CN100515899C - Elevator control device - Google Patents
Elevator control device Download PDFInfo
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- CN100515899C CN100515899C CN200480009184.2A CN200480009184A CN100515899C CN 100515899 C CN100515899 C CN 100515899C CN 200480009184 A CN200480009184 A CN 200480009184A CN 100515899 C CN100515899 C CN 100515899C
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- torque instruction
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- elevator
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- 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
- B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
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- 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
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- Automation & Control Theory (AREA)
- Elevator Control (AREA)
Abstract
A control device of an elevator for changing a speed pattern determining the jerk, acceleration/deceleration, and rated speed of a car according to a torque instruction in starting by holding the torque instruction in starting after a specified time is passed after the elevator releases a brake. The elevator comprises a speed control device generating a torque instruction value by using a speed instruction value and a speed signal and controls an electric motor by a power converter by using the torque instruction value to lift the car and a balance weight. Also, a balance device detecting a load in the car and outputting a balance signal is installed in the elevator, an unbalance load on the car side and the balance weight side are calculated by using the balance signal, and the torque instruction value is corrected based on the unbalance load. According to the torque instruction, the speed pattern determining the jerk, acceleration/deceleration, and rated speed of the car is changed.
Description
Technical field
The present invention relates to change the velocity mode (speed pattern) etc. of the electrical motor that offers elevator etc., thereby adjust the elevator control gear of acceleration/accel and maximum speed according to load.
Background technology
With reference to Figure 10 the technology that relates to existing elevator control gear is described.Figure 10 is a output frequency that existing elevator control gear is shown (speed: below, frequency and speed are equivalent in meaning) and the figure of the relation of torque.In Figure 10, fo represents base frequency (command speed), Tmax represents the maximum output torque value, Tx is illustrated in the 1st load required torque value down, Ty is illustrated in the required down torque value of the 2nd load (wherein, the 2nd load＜the 1 load), fx is illustrated in the 1st load exportable peak output frequency down, and fy is illustrated in the 2nd load exportable peak output frequency down.
In frequency limit more than or equal to base frequency fo, for example because the required torque value Tx of the torque ratio that obtained on the frequency band higher than frequency f x the 1st load is little, thereby at the peak output frequency of the 1st load (required torque value Tx) smaller or equal to frequency f x.And, because the required torque value Ty of the torque ratio that obtained on the frequency band higher than frequency f y the 2nd load is little, thus at the peak output frequency of the 2nd load (required torque value Ty) smaller or equal to frequency f y.
According to the above, in order to obtain enough torques, operating frequency is set at smaller or equal to the frequency that can obtain at the output frequency of the torque of the peak load of being supposed at the load of all size, make the electrical motor rotation.
In elevator control gear as described above, there are the following problems: though can get higher at little following the peak output frequency setting of situation of load, if but must be not lower under the big situation of load the peak output frequency setting, then can not obtain enough torques, elevators etc. can not rise, thereby must become the frequency and the running that can obtain enough torques under the situation of load maximum to the peak output frequency setting.
That is to say, in example shown in Figure 10, the peak output frequency setting is become fx, even the peak output frequency also is fx under the little situation of load.Therefore, there are the following problems: under the little situation of load, because the peak output frequency is low, thereby acceleration is very time-consuming, can not shorten time of run, and efficient is bad.
In order to address this problem a little, for example, in Japanese kokai publication hei 3-56308 communique, for frequency more than or equal to rated frequency, obtain magnitude of power according to voltage and current, this magnitude of power obtained and the magnitude of power under the rated frequency are compared, and speed setting value is outputed to the variable-ratio device.And, control setup in the Japanese kokai publication hei 8-107699 communique, in the variable-ratio device of inversion portion, have with the alternating current that direct current (DC) is converted to changeable frequency, voltage variable: voltage detecting circuit, it detects the DC bus-bar voltage of the input side of inversion portion; Current detection circuit, the electric current of each phase of the outgoing side of its detection inversion portion; And control circuit, it uses the size that the DC bus-bar voltage that is detected and each electric current mutually that is detected are differentiated automatically and inversion portion bonded assembly is loaded, decision peak output frequency and output.
Existing elevator control gear is in order to shorten time of run, according to load change maximum speed.Yet, only differ and shorten time of run surely by the raising maximum speed, can think under the short situation of miles of relative movement, compare with maximum speed, improve acceleration/accel and more can shorten time of run.Therefore, be that time of run is elongated because of miles of relative movement only by changing the existing problem of maximum speed according to load.
And, under the situation of elevator, use detections of loading of the scale device be arranged in the car, however the problem that exists be, owing to scale device has the detection error, if thereby improve maximum speed, the torque deficiency according to the detected load of scale device.
The present invention proposes in order to address the above problem, and its objective is that providing a kind of can change maximum speed and acceleration/accel according to load and miles of relative movement, thereby shortens the elevator control gear of time of run.And, the purpose of this invention is to provide the elevator control gear that can load accurately and detect.
Summary of the invention
Elevator control gear of the present invention, have according to speed value and speed signal produces the speed control unit of torque instruction value and come the control motor to make in the elevator of car and counterweight lifting by power conversion device according to above-mentioned torque instruction value, after having passed through elevator and having discharged the specified time of drg, torque instruction when keeping starting, according to this torque instruction, change is used to determine the velocity mode of acceleration rate (Jerk), acceleration-deceleration and the command speed of car.
In addition, has the speed control unit that produces torque instruction value according to speed value and speed signal, come the control motor to make car and counterweight lifting according to above-mentioned torque instruction value by power conversion device, and be provided with and detect the scale device of the interior load of car with output scale signal, according to the above-mentioned cage side of above-mentioned scale signal operation with to the unbalance load of heavy side, and proofread and correct according to this unbalance load in the elevator of above-mentioned torque instruction value, after having passed through elevator and having discharged the specified time of drg, torque instruction when keeping starting, according to this torque instruction, change is used to determine the acceleration rate of car, the velocity mode of acceleration-deceleration and command speed.
And velocity mode has predetermined standard value, at standard value, makes acceleration-deceleration and command speed rise to the value that peak output was limited by the peak output and the electrical motor of power conversion device with the escalating rate of regulation from standard value.
And, the operating torque instruction when moving according to last time, the torque instruction when utilizing the running losses amount to elevator starter is proofreaied and correct, and changes the velocity mode of the acceleration rate, acceleration-deceleration and the command speed that are used to determine car.
And, as load testing method, according to the ridership of being judged by the captured image of the photographic camera in the lift car in the car, according to this result's of output camera signal, change is used to determine the velocity mode of acceleration rate, acceleration-deceleration and the command speed of car.
And, has the speed control unit that produces torque instruction value according to speed value and speed signal, come the control motor so that car and counterweight lifting according to torque instruction value, and be provided with and detect the scale device of the interior load of car with output scale signal, according to scale signal operation cage side with to the unbalance load of heavy side, and proofread and correct according to this unbalance load in the elevator of torque instruction value, has the velocity mode determination device, this velocity mode determination device during according to scale signal or elevator starter torque instruction or judge ridership in the car by the captured image of the photographic camera in the car, camera signal according to this result of output, perhaps according to its combination, from acceleration/accel, select to be used to determine the acceleration rate of car in the speed meter, the velocity mode of acceleration-deceleration and command speed, make acceleration/accel and speed escalating rate separately variable according to miles of relative movement to destination, miles of relative movement to destination is long more, then makes the rising of maximum speed have advantage more.
And, load changes the elevator of the velocity mode of the acceleration rate, acceleration-deceleration and the command speed that are used for determining car with the scale device of output scale signal, according to the scale signal in being provided with the detection car, has the scale testing fixture, the difference of the torque instruction when above-mentioned scale signal and starting has surpassed under the situation of specified value, stop to change velocity mode, velocity mode is turned back to standard value.
Description of drawings
Fig. 1 is the system construction drawing that the elevator control gear in the embodiments of the present invention 1 is shown; Fig. 2 is the characteristic map of the relation of the generation torque of the electrical motor of expression in the embodiments of the present invention 1 and motor speed; Fig. 3 is the skeleton diagram of being used in the embodiments of the present invention 1 deriving the elevator mechanical system model; Fig. 4 is the car speed pattern of expression in the embodiments of the present invention 1 and the characteristic map of the relation of motor torque pattern; Fig. 5 is the diagram of circuit that the car speed pattern calculation step in the embodiments of the present invention 1 is shown; Fig. 6 illustrates the speed in the embodiments of the present invention 1, the figure of acceleration and deceleration kilsyth basalt; Fig. 7 illustrates other different speed, the figure of acceleration and deceleration kilsyth basalt; Fig. 8 is the system construction drawing that the elevator control gear in the embodiments of the present invention 2 is shown; Fig. 9 is the electrical motor exportable torque of expression in the embodiments of the present invention 4 and the characteristic map of the relation of speed range; Figure 10 is the characteristic map that the relation of the output frequency of existing elevator control gear and torque is shown.
The specific embodiment
Below, with reference to the accompanying drawings embodiments of the present invention 1 are described.
Fig. 1 is the system construction drawing that the elevator control gear in the embodiments of the present invention 1 is shown.In Fig. 1, the driving rope sheave 2 of the towing machine that is driven with electrical motor 1 by traction is wound with main rope 3, is connected with car 4 and counterweight 5 respectively at the two ends of main rope 3.Speed detector 6 combines with electrical motor 1 with traction, the cooresponding speed signal 6a of rotative speed of output and electrical motor 1.Scale device 7 is arranged in the car 4, detects the interior load of car with output scale signal 7a.Power converter 8 is supplied with the power supply that is used for driving motor 1.Current probe 9 detects the electric current of electrical motor 1, output current signal 9a.Speed command generation device 10 produces the speed value 10a of elevator.Speed control unit 11 is connected with speed detector 6 with speed command generation device 10, is input with speed value 10a and speed signal 6a, exports the 1st torque instruction value 11a.Scale compensating device 12 is connected with scale device 7, is input with scale signal 7a, output torque compensating signal 12a.Adder 13 is connected with scale compensating device 12 with speed control unit 11, exports the 2nd torque instruction value 13a.Torque control unit 14 is connected with adder 13, speed detector 6 and current probe 9, its output of torque control unit 14 outputs 14a.Drg 15 is used for the driving rope sheave 2 of towing machine is kept static, is released according to the starting order 15a from speed command generation device 10.Starting torque command detection device 16 is according to the starting order 15a from speed command generation device 10, after having passed through elevator and having discharged the specified time of drg 15, and the torque instruction when keeping starting.Running losses arithmetical device 17 is according to speed value 10a, to deduct compensated torque signal 12a command speed or operating the 2nd torque instruction value 13a of constant speed from scale compensating device 12, and the running losses 17a when coming the operation of computing elevator.The torque instruction 16a of scale testing fixture 19 during the detected starting of starting torque command detection device 16 and compensated torque signal 12a from scale compensating device 12 compare, in case should value surpass specified value, the detection error that then is judged as scale device 7 is big, to speed command generation device 10 output abnormality signal 19a.
Below, the action of the elevator control gear of above-mentioned formation is described.
In the time of in the passenger enters car 4, detect load in the car, output scale signal 7a by scale device 7.Scale compensating device 12 is poor according to the weight of the weight of scale signal 7a computing car 4 sides and counterweight 5 sides, i.e. unbalance load is according to this unbalance load computing compensated torque signal 12a.This compensated torque signal 12a is equivalent to be used for unbalance load is carried out the motor torque of balance.
After car 4 startings, speed control unit 11 is exported the 1st torque instruction value 11a according to speed value 10a and speed signal 6a.Usually, the PI computing based on the deviation of speed value 10a and speed signal 6a is used in the speed control computing.The 1st torque instruction value 11a and compensated torque signal 12a are added in adder 13, become the 2nd torque instruction value 13a.Torque control unit 14 is according to the 2nd torque instruction value 13a, speed signal 6a and current signal 9a computing output 14a, by the torque of power converter 8 control tractions with electrical motor 1.Like this, car 4 and counterweight 5 carry out lifting.
And, when car 4 startings,, discharge the drg 15 of the driving rope sheave 2 of towing machine according to starting order 15a from speed command generation device 10.Starting torque command detection device 16 after having passed through elevator and having discharged the specified time of drg 15, the torque instruction when keeping starting.And the running losses amount 17a the when elevator by 17 computings of running losses arithmetical device is moved proofreaies and correct, and computing is with the operating balancing moment of constant speed.Here, though can replace the overbalance torque that causes of poor quality because of car 4 and counterweight 5 of balancing moment with the compensated torque signal 12a that is exported from scale compensating device 12, but because scale device 7 has the detection error, thereby after starting, operating speed control setup 11 has carried out torque instruction after the static retentive control and has calculated the method for balancing moment and can obtain more high-precision result.
Below, describe with reference to the step of Fig. 2～Fig. 5 till the formation speed pattern.Fig. 2 is the characteristic map of the relation of expression generation torque of electrical motor and motor speed.Fig. 3 is used to derive the skeleton diagram of traction with the elevator mechanical system model of the relation of driving rope sheave 2, car 4 and the counterweight 5 of electrical motor 1, towing machine be shown.The motor torque pattern is represented in the bottom of Fig. 4, and the car speed pattern of this moment is represented on top.Fig. 5 is the diagram of circuit that the calculation process step that is used to generate the car speed pattern is shown.
In Fig. 2, traction can be by the oblique line portion that line the surrounded zone of the peak output value that changes according to motor torque axle and motor speed and comprise in the zone on its border and move with electrical motor 1.This zone so long as convex set get final product, yet even under the situation that is not convex set, also can make operating space become convex set by approximate.Torque is positive region representation power running state, negative region representation reproduced state.Represent this zone with Ω.Here, the a-quadrant is not enter situation in the car 4 till the peak load from the passenger, can be with the specified operation area of command speed and the operation of standard acceleration-deceleration.And the B zone is under the state in the passenger enters car 4, and under the less state of counterweight overbalance, promptly motor torque is the light hours, can realize the zone of variable acceleration-deceleration and variable velocity from command speed and normal acceleration in counterweight 5.
In Fig. 3, Tm represents motor torque, and T1 represents the running losses torque, and J represents the moment of inertia of towing machine, and r represents the towing machine radius, and m1 represents the counterweight quality, and m2 represents the car quality, and α represents the car acceleration/accel, and ω represents the towing machine rotative speed.And establishing g is acceleration due to gravity.By formation derivation equation of motion, can obtain the relational expression of motor torque and car acceleration/accel, overbalance torque, running losses torque by following formula to Fig. 3.
In addition, in the formation of Fig. 3,,, and be not limited to above-mentioned formation as long as both relations are the formations that available linear function is described though represent the relational expression of car acceleration/accel and motor torque by formula (1).Then, suppose that the rotative speed of electrical motor equates with the towing machine rotative speed, establishing v is car speed, then can come the computing car speed by following formula according to the electrical motor rotative speed.
v＝rω…(2)
Therefore, Fig. 2 can be exchanged into the figure of the relation of expression motor torque and car speed.In addition, equate though supposed motor speed and towing machine rotative speed, yet, be not limited to above-mentioned formula (2) as long as both relational expressions are the conversions that available linear function is described.For example, also can use the present invention using under the situation of reductor etc.
In Fig. 4, the velocity mode on top is the torque mode at the bottom, comes its computing according to above-mentioned formula (1) and its integrated value.And in Fig. 4, t0～t7 represents that Δ t1～Δ t7 represents time interval constantly, and v0～v7 represents that corresponding to each car speed constantly, Tm0～Tm7 represents corresponding to each motor torque constantly.Here, Tm0=Tm3=Tm4=Tm7=TM0, Tm1=Tm2=TM1, Tm5=Tm6=TM2.And, establish v0=0, t0=0.
In this Fig. 4, interval Δ t1, Δ t3, Δ t5 and Δ t7 are acceleration rate (accelerations, be the car jerk) traffic coverage that value is constant, interval Δ t2 and Δ t6 are the constant traffic coveraves of acceleration/accel, interval Δ t4 is the traffic coverage of constant airspeed.And, can be α=above-mentioned formula of 0 substitution (1), by following formula (3) calculated equilibrium torque TM0.
TM0＝-r(m1-m2)g/2+T1…(3)
Use Fig. 5, the velocity mode back-and-forth method of the speed command generation device 10 in the embodiment 1 is described.
In Fig. 5, set in the processing at the destination layer of step S21, at the destination of locating at car, stop etc. to set, set the range ability L or the operation number of floor levels of car according to stopping floor next time by the passenger.Then, balancing moment at step S22 detects in the processing, the running losses 17a addition of torque instruction 16a during the starting that detected by starting torque command detection device 16 with the time by the elevator operation of 17 computings of running losses arithmetical device, the computing balancing moment.Then, set at the speed of step S23, acceleration-deceleration and to handle, according to the range ability L of the car that sets at step S21 or operation number of floor levels and at the balancing moment of step S22 institute computing, selection speed, acceleration and deceleration kilsyth basalt.Then, in the velocity mode generation of step S24 is handled,, generate velocity mode shown in Figure 4 according at the selected speed of step S23, acceleration and deceleration kilsyth basalt.
For the torque restriction condition, must constrain in the velocity mode of Fig. 4 and torque mode in the actuation range of electrical motor.Therefore,, make speed shown in Figure 6, acceleration and deceleration kilsyth basalt in advance, so that according to the motor torque in when starting, with the velocity mode that sets and acceleration-deceleration mode operation the time, motor torque is constrained in the actuation range of electrical motor according to (1) formula.
In present embodiment 1,, have cooresponding a plurality of speed, acceleration and deceleration kilsyth basalts such as loaded weight (representing) in shown in Figure 6 and balancing moment or the car and rotation direction with ratio to rated value as operational mode.Elevator control gear is at selected table, and motor torque and rotation direction during according to starting are selected and their cooresponding speed and acceleration-decelerations from table, carries out the elevator running according to selected speed and acceleration-deceleration.For example can be by described a plurality of speed, the acceleration and deceleration kilsyth basalt set shown below.
The speed of Fig. 6, acceleration and deceleration kilsyth basalt E are at trading off between car speed and the car acceleration-deceleration, consider that the miles of relative movement L of car sets.Here, be that how many rice are selected the table that will use according to the interfloor distance till destination layer.In addition, also can be not according to interfloor distance, and divide table by the number of floor levels that passes through in the way.Can have a plurality of tables according to miles of relative movement L.Under the short situation of miles of relative movement L, more can shorten time of run owing to compare the increase acceleration-deceleration with speed, improve operating efficiency, thereby set acceleration-deceleration greatlyyer.Otherwise, under the bigger situation of miles of relative movement L, more can improve operating efficiency owing to comparing to push the speed with acceleration-deceleration, thereby must be bigger with speed setting.In this case, the information calculations miles of relative movement L of floor that car is stopped during at first according to starting and the floor that stops next time is according to this miles of relative movement L option table.For example, be under 12 meters the situation at miles of relative movement L, select the table of foot.The cooresponding speed of balancing moment and the acceleration-deceleration of selection and transverse axis in this table begin the running of elevator then.
Though supposed described table E be and the cooresponding table of miles of relative movement L, balancing moment and rotation direction, yet also can be only with the cooresponding table of miles of relative movement L, only with the cooresponding table of balancing moment, and also can be as with miles of relative movement L and the cooresponding table of rotation direction etc., be and the above-mentioned cooresponding table of any combination.
And, also can use replace balancing moment and based on the car load to the ratiometric of rated load speed shown in Figure 7, acceleration and deceleration kilsyth basalt F.
Below, with reference to the accompanying drawings embodiments of the present invention 2 are described.
Fig. 8 is the system construction drawing that the elevator control gear in the embodiments of the present invention 2 is shown.In Fig. 8, the driving rope sheave 2 of the towing machine that is driven with electrical motor 1 by traction is wound with main rope 3, and the two ends of main rope 3 are connected with car 4 and counterweight 5 respectively.Speed detector 6 combines with electrical motor 1 with traction, the cooresponding speed signal 6a of rotative speed of output and electrical motor 1.Scale device 7 is arranged in the car 4, detects load in the car, output scale signal 7a.Power converter 8 is supplied with the power supply that is used for driving motor 1.Current probe 9 detects the electric current of electrical motor 1, output current signal 9a.Speed command generation device 10 produces the speed value 10a of elevator.Speed control unit 11 is connected with speed detector 6 with speed command generation device 10, is input with speed value 10a and speed signal 6a, exports the 1st torque instruction value 11a.Scale compensating device 12 is connected with scale device 7, is input with scale signal 7a, output torque compensating signal 12a.Adder 13 is connected with scale compensating device 12 with speed control unit 11, exports the 2nd torque instruction value 13a.Torque control unit 14 is connected with adder 13, speed detector 6 and current probe 9, its output of torque control unit 14 outputs 14a.Drg 15 is used for the driving rope sheave 2 of towing machine is kept static, is released according to the starting order 15a from speed command generation device 10.Be provided with photographic camera 18 in the car 4 of elevator, the ridership according to being judged by these photographic camera 18 captured images in the car is considered as balancing moment to this result's of output camera signal 18a.The interior ridership detecting device 20 of car that replaces the starting torque command detection device 16 in the embodiment 1 is according to the starting order 15a from speed command generation device 10, after having passed through elevator and having discharged the specified time of drg 15, the torque instruction when keeping starting.Running losses arithmetical device 17 is according to speed value 10a, to deduct the compensated torque signal 12a from scale compensating device 12 command speed or operating the 2nd torque instruction value 13a of constant speed, the running losses 17a the during operation of computing elevator.
In present embodiment 2,18a is considered as balancing moment camera signal, uses velocity mode back-and-forth method decision acceleration-deceleration and command speed shown in Figure 5.
And, as embodiments of the present invention 3, also has following method, that is: irrelevant with the speed/acceleration and deceleration kilsyth basalt of above-mentioned velocity mode back-and-forth method, shown in following formula (4) and formula (5), at predetermined standard speed V0 and standard acceleration-deceleration α 0, make with the cooresponding acceleration-deceleration α of balancing moment T (representing) and command speed V and rise to the value that peak output was limited by the peak output and the electrical motor 1 of power conversion device 8 with escalating rate k1, the k2 of regulation with ratio to rated value.
V＝k2/T×V0…(4)
α＝k1/T×α0…(5)
And, when the scale testing fixture 19 of Fig. 1 is judged as the big and output abnormality signal of the detection error of scale device 7, velocity mode is turned back to standard speed V0 and standard acceleration-deceleration α 0 as the standard value of being scheduled to.
And,, in the control of the electrical motor that drives towing machine, have the control unit that carries out field weakening control as embodiments of the present invention 4.Field weakening control is the motor control method that is applied to permanent magnet motor, be by making negative current towards the mobile caused demagnetization effectiveness of magnetic field flux direction (d direction of principal axis), the terminal voltage that suppresses electrical motor makes to drive the possible control method that becomes with higher rotation.Fig. 9 illustrates the exportable torque of electrical motor and the scope of speed.(a) of Fig. 9 illustrates the exportable scope when not carrying out field weakening control, and same (b) illustrates the exportable scope when having carried out field weakening control.By carrying out field weakening control, can make the drive range of electrical motor be extended to high-speed side.And, there is no need to change the capacity of electrical equipment such as inverter this moment.Therefore, by using field weakening control, can set the higher limit of constant speed for more high-speed side, and need not change electrical equipment.Particularly, the difference of the weight of cage side and the weight of counterweight is more little, just can bring into play the effect of field weakening control more.Its reason is because when the difference of the weight of cage side weight and counterweight hour, required motor torque diminishes, so the consumed power and the regenerating power of elevator also diminish, the result, elevator control gear is difficult to be subjected to the influence of the restriction of mains connection set capacity and the restriction condition of regenerated capacity etc., and because the character of field weakening control, the torque of generation is more little, then can make the rotative speed of electrical motor become high rotation more.
And, drive in order to make the high rotation of electrical motor, if the method for employing overlapping triple-frequency harmonics on contravarianter voltage and 2 phase modulation systems as the method for the voltage utilization that improves inverter, then can further make the high rotation of electrical motor drive.
And when electrical motor becomes high rotation and when the output voltage of inverter is increased, also must increase the magnitude of voltage of DC link (DC Link), the electromagnetic noise of electrical motor increases.To this, the correction of the dead time (Td) by carrying out voltage source inverter can greatly suppress electromagnetic noise.
More than, according to the present invention, after having passed through elevator and having discharged the specified time of drg, the torque instruction when keeping starting, according to this torque instruction, change is used to determine acceleration rate (acceleration), the acceleration-deceleration of car, the velocity mode of command speed.And according to the operating torque instruction of last time operation, the torque instruction when utilizing the running losses amount to proofread and correct elevator starter changes the velocity mode of the acceleration rate, acceleration-deceleration and the command speed that are used to determine car.Therefore, owing to carried out torque instruction after the static retentive control and the torque instruction after the running losses addition carries out the change of velocity mode, thereby can obtain not comprise the detection error of scale device etc., also considered the high-precision result of the influence of running losses etc. according to speed control unit.
And, velocity mode has predetermined standard value, at standard value, make acceleration-deceleration and command speed rise to the value that peak output was limited by the peak output and the electrical motor of power conversion device with the escalating rate of regulation, thereby can make simple in structurely, and can generate the high-accuracy speed pattern that peak output limited by the peak output and the electrical motor of power conversion device.
And, as load testing method, according to the ridership of judging by the captured image of the photographic camera in the car of elevator in the car, camera signal according to this result of output, change is used to determine the velocity mode of acceleration rate, acceleration-deceleration and the command speed of car, even thereby big detection error takes place scale device etc., also can in the motor torque scope, correctly change velocity mode.
And, has the velocity mode determination device, this velocity mode determination device during according to scale signal or elevator starter torque instruction or judge ridership in the car by the captured image of the photographic camera in the car, camera signal according to this result of output, perhaps according to its combination, from acceleration/accel, select the acceleration rate of decision car in the speed meter, the velocity mode of acceleration-deceleration and command speed, make acceleration/accel and speed escalating rate separately variable, make the miles of relative movement that obtains destination layer long more, the rising of maximum speed is had the advantage more, thereby have simple in structure, passenger's shifting time shortens, the effect that the operating efficiency of car improves.
And, load is with the scale device of output scale signal in being provided with the detection car, according to above-mentioned scale signal, change the elevator of the velocity mode of the acceleration rate, acceleration-deceleration and the command speed that are used for determining car, has the scale testing fixture, the difference of the torque instruction when above-mentioned scale signal and starting surpasses under the situation of specified value, stop to change velocity mode, turn back to standard value, even thereby big detection error takes place in scale device etc., also can detect this error, thereby stop to change velocity mode, therefore can improve reliability.
More than, elevator control gear of the present invention can be according to load and miles of relative movement, and change maximum speed and acceleration/accel shorten time of run.And, the detection of can loading accurately.
Claims (7)
1. elevator control gear, it is characterized in that, has the speed control unit that produces torque instruction value according to speed value and speed signal, and come the control motor to make in the elevator of car and counterweight lifting by power conversion device according to above-mentioned torque instruction value, after having passed through elevator and having discharged the specified time of drg, torque instruction when keeping starting, according to this torque instruction, change is used to determine the acceleration rate of car, the velocity mode of acceleration-deceleration and command speed, simultaneously, operating torque instruction according to operation last time, torque instruction when utilizing the running losses amount to proofread and correct elevator starter, thus change is used to determine the acceleration rate of car, the velocity mode of acceleration-deceleration and command speed.
2. elevator control gear according to claim 1, it is characterized in that, described elevator setting has the scale device of the interior load of detection car with output scale signal, and described elevator is proofreaied and correct above-mentioned torque instruction value according to the above-mentioned cage side of above-mentioned scale signal operation with to the unbalance load of heavy side and according to this unbalance load.
3. elevator control gear according to claim 1 and 2, it is characterized in that, velocity mode has predetermined standard value, makes acceleration-deceleration and command speed rise to the value that peak output was limited by the peak output and the electrical motor of power conversion device with the escalating rate of regulation.
4. elevator control gear, it is characterized in that, has the speed control unit that produces torque instruction value according to speed value and speed signal, and according to above-mentioned torque instruction value control motor so that in the elevator of car and counterweight lifting, according to the ridership of judging by the captured image of the photographic camera in the lift car in the car, camera signal according to this result of output, change is used to determine the acceleration rate of car, the velocity mode of acceleration-deceleration and command speed, simultaneously, operating torque instruction according to operation last time, torque instruction when utilizing the running losses amount to proofread and correct elevator starter, thus change is used to determine the acceleration rate of car, the velocity mode of acceleration-deceleration and command speed.
5. elevator control gear, it is characterized in that, has the speed control unit that produces torque instruction value according to speed value and speed signal, make car and counterweight lifting according to above-mentioned torque instruction value control motor, and be provided with and detect the scale device of the interior load of car with output scale signal, according to the above-mentioned cage side of above-mentioned scale signal operation with to the unbalance load of heavy side, and proofread and correct according to this unbalance load in the elevator of above-mentioned torque instruction value, has the velocity mode determination device, this velocity mode determination device is according to the scale signal, torque instruction during perhaps according to elevator starter, perhaps judge the result's of the ridership in the car camera signal by the captured image of the photographic camera in the car according to output, perhaps according to the combination of above-mentioned signal or instruction, the acceleration rate of change car, the velocity mode of acceleration-deceleration and command speed, simultaneously, operating torque instruction according to operation last time, torque instruction when utilizing the running losses amount to proofread and correct elevator starter, thereby from acceleration/accel, select to be used to determine the acceleration rate of car in the speed meter, the velocity mode of acceleration-deceleration and command speed makes acceleration/accel and speed escalating rate separately variable according to the miles of relative movement to destination layer.
6. elevator control gear according to claim 5 is characterized in that, and is long more to the miles of relative movement of destination layer, just makes the rising of maximum speed have advantage more.
7. elevator control gear, it is characterized in that, has the speed control unit that produces torque instruction value according to speed value and speed signal, and make according to above-mentioned torque instruction value control motor in the elevator of car and counterweight lifting, be provided with and detect the scale device of the interior load of car with output scale signal, according to above-mentioned scale signal, change is used to determine the acceleration rate of car, the velocity mode of acceleration-deceleration and command speed, and has the scale testing fixture, the difference of the torque instruction when above-mentioned scale signal and starting has surpassed under the situation of specified value, stop to change velocity mode, velocity mode is turned back to predetermined standard value.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2004/004492 WO2005102895A1 (en) | 2004-03-30 | 2004-03-30 | Control device of elevator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1767995A CN1767995A (en) | 2006-05-03 |
| CN100515899C true CN100515899C (en) | 2009-07-22 |
Family
ID=35196871
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200480009184.2A Expired - Fee Related CN100515899C (en) | 2004-03-30 | 2004-03-30 | Elevator control device |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP1731467B1 (en) |
| JP (1) | JP4701171B2 (en) |
| CN (1) | CN100515899C (en) |
| WO (1) | WO2005102895A1 (en) |
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| US7637353B2 (en) * | 2006-05-16 | 2009-12-29 | Mitsubishi Electric Corporation | Control device for elevator |
| JP4949779B2 (en) * | 2006-08-31 | 2012-06-13 | 東芝エレベータ株式会社 | elevator |
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| WO2008117423A1 (en) * | 2007-03-27 | 2008-10-02 | Mitsubishi Electric Corporation | Brake device for elevator |
| JP5224737B2 (en) * | 2007-07-02 | 2013-07-03 | 三菱電機株式会社 | Multi-cage elevator control device |
| FI120193B (en) * | 2008-01-09 | 2009-07-31 | Kone Corp | Motion control of a lift system |
| CN101925528B (en) * | 2008-03-27 | 2012-11-28 | 三菱电机株式会社 | Elevator control system |
| KR101252605B1 (en) | 2008-08-04 | 2013-04-09 | 오티스 엘리베이터 컴파니 | Elevator motion profile control |
| US9114955B2 (en) | 2010-03-03 | 2015-08-25 | Mitsubishi Electric Corporation | Control device for elevator |
| CN102234048B (en) * | 2010-04-22 | 2013-08-21 | 永大机电工业股份有限公司 | Method for correcting speed curve of elevator |
| FI20105587A0 (en) | 2010-05-25 | 2010-05-25 | Kone Corp | A method for limiting the load on an elevator assembly and an elevator assembly |
| JP5075947B2 (en) * | 2010-06-25 | 2012-11-21 | 株式会社日立製作所 | elevator |
| JP5058310B2 (en) * | 2010-08-12 | 2012-10-24 | 株式会社日立ビルシステム | Elevator control device |
| DE112012002180B4 (en) | 2011-05-20 | 2018-05-03 | Mitsubishi Electric Corporation | elevator system |
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| EP2945281B1 (en) * | 2014-03-26 | 2016-11-30 | Kone Corporation | A method and apparatus for automatic elevator drive configuration |
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| DE112015005500B4 (en) * | 2015-01-13 | 2019-09-19 | Mitsubishi Electric Corporation | Elevator control device |
| KR102084917B1 (en) * | 2016-06-30 | 2020-03-05 | 미쓰비시덴키 가부시키가이샤 | Control device of elevator |
| CN110316629B (en) * | 2018-03-30 | 2021-10-08 | 上海三菱电梯有限公司 | Automatic correction method for elevator weighing device |
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-
2004
- 2004-03-30 EP EP04724357A patent/EP1731467B1/en not_active Expired - Fee Related
- 2004-03-30 WO PCT/JP2004/004492 patent/WO2005102895A1/en not_active Application Discontinuation
- 2004-03-30 CN CN200480009184.2A patent/CN100515899C/en not_active Expired - Fee Related
- 2004-03-30 JP JP2006519105A patent/JP4701171B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| EP1731467B1 (en) | 2011-11-16 |
| WO2005102895A1 (en) | 2005-11-03 |
| EP1731467A1 (en) | 2006-12-13 |
| EP1731467A4 (en) | 2009-11-11 |
| JP4701171B2 (en) | 2011-06-15 |
| JPWO2005102895A1 (en) | 2007-08-30 |
| CN1767995A (en) | 2006-05-03 |
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