JPH0665590B2 - Elevator control device - Google Patents

Description

Detailed Description of the Invention [Industrial applications]

The present invention relates to an elevator manufacturing apparatus, and more particularly to generation of a terminal floor deceleration command.

2. Description of the Related Art When driving an elevator car toward a floor to be landed on, it smoothly follows a normal speed command signal.
Moreover, landing is being performed while comfortably reducing the speed. Here, if the generation of the regular speed command signal is interrupted due to some failure, the deceleration traveling cannot be performed, so that the car travels at high speed toward the terminal floor. Then, in the worst case, it will collide with the shock absorber. In order to solve such a problem, in an elevator apparatus that has been generally used in the past, for example, Japanese Patent Laid-Open No.
As shown in Japanese Patent No. 155176, a device for decelerating to a safe state and landing on the last floor even if the regular speed command signal fails is incorporated. FIG. 5 is a main part configuration diagram showing a conventional elevator control device. In the figure, 6 is a car for carrying passengers, 7 is a car 6
The counterweight 8 corresponding to the weight of the car is wound around a sheave 9 installed in a machine room provided in the upper part of the hoistway, and the car 6 and the counterweight 7 are hung at both ends thereof. A rope, 10 is an electric motor for driving the sheave 9, 11 is a pulse generator that generates a pulse corresponding to the rotation of the electric motor 10 by being connected to the rotating shaft of the electric motor 10, and 12 is generated from the pulse generator 11. A counting circuit for counting the generated pulses, 13 is a microcomputer system, and the count value signal 12 supplied from the counting circuit 12
The present position of the car 6 is discriminated by outputting various torque command signals 13a by performing various calculations using a and the like as inputs. 14
Is a three-phase AC power supply, 15 is a power conversion device composed of a semiconductor element such as a transistor or thyristor, and a three-phase AC power supply supplied from the three-phase AC power supply 14 is a torque command signal supplied from the microcomputer system 13.
It is converted into electric power according to 13a and supplied to the electric motor 10. 16
Is the floor of the terminal floor, 17 is a cam fixed to the side of the car 6,
18 is a terminal position detector fixed to the inner wall surface of the hoistway a predetermined distance before the floor 16 of the terminal floor, and when the car 6 reaches this position, it is operated by the cam 17 provided in the car 6. Then, an end position arrival detection signal 18a indicating that the car has reached the end position is output and supplied to the microcomputer system 13. FIG. 6 shows the microcomputer system 13 shown in FIG.
3 is a block diagram showing the internal configuration of FIG. In the figure, 130 and 140 are first and second microcomputers, and both microcomputers 130 and 140 are connected by a transmission interface 150. Further, 131 and 141 in the both microcomputers 130 and 140 are central processing units (hereinafter referred to as “CPU”), 132 and 142 are buses,
133 and 143 are read-only memories (hereinafter referred to as “ROM”) in which various processing programs are stored, and are bus 1
It is connected to the CPUs 131 and 141 via 32 and 142. 134,1
A random access memory 44 is connected to the CPUs 131 and 141 via the buses 132 and 142. Reference numerals 135 and 145 denote input ports for receiving the count value signal 12a supplied from the counting circuit 12 and the end position arrival detection signal 18a supplied from the end position detector 18, and are connected to the CPUs 131 and 141 via the buses 132 and 142. . Output ports 136 and 146 are connected to the CPUs 131 and 141 via the buses 132 and 142, and the output port 146 supplies the torque command signal 13a to the power conversion device 15. In the elevator device configured as described above, the electric motor
When 10 is driven, the sheave 9 is rotated and the rope 8 is wound up or unwound, so that the car 6 travels vertically in the hoistway. Here, since the pulse generator 11 is connected to the rotating shaft of the electric motor 10,
A pulse is generated according to the driving of the electric motor 10. That is, the pulse generator 11 generates a pulse number that is exactly proportional to the moving amount of the car 6. Then, the pulse generated from the pulse generator 11 is the counting circuit 12
The current position of the car 6 is obtained by counting the value of the signal 6 and supplying the count value signal 12a to the microcomputer system 13 for calculation. Further, the regular remaining distance _RA from this current position to the floor to be landed is calculated. On the other hand, when the car 6 reaches a predetermined distance in front of the floor 16 of the terminal floor, the end position detector 18 is driven by the cam 17 installed in the car 6 to generate the end position arrival detection signal 18a. It is supplied to the microcomputer system 13. When the microcomputer system 13 receives the end position arrival detection signal 18a, the microcomputer system 13 calculates based on the count value signal 12a and the like supplied from the counting circuit 12 to generate the torque command signal 13a and to the power conversion device 15. Supply. Here, the microcomputer system 13 is composed of a first microcomputer 130 and a second microcomputer 140 as shown in FIG.
The microcomputer 130 of FIG. 3 performs the operation control and the sequence control of the car 6 to generate the normal speed command signal V _N which is the speed command signal in the normal feature of the car 6. The regular speed command signal V _N corresponds to the regular remaining distance _RA to the floor to be landed, and the constant deceleration β _A
Between The following relationship occurs. Further, the regular remaining distance _RA is calculated by the counting circuit.
It is obtained by fetching the count value signal 12a output from 12 through the input port 135 and calculating in the CPU 131 based on the count value signal 12a. On the other hand, the second microcomputer 140 generates a command signal 13a for controlling the rotation speed and torque of the electric motor 10, and supplies this command signal 13a from the output port 146 to the power conversion device 15. When the car 6 approaches the terminal floor, the terminal position detector 18 generates the terminal position arrival detection signal 18a. This end position arrival detection signal 18a is taken in by the second microcomputer 140 via the input port 145, and is calculated in the CPU 141 to set the end floor remaining distance R _B , and thereafter output from the counting circuit 12. Count value signal 12
Based on a, the terminal floor remaining distance R _B is obtained. Then, based on this terminal floor remaining distance R _B , the terminal floor deceleration command signal V _S is Is calculated as Note that β _B is a constant value and β _A
Is set to a larger value. In this way, the normal speed command signal V _N calculated by the first microcomputer 130 is transmitted to the second microcomputer 140 via the transmission interface 150. In the inside of the second microcomputer 140 is compared with the normal speed command signal V _N and the terminal landing speed reduction command signal V _S, the result of the comparison selects the V _N ≦ V _S if V _N, V _N If> V _S , V _S is selected and this selected signal is used as the final speed command signal V _F. The second microcomputer 140 calculates the command signal 13a based on the final speed command signal V _F.
Is generated and the command signal 13a is supplied from the output port 146 to the power converter 15 to adjust the electric power supplied to the electric motor 10, thereby varying the moving speed of the car 6. By executing such control, when the car 6 approaches the terminal floor, the car 6 is decelerated by the terminal floor deceleration command signal V _S and the terminal floor is decelerated even if the normal speed command signal V _N does not gradually decrease. You will be able to safely land on the floor. FIG. 7 shows the normal speed command signal V _N and the terminal floor deceleration command signal V
_It shows the relationship with _S , where the horizontal axis represents the normal remaining distance R _A calculated by the first microcomputer 130 and the terminal floor remaining distance R _B calculated by the second microcomputer 140, and the vertical axis The axis shows the normal speed command signal V _N and the terminal floor deceleration command signal V _S. As is clear from FIG. 7, the terminal floor deceleration command signal V _S is the normal speed command signal V when the remaining distance is large.
It is shown that it is considerably larger than _N, and at a place where the remaining distance is small, the terminal floor deceleration command signal V _S is extremely close to the normal speed command signal V _N , which is β _A. This is because it has a relation of <β _B. FIG. 8 shows temporal changes in the normal speed command signal V _N and the terminal floor deceleration command signal V _S when the car 6 travels toward the terminal floor. In the figure, the normal speed command signal V _N in the normal state
Gradually decreases from the point P ₁ toward the point P ₃ indicating the last floor. In addition, the terminal floor deceleration command signal V _S gradually decreases through the points P ₄ , P ₂ , and P ₃ . Therefore, since the final speed command signal V _F is always V _N ≦ V _S as described above, the point P is the same as in the case of the normal speed command signal V _N.
It will gradually decrease from ₁ toward the point P ₃ indicating the floor of the last floor. Next, if it is assumed that a failure occurs in which the normal speed command signal V _N does not start decelerating from the time point t ₁ due to some reason, the terminal floor deceleration command signal V _S is set to the points P ₄ and P ₄ .
₂ , since it gradually decreases through the point P ₃ , the final speed command signal V _F gradually decreases through the points P ₁ , P ₂ , and P ₃ to decelerate the car 6 toward the final floor. . That is, as is clear from FIG. 8, when the normal speed command signal V _N is not gradually decreases when the high value fault occurs, the value of the normal speed command signal _N at the time the terminal landing deceleration command signal V _S fails If the following conditions are not met, the car 6 cannot decelerate. This means that the time (t ₂ −t
₁ ) The deceleration is delayed by ₁ ) and the landing accuracy is deteriorated accordingly. Further, since the relationship of β _A <β _{B is} satisfied, the ride comfort becomes worse than usual also in this case.
Further, since the normal speed command signal V _N and the normal remaining distance _RA are calculated by the same first microcomputer 130, when the normal speed command signal V _N does not gradually decrease, it means that the microcomputer is in failure. Along with this, the regular remaining distance R _A also does not gradually decrease.

[Problems to be Solved by the Invention]

In this way, since the conventional elevator control device compares only the normal speed command signal and the terminal floor deceleration command signal in magnitude, if the normal speed command signal fails, it is possible to switch to the terminal floor deceleration command signal. However, there is a problem in that the landing on the terminal floor becomes worse and the deceleration becomes larger than that in the normal case, resulting in poor riding comfort. Therefore, the present invention has been made in order to solve the above problems, and the normal remaining distance calculation in the first microcomputer and the transmission of the result to the second microcomputer are normally performed. Even if a failure occurs in which the regular speed command signal does not gradually decrease, the time until switching to the terminal floor deceleration command signal can be shortened, and the landing accuracy and deceleration are almost the same as in the normal case. It is an object of the present invention to provide a control device for an elevator that can do the work.

[Means for solving problems]

The elevator control device according to the present invention uses, as an input, the normal remaining distance calculating means for calculating the normal remaining distance from the current position of the car to the floor scheduled for landing, and the normal remaining distance generated by the normal remaining distance calculating means. A normal speed command signal generating means for generating a normal speed command signal; a terminal floor deceleration command signal generating means for generating a terminal floor deceleration command signal when the car travels toward the terminal floor; A switching means for inputting the speed command signal generating means, the regular remaining distance generated from the terminal floor deceleration command signal generating means, the regular speed command signal and the terminal floor deceleration command signal, and the switching means is the regular remaining distance. Means for outputting a check signal composed of the speed command values stored in the memory table, and the difference between the normal speed command signal and the check signal is within a predetermined range. And comparing means for determining whether or not there,
The output of the comparison means, the normal speed command signal and the terminal floor deceleration command signal are input, and if the difference between the check signal and the normal speed command signal is within a predetermined range, the normal speed command signal is selected, and the predetermined range is selected. If it is outside, the terminal deceleration command signal is selected, and the selection signal is output as the final speed command signal.

[Action]

The elevator control device according to the present invention uses the regular remaining distance, the regular speed command, and the terminal floor deceleration command signal as inputs,
A check function is extracted from the memory table according to the normal remaining distance, and if the difference between the check signal and the normal speed command signal is within a predetermined range, the normal speed command signal is selected, and if it is outside the predetermined range, the terminal floor deceleration command is issued. A signal is selected, and the selected signal is output as the final speed command signal. By analogy, even when the regular remaining distance does not gradually decrease, and therefore the regular speed command signal does not gradually decrease, the terminal floor deceleration command signal is immediately switched. As a result, it is possible to land on the terminal floor with good accuracy and without deteriorating the riding comfort.

【Example】

An embodiment of the present invention will be described below with reference to the drawings. 1 is an overall configuration diagram showing an elevator control apparatus according to an embodiment of the present invention, and FIGS. 2 and 3 are flow charts for explaining the operation of the configuration diagram shown in FIG. FIG. 4 is an operating characteristic diagram of FIG. In FIG. 1, reference numeral 1 is a normal remaining distance calculating means, 2 is a normal speed command signal generating means, and by calculating a normal remaining distance _RA supplied from the normal remaining distance calculating means 1,
The normal speed command signal signal V _N is output. Further, 3 is a terminal floor remaining distance calculating means, 4 is a terminal floor deceleration command signal generating means, and calculates the terminal floor deceleration command by calculating the terminal floor remaining distance R _B generated from the terminal floor remaining distance calculating means 3. Generate signal V _S. Reference numeral 5 is a switching means which receives the regular remaining distance _RA , the regular speed command signal V _N and the terminal floor deceleration command signal V _S. Here, the switching means 5 inputs a remaining distance and outputs a speed command value. A check function 51 in which a table function obtained by an empirical rule or a logical calculation is stored, and a check signal V _C generated from the check function 51. And a normal speed command signal V _N as input, and comparing means 52 for judging whether or not the difference is within a predetermined range, and the normal speed command signal V _N and the terminal floor deceleration command signal V _S are input and compared. Depending on the output of the means 52, the normal speed command signal V _N or the terminal floor deceleration command signal V _N
S is selected and this selected signal is used as the final speed command signal V _F
And the selection means 53 for outputting as. The operation of the elevator control device configured as described above will be described with reference to the flowcharts shown in FIGS. 2 and 3. Since the other components are the same as the conventional ones, the case where they are applied to FIGS. 5 and 6 will be described. FIG. 2 is a flow chart for calculating the terminal floor remaining distance calculation and the terminal floor deceleration command signal.
ROM14 in the second microcomputer 140 shown in the figure
Stored in 3. Here, step 21 shown in FIG.
When the car 6 approaches the floor 16 of the terminal floor, the terminal position detector 18 operates to generate the terminal position arrival detection signal 18a. The end position arrival detection signal 18a is supplied to the CPU 141 via the input port 145 in the second microcomputer 140, so that the end floor remaining distance from the current position of the car 6 to the floor 16 of the end floor is reached. its value is initialized R _B is measured. Next, in step 22, the remaining terminal floor distance R _B set in step 21
By subtracting the count value signal 12a which is the output signal of the counting circuit 12, the remaining distance in each calculation cycle of the second microcomputer 140 is accurately calculated. In step 23, the terminal floor remaining distance R obtained in step 22
_The deceleration command value V _D corresponding to _B is extracted from the ROM 143. Here, the deceleration command value V _D is stored in the ROM 143. Is stored in the ROM 143 as a memory table. However, β _B represents deceleration, which is the same as or slightly larger than β _A in the normal speed command signal V _N shown in the equation (1). Then step
In 24, the deceleration command value V _D obtained in step 23 is output as it is as the terminal floor deceleration command signal V _S. FIG. 3 is a flow chart for explaining the operation of the switching means 5 shown in FIG. 1, and the program for executing such processing is stored in the ROM 143 of the second microcomputer 140 as in the case described above. It is stored.
Then, step 31 is a part showing the operation of the check function 51 shown in FIG. The regular remaining distance R _A is calculated by the first microcomputer 130 shown in FIG. 6, and the regular remaining distance R _A is the transmission interface 15
It is loaded into the second microcomputer 140 via 0. Then, the check signal V _C is output by substituting the regular remaining distance _RA into the check function f _C (•) stored in the ROM 143 in the form of a table. The check function f _C (•) has the same shape as the normal speed command signal V _N shown in FIG.
It is _A. Next, step 32 shows the operation of the comparing means 52 shown in FIG. 1, and steps 32a and 32b are steps for judging whether or not the normal speed command signal V _N is correct. That is, it is determined to be normal when _{the V N} is located in _{V C -ΔV 1 ≦ V N <} V C + ΔV 2 becomes range, it is determined as abnormal when located outside this range. When it is determined to be normal, the process proceeds to step 33a in step 33,
If it is determined to be abnormal, step 33 in step 33
Move to b. It should be noted that ΔV ₁ and ΔV ₂ are values that do not impair the riding comfort when the normal speed command signal V _N is switched to the terminal floor deceleration command signal V _S, and are set in advance. Next, step 33 there is shown the operation of the selection means 53 shown in FIG. 1, in step 33a, the the return operation after outputting a normal speed command signal V _N as the final speed command signal V _F In step 33b, the terminal floor deceleration command signal V _S is output as the final command signal V _F , and then a return operation is performed. FIG. 4 is a diagram showing a relationship between the normal speed command signal V _N and the terminal floor deceleration command signal V _S in the present invention. In the figure, the normal speed command signal V _N and the terminal floor deceleration command signal V _S have almost the same value. Therefore, even if the first microcomputer 130 fails and the regular remaining distance _RA does not gradually decrease, and as a result, the regular speed command signal V _N also does not gradually decrease, the final speed command signal V _F has the points P ₁ and P ₂ . P ₂ , point P
It becomes ₃ . Then, after the failure, the time until the switching to the terminal landing speed reduction command signal V _S (t 2 _{-t 1),} in order to point P ₁ is in close proximity to the point P _2, a very short time . That is, at time t ₁ , it becomes possible to immediately detect an abnormality in the regular speed command signal V _N. Further, since the deceleration β _B of the terminal floor deceleration command signal V _S is equal to the deceleration β _A of the normal speed command signal V _N at the normal time or is only large by a minute amount, deterioration of riding comfort or wearing The floor accuracy hardly deteriorates. In the above embodiment, the check function f _C (.)
Of deceleration β _A The shape is It may be in the form of. In this way, the check function f
The output of _C (•) becomes the same value as the table value used to extract the deceleration command value V _D shown in step 23 of FIG. 2, and the table can be shared accordingly, and the use area of the ROM 143 is used. There will be a merit that less is required. Of course, in this case, the comparison ranges ΔV ₁ and ΔV _{2 of the} comparison means 52 are
Will need to be reselected. Further, in the above embodiment, the values of the comparison ranges ΔV ₁ and ΔV ₂ are fixed values, but in order to accurately and quickly determine the abnormality, ΔV ₁ and ΔV ₂ can be changed by the remaining distance. It would be good. As described above, according to the elevator control device of this embodiment, the normal remaining distance calculating means 1 for calculating the normal remaining distance from the current position of the car 6 to the floor to be landed and the normal remaining distance calculating means 1 generate A normal speed command signal generating means 2 for generating a normal speed command signal V _N using the normal remaining distance as an input,
A terminal landing deceleration command signal generating means 4 for generating a terminal landing deceleration command signal V _S when the car 6 travels toward the terminal landing, normalized remaining distance calculating means 1, normal speed command signal generating means 2, the terminal landing deceleration instruction and a switching unit 5 for receiving regular remaining distance signal is generated from the signal generating means 4 R _a, the normal velocity command signal V _N and the terminal landing deceleration command signal V _S, the termination of the current position of the car 6 in the elevator In the elevator control device for controlling the traveling to the floor, the switching means 5 inputs the normal remaining distance, and outputs the check signal V _C composed of the speed command value stored in the memory table, and the normal speed. command signal V _N and the check signal V difference between the _C is the comparison means 52 determines whether or not within a predetermined range, the output and normalized speed command signal V _N and the terminal landing deceleration command signal V comparison means 52 Input _S and select the normal speed command signal V _N if the difference between the check signal V _C and the normal speed command signal V _N is within a predetermined range, and select the terminal floor deceleration command signal V _S if outside the predetermined range. However, the selection means 53 for outputting the selected signal as the final speed command signal V _F is provided. Therefore, the regular remaining distance signal _RA and the regular speed command signal V
_The check function 51 is extracted from the memory table according to the normal remaining distance by inputting _N and the terminal floor deceleration command signal V _S, and the check signal V _C and the normal speed command signal R are also extracted.
If the difference from _A is within a predetermined range, the normal speed command signal V _N is selected, and if it is outside the predetermined range, the terminal floor deceleration command signal V _S is selected, and the selected signal is output as the final speed command signal V _F , By analogy, even when the regular remaining distance does not gradually decrease, and therefore the regular speed command signal V _N does not gradually decrease, it is possible to immediately switch to the terminal floor deceleration command signal V _S , and with this, to the terminal floor accurately and It becomes possible to land without deteriorating the riding comfort. Therefore, even if a failure occurs in which the normal speed command signal does not gradually decrease, the time until switching to the terminal floor deceleration command signal can be shortened, and the landing accuracy and deceleration can be made almost the same as in the normal case. You can

【The invention's effect】

As described above, according to the elevator control device of the present invention, the check function is extracted from the memory table according to the normal remaining distance by inputting the normal remaining distance, the normal speed command, and the terminal floor deceleration command signal. At the same time, if the difference between the check signal and the normal speed command signal is within the predetermined range, the normal speed command signal is selected, and if it is outside the predetermined range, the terminal deceleration command signal is selected, and the selected signal is used as the final speed command signal. Since it is output, even if the regular remaining distance does not gradually decrease and therefore the regular speed command signal does not gradually decrease, it is possible to immediately switch to the terminal floor deceleration command signal, and the riding comfort to the terminal floor deteriorates. There is an effect that control can be performed without landing with high precision.

[Brief description of drawings]

FIG. 1 is an overall block diagram showing an elevator control apparatus according to an embodiment of the present invention, FIGS. 2 and 3 are flow charts for explaining the operation of the block diagram shown in FIG. 1, and FIG. 1 is an operation characteristic diagram, FIG. 5 is an overall configuration diagram showing a conventional elevator control device, FIG. 6 is an internal configuration diagram of the microcomputer system shown in FIG. 5, FIG. 7 and FIG.
The figure is an operational characteristic diagram of FIG. In the figure, 1: Normal remaining distance calculation means 2: Regular speed command signal generation means 3: Terminal floor remaining distance calculation means 4: Terminal floor deceleration command signal generation means 5: Switching means 51: Check function 52: Comparison means 53: Selection It is a means. In the drawings, the same reference numerals and symbols indicate the same or corresponding parts.

Claims (1)

[Claims] 1. A normal remaining distance calculating means for calculating a normal remaining distance from a current position of a car to a floor to be planned for landing, and a normal speed command signal with a normal remaining distance generated by the normal remaining distance calculating means as an input. Generating means for generating a normal speed command signal,
Generated from the terminal floor deceleration command signal generating means for generating the terminal floor deceleration command signal when the car travels toward the terminal floor, the regular remaining distance calculation means, the regular speed command signal generating means, and the terminal floor deceleration command signal generating means. And a normal speed command signal and a terminal floor deceleration command signal as input, and a controller of an elevator for controlling traveling from the current position of the car in the elevator to the terminal floor. The means inputs the normal remaining distance and outputs a check signal composed of the speed command value stored in the memory table, and whether the difference between the normal speed command signal and the check signal is within a predetermined range. Comparing means for determining whether or not, the output of the comparing means and the normal speed command signal and the terminal floor deceleration command signal are input, and the check signal If the difference from the reference speed command signal is within a predetermined range, the normal speed command signal is selected, and if it is out of the predetermined range, the terminal floor deceleration command signal is selected, and the selected signal is output as the final speed command signal. An elevator control device comprising.