JPS62105875A - Control method of elevator - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an elevator control method, and more particularly to landing control technology.

(Technical background of the invention and its problems) In general, when controlling the electric motor that drives an industrial machine, current is limited so that the electric motor is accelerated at a constant acceleration. Although such control requires a relatively simple speed command, more complex control is required for controlling the electric motor that drives the elevator.

FIG. 3 is an explanatory diagram of a current non-circular speed control system that is most widely used in recent elevator control. Here, as an example, a case where an elevator is driven by a DC motor is shown. A speed command signal 1a output from the speed command generator 1 is applied to the speed control amplifier 2 via a switch 17. Speed control amplifier 2 is speed detector 3
The speed signal 3a from the speed signal 3a is compared with the speed command signal 1a, and a current command IA8R is output. The current control amplifier 4 receives the current command IA8R and the current signal 5a from the current detector 5.
and the load signal WT from the unbalanced torque command signal 6 (t>
and outputs the control signal 4a. AC/DC converter 8 supplies DC power to DC motor 7 based on control signal 4a. The DC motor 7 is connected to the supplied DC power and the separately excited field magnetic winding 14 (the excitation power source is not shown).
The shaft is rotated by the magnetic field generated by the shaft, and the rotation is transmitted to the sheave 12 around which the main rope 11 that connects the car 9 and the countershaft 10 is wrapped. Note that this sheave 12 is provided with a brake 20 (not shown).

In addition, the car 9 is equipped with a landing device 15, and a landing detection plate 16A is installed on each floor of the elevator hoistway.
, 16B... Depending on which relative position, a landing position signal as shown in FIG. 4 (hereinafter referred to as a landing pattern) is generated.> 1
53(t) to switch 17. When the switch 17 receives the landing pattern 15a(t) during landing control, it cuts off the speed command signal 1a@ and controls the speed of the elevator using the landing pattern 15a(t) instead of the speed command signal 1a. The landing pattern shown in FIG.
A, 16B...Which relative position Jq [The AC voltage generated from this is often obtained by single-phase synchronous rectification. Therefore, the landing pattern signal 15a(t) necessarily includes a ripple component when the AC voltage is single-phase rectified. That is, if the power supply frequency is f[H2], the landing pattern 15a is
(t) will contain the AC ripple of 2
This is an unbalanced torque command device that generates (t).

Incidentally, with the rapid development of microcomputers in recent years, digital control by microcomputers has been widely adopted for controlling elevators, and in the control system shown in FIG. In this case, a detector such as a pulse generator or a resolver is used as the speed detector 3. Also, load signal WT (t), landing pattern signal 15a (t)
etc., analog signals are converted to digital signals and input. An example of this input circuit is shown in FIG. Analog input 1
8A is the digital signal 18a~ by the A/D converter 18.
18h and passes through the path buffer 19 to the signal 19
It is sent to the pass line as a to 19h. Note that the signal 18B is a conversion start command signal given from the microcomputer.

Now, in the elevator control method using such a microcomputer, as described above, the landing pattern signal 15a(t) including the ripple component is included in the sampling (sampling period = T [5ecl) value]. become. In particular, if the ripple frequency of this command value matches the resonance frequency of the elevator system including the mechanical system, the ripple becomes a source of addition to the resonance of the elevator and has a serious negative impact on ride comfort and landing accuracy. It turns out.

(Object of the Invention) The present invention has been made in view of the above points, and provides an elevator control method that does not adversely affect ride comfort and landing accuracy even when the landing pattern includes ripples. .

(Summary of the Invention) The feature of the present invention is that the landing is obtained by the relative position of the landing detection device provided in the elevator car and the landing detection plate provided in the hoistway near the landing position fil of each floor. In an elevator control method that captures a floor pattern signal at a predetermined time and performs landing control of the elevator based on this landing pattern, even if the landing pattern signal has a unique ripple, the ripple frequency and the said landing pattern are By taking the average value of the landing pattern signal of the frequency valve determined by the sampling time of signal detection and using it as a reference landing pattern signal, it is possible to prevent the elevator ride comfort and landing accuracy from being adversely affected. That's what I did.

[Embodiments of the invention]

Embodiments of the present invention will be described below with reference to the drawings.

An embodiment of the present invention during landing control will be described using flowchart 1 shown in FIG. This flow corresponds to the operation of the microcomputer 21 in FIG. 3.

In FIG. 1, when the elevator is running normally, a speed command signal 1a is set by the microcomputer (step S1
). Also, in that state, the landing pattern signal 15a (
t) is constantly sampled (step S2), and the average value 15aAV(
t) is calculated (step 33). Here, the number of times N is determined by the analog ripple frequency and sampling time (frequency) of the landing pattern signal. For example, the power supply frequency f is 60 [H4F, the sampling time T is 171
If it is 28 [seconds], the analog landing pattern signal includes ripples of 2×60=120[t171] as described above. If it is sampled and detected every T=1/128 [seconds], the digital landing pattern signal will be as follows: < -T--2f = 128-120-8
[H4F ripple included. Therefore, in order to remove this ripple, the number of times N is determined to be 128÷8-16 [times]. This state is shown in Fig. 2, where (2) is the state of the ripple included in the landing pattern signal Q 15 a (t ), and υ is the state of the relationship between the sampling period of the landing pattern signal and the ripple. showed that.

In FIG. 1, when the elevator approaches the floor landing, it is determined whether to switch the speed command signal 1a to the floor landing pattern signal (step S4). If switching is necessary, the speed command signal is changed to the floor landing pattern signal described above. A signal average value of 15aAV(t) is set (step S5).

If switching is not necessary, the speed command signal 1a is set as is. Subsequently, a speed control calculation is performed based on the above command value, and a current command value IA8R is set (step S6). Further, calculations for the current control system are executed based on the command value (step $7), a torque command value for the electric motor is set, and the drive of the elevator is controlled.

In the above embodiment, an example was explained in which an elevator is driven by digital control of a DC motor, but even if digital control of a three-phase induction motor is performed by a variable voltage variable frequency method, the same applies for landing control. The present invention can be applied to.

〔Effect of the invention〕

As explained above, according to the elevator control method of the present invention, the arrival is determined by the relative position of the landing detection device provided in the elevator car and the landing detection plate provided in the hoistway near the landing position of each floor. In one elevator control method that obtains a floor signal and controls the elevator when it lands on the floor, even if there is a unique ripple in the analog landing pattern signal, it is determined by the ripple frequency and sampling time. Since the average value of the landing pattern signal of the frequency valve is taken and used as the speed command value for elevator landing control, the ripple included in the command value can be removed. It is possible to completely eliminate the adverse effects of pattern signal ripples on elevator riding comfort and landing accuracy.

[Brief explanation of drawings]

FIG. 1 is a diagram showing an embodiment of the present invention, FIG. 2 is a diagram for explaining the operation of the present invention, and FIG. 3 is an explanatory diagram of a conventional current non-return type speed control system. FIG. 4 is a diagram showing an example of a landing pattern signal, and FIG. 5 is a diagram showing an example of an input circuit of an elevator control device using a microcomputer. Agent Patent Attorney Nori Ken Yudo Hirofumi Mitsumata Figure 1 Hezu (NIN) - J Figure 4 Figure 5

Claims (2)

[Claims] (1) A landing pattern signal is obtained from the relative position of the landing detection device installed in the elevator car and the landing detection plate installed near the landing position on each floor, and this landing pattern signal is kept constant. In the elevator control method, the landing pattern signal is detected at a sampling time of An elevator control method characterized in that an averaged landing pattern signal is used as the speed command value. (2) The predetermined number of times is the ripple period of the landing pattern signal,
2. The elevator control method according to claim 1, wherein the control method is determined based on a sampling period.