JPH0543147A - Controller for hydraulic elevator - Google Patents

Abstract

(57) [Summary] [Object] An object of the present invention is to provide a control device for a hydraulic elevator, which can correct the traveling characteristics of the hydraulic elevator with a control circuit having a simple structure and can always provide constant traveling characteristics. And A control device for a hydraulic elevator according to the present invention includes a hydraulic jack that raises and lowers a car of an elevator, and a valve that controls the amount of pressure oil flowing through the hydraulic jack.
The hydraulic jack is connected to the hydraulic jack through the valve and allows the pressure oil to pass, the oil temperature sensor and the pressure sensor for the pressure oil flowing in the hydraulic jack, and the signal from the sensor is input so that the hydraulic jack has a predetermined speed. A control command value generation unit that generates a control command value based on a predetermined speed pattern for the valve so that it can be raised and lowered in a pattern, and input from the sensor while the hydraulic elevator is stopped and running, and this value Based on the speed pattern, a control command value correction unit that outputs a control command value according to the speed pattern is provided.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a hydraulic elevator.

[0002]

2. Description of the Related Art Generally, a hydraulic elevator adopts a flow rate control system using a flow rate control valve. In this control method, when the elevator is raised, the electric motor is rotated at a constant speed, a constant discharge amount of oil from the hydraulic pump is returned to the tank, and when a start command is issued, the amount returned to the tank is adjusted by the flow control valve. By controlling the speed of the car. When the elevator is descending, the speed of the car is controlled by controlling the amount of oil in the hydraulic cylinder that flows back to the tank by the weight of the car by the flow control valve.

However, in this control method, it is necessary to circulate extra oil at the time of rising, and the potential energy is consumed by the heat of oil at the time of descending, resulting in a large energy loss, and there is a problem that the oil temperature rises significantly. is there. The operation of such a conventional hydraulic elevator control device will be described. The valve is closed when the car is stopped and is opened by an operation command. The speed control device controls the discharge amount of pressure oil passing through the valve of the valve, and the car moves up according to a predetermined speed pattern.

The speed characteristic at this time follows the speed pattern A indicated by the solid line in FIG. 8 by the speed control device. That is, the car is activated by the activation command, accelerates to the rated speed V0, then rises at the rated speed V0, and starts decelerating when the position of the deceleration switch is reached. And a constant landing speed V
When it ascends at 1 and reaches the upper limit position, the stop switch is operated to stop the ascent. Further, during the descending operation, the descending speed is controlled by the amount of oil discharged from the hydraulic jack due to the weight of the car.

[0005]

However, in such a conventional flow rate control type hydraulic elevator control device, when the load pressure or the oil temperature of the hydraulic elevator changes, the viscosity of the oil changes and the volumetric efficiency of the hydraulic pump increases. There is a problem in that the traveling pattern of the car is separated from the predetermined pattern due to the decrease.

For example, when the car is raised, the hydraulic pump generally decreases the discharge amount of the pressure oil when the load pressure or the oil temperature rises, and increases the discharge amount of the pressure oil when the load pressure or the oil temperature decreases as shown in FIG. Accordingly, the speed pattern of the car also becomes the pattern B of the broken line in FIG. 8 when the load pressure or the oil temperature rises, and the running pattern C of the one-dot chain line when the load pressure or the oil temperature falls. Further, in the case of the traveling pattern B indicated by the broken line, the traveling time becomes long, which leads to a decrease in service, and in the case of the traveling pattern C indicated by the alternate long and short dash line, the riding comfort, particularly, the riding comfort at the time of stopping is deteriorated. Occurs. Further, when descending, the opposite phenomenon to that when rising occurs.

Therefore, in the conventional speed control, the values of the load pressure and the oil temperature are input from the sensor immediately before the start of the hydraulic elevator, and the speed pattern is corrected based on these values.
The control command value was output according to this speed pattern.

However, in such a conventional speed control, the speed pattern is corrected based on the values of the load pressure and the oil temperature immediately before the start of the hydraulic elevator. Therefore, the load pressure and the oil temperature during traveling of the hydraulic elevator are corrected. Even when is changed, control is performed with a correction pattern based on the values of the load pressure and the oil temperature immediately before starting, and there is a problem that a target speed pattern cannot be obtained.

The present invention has been made to solve the above-mentioned conventional problems, and a hydraulic elevator capable of always providing a constant traveling characteristic by correcting the traveling characteristic of the hydraulic elevator by a control circuit having a simple structure. It is an object of the present invention to provide a control device of the.

[0010]

A control device for a hydraulic elevator according to the present invention includes a hydraulic jack for raising and lowering an elevator car, a valve for controlling the amount of pressure oil flowing through the hydraulic jack, and A hydraulic pump connected via a valve that allows pressure oil to pass through, an oil temperature sensor and pressure sensor for the pressure oil flowing through the hydraulic jack, and signals from the sensor are input to allow the hydraulic jack to move up and down in a predetermined speed pattern. Thus, for the valve, a control command value generation unit that generates a control command value based on a predetermined speed pattern, and while the hydraulic elevator is stopped and running,
It is provided with a control command value correction unit that inputs from a sensor, corrects the speed pattern based on this value, and outputs a control command value according to this speed pattern.

[0011]

In the hydraulic elevator control apparatus of the present invention, the speed pattern is constantly corrected not only immediately before starting the hydraulic elevator but also during traveling of the hydraulic elevator based on the values of the load pressure and the oil temperature. As a result, the speed pattern can be immediately corrected even when the values of the load pressure and the oil temperature change while the hydraulic elevator is traveling, so that stable speed control of the hydraulic elevator can always be realized.

[0012]

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

FIG. 3 shows the entire structure of a hydraulic elevator using a control device according to an embodiment of the present invention. Reference numeral 1 denotes a car, which is suspended from a rope 5 wound around a pulley 4 which is moved up and down by a plunger 3 of a hydraulic jack 2. Reference numeral 6 denotes a hydraulic pipe, and pressure oil from a hydraulic pump 8 rotatably driven by an electric motor 7 is returned to a tank 10 via a valve 9 via a valve 9 constituted by an electromagnetic switching valve. Thus, it is arranged between the hydraulic pump 8 and the hydraulic jack 2. Reference numeral 11 is a power source of the electric motor 7. 12 is an elevator control device that controls the entire elevator operation control, and 13 is a car 1
Is a speed control device for controlling the traveling speed of the vehicle.

A deceleration switch 14 and a stop switch 15 are provided near each floor of the elevator hoistway in order to give necessary signals to the speed control device 13, and a hydraulic sensor 16 is provided in the hydraulic pipe 6. Is provided, the tank 10 is provided with an oil temperature sensor 17, and the car 1 is further provided with a speed detector 18. All signals from these switches and sensors are input to the speed control device 13. It is connected to the.

The detailed structure of the speed control device 13 is shown in FIG. The speed control device 13 operates the elevator with a predetermined speed pattern based on the operation command from the external signal input circuit 130 for inputting the digital signals of the deceleration switch 14, the stop switch 15, and the speed detector 18, and the elevator control device 12. A valve control controller 131 that generates a control current command value necessary for traveling and a valve opening / closing control signal for a valve 9 such as a rising valve 91, a descending valve 92, and a check valve 96, which will be described later, based on the control current command value. Valve control unit 133 for outputting the electric power, and pump control unit for driving the electric motor 7
It consists of 133.

FIG. 4 shows a detailed internal structure of the valve 9. The valve 9 is an ascending flow rate control valve 91 and a descending flow rate control valve.
92, rising solenoid proportional pilot control valve 93, falling rising solenoid proportional pilot control valve 94, stroke sensor 95, check valve
96, electromagnetic pilot switching valve 97, emergency manual lowering valve 98, maximum pressure limiting relief valve 99, strainers 910 and 911, filters 912 and 913, and throttles 914 to 918.

Further, FIG. 1 shows the detailed construction of the valve controller 131 in the speed controller 13 as an embodiment of the present invention. The valve controller 131 includes a control command value generator 23 that generates a control command current value based on a predetermined speed pattern for the valve 9 so that the hydraulic jack 2 can move up and down in a predetermined speed pattern, a sensor 16, and a sensor 16.
A control command value correction unit 22 that corrects the control command current value in order to obtain a constant speed pattern by inputting the signal from 17
And a control command value correction limiting unit 21 that receives a signal from the speed detector 18 and limits the correction of the control command current value. Next, the operation of the hydraulic elevator control device configured as described above will be described.

In FIGS. 2 and 4, if there is an ascending command from the elevator controller 12, the electric motor 7 starts rotating,
The hydraulic pump 8 is started, but initially the rising flow control valve 91
Is fully open, the pump flow rate is completely bleed off to the tank 10, and the car 1 is stopped.

Therefore, the rising electromagnetic proportional pilot control valve 93 operates according to the current control command from the valve control unit 132, and the rising flow rate control valve 91 operates in the closing direction. As a result, the bleed-off flow rate to the tank 10 decreases, and this flow rate flows into the cylinder of the hydraulic jack 2 via the stroke sensor 95 and the check valve 96, so that the car 1 rises. On the contrary, at the time of descending, the electromagnetic pilot switching valve 97 is excited by the descending command, and the check valve 96 operates in the opening direction. Further, the descending electromagnetic proportional pilot control valve 94 is operated, whereby the oil in the cylinder of the hydraulic jack 2 is returned to the tank 10, and the car 1 is lowered.

Here, as described above, when the current control of the valve opening of the valve 9 corresponding to the rated speed pattern A shown in FIG. 8 is attempted regardless of the oil temperature and the load pressure, Even if the valve opening is kept constant due to changes in temperature and load pressure, the flow rate of pressure oil changes significantly, and as a result, the actual traveling waveform also deviates significantly from the speed pattern A.

Therefore, in order to obtain the predetermined speed pattern A even when the oil temperature and the load pressure change, it is necessary to generate a pattern as shown in FIG. That is, assuming that the pattern of the oil temperature and the load pressure in the normal state is A0, the discharge amount becomes small because the volumetric efficiency of the hydraulic pump 8 decreases when the oil temperature and the load pressure are high. When the oil temperature and the load pressure are low, the volumetric efficiency of the hydraulic pump 8 is increased and the discharge amount is increased. Therefore, the control command value pattern of A2 is generated to increase the speed. Try to suppress.

Therefore, based on the input values of the pressure sensor 16 and the temperature sensor 17, the control current value table of FIG. 6 is stored in the control command value generating unit 21 of FIG. Generate a control current command value for.

However, in the conventional control, the control current command value for high-speed traveling is generated based on the input values of the pressure sensor 16 and the temperature sensor 17 immediately before the hydraulic elevator is started. When the oil temperature and the load pressure changed after the vehicle started running, the control current command value for high-speed traveling speed corresponding to the changed oil temperature and load pressure was not used for control.

Therefore, in the present invention, the correction of the control current command value for the high speed traveling by the oil temperature and the load pressure is performed not only when the hydraulic elevator is stopped but also when the hydraulic elevator is traveling.

Also, when the hydraulic elevator is running, the oil temperature,
Since the control current command value is changed at any time according to the load pressure, there may be a case where the speed of the hydraulic elevator does not converge due to the delay in the response of the control system with respect to time. Therefore, the speed detector 18 constantly monitors the speed of the hydraulic elevator, and limits the correction of the control current command value when the actual elevator speed changes abruptly.

FIG. 7 is a control flowchart of these processes.
Shown in. This process is executed at regular intervals while the hydraulic elevator is traveling. First, in S1001, the speed detector 18
The hydraulic elevator speed is input from, and the difference between the speed input in S1002 and the speed measured one cycle before is calculated.
If the difference is greater than or equal to the predetermined value in S1003, it is determined to be unsafe, and the process branches to S1008 to store the speed data input this time. This processing is performed by the control command value correction corrective limiting unit 21 in FIG. If the difference is less than the predetermined value, the oil temperature and load pressure sensor data are input in S1004. In S1005, the correction amount of the control current command value is obtained based on the oil temperature and load pressure sensor data, and the control current command value output to the valve 9 is calculated in S1006. S
In 1007, the control current command value obtained in S1006 is output to the valve 9.

[0027]

As described above, according to the present invention, in the hydraulic elevator control device of the present invention, the values of the load pressure and the oil temperature are constantly measured not only immediately before the hydraulic elevator is started but also while the hydraulic elevator is running. The speed pattern is corrected based on As a result, the speed pattern can be immediately corrected even when the values of the load pressure and the oil temperature change while the hydraulic elevator is traveling, so that stable speed control of the hydraulic elevator can always be realized.

[Brief description of drawings]

FIG. 1 is a block diagram of a valve controller according to an embodiment of the present invention.

FIG. 2 is a system diagram of an embodiment of the present invention.

FIG. 3 is a block diagram of a speed control device in the embodiment.

FIG. 4 is a configuration circuit diagram of the valve in FIG.

5 is a pattern diagram of valve control device command values in FIG. 2. FIG.

FIG. 6 is a diagram showing a control current value table.

7 is a flowchart of the velocity current pattern output process in FIG.

FIG. 8 is a travel pattern diagram of the hydraulic elevator.

FIG. 9 is a characteristic diagram of a general hydraulic pump.

[Explanation of symbols]

1 ... Car 2 ... Hydraulic jack 3 ... Plunger 4 ... Pulley 5 ... Rope 6 ... Hydraulic piping 7 ... Electric motor 8 ... Hydraulic pump 9 ... Valve 10 ... Tank 11 ... Power supply 12 ... Elevator controller 13 ... Speed controller 14 ... Deceleration Switch 15 ... Stop switch 16 ... Load pressure sensor 17 ... Oil temperature sensor 18 ... Speed detector 21 ... Control command value correction limiter 22 ... Control command value correction unit 23 ... Control command value generator

Claims (1)

[Claims] 1. A hydraulic jack connected to the hydraulic jack via a valve,
A hydraulic pump that allows pressure oil to pass through the hydraulic jack, an electric motor that is rotatably connected to the hydraulic pump, an oil temperature sensor and a load pressure sensor for the pressure oil flowing through the hydraulic jack, and a valve that controls the oil amount, A hydraulic elevator control including a speed control device that inputs signals from these sensors and that generates a control command value based on a predetermined speed pattern for the valve so that the hydraulic jack can move up and down in a predetermined speed pattern. In the system, a speed detector for detecting the speed of the hydraulic elevator, and signals from the oil temperature sensor and the pressure sensor are input to the valve so that the hydraulic jack can move up and down in a predetermined speed pattern. A control command value generation unit that generates a control command value based on a speed pattern, and while the hydraulic elevator is stopped and running, The input from the sensor, the speed pattern is corrected based on this value, the control command value correction unit that outputs the control command value according to this speed pattern, and the signal from the speed detector is input, and the control command is input. A control device for a hydraulic elevator, comprising: a control command value correction limiter that restricts correction of a speed pattern by the value corrector.