JP2007217101A - Start compensating device of elevator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a start compensating device of an elevator capable of suppressing the lowering of the ride quality of an elevator and enhancing the resistance against disturbance irrespective of the traveling start position of a car. <P>SOLUTION: This start compensation device comprises a start shock detection means 13 for detecting the start shock value of the car produced after the brake of the elevator is released and while a speed instruction is absent. A preliminary exciting torque amount is corrected based on at least two sets of load detection values and start shock values for the same traveling start floor by a preliminary exciting torque amount calculation means 8 controlling a preliminary exciting torque amount. Consequently, the preliminary exciting torque amount can be properly compensated. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an elevator start-up compensation device, and more particularly to an elevator start-up compensation device that uses a load detector to pre-excited an elevator drive motor at the start of traveling of a passenger car to reduce start shock.

  In recent years, energy saving has become a trend of the times, and efficiency and low loss of equipment have become propositions in the industry. In elevators, gearless machines with no gear loss and high efficiency have begun to be widely adopted. When improving the efficiency of such an elevator, a slight torque balance between the torque generated by the motor and the actual load becomes a factor that generates car vibration, which is a big problem especially during unbalance compensation at startup. It becomes.

As a conventional method of suppressing vibration at the start of elevator travel, by correcting the load detection amount based on the magnitude of the start shock, it is possible to output an appropriate pre-excitation torque amount, and a maintenance person is called. There is known an automatic adjustment device for a load detector that does not need to bring a test weight and readjust the load detector (see, for example, Patent Document 1).
Japanese Patent Laid-Open No. 2005-60074

  However, the conventional load detector automatic adjustment device described above corrects the output of the load detector based on the start shock during the previous run, and the next trip starts from a different position. There is a problem that an error corresponding to the mass of the elevator main rope or the moving cable due to the difference in position is included. In addition, since the output of the load detector is corrected with a value equivalent to the start shock based on the start shock during the previous run, the correction value becomes inappropriate when there is a disturbance such as noise or shaking the car. There was a problem of generating a significant start shock.

  The present invention has been made in accordance with the above-described prior art, and an object of the present invention is to provide an elevator that can suppress a decrease in the riding comfort of the elevator and can improve the resistance to disturbance regardless of the travel start position of the car. Is to provide a start-up compensation device.

  In order to achieve the above-mentioned object, the invention according to claim 1 of the present invention is based on the load detection value output from the load detection means for detecting the load on the car, before the brake is released at the start of traveling of the car. In an elevator start-up compensator equipped with pre-excitation torque amount calculation means for controlling the pre-excitation torque amount of the motor at the start, the start shock value of the car that occurs after the brake is released and the speed command is zero is detected. A shock detection means is provided, and the preliminary excitation torque amount calculation means corrects the preliminary excitation torque amount based on the load detection value and the start shock value.

  The invention according to claim 2 of the present invention is characterized in that the preliminary excitation torque amount calculation means corrects the preliminary excitation torque amount based on at least two sets of the load detection value and the start shock value. Yes.

  Further, in the invention according to claim 3 of the present invention, the preliminary excitation torque amount calculation means corrects the preliminary excitation torque amount based on at least two sets of the load value and the start shock value on the same traveling start floor. It is characterized by that.

  The invention according to claim 4 of the present invention is characterized in that the preliminary excitation torque amount calculating means calculates the preliminary excitation torque amount by integral correction.

  According to the present invention, an appropriate preliminary excitation torque amount can be obtained by correcting the preliminary excitation torque amount based on the load detection value of the load detector and the start shock value generated under the condition of the car to start running. This makes it possible to compensate for this, and to prevent a decrease in the riding comfort of the elevator regardless of the travel start position, and also to improve the tolerance to disturbances such as noise and shaking the car. In addition, it is not necessary for maintenance personnel to bring test weights to the site and readjust the load detector.

  Embodiments of an elevator start-up compensation apparatus according to the present invention will be described below with reference to the drawings.

  FIG. 1 is a schematic configuration diagram showing an embodiment of an elevator start-up compensation device according to the present invention, FIG. 2 is a block diagram showing the main configuration of the start-up compensation device, and FIG. FIG. 4 is a flowchart showing the processing procedure of the start compensator, and FIG. 5 is an explanatory view showing information used by the start compensator for calculating the pre-excitation torque amount.

  As shown in FIG. 1, the elevator according to the present embodiment includes an elevator car 1, a balance weight 2 that balances the elevator car 1, a wire rope 3 that connects the car 1 and the balance weight 2, and a wire rope. 3, an electric hoist 4 for moving the car 1 up and down, a rotary encoder 5 that generates a pulse signal in synchronization with the rotation of the electric hoist 4, and a passenger who has entered the car 1 Load detecting means for detecting the load (load), for example, a load detector 6, an electromagnetic brake 7 for applying a braking force to the electric hoist 4 to stop the car 1, and a load before releasing the brake at the start of traveling And a start-up compensation device 8 for controlling the amount of pre-excitation torque of the motor hoisting machine 4 in accordance with

As shown in FIG. 2, the start compensation device 8 includes a pulse detector 10 that detects a pulse from the rotary encoder 5, and a position detection circuit 11 that detects the position of the car 1 based on a signal from the pulse detector 10. A travel start floor storage circuit 12 for storing the travel start floor information according to the signal from the position detection circuit 11 and the presence / absence of the elevator, and a start shock storage circuit 13 for storing the start shock value according to the signal from the position detection circuit 11; , A load storage circuit 14 for storing the load detection value from the load detector 6, a travel start floor information from the travel start floor storage circuit 12, a start shock value from the start shock storage circuit 13, and a load from the load storage circuit 14 The detected value and driving direction information (not shown) are stored in a format to be described later, and the pre-excitation torque amount is calculated by a predetermined process. That includes a pre-excitation torque amount calculating circuit 15, and outputs the pre-excitation torque amount command T _LD. The start shock detection means for detecting the start shock value of the car 1 generated after the brake is released and while the speed command is zero comprises, for example, the start shock memory circuit 13 and the load on the car 1. The pre-excitation torque amount calculating means for controlling the pre-excitation torque amount of the motor before releasing the brake at the start of traveling of the car 1 according to the load detection value output from the load detection means for detecting An arithmetic circuit 15 is included.

Here, the relationship between the load of the car 1 and the amount of pre-excitation torque will be described with reference to FIG. In FIG. 3, the horizontal axis represents the load as a percentage, and 100% load represents the rated load. On the other hand, the vertical axis indicates the magnitude of the pre-excitation torque amount. In this example, only the UP operation side is shown, and the solid line in the figure shows that the mass difference between the car 1 side and the counterweight 2 side is almost eliminated at 50% load, and the pre-excitation torque amount is zero. This indicates a state where there is no shock. That is, the relationship between the load LD and the pre-excitation torque amount T _LD can be expressed as T _LD = α × (LD−LD ₅₀ ) + β, where α can be set in advance from the electric hoist and the rated load, and β is It can be set empirically based on mechanical system loss such as running resistance. If the vehicle is reversed at the start of UP driving (the car 1 side is heavy), pre-excitation is required in the upward direction, and thus the pre-excitation torque amount added in the positive direction as shown by the broken line needs to be adjusted. On the other hand, if it jumps out at the start of UP operation (the counterweight 2 side is heavy), it is necessary to weaken the pre-excitation in the upward direction, so it is necessary to adjust the pre-excitation torque amount subtracted in the negative direction as shown by the broken line is there.

  Note that the relationship between the load and the required pre-excitation torque amount is generally linear.For example, the load detector's seasonal and aging output fluctuations, the familiarity of the mechanical system during the day (running resistance This relationship changes depending on (variation), and there is a problem of giving passengers discomfort as a start shock. In addition, because the mass of the elevator main rope and the moving cable affects the mass unbalance of the counterweight 1 and the weight 2 due to the difference in the position of the car 1, in order to use it in high floor applications, Compensation considering the position of the car 1 is required.

  Therefore, in this embodiment, the actual start shock with respect to the load of each travel start floor is detected at two points for each driving direction, and the start shock is detected by estimating the required pre-excitation torque amount for an arbitrary load from a linear approximation formula. It is to prevent. Of course, to improve the estimation accuracy, it is better to increase the distance between the two points. For example, the operation without load and the operation with the rated load are performed, or more than two points are collected and linearized using the least square method. It may be approximate.

Furthermore, in this embodiment, since the start shock for each operation is detected and the preliminary excitation torque amount is integrated and corrected by the correction amount corresponding to the start shock, even if there is a disturbance such as noise or shaking the car 1, The excitation torque amount T _LD converges to a value at which the start shock becomes zero.

  Here, a format for storing the above-described travel start floor information, start shock value, and load detection value for each driving direction in a microcomputer (not shown) will be described with reference to FIG. An outline of the stored data in FIG. 5 will be described using an example of No. 1 and No. 2 data. The No. 1 data is the data when driving in the UP direction from the first floor. When the load detection value is 0 to 10%, the start shock value L = 2, and when the load detection value is 90 to 100%, the start shock value L. = 4 data is stored. No. Since two or more pieces of data satisfying one operating condition are stored, they are stored together as correctable (O notation). On the other hand, the data of No. 2 is the data when driving in the UP direction from the second floor, the start shock value L = 3 when the load detection value is 0 to 10%, and there is no stored data for other loads (-notation )It is shown that. Therefore, no. Since two or more pieces of data satisfying the operation condition 2 are not stored, they are stored together as a correction reject (x notation). As described above, data is stored in a format associated with the start shock value for the load detection value for each driving direction and travel start floor. Here, the load detection value is shown as an example of being stored in increments of 10%. However, the format may be subdivided as necessary, or conversely, the load detection value may be more simply formatted in coarse increments.

  Hereinafter, the processing of this embodiment will be described with reference to the flowchart of FIG.

  First, as shown in step S1, the load storage circuit 14 takes in the output of the load detector 6 under the condition that the car door (not shown) attached to the elevator car 1 is closed, and as a load detection value in step S2. Remember. Next, in step S3, it is confirmed that the car 1 has started traveling, and the travel start floor storage circuit 12 stores travel start floor information based on the output of the position detection circuit 11 as shown in step S4. Further, as shown in step S5, the start shock value L is stored as step S6 under the condition that the elevator speed command is zero. In the present embodiment, the start shock value is described as the amount of movement of the car 1 when the speed command is zero. However, for example, it is obvious that the same effect can be obtained even if detected by the speed or acceleration of the car. It is also possible to replace it with another element that can quantitatively grasp the start shock value.

Next, as step S7, various data are stored in a microcomputer (not shown) with the contents of FIG. Operating condition as shown in step S8 storing data (traveling start floor and driving direction) for each it is determined whether two or more, in the case of correction Friendly calculates a correction torque amount [Delta] T _L of each load as step S9, further calculates the integral correction torque value oT _L. Here, the correction torque amount ΔT _L can be obtained as a function of the start shock L. In other words, ΔT _L = γ × L can be calculated, and γ is set in advance from the relationship between the machine and the rated load. Further, the integral correction torque value ΣT _L is calculated by ΣT _L = ΣT _L + ΔT _L / N. That is, a value obtained by dividing the calculated correction torque amount ΔT _L by the integral constant N is added to the integral correction torque value ΣT _L until the previous operation. Here, the integration constant N can be freely set in consideration of the response to the start shock reduction and stability against transient disturbances such as noise.

Next, as shown in step S10, an integral correction value of the preliminary excitation torque amount _TLD is calculated. That is, for each operating condition (traveling start floor and driving direction), and calculates the integral correction torque value oT _L obtained by the calculation based on the two sets of initial pre-excitation torque amount and the actual start shocks to load . Here, assuming that the initial pre-excitation torque amounts for the loads LD1 and LD2 under arbitrary operating conditions are T1 and T2, respectively, and the integral correction torque values obtained by calculation are respectively ΣT _L1 and ΣT _L2 , the arbitrary load LD The integral correction value of the pre-excitation torque amount T _LD with respect to
T _LD = {(T2 + ΣT _L2 ) − (T1 + ΣT _L1 )} / (LD2-LD1)
× (LD-LD2) + (T2 + ΣT _L2 )
It can obtain | require with the numerical formula of.

  As described above, according to the present embodiment, two sets of the load detection value of the load detection means on the same traveling start floor and the value of the start shock value generated during the period when the speed command is zero after the brake is released. By correcting the amount of pre-excitation torque based on this, it is possible to compensate for the appropriate amount of pre-excitation torque, thereby reducing the ride comfort of the elevator regardless of the travel start position and improving resistance to disturbances. can do. Of course, it is not necessary for maintenance personnel to bring test weights to the site and readjust the load detector.

It is a schematic block diagram which shows one Embodiment of the starting compensation apparatus of the elevator of this invention. It is a block diagram which shows the principal part structure of a starting compensation apparatus. It is explanatory drawing which shows the relationship between the load of a passenger car, and the amount of pre-excitation torque. It is a flowchart which shows the process sequence of a starting compensation apparatus. It is explanatory drawing which shows the information which a starting compensation apparatus uses for calculation of the amount of pre-excitation torque.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Passenger car 2 Counterweight 3 Wire rope 4 Electric hoist 5 Rotary encoder 6 Load detector 7 Electromagnetic brake 8 Start compensator 10 Pulse detector 11 Position detection circuit 12 Travel start floor memory circuit 13 Start shock memory circuit 14 Load memory Circuit 15 Pre-excitation torque amount calculation circuit

Claims (4)

Pre-excitation torque amount calculation means for controlling the pre-excitation torque amount of the motor before releasing the brake at the start of traveling of the car according to the load detection value output from the load detection means for detecting the load of the car In the elevator start-up compensation device,
Start shock detecting means for detecting the start shock value of the car generated after the brake is released and while the speed command is zero is provided, and the preliminary excitation torque amount calculating means is configured to calculate the load detection value and the start shock value. An elevator start-up compensation device, wherein the pre-excitation torque amount is corrected on the basis of the pre-excitation torque amount.   2. The elevator start compensation device according to claim 1, wherein the preliminary excitation torque amount calculation means corrects the preliminary excitation torque amount based on at least two sets of the load detection value and the start shock value.   2. The elevator start according to claim 1, wherein the pre-excitation torque amount calculating means corrects the pre-excitation torque amount based on at least two sets of the load value and the start shock value on the same travel start floor. Compensation device. The elevator start-up compensation device according to claim 1, wherein the preliminary excitation torque amount calculation means calculates the preliminary excitation torque amount by integral correction.

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