JPS606574A - Speed controller for elevator - Google Patents

Abstract

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

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an elevator speed control device, and more particularly to an improvement in a circuit for compensating the torque characteristics of an electric motor that drives an elevator car.

FIG. 1 is a diagram 1072 showing the configuration of a conventional speed control device together with the schematic configuration of an elevator.

As shown in the same figure, the sheave (81)
A counterweight (1) is placed at the -m part of the pump (2), and an elevator (hereinafter referred to simply as the car) (4) is placed at the other end.
In front of the lowest floor (5) where this and (4) go up and down, there is an end point detector (7A) (IC7B), which detects the end point, for example, a limit switch. In front of 6) is an end point detector (8A) which also detects the end point vl.

(8B) are arranged in tandem, and in the cage (4) there is an end point detection cam (9) that operates the end point detectors.
is installed.

In addition, a three-phase induction motor (hereinafter simply referred to as a motor) (10) that drives the car (4) is connected to the sheave (8) via a hoist (not shown), and connected to a three-phase AC power source (16). The total number of revolutions of this electric motor (1ol) is controlled by a thyristor device η, which functions as a motor control circuit.

On the other hand, the tachometer generator wall (1 oga i'4i, which is directly connected to the Doiso) is used as a speed detector to detect the speed of the car (4). vT and end point detector (7AL (7B) * (8AL (aB) end point detection No. 18 LF3 or speed tl control circuit 'JR) n
It has become so.

This speed control circuit (threshold is input to the speed command signal vP and the above-mentioned speed detection signal vT to compensate for the torque characteristics of the electric motor (10) (13a), and the end point detection signal LIII) Terminal floor deceleration command signal generation circuit (13b) that generates the car deceleration command signal ■8 at the terminal floor based on the terminal floor.
Consisting of 'atz, this 9chi compensator @ (13a) is,
An adder (130) that calculates the deviation between the speed command signal vP and the speed detection 100 vT, and a compensator (131) that compensates for the gain characteristics and phase characteristics of this control system based on the output of this adder (130). The input/output characteristics are a root amplifier (152) having root characteristics as shown in FIG.

In addition, in order to obtain the speed command signal P, a speed command signal generating device 0 is provided which generates a normal speed signal vn including a deceleration command for the terminal floor, and this normal speed command signal V and the terminal floor A comparator (15
) are provided.

What is the effect of the speed control device f′ configured as described above? .

In particular, the case of performing deceleration control will be explained.

First, the terminal floor deceleration command signal generation circuit (+31+) is used even if the speed command signal generation device (4) fails.

This is to safely decelerate and land the car (4) on the floor.When the car (4) approaches the top floor (6) or the bottom floor (6), the terminal detector (7A)t(7fl)I(8A ) End point detection when IC8B) is activated When L8 is added,
The deceleration command No. 4g V8 is output independently of the normal speed command signal ■.

At this time, the comparator (Vl) compares the normal speed command signal vn and the deceleration command signal -■8, and when V<VB, set vn, and when vn''2v and 3, set v8. Select the compensator (15a) as the speed command signal vP.
Add to.

Compensation device! c (13a), the adder (150) K
The deviation between the yacht J degree detection signal vT and the speed command signal vP is calculated and added to the compensator (131). This compensator (1
5υ is constituted by an analog circuit and performs phase compensation and gain compensation of this speed control system, or is normally used to have a transfer function G (8)' expressed by the following equation.

However, K is a gain, T is a time constant, and S is a Laplace operator.

Next, the output of the compensator (15) is the root amplifier (132)
However, this root amplifier (132) ld,
The input voltage V as shown in FIG. The output voltage is the total 172nd power V. It's all about the bones. In other words, the torque generated by an induction 1jL motive is proportional to the square of the input voltage.

These root amplifiers (1 and 2) make the entire control system a linear control system. For reference, the configuration of this root amplifier is shown in Figure 3.

Thus, in order to improve the riding comfort of the car (4) and the landing accuracy, gain compensation and phase compensation are performed.
, and the relationship between the input voltage of the motor and the torque 'f:,
It also compensates for the -fc voltage signal ■. is added as a control signal to the Cyrisk device 01, which controls the firing angle of the Cyrisk.

On the other hand, the thyristor device (l) receives this voltage signal V.

If V is positive, it applies a torque to the voltage signal V. If is negative, tf to 1M, aiso (10)
Generates full dynamic torque. In this way, the speed detection signal vT can be made to follow the speed command signal vP' (
4) The speed is controlled.

By the way, as mentioned above, the generated torque of an induction motor depends on the input voltage and has a square-law characteristic.
This root amplifier (13
Since 2) does not necessarily have root characteristics, the correction was insufficient.

On the other hand, the torque generated by the induction motor also depends on the rotational speed, and the @stream side dynamic torque has a significantly nonlinear characteristic with respect to the rotational speed, as shown in FIG. In addition,
This characteristic curve v00. vo2 is each compensation device (1
3a) Output voltage V. is a constant value v0 □ machining V. 2v
The horizontal axis represents the synchronous speed vS of the induction motor, and the vertical axis represents the DC braking torque T.

Here, in the case of a car (4-wheel car deceleration machine), the speed detection signal v,
In order to ensure sufficient landing accuracy by following each speed command VP, the transmission gate eiG i of the compensator (131) must be
B) It is necessary to set the gain in the medium to high.

However, as shown in Figure 4 of the torque characteristics during deceleration, the torque is small at the start of the initial speed, that is, near point A, and the gain of the entire control system is small. Therefore, although the damping property e of the control system is good, the coordination becomes poor, and as a result, the ability to follow the speed command signal vP becomes poor.

On the other hand, at low speeds, that is, near point B, the torque T becomes excessive and the gain of the entire control system becomes too large. Therefore, although the coordination of the control system is good, the damping performance is poor.

As a result, riding comfort deteriorates, and at the same time, disturbances caused by the rocking of the car (4), vibrations of the rope (2), etc. are superimposed on the speed detection signal (7), and this also causes the compensator ( 131) feed! (Vibration is more likely to occur due to the stiffness.

Furthermore, even if there is a thyristor device ft (1υ#/c), the relationship between the input voltage and the output voltage is irregular as shown by the curve Th in Fig. 5, so this also causes deterioration of controllability. This was a contributing factor. Fig. 5 shows the input/output characteristics when the induction "KL" motor generates a running torque.

However, in the conventional elevator speed control device, all of the above-mentioned matters are compensated for by the compensation device (13a).
VC engineering had to be carried out, and in the end, control was performed without sufficient compensation for these. As a result, the ride quality was poor, and the accuracy of the bed setting was also low. But there was.

The present invention has been made to eliminate the above-mentioned drawbacks, and therefore, it is an object of the present invention to provide an elevator speed control device that can realize good riding comfort and highly accurate floor landing control.

Hereinafter, one embodiment of the present invention will be described with reference to the accompanying drawings.

FIG. 6 is a block diagram showing the configuration of the main parts of the elevator speed control device according to the present invention. Control circuit (j3A) l is used.

Here, the speed I13 control circuit (15A) has a speed command signal v
P Increaser (1) that calculates the deviation of the machining speed detection signal vT
30), and a compensator (131) having the same configuration as described above, which compensates and outputs the output signal of this booster (130).

The output voltage of this compensator (131) is No. 18V. and the speed detection signal vT are respectively taken in through the A-D converter (153) and the back (136), and are mainly input through the compensator (131).
), that is, in addition to compensation for non-linear components, the next length end floor deceleration command signal generation circuit (131) shown in FIG.
)), a digital processing device (134) consisting of a microprocessor, and a digital processing device (134) having the functions of
134) and the voltage signal compensated by t'1
．． It is composed of DA converters ('135) and (137) that convert all of the 'fC terminal floor deceleration command signals into analog signals.

The operation of the elevator speed control device according to the present invention constructed as described above will be explained below with reference to FIGS. 7 to 11.

First, when the deviation between the speed command signal vP and the speed detection signal vT is added to the compensator (151) K, this compensator (
1!11) outputs a voltage signal V which has been subjected to gain compensation and phase compensation in the same way as described above. This voltage signal V is converted into a digital signal by an A-D converter (133). The conversion circuit 1 inputs the signal into the digital processing device (134).Meanwhile, the speed detection signal V is input.

%'! ! Ta. The signal is converted into a digital signal by an A-D converter (136), and then taken into a digital processing device (134).

Here, the digital processing device (134)
31) voltage signal V. All the following correction calculations are performed on the rtc.

1) Correction of non-linearity between the input and output voltages of the Cyrisk device ση, 2) Correction of the dependence of the generated torque on the input voltage of 'rli: #Iflαω, 5) Based on the rotational speed of the turtle #l Isokori Correction of the dependence of generated torque, 4), and other corrections of ride comfort and tread sheath.

The operation of the digital processing device (134) will be explained below. The digital processing device (+34) first takes in the necessary input information (
Step (hereinafter also referred to as Step 1 simply as S), 200)
, then performs the various correction calculations described above on the output voltage of the compensator (13) (8300 to 8600).
A voltage signal vo for controlling the firing angle sound is sent to ill (s
700. l.

The output voltage V of the compensator (151) is adjusted by the above correction.

The relationship between the torque generated by the motor αα and the torque generated by the electric motor αα is always in the form K
Ru.

Next, the digital processing device (154) detects the end point detector (7A).
)s (7B), (8A), (8B) end point detection signal L
The presence or absence of s is checked (saoo), and then the end point detection signal L8 is outputted to the paddy via the comparator (no rice).

In this way, even if the speed command signal generator breaks down, it is possible to safely land on the terminal floor.

Next, the processing contents of each step will be explained.

In the data input process (s200), the output voltage of the compensator (131) is V. '(jA-D converter (131) K, the value VD converted into a digital quantity, and the speed detection m number ■,
is converted into a digital quantity by an A-reconverter (136), and a ratio value, an end point detection signal LB, and an all-digital processing device t are obtained.
(134).

In thyristor device nonlinear correction (ssoo), the input voltage V is adjusted to correct the nonlinearity between the input and output voltages of the thyristor device (11) shown in Figure 5. By multiplying K by an appropriate constant Ai and outputting the value to the thyristor device Jll, the input/output relationship can be linearized as l:. The processing procedure vi in this case is shown in FIG. 8, and the contents of the ROM used for the correction are shown in FIG.

That is, each input voltage V of the digital processing device (1, 54) ij. Corrected coefficient A for input voltage (in descending order of input voltage)
voo<v. □ku...kuv. □Ku...kuv. In this case, since the input voltage V.01'U is determined by the word length of the A-D converter (155) used, the A-D conversion with The number of correction coefficients A cannot be increased beyond the resolution of the device.

Therefore, as a correction operation, first, the compensator (1
3 output voltage V. (830). At this time, if Vo is a value between V., which differs from each other by 1' step, and V.1+1, the correction coefficient for the closest value is adopt.

Note that if there is sufficient calculation time, all nine correction coefficients may be calculated using the interpolation method. Next, OK, pressure V. Multiply the value VD converted into a digital quantity by the value of this correction coefficient (
S! +02). Note that this result is 1vゎ.

Thus, the nonlinear correction processing for the SIRISK device Q1 is completed.

Next, 1! The dynamic torque correction (8400) was performed using a root amplifier (152) that was not used in conventional equipment.
The dependence of the generated torque on the input voltage of the induction IT system is corrected. That is, the square root of the above-mentioned calculation result VD Although only insufficient correction could be performed, accurate correction is now possible with digital calculation KJCf).

Next, in the motor torque correction (ssoo), the dependence of the generated torque on the rotational speed of the induction motor is corrected. The detailed processing procedure is shown in Figure 10.

The contents of the ROM used for this purpose are shown in FIG. In this case, as shown in Fig. 4, the torque generated by the induction motor is dependent on the speed, so the digital processing device (134) attempts to eliminate this dependence. Correction coefficient B, in order of speed (■T
R to o<vT□ku...<vT□ku...<vTm)
OMK is stored, and it is sent via the A-D converter (8200
) The correction coefficient for the speed detection signal vTvC input at Vc is read from this ROM (8501), and the above-mentioned calculation result vD2Vc is multiplied by this correction coefficient Bt (S502).
, return to the program shown in FIG.

If all of the above-mentioned corrections are performed by the digital processing device (134), the control performance will be significantly improved compared to the conventional device. Correction of vibrations, etc. that are likely to occur in
7 (8600).

Here, the torque correction of the motor f′i is processed in two steps, but when the rotational speed of the motor (10) is constant, the input voltage of the thyristor device υ and this electric motor ffl ( 1 (relationship with the generated torque of 11) The above-mentioned voltage signal VDV is
You may also perform the entire process of multiplying the correction weight by the number of times. To this, l
:The calculation time is shortened.

In the above embodiment, a speed control device applied to an AC elevator has been described, but it is clear that the present invention can be applied to any elevator having a speed control circuit constructed from an analog circuit. This makes it possible to significantly improve control performance.

By the way, if an 8-bit microprocessor is used in the speed control circuit (13A) mentioned above, it is originally possible to digitize the entire speed control circuit. However, when the entire speed control circuit (13A) is digitized, the amount of calculations becomes large and the processing time becomes long. This increases the wasted time between taking in input and outputting it, resulting in deterioration of control performance.

Therefore, in the compensation of torque characteristics, the present invention uses an analog circuit to compensate for a linear component that requires a quick response, and uses a digital processing circuit to compensate for a nonlinear component that is sufficient even for a slow response.

As is clear from the above description, the elevator speed control system of the present invention uses an analog compensator to compensate for the linear component of the torque characteristic during deceleration control, and also uses an analog compensator to compensate for the linear component of the torque characteristic during deceleration control. Since a digital processing device (flft) is used to sufficiently compensate for nonlinear components, it is possible to achieve good I'Ii control that could not be achieved using only an analog compensator.This control maintains good ride comfort. This makes it possible to control the landing position with high precision.

In addition, by using the digital processing device, the terminal floor deceleration command signal generation circuit used in the conventional device u becomes unbreakable, which has the advantageous effect of simplifying the configuration and significantly reducing costs (Fig. 9). is obtained.

[Brief explanation of the drawing]

Figure 1 is a block diagram showing the general configuration of the elevator to which the entire configuration of a conventional elevator speed control device is applied; Figure 2 is a diagram of the input/output voltage characteristics of the route amplifier that makes up the entire system; The figure is a circuit diagram showing the detailed configuration of this route amplifier, Figure 4 is a diagram showing the relationship between slip and DC braking torque of a general induction #I machine, and Figure 5 is a diagram of a general SIRISK device. An input/output voltage characteristic diagram, FIG. 6 is a block diagram showing the configuration of the main part of an embodiment of the elevator speed control device according to the present invention, and FIGS. 7, 8, and 10 show the operation of the same embodiment. 9 and 11 are flowcharts for explaining the RO used in the main components of the same embodiment.
It is an explanatory diagram showing the contents of M. (4): Elevator (5): Top floor (6): Bottom floor (7A) t (7B) t (8A) t (8B): End point detector αO): Three-phase induction motor (1υ: Thyristor equipment No. 4: Rotation counter output (181* (13A): Speed control circuit ('4: Regular speed command signal generator): Comparator (130): Adder (131): Compensator (132): Route Amplifier(
133), (136): A-D converter (134)
: Digital processing device (135) s (137) : D-A converter 1t
Il! i! 4 Dimensions S 11!

Claims (1)

[Claims] an electric MtJ Iso control circuit that controls the rotational speed of an electric motor that drives an elevator car; a speed command signal generator that generates a normal speed command signal of the corner; a speed detector that detects the speed of the corner; and a speed control circuit that controls the entire 'vL's machine control circuit based on the speed signal of the speed detector and the speed command signal, and the speed control circuit is configured to detect the speed. an adder that calculates the deviation between the speed signal of the controller and the speed command signal; an analog compensator that outputs a signal that compensates for the gain characteristics and phase characteristics of the control system according to the output of the adder; An A-D converter that converts the output signal of the compensator into a digital year number, an output gold bullion of the analog compensator via this A-D converter, and an output of the analog compensator and the voltage vJjJ. Equipped with one digital signal processing circuit that performs correction to linearize the relationship with the torque generated by the sea, and a D-A converter that converts the output of this digital signal processing circuit into an analog signal. Elevator speed control device with all features.