JPH04173674A - Control device of elevator - Google Patents

Abstract

PURPOSE:To prevent a failure of hanging a cage or a jumping out of the cage in the starting by adding a balanced compensating signal from a balanced compensation operation means and a load compensating signal from a load compensation operation means, and giving the result to a driving means as an imbalance torque compensating amount, so as to compensate the imbalance torque amount. CONSTITUTION:A load compensation operation means to calculate a load compensating amount corresponding to a weight imbalance amount, a balanced compensation operation means 26 to calculate a balanced compensating amount corresponding to the weight imbalance amount of a main cord resulted from the variation of the elevation position of a cage corresponding to the cage position output of a cage position operation means 5, and an adding means 27 to add a load compensating amount signal WT from a load compensation operation means and a balanced compensating amount signal 26a from the balanced compensation operation means 26, and to give to a driving means as a driving force correcting amount, are provided. And, not only the correction of the imbalance torque resulting from the imbalance of the cage load, but also the correction of the imbalance torque resulted from the weight difference of the main cord are carried out by the calculation process of a control system. Consequently, a jumping-out or a hanging failure of the cage at the starting can be prevented securely.

Description

[Detailed description of the invention] [Purpose of the invention] (Industrial application field) The present invention relates to an elevator control device.

(Prior Art) Generally, in industrial motor control, current is limited so that constant acceleration is performed when the motor accelerates.

In such a control system, the speed command may be relatively simple, but more complicated control is required for elevator motor control. In other words, when controlling an elevator, taking passenger comfort into consideration, in addition to acceleration/deceleration control, it also performs jerk control to reach the destination floor in the shortest possible time without causing discomfort to passengers. Such control is required.

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.

In order to prevent the car from flying out due to the unbalanced torque as described in 2 above, a correction based on the unbalanced torque has been conventionally performed on the motor torque command value when the elevator is operating in a balanced state. FIG. 4 shows an elevator control device equipped with such a current minor loop system with unbalanced torque correction, which has been widely used in the past.

In the conventional example shown 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. and speed control t
The I operational amplifier 2 compares and calculates the speed signal 3a from the speed detector 3 and the speed command signal 1a, and outputs a current command 1asr. The current control operational amplifier 4 receives the current command 1 as
r, a current signal 5a from the current detector 5, and a load signal WT(t) from the unbalanced torque command device 6, and outputs a control signal 4a.

Then, the power conversion device 8 supplies electric power to the electric motor 7 in order to control the electric motor 7 based on the control signal 4a, and the electric motor 7 is rotated by this electric power, and the main rope 1 connecting the car 9 and the counterweight 10 is ] is wound around the sheave 12. The sheave 12 is also provided with a brake 20.

The car 9 is provided with a landing device 15, and landing detection plates 16A and 16 provided on each floor of the elevator hoistway.
B, . . . are detected and a landing signal 15a is sent to the switch 17. When the switch 17 receives this landing signal 15a,
Cut off the speed command signal 1a.

The car 9 is also provided with a load detector 13, which provides a load detection signal 13a to the unbalanced torque command device W6.

Assume now that the elevator has stopped at a certain floor, the brake 20 is operating, and the car door 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 the load signal WT
(t).

FIG. 5 shows such a load detection signal 13a and a load signal WT.
An example of the relationship with (t) is shown, - in the membrane, WT
(t) is a value proportional to the load detection signal 13a as shown in this graph. In addition, in Fig. 5, BL indicates the state of balanced load, that is, the state where the cage and the counterweight are balanced, and NL
indicates the time of no load, and FL indicates the time of rated load.

With the rapid development of microcomputer technology in recent years,
Digital control by microcomputers is becoming widely used for controlling elevators, and in the control system shown in FIG. 4, the portion surrounded by broken lines is generally processed by an 8-bit or 16-bit microcomputer 21. In this case, a detector such as a pulse generator or a resolver is used as the speed detector 3. Furthermore, analog signals such as the load signal WT (t) and the landing signal 15a are converted into digital signals and input.

An example of this input circuit is shown in FIG. The analog input signal 18A is converted into a digital signal 18 by the A/D converter 18.
The signals 19a to 1.9h are converted to signals 19a to 1.9h through the path buffer 19 and sent to the path line.

Note that the signal 18B is a conversion start command signal given by the microcomputer.

In an elevator control device using such a microcomputer, as shown in the flowchart shown in FIG.
First, the current command value 1 given from the speed control operational amplifier 2
asr is fetched (step Sl).

Subsequently, the load signal WT(t) is sampled (step S2), and it is determined whether or not this sampled load signal is taken in as the reference load value WT (step S2).
3). Normally, the elevator doors are closed and the brake 2
This load signal is captured at the moment when o is released and a command to start the elevator is issued. When the load signal is not captured, that is, the reference load value W
WT that has already been captured at time t-ta as T
When (ta) is maintained as it is, the reference load value WT
WT(ta) is set to (step S4). on the other hand,
When importing a load signal, that is, the load signal WT (t
b) is read (step S5), and this read WT (tb) is set as the reference load value WT (step S6).

Next, add the reference load value WT to the current command value 1asr (
In 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 output as a control signal 4a.

Note that the above series of calculations is normally repeated at a constant sampling period of about several 11 seconds.

(Problem to be Solved by the Invention) However, in such conventional elevator control devices, unbalanced torque correction is performed based on the reference load value WT, but as the vertical stroke increases, the main rope The difference in weight of the main rope depends on whether most of the weight is on the car side (when the car is located on the lower floor) or on the counterweight side (when the car is on the upper floor). However, even with the same live load, there is a problem in that it is impossible to prevent the car from jumping out or dropping when started unless the unbalanced torque correction amount is changed depending on the car position.

Therefore, in order to solve such problems, conventionally, a counterweight with approximately the same weight as the main rope, or The method used is to connect a counterbalancing rope.

However, even with this method, the effect of the weight difference between the main ropes cannot be completely canceled when the lifting stroke becomes large, and furthermore, it is necessary to lower a counterweight or counterbalance rope with approximately the same unit weight as the main rope. Therefore, there was a problem that the system became expensive.

This invention was made in view of such conventional problems, and it is possible to control correction of unbalanced torque caused by unbalanced car loads as well as correction of unbalanced torque caused by differences in weight of main ropes. To provide an elevator control device which can surely prevent a car from jumping out or dropping at the time of startup without incurring any cost by performing system arithmetic processing.

[Structure of the Invention] (Means for Solving the Problems) The elevator control device of the present invention includes a drive means for driving an elevator car, and a load corresponding to the weight imbalance caused by fluctuations in the load of the car. A load compensation calculation means for calculating a compensation amount, a car position calculation means for calculating the position of the car, and a main rope that is caused by a change in the vertical position of the car according to the car position output of the car position calculation means. a balance compensation calculation means for calculating a balance compensation amount commensurate with the weight unbalance of the load compensation calculation means, and a load compensation amount signal from the load compensation calculation means and a balance compensation amount signal from the balance compensation calculation means. and addition means for applying a driving force correction amount to the driving means.

(Function) In the elevator control device of the present invention, the balance compensation calculation means calculates the car position deviation of the elevator car from the reference floor (meaning the floor where there is no influence of the weight difference of the main ropes). , and calculates the balance compensation amount for the weight difference of the main ropes accordingly.

Further, the load compensation calculation means calculates the amount of compensation for unbalanced torque caused by fluctuations in the car load.

Then, the balance compensation amount calculation result from the balance compensation calculation means and the load compensation amount calculation result from the load compensation calculation means are added, and this is applied to the drive means as an unbalanced torque compensation amount to generate unbalanced torque. This prevents the cage from dropping or jumping out when the cage starts.

(Example) Hereinafter, embodiments of the present invention will be explained in detail based on the drawings.

FIG. 1 is a block diagram of an embodiment of the present invention, showing a detailed software configuration of a portion constituted by a microcomputer 21 in the elevator control device shown in FIG. 4 as a conventional example. Therefore, the components other than the configuration of this microcomputer 21 are the fourth
This is the same as the conventional example shown in the figure, and common parts will be explained using the same reference numerals.

The microcomputer 21 includes a speed command calculation section 22,
It is composed of a pulse/speed calculation section 23, a speed control calculation section 24, a car position calculation section 25, a balance compensation calculation section 26, an addition coupling section 27, and a current control calculation section 28.

Then, the speed command calculation unit 22 calculates the speed reference of the elevator and outputs it as a speed reference signal 22a, and the pulse/speed calculation unit 23 converts the pulse signal 3a from the speed detector 3 such as a pulse generator into a speed signal 23a. and output it.

The speed control calculation unit 24 outputs a current command signal 24a based on the deviation between the speed reference signal 22a and the actual elevator speed signal 23a. Normally, this calculation is a proportional-integral calculation, and a current command signal 24a that makes the above deviation zero is output.

The car position calculation section 25 inputs the pulse signal 3a and outputs it as a pulse signal 25a indicating the position of the car from the reference floor, and the balance compensation calculation section 26 inputs the pulse signal 3a and outputs it as a pulse signal 25a indicating the position deviation of the car. The balance torque compensation amount for the weight difference is outputted as a signal 26a, and the addition coupling section 27 adds the load compensation signal WT and the balance torque compensation signal 26a to the current command signal 24a to obtain the final current command signal 27a. The current control calculation unit 28 is configured to output the current control calculation unit 28 as a current control calculation unit 28.

Furthermore, the current control calculation section 28 calculates the deviation between the current command signal 27a and the current detection signal 5a from the current detector 5, and outputs a conversion signal 28a to the power conversion device 8. Usually, this calculation is also a proportional-integral calculation.

Next, the operation of the elevator control device having the above configuration will be explained.

The speed command calculation unit 22 calculates the speed standard of the elevator,
The pulse/speed calculation unit 23 converts the pulse signal 3a from the speed detector 3 such as a pulse generator into a speed signal 23a and outputs it as a speed reference signal 22a, and calculates the deviation between these signals 22a and 23a. It is input to the speed control calculation section 24.

The speed control calculation unit 24 calculates the deviation signal between the speed reference signal 22a and the actual elevator speed signal 23a based on human power.
A speed control amount commensurate with the deviation is determined, and a signal 24a is output to the addition coupling section 27 as a current command value. At the same time, the car position calculation section 25 outputs the pulse signal 3 of the speed detector 3.
a is manually output as a pulse signal 25a indicating the deviation position of the car from the standard floor, and the balance compensation calculation unit 26 calculates the main rope by a calculation process to be described later according to the pulse signal 25a indicating the position deviation. A balance torque compensation amount for the weight difference is determined, and the signal 26a thereof is output to the addition coupling section 27. Furthermore, the addition coupling section 27 receives an unbalanced torque compensation signal W based on the fluctuation of the load from the unbalanced torque command device 6 shown in FIG.
T is output.

Therefore, the addition/coupling section 27 adds the current command signal 24a, the balanced torque compensation signal 26a, and the unbalanced torque compensation signal WT, and outputs the result to the current control calculation section 28 as a final current command signal 27a. The current control calculation unit 28 receives the current command signal 27a and the current detection signal 5 from the current detector 5.
a and outputs a conversion signal 28a to the power conversion device 8, and the power conversion device 8 receives this conversion signal 28a and applies a drive current to the electric motor 7 to control its rotational force.

Next, the processing operations of the car position calculation section 25 and the balance compensation calculation section 26 will be explained in detail. As shown in Figure 2,
The current car position is calculated as the number of pulses using the pulse signal 3a from the speed detector 3, and the number of pulses corresponding to the preliminarily stored reference floor of the car is subtracted from that value, and the result is output as a pulse signal 25g. The balance compensation calculation unit 26 is
The balance compensation amount is calculated from the table data 26T set in advance using the goose position signal 25a as a parameter,
This balance compensation signal 26a is output.

In other words, the pulse signal 25a indicating the positional deviation from the reference floor
are 25al, 25a2. . . , 25an, the balance compensation amounts al, a2 . ....

An is found, and the corresponding balance compensation amount aj is sent to the signal 26a.
It is output as .

Figure 3 is a graph showing the relationship between balance compensation amount and positional deviation. When the reference floor is the N floor and the car position is lower than that, the weight of the main rope is large on the car side, and the weight of the main rope is large on the car side. Since it becomes smaller on the side of the balance weight, the balance compensation amount is set to a positive value in stages.Conversely, when the car position is higher than the standard floor, the weight of the main rope becomes smaller on the side of the car and becomes larger on the side of the counterweight. Therefore, the balance compensation amount is set to a stepwise negative value, so that positive and negative balance compensation amounts commensurate with the position deviation pulse signal 25a can be extracted.

Although the balance compensation amount is set linearly in the graph in Figure 3, this is not particularly limited, and if the characteristics of the actual machine show nonlinearity, a nonlinear graph corresponding to the characteristics may be used. You can also use it as Furthermore, if the amount of balance compensation shows clear linearity, instead of using such a table, the amount of balance compensation can be calculated by a simple method of multiplying the input pulse signal 25a by a certain constant. It is also possible to do so.

In this way, with respect to the speed control current command, not only unbalanced torque compensation based on fluctuations in car load, but also unbalanced torque compensation based on uneven distribution of main rope weight due to car position are calculated by a microcomputer and motor control current is calculated. By correcting the
It becomes possible to stop.

[Effects of the Invention] As described above, according to the present invention, balance compensation is performed separately from load compensation, and the unbalanced torque caused by the difference in weight of the main ropes on each floor is compensated for by motor control on the microcomputer side. This makes it possible to compensate for unbalanced torque caused by fluctuations in the weight of the main rope without having to take measures to lower the balance bell or balance lobe as in the past, and prevents the car from jumping out at startup. It is possible to reliably prevent fishing losses.

In addition, since a counterbalancing bell and a counterbalancing lobe are no longer required, the overall cost can be reduced, and even when using a counterbalancing bell or a counterbalancing lobe as in the past, the lobes are lower than in the past. The number of pieces can be significantly reduced, which is advantageous in terms of cost.

[Brief explanation of drawings]

FIG. 1 is a block diagram of an embodiment of the present invention, FIG. 2 is an explanatory diagram illustrating the calculation processing operation of the balance compensation amount of the above embodiment, and FIG. 3 shows the balance compensation amount characteristics of the above embodiment. Graph showing,
Fig. 4 is a block diagram of the conventional example, Fig. 5 is a graph showing the unbalanced torque compensation amount for load fluctuation in the conventional example, Fig. 6 is a block diagram of the input circuit of the conventional example, and Fig. 7 is the operation of the conventional example. It is a flowchart which shows. 3...Speed sensor 5...Current detector 6...
・Unbalanced torque command device 7...Electric motor 8...Power converter 9...
・Car 10...Balance weight 11...Main rope 12...Sheave 13...Load detector 21...Microcomputer 22...Speed command calculation unit 23...Pulse/speed calculation Part 24... Speed control calculation part 25... Car position calculation part 26... Balance compensation calculation part 27... Addition coupling part 28
...Current control calculation section

Claims (1)

[Scope of Claims] A drive 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 car, and a load compensation calculation means for calculating the position of the car. A car position calculation means for calculating, and a balance compensation for calculating a balance compensation amount commensurate with the weight unbalance of the main rope caused by fluctuations in the elevation position of the car, according to the car position output of the car position calculation means. and an addition means that adds the load compensation amount signal from the load compensation calculation means and the balance compensation amount signal from the balance compensation calculation means and supplies the resultant to the drive means as a driving force correction amount. Elevator control device.