JP4308982B2 - Elevator control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an elevator control device that suppresses longitudinal vibration in a car generated when an elevator is landing.
[0002]
[Prior art]
In high-speed elevators that do not have gears in the hoisting machine, running door open control is performed in which the landing is performed while the door is opened in order to shorten the traveling time between floors and improve the service. In the running door open control, the suspension is controlled since the brake is closed at the speed of zero when landing.
[0003]
The elevator suspension control is performed so that the car and the counterweight are suspended while the car is stationary, and is also performed when the elevator starts. Now assume that the elevator is located on the floor where the elevator is located and the brakes are applied and stopped. When a call is registered in the elevator in this state, the door starts to close to respond to the call, and before the door is completely closed, a torque command is given to apply a torque commensurate with the car load to the hoisting motor. Put out. When the door closes, it issues a command to pull the brake and speed. This starts the elevator.
[0004]
In this case, in order to prevent suspension from occurring at the moment when the brake is released, suspension control is performed so that the elevator is temporarily stopped and the speed of the elevator is kept at zero. That is, if the suspension is unbalanced when the brake is released, the car will move up or down. Therefore, the elevator control device adds a torque compensation value corresponding to the unbalanced amount of suspension so that the car and the counterweight are suspended. In this way, suspension control is performed when the elevator starts.
[0005]
On the other hand, even when the elevator responds to a call and lands on the destination floor, suspension control is performed in the case of a high-speed elevator. This is because in the running door open control, the brake is applied at the speed of zero when landing. The torque value applied to the suspension control at the time of landing is an amount corresponding to the input load data obtained by inputting the load data from the load detection device before the door is fully opened.
[0006]
[Problems to be solved by the invention]
However, when the input load data is different from the actual load, the load unbalance is not added to the torque command, so that the car is subjected to longitudinal vibration. That is, since the torque compensation value corresponding to the unbalanced portion of the suspension is not added, when the torque command calculated based on the load data is larger than the actual load, extra torque is generated and the car is pushed up.
[0007]
On the other hand, when the torque command calculated based on the load data is smaller than the actual load, the torque is insufficient and the car is lowered. Thereby, in the elevator which is performing the running door open control, the vertical vibration is given to the car at the time of landing.
[0008]
As described above, in the conventional elevator control device, the load imbalance is corrected at the start of the elevator, but the load data is read again at the time of landing and the torque command for suspension control at the time of landing is determined from the car load. The torque control of suspension control is not performed. Therefore, when the read load data does not coincide with the actual load, push-up or push-down may occur during suspension control at landing. For this reason, the car may vibrate in the vertical direction, and the ride comfort may be deteriorated when landing.
[0009]
The objective of this invention is providing the elevator control apparatus which can suppress the longitudinal vibration of the cage | basket | car generated at the time of elevator landing.
[0010]
[Means for Solving the Problems]
The elevator control device according to the invention of claim 1 includes a calculation unit that performs suspension control so that the cage and the counterweight are stationary when the brake is released at the start of the elevator, and the cage counterweight. A controller that calculates torque correction values corresponding to fluctuations in suspension control when load imbalance occurs and stores the torque correction values in a storage device and performs torque correction for suspension control in the calculation unit; and In the elevator control device that performs running door open control that opens while opening the door when the elevator is landing, the calculation unit performs the torque correction at the start of the elevator, Stop door open control that opens the door after the car stops instead of running door open control And performing.
[0011]
In the elevator control device according to the first aspect of the present invention, when the torque correction is performed by the suspension control at the start of the elevator, the calculation unit opens the running door that opens while opening the door. Instead of control, stop door open control is performed to open the door after the car stops. Thereby, the vertical vibration of the car generated at the time of landing of the elevator is suppressed.
[0012]
The elevator control apparatus according to a second aspect of the present invention is the elevator control apparatus according to the first aspect, wherein when the elevator is landing, the calculation unit performs running door open control in consideration of a torque correction value stored in the storage device. It is characterized by performing.
[0013]
In the elevator control device according to the invention of claim 2, in addition to the operation of the invention of claim 1, when the torque correction is performed by the suspension control at the start of the elevator, the torque correction value is stored in the storage device. At the time of landing of the elevator, running door open control is performed in consideration of the torque correction value stored in the storage device. Thereby, the vertical vibration of the car generated at the time of landing of the elevator is suppressed.
[0014]
According to a third aspect of the present invention, there is provided an elevator control device according to the first aspect, wherein the storage device has a zero torque correction value when the torque correction value calculated by the control unit at the start of the elevator is greater than a predetermined value. Storing, and when the elevator is landing, when the torque correction value stored in the storage device is zero, the calculation unit performs the stop door open control instead of the running door open control. To do.
[0015]
In the elevator control device according to the invention of claim 3, in addition to the operation of the invention of claim 1, when the torque correction value calculated by the control unit at the start of the elevator is larger than a predetermined value, a zero torque correction value is set in the storage device. Remember. At the time of landing of the elevator, when the torque correction value stored in the storage device is zero, the calculation unit performs stop door open control instead of running door open control. That is, when a load unbalance value greater than or equal to a predetermined value is generated, stop door open control is performed to suppress vertical vibration of the car that occurs when the elevator is landing.
[0016]
According to a fourth aspect of the present invention, in the elevator control device according to the first aspect of the present invention, the controller unit converts the amount of load imbalance generated on the uppermost floor and the lowermost floor in advance into elevator travel distance data. The calculated torque correction value is calculated and stored in the storage device, and the calculation unit performs suspension control based on the current position of the elevator and the torque correction value stored in advance in the storage device when the elevator starts. The controller unit calculates a torque correction value corresponding to the fluctuation of the suspension control when load imbalance occurs between the car and the counterweight, and performs torque correction for the suspension control in the calculation unit. It is characterized by performing.
[0017]
In the elevator control apparatus according to the invention of claim 4, in addition to the operation of the invention of claim 1, the amount of load imbalance generated in the uppermost floor and the lowermost floor is previously stored in the storage device as data on the distance traveled by the elevator. The torque correction value converted into is stored. The calculation unit performs suspension control based on a torque correction value stored in advance in the storage device. When the load balance is generated between the car and the counterweight, the controller unit calculates a torque correction value corresponding to the variation in the suspension control, and performs torque correction for the suspension control in the calculation unit. .
[0018]
According to a fifth aspect of the present invention, in the elevator control device according to the fourth aspect, when the torque correction value calculated by the control unit is larger than a predetermined value, the controller unit stores the memory based on the load unbalance amount. The torque correction value of the apparatus is reset.
[0019]
In the elevator control device according to the invention of claim 5, in addition to the operation of the invention of claim 4, the controller unit stores the storage device based on the load unbalance amount when a load unbalance value greater than a predetermined value is obtained. Reset the torque correction value.
[0020]
An elevator control device according to a sixth aspect of the present invention is the elevator control device according to the fourth or fifth aspect, wherein the calculation unit is configured to generate a load imbalance during the running door open control during landing of the elevator. Is characterized in that the running door open control is stopped and the stop door open control is performed.
[0021]
In the elevator control device according to the invention of claim 6, in addition to the action of the invention of claim 4 or claim 5, when load imbalance occurs during running door open control at the time of landing of the elevator, the calculation unit Stops running door open control and performs stop door open control. Thereby, the vertical vibration of the car generated at the time of landing of the elevator is suppressed.
[0022]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below. FIG. 1 is a configuration diagram in which an elevator control apparatus 1 according to an embodiment of the present invention is applied to a high-speed elevator.
[0023]
The elevator car 2 is suspended by a main rope 3 and lifted by a hoisting machine 4. On the other hand, a compensation rope 5 is connected to the bottom of the car 2 and is connected to a counterweight 7 via a compensation sheave 6. The hoisting machine 4 is driven and controlled by an inverter device 8, whereby the car 2 is controlled to move up and down. For example, when an ascending drive torque is applied from the inverter device 8 to the motor of the hoisting machine 4, the car 2 moves upward and the counterweight 7 descends accordingly. On the contrary, when the car 2 moves downward, the counterweight 7 rises.
[0024]
Further, a load detection device 9 is provided at the bottom of the car 2, and car load data detected by the load detection device 9 is input to the input unit 11 of the elevator control device 1 via the tail cord 10. The On the other hand, position data from the speed governor 12 that detects the traveling position of the car 2 is also input to the input unit 11 of the elevator control device 1.
[0025]
The elevator control device 1 starts running after performing suspension control at the start of the elevator. That is, the controller unit 13 calculates the speed command value at the start of the elevator based on the load data input via the input unit 11, and the load unbalance between the car 2 and the counterweight 7 based on the position data. Determine whether it has occurred. When load imbalance occurs, a torque correction value corresponding to the variation in suspension control is calculated and stored in the storage device 14.
[0026]
The calculation unit 15 calculates a torque command value corresponding to the speed command value from the controller unit 13 and, when a torque correction value is stored in the storage device 14, adds the torque correction value to the torque command value. To the inverter control unit 16. Thus, the control car is kept stationary so that the car 2 and the counterweight 7 are suspended when the brake of the hoisting machine 4 is released. Then, the elevator car starts to travel, and the traveling of the car 2 is controlled by a torque command value corresponding to the acceleration.
[0027]
Next, when the car 2 is landed on the floor where the call is registered, the calculation unit 15 does not perform the torque correction by the torque correction value in the suspension control at the start of the elevator. Running door opening control is performed to land while opening. On the other hand, when the torque correction by the torque correction value is performed, the stop door open control for opening the door after the car stops is performed instead of the running door open control.
[0028]
FIG. 2 is a flowchart showing an example of the operation of the controller unit 13 and the calculation unit 15 in the embodiment of the present invention. FIG. 2A shows the operation at the start of the elevator, and FIG. 2B shows the operation at the time of landing of the elevator.
[0029]
In FIG. 2, the calculating part 15 performs suspension control at the time of the start of an elevator (S1). In the suspension control at the start, the controller unit 15 determines whether torque correction by zero speed control is necessary (S2), performs torque correction when there is load imbalance, and causes the recording device 14 to perform torque correction. Write flag = 1 (S3). That is, when torque correction is performed at the start of the elevator, the torque correction flag is set to 1.
[0030]
Next, as shown in FIG. 2B, when the car 2 reaches the floor where the call registration is made, the controller unit 13 determines whether or not the torque correction flag indicating the load imbalance is set (S4). ). When the torque correction flag is not set, that is, when torque correction is not performed at the start of the elevator, the calculation unit 15 performs running door open control for landing while opening the door (S5).
[0031]
On the other hand, if the torque correction flag is set, stop door open control is performed instead of running door open control (S6). Then, the torque correction flag stored in the storage device 14 is set to 0 (S7). In the stop door open control, suspension control is not performed when the elevator is landing, so that it is possible to suppress the occurrence of vertical vibration of the car that occurs when the elevator is landing.
[0032]
FIG. 3 is a flowchart showing another example of the operations of the controller unit 13 and the calculation unit 15 in the embodiment of the present invention. FIG. 3A shows the operation at the start of the elevator, and FIG. 3B shows the operation at the time of landing of the elevator.
[0033]
In FIG. 3A, the calculation unit 15 performs suspension control at the start of the elevator (S1). In the suspension control at the start, the controller unit 15 determines whether torque correction by zero speed control is necessary (S2), performs torque correction when there is load imbalance, and causes the recording device 14 to perform torque correction. Write flag = 1 (S3). That is, when torque correction is performed at the start of the elevator, the torque correction flag is set to 1.
[0034]
Further, it is determined whether or not the torque correction value at that time exceeds a predetermined limit value (predetermined value) Tx (S4). If the torque correction value is larger than the predetermined value Tx, a zero torque correction value is stored. The torque correction value is stored in the storage device 14 (S6).
[0035]
Next, as shown in FIG. 3B, when the car 2 reaches the floor where the call registration is made, the controller unit 13 determines whether or not a torque correction flag indicating load imbalance is set (S7). ). When the torque correction flag is not set, that is, when torque correction is not performed at the start of the elevator, the calculation unit 15 performs running door open control for landing while opening the door (S8).
[0036]
On the other hand, when the torque correction flag is set, it is determined whether or not the torque correction value stored in the storage device 14 is zero (S9). When the torque correction value stored in the storage device 14 is zero, the stop door open control is performed instead of the running door open control (S10). When the torque correction value stored in the storage device 14 is not zero, the running door open control is performed (S11), and the torque correction value at the start of the elevator is controlled by the inverter during the suspension control at the time of landing. The suspension control is performed by adding to the torque command value to the control unit 16 (S12). Then, the torque correction flag stored in the storage device 14 is set to 0 (S13).
[0037]
As described above, when the torque correction value at the start of the elevator is larger than the predetermined value Tx, stop door oven control without performing the suspension control is performed at the time of landing, and the torque correction value at the start of the elevator is predetermined. When the value is equal to or less than the value Tx or when torque correction is not performed, running door open control with suspension control is performed at the time of landing. Thereby, generation | occurrence | production of the longitudinal vibration of the cage | basket | car generated at the time of landing of an elevator is suppressed appropriately.
[0038]
FIG. 4 is a flowchart showing still another example of the operations of the controller unit 13 and the calculation unit 15 in the embodiment of the present invention. FIG. 4A shows the operation at the start of the elevator, and FIG. 4B shows the operation at the time of landing of the elevator.
[0039]
In FIG. 4A, the controller unit 13 calculates a torque correction value obtained by converting the amount of load imbalance occurring at the top floor and the bottom floor into elevator travel distance data, and stores it in the storage device 14 in advance. Store it (S1). The calculation unit 15 performs suspension control based on the current position of the elevator and the torque correction value stored in advance in the storage device 14 at the start of the elevator (S2).
[0040]
In the suspension control at the start, the controller unit 15 determines whether or not torque correction by zero speed control is necessary (S3), and if there is a load imbalance, calculates a torque correction value and performs torque correction. Then, it is determined whether or not the torque correction value at that time exceeds a predetermined limit value (predetermined value) Tx (S4). If the torque correction value is equal to or less than the predetermined value, the torque correction flag is displayed on the recording device 14. = 1 is written (S5). That is, when torque correction is performed at the start of the elevator, the torque correction flag is set to 1.
[0041]
On the other hand, when the torque correction value is larger than the predetermined value Tx, the torque correction value is recalculated based on the load imbalance amount (S6), and the recalculated torque correction value is stored in the storage device 14 (S7). That is, the torque correction value is reset.
[0042]
Next, as shown in FIG. 4B, when the car 2 reaches the floor where the call registration is made, the controller unit 13 determines whether or not a torque correction flag indicating a load imbalance is set (S8). ). When the torque correction flag is not set, that is, when the torque is not corrected at the start of the elevator, the calculation unit 15 performs running door open control for landing while opening the door (S9). It is determined whether or not load imbalance has occurred during the running door open control (S10). If load imbalance has occurred, the running door open control is stopped and stop door open control is performed (S11).
[0043]
On the other hand, when the torque correction flag indicating the load imbalance is set, stop door open control is performed (S12), and the torque correction flag stored in the storage device 14 is set to 0 (S13).
[0044]
In this manner, the load unbalance torque correction value corresponding to the travel distance (position) of the elevator is calculated in advance based on the actual load data on the uppermost floor and the lowermost floor, and stored in the recording device 14. At the start of the elevator, the torque correction value stored in advance is selected based on the position of the elevator, and is used as the torque correction value in the suspension control. As a result, no load imbalance occurs during suspension control regardless of the position of the elevator.
[0045]
If a load imbalance occurs even though the torque correction value is used, torque correction is further performed, and when the torque correction value is larger than a predetermined value, the torque correction value is reset. This prevents a load unbalance amount from being generated during suspension control at the start of the elevator.
[0046]
On the other hand, when the elevator comes to the floor with call registration, if the torque is corrected at the start of the elevator, stop door open control is performed without performing suspension control. Further, when torque correction is not performed, running open control is performed. When load imbalance occurs during that time, the running door open control is stopped and switched to stop door open control. Thereby, the vertical vibration of the car generated at the time of landing on the elevator is suppressed.
[0047]
【The invention's effect】
As described above, according to the present invention, when torque correction is performed during the suspension control at the start of the elevator, the running door is opened by adding the stop door open control at the time of landing or the torque correction value at the start. Since the control is performed, it is possible to realize an elevator control device having a comfortable ride without vibration when landing.
[Brief description of the drawings]
FIG. 1 is a configuration diagram in which an elevator control apparatus according to an embodiment of the present invention is applied to a high-speed elevator.
FIG. 2 is a flowchart showing an example of operations of a controller unit and a calculation unit in the embodiment of the present invention.
FIG. 3 is a flowchart showing another example of the operation of the controller unit and the calculation unit in the embodiment of the present invention.
FIG. 4 is a flowchart showing still another example of the operation of the controller unit and the calculation unit in the embodiment of the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Elevator control apparatus 2 Car 3 Main rope 4 Hoisting machine 5 Compen rope 6 Compensation 7 Counterweight 8 Inverter device 9 Load detection device 10 Tail code 11 Input unit 12 Speed governor 13 Controller unit 14 Storage device 15 Calculation unit 16 Inverter Control unit

Claims (6)

When the brake is released at the start of the elevator, the car and the counterweight are suspended when the load is unbalanced between the arithmetic unit that controls the suspension so that the car is stationary and the car and the counterweight. A controller for calculating torque correction values corresponding to control fluctuations, storing the calculated values in a storage device and performing torque correction for suspension control in the calculation unit, and landing the elevator while opening the door. In the elevator control device that performs running door open control, when the torque correction is performed at the start of the elevator, the operation unit stops the car instead of the running door open control when the elevator is landing. An elevator control device characterized in that it performs stop door opening control for opening the door. 2. The elevator control device according to claim 1, wherein the calculation unit performs running door open control in consideration of a torque correction value stored in the storage device when the elevator is landed. 3. The storage device stores a zero torque correction value when the torque correction value calculated by the control unit at the start of the elevator is greater than a predetermined value, and the calculation unit stores the torque correction value in the storage device at the time of landing of the elevator. The elevator control apparatus according to claim 1, wherein when the stored torque correction value is zero, the stop door open control is performed instead of the running door open control. The controller unit calculates in advance a torque correction value obtained by converting the amount of load imbalance occurring at the top floor and the bottom floor into elevator travel distance data, and stores the torque correction value in the storage device. The control unit performs suspension control based on the current position of the elevator and the torque correction value stored in the storage device in advance when the elevator starts, and the controller unit generates load imbalance between the car and the counterweight. 2. The elevator control device according to claim 1, wherein when the suspension control is performed, a torque correction value corresponding to a variation in suspension control is calculated, and torque correction is performed for suspension control in the calculation unit. 5. The controller according to claim 4, wherein when the torque correction value calculated by the control unit is greater than a predetermined value, the controller unit resets the torque correction value of the storage device based on a load unbalance amount. Elevator control device. The calculation unit, when a load imbalance occurs during the running door open control during landing of the elevator, stops the running door open control and performs the stop door open control. The elevator control device according to claim 4 or claim 5.

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