WO2007039927A1 - Control device for elevator - Google Patents

Abstract

A control device for an elevator has a speed controller for controlling the speed of an elevator car, a deceleration stop distance calculation means for calculating the deceleration stop distance when the car is stopped normally, an advance position calculation means for calculating the advance position of the car by adding the deceleration stop distance, calculated by the deceleration stop distance calculation means, to the current position of the car, and a next stop floor setting means for setting a floor at which the car stops next time, the setting being made by comparing the position of a destination floor having been registered by car call registration and the advance position. The speed controller calculates the maximum speed, acceleration, and jerk based on information from a weigher and the next stop floor setting means. Then, the speed controller creates, based on the calculated maximum speed, acceleration, and jerk, a speed pattern applied until the car stops normally at the net-stop floor, and controls the car according to the speed pattern.

Description

 Specification

 Elevator control device

 Technical field

 TECHNICAL FIELD [0001] The present invention relates to an elevator control device that controls the speed of a car according to, for example, a load in the car.

 Background art

 [0002] A conventional elevator speed control device has been proposed that obtains a position where landing can precede the current position of the car and controls the speed of the force according to the position where landing is possible. Yes. In such a conventional speed control device, a destination floor is registered by a force call, and it is determined whether or not the car can land on the registered destination floor. When it is determined that the force can be landed, a speed pattern corresponding to the current position of the force and the destination floor is generated regardless of the load in the force. The speed of the force is controlled according to the generated speed pattern (see Patent Document 1).

 [0003] Patent Document 1: Japanese Patent Laid-Open No. 4 20469

 Disclosure of the invention

 Problems to be solved by the invention

 [0004] However, in order to efficiently move the force cage, when the speed pattern generation is changed depending on the load in the car, when the load in the car changes due to passenger getting on and off, At least one of the maximum speed, acceleration and jerk of the force will be changed. Therefore, depending on the conventional speed control device, the position where the force can be landed cannot be obtained for all speed patterns.

 [0005] The present invention has been made to solve the above-described problems, and can move the force more efficiently, and can normally stop to the destination floor where the force call registration was made. It is an object of the present invention to provide an elevator control device that can more accurately determine whether or not it is possible to stop.

 Means for solving the problem

[0006] The elevator control apparatus according to the present invention is based on car call registration! The maximum speed, acceleration and jerk are calculated based on the information from the next stop floor setting means for setting the stop floor, the weighing device for detecting the load in the car, and the next stop floor setting means. Based on the maximum speed, acceleration, and jerk, the speed pattern until the car normally stops at the next stop floor is generated, and the speed controller that controls the speed of the car according to the speed pattern Based on this, the advance position is calculated by adding the deceleration stop distance to the current position of the car, and the deceleration stop distance calculation means for calculating the deceleration stop distance when the car is normally stopped from the current position of the force. The next stop floor setting means sets the next stop floor by comparing the position of the destination floor with the force call registration and the advance position. It is made as to that.

 Brief Description of Drawings

 FIG. 1 is a schematic configuration diagram showing an elevator according to Embodiment 1 of the present invention.

 FIG. 2 is a graph showing an example of a car speed pattern generated by the speed controller of FIG. 1.

 FIG. 3 is a graph showing temporal changes in the speed and acceleration of the car for calculating the deceleration stop distance of the force when the car call registration is performed at time T in FIG.

 FIG. 4 is a flowchart showing a calculation operation of the control device of FIG.

 FIG. 5 is a flowchart showing a calculation operation in mode 1 of FIG.

 FIG. 6 is a flowchart showing a calculation operation in mode 2 of FIG.

 FIG. 7 is a flowchart showing a calculation operation in mode 3 of FIG.

 FIG. 8 is a flowchart showing a calculation operation in mode 4 of FIG.

 FIG. 9 is a graph showing temporal changes in the current position and advance position of the force calculated by the calculation operation of FIG.

 BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

 Embodiment 1.

FIG. 1 is a schematic configuration diagram showing an elevator according to Embodiment 1 of the present invention. In the figure, a lift 2 and a counterweight 3 are provided in the hoistway 1 so as to be lifted and lowered. . At the upper part of the hoistway 1, a lifting machine (driving device) 4 for raising and lowering the force 2 and the counterweight 3 is provided. The lifting machine 4 has a lifting machine body 5 including a motor, and a driving sheave 6 that is rotated by the lifting machine body 5. A plurality of main ropes 7 are hung on the driving sheave 6. The force 2 and the counterweight 3 are suspended in the hoistway 1 by the main ropes 7. The force 2 and the counterweight 3 are moved up and down in the hoistway 1 by the rotation of the drive sheave 6.

 The upper machine body 5 is provided with an encoder (detector) 8 that generates a signal corresponding to the rotation of the drive sheave 6. Further, the car 2 is provided with a scale device 9 for detecting the weight in the force cage 2 as a load. Information from each of the encoder 8 and the scale device 9 is transmitted to the control device 10 of the elevator.

 [0010] The control device 10 controls the speed of the car 2 by controlling the driving of the lifting machine 4, and based on the information from the speed controller 11, the current position of the force 2 SYNC From the above, the deceleration stop distance calculation means 12 for calculating the deceleration stop distance when the car 2 is stopped by the motor deceleration operation of the upper machine body 5 (that is, when the car 2 is normally stopped), and the deceleration stop distance Advanced position calculation means 13 for calculating the deceleration stop position (advance position ADVN) of car 2 by adding the deceleration stop distance calculated by calculation means 12 to the current position SYNC of car 2 and advanced position calculation Next stop floor setting means 14 is provided for setting the next stop floor of the force 2 on the basis of the information from the means 13 and the car call registration information.

 The control device 10 includes a computer having an arithmetic processing unit (CPU), a storage unit (ROM, RAM, etc.) and a signal input / output unit. The functions of the speed controller 11, the deceleration stop distance calculating means 12, the advance position calculating means 13 and the next stop floor setting means 14 are realized by the computer of the control device 10.

[0012] That is, a program for realizing the functions of the speed controller 11, the deceleration stop distance calculating means 12, the advanced position calculating means 13 and the next stop floor setting means 14 is stored in the storage unit of the computer. Yes. In addition, data of arithmetic expressions, information on the encoder 8, the scale device 9, and the like are also stored in the storage unit. The arithmetic processing unit executes arithmetic processing related to the function of the control device 10 based on a program stored in the storage unit. [0013] Based on the information from each of the scale device 9 and the next stop floor setting means 14, the speed controller 11 changes the time change of the speed of the car 2 until the force 2 normally stops at the next stop floor. Generate as a velocity pattern. That is, the speed controller 11 obtains the maximum speed, acceleration and jerk by calculation based on the load in the force 2 and the position of the next stop floor, and based on the obtained maximum speed, acceleration and jerk, Force 2 Speed pattern is generated. Further, the speed controller 11 detects the speed of the force 2 based on the information from the encoder 8, and the upper body is connected via the inverter 15 so that the detected speed of the car 2 follows the speed pattern. Control 5

 [0014] The deceleration stop distance calculating means 12 and the advance position calculating means 13 always obtain the deceleration stop distance and the advance position at a constant calculation cycle.

 [0015] The next stop floor setting means 14 compares the advance position ADVN of the force 2 calculated by the advance position calculation means 13 with the position of the destination floor where the force call is registered. The next stop floor is set. In other words, the next stop floor setting means 14 excludes the destination floor from the next stop floor target when the advance position ADVN of the car 2 is ahead of the current position power of the car 2 ahead of the destination floor. When the advanced position ADVN is at the same position as the destination floor or when the advanced position ADVN is in front of the destination floor with respect to the car 2, the destination floor is set as a candidate for the next stop floor. Among the candidates for the next stop floor, the destination floor closest to Riki 2 is the next stop floor.

 FIG. 2 is a graph showing an example of the speed pattern of the car 2 generated by the speed controller 11 of FIG. As shown in the figure, in the speed pattern generated by the speed controller 11, the speed of the force 2 is the time T3 from the time the force 2 starts moving until the force 2 is normally stopped. It is set to reach the maximum speed V0. That is, the speed pattern is set so that the force 2 is accelerated from the start of movement until the time T3, and after the time T3 has elapsed, the force 2 is decelerated until the force 2 is normally stopped. The

[0017] In addition, in the speed pattern, the starting jerk time in which the acceleration of the force 2 increases with time and the acceleration of the car 2 is constant so that the speed of the force 2 reaches the maximum speed V0 at time T3. A constant acceleration time and an acceleration rounding time in which the acceleration of the car 2 decreases with the passage of time are set. Also, when shifting from startup jerk time to constant acceleration time The time force is ST1, and the time when shifting from the constant acceleration time to the acceleration rounding time is T2 (Τ2> Tl).

 [0018] Further, in the speed pattern, the deceleration rounding time during which the acceleration (deceleration) in the direction opposite to the moving direction of the car 2 increases with the lapse of time from the time T3 until the car 2 is normally stopped, A constant deceleration time is set for constant deceleration of the force 2 and a landing jerk time for which the deceleration of the car 2 decreases with time. The time when shifting from the deceleration rounding time to the constant deceleration time is T4, and the time when shifting from the constant deceleration time to the landing jerk time is T5 (T5> T4).

 [0019] The distance from the start of the movement of the car 2 to the normal stop of the car 2 is represented by the area in the range surrounded by Q2-K2-L2-Q2 in FIG.

 Next, the operation of the control device 10 will be described. If a car call registration is performed while car 2 is stopped on any floor, the next stop floor setting means 14 will be closest to power 2 among the destination floors where the car call registration was made. The destination floor is set as the next stop floor. Thereafter, the speed controller 11 generates a speed pattern of the car 2 until the current position force of the car 2 is normally stopped at the next stop floor. The speed pattern at this time is a speed pattern according to the load in the car 2 when the movement of the car 2 is started.

 Thereafter, the force 2 is moved by the control of the speed controller 11 until the next stop floor while changing the speed according to the generated speed pattern. At this time, the speed controller 11 constantly detects the speed of the car 2 based on the information from the encoder 8, and controls the rotational speed of the drive sheave 6 so that the speed of the force 2 follows the speed pattern.

 [0022] If the car call registration is performed while the car 2 is moving, among the four different operation modes MOD (modes 1 to 4) set according to the time zone in the speed pattern. The deceleration stop distance and the advance position are calculated by the calculation mode MOD corresponding to the time when the force call registration is performed.

[0023] That is, the deceleration stop distance and the advance position are determined by the calculation operation in mode 1 when the time when the car call registration is performed is within the time up to time T1 (starting jerk time). If it is calculated and is within the time from time T1 to time T2 (constant acceleration time), it is calculated by the operation of mode 2, and the time from time T2 to time T3 (at the time of acceleration rounding) Between the time T3 and the time until the car 2 normally stops, it is calculated by the mode 4 operation.

[0024] FIG. 3 is a graph showing temporal changes in the speed and acceleration of the force 2 for calculating the deceleration stop distance of the car 2 when the car call registration is performed by time T1 in FIG. is there. As shown in the figure, for example, when car call registration is performed within the start-up jerk time, after the start-up jerk time Tj is over, the process proceeds directly to the acceleration round-off time Ta, and after the deceleration round-up time Td is over, Immediately shift to landing jerk time T1. The deceleration stop distance of the force 2 is represented by the area enclosed by J1-IO-Q1-J1 in Fig. 3. That is, the calculation operation in mode 1 is to calculate the deceleration stop distance by calculating the area surrounded by J1-IO-Q1-J1 in Fig. 3, and add the deceleration stop distance to the current position of car 2. This means an operation for calculating the advance position. In this example, the acceleration of the car 2 when the acceleration rounding time Ta starts is 痫 a, and the acceleration of the car 2 when the deceleration rounding time Td ends is 痫 d.

 Next, a calculation operation when calculating the advance position of the control device 10 will be described. FIG. 4 is a flowchart showing the calculation operation of the control device 10 of FIG. The arithmetic operation of the control device 10 is always performed at a constant cycle. As shown in the figure, in the controller 10, first, the speed controller 11 determines whether or not the car 2 is stopped (S11). When the car 2 is stopped, the current position SYNC of the car 2 is set as an initial value in each of the start position STAT and the advance position ADVN where the movement of the car 2 is started (S12). Further, 0 is set as an initial value in the counter TC (S 13), and mode 1 is set as an initial value in the calculation mode MOD for calculating the advance position ADVN (S 14). After this, the mode 1 operation is performed and the operation is completed.

[0026] If the car 2 is not stopped, it is after the movement of the car 2 is started. Therefore, the advanced position ADVN, the start position STAT, the counter TC, and the calculation mode MOD are calculated up to the previous time. The value is set by operation. In this case, the next stop floor setting means 14 determines whether or not the advance position ADVN is equal to or higher than the position STOP of the destination floor where the force call registration was made (S15). Advance position ADVN cannot be stopped at destination stop position STOP if ADVN is greater than destination stop position ST OP Therefore, the calculation operation ends.

 When the advance position ADVN is smaller than the destination floor position STOP, 1 is added to the counter TC by the next stop floor setting means 14 (S 16). Thereafter, the speed controller 11 determines whether or not the calculation mode MOD is in mode 1 (S17). If mode 1 is selected, mode 1 calculation is performed (S30), and the calculation operation ends.

 If the mode is not mode 1, the speed controller 11 determines whether or not the calculation mode MOD is in mode 2 (S18). If the mode is 2, the mode 2 calculation is performed (S40), and the calculation operation ends.

 If the mode is not mode 2, the speed controller 11 determines whether or not the calculation mode MOD is in mode 3 (S19). If the mode is 3, the mode 3 calculation is performed (S50), and the calculation operation ends.

 [0030] When the mode is not mode 3, whether or not the operation mode MOD is mode 4 is determined by the speed controller 11 (S20). If the mode is 4, the mode 4 calculation is performed (S60), and the calculation operation ends. If it is not mode 4, the calculation operation ends.

 [0031] Next, the operation in mode 1 will be described. FIG. 5 is a flowchart showing the calculation operation (S30) in mode 1 of FIG. As shown in the figure, first, it is determined whether or not the force of the counter TC is greater than or equal to time T1 (S31). When the time of counter TC is smaller than time T beam, the distance BIAS from the start of movement of force 2 to the normal stop of force 2 is J1-K1-Q1-J1 in Fig. 3. Since it is expressed by the area of the enclosed range, it can be obtained by equation (1).

[0032] BIAS = (l / 6) (aa · Tj ² — aa · Ta ² — ad · Td ² + ad · if)

 + (1/2) a a (Tj + Ta) (Ta + Td) (1)

[0033] Thereafter, the advanced position ADVN is obtained by equation (2) using the distance BIAS obtained by equation (1) and the start position STAT of the car 2 (S32), and the calculation operation ends.

[0034] ADVN = STAT + BIAS---(2)

 When the time of counter TC is equal to or greater than time T1, the calculation mode MOD is set to mode 2 (S33) because the calculation is not performed within the start-up jerk time, and the calculation operation ends.

Next, the operation in mode 2 will be described. Figure 6 shows the operation of mode 2 in Figure 4 ( It is a flowchart which shows S40). As shown in the figure, first, it is determined whether or not the force of the counter TC is greater than or equal to time T2 (S41). When the time of the counter TC is smaller than the time T2, since the time of the counter TC belongs within the constant acceleration time (time from the time T1 to the time T2) in FIG. 2, the advance position ADVN is If the speed of the car 2 at the time is V, it can be obtained from equation (3) (S42).

[0037] ADVN = (V + (l / 2) a a-Ta) (Ta + Td) + (l / 6) (-a a-Ta ² -a d-Td ² + a d-Tl ² )

 + (1/2) a d (V + (l / 2) a a'Ta- (1/2) a d'Td- (1/2) a d-Tl)

 + (l / 2) Tl (V + (l / 2) a a'Ta- (1/2) a d'Td— (1/2) a d-Tl) (3)

 [0038] On the other hand, when the value of counter TC is equal to or greater than time T2, the calculation mode MOD is set to mode 3 (S43) because the calculation is not performed within the constant acceleration time (S43), and the calculation operation ends.

 [0039] Next, the operation in mode 3 will be described. FIG. 7 is a flowchart showing the calculation operation (S50) in mode 3 of FIG. As shown in the figure, first, it is determined whether or not the force of the counter TC is greater than or equal to time T3 (S51). When the time of counter TC is smaller than time T3, the time of counter TC belongs to the acceleration rounding time (time from time T2 to time T3) in Fig. 2, so the speed of force 2 is always Follow 2 speed pattern. Therefore, the distance from the start position STAT of the force 2 to the normal stop of the car 2 is always the area in the range surrounded by Q2-K2-L2-Q2 in FIG. Therefore, in this case, the advance position ADV N is constant at the position when the constant acceleration time ends (time T2), and does not change even if the time elapses. Thereby, when the time of the counter TC is smaller than the time T3, the calculation operation is finished as it is.

 [0040] If the time of counter TC is equal to or greater than time T3, the calculation mode MOD is set to mode 4 (S52) because the calculation is not performed within the accelerated rounding time (S52), and the calculation operation ends.

[0041] Next, the operation in mode 4 will be described. FIG. 8 is a flowchart showing the calculation operation (S60) in mode 4 of FIG. As shown in the figure, when the calculation mode MOD is set to mode 4, the time of the counter TC is the time when the force 2 is moving at the maximum speed (rated speed) V0 or the speed of the car 2 is decelerated. One of the times when you are. Since the deceleration stop distance DSLR at this time is constant within the area surrounded by J2-K2-L2-J2 in Fig. 2, it can be obtained from Equation (4). [0042] DSLR = V0 · Td— (1/6) ad · Td ² + (l / 2) ad · t ² + (l / 2) a d-Tl- t + (l / 6) ad · Τ1 ² · · · (Four)

[0043] Note that t is a constant deceleration time from time T4 to time T5.

 [0044] Further, the advance position ADVN is obtained by equation (5) using the current position SYNC of the car 2 and the deceleration stop distance DSLR.

[0045] ADVN = SYNC + DSLR · '· (5)

 Therefore, when the calculation mode MOD is set to mode 4, the advance position ADVN is calculated by the equation (5) (S61), and the calculation operation ends.

 FIG. 9 is a graph showing temporal changes in the current position SYNC and the advance position ADVN of the car 2 calculated by the calculation operation of FIG. As shown in the figure, when the time of the counter TC belongs within the starting jerk time (within the time from the start of the movement of the car 2 to the time T1) or within the acceleration rounding time (within the time from the time T2 to the time T3) When the advance position is constant and the time of the counter TC belongs within a certain acceleration time (time T1 to time T2), the deceleration between the advance position ADVN and the current position SYNC of the car 2 When the time of the counter TC belongs within the time from the end of the acceleration rounding time to the normal stop of the force 2 after the stop distance increases with the passage of time, the advance position ADVN and the current position of the car 2 Deceleration stop distance DSLR with SYNC becomes constant.

 [0048] In FIG. 9, for example, when the car call for the destination floor on the Nth floor occurs at the time Tn of the counter TC, the advance position ADVN has already advanced ahead of the position of the lower floor. Pass the Nth floor without answering the car call. On the other hand, when the car call for the destination floor on the (N + 1) floor occurs at time Tn of the counter TC, the advance position ADVN is in front of the position on the (N + 1) floor. Respond to the call and stop normally on the N + 1 floor

[0049] In such an elevator control device, the speed controller 11 calculates the maximum speed, acceleration, and jerk based on the load in the car 2 and the position of the next stop floor, respectively, The speed pattern of the force 2 is generated based on the acceleration and jerk, and the advance position calculation means 13 adds the deceleration stop distance of the force 2 to the current position of the car 2 to thereby advance the advance position. ADVN is calculated, and the next stop floor setting means 14 determines the position of the destination floor where the force call was registered and the advance position ADVN of force 2 The next stop floor is set by comparing the two, so even if the load pattern in the car 2 changes due to passengers getting on and off and the speed pattern of the force 2 is changed, the speed The advance position ADVN can be determined more accurately according to the pattern. As a result, the force 2 can be moved more efficiently, and it can be more accurately determined whether or not a normal stop to the destination floor where the force call is registered is possible.

 [0050] Note that the deceleration stop distance calculation means 12 may set the deceleration stop distance according to at least one of the load in the force 2 and the position of the next stop floor as an initial value. Good. In this way, the force 2 can be moved efficiently, and even if the speed pattern of the force 2 is changed, the deceleration stop distance corresponding to the changed speed pattern is calculated. be able to.

 [0051] Further, the deceleration stop distance calculation means 12 calculates the deceleration stop distance based on the minimum deceleration set in the speed controller 11, and sets the calculated deceleration stop distance as an initial value (minimum value). It may be. In this case, the initial value of the deceleration stop distance is set when the movement of the car 2 is started. In this way, since the initial value of the deceleration stop distance can be maximized at the start of the movement of the force 2, the maximum speed, acceleration and acceleration can be increased by the speed controller 11 after the movement of the force 2 is started. Even when the speed pattern is changed so that the acceleration is reduced, the car 2 can be prevented from decelerating and the over-traveling position of the next stop floor is prevented.

[0052] Further, the deceleration stop distance calculation means 12 determines the deceleration stop distance of the car 2 based on the information of the current detector force that measures the current (motor current) supplied to the motor of the lifting machine body 5. May be calculated. Further, the deceleration stop distance calculating means 12 may calculate the deceleration stop distance of the car 2 based on the information on the torque command device force that generates a torque command to the motor. In this way, the deceleration stop distance of the car 2 can be calculated more accurately, and it is possible to more accurately determine whether or not a normal stop to the destination floor where the force call registration was possible is possible. it can. Therefore, for example, even when the speed of the car 2 cannot be moved according to the speed pattern in which the lifting loss of the car 2 is large and the speed pattern is changed, the deceleration stop distance corresponding to the changed speed pattern is set. It can be calculated more accurately. Also, when the overspeed detection level is set so as to continuously decrease toward the bottom of the hoistway 1 near the upper and lower end of the hoistway 1, and the speed of the force 2 exceeds the overspeed detection level When a forced deceleration device that forcibly brakes the movement of the car 2 is installed in the elevator, the deceleration stop distance calculation means 12 is such that the speed of the force 2 is smaller than the overspeed detection level. The deceleration stop distance of the car 2 is calculated based on the deceleration set in this way. In this case, the movement of the car 2 is forcibly braked by operating the brake device mounted on the lifting machine 4 to brake the rotation of the drive sheave 6. In this way, when the car 2 is stopped at the terminal floor, the speed of the car 2 does not exceed the overspeed level, and malfunction of the forced reduction gear can be prevented.

Claims

The scope of the claims  [1] Based on the car call registration! /, The next stop floor setting means for setting the next stop floor of the force, the weighing device for detecting the load in the force and the next stop floor setting means Based on the force information, the maximum speed, acceleration and jerk are calculated. Based on the calculated maximum speed, acceleration and jerk, the speed at which the car normally stops at the next stop floor is calculated. A speed controller that generates a pattern and controls the speed of the car according to the speed pattern;  A deceleration stop distance calculating means for calculating a deceleration stop distance when the car is normally stopped from the current position of the car based on information from the speed controller; and  Advance position calculation means for calculating an advance position by adding the deceleration stop distance to the current position of the car  With  The next stop floor setting means is configured to set the next stop floor by comparing the position of the destination floor where the car call registration was made with the advance position! Elevator control device. [2] The deceleration stop distance calculation means uses the deceleration stop distance according to at least one of the load in the car and the position of the next stop floor as an initial value when the force movement starts. 2. The elevator control device according to claim 1, wherein the control device is set.  [3] The deceleration stop distance calculation means sets the deceleration stop distance with the minimum deceleration set in the speed controller as the initial value when starting the movement of the force! The elevator control device according to claim 1, wherein:  [4] The deceleration stop distance calculation means includes information on a current detector that measures the motor current of the lifting machine that raises and lowers the car, and a torque command device that generates a torque command to the motor. 2. The elevator control device according to claim 1, wherein the deceleration stop distance is calculated based on any one of the above. [5] An overspeed detection level that continuously decreases toward the upper and lower ends of the hoistway is set, and the car moves when the speed of the car exceeds the overspeed detection level. An elevator control device provided in an elevator having an end-stage forced deceleration device that forcibly brakes,  The deceleration stop distance calculating means calculates the deceleration stop distance based on a deceleration set so that the speed of the force is smaller than the overspeed detection level. The elevator control device according to claim 1.