JP5575439B2 - elevator - Google Patents

Description

  The present invention relates to an elevator having a function of suppressing longitudinal vibration of a passenger car.

  The lift type elevator has a structure that balances the car and the counterweight through the main rope. The elevator and the counterweight have a mass system, and the main rope has a certain rigidity. By treating it as a system, the elevator can be handled as a vibration system of a spring system and a mass system.

  For example, as disclosed in Patent Literature 1 and Patent Literature 2, when the frequency of disturbance applied to the vibration system of the target elevator approaches the vicinity of the natural frequency of the vibration system, the entire vibration system becomes a resonance state. It becomes unstable. In other words, when a disturbance with a frequency in the vicinity of the natural frequency of the vibration system is constantly applied to the elevator vibration system during operation, a stationary longitudinal vibration of the car due to a resonance phenomenon occurs. It greatly affects the ride comfort.

  As a first method for solving this problem, there is a method of shifting the natural frequency of the vibration system to a higher frequency range by reviewing and reinforcing the structure of the system to shift it from the excitation frequency received during traveling. is there. This improves ride comfort and provides a rigid system.

  As a second method, when the natural frequency of the vibration system is known in advance, the counterweight is divided to constitute a dynamic vibration absorber, and the mass, spring constant, and damping coefficient of the divided counterweight are determined by the system. There is a method of providing high ride comfort performance by effectively damping the longitudinal vibration of the car by designing it to have the highest vibration absorption in the vicinity of the natural frequency.

JP 2007-8668 A JP 2008-168980 A

  In an elevator, the ride comfort of the car is one of the basic performances, and the longitudinal vibration is an important index that affects the ride comfort. In general, vibrations around 2, 3 Hz to 10 Hz are treated as a problem in terms of experience. Therefore, it is desirable to effectively suppress the longitudinal vibration in the order of several Hz in order to obtain high ride comfort performance.

  However, the eigenvalues of the vibration system differ for each property depending on the loading capacity of the car and the lifting / lowering stroke. In addition, with the recent spread of machine room elevators, elevator structures are becoming smaller, lighter, and lower in cost, making it difficult to ensure the rigidity of the entire system as compared to conventional types.

  From these backgrounds, the natural frequency of the vibration system of the elevator is in the order of several Hz, and the number of cases in which the entire system becomes unstable and impairs the ride comfort due to the disturbance frequency that is steadily received during traveling is higher than before. Yes.

  As described above, it is difficult to secure rigidity by moving the natural frequency to a higher frequency range by reinforcing the system structure as described above, and even if it can be realized, it usually leads to an increase in cost. There are many cases.

  Further, as described above, in the case where the counterweight is provided with the dynamic vibration absorber, it is possible to effectively suppress the vibration of the target frequency without significantly increasing the cost. However, since the capacity and the lifting / lowering process are different for each property in an elevator, it is necessary to design each time, and the target frequency needs to be known in order to make this design. In addition, there is a drawback that there is no effect when a disturbance deviating from the target frequency is applied.

  Accordingly, an object of the present invention is to provide an elevator capable of realizing a high riding comfort by suppressing longitudinal vibration of a car regardless of the installation conditions of the equipment.

In order to solve the above-described problems, an elevator according to the present invention has an elevator and a counterweight suspended individually on each end side of a main rope wound around a sheave attached to a rotating shaft of a hoisting machine. In an elevator that lifts and lowers the car by rotationally driving the hoisting machine, load detecting means for detecting a loaded load value of the car and detecting the position of the car from the shaft rotation of the hoisting machine a squirrel position detecting means, a frequency calculating means for calculating a natural frequency of the elevator vibration system on the basis of your location or detected by live load value and the car position detecting means detected by the load detecting means, wherein steady running of the car, the frequency for calculating the frequency of constantly the applied disturbance rotational speed of the hoisting machine due to the eccentricity of the sieve based on the elevator vibration system In order to avoid a resonance phenomenon caused by the frequency of the disturbance obtained by the calculation of the calculation means and the frequency calculation means approaching the natural frequency of the elevator vibration system obtained by the calculation of the frequency calculation means. Speed control means for controlling the frequency of the disturbance so as to be separated from the natural frequency by controlling the rotational speed of the upper machine.

  ADVANTAGE OF THE INVENTION According to this invention, the high riding comfort can be implement | achieved by suppressing the longitudinal vibration of a car irrespective of the installation conditions of the apparatus of an elevator.

The figure which shows the structural example of the elevator in the 1st Embodiment of this invention. The figure which shows an example of the disturbance applied to an elevator vibration system regularly by rotation of the elevator hoisting machine in the 1st Embodiment of this invention. The figure which shows an example of the relationship with the natural frequency of the elevator vibration system with respect to the main rope length of the elevator in the 1st Embodiment of this invention. The figure which shows an example of the speed pattern at the time of the driving | running | working of the elevator in the 1st Embodiment of this invention. The figure which shows an example of the speed feedback at the time of the driving | running | working of the elevator in the 1st Embodiment of this invention. The block diagram which shows the structural example of the elevator control apparatus of the elevator in the 1st Embodiment of this invention. The flowchart which shows an example of the processing operation for suppression of the longitudinal vibration of the elevator car in the 1st Embodiment of this invention. The figure which shows an example of the relationship between the excitation frequency by the speed control of the elevator in the 1st Embodiment of this invention, and the longitudinal vibration of a passenger car. The figure which shows the example of a calculation of the natural frequency based on the elevator car loading capacity and the car position in the 1st Embodiment of this invention in a tabular form. The figure which shows the structural example of the elevator in the 2nd Embodiment of this invention. The block diagram which shows the structural example of the elevator control apparatus of the elevator in the 2nd Embodiment of this invention. The flowchart which shows an example of the processing operation for suppression of the longitudinal vibration of the elevator car in the 2nd Embodiment of this invention.

Embodiments of the present invention will be described below with reference to the drawings.
(First embodiment)
First, a first embodiment of the present invention will be described.
In this embodiment, the natural frequency of the vibration system is calculated from the loading state of the car and the position of the car, and when the frequency of the disturbance applied to the vibration system approaches the natural frequency, the speed of the car By finely adjusting the target value and finely changing the frequency of the excitation source to the vibration system, the resonance phenomenon is avoided and the longitudinal vibration of the car is suppressed.

FIG. 1 is a diagram illustrating a configuration example of an elevator according to the first embodiment of the present invention.
This elevator uses roping by 2: 1 single wrap, and the car 3 is suspended from car sheaves 6 and 6 a wound around the main rope 9. The main rope 9 is wound around the counterweight sheave 8 via the cage sheaves 6, 6 a and the main sheave 2. The counterweight 7 is suspended from the counterweight sheave 8.

  The car 3 is connected to a counterweight 7 through a main rope 9 wound around a main sheave 2 provided on the motor shaft of the hoisting machine 1. The car 3 ascends and descends in the direction opposite to the upper and lower sides together with the counterweight 7 as the main sheave 2 is rotated by driving the hoisting machine 1 according to the control by the elevator control device 13.

The vibration system of the elevator includes an equivalent stiffness 10 on the car upper hitch side of the main rope 9, an equivalent stiffness 10a on the car upper hoist side of the main rope 9, and an equivalent on the counterweight upper hoist side of the main rope 9. The main rope 9 has a counterweight upper hitch side equivalent rigidity 10c, a car side hitch rigidity 11, and a counterweight side hitch rigidity 12.
The elevator also includes a pulse generator 14 that detects the shaft rotation of the hoist 1 and generates a number of pulse signals proportional to the rotation angle.

  The elevator car 3 has a car room 4 inside, and a load detection device 15 serving as a load detection means for detecting the load of passengers and luggage in the car room 4 below the floor of the car room 4. And a car room vibration isolator 5. The load detection device 15 is provided on the floor surface of the cab 4. In addition, the car room vibration isolator 5 is provided between the bottom surface of the car 3 and the load detection device 15 and has a spring element and a damping element, and these elements attenuate the vibration of the car room 4.

  A hoisting machine vibration isolator 1a is suspended from the main sheave 2. The hoisting machine vibration isolator 1 a includes a spring element and a damping element, and these elements attenuate vibrations of the hoisting machine 1 that are vibrations transmitted to the main sheave 2.

  In this embodiment, when the hoisting machine 1 rotates, the frequency of the disturbance that is constantly applied to the entire vibration system via the main sheave 2 is close to the natural frequency of the spring-mass system in the elevator. The suppression of the longitudinal vibration of the car 3 will be described.

FIG. 2 is a diagram illustrating an example of a disturbance that is constantly applied to the elevator vibration system due to the rotation of the elevator hoist according to the first embodiment of the present invention.
Here, the main sheave 2a having a minute eccentricity, the ideal main sheave 2b, the main sheave center 20, the rotation center 21 of the main sheave, the excitation amplitude 22 generated by the eccentricity, and the displacement 23 of the excitation generated by the eccentricity. The relationship of the vibration period 24 generated by the rotation of the eccentric main sheave will be described.

  The main sheave center 20 shown in FIG. 2 corresponds to the center portion of the eccentric main sheave 2a, and the main sheave rotation center 21 corresponds to the ideal center portion of the main sheave 2b. The vibration amplitude 22 is the vibration amplitude generated by the eccentricity of the main sheave, and the vibration displacement 23 is a displacement having a value twice the vibration amplitude 22. The excitation period 24 is a period of vibrations generated by the eccentricity of the main sheave.

The center 20 of the main sheave and the rotation center 21 of the main sheave ideally coincide with each other, but in actual manufacturing, it corresponds to the difference between the positions of the center 20 of the main sheave and the rotation center 21 of the main sheave shown in FIG. Error may occur.
Assuming that an eccentric main sheave is installed in the elevator due to an error in manufacturing, the excitation amplitude 22 generated by the eccentricity is an excitation period generated by the rotation of the eccentric main sheave according to the rotation of the hoisting machine 1. 24, which is an excitation source for the vibration system. That is, when the main sheave 2 shown in FIG. 1 is eccentric, the main sheave 2 becomes a steady excitation source for the elevator vibration system at a frequency synchronized with the rotational frequency of the hoisting machine 1. In the present embodiment, the following description will be made on the assumption that the main sheave 2 is eccentric as described above.

By the way, the natural frequency of the vibration system of the elevator is determined by the relationship between the spring system and the mass system in the vibration system. The natural angular frequency ω [rad / s] of the elevator vibration system is expressed by the following equation (1).
ω = √ (k / m) (1)
In Equation (1), k is a spring constant, and m is mass.

FIG. 3 is a diagram illustrating an example of the relationship between the elevator main vibration length and the natural frequency of the elevator vibration system according to the first embodiment of the present invention.
As shown in FIG. 3, under the same car loading capacity, the length of the main rope, in this case, the longer the main ropes on the car upper hitch side and the car upper hoist side, the longer the vibration system. The natural frequency of becomes smaller.
Also, under the condition that the length of the main rope on the car upper hitch side and the length of the main rope on the car upper hoisting machine are the same, the natural vibration of the vibration system increases as the car load increases. The number gets smaller.

  Here, the mass corresponding to the mass system of the elevator is equivalent to the total weight of the car part composed of the car 3 and the car room 4, the weight of the counterweight 7, and the load capacity in the car room 4. Become.

  Here, the loading capacity in the cab 4 is a variable mass according to the number of passengers and the weight of the luggage. On the other hand, the main rope 9 is made of steel and has a constant spring constant and damping characteristics per unit length. From this, it can be considered that the main rope 9 has variable rigidity according to the main rope length of the upper part of the car 3 according to the position of the car 3.

  When the car 3 is located at a certain position, the variable stiffness of the main rope 9 with respect to the car 3 is as follows: the main rope equivalent stiffness 10 on the car upper hitch side and the main rope equivalent stiffness 10a on the car upper hoist side. And the sum. Therefore, the natural frequency of the vibration system changes depending on the loading state in the car room 4 and the variable rigidity of the main rope 9 with respect to the car 3.

  The loading state in the car room 4 can be detected by the load detection device 15 in the car 3. Further, the position of the car 3 can be detected by a pulse generator 14 attached to the rotating shaft of the hoist 1. Note that the means for detecting the load in the car room 4 and the position of the car 3 described so far are only examples, and may be detected by other means.

FIG. 4 is a diagram illustrating an example of a speed pattern during operation of the elevator according to the first embodiment of the present invention. FIG. 5 is a diagram illustrating an example of speed feedback during operation of the elevator according to the first embodiment of the present invention.
Here, the speed pattern 30 that is the time characteristic of the speed target value from the start to the end of the operation of the car 3, the speed 31 that is the speed target value at the time of steady operation of the car 3 in the speed pattern 30, and the speed 31 are The relationship among the allowable speed range 32 of the speed of the car 3 as a reference, the speed feedback 33 which is the time characteristic of the speed detection value of the car 3, and the longitudinal vibration waveform 34 will be described.

The longitudinal vibration waveform 34 is a waveform of the longitudinal vibration of the car 3 due to the steady excitation to the vibration system caused by the eccentricity of the main sheave in the speed feedback 33.
In other words, in the speed feedback 33 during steady operation of the car 3, the longitudinal vibration waveform 34 of the car 3 due to the above-described steady excitation is compared with the speed 31 during steady operation of the car 3 in the speed pattern 30. It is happening.

  The elevator control device 13 generates a speed pattern 30 so that the speed target value is constant during steady running when starting the running of the car 3, and controls the hoisting machine 1 to rotate according to the speed pattern 30. To do. However, the main sheave 2a having an eccentricity shown in FIG. 2 applies a constant excitation source frequency that matches the rotation period of the hoisting machine 1 to the elevator vibration system. When the condition for approaching the natural frequency of the vibration system established by the above is satisfied, the vibration system enters a resonance state.

  Then, as shown in FIGS. 5 and 6, in the speed feedback 33 at the time of traveling at the rated speed of the car 3, the steady vibration indicated by the longitudinal vibration waveform 34 is generated and the riding comfort is impaired.

  Therefore, in the present embodiment, in order to suppress such longitudinal vibration, the elevator control device 13 changes the operating speed of the hoisting machine 1 within the allowable range 32 with respect to the rated operating speed, and thereby the eccentricity of the main sheave 2. The longitudinal vibration of the car 3 due to resonance of the vibration system can be suppressed by changing the excitation frequency of the disturbance applied to the vibration system due to the above by a certain value.

FIG. 6 is a block diagram illustrating a configuration example of an elevator control device for an elevator according to the first embodiment of the present invention.
As shown in FIG. 6, the elevator control device 13 includes a car position information acquisition unit 13a, a car loading information acquisition unit 13b, a natural frequency calculation unit 13c, a rotation speed acquisition unit 13d, an excitation frequency calculation unit 13e, and a discrimination processing unit. 13f, a speed controller 13g, and a storage device 13h.
The car position information acquisition unit 13 a of the elevator control device 13 is a car position detection unit that acquires the current position of the car 3 based on a signal from the pulse generator 14. The car load information acquisition unit 13 b acquires the load amount of the car room 4 of the car 3 based on the signal from the load detection device 15.

  The natural frequency calculation unit 13c is a frequency calculation unit that calculates the natural frequency of the vibration system of the elevator based on the acquisition result by the car position information acquisition unit 13a and the acquisition result by the car load information acquisition unit 13b.

  The rotation speed acquisition unit 13d acquires the rotation speed of the hoist 1. The excitation frequency calculating unit 13e calculates the number of revolutions per unit time of the hoisting machine 1 indicated by the acquisition result by the number of revolutions obtaining unit 13d, thereby causing the hoisting machine 1 due to the eccentricity of the main sheave 2. This is a frequency calculation means for calculating the excitation frequency of the disturbance that is constantly applied to the vibration system of the elevator by the rotation of.

  The determination processing unit 13f determines whether or not the excitation frequency of the disturbance that is constantly applied to the vibration system of the elevator belongs to the range that affects the riding comfort, which is the natural frequency of the vibration system and the range before and after the natural frequency. Is determined.

  The speed control unit 13g performs speed control of the car 3 so that the excitation frequency is away from the range in which the excitation frequency affects the riding comfort when the excitation frequency belongs to the range in which the driving comfort influences the riding comfort. It is a control means.

  The storage device 13h is a storage medium such as a nonvolatile memory, for example, and includes a car position information acquisition unit 13a, a car stacking information acquisition unit 13b, a natural frequency calculation unit 13c, a rotation speed acquisition unit 13d, an excitation frequency calculation unit 13e, A program for processing operation by the determination processing unit 13f and the speed control unit 13g is stored.

Next, the operation of the elevator having the configuration shown in FIG. 1 will be described.
FIG. 7 is a flowchart showing an example of a processing operation for suppressing the longitudinal vibration of the elevator car in the first embodiment of the present invention.
First, the elevator control device 13 generates a speed pattern during operation so that the speed at the rated speed is constant according to the call registration, and rotationally controls the hoisting machine 1 according to this speed pattern, The traveling of the car 3 is started (step S1). When the traveling speed of the car 3 reaches the rated speed corresponding to the travel stroke and the vehicle is in a steady operation (YES in step S2), the car position information acquisition unit 13a of the elevator control device 13 receives the pulse generator 14 from the pulse generator 14. The current position of the car 3 is acquired based on the signal (step S3).

  After acquiring the current position of the car 3, the car load information acquisition unit 13b of the elevator control device 13 acquires the load amount of the car room 4 of the car 3 based on the signal from the load detection device 15 (step S4). ).

The natural frequency calculation unit 13c calculates the natural frequency of the vibration system of the elevator based on the acquisition result by the car position information acquisition unit 13a and the acquisition result by the car loading information acquisition unit 13b (step S5).
Specifically, the natural frequency calculation unit 13c calculates the spring constant k in the above-described equation (1) based on the acquired car position, and uses the acquired car load to determine the weight and balance of the car 3. By adding to the dead weight of the weight 7, the mass m in the above-described equation (1) is calculated. The weight of the car 3 and the weight of the counterweight 7 are obtained in the elevator installation stage and stored in advance in the storage device 13h. Furthermore, the natural frequency calculation unit 13c calculates the natural angular frequency by substituting the calculated spring constant k and mass m into the equation (1), and divides this natural angular frequency by 2π. Calculate the natural frequency.

  Next, the rotation speed acquisition unit 13d acquires the rotation speed of the hoist 1 (step S6). The excitation frequency calculation unit 13e calculates the number of revolutions per unit time of the hoist 1 based on the result obtained by the revolution number obtaining unit 13d, thereby causing the hoisting machine 1 to deviate from the eccentricity of the main sheave 2. The excitation frequency of the disturbance that is constantly applied to the vibration system of the elevator by the rotation of 1 is calculated (step S7).

  Then, the discrimination processing unit 13f determines whether the excitation frequency calculated by the excitation frequency calculation unit 13e is close to the natural frequency calculated by the natural frequency calculation unit 13c, that is, the excitation frequency is the natural vibration. It is determined whether or not it belongs to a range that affects the ride comfort due to the resonance phenomenon, which is a number or a range before and after the number (step S8).

  As a result of the process of step S8, if “YES” is determined, the speed control unit 13g determines the range in which the calculated excitation frequency affects the ride comfort, that is, the calculated natural frequency or a range before and after the calculated frequency. The speed target value of the car 3 is controlled by finely adjusting the rotational speed of the hoist 1 so as to be away from the vehicle (step S9). The speed fine adjustment value is a value within a predetermined allowable range based on the rated speed and does not affect the operation efficiency.

FIG. 8 is a diagram showing an example of the relationship between the excitation frequency by the speed control of the elevator and the longitudinal vibration of the car in the first embodiment of the present invention.
As shown in FIG. 8, as the excitation frequency f ₁ of the disturbance to the vibration system of the elevator approaches the natural frequency f ₀ from the front and back of the natural frequency f ₀ of the vibration system, the acceleration of the longitudinal vibration of the car 3 Will grow.
The resonance phenomenon is a phenomenon in which the excitation frequency of the disturbance to the vibration system matches the natural frequency of the target vibration system, or has a steep characteristic that the amplitude and acceleration of vibration increase rapidly when approaching very close. Therefore, it is possible to remarkably suppress the vibration of the vibration system by slightly shifting the excitation frequency of the disturbance from the natural frequency.

In the present embodiment, the operation speed of the car 3 can be finely adjusted from the rated speed to a high speed or a low speed by the speed control unit 13 g of the elevator control device 13.
In this embodiment, the speed control unit 13g determines that “YES” is determined as a result of the process of step S8, and the calculated excitation frequency matches the natural frequency of the vibration system or as shown in FIG. When the frequency is lower than the natural frequency, as indicated by an arrow A in FIG. 8, the vibration frequency by steady vibration is made lower than the calculated vibration frequency so as to be separated from the natural frequency of the vibration system. Finely adjust the speed target value. Further, the speed control unit 13g determines that “YES” is determined as a result of the process of step S8, and when the calculated excitation frequency is higher than the natural frequency of the vibration system, the arrow B in FIG. As described above, the speed target value is finely adjusted so that the excitation frequency by steady excitation is higher than the calculated excitation frequency so as to be away from the natural frequency of the vibration system.

  As a result, the excitation frequency of the disturbance that is steadily applied to the vibration system due to the eccentricity of the main sheave 2 slightly changes and moves away from around the natural frequency of the vibration system. Longitudinal vibration that affects the riding comfort is not generated (step S10).

  Further, if “NO” is determined in the process of step S8, or if the elevator control device 13 determines that the steady operation has not ended after step S10 (NO in step S11), the process of step S3 is performed. Return to. If the elevator control device 13 determines that the steady operation has ended after step S10 (YES in step S11), the series of processing ends.

  As described above, in the elevator according to the first embodiment of the present invention, the natural frequency of the vibration system is calculated based on the current position of the car and the load amount during steady running, and the natural frequency is calculated. If the excitation frequency of the disturbance caused by the eccentric main sheave matches or falls within the range before and after it, the rated speed of the car is finely adjusted within the allowable range to slightly change the frequency of the excitation source Since it did in this way, a resonance phenomenon can be avoided and the longitudinal vibration of a cage | basket | car can be suppressed and a favorable riding comfort can be provided to a passenger.

FIG. 9 is a diagram showing, in a tabular form, a calculation example of the natural frequency based on the elevator car load and the car position in the first embodiment of the present invention.
In the present embodiment, instead of calculating the natural frequency of the vibration system using the above-described equation (1), the ratio of the predetermined car load to the maximum load of the elevator car, and the hoistway The natural frequency of the vibration system may be calculated in advance based on the combination of the ratio of the distance between the predetermined car position and the lowest floor relative to the height. In this case, the calculation result of the natural frequency is stored in the storage device 13 h of the elevator control device 13 as tabular information as shown in FIG. 9, and the natural frequency calculation unit 13 c determines the current car loading amount. The natural frequency corresponding to the current car position may be specified from the information in the table format described above.

  In the present embodiment, whether the excitation frequency calculated by the excitation frequency calculation unit 13e is close to the natural frequency calculated by the natural frequency calculation unit 13c, that is, the excitation frequency is the natural frequency. Alternatively, it has been described that it is determined whether or not it belongs to a range that affects the ride comfort by the resonance phenomenon, but the speed target by the speed control unit 13g in order to prevent the occurrence of the resonance phenomenon during traveling. The range of the excitation frequency for discrimination by the discrimination processing unit 13f at the start of fine adjustment of the value may be set to a wider range.

(Second Embodiment)
Next, a second embodiment of the present invention will be described. In addition, the description of the same part as the thing shown in FIG. 1 among the structures of the elevator in this embodiment is abbreviate | omitted.
In the present embodiment, instead of performing the calculation of the natural frequency as described in the first embodiment, the longitudinal vibration of the car is directly detected, and this longitudinal vibration is caused by the eccentricity of the main sheave 2. When it is determined that the frequency of the disturbance applied to the vibration system is a longitudinal vibration that occurs when it approaches the natural frequency of the vibration system, finely adjust the speed target value of the car to adjust the frequency of the excitation source. It is characterized by suppressing the longitudinal vibration of the car by avoiding the resonance phenomenon by changing it minutely.

FIG. 10 is a diagram illustrating a configuration example of an elevator according to the second embodiment of the present invention.
As shown in FIG. 10, in the elevator according to the second embodiment of the present invention, the longitudinal vibration of the car 3 is detected instead of the load detection device 15 in the car 3 as compared with the first embodiment. The vibration detection apparatus 16 for performing is provided.

FIG. 11 is a block diagram illustrating a configuration example of an elevator control device for an elevator according to the second embodiment of the present invention.
As shown in FIG. 11, the elevator control device 13 in the present embodiment includes a determination processing unit 13f, a speed control unit 13g, a storage device 13h, and a car longitudinal vibration information calculation unit 13i.
The car vertical vibration information calculation unit 13i calculates the acceleration of the vertical vibration of the car 3 and the vertical vibration frequency per unit time based on the signal from the vibration detection device 16, that is, the vibration frequency of the vertical vibration.

  There is a possibility that disturbance due to other than the eccentricity of the main sheave 2 is applied to the vibration system of the elevator. The car longitudinal vibration information calculation unit 13i has a frequency other than the excitation frequency that can be generated by the disturbance due to the eccentricity of the main sheave 2 in order to prevent the disturbance caused by the eccentricity from affecting the determination by the determination processing unit 13f. A filter for filtering longitudinal vibration is included in the vibration detection device 16. As a result, the vertical vibration signal excluding the influence of disturbance caused by other than eccentricity is input to the elevator control device 13.

  The discrimination processing unit 13f has a longitudinal vibration acceleration calculated by the car longitudinal vibration information calculation unit 13i that is equal to or greater than a predetermined threshold, and the vibration frequency of the vertical vibration calculated by the car vertical vibration information calculation unit 13i is within a predetermined dangerous frequency range. It is determined whether or not the vertical vibration that affects the riding comfort is occurring in the car 3.

  The threshold value of the acceleration of the longitudinal vibration described above is the natural frequency at which the excitation frequency due to the disturbance constantly applied to the vibration system due to the eccentricity of the main sheave 2 can be established by the variable mass and variable rigidity of the vibration system. It means the minimum value of the acceleration of the longitudinal vibration that affects the riding comfort, which occurs due to the resonance phenomenon that is coincident with or belongs to the front and rear. This threshold value is calculated in advance at the elevator installation stage and stored in the storage device 13h.

  The above-mentioned critical frequency range of the vibration frequency of the longitudinal vibration is a natural frequency that can be established by the variable mass and variable rigidity of the vibration system and a range before and after that. The value in this range is calculated in advance and stored in the storage device 13h.

  When it is recognized that the longitudinal vibration that affects the riding comfort is generated in the car 3, the speed control unit 13g reduces the longitudinal vibration until it does not affect the riding comfort, that is, the car longitudinal vibration. The speed control of the car 3 is controlled so that the acceleration of the longitudinal vibration calculated by the information calculation unit 13i is less than the above-described threshold value, and the vibration frequency of the vertical vibration calculated by the car vertical vibration information calculation unit 13i is separated from the above-described dangerous frequency range. Do.

  The storage device 13h is a storage medium such as a nonvolatile memory, for example, and stores a program for processing operation by the determination processing unit 13f, the speed control unit 13g, and the car longitudinal vibration information calculation unit 13i.

FIG. 12 is a flowchart showing an example of a processing operation for suppressing the longitudinal vibration of the elevator car in the second embodiment of the present invention.
First, the elevator control device 13 generates a speed pattern during operation so that the speed at the rated speed is constant according to the call registration, and rotationally controls the hoisting machine 1 according to this speed pattern, The traveling of the car 3 is started (step S11). When the traveling speed of the car 3 reaches the rated speed corresponding to the travel stroke and becomes a steady operation (YES in step S22), the car longitudinal vibration information calculation unit 13i of the elevator control device 13 Based on the signal from the vibration detection device 16, the acceleration of the vertical vibration of the car 3 and the vibration frequency of the vertical vibration are calculated (step S23).

  Then, the discrimination processing unit 13f has a vertical vibration acceleration calculated by the car vertical vibration information calculation unit 13i equal to or greater than a predetermined threshold value of the vertical frequency of the car 3 that can be generated due to the eccentricity of the main sheave 2. Is determined (step S24).

  When the determination processing unit 13f determines “YES” in the process of step S24, the determination processing unit 13f determines whether the vibration frequency of the longitudinal vibration calculated as described above belongs to the above-described dangerous frequency range. It is determined whether or not longitudinal vibration affecting the comfort is generated in the car 3 (step S25).

  That is, in the processing of steps S24 and S25, the ride frequency is increased by the resonance phenomenon in which the excitation frequency of the disturbance that is constantly applied to the vibration system due to the eccentricity of the main sheave 2 is the natural frequency or a range around it. Is determined without calculating the natural frequency.

  There is a possibility that sudden disturbance caused by other than the eccentricity of the main sheave 2 is applied to the vibration system of the elevator. In order to prevent this sudden disturbance from affecting the discrimination, the discrimination processing unit 13f has the acceleration of the longitudinal vibration calculated as described above equal to or greater than the above-described threshold for a predetermined time or more, and as described above. When the calculated vibration frequency of the vertical vibration belongs to the above-described dangerous frequency range for a predetermined time or more, it is determined that the vertical vibration that affects the riding comfort is occurring in the car 3.

  If it is determined “YES” as a result of the process in step S25, the speed control unit 13g determines that the excitation frequency of the disturbance that is constantly applied to the vibration system due to the eccentricity of the main sheave 2 is the ride comfort. The speed target value of the car 3 is controlled by finely adjusting the rotational speed of the hoisting machine 1 so as to be away from the natural frequency of the vibration system or the range before and after the natural frequency of the vibration system (step S26). The adjustment value of the speed target value by the speed control is a value that is within a predetermined allowable range based on the rated speed and does not affect the driving efficiency.

  As a result, the excitation frequency of the disturbance constantly applied to the vibration system due to the eccentricity of the main sheave 2 slightly changes and moves away from around the natural frequency of the vibration system. The vertical vibration that is avoided and affects the riding comfort is not generated (step S27).

  Further, when “NO” is determined in the processes of steps S24 and S25, or when the elevator control device 13 determines that the steady operation has not ended after step S27 (NO in step S28), step S23 is performed. Return to the process. If the elevator control device 13 determines that the steady operation has ended after step S27 (YES in step S28), the series of processing ends.

  As described above, the elevator according to the second embodiment of the present invention directly detects the longitudinal vibration of the car during steady running, and the acceleration and vibration frequency of the longitudinal vibration are caused by the eccentricity of the main sheave 2. Finely adjust the rated speed of the car within the allowable range when the excitation frequency of the disturbance that is constantly applied to the vibration system satisfies the condition of longitudinal vibration that is recognized as approaching the natural frequency of the vibration system. Since the frequency of the excitation source is changed minutely, the resonance phenomenon can be avoided, the longitudinal vibration of the car can be suppressed, and a good ride comfort can be provided to the passenger.

  Here, the means for detecting the longitudinal vibration of the car 3 is not limited to the vibration detecting device 16 described above. For example, the load detecting device 15 described in the first embodiment is used, and the car is detected based on the output signal. The acceleration and vibration frequency of the longitudinal vibration may be detected.

  In the present embodiment, the acceleration of the longitudinal vibration calculated by the car longitudinal vibration information calculation unit 13i is equal to or greater than a predetermined threshold value, and the vibration frequency of the longitudinal vibration calculated by the car vertical vibration information calculation unit 13i falls within the dangerous frequency range. Although it has been described that it is determined whether or not the longitudinal vibration that affects the riding comfort is generated in the car 3 by determining whether or not the vehicle belongs to the vehicle 3, in order to prevent the occurrence of the resonance phenomenon during traveling itself, The above-described threshold value of the longitudinal vibration acceleration for discrimination by the discrimination processing unit 13f, which is related to the start of fine adjustment of the speed target value by the control unit 13g, is set low to widen the dangerous frequency range of the longitudinal vibration frequency. Also good.

  The present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. Various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, some components may be omitted from all the components shown in the embodiment. Furthermore, you may combine suitably the component covering different embodiment.

  DESCRIPTION OF SYMBOLS 1 ... Hoisting machine, 1a ... Winding machine vibration-proof device, 2 ... Main sheave, 2a ... Main sheave with eccentricity, 2b ... Ideal main sheave, 3 ... Ride car, 4 ... Car room, 5 ... Car room Anti-vibration device, 6, 6a ... Sheave on car, 7 ... Balance weight, 8 ... Balance weight sheave, 9 ... Main rope, 10 ... Equivalent rigidity on the upper hitch side of the main rope, 10a ... Car on the main rope 9 Equivalent rigidity on the upper hoisting machine side, 10b ... Balance weight of the main rope 9 Equivalent rigidity on the upper hoisting machine side, 10c ... Equivalent rigidity on the upper hitch side of the counterweight of the main rope 9, 11 ... Relative weight on the car side, 12 ... balance weight hitch stiffness, 13 ... elevator control device, 14 ... pulse generator, 15 ... load detection device, 16 ... car vibration detection device, 20 ... center of main sheave, 21 ... Rotation center of in sheave, 22 ... excitation amplitude generated by eccentricity, 23 ... displacement of excitation generated by eccentricity, 24 ... excitation period generated by rotation of eccentric main sheave, 30 ... speed pattern during operation, 31 ... speed during steady operation, 32 ... allowable range of variable speed, 33 ... speed feedback of car, 34 ... longitudinal vibration waveform of car due to steady vibration.

Claims (4)

On each end side of the main rope wound around the sheave attached to the rotating shaft of the hoisting machine, a carriage and a counterweight are individually suspended, and the car is moved by rotating the hoisting machine. In elevators that go up and down,
Load detecting means for detecting the load value of the car, car position detecting means for detecting the position of the car from the shaft rotation of the hoist, the load value detected by the load detecting means and the car a frequency calculating means for calculating a natural frequency of the original in elevators vibration system your position it has detected by the position detecting means, during steady running of the car, the sheaves on the basis of the rotational speed of the hoist a frequency calculating means for calculating a frequency of the disturbance that is constantly applied to the elevator vibration system due to the eccentricity of the operation of frequency the frequency calculating means disturbance obtained by calculation of said frequency computing means In order to avoid a resonance phenomenon caused by approaching the natural frequency of the obtained elevator vibration system, the frequency of the disturbance is determined by controlling the rotational speed of the hoisting machine. Elevator, characterized in that a speed control means for controlling away. Further comprising vibration detection means for detecting longitudinal vibration of the car;
The speed control means is configured such that the detected longitudinal vibration does not satisfy the condition when the longitudinal vibration detected by the vibration detecting means satisfies a predetermined condition corresponding to a longitudinal vibration generated by a resonance phenomenon of the elevator vibration system. The elevator according to claim 1, wherein the rotational speed of the hoisting machine is controlled as described above.   The elevator according to claim 2, wherein the vibration detection means detects the longitudinal vibration by filtering vibrations having a frequency other than the excitation frequency that may be caused by disturbance caused by the eccentricity of the sheave. The speed control means detects the longitudinal vibration detected by the vibration detection means when the longitudinal vibration detected by the vibration detection means satisfies a predetermined condition corresponding to the longitudinal vibration generated by the resonance phenomenon of the elevator vibration system for a predetermined time. The elevator according to claim 2, wherein a rotation speed of the hoisting machine is controlled so that vibration does not satisfy the condition.

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