JP6573729B2 - Elevator control device and elevator control method - Google Patents

Description

  The present invention relates to an elevator control device and an elevator control method, and more particularly to a braking capability diagnosis in a braking device for an elevator hoist.

  In a general elevator, a car arranged in a hoistway is suspended in a slidable manner together with a counterweight on the other end side by a main rope wound around a sheave of a hoisting machine, that is, a rope. It is driven up and down by the motor of the hoisting machine.

  The brake drum is disposed on a shaft that connects the motor and the sheave of the hoisting machine. The movable portion is pressed against the brake drum by the biasing force of the spring to brake the rotation of the hoist motor, and the movable portion is attracted and separated from the brake drum by the electromagnetic force generated by passing an electric current through the brake coil. A braking device for releasing braking is provided.

  In such an elevator, when the car is stopped, the stationary state of the motor is held by the braking device, and the car is held at the stop position. On the other hand, even when an abnormality is detected while the car is running and the car is stopped in an emergency, the braking device operates to decelerate and stop the hoist motor, thereby immediately stopping the car.

Therefore, it is necessary to set the braking capability of the braking device to an appropriate value and perform periodic maintenance and inspection to diagnose whether the braking capability is abnormal.
In response to such a problem, the brake device is operated in a no-load state in which there are no passengers in the car, and the sum of the unbalance torque and motor torque caused by the weight imbalance of the car and the counterweight is normal. Apply a motor torque so that it equals the braking capacity of the braking system, and diagnose the normality of the braking capacity of the braking system based on the change in the rotational angle of the motor and the operating state of the car detected from the rotational speed. An elevator is known (for example, Patent Document 1 below).

  In addition, the brake torque of the elevator that diagnoses the braking ability of the braking device from the unbalanced torque generated by the motor torque at this time and the weight imbalance of the car and the counterweight when the braking device is operated. A measuring apparatus is known (for example, Patent Document 2 below).

JP 2008-133306 A JP 2004-168501 A

  However, the braking device for an elevator is required to have a braking ability for holding a car to which a load of 1.25 times the loaded load is applied even when the braking ability is lowered. Therefore, the braking ability at the normal time is set to a very large value. In the prior art, since the motor is rotated by the motor torque while the braking device is operated, a very large motor torque is required. For this reason, there is a problem that damage to the device that supplies current to the motor at the time of diagnosis increases, and the life of the device is shortened.

  The present invention has been made to solve the above-described problems, and by reducing the magnitude of the motor torque required at the time of diagnosis, elevator control that suppresses damage to equipment that supplies current to the motor. An object is to provide an apparatus and an elevator control method.

According to the present invention, the hoisting machine that drives the raising and lowering of the car, the hoisting machine of the elevator, and the movable part is pressed by the urging force to brake the motor of the hoisting machine and the suction force to A braking device that sucks the movable part against the urging force and releases the braking;
An elevator device comprising: a brake control unit that controls the braking capability of the braking device by controlling the suction force; a motor control unit that controls a motor torque generated by the motor; and A load detector for detecting a magnitude of a load torque required to hold the car stationary with the braking device released, and the brake control from a state where the car is held stationary by the braking device. In a state where the suction force is applied by the unit and the urging force is reduced, the motor control unit applies the motor torque to rotate the motor, detects the applied motor torque, and applies the suction force and the applied force. Braking for determining the braking capability of the braking device based on the motor torque and the load torque detected by the load detector A force detection control unit, provided with a, in the elevator control device and the like.

  In the present invention, by reducing the magnitude of the motor torque required at the time of diagnosis, it is possible to suppress damage to the device that supplies current to the motor.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic block diagram which shows the whole of an example of the elevator system containing the elevator control apparatus which concerns on each embodiment of this invention. It is an operation | movement flowchart which shows the flow of a series of operation | movement of the elevator control apparatus which concerns on Embodiment 1 of this invention. It is a response waveform diagram of each of current, force, brake torque, and motor torque when current is applied to the brake coil according to Embodiment 1 of the present invention. It is an operation | movement flowchart which shows the flow of a series of operation | movement of the elevator control apparatus which concerns on Embodiment 2 of this invention. It is each response waveform figure of an electric current, a force, and a motor rotational speed when an electric current is applied to the brake coil which concerns on Embodiment 3 of this invention. It is an operation | movement flowchart which shows the flow of a series of operation | movement at the time of the diagnosis of the elevator control apparatus which concerns on Embodiment 3 of this invention. It is the schematic of an example of a structure of the winding machine periphery of the elevator control apparatus which concerns on each embodiment of this invention.

  According to this invention, in a state where the suction force is applied by the brake control unit and the urging force is reduced, the motor torque is controlled by the motor control unit to rotate the motor. Since the diagnosis can be performed in a state where the braking ability is reduced by reducing the urging force, the value of the motor torque necessary for rotating the motor can be suppressed. As a result, an elevator control device that suppresses damage to the equipment can be obtained.

Hereinafter, an elevator control device and an elevator control method according to the present invention will be described with reference to the drawings according to each embodiment. In each embodiment, the same or corresponding parts are denoted by the same reference numerals, and redundant description is omitted.
Embodiment 1 FIG.
FIG. 1 is a configuration diagram illustrating an entire example of an elevator system including an elevator control device according to each embodiment of the present invention. In FIG. 1, an elevator car 1 is arranged in a hoistway. And the cage | basket | car 1 is suspended by the rope 4 wound around the sheave 3 with which the hoisting machine 2 was equipped with the counterweight 5 of the other end side like a vine. Further, the car 1 is driven up and down by a motor M provided in the hoisting machine 2 and is braked by a braking device 6. Here, the weight of the counterweight 5 is set so as to balance the weight on the car 1 side when the rated load of 50% is loaded in the car 1, for example.
The motor M is indicated by a broken line, for example, as being provided so as to rotationally drive the sheave 3 on the back side of the sheave 3.
Moreover, let the part comprised from the cage | basket | car 1, the hoist 2, the sheave 3, the rope 4, the counterweight 5, and the braking device 6 be an elevator apparatus.

  As schematically shown in FIG. 7, the braking device 6 has a brake drum 6 a installed on a shaft that couples the motor M and the sheave 3 of the hoisting machine 2, and faces the brake drum 6 a. And a brake 6b disposed on the vehicle.

  The brake 6b includes a movable portion 6b2 that generates a frictional force when pressed against the brake drum 6a by an urging force FB, which is an elastic force of the spring 6b3, and an urging force by applying an electric current to the movable portion 6b2 by the spring 6b3. And a brake coil 6b4 provided on the fixed portion 6b1 side that attracts and releases the frictional force against the urging force FB. The torque due to the static friction force acting between the movable portion 6b2 of the braking device 6 and the brake drum 6a is called a holding torque TH, and the torque due to the dynamic friction force acting between the movable portion 6b2 and the brake drum 6a is braked. This is called torque TD. For example, the holding torque TH acts when the car 1 is stopped and held by the braking device 6, and the braking torque TD acts when the car 1 is decelerated by the braking device 6. It becomes. The holding torque TH of the braking device 6 and the braking torque TD are collectively referred to as the braking capability BF of the braking device 6.

  Further, the hoisting machine 2 is provided with a rotation detector 7 that detects the number of rotations of the motor M.

The brake control unit 9 controls the braking ability BF of the braking device 6 by applying the attractive force FC by controlling the current applied to the brake coil 6 b 4 of the braking device 6.
The motor control unit 10 controls the motor torque TM by controlling the current applied to the motor M of the hoisting machine 2.

The load detection control unit 11 detects a load torque TL that acts on the motor M of the hoisting machine 2. The load torque TL is a motor torque TM necessary to hold the motor M of the hoisting machine 2 in a state where the braking of the braking device 6 is released. For example, it is possible to release the braking of the braking device 6 by controlling through the brake control unit 9 and obtain the motor torque TM necessary for holding the motor M stationary through the motor control unit 10.
For example, in FIG. 1, the unbalance torque acting on the motor M due to the weight difference between the car 1 side and the counterweight 5 side with respect to the sheave 3 of the hoisting machine 2 becomes the load torque TL. In addition, for example, in the case of an elevator that does not have the counterweight 5 or the rope 4 and the car 1 is provided with the hoisting machine 2, the torque that acts on the motor M due to the weight of the car 1 is the load torque TL. Become.

  The braking capacity detection control unit 8 controls the braking device 6 through the brake control unit 9 and controls the motor M of the hoisting machine 2 through the motor control unit 10. Then, the braking capability detection control unit 8 diagnoses the braking capability BF of the braking device 6 based on information from the rotation detector 7, the brake control unit 9, the motor control unit 10, and the load detection control unit 11.

  When the braking processing detection control unit 8 and the load detection control unit 11 and the arithmetic processing parts of the brake control unit 9 and the motor control unit 10 are configured by software, a program for executing each function and each function are executed. The computer may be composed of a memory that stores various data necessary for the program, a program stored in the memory, and a processor that performs processing according to the various data. When configured by hardware, it is configured by one or a plurality of digital circuits that execute various functions, and various accompanying data are incorporated in advance in the digital circuit.

  Next, the diagnosis operation of the elevator control apparatus according to the first embodiment will be described based on the operation flowchart shown in FIG. 2 and the response waveform diagram shown in FIG. 2 can be activated when the car 1 is in a stopped state and the hoisting machine 2 is in a stationary holding state by the braking device 6 (step S0).

  At this time, the hoisting machine 2 is held stationary by the braking device 6 while a load torque TL is generated in the hoisting machine 2 due to the weight difference between the car 1 and the counterweight 5 with respect to the sheave 3. ing. That is, the holding torque TH by the braking device 6 exceeds the load torque TL.

  From the stationary state of the hoisting machine 2, the braking capacity detection control unit 8 controls the voltage applied to the brake coil 6b4 of the braking device 6 by the brake control unit 9, and the setting previously set in the brake coil 6b4 Current i is applied (step S1).

  Here, FIG. 3 is a diagram showing the relationship of response waveforms of current i, force F, brake torque TB, and motor torque TM at the time of braking ability diagnosis in the first embodiment of the present invention.

In FIG. 3, the horizontal axis represents time T,
(a) is a waveform of the current i of the brake coil 6b4 when a voltage is applied to the brake coil 6b4;
(b) is a waveform of the attractive force FC by the current i of the brake coil 6b4 and the urging force FB by the spring 6b3;
(c) is a waveform of the holding torque TH and the braking torque TD of the braking device 6;
(d) is a waveform of the motor torque TM of the motor M of the hoisting machine 2,
Respectively.

  As shown in FIG. 3 (a), when the current i set in the brake coil 6b4 is applied, the attractive force FC acts as shown in (b), and the holding by the braking device 6 as shown in (c). Torque TH becomes small.

The magnitude of the current i applied to the brake coil 6b4 is set so that the holding torque TH reduced by the attractive force FC does not become smaller than the load torque TL.
That is, the state where the holding torque TH exceeds the load torque TL is held.

After applying the set current i to the brake coil 6b4, the braking capacity detection control unit 8 causes the motor control unit 10 to generate a motor torque TM generated by the motor M of the hoisting machine 2 as shown in FIG. Is gradually increased (step S2).
Here, the motor torque TM actually means the torque generated by the motor M. The same applies below.

  When the motor torque TM generated by the motor M is increased, the sum of the motor torque TM and the load torque TL is balanced with the holding torque TH at the time th shown in FIG. Further, when the motor torque TM is increased from this state and the sum of the motor torque TM and the load torque TL slightly exceeds the holding torque TH, the motor M of the hoisting machine 2 starts to rotate.

The braking capacity detection control unit 8 detects the time th at which the motor M starts to rotate by monitoring the output from the rotation detector 7 (step S3). Then, when the motor M starts rotating, the motor torque TMh applied to the motor M of the hoist 2 and the current ih supplied to the brake coil 6b4 of the braking device 6 are measured and recorded ( Step S4).
The motor torque TMh is obtained from the motor control unit 10, and the current ih supplied to the brake coil 6b4 is obtained from the brake control unit 9.

  When the motor M starts rotating at time th, the force acting between the movable portion 6b2 of the braking device 6 and the brake drum 6a is switched from static friction force to dynamic friction force. As a result, the braking torque TD acts on the brake drum 6a.

  When the motor M starts to rotate, the braking capacity detection control unit 8 controls the motor torque TM so that the motor control unit 10 rotates the motor at a constant rotation speed (step S5). The motor control unit 10 controls the motor torque TM using the output from the rotation detector 7, for example, so that the detected rotation speed of the motor becomes the target speed. The fact that the motor is rotating at a constant rotational speed means that the sum of the motor torque TM and the load torque TL is balanced with the braking torque TD. The rotational speed at this time is set to be lower than the traveling speed at the time of normal traveling of the car 1, for example.

  The braking capability detection control unit 8 detects that the motor M is rotating at a constant rotational speed by monitoring the output from the rotation detector 7. When the motor M rotates at a constant rotational speed, that is, at the time td shown in FIG. 3D, the motor torque TMd generated by the motor M of the hoisting machine 2 and the brake of the braking device 6 The current id supplied to the coil 6b4 is measured and recorded (step S6).

  Thereafter, in step S7, the braking ability detection control unit 8 controls the voltage applied to the brake coil 6b4 of the braking device 6 by the brake control unit 9, and gradually increases the current i flowing to the brake coil 6b4. The movable portion 6b2 is sucked and held against the biasing force FB by the spring 6b3. When the movable portion 6b2 of the braking device 6 starts suction, that is, the timing at which the suction force FC and the urging force FB of the brake coil 6b4 at the time tb shown in FIG. The braking ability detection control unit 8 measures the current ib supplied to the brake coil 6b4 of the braking device 6 when the attractive force FC and the urging force FB of the brake coil 6b4 are balanced at this time tb. Record it. Note that the timing at which the movable portion 6b2 starts suction is, for example, attached to the braking device 6 by a switch (not shown) that detects the suction start of the movable portion 6b2, and monitoring the output of the switch 6b2. Detect the start of suction. In addition, a current detector (not shown) is attached to the brake coil 6b4, and changes in the coil current due to the counter electromotive force generated in the brake coil 6b4 when the movable part 6b2 starts to move are detected using the output of the current detector. Thus, the movement of the movable part may be detected.

After suction of the movable part 6b2 of the braking device 6, the braking ability detection control part 8 detects the load torque TL acting on the hoisting machine 2 by the load detection control part 11 (step S8). For example, the load detection control unit 11 measures the weight of the car 1 with a scale device (not shown), and detects the load torque TL from the unbalanced rope and the weight of the counterweight obtained from the stop floor information of the car 1. In addition, the motor control unit 10 controls the motor torque TM so as to hold the motor M stationary after the suction of the movable part 6b2 of the braking device 6, and the load torque from the motor torque TM when the motor M is held stationary. TL may be detected.
As the scale device, for example, the one provided in the car 1 is used. Stop floor information is obtained from the normal operation control unit for normal car service (not shown). The unbalance of the rope and the weight of the counterweight for the stop floor are stored in advance in a memory or the like. .

  In response to the above steps, in step S9, the braking capacity detection control unit 8 calculates the holding torque TH and the braking torque TD of the braking device 6.

  The holding torque TH and the braking torque TD are calculated by the braking ability detection control unit 8 as follows.

  First, the braking capability detection control unit 8 measures in advance the relationship of the attractive force FC acting on the movable portion 6b2 from the brake coil 6b4 when an arbitrary current i is applied to the brake coil 6b4 of the braking device 6, and the relational expression thereof. Is stored as FC (i).

  Calculation of the holding torque TH of the braking device 6 will be described. At time th, the sum of the motor torque TMh and the load torque TL when the motor M of the hoisting machine 2 starts rotating is balanced with the holding torque THh at the time th. The holding torque THh at time th is the holding torque TH in which the urging force FB is reduced by the amount of the attractive force FC by the brake coil 6b4 at time th. Therefore, the brake holding torque TH when there is no suction force FC by the brake coil 6b4 is expressed by the following formula (1) in which the applied suction force FC is corrected with respect to the holding torque THh at the time th.

    TH = (TL + TMh) (FC (ib) / (FC (ib) −FC (ih))) (1)

  Here, FC (ib) and FC (ih) indicate the attractive force FC due to the current i of the brake coil 6b4 at time tb and time th in FIG. 3, respectively.

  In the equation (1), the urging force FB is obtained from the relationship at the time tb when the attractive force FC by the brake coil 6b4 obtained in step S7 and the urging force FB by the spring 6b3 are balanced. However, the present invention is not limited to this. Do not mean. The magnitude of the biasing force FB by the spring 6b3 may be obtained and stored in advance, and the holding torque TH may be calculated using the stored biasing force FB.

  Next, calculation of the braking torque TD will be described. At time td, the sum of the motor torque TMd and the load torque TL when the motor M of the hoist 2 is rotating at a constant rotational speed is in balance with the braking torque TDd at time td. The braking torque TDd at the time td is the braking torque TD in which the urging force FB is reduced by the amount of the attractive force FC by the brake coil 6b4 at the time td. Therefore, the brake braking torque TD when there is no attraction force FC by the brake coil 6b4 is expressed by the following formula (2) obtained by correcting the applied attraction force FC for the braking torque TDd at time td.

    TD = (TL + TMd) (FC (ib) / (FC (ib) -FC (id))) (2)

  After calculating the holding torque TH and the braking torque TD of the braking device 6 of the hoisting machine 2, the process proceeds to step S10. The braking capability detection control unit 8 determines whether the braking capability of the braking device 6 is normal or abnormal based on the calculated holding torque TH and braking torque TD.

At this time, the braking capacity detection control unit 8 stores in advance a reference range of the holding torque TH necessary for the braking device 6 to hold the car 1, and whether or not the calculated holding torque TH is within the reference range. Determine whether.
The braking capacity detection control unit 8 stores in advance a reference range of the braking torque TD necessary for the braking device 6 to stop the car 1 safely, and whether or not the calculated braking torque TD is within the reference range. Determine whether.
If both the holding torque TH and the braking torque TD are within the reference range, the braking capability detection control unit 8 determines that the braking capability of the braking device 6 is normal (step S11) and continues the elevator service. (Step S12).

  On the other hand, when at least one of the calculated holding torque TH and braking torque TD is outside the reference range, the braking ability detection control unit 8 determines that the braking ability of the braking device 6 is abnormal (step S13). The elevator operation is suspended (step S14), and the fact that the braking capability of the braking device 6 is abnormal is reported toward a predetermined location such as a maintenance company. In step S10, the braking capacity detection control unit 8 stores which of the holding torque TH and the braking torque TD is outside the reference range, and also includes the information toward a predetermined place such as a maintenance company. It may be reported.

  As described above, the current i is applied to the brake coil 6b4 of the braking device 6 and the diagnosis is performed with the attractive force FC acting on the movable portion 6b2 of the braking device 6, thereby reducing the braking ability of the braking device 6. Diagnosis can be performed in the state where Thereby, the magnitude of the motor torque TM of the motor M of the hoisting machine 2 required at the time of diagnosis can be reduced. By reducing the motor torque TM used for diagnosis, it is possible to suppress the current applied to the motor M, and therefore it is possible to suppress damage to devices such as an inverter for applying current to the motor M. . And since the damage to an apparatus can be suppressed, the lifetime of an apparatus can be extended now.

Further, as a method for reducing the motor torque TM necessary for diagnosis, a method in which the motor torque TM is applied in the same direction as the direction in which the load torque TL acts to rotate the motor M of the hoisting machine 2 can be considered. However, since such a method can only diagnose in the direction in which the load torque TL acts, for example, the weight of the counterweight 5 side is larger than the car 1 side relative to the motor M of the hoisting machine 2, and the load torque TL is When the car 1 is acting in the direction of raising the car 1, if the car 1 is stopped on the uppermost floor, the car 1 cannot travel upward and thus cannot make a diagnosis. In addition, the diagnosis cannot be performed even when the weight of the car 1 side and the counterweight 5 side are equal to the motor of the hoisting machine 2 and the load torque TL is not acting.
Even for such a problem, the hoisting machine 2 is rotated by using the motor torque TM by the motor M of the hoisting machine 2 in a state where the braking capability of the braking device 6 is reduced by the attractive force FC of the brake coil 6b4. As a result, the diagnosis can be performed in either the vertical direction, so that the diagnosis can be performed anywhere regardless of the position of the car 1, and the diagnosis can be performed regardless of the presence or absence of the load torque TL.

  In the first embodiment, after the current i set in advance in step S1 is applied to the brake coil 6b4, the motor torque TMd applied to the motor M of the hoisting machine 2 at time td in step S6. The current id applied to the brake coil 6b4 of the braking device 6 is measured, and the case where the constant current i is continuously applied until it is recorded is described as an example. However, the present invention is not limited to this. After the current i is applied to the brake coil 6b4 in step S1, the motor torque TM is controlled so that the motor M of the hoist 2 rotates at a constant speed in step S5. When doing so, the current i applied to the brake coil 6b4 by the brake control unit 9 may be changed. Since the braking torque TD is basically smaller than the holding torque TH, the current i applied to the brake coil 6b4 after the hoisting machine 2 rotates is set to a value lower than the current i applied in step S1. Set.

  In addition, the brake device 6 has been described as an example of a brake that sucks the movable portion 6b2 by the brake coil 6b4. However, the present invention is not limited to this, and a brake that sucks the movable portion by a hydraulic unit or a pneumatic unit. May be used.

Embodiment 2. FIG.
In the first embodiment, the braking ability is diagnosed in a state where a preset current i is applied to the brake coil 6b4 of the braking device 6. In the second embodiment, a method for diagnosing the braking ability of the braking device 6 will be described in a procedure different from that of the first embodiment.
In the second embodiment, generally, the motor torque TM of the hoisting machine 2 is applied in the direction of the travel command CD of the car 1 from the normal operation control unit or the like to diagnose the braking capacity. Thereby, after diagnosis, the car 1 can be shifted to running as it is.

  In addition, the structure of the whole elevator system including the elevator control apparatus in this Embodiment 2 is shown in FIG. 1 similarly to Embodiment 1. FIG.

  FIG. 4 is an operation flowchart showing a series of flows of the elevator braking device according to Embodiment 2 of the present invention. The operation flowchart of FIG. 4 can be activated when the car 1 is in a stopped state and the hoisting machine 2 is in a stationary holding state by the braking device 6 (step S0a).

  In a state in which the elevator travel command CD is issued from the stop state of the car 1 and the car 1 shifts to travel, the braking capacity detection control unit 8 uses the load detection control unit 11 to apply load torque acting on the hoisting machine 2. TL is detected (step S1a).

  Then, the braking capacity detection control unit 8 controls the voltage applied to the brake coil 6b4 of the braking device 6 by the brake control unit 9, and responds to the traveling command CD of the car 1 and the applied load torque TL to the brake coil 6b4. Current i is applied (step S2a).

  The braking ability detection control unit 8 records the set values of the two types of current i in advance. When the direction of the traveling command CD of the car 1 and the direction in which the load torque TL acts are the same, the lower set current i is applied to the brake coil 6b4. On the other hand, when the direction of the travel command CD of the car 1 and the direction in which the load torque TL acts are different, the current i having the higher set value is applied to the brake coil 6b4.

  When the direction of the travel command CD matches the direction in which the load torque TL acts, the motor torque TM required to rotate the hoist 2 in the direction of the travel command CD is reduced by the load torque TL. Is done. Conversely, if the direction of the travel command CD and the direction in which the load torque TL acts are different, the load torque TL is necessary because it acts in a direction that inhibits the hoisting machine 2 from rotating in the direction of the travel command CD. As a result, the motor torque TM increases. Therefore, when the direction of the traveling command CD of the car 1 and the direction in which the load torque TL acts are different, the applied current i is set to a large value.

  In addition, the braking capacity detection control unit 8 records the magnitude of the current i corresponding to the load torque TL being 0 in advance, and the load torque TL based on the detected load torque TL. Alternatively, the magnitude of the applied current i may be changed by a value obtained by multiplying a predetermined conversion coefficient. At this time, if the direction of the travel command CD and the direction in which the load torque TL acts are the same, the magnitude of the current i is reduced by the applied load torque TL, and conversely, the direction of the travel command CD and the load torque TL act. If the directions are different, the magnitude of the current i is increased by the applied load torque TL.

  Thereafter, in step S3a, the braking capacity detection control unit 8 causes the motor control unit 10 to gradually increase the motor torque TM generated by the motor M of the hoisting machine 2 in the direction of the travel command CD of the car 1.

  When the motor torque TM generated by the motor M is increased, the sum of the motor torque TM and the load torque TL exceeds the holding torque TH at the time th corresponding to the time th in FIG. The motor M starts to rotate.

The braking ability detection control unit 8 detects the time th at which the motor starts to rotate by monitoring the output from the rotation detector 7 (step S4a). Then, when the motor M starts rotating, the motor torque TMh applied to the motor M of the hoist 2 and the current ih supplied to the brake coil 6b4 of the braking device 6 are measured and recorded ( Step S5a).
The motor torque TMh is obtained from the motor control unit 10, and the current ih supplied to the brake coil 6b4 is obtained from the brake control unit 9.

  When the motor M starts to rotate, the braking capacity detection control unit 8 controls the motor torque TM so that the motor M rotates at a constant rotation speed by the motor control unit 10 (step S6a). At this time, the motor torque TM is also applied so that the motor M of the hoisting machine 2 rotates in the same direction as the traveling command CD of the car 1.

  The braking capability detection control unit 8 detects that the motor M is rotating at a constant rotational speed by monitoring the output from the rotation detector 7. Then, the motor torque TMd applied to the motor of the hoisting machine 2 at the time td corresponding to the time td in FIG. The current id supplied to 6b4 is measured and recorded (step S7a).

  Thereafter, the braking ability detection control unit 8 causes the brake control unit 9 to increase the current i flowing to the brake coil 6b4 of the braking device 6. Then, the movable portion 6b2 is attracted and held against the urging force FB by the spring 6b3 (step S8a). The braking capacity detection control unit 8 measures the current ib supplied to the brake coil 6b4 of the braking device 6 when the movable unit 6b2 starts suction at the time tb corresponding to the time tb in FIG. And record this.

  In response to the above steps, in step S9a, the braking ability detection control unit 8 calculates the holding torque TH and the braking torque TD of the braking device 6.

  The braking ability detection control unit 8 calculates the holding torque TH using the recorded motor torque TMh, the load torque TL, and the current ih and current ib of the brake coil 6b4. Also, the braking torque TD is calculated using the recorded motor torque TMd, the load torque TL, and the current id and current ib of the brake coil 6b4.

  After calculating the holding torque TH and the braking torque TD of the braking device 6 of the hoisting machine 2, the braking capacity detection control unit 8 determines whether or not each of the calculated holding torque TH and braking torque TD is within the reference range. Determination is made (step S10a).

  If both the calculated holding torque TH and braking torque TD are within the reference range in step S10a, the braking capability detection control unit 8 determines that the braking capability of the braking device 6 is normal (step S11a). And if it determines with the braking capability of the braking device 6 being normal, it will transfer to driving | running | working of the car 1 as it is (step S12a). The motor control unit 10 controls the motor torque TM so that the car 1 travels according to the travel command CD, and causes the car 1 to travel toward the destination floor.

  On the other hand, if at least one of the calculated holding torque TH and braking torque TD is outside the reference range in step S10a, the braking capability detection control unit 8 determines that the braking capability of the braking device 6 is abnormal. (Step S13a). In this case, the braking capability detection control unit 8 controls the motor torque TM by the motor control unit 10 and causes the car 1 to travel to the terminal floor in the direction in which the load torque TL acts, and then stops the operation of the elevator (step) S14a). At the same time, the fact that the braking capability of the braking device 6 is abnormal is reported toward a predetermined location such as a maintenance company.

  As described above, by applying the motor torque TM of the hoisting machine 2 in the direction of the travel command CD of the car 1 and diagnosing the braking capacity, it is possible to shift to the travel of the car 1 as it is. In addition, the braking ability of the braking device 6 can be diagnosed.

  Further, by changing the magnitude of the current i applied to the brake coil 6b4 at the time of diagnosis according to the direction of the travel command CD and the direction in which the load torque TL acts, the winding is wound in the direction opposite to the direction in which the load torque TL acts. Even when the motor M of the upper machine 2 is rotated, an increase in the motor torque TM necessary for diagnosis can be suppressed. Therefore, the motor torque TM required for diagnosis can be reduced regardless of the rotation direction of the hoist 2.

Embodiment 3 FIG.
In the second embodiment, two types of current i to be applied to the brake coil 6b4 of the braking device 6 at the time of diagnosis are stored in advance, and the current i to be applied is selected according to the situation at the time of diagnosis. In the third embodiment, a method of learning and setting the magnitude of the current i applied to the brake coil 6b4 will be described.

  In addition, the structure of the whole elevator system including the elevator control apparatus in this Embodiment 3 is shown in FIG. 1 similarly to Embodiment 1. FIG.

  The operation of the elevator control device in the third embodiment will be described based on the waveform diagram shown in FIG.

  Here, FIG. 5 shows the relationship between the response waveforms of the current i, the force F, and the motor rotation speed RM when setting the value of the current i applied to the brake coil 6b4 at the time of diagnosis in the third embodiment of the present invention. It becomes a figure which shows.

In FIG. 5, the horizontal axis indicates time T,
(a) is a waveform of the current i of the brake coil when a voltage is applied to the brake coil 6b4;
(b) is an attractive force FC by the current i of the brake coil 6b4,
(c) is a waveform of the rotational speed RM of the motor M of the hoist 2;
Respectively.

  The braking ability detection control unit 8 is activated when the car 1 is in a stopped state and the hoisting machine 2 is held stationary by the braking device 6. From this stationary state of the hoisting machine 2, the braking capacity detection control unit 8 controls the voltage applied to the brake coil 6b4 of the braking device 6 by the brake control unit 9, and the brake coil as shown in FIG. The current i flowing through 6b4 is gradually increased.

When the current i flowing through the brake coil 6b4 increases, the attractive force FC acts as shown in FIG. 5B, and the holding torque TH by the braking device 6 decreases. Therefore, when the current i flowing through the brake coil 6b4 increases, the load torque TL exceeds the holding torque TH at time tk shown in FIG. 5C, and the hoisting machine 2 starts rotating.
The suction force FC applied at the time of diagnosis needs to be set so that the holding torque TH to be reduced does not become smaller than the load torque TL. Therefore, the attractive force FC by the brake coil 6b4 when the load torque TL exceeds the holding torque TH at the time tk becomes the maximum value of the attractive force FC that can be applied at the time of diagnosis.

  The braking capacity detection control unit 8 detects the time tk at which the motor M of the hoisting machine 2 starts rotating by monitoring the output from the rotation detector 7. And when the motor M starts rotation, the electric current ik which flows into the brake coil 6b4 of the braking device 6 is measured, and this is recorded.

  Based on the detected current ik, the braking capability detection control unit 8 sets the current i applied to the brake coil 6b4 at the time of diagnosis to a value lower than the detected current ik. Thereby, the suction force FC applied at the time of diagnosis can be set to a value lower than the maximum value of the suction force FC that can be applied. For example, the braking ability detection control unit 8 sets the current i applied at the time of diagnosis to 80% of the detected ik. In addition, the current i applied to a value lower than the detected current ik by a set value may be set.

  When the current ik flowing through the brake coil 6b4 is detected at time tk, the braking ability detection control unit 8 stops the rotation of the motor M of the hoisting machine 2. Here, the braking capacity detection control unit 8 causes the brake control unit 9 to deenergize the current i flowing through the brake coil 6 b 4 of the braking device 6, thereby increasing the braking torque TD of the braking device 6 and rotating the hoisting machine 2. May be stopped. In addition, the braking capacity detection control unit 8 controls the motor torque TM generated by the motor M so as to stop the rotation of the hoisting machine 2 by the motor control unit 10, and the hoisting machine 2 is controlled by the motor torque TM. It may be held stationary. After the hoisting machine 2 is held stationary, the current i flowing through the brake coil 6b4 of the braking device 6 is de-energized by the brake control unit 9, and the hoisting machine 2 is held stationary by the holding torque TH of the braking device 6.

  Then, after the hoisting machine 2 is held stationary by the braking device 6, the braking capability of the braking device 6 is diagnosed using the value of the current i applied at the time of diagnosis.

  FIG. 6 is an operation flowchart showing a series of flows at the time of braking capacity diagnosis of the elevator braking device according to Embodiment 3 of the present invention. The operation flowchart of FIG. 6 is started when the hoisting machine 2 is in a stationary holding state by the braking device 6 after setting the value of the current i applied at the time of diagnosis (step S0b).

  From the stationary state of the hoisting machine 2, the braking capacity detection control unit 8 applies the current i that is learned and set in advance to the brake coil 6b4 of the braking device 6 by the brake control unit 9 (step S1b).

  Thereafter, in step S2b, the braking capacity detection control unit 8 causes the motor control unit 10 to gradually increase the motor torque TM generated by the motor M of the hoisting machine 2.

  When the motor torque TM generated by the motor M is increased, the sum of the motor torque TM and the load torque TL exceeds the holding torque TH at time th in FIG. 5C, and the motor M of the hoisting machine 2 rotates. To start.

  The braking capacity detection control unit 8 detects the time th at which the motor M starts to rotate by monitoring the output from the rotation detector 7 (step S3b). Then, when the motor M starts rotating, the motor torque TMh applied to the motor M of the hoist 2 and the current ih supplied to the brake coil 6b4 of the braking device 6 are measured and recorded ( Step S4b).

  When the motor M starts to rotate, the braking capacity detection control unit 8 controls the motor torque TM so that the motor M rotates at a constant rotation speed by the motor control unit 10 (step S5b).

  The braking capability detection control unit 8 detects that the motor M is rotating at a constant rotational speed by monitoring the output from the rotation detector 7. Then, the motor torque TMd applied to the motor M of the hoisting machine 2 at the time td corresponding to the time td in FIG. The current id supplied to the brake coil 6b4 is measured and recorded (step S6b).

  Thereafter, the braking capability detection control unit 8 causes the brake control unit 9 to deenergize the current i flowing to the brake coil 6b4 of the braking device 6, and also stops the motor torque TM applied to the motor M by the motor control unit 10, The rotation of the hoisting machine 2 is stopped (step S7b).

  And the braking capability detection control part 8 detects the load torque TL which is acting on the hoisting machine 2 by the load detection control part 11 (step S8b).

  In step S9b, the braking capacity detection control unit 8 corrects the reference range stored in advance according to the coil current i applied at the time of diagnosis. The braking capacity detection control unit 8 has a reference range of the holding torque TH required for the braking device 6 to hold the car 1 in a state where the coil current i is not applied, and the braking required for safely stopping the car 1. A reference range of torque TD is stored in advance. At the time of diagnosis, the biasing force FB is reduced by the amount of the suction force FC by the brake coil 6b4. Therefore, when the braking ability detection control unit 8 applies a certain current i to the brake coil 6b4 of the braking device 6, the holding torque TH and the braking torque TD that are reduced by the attractive force FC acting on the movable unit 6b2 from the brake coil 6b4. Is previously measured, and the relational expression is stored as G (i).

  Then, the reference range of the holding torque TH is corrected by multiplying the reference range of the holding torque TH by G (ih) calculated using the current ih flowing through the brake coil 6b4 measured in step S4b. Similarly, the reference range of the braking torque TD is corrected by multiplying the reference range of the braking torque TD by G (id) calculated using the current id flowing through the brake coil 6b4 measured in step S6b.

  Using the reference range corrected as described above, in step S10b, the braking capability detection control unit 8 determines whether the braking capability of the braking device 6 is normal or abnormal.

  The holding torque THh in a state where the urging force FB is reduced by the amount of the attractive force FC by the brake coil 6b4 at the time th is the sum of the motor torque TMh and the load torque TL applied to the motor M at the time th. Therefore, the braking capability detection control unit 8 calculates the holding torque THh in a state where the urging force FB is reduced by the amount of the attractive force FC by the brake coil 6b4 from the measured motor torque TMh and the load torque TL.

  Further, the braking torque TDd in a state where the urging force FB is reduced by the amount of the attractive force FC by the brake coil 6b4 at time td is the sum of the motor torque TMd and load torque TL applied to the motor M at time td. Become. Therefore, the braking ability detection control unit 8 calculates the braking torque TDd in a state where the urging force FB is reduced by the amount of the attractive force FC by the brake coil 6b4 from the measured motor torque TMd and the load torque TL.

  Then, the calculated holding torque THh and braking torque TDd are respectively compared with the reference range corrected in step S9b, and it is determined whether or not the holding torque THh and braking torque TDd are within the reference range. When the holding torque THh and the braking torque TDd are both within the reference range, the braking capability detection control unit 8 determines that the braking capability of the braking device 6 is normal (step S11b) and continues the elevator service. (Step S12b).

  On the other hand, if at least one of the calculated holding torque THh and braking torque TDd is outside the reference range, the braking capability detection control unit 8 determines that the braking capability of the braking device 6 is abnormal (step S13b). The elevator operation is suspended (step S14b), and the fact that the braking capability of the braking device 6 is abnormal is reported toward a predetermined location such as a maintenance company.

  As described above, by learning and setting the value of the current i applied at the time of diagnosis, the difference between the load torque TL and the holding torque TH of the braking device 6 when the learned current i of the set value is applied is greatly reduced. Therefore, the value of the motor torque TM necessary for rotating the motor M of the hoisting machine 2 at the time of diagnosis can be reduced. As a result, the current applied to the motor M can be made very small, so that damage to devices such as inverters can be suppressed and the life of the devices can be extended.

  In the third embodiment, the case where the value of the current i to be applied at the time of diagnosis is learned immediately before the diagnosis has been described as an example. However, the present invention is not limited to this. Learning may be performed.

As described above, the present invention includes the car 1 disposed in the elevator hoistway, the hoisting machine 2 that drives the raising and lowering of the car, and pressing the movable portion 6b2 by the urging force FB. A braking device 6 that brakes the motor M and sucks the movable portion against the urging force FB by the suction force FC to release the brake, and controls the braking force by controlling the suction force FC. A brake control unit 9 for controlling the braking ability of the device 6, a motor control unit 10 for controlling the motor torque TM generated by the motor, and the car is stopped in a state where the braking of the braking device is released in the hoisting machine. From the load detector 11 that detects the magnitude of the load torque TL necessary for holding, and the state in which the car is held stationary by the braking device, the brake controller In the state where the attractive force FC is applied and the urging force FB is reduced, the motor control unit 10 applies the motor torque TM to rotate the motor, and the applied motor torque TM is detected and applied. A braking capability detection control unit 8 that determines a braking capability BF of the braking device based on the suction force FC, the motor torque TM, and the load torque TL detected by the load detector. .
Thereby, the motor torque required to rotate the hoisting machine can be reduced, and damage to the power supply device can be reduced.

Further, the braking ability detection control unit 8 sets the suction force FC to be applied to reduce the urging force FB by the brake control unit 9 to a constant value.
Thereby, the motor torque required to rotate the hoisting machine can be reduced, and damage to the power supply device can be reduced.

Further, the braking ability detection control unit 8 corrects the braking ability BF of the braking device 6 detected based on the detected motor torque TM and the load torque TL by the applied suction force FC.
Thereby, it is possible to detect the braking ability when the suction force is not acting by correcting the applied force.

In addition, the braking ability detection control unit 8 increases the motor torque TM by the motor control unit 10 in a state where the suction force FC is applied by the brake control unit 9, and the motor starts to rotate. The first motor torque TMh and the applied first attractive force FCh are detected, and the holding torque of the braking device 6 is determined from the first motor torque TMh, the load torque TL, and the first attractive force FCh. Find TH.
Thereby, the holding torque can be detected with a small motor torque.

The braking capacity detection control unit 8 controls the motor torque TM so that the motor rotates at a constant rotation speed by the motor control unit 10, and the motor is at a constant rotation speed. The second motor torque TMd and the applied second attractive force FCd are detected, and the braking torque TD of the braking device 6 is determined from the second motor torque TMd, the load torque TL, and the second attractive force FCd. Ask.
Thereby, the braking torque can be detected with a small motor torque.

Further, when the motor control unit 10 causes the motor control unit 10 to rotate the motor at a constant rotational speed, the braking ability detection control unit 8 rotates the motor at a speed lower than the traveling speed during normal traveling of the elevator apparatus. Thus, the motor control unit 10 controls the motor torque TM.
Thereby, a diagnostic system can be improved by rotating and diagnosing at a low speed.

The braking device 6 includes a spring 6b3 that generates the urging force FB and a brake coil 6b4 that generates the attractive force by applying a current. The braking capability detection control unit 8 includes the brake control. The attraction force FC is generated by applying an electric current to the brake coil by the portion 9 to reduce the biasing force FB.
As a result, the motor torque required to rotate the hoisting machine can be reduced, and the braking ability can be diagnosed with a small motor torque.

Further, the braking ability detection control unit 8 applies the motor torque TM by the motor control unit 10 and rotates the motor, and then increases the suction force FC by the brake control unit 9 and the movable unit. A third suction force FCb when 6b2 is sucked and braking is released is detected, and the braking ability BF detected by the detection unit 8 is corrected based on the third suction force FCb.
Thereby, the diagnostic accuracy of the braking ability is improved.
The third suction force FCb is the suction force at time tb in FIG. This is the moment when the urging force FB and the attractive force FCb = FC (ib) are balanced, and is used to estimate the urging force FB.

Further, the braking capacity detection control unit 8 increases the suction force FC applied by the brake control unit 9 and starts the rotation of the motor while the car is held stationary by the braking device 6. When the braking ability BF is detected, the braking force applied by the brake controller 9 to reduce the urging force is set to be higher than the upper limit suction force FCk. Set to a lower value.
Thereby, the motor torque required for diagnosis can be reduced.
The upper limit suction force FCk is the suction force at time tk in FIG. In the present invention, it is necessary to set the current (current ih and current id) applied at the time of diagnosis to a value such that the holding torque TH does not exceed the load torque TL. As described in the third embodiment, the upper limit suction force FCk that can be applied to satisfy this condition is obtained. Actually, the upper limit current (ik) that can be applied is obtained. Then, the suction force FC applied to reduce the biasing force FB at the time of diagnosis is set to a value smaller than the upper limit suction force FCk detected. Actually, a current i lower than the upper limit current ik is applied.

Further, when the driving command CD for the car is input, the braking ability detection control unit 8 applies the motor torque TM by the motor control unit 10 in a state where the suction force FC is applied by the brake control unit 9. When applying, the motor torque TM is applied in the direction in which the motor rotates in the direction of the travel command CD, and the motor torque TM, the suction force FC, and the load torque TL are detected, The brake control unit 9 applies the suction force FC to suck the movable unit to release the braking, and the motor control unit 9 applies the motor torque TM to run the car according to the running command CD.
This enables diagnosis during normal service.

Further, the motor M of the hoisting machine 2 that raises and lowers the car in the elevator hoistway is braked by pressing the movable part 6b2 with the urging force FB, and the movable part is moved against the urging force FB by the suction force FC. A load torque TL necessary for holding the car stationary in a state in which the braking of the braking device is released is detected with respect to an elevator device provided with a braking device 6 that sucks and releases the braking. From the state where the apparatus is held stationary, the suction force FC is applied to reduce the biasing force FB, the motor M is rotated to apply the motor torque TM, and the applied motor torque TM is detected. The braking ability BF of the braking device is obtained based on the applied suction force FC, the motor torque TM, and the detected load torque TL. In the beta control method.
Thereby, the motor torque required to rotate the hoisting machine can be reduced, and damage to the power supply device can be reduced.

  The present invention is not limited to the above embodiments, and includes all possible combinations thereof.

Industrial applicability

  The elevator control device and the elevator control method of the present invention can be applied to various types of elevator systems.

  1 car, 2 hoisting machine, 3 sheave, 4 rope, 5 counterweight, 6 brake device, 6a brake drum, 6b brake, 6b1 fixed part, 6b2 movable part, 6b3 spring, 6b4 brake coil, 7 rotation detector, 8 braking capacity detection control unit, 9 brake control unit, 10 motor control unit, 11 load detection control unit.

Claims (11)

The car placed in the elevator hoistway,
A hoisting machine that drives the raising and lowering of the car;
A brake device that brakes the motor of the hoisting machine by pressing the movable part with an urging force and sucks the movable part against the urging force by a suction force to release the braking;
Elevator equipment equipped with
A brake control unit for controlling the braking capability of the braking device by controlling the suction force;
A motor control unit for controlling a motor torque generated by the motor;
A load detector for detecting a magnitude of a load torque necessary to hold the car stationary in a state in which the braking of the braking device is released in the hoisting machine;
In a state where the urging force is reduced by applying a suction force by the brake control unit from a state where the car is held stationary by the braking device,
The motor control unit applies the motor torque to rotate the motor, detects the applied motor torque,
A braking ability detection control unit for obtaining a braking ability of the braking device based on the applied suction force, the motor torque, and the load torque detected by the load detector;
An elevator control device. The braking capacity detection control unit sets the suction force applied to reduce the biasing force by the brake control unit to a constant value.
The elevator control device according to claim 1. The braking ability detection control unit corrects the braking ability of the braking device detected based on the detected motor torque and the load torque by the applied suction force;
The elevator control device according to claim 1 or 2. The braking capacity detection control unit increases the motor torque by the motor control unit in a state where the suction force is applied by the brake control unit, and the first motor when the motor starts rotating. A torque and an applied first suction force are detected, and a holding torque of the braking device is obtained from the first motor torque, the load torque, and the first suction force;
The elevator control device according to any one of claims 1 to 3. The braking capacity detection control unit controls the motor torque so that the motor rotates at a constant rotational speed by the motor control unit, and the second motor in a state where the motor is at a constant rotational speed. A torque and an applied second suction force are detected, and a braking torque of the braking device is obtained from the second motor torque, the load torque, and the second suction force;
The elevator control device according to any one of claims 1 to 4. When the motor control unit rotates the motor at a constant rotational speed, the braking capacity detection control unit causes the motor to rotate at a speed lower than the traveling speed during normal traveling of the elevator apparatus. Controlling the motor torque by a control unit;
The elevator control device according to claim 5. The braking device includes a spring that generates the biasing force, and a brake coil that generates the suction force by applying an electric current,
The braking ability detection control unit generates the suction force by applying an electric current to the brake coil by the brake control unit and reduces the biasing force.
The elevator control device according to any one of claims 1 to 6. The braking capacity detection control unit applies the motor torque by the motor control unit and rotates the motor, and then increases the suction force by the brake control unit, and the movable unit is sucked and braking is released. A third suction force is detected, and the braking ability detected by the detection unit is corrected based on the third suction force.
The elevator control device according to any one of claims 1 to 7. The braking ability detection control unit increases the suction force applied by the brake control unit and keeps the upper limit suction force when the motor starts rotating in a state where the car is held stationary by the braking device. And the suction force applied to reduce the biasing force by the brake control unit when detecting the braking ability is set to a value lower than the upper limit suction force.
The elevator control device according to any one of claims 1 to 8. The braking capacity detection control unit, when a travel command for the car is input,
In a state where the suction force is applied by the brake control unit, when the motor torque is applied by the motor control unit, the motor torque is applied in a direction in which the motor rotates toward the direction of the travel command. After detecting the motor torque, the suction force and the load torque, the brake control unit applies the suction force to suck the movable unit to release the braking, and the motor control unit applies the motor torque. Causing the car to travel according to the travel command;
The elevator control device according to any one of claims 1 to 8. A braking device that brakes a motor of a hoisting machine that raises and lowers a car in an elevator hoistway by pressing the movable part with an urging force and sucks the movable part against the urging force with a suction force to release the braking. For elevator equipment equipped with
Detecting a load torque necessary to hold the car stationary in a state in which the braking of the braking device is released;
From the state in which the car is held stationary by the braking device, the suction force is applied to reduce the urging force, the motor is rotated to apply the motor torque, and the applied motor torque is detected. And
Obtaining the braking capability of the braking device based on the applied suction force, the motor torque and the detected load torque;
Elevator control method.

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