JPH0786069B2 - Elevator speed controller - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application The present invention relates to an elevator speed control device effective for controlling an elevator.

B. SUMMARY OF THE INVENTION The present invention is for controlling an elevator speed by a speed control amplifier based on a speed deviation amount between an elevator speed command and an actual speed, and a gain of the speed amplifier according to the speed deviation amount. By changing the, the speed control device for the elevator having good speed following property and good stop position accuracy can be obtained.

C. Conventional technology In an elevator speed control device, a speed deviation amount between a speed command and an actual speed is obtained, and the speed deviation amount is amplified by an amplifier to control the torque of an electric motor that is an elevator drive source as a torque command. ing.

D. Problems to be Solved by the Invention In elevators, faster, comfortable driving and stopping with less displacement are desired. However, if the acceleration is increased to increase the speed, a deviation between the speed command and the actual speed is likely to occur, and as a result, the stop position accuracy is deteriorated. In order to avoid this, a method of increasing the gain of the speed control amplifier (ASR amplifier) has been adopted, but in this case, it becomes easy to vibrate and the riding comfort deteriorates. Therefore, although the gain is adjusted according to the balance of both, the deterioration of the stop position accuracy and the riding comfort cannot be denied.

The present invention has been made in view of the above problems, and an object thereof is to change the gain of a speed control amplifier according to the amount of speed deviation between the speed command signal of an elevator and the actual speed signal, thereby providing a speed following property. It is an object of the present invention to provide a speed control device for an elevator that is excellent and that can improve stop position accuracy without deteriorating the riding comfort of the elevator.

E. Means for Solving the Problems The present invention, in order to achieve the above-mentioned object, obtains a speed deviation signal from a speed command signal and an actual speed signal of an elevator,
An elevator speed control device is constituted by a speed control amplifier for amplifying the speed deviation amount signal to control the elevator speed and a gain switching means for switching the gain of the speed control amplifier according to the magnitude of the speed deviation amount signal. .

Further, the present invention obtains a speed deviation amount from an elevator speed command signal and an actual speed signal, amplifies the speed deviation amount signal to obtain a torque command signal for an elevator drive unit, and a gain of the speed control amplifier. The elevator speed control device is constituted by the gain switching means that changes in accordance with the speed deviation amount signal.

F. Action When the deviation amount between the elevator speed command and the actual speed is large, increase the gain of the speed control amplifier to improve the speed followability, and return to the original gain when the speed deviation amount becomes small.
To increase the gain, the proportional gain (P gain) and the integral gain (I gain) are increased and the time constant is shortened.

That is, the total gain is increased by the combination of the P gain and the I gain to improve the speed followability.

As the gain switching means, there are two-stage gain switching for switching the gain when the speed deviation exceeds a predetermined value, plural switching having a plurality of switching points, and continuous switching for continuously changing the gain according to the speed deviation amount. is there. Further, in the continuous switching, the minimum deviation amount for performing the continuous switching may be set and the gain switching may be performed.

G. Example An example of the present invention will be described below with reference to FIGS.

FIG. 1 shows an elevator speed control apparatus according to a first embodiment of the present invention. In FIG. 1, reference numeral 1 is a matching circuit which receives a speed command signal and an actual speed signal indicating an actual speed of an elevator, and 2a is a matching circuit. A two-stage gain switching circuit for inputting the speed deviation amount signal obtained by the matching circuit 1, 3 is a first gain amplifier for amplifying the gain (P gain) of the proportional control signal, and 4 is a gain (I gain) of the integral control signal. Is a second gain amplifier for amplifying the
A first gain selector switch for switching between a gain signal and an amplified signal, 5b for switching between an I gain signal and a signal for amplifying the I gain signal signal, and 6 for a speed from the matching circuit 1. It is a proportional-integral amplifier (PI amplifier) that amplifies the deviation amount signal.

In the speed control device of FIG. 1, the speed deviation amount signal from the matching circuit 1 is input to the two-stage gain switching circuit 2a and the speed control amplifier (PI amplifier) 6. 2-stage gain switching circuit
Reference numeral 2a is a state in which the contacts of the first and second gain changeover switches 5a and 5b are brought into the state shown in the figure when the amount of deviation in the elementary value is less than a predetermined value, and the first gain changeover switch is operated when the amount of deviation exceeds a predetermined value. 5a
While switching the contact of to the first gain amplifier 3 side,
The contact of the second gain changeover switch 5b is changed over to the second gain amplifier 4 side. That is, when the speed deviation amount is less than or equal to the predetermined value, the P gain and the I gain are directly input to the PI amplifier 6. When the speed deviation amount is equal to or larger than the predetermined value, the P gain is amplified by the first gain amplifier 3 and the I gain is amplified by the second gain amplifier 4 and then input to the PI amplifier 6. The PI amplifier 6 PI-amplifies the speed deviation amount signal and outputs it as a torque command signal.

In this way, in the elevator, there is almost no load fluctuation during operation, and when the speed deviation is large, it does not easily become oscillatory.Therefore, when the speed deviation is large, the gain of the ASR amplifier is increased to improve the speed followability. Improve, and return to the original gain when the speed deviation amount becomes small.

FIG. 2 shows a speed control device according to a second embodiment of the present invention, in which the same or corresponding parts as in FIG. 1 are designated by the same reference numerals. In FIG. 2, 2b is a continuous gain switching circuit for generating a continuous function signal by inputting a speed deviation amount, and 7a is a continuous gain switching circuit for inputting a continuous function signal and a proportional gain (P gain) signal for P gain amplification. 1
Similarly, 7b is a second amplifier which amplifies the I gain by inputting the continuous function signal and the integral gain (I gain) signal of the continuous gain switching circuit 2b.

In the second speed control device, the continuous gain switching circuit 2b inputs a continuous function signal to the first amplifier 7a and the second amplifier 7b based on the speed deviation amount signal. The first amplifier 7a further receives the P gain signal as an input, amplifies the gain of the continuous function signal, and inputs the amplified P gain signal to the PI amplifier 6. The second amplifier 7b receives the I gain signal as an input, amplifies the gain of the continuous function signal, and inputs the amplified I gain signal to the PI amplifier 6. The PI amplifier 6 receives the P gain signal from the first amplifier 7a and the I gain from the second amplifier 7b.
Based on the gain signal, the P gain of the speed deviation amount signal and the total gain of the I gain are continuously amplified to output a torque command signal.

FIG. 3 shows an elevator speed control apparatus according to a third embodiment of the present invention, and the same or corresponding parts as those in FIG. 2 are designated by the same reference numerals.

In this embodiment, a continuous gain switching circuit 2C with a lower limit deviation is used as a gain switching circuit, and when the speed deviation amount is within a predetermined range, the P gain and the I gain are kept at predetermined values so that the speed deviation amount is equal to or more than a predetermined range. Then, the P gain and the I gain are continuously changed.

H. Effect of the Invention Since the present invention changes the gain of the speed control amplifier according to the speed deviation amount signal between the speed command signal and the actual speed signal of the elevator as described above, the riding comfort of the elevator is deteriorated. It is possible to adjust the gain of the speed control amplifier in order to obtain the optimum speed following property without performing the above operation, and it is possible to obtain the speed control device for an elevator with good stop position accuracy even if the acceleration is increased.

[Brief description of drawings]

1 is a block diagram of an elevator speed control device according to a first embodiment of the present invention, FIG. 2 is a block diagram of an elevator speed control device according to a second embodiment of the present invention, and FIG. 3 is a block diagram of the present invention. FIG. 6 is a block diagram of an elevator speed control device according to a third embodiment. 1 ... Matching circuit, 2a ... 2-stage gain switching circuit, 2b
...... Continuous gain switching circuit, 2c ...... Continuous gain switching circuit with lower limit deviation, 3 ...... First gain amplifier, 4 ...... Second gain amplifier, 5a ...... First gain switching switch, 5b ......
Second gain changeover switch, 6 ... Speed control amplifier (PI
Amp), 7a ... first amplifier, 7b ... second amplifier.

Continuation of front page (56) Reference JP-A-60-13490 (JP, A) JP-A-60-40386 (JP, A) JP-A-49-42041 (JP, A)

Claims (1)

[Claims] 1. A speed control amplifier for obtaining a speed deviation from an elevator speed command signal and an actual speed signal, amplifying the speed deviation amount signal to obtain a torque command signal for an elevator drive section, and a gain of this speed control amplifier. The gain control circuit comprises a gain switching circuit that changes according to the speed deviation amount signal, the speed control amplifier is configured by a proportional integration amplifier, and the gain switching circuit is changed to the proportional integration amplifier when the speed deviation amount is a predetermined value or less. An elevator characterized in that it is constituted by means for directly inputting a proportional gain and an integral gain, and amplifying the proportional gain and the integral gain respectively and inputting them to the proportional-integral amplifier when the speed deviation amount is a predetermined value or more. Speed control device.