JP7204794B2 - Controller for winding drum type elevator - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control system for a reel-type elevator, and more particularly to a control system that allows the maximum speed of a car to travel upward faster than its rated speed. More specifically, the torque current flowing through the motor is detected, and the car travels faster than the rated speed in the ascending direction according to the detected torque current and the load inside the car without detecting the load inside the car. It is possible.

In home elevators, in order to narrow the hoistway space, etc., as described in Patent Document 1 below, a drum-type elevator that does not have a counterweight and winds the car around a drum with a rope is generally adopted. . This home elevator control device is for changing the operating speed of the elevator, and its basic components are drive means for driving the elevator to move up and down, speed switching means for switching the specified speed as required, and this speed and speed control means for controlling the speed of the car by the drive means in response to the switching operation of the switching means.

The operating speed of the elevator can be switched between predetermined speeds lower than the rated speed as required by switching operation of speed switching means provided in the control device. As a result, especially late at night, the operating speed of the elevator is switched to a predetermined speed lower than the rated speed, and the elevator can be quietly operated, thereby reducing annoyance caused by noise to neighboring houses including family members.

JP-A-2-182677

However, in the elevator control device described in Patent Document 1, the car travels at a predetermined speed lower than the rated speed of the elevator based on the switching operation, which hinders transportation efficiency. On the other hand, if the rated speed of the elevators is uniformly increased regardless of the load in the car in order to increase the transportation efficiency, the driving capacity of the motor, power converter, etc. will increase and the size of the device will increase.
Here, in a roll-type elevator employed in a home elevator or the like, in the downward direction, the car descends by its own weight, so regenerative operation is performed in which a regenerative braking force is generated from the motor. On the other hand, in upward operation, the car-side load must be taken up on the reel of the hoist. Therefore, in the drum-type elevator, the driving capacity is determined based on the rated load in the car in the ascending direction. In order to effectively utilize the driving capacity thus determined, the rated speed is generally set slower in the ascending direction of the car than in the descending direction.
Under such circumstances, the inventor believes that even if the car is traveling in the ascending direction, the driving capacity may have a margin depending on the presence or absence and the number of occupants in the car. However, depending on the load value in the car, it is possible to make more effective use of the driving capacity by traveling faster than the rated speed of the car, and to improve transportation efficiency. Instead of detecting the load value inside the car with a load detector, the torque current flowing through the motor, which fluctuates based on the load value inside the car, is detected, and the car moves upward from the rated speed according to the detected torque current. I have found that it also makes it faster.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems. is detected by a load detecting device, and the torque current flowing through the motor is detected, and according to the detected torque current, the car moves upward in a higher running speed than the rated speed of the elevator. It is an object of the present invention to provide a control device for

A control device for a winding drum type elevator according to a first aspect of the present invention winds a rope connected to a car onto the winding drum, rewinds it, travels in a downward direction at a first rated speed, and moves upward in a first rated speed. The car travels at a second rated speed lower than the rated speed, and the motor is rotated by variable voltage variable frequency means for generating a variable voltage and a variable frequency based on the position command signal to drive the winding drum. A control device for a winding drum type elevator,
the variable voltage variable frequency means is configured to control the speed of the motor based on a torque command current and a magnetic flux command current;
destination command signal generating means for generating an ascending destination command signal for traveling the car in an ascending direction and a descending destination command signal for traveling the car in a descending direction;
torque current detection means for detecting a three-phase current flowing in the motor when the car is accelerating in an ascending direction, estimating a torque current value by performing coordinate conversion from the three phases, and generating a torque current detection signal; ,
estimating the load value in the car based on the torque current detection signal to determine whether the load value in the car exceeds a load threshold determined based on the rated load of the car; and rated load determination means for generating a light load estimation signal;
generating a first rated speed running pattern for running the car at the first rated speed based on the generation of the descending destination command signal, and generating a first rated speed command forming the first rated speed running pattern; a speed pattern generating means for generating a signal,
The speed pattern generating means further generates a provisional speed running pattern in which the vehicle travels at a speed equal to or higher than the second rated speed when the upward direction destination command signal is generated, and generates a provisional speed command signal forming the provisional speed running pattern. Then, when the light load estimation signal is generated, the temporary speed running pattern is shifted to generate a maximum speed pattern in which the vehicle runs at a maximum speed exceeding the second rated speed based on the torque current detection signal. , to generate a maximum speed reference signal that forms this maximum speed pattern,
It is characterized by

According to such a drum type elevator control device, the variable voltage variable frequency means is formed to control the speed of the motor based on the torque command current and the magnetic flux command current,
The destination command signal generating means generates an ascending destination command signal for traveling the car in an ascending direction and a descending destination command signal for traveling the car in a descending direction.
The torque current detection means detects a torque current value flowing to the motor when the car is accelerating in the ascending direction and generates a torque current detection signal. When the car travels in the ascending direction, as the load value inside the car increases, the torque current detection signal increases in proportion to the total load value on the car side as the torque generated from the motor increases. The rated load determination means estimates a load value in the car based on the torque current detection signal, determines whether or not the load value in the car exceeds a load threshold determined based on the rated load of the car, and If not, a light load estimation signal is generated.
The speed pattern generating means generates a first speed running pattern for running the car at a first rated speed based on the generation of the descending destination command signal, and generates a first speed command forming the first speed running pattern. generate a signal. Then, when the ascending destination command signal is generated, the speed pattern generating means generates a provisional speed running pattern in which the vehicle travels at a speed equal to or higher than the second rated speed, and generates a provisional speed command signal forming the provisional speed running pattern, When the light load estimation signal is generated, the temporary speed running pattern is shifted to generate a maximum speed running pattern in which the vehicle travels at a maximum speed exceeding the second rated speed based on the torque current detection signal, and this maximum speed running pattern is generated. Generates a maximum speed command signal that composes
As a result, when the car is running in the ascending direction with a light load including no load, the torque current value flowing to the motor is low when the car is accelerating due to the provisional speed running pattern, and the torque current detection signal is also low. Become. Therefore, when the light load estimation signal is generated from the rated load determination means, the speed pattern generation means shifts from the provisional speed running pattern to run at the maximum speed exceeding the second rated speed based on the torque current detection signal. A maximum speed driving pattern is generated and a maximum speed command signal is generated. Therefore, the car can be quickly accelerated to the maximum speed. Here, it is preferable that the provisional speed running pattern and the maximum speed running pattern have the same acceleration. This is because the car can be smoothly accelerated when transitioning from the provisional speed travel pattern to the maximum speed travel pattern.
Therefore, in order to increase the transportation efficiency in the ascending direction of the elevator without increasing the drive capacity of the motor, power converter, etc., the maximum speed of the car can be controlled within the range of the drive capacity without excess or deficiency without installing a load detection device. can be faster than the second rated speed.

Here, the load threshold value of the rated load determining means is preferably 90% or less of the rated load from the viewpoint of detection accuracy. The total load value of the car is determined by the sum of the weight of the car and the load corresponding to the load inside the car. A load value in the car can be sensed. The total load value of the car is determined by the sum of the weight of the car and the load corresponding to the load inside the car. A load value in the car can be detected from the signal.

Here, the rated speed means the speed at which the car travels at a constant speed with the inside of the car under the rated load. The maximum speed can be set by running the car faster than the rated speed of the car, regardless of the acceleration at which the car reaches the maximum speed. However, if the acceleration is constant, the velocity generation pattern can be easily formed. In particular, in applications where the rated speed is low, such as home elevators, even if the acceleration is increased, the degree of contribution to the improvement in transport efficiency is low, so there is an advantage in keeping the acceleration constant.

According to the second aspect of the present invention, the torque current detecting means in the control apparatus for a reel-type elevator counts after the car starts to start on the basis of the position command signal, and counts when a predetermined time elapses. counting means for generating a termination signal;
A torque current value is calculated a plurality of times from the three-phase current based on the count end signal, an average torque current value is obtained by averaging the plurality of torque current values, and the torque current is calculated based on the average torque current value. Torque current calculation means for generating a detection signal;
It is characterized by having
According to such a control device, the counting means counts from the start of the start of the car and generates a count end signal when a predetermined fixed time elapses. The torque current calculation means calculates a torque current value a plurality of times based on the generation of the count end signal, obtains an average torque current value by averaging the plurality of torque current values, and calculates a torque current value based on the average torque current value. Generate a detection signal.
As a result, the torque current detection signal is generated based on the average torque current value obtained based on a plurality of torque current values, rather than simply obtaining the torque current detection signal based on the torque current values obtained by one calculation. Therefore, the detection accuracy of the torque current detection signal is improved. Therefore, the speed pattern generating means can generate a highly accurate maximum speed running pattern based on the torque current detection signal.

The rated load determining means in the control apparatus for a reel-type elevator according to the third invention determines whether or not the load threshold is exceeded, and if exceeded, generates a rated load estimation signal,
The speed pattern generating means further shifts from the provisional speed running pattern based on the rated load estimation signal to generate a second rated speed running pattern in which the car travels upward at the second rated speed. generating a second rated speed command signal that forms the second rated speed running pattern;
It is characterized by
Thereby, the rated load determining means estimates the load value in the car based on the torque current detection signal, and determines whether the load value in the car exceeds the load threshold determined based on the rated load of the car. At the same time, when exceeded, a rated load estimation signal is generated. The speed pattern generation means generates a second rated speed command signal by generating a second rated speed travel pattern in which the car travels upward at a second speed based on the rated load estimation signal. As a result, by setting the load threshold to a value slightly lighter than the rated load, the state in which the load in the car is slightly lighter than the rated load is regarded as the rated load, and the car is reliably moved upward. It can run at the second rated speed.

The speed pattern generating means in the control apparatus for a reel-type elevator according to the fourth aspect of the invention further comprises the first acceleration of the car based on the provisional speed command signal, which is the first acceleration based on the first rated speed command signal. less than the second acceleration of the car;
It is characterized by
As a result, the acceleration of the car on the ascending side becomes gentler than that on the descending side, so that the calculation of the torque current detecting means and the rated load judging means can have a margin of time. Therefore, the torque current detection signal can be generated from the torque current detection means, and the rated load estimation signal and the like can be generated from the rated load determination means with higher accuracy.

A control apparatus for a reel-type elevator according to a fifth aspect of the present invention includes maximum speed interruption means for generating a maximum speed interruption ON signal based on an ON signal or an OFF signal;
The first and second speed change determining means further generate the speed change OFF signal based on the maximum speed interrupt ON signal.
Here, when the switch is turned on (off) to generate an on signal (off signal), the maximum speed interruption means generates a maximum speed interruption on signal. A clock device that generates a maximum speed interruption ON signal based on an ON signal or an OFF signal in a set time zone can be exemplified. Additionally, a maximum speed interrupt on signal may be generated based on an on signal or an off signal from an external system. Here, the external system can be exemplified by an energy management system that saves energy as a whole including electrical equipment other than the winding drum type elevator. As a result, it is possible to easily cope with the case where the user does not want the car to be operated at the rated speed or higher in order to reduce noise in the late-night hours and save energy.

A control apparatus for a drum type elevator according to a sixth aspect of the present invention comprises speed detection means for detecting a speed based on the rotation of the motor and generating a speed detection signal;
speed deviation means for obtaining a speed deviation value that is the difference between the maximum speed command signal and the speed detection signal;
maximum speed limit means for generating a maximum speed limit signal when the speed deviation value exceeds a predetermined speed deviation threshold value; and causing the car to travel at a constant speed based on the maximum speed command signal of
It is characterized by

As a result, when the speed deviation value exceeds the speed deviation threshold while the car is accelerating according to the maximum speed running pattern, the maximum speed limit means generates a maximum speed limit signal, and the motor is controlled by the maximum speed command signal of the previous cycle. to drive the car at a limited maximum speed. This makes it easier for the rotation of the motor to follow the maximum speed command signal. Therefore, the speed deviation is also reduced, and the speed control system of the motor can appropriately maintain the feedback control, so that the car can run stably.
The maximum speed limiting means may be operated based on turning on of the speed switch means which switches from off to on when the speed detection signal exceeds the rated speed while the car is running upward. This is to ensure the safety of the followability of the motor based on the maximum speed command signal when the car travels at the maximum speed exceeding the rated speed.

A control apparatus for a reel-type elevator according to a seventh aspect of the present invention determines that the car is running over the rated speed, generates a display-on signal, and detects that the car is running over the rated speed. display determination means for generating a display off signal when determining that the vehicle is not running;
Display means for expressing that the car is running over the rated speed based on the display-on signal by any one of characters, graphics, and voices, and for extinguishing the expression based on the display-off signal. , is preferably provided.
By displaying on the display means that the car is running at a speed exceeding the rated speed, the user of the elevator can confirm visually, thereby improving convenience.

According to the present invention, in order to increase the transportation efficiency in the ascending direction of the elevator without increasing the driving capacity of the motor, power converter, etc., the load flowing to the motor is eliminated without providing a load detection device for detecting the load inside the car. It is possible to provide a control system for a reel-type elevator that detects a torque component current and realizes a running speed higher than the rated speed of the elevator in the ascending direction of the car according to this torque current.

1 is an overall view of a drum-type elevator according to an embodiment of the present invention; FIG. FIG. 2 is a running curve diagram showing the relationship between the rated speed, the maximum speed, and time of the car by the controller of the drum type elevator in FIG. 1; FIG. 2 is a block diagram showing a control device for the drum elevator according to FIG. 1; FIG. 4 is a block diagram illustrating the details of a torque current detection unit in FIG. 3; A running curve diagram showing the relationship between the running speed in the ascending direction of the car and time, which shows the transition from the temporary speed running pattern to the maximum speed running pattern or the rated speed running pattern using the control device for the winding drum type elevator according to FIG. 4 is a time chart showing generation of a torque current detection signal and a load estimation signal; FIG. 1 shows a running curve diagram (a) showing the relationship between the traveling speed in the ascending direction of the car and the time when the maximum speed limit signal is generated in the control system for the drum type elevator shown in FIG. It is a time chart (b) which shows the relationship between the maximum speed command signal before and after, and time. FIG. 3 is a flow chart showing the operation of the control device when the car of the drum type elevator shown in FIG. 2 travels in the upward direction; FIG. FIG. 8 is a flow chart showing the operation of the control device for the drum-type elevator following the connector A in FIG. 7 ; FIG. FIG. 9 is a flow chart showing the operation of the control device for the drum-type elevator following the connector B in FIG. 8 ; FIG. FIG. 10 is a flow chart showing a subroutine for detecting a torque current in step S203 in FIG. 9; FIG.

Embodiment 1.
One embodiment of the present invention will be described with reference to FIGS. 1 to 5. FIG. FIG. 1 shows a drum-type elevator according to one embodiment of the present invention. In FIG. 1, a roll-type elevator 1 installed in a private residence or the like has three stops, one end of a rope 5 is connected and fixed to the upper end of a car 3, and a suspension wheel 7 provided at the top of a hoistway. The other end of the rope 5 is connected and fixed to a winding drum 9d of a hoisting machine 9 provided at the bottom of the hoistway. In addition, the winding drum type elevator 1 has a three-phase AC induction motor 11 whose rotating shaft is connected and fixed to the shaft of the winding drum 9d. A brake 9b is provided.

In the car 3, there is provided a car call button 23 for designating a destination floor and for generating a car call signal when pressed. In addition, the car 3 has a display device 400 with a voice output function to indicate that the car 3 is running at a maximum speed higher than the rated speed and to output a sound. Each floor of the hall is provided with hall call buttons 31 to 33 for calling the car 3 to the target hall floor, and is configured to generate a hall call signal when the hall call buttons 31 to 33 are pushed. ing. A platform call signal and a car call signal are collectively referred to as a call signal.

The drum type elevator 1 has a drum type elevator controller 100 that drives and controls the motor 11 . Based on the speed command signal from the motor controller 300 , the controller 100 generates a three-phase AC variable voltage E and a variable frequency f from the power converter 500 to drive and control the three-phase induction motor 11 . In addition, an encoder 13 that detects the rotational position of the motor 11 and generates a position detection signal is provided, and the position detection signal is input to the motor controller 300 . The motor controller 300 controls the motor 11 through the power converter 500 by vector control based on the torque current command and the magnetic flux current command. In addition, E/f is controlled to be constant.

The motor controller 300 is supplied with a maximum speed interruption signal capable of interrupting the car 3 traveling in the ascending direction in excess of the rated speed. A signal is input, a torque current detection signal generated by detecting the torque current flowing in the motor 11 is also input, a load estimation signal generated based on the torque current detection signal is also input, and further, the car 3 is set to the maximum. A maximum speed limit signal is also input to stop acceleration to speed running.

In FIGS. 1 and 2, the speed pattern generator 303 generates a first rated speed traveling pattern in which the car travels at the first rated speed Vn1 regardless of the load in the car 3 when traveling in the downward direction. , in the ascending direction, a maximum speed running pattern in which the car 3 runs at a maximum speed exceeding the second rated speed Vn2, and a second speed running pattern in which the car 3 runs at the second rated speed. formed to generate. Here, the maximum speed of the car 3 in the ascending direction is in the range of the fastest maximum speed Vm beyond the second rated speed, and the fastest maximum speed Vm is equal to the first rated speed Vn1. preferably. That is, it is preferable that the maximum speed of the car 3 in the ascending direction is within the range of the fastest first rated speed Vn1 exceeding the second rated speed. This is to improve elevator transport efficiency and ensure safety.

3, the control device 100 has a motor controller 300, and the motor controller 300 includes a maximum speed interruption signal generated from a maximum speed interruption unit 205, a destination command signal generated from a destination command generation unit 210, A rated load estimation signal generated from the rated load estimation section 220 is input, a speed detection signal generated by a position detection signal of the encoder 13 is input, and the speed detection signal is also input to the display 400 .

The maximum speed interruption unit 205 generates a maximum speed interruption signal capable of interrupting the car 3 traveling in the ascending direction exceeding the rated speed. The signal generates a full speed interrupt ON signal and is input to the motor controller 300 to cause car 3 to run at the second rated speed. In addition, the maximum speed interruption signal unit 205 has a pulse clock 205t that sets a time period of a day specified by the calendar and generates an ON signal during this time period, and the maximum speed interruption ON is set only during this time period. A signal is generated and input to motor controller 300 to cause car 3 to run at a second rated speed. If the set time period is late at night, the noise generated from the drive source of the winding drum type elevator 1 can be reduced, and quietness can be obtained. It should be noted that the pulse clock 205t generates an OFF signal except during the set time period.

In addition, the interrupt switch 205s and pulse clock 205t can generate a full speed interrupt ON signal based on an ON signal from an external system. Here, the external system can be an example of an energy management system for saving energy in the entire platform including electrical equipment other than the winding drum type elevator 1, such as HEMS. The maximum speed interruption ON signal can be generated from either the interruption switch 205s or the pulse clock 205t to interrupt the car 3 from reaching the maximum speed and run the car 3 at the rated speed. Here, the maximum speed interruption ON signal and the maximum speed interruption OFF signal are collectively referred to as the maximum speed interruption signal.

When the call signal and the stop floor signal indicating the stop floor of the car 3 are input, the destination command generation unit 210 generates an ascending direction command signal or a descending direction command signal corresponding to the destination floor of the car 3 and the destination direction. When the car 3 is stopped and the car 3 is about to go up, an upward destination signal is generated. configured to generate a command signal; Here, the stop floor signal is configured to occur when the doors of car 3 are positioned in the openable door zone and are stopped. A stop can be judged by a speed detection signal.
It can be determined from the call signal and the stop floor signal that the car 3 is about to ascend or descend. The ascending destination command signal and the descending destination command signal are collectively referred to as the destination command signal.

In FIG. 4, the rated load estimator 220 detects the three-phase current flowing in the motor 11 when the car 3 is accelerating in the ascending direction, and performs coordinate transformation from the three phases to the orthogonal coordinates of magnetic flux and torque. It has a torque current detector 230 that estimates a torque current value and generates a torque current detection signal. In the torque current detection unit 230, a speed detection signal generated by a position command signal generated from the encoder 13, as shown in FIG. It has a counting section 232 that generates a counting end signal when t1 has passed, and a torque current computing section 234 . Based on the count end signal, the torque current calculation unit 234 calculates N times as a plurality of current torque current values from the three-phase currents from time t1 to time t2 when the car 3 is accelerating. Then, the torque current value is stored in the storage unit 236 at one time, and when the N times are reached, the average torque current value is obtained by averaging the N torque current values read out from the storage unit 236, and this average torque is obtained. It is configured to generate a first torque current detection signal Iqa based on the current value.

The rated load estimator 220 estimates the load value in the car 3 based on the first torque current detection signal, and determines whether the load value in the car 3 exceeds the load threshold determined based on the rated load of the car 3. A rated load determination section 240 is provided for determining whether or not the rated load is exceeded, and generating a rated load estimation signal if the load is exceeded, and generating a light load estimation signal if the load is not exceeded. Here, the load threshold value is preferably 90% of the rated load of the car 3 in terms of detection accuracy and the like. Incidentally, since the total load value of the car 3 side is a load value determined by the sum of the self weight value of the car 3 and the load value corresponding to the load inside the car 3, the self weight value of the car 3 should be measured in advance. , the load value in the car 3 can be detected from the first torque current detection signal. Also, the rated load estimation signal and the light load estimation signal are collectively referred to as a load estimation signal.

The indicator 400 generates a display ON signal when it is determined that the car 3 is running over the rated speed, and generates a display OFF signal when it is determined that the car 3 is not running over the rated speed. , and the display unit 404 displays characters, graphics, or voice to indicate that the car 5 is traveling beyond the rated speed based on the generation of the display-on signal. is emitted, and expressions such as characters disappear based on the display-off signal.

The motor controller 300 has a position command section 301 for generating a position command signal for traveling from the current position of the car 3 to the position of the destination floor, and the position detection signal from the encoder 13 and the position command signal. A position deviation signal is obtained by a position subtractor ep for obtaining a difference. The speed pattern generation unit 303 receives the input of the position deviation signal, generates a first rated speed running pattern in which the car 3 runs at the first rated speed based on the generation of the descending direction destination command signal, and generates the first rated speed running pattern. It is configured to generate a first rated speed command signal forming one rated speed running pattern.

In FIGS. 2 and 5, the speed pattern generation unit 303 generates a provisional speed running pattern in which the vehicle travels at a speed equal to or higher than the second rated speed when an upward direction destination command signal is generated, and the provisional speed command forming the provisional speed running pattern. When a light load estimation signal is generated, a maximum speed driving pattern transitions from the provisional speed driving pattern to a maximum speed driving pattern exceeding the second rated speed based on the first torque current detection signal and driving at the maximum speed. and generate a maximum speed command signal that forms this maximum speed running pattern. Further, the speed pattern generation unit 303 shifts from the provisional speed running pattern based on the rated load estimation signal to generate a second rated speed running pattern in which the car 3 moves upward at the second rated speed. , to generate a second rated speed command signal that forms this second rated speed running pattern. Here, the provisional speed running pattern and the maximum speed running pattern have the same acceleration. This is because the car 3 can be smoothly accelerated when transitioning from the provisional speed running pattern to the maximum speed running pattern.

As shown in FIG. 5, the speed pattern generation unit 303 generates a provisional speed travel pattern that travels at a speed equal to or higher than the second rated speed when an upward direction destination command signal is generated. Upon acceleration, torque current detection unit 230 generates a torque current detection signal at time t2. At time t2, when the light load estimation signal is generated from the rated load determination unit 240, the vehicle shifts from the provisional speed running pattern and travels at the maximum speed exceeding the second rated speed based on the first torque current detection signal. Generate a maximum speed driving pattern. On the other hand, when the rated load estimation signal is generated from the rated load determination unit 240 at time t2, the provisional speed running pattern is shifted to the second rated speed running pattern, and the second rated speed running pattern is selected based on the first torque current detection signal. It is configured to generate a second rated speed travel pattern in which the car 3 travels upward at the rated speed. As shown in FIG. 5, the point of transition from the provisional running pattern to the maximum speed running pattern or the second rated speed running pattern in the acceleration of the car 3 is shown.

The motor controller 300 obtains a speed detection signal from the position detection signal of the encoder 13 by a differentiator 321, and a speed subtractor ev obtains a difference between this speed detection signal and the speed command signal from the speed pattern generator 303. A speed deviation signal is obtained. The speed control unit 305 is configured to receive an input of the speed deviation signal and generate a torque command signal (current command signal).
A current detector 331 detects a three-phase current flowing through the motor 11 and inputs the three-phase current to a current detection coordinate transformation unit 333. The current detection coordinate transformation unit 333 converts the magnetic flux and torque from the three phases into orthogonal The second torque current detection signal Iqs is generated by estimating the torque current value through coordinate transformation. The torque control unit 307 receives a current deviation signal from a current subtractor ei that obtains the difference between the second torque current detection signal Iqs and the current command signal. The motor 11 is driven and controlled via the .

When the speed deviation signal is input via the rating switch 333 and the speed deviation value exceeds a predetermined speed deviation threshold value while the car 3 is traveling upward, the maximum speed limiter 335 is controlled as shown in FIG. 6(a). , the maximum speed limit signal is input to the speed pattern generator 303 . As a result, the speed pattern generator 303 stops accelerating the car 3 to the maximum speed running, switches to the maximum speed command signal of the previous cycle, and keeps the maximum speed Vem limited by the maximum speed command signal of the previous cycle. A maximum speed limit pattern for running the car 3 is generated according to the speed, and a maximum speed command signal forming the maximum speed limit pattern is generated. Here, the rated switch 333 is formed to turn on from off when the second rated speed is exceeded. Further, as shown in FIG. 6B, in the digital processing, the maximum speed command signal of the current cycle in which the speed deviation value exceeds the speed threshold becomes the maximum speed command signal of the previous cycle.

1 to 10, the operation of the control apparatus for the drum-type elevator constructed as described above will be described. 7 to 10 are flow charts showing the operation of the drum type elevator control system according to FIG.
<When the car runs at maximum speed with light load>
In FIG. 7, the destination command generation unit 210 determines whether or not the hall call buttons 31 to 33 or the car call button 21 has been pressed based on the generation of the call signal (step S101). , determines the destination floor at which the car 3 will arrive, and inputs a destination command signal to the position command unit 301 (step S103). The position command unit 301 sets the position (distance) from the stop floor to the destination floor to which the car 3 travels (step S105). Thereby, the position command section 301 generates a position command signal based on the set position.

When the upward direction destination command signal is generated from the destination command generation unit 210 (step S107), the speed pattern generation unit 303 determines that the maximum speed interruption ON signal is not input from the maximum speed interruption unit 205 (step S109). A provisional speed running speed pattern is generated and a provisional speed command signal is generated (step S111). The control device 100 releases the brake 9b of the motor 11 (step S113).

Next, in FIG. 3, when a speed deviation signal obtained by calculating the difference between the maximum speed command signal and the speed detection signal in the speed subtractor ev is input to the speed control unit 305, the speed control unit 305 generates a current command signal. , and the second torque current detection signal obtained by the current subtractor ei is input to the torque control unit 307 . In FIG. 8, the torque control unit 307 drives and controls the motor 11 via the power converter 500 to accelerate the car 3 (step S201). The torque current detector 230 detects the value of the torque current flowing through the motor 11 when the motor 11 is accelerating upward and generates a first torque current detection signal (step S203). The rated load determination unit 240 estimates the load value in the car 3 based on the first torque current detection signal, and since the load value is less than 90% of the rated load of the car 3, a light load estimation signal is generated. and input to the speed pattern generator 303 (step S207).

As shown in FIG. 2, the speed pattern generation unit 303 continuously increases the maximum speed value of the car 3 as the load value in the car 3 decreases, based on the light load estimation signal and the first torque current detection signal. A maximum speed running pattern is generated (step S209). A speed pattern generator 303 shifts from the provisional speed running pattern to generate a maximum speed running pattern in which the vehicle travels at a maximum speed exceeding the second rated speed based on the torque current detection signal, and generates a maximum speed command signal. Then, the motor 11 is driven and controlled via the speed control unit 305 and the like to accelerate the car 3 .

Next, the maximum speed limiter 335 determines whether the speed deviation exceeds a predetermined speed deviation threshold (step S211). has exceeded the rated speed based on the speed detection signal (step S213). When the rated speed is exceeded, the display unit 404 of the display 400 displays in characters that the car 3 is at the "maximum speed" (step S215). The speed control unit 305 determines whether or not the car 3 reaches the maximum speed determined from the speed command signal (step S217).

In FIG. 9, when the car 3 reaches a predetermined maximum speed, the car 3 is driven at the maximum speed at a constant speed (step S301). Eventually, when the car 3 reaches the deceleration position (step S303), the motor 11 is driven and controlled via the speed control unit 305 and the like in accordance with the maximum speed command signal forming the maximum speed traveling pattern from the speed pattern generation unit 303, and the car 3 is moved. decelerates according to the distance to the destination floor (step S305), the display determination unit 402 of the display device 400 determines whether or not the speed of the car 3 has decreased below the rated speed from the speed detection signal (step S307), When the speed drops below the rated speed, the "maximum speed" displayed on the display unit 404 disappears (step S309). When the car 3 eventually reaches the destination floor (step S311), the control device 100 locks the brake 9b to brake the hoisting machine 9 to stop the car 3 (step S313).

<Torque Current Detection by Subroutine in Step S203>
The above step S203 will be described with reference to FIGS. 4, 5 and 10. FIG. FIG. 10 is a flow chart showing a subroutine for detecting the torque current in step S203 in FIG.
The counting unit 232 of the torque current detecting unit 230 starts counting time when the car 3 starts to be activated by the speed detection signal (step S501), and outputs a counting end signal after a predetermined time t1 has passed. occurs (step S503). When the count end signal is generated, the torque current calculation unit 234 calculates the torque current value N times from the detected three-phase current flowing through the motor 11 from the time t1 to the time t2. The value is stored in the storage unit 236 (step S505), and when the calculation is performed N times (step S507), the average torque current value is obtained by averaging the N torque current values read out from the storage unit 236, and this average torque current value is obtained. A torque current detection signal Iqa is generated based on (step S509).

<When the car is running at the rated speed>
In step S107 shown in FIG. 7, when the destination command generator 210 generates a descending destination command signal, the car 3 travels in the descending direction at the first rated speed (step S115). This is because the running speed of the car 3 in the downward direction is set to be higher than that in the upward direction, so the car 3 does not need to be at its maximum speed.
In step S109 shown in FIG. 7, when the maximum speed interruption ON signal is input from the maximum speed interruption unit 205 to the speed pattern generation unit 303, the car 3 travels in the downward direction at the second rated speed. (step S115). This is because the car 3 is driven with priority given to the maximum speed interruption ON signal.

In step S207 shown in FIG. 8, when the rated load estimation signal is generated from the rated load determination unit 240, the speed pattern generation unit 303 shifts from the provisional speed running pattern based on the rated load estimation signal to the second rated load running pattern. A second rated speed running pattern is generated for running the car in the ascending direction according to the speed, and a second rated speed command signal is generated (step S221). Based on this second rated speed command signal, the motor 11 is driven and controlled via the speed control unit 305, etc., and the car 3 runs at the second rated speed (step S223).

<When trying to run the car at the target maximum speed, but switching to a speed lower than the target>
In step S211 shown in FIG. 8, maximum speed limiter 335 inputs a maximum speed limit signal to speed pattern generator 303 when the speed deviation value exceeds a predetermined speed deviation threshold. As a result, the speed pattern generation unit 303 stops accelerating the car 3 to the maximum speed running, switches to the maximum speed command signal of the previous cycle (previous time) exceeding the speed deviation value, and keeps the speed constant by the maximum speed command signal of the previous cycle. The car 3 travels at the limited maximum speed (step S231). This is because the motor 11 cannot follow the maximum speed command signal for some reason. Then, the speed pattern generator 303 newly generates a maximum speed limit driving pattern as shown in FIG. (Step S233). The speed control unit 305 drives the motor 11 while generating a speed command signal based on this running pattern, and the car 3 runs at a constant maximum speed Vem (step S235).

According to the present embodiment, the speed pattern generator 303 generates a maximum speed for running the car 3 at a maximum speed higher than the rated speed of the car 3 based on the light load estimation signal and the first torque current detection signal. A speed running pattern is generated to generate a maximum speed command signal. Therefore, the light load estimation signal and the first torque current detection signal can continuously increase the maximum speed value of the car 3 as the load value in the car 3 becomes lower. As a result, the maximum speed value of the car 3 can be increased within the range of the rated capacities of the motor 11, the power converter 500, etc., without detecting the load in the car by the load detection device. Transportation efficiency can also be improved.

The present invention is by no means limited to the description of the embodiments of the invention. Various modifications are also included in the present invention within the range that can be easily conceived by those skilled in the art without departing from the scope of claims. In the present embodiment, the three-phase induction motor 11 is used, but a three-phase synchronous motor has the same effect.

Further, the speed pattern generator 303 determines that the first acceleration of the car 3 is faster than the second acceleration of the car 3 based on the first rated speed command signal on the descending side based on the temporary speed command signal on the ascending side. Gentle is preferred. Since the acceleration of the car on the ascending side becomes gentler than that on the descending side, the calculation of the torque current detection section 230 and the rated load determination section 240 has time to spare. can be generated.

A speed pattern generation unit 303 generates a maximum speed running pattern in which the vehicle travels at a maximum speed exceeding a second rated speed based on the first torque current detection signal, and outputs a maximum speed command signal that forms the maximum speed running pattern. However, the maximum speed is preferably up to the first rated speed. This is a safety point of view.

For example, in FIG. 3, the rated speed switch 333 may be omitted and the speed deviation signal may be directly input to the maximum speed limiter 335 . According to this configuration, since the maximum speed limiter 335 generates a maximum speed limit signal when the speed deviation value exceeds the speed deviation threshold from the start of acceleration of the car 3, the car 3 may become slower than the rated speed. . In this case, since there is clearly an abnormality, it is preferable that the display determination unit 402 determines that the car 3 has not reached the rated speed based on the speed detection signal, and displays that effect on the display 400 . .

1 Winding drum type elevator 3 Car 5 Rope 9 Winding machine 9d Winding drum 11 Motor 13 Encoder 100 Elevator control device 205 Maximum speed interrupting unit (maximum speed interrupting means) 210 Destination command generating unit (destination command signal generation means), 230 torque current detection section (torque current detection means), 232 count section (count means), 234 torque current calculation section (torque current calculation means), 240 rated load determination section (rated load determination means ), 303 speed pattern generation unit (speed pattern generation means), 335 maximum speed limiter (maximum speed limiter), 400 display unit, 402 display determination unit (display determination unit), 404 display unit (display means), 500 electric power converter (variable voltage variable frequency means).

Claims (7)

The rope connected to the car is wound on the winding drum, unwound, and travels downward at a first rated speed, and travels the car upward at a second rated speed slower than the first rated speed. and a control apparatus for a winding drum type elevator for driving the winding drum by rotating a motor by means of variable voltage variable frequency means for generating a variable voltage and a variable frequency based on a position command signal,
the variable voltage variable frequency means is configured to control the speed of the motor based on a torque command current and a magnetic flux command current;
destination command signal generating means for generating an ascending destination command signal for traveling the car in an ascending direction and a descending destination command signal for traveling the car in a descending direction;
torque current detection means for detecting a three-phase current flowing in the motor when the car is accelerating in an ascending direction, estimating a torque current value by performing coordinate conversion from the three phases, and generating a torque current detection signal; ,
estimating the load value in the car based on the torque current detection signal to determine whether the load value in the car exceeds a load threshold determined based on the rated load of the car; and rated load determination means for generating a light load estimation signal;
generating a first rated speed running pattern for running the car at the first rated speed based on the generation of the descending destination command signal, and generating a first rated speed command forming the first rated speed running pattern; a speed pattern generating means for generating a signal,
The speed pattern generating means further generates a provisional speed running pattern in which the vehicle travels at a speed equal to or higher than the second rated speed when the upward direction destination command signal is generated, and generates a provisional speed command signal forming the provisional speed running pattern. Then, when the light load estimation signal is generated, the temporary speed running pattern is shifted to generate a maximum speed running pattern in which the vehicle travels at a maximum speed exceeding the second rated speed based on the torque current detection signal. and generate a maximum speed command signal that forms this maximum speed running pattern,
A control device for a reel-type elevator characterized by: the torque current detection means includes counting means for counting from the start of the car based on the position command signal and generating a count end signal when a predetermined time elapses;
A torque current value is calculated a plurality of times from the three-phase current based on the count end signal, an average torque current value is obtained by averaging the plurality of torque current values, and the torque current is calculated based on the average torque current value. Torque current calculation means for generating a detection signal;
2. The control device for a reel-type elevator according to claim 1, comprising: The rated load determining means is configured to determine whether or not the load threshold has been exceeded, and to generate a rated load estimation signal when the load threshold is exceeded,
The speed pattern generating means further shifts from the provisional speed running pattern based on the rated load estimation signal to generate a second rated speed running pattern in which the car travels upward at the second rated speed. generating a second rated speed command signal that forms the second rated speed running pattern;
2. The controller for a reel-type elevator according to claim 1, wherein: The speed pattern generating means further comprises that the first acceleration of the car based on the provisional speed command signal is gentler than the second acceleration of the car based on the first rated speed command signal.
4. The controller for a winding drum type elevator according to claim 1, wherein: maximum speed interruption means for generating a maximum speed interruption ON signal based on the ON signal or the OFF signal;
The speed pattern generating means generates a rated speed command signal based on the maximum speed interrupt ON signal.
5. The control device for a reel-type elevator according to claim 1, wherein: speed detection means for detecting a speed based on the rotation of the motor and generating a speed detection signal;
speed deviation means for obtaining a speed deviation value that is the difference between the maximum speed command signal and the speed detection signal;
maximum speed limit means for generating a maximum speed limit signal when the speed deviation value exceeds a predetermined speed deviation threshold value; and causing the car to travel at a constant speed based on the maximum speed command signal of
6. The controller for a drum type elevator according to any one of claims 1 to 5, characterized in that: A display for generating a display ON signal when it is determined that the car is running over the rated speed, and generating a display OFF signal when it is determined that the car is not running over the rated speed. means of judgment;
Display means for expressing that the car is running over the rated speed based on the display-on signal by any one of characters, graphics, and voices, and for extinguishing the expression based on the display-off signal. ,
7. The control device for a reel-type elevator according to claim 1, comprising:

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