JPH0717319B2 - Elevator control device - Google Patents

Description

TECHNICAL FIELD OF THE INVENTION The present invention relates to an elevator control device, and more particularly to an elevator control device suitable for controlling an elevator using a microcomputer.

[Prior art]

As an example of the conventional technology of this type of general elevator control device, the technology disclosed in Japanese Patent Laid-Open No. 56-48376 can be mentioned.

However, there is a device in which a plurality of position detectors corresponding to the raising / lowering operation are arranged to detect the raising / lowering operation. Next, a conventional example of such an elevator control device will be described.

FIG. 1 shows a schematic configuration of an elevator control device for controlling an elevator traveling on a plurality of floors by a microcomputer. In FIG. 1, 1 is an elevator car, 2 is a counterweight, 3 is a rope wound around a sheave 4, and a car 1 and a counterweight 2 are connected to the hanging ends of the rope 3, respectively. ing. Reference numeral 5 is an electric motor for driving the sheave 4, 6 is a pulse generator for generating a pulse proportional to the moving distance of the car 1 from rotation of the electric motor 5, 7 is a counting circuit for counting the pulses from the pulse generator 6, and 8 is A microcomputer that takes in a signal from the counting circuit 7 and performs a predetermined arithmetic processing, as shown in FIG.
It is composed of a CPU 8a, a ROM 8b, a RAM 8c, an input port 8d and an output port 8e. 9 is a floor, 10 is a plate provided in the hoistway corresponding to each floor, 11 and 12 are position detectors provided in the car 1, and when the car 1 reaches the level position of each floor, the output signal 11a , 12a are sent to the counting circuit 7 and the microcomputer 8, and the position detector 11 outputs a signal 10 mm below the level and the position detector 12 outputs a signal 10 mm above the level.

FIG. 2 shows a concrete configuration diagram of the counting circuit 7 in FIG. 1, which is a counter composed of a 4-bit binary circuit.
The counter CT1 is provided with CT1 and CT2, and the output pulse 6a from the pulse generator 6 is directly applied to the T terminal of the counter CT1, and the NAND circuit N is connected to the T terminal of the counter CT2.
AND1 and a NOT circuit NOT1 are added so that the traveling pulses of the car 1 during each operation cycle of the microcomputer 8 are counted and stored in the counters CT1 and CT2. Numerical values are taken into the CPU 8a through the input port 8d in the next taking process. The counting circuit 7 is provided with RS flip-flops (hereinafter simply referred to as flip-flops) FF1 and FF2, the output terminals of the NAND circuits NAND2 and NAND3 are connected to the set terminals S of the flip-flops FF1 and FF2, respectively. An input of NAND2 is an ascending signal UP issued from the microcomputer 8, an output signal 11a from the position detector 11, and the output signal 11a.
The signal obtained through the time constant circuit of the capacitor C1 and the capacitor C1 is added, and the falling signal generated from the microcomputer 8 is input to the input of the NAND circuit NAND3.
The DN, the output signal 12a from the position detector 12, and the signal obtained through the time constant circuit of the NOT circuit NOT3 and the resistor R2 and the capacitor C2 are added to the output signal 12a. The outputs of the flip-flops FF1 and FF2 are connected to the inputs of the OR circuit OR1, and the output signal of the OR circuit OR1 is applied as the other input of the NAND circuit NAND1. As a result, the counter CT2 stops the counting operation each time the output signal of the position detector 11 or 12 rises. A reset signal RESET issued from the microcomputer 8 is applied to the reset terminals R of the counters CT1 and CT2 and the flip-flops FF1 and FF2.

FIG. 4 shows the inside of the RAM 8c of the microcomputer 8 which stores the level position data of each floor.
The positions of the floors of the stopped building are shown from the lowest floor to the highest floor, FLH (0) indicates the lowest floor level position, and FLH (N-1) indicates the highest floor level position.

Next, the operation of the elevator control device configured as described above will be described.

The case of writing the floor height value of each floor to the RAM 8c will be described based on the flow chart of FIG.

(A) First, with the microcomputer 8 initialized, the car 1 is stopped at the bottom floor, and the level position corresponding to the bottom floor is set to, for example, the reference value L.
Write as (0) to address 0 of RAM8c. The current position FSY of the car at this time is Lo.

(B) Next, the car 1 is moved up, and the pulses generated from the pulse generator 6 as the car travels are counted by the counters CT1 and CT2 to measure the car travel distance, and the writing operation of the microcomputer 8 is performed. The count value DP1 of the counter CT1 and the count value DP2 of the counter CT2 are taken into the microcomputer 8 by the input processing shown in step 100 of FIG. 5 accompanying the start of the processing program, and the reset signal RESET from the microcomputer 8 is reset in the next step 101. To reset each of the counters CT1 and CT2, and reset the flip-flops FF1 and FF2. When the reset process is completed, the routine proceeds to the next step 102, where it is judged whether or not the car 1 is traveling upward, and if "NO", the write process is not executed. Further, when it is determined that the vehicle is moving up, the following procedure 103
At, it is determined whether or not the output signal 11a of the position detector 11 rises. If the determination is “NO”, the microcomputer 8 returns the count value DP1 of the counter CT1 acquired in step 106 to the microcomputer 8. Cumulatively add and perform the processing of FSY ← FSY + DP1. FSY is the current position of the car 1, and during traveling, the processing from step 100 to steps 103 and 106 is performed at every calculation cycle of the microcomputer 8.

(C) Next, when the car 1 reaches the level position on the next floor and the microcomputer 8 detects the level signal generated from the position detector 11, the determination result in step 103 becomes “YES”, so RAM to move to 104 and write the floor price
I + 1 is processed so that it becomes the floor address of 8c. Then, the procedure proceeds to the next step 105, in which the floor value at the time when the level signal of the position detector 11 is generated is calculated by adding the count value DP2 of the counter CT2 to the current position FSY, and this calculated value FLH (I) Is written in the corresponding address I of the RAM 8c.

In the same way, by repeating the steps 100 to 106 up to the top floor,
Floor height value FLH (0) to FLH corresponding to the level position of each floor
(N-1) will be written in the RAM 8c as shown in FIG.

The floor price thus obtained is used for normal elevator operation. That is, based on the floor height value stored in the RAM8c, the current position of the car is corrected, the traveling distance from the departure floor to the floor to be landed, the remaining distance to the floor to be landed, and the reference speed command corresponding to this remaining distance. It is also used for control to generate.

However, the above-mentioned conventional floor value writing method has the following drawbacks.

(A) If the car is out of the level position, the current position of the car cannot be corrected.

(B) At the time of starting the elevator, even if it is attempted to correct it, for example, by escaping from the door openable zone, the level position of each floor cannot be accurately corrected due to the abrasion of the sheave after a lapse of years. That is, if you try to modify the length LDZ of the door openable zone by converting the car traveling pulse, FSY ← FLH (I) + LDZ / 2 (however, I: start floor), but the length of LDZ is ROM Since it is a fixed value stored in, it cannot be an exact correction.

(C) The level point of the floor of the building is not accurately stored. That is, the position detector does not accurately detect the level point, for example, it detects the level point of 10 mm in front of the floor,
There is a 10 mm difference in floor height FLH (I). Therefore, for example, even if FLH (I) -FSY (current position) is calculated in order to obtain the remaining distance during ascending operation, an error of 10 mm will occur, which will cause the elevator landing accuracy to deteriorate. .

Of course, even in the technology disclosed in JP-A-56-48376,
This issue has not been resolved.

[Outline of Invention]

The present invention has been made to solve the above-mentioned drawbacks, and presents each floor position data for obtaining the current value of the elevator car, the remaining distance to the floor to be landed on, the reference speed command of the car, and the like.
It is an object of the present invention to provide an elevator control device which can be accurately stored in RAM and accurately correct the current position of a car even if the car starts out of the level.

Example of Invention

 Embodiments of the present invention will be described below with reference to the drawings.

FIG. 6 shows an example of a counting circuit in the elevator controller according to the present invention. The same parts as those in FIG. 2 are designated by the same reference numerals, and the description thereof will be omitted. Describe.

That is, the point different from FIG. 2 is that the output signals 11a and 12a of the position detectors 11 and 12 are ORed and the counter CT2 is stopped at the rising and falling edges of the OR signal.

For this reason, in this embodiment, the NOR circuit NO which takes the logical sum of the output signals 11a and 12a of the position detectors 11 and 12 in FIG.
R1 is provided and the output signal of this NOR circuit NOR1 is output to the NOT circuit NO.
It is used as one input of the NAND circuit NAND2 via T3, and the signal obtained from the NOT circuit NOT3 is input to the other input of this NAND circuit NAND2.
The signal taken out through the time constant circuit composed of C1 is added, and the signals obtained through the not circuit NOT3 or NOT circuit NOT2 and the time constant circuit are input to the NAND circuit NAND3 through the NOT circuits NOT4 and NOT5, respectively. To add as. This makes the NAND circuit
When the flip-flops FF1 and FF2 are set by the outputs of NAND2 and NAND3, the counting stop is applied to the counter CT2.

If the count value obtained from the counting circuit 7 having such a configuration is taken into the microcomputer 8 and the arithmetic processing shown in FIG. 8 is performed, the level position of each floor can be accurately obtained.

That is, the position detectors 11 and 12 are for detecting the level position of the floor (for example, 10 mm in front of the floor), but the actual operating point is to continue operating from 10 mm in front of the floor to 300 mm over the floor. Is. Therefore, the present invention is a level value FLHD that considers the floor passage 300 mm for each floor, that is, 300 mm below the floor.
(I), FLHU (I) is the level value considering 300 mm above the floor
Is written in RAM8c of the microcomputer 8 and basically, based on these values, [FLHD (I) + FLHU
(I)] The level position of each floor is obtained by performing a calculation of 2 and stored in the RAM 8c for use in selector correction, remaining distance calculation, and the like.

Next, the writing operation of the level position data of each floor in the embodiment of the present invention will be explained based on the flow chart of FIG.

Before explaining the operation, FIG. 7 will be described. Figure 7 (a)
Is the level value of each floor with N stops, for example, 300 mm below the floor is added.
It is stored as FLHD (0) to FLHD (N-1) from address 1 to address N-1. Fig. 7 (b) corresponds to the level value considering 300mm above the floor from the bottom floor to the top floor. Then, FLHU (0) to FLHU (N-1) are stored in the addresses 0 to N-1 of the RAM 8c, and FIG. 7 (c) is shown in FIG. 7 (a),
Take the average of the values in (b) and find the actual level position in RAM8c.
It is stored as FLHL (0) to FLHL (N-1) from address 0 to address N-1.

First, the car 1 is stopped at the bottom floor. At this time, the level position corresponding to the lowest floor is [FLHD (0) + FLHU (0)]
÷ 2, and the level position obtained as a result is FLHL
It is stored as (0) in the address 0 of the RAM 8c as shown in FIG. 7 (c).

Next, the car 1 is moved up and the traveling distance of the car is measured by counting the pulses generated from the pulse generator 6 with the traveling of the car by the counters CT1 and CT2, and the writing arithmetic processing program of the microcomputer 8 is started. The count value DP1 of the counter CT1 and the count value DP2 of the counter CT2 are taken into the microcomputer 8 by the input processing shown in the procedure 200 of FIG. 8 associated with the above, and the reset signal RESET is sent from the microcomputer 8 in the next procedure 201. Each counter CT1, C
Reset T2 and flip flip FF1, FF2
Reset. When this reset process is completed, the routine proceeds to the next step 202, where it is determined whether or not the car 1 is traveling upward, and if "NO", the write process is not performed. Further, when it is determined that the vehicle is climbing, in the next step 203,
It is determined whether or not the signal 12a of the position detector 12 has risen, and if the result is "YES", the microcomputer 8 proceeds to step 204 and then a value corresponding to 300 mm below the floor of the floor. I + 1 to be the floor number of PAM8c
Process, and in the next step 205, FLHD
(I) ← Perform FSY + DP2 processing.

That is, the count value DP2 of the fetched counter CT2 is added to the car current position FSY by cumulatively adding the calculated value DP1 of the counter CT1 fetched at each operation cycle of the microcomputer 8 and the traveling distance of the car before this. I will call this FLHD (I)
Write in the address of RAM8c corresponding to the floor. Further, in accordance with the ascending operation of the car 1, in step 206, the process of FSY ← FSY + DP1 is performed, the count value DP1 of the counter CT1 is taken in every operation cycle of the microcomputer 8, and the present value of the car is cumulatively added.

On the other hand, if the determination in step 203 above is “NO”, then step 207
Then, it is determined whether or not the signal 11a of the position detector 11 has fallen. If "NO" at this time, the process proceeds to step 206 to perform the cumulative addition process of the current car value. Also, "YES"
If it is determined that the result is FLHU (I) ← F
Perform SY + DP2 processing.

That is, the count value DP2 of the fetched counter CT2 is added to the current position value FSY of the car cumulatively added by the microcomputer 8, and this is written as FLHU (I) in the address of the RAM 8c corresponding to the I floor.

When the writing of the data equivalent to 300 mm above the floor is completed, move to step 209, and FLHL (I) ← [FLHD
The processing of (I) + FLHU (I)] / 2 is executed. That is,
The average value of the level values in consideration of 300 mm above and below the floor on the I floor is calculated, and this is used as an accurate level position value for
Store at the address.

By repeating the processing from step 200 to step 209 to the top floor in the same manner, the floor height value corresponding to the level position of each floor of the N-stopped building is RA as shown in FIG. 7 (c).
Will be written to M8c.

The floor height value thus obtained is used for the current position of the car and its correction during normal operation of the elevator, the remaining distance to the floor to be landed, or the control for generating a reference speed command for the remaining distance.

Further, in the invention of the above system, the car position can be accurately corrected even if the car is out of the level position. That is,
The operating point of the position detector due to the plate 10 is, for example, 300 mm above and below the floor, which is longer than the door zone. Therefore, when the position detector passes through the plate 10, for example, when the car ascends from the I floor, the microcomputer 8 detects the fall of the output signal 11a of the position detector 11 and FSY ← FLHU (I). It is sufficient to calculate + DP2, and I
When passing the + 1st floor, the output signal 12a of the position detector 12
If the fall of FSY ← FSHD (I + 1) + DP2 is detected and the fall of the output signal 11a of the position detector 11 is detected and FSY ← FSHU (I + 1) + DP2 is calculated, the cage position is calculated. Can be fixed.

Furthermore, this invention system detects the traveling pulse of the car through the route of car → sheave → motor → pulse generator, but FLHD (I), FLHU (I) and FLHL stored in RAM8c are detected.
In (I), even if the sheave changes over time, the relative value is always correct. That is, although the distance per pulse changes, it increases or decreases at a constant rate, so that the level position of each floor always shows a correct value.

As described above, the elevator control device according to the present embodiment includes the pulse generation means including the pulse generator 6 that generates the number of pulses proportional to the movement amount of the car 1 traveling on the plurality of floors 9,
From the position detection means including a plurality of position detectors 11 and 12 for detecting the plate 10 fixed to the position corresponding to each floor 9 of the hoistway and the writable and readable RAM 8c, etc. The storage means and the plurality of position detecting means for each floor 9 have an upper operating point detected when the car 1 is raised and a lower operating point detected when the car 1 is lowered.
Step 203 for storing in storage means such as M8c
Through step 205 and step 207 through step 208, and the upper and lower operating point storage control means, and the upper and lower operating point data stored in the upper and lower operating point storage means are calculated to obtain the position of each floor. In addition, it is provided with an arithmetic storage control means comprising step 209 for storing this.

Therefore, a plurality of position detecting means for each floor 9 stores the upper operating point detected when the car 1 is raised and the lower operating point detected when the car 1 is lowered in the storage means including the RAM 8c and the like, steps 203 to 205, And steps
The difference between the upper and lower operating points of the same floor due to the ascending operation and the descending operation of the car 1 is detected by the upper and lower operating point storage control means including steps 207 to 208, and the floor position is set on the average of both. Therefore, even if the rope 3 stretches or the sheave 4 wears, accurate floor position detection can always be performed by the upper and lower operating points of the same floor due to the ascending and descending operations. You can

In addition, the upper and lower operating points of the same floor due to the ascending operation and the descending operation are stored by the upper and lower operating point storage control means composed of step 203 to step 205 and step 207 to step 208 for storing in the storage means. Therefore, during the subsequent ascending and descending operations, they can be called to set the floor position at that time.

Further, by storing the floor position set by the average of the upper operating point and the lower operating point of the same floor of the car 1 in the RAM 8c by the arithmetic storage control means including step 209, the control at that time is of course performed. , The movement of the car 1 can be controlled by using the floor position data for the subsequent control as well.

〔The invention's effect〕

As described above, according to the present invention, the position points of each floor (for example, 300 mm above and below the floor) are written in the RAM, and the level position of each floor is obtained by the average value of the above-mentioned position points. It is possible to accurately obtain the level position of each floor that is stored in, and to correct the car position accurately even if the car deviates from the level position.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of an elevator control device, FIG. 2 is a configuration diagram showing details of a counting circuit of a conventional elevator control device, FIG. 3 is a schematic configuration diagram of a microcomputer in FIG. 1, and FIG. FIG. 5 is an explanatory diagram of a conventional RAM storing level position data, FIG. 5 is a diagram showing a flow chart for writing level position data in a conventional RAM, and FIG. 6 is an example of a counting circuit in an elevator controller of the present invention. 7A to 7C are explanatory views of a RAM according to the present invention, and FIG. 8 is a diagram showing a flow chart for writing level position data to the RAM according to the present invention. 1 ... basket, 4 ... sheave, 5 ... induction motor, 5 ... pulse generator, 7 ... counting circuit, 8 ... microcomputer, 10 ... plate, 11, 12 ... position detector, 8a …… C
PU, 8b …… ROM, 8c …… RAM, 8d …… Input port, 8e ……
Output port. The same or corresponding parts in the drawings are designated by the same reference numerals.

Claims (1)

[Claims] 1. A pulse generating means for generating a number of pulses proportional to a moving amount of a car traveling on a plurality of floors, and a car installed in the car and fixed to a position corresponding to each floor of a hoistway. A plurality of position detecting means for detecting the plate, a writable and readable storage means, and an upper operating point and a car which are present corresponding to the door openable zone and which are detected by the position detecting means when the car is raised. And a lower operating point storage control means for storing the lower operating point detected by the position detection means in the storage means, an upper operating point stored in the storage means by the upper and lower operating point storage control means, and An elevation storage device comprising: an arithmetic storage unit that stores the position of each floor by calculating the average value of the operating points from the data of the lower operating points. Motor controller.