JP7409540B1 - Elevator device control method and elevator device - Google Patents

Abstract

The present invention provides a control method for an elevator system and an elevator system that can determine the swing of a long object such as a rope based on the shaking of a building, and easily determine whether to shift to controlled operation.
The method for controlling an elevator device 10 according to the present invention provides a control method for a long object to be monitored, in which the magnitude of the displacement of the shaking of the building 30 is equal to or greater than a predetermined value, and the vibration period of the shaking is a long object to be monitored. When the sway determination condition that matches the period is satisfied, when the number of periods of the sway becomes equal to or greater than the preset number of transition periods, the vehicle shifts to controlled operation. The shaking determination condition can be set based on the magnitude of the shaking displacement and the vibration period, and the number of transition cycles can be set according to the shaking determination condition.
[Selection diagram]
Figure 4

Description

The present invention relates to a control method for an elevator system and an elevator system that can determine the swing of a long object such as a rope based on the shaking of a building, and easily determine whether to shift to controlled operation.

As buildings become taller, when periodic vibrations occur in buildings due to earthquakes, strong winds, etc., elevator equipment is also affected. In the case of elevator equipment, long objects such as ropes may vibrate in the horizontal direction and come into contact with structures within the shaft.

Therefore, in Patent Documents 1 to 6, the swing amplitude of a long object such as a rope is inferred and calculated in real time based on the measured building shaking, and the elevator equipment is shifted to controlled operation under predetermined conditions. There is.

Patent No. 2007-331901 Patent No. 2007-131360 Patent No. 2008-114944 Patent No. 2008-114959 Patent No. 2008-044701 Patent No. 2008-133105

For long objects such as ropes, errors in vibration characteristics such as natural frequency and damping ratio affect inference and calculation of swing amplitude, etc., but it is important to consider margins for differences in excitation frequency and natural frequency. It is difficult to give this value, and there is a possibility that long object shake may be underestimated. In addition, it is necessary to continuously observe and confirm changes in the vibration characteristics of long objects over time, which increases running costs.

Furthermore, since the response to long object shake changes due to the movement of the car, nonlinear analysis that requires repeated calculations and convergence calculations is required to infer and calculate the shake width, etc., which increases the hardware load and This results in an increase in processing time. In particular, an elevator system includes a plurality of long objects (for example, a main rope and a compensating rope), and it is necessary to perform a plurality of inferences and calculations for each of them, leading to an increase in hardware cost.

Generally, excitation is two-dimensional, and when calculating the vibration amplitude etc. using a mathematical model of a long object, it is necessary to perform at least two series of calculations for one object. , the hardware load increases.

An object of the present invention is to provide a control method for an elevator system and an elevator system that can determine the swing of a long object such as a rope from the shaking of a building, and easily determine whether to shift to controlled operation.

The method for controlling an elevator device according to the present invention includes:
If the magnitude of the displacement of the shaking of the building is greater than or equal to a predetermined value, and the vibration period of the shaking satisfies the shaking determination condition that matches the period to be monitored of a long object to be monitored, the number of cycles of the shaking is greater than or equal to a predetermined value. When the number of transition cycles exceeds a preset number, the vehicle shifts to controlled operation.

The shaking determination conditions are set based on the magnitude of shaking displacement and the vibration period,
The number of transition cycles can be set according to the shaking determination condition.

Shaking detection that detects the magnitude of displacement and vibration period of the shaking of the building,
determining whether the magnitude of the displacement and the vibration period of the detected shaking satisfy the shaking determination condition;
counting the number of cycles of the shaking when a shaking that satisfies the shaking determination condition is detected;
When the number of cycles of shaking that satisfies the shaking determination condition becomes equal to or greater than the number of transition cycles, it is possible to shift to controlled operation.

The number of transition cycles may be different for a decreasing vibration in which the amplitude of the detected vibration decreases or an increasing vibration in which the detected vibration increases.

The elevator device of the present invention includes:
a shaking detector that detects the shaking of the building and outputs a shaking detection signal;
The magnitude of the displacement and the vibration period are obtained from the vibration detection signal, it is determined whether the magnitude of the displacement and the vibration period satisfy a preset vibration determination condition, and the number of vibration cycles satisfying the vibration determination condition is determined. , a determination unit that instructs to transition to controlled operation when the number of transition cycles exceeds a preset number;
an operation control unit that transitions to controlled operation based on an instruction to transition to controlled operation from the determination unit;
including.

The shaking determination conditions are set based on the magnitude of shaking displacement and the vibration period,
The number of transition cycles can be set according to the shaking determination condition.

According to the elevator device control method and elevator device of the present invention, a shaking judgment condition including the magnitude of displacement and vibration period of shaking of a building in which a long object resonates, and a transition to controlled operation based on the shaking judgment condition. The number of transition cycles to be performed is set in advance. Then, when the shaking of the building is detected, the magnitude of the displacement and the number of cycles of the shaking are measured, and when the number of cycles of shaking that matches the shaking judgment conditions exceeds the preset number of transition cycles, We are trying to shift to controlled operation.

In other words, the present invention monitors the consistency between the detected shaking of the building and the shaking determination conditions, and simply counts the number of cycles of the matching shaking to determine the shaking of a long object and transition to controlled operation. Since judgments can be made and numerical analysis such as nonlinear analysis is not required, the load on hardware for inference and calculations is also low. As a result, hardware costs can be reduced, and swings of long objects such as a plurality of ropes can be monitored and judged more cheaply and easily.

By setting a range in the preset vibration determination conditions, it is possible to accommodate errors in the vibration characteristics of the long object being monitored and changes over time with sufficient margin.

FIG. 1 is an explanatory diagram showing the overall configuration of an elevator device according to an embodiment of the present invention. FIG. 2 is a control block diagram of the elevator device. FIG. 3 is a control flowchart of the elevator device. FIG. 4 is a waveform diagram of shaking detected by the shaking detector. FIG. 5 is a waveform diagram of shaking that tends to decrease. FIG. 6 is a waveform diagram of shaking that tends to increase.

EMBODIMENT OF THE INVENTION Hereinafter, one embodiment of the elevator apparatus 10 of this invention is demonstrated along drawing.

<Schematic configuration of elevator device 10>
FIG. 1 is a diagram showing the overall configuration of an elevator system 10 to which the present invention is applied. The elevator device 10 has a car 12 and a counterweight 13 disposed in a shaft 11 of a building 30 so as to be movable up and down. For example, a machine room 20 is provided at the top of the shaft 11, and a hoist 14 and a control device 40 are provided in the machine room 20.

The car 12 and the counterweight 13 can run on a guide rail (not shown) laid vertically within the shaft 11, and the top side of the car 12 and the counterweight 13 is connected to the main rope 16. In addition to being suspended, a compensating rope 17 for balancing that offsets the weight shift of the main rope 16 hangs down from the bottom surface.

The hoist 14 is provided substantially directly above the car 12, and a deflection wheel 15 is provided substantially directly above the counterweight 13. The main rope 16 is wound around the hoist 14 and the deflection wheel 15, and one end of the main rope 16 is connected to the car 12, and the other end is connected to the counterweight 13. The hoist 14 includes a motor, a speed governor, a braking device, etc. (not shown).

In the elevator device 10, for example, a vibration detector 50 is installed in the machine room 20. The vibration detector 50 detects plane vibrations of the floor 21 of the building 30 , specifically, the machine room 20 . The shaking detector 50 measures the horizontal displacement of the machine room 20 at sufficiently short time intervals, and sequentially transmits shaking detection signals to the control device 40. Examples of the shaking detector 50 include an independent two-axis accelerometer, speedometer, and displacement meter, and the shaking detector 50 outputs an acceleration vector, a velocity vector, a displacement vector, or the like as a shaking detection signal.

All controls of the elevator device 10 are executed by the control device 40. The control device 40 controls the general elevator device 10 by controlling the drive of the hoisting machine 14 and the like in response to a hall call or a car call generated by operating a button (not shown) from the car 12 or the elevator hall. transport the person to the desired floor.

<Control device 40 and control method>
FIG. 2 is a functional block diagram of the elevator apparatus 10 according to an embodiment of the present invention, and only the functions related to the control operation of the present invention are extracted. In this embodiment, the control device 40 controls the hoisting machine 14 based on the input of the shaking detection signal from the shaking detector 50.

The control device 40 includes a determination section 41, a storage section 45, and an operation control section 46, and monitors long object shakes caused by shaking of the building 30 to determine whether to shift to controlled operation. The storage unit 45 stores the sway determination conditions and the number of transition cycles for the determination unit 41 to determine the transition to controlled operation. In addition, when the determination unit 41 determines to shift to controlled operation, the operation control unit 46 operates the hoisting machine 14 and the like to land on the nearest floor, open the door, and stop the car 12 and counterweight 13. A controlled operation is performed in which the position of the shaft 11 is evacuated from the resonance region.

First, the storage section 45 will be explained. The shaking determination conditions and the number of transition cycles stored in the storage unit 45 determine whether or not the elevator system 10 should be shifted to controlled operation due to vibrations and resonance of a long object such as a rope due to shaking that occurs in the building 30. These are the conditions that serve as the criteria for judgment. Since these differ depending on the specifications and standards of the elevator device 10, the building 30 in which it is installed, etc., they are obtained in advance through experiments, simulations, etc.

For example, in advance, the vibration characteristics (natural frequency, damping ratio) of a long object to be monitored (for example, the main rope 16) are determined based on the excitation (acceleration, velocity, etc.) applied to the long object from the building 30. The combination of the amplitude, period (frequency), duration (number of continuous cycles) of the long object (or displacement) and the magnitude of the shaking of the long object is acquired as a condition and stored in the storage unit 45. In this embodiment, the magnitude of the displacement of the shaking of the building 30, the resonance period of a long object, and the period of shaking are referred to as shaking determination conditions, and the number of continuous shakings of the building 30 to be shifted to controlled operation is the number of transition cycles. These are used to determine whether to shift to controlled operation.

The shaking determination conditions and the number of transition cycles are determined by setting the range of natural frequencies that the target long object can have based on the configuration, specifications, operation, etc. of the elevator device 10, and if the vibration is within this frequency range. Assuming that resonance occurs, the magnitude of displacement, vibration period, and number of periods are obtained in advance and stored in the storage unit 45.

Table 1 shows an example of the shaking determination conditions and the number of transition cycles calculated from the above conditions. For example, when the building 30 experiences n11 shakings with an amplitude (displacement size A1 or more) of a vibration period that matches the resonance period of a long object, an amplitude that requires a transition to controlled operation occurs in the long object. In Table 1, the magnitude of the shaking displacement that matches the resonance period is A1, and the number of transition periods is n11. Two types of transition cycle numbers are prepared for the displacement magnitude A1, and two types of controlled operations are transitioned according to the transition cycle numbers. In Table 1, the number of transition cycles to transition to controlled operation 1 is n11, and the number of transition cycles to transition to controlled operation 2 is n12 (n11<n12). Similarly, for the magnitude of displacement A2, there are two types of transition cycle times, n21 and n22, and for displacement size A3, there are two types of transition cycle times, n31 and n32. Controlled operation 1 is, for example, an operation in which the car 12 is stopped at the nearest floor and the car 12 is moved to an evacuation floor after passengers alight, and controlled operation 2 is a controlled operation for shaking that is more severe than controlled operation 1, for example, After stopping at the floor, the operation can be stopped.

It is desirable that the resonance period included in the vibration determination condition has a certain width, taking into account errors in the vibration characteristics of the long object to be monitored and changes over time. For example, the cycle time includes a range of ±30% of the resonance cycle of a long object. A vibration period including a period time of a certain width in the resonance period is referred to as a period to be monitored.

The determination unit 41 sequentially reads the displacement magnitude and period time from the vibration detection signal inputted from the vibration detector 50, and determines whether the vibration satisfies a predetermined vibration determination condition. The shaking detection signal can be input as a vector quantity, for example. Then, when the shaking that satisfies the shaking determination condition reaches or exceeds a preset number of transition cycles, a transition signal to controlled operation is transmitted to the operation control unit 46. As a specific embodiment, the determination unit 41 may include a displacement measurement determination unit 42, a period measurement determination unit 43, and a transition determination unit 44, as shown in FIG.

FIG. 3 shows a flowchart of an embodiment of control in which the determination unit 41 instructs controlled operation based on the shaking detection signal. In the following description, FIG. 3 will be referred to as appropriate.

The determination unit 41 measures the displacement of shaking from the shaking detection signal input from the shaking detector 50 (step S01 in FIG. 3). For example, the displacement measurement determination unit 42 measures the magnitude of displacement by making the vector quantity of the shaking detection signal one-dimensional. FIG. 4 is a waveform diagram of shaking detected by the shaking detector 50. Then, the displacement measurement determination unit 42 determines whether the measured displacement is a displacement magnitude (Table 1) that satisfies the shaking determination conditions stored in the storage unit 45 in advance. If the magnitude of the displacement is greater than or equal to the displacement magnitude of the shaking determination condition (YES in step S02), the process proceeds to the next step S03 to measure the vibration period of the shaking. If a plurality of displacement magnitudes for the shaking determination condition are set as shown in Table 1, each displacement value is determined according to the flow shown in FIG. 3. Note that if step S02 is NO, the process returns to step S01 and waits for input of the shaking detection signal.

In step S03, the periodic time of shaking that satisfies the magnitude of displacement of the shaking determination condition is measured. For example, as shown in FIG. 4, the period measurement determination unit 43 determines that the direction of displacement of the shaking detection signal input to the determination unit 41 exceeds a predetermined value A1 (point B). The time it takes to change once in the opposite direction (point C), then displace again in the same direction as the beginning (point D), and reach the same displacement value as the beginning (point E) is measured as one cycle, and the period time is calculated as follows: get.

Then, the period measurement determination unit 43 determines whether the obtained period time matches the period to be monitored in which the long object resonates stored in the storage unit 45, that is, whether the period time is included in the period to be monitored. (Step S04). If the cycle time is included in the monitored cycle (YES in step S04), the process advances to step S05. If not included, the process returns to step S01.

In principle, it is determined whether the displacement reaches a predetermined magnitude for each measured vibration cycle, but taking measurement errors into consideration, the determination unit 41 determines whether each cycle time has a certain range of time. If it is within the range, it is considered as the same cycle time. The calculation of the period time is also affected by the sampling interval, so the predetermined range of variation is set to the same one period of fluctuation. Therefore, if the displacement of the vibration period measured by the displacement measurement determination section 42 described above exceeds a predetermined value, the period measurement determination section 43 proceeds to step S06 (YES at step S05). If the displacement is less than or equal to a predetermined displacement within the measured period, the process returns to step S01 (NO in step S05). Note that for the second and subsequent cycles, it is desirable to judge not only the cycle time but also the displacement value with a certain range. This is because the shaking may increase or decrease. Note that measures to deal with increases and decreases in shaking will be described later using FIGS. 5 and 6.

If step S05 is YES, this determination result is transmitted to the transition determination section 44. The transition determination unit 44 has a counter that counts the number of cycles, and determines that the shaking is the first cycle, and counts it as the number of continuous shaking cycles (step S06). From the second period onwards, 1 is added to the count value.

When the magnitude of displacement satisfies the shaking determination condition counted by the transition determining unit 44 and the number of continuous periods of shaking that matches the monitoring target period reaches the number of transition cycles stored in the storage unit 45 (see Table 1). (YES in step S07), the transition determination unit 44 instructs the operation control unit 46 to transition to controlled operation (step S08). In this embodiment, the controlled operation to be transferred is controlled operation 1 or controlled operation 2.

The operation control unit 46 receives the instruction from the determination unit 41 and causes the elevator device 10 to perform controlled operation (1 or 2). Thereby, the car 12 and the user can be quickly evacuated in response to the shaking of the building 30.

If step S07 is NO, it is sufficient to return to step S01 again and wait for input of the shaking detection signal. The process may be configured to return to step S05.

In the flowchart of FIG. 3, for example, if the shaking of the building 30 that satisfies the shaking determination conditions is not detected within a predetermined time, the number of continuous cycles may be reset and the shaking detection signal may be input again.

As described above, in the elevator apparatus 10 of the present embodiment, the number of continuous cycles of shaking that satisfies the shaking determination condition is counted from the shaking detection signal detected by the shaking detector 50, and the number of transition cycles set in advance is determined. Once this is reached, control operation will begin. From the shaking detection signal, it can be determined by a simple calculation whether the shaking has a predetermined displacement magnitude and its vibration period matches the monitoring target period that causes resonance, and it can also be determined by calculating the period time. is also easy. Furthermore, it is easy to count the number of continuous cycles and compare it with the number of transition cycles. Therefore, according to the present invention, the load on the hardware constituting the determination section 41 is small, so that the hardware cost can be reduced.

<Measures for increasing/decreasing trends in shaking of building 30>
Even when the shaking of the building 30 is decreasing as shown in FIG. 5, the shaking of the resonating long object may increase. For this reason, the determination unit 41 determines that when the shaking is repeated after the displacement exceeds the predetermined magnitude A1 (see Table 1), the displacement A1 is smaller than the predetermined displacement A1 (see Table 1). ', it is desirable to judge that the shaking is continuing.

Table 2 shows the magnitude of displacement and the number of transition cycles in which controlled operations 1 and 2 are performed in the case of FIG. The magnitude of the displacement used to count the continuation of shaking is changed from the judgment value (A1) of the first cycle and added (A1', A1''), and the number of transition cycles for controlled operation is also changed.The magnitude of the displacement is A1 in the first period, A1' (<A1) in the second period, and A1'' (<A1') in the m-th period. For example, the number of cycles in which controlled operations 1 and 2 are performed for the displacement magnitude A1' is n11' and n12', respectively, and the number of cycles in which controlled operations 1 and 2 are performed for the displacement magnitude A1'' is n11'', respectively. , n12''. In this case, n11≦n11'≦n11'' and n12≦n12'≦n12''. These conditions are stored in the storage unit 45 in advance.

In the above case, from the second cycle onwards, two types of amplitudes of displacement magnitudes A1 and A1' may be monitored, and from the m-th cycle onwards, three types of amplitudes may be monitored. Note that there is no limit to the number of displacement magnitude settings.

Similarly, when the shaking of the building 30 tends to increase as shown in FIG. 6, the shaking of the long object increases faster than when the shaking is constant. For this reason, the determination unit 41 determines that after the first predetermined displacement magnitude A1 (see Table 1) is exceeded, the amplitude of the repeated shaking of the second transition becomes larger than the predetermined displacement magnitude A1. In such cases, it is desirable to reduce the number of transition cycles to controlled operation.

Table 3 shows the magnitude of displacement and the number of transition cycles in which controlled operations 1 and 2 are performed in the case of FIG. The magnitude of the displacement used to count the continuation of shaking is changed from the judgment value (A1) of the first cycle and added (A1', A1''), and the number of transition cycles for controlled operation is also changed.The magnitude of the displacement is A1 in the first cycle, A1' (>A1) in the second cycle, and A1'' (>A1') in the m-th cycle, and also changes the number of transition cycles in which controlled operation is performed. For example, the number of cycles in which controlled operations 1 and 2 are performed for the displacement magnitude A1' is n11' and n12', respectively, and the number of cycles in which controlled operations 1 and 2 are performed for the displacement magnitude A1'' is n11'', respectively. , n12''. However, n11≧n11'≧n11'' and n12≧n12'≧n12''. These conditions are stored in the storage unit 45 in advance.

In the above case, from the second cycle onward, two types of amplitudes of displacement A1 and A1' may be monitored, and for the m-th cycle, three types of amplitudes may be monitored. Note that there is no limit to the number of displacement magnitude settings.

By doing the above, even if the amplitude tends to increase or decrease, it can be handled.

<End of controlled operation>
When the shaking has subsided in the controlled operation performed as described above, the controlled operation is ended. To complete the controlled operation, for example, assuming that the vibration of the long object undergoes attenuated free vibration, the time required for the vibration width of the long object measured by the displacement measurement/determination unit 42 to decay to a certain width is monitored. Then, after the time has elapsed, the controlled operation may be canceled and the elevator device 10 may be operated normally.

However, if the deflection of the long object measured by the displacement measurement/determination unit 42 increases again while the decay time is being monitored, the decay time monitoring start time is updated and the deflection amplitude is attenuated to a constant width again. Monitor the time.

In addition, in order to determine the time it takes for the swing amplitude of a long object to decay to a certain width, at the same time as the above monitoring, real-time monitoring is performed based on a mathematical model on one or more ropes and long objects with specific vibration characteristics. It is desirable to perform a simulation and confirm that the swing width of the rope or long object does not exceed a certain width during a predetermined period of time. When the conditions for the above-mentioned monitoring and real-time simulation both satisfy the conditions for canceling the controlled operation, the controlled operation of the elevator device 10 is canceled.

The above description is for illustrating the present invention, and should not be construed to limit the invention described in the claims or to restrict its scope. Furthermore, it goes without saying that the configuration of each part of the present invention is not limited to the above-mentioned embodiments, and various modifications can be made within the technical scope of the claims.

10 Elevator device 12 Car 14 Hoisting machine
30 Building 40 Control device 41 Determination unit 42 Displacement measurement determination unit 43 Period measurement determination unit 44 Transition determination unit 46 Operation control unit 50 Shaking detector

Claims (6)

If the magnitude of the displacement of the shaking of the building is greater than or equal to a predetermined value, and the vibration period of the shaking satisfies the shaking determination condition that matches the period to be monitored of a long object to be monitored, the number of cycles of the shaking is greater than or equal to a predetermined value. , a control method for an elevator device that shifts to controlled operation when the number of transition cycles exceeds a preset number.
The shaking determination conditions are set based on the magnitude of shaking displacement and the vibration period,
The number of transition cycles is set according to the shaking determination condition.
2. A method for controlling an elevator device according to claim 1.
Shaking detection that detects the magnitude of displacement and vibration period of the shaking of the building,
determining whether the magnitude of the displacement and the vibration period of the detected shaking satisfy the shaking determination condition;
counting the number of cycles of the shaking when a shaking that satisfies the shaking determination condition is detected;
When the number of cycles of shaking that satisfies the shaking determination condition exceeds the number of transition cycles, transition to controlled operation;
The elevator control method according to claim 2. The number of transition cycles is different depending on a decreasing vibration in which the amplitude of the detected shaking decreases or an increasing vibration in which the detected vibration increases.
The method for controlling an elevator device according to claim 3. a shaking detector that detects the shaking of the building and outputs a shaking detection signal;
The magnitude of the displacement and the vibration period are obtained from the vibration detection signal, it is determined whether the magnitude of the displacement and the vibration period satisfy a preset vibration determination condition, and the number of vibration cycles satisfying the vibration determination condition is determined. , a determination unit that instructs to transition to controlled operation when the number of transition cycles exceeds a preset number;
an operation control unit that transitions to controlled operation based on an instruction to transition to controlled operation from the determination unit;
including elevator equipment. The shaking determination conditions are set based on the magnitude of shaking displacement and the vibration period,
The number of transition cycles is set according to the shaking determination condition.
A method for controlling an elevator device according to claim 5.

Images