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EP0026406B1 - Antriebssteuerung für einen Aufzug - Google Patents

Antriebssteuerung für einen Aufzug Download PDF

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Publication number
EP0026406B1
EP0026406B1 EP80105623A EP80105623A EP0026406B1 EP 0026406 B1 EP0026406 B1 EP 0026406B1 EP 80105623 A EP80105623 A EP 80105623A EP 80105623 A EP80105623 A EP 80105623A EP 0026406 B1 EP0026406 B1 EP 0026406B1
Authority
EP
European Patent Office
Prior art keywords
target
path
error
reference value
stop
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP80105623A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0026406A1 (de
Inventor
Joris Dr. Ing. Schröder
Martin Meier
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Inventio AG
Original Assignee
Inventio AG
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Filing date
Publication date
Application filed by Inventio AG filed Critical Inventio AG
Priority to AT80105623T priority Critical patent/ATE9083T1/de
Publication of EP0026406A1 publication Critical patent/EP0026406A1/de
Application granted granted Critical
Publication of EP0026406B1 publication Critical patent/EP0026406B1/de
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/285—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical with the use of a speed pattern generator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
    • B66B1/40—Means for stopping the cars, cages, or skips at predetermined levels and for correct levelling at landings

Definitions

  • the invention relates to a drive control for an elevator, with a control loop which consists of a speed control loop, a position control loop, at least one pulse generator assigned to an actual value transmitter of the position control loop and at least one D / A converter, a setpoint generator generating a family of driving curves being provided has a control memory which contains at least permissible jerk values and limit values of the acceleration and which is connected to three summation stages which generate the acceleration, the speed and the path by means of continuous numerical integration, the output variable of the last summation stage being fed to the control loop as a path setpoint and for the determination of the braking point of use is provided for a stop initiation device which interacts with the control store and a storey store and generates a stop initiation signal and a run-in correction device connected to the setpoint generator and there is a counter correction device connected to a car counter of the actual value transmitter.
  • a control memory which contains at least permissible jerk values and limit values of the acceleration and which is connected to three summ
  • Such a drive control has become known from German patent specification 1 302 194.
  • the brake application point and thus the possible stopping point are determined by constant calculation during the acceleration phase using a digital computer. The calculation is based on the consideration of the geometric relationships of the respective current speed driving curve.
  • the area corresponding to the target value under the driving curve in the speed-time diagram is converted into a trapezoidal area, the first boundary line of which coincides with the speed axis and the second boundary line of which runs parallel to this.
  • the intersection of the second line with the driving curve is the braking point.
  • the length of the first boundary line corresponds to an initial speed v ho
  • the inclination of a third, upper boundary line corresponds to an acceleration b h .
  • the speed is formed in a first integrator and a possible stopping distance S stop is formed in a downstream second integrator.
  • the target path S target generated in the third integrator is fed to a position control loop.
  • a counter which counts the pulses of a pulse generator driven by the drive machine, forms the actual path s ; 5t , which is also fed to the position control loop.
  • DE-A-2 325 044 has disclosed a device which consists of inductor plates assigned to the floors and a transducer fastened to the elevator car. Shortly before the entry, a distance delay circuit of a program generator is switched off and then speed setpoints for the creep speed are generated by means of a position sensor circuit of the program generator.
  • a disadvantage of such creep speed devices is that the travel time of the elevator car is extended.
  • US-A-3 773 146 discloses a device by means of which the counter reading is checked when driving past or when stopping on a floor.
  • the device has a pulse generator coupled to the drive machine, which generates pulses proportional to the cabin path, which are summed in the cabin path counter.
  • Reed contacts arranged on the elevator car and magnetic flags mounted in the elevator shaft form a signal generator.
  • the signal generator At a position of the elevator car corresponding to the exact stop, the signal generator generates a binary number assigned to the respective floor, which is compared with that determined in the car path counter. If the two numbers do not match, the count of the car trip counter is corrected accordingly.
  • this counter correction device the errors caused by rope slippage and expansion, but not the errors caused by building shrinkage or expansion, can be eliminated.
  • the invention proposes an improved drive control for elevators as compared to the above-described one, whereby the object achieved by the invention characterized in the claims is to achieve, in particular with drive controls working with digital computers, interpolating adjacent driving curves with a position setpoint for direct entry that corresponds to the position of the respective target floor to generate and to eliminate the stopping errors caused by rope slip and stretching as well as building changes.
  • the advantages achieved with the invention are essentially to be seen in the fact that the optimal target driving curve generated by the proposed driving curve interpolation ensures great stopping accuracy with minimal time deviations without impairing driving comfort, the use of an inexpensive setpoint generator having a relatively coarse resolution capability being possible is. Furthermore, the more precise detection of stopping errors and their compensation by the proposed correction devices contribute to improving the stopping accuracy. It is a further advantage that the pulse generator 12 of the position control loop actual value transmitter IWG2 is driven directly by the speed limiter, since the exact cabin location can be formed independently of the extension of the suspension cables by load or vibrations. Furthermore, there are economic advantages from using only one D / A converter.
  • RK denotes a control circuit, the control path of which consists of a drive machine 1, which drives a lift cage 5 suspended on a conveyor cable 3 via a traction sheave 3 and balanced by a counterweight 4.
  • the control loop RK which works on the principle of cascade control, consists of a current control loop, to which a controller 6 is assigned.
  • a superimposed speed control loop having a first subtractor 7 for the formation of a control deviation Av is superimposed on the current control loop, which is superimposed on a position control loop with a second subtractor 8 for the formation of a control deviation As.
  • a digital-to-analog converter 9 is arranged at the output of the first subtractor 7.
  • a first actual value transmitter IWG1 assigned to the speed control loop has a pulse transmitter 10 in the form of a digital tachometer, which is coupled to the shaft of the drive machine 1 and is not described in detail.
  • the pulses generated by the pulse generator 10 are fed to a counter 11, the output of which is connected to the first subtractor 7.
  • a second actual value transmitter IWG2 assigned to the position control loop has a pulse transmitter 12 similar to the pulse transmitter 10 of the first actual value transmitter IWG1, which generates a pulse, for example, every 0.5 mm of travel.
  • the pulse generator 12 is preferably driven by the elevator car 5 via a speed limiter 13 and is connected to a car path counter 14 which has a voltage source 15 which is independent of the network and which ensures that the determined car path is retained in the event of a power failure.
  • the cabin travel counter 14 is connected via a copier 16 to a further subtractor 17, the inputs of which are connected to a start location memory SLS1 and the output of which is connected to the subtractor 8 of the position control loop.
  • the start location memory SLS1 in the form of a read-write memory and the copier 16 in the form of a data buffer are connected via a data bus to a microprocessor of a microcomputer system which is not further shown and described.
  • the functions of the subtractors 7, 8 and 17 are carried out by the computing unit of the microprocessor.
  • the setpoint generator SWG consists of a control memory FWS and three summing stages 18, 19, 20 which generate the acceleration s, the speed s and the path s, the summing stages 18, 19 producing the acceleration and the speed each having a return to the control memory FWS .
  • the control memory FWS is a programmable read-only memory, to which a setpoint clock generator controlled by the clock generator of the microprocessor via pulse reduction is assigned and which is connected to the microprocessor via the data bus.
  • the permissible jerk values are in the control memory FWS as well as acceleration limits and speed stored, which can be changed by means of a setting device not described in detail.
  • the functions of the summing stages 18, 19, 20 are carried out by the computing unit of the microprocessor.
  • a command control KS which is not described any further and gives start and stop commands, is connected to the setpoint generator SWG and a storey location memory SLS2.
  • the storey location memory SLS2 is a buffered, alterable memory in the form of a read-write memory which has a voltage source 21 which is independent of the network and has logic for incrementing and decrementing the floor numbers and which is connected to the microprocess via the data bus sor is connected.
  • Storey locations eo assigned to the storey numbers en are stored in the storey location memory SLS2 in the form of binary numbers, which also relate to the basis defined above. In the case of an automatically initiated learning run (not described in more detail), the floor locations eo are registered before the elevator is started up for the first time and if the SLS2 floor location memory is lost.
  • a stop initiation device STE connected to the setpoint generator SWG and the store location memory SLS2 comprises a destination route memory SLS3, a destination route summer 22, an adder 23, a first and a second subtractor 24, 25 and a comparator 26.
  • the destination route memory SLS3 is a via the data bus with the Microprocessor-connected read / write memory.
  • the functions of the target path step summer 22, the adder 23, the subtractors 24, 25 and the comparator 26 are carried out by the computing unit of the microprocessor.
  • a stop correction device STK which is connected both to the setpoint generator SWG and to the stop initiation device STE, has the task of modifying the driving curve to be generated by the setpoint generator SWG by interpolation in such a way that an optimum driving curve is available on the target floor for the control.
  • the stop correction device STK consists of a target error memory SLS4, a residual error memory SLS5, a target error comparator 27 and a correction time determiner 28.
  • the memories SLS4, SLS5 are read-write memories which are connected to the microprocessor via the data bus, the functions of the target error comparator 27 and the correction time determiner 28 are executed in the processor of the processor.
  • the entry correction device EK consists of a switching device 29 arranged on the elevator car 5, for example a magnetic switch, which interacts with flags 31 fastened in the elevator shaft 30, an entry memory SLS6, an adder 32 and a subtractor 33.
  • the entry memory SLS6 is connected to the car path counter 14 second actual value generator IWG2, the switching device 29 and the adder 32.
  • the subtractor 33 is connected to the adder 32, the storey location memory SLS2 and the residual error memory SLS5 of the stop correction device STK.
  • the drive-in memory SLS6 is a data buffer which is connected to the microprocessor via the data bus, the microprocessor performing the functions of the adder 32 and subtractor 33.
  • a counter correction device ZK has the task of further improving the stopping accuracy by resetting the cabin travel counter 14 of the second actual value transmitter IWG2 and deleting the storey location eo stored in the store location memory SLS2 and assigned to the destination floor of a subsequent journey and resetting it according to the corrected counter reading.
  • the counter correction device ZK consists of a subtractor 34 and an adder 35.
  • the inputs of the subtractor are connected to the outputs of the copier 16 and the adder 32 of the entry correction device EK.
  • the inputs of the adder 35 are connected to the storey store SLS2 and the output of the subtractor 34.
  • the output of the adder 35 is connected to an input of the car path counter 14.
  • the functions of subtractor 34 and adder 35 are performed by the microprocessor.

Landscapes

  • Automation & Control Theory (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Elevator Control (AREA)
  • Control Of Electric Motors In General (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)
  • Maintenance And Inspection Apparatuses For Elevators (AREA)
  • Control Of Transmission Device (AREA)
  • Harvester Elements (AREA)
  • Surface Acoustic Wave Elements And Circuit Networks Thereof (AREA)
  • Diaphragms For Electromechanical Transducers (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Valve Device For Special Equipments (AREA)
  • Control Of Ac Motors In General (AREA)
EP80105623A 1979-09-27 1980-09-19 Antriebssteuerung für einen Aufzug Expired EP0026406B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT80105623T ATE9083T1 (de) 1979-09-27 1980-09-19 Antriebssteuerung fuer einen aufzug.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH8687/79A CH649517A5 (de) 1979-09-27 1979-09-27 Antriebssteuereinrichtung fuer einen aufzug.
CH8687/79 1979-09-27

Publications (2)

Publication Number Publication Date
EP0026406A1 EP0026406A1 (de) 1981-04-08
EP0026406B1 true EP0026406B1 (de) 1984-08-22

Family

ID=4343551

Family Applications (1)

Application Number Title Priority Date Filing Date
EP80105623A Expired EP0026406B1 (de) 1979-09-27 1980-09-19 Antriebssteuerung für einen Aufzug

Country Status (14)

Country Link
US (1) US4337847A (hu)
EP (1) EP0026406B1 (hu)
JP (1) JPS5656478A (hu)
AT (1) ATE9083T1 (hu)
AU (1) AU532981B2 (hu)
BR (1) BR8005940A (hu)
CH (1) CH649517A5 (hu)
DE (1) DE3069026D1 (hu)
ES (1) ES495424A0 (hu)
FI (1) FI72100C (hu)
HK (1) HK45585A (hu)
HU (1) HU180171B (hu)
MX (1) MX151598A (hu)
ZA (1) ZA805877B (hu)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0624540A1 (de) 1993-05-12 1994-11-17 Inventio Ag Aufzugsanlage für Zonenbetrieb

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5772582A (en) * 1980-10-21 1982-05-06 Mitsubishi Electric Corp Generator for speed command of elevator
JPS5793868A (en) * 1980-12-03 1982-06-11 Hitachi Ltd Method and apparatus for computing preceding position of elevator
US4432439A (en) * 1982-03-10 1984-02-21 Westinghouse Electric Corp. Elevator system
CH660173A5 (de) * 1982-05-03 1987-03-31 Inventio Ag Antriebssteuerung fuer einen aufzug.
JPS5917472A (ja) * 1982-07-21 1984-01-28 三菱電機株式会社 エレベ−タの速度パタ−ン発生装置
CH663778A5 (de) * 1982-11-19 1988-01-15 Inventio Ag Sollwertgeber fuer eine antriebsregelungseinrichtung.
CH669289A5 (de) * 1982-12-20 1989-02-28 Inventio Ag Mittels digitalrechner betriebene antriebsregelungseinrichtung.
EP0163642B1 (de) * 1983-01-11 1987-09-23 Man Gutehoffnungshütte Gmbh Steuerungssystem für aufzugsanlagen
JPS6015379A (ja) * 1983-07-04 1985-01-26 株式会社日立製作所 エレベーターの制御装置
US4494628A (en) * 1983-08-17 1985-01-22 Westinghouse Electric Corp. Elevator system
US4501344A (en) * 1983-08-17 1985-02-26 Westinghouse Electric Corp. Speed pattern generator for an elevator car
DE3513773A1 (de) * 1985-04-17 1986-10-30 Arnold Müller GmbH & Co KG, 7312 Kirchheim Drehstromregelantrieb, insbesondere hebzeugantrieb
US4658935A (en) * 1985-08-05 1987-04-21 Dover Corporation Digital selector system for elevators
JPH0717325B2 (ja) * 1986-03-06 1995-03-01 三菱電機株式会社 エレベ−タ−の制御装置
DE3713271A1 (de) * 1987-04-18 1988-11-03 Siemens Ag Verfahren und einrichtung zur wegregelung eines positionsantriebes
EP0297232B1 (de) * 1987-06-30 1991-08-07 Inventio Ag Istwertgeber für den Lageregelkreis eines Aufzugsantriebes
ATE84495T1 (de) * 1987-09-24 1993-01-15 Inventio Ag Gruppensteuerung fuer aufzuege mit sofortzuteilung von zielrufen.
DE3865803D1 (de) * 1987-10-20 1991-11-28 Inventio Ag Gruppensteuerung fuer aufzuege mit lastabhaengiger steuerung der kabinen.
FI79506C (fi) * 1988-02-16 1990-01-10 Kone Oy Foerfarande foer instaellning av en positionsregulator i en hiss.
JPH01214596A (ja) * 1988-02-23 1989-08-28 Toshiba Corp 立坑巻上機制御装置
CA1315900C (en) * 1988-09-01 1993-04-06 Paul Friedli Group control for lifts with immediate allocation of target cells
ES2047073T3 (es) * 1988-10-28 1994-02-16 Inventio Ag Procedimiento y dispositivo para el control de grupos de ascensores con cabinas dobles.
HU205883B (en) * 1989-01-19 1992-07-28 Inventio Ag Connection arrangement for grouped controlling elevators
DE59004802D1 (de) * 1990-02-22 1994-04-07 Inventio Ag Verfahren und Einrichtung zur sofortigen Zielrufzuteilung bei Aufzugsgrupppen, aufgrund von Bedienungskosten und von variablen Bonus-/Malus-Faktoren.
US5883343A (en) * 1996-12-04 1999-03-16 Inventio Ag Downpeak group optimization
SG126669A1 (en) * 1998-02-02 2006-11-29 Inventio Ag Double-decker or multi-decker elevator
JP4457450B2 (ja) * 1999-12-20 2010-04-28 三菱電機株式会社 ダブルデッキエレベータ制御装置
JP4567553B2 (ja) * 2005-08-31 2010-10-20 株式会社日立製作所 エレベータの群管理システム及びその制御方法
CN101044078A (zh) * 2005-10-26 2007-09-26 三菱电机株式会社 电梯组群管理控制装置
FI121065B (fi) * 2009-03-05 2010-06-30 Kone Corp Hissijärjestelmä
CN112678636A (zh) * 2019-10-17 2021-04-20 广州绰立科技有限公司 电梯实现自动精准平层的方法及系统

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US3523232A (en) * 1964-07-06 1970-08-04 Reliance Electric & Eng Co Jerk,acceleration,and velocity limited position pattern generator for an elevator system
US3773146A (en) * 1972-05-09 1973-11-20 Reliance Electric Co Elevator electronic position device
US3783974A (en) * 1972-05-09 1974-01-08 Reliance Electric Co Predictive drive control
US3750850A (en) * 1972-05-17 1973-08-07 Westinghouse Electric Corp Floor selector for an elevator car
US3774729A (en) * 1972-05-17 1973-11-27 Westinghouse Electric Corp Speed pattern generator for elevator systems
JPS50113957A (hu) * 1974-02-21 1975-09-06
US3941214A (en) * 1974-04-29 1976-03-02 Armor Elevator Company, Inc. Control system for a transportation system
JPS5255148A (en) * 1975-10-29 1977-05-06 Mitsubishi Electric Corp Speed control system for elevator
US4085823A (en) * 1975-11-03 1978-04-25 Westinghouse Electric Corporation Elevator system
JPS5299546A (en) * 1976-02-16 1977-08-20 Mitsubishi Electric Corp Speed control device for elevator
DE2617171C2 (de) * 1976-04-20 1983-01-20 M.A.N. Maschinenfabrik Augsburg-Nürnberg AG, 8500 Nürnberg Anordnung zum elektrischen Ermitteln des Schaltpunktes in Förderanlagen
JPS598622B2 (ja) * 1976-05-27 1984-02-25 三菱電機株式会社 エレベ−タの速度制御装置
US4155426A (en) * 1978-05-05 1979-05-22 Westinghouse Electric Corp. Digital speed pattern generator

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0624540A1 (de) 1993-05-12 1994-11-17 Inventio Ag Aufzugsanlage für Zonenbetrieb

Also Published As

Publication number Publication date
ATE9083T1 (de) 1984-09-15
FI803058A (fi) 1981-03-28
FI72100C (fi) 1987-04-13
CH649517A5 (de) 1985-05-31
ES8106863A1 (es) 1981-08-01
DE3069026D1 (en) 1984-09-27
FI72100B (fi) 1986-12-31
ZA805877B (en) 1981-09-30
HK45585A (en) 1985-06-21
US4337847A (en) 1982-07-06
AU6272580A (en) 1981-04-09
BR8005940A (pt) 1981-03-31
EP0026406A1 (de) 1981-04-08
JPS6319428B2 (hu) 1988-04-22
JPS5656478A (en) 1981-05-18
ES495424A0 (es) 1981-08-01
HU180171B (en) 1983-02-28
MX151598A (es) 1985-01-04
AU532981B2 (en) 1983-10-20

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