JP6683184B2 - elevator - Google Patents

Description

  The present invention relates to an elevator, and more particularly to a technique for detecting the position of a car in the vertical direction.

  For example, in a traction type elevator, a machine room is provided above the uppermost part of a hoistway of a car, and a hoisting machine that drives the car is installed in the machine room. A main rope is hung on the sheave that constitutes the hoisting machine, a car is connected to one end side of the main rope, and a counterweight is connected to the other end side of the main rope. ing.

  By rotating the sheave in the forward or reverse direction by an electric motor that constitutes a hoisting machine, the car guided by a pair of car guide rails laid vertically is moved up and down.

  Then, when the car is landed on the destination floor, the car door and the hall door provided on the hall side are opened, and passengers get on and off.

  The output from the encoder that detects the rotation angle of the sheave is referred to for lifting control to the destination floor. That is, when the target rotation angle corresponding to the distance from the departure floor to the destination floor is output, the electric motor is stopped. When the electric motor is stopped, the electromagnetic brake is engaged and the rotation of the sheave is braked.

  However, even if the sheave is accurately rotated by the target rotation angle and the car is stopped, due to the relative slip between the sheave and the main rope, etc., the car will come out of the landing zone. It may happen. The "landing zone" refers to a range of vertical deviation allowed for the car floor with respect to the height of the landing floor (hereinafter referred to as "landing level"). The car door will be opened provided that it is confirmed that the floor of the car stopped at the destination floor is within the landing zone.

  For this reason, a landing detection device for detecting the degree of deviation of the car floor from the landing level is provided. The landing detection device is legally required to be installed. For example, as shown in FIG. 2A, the landing detection device 30 is attached to the side wall of the hoistway corresponding to each photo floor and the photo sensor unit 34 having four photo sensors 32A, 32B, 32C, and 32D. And a light blocking plate 36. The four photosensors 32A, 32B, 32C, and 32D are provided in this order in the vertical direction at predetermined intervals. The photosensors 32A, 32B, 32C, and 32D are attached to a frame (not shown), and the frame is attached to a car (not shown).

  Since the photosensors 32A, 32B, 32C, and 32D have basically the same configuration, the alphabetical suffixes (A, B, C, D) will be omitted when there is no need to distinguish them.

  As shown in FIG. 2B, the photo sensor 32 is a transmissive photo sensor in which a light emitting element 322 and a light receiving element 324 are provided so as to face each other. The light-shielding plate 36 that relatively enters is detected. It is assumed that the photo sensor 32 is in the ON state when the light receiving element 324 does not receive the light emitted from the light emitting element 322 (that is, the state where the light shielding plate 36 is detected). On the other hand, it is assumed that the photo sensor 32 is in the OFF state when the light receiving element 324 is receiving the light emitted from the light emitting element 322 (that is, the state where the light shielding plate 36 is not detected).

  When all the four photosensors 32A, 32B, 32C, and 32D are in the ON state, it is determined that the car floor is in the landing zone. When the car floor drops from the landing level by more than 10 mm, the photo sensor 32D switches from the ON state to the OFF state, and when the car floor rises from the landing level by more than 10 mm, the photo sensor 32A turns from the ON state to the OFF state. Switch to. That is, in this example, the landing zone is set within a range of ± 10 mm in the vertical direction with reference to the landing level.

JP, 2012-246113, A Japanese Examined Patent Publication No. 57-15322

  As described above, the car door is opened on condition that it is confirmed that the floor of the car stopped at the destination floor is within the landing zone. That is, the car door is opened on condition that all of the four photosensors 32A, 32B, 32C, 32D are in the ON state.

  By the way, since the car is suspended by a main rope having elasticity in the vertical direction (length direction), the car may vibrate in the vertical direction due to the passenger moving inside the car. In this case, one or both of the photosensors 32A and 32D may repeat the ON state and the OFF state. Then, after waiting a predetermined time (hereinafter, referred to as "convergence waiting time") where the vibration is expected to converge to some extent, it is confirmed whether all the four photosensors 32A, 32B, 32C and 32D are in the ON state. I have decided.

  Then, if all the photosensors 32A, 32B, 32C, 32D are not continuously turned on even after waiting for a predetermined time, all the photosensors 32A, 32B, 32C, 32D are turned on, The hoist is started to raise or lower the car. Here, in order to correct the vertical position of the car with respect to the landing level until the car temporarily stops at one destination floor and then goes up and down toward the next destination floor, it is referred to as "car position correction" below. ".

  As described above, conventionally, when one or both of the photosensors 32A and 32D repeats the ON state and the OFF state after the car stops at the destination floor, it is necessary to wait until the convergence waiting time elapses. It cannot be corrected. For this reason, it takes time from the stop of the car at the destination floor to the opening of the car door (landing door), resulting in deterioration of service to passengers.

  Further, the car position correction is performed as necessary even when the car door (hall door) is open. When a passenger gets into the car, the load lowers the main rope and the car lowers. When the passenger gets off the car, the load decreases and the main rope contracts and the car rises. When the level difference between the car floor and the landing floor (landing level) that occurs in this case exceeds a predetermined level, the car position is corrected for the purpose of eliminating the level difference. Although the car position correction is performed with reference to the ON / OFF states of the four photosensors 32A, 32B, 32C, and 32D, as in the case described above, there is a difference (deviation) between the car floor and the landing floor. It is difficult to know the size accurately. Further, it is difficult to grasp the size of the step due to the car vibrating up and down due to the passenger moving inside the car while getting on and off.

  In view of the above problems, the present invention can grasp the center position of the vibration of the car vibrating in the vertical direction (the position of the car in the vertical direction when the vibration is converged). The object is to provide an elevator capable of promptly correcting the car position.

  In order to achieve the above object, the elevator according to the present invention is an elevator configured such that a car supported by a supporting means having elasticity in the vertical direction is configured to be elevated and lowered to a target floor in a hoistway, A car position detection unit that detects the position of the car in the vertical direction in the hoistway and outputs it as car position data, and a series of outputs from the car position detection unit while the car is stopped at the destination floor An extreme value estimating means for estimating two maximum values and two minimum values that appear subsequently in the vibration of the car that vertically vibrates due to the elasticity of the support means from a plurality of car position data. And an elevator car position indexing means for indexing the center position of the vibration from the two local maximum values and the two local minimum values estimated by the extreme value estimating means.

  Further, the extreme value estimating means estimates the average value of a plurality of car position data before and after the size of the car position data output from the car position detecting means in a series from increasing to decreasing as a maximum value, and in series. The present invention is characterized in that the average value of a plurality of car position data before and after the size of the output car position data changes from a decrease to an increase is estimated as a minimum value.

  Further, the two maximum values are U1 and U2, and the two minimum values are L1 and L2. U1, U2, L1 and L2 are continuous in the order of U1, L1, U2 and L2 in the vibration of the car. The car position indexing means calculates the vibration damping ratio γ by γ = (L2-L1) / (U1-U2), and the center position M is M = (γ · It is characterized by being calculated by U2 + L2) / (γ + 1).

  Further, further, the elevator is configured such that the car is moved up and down to the destination floor, the car door and the landing door are opened after the car floor of the car has landed on the landing floor, and passengers get on and off. The extreme value estimating means estimates the two maximum values and the two minimum values after the car stops at the destination floor and before the car door and the landing door are opened. .

  Alternatively, an elevator configured such that the car is raised and lowered to the destination floor, and after the car floor of the car has landed on the landing floor, the car door and the landing door are opened and passengers get on and off.

  The extreme value detecting means estimates the two maximum values and two minimum values while the car door and the hall door are open.

  Further, the supporting means is a cord-like body that suspends and supports the car from above the hoistway.

  According to the elevator of the present invention having the above configuration, while the car is stopped at the destination floor, from the car position data output from the car position detecting means that detects the car position, the vibration of the car that vibrates in the vertical direction is detected. The two local maxima U1, U2 and two local minima L1, L2 appearing subsequently are estimated, and the center position of the vibration is determined from the local maxima U1, U2 and the local minima L1, L2. It will be. That is, since the center position of the vibration of the car vibrating in the vertical direction (the position of the car in the vertical direction when the vibration is converged) can be grasped, the car position correction can be performed as quickly as possible. You can

It is a figure which shows schematic structure of the elevator which concerns on embodiment. (A) is a perspective view which shows schematic structure of the light-shielding plate and four photosensors which comprise a landing detection apparatus, (b) is a top view which shows schematic structure of the said photosensor. FIG. 3 is a block diagram mainly showing a schematic configuration of a main control device. It is a figure which shows the content of the raising / lowering table provided in ROM of the said main control apparatus. It is a graph mainly showing a vibration waveform in which the horizontal axis represents time and the vertical axis represents car displacement. It is a figure which shows the content of the extreme value storage area secured in RAM of the said main control apparatus. It is a flowchart which shows the content of a part of program part which detects the center position of the vibration of a car among the programs run by CPU of the said main control apparatus. It is a flow chart which shows the contents of the remaining part of the above-mentioned program part. It is a flowchart which shows the content of the program part regarding a car position correction in the said program.

An elevator according to the present invention will be described based on an embodiment with reference to the drawings.
<Overall structure>
As shown in FIG. 1, an elevator 10 according to the embodiment is a traction type elevator having a machine room 14 above a hoistway 12, and is installed on a sheave 18 of a hoisting machine 16 installed in the machine room 14. The cage 22 is connected to one end of the hung main rope 20, and the counterweight 24 is connected to the other end.

  The hoisting machine 16 has an electric motor 52 (not shown in FIG. 1, see FIG. 3), and rotational power from the electric motor 52 is transmitted to the sheave 18 via a power transmission mechanism (not shown). When the sheave 18 is driven to rotate, the car 22 and the counterweight 24, which are connected to the main rope 20 hung on the sheave 18, are guided by the guide rails (not shown) provided in each, The hoistway 12 is moved up and down in opposite directions. The hoisting machine 16 also has an electromagnetic brake (not shown) provided alongside the electric motor 52 and a rotary encoder 54 (FIG. 3) for detecting the rotation angle of the sheave 18. As the rotary encoder 54, for example, a multi-turn absolute type can be used.

  At the halls Ha, Hb, and Hc on the respective stop floors of the car 22, hall doors 28a, 28b, and 28c that are opened and closed in synchronization with the car door 26 provided in the car 22 are installed.

  A photo sensor unit 34 is attached to the car 22, and light-shielding plates 36a, 36b, 36c are attached to the side walls of the hoistway 12 in correspondence with the halls Ha, Hb, Hc of each stop floor. . The light-shielding plates 36a, 36b, and 36c have the same configuration as the light-shielding plate 36 described with reference to FIG. 2, but when the installation floors are distinguished, the alphabetical subscripts (a, b, c) are used. .

  The landing detection device 30 including the photo sensor unit 34 and the light shielding plate 36 has been described in detail with reference to FIG. 2, and thus the description thereof is omitted here.

  The elevator 10 also includes an absolute type magnetic linear scale 38 (hereinafter, referred to as a “magnetic scale 38”) as a car position detecting unit that detects the position of the car 22 in the vertical direction in the hoistway 12. There is.

  The magnetic scale 38 is a recording tape in which absolute position (distance) information from one end to the other end is recorded as a magnetic pattern (magnetic scale) with a resolution of 0.5 mm, and a magnetic tape 40 and a magnetic tape 40. And a reading unit 42 for reading the magnetic scale. As the magnetic scale 38, for example, a known one such as "Absolute magnetic scale LIMAX series" manufactured by Ergo Electronic Co., Ltd. can be used.

  The magnetic tape 40 is attached in the hoistway 12 such that the longitudinal direction is the vertical direction. In this example, it is stretched between the ceiling 12A of the hoistway 12 and the pit floor 12B of the hoistway 12.

  As a mode of this stretching, for example, the upper end of the magnetic tape 40 is fixed to a bracket (not shown) provided on the ceiling 12A, while the lower end of the magnetic tape 40 and a bracket (not shown) provided on the pit floor 12B. It is conceivable that the magnetic tape 40 and the magnetic tape 40 are connected to each other by a tension coil spring (not shown) so that the magnetic tape 40 is hung on the magnetic tape 40 under a constant tension.

  Further, instead of the tension coil spring, a weight (not shown) may be hung on the lower end of the magnetic tape 40 to attach the magnetic tape 40 under a constant tension.

  Not limited to the tension, the magnetic tape 40 may be attached to, for example, a surface of the above-described guide rail (not shown) that guides the car 20 in the vertical direction, which does not hinder the guidance of the car 20.

  In this example, the magnetic tape 40 is attached in a direction in which the scale is in a state of being scaled from the bottom to the top (that is, the scale becomes larger toward the upper side). The magnetic tape 40 may be attached in the opposite direction.

  The reading unit 42 is fixed to the car 22. The reading unit 42 may be fixed at any fixed position in the vertical direction with respect to the car 22. The fixed position of the reading unit 42 with respect to the car 22 is that the reading unit 42 can move along the magnetic tape 40 and read the magnetic scale recorded on the magnetic tape 40 when the car 22 is moved up and down in the hoistway 12. It does not matter as long as it can be moved.

  In the magnetic scale 38 provided as described above, the value of the magnetic scale read by the reading unit 42 indicates the absolute vertical position of the car 22 in the hoistway 12 at the time of reading. That is, the magnetic scale 38 can detect the vertical absolute position of the car 22 in the hoistway 12.

  In the machine room 14, there is also installed a main controller 44 that integrally controls the electric motor 52 (FIG. 3), the electromagnetic brake (not shown), and the car door 26 to realize smooth operation of the elevator 10. Has been done.

  As shown in FIG. 3, the main controller 44 has a configuration in which a ROM 48 and a RAM 50 are connected to a CPU 46.

  The ROM 48 stores various control programs executed by the CPU 46, and also stores an elevating table 480 as shown in FIG. The lift table 480 is a table that stores the target rotation angle of the rotary encoder and the reference car position for each floor (target floor) on which the car 22 is landed. Each of the destination floors is identified by an ID (001, 002, 003, ...).

  The target rotation angle is referred to by the CPU 46 in the raising / lowering control of the car 22. The CPU 46 rotationally drives the electric motor 52 until the output value (rotation angle) from the rotary encoder 54 coincides with the target rotation angle (any one of E1, E2, E3, ...) Corresponding to the destination floor, and coincides. In this state, the electric motor 52 is stopped and an electromagnetic brake (not shown) is engaged. As a result, the car 22 will be stopped at the destination floor. Since the target rotation angle has a one-to-one correspondence with the target stop position of the car 22 in the vertical direction in the hoistway 12, the target rotation angle is nothing but the target stop position.

  Each of the target rotation angles in the lift table 480 is stored during the data acquisition operation. In the data acquisition operation, the car 22 is actually moved up and down, and each output value (rotation angle) output by the rotary encoder 54 when the car 22 is detected by the landing detection device 30 is stored in the lift table 480. The data acquisition operation is performed when the elevator 10 is installed in a building and periodically thereafter, and the target rotation angle of the lifting table 480 is updated in a timely manner.

  The reference car position is a value of the magnetic scale read by the reading unit 42 in the magnetic scale 38 in a state where the car floor of the car 22 at each of the destination floors matches the landing level of the corresponding landing.

  As will be described later, the RAM 50 has a storage area for temporarily storing the magnetic scale read by the reading unit 42 of the magnetic scale 38 as “car position data”, and when the CPU 46 executes various control programs. Functions as the work memory used.

  The main controller 44, the photosensors 32A, 32B, 32C, 32D, the reading unit 42 of the magnetic scale 38, and the microcomputer (not shown) that executes the opening / closing control of the car door 26 are connected via a traveling cable (not shown). Has been done.

  The main controller 44 executes a car position detection process using the magnetic scale 38 and a car position correction process based on the detection result.

Hereinafter, a series of processes from detection of the car position to correction of the car position will be described.
<Indexing of vibration center position in a vibrating car>
When the car position is corrected, when the car 22 does not vibrate vertically and is stationary, the car position data read by the magnetic scale 38 and output from the magnetic scale 38 (reading unit 42) is used. be able to. That is, the difference between the car position data and the reference car position (FIG. 4) corresponding to the stop floor at that time is the car position correction distance.

  However, when the car 22 is vibrating in the vertical direction, the car position data read by the magnetic scale 38 cannot specify which position in the vertical amplitude of the car 22. The car position cannot be corrected.

  As is clear from the purpose of the car position correction, what is required is the car position when the vibration is converged, that is, the center position of the vibration.

  Hereinafter, the principle of the process of detecting the center position performed by the main controller 44 based on the car position data read by the magnetic scale 38 will be described with reference to FIG.

  FIG. 5 is a graph showing a vibration waveform in which the horizontal axis represents time and the vertical axis represents displacement of the car 22. Here, the car 22 is assumed to undergo damped vibration, and its vibration waveform is shown by a solid line. Further, the vibration waveform when there is no damping is regarded as a sine curve, and is shown by a broken line in FIG. In such damping vibration, a total of four maximum points and minimum points alternately appear during the two cycles.

Here, the damping ratio in the damping vibration is “γ (= e ^−αt )”, the center position is “M”, the amplitude of the sine curve is “A”, and the angular frequency is “ω”. In addition, the poles appearing during the two cycles of the damped vibration are a first maximum point U1, a first minimum point L1, a second maximum point U2, and a second minimum point L2 in chronological order. The same reference numerals will be used for the extreme values of these maximum points and minimum points. That is, the first maximum value U1, the first minimum value L1, the second maximum value U2, and the second minimum value L2. The magnitude relationship of the absolute values of U1, L1, U2, and L2 is | U1 |> | L1 |> | U2 |> | L2 |.

  The maximum values U1 and U2 and the minimum values L1 and L2 are expressed by the equations (1) to (4), respectively.

          U1 = M + γAsinωt (1)

L1 = M + γ ² Asinωt (2)

U2 = M + γ ³ Asinωt (3)

L2 = M + γ ⁴ Asinωt (4)

  At the maximum points U1 and U2, “sin ωt = 1” and at the minimum points L1 and L2, “sin ωt = −1”. Therefore, equations (1) to (4) are respectively equations (5) to ( It can be expressed as in 8).

          U1 = M + A · γ (5)

L1 = MA−γ ² (6)

U2 = M + A · γ ³ (7)

^{L2 = M-A · γ 4} ... (8)

here,
(L2-L1) / (U1-U2)
= {(M−A · γ ⁴ ) − (M−A · γ ² )} / {(M + A · γ) − (M + A · γ ³ )}
= {A · γ ² · (1-γ ² )} / {A · γ · (1-γ ² )}
= Γ (9)

  Becomes Therefore, if the four extreme values U1, U2, L1, and L2 can be grasped, the damping ratio γ of the damping vibration can be obtained.

Also,
(Γ ・ U2 + L2) / (γ + 1)
= (Γ · M + A · γ ⁴ + MA−γ ⁴ ) / (γ + 1)
= {(Γ + 1) · M} / (γ + 1)
= M ... (10)

  Becomes Therefore, if the damping ratio γ and the extreme values U2 and L2 can be known, the center position M can be obtained. As described above, the damping ratio γ can be obtained if the extrema U1, U2, L1, L2 can be grasped. In the end, if the four extrema U1, U2, L1, L2 can be grasped, the center position M should be obtained. Can be done.

<Estimation process of the extreme value of vibration in a vibrating car>
The main controller 44 monitors the car position data output from the magnetic scale 38 (reading unit 42) at predetermined equal time intervals (for example, about 10 msec).

  The main controller 44 compares the magnitude relations of six consecutive car position data, and if the value of the car position data increases three times in a row and then decreases twice in a row, there is a maximum value between them. Presumed to be. Then, the average value of the five car position data excluding the first one of the six is considered (estimated) as the maximum value.

  Further, the main control device 44 compares the size relationship of the consecutive six car position data, and when the value of the car position data decreases three times in a row and then increases twice in a row, the minimum value in the meantime. Presumably exists. Then, the average value of the five car position data excluding the first one of the six is considered (estimated) as the minimum value.

  Next, a series of processing (program) from the detection of the car position to the car position correction, which is executed by the main controller 44, will be described.

  As described above, the series of processes is executed until the car 22 temporarily stops at the destination floor and then moves up and down toward the next destination floor. As the timing of execution during this period, (b) the car door 26 (landing door 28) is opened until the car door 26 (landing door 28) is opened after the car 22 is stopped at the destination floor. There is a period of time.

<Vibration center position detection processing in a vibrating car by the main controller>
The contents of the program relating to the center position detection processing executed by main controller 44 based on the above method will be described. For the execution of the program, the RAM 50 (FIG. 3) of the main controller 44, as shown in FIG. 6, has a first maximum value U1, a second maximum value U2, a first minimum value L1, and a second maximum value L1. It has an extreme value storage area 502 for storing the minimum value L2. Further, in the RAM 50, a variable “CU” is set as a counter for recording the number of times the maximum value is stored in the extreme value storage area 502, and a variable “CL” is set as a counter for recording the number of times the minimum value is stored (whichever. Is also not shown).

  7 and 8 are flowcharts showing the contents of the program part relating to the central value processing detection executed by the main controller 44.

  Main controller 44 first clears extreme value storage area 502 (FIG. 6) in RAM 50 (step S1). Subsequently, the CPU 46 resets the counters "CU" and "CL" (step S2) and resets the internal flag f (step S3). As will be understood from the description below, the internal flag f is used to first detect the maximum value among the maximum value and the minimum value that appear after the start of the program.

  Then, the CPU 46 receives the car position data output from the reading unit 42 (step S4), and determines whether f = 0.

  In the case of f = 0, the CPU 46 compares the magnitude relations of six consecutive car position data, and determines whether the value of the car position data has increased three times in a row and then decreased twice in a row. (Step S6). Hereinafter, “the value of the car position data increases three times in a row and then decreases twice in a row” is referred to as a “maximum value condition”. It should be noted that the first judgment as to whether or not the maximum value condition is satisfied is made after the program is started, after receiving the six car position data, that is, after repeating the processing of steps S4 to S6 six times.

  When the CPU 46 determines that the maximum value condition is satisfied, the arithmetic mean value of the five car position data excluding the first one out of the six car position data received in series is stored in the extreme value storage area 502 ( It is stored in the first maximum value storage area of FIG. 6) (step S7). That is, the arithmetic mean value is regarded (estimated) as the maximum value and stored in the extreme value storage area 502. Therefore, steps S6 and S7 function as a maximum value estimating means for estimating the maximum value from a plurality of car position data output from the magnetic scale 38.

  When step S7 ends, the counter "CU" is incremented by one (step S8), and the internal flag f is set to indicate that the next value to be detected is the minimum value (step S9).

  The CPU 46 determines whether CU ≧ 2 and CL ≧ 2, that is, whether four extremal values U1, U2, L1, and L2 are stored in the extremal value storage area 502 (step S10). If it is determined that the extreme value of is not stored (NO in step S10), the process returns to step S4.

  When the car position data is received in step S4, the CPU 46 determines whether or not f = 0 (step S5), and when it is determined that f = 0 is not satisfied (f = 1) (NO in step S5), that is, the extreme value. When it is determined that the extreme value stored immediately before in the storage area 502 is the maximum value (step S9), the process proceeds to step S11.

  In step S11, the CPU 46 compares the magnitude relationships of six consecutive car position data, and determines whether the value of the car position data has decreased three times in a row and then increased twice in a row. Hereinafter, "the value of the car position data decreases three times in a row and then increases twice in a row" will be referred to as "minimum value condition".

  If it is determined that the minimum value condition is not satisfied (NO in step S11), the process returns to step S4 to receive the next car position data.

  On the other hand, when it is determined that the minimum value condition is satisfied (YES in step S11), the arithmetic average value of the five car position data excluding the first one out of the six car position data received in series is calculated as the local minimum. The value is stored in the first minimum value storage area of the value storage area 502 (FIG. 6) (step S12). That is, the arithmetic mean value is regarded (estimated) as the minimum value and stored in the extreme value storage area 502. Therefore, steps S11 and S12 function as a minimum value estimating means for estimating a minimum value from a plurality of car position data output from the magnetic scale 38.

  When step S12 ends, the counter "CL" is incremented by 1 (step S13), the internal flag f is reset to indicate that the next value to be detected is the maximum value (step S14), and the process proceeds to step S10. .

  Thereafter, the CPU 46 repeats steps S4 to S9 and steps S11 to S14 until it determines that the four extreme values (U1, U2, L1, L2) are stored in the extreme value storage area 502 (YES in step S10). .

  If it is determined that the four extreme values (U1, U2, L1, L2) are stored in the extreme value storage area 502 (YES in step S10), the process proceeds to step S21 shown in FIG.

  The CPU 46 uses the following formula from the first maximum value U1, the second maximum value U2, the first minimum value L1, and the second minimum value L2 stored in the extreme value storage area 502.

          γ = (L2-L1) / (U1-U2) (9)

  Calculates the vibration damping ratio γ of the car 22 (step S21),

  From the damping ratio γ, the second maximum value U2, and the second minimum value L2,

          M = (γ · U2 + L2) / (γ + 1) (10)

  The center position M is calculated by (step S22).

  Therefore, in steps S21 and S22, the first maximum value U1, the second maximum value U2, the first minimum value L1, and the second minimum value L2 are substituted into equations (9) and (10). Thus, the center position M functions as a car position indexing unit.

<Car position correction>
When the center position M is determined (step S22), the main control device 44 controls the hoisting machine 16 to execute the car position correction.

  The contents of the program relating to the car position correction executed in the main controller 44 will be described based on the flowchart shown in FIG.

  The CPU 46 (FIG. 3) of the main controller 44 refers to the lift table 480 (FIG. 4), subtracts the center position M from the reference car position corresponding to the stop floor (target floor) at that time, and calculates the difference ΔF. Calculate (step S31).

  Next, the CPU 46 releases the electromagnetic brake (not shown) of the hoisting machine 16 (step S32) and drives the electric motor 52 by the rotation angle corresponding to ΔF while referring to the output value from the rotary encoder 54. (Step S33). As a result, the car 22 is moved (lifted) upwards or downwards by ΔF, and the vertical deviation of the car floor with respect to the landing level (step) is eliminated as much as possible.

  Finally, the electromagnetic brake (not shown) of the electric motor 52 is engaged (step S34), and the series of programs ends.

  As described above, according to the embodiment of the present invention, when the car 22 is stopped at the destination floor, the car 22 that vibrates in the vertical direction based on the car position data output from the magnetic scale 38 that detects the car position. The two local maximum values U1 and U2 and the two local minimum values L1 and L2 that appear subsequently in the vibration are estimated, and the central position M of the vibration is calculated from the local maximum values U1 and U2 and the local minimum values L1 and L2. Will be calculated. That is, it is possible to grasp the center position of the vibration of the car vibrating in the vertical direction (the amount of deviation from the floor level of the car floor when the vibration is converged), and therefore as quickly as possible. Car position can be corrected.

(Modification 1)
In the above embodiment, when the maximum value condition is satisfied (YES in step S6), the arithmetic mean value of the five car position data excluding the first one of the six car position data received in series is the maximum value. However, the present invention is not limited to this (estimated) (step S7), but the car position data (that is, the fourth car position data from the beginning) of the six car position data immediately before the change from increase to decrease. ) May be picked up and this may be estimated as the maximum value.

  Similarly, in the above embodiment, when the minimum value condition is satisfied (YES in step S11), the arithmetic mean value of the five car position data excluding the first one is regarded (estimated) as the minimum value (step S12). ), Not limited to this, picking up the car position data (that is, the fourth car position data from the beginning) just before the change from decreasing to increasing among the six car position data, and presuming this is the minimum value It doesn't matter.

  That is, in the above-described embodiment, the magnetic scale is used for each of the first maximum value, the second maximum value, the first minimum value, and the second minimum value that are substituted into the equations (9) and (10). Although the arithmetic mean (FIG. 7, steps S7 and S12) of a plurality of (five in this example) car position data detected in 38 is used, the four (4) to be substituted into the formulas (9) and (10) are used. For each of the extreme values, one car position data detected by the magnetic scale may be used as it is. That is, from the car position data that is output in series from the magnetic scale, the car position data that is considered to correspond to the extreme value is picked up, and the picked up car position data (extreme value) is substituted into equations (9) and (10). To do.

(Modification 2)
As means for picking up the extreme value, in addition to the first modification, for example, a part of the circuit configuration shown in FIG. 2 of Patent Document 2 (Japanese Patent Publication No. 57-15322) can be used. However, since three consecutive extrema are picked up by the circuit configuration of Patent Document 2, in order to obtain four consecutive extrema, three gate circuits 21, 22 of Patent Document 2, It is assumed that a fourth gate circuit is added to 23 and a fourth register is added to the three registers 18, 19, 20.

  Where a linear scale, a rotary encoder, or the like can be used as the detector 15 of Patent Document 2 (column 3, line 20 of Patent Document 2), for example, a linear scale manufactured by Ergo Electronic Co., Ltd. A known one such as an incremental magnetic scale EMIX / LMIX series ”is used.

  According to the above configuration, the four extreme values (the first maximum value, the first minimum value, the second maximum value, and the second minimum value) in the vibration of the car that is damped in the vertical direction are generated. Since each is picked up and stored in each of the four registers, the center position M can be calculated from the four stored extreme values by the equations (9) and (10). .

  It should be noted that the extreme values obtained by the circuit configuration shown in FIG. 2 of Patent Document 2 are four in consideration of the resolution of the linear scale used as the detector 15 and the time interval of the car position data output from the linear scale. The extreme value stored in each register is not limited to the true extreme value in the vertical vibration of the car and is considered to be an estimated value. Therefore, the circuit configuration functions as an extreme value estimating means.

  Although the elevator according to the present invention has been described above based on the embodiment, it goes without saying that the present invention is not limited to the above-described mode, and may have the following modes, for example.

  (1) In the above embodiment, in steps S6 and S11 shown in FIG. 7, five cars before and after the size of the car position data sequentially output from the magnetic scale 38 increases or decreases, or changes from decrease to increase. Although the average value of the position data was estimated as the extreme value, the number of the car position data used for the estimation is not limited to five, but is arbitrary. The number of cage position data used for the extreme value estimation is appropriately selected depending on the resolution of the magnetic scale used, the output frequency, and the like.

  (2) In the above embodiment, the magnetic scale is used as the means for detecting the vertical position of the car in the hoistway, but the car position detecting means is not limited to this, and the following may be used, for example. .

(A) Laser distance sensor TOF (Time Of Flight) method (measures the time until the light (laser light) emitted from the light source is reflected by the measurement object and returns, and the calculation processing is performed from the light source to the measurement object. It is also possible to use a laser distance sensor of a measuring method for converting the distance to the object.

  The laser distance sensor is installed on the ceiling 12A or the pit floor 12B of the hoistway 12 (FIG. 1). Then, the laser reflection plate is fixed at an appropriate position on the car 22 as an object to be measured.

  Thus, the vertical position of the hoistway of the car 22 is measured as the distance from the laser distance sensor installed on the ceiling 12A or the pit floor 12B, so that the distance can be used as car position data.

(B) Rotary Encoder Although omitted in the above embodiment, a rotary encoder may be provided as follows in a speed governing device normally provided in an elevator, and the rotary encoder may be used as a car position detecting means.

  The speed governor has a structure in which a governor rope is stretched endlessly between a governor sheave installed in a machine room and a tension sheave provided in a pit of a hoistway. An emergency stop lever for actuating an emergency stop device attached to the car is fixed to the governor rope.

  When the car is moved up and down, the governor rope to which the emergency stop lever is fixed runs, and the governor sheave and the tension sheave on which the governor rope is hung are rotated at the same speed (peripheral speed) as the car 18 is moved up and down.

  Here, the ascending / descending position of the car (the position in the up / down direction in the ascending / descending path) and the rotation angle of the governor sheave and the tension sheave have a one-to-one correspondence.

  Therefore, a rotary encoder that detects the rotation angle of the governor sheave or the tension sheave is provided, and the vertical position of the car in the hoistway is specified from the output value (car position data) of the rotary encoder.

  (3) In the above embodiments, the present invention is described based on an example in which the present invention is applied to a rope-type elevator, but the present invention is not limited to the rope-type elevator and can be applied to a hydraulic elevator.

  Needless to say, the hydraulic elevator is an elevator that sends the hydraulic oil in the tank into the cylinder of the hydraulic jack, pushes up the plunger to raise the car, and returns the hydraulic oil in the cylinder to the tank to lower the car.

  The car is supported by a hydraulic jack, and the hydraulic oil in the cylinder has elasticity in the vertical direction.Therefore, although the car is not as flexible as the above-mentioned embodiment using the main rope as the supporting means, the car moves up and down due to passengers getting on and off. This is because there is an advantage in applying the present invention because the car may vibrate up and down due to the displacement in the direction and the passenger walking in the car.

  INDUSTRIAL APPLICABILITY The elevator according to the present invention can be suitably used, for example, in an elevator that corrects the vertical position of a car with respect to a floor landing level while stopped at a destination floor.

10 Elevator 20 Main rope 22 Cage 38 Magnetic linear scale 44 Main controller

Claims (5)

A car supported by a supporting means having elasticity in the up-and-down direction is an elevator configured to be lifted and lowered to a destination floor in a hoistway,
Car position detecting means for detecting the position of the car in the vertical direction in the hoistway and outputting as car position data,
When the car is stopped at the destination floor, from a plurality of car position data output in series from the car position detection means, in the vibration of the car that vibrates in the vertical direction due to the elasticity of the support means Extreme value estimating means for estimating two maximal values and two minimal values that appear subsequently,
Car position indexing means for indexing the center position of the vibration from the two local maximum values and the two local minimum values estimated by the extreme value estimating means;
Have a,
The two maximum values are U1 and U2, the two minimum values are L1 and L2, and U1, U2, L1 and L2 are poles that are continuous in the order of U1, L1, U2 and L2 in the vibration of the car. If it is a value,
The car position indexing means determines the vibration damping ratio γ.
γ = (L2-L1) / (U1-U2)
The center position M is calculated by
M = (γ ・ U2 + L2) / (γ + 1)
An elevator characterized by being calculated by .   The extreme value estimation means estimates the average value of a plurality of car position data before and after the size of the car position data output from the car position detection means in a series from increase to decrease as a maximum value, and outputs the series. The elevator according to claim 1, wherein an average value of a plurality of car position data before and after the size of the car position data changes from a decrease to an increase is estimated as a minimum value. An elevator configured such that the car is raised and lowered to the destination floor, the car floor of the car is landed on the landing floor, and the car door and the landing door are opened to allow passengers to get on and off.
The extreme value estimating means estimates the two maximum values and two minimum values after the car stops at the destination floor and before the car door and the landing door are opened. The elevator according to claim 1 or 2 . An elevator configured such that the car is raised and lowered to the destination floor, the car floor of the car is landed on the landing floor, and the car door and the landing door are opened to allow passengers to get on and off.
The elevator according to claim 1 or 2 , wherein the extreme value detecting means estimates the two maximum values and two minimum values while the car door and the hall door are open. . It said support means, an elevator according to any one of claims 1 to 4, characterized in that from the top of the hoistway is a cord-like member for supporting hanging the cage.

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