JP5043566B2 - Elevator equipment - Google Patents

Description

The present invention includes a rotary encoder attached to a rotating shaft of a motor of a hoisting machine, and an electronic control unit (ECU) incorporating a control CPU that is a microprocessor that controls driving of the motor from the detection output of the rotary encoder. The present invention relates to an elevator apparatus provided.

  For example, in an electronic control system that electronically controls an elevator apparatus, a rotary encoder is attached to a rotary shaft of a drive motor that drives a car up and down, and a detection signal from the rotary encoder is input to the electronic control apparatus. The electronic control device drives and controls the driving motor by a detection signal from the rotary encoder to control the raising / lowering of the car (for example, see Patent Document 1). In this electronic control system, the safety of the electronic control system is mainly achieved by the control operation of the control CPU incorporated in the electronic control device. The control CPU controls various loads in response to control programs, various control constants, and operating states of various input sensors.

  In the above configuration, if the control CPU itself has a failure, the safety of the electronic control system cannot be achieved. Therefore, the electronic control device has two double CPUs, that is, two CPUs, one of which is the control CPU. It is conceivable that the other monitoring CPU is switched to the control CPU when the other CPU is the monitoring CPU and one of the control CPUs fails.

  However, using a double CPU on the electronic control device side adds a CPU to the electronic control device, which increases the cost.

On the other hand, with the double CPU configuration, as long as the control CPU on the electronic control device side drives and controls the drive motor based on the detection signal from the rotary encoder, the rotary that is the basis of safety is controlled. If an abnormality or the like exists on the encoder side, the safety of the electronic control system cannot be achieved.
Japanese Patent Application Laid-Open No. 09-077412

  Therefore, the problem to be solved by the present invention is that the CPU for self-diagnosis of the rotary encoder is used so that the electronic control device side is a double CPU configuration without increasing the number of CPUs. It is to avoid the necessity of forcing the burden of changing or adding functions, and at the same time, it is possible to ensure self-diagnosis of the rotary encoder.

Elevator apparatus according to the present invention includes a rotary encoder mounted on the rotation shaft of the hoist motor, the electronic control unit from the detection output of the rotary encoder with built-in control CPU for driving and controlling the motor, a, The rotary encoder has a built-in self-diagnosis CPU that performs self-diagnosis of the rotary encoder itself, and the self-diagnosis CPU has a function of a monitoring CPU that monitors the control CPU . When the CPU determines that the operation state of the control CPU is abnormal, the CPU drives a switch provided between the electronic control device and the motor to open the fail safe signal for stopping the power supply to the motor. This is characterized in that output is possible .

 The present invention can be applied to both absolute type and incremental type rotary encoders.

  In the rotary encoder of the present invention, not only a type in which a rotary slit plate and a fixed slit plate are arranged on the optical path between the light projecting element and the light receiving element, but also a type in which only the rotary slit plate is arranged on this optical path. Including.

  The self-diagnosis includes various types such as power supply voltage monitoring, light projecting element driving current monitoring, detection signal duty, number of pulses, light receiving element operation determination, and the present invention is not limited to these. This is because the content of the self-diagnosis can be determined as appropriate according to the electronic control system. In the self-diagnosis function, for example, in power supply voltage monitoring, the power supply voltage is compared with a reference voltage by a comparison circuit, and if the power supply voltage exceeds or falls below the reference voltage, it can be self-diagnosed that the power supply voltage is abnormal. Further, in the light projecting element driving current monitoring, the driving current is compared with the reference current by the comparison circuit, and if the driving current exceeds or becomes less than the reference current, the self-diagnosis can be made that the driving current is abnormal. Other self-diagnosis functions may be implemented as appropriate.

  In the present invention, a self-diagnosis CPU with a built-in rotary encoder performs self-diagnosis such as whether the rotary encoder itself is in a normal state, an abnormal state, or a warning state, and the self-diagnosis result is displayed. For example, if the content of the fail-safe signal indicates an abnormal state of the rotary encoder, the power supply to the motor is stopped or the power is supplied to the electronic control unit. If the electronic control device itself executes the fail-safe operation by stopping the operation or inputting a fail-safe signal from the rotary encoder side to the electronic control device, the safety as the electronic control system is improved.

  In the present invention, the self-diagnosis CPU determines the operation state of the control CPU, transmits the determination result to the control CPU, and determines the abnormality of the operation state of the control CPU. Since the function of the monitoring CPU for monitoring the control CPU is provided by performing the output, it is not necessary for the electronic control unit to have a double CPU configuration of the control CPU and the monitoring CPU. It becomes possible to expect further improvement in safety as an electronic control system as it is without requiring a load such as shape change or function addition on the control device side.

  The electronic control system of the present invention has a self-diagnosis function on the rotary encoder side, and the self-diagnosis result can be used for fail-safe operation. Therefore, the safety of the electronic control system can be further improved, Instead of incorporating a monitoring CPU on the electronic control device side in order to monitor the control CPU built in the control device, the self-diagnosis CPU on the encoder side can be substituted for the monitoring CPU, and the electronic control device As a result, it is possible to expect further safety improvement as an electronic control system as it is without requiring the burden of changing the shape or adding functions.

  Hereinafter, an electronic control system for controlling an elevator apparatus according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

  Referring to FIG. 1, an elevator apparatus 1 drives a hoisting machine 3 by a driving motor 5 to raise and lower a car 9 via a rope 7, while being attached to a rotating shaft of the driving motor 5. The detection signal from 11 is input to the electronic control unit 13. In FIG. 1, the electronic control unit 13 has a control CPU 15 built therein, and the drive motor 5 is driven and controlled by a detection signal from an incremental type or absolute type rotary encoder 11. There are various other details of elevator control by the electronic control unit 13, but the description thereof is omitted.

  In the following description, for the sake of explanation, the description is applied to an incremental type rotary encoder. However, the present invention is not limited to an incremental type and can be similarly applied to an absolute type rotary encoder.

  Referring to FIG. 2, the incremental rotary encoder 11 is fixed to the rotating shaft of the driving motor 5 on the optical path between the light projecting element 17 and the light receiving elements 19 and 21. A rotary slit plate 23 having a plurality of rotary slits that can transmit light, and a fixed slit that can transmit light from the light projecting element 17 on one side of the rotary slit plate 23 in the same manner as the rotary slit. The fixed slit plate 25 is disposed so as to face each other. The fixed slit of the fixed slit plate 25 shifts the light from the light projecting element 17 by 90 degrees sequentially in electrical angle and passes through the rotary slit of the rotary slit plate 23 to form A-phase and B-phase optical signals. The light receiving elements 19 and 21 receive the optical signals of the A phase and the B phase which are shifted by 90 degrees in electrical angle, and the optical signals of the A phase and the B phase are electrically shown in FIGS. 3 (a) and 3 (b). The signal is converted into a typical signal.

  Referring to FIG. 4, in the electronic control system of the embodiment, the controlled object is elevator device 1, rotary encoder 11, electronic control device 13, drive motor 5, normally closed relay switch 35, Is provided. The electronic control device 13 includes a control CPU 15.

  The rotary encoder 11 includes an A / B phase signal output unit 27, a self-diagnosis data processing unit 29, a self-diagnosis CPU 31, and a fail-safe signal output unit 33. The A and B phase signal output unit 27 outputs both the A and B phase signals shown in FIGS. 3A and 3B to the electronic control unit 13. The electronic control device 13 detects the rotational speed and direction of the drive motor 5 from both the A and B phase signals and controls the drive motor 5 to control the lift position and the lift speed of the car 9. .

  The self-diagnosis data processing unit 29 processes self-diagnosis data such as the power supply voltage, the drive current of the light projecting element 17, the output signals of the light receiving elements 19 and 21, the periods of the A and B phase signals, the duty, and the number of pulses. Of course, the self-diagnosis data processing unit 29 including the fail-safe signal output unit 33 can be functionally included in the CPU 31 for self-diagnosis, but is shown in each block for easy understanding.

  The self-diagnosis CPU 31 performs self-diagnosis of the rotary encoder 11 based on the self-diagnosis data from the self-diagnosis data processing unit 29. If it is determined as a result of self-diagnosis that the rotary encoder 11 is abnormal, a fail-safe signal is output from the fail-safe signal output unit 33. The fail-safe signal is driven to open the relay switch 35 disposed on the power supply line connecting the electronic control unit 13 and the drive motor 5, so that no power is supplied to the drive motor 5, and the drive The motor 5 stops rotating. Thereby, the safety is ensured by stopping the electronic control system.

  On the other hand, the self-diagnosis CPU 31 is connected to the control CPU 15 in addition to the self-diagnosis function, and can also serve as a monitoring CPU for monitoring each other with the control CPU 15. .

  That is, the self-diagnosis CPU 31 and the control CPU 15 are each equipped with a monitoring program for executing a task for monitoring each other's state, and the self-diagnosis CPU 31 inputs information related to the control of the elevator apparatus 1 from the control CPU 15. While determining the control state of the control CPU 15 from the information or the like, the control CPU 15 is provided with information relating to the detection state of the own rotary encoder 11. The control CPU 15 determines the state of the rotary encoder 11 from the information and performs necessary processing. On the other hand, the self-diagnosis CPU 31 forcibly stops the rotation operation of the drive motor 5 by outputting a fail-safe signal when it is determined from the result of the state determination of the control CPU 15 that the state of the control CPU 15 is abnormal. As a result, the electronic control system can be stopped to ensure its safety.

  In the above embodiment, two control CPUs 15 are mounted on the electronic control unit 13, and when one control CPU 15 becomes abnormal, the other control CPU 15 performs the same control instead of the one control CPU 15. The self-diagnosis CPU 31 for self-diagnosis of the rotary encoder 11 itself does not function as a control CPU in place of the abnormal control CPU 15, and is not a dual system. By making it function as a monitoring CPU for monitoring whether or not the system is abnormal, the electronic control device 13 side avoids cost increase and control complexity by making the control CPU 15 a dual system. It is possible to ensure safety as a system.

  The monitoring of the control CPU 15 by the self-diagnosis CPU 31 includes, for example, monitoring the operation of the program and monitoring the program runaway or abnormal stop. This can be done, for example, by detecting a pulse signal indicating that the program has entered an abnormal process on the control CPU 15 side. This pulse signal can be obtained by, for example, incorporating a watchdog timer function in the self-diagnosis CPU 31 and using this watchdog timer. The watchdog timer is reset by a command from the control CPU 15 every predetermined time when the program is normally processed by the control CPU 15, and if the watchdog timer is not reset even after the predetermined time elapses, for example, A time-up signal is generated as a pulse signal. When the control CPU 15 becomes abnormal, the self-diagnosis CPU 31 may reset the control CPU 15 or output an abnormality notification to the electronic control system management center or the like.

  Further, in order for the control CPU 15 to control not only the drive motor 5 but also the entire elevator apparatus 1, when the load factor of the control CPU 15 becomes extremely large, the load is distributed to the self-diagnosis CPU 31, The load factor may be lowered to enable stable control of the entire electronic control system.

  Further, the control CPU 15 of the electronic control device 13 saves predetermined data in a nonvolatile memory when an abnormal state is detected by a plurality of sensors or the like regarding the control of the car 9 of the elevator device 1 and the like. Although the self-diagnosis of the elevator apparatus 1 can be performed based on the data stored in the non-volatile memory, in this case, the diagnosis is performed by the CPU 31 for self-diagnosis of the rotary encoder 11 so that the control CPU 15 It may be possible to reduce the burden.

FIG. 1 is a diagram showing a schematic configuration of an elevator control system (electronic control system) according to an embodiment of the present invention. FIG. 2 is a diagram showing a schematic mechanical configuration of the incremental rotary encoder. FIG. 3 is a diagram showing the relationship between the A phase and the B phase by the incremental rotary encoder. FIG. 4 is a diagram showing a schematic block configuration of an elevator control system (electronic control system).

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Elevator apparatus 5 Drive motor 11 Rotary encoder 13 Electronic controller 15 CPU for control
27 A and B phase signal output unit 29 Self-diagnosis data processing unit 31 CPU for self-diagnosis
33 Fail-safe signal output section

Claims (1)

A rotary encoder attached to the rotating shaft of the motor of the hoisting machine, and an electronic control unit incorporating a control CPU for driving and controlling the motor from the detection output of the rotary encoder,
The rotary encoder incorporates a self-diagnosis CPU that performs self-diagnosis of the rotary encoder itself, and the self-diagnosis CPU has a function of a monitoring CPU that monitors the control CPU.
The self-diagnosis the CPU, power supply when the operating state of the control CPU is abnormal, the electronic control unit and is driven to the side opening a switch provided between said motor to said motor An elevator apparatus characterized in that a fail-safe signal for stopping supply can be output.

Images