction force acts on the rotary motor 94, and the rotary motor 94 and the machine bed 96 are separated. The center of gravity is rotated around the composite center of gravity, for example, a checkered circle in FIG. Then, the second sheave 28 moves up and down along with the rotation by the reaction force, and the tension caused by the reaction force acts on the second rope 26. This tension is the second
The magnitude of the second torque command value varies depending on the gains of the gain compensators 118, 120, and 122. The second torque command value includes:
Second sheave 2 output from acceleration signal converter 116
8, the vertical movement speed and the vertical acceleration are fed back. When the vertical movement occurs in the second sheave 28 due to the longitudinal vibration in the same phase mode, the high frequency component of the vibration is immediately suppressed by the acceleration feedback, and the speed is reduced. The feedback imparts a damping force of a low frequency component to attenuate the longitudinal vibration of the second sheave 28, and
By the position deviation feedback, the natural frequency of the low frequency component of the longitudinal vibration is set to a value that is hard for a person to perceive, and a good ride comfort is realized.

In the case of the present embodiment, since the car is lifted and lowered by a plurality of driving devices, each driving device can be small in size and capacity, and the effect of reducing the space of the entire device can be obtained. There is also. In the above-described embodiment, a rotary electric motor is used as the driving means, but this does not limit the driving means in any way. For example, a means that can apply tension to the rope as in the third embodiment is used. If it is, it can be a linear motor. Hereinafter, a third embodiment according to the present invention will be described with reference to FIG. The elevator apparatus according to the present embodiment is indicated by 10 ″ as a whole. In the elevator apparatus 10 '', the sheave support means 30 is removed from the sheave 28 in the first embodiment described above, and the sheave 28 is guided in a free state in the vertical direction by the sheave guide 54 via the bearing 48. ing. In the counterweight 22, the primary side iron core 132 of the linear induction motor on which the three-phase winding is applied is taken out, and the secondary side conductor plate 134 is formed so as to face the primary side iron core 132 through a slight gap. It is mounted on a vertical wall 136 of the elevator shaft via a mounting member 138. A thrust control unit 140 that controls the thrust of the primary iron core 132, the secondary conductor plate 134, and the primary iron core 132 constitutes a linear motor 142 as a driving means as a whole. Here, the secondary conductor plate 134 is made by lining the iron plate on the back of the copper plate facing the primary iron core, strengthening the magnetic flux linking the copper plate,
The structure is such that thrust can be obtained efficiently. For this reason,
Attraction force acts between the primary iron core 132 and the secondary conductor plate 134. Although the description has been omitted in the first and second embodiments, the counterweight guide rail 144 and the counterweight guide roller 146 for guiding the counterweight 22 have higher rigidity in the above-described embodiment. I have.

As the rope driving means, a linear motor 1 is used.
In addition to the hoisting motor 42, a hoisting motor 148 similar to the sheave motor 92 of the second embodiment is used. The hoisting motor 148 includes a rotary motor 94 and a motor control unit 95. The rotary motor 94 is attached to the machine bed 44 together with the deflecting sheave 20 by a predetermined method. It is installed on the upper floor 47 of a building (not shown). An acceleration sensor 106 mounted below the center line of the rotating shaft 93 is provided on the machine bed 44. Thrust control unit 1
40 is an acceleration sensor 150 attached to the counterweight 22 to detect vertical acceleration, and an acceleration sensor 15
The sensor unit 154 including the acceleration signal conversion unit 152 that calculates the vertical speed of the counterweight 22 and the position deviation from the predetermined height position from the output signal of 0, similarly to the torque calculation unit 66 of the first embodiment. A thrust calculation unit 156 configured to output a thrust command value of the linear motor 142 based on the output of the sensor unit 154, and a coil excitation current of the primary iron core 132 based on the thrust command value calculated by the thrust calculation unit 156. And a thrust equal to the command value is applied to the linear motor 14.
2 is constituted by a drive control unit 158 for outputting the signal to the control signal 2.

As described above, also in the present embodiment, the combined center of gravity of the machine bed 44, the deflecting sheave 20, and the rotary motor 94 does not coincide with the rotary shaft 93, thereby causing the rotary motor 94 to change its own torque. Move up and down. Since the vertical movement of the rotary electric motor 94 moves the first sheave 18 up and down, tension in the same phase mode is applied to the first rope 16. Then, the vertical movement occurs in the machine bed 44 due to the tension, but since the vertical movement is fed back to the torque command value of the rotary electric motor 94 by the acceleration sensor 106, the rope longitudinal vibration in the in-phase mode is effectively attenuated. Also, in the anti-phase mode vibration generated by the thrust of the linear motor 142 and the torque of the hoisting motor 148, the rope tension in the anti-phase mode causes the linear motor 140 to move up and down and the second sheave 18 to rotate unevenly. These fluctuations are caused by the acceleration sensor 150 and the rotation angle detector 7.
Since it is fed back to the thrust command value and the torque command value at 0 ', vibration in the opposite phase mode is also attenuated.
Thereby, a good ride quality is realized. In the case of the present embodiment, one of the plurality of driving devices is also used as a component of the counterweight, so that the entire device can be saved in space.

Furthermore, the above-described embodiment according to the present invention has two sheaves, but this does not limit the number of sheaves at all, and further uses several sheaves depending on the specifications of the apparatus. Is also good. For example, three sheaves may be provided as in the fourth embodiment according to the present invention in FIG. 9 without any problem. Hereinafter, a fourth embodiment according to the present invention will be described with reference to FIG. In this elevator apparatus 10 ′ ″, in addition to the first sheave 18, the car 14 is on the moving pulley 160, and the counterweight 22 is on the moving pulley 16.
2 respectively. In this device, the pulley 16
Since 0,162 is used, the torque required for the hoisting motor is halved compared to the case without the moving pulley. For this reason, one hoisting motor 148 is used as the driving means. One end of the first rope 16 is connected to the machine bed 166 via a rope stop hitch 164 at one end of the car 14 and the other end of the first weight 16 is connected to the machine bed 166 via a rope stop hitch 168 in a predetermined manner. Installed with. In addition, the car 14 and the counterweight 22 are respectively suspended downward from the whisper chain 170.
And the torque caused by the weight applied to the first sheave 18 does not depend on the height position of the car 14.

Also in this embodiment, the combined center of gravity of the machine bed 166, the deflecting sheave 20 and the rotary electric motor 94 does not coincide with the rotary shaft 93.
4 rises and falls due to its own torque fluctuation. Since the vertical movement of the rotary electric motor 94 moves the first sheave 18 up and down, tension in the same phase mode is applied to the first rope 16. The tension causes the machine bed 166 to move up and down. However, since the up and down movement is fed back to the torque command value of the rotary electric motor 94 by the acceleration sensor 106, the rope longitudinal vibration in the in-phase mode is effectively attenuated. Also, the vibration in the anti-phase mode generated by the torque of the hoisting motor 148 is
The rope tension in the anti-phase mode causes uneven rotation of the first sheave 18, and these fluctuations are caused by the rotation angle detector 7.
Since the torque command value is fed back at 0 ', the vibration in the anti-phase mode is also attenuated. Thereby, a good ride quality is realized. In the case of the present embodiment, the longitudinal vibration in the in-phase mode and the anti-phase mode can be suppressed by one driving device, so that the entire device can be simplified. In addition, in the embodiment according to the present invention described above, feedback control is used to suppress the longitudinal vibration of the rope in the same phase mode. However, this does not limit the driving method of the driving means at all. As in the fifth embodiment according to the tenth aspect of the present invention, there is no problem if feedback control is not used to suppress the longitudinal vibration of the rope in the same phase mode.

Hereinafter, a fifth embodiment according to the present invention will be described with reference to FIG. This elevator device 1
At 0 ″ ″, as the driving means, the sheave 18 is driven by the hoisting motor 24 and the second sheave 28 is driven by the sheave motor 183. The sheave motor 183 is composed of the same rotary motor 40 as the hoist motor 24 and the motor control unit 42. The rotary motor 40 is attached to the machine bed 184 by a predetermined method, and a vibration isolating rubber 185 as a reaction force displacing means is provided. It is attached to the sheave base 98 through the intermediary. At this time, in the present embodiment, the rotating motor 40 and the machine bed 44 in the hoisting motor 24 and the combined center of gravity of the three bodies of the deflector sheave 20 and the rotating shaft 18
The positional relationship of 6 is set such that, for example, when the composite center of gravity is represented by a checkered circle, the composite center of gravity is located on the right side of the rotating shaft 186, for example. On the other hand, the positional relationship between the combined center of gravity of the rotary motor 40 and the machine bed 184 in the sheave motor 183 and the rotating shaft 186 of the rotating motor 40 is also such that the combined center of gravity is located on the left side of the rotating shaft 186 if the combined center of gravity is expressed. Is set. As described above, the motor control unit 42 has a vibration suppression effect for the antiphase mode of the longitudinal rope vibration, but the torque calculation unit 66 does not perform any calculation for the inphase mode.

The elevator apparatus 1 configured as described above
0 ″ ″ operates as follows. That is, the hoisting motor 2
4 and the sheave motor 183 have the same target speed generator 85
, The torque fluctuation resulting from the target speed pattern becomes the same. Now, when the hoisting motor 24 outputs torque and receives the reaction force to move the rotating shaft 186 up and down, the rotating shaft 186 also moves up and down in the sheave motor 183. At this time, the three composite centroids related to the hoist motor 24 with respect to the sheave 18 are located on the right side of the rotating shaft 186, and the two composite centroids related to the sheave motor 183 with respect to the sheave 28 are located on the left side of the rotating shaft 186. I have. Therefore, for example, when the rotating shaft 186 of the hoist motor 24 moves downward, the rotating shaft 186 of the sheave motor 183 moves upward. Then, although the tension of the rope 16 decreases, the rope 26
Is also reduced, and the tension fluctuation is canceled as the whole rope system. Therefore, even if torque fluctuations occur due to the target speed pattern, longitudinal vibration in the same phase mode does not occur. In addition, when there is no anti-vibration rubber 44, 97 as a reaction force displacement means, the rigidity of the structure around the composite center of gravity increases, and the vertical vibration frequency of the rotating shaft 186 also increases. When the vertical vibration frequency increases, a slight difference in performance of the motor control unit 42 causes a non-negligible phase between the vertical vibration of the hoisting motor 24 and the vertical vibration of the sheave motor 183, and the effect of canceling each other's vibrations is reduced. .

However, even in such a case, in the embodiment according to the present invention, the rigidity of the structure around the composite center of gravity is reduced by the action of the vibration isolating rubbers 44 and 97, and the performance of the motor control unit 42 differs to some extent. However, the effect of canceling each other's vibration does not decrease. Furthermore, even if longitudinal vibrations of the same phase occur due to external influences such as an earthquake, torque fluctuations do not excite longitudinal vibrations, and in such a case, external vibration factors such as an earthquake can be eliminated. For example, the rope longitudinal vibration can be naturally settled by the damping element of the rope itself or the damping element of the reaction force displacement means. That is, there is no rope longitudinal vibration in the same phase mode, and a good ride quality can be realized. In the device 10 "" according to the present embodiment, there is no need to provide an arithmetic unit for suppressing longitudinal vibration in the in-phase mode in the motor control unit, and there is an advantage that the control device can be simplified. Further, in each of the above embodiments, the vibration isolating rubber is used as the reaction force displacing means, but this does not limit the reaction force displacing means at all. Any material or configuration may be used as long as it has elasticity and vibration absorption that can be realized. For example, a coil spring and a damper may be used.

Furthermore, in each of the above embodiments, the control device has been described in analog control, but this does not limit analog and digital control systems at all.
Digital control may be applied to the control device. other than this,
Various changes can be made without departing from the spirit of the present invention.

As described above, according to the elevator apparatus of the present invention, the driving means is displaced up and down by the reaction force of the driving force generated by itself, and the displacement exerts a tension on the rope. By providing the displacement means, it is possible to rapidly attenuate the in-phase mode in addition to the anti-phase mode of the rope longitudinal vibration, so that a comfortable ride can always be obtained in the car. Further, even if vibrations occur in the rope system due to an earthquake or the like, the vibrations can be rapidly attenuated, so that the passenger does not feel uneasy and a highly reliable device can be provided.

[Brief description of the drawings]

FIG. 1 is a partially cutaway front view showing an overall configuration of a first embodiment of the present invention.

FIG. 2 is a block diagram illustrating a circuit configuration of a control unit according to the first embodiment.

FIG. 3 is a block diagram showing a circuit configuration of another control unit according to the first embodiment.

FIG. 4 is a speed pattern diagram for explaining the operation of the device according to the first embodiment.

FIG. 5 is a partially cutaway front view showing the overall configuration of the second embodiment of the present invention.

FIG. 6 is a block diagram illustrating a circuit configuration of a control unit according to the second embodiment.

FIG. 7 is a partially cutaway front view showing the overall configuration of the third embodiment of the present invention.

FIG. 8 is a block diagram illustrating a circuit configuration of a control unit according to a third embodiment.

FIG. 9 is a partially cutaway front view showing the overall configuration of the fourth embodiment of the present invention.

FIG. 10 is a partially cutaway front view showing the overall configuration of the fifth embodiment of the present invention.

[Explanation of symbols]

10, 10 ', 10 ", 10"', 10 "" ... elevator device 12 ... guide rail 14 ... car 16 and 26 ... rope 18 and 28 ... sheave 20 ... deflector sheave 22 ... weight part 24, 148: Hoisting motor 30 ... Sheave support means 32 ... Car frame 34 ... Guide roller unit 36 ... Car frame 38 ... Suspension 40, 94 ... Rotary motor 42, 95 ... Motor controller 44, 96, 166, 174 ... Machine bed 46 , 97, 176, anti-vibration rubber 4852, floor 48, bearing 50, sheave base 52, hydraulic cylinder 64, sheave guide 66, sensor support 68, position sensor 60, tension controller 64, 83, 108, 110, 154 ... Sensors 66,112 ... Torque calculators 68,85,114,158 ... Driving controller 70 ... Rotation angle detector 72 ... Rotation angle feed speed Conversion units 74, 87, 88, 91, 118, 120, 122 ... Gain compensator 76 ... Speed target value generator 78, 82, 128 ... Subtractor 80 ... Integral compensator 84 ... Shaft pressure calculation unit 86 ... Position signal conversion Units 89, 124, 130 Adder 90, 126 Zero target value generator 92, 172 Sheave motor 93, 178 Rotary shaft 98 Sheave base 100 Linear guide 102 Fixing member 104 Guide rod 106, 150 ... Acceleration sensors 116, 152 ... Acceleration signal converter 132 ... Primary iron core 134 ... Secondary conductor plate 136 ... Wall 138 ... Mounting member 140 ... Thrust control unit 142 ... Linear motor 144 ... Weight guide 146 ... Weight guide Roller 156: Thrust calculation section 160, 162: Moving pulley 164, 168: Rope hitch 170: Whisper chain

Claims (10)

[Claims] A car capable of ascending and descending along a guide rail, a rope for suspending the car, a sheave on which the rope is hung to change the direction of tension applied to the rope, and a drive for applying tension to the rope Means, a counterweight suspended from the rope opposite to the car side and offsetting the weight of the car via the rope, and a driving force of the driving means based on the reaction force of the driving force when applying tension to the rope. An elevator apparatus, comprising: a reaction force displacing means for vertically moving. 2. The rope is provided with one end attached to the car and another end attached to the counterweight separately from the first rope for suspending the car and the counterweight, and hanging downward. A second rope, wherein the sheave, apart from the first sheave, which imparts tension to the first rope and transmits it to the car as a vertical driving force, the car, the second rope, A second sheave interposed between the counterweights for applying tension to the second rope, wherein the reaction force displacing means is provided on the second sheave and generates tension on the second rope; The elevator apparatus according to claim 1, wherein the elevator apparatus is operated. 3. The elevator apparatus according to claim 1, wherein said reaction force displacement means is a rotary electric motor. 4. The elevator apparatus according to claim 1, wherein said reaction force displacement means is a linear motor. 5. The elevator apparatus according to claim 4, wherein the linear motor is a component of the counterweight. 6. The elevator apparatus according to claim 1, wherein a driving force of the reaction force displacement unit is controlled based on information on a driving speed of the first driving unit. 7. The elevator apparatus according to claim 1, wherein the reaction force displacing means comprises a sheave supporting means for driving the sheave up and down. 8. The elevator apparatus according to claim 2, wherein the reaction force displacing means includes a sheave supporting means for driving the second sheave up and down. 9. The elevator apparatus according to claim 7, wherein said sheave support means controls vertical movement based on information on a driving speed. 10. The elevator apparatus according to claim 7, wherein a plurality of the driving units are provided, and at least one of the driving units is the sheave support unit.