JPH04323179A - Method and device for controlling elevator - Google Patents

Abstract

PURPOSE:To certainly prevent the slipping-out and lifting failure of a cage by adding a balance compensating amount to a load compensating amount at the time of start, giving the sum to a driving means as a driving force correcting amount, and then attenuating the balance compensating amount at the point of time when the cage starts running to cut the balance compensation. CONSTITUTION:In the cage position arithmetic part 25 of a control unit, the present position of a cage 9 is calculated as a pulse by the pulse 3a from a speed detector 3, and the pulse number corresponding to a stored standard floor of the cage 9 is attenuated and outputted as a pulse signal 25a. In a balance compensating arithmetic part, a balance compensating amount is calculated from a set table value on the basis of the pulse signal 25a and outputted as a balance compensation signal 26a. In a balance compensation attenuating arithmetic part 27, further, the actual speed 23a of the cage 9 and the balance compensation signal 26a are inputted, and outputted as a signal 27a as they are. When running is started, the balance compensation signal 26a is attenuated at a fixed change ratio and outputted as the signal 27a, and at the point of time when this value becomes zero, compensating operation is cut.

Description

[Detailed description of the invention]

0001

[Industrial Field of Application] The present invention relates to an elevator control method and device, and in particular to an elevator control method and device, which compensates for unbalanced torque caused by differences in the weight of the main ropes at each floor, thereby preventing the car from jumping out when the elevator is started. The present invention relates to an elevator control method and device that can reliably prevent the lift from dropping without using expensive means such as lowering a balance chain or rope.

0002

2. Description of the Related Art Generally, in industrial motor control, current is limited so that constant acceleration is achieved when the motor accelerates. In such a control method, the speed command may be relatively simple, but more complicated control is required in controlling the electric motor applied to the elevator. In other words, when controlling elevators, the passenger comfort is taken into consideration.
In addition to acceleration/deceleration control, it is also necessary to perform jerk control so that the vehicle can reach the destination floor in the shortest possible time without causing discomfort to passengers.

Generally, an elevator control device is designed so that the weight of the car and the counterweight is in equilibrium when the car is loaded at about 50% of its rated load. Therefore, when the car is fully loaded or unloaded, the balance is lost and a relatively large unbalanced torque is applied to the sheave connected to the electric motor. Due to this unbalanced torque, when the elevator is started, the car jumps out in the direction of this torque at the same time as the brake is released, impairing ride comfort.

Therefore, in order to prevent the car from jumping out due to such unbalanced torque, a correction based on the unbalanced torque has been conventionally applied to the motor torque command value when the elevator is operating in a balanced state. It is being done.

FIG. 4 is a block diagram showing an example of the overall configuration of an elevator control device equipped with the current minor loop system with unbalanced torque correction, which has been widely used in the past.

In FIG. 4, a speed command signal 1a output from a speed command generator 1 is applied to a speed control operational amplifier 2 via a switch 17. Then, in the speed control operational amplifier 2, the speed signal 3a from the speed detector 3,
A comparison calculation is made with the speed command signal 1a to obtain the current command Iasr.
is output. Furthermore, the current control operational amplifier 4 uses this current command Iasr and the current signal 5a from the current detector 5.
and the load signal WT(t) from the unbalanced torque command device 6.
A control signal 4a is output by comparing and calculating.

[0007]The power conversion device 8 supplies electric power for controlling the electric motor 7 to the electric motor 7 based on the control signal 4a, and the electric motor 7 is rotated by this electric power.
The rotational force is transmitted to the net wheel 12 around which the main rope 11 connecting the car 9 and the counterweight 10 is wrapped. Also, this mesh wheel 12
A brake 20 is provided.

On the other hand, the car 9 is provided with a landing device 15, which detects landing detection plates 16A, 16B, . . . provided on each floor of the elevator hoistway, and outputs a landing signal 15a. The signal is sent to the switch 17 mentioned above. When the switch 17 receives this landing signal 15a, the speed command signal 1a is cut off. Also, car 9
is provided with a load detector 13, and a load detection signal 13a is provided to the unbalanced torque command device 6.

Assume now that the elevator car 9 is stopped at a certain floor, the brake 20 is operating, and the door of the car 9 is open. At this time, the load detection signal 13a from the load detector 13 is given to the unbalanced torque command device 6, where it is converted into a load signal WT(t). FIG. 5 is a diagram showing an example of the relationship between the load detection signal 13a and the load signal WT(t). Generally, WT(t) is expressed as the load detection signal 13a as shown in this graph. The value compared to In addition, in FIG. 5, B
L indicates a balanced load state, that is, a state in which the car 9 and the counterweight 10 are balanced, NL indicates a no-load state, and FL indicates a rated load state.

On the other hand, with the rapid development of microcomputer technology in recent years, elevator control has also
Digital control using microcomputers is becoming widely adopted, and in elevator control devices such as the one shown in Figure 4, the portion surrounded by broken lines is generally 8 bits or 16 bits.
Processed by a bit microcomputer 21. In this case, as the speed detector 3, a detector such as a pulse generator or a resolver is used.

Furthermore, the load signal WT(t), the landing signal 1
Analog signals such as 5a are converted into digital signals and input. An example of this input circuit is shown in FIG. In FIG. 6, an analog input signal 18A is converted into digital signals 18a to 18h by an A/D converter 18, and sent to the bus line via a bus buffer 19 as signals 19a to 19h. Note that the signal 18B is a conversion start command signal given by the microcomputer.

Now, in the elevator control device using such a microcomputer, as shown in the flowchart shown in FIG. 7, the current command value Iasr given from the speed control operational amplifier 2 is first taken in (step S1).

Next, the load signal WT(t) is sampled (step S2), and it is determined whether the sampled load signal WT(t) is to be taken in as a reference load value WT (step S3). Normally, the moment the elevator car 9 door is closed, the brake 20 is released, and the command to start the elevator is issued,
This load signal WT(t) is taken in. In addition, if this load signal WT(t) is not captured, that is, if the WT(ta) that has already been captured at time t=ta is retained as the reference load value WT, the WT (ta) is set (step S4). On the other hand, when loading the load signal WT(t), the load signal WT(tb) at the current time t=tb is read as the reference load value WT (step S5), and this read load signal WT(tb) is read as the reference load value WT. A load signal WT (tb) is set (step S6).

Next, a reference load value W is added to the current command value Iasr.
T is added (step S7), a current control system calculation is performed based on this value (step S8), a torque command value is set (step S9), and this is the control signal 4a.
is output as Note that normally, the above series of calculations is repeatedly performed at a constant sampling period of about several milliseconds.

However, in such an elevator control device, the unbalanced torque is corrected based on the reference load value WT, but when the elevator hoistway becomes large, most of the main rope 11 is attached to the car. The weight of the main rope 11 depends on whether the weight is on the 9 side (when the car 9 is located on the lower floor) or on the counterweight 10 side (when the car 9 is located on the upper floor). The problem is that even if the weight difference occurs and the load is the same, it is not possible to prevent the car 9 from flying out or falling when the elevator is started unless the unbalanced torque correction amount is changed depending on the position of the car 9. was there.

Therefore, in order to solve this problem, recently, a unit weight that is approximately the same as that of the main rope 11 has been developed from the lower end of the car 9 to the lower end of the counterweight 10 via the hoistway pit at the lowest level. By connecting a counterbalancing chain or a counterbalancing rope, the elevator car 9 can be
Methods have been proposed to prevent fish from flying out or being dropped.

However, even with this method, when the lifting process becomes large, it is not possible to completely cancel the influence of the difference in weight between the main ropes 11. Alternatively, since it is necessary to lower the counterbalancing rope, there is a problem that the system becomes very expensive.

[0018]

[Problems to be Solved by the Invention] As described above, in conventional elevator control devices, in order to prevent the car from jumping out or dropping when the elevator is started, it is necessary to lower the balance chain or rope. There was a problem in that an expensive method had to be used.

An object of the present invention is to compensate for the unbalanced torque generated due to the difference in weight of the main ropes at each floor, and to lower the balance chain or rope to prevent the car from jumping out or falling when the elevator is started. An object of the present invention is to provide an extremely reliable elevator control method and device that can reliably prevent the problem without using expensive means.

[0020]

[Means for Solving the Problems] In order to achieve the above object, the invention according to claim 1 calculates a load compensation amount commensurate with the weight imbalance caused by fluctuations in the load of an elevator car. At the same time, based on the position of the elevator car, a balance compensation amount commensurate with the weight imbalance of the main rope caused by the ascending and descending position of the elevator car is calculated, and when the elevator car is started, the load compensation amount is calculated. The balance compensation amount is added to the amount and given to the drive means of the elevator car as the driving force correction amount, and then, when the elevator car starts traveling, the balance compensation amount is attenuated and balanced. We are trying to terminate the compensation.

[0021] Furthermore, in the invention as set forth in claim 2, the elevator control device includes a driving means for driving the elevator car and a load commensurate with the weight unbalance caused by fluctuations in the load of the elevator car. A load compensation calculation means for calculating the amount of compensation, a car position calculation means for calculating the position of the elevator car, and a car position output from the car position calculation means. A balance compensation calculation means for calculating a balance compensation amount commensurate with the weight imbalance of the cable, a load compensation amount calculated by the load compensation calculation means, and a balance compensation amount calculated by the balance compensation calculation means. and attenuates the balance compensation amount calculated by the addition means and the balance compensation calculation means, which are added together and given to the drive means as the driving force correction amount, at the time when the elevator car starts traveling after being started. and a balance compensation attenuation calculation means for terminating the balance compensation.

Here, in particular, the time constant for attenuation of the balance compensation amount is set to be slower than the response speed of the speed control system, and the balance compensation amount is linearly or nonlinearly attenuated at a constant rate of change. I try to let them do it.

[0023]

[Operation] Therefore, in the elevator control method and device of the present invention, the balance compensation calculation means is used to control the boarding of the elevator car from the reference floor (meaning the floor where there is no influence of the weight difference of the main ropes). The position deviation of the car is calculated, the balance compensation amount for the weight difference of the main rope is calculated according to the position deviation, and the balance compensation amount is the load compensation amount calculated by the load compensation calculation means when the elevator is started. is added to the unbalanced torque compensation amount, which is given to the elevator drive means to compensate for the unbalanced torque, and then, when the car starts traveling, the balance compensation damping calculation means performs the balance compensation described above. is attenuated, and the balance compensation for the weight difference of the main rope is terminated.

[0024] With this, the correction of the unbalanced torque caused by the unbalanced car load as well as the unbalanced torque caused by the difference in the weight of the main ropes is performed only when the elevator is started, and is then discontinued. To reliably prevent a car from jumping out or dropping when an elevator is started, without using expensive means such as lowering a balance chain or rope, and while eliminating the negative effect of correction on a control system. Can be done.

[0025]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a block diagram showing an example of the configuration of an elevator control device according to the present invention. The same elements as those in FIG. .

That is, the elevator control device of this embodiment has the microcomputer 21 in FIG. 4 configured as shown in FIG. 1. In FIG. 1, the microcomputer 21 includes a speed command calculation section 22, a pulse/speed calculation section 23, a speed control calculation section 24, a car position calculation section 25, a balance compensation calculation section 26, and a balance compensation attenuation calculation section 22. Calculation unit 27, addition coupling unit 28, and current control calculation unit 2
9.

Here, the speed command calculation section 22 calculates a speed reference for the elevator and outputs it as a speed reference signal 22a. Further, the pulse/velocity calculation unit 23
The pulse signal 3a from the speed detector 3, such as a pulse generator, is converted into a speed signal 23a and output. Furthermore, the speed control calculation unit 24 outputs a current command signal 24a based on the deviation between the speed reference signal 22a from the speed command calculation unit 22 and the actual elevator speed signal 23a from the pulse/speed calculation unit 23. It is something to do. Normally, this calculation is performed by performing a comparison-integration calculation and outputting a current command signal 24a such that the above-mentioned deviation becomes zero.

On the other hand, the car position calculation section 25 receives the pulse signal 3a from the speed detector 3 and outputs a pulse signal 25a indicating the position of the car from the reference floor. Further, the balance compensation calculation unit 26 outputs the balance torque compensation amount for the weight difference of the main rope 11 as a balance compensation signal 26a based on the pulse signal 25a from the car position calculation unit 25. Furthermore, the balance compensation attenuation calculation unit 27 receives the balance compensation signal 26a from the balance compensation calculation unit 26 and the actual elevator speed signal 23a from the pulse/speed calculation unit 23.
When the elevator is started, the balance compensation signal 26 is input.
a is output as is, and when the elevator car 9 reaches a certain speed after startup, that is, when the elevator car 9 starts running, a signal that linearly attenuates the balance compensation signal 26a to zero at a constant rate of change. 27a.

On the other hand, the addition coupling section 28 sends the load compensation signal WT from the unbalanced torque command device 6 and the signal 27a from the balance compensation damping calculation section 27 to the speed control calculation section 24.
It is added to the current command signal 24a from the current command signal 24a and output as the final current command signal 28a. Further, the current control calculation section 29 receives the current command signal 28 from the addition coupling section 28.
A conversion signal 29a is output to the power conversion device 8 based on the deviation between the current detection signal 5a and the current detection signal 5a from the current detector 5. Normally, this calculation also involves a comparison and integration calculation.

Next, FIG. 2 shows a control method in the elevator control device of this embodiment configured as described above.
This will be explained using FIG. Here, among elevator control, the operations of the car position calculation section 25, balance compensation calculation section 26, and balance compensation damping calculation section 27 according to the present invention will be mainly described.

In FIG. 1, the car position calculation section 25
The current position of the car 9 is calculated as a pulse by the pulse signal 3a from the speed detector 3, and from that value, the number of pulses corresponding to the pre-stored reference floor of the car 9 is attenuated, and the pulse signal 25a is calculated. Output. In addition, the balance compensation calculation unit 26 calculates the balance compensation amount from a table value set in advance as a parameter based on the pulse signal 25a from the car position calculation unit 25.
It is output as a balance compensation signal 26a. That is, this balance compensation signal 25a is used as a signal for calculating an appropriate value from the table value in which the balance compensation amount is stored. Note that the values in this table can be adjusted arbitrarily. FIG. 2 shows that the car 9 is
12 is a diagram illustrating an example of how the balance compensation signal 26a changes depending on each floor when the loading within the floor is the same. FIG.

Furthermore, the balance compensation damping calculation section 27 outputs the actual speed signal 23a of the car 9 and the balance compensation calculation section 2.
The balance compensation signal 26a from 6 is input, and when the car 9 is started, the balance compensation signal 26a is output as is as a signal 27a, and when the car 9 reaches a certain speed, that is, the car 9 starts traveling. Then, the balance compensation signal 26
a linearly attenuates at a constant rate of change and is output as a signal 27a, and when the value becomes zero, the attenuation calculation is stopped,
Compensation calculation is aborted. FIG. 3 is a diagram showing an example of what this signal 27a looks like. Note that the time constant of normal damping is set to be slower than the response speed of the speed control system so that its change does not affect the calculation of the speed control system.

As described above, the elevator control device of this embodiment includes a speed command calculating section 22 that calculates the elevator speed standard and outputs it as a speed standard signal 22a;
A pulse/speed calculation section 23 converts the pulse signal 3a from the speed detector 3 such as a pulse generator into a speed signal 23a and outputs it, a speed reference signal 22a from the speed command calculation section 22, and a pulse/speed calculation section. Based on the deviation from the actual elevator speed signal 23a from section 23,
a speed control calculation unit 24 that outputs a current command signal 24a;
A car position calculation unit 25 inputs the pulse signal 3a from the speed detector 3 and outputs a pulse signal 25a indicating the position of the car from the reference floor; A balance compensation calculation unit 26 that outputs the balance torque compensation amount for the weight difference of the cable 11 as a balance compensation signal 26a, and a balance compensation signal 2 from the balance compensation calculation unit 26.
6a and the actual elevator speed signal 23a from the pulse/speed calculation section 23, and when the elevator starts, the balance compensation signal 26a is output as is, and after the elevator starts, the speed reaches a certain speed (the elevator speed reaches a certain speed). (the car 9 starts traveling), a balance compensation attenuation calculation unit 27 that outputs a signal 27a that linearly attenuates the balance compensation signal 26a to zero at a constant rate of change, and an unbalanced torque command device. The load compensation signal WT from 6 and the balance compensation damping calculation unit 27
is added to the current command signal 24a from the speed control calculation unit 24 to obtain the final current command signal 28a.
Based on the deviation between the current command signal 28a from the addition combination unit 28 and the current detection signal 5a from the current detector 5, the power conversion device 8
and a current control calculation section 29 which outputs a conversion signal 29a.

Therefore, in addition to load compensation, the unbalanced torque compensation amount caused by the difference in weight of the main ropes 11 on each floor is calculated, the unbalanced torque is compensated for when the elevator car 9 is started, and then the unbalanced torque is compensated for when the elevator car 9 is started. After the car 9 reaches a certain speed (the car 9 starts running), the amount of compensation is attenuated and the compensation is discontinued. From then on, compensation for the unbalanced torque during startup is performed using the proportional-integral function. Because the speed control system is responsible for the speed control system, the balance chain and This can be reliably prevented without using the systemically expensive means of lowering the rope, and it is also possible to eliminate the adverse effect of the balance compensation amount on the speed control system during running.

In the above embodiment, a case where the balance compensation amount is linear is shown, but if the table values mentioned above are converted, a nonlinear compensation correspondence can be obtained, for example, as shown by the broken line in FIG. is also possible. Furthermore, if the amount of balance compensation is clearly linear, it is also possible to calculate the amount of balance compensation by a simple method of multiplying the pulse signal 25a from the car position calculation section 25 by a certain constant. It is.

[0037]

[Effects of the Invention] As explained above, according to the present invention, the amount of load compensation commensurate with the weight unbalance caused by fluctuations in the load of the elevator car is calculated, and the load compensation amount is calculated based on the position of the elevator car. The amount of balance compensation commensurate with the weight unbalance of the main rope caused by the ascending and descending position of the elevator car is calculated using This is applied to the car driving means as a driving force correction amount, and then when the elevator car starts running, the balance compensation amount is attenuated and the balance compensation is discontinued. It is possible to compensate for the unbalanced torque caused by the difference in the weight of the main ropes and reliably prevent the car from jumping out or falling when the elevator is started, without resorting to expensive means such as lowering the balance chain or rope. A highly reliable elevator control method and device can be provided.

[Brief explanation of drawings]

FIG. 1 is a block diagram of essential parts showing an embodiment of an elevator control device according to the present invention.

FIG. 2 is a diagram showing an example of the amount of balance compensation on each floor in the same embodiment.

FIG. 3 is a diagram for explaining the operation of the balance compensation attenuation calculation section in the same embodiment.

FIG. 4 is a block diagram showing a configuration example of a conventional elevator control device.

FIG. 5 is a diagram showing an unbalanced torque compensation amount for load fluctuations in FIG. 4;

FIG. 6 is a block diagram showing a configuration example of an input circuit in FIG. 4;

FIG. 7 is a flow diagram for explaining the operation in FIG. 4;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1...Speed command generation device, 1a...Speed command signal, 2...Speed control operational amplifier, 3...Speed detector, 3a...Speed signal, I
asr...Current command, 4...Current control operational amplifier, 4a...Control signal, 5...Current detector, 5a...Current signal, 6...Unbalanced torque command device, 7...Electric motor, 8...Power conversion device, 9...
Car, 10... Counterweight, 11... Main rope, 12... Net wheel,
13... Load detector, 13a... Load detection signal, 15... Floor landing device, 15a... Floor landing signal, 16A, 16B... Floor landing detection plate, 17... Switch, 18... A/D converter, 19... Bus buffer, 20...Brake, WT(t)...Load signal, 21
...Microcomputer, 22...Speed command calculation section, 22
a...Speed reference signal, 23...Pulse/speed calculation section, 23a
... Speed signal, 24... Speed control calculation section, 24a... Current command signal, 25... Car position calculation section, 25a... Pulse signal, 2
6... Balance compensation calculation unit, 26a... Balance compensation signal, 27... Balance compensation attenuation calculation unit, 27a... Signal, 28... Addition coupling unit,
28a...Current command signal, 29...Current control calculation section, 29a
...Conversion signal.

Claims (10)

[Claims] [Claim 1] A load compensation amount commensurate with the weight imbalance caused by a variation in the load of the elevator car is calculated, and the ascending and descending position of the elevator car is adjusted based on the position of the elevator car. A balance compensation amount commensurate with the weight imbalance of the main rope caused by the problem is calculated, and when the elevator car is started, the balance compensation amount is added to the load compensation amount to drive the elevator car. is given as the driving force correction amount to , and then when the elevator car starts traveling,
A method for controlling an elevator, characterized in that the balance compensation amount is attenuated and the balance compensation is terminated. 2. The elevator control method according to claim 1, wherein a time constant for attenuation of the balance compensation amount is set to be slower than a response speed of a speed control system. 3. The elevator control method according to claim 1, wherein the balance compensation amount is attenuated at a constant rate of change. 4. The elevator control method according to claim 3, wherein the balance compensation amount is linearly attenuated. 5. The elevator control method according to claim 3, wherein the balance compensation amount is attenuated nonlinearly. 6. A driving means for driving an elevator car, a load compensation calculation means for calculating a load compensation amount commensurate with a weight imbalance caused by a variation in the load of the elevator car, and A car position calculating means for calculating the position of the car, and a balance corresponding to the weight imbalance of the main rope caused by the ascending and descending position of the elevator car, based on the car position output from the car position calculating means. A balance compensation calculation means for calculating a compensation amount, the load compensation amount calculated by the load compensation calculation means, and the balance compensation amount calculated by the balance compensation calculation means are added, and the balance compensation amount calculated by the balance compensation calculation means is added, and and the balance compensation amount calculated by the balance compensation calculation means is attenuated and the balance compensation is terminated at the time when the elevator car starts traveling after being started. A control device for an elevator, comprising: balance compensation damping calculation means. 7. A time constant for attenuation of the balance compensation amount in the balance compensation attenuation calculation means is set to be slower than a response speed of the speed control system. Elevator control device. 8. The balance compensation damping calculation means includes:
7. The elevator control device according to claim 6, wherein the balance compensation amount from the balance compensation calculation means is attenuated at a constant rate of change. 9. The balance compensation damping calculation means includes:
9. The elevator control device according to claim 8, wherein the balance compensation amount from the balance compensation calculation means is linearly attenuated. 10. The elevator control device according to claim 8, wherein the balance compensation attenuation calculation means non-linearly attenuates the balance compensation amount from the balance compensation calculation means. .