JP4784243B2 - Elevator control device and control method thereof - Google Patents

Description

The present invention relates to an elevator control device and a control method therefor.

  The conventional elevator control device includes position detecting means for detecting the position of the car, distance reference speed command calculating means for calculating a traveling speed command to the target floor based on the position of the car, and a front of the target floor. A landing speed command calculating means for correcting the position of the car at a certain position and performing gain adjustment for adjusting the speed command output to calculate the landing speed command; and When a certain position is reached, the switching means for switching the distance reference speed command to the landing speed command is compared with the distance reference speed command immediately before switching to the landing speed command and the landing speed command. Adjustment gain automatic calculation means for adjusting the landing speed command so that the initial value of the command becomes equal to the distance reference speed command immediately before switching to the landing speed command (see Patent Document 1).

  The above elevator control device eliminates the effects of main rope expansion and contraction seen in higher floor elevators, etc., smoothly switches to the landing speed regardless of the floor, and is always smooth and comfortable to wear. The floor control can be performed, and the adjustment time of the landing control can be made equivalent to the conventional one.

JP 2001-39637 A

The elevator control device corrects the landing speed command so that the distance reference speed command matches the landing speed command based on the calculated adjustment gain at the time of speed switching at a certain position before the target floor. .
However, the elevator control device corrects the landing speed command after the car has entered the landing zone. Therefore, if the difference between the distance reference speed command and the landing speed command at the time of speed switching is large, smooth switching may be hindered and the landing speed command may not be sufficiently corrected. Further, when the correction of the landing speed command is increased, there are problems that the landing accuracy is deteriorated and the time until landing is increased.

  The present invention has been made to solve the above problems, and provides an elevator control device and a control method thereof for correcting a distance reference speed command based on a difference between a distance reference speed command and a landing speed command. Objective.

According to a first aspect of the present invention, there is provided an elevator control apparatus comprising: a position detecting means for detecting a position of a car; and a distance reference speed command calculating means for calculating a distance reference speed command to the vicinity of a target floor based on the position of the car. And a landing speed command calculating means for calculating a landing speed command at a certain position before the destination floor, and when the car reaches a certain position before the destination floor, the distance reference speed command is Switching means for switching to the landing speed command, speed difference calculating means for obtaining a speed difference command that is a difference between the distance reference speed command and the landing speed command immediately before switching to the landing speed command, and the speed difference command Storage means for storing each floor, and speed command correction means for correcting the distance reference speed command based on the speed difference command stored in the storage means. .

A control device for an elevator according to the second invention includes a determination unit that determines whether or not the value of the speed difference command is out of a predetermined range, a notification unit that notifies an abnormality when the value is out of the range, It is characterized by comprising.

According to a third aspect of the present invention, there is provided an elevator control method comprising: a first step of driving a motor by driving a motor according to a distance reference speed command to a vicinity of a target floor based on a position of the car; A second step of switching the distance reference speed command to the landing speed command when reaching a certain position before the target floor; the distance reference speed command and the landing speed command immediately before switching to the landing speed command; A third step of obtaining a speed difference command that is a difference between the destination floor and storing it corresponding to the destination floor, changing the destination floor, and executing the first step to the third step in order, The speed difference command is stored every time, and then the distance reference speed command is corrected based on the stored speed difference command.

According to the first invention, the speed difference calculation means obtains a speed difference command that is the difference between the distance reference speed command and the landing speed command immediately before switching to the landing speed command, and the storage means sends the speed difference command to the floor. Since the speed reference correction unit corrects the distance reference speed command based on the speed difference command stored in the storage unit, the landing speed command is not corrected. Therefore, the switching of the speed command of the switching means becomes smooth and the correction of the landing speed command becomes unnecessary, so that the accuracy of landing is deteriorated and the time until landing is lengthened. There is an effect that.

According to the second invention, the determination means determines whether or not the value of the speed difference command is out of the predetermined range, and when the notification means is out of the range, the abnormality is notified. There is an effect that it is possible to easily detect the abnormality.

According to the third aspect of the invention, the first step of driving the motor by driving the motor in accordance with the distance reference speed command to the vicinity of the target floor based on the position of the car, and the car is in front of the target floor. A second step of switching the distance reference speed command to the landing speed command when reaching a certain position; and a difference between the distance reference speed command and the landing speed command immediately before switching to the landing speed command; A third step of sequentially obtaining and storing the speed difference command corresponding to the destination floor to store the speed difference command for each destination floor, and then, based on the stored speed difference command, the distance reference Since the speed command is corrected, the landing speed command is no longer corrected. Therefore, the switching of the speed command of the switching means becomes smooth and the correction of the landing speed command becomes unnecessary, so that the accuracy of landing is deteriorated and the time until landing is lengthened. There is an effect that.

Embodiment 1 FIG.
An embodiment of the present invention will be described with reference to FIGS. FIG. 1 is an overall view showing a configuration of an elevator system showing an embodiment, FIG. 2 is an internal block diagram of the control device shown in FIG. 1, and FIG. 3 is a speed when a car is driven by the control device shown in FIG. It is a time curve figure.
FIG. 1 shows a schematic configuration of a so-called skate type elevator device that lifts and lowers a passenger car and a counterweight via a hoisting rope. The hoisting machine 1 disposed at the upper part of the hoistway has a main rope for hoisting. 2 is wound, a car 3 is connected to one end of the main rope 2, and a counterweight 4 is connected to the other end. Further, the lower part of the car 3 and the counterweight 4 are connected to each other by a compen- sion rope 6 wound around a compensatory 5 provided at the lower part of the hoistway.

A secondary rope 8 wound between the governor 14 and the deflection sheave 7 is attached to the car 3, and the first position detector 9 mainly for detecting the position of the car 3 is attached to the governor 14. It is connected. The motor 10 that drives the hoisting machine 1 is connected to a second position detector 11 for speed control, and the position signals detected by the first and second position detectors 9 and 11 are computer Is taken in and processed by the control device 20.

The method of detecting the position of the car in the slewing elevator system is to detect the position of the high floor / high speed elevator using a governor that is synchronized with the car position and does not apply a large load to the main rope 4 and is generated when the elevator decelerates. The influence of the expansion and contraction of the rope 4 is reduced.

In the landing control for stopping the car 3 at a desired boarding / exiting floor, the car position signal obtained by using the governor 14 or the like from the start of deceleration to the landing zone which is a fixed position before the target floor level. Is used to calculate a speed command based on the position of the car 3. That is, as the destination floor is approached, the speed command is reduced at a constant deceleration, and the speed command is zeroed at the destination floor level.

In FIG. 2, the control device 20 includes a distance reference speed command calculation unit 22 that calculates a distance reference speed command V2 to the target floor based on the position of the car 3, and a landing speed at a fixed position before the target floor. The landing speed command calculating unit 24 for calculating the command V3 and the first switching as switching means for switching the distance reference speed command V2 to the landing speed command V3 when the car 3 reaches a certain position before the target floor. The switch 26, a speed difference calculation unit 28 for obtaining a speed difference command Vsn which is a difference between the distance reference speed command V2 and the landing speed command V3 immediately before switching to the landing speed command V3, and the speed difference command Vsn for each floor. And a speed command correction unit 32 that corrects the distance reference speed command V2 based on the speed difference command Vsn stored in the storage unit 31.

Further, the control device 20 determines whether or not the speed difference command Vsn is within the range between the minimum threshold value Vr1 and the maximum threshold value Vr2, and when the speed difference command Vsn is outside the range between the minimum threshold value Vr1 and the maximum threshold value Vr2. And a second changeover switch 34 for switching between the speed command correction unit 32 and the distance reference speed command calculation unit 22, and the speed command correction unit 32, as shown in FIG. A corrected reference speed command Vh obtained by adding the speed difference Vs to the distance reference speed command V2 is generated.
In FIG. 3, the distance reference speed command V2 and the landing speed command V3 'of the conventional elevator control device are indicated by dotted lines.

The speed difference command setting operation by the elevator control apparatus configured as described above will be described with reference to FIGS. The setting operation of the speed difference command Vsn will be described taking a building equipped with an elevator as an example on the fifth floor.
When the setting operation mode of the speed difference command Vsn is shifted, the control device 20 turns on the second changeover switch 34 to the a side and turns on the first changeover switch 26 to the e side, Driven to move the car 3 to the fifth floor of the top floor (first step, step S101). When the control device 20 shifts to each floor stop operation mode (step S103) and drives the motor 10 in accordance with the distance reference speed command V2 to run the car 3 from the top floor toward the destination floor one level lower, eventually. Then, the car 3 enters the landing zone (step S105), and the speed difference calculation unit 28 obtains a speed difference command Vs5 that is a difference between the distance reference speed command V2 and the landing speed command V3 and performs the first switching. The switch 26 is turned on to the f side (second step, step S107).

The determination unit 29 determines whether or not the speed difference command Vs5 is within the range between the minimum threshold value Vr1 and the maximum threshold value Vr2 if the speed difference command Vsn is determined in advance (step S109). The speed difference command Vsn is stored in the storage unit 31, and the control device 20 drives the motor 10 according to the landing speed command V3 to stop the car 3 at the destination floor (third step, step S111).
On the other hand, if it is outside the range in step S109, the abnormality is notified and the car 3 is stopped (step S110).

The control device 20 determines whether or not the floor on which the car 3 is stopped is the lowest floor (step S113). If it is not the lowest floor, N = 5 and N−1, so N is 4. A call command to the third floor is generated. The control device 20 shifts to each floor stop operation mode and starts traveling on the car 3 from the fourth floor to the third floor (step S103), executes the above steps S105 to S111, and outputs the speed difference command Vs4 in step S111. Store in the storage unit 31. In this way, the speed difference commands Vs1 to Vs5 corresponding to each floor are stored in the storage unit 31.

Next, the operation of the elevator control device using the speed difference command Vsn stored in the storage unit 31 will be described mainly with reference to FIGS. 2, 3, and 5. The control device 20 specifies the destination floor when the call command is generated (step S201). The second changeover switch 34 is turned on to the b side, and the speed command correction unit 32 reads the speed difference command Vsn corresponding to the target floor from the storage unit 31 (step S203), and adds the speed difference command Vsn and the reference speed command V2. The corrected speed command Vh is obtained (step S205), and the car 10 is driven by the corrected speed command Vh to operate the car 3 (step S207). When the car 3 reaches the switching point between the corrected speed command Vh and the speed command V3 (step S209), the control device 20 turns on the first changeover switch 26 to the f side, and the landing speed command calculation unit 24 A command V3 is generated, and the motor 10 is driven to drive the car 3 (step S211).

According to the above embodiment, step S101 in which the motor 10 is driven by the distance reference speed command V2 to the vicinity of the target floor based on the position of the car 3 to drive the car 3, and the car 3 is in front of the target floor. Step S107 for switching the distance reference speed command V2 to the landing speed command V3 when the predetermined position is reached, and the difference between the distance reference speed command V2 and the landing speed command V3 immediately before switching to the landing speed command V3 The speed difference command Vsn is calculated and stored in correspondence with the target floor in order, the speed difference command Vsn is stored for each target floor, and then the distance reference speed based on the stored speed difference command Vsn. The car 10 was driven by driving the motor 10 with the corrected speed command Vh obtained by correcting the command V2. Therefore, the distance reference speed command V2 is corrected, but the landing speed command V3 is no longer corrected. As a result, the speed command of the first changeover switch 26 can be smoothly switched and the correction of the landing speed command becomes unnecessary, so that the landing accuracy is deteriorated and the time until landing is increased. That is alleviated.

  The present invention can be applied to an elevator control device.

1 is an overall view showing the configuration of an elevator system showing an embodiment of the present invention. It is an internal block diagram of the control apparatus shown in FIG. FIG. 2 is a speed vs. time curve diagram when a car is driven by the control device shown in FIG. 1. It is a flowchart which sets a gain for every floor by driving a car with the control apparatus shown in FIG. FIG. 5 is a flowchart for driving a car using a gain set according to FIG. 4. FIG.

Explanation of symbols

  3 passenger car, 9 position detector, 22 distance reference speed command calculation unit, 24 landing speed command calculation unit, 26 changeover switch 26, 28 speed difference calculation unit, 30 notification unit, 31 storage unit, 32 speed command correction unit.

Claims (3)

Position detecting means for detecting the position of the car;
Distance reference speed command calculating means for calculating a distance reference speed command to the vicinity of the destination floor based on the position of the car;
A landing speed command calculating means for calculating a landing speed command at a certain position before the target floor;
Switching means for switching the distance reference speed command to the landing speed command when the car reaches a certain position before the destination floor;
Speed difference calculation means for obtaining a speed difference command that is a difference between the distance reference speed command and the landing speed command immediately before switching to the landing speed command;
Storage means for storing the speed difference command for each floor;
Speed command correction means for correcting the distance reference speed command based on the speed difference command stored in the storage means;
An elevator control device comprising: Determination means for determining whether or not the value of the speed difference command is outside a predetermined range;
An informing means for informing an abnormality when outside the range;
An elevator control device comprising: A first step of driving the motor by driving a motor in accordance with a distance reference speed command to the vicinity of the target floor based on the position of the car;
A second step of switching the distance reference speed command to the landing speed command when the car reaches a certain position before the destination floor;
A third step of obtaining a speed difference command that is a difference between the distance reference speed command immediately before switching to the landing speed command and the landing speed command and storing the speed difference command corresponding to the destination floor;
After changing the destination floor and sequentially executing the first step to the third step to store the speed difference command for each destination floor, the distance reference speed command based on the stored speed difference command Correct,
An elevator control method characterized by the above.

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