HK1014922B - Elevator speed control apparatus - Google Patents

Description

Elevator speed control device

The present invention relates to an elevator speed control device for controlling the speed of an elevator car.

For example, a rope-lift type elevator lifts and lowers a suspended elevator car by lifting a rope with a hoist and passing the rope through a rope balance weight and a sheave. A conventional elevator speed control apparatus for controlling the speed of this rope-hoisted elevator car is shown in fig. 8. In fig. 8, the vertical direction speed command value Vcref1 of the elevator car is input from the speed conversion circuit 14, and the vertical direction speed command value Vcref1 of the car is converted into the hoisting machine motor speed command value Vmref 1. The motor speed command value Vmref1 is calculated from constants including the sheave radius and the rotational angular speed of the hoist. The target value tracking control circuit 15 calculates a motor speed compensation signal Vce2 for tracking the motor speed command value Vmref1 with respect to the motor actual speed Vm, based on the motor speed command value Vmref1 and a speed deviation Vce1 from the motor actual speed Vm from the motor speed detection circuit 5. The target value tracking control circuit 15 is configured by a P (proportional) element that outputs a signal proportional to the speed deviation Vce1 and an I (integral) element that outputs a signal proportional to the accumulation of the speed deviation Vce 1.

The motor 16 is an elevator driving motor such as an induction motor, and power of the motor is transmitted to the elevator machinery system 4 to change the speed of the car. Here, the elevator machine system 4 represents the whole of a machine system device including a rope, a car, and a balance weight. The motor speed detection circuit 5 is constituted by a resolver directly attached to the motor shaft, and outputs the number of pulses per unit time proportional to the number of revolutions.

The vibration damping circuit 17 outputs a vibration compensation signal Vb to the input of a deviation (vibration component) Vrip between the motor actual speed Vm from the motor speed detection circuit 5 and the motor estimated speed Vmobs from the motor speed estimation circuit 18. Fig. 9 shows the internal configuration of the vibration damping circuit 17, and the vibration damping circuit 17 includes a filter 19 for removing a motor vibration component and a gain setting circuit 20 for amplifying the motor vibration component and outputting the amplified motor vibration component as a vibration compensation signal Vb. The filter 19 obtains an optimum filter constant from the position detection signal y of the car position detection circuit 10, and passes a predetermined frequency component in the deviation (vibration component) Vrip between the motor actual speed Vm and the motor estimated speed Vmobs. The gain setting circuit 20 obtains an optimum gain from the same position detection signal y and the car load detection signal mc output from the car load detection circuit 9, amplifies the output of the filter 19, and outputs the vibration compensation signal Vb. In this way, the vibration damping circuit 17 calculates a vibration compensation signal Vb for performing vibration damping in consideration of the change in the car position and the change in the load, and superimposes the vibration compensation signal Vb on the motor speed compensation signal Vce2 output from the target value tracking control circuit 15. As a result, the superimposed signal (Vce2-Vb) is input to the motor 16 as the speed command value Vmref2 to perform the vibration damping operation of the motor 16.

Here, the car position detection circuit 10 is constituted by a pulse generator mounted on a governor (governor), and calculates the position of the car based on the number of pulses proportional to the moving distance of the car. The car load detection circuit 9 is constituted by a load cell (or linear automatic guide device) installed under the car floor, and performs load-voltage conversion. Then, the signals mc, y of the detection circuits 9, 10 are output to the vibration damping circuit 17.

The other target value tracking control circuit 21 calculates the motor speed target value compensation signal Vmobs2 based on the deviation signal Vmobs1 between the motor speed command value Vmref1 and the motor estimated speed Vmobs output from the speed conversion circuit 14 so that the motor estimated speed Vmobs tracks the motor speed command value Vmref 1. The motor speed estimation circuit 18 includes an approximate model of the motor 16, and estimates the rotation speed Vmobs by simulating the characteristics of the actual motor 16 based on the moment of inertia J of the elevator mechanical system model 22 when the motor estimated speed Vmobs is running. The elevator machine system model 22 is an approximate model of the elevator machine system 4.

The operation of the conventional elevator speed control device configured as described above is as follows. The speed conversion circuit 14 converts the input car speed command value Vcref1 into a motor speed command value Vmref 1. The target value tracking control circuit 15 receives a deviation Vce1 from the motor speed command value Vmref1 and the actual motor speed Vm from the motor speed detection circuit 5, performs PI control calculation based on the deviation signal Vce1, and outputs a target value compensation signal Vce 2. The deviation between the target value compensation signal Vce2 from the target value tracking control circuit 15 and the vibration compensation signal Vb from the vibration damping circuit 17 is input to the motor 16 as a motor speed command value Vmref2, and the motor is rotated in accordance with the motor speed command value ymref 2. Then, the driving force of the motor is transmitted to the elevator machine system 4, and the elevator car is raised and lowered at the car speed Vc. The car load mc and the car position y of the elevator car at this time are detected by the car load detection circuit 9 and the car position detection circuit 10, respectively, and input to the damping circuit 17.

On the other hand, the motor speed command value Vmref1 output from the speed conversion circuit 14 is also sent to another target value tracking control circuit 21, and in this target value tracking control circuit 21, PI control operation is performed based on a deviation signal Vmobs1 between the motor speed command value Vmref1 and the motor estimated speed Vmobs from the motor speed estimation circuit 18, and a target value compensation signal Vmobs2 is calculated and input to the motor speed estimation circuit 18. The motor speed estimation circuit 18 calculates a motor estimated speed Vmobs at which the elevator car does not vibrate based on the input of the target value compensation signal Vmobs2, and outputs the motor estimated speed Vmobs to the elevator mechanical system model 22. Then, the elevator mechanical system model 22 calculates a value of the moment of inertia J when operating at the motor estimated speed Vmobs, and inputs the value to the motor speed estimation circuit 18.

The vibration damping circuit 17 receives Vrip whose vibration component is a deviation between the actual motor speed Vm from the motor speed detection circuit 5 and the estimated motor speed Vmobs from the motor speed estimation circuit 18, receives a car load detection value mc from the car load detection circuit 9 and a car position detection value y from the car position detection circuit 10, calculates a vibration compensation signal Vb based on these inputs by the above-described method, and outputs the calculated vibration compensation signal Vb. The motor 16 receives Vmref2, which has the deviation between the motor speed compensation signal Vce2 and the vibration compensation signal Vb from the target value tracking control circuit 15 as a motor speed command value, and tracks the motor speed by controlling the rotational speed.

In this way, a vibration compensation signal Vb for performing vibration damping in consideration of the change in the car position and the change in the load is superimposed on the motor speed compensation signal Vce2 output from the target value tracking control circuit 15, and this superimposed signal (Vce2-Vb) is used as the motor speed command value Vmref2 to rotate the motor 16 so that the elevator car is adjusted in rotation speed without causing vibration.

However, such a conventional elevator speed control device has the following problems. Fig. 10 shows an example of frequency characteristics of the elevator machine system 4 according to changes in car load, in which the magnitude of the car load of the elevator is divided into three stages, i.e., large, medium, and small, and the characteristics corresponding to the respective stages are shown in the figure. The abscissa of fig. 10 represents the angular velocity of the sheave (corresponding to the rotation speed of the motor 16), and the ordinate represents the gain at a portion from when the car speed command value Vcref1 is input from the speed conversion circuit 14 in fig. 8 until the car speed Vc is output by the elevator machine system 4. As shown in fig. 10, the car speed Vc at which the elevator machine system 4 resonates varies depending on the level of the car load.

However, in the conventional damper circuit 17, as shown in fig. 9, the car load detection value mc is input only to the gain setting circuit 20, and is not input to the filter 19. That is, the filter 19 does not take into account the change in the elevator characteristics due to the car load. Therefore, in the conventional elevator speed control device, particularly in the running speed region where the sheave angular speed is in the range of 20 to 30[ rad/s ], the vibration generated on a specific load due to the load change cannot be suppressed, and there is a problem of riding discomfort.

The present invention has been made to solve the above-described conventional problems, and an object of the present invention is to provide an elevator speed control device that can perform high-precision elevator speed control without being affected by changes in elevator car load, and can achieve comfortable elevator riding.

To achieve the object, an elevator speed control apparatus of the present invention comprises:

the car speed detection circuit is used for detecting the speed of the car;

a car load detection circuit for detecting a car load;

a car position detection circuit for detecting a car position;

a car speed feedback control circuit which calculates a car speed compensation signal necessary for the actual speed of the car to track the car speed command value, based on a deviation between the given car speed command value and the car speed detection value from the car speed detection circuit;

a speed conversion circuit for converting the car speed compensation signal calculated by the car speed feedback control circuit into a motor speed command signal of the elevator;

a motor speed control circuit for controlling the speed of the elevator driving motor based on the motor speed command signal output from the speed conversion circuit;

and a car speed vibration component compensation circuit for extracting a resonance frequency component of the elevator mechanical system from the detected car speed value, the resonance frequency component corresponding to a combination of the detected car load value outputted from the car load detection circuit and the detected car position value outputted from the car position detection circuit, the resonance frequency being outputted as a vibration compensation signal for suppressing the resonance frequency component contained in the car speed compensation signal outputted from the car speed feedback control circuit.

In the elevator speed control device according to the present invention, the car speed vibration component compensation circuit may be configured by:

a filter constant and gain operation circuit for operating a filter constant and a gain corresponding to a combination of a car load detection value output from the car load detection circuit and a car position detection value output from the car position detection circuit;

a filter for setting a band-pass frequency according to the filter constant and the filter constant outputted from the gain operation circuit, and allowing a resonance frequency component of the elevator mechanical system contained in the detected value of the car speed to pass;

and a gain setting circuit for amplifying the resonance frequency component of the elevator machinery system output from the filter by a filter constant and a gain output from the gain operation circuit, and outputting the amplified resonance frequency component as a vibration compensation signal for suppressing the resonance frequency component contained in the car speed compensation signal output from the car speed feedback control circuit.

In an elevator speed control device of the present invention, a car speed compensation signal necessary for tracking an actual speed of a car to a car speed command value is calculated by a car speed feedback control circuit based on a deviation between a car speed command value given from the outside and a car speed detection value from a car speed detection circuit, the car speed compensation signal output from the car speed feedback control circuit is converted into a motor speed command signal for an elevator by a speed conversion circuit, and a motor for driving the elevator is speed-controlled by the motor speed control circuit based on the motor speed command signal from the speed conversion circuit.

Then, in the elevator speed feedback control based on the car speed, a car speed vibration component compensation circuit extracts a resonance frequency component of an elevator mechanical system, which corresponds to a combination of a car load detection value output from a car load detection circuit and a car position detection value output from a car position detection circuit, from a car speed detection value, and the resonance frequency is output as a vibration compensation signal for suppressing a resonance frequency component contained in a car speed compensation signal output from the car speed feedback control circuit.

As a result, the car speed compensation signal output from the car speed feedback control circuit can be input to the speed conversion circuit as a signal for suppressing the resonance frequency component, and the motor speed command value output from the speed conversion circuit can be controlled without including the signal of the resonance frequency component of the elevator mechanical system.

In the elevator speed control device according to the present invention, the car speed vibration component compensation circuit may include:

a filter constant and gain operation circuit for operating a filter constant and a gain corresponding to a combination of a car load detection value output from the car load detection circuit and a car position detection value output from the car position detection circuit;

a filter for setting a band-pass frequency according to the filter constant and the filter constant outputted from the gain operation circuit, and allowing a resonance frequency component of the elevator mechanical system contained in the detected value of the car speed to pass;

and a gain setting circuit for amplifying the resonance frequency component of the elevator machinery system output from the filter by a filter constant and the gain output from the gain operation circuit, and outputting the amplified resonance frequency component as a vibration compensation signal for suppressing the resonance frequency component contained in the car speed compensation signal.

According to the above configuration, the resonance frequency component of the elevator machine system appearing in the detected car speed value is extracted, amplified by a predetermined gain, and superimposed as the vibration compensation signal, so as to suppress the resonance frequency component contained in the car speed compensation signal outputted from the car speed feedback control circuit. As a result, the car speed compensation signal output from the car speed feedback control circuit can be input to the speed conversion circuit as a signal for suppressing the resonance frequency component, and the motor speed command value output from the speed conversion circuit can be controlled without being matched with the signal of the resonance frequency component of the elevator mechanical system, thereby effectively suppressing car vibration and improving riding comfort.

Fig. 1 is a circuit block diagram of an elevator speed control apparatus according to embodiment 1 of the present invention.

Fig. 2 is a table of filter constant and gain setting data of the filter constant and gain calculation circuit according to the elevator speed control device of the above embodiment, with respect to the reference car position and the car load.

Fig. 3 is a block diagram of a damping circuit of the elevator speed control device according to the above embodiment.

Fig. 4 is a circuit block diagram of an elevator speed control apparatus according to embodiment 2 of the present invention.

Fig. 5 is a circuit block diagram of an elevator speed control apparatus according to embodiment 4 of the present invention.

Fig. 6 is a block diagram showing an internal configuration of a filter constant and gain operation circuit of the elevator speed control device according to the above embodiment.

Fig. 7 is a block diagram showing the internal configuration of a filter constant and gain operation circuit of an elevator speed control device according to embodiment 5 of the present invention.

Fig. 8 is a circuit block diagram of a conventional elevator speed control device.

Fig. 9 is a circuit block diagram of a conventional damping circuit of an elevator speed control device.

Fig. 10 is a graph showing the vibration frequency characteristics affected by the elevator car load.

Best mode for carrying out the invention

An elevator speed control device 1 according to the present invention will be described below with reference to fig. 1 to 3. The elevator speed control device according to embodiment 1 is composed of a target value tracking control circuit 1, a speed conversion circuit 2, a motor speed control circuit 3, an elevator mechanical system 4, a motor speed detection circuit 5, a car speed detection circuit 6, a filter constant gain operation circuit 7, a car load detection circuit 9, a car position detection circuit 10, and a vibration damping circuit 13. The damping circuit 13 is composed of the car damping circuit 8 and the gain setting circuit 11.

The target value tracking control circuit 1 calculates a car speed compensation signal Vce1 necessary for causing the car actual speed Vc to track the car speed command value Vcref, using a speed deviation Vce between the car speed command value Vcref given from the outside and the car speed detection value Vcfb detected by the car speed detection circuit 6. Various methods can be used for the target value tracking control by the target value tracking control arithmetic circuit 1, and here, PI control having a simple configuration and easy adjustment as shown in the following expression (1) is used. (1) In the formula, Tr1 and Tr2 are adjustment parameters.

Next, the car speed compensation signal Vce1 output as the target value tracking control circuit 1 is summed with the car speed command value Vcref by an adder, and the car speed command value Vcref is compensated. The compensated car speed command value Vcref1 is further summed by the adder 24 with the vibration compensation signal Vb output from the vibration damping circuit 13, and input to the speed conversion circuit 2 as a car speed command value Vcref 2.

The speed conversion circuit 2 converts the car speed command value Vcref2 into the motor speed command value Vmref based on a sheave radius of a hoisting machine including the elevator machine system 4 and a constant of a rotational angular speed. The arithmetic expression of the speed conversion circuit 2 is shown in the following expression (2). Kmc is a proportionality constant representing the ratio of the car actual speed Vc to the motor speed Vm, and is a constant that can be set by a single value based on the characteristics of the elevator machine system 4.

Vmref＝Kmc·Vcref2 Λ(2)

The motor speed control circuit 3 is configured by an elevator driving motor and PI control means, and causes the motor speed Vm to follow the motor speed target value Vmref by feeding back a motor speed detection value Vmfb detected by the motor speed detection circuit 5.

The elevator machine system 4 is a control target of the elevator speed control device, and shows the whole of the machine including the rope, the car, and the balance weight. Therefore, the elevator car of the elevator machine system 4 ascends and descends at the speed Vc in accordance with the motor speed Vm output from the motor speed control circuit 3.

The motor speed detection circuit 5 detects a motor speed Vm, and converts the number of output pulses into a speed at regular intervals by a resolver directly attached to a motor shaft. Similarly, the car speed detection circuit 6 detects the car speed Vc, and converts the number of pulses output from the governor into a speed at regular intervals by a pulse generator mounted on a governor, a detection belt, and the like.

The filter constant gain calculation circuit 7 selects a filter constant Tc and a gain Kd necessary for reducing the influence of the change in the motor characteristics as needed from data in a preset data table, using the car load detection value mc output from the car load detection circuit 9 and the car position detection value y output from the car position detection circuit 10. The data table referred to by the filter constant gain operation circuit 7 is shown in fig. 2.

In the data table shown in fig. 2, the change in the car position in the vertical direction and the change in the car load in the horizontal direction are divided into 3 stages, and the set filter constant and gain are expressed in 9 stages in total. Symbols Tc 11-Tc 33 in the table represent filter constants, and Kd 11-Kd 33 represent gains. These data are set in advance for each model by using parameters corresponding to different mechanical system resonance frequencies at each stage, and are corrected by trial operation of an actual apparatus as necessary. Then, as a filter constant of the car vibration damping circuit 8 and a gain of the gain setting circuit 11 in the vibration damping circuit 13 described later, the filter constant and the gain of the row and the column that match in the data table are read and set based on the car load detection value mc and the car position detection value y. The car load detection value mc here is an average value of data detected after a plurality of detections before the operation.

Conventionally, in a rope-lift type elevator, a problem of a change in load due to a change in passengers and a problem of a change in spring constant due to a change in rope length are great problems in improving controllability. In the invention, the filter constant gain operation circuit 7 and the damping circuit 13 are adopted, so that the load change and the spring coefficient change can be compensated.

As shown in fig. 3, the damping circuit 13 is composed of the car damping circuit 8 and the gain setting circuit 11. The vibration compensation signal Vb for suppressing vibration of the elevator car is calculated from the car speed command value Vcref2, the detected car speed value Vcfb, and the filter constant Tc and gain Kd output from the filter constant gain operation circuit 7, and the car speed command value Vcref2 is compensated.

In order to calculate the vibration compensation signal Vb, in embodiment 1, the damping circuit 13 is configured as shown in fig. 3, in which the car damping circuit 8 is configured by a car speed conversion motor speed estimation circuit 25 and a filter 26, in order to take into account the delay of the motor when evaluating the deviation of the car actual speed Vc from the target value Vcref.

First, the car speed converted motor speed estimation circuit 25 calculates a car speed converted motor speed estimation value Vmc using the car speed command value Vcref 2. In the car speed conversion motor speed estimation circuit 25, various estimation methods can be applied, and in embodiment 1, since it is easy to adopt a configuration in which the actual response of the motor is substantially delayed once, the following expression (3) is used. (3) In the formula, Tm is an adjustment parameter, and is set based on actual device chart recording, numerical simulation, or the like.

Next, the vibration compensation signal Vb is calculated by the filter 26 and the gain setting circuit 11 using the difference Vmce between the car speed converted motor speed estimated value Vmc and the car speed detected value Vcfb. In order to suppress the car vibration, it is necessary to separately extract the resonance frequency component, and therefore, the filter 26 is necessary. This filter 26 attenuates high-frequency noise contained in the car speed detection value Vcfb, and outputs the attenuated high-frequency noise as a compensation signal Vbf for compensating for a predetermined frequency component contained in a difference Vmce between the car speed converted motor speed estimation value Vmc and the car speed detection value Vcfb. Then, the gain setting circuit 11 amplifies the compensation signal Vbf of the filter 26 by a gain Kd to generate and output a vibration compensation signal Vb, and finally, the vibration compensation signal Vb is a car speed converted motor speed estimated value Vmc and a car speed detected value VcfbThe difference Vmce of (a) is a signal obtained by passing the signal through a band-pass filter having characteristics shown in the following expression (4).

Here, Kd is an adjustment gain, Tf is an adjustment parameter, and these values are values selected by the filter constant gain operation circuit 7.

The operation of the elevator speed control device according to embodiment 1 configured as described above is as follows. In the target value tracking control circuit 1, a car speed compensation signal Vce1 necessary for causing the car actual speed Vc to track the car speed command value Vcref is calculated using a speed deviation Vce between the car speed command value Vcref and the car speed detection value Vcfb. Then, the car speed command value Vcref and the car speed compensation signal Vce1 are summed by the adder 23, and the car speed command value Vcref1 is calculated. The speed conversion circuit 2 receives a car speed command value Vcref2 as an input, and the car speed command value Vcref2 is obtained by superimposing the vibration compensation signal Vb output from the vibration damping circuit 13 on the car speed command value Vcref1 output from the target value tracking control circuit 1 via the adder 23, and is converted into a motor speed command value Vmref, and is output. Here, the car speed command value Vcref2 is expressed by the following expression (5).

Vcref2＝Vcref+Vce1-Vb Λ(5)

In the motor speed control circuit 3, the motor speed Vm is made to follow the motor speed target value Vmref by feeding back the motor speed detection value Vmfb detected by the motor speed detection circuit 5. Thereby, the motor speed Vm of the elevator machine system 4 to be controlled is controlled, and the elevator car of the elevator machine system 4 is raised and lowered at the speed Vc in accordance with the motor speed Vm.

Here, the filter constant gain calculation circuit 7 selects the filter constant Tc and the gain Kd necessary for reducing the influence due to the change in the motor characteristics from the data table data shown in fig. 2, using the car load detection value mc and the car position detection value y. Then, the car vibration damping circuit 8 and the gain setting circuit 11 of the vibration damping circuit 13 calculate a vibration compensation signal Vb for suppressing elevator vibration by using the car speed command value Vcref2, the car speed detection value Vcfb, and the filter constant Tc and the gain Kd selected by the filter constant gain calculation circuit 7, superimpose the calculated vibration compensation signal Vb on the car speed command value Vcref1, thereby obtaining a car speed command value Vcref2 for suppressing vibration compensation according to the above expression (5), and input the car speed command value Vcref2 to the speed conversion circuit 2.

As described above, according to the elevator speed control device of embodiment 1, the filter constant gain operation circuit 7 is configured to perform selection of the filter constant Tc and the gain Kd in accordance with both the car position and the car load, and to effectively suppress car vibration by selecting the optimum filter constant Tc and the optimum gain Kd for the filter constant gain operation circuit 7 regardless of the fluctuation of the load in a specific rotation speed region where strong vibration is likely to occur.

Next, embodiment 2 of the present invention will be described. The elevator speed control apparatus according to embodiment 2 is characterized in that a noise attenuation circuit 12 is additionally provided for attenuating noise included in the detected car speed value Vcfb, as compared with the elevator speed control apparatus according to embodiment 1 shown in fig. 1.

The noise attenuation circuit 12 attenuates a high-frequency noise component generated at the time of car speed detection from the car speed detection value Vcfb, generates a car speed signal Vcfb1 with high accuracy, and inputs the car speed signal Vcfb1 to the target value tracking control circuit 1.

An example of the operational expression of the noise attenuation circuit 12 is shown in expression (6). Here, Tf is an adjustment parameter, which can be simulated according to a numerical valueAnalysis of the car speed detection value Vcfb, and the like.

The noise attenuation circuit 12 can attenuate high-frequency noise contained in a speed command signal input from a conventional motor, and can realize accurate car speed control.

Next, embodiment 3 of the present invention will be described. The elevator speed control device of embodiment 3 is characterized in that the H ∞ control is applied to the target value tracking control circuit 1 of the elevator speed control device of embodiment 1 shown in fig. 1. Since the H ∞ control includes functions of vibration suppression and high-frequency noise attenuation, the noise attenuation circuit 12 employed in embodiment 2 is not necessary. However, the filter constant gain operation circuit 7, the car vibration reduction circuit 8, and the gain setting circuit 11 are necessary as means for compensating for the change in the elevator characteristics. The reason for this is as follows.

In the H ∞ control, an error included in a controlled object is modeled, and target value tracking performance is pursued within a permissible range of the error, so that when a variation in the controlled object is large, the target value tracking performance has to be set low. However, in elevator control, characteristic changes due to variations in the number of passengers and variations in the rope length are large. Therefore, it is impossible to obtain the necessary target value tracking performance by the H ∞ control without compensating for the elevator characteristic changes.

In the elevator speed control device according to embodiment 3, similarly to embodiment 1, first, the variation in the elevator characteristic is compensated, and then, the target value tracking control is performed by the H ∞ control, whereby speed control which is less affected by the variation in the elevator characteristic and has excellent performance in suppressing vibration is possible. The design using H ∞ control can be easily performed using commercially available software, for example, "MATLAB" (manufactured by japan サィバネットシステム corporation).

Next, embodiment 4 of the present invention will be described with reference to fig. 5 and 6. In the elevator speed control devices according to embodiments 1 to 3, the filter constant gain calculation circuit 7 has a data table as shown in fig. 2, and selects the filter constant Tc and the gain Kd with reference to the data table with respect to the car load detection value mc output from the car load detection circuit 9 and the car position detection value y output from the car position detection circuit 10. In addition, in embodiment 4, a filter constant gain operation circuit 70 is provided instead of the filter constant gain operation circuit 7. The filter constant gain calculation circuit 70 calculates the filter constant Tc and the gain Kd by a function operation using the car load detection value mc output from the car load detection circuit 9 and the car position detection value y output from the car position detection circuit 10 as parameters. Since other constituent elements are the same as those in embodiment 1, the same reference numerals are given to the same elements.

Fig. 6 shows a filter constant gain operation circuit 70 as a characteristic part of embodiment 4, which is composed of: a car position unitizing circuit 71, a car load unitizing circuit 72, adders 73 and 74, a filter constant change width setting circuit 75, a gain change width setting circuit 76, a filter constant variable compensating circuit 77, a gain variable compensating circuit 78, adders 79 and 710, a filter constant limiter 711, and a gain limiter 712.

The car position unitizing circuit 71 and the car load unitizing circuit 72 divide the detected car position value y and the detected car load value mc by the maximum value so that addition and subtraction can be performed by the adders 73 and 74, thereby obtaining the unknown number.

The filter constant variation range setting circuit 75 and the gain variation range setting circuit 76 calculate the variation range Δ Tc of the filter constant Tc and the variation range Δ Kd of the gain Kd, which are necessary for compensation based on the characteristic variation of the elevator machine system 4, by the following expressions (7) and (8), respectively, and divide them by 2. Here, Tcmax and Tcmin are the maximum and minimum values of the filter constant Tc, and Kdmax and Kdmin are the maximum and minimum values of the gain Kd. The reason why the calculation results of the expressions (7) and (8) are divided by 2 is that the values of Δ Tc and Δ Kd after the unitization change within the range of-2 to +2, and are performed to convert the results into the range of-1 to + 1.

ΔTc＝Tcmax-Tcmin Λ(7)

ΔKd＝Kdmax-Kdmin Λ(8)

The filter constant variable compensation circuit 77 and the gain variable compensation circuit 78 set central values, that is, compensation amounts Tcoffset and Kdoffset, for the change widths Δ Tc/2 and Δ Kd/2 obtained by the filter constant change width setting circuit 75 and the gain change width setting circuit 76. This center value is obtained by a simulation performed in advance.

The adder 79 outputs the result of summing the change width Δ Tc/2 output from the filter constant change width setting circuit 75 and the center value output from the filter constant variable compensation circuit 77 to the filter constant limiter 711, and the filter constant limiter 711 limits the result of summing to a certain value so that the result operates in a stable region, thereby preventing malfunction and divergence. Similarly, the adder 710 outputs the sum of the variation Δ Kd/2 output from the gain variation setting circuit 76 and the center value output from the gain variable compensation circuit 78 to the gain limiter 712, and the gain limiter 712 limits the sum to a certain value so that the sum operates in a stable region, thereby preventing malfunction and divergence. Here, the stable region is obtained by a simulation performed in advance.

As a result, the filter constant Tc and the gain Kd calculated by the filter constant gain operation circuit 70 are expressed by the following expressions (9) and (10). (9) Formulas (I), (II), (III), (IV) and (10)The term of]The numerical value in | represents the numerical value after the unitization, and the numerical value in | represents the numerical value after the amplitude limiting.

As can be seen from the configurations of equation (9), (10), and fig. 6, the filter constant gain calculation circuit 70 treats the car position and the car load as equivalent parameters, calculates the optimum filter constant Tc using the fact that the resonance frequency of the known elevator mechanical system 4 increases as the car position increases or the car load decreases, and calculates the gain Kd using the fact that the optimum gain for suppressing vibration increases as the car position increases or the car load increases.

The elevator speed control device according to embodiment 4 including the filter constant gain operation circuit 70 having the above-described configuration operates in the same manner as that of embodiment 1 shown in fig. 1. In the target value tracking control circuit 1, a car speed compensation signal Vce1 required for causing the car actual speed Vc to track the car speed command value Vcref is calculated using a speed deviation Vce between the car speed command value Vcref and the car speed detection value Vcfb. Then, the car speed command value Vcref and the car speed compensation signal Vce1 are summed by the adder 23, and the resultant car speed command value Vcref1 is output.

The speed conversion circuit 2 receives the car speed command value Vcref2, and the car speed command value Vcref2 is obtained by adding the vibration compensation signal Vb output from the vibration damping circuit 13 to the car speed command value Vcref1 output from the adder 23, and the value is converted into a motor speed command value Vmref and output to the motor speed control circuit 3. In the motor speed control circuit 3, the motor speed Vm is made to follow the motor speed target value Vmref by feeding back the motor speed detection value Vmfb detected by the motor speed detection circuit 5. Thereby, the motor speed Vm of the elevator machine system 4 to be controlled is controlled, and the elevator car of the elevator machine system 4 is raised and lowered at the speed Vc in accordance with the motor speed Vm.

Here, the filter constant gain calculation circuit 70 calculates the above equations (9) and (10) using the car load detection value mc and the car position detection value y, calculates the filter constant Tc and the gain Kd necessary for reducing the influence due to the change in the motor characteristics, and outputs the calculated values to the vibration damping circuit 13.

In the damping circuit 13 that receives the filter constant Tc and the gain Kd output from the filter constant gain operation circuit 70, as in embodiment 1, the car damping circuit 8 and the gain setting circuit 11 calculate the vibration compensation signal Vb for suppressing the elevator vibration using the car speed command value Vcref2, the car speed detection value Vcfb, the filter constant Tc, and the gain Kd, and superimpose the calculated signal on the car speed command value Vcref1, thereby obtaining the car speed command value Vcref2 for suppressing the vibration compensation according to the above expression (5), and input the car speed command value Vcref2 to the speed conversion circuit 2.

In this way, in the elevator speed control device according to embodiment 4, the filter constant gain calculation circuit 70 is configured to calculate the filter constant Tc and the gain Kd, and since both the car position and the car load are involved in the calculation, the load varies in any case in a specific rotation speed region where strong vibration is likely to occur, and the filter constant gain calculation circuit 70 can effectively suppress car vibration by calculating and determining the optimum filter constant Tc and gain Kd for the variation.

Further, the 4 th embodiment has the following features different from those of the 1 st embodiment. The elevator speed control device according to embodiment 1 is configured such that: the filter constant gain calculation circuit 7 refers to a data table shown in fig. 2 registered in advance, and selects a filter constant Tc and a gain Kd corresponding to a combination of the car load detection value mc and the car position detection value y. To improve the resolution, the data amount of the data table becomes large by performing finer speed control, and the memory capacity needs to be increased.

In the case of embodiment 4, the filter constant gain calculation circuit 70 calculates the filter constant Tc and the gain Kd by substituting the input car position detection value y and the car load detection value mc as parameters into expression (9) and expression (10). Therefore, there is an advantage in that the memory capacity depending on the resolution does not need to be increased.

Next, embodiment 5 of the present invention will be described with reference to fig. 7. The elevator speed control device according to embodiment 5 includes a filter constant gain calculation circuit 700 configured as shown in fig. 7 in place of the filter constant gain calculation circuit 70 of fig. 5. The filter constant gain operation circuit 700 is characterized in that: filters 701 and 702 for removing noise, a limiter 703 for a 2 nd filter constant, and a limiter 704 for a 2 nd gain are added to the filter constant gain operation circuit 70 of the 4 th embodiment shown in fig. 6.

The filters 701 and 702 are used to remove noise components contained in the car position detection signal and the car load detection signal. The noise removal filter 701 outputs the signal y1 with the noise removed by equation (11). In addition, the noise cancellation filter 702 is also calculated using the same equation. Here, Tn in the formula (11) is an adjustment parameter, and is set based on the result of detection values.

As described above, the noise cancellation filters 701 and 702 can prevent malfunction due to surge in the detection value, and can compensate for characteristic variation with high accuracy.

The limiter 703 for the 2 nd filter constant and the limiter 704 for the 2 nd gain limit the addition/subtraction results of the adders 73 and 74, and are provided to prevent a malfunction caused by exceeding a certain variable width (the lower limit and the upper limit of the variable width are a unit numerical value, respectively-2 and + 2). The limiter 703 of the 2 nd filter constant and the limiter 704 for the 2 nd gain are used to limit the calculation result in cooperation with the limiters 711 and 712 of the final stage, and thus, malfunction can be prevented doubly.

As a result, the filter constant Tc and the gain Kd calculated by the filter constant gain operation circuit 700 according to embodiment 5 are expressed by the following expressions (12) and (13). (12) In formulae (1) and (13)<>The value in (A) represents a value after filtering (2)]The numerical value in | represents the numerical value after the unitization, and the numerical value in | represents the numerical value after the amplitude limiting.

In the present invention, an elevator speed control device for controlling a rope-lift type elevator has been described, but the present invention can also be applied to speed control of a valve-open type hydraulic elevator and a converter type hydraulic elevator. Further, the present invention can also be applied to speed control of other lifting devices such as a stage device.

According to the elevator speed control device of the present invention described above, it is possible to perform high-precision raising/lowering speed control without being affected by resonance of a specific frequency that changes with changes in the car position and the car load of the elevator mechanical system, and it is possible to operate comfortably.

Claims (8)

1. An elevator speed control apparatus, the apparatus comprising:

a car speed detection device for detecting the speed of the car;

a car load detection device for detecting a car load;

a car position detecting device for detecting a car position;

a car speed feedback control device which calculates a car speed compensation signal necessary for the actual speed of the car to track the car speed command value according to the deviation between the given car speed command value and the car speed detection value from the car speed detection device;

a speed conversion device for converting the car speed compensation signal calculated by the car speed feedback control device into a motor speed command signal of the elevator;

a motor speed control device for controlling the speed of the elevator driving motor according to the motor speed command signal output by the speed conversion device;

and a car speed vibration component compensation device for eliminating a resonance frequency component of an elevator mechanical system from the car speed detection value based on a combination of the car load detection value output from the car load detection device and the car position detection value output from the car position detection device, and outputting the resonance frequency component based on the combination of the car load detection value and the car position detection value as a vibration compensation signal for suppressing the resonance frequency component contained in the car speed compensation signal.

2. The elevator speed control apparatus according to claim 1, wherein the car speed detecting means has a high-frequency noise filter for attenuating high-frequency noise of the detected car speed value.

3. The elevator speed control apparatus according to claims 1 and 2, wherein the car speed vibration component compensating means comprises:

a filter constant and gain calculation device that calculates a filter constant and a gain corresponding to a combination of the car load detection value output from the car load detection device and the car position detection value output from the car position detection device;

a filter for setting a band pass frequency based on the filter constant and the filter constant outputted from the gain calculation device, and passing a resonance frequency component of the elevator mechanical system contained in the detected value of the car speed;

and a gain setting device for amplifying the resonant frequency component of the elevator machinery system output from the filter by the filter constant and the gain output from the gain calculation device, and outputting the amplified resonant frequency component as a vibration compensation signal for suppressing the resonant frequency component contained in the car speed compensation signal.

4. The elevator speed control apparatus according to claim 3, wherein the filter constant and gain calculation means includes a data table for selecting a filter constant and a gain corresponding to a combination of the car position detection value and the car load detection value.

5. The elevator speed control apparatus according to claim 3, wherein the filter constant and gain calculation means calculates the filter constant and gain based on a predetermined calculation formula using the detected car position value and the detected car load value as parameters.

6. The elevator speed control apparatus according to claim 5, wherein the filter constant and gain calculating means is constituted by:

a cage position unitizing device for unitizing the cage position detection value;

a car load unitizing device for unitizing the car load detection value;

a filter constant variation range setting device which sets a variation range of the filter constant according to a preset maximum value and a preset minimum value, and multiplies a value of the variation range by an output value deviation between the car position unitizing device and the car load unitizing device;

filter constant adder for summing up a preset compensation amount and an output value outputted from the filter constant variation range setting means, and outputting the sum as the filter constant;

gain variation range setting means for setting a variation range of the gain on the basis of a maximum value and a minimum value which are set in advance, and multiplying a value of the variation range by an output value deviation between the car position unitizing means and the car load unitizing means;

and a gain adder for summing a predetermined offset and the output value from the gain variation width setting means to output the sum as the gain.

7. The elevator speed control apparatus according to claim 5, wherein the filter constant and gain calculating means is constituted by:

a cage position unitizing device for unitizing the cage position detection value;

a car load unitizing device for unitizing the car load detection value;

a filter constant variation range setting device which sets a variation range of the filter constant according to a preset maximum value and a preset minimum value, and multiplies a value of the variation range by an output value deviation between the car position unitizing device and the car load unitizing device;

filter constant adder for summing up a preset compensation amount and an output value outputted from the filter constant variation range setting means, and outputting the sum as the filter constant;

a filter constant limiter for limiting the filter constant output from the filter constant adder to prevent malfunction;

gain variation range setting means for setting a variation range of the gain on the basis of a maximum value and a minimum value which are set in advance, and multiplying a value of the variation range by an output value deviation between the car position unitizing means and the car load unitizing means;

a gain adder for summing a predetermined offset and the output value outputted from the gain variation width setting means to output the sum as the gain;

a gain limiter for limiting the gain output from the gain adder to prevent malfunction.

8. The elevator speed control device according to claim 3, wherein the car speed feedback control device performs H ∞ control.