JP2862152B2 - Rope tension vibration suppression control method for elevator drive control system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive control device for controlling the rotation speed of a lift drive motor of a facility equipped with a counterweight, in which a rope winder is installed on the ground side in an elevator, an elevator or a stage device. The present invention relates to a method for suppressing a rope tension vibration.

[0002]

2. Description of the Related Art FIG. 5 is a diagram showing a mechanism of a general elevator.
The winding drum 6 is suspended by a hoisting car 8 and a counterweight 10
Is supplied by winding up the rope 7. The power of the electric motor 2 is transmitted to the winding drum 6 via the speed reducer 5. Numeral 3 denotes an electromagnetic brake for stopping the elevator. The variable speed control device 1 controls the speed of the motor 2 using a signal detected by a speed detector 4 attached to the motor 2 as a speed feedback signal.

FIG. 6 shows a block diagram of an elevator drive control device in which a known elevator rope winding drum is installed at the top. In the figure, proportional gain A and time constant τ _I
The speed controller 12 having the integrator outputs a torque command signal T _REF calculated from the difference between the speed command N _REF and the speed feedback signal _NMFB shown at 11. The torque command signal T
_{When REF} is input to the motor torque controller 13, the motor torque controller 13 controls the motor torque T _M according to the torque command T _REF . As a result, the rise of the torque can be approximated as a first-order lag of time constant tau _T. Note that the speed feedback signal N _MFB is the rotation speed signal N _{M of the} motor.
Is generated through the first-order lag filter 15 of the time constant τ _F. 14 is a block diagram showing the mechanical time constant tau _M of the electric motor, its output becomes the motor rotational speed N _M. Reference numeral 16 denotes a block indicating a tension time constant τ _V1 on the winding side of the rope 7, and an output side thereof is a tension F on the winding side of the rope 7.
It becomes ₁ . Reference numeral 17 denotes a block indicating the mechanical time constant τ _L1 of the elevator car, and its output side is the elevator speed V ₁ of the elevator car. 18 is a block diagram showing the weight W _L of the lift cage. 19 is a block diagram showing the tension time constant tau _V2 counterweight side rope 7, the output side becomes the tension F ₂ of the counterweight side rope 7. 21 is a block diagram showing the weight W _C of the counterweight 20 is a block diagram showing the mechanical time constant tau _L2 of the counterweight, its output becomes a lifting speed V ₂ of the counterweight.

[0004] In the block diagram of FIG. 6, given a speed command N _REF input to the ramp-shaped (linear acceleration like), changes in extending the rope 7 when motor speed N _M and cabin rate V ₁ is rises occur Then, elastic vibration occurs in the rope 7 between the rope winding drum and the elevator car. In the prior art, as a means for solving this problem, an S-shaped acceleration / deceleration command device 11 is provided, and a change in the speed command of the elevator car is made as small as possible to reduce the amplitude of the tension vibration of the rope.

[0005]

However, in this method, since the elevator winding drum 6 is installed at the top,
In order to stably transmit the power of the electric motor 2 to the winding drum 6, there is a problem that equipment cost is required to strengthen the structure of the building from the ground to the top. When the elevator car winding drum 6 shown in FIG. 5 is installed on the ground side as shown in FIG.
When the elevator car 8 is accelerated or decelerated, when the tension of the rope 7 fluctuates due to fluctuations in frictional resistance during elevating or the like, periodic and complicated speed fluctuations occur as shown in FIG. Since there is a problem that the winding drum 6 becomes very unstable, a method of installing the winding drum 6 on the ground side has not been adopted. In view of the above, an object of the present invention is to provide a control method that suppresses a fluctuation in tension of a rope that occurs during lifting and lowering of an elevator car in an elevator in which a winding drum is installed on the ground side.

[0006]

In order to solve this problem, a rope tension vibration suppression control method according to the present invention comprises installing a rope winding drum 6 for an elevator on the ground side, and using two ropes 7 and 9. The elevator basket 8 is suspended, and one rope 7 is
The winding drum 6 is connected to an elevator car 8 via a pulley 6A provided at the uppermost part, and the other rope 9 is connected to a counterweight 10 via a pulley 6B provided at the uppermost part. In the rope tension vibration suppression control method for a lift having a mechanism for supplying the power of the weight difference between the car 8 and the counterweight 10 by the electric motor 2 for driving the winding drum 6, the rate of change of the speed command signal N _REF is adjusted. The speed command signal A _REF is calculated, and the speed signal V ₁ of the elevator car 8 detected by the elevator speed detector 4 is used to calculate an average speed signal V _{1AVG at} regular intervals and an elevator car acceleration / deceleration signal A _FB indicating a rate of change. And a signal obtained by multiplying the deviation signal between the acceleration / deceleration command signal A _REF and the elevator car acceleration / deceleration signal A _FB by the proportional gain of the acceleration / deceleration controller 26, and the signal And a signal T _{REF2 obtained} by adding a signal obtained by multiplying the rate of change by the time constant τ ₂ and a signal T _RFM added to the output signal of the speed controller 12 are controlled as a torque command signal of the electric motor.

[0007]

Generally, the signal of a speed detector attached to a machine contains a pulsation signal of a high frequency, and even if the speed detection signal is differentiated as it is, it is used as a signal proportional to the rate of change of the machine speed. Although it is not possible, the pulsation value of the speed signal is reduced by calculating the average value of the speed detection signal for each fixed period, and the acceleration / deceleration signal of the machine is calculated by calculating the rate of change of the average speed signal. It can be used for control. In the present invention, when tension vibration occurs, abnormal acceleration / deceleration of the elevator car is detected, and the deviation between the acceleration / deceleration command and the acceleration / deceleration of the elevator car increases, and this deviation signal is amplified by the acceleration / deceleration controller, Further, the signal subjected to advance compensation becomes a torque command signal in a direction to cancel the tension vibration of the rope, and by controlling the motor torque as a signal obtained by adding this torque command signal to the output signal of the speed controller as a torque command of the motor. In addition, the tension vibration of the rope is suppressed, and stable acceleration / deceleration characteristics can be obtained.

[0008]

FIG. 2 is a block diagram of a speed control device of an elevator having a speed controller constituted by an analog arithmetic unit according to a specific embodiment of the present invention. Elements corresponding to those shown in FIG. 6 showing the conventional example are denoted by the same reference numerals, and description thereof will be omitted. FIG.
, The signal of the speed detector 4 (see FIG. 1) attached to the motor is converted into a speed detection filter 15 having a first-order lag element.
The motor speed feedback signal N
_{The difference signal} between the _MFB and the speed command signal N _REF which is the output of the S-shaped acceleration / deceleration command device 11 is represented by a proportional gain A and a time constant τ _I.
Is input to the speed controller 12 having an integrator of
2, a torque command signal T _REF1 is calculated and output.
On the other hand, the elevator car average speed calculator 24 calculates an average speed V _1AVG for a certain period t _s of a signal from the speed detector 8A (see FIG. 1) attached to the elevator car 8. The method of calculation of the average speed for the predetermined period for each, for example if the speed detector is a pulse signal generator, by dividing the count value of the period between t _s of the pulse signal output from the speed detector 8A by t _s As a result, the average speed during t _s can be obtained as the average frequency of the pulse during t _s . In the case of an analog speed detection generator, the speed detection signal is read n times during a fixed period t _s , and the total value of these signals × (1/1)
n) can be the average speed during t _s . The average elevating speed of the elevator car for each fixed period is _{defined as V1AVG} . The elevator car acceleration / deceleration calculator 25 calculates the average speed V of the elevator car 8.
It calculates the rate of change of _1AVG outputting the acceleration feedback signal A _FB. The acceleration / deceleration command calculator 23 is provided with the S-shaped acceleration / deceleration command device 11.
The speed change ratio command N _REF output calculates and outputs the acceleration command signal A _REF of. The acceleration / deceleration controller 26 multiplies a signal obtained by multiplying a signal of the difference between the acceleration / deceleration command signal A _REF and the acceleration / deceleration feedback signal A _FB by a proportional gain G, and a signal obtained by differentiating the signal by a time constant τ ₂ . A signal added with the signal is output as a signal T _REF2 for suppressing tension vibration. A signal obtained by adding the output signal T _REF1 of the speed controller 12 and the tension vibration suppression signal T _REF2 is input to the motor torque controller 13 as a motor torque command T _RFM , and the motor torque controller 13 determines the torque of the motor according to the torque command T _RFM. , A stable variable speed characteristic in which the tension vibration of the rope is suppressed can be obtained.

Next, FIG. 3 shows a block diagram of an embodiment of the present invention for a speed control device having a speed controller constituted by a digital arithmetic unit. Only a difference from the block diagram of the analog control system shown in FIG. 2 is shown. Will be described.
S-shaped accelerator 1 surrounded by a dashed line in FIG.
1, speed controller 12, motor average speed calculator 22, acceleration / deceleration command calculator 23, acceleration / deceleration calculator 25 for elevator car,
The acceleration / deceleration controller 26 is executed at regular intervals t _s . The method shown in FIG. 2 uses the average speed calculator 22 to convert the pulse signal generated by the speed detector 4 of the motor into a pulse signal.
While these operations are analog except that the signals calculated at regular intervals in the same manner as the elevator car average speed calculator 24 are used as the motor speed feedback signal, the method of FIG. This analog operation is only a digital operation. As an example of the calculation, the elevator car acceleration / deceleration calculator 25 will be described. Now, t = t _n
Let V _1AVG (n) be the average speed signal calculated by the average speed calculator 24 in (2). The average speed calculated at t = t _n-1 is V _1AVG (n-1), but this signal is In the figure, it is represented as the product of V _1AVG and the Z function Z ⁻¹ . Cabin acceleration calculator 25 to obtain the t = t _{[V 1AVG (n) -V 1AVG (} n-1) ] in _n / t _s deceleration feedback signal V _FB of the elevator car performs operations. FIG. 4 shows a stable variable speed control characteristic in which the application of the digital method of the present invention suppresses fluctuations in tension during lifting and lowering of the elevator car.

[0010]

As described above, according to the present invention,
During the elevating operation of the elevator car, vibration generated due to a change in the tension of the rope at the start of acceleration / deceleration or when the friction torque suddenly changes is suppressed, and stable operating characteristics can be obtained. Therefore,
By installing the winding drum of the elevator on the ground side, the equipment cost can be reduced, and maintenance and inspection can be easily performed.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an elevator in which a rope winding drum is installed on the ground side.

FIG. 2 is a block diagram showing a specific embodiment of the present invention in an analog control system.

FIG. 3 is a block diagram showing a specific embodiment of the present invention in a digital control system.

FIG. 4 is an acceleration characteristic and load response characteristic diagram of the speed control device showing the effect of the present invention.

FIG. 5 is an explanatory view of the structure of an elevator in which a known rope winding drum is provided at the top.

FIG. 6 is a speed control block diagram of a lift provided with a known rope winding drum at the top.

FIG. 7 is a graph showing unstable variable speed characteristics of an elevator when a rope winding drum is provided on the ground side.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Variable speed control device 2 Electric motor 3 Electromagnetic brake 4 Speed detector 5 Reducer 6 Elevator rope winding drum 6A, 6B Pulley 7 Rope (first) 8 Elevating car 9 Rope (second) 10 Counterweight 11 S-shaped add Deceleration commander 12 Speed controller 13 Motor torque controller 22 Motor average speed calculator 23 Acceleration / deceleration command calculator 24 Elevating car average speed calculator 25 Elevating car acceleration / deceleration calculator 26 Elevating car acceleration / deceleration controller

Continuation of the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) B66B 7/10 B66B 1/30 B66B 7/00 H02P 5/00

Claims (1)

(57) [Claims] An elevator rope winding drum 6 is installed on the ground side, a lifting cage 8 is suspended by two ropes 7 and 9, and one rope 7 is provided at the uppermost portion from the winding drum 6. And the other rope 9 is connected to a counterweight 10 via a pulley 6B provided at the uppermost part, and the weight difference between the elevator car 8 and the counterweight 10 is connected. In the rope tension vibration suppression control method in the elevator having a mechanism for supplying the power of the winding drum 6 by the motor 2 for driving the winding drum 6, the acceleration / deceleration command signal A _REF which is the rate of change of the speed command signal N _REF is used.
From the speed signal V ₁ of the elevator car 8 detected by the elevator speed detector 4, the average speed signal V
_1AVG and thereby calculating the rate of change is cabin acceleration signal A _FB, acceleration control to the deviation signal between the acceleration command signal A _REF and cabin acceleration signal A _FB 26
And a signal T _{REF2 obtained} by adding a signal obtained by multiplying the rate of change of the signal by a time constant τ ₂ and a signal T _{REF2 obtained} by adding the signal T _RFM to the output signal of the speed controller 12. A rope tension vibration suppression control method in an elevator drive control system, wherein the control is performed as a torque command signal of an electric motor.