JPH10310339A - Elevator system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect the generation of shock positively and easily by automatic detection without preparing a conventional vibration detector or the like by detecting whether start shock or stop shock is generated from the output change of a speed control system at the time of starting elevation control of an elevator car or stopping it. SOLUTION: Whether or not a shock is generated at the time of starting elevation control of an elevator car or stopping it is detected from the output change of a speed control system, and the peak value of a torque current command IP1 from a speed control amplifier 4 in a certain speed range at the time of starting control is stored in a peak holding part 21. A judging part 22 judges the generation of start shock when the peak value exceeds a start shock judgment level PI2 . The case of detecting from the difference between the maximum value and the minimum value is also included depending on a control device. The generation of stop shock is detected from the difference at the time of stop. The case of remote-adjusting a constant of a gain or the like of the control device from the detection of shock generation is also included.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevator system for controlling the speed of an induction motor for driving an elevator car, and more particularly to a vibration detecting device for detecting and suppressing vibration of the elevator car due to torque shock from the motor and a mechanical system. About.

[0002]

2. Description of the Related Art FIG. 9 shows a configuration example of a speed control system in an elevator system and a control device based on vector control. Obtaining a speed command N and the induction motor 1 of the speed detector proportional integral from 2 to the speed control amplifier 4 against the speed omega _n for obtaining the speed calculating section 3 (PI) torque current command I _t in operation. This torque current command I _t, is obtained by adding the torque current command I _LOAD proportional to the load torque and the torque current command I _acc in proportion to the acceleration of the elevator car.

[0003] primary current calculation unit 5 and a torque current command I _t exciting current setting value I ₀ Metropolitan obtaining a primary current value I _1.
On the other hand, the phase angle of the phase arithmetic unit 6 and the torque current I _t and the excitation current I ₀ phi

[0004]

[Number 1] phi = tan ^-1 Request (I _t / I _0). Slip frequency calculation unit 7, the torque current I _t and the excitation current I ₀ and the secondary time constant of the motor tau ₂

[0005]

The slip frequency ω _s is obtained from τ ₂ = L ₂ / R ₂ L ₂ = secondary self-inductance R ₂ = secondary resistance.

[0006]

Ω s = I _t / (I ₀ τ ₂ ) The slip frequency ωs is detected by the adder 8 as a speed detection value ω _n
To obtain the primary angular frequency ω ₀ .

The primary current calculator 9 calculates the primary currents Ia and Ia of the motor 1 from the primary current value I ₁ , the phase angle φ, and the angular frequency ω _0.
b, Ic are obtained, and this current is used as a current command for the inverter 10, which supplies a primary current to the motor 1. The calculation of the calculation unit 9 is performed according to the following equation.

[0008]

## EQU4 ## θ = ｄω ₀ dt Ia = 2 ^1/2 | I ₁ | sin (θ + φ) Ib = 2 ^1/2 | I ₁ | sin (θ + 2π / 3 + φ) Ic = 2 ^1/2 | I ₁ | sin (θ−2π / 3 + φ) In such a vector control device, the slip frequency ω
The secondary time constant τ ₂ for obtaining s is the constant R ₂ of the motor 1,
Although determined by L ₂ , a change in the secondary resistance R ₂ due to the temperature of the motor results in a change in the secondary time constant τ ₂ , and a shift in the primary current phase.

Therefore, temperature compensation of the secondary time constant τ _{2 has been} conventionally performed. As a compensating device, in FIG.
3 are provided. At the time of temperature compensation, a constant current or a constant voltage is applied to the induction motor, and the detector 11 detects a transient change in the voltage or current (see FIG. 10) with respect to this application. This transient voltage change

[0010]

V ₁ = i ₁ (r ₁ + r ₂ · exp (−t / τ ₂ )) Then, the detected value of the voltage V ₁ is converted by the A / D converter 12 into digital quantities V ₁ (t ₁ ), V
₁ (t ₂ ) and V ₁ (t ₃ ) are obtained, and the secondary time constant calculator 13 obtains a secondary time constant τ ₂ by logarithmic calculation from these digital values and the known i ₁ and r ₁ .

[0011]

In a conventional elevator system, it is necessary to set an electric motor constant for controlling the elevator system and a constant of a speed control amplifier. For example, the amplifier 4 in FIG. 9 sets a proportional gain and an integral gain. Further, a secondary time constant τ ₂ is set as a motor constant.

However, when these settings are different from the normal values, or when the secondary time constant fluctuates due to the temperature change of the electric motor, it may appear as vibration of the elevator car.

Among the vibrations of the elevator car, when the constants of the elevator control device are poorly adjusted, or in an elevator having a large up-and-down stroke, the vibration tends to appear particularly when the elevator car starts and stops. These are called start shock / stop shock.

[0014] 1 to improve the ride comfort of the elevator
As one of the methods, there is a method of detecting a start shock and a stop shock, and adjusting the gain and the like of the amplifier 4 based on the detected start and stop shocks.

In order to realize this method, adjustment is performed in a state where the elevator is installed in a building or the like, and whether the start shock and the stop shock occur while changing the gain of the amplifier 4 or the like is determined by a vibration detector or the like. The detection and the adjustment are performed by trial and error such as test operation and adjustment so as to obtain appropriate gains and constants, so that the adjustment is troublesome, and there is a case where the adjustment cannot be optimized due to individual differences among the adjusters.

In addition, these adjustments may be required at the time of maintenance and inspection of the elevator, so that the maintenance and inspection work is troublesome, and it is difficult to optimize the maintenance and inspection.

An object of the present invention is to provide an elevator system that automatically and appropriately detects the occurrence of vibrations that cause a start shock and a stop shock, and further facilitates adjustment for the occurrence of a shock.

[0018]

According to the present invention, the presence or absence of a start shock or a stop shock is automatically detected from a change in the output of a speed control system at the time of starting or stopping elevator control of an elevator car. The gain of the control system and the like can be adjusted to an appropriate value, and is characterized by the following configuration.

(First Invention) In an elevator system for controlling the speed of an induction motor for driving an elevator car in accordance with a torque current command from a speed control system, the speed detection value at the start of elevator car lift control is within a certain range. A detection means is provided for determining a maximum value of a torque current command from the speed control system and determining that a start shock has occurred when the maximum value exceeds a start shock determination level.

(Embodiment 2) In an elevator system for controlling the speed of an induction motor for driving an elevator car in accordance with a torque current command from a speed control system, the speed detection value at the start of elevator car lift control is within a certain range. Detecting means for determining the maximum value and the minimum value of the torque current command from the speed control system, and determining that a start shock has occurred when the difference between the maximum value and the minimum value exceeds the start shock determination level. It is characterized by.

(Third invention) In an elevator system for controlling the speed of an induction motor for driving an elevator car in accordance with a torque current command from a speed control system, the speed detection value at the end of the elevator car lifting / lowering control is within a certain range. Detecting means for determining a maximum value and a minimum value of the torque current command from the speed control system, and determining that a stop shock has occurred when a difference between the maximum value and the minimum value exceeds a stop shock determination level. It is characterized by.

(Fourth invention) In an elevator system for controlling the speed of an induction motor for driving an elevator car according to a torque current command from a speed control system, a torque from the speed control system at the start or end of the elevator car lift control. Detecting means for detecting the occurrence of a start shock or stop shock from a change in the current command; and adjusting the gain or constant of the control device in the direction of suppressing the shock when the start shock or stop shock occurs. Means.

(Fifth invention) A control device for controlling the speed of an induction motor for driving an elevator car in accordance with a torque current command from a speed control system, and the operation status of the elevator is monitored in a centralized monitoring room by transmitting and receiving information to and from this control device. A control computer, wherein the control device detects that a start shock or a stop shock has occurred from a change in a torque current command from the speed control system at the start or end of elevator car lift control. Monitoring means for receiving a detection result of a start shock or a stop shock from the control device by transmitting a test sequence to the detection means, and calculating a gain or a constant of the control device from the detection result. Data for setting and changing in a direction to suppress shock Characterized in that an adjusting means for performing transmission.

[0024]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of detection of a start shock and a stop shock in an elevator control device including vector control and adjustment of the control device based on the detection will be described below.

(1) Detection of Start Shock (No. 1) FIG. 1 is a diagram showing the configuration of an apparatus according to an embodiment of the present invention. The torque current command I _P1 of the speed control amplifier 4 includes a torque command proportional to the acceleration of the elevator car. adding I _acc, detection of the load I _lOAD in the car is when applied to an elevator control device for determining a torque current command I _t is omitted.

FIG. 1 shows the vector control device and the like shown in FIG. 9 collectively as one block 14. The difference from FIG. 9 is that a start shock detecting means comprising a peak hold unit 21 and a judgment unit 22 is provided. .

The peak hold unit 21 provides a torque current command I which is output from the speed control amplifier 4 while the car speed ω _n accelerates to the start shock detection speed level ω _n1 at the start of acceleration for lifting and lowering the elevator car. the maximum value of _P1 is detected as the peak value PI _1.

The determination section 22 determines that the peak value PI ₁ detected by the peak hold section 21 is equal to the start shock determination level P.
It determines whether the start shock occurred on whether exceeds I _2.

The start shock detection method according to the present embodiment is as shown in FIG. When the elevator car starts moving up and down, the elevator car is accelerated with a slight delay from the speed command N shown in FIG. 2, and the speed ω _n is detected.
At the beginning of this acceleration start, the output PI ₁ of the speed control amplifier 4
It is greatly increased by the occurrence of the deviation between the speed command N and the detected velocity omega _n.

When the detected speed ω _n follows the speed command N, the output PI ₁ of the speed control amplifier 4 becomes
Settles to a relatively low level necessary to compensate for static friction torque and to compensate for disturbances such as car load fluctuations.

The output PI _{1 of} such a speed control amplifier 4
In the change, the magnitude of the deviation between the speed command N of the elevator car and the detected velocity omega _n corresponds to the degree of the start shock, the degree corresponds to the magnitude of the level change of the speed control amplifier PI _1.

Therefore, the peak hold unit 21 sets a start shock detection speed ω _n1 for specifying a range at the start of acceleration of the elevator car, and determines a change in the output PI ₁ of the speed control amplifier 4 up to this speed ω _n1. Detect as peak value. Then, determination unit 22 obtains a judgment start shock whether the peak value of the output of the speed control amplifier 4 exceeds a start shock determination level PI ₂ is whether occurred.

In the example of FIG. 2, the output P of the speed control amplifier 4 is
Since I ₁ exceeds a start shock determination level PI _2, it can be detected as the start shock occurred.

[0034] As described above, the control device of FIG. 1, the torque current command I _t by the torque current command I _acc in proportion to the acceleration of the car is being computed speed control, the speed control amplifier 4, the static friction torque And control for compensating disturbances such as load fluctuations of the car. Therefore, by monitoring the change in the output of the acceleration at the start of the speed control amplifier 4 of the car can detect the start shock difference between the speed command N caused by load variation or the like of the car and the detected velocity omega _n.

(2) Start Shock Detection (Part 2) FIG. 3 shows another embodiment of the present invention, in which the present invention is applied to a control device having torque compensation by load detection I _LOAD in an elevator car.

The torque current command variation detection unit 23 detects the change in the torque current command IP ₁ between the speed omega _n from at the beginning of acceleration of the elevator car is accelerated to start the shock detection rate levels omega _n1. The determination unit 24 determines that the change detected by the detection unit 23 is the start shock determination level P
It determines that the start shock generated when the beyond the I _5.

The start shock detection according to the present embodiment is as shown in FIG. Variation detecting section 23 stores the minimum value PI ₃ outputs PI ₁ of the speed control amplifier 4 at the start of acceleration, speed control when the detected speed omega _n reaches the start shock detected speed omega _n1 at acceleration start storing the output PI ₄ of the amplifier 4 obtains a difference PI ₄ -PI ₃ therebetween.
The determination unit 24 determines that the difference is the start shock determination level P
It determines whether exceeds I _5.

[0038] As described above, the control apparatus of Figure 3, if there is a load compensation I _LOAD in the elevator car, so that the torque command a certain amount in proportion to the load is added to I _t. Therefore, the load torque of the output PI ₁ of the speed control amplifier 4 becomes to be changed by some I _LOAD, the maximum value of PI ₁ of the acceleration period is detection method according to the first embodiment from (peak value) of the start shock Since the presence / absence determination is performed, a device that includes the torque current command I _LOAD proportional to the load in the control cannot accurately detect a change in the speed control amplifier 4.

Therefore, in the present embodiment, only the change in the output of the speed control amplifier 4 at the start of acceleration is extracted to accurately determine the presence or absence of a start shock.

(3) Stop Shock Detection FIG. 5 shows another embodiment of the present invention, in which a stop shock is detected. The control device shown in the figure is, as in the case of FIG. 3, a load detection I _LOAD in the elevator car.
This is the case with torque compensation by

The change detecting section 25 for the torque current command detects the maximum value PI ₆ of the torque current command IP ₁ from the time when the speed of the elevator car at the end of deceleration has decreased to the stop shock detection speed level ωn ₂ until the end of deceleration. And the minimum value PI ₇
And the difference (PI ₆ −PI ₇ ) is detected as the maximum change. Determining unit 26 determines that the stop shock occurs when the change amount of the detection unit 25 detects exceeds a start shock determination level PI _8.

The change in speed of the elevator car during deceleration and the output PI ₁ of the speed control amplifier 4 are as shown in FIG.
Speed control amplifier 4 from the point of time when the speed is reduced to the stop shock detection speed ω _n2 or less set to the speed immediately before the end of deceleration
Monitoring the change in the output PI _1, the speed command N and the detected velocity omega _n
The change detector 25 detects that a speed deviation has appeared between the maximum value PI ₆ and the minimum value PI of the output PI ₁ of the speed control amplifier 4.
Detected as ₇ difference, the determination unit 26 detects the stop shock occurs when the change amount exceeds the judgment level PI _8.

Also in this embodiment, it is possible to accurately determine the presence or absence of a stop shock by extracting only the change in the output of the speed control amplifier 4 at the start of deceleration.

It is to be noted that the present embodiment may be provided with the start shock detecting means shown in FIG. 3 to detect both the start shock and the stop shock.

(4) Adjustment of control device FIG. 7 shows an adjustment device configuration of the control device by detecting a start shock or a stop shock.

FIG. 7 shows a case where each operation unit of the elevator control device shown in FIG. 1, FIG. 3, FIG.

CPU 31, RAM 32, ROM 33, rewritable nonvolatile memory (EEPROM) 3
4 and the serial interface 35 allow the setting and change of each control constant for the nonvolatile memory 34 using the memory content rewriting tool 36.

Further, the computer 30 prepares the start shock detecting means or the stop shock detecting means in FIG. 1 or the like as an external device or an internal software configuration.

In such a configuration, the gains and constants required for each operation unit of the control device are appropriately set in the non-volatile memory 35, and a start shock or a stop shock occurs at the time of a test operation of the elevator or at the time of maintenance and inspection. Is detected. This detection result is displayed on the memory contents rewriting tool 36 or the like.

When a start shock or a stop shock occurs as a detection result, the gain of the speed control amplifier 4 and other constants are rewritten using the tool 36 in a direction in which the occurrence of a shock is not detected.

By repeating the detection and rewriting of the occurrence or non-occurrence of such a shock once or twice, it is possible to eliminate the occurrence of a start shock or a stop shock and to obtain a favorable value for the responsiveness of the control system and the landing accuracy of the elevator car. Can be adjusted. Moreover, the adjustment work is simpler than the measurement with a conventional vibration detector or the like.

(5) Remote Monitoring and Adjustment of Control Device FIG. 8 shows a case in which adjustment or maintenance of the elevator control device is centrally monitored and controlled in a central monitoring room. In a system in which the elevator control devices 40 and 41 provided for each elevator are centrally monitored by a computer 42 in a centralized monitoring room, a modem 43 and a public line or a dedicated line such as a telephone line are used to control the control devices 40 and 41 and the computer 42. To transmit information.

Using this information transmission function, the computer 42 controls the control device 40
Alternatively, a test sequence start command for operation is sent to 41. Upon receiving this signal, the control device controls the elevator car up and down a predetermined number of times, detects whether a start shock or a stop shock has occurred, and transmits the detection result to the computer 42. Upon receiving this signal, the computer 42 transmits gain and constant adjustment data to the control device when a shock occurs, performs adjustment based on the data, and performs a test using the test sequence again. By repeating such transmission of data and detection of the presence or absence of shock, remote monitoring and adjustment can be performed.

[0054]

As described above, according to the present invention, the presence or absence of a start shock or a stop shock is detected from a change in the output of the speed control system at the time of starting or stopping elevator control of the elevator car. The detection enables reliable and easy detection without preparing a conventional vibration detector or the like.

Further, by providing the control device with means for rewriting the gain and the constant of the control system, it is possible to adjust the start shock and the stop shock based on the detection result, thereby simplifying the detection and adjustment work. It can be carried out.

Further, by applying the present invention to a system for performing centralized monitoring and control, remote monitoring and adjustment control can be performed.
It is possible to quickly respond to regular maintenance and failures.

[Brief description of the drawings]

FIG. 1 is an apparatus configuration diagram showing an embodiment of the present invention.

FIG. 2 is a waveform chart for explaining start shock detection in the embodiment.

FIG. 3 is an apparatus configuration diagram showing another embodiment of the present invention.

FIG. 4 is a waveform chart for explaining start shock detection in another embodiment.

FIG. 5 is an apparatus configuration diagram showing another embodiment of the present invention.

FIG. 6 is a waveform chart for explaining stop shock detection in another embodiment.

FIG. 7 is an apparatus configuration diagram showing another embodiment of the present invention.

FIG. 8 is an apparatus configuration diagram showing another embodiment of the present invention.

FIG. 9 is a block diagram of a conventional apparatus with vector control.

FIG. 10 is a waveform chart for explaining a method of measuring a secondary time constant of a motor.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Induction motor for driving an elevator car 4 ... Speed control amplifier 10 ... Inverter 21 ... Peak hold unit 22, 24, 26 ... Judgment unit 23, 25 ... Change detecting unit 30 ... Computer 36 ... Memory contents rewriting tool 40, 41 ... Elevator control unit 42 Computer in centralized monitoring room 43 Modem

Continued on the front page (72) Inventor Eiji Sone 3-2-1, Sakado, Takatsu-ku, Kawasaki-shi, Kanagawa Japan Inside Otis Elevator Co., Ltd. Otis Technical Research Institute (72) Inventor Koji Yamada 2-1-1 Osaki, Shinagawa-ku, Tokyo No. 17 Inside Meidensha Co., Ltd. (72) Inventor Keiichi Masuda 2-17-17 Osaki, Shinagawa-ku, Tokyo Inside Meidensha Co., Ltd.

Claims (5)

[Claims] 1. An elevator system for controlling the speed of an induction motor for driving an elevator car according to a torque current command from a speed control system, wherein the speed control system in a range where a detected speed value at the start of elevator car lift control is equal to or less than a fixed value. An elevator system comprising: a maximum value of a torque current command from a vehicle, and a detection unit that determines that a start shock has occurred when the maximum value exceeds a start shock determination level. 2. An elevator system for controlling the speed of an induction motor for driving an elevator car in accordance with a torque current command from a speed control system, wherein the detected speed value at the start of the elevator car lift control is within a certain range or less. Detecting means for determining that a start shock has occurred when the difference between the maximum value and the minimum value exceeds the start shock determination level. Elevator system. 3. An elevator system for controlling the speed of an induction motor for driving an elevator car according to a torque current command from a speed control system, wherein the speed control system in a range where a detected speed value at the end of the elevator car lifting control is equal to or less than a fixed value. Detecting means for determining that a stop shock has occurred when the difference between the maximum value and the minimum value exceeds the stop shock determination level. Elevator system. 4. An elevator system for controlling the speed of an induction motor for driving an elevator car according to a torque current command from a speed control system, wherein a change in a torque current command from the speed control system at the start or end of elevator car lift control. Detecting means for detecting that a start shock or a stop shock has occurred, and adjusting means for setting or changing the gain or constant of the control device in the direction of suppressing the shock when the start shock or the stop shock has occurred. An elevator system characterized in that: 5. A control device for controlling the speed of an induction motor for driving an elevator car in accordance with a torque current command from a speed control system, and a computer for monitoring and controlling an operating state of the elevator in a centralized monitoring room by transmitting and receiving information to and from the control device. In the elevator system provided with, the control device, a detection means for detecting the occurrence of a start shock or a stop shock from a change in the torque current command from the speed control system at the start or end of the elevator car lift control Monitoring means for receiving a detection result of a start shock or a stop shock from the control device by transmitting a test sequence to the detection means; and controlling a gain or a constant of the control device from the detection result to suppress the shock. Send data to set / change the direction Elevator system is characterized in that a settling unit.