JPH1059633A - Speed controller for rope type elevator - Google Patents

Abstract

(57) [Problem] To provide a speed control device of a rope type elevator that can perform high-accuracy speed control and easily adjust regardless of changes in the characteristics of the elevator. SOLUTION: A mathematical expression model of a rope type elevator in which a control amount is a car speed and an operation amount is a speed command value of an electric motor is stored in advance in an elevator mathematical expression model storage means 2, and a control gain calculating means 5 controls the elevator mathematical expression. The control gain is obtained by setting parameter values in the model. The motor speed command value calculation means 9 calculates the control gain calculated by the control gain calculation means 5, the adjustment coefficient and the state set by the car speed response adjustment means 6. Based on the state quantity detection value detected by the quantity detection means 8, the speed command value of the motor is calculated so that the car speed follows the car speed command value, and the motor is controlled by the speed command value.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a speed control device for a rope type elevator in which a car is suspended from a sheave via a rope and the speed of an electric motor for driving the sheave is controlled to control the elevator of the car. .

[0002]

2. Description of the Related Art Generally, in a rope type elevator, the elevator mechanical system is regarded as a rigid body, and a car speed is controlled to a desired car speed command value by driving an electric motor for driving a sheave.

FIG. 8 is a block diagram of a speed control device for a rope type elevator. The car speed command value setting means 1 outputs a motor speed command value (car speed conversion) u based on the elevator start command. That is, the conversion means 11 of the elevator 10 has the car speed command value setting means 1
The motor speed command value (converted to the car speed) u is input from the controller and the converting means 11 converts the motor speed command value u converted to the car speed into a command value of the motor speed. Then, the motor control device 12 detects the speed of the motor 13 with the motor speed detecting means 14 and feeds back the detected speed.
3 is controlled so that the speed becomes the converted motor command value. Thereby, the electric motor 13 is connected to the elevator mechanical system 1.
The sheave for raising / lowering the fifth car is driven.

As described above, in the conventional rope type elevator speed control device, the elevator mechanical system 15 is regarded as a rigid body, and the speed of the car is controlled by driving the electric motor 13 according to a desired car speed command value. ing.
The vibration of the car due to the jumping of the passengers, the distortion of the rails, the resonance of the elevator mechanical system 15 and the like is mechanically suppressed by installing a damper or a vibration-proof rubber.

[0005]

However, since the elevator 10 is a system in which the natural frequency greatly changes depending on the loaded load and position of the car, the mechanical vibration damping means such as a damper or a vibration-proof rubber may cause vibration. Can not be completely suppressed, and the generated vibration sometimes becomes a problem on a specific floor or a loaded load. This tendency was remarkable in an ultra-high-speed elevator, particularly in a long stroke in which a change in the natural frequency is large.

In order to always achieve high-precision speed control regardless of changes in the load or position of the car, it is desirable to update the control gain in accordance with these detected values. Conventionally, the control gain is fixed because there is no guideline and a huge amount of adjustment time is required for trial and error. In addition, it is necessary to readjust the control gain according to the specifications of the elevator and the required performance, resulting in poor efficiency.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an elevator speed control device capable of performing high-accuracy speed control and easily adjusting the speed regardless of changes in the characteristics of the elevator.

[0008]

According to a first aspect of the present invention, there is provided a car speed command value setting means for receiving an elevator start command and setting a car speed command value, a control amount being a car speed, and an operation amount being an electric motor. Elevator formula model storage means for storing in advance a formula model of a rope type elevator as a speed command value, and a control gain formula calculation for calculating a control gain in the form of a formula based on the elevator formula model stored in the elevator formula model storage means. Means, a mathematical model parameter setting means for setting the value of the parameter of the elevator mathematical model, and a parameter value set by the mathematical model parameter setting means for the control gain equation calculated by the control gain equation calculating means. Control gain calculating means for calculating the control gain, and adjustment for adjusting the response of the car speed to a desired value Car speed response adjusting means for setting the number, car speed detecting means for detecting the car speed, and state quantity detecting means for detecting a state quantity necessary for control among signals corresponding to the state quantity of the elevator mathematical model And the control gain calculated by the control gain calculating means, the adjustment coefficient set by the car speed response adjusting means, and the detected state quantity detected by the car speed detecting means based on the state quantity detected value detected by the state quantity detecting means. Motor speed command value calculating means for calculating a speed command value of the motor so that the car speed follows the car speed command value set by the car speed command value setting means.

According to the first aspect of the present invention, a mathematical model of a rope type elevator having a control amount as a car speed and an operation amount as a speed command value of an electric motor is stored in advance in an elevator mathematical expression model storage means, and a control gain calculating means is provided. A parameter value is set in the elevator mathematical formula model to obtain a control gain, and the motor speed command value calculating means includes a control gain calculated by the control gain calculating means, an adjustment coefficient set by the car speed response adjusting means, and Based on the state quantity detection value detected by the state quantity detection means, the car speed detected by the car speed detection means follows the car speed command value set by the car speed command value setting means. The speed command value of the motor is calculated, and the motor is controlled by the speed command value.

According to a second aspect of the present invention, in the first aspect of the present invention, an unmeasurable signal or a signal having a low accuracy among signals corresponding to the state quantities of the elevator mathematical expression model is estimated based on the elevator mathematical expression model. It is provided with state quantity estimating means for outputting the value to the motor speed command value calculating means.

According to a second aspect of the present invention, in addition to the operation of the first aspect, the state quantity estimating means removes an unmeasurable signal or a signal of poor accuracy among signals corresponding to the state quantity of the elevator mathematical expression model. presume. Then, the motor speed command value calculating means calculates the motor speed command value based on the estimated value instead of the detection signal.

[0012] The invention of claim 3 is claim 1 or claim 2.
In the invention, the control gain equation calculating means uses the ILQ control theory when calculating the control gain equation.

According to a third aspect of the present invention, in addition to the operation of the first or second aspect, the control gain type calculating means includes an IL.
The control gain equation is calculated according to the Q control theory.

The invention according to claim 4 is the invention according to claims 1 to 3.
In the invention of the above, a car loading load detecting means for detecting a loading load of the car is provided, and the control gain calculating means calculates a control gain dependent on the loading load of the car by the riding load detected by the car loading load detecting means. This is updated in accordance with a change in the detected value of the car load.

According to a fourth aspect of the present invention, in addition to the functions of the first to third aspects, the control gain of the motor speed command means is updated in accordance with a change in the detected value of the car load.
As a result, the electric motor is controlled according to the change in the load on the car.

The invention of claim 5 is the first to third aspects of the present invention.
In the invention according to the invention, a car position detecting means for detecting the position of the car is provided, and the control gain calculating means calculates a control gain dependent on the position of the car by the detected car position value detected by the car position detecting means. Is updated in accordance with the change of.

The invention of claim 6 is the first to third aspects of the present invention.
In the invention according to the invention, a car loading load detecting means for detecting a loading load of the car and a car position detecting means for detecting a position of the car are provided, and the control gain calculating means includes a loading capacity of the car and the car. And the control gain depending on the position of the car is updated in accordance with a change in the detected value of the car loaded load and the detected value of the car position.

According to a sixth aspect of the present invention, in addition to the functions of the first to third aspects of the present invention, the control gain of the motor speed command means is updated in accordance with a change in the detected load on the car and a change in the position of the car. I do. As a result, the electric motor is controlled according to the change in the load on the car and the change in the position of the car.

[0019]

Embodiments of the present invention will be described below. FIG. 1 is a block diagram showing a first embodiment of the present invention. In the first embodiment, the elevator 10 is represented by a mathematical expression model in advance and stored in the elevator mathematical expression model storage means 2. Based on the elevator mathematical expression model, the control gain in the motor speed command value calculating means 9 is calculated. This is set as a mathematical expression. And
The calculation of the control gain expression by the control gain expression calculating means 3 includes:
In particular, the ILQ control theory is used.

That is, the elevator mathematical expression model storage means 2 stores an elevator mathematical expression model in which the elevator 10 is represented by a mathematical expression model in advance. The control gain formula calculating means 3 calculates a control gain formula in which the control gains Ki and Kf of the motor speed command value calculating means 9 are expressed by mathematical formulas based on the elevator mathematical formula model stored in the elevator mathematical formula model storage means 2.

The control gain expression expressed by the equation is input to the control gain calculating means 5. This control gain calculating means 5
Converts the control gain expression expressed by the mathematical expression into the control gain expressed by the numerical value, and substitutes the set numerical value into each parameter of the elevator mathematical expression model by the mathematical expression model parameter setting means 4. Then, a control gain indicated by a numerical value is calculated and output to the motor speed command value calculating means 9.

The motor speed command value calculating means 9 receives the control gain from the control gain calculating means 5 and the adjustment coefficients Tu and σ from the car speed response adjusting means 6 and is detected by the car speed detecting means 7. car speed x ₄ was one in which is controlled to be in the car speed command value Vr which is set to the car speed command value setting means 1 ride. In that case, the motor speed command value (converted to car speed) u to the conversion means 11 of the elevator 10 is calculated in consideration of the state quantities x ₂ and x ₃ detected by the state quantity detection means 8. The state quantities x ₂ and x ₃ detected by the state quantity detection means 8 are the state quantities necessary for controlling the car speed x ₄ , and the details thereof will be described later.

In the first embodiment, the control gain of the motor speed command value 9 is determined based on the mathematical model of the elevator 10.
Needs to be represented by a mathematical model. Hereinafter, the configuration of the elevator 10 will be described, and derivation of a mathematical model will be described.

The elevator 10 is a controlled object having a car speed y as a control amount and an electric motor speed command value (car speed conversion) u as an operation amount. That is, the motor speed command value (car speed conversion), which is an operation amount, is provided to the conversion means 11.
u is inputted, and the conversion means 11 converts the motor speed command value u in terms of the car speed into a motor speed command value. Then, the motor control device 12 detects the speed of the motor 13 with the motor speed detecting means 14 and performs feedback control. That is, the motor control device 12 controls the speed of the motor 13 to be a converted motor command value, and drives the elevator mechanical system 15.

FIG. 2 is a schematic configuration diagram of the elevator mechanical system 15. As can be seen from FIG. 2, in the rope type elevator called a hanging type, a car 18 and a counterweight 19 are connected by a rope 17 and suspended from a sheave 16. The electric motor 13 is installed on the roof of the building and the sheave 16
To rotate. Sheave 16 winds rope 17 and raises and lowers car 18. The power counterweight 19 is set to have substantially the same mass as the car 18, and reduces the load on the electric motor 13 by balancing with the car 18.
Energy saving and miniaturization are aimed at.

The rope type elevator 1 having the above configuration
In expressing 0 by a mathematical model, various parameters (symbols) are determined as follows.

Symbol Description Mc [kg] Car mass Mw [kg] Counterweight mass Kc [N / m] Rope elastic constant (car side) Kw [N / m] Rope elastic constant (counterweight side) Xc [m ] cab position Xw [m] counterweight position r [m] sheave radius Tmi [N · m] motor generator torque Tm [N · m] motor externally generated torque Jm [kg · m ^2] motor inertia .theta.m [rad] Motor rotation angle Kt [-] Torque conversion coefficient Nm [-] Motor / sheave rotation ratio T ₁ [s] Motor speed control PI control parameter T ₂ [s] Motor speed control PI control parameter

In an elevator, since the car speed and the motor speed are theoretically proportional to each other, the conversion from the car speed conversion by the conversion means 11 to the motor speed is performed by a proportional constant determined from the configuration of the elevator. the K ₁ may be multiplied. In the hydraulic elevator 10 in the first embodiment, the proportionality constant K ₁ can be calculated by the following equation.

K ₁ = 1 / (r · Nm)

Next, when a mathematical expression model of the elevator 10 is created, it is possible to improve the control performance by using a more detailed expression (a model having a large number of states and a high order). The amount of state required for control increases, and many sensors are required.

In general, an elevator mathematical model differs in the type and order (number of states) of its parameters depending on the drive system and configuration of the elevator, or the required accuracy.
The more detailed the mathematical model, the better the control performance, but the configured control system becomes complicated. Therefore, when creating a mathematical expression model, it is desirable to sufficiently consider necessary accuracy, a measurable signal, and the like, and to make it as simple as possible. That is, it is important to accurately simulate the characteristics of the hydraulic elevator and to create a mathematical model as simple as possible.

In the first embodiment, the elevator 10 is modeled as shown in FIG. When the elevator mathematical model of FIG. 3 is represented by a state equation, the following equation is obtained. y indicates a car speed which is a control amount, and u indicates a motor speed command value (car speed conversion) which is an operation amount.

[0033]

(Equation 1)

The mathematical expression model of the elevator 10 thus modeled is stored in the elevator mathematical expression model storage means 2 in advance. This elevator mathematical formula model is used by the control gain formula calculating means 3 to calculate the control gain formula.

Next, the control gain formula calculating means 3 calculates the control gain used by the motor speed command value calculating means 9 in the form of a mathematical formula based on the elevator formula model stored in the elevator formula model storage means 2.

Various methods may be applied to the calculation by the control gain type calculating means 3. In the first embodiment, a method called ILQ control theory is used. Regarding the ILQ control theory, for example, “Generalization of ILQ optimal servo system design method, Takao Fujii,
Taku Shimomura, Transactions of the Society of Systems, Control and Information Engineers, Vol. 1,
No. 6, 1988 ". An ILQ control system design algorithm and a calculation result when the ILQ control theory is applied to an elevator mathematical model will be described below.

(Step 1) The degree of overlap d is selected as in the following equation (2). Here, A, B, and C are the matrices described in equation (1).

[0038]

(Equation 2)

(Step 2) D is calculated by the following equation (3).

[0040]

(Equation 3)

(Step 3) N is calculated by the following equation (4). Here, Tu is a parameter that specifies the response of the control system.

[0042]

(Equation 4)

(Step 4) The control gain (feedback gain) Kf is calculated by the following equation (5).

[0044]

(Equation 5)

(Step 5) Control gain (integral gain)
Ki is calculated by the following equation (6).

[0046]

(Equation 6)

According to the above algorithm, the control gains Kf and Ki are calculated as in the following equations (7) and (8).

[0048]

(Equation 7)

As described above, Tu in the ILQ control system design algorithm is a parameter for the designer to specify the speed response of the car, and its value is set by the car speed response adjusting means 6. Become.

As described above, the control gain type calculation means 3
Based on the elevator mathematical model, the above Steps 1 to St
In accordance with the ILQ control system design algorithm shown in ep5, the control gain used in the motor speed command value calculating means 9 is analytically calculated in the form of a mathematical expression. That is, the control gain K
f and Ki are determined as shown in Expressions (7) and (8).

The control gain formula calculated by the control gain formula calculating means 3 is input to the control gain calculating means 5, and the parameter value set by the mathematical model parameter setting means 4 is substituted into the control gain formula to control the control gain formula. Calculate the gain as a numerical value. The control gain expressed by a numerical value is used by the motor speed command value calculating means 9 to calculate the motor speed command value u.

Here, the mathematical model parameter setting means 4
Sets the parameter value of the elevator mathematical expression model, and outputs the parameter value to the control gain calculating means 5. The parameter values set by the mathematical model parameter setting means 4 are shown below.

Parameter Description Mc [kg] Car mass Mw [kg] Counterweight mass Kc [N / m] Rope elastic constant (car side) Kw [N / m] Rope elastic constant (counterweight side) r [m ] sheave radius Jm [kg, m ^2] motor inertia Kt [-] torque conversion coefficient Nm [-] motor / sheave rotation ratio T ₁ [s] motor speed control PI control parameter T ₂ [s] motor speed control PI control Parameters

As described above, the mathematical model parameter setting means 4 inputs the parameter values of the elevator mathematical model to the control gain calculating means 5 and converts the parameter values into the control gain equations represented by the equations (7) and (8). Set the value.

Thus, the motor speed command value calculating means 9 can be used for a rope type elevator in which the size of the car, the motor, the sheave, etc., the number of ropes, etc. are various, by simply resetting the parameters of the mathematical model. Can be obtained. The control gain calculated by the control gain calculating means 5 is input to the motor speed command value calculating means 9.

Next, the car speed response adjusting means 6 adjusts parameters for designating the speed response of the car. The parameters adjusted by the car speed response adjusting means 6 are as follows.

Tu: Parameter for specifying the speed response of the car σ: Parameter for adjusting the speed response of the car

Here, the adjustment coefficient Tu is an adjustment coefficient for the control system designer to set the speed response of the car to a desired value, and the adjustment coefficient σ is to bring the actual car speed close to the set value. Is an adjustment coefficient. That is, when the adjustment coefficient σ is set to infinity, the car speed Xc is expressed by the following equation.

[0059]

(Equation 8)

That is, the larger the adjustment coefficient σ is set, the closer to the equation (11), which is the response set by the designer, but the motor speed command value u, which is the manipulated variable, also becomes a large value. Can not be set. Therefore, the designer first sets the desired response (formula (11)) using the adjustment coefficient Tu, and then performs the adjustment by increasing the adjustment coefficient σ as much as possible.

Further, since the equation (11) does not include a vibration component, it can be seen that there is also an effect of suppressing the vibration.
Further, the control system designed by the ILQ control has a characteristic that the performance is less deteriorated (robust) even when a characteristic change such as a loaded load or a position of a car occurs.

Next, the motor speed command value calculating means 9 includes a car speed command value Vr set by the car speed command value setting means 1, a control gain calculated by the control gain calculating means 5, a car speed response. Using the adjustment coefficients Tu and σ set by the adjusting means 6, the car speed detected value x ₄ detected by the car speed detecting means 7, and the state quantity detected values x ₂ and x ₃ detected by the state quantity detecting means 8 Thus, the motor speed command value u is calculated.

Here, the state quantity detected by the state quantity detecting means 8 is a signal corresponding to the state quantity of the rope type elevator 10 to be controlled. The signal detected by the state quantity detecting means 8 differs depending on the form of the elevator mathematical formula model, but in the first embodiment,
The following signals are detected.

[0064]

(Equation 9)

Of the states x _{1 to} x ₆ shown in equation (2), x
_1, x _5, the control gain x ₆ is the corresponding Kf1, Kf5, K
Since f6 is 0 (Equation (7)), there is no need to detect it, and the state quantities detected by the state quantity detecting means 8 are x ₂ and x ₃ . Further, x ₄ is detected by the car speed detection means 7 ride.

FIG. 4 is a block diagram showing the structure of the motor speed command value calculating means 9. As shown in FIG. In the motor speed command value calculating means 9, the control gains Ki, Kf2, Kf3, Kf4
Then, the motor speed command value (car speed conversion) u is calculated using the adjustment coefficients Tu and σ. That is, as shown in FIG. 4, from subtracts the car speed detection value x ₄ from the car speed command value Vr, obtained by integrating the integral gain Ki signal,
Subtracting the sum of the full Eid back gain Kf2, KF3, signals obtained by multiplying the Kf4 corresponding to each of the state quantities detected values _{x 2, x 3, x 4} , a signal obtained by multiplying the adjustment coefficient σ and the motor speed command value u.

The control gains Ki, Kf2, Kf3,
Kf4 is a value obtained by substituting the parameter value by the mathematical model parameter setting means 4 using the control gain formulas represented by the formulas (7) and (8). Also, the adjustment coefficient Tu
Is included in equations (7) and (8), and the one set by the car speed response adjusting means 6 is used.

As described above, in the first embodiment, the control gain in the rope type elevator speed control device is analytically calculated in the form of a mathematical expression, so that the equipment such as a car, an electric motor, and a sheave are calculated. When the size is changed, an optimal control gain can be obtained by substitution calculation. Also, in adjusting the speed response, it is possible to easily adjust to a desired response by introducing an adjustment coefficient. As a result, adjustment of the control gain, which has conventionally required much time, can be significantly simplified.

Further, by using the ILQ control theory in the calculation of the control gain equation, the control gain equation can be calculated by an extremely simple algorithm. Furthermore, the configured control system has an effect of suppressing the vibration of the car, and the performance is less deteriorated even when a characteristic change such as a loaded load or a position of the car occurs.

Next, a second embodiment of the present invention will be described. FIG. 5 is a configuration diagram showing a second embodiment of the present invention. The second embodiment differs from the first embodiment shown in FIG. 1 in that a state quantity estimating means 37 for estimating a signal corresponding to a state quantity by using an elevator mathematical model is added. The state quantity estimating means 37 estimates a signal which cannot be measured or has poor accuracy among the state quantities necessary for control, and outputs the estimated value to the motor speed command value calculating means 9 instead of the detected value. It is something to do. Other configurations are the same as those of the first embodiment shown in FIG. 1, and therefore, the same elements are denoted by the same reference numerals and description thereof will be omitted.

Various methods are conceivable for estimating the signal corresponding to the state quantity in the state quantity estimating means 37.
In the second embodiment, an observer is configured using a mathematical model of a rope type elevator to estimate a state quantity. That is, the state quantity estimating means 37 forms an observer based on the elevator mathematical model, and estimates the state quantity using the motor speed command value u and the detected car speed value y (x ₄ ). FIG. 6 shows a configuration diagram of the state quantity estimating means 37. The meanings of the symbols in FIG. 6 are as follows.

U: Motor speed command value (car speed conversion) y: Car speed detection value A, B, C: Matrix representing an elevator mathematical model (described in equation (1)) K: Observer gain [x]: State quantity estimated value [y]: Car speed estimated value

K is an observer gain, and A−K · C
Is selected to be a stable matrix, then [x] → t → ∞
x, and [x] can be used as an asymptotic estimate of x. K may be selected by a numerical simulation and adjusted to a desired value in an actual machine. The observer configuration method is described in "Introduction to System Control Theory (Jikkyo Shuppan),
Kogo et al.'S well-known documents such as those described in detail are adopted.

The state quantity estimated by the state quantity estimating means 37 is
Used by the motor speed command value calculation means 9. The motor speed command value calculating means 9 uses the estimated value of the state quantity estimating means 37 instead of the signal which cannot be detected by the state quantity detecting means 8 or the signal having low accuracy among the signals required for control.

The proper use at that time depends on the presence or absence and performance of a state quantity detector (sensor) and the configuration of the elevator mathematical expression model. However, if at least the car speed detecting means 7 is provided, it is based on the elevator mathematical expression model. By configuring the observer, it is possible to estimate all state quantities from the motor speed command value u and the detected car speed value y (x ₄ ). For example, it is effective to estimate the car acceleration. The reason is that a high-precision acceleration sensor is expensive and causes a problem in cost.

That is, when the control gain of the motor speed command value calculation means 9 is obtained based on the mathematical model of the elevator as in the present invention, when the speed control is performed, it corresponds to the state quantity of the elevator. Signal to be used. In order to configure a higher-performance speed control device, it is necessary to use a detailed elevator mathematical expression model. However, the detailed mathematical expression model requires a large number of signals corresponding to state quantities.
In some cases, this signal may include an unmeasurable signal. Even if all signals can be measured, it is not realistic to provide detectors for all signals for reasons of cost and measurement accuracy. Therefore, such a state quantity is estimated by the state quantity estimating means 37.

As described above, according to the second embodiment, the following effects are obtained by providing the state quantity estimating means 37.

(1) It is possible to configure a speed control device based on a more detailed elevator mathematical model including a state quantity that is difficult to measure. Therefore, it is possible to improve control performance such as followability to the motor speed command value, stop position accuracy, and vibration suppression performance. (2) If at least the car speed detecting means 7 is provided, all remaining state quantities can be estimated. Therefore, when there are restrictions on cost, the number of detectors (sensors) can be reduced, and the speed control device can be simplified and cost can be reduced.

Next, a third embodiment of the present invention will be described. FIG. 7 is a block diagram showing a third embodiment of the present invention. This third embodiment is different from the first embodiment shown in FIG. 1 in that a car loading load detecting means 38 for detecting the loading load of the car and a car position for detecting the position of the car. The control gain calculator 3 updates the control gain depending on the load of the car and the position of the car according to changes in the detected value of the car load and the detected position of the car. It is like that. Other configurations are the same as those of the first embodiment shown in FIG. 1, and therefore, the same components are denoted by the same reference symbols and description thereof will be omitted.

As described above, the control gain type operation means 3
Since the control gain of the motor speed command value calculating means 9 is obtained based on the ILQ control theory, the performance can be improved even when characteristic changes such as the load on the car, the position of the car, and the oil temperature occur. Is characterized by little degradation (robust). However, when these changes are remarkable, a case where a constant control gain is insufficient may be considered.

Therefore, in the third embodiment, the control gain is updated in accordance with the detected value of the car load and the detected position of the car, so that the optimum control is always performed regardless of the change of these values. Gain. In the third embodiment, the control gain is updated by the following method.

(1) Method of Updating Control Gain in Correspondence with Car Carrying Load Detected Value When the control gain is calculated in the control gain calculating means 5, the value of the car mass Mc in the mathematical model parameter setting means 4 is calculated. , Is updated by the following equation (10).

Mc = Mc + Mwm (10)

Here, Mwm represents the detected value of the load on the car. Using the car mass Mc updated by the equation (10), the control gain is calculated by the equations (7) and (8). Therefore, the control gain can always be set to a suitable length regardless of the change in the car load.

(2) Method of Updating Corresponding to Car Detected Position When the control gain is calculated by the control gain calculating means 5, the value of the rope elastic coefficient Kc in the mathematical model parameter setting means 4 is calculated by the following equation ( Update by 11).

Kc = K ₀ , L ₀ / (L ₀ −Lcm) (11) where Lcm: car position detection value (length of rope from sheave) L ₀ : car is at the lowest floor Time position (length of rope from sheave) K ₀ : Rope elastic coefficient at length L ₀

Equation (11) holds because the elastic modulus Kc of the rope is inversely proportional to the length of the rope. Equation (11)
The control gain is calculated by Equations (7) and (8) using Kc updated by Therefore, the optimum control gain can always be obtained regardless of the change in the car position.

In the above description, the control gain is updated in accordance with the detected value of the loaded load of the car and the detected value of the position of the car. However, it is not always necessary to update the control gain in accordance with both of them. Either one of the detection values may be used depending on the use situation or the required control performance.

The control gain may be updated just before the elevator is started for the load on the car.
The reason is that the car loading load does not change between the time when the elevator starts up based on a command and the time when the elevator stops. On the other hand, the car position needs to be considered in the form of an elevator, and the car position changes continuously as the elevator travels.Therefore, the control gain depending on the car position is continuously It is desirable to update. However, when installed in a low-rise building, sufficient performance may be obtained without considering changes due to the car position. In that case, the value at the time of starting the elevator may be fixed as in the case of the car load.

In general, the characteristics of an elevator vary greatly depending on changes in the load on the car, the position of the car, and the like, so that the parameter values of the elevator mathematical model also fluctuate greatly. In the case where the control gain is obtained based on the ILQ control theory, robust control with little deterioration of performance can be performed even when a characteristic change such as a loaded load of the car or a position of the car occurs. However, when these changes are remarkable, or when requirements such as vibration suppression and landing accuracy are strict, a certain control gain may not be sufficient.

Therefore, in the third embodiment, these parameters are updated by updating the parameter values of the elevator mathematical expression model in accordance with the load value of the car and the detected values of the car position, and further updating the control gain. It is possible to always obtain the optimum control gain regardless of the change. Therefore, the third embodiment has the following effects.

(1) Since the control gain is appropriately updated according to the loaded load of the car and the position of the car, even if these are fluctuated, the vibration of the car is prevented, the stop position is accurate, and the car speed command value is followed. Properties can be improved. (2) Since the optimum control gain is automatically set according to the conditions such as the load on the car and the position of the car, it is possible to significantly reduce the time required for adjusting the control gain in consideration of these.

In the above-described third embodiment, the control gain is updated based on the detected value of the car position. However, the car position detecting means 39 integrates the car speed command value by integrating the car speed command value. The car position may be obtained.

Further, in the third embodiment, the configuration in which the car load detecting means 38 and the car position detecting means 39 are provided in the first embodiment is shown. However, the second embodiment is different from the first embodiment. However, a car loading load detecting means 38 and a car position detecting means 39 may be provided.

[0095]

As described above, according to the present invention, a highly accurate speed control can be performed irrespective of a change in the characteristics of the elevator, and a speed control device for a rope type elevator that is easily adjusted is provided. be able to.

That is, according to the first aspect of the present invention, the control gain in the motor command value calculating means is analytically calculated in the form of a mathematical expression. Therefore, when the size of a device such as a car, a motor or a sheave is changed, Also, it is not necessary to readjust the control gain as in the related art, and the optimum control gain can be calculated by the substitution calculation. In adjusting the speed response,
By introducing an adjustment coefficient, it is possible to easily adjust to a desired response. As a result, it is possible to remarkably simplify the adjustment of the control gain, which has conventionally taken much time.

According to the second aspect of the present invention, in addition to the effects of the first aspect of the present invention, a signal necessary for control is estimated and used in place of a detected value. The control device can be configured based on the mathematical model. Therefore, control performance can be improved, the number of detectors (sensors) can be reduced, and the speed control device can be simplified and cost can be reduced.

According to the third aspect of the present invention, in addition to the effects of the first or second aspect of the present invention, the calculation of the control gain equation is performed by using the IL.
Since the Q control theory is used, the control gain equation can be calculated by an extremely simple algorithm. Furthermore, the configured control system has the effect of suppressing the vibration of the car,
Even when a change in characteristics such as a loaded load or a position of a car occurs, there is an effect that the performance is less deteriorated (robust).

According to the fourth aspect of the present invention, in addition to the effects of the first to third aspects, the control gain is automatically set to an optimum value in accordance with the detected value of the car load. Accordingly, there is an effect that high-precision speed control can be performed irrespective of a change in the car load. Conventionally, the load on the car was changed when adjusting the speed control device, and the control gain was adjusted by repeating the running test. However, in the present invention, the optimal control gain is automatically adjusted according to the load on the car. And the time required for the adjustment can be significantly reduced.

According to the fifth aspect of the present invention, in addition to the effects of the first to third aspects, the control gain is automatically set to an optimum value according to the detected value of the car position. This has the effect that high-precision speed control can be performed regardless of changes in the car position. Also. Conventionally, the position of the car was changed at the time of adjusting the speed control device, and the control gain was adjusted by repeating the running test.In the present invention, the optimum control gain is automatically adjusted according to the car position. And the time required for adjustment can be significantly reduced.

According to the sixth aspect of the present invention, in addition to the effects of the first to third aspects, the control gain is automatically set to an optimum value in accordance with the detected value of the load and position of the car. By doing so, there is an effect that high-precision speed control can be performed irrespective of changes in the load and position of the car. Conventionally, the load and position of the car were changed at the time of adjusting the control device, and the control gain was adjusted by repeating the running test. However, in the present invention, the control gain is automatically optimized according to the load and position of the car. Thus, the control gain can be set to a small value, and the time required for adjustment can be significantly reduced.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a first embodiment of the present invention.

FIG. 2 is a configuration diagram showing a configuration of an elevator mechanical system.

FIG. 3 is a block diagram illustrating a simplified model of a rope type elevator which is a process to be controlled.

FIG. 4 is a block diagram of a motor speed command value calculating means according to the first embodiment of the present invention.

FIG. 5 is a block diagram showing a second embodiment of the present invention.

FIG. 6 is a configuration diagram of a state quantity estimating unit according to the second embodiment of the present invention.

FIG. 7 is a block diagram showing a third embodiment of the present invention.

FIG. 8 is a block diagram of a conventional rope type elevator speed control device.

[Explanation of symbols]

 1 car speed command value setting means 2 elevator formula model storage means 3 control gain formula calculation means 4 formula model parameter setting means 5 control gain calculation means 6 car speed response adjustment means 7 car speed detection means 8 car speed detection means Reference Signs List 9 motor speed command value calculating means 10 elevator 11 conversion means 12 motor control device 13 motor 14 motor speed detecting means 15 elevator mechanical system 16 sheave 17 rope 18 riding car 19 counter weight 37 state quantity estimating means 38 riding car load detecting means 39 Car position detection means

Claims (6)

[Claims] 1. A speed control device for a rope type elevator in which a car is hung on a sheave via a rope and a speed of an electric motor for driving the sheave is controlled to control the elevation of the car. A car speed command value setting means for receiving a command and setting a car speed command value, and an elevator formula for storing in advance a formula model of a rope type elevator having a control amount as a car speed and an operation amount as a speed command value of the electric motor. Model storage means, control gain formula calculation means for calculating a control gain in the form of a formula based on the elevator formula model stored in the elevator formula model storage means, and a formula for setting values of parameters of the elevator formula model A model parameter setting means, and the control gain formula calculated by the control gain formula calculation means, Control gain calculating means for calculating the control gain by substituting the parameter values set by the parameter setting means, and car speed response adjusting means for setting an adjustment coefficient for adjusting the response of the car speed to a desired value; A car speed detecting means for detecting a car speed,
A state quantity detecting means for detecting a state quantity necessary for control among signals corresponding to the state quantity of the elevator mathematical formula model, a control gain calculated by the control gain calculating means, and set by the car speed response adjusting means. The car speed detected by the car speed detecting means based on the adjusted coefficient and the state quantity detected value detected by the state quantity detecting means is a car speed command value set by the car speed command value setting means. Motor speed command value calculating means for calculating a speed command value of the motor so as to follow the speed control of the motor. 2. An unmeasurable signal or a signal with poor accuracy among signals corresponding to the state quantities of the elevator mathematical expression model is estimated based on the elevator mathematical expression model, and the estimated value is sent to the motor speed command value calculating means. 2. The speed control device for a rope type elevator according to claim 1, further comprising a state quantity estimating means for outputting. 3. The speed control device for a rope-type elevator according to claim 1, wherein the control gain equation calculation means uses an ILQ control theory when calculating the control gain equation. 4. A car load detecting means for detecting a load on the car, wherein the control gain calculating means comprises:
The control gain dependent on the load of the car is updated in accordance with a change in the detected value of the car load detected by the car load detecting means. 4. The speed control device for a rope type elevator according to 3. 5. A car position detecting means for detecting a position of a car, wherein the control gain calculating means calculates a control gain dependent on the position of the car by the car position detected by the car position detecting means. 4. The speed control device for a rope-type elevator according to claim 1, wherein the speed is updated according to a change in the detected position value. 6. A car loading load detecting means for detecting a loading capacity of a car, and a car position detecting means for detecting a position of the car, wherein the control gain calculating means comprises:
The control gain dependent on the load of the car and the position of the car is updated in accordance with a change in the detected value of the car load and the detected value of the car position. The speed control device for a rope type elevator according to claim 3.