JP2002145552A - Safety device for elevator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a safety device of elevator for controlling a motor normally by detecting the abnormality of an encoder speedily when the encoder is out of order. SOLUTION: The safety device has a rotation quantity calculation circuit 9 for receiving a pulse signal 6B indicating the rotation of the motor 5 outputted from the encoder 6 and calculating the rotation quantity and a Z-phase detection circuit 8 for receiving a Z-phase signal indicating one rotation of the encoder 6 outputted from the encoder 6. The Z-phase detection circuit 8 compares the received Z-phase signal and the rotation quantity calculated by the rotation quantity calculation circuit 9 and detects the abnormality of the encoder 6. When the abnormality of the encoder 6 is detected, the re-start of the elevator is prohibited by a safety circuit 10.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a safety device for an elevator, and more particularly, to a safety device for an elevator having an electric motor (hereinafter referred to as a motor) and detecting a magnetic flux position thereof by an encoder.

[0002]

2. Description of the Related Art Generally, a magnetic flux position of a motor such as a permanent magnet type synchronous motor provided in an elevator is detected by an encoder, and drive electric power of the motor is controlled based on the detected magnetic flux position to efficiently and appropriately control the electric power. It is configured to perform a simple operation.

[0003]

In a conventional elevator equipped with a motor, as described above, since the position of the magnetic flux of the motor is detected by the encoder, the rotation angle of the motor is accurately detected by a failure of the encoder. If the operation cannot be performed, an accurate magnetic flux position of the motor cannot be detected, so that the motor cannot be controlled normally, and the efficiency of the motor deteriorates.

[0004] Further, in the conventional elevator, even though the encoder is out of order, there is no means for detecting the encoder. Therefore, a signal output from the encoder can be output without noticing that the encoder is out of order. Since the motor is used for controlling the motor, the motor cannot be properly controlled, and the efficiency of the motor is not only low, but also the operation of the elevator may be hindered.

The present invention has been made to solve such a problem, and an object of the present invention is to provide an elevator safety device capable of promptly detecting a failure of an encoder.

[0006]

SUMMARY OF THE INVENTION The present invention relates to a safety device for an elevator having an electric motor and an encoder attached to the electric motor, comprising an incremental signal for outputting a predetermined number of pulses during one rotation of the encoder. And a rotation amount calculating means for calculating the rotation amount of the encoder based on the number of pulses of the incremental signal,
An origin signal receiving means for receiving an origin signal output each time the encoder makes one revolution, an encoder failure detecting means for detecting an encoder abnormality by comparing the origin signal and the rotation amount, and an encoder failure detecting means for the encoder. Safety device for prohibiting restart of the elevator when an abnormality is detected.

The present invention is also a safety device for an elevator having an electric motor and an encoder attached to the electric motor. The safety device outputs a predetermined number of pulses during one rotation of the encoder, and outputs a predetermined number of pulses according to the rotation direction of the encoder. A rotation direction detecting means for receiving an incremental signal for increasing or decreasing the count value of the pulse number and detecting a rotational direction of the encoder based on the count value of the pulse number of the incremental signal; and a predetermined direction when the encoder rotates forward. Transition in order, when the encoder reverses, the electrical phase signal receiving means for receiving an electrical phase signal that transitions in the reverse order of the predetermined order, and the order of transition of the electrical phase signal received by the electrical phase signal receiving means Detects encoder errors by comparing the rotation direction detected by the rotation direction detection means And Encoder failure detecting means that, if the encoder failure detecting means detects an abnormality of the encoder, a elevator safety device that includes a safety means for inhibiting the restarting of the elevator.

Further, the present invention is a safety device for an elevator having an electric motor and an encoder attached to the electric motor, wherein the safety device receives an incremental signal for outputting a predetermined number of pulses each time the encoder makes one rotation. A rotation amount calculating means for calculating the rotation amount of the encoder based on the number of pulses of the incremental signal; and a predetermined order when the encoder rotates forward, and a reverse order of the predetermined order when the encoder rotates reversely. An electrical phase signal receiving means for receiving an electrical phase signal that transitions to an encoder, an encoder failure detecting means for detecting an encoder abnormality by comparing the electric phase signal with the rotation amount, and an encoder failure detecting means for detecting an encoder abnormality. Safety measures to prohibit the restart of the elevator if It is a whole apparatus.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 Hereinafter, an embodiment of an elevator safety device according to the present invention will be described in detail with reference to the drawings. FIG. 1 is a configuration diagram showing a configuration of an elevator safety device according to the present embodiment. In the figure, 1 is an elevator car, 2 is a counter (or counterweight) configured as a car 1 with a car 1 via a rope 3 with respect to a sheave 4 described later, 3 is a rope, 4 is a sheave, 5 is a A motor for driving an elevator, which is directly connected to a sheave 4 and which is connected to a motor 5 and which rotates in synchronization with the motor 5; a magnetic flux of the motor 5 and a position of the elevator; 6A is an origin signal (Z-phase signal) output from the encoder 6 each time the encoder 6 makes one rotation, and 6B is
An incremental signal (A) which is also output from the encoder 6 and is a pulse signal indicating the rotation of the motor 5
And 7 are microcomputers for controlling the entire elevator system.

FIG. 3A is an explanatory diagram showing an origin signal and an incremental signal. As shown in the figure,
The origin signal (Z-phase signal) is a pulse signal output once per rotation of the encoder 6. The A-phase signal and the B-phase signal are incremental signals. A quadruple pulse is generated from this signal, and the pulse amount is counted by a counter so that the rotation amount and speed of the motor 5 can be known. Further, the counter increases or decreases depending on the rotation direction, so that the rotation direction can be known.

[0011] Incremental signal (A phase, B phase signal)
However, since the number of pulses generated in one rotation of the encoder 6 is determined, it is possible to know whether or not the encoder 6 has made one rotation from the amount of change in the counter. The origin signal (Z-phase signal) is a pulse signal that is output once per rotation, and the input of the origin signal (Z-phase signal) has never been made even though the incremental signal counter has counted more than one rotation. If there is no, there is an abnormality in the origin signal (Z-phase signal), and it can be detected as an encoder abnormality.

Returning to the description of FIG. As shown in the figure, a microcomputer 7 includes a Z-phase detection circuit 8 for detecting an output of an origin signal (Z-phase signal) 6A from the encoder 6.
And a rotation amount calculation circuit 9 that counts the pulses of the incremental signals (A-phase and B-phase signals) 6B output from the encoder 6 and calculates the rotation amount of the motor 5; And a safety circuit 10 for stopping the operation of the car 1 when is detected. Reference numeral 11 denotes a power supply that includes a three-phase AC power supply and supplies power to the motor 5.

The operation will be described. By supplying energy from the power supply 5 and rotating the motor 5, the sheave 4 and the encoder 6 rotate. As the sheave 4 rotates, the car 1 and the counter 2 move up and down. Therefore, when the car 1 moves up and down, the encoder 6 rotates synchronously.

In the above configuration, a detection circuit (not shown) is provided at any one point of the encoder 6 so as to detect that the encoder 6 has made one rotation. When the encoder 6 makes one rotation, the detection circuit outputs an origin signal (Z-phase signal) 6 indicating that the encoder 6 makes one rotation.
A is output and input to the Z-phase detection circuit 8. Also,
Incremental signal indicating the rotation of the motor 5 (A phase,
A (B-phase signal) 6B is output from the encoder 6 and input to the rotation amount calculation circuit 9. In the rotation amount calculating circuit 9, the input incremental signals (A-phase and B-phase signals) 6B
Is counted to generate a count value. This count value is reset to 0 (zero) each time the Z-phase detection circuit 8 receives the origin signal (Z-phase signal) 6A. The Z-phase detection circuit 8 calculates an undetected Z-phase undetected distance based on the count value output from the rotation amount calculation circuit 9. If the value of the Z-phase undetected distance is equal to or greater than a predetermined level, that is, the origin signal (Z-phase signal) 6
Count value is encoder 6 even though A does not come
If the rotation of the motor becomes equal to or more than one rotation, it is regarded as abnormal and an abnormal signal is output to the safety circuit 10. In the safety circuit 10, the car 1 is disabled from restarting according to the abnormal signal, and the operation of the elevator is stopped.

FIG. 2 is a flowchart summarizing the flow of the operation described above. As described above, when the car 1 travels, the encoder 6 rotates and the incremental signals (A-phase and B-phase signals) 6B are output. Therefore, first, in step S1, it is determined whether or not the incremental signal (A-phase, B-phase signal) 6B is input. If there is no input, it is determined that the car 1 is not traveling, and step S6 is performed. , The process is terminated, and the failure determination of the encoder 6 is not performed. On the other hand, in step S1, incremental signals (A-phase and B-phase signals)
If there is an input of 6B, it is determined in step S2 whether there is an input of the origin signal (Z-phase signal) 6A. If there is an input, it is determined in step S5 whether or not the count value of the incremental signal (A-phase and B-phase signals) 6B by the rotation amount calculating circuit 9 is within an allowable error range. At S4, an encoder abnormality is detected.
On the other hand, if the result is normal in step S5, the process ends in step S6. If there is no input of the origin signal (Z-phase signal) 6A in step S2, then in step S3, the incremental signals (A-phase,
It is determined whether the count value of the rotation amount calculation circuit 9 for the (B-phase signal) 6B is equal to or greater than a predetermined value. If not, the process ends in step S6. If it is equal to or greater than the predetermined value, an encoder abnormality is detected in step S4, and the process ends in step S6.

As described above, in the present embodiment,
Origin signal (Z-phase signal) 6 indicating one rotation of encoder 6
Since the abnormality of A is detected by comparing with the integrated amount (count value) of the incremental signal (A-phase signal, B-phase signal) 6B generated with the rotation of the motor 5, the failure of the encoder 6 can be promptly detected. Can be detected.

Embodiment 2 FIG. In the first embodiment described above, an example is described in which an origin signal (Z-phase signal) obtained by a detection circuit (not shown) attached to encoder 6 is used. In the present embodiment, FIG.
An example using the electric phase signal (F-phase signal) shown in (a) and (b) will be described.

In the case of a PM motor whose magnetic flux position is determined by a magnet, an electric phase signal (F-phase signal) output from the encoder 6 is selected according to the number of poles of the motor 5. Here, in the case of a motor having p pole pairs, the description will be made on the assumption that p = 4 (four pole pairs). When one rotation of the mechanical encoder 6 is expressed as 2π, the electric phase changes by the number of pole pairs, and the electric phase signal (F-phase signals (F0, F1, F2)) is 1
It changes periodically four times during rotation. As shown in FIG. 3, the electric phase signal (F-phase signal) is composed of three signals F0, F1, and F2. Therefore, within one electric phase cycle, (F0, F1, F2) = ( 0,0,0) →
(0,0,1) → (0,1,1) → (0,1,0) →
(1,1,0) → (1,1,1) → (1,0,1) →
Transitions regularly to (1, 0, 0). Thereafter, the same operation is repeated. There are other combinations depending on how the phase signal is output.

[0019] Incremental signals (A-phase and B-phase signals)
Is detected as abnormal when the data change direction of the electric phase signal (F-phase signal) is opposite to the rotation direction determined by the count change amount. In this case, as a possible factor, a connection error of the incremental signal (A-phase signal, B-phase signal) or an incorrect connection of the electric phase signal (F-phase signal) can be considered.

As shown in FIG. 3 (b), the change of one cycle of the electric phase depends on the rotation direction, and the change order of data and possible data are determined. For example, (0,
The next data coming from the (0,0) state during normal rotation is (0,0).
0,1), and (1,0,0) at the time of reverse rotation. No other combinations are possible. Incremental signal (A
The change data of the electric phase signal (F-phase signal) is checked with respect to the rotation direction determined by the phase and B-phase signals). in this case,
Abnormality of the electric phase signal (F-phase signal) or erroneous connection may be considered.

FIG. 4 is a configuration diagram showing a configuration of an elevator safety device according to the present embodiment. In the figure, reference numerals 1 to 6, 6B and 9 to 11 are the same as those in FIG. 6C is an electric phase signal (F-phase signal) described above, and 12 is an F-phase detection circuit for detecting the output of the electric phase signal (F-phase signal) 6C from the encoder 6.

The operation will be described. FIG. 5 is a flowchart showing a flow of the operation of the elevator safety device according to the present embodiment. First, in step S11, it is determined whether or not the incremental signal (A-phase, B-phase signal) 6B has been input. If not, the process ends in step S17. Incremental signal (A phase, B
If the phase signal (6B) is input, the previous electric phase signal (F-phase signal) is determined in step S12. Next, in step S13, the electric phase signal (F-phase signal) 6
It is determined whether C has changed, and if there is no change, the process ends in step S17. If there is a change, in step S14, the data of the electric phase signal (F-phase signal) input this time is determined. In step S15, it is determined whether the transition from the previous electric phase signal (F-phase signal) to the current electric phase signal (F-phase signal) has normally transitioned in the rotation direction, and the transition has been normal. In step S
At 17 the process ends. If it does not transition normally,
At step SS16, an encoder abnormality is detected,
The process ends in step S17. Other operations are the same as those in the first embodiment.

As described above, in the present embodiment,
If the transition of the data of the electric phase signal (F-phase signal) input when the encoder 6 rotates is input in the same order as the direction in which the encoder 6 rotates, it is determined that the data is normal. , The encoder 6 is determined to be faulty.
Can be quickly detected.

Embodiment 3 FIG. Also in the present embodiment,
An example in which an electric phase signal (F-phase signal) is used, as in the above-described second embodiment, will be described. The configuration of the safety device for an elevator according to the present embodiment is the same as that in FIG. 4, and therefore, reference is made to FIG. 4, and description thereof is omitted here.

Incremental signals (A-phase, B-phase signals)
When N pulses are generated in one rotation of the encoder 6, the data of the electric phase signal (F phase signal) transitions eight times during the change of the electric phase 0 to 2π, so the following count is counted per change. . Count amount (Nf) until the electric phase signal (F-phase signal) changes Nf = N / (p × 8) [pulse] (where p is the number of pole pairs) In this embodiment, this feature is used. And (1)
The count amount of the incremental signal (A phase, B phase signal) is
If the electric phase signal (F-phase signal) does not change even if the Nf pulse is exceeded, it is detected as an abnormality of the electric phase signal (F-phase signal). (2) Incremental signals (A-phase, B-phase) despite the change in the electrical phase signal (F-phase signal)
If the pulse count of the phase signal) is abnormally smaller than the Nf pulse, it is also detected as abnormal.

FIG. 6 is a flowchart summarizing the flow of the operation described above. As described above, when the car 1 travels, the encoder 6 rotates and the incremental signals (A-phase and B-phase signals) 6B are output. Therefore, first, in step S31, it is determined whether or not the incremental signal (A-phase, B-phase signal) 6B is input. If there is no input, it is determined that the car 1 is not traveling, and step S36 is performed. , The process is terminated, and the failure determination of the encoder 6 is not performed. on the other hand,
If there is an input of the incremental signal (A-phase signal, B-phase signal) 6B in step S31, it is determined in step S32 whether there is a transition of the electric phase signal (F-phase signal) 6C. If there is a transition, at step S35
It is determined whether or not the count value of the incremental signal (A-phase signal, B-phase signal) 6B by the rotation amount calculation circuit 9 is within an allowable error range (that is, whether or not the count value corresponds to the transition of the electric phase signal 6C). ), If abnormal, step S
At 34, an encoder abnormality is detected. On the other hand, if it is normal in step S35, the process ends in step S36. Also, in step S32,
When there is no input of the electric phase signal (F phase signal) 6C,
In step S33, the incremental signals (A phase, B phase
It is determined whether or not the count value of the phase signal) 6B by the rotation amount calculation circuit 9 is equal to or greater than a predetermined value (Nf pulse or greater). If not, the process ends in step S36. If it is equal to or greater than the predetermined value, an encoder abnormality is detected in step S34, and the process ends in step S36. When an encoder abnormality is detected, measurement of the magnetic flux of the motor 5 by the signal from the encoder 6 is immediately stopped, and the amount of magnetic flux deviation of the motor 5 is calculated from the encoder pulse 6B. The motor 5 is controlled.

As described above, in the present embodiment,
An abnormality of the electric phase signal (F-phase signal) 6C, which is a signal for detecting the rotation of the encoder 6, is converted into an accumulated amount (count value) of an incremental signal (A-phase, B-phase signal) 6B generated with the rotation of the encoder 6. As a result, the failure of the encoder 6 can be promptly detected.

[0028]

According to the present invention, there is provided an elevator safety device including an electric motor and an encoder attached to the electric motor. The safety device receives an incremental signal for outputting a predetermined number of pulses during one rotation of the encoder. A rotation amount calculation unit that calculates the rotation amount of the encoder based on the number of pulses of the incremental signal, an origin signal reception unit that receives an origin signal output each time the encoder makes one rotation, and an origin signal and the rotation amount. Since it is an elevator safety device including an encoder failure detection unit that detects an abnormality of the encoder by comparing, and a safety unit that prohibits the restart of the elevator when the encoder failure detection unit detects the abnormality of the encoder. ,
The encoder failure detecting means compares the reception of the origin signal with the value of the rotation amount, determines whether or not they are equivalent, and if not, detects the abnormality as an encoder. Therefore, it is possible to accurately and promptly detect the failure of the encoder.

According to another aspect of the present invention, there is provided a safety device for an elevator having an electric motor and an encoder attached to the electric motor, wherein the safety device outputs a predetermined number of pulses during one rotation of the encoder and controls the rotation direction of the encoder. A rotation direction detecting means for receiving an incremental signal for increasing or decreasing the count value of the pulse number and detecting a rotational direction of the encoder based on the count value of the pulse number of the incremental signal; and a predetermined direction when the encoder rotates forward. Transition in order, when the encoder reverses, the electrical phase signal receiving means for receiving an electrical phase signal that transitions in the reverse order of the predetermined order, and the order of transition of the electrical phase signal received by the electrical phase signal receiving means Detects encoder errors by comparing the rotation direction detected by the rotation direction detection means Is a safety device for an elevator that includes an encoder failure detection unit that operates and a safety unit that prohibits restart of the elevator when the encoder failure detection unit detects an abnormality in the encoder. Since the order of the transition of the output electric phase signal is determined whether or not it matches the rotation direction determined from the incremental signal, if it does not match, it is detected as an abnormality of the encoder, If the rotation direction is not normal due to a failure of the encoder, it can be detected immediately.

According to another aspect of the present invention, there is provided a safety device for an elevator having an electric motor and an encoder attached to the electric motor, wherein the safety device receives an incremental signal for outputting a predetermined number of pulses each time the encoder makes one rotation. A rotation amount calculating means for calculating the rotation amount of the encoder based on the number of pulses of the incremental signal; and a predetermined order when the encoder rotates forward, and a reverse order of the predetermined order when the encoder rotates reversely. An electrical phase signal receiving means for receiving an electrical phase signal that transitions to an encoder, an encoder failure detecting means for detecting an encoder abnormality by comparing the electric phase signal with the rotation amount, and an encoder failure detecting means for detecting an encoder abnormality. Safety measures to prohibit the restart of the elevator if Since all devices are used, the encoder failure detecting means determines whether the value of the rotation amount corresponds to the received electric phase signal, and if not, detects the abnormality as an encoder. As a result, the abnormality of the encoder can be accurately detected.

[Brief description of the drawings]

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

FIG. 2 is a flowchart showing an operation of the elevator safety device according to the first embodiment of the present invention.

FIG. 3 is an explanatory diagram showing signals used in the elevator safety device according to the first to third embodiments of the present invention.

FIG. 4 is a configuration diagram showing a configuration of an elevator safety device according to Embodiments 2 and 3 of the present invention.

FIG. 5 is a flowchart showing an operation of the elevator safety device according to the second embodiment of the present invention.

FIG. 6 is a flowchart showing an operation of the elevator safety device according to the third embodiment of the present invention.

[Explanation of symbols]

1 elevator car, 2 counters, 3 ropes,
4 sheaves, 5 motors, 6 encoders, 6A
Origin signal (Z phase signal), 6B incremental signal (A phase, B phase signal), 6C electric phase signal (F phase signal), 7 microcomputer, 8 Z phase detection circuit, 9 rotation amount calculation circuit, 10 safety circuit, 11 power supplies,
12 F phase detection circuit.

Claims (3)

[Claims] 1. An elevator safety device comprising an electric motor and an encoder attached to the electric motor, comprising: receiving an incremental signal for outputting a predetermined number of pulses while the encoder makes one rotation; Rotation amount calculating means for calculating the rotation amount of the encoder based on the number of pulses of the signal; origin signal receiving means for receiving an origin signal output each time the encoder makes one rotation; and the origin signal and the rotation amount An encoder failure detection unit that detects an abnormality of the encoder by comparing the encoder with a safety unit that prohibits the restart of the elevator when the encoder failure detection unit detects the abnormality of the encoder. Elevator safety features. 2. An elevator safety device comprising an electric motor and an encoder attached to the electric motor, wherein the safety device outputs a predetermined number of pulses during one rotation of the encoder, and outputs the pulse according to a rotation direction of the encoder. Rotation direction detecting means for receiving an incremental signal whose count value increases or decreases and detecting the rotation direction of the encoder based on the count value of the number of pulses of the incremental signal; predetermined when the encoder rotates forward. The electrical phase signal receiving means for receiving an electrical phase signal that transitions in the reverse order of the predetermined order when the encoder reverses, the electrical phase signal received by the electrical phase signal receiving means Comparing the order of the transition with the rotation direction detected by the rotation direction detection means. An elevator comprising: an encoder failure detecting unit that detects an abnormality of the encoder; and a safety unit that prohibits restarting of the elevator when the encoder failure detecting unit detects the abnormality of the encoder. Safety equipment. 3. An elevator safety device comprising an electric motor and an encoder attached to the electric motor, wherein the incremental device receives an incremental signal for outputting a predetermined number of pulses each time the encoder makes one revolution, and Rotation amount calculating means for calculating a rotation amount of the encoder based on the number of pulses of the signal; and a predetermined order when the encoder rotates forward, and the predetermined order when the encoder rotates reversely. An electrical phase signal receiving unit that receives an electrical phase signal that transitions in the reverse order of; an encoder failure detection unit that detects an abnormality of the encoder by comparing the electrical phase signal with the rotation amount; and the encoder failure detection unit Prohibits restarting of the elevator when the encoder detects an abnormality in the encoder. Elevator safety apparatus characterized by comprising a means.