JP2010180026A - Control device for elevator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control device for an elevator, capable of enhancing landing precision. <P>SOLUTION: This control device for the elevator has the main rope 3 connecting equivalently a car 4 of the elevator and a balance weight 5 thereof bucket-likely, and elevation-drives the car 4, by driving a driving sheave 2 wound with the main rope 3, by an electric motor 1, and the control device includes a storage part for storing preliminarily respective landing position shift amounts in the uppermost story and the lowermost story occurred due to the extension/contraction amount of the main rope 3, and a residual distance correction part 17 for calculating a landing position shift amount in response to a position of an objective story, as the first correction amount, based on the landing position shift amounts stored in the storage part, and for correcting a residual distance up to the target story used in landing control, by adding the calculated first correction amount. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an elevator control device for stopping an elevator on a destination floor, and more particularly to landing control.

  FIG. 9 is an overall configuration diagram including a conventional elevator control device (see, for example, Patent Document 1). 9 includes a hoisting motor 1, a driving sheave 2, a main rope 3, a car 4, a counterweight 5, position cams 6A and 6B, position cam detectors 7A and 7B, a pulse generator 8, and an elevator. A control device 10 is provided.

  The elevator control device 10 includes a counter 11, a normal remaining distance calculation unit 12, an auxiliary remaining distance calculation unit 13, a remaining distance selection unit 14, a speed command generation unit 15, and a control unit 16. Moreover, the destination floor 9 has illustrated the certain destination floor for stopping an elevator.

Next, each component will be described.
The driving sheave 2 is driven by the hoisting electric motor 1. The main rope 3 is wound around the driving sheave 2 and a car 4 and a counterweight 5 are connected to both ends thereof. The position cams 6A and 6B are provided on each floor, and FIG. 9 illustrates an arrangement on the destination floor 9. On the other hand, position cam detectors 7A and 7B are installed on the car 4 side, and function as a landing position detection unit that detects a landing zone by detecting the position cams 6A and 6B. Further, the hoisting motor 1 is provided with a pulse generator 8 that generates a pulse in proportion to the rotational speed.

  The pulses generated by the pulse generator 8 are counted by the pulse counter 11 and become position data. Moreover, the stop position data of the car in each floor is stored in a storage unit (not shown). Then, the normal remaining distance calculation unit 12 determines the remaining distance to the destination floor 9 based on the value counted by the pulse counter 11 (that is, the car position) and the stop position data of each floor stored in the storage unit in advance. The distance is calculated as a normal remaining distance.

  On the other hand, when the position cam detectors 7A and 7B detect the landing zone, the auxiliary remaining distance calculation unit 13 sets the auxiliary remaining distance to a predetermined landing zone distance, and thereafter the pulse counter 11 outputs the pulse. The remaining distance corresponding to the number is calculated as the auxiliary remaining distance.

  The remaining distance selection unit 14 selects either the normal remaining distance calculated by the normal remaining distance calculation unit 12 or the auxiliary remaining distance calculated by the auxiliary remaining distance calculation unit 13. Specifically, the remaining distance selection unit 14 determines whether or not the landing zone has been reached based on the position cam detectors 7A and 7B. If the distance has not been reached, the normal remaining distance is selected as the remaining distance and is output to the speed command generator 15. On the other hand, if it has reached, the auxiliary remaining distance is selected as the remaining distance and is output to the speed command generator 15.

  The speed command generator 15 calculates a speed command up to the target floor level based on the remaining distance selected by the remaining distance selector 14. Furthermore, the control unit 16 performs landing control of the hoisting motor 1 based on the speed command calculated by the speed command generation unit 15.

  In landing control for decelerating and stopping the car to the destination floor, using the pulse count value and the stop position data of each floor stored in advance, the travel distance to the destination floor 9, that is, the normal remaining distance is used as a reference. The calculated speed command is being calculated. Furthermore, when entering the landing zone, the remaining distance is corrected as an auxiliary remaining distance based on the absolute position to the target floor level by the landing position detector, and a speed command is calculated based on the auxiliary remaining distance. is doing.

JP 2003-118946 A

However, the prior art has the following problems.
In the elevator type elevator apparatus, a car 4 is coupled to the main rope 3. For this reason, the main rope 3 expands and contracts due to the load due to its characteristics. That is, the main rope 3 expands and contracts during elevator acceleration / deceleration. The amount of expansion and contraction is proportional to the distance between the main rope 3 and the drive sheave 2 of the hoisting motor 1, and the lowest floor is the most and the top floor is the least.

  Here, when the auxiliary remaining distance calculation unit 13 recognizes the landing zone, a predetermined distance of the landing zone is set as the remaining distance. However, since the car is decelerating, the actual distance to the destination floor 9 is shifted by the amount of expansion and contraction of the main rope 3. In other words, in the conventional elevator control device, there is a difference between the actual remaining distance to the target floor 9 and the set remaining distance (auxiliary remaining distance) by the amount of expansion and contraction of the main rope 3. As a result, the landing accuracy is deteriorated.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to obtain an elevator control device that improves the landing accuracy.

  The elevator control device according to the present invention has a main rope in which an elevator car and a counterweight are equivalently connected in a slidable manner, and by driving a driving sheave around which the main rope is wound by an electric motor, In the elevator control device that drives the elevator up and down, the amount of landing position deviation of each of the uppermost floor and the lowermost floor caused by the expansion / contraction amount of the main rope is stored in advance and stored in the storage section. Based on the landing position deviation amount, the landing position deviation amount corresponding to the position of the destination floor is calculated as a first correction amount, and the remaining distance to the destination floor used for landing control is calculated as the calculated first correction amount. And a remaining distance correcting unit that corrects by adding.

  According to the elevator control device of the present invention, an elevator control device that improves the landing accuracy can be obtained by correcting the remaining distance in consideration of the expansion and contraction amount of the main rope.

It is a whole block diagram including the elevator control apparatus in Embodiment 1 of this invention. It is the figure which showed typically the detection signal of the position cam detector in Embodiment 1 of this invention. It is the flowchart which showed operation | movement of the remaining distance correction | amendment part in Embodiment 1 of this invention. It is a whole block diagram including the elevator control apparatus in Embodiment 2 of this invention. It is the flowchart which showed the operation | movement of the landing deviation detection part in Embodiment 2 of this invention. It is the flowchart which showed operation | movement of the remaining distance correction | amendment part in Embodiment 2 of this invention. It is a figure which shows the comparison with the remaining distance correction amount calculated in Embodiment 2 of this invention, and the remaining distance correction amount calculated in previous Embodiment 1. FIG. It is a flowchart of the abnormality detection process by the remaining distance correction | amendment part in Embodiment 3 of this invention. It is a whole block diagram containing the control apparatus of the conventional elevator.

  A preferred embodiment of an elevator control device according to the present invention will be described below with reference to the drawings. In addition, the same component as FIG. 9 which is a prior art is attached | subjected with the same code | symbol, and it demonstrates below centering on the part relevant to this invention.

Embodiment 1 FIG.
FIG. 1 is an overall configuration diagram including an elevator control apparatus according to Embodiment 1 of the present invention. 1 includes a hoisting motor 1, a driving sheave 2, a main rope 3, a car 4, a counterweight 5, position cams 6A and 6B, position cam detectors 7A and 7B, a pulse generator 8, and an elevator. A control device 10 is provided. The elevator control device 10 also includes a counter 11, a normal remaining distance calculation unit 12, an auxiliary remaining distance calculation unit 13, a remaining distance selection unit 14, a speed command generation unit 15, a control unit 16, and a remaining distance correction unit 17. ing. Compared with the configuration of FIG. 9 which is the prior art, the elevator control device 10 shown in FIG. 1 according to the first embodiment is different in that the remaining distance correction unit 17 is further provided.

  The remaining distance correction unit 17 calculates the remaining distance correction amount of each destination floor 9 based on the respective landing position shift amounts of the uppermost floor and the lowermost floor stored in advance. Further, the remaining distance correction unit 17 adds and corrects the calculated remaining distance correction amount to the remaining distance selected by the remaining distance selection unit 14.

  FIG. 2 is a diagram schematically showing detection signals of the position cam detectors 7A and 7B in the first embodiment of the present invention. Specifically, when the position cams 6A and 6B are engaged with the position cam detectors 7A and 7B, the operation range of the operation signal LU by the position cam detector 7A and the operation of the operation signal LD by the position cam detector 7B. The range is shown. Here, a range in which at least one of them is operating is defined as a landing zone, and a range in which only one of them is operating is defined as a landing deviation zone.

  The position where the LU / LD operates is from the destination floor level to a position over the predetermined distance Sb before the predetermined distance Sa, is symmetric with respect to the destination floor level, and Sa> Sb. Here, Sb is set to about a few mm at which passengers do not trip when getting on and off the car. In FIG. 2, the value above the destination floor level is expressed as a positive value (+), and the value below the negative value (−).

FIG. 3 is a flowchart showing the operation of the remaining distance correction unit 17 in the first embodiment of the present invention. First, in step S31, the remaining distance correction unit 17 determines whether or not the car has started traveling toward a certain destination floor. If it is determined that traveling has started, in step S32, the remaining distance correction unit 17 calculates a remaining distance correction amount Scr to the destination floor according to the following equation (1).
Scr = (Stop−Sbot) × (Strgt / Srun) + Sbot (1)

Each symbol in the above formula (1) indicates the following.
Stop: Amount of landing deviation when stopping at the top floor Sbot: Amount of landing deviation when stopping at the bottom floor Srun: Distance between the bottom floor and the top floor Strgt: Bottom floor at the position of the destination floor Distance from The values of Stop, Sbot, and Srun are stored in advance in the storage unit. The value of Strgt is calculated by the pulse counter 11.

  Next, in step S <b> 33, the remaining distance correction unit 17 adds the remaining distance correction amount Scr to the remaining distance selected by the remaining distance selection unit 14 and outputs the result to the speed command generation unit 15. Through such a series of processes, it is possible to correct the remaining distance in consideration of the amount of expansion / contraction of the main rope 3. As a result, the speed command generator 15 can generate a smooth speed command value based on the corrected remaining distance, and can improve the landing accuracy without deteriorating the riding comfort.

  As described above, according to the first embodiment, the remaining distance can be corrected in consideration of the expansion / contraction amount of the main rope 3 by obtaining the remaining distance correction amount according to the position of the destination floor. As a result, an elevator control device that can improve the landing accuracy without deteriorating the riding comfort can be realized.

Embodiment 2. FIG.
FIG. 4 is an overall configuration diagram including an elevator control device according to Embodiment 2 of the present invention. The overall configuration shown in FIG. 4 includes a hoisting motor 1, a driving sheave 2, a main rope 3, a car 4, a counterweight 5, position cams 6A and 6B, position cam detectors 7A and 7B, a pulse generator 8, and an elevator. A control device 10 is provided. In addition, the elevator control device 10 includes a counter 11, a normal remaining distance calculation unit 12, an auxiliary remaining distance calculation unit 13, a remaining distance selection unit 14, a speed command generation unit 15, a control unit 16, a remaining distance correction unit 17, and a arrival distance. A bed slip detector 18 is provided. Compared with the configuration of FIG. 1 in the first embodiment, the elevator control device 10 shown in FIG. 4 in the present second embodiment is different in that it further includes a landing deviation detection unit 18.

  The landing slip detection unit 18 detects whether or not a landing slip has occurred when stopping on the target floor by using the position cams 6A and 6B provided on each floor and the position cam detectors 7A and 7B installed on the car 4. . Furthermore, when it is detected that a landing deviation has occurred, the remaining distance correction unit 17 according to the second embodiment performs remaining distance correction considering the landing deviation when the next movement is performed.

  FIG. 5 is a flowchart showing the operation of the landing deviation detection unit 18 in the second embodiment of the present invention. First, in step S51, the landing deviation detection unit 18 confirms whether or not the elevator has stopped from the traveling state. If the vehicle stops, the landing deviation detector 18 determines in step S52 whether the stopped position is within the landing zone (see FIG. 2 above). When it is not within the landing zone, the landing deviation cannot be determined, so that the predetermined amount is moved again, and the process returns to step S51.

  When the stopped position is in the landing zone, the process proceeds to step S53. In step S53, the landing deviation detection unit 18 determines whether or not the stopped position is within the landing deviation zone (see FIG. 2 above). If it is within the landing deviation zone, the process proceeds to S54, where the landing deviation detection unit 18 confirms the position of landing based on the detection results of the position cam detectors 7A and 7B, and has stopped excessively or stopped inadequately. Determine whether.

  In the case of overshooting (that is, LU On for UP travel or LD On for DN travel), the process proceeds to step S55, and the landing slip detection unit 18 determines that the state of over landing slip has been detected. On the other hand, if it is not too much and not enough (that is, LD On for UP running or LU On for DN running), the process proceeds to step S56, and the landing deviation detection unit 18 detects that the landing deviation state is insufficient. to decide.

  On the other hand, if the stopped position is not within the landing deviation zone in the previous step S53, the process proceeds to step S57, and the landing deviation detection unit 18 determines that a state without landing deviation has been detected. The landing deviation detection unit 18 performs the above steps S51 to S57 every time the elevator stops on the destination floor.

  FIG. 6 is a flowchart showing the operation of the remaining distance correcting unit 17 in the second embodiment of the present invention. Compared with the flowchart of FIG. 3 in the first embodiment, the flowchart of FIG. 6 in the second embodiment is different in that steps S61 and S62 are further added.

First, in step S61, the remaining distance correction unit 17 determines whether the landing deviation detection unit 18 has detected landing deviation. Specifically, the remaining distance correction unit 17 determines that the landing deviation detection unit 18 has detected the landing deviation by passing through step S55 or S56 in the flowchart of FIG. If it is determined that the landing deviation has been detected, the process proceeds to S62, and the remaining distance correction unit 17 calculates the remaining distance correction amount correction value Scrcr according to the following equation (2) or (3).
Scrcr = Scrcr + Sb (when insufficient slippage is detected) (2)
Scrcr = Scrcr−Sb (when overshoot landing deviation is detected) (3)

  Note that + Sb and -Sb in the above equations (2) and (3) correspond to the predetermined distance shown in FIG. In addition, it is assumed that the remaining distance correction amount correction value Scrcr on the right side in the above equations (2) and (3) is set to zero as an initial value.

In steps S31 to S33 shown in FIG. 6, basically, the processing described in FIG. 3 in the first embodiment is executed. However, in step S32 in FIG. 6 in the second embodiment, the following expression (4) is used instead of the above expression (1). That is, the remaining distance correction amount correction value Scrcr calculated by the above equation (2) or (3) is further added to the result of the above equation (1) to calculate the final remaining distance correction amount Scr. The Rukoto.
Scr = (Stop−Sbot) × (Strgt / Srun) + Sbot
+ Scrcr (4)

  FIG. 7 is a diagram showing a comparison between the remaining distance correction amount calculated in the second embodiment of the present invention and the remaining distance correction amount calculated in the first embodiment. The solid line indicates the remaining distance correction amount calculated in the first embodiment, and the two dotted lines indicate the remaining distance correction amount calculated in the second embodiment.

  As described above, in the second embodiment, when the stop position on the destination floor is the landing slip zone, the remaining distance is taken into consideration when the next shift to the destination floor is taken into consideration. Correction is being performed. Therefore, even when a landing deviation occurs during normal operation, the amount of deviation can be corrected and the car can be stopped at an appropriate position from the next operation.

  As described above, according to the second embodiment, even if the main rope is stopped in the landing deviation zone due to a change in the expansion / contraction amount of the main rope due to the influence of aging or the like, The position can be automatically corrected within the initial desired range, and high landing accuracy can always be maintained.

Embodiment 3 FIG.
In the third embodiment, an elevator control device further provided with an abnormality detection function in addition to the functions of the second embodiment will be described. The overall configuration of the elevator is the same as that in FIG. 4 in the second embodiment, and a description thereof will be omitted.

  FIG. 8 is a flowchart of the abnormality detection process performed by the remaining distance correction unit 17 according to the third embodiment of the present invention. First, in S81, the remaining distance correction unit 17 determines whether or not the remaining distance correction amount correction value calculation process in Step S62 in FIG. 6 has been performed. If the calculation process in step S62 is performed, the process proceeds to step S82, and the remaining distance correction unit 17 counts the number of executions.

  In step S83, the remaining distance correction unit 17 determines whether or not the number of executions has reached a predetermined number (assumed to be predetermined). If the number of times is greater than or equal to the predetermined number of times, an abnormality such as the main rope 3 or the driving sheave 2 of the hoisting motor 1 is considered. Therefore, when the count value is equal to or greater than the predetermined number of times, the process proceeds to S84, and the remaining distance correction unit 17 makes the elevator unusable because an abnormal state is considered.

  That is, in the third embodiment, every time the elevator stops on the destination floor, it is determined whether the landing position is in the landing deviation zone, and the number of times of stopping in the landing deviation zone is a predetermined number or more. Therefore, it is possible to determine that an abnormal state has occurred in the elevator and immediately disable the elevator.

  As described above, according to the third embodiment, since the number of times of calculation processing of the remaining distance correction amount correction value performed when stopping in the landing deviation zone is limited, in addition to the effect of the second embodiment, An abnormal state can be detected, and an abnormal state can be quickly detected.

  1 hoist motor, 2 drive sheave, 3 main rope, 4 cage, 5 counterweight, 6A, 6B position cam, 7A, 7B position cam detector, 8 pulse generator, 10 elevator controller, 11 pulse counter, 12 normal remaining distance calculating section, 13 auxiliary remaining distance calculating section, 14 remaining distance selecting section, 15 speed command generating section, 16 control section, 17 remaining distance correcting section, 18 landing deviation detecting section.

Claims (3)

An elevator control device that has a main rope that is equivalently connected to an elevator car and a counterweight in a slidable manner, and that drives the drive sheave around which the main rope is wound by an electric motor to drive the car up and down In
A storage unit that stores in advance the respective landing position deviation amounts of the uppermost floor and the lowermost floor caused by the amount of expansion and contraction of the main rope;
Based on the landing position deviation amount stored in the storage unit, the landing position deviation amount corresponding to the position of the destination floor is calculated as a first correction amount, and the remaining to the destination floor used for landing control is calculated. An elevator control device comprising: a remaining distance correction unit that corrects a distance by adding the calculated first correction amount. In the elevator control device according to claim 1,
A landing position detector for detecting whether the stop position of the car is a landing slip zone each time the car stops on the destination floor;
The storage unit stores in advance a second correction amount for canceling the landing deviation,
The remaining distance correction unit further adds the second correction amount in addition to the first correction amount during the next landing control when the landing position detection unit detects that it is a landing deviation zone. Then, the remaining distance to the destination floor used for the landing control is corrected. In the elevator control device according to claim 2,
The remaining distance correction unit counts the number of times that the landing position detection unit detects that it is a landing deviation zone as the number of landing deviations, and if the number of landing deviations reaches a predetermined number, An elevator control device that judges that a situation has occurred and disables the elevator.

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