JPH0592877A - Elevator landing control device - Google Patents

Abstract

(57) [Summary] [Purpose] To obtain an elevator landing control device that can improve the landing accuracy of an elevator car and is suitable for use in a wheelchair or in conjunction with a guided vehicle. [Structure] A pulse generator 20 that outputs a pulse 20A corresponding to the traveling distance of the car 8, a load detector 11 that detects the load inside the car, and a re-floating command when the car 8 is out of the allowable landing range. Position detectors 13, 14, 15 for outputting are provided, and the speed command 1A is based on the command value obtained from the pulse train 20A from the pulse generator 20 and the correction value according to the in-car load value from the load detector 11 Drive 8 to land.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device capable of improving the accuracy of the landing position of an elevator.

[0002]

2. Description of the Related Art Conventionally, various control devices have been proposed for improving the landing accuracy of an elevator car. For example, in the landing control device disclosed in Japanese Examined Patent Publication No. 64-10434, the pulses output from the pulse generator are counted to detect the position of the car, and a landing speed command corresponding to the position of the car is stored in the storage element. It is designed to be extracted more.

[0003]

In the conventional elevator landing control device as described above, the riding comfort at the time of landing is improved, but the landing accuracy is limited to about ± 10 mm to ± 20 mm. There is a problem that Further, due to the enhancement of the social welfare system in recent years, the chances of using an elevator in a wheelchair are increasing, and further improvement of the landing accuracy of the elevator is desired. Furthermore, as part of labor saving in manufacturing factories, there is an increasing demand to operate the transportation of parts and other vehicles in conjunction with the operation of elevators. During this interlocking operation, the landing accuracy may be within ± 5 mm. Coveted.

The present invention has been made to solve the above problems, and can significantly improve the landing system of an elevator car. Particularly, the elevator car suitable for use in a wheelchair or in an interlocking operation with a carrier vehicle. An object is to provide a landing control device.

[0005]

An elevator landing control apparatus according to the present invention comprises a pulse generator for outputting a pulse corresponding to a traveling distance of a car, and a load detector for detecting a load in the car. Provided with a position detector that outputs a re-floor alignment command when the car deviates from the allowable floor landing error range, depending on the command value obtained by counting the pulses from the pulse generator and the load value in the car from the load detector. The car is driven by the speed command based on the correction value. Further, the pulse generator is driven by a sheave that rotates as the car runs.

[0006]

In the present invention, when the detected load value in the car is heavier than the reference value, the landing speed command is corrected in the increasing direction, and when it is light, it is corrected in the decreasing direction.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is an overall configuration diagram of an elevator landing control apparatus according to an embodiment of the present invention. In FIG. 1, 1 is a speed command device for instructing a traveling speed of a car, 1A is a speed command which is an output thereof, 2 is an adder, 3 is a motor control device including a VVVF (variable voltage variable frequency) control device, and the like. Reference numeral 4 is an electric motor for hoisting a car, 5 is a sheave driven by the electric motor 4, 6 is a speed detector for detecting the rotational speed of the electric motor 4, 7 is a rope, 8 is a car, 9 is a counterweight, 1
0 is an anti-vibration rubber installed at the bottom of the car 8, 11 is a load detector that detects the compression amount of the anti-vibration rubber 10 by a differential transformer, and detects the load load in the car 8, 11A is its output,
12 is a shield plate installed in the hoistway, and 13, 14 and 15 are outputs 13A, 14A when facing the shield plate 12, respectively.
A position detector emitting 15A (not shown), 16 is an arm for mounting the position detectors 13, 14, 15 and 17 is a cage 8 at both ends.
A rope that is fixed to and is driven by raising and lowering the car 8, 1
8 is a sheave driven by a rope 17, 19 is a sheave,
20 is a pulse generator for detecting the rotation of the sheave 18, 20A
Indicates the pulse train that is the output.

FIG. 2 is a block diagram showing the structure of the speed command device 1 described above. In FIG. 2, 101 is a central processing unit (hereinafter referred to as CPU), and 102 is a read-on-memory (hereinafter referred to as ROM) in which programs and data are stored.
, 103 is a random access memory (hereinafter referred to as RAM), 104 is a timer that issues an interrupt signal each time a predetermined time period elapses, 105 is an output circuit that outputs a speed command calculated by the CPU 101, and 101A is its output. , 106 is a counter for calculating the pulse generated by the pulse generator 20, and 107 is an output 11A of the load transmitter 11.
Is input to the CPU 101, and 108 is the outputs 13A, 14A, 15A of the position detectors 13, 14, 15 to C
An input circuit for inputting to the PU 101, and 109 is a bus for address and data.

Next, the operation will be described based on the above configuration. First, when a running command for the car 8 is issued, the CPU 101 in the speed command device 1 calculates the speed command 1A and supplies it to the electric motor control device 3 via the adder 2, so that the electric motor 4 becomes the speed command 1A. Accordingly, the sheave 5 is rotated and the car 8 starts traveling. On the other hand, the rotation speed of the electric motor 4 is detected by the pulse generator 6 and supplied to the adder 2 as a speed feedback signal, so that the traveling speed of the car 8 is controlled with high accuracy.

When the car 8 travels, the rope 17 is driven to rotate the sheave 18 and the tension wheel 19, the pulse generator 20 emits a pulse train 20A, and the counter 106 in the speed command device 1 counts the number of pulses. CPU 101
Calculates the current position of the car 8 based on this count value.
Further, when the floor at which the car 8 is to be stopped is determined and the deceleration start point is reached, the car 8 starts decelerating, and the following operation is carried out by the flowchart of the speed command program stored in the ROM 102 shown in FIG. Etc. will be explained. CPU1
Every time 01 the timer 104 issues an interrupt signal, the above-mentioned speed command program is periodically repeated to perform calculation. First. In step 301, it is determined whether the deceleration mode is set, and if the deceleration start point is reached, step 302
And go to step 303.

The contents of steps 302 and 303 will be described below with reference to FIG. 4 (a) and 4 (b) are tables showing an example of distance-versus-speed command values.
As shown in (c), the distance to the destination floor DS1, DS2,
... Velocity commands VPI and VP corresponding to each DSN
2, ... VPN is stored. In addition, FIG.
ADS1, ADS2 ... ADSN in (b) are the distance D
Address corresponding to S1, DS2 ... DSN, AVP1,
AVP2 ... AVP N are speed command values VP1, VP2 ... VP
The address of the memory in which N is stored is shown. That is,
In step 302, the CPU 101 causes the counter 106 to
The count value of is read and the distance DSX to the destination floor is calculated. Then, in step 303, the distance DS from FIG.
The storage address AVPX of the speed command value is extracted by the address ADSX corresponding to X, then the speed command value VPX stored in the address AVPX is extracted from FIG. 4B, and this is output to the output circuit 105. In this way, the speed command for deceleration is generated and the car 8 is decelerated.

FIG. 5 is a waveform diagram for explaining the operating states of the position detectors 13 to 15 shown in FIG. 1. The minus sign of the distance indicates the front of the floor, and the distances -S1 to S1 indicate the landing error range. The distance-S2 to S2 indicates the floor matching range. When the car 8 decelerates and reaches S3, which is the floor distance on the floor of the target floor in FIG. 5, the position detector 13 outputs an output in opposition to the shielding plate 12, and further decelerates the car 8 to front the floor of the floor. Distance S2
The position detector 14 operates in a similar manner when the position reaches the position S1, and the position detector 13 moves the shield plate 1 when the position S1 immediately before the destination floor is reached.
It deviates from 2 and becomes inoperative.

Next, returning to the flowchart of FIG. 3, when the car 8 reaches the floor S2 on the floor of the destination floor, the position detector 13 operates as described above. When this is detected in step 304, the process proceeds to step 305, where Then, the CPU 101 reads the output signal 11A of the load detector 11 via the input circuit 107, proceeds to step 306, and corrects the speed command extracted in step 303.

FIG. 6 shows the relationship between the car load and the correction amount, and FIG. 7 shows the corrected speed command. As is well known, elevators generally employ counterweights of about 50% of the rated load. Therefore, as shown in FIG.
For example, when the load inside the car is 100%, the correction amount is 3 mm,
When it is 50%, it is set to 0 mm, and when it is 0%, it is set to -3 mm. Generally, this correction amount is selected as an optimum value in consideration of the spring constant of the anti-vibration rubber 10 and the control gain of the electric motor control device 3.

Now, assuming that the load inside the car is 100% and is in the ascending operation, the correction amount is 3 mm, and it is considered that the floor level of the target floor is higher than the actual position by the correction amount. That is, if 3 mm is added to the actual distance to the destination floor and the speed command corresponding to this added distance is extracted by the same method as described above, the speed command is corrected as shown by the curve 701 in FIG. 7. Similarly, when the load in the car is 50%, the correction amount is 0 mm, so no correction is performed, the speed command becomes as shown by the curve 702, and the load in the car is 0%.
In this case, the correction amount is -3 mm, so the speed command is corrected as shown by the curve 703. Then, the car 8 lands in the landing error range −S1 to S1 according to the corrected speed command.

Even when the car 8 is in the descending operation, the correction corresponding to the car load is performed. That is, since the driving direction is opposite, for example, if the car load is 100%, the correction amount is 3 m.
Subtract m from the distance to the destination floor.

FIG. 8 is a flow chart showing an example of the procedure of a program for re-floor adjustment. First, while the car 8 is landing on the floor, when the rope 7 expands and contracts due to passengers and luggage getting on and off,
The car 8 is out of the landing error range −S1 to S1 shown in FIG.
When this is detected in step 801, the process proceeds to step 802, the calculated value of the counter 106 is read, and step 8
At 03, the speed command value is extracted. Then, step 804.
Output signal 1 of the load detector 11 via the input circuit 107 at
1A is read, and in step 805, the speed command value extracted in step 803 is corrected. In this way, the car 8 travels according to the corrected speed command, and again lands on the floor within the landing error range −S1 to S1.

[0018]

As described above, according to the present invention, the speed command in the elevator landing area is corrected in accordance with the load in the car. Therefore, the compression amount of the anti-vibration rubber and the characteristics of the motor control device are corrected. It is possible to cancel the landing error caused by the above, and it is possible to improve the landing accuracy within ± 5 mm. Therefore, a wheelchair user can safely use the elevator, and good driving characteristics can be obtained even in the interlocking movement with the transport vehicle. Further, since the speed command is calculated based on the pulse generator that correlates with the drive of the car, even if the main rope expands and contracts as passengers and luggage get in and out, the movement of the car can be accurately detected and the accuracy of the car can be improved. There is an effect that a high landing motion can be performed.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of an elevator landing control device according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a speed command device in FIG.

FIG. 3 is a flowchart of a speed command program stored in a ROM shown in FIG.

FIG. 4 is an explanatory diagram for explaining the contents of steps 302 and 303 in FIG.

5 is a waveform diagram for explaining an operating state of the position detector in FIG.

FIG. 6 is a diagram showing a relationship between a car load and a correction amount.

FIG. 7 is a diagram showing a corrected speed corresponding to a car speed and a landing distance.

FIG. 8 is a flowchart showing a procedure example of a program at the time of re-floor adjustment.

[Explanation of symbols]

 1 speed command device 1A speed command 3 electric motor control device 8 car 11 load detector 13 position detector 14 position detector 15 position detector 18 sheave 20 pulse generator 20A pulse train

Claims (2)

[Claims] 1. A pulse generator that outputs a pulse corresponding to the distance traveled by a car, a load detector that detects the load in the car, and a car that operates when the car goes out of the allowable landing error range and then restarts. Depending on the position detector that outputs the floor alignment command, the speed command means that counts the pulses and outputs the speed command corresponding to the distance to the target floor, and the load in the car detected by the load detector. An elevator landing control device comprising: a speed command correction unit that corrects a speed command during re-floor adjustment. 2. The elevator landing control device according to claim 1, wherein the pulse generator is driven by a sheave that rotates as the car travels.