JPS60308B2 - elevator control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an elevator control device, and particularly when switching the speed reference from a distance reference speed pattern using a floor selector to a landing pattern because the elevator is stopped, The purpose of this invention is to prevent sudden changes in speed due to errors in position setting, and to improve cold comfort and landing accuracy.

FIG. 1 is an example of a speed control circuit for a conventional high-speed elevator.

In high-speed elevators, in addition to speed feedback, several local feedback controls are performed in order to perform highly accurate control. That is, the speed command signal la outputted from the speed command signal generator 1 is compared and amplified with the speed feedback signal 4a detected by the speed generator 8 in the speed control amplifier (ASR) 2, and then sent to the current control amplifier (ACR) as a current reference signal 2a. ) 3, is compared and amplified with the current feedback signal 5a from the current detection device 9 provided in the main circuit, and is output as the gate signal 3a of the thyristor of the phase control device 4. FIG. 1 shows the case of motor speed control using Ward Leonard type generator field control, in which the voltage generated by the generator 6 is controlled by adjusting the current of the field 5 of the generator 6 using the gate signal 3a described above. The rotation speed of the electric motor 7 is controlled. Speed command signal l
a is a time-based speed pattern lb corresponding to the scheduled acceleration from departure to the rated speed, and a synchronous movement that moves in synchronization with the movement of the car of the floor selector 12 provided in the machine room from deceleration to just before landing. A distance reference speed pattern 2b is output which is equivalent to the remaining distance to the vicinity of the landing point due to the movement of the body.

Pattern 2b is the calculation circuit 13 for the remaining distance signal 6a.
By performing square root calculation using , a constant deceleration pattern is obtained. Furthermore, upon landing, a landing speed pattern 3b corresponding to the landing position deviation is given by a landing detecting device 11 provided in the hoistway, and landing position control is performed. FIG. 2 is a block diagram of a control system corresponding to FIG. 1. The innermost loop is the current control loop, the second is the speed control loop, and the outer one is the position control loop.

In FIG. 2, the APR is a position control intensifier that outputs a velocity pattern voltage 3b for landing to perform position feedback control. Furthermore, the operation based on the time reference speed pattern lb results in open loop control for the position. The elevator deceleration command is issued when a preceding moving object, which moves ahead of the synchronous moving object of the floor selector, grasps the reference floor of the floor selector. If the setting of the claw position is incorrect, and the scale of the floor selector is 1/100, the setting error of one yanagi will give an error of 10 ribs to the actual distance. Due to this error, the remaining distance signal is also output with a low sail error, so the magnitude of the distance reference speed signal differs due to this, and the speed at which it changes to the landing speed signal differs. Problems caused by transfer differ depending on the above-mentioned switching method of both signals, but for example, in a method of forcibly transferring signals at a certain point, the problem occurs as shown in FIG.

In FIG. 3, point P indicates a forced switching point, speed pattern a indicates a case where the start of deceleration by the tab of the floor selector is slow, {b} indicates a case where it is appropriate, and td indicates a case where it is too early. One possible way to solve the above-mentioned problems {a} and (c) is to modify the speed.

That is, the set speed at one or several points on the travel path is compared with the commanded speed and the deviation is corrected, and the idea behind this is to input a correction signal to the speed command signal 2b in FIG. 2. However, this method doesn't work. The reason for this will be explained next. As is well known, when deceleration control is performed at a constant deceleration of 8 over the remaining distance S, the relationship between the remaining distance S and the speed V is V=28S. When speed control is performed based on such a position, when trying to correct the speed △V for the speed V at the remaining distance S, V = zo28
S±△V, and as long as the speed V, that is, the remaining distance S, is sufficiently large for this corrected speed △V, deceleration control can be performed at a nearly constant deceleration of 8, but when the value of the remaining distance S becomes small, the correction The degree of influence of the speed ΔV is large, and the riding comfort is adversely affected.

This is because, as described above, distance-based operation is position feedback control, so even if a correction signal is input to the speed control system from the outside, priority is given to the outer position control system. In other words, if an external input is applied to reduce the deceleration of the car, the relationship between time and distance means that the car will travel a longer distance than before the correction. Since the vehicle has traveled a long distance, the remaining distance will naturally be small, which creates a contradiction in that the speed command signal from the position control system will be small. The present invention has been made in consideration of the above-mentioned problems, and corrects the deviation of the remaining distance signal from the elevator floor selector due to the setting error of the floor selector, thereby reducing the distance reference speed. The present invention provides an improved elevator control device that smooths the transition from pattern to landing pattern, thereby improving landing accuracy.

That is, the speed V when deceleration control is performed at a constant deceleration rate 8 in the remaining distance S, and the error △S in the remaining distance S due to the setting error of the floor selector, are expressed as V=zo28 (S±△S). Even if the remaining distance S becomes smaller, the deceleration is 8.
This reduces the negative impact on the distance-based speed pattern and smoothes the transition from the distance-based speed pattern to the landing pattern, thereby improving riding comfort and landing accuracy. The present invention will be explained below with reference to the drawings.

FIG. 6 is a block diagram showing a main part of the distance reference speed pattern correction circuit according to the present invention, and FIG. 7 is a circuit diagram showing a specific embodiment of the correction signal generation circuit 16 in FIG.
The correction circuit shown in FIG. 6 is connected between the floor selector 12 and the arithmetic circuit 13 shown in FIG. The operation will be explained below. In other words, when the elevator passes a correction start point Y that is a certain distance So from the landing point X of the hoistway, a reference signal is provided that indicates how much remaining distance should be at that point, and the correction shown in FIG. 6 is performed. The signal generation circuit 16 is used to compare the actual remaining distance signal S, at that point, and the deviation So-S is stored and added continuously from zero as a distance bias amount. FIG. 4 shows the correction based on the distance reference signal--distance, where the solid line shows the speed change when no correction is made, and the broken line shows the speed change when the correction is made. FIG. 5 shows that the pattern of FIG. 3 is modified for time-velocity. By performing the distance correction in this manner, the acceleration of the pattern is changed in accordance with the correction signal, and the speed is corrected to an appropriate speed. If this correction is set to be completed before the transfer of the landing pattern, it becomes possible to transfer to the landing pattern at approximately the same speed. Specifically, in the correction signal generation circuit shown in FIG. 7, a signal voltage V, corresponding to the remaining distance S, is input to the input terminal A.

Further, a signal voltage Vo corresponding to the reference distance So is set by the adjustment resistor VRI. The difference between the signal voltages Vo and V is compared by the proportional amplifier ICI and obtained as the output of the memory circuit IC2. When the elevator passes the correction start point Y of the hoistway, the IJ relay RR operates and the contacts RR-bl and RR-b2 open. Contact RR-al, RR
-a2 is closed and RR-b3 is open, so the storage signal voltage output to IC2 rises with a constant time constant determined by its CR constant through the integral multiplier IC3, and is output to output terminal B as a correction signal 8a. . The adjustment resistor VR2 adjusts the amount of input to the IC3 and sets the correction time. VR3 is I
This is to adjust the output limit of C3, and the above distance deviation So-
Relay R is operated according to the polarity of S, and contacts R-a and R-b are used to switch voltage control diodes D1 and D2 to their respective operating directions.

As explained above, according to the present invention, in the speed control of the elevator, when switching from the distance-based speed pattern based on the floor selector to the landing pattern based on the landing point provided on the travel path, Sudden changes in speed during switching that occur due to errors in the setting position of the floor selector are detected in advance by detecting the deviation of the remaining distance signal from the floor selector at a certain distance before the landing point as the difference in travel distance, and calculating this distance. This is prevented by modifying the remaining distance signal based on the difference between
You can get the evening control device.

[Brief explanation of the drawing]

Fig. 1 is a circuit diagram showing the general configuration of a conventional elevator control device, Fig. 2 is a block diagram showing its control system, and Fig. 3 is a circuit diagram showing the general configuration of a conventional elevator control device.
FIG. 4 is an explanatory diagram showing a state of transition from a distance reference speed pattern to a landing pattern in a conventional elevator control device, FIG. 4 is an explanatory diagram showing distance correction in the present invention,
FIG. 5 is an explanatory diagram showing the state of transition from the distance reference speed pattern to the landing pattern according to the present invention, FIG. 6 is a circuit diagram showing the main part of the basic configuration of the present invention, and FIG. 7 is the diagram shown in FIG. FIG. 2 is a circuit diagram showing a specific configuration of a correction signal generation circuit 16 in FIG. 1... Speed command signal generator, 10...
・Elevator car, 11... Landing detection device, 1
2...Floor selector, 13...Arithmetic circuit, 16...Correction signal generation circuit, lb...
- Time-based speed pattern, 2b... distance-based speed pattern, 3b... landing pattern. Figure 7 Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6

Claims (1)

[Claims] 1. When stopping the elevator, it sequentially moves from the distance reference speed pattern given by the remaining distance signal from the floor selector installed in the machine room to the landing pattern given by the distance to the landing point set on the travel path. In an elevator control device that controls the speed by switching a speed reference, the actual remaining distance when the elevator passes a certain distance before the landing point is detected and stored using the remaining distance signal from the floor selector; An elevator control device characterized in that the remaining distance signal is corrected based on the deviation between the remaining distance and the predetermined distance.