TW201343528A - Elevator faults real time detecting system for safety and method using the same - Google Patents
Elevator faults real time detecting system for safety and method using the same Download PDFInfo
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Abstract
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本發明係有關於一種電梯安全故障即時檢出系統及其方法，尤指一種具備雙軸即時比對校正的電梯控制技術，俾能達到故障即時檢出的功效。The invention relates to an elevator safety fault instant detection system and a method thereof, in particular to an elevator control technology with double-axis real-time alignment correction, which can achieve the effect of instant detection of faults.
按，所知的牽引式電梯是藉由捲揚機的驅動，使車廂與配重分別與各自之導軌作引導的垂直升、降。請參看圖1所示，電梯10的架構包括有捲揚機11、限速器(GOVERNOR)12及機械室1。一般而言，機械室1可供配電箱、捲揚機11及限速器12等機構設置其上，且機械室1多是設置在車箱13升降通路的頂部。捲揚機11則是以捲繞之鋼索15將車廂13與配重14做吊掛式的結合，以控制車箱13做垂直的升或降。至於捲揚機11的具體架構則包括馬達110、槽輪111、電磁制動器(BRAKE)及減速機等構件。According to the known traction elevator, the vertical lifting and lowering of the carriage and the weight are guided by the respective guide rails by the driving of the hoisting machine. Referring to FIG. 1 , the structure of the elevator 10 includes a hoisting machine 11 , a speed limiter (GOVERNOR) 12 and a machine room 1 . Generally, the machine room 1 is provided with a mechanism such as a distribution box, a hoisting machine 11 and a speed limiter 12, and the machine room 1 is disposed at the top of the lifting path of the car box 13. The hoisting machine 11 combines the carriage 13 and the counterweight 14 in a hanging manner by the wound wire rope 15 to control the vertical rise or fall of the car frame 13. As for the specific structure of the hoist 11, the components such as the motor 110, the sheave 111, the electromagnetic brake (BRAKE), and the reducer are included.
再者，電梯10的機械結構會因經久使用難免出現老化與機件不良等現象，例如鋼索15、導滑片損耗、機械制動器故障、限速保護開關失靈等，這些問題僅是靠消極保養及安全檢查來解決的話，仍會出現一些人為疏失或無法預料之意外狀況的產生，例如異物入侵等，這些因素往往會造成重大的電梯工安事件。當啟動電梯10時，捲揚機11不轉，車廂13或配重14向下運動時由於障礙物而停位，導致鋼索15在槽輪111上打滑。具體分析而論，啟動電梯10時捲揚機11不轉，可能有下列所述的原因：Moreover, the mechanical structure of the elevator 10 may inevitably lead to aging and poor mechanical parts due to long-term use, such as the cable 15, the guide vane loss, the mechanical brake failure, the speed limit protection switch failure, etc., these problems are only relying on passive maintenance and If the safety check is to be solved, there will still be some accidental or unforeseen accidents, such as foreign body invasion, which often cause major elevator safety incidents. When the elevator 10 is started, the hoisting machine 11 does not rotate, and the car 13 or the counterweight 14 is stopped due to an obstacle when moving downward, causing the wire rope 15 to slip on the sheave 111. For the specific analysis, when the elevator 10 is started, the hoisting machine 11 does not rotate, and there may be the following reasons:
(1)機械卡阻或超載，如制動器沒有打開，蝸輪被卡死，車廂13或配重14向上運動時由於障礙物而停住，車廂13上行時嚴重超載，如此會導致馬達110嚴重過載而發生堵轉，時間一久可能導致馬達110被燒毀的情事。(1) Mechanical jamming or overloading. If the brake is not opened, the worm wheel is stuck, and the car 13 or the counterweight 14 stops when it moves upward due to obstacles. When the car 13 is uplifted, it is seriously overloaded, which may cause the motor 110 to be seriously overloaded. A stall occurs, which may cause the motor 110 to be burned for a long time.
(2)馬達110缺相運行，如馬達110的供電接觸器的一組觸頭斷裂或接觸不良，或供電導線中斷，或接線端子接觸不良，(此時電梯供電電源沒有缺相，因此相序保護器並沒有動作)，馬達110缺相運行可能導致馬達110被燒毀。(2) The motor 110 runs out of phase, such as a set of contacts of the power contactor of the motor 110 is broken or has poor contact, or the power supply wire is interrupted, or the terminal is in poor contact, (the elevator power supply has no phase loss, so the phase sequence The protector does not operate. The lack of phase operation of the motor 110 may cause the motor 110 to be burned.
較常見的原因不外乎是車廂13或配重14安全鉗誤動作(電氣開關沒有動作)，或者是車廂13蹲底壓緩衝器，車廂13沖頂，配重14壓緩衝器，並同時電梯10安全回路於故障沒有斷開，導致車廂13或配重14壓緩衝器後捲揚機11繼續運行。無論是何種原因使車廂13或配重14下行時受阻停住，如果電梯10繼續運行，由於車廂13或配重14停住的一側的鋼索15沒有了受力，根據電梯10的曳引條件，必然出現鋼索15在槽輪111上打滑的現象，經過一段時間後勢必會將鋼索15磨斷，導致配重14或車廂13墜落，以致發生重大的電梯事故，或者是將槽輪111磨穿，一旦鋼索15脫落，同樣會發生電梯的重大事故。The more common reason is nothing more than the carriage 13 or counterweight 14 safety tongs malfunctioning (electrical switch does not work), or the car 13 蹲 bottom pressure buffer, the car 13 topping, the weight 14 pressure buffer, and at the same time the elevator 10 safe The circuit is not disconnected from the fault, causing the car 13 or the counterweight 14 to compress the buffer and the hoisting machine 11 to continue to operate. If the car 13 or the counterweight 14 is blocked from stopping for any reason, if the elevator 10 continues to operate, the cable 15 on the side where the car 13 or the counterweight 14 is stopped is not stressed, according to the traction of the elevator 10. Under the condition, the phenomenon that the cable 15 slips on the sheave 111 is inevitable, and after a certain period of time, the cable 15 is bound to be broken, causing the counterweight 14 or the carriage 13 to fall, so that a major elevator accident occurs, or the sheave 111 is ground. Wearing, once the cable 15 is detached, a major accident of the elevator will also occur.
對於以上意外的防止方面，依據中國GB 7588-2003規定，電梯10必須裝設有馬達110運轉時間的限速器12，時間限制應在45sec以內或全程時間加10sec兩者間較小者。亦即馬達110要運行45sec後才判定為故障，如此仍有45sec內車廂13墜落的可能意外發生機會。此外，必須補充說明的是，限速器12在台灣業界俗稱為調速機，其動作原理係利用離心力，使得一槌重偏移而致使電器跳開動作，關閉馬達110，以及機械跳脫夾住限速器鋼索121，引起機械連動使得車廂13上之安全鉗夾住鋼軌，讓車廂13不至於墜落。For the above accident prevention, according to the provisions of China GB 7588-2003, the elevator 10 must be equipped with a speed limiter 12 for the running time of the motor 110, and the time limit should be less than 45 sec or the whole time plus 10 sec. That is, the motor 110 is judged to be malfunctioning after being operated for 45 sec, so that there is still a possibility of accidental occurrence of the fall of the carriage 13 within 45 sec. In addition, it must be added that the speed limiter 12 is commonly known as a speed governor in the Taiwanese industry. Its principle of operation is to use centrifugal force to cause a slight deflection to cause the electric appliance to trip, to close the motor 110, and to mechanically jump off the clamp. The speed governor cable 121 is engaged, causing mechanical linkage so that the safety clamp on the carriage 13 clamps the rail so that the carriage 13 does not fall.
如圖4所示，一般電梯10於各樓層均裝有至少一組的限速開關19，且接近頂樓層及底樓層皆各自設有終點的限速開關19，當電梯10車箱13進入上述限速區時，即會經感應而啟動限速的功能，如此雖然可以避免高速衝頂樓層或高速衝底樓層的危險，惟，一旦機械式之限速開關19失效或誤觸動作時，同樣會造成重大的意外傷亡情事。As shown in FIG. 4, the general elevator 10 is equipped with at least one set of speed limit switches 19 on each floor, and each of the top floor and the bottom floor is provided with an end limit speed limit switch 19, and when the elevator 10 car box 13 enters the above In the speed limit zone, the speed limit function is activated by induction, so that the danger of high-speed top floor or high-speed floor can be avoided, but once the mechanical speed limit switch 19 fails or is accidentally touched, the same It will cause major accidental casualties.
目前電梯10的定位方法多是採用單軸的訊號回授方式，如圖1~3所示，換言之，即是以一組編碼器(Encoder)17來感測馬達110的旋轉狀態，並轉換為車廂13位移的即時位置。而且是以馬達110回饋給變頻器18之編碼器(Encoder)17信號來做為車廂13位置判斷依據。當馬達110轉動則表示車廂13在移動中。此外，馬達110又分為(PM)與(AM)兩種型態。圖2所示為感應馬達(AM)10的操控示意，變頻器18將信號除頻號送給控制模組16，編碼器17(Encoder)提供回授信號給變頻器18，控制模組16下達加速減速或停車等控速定位命令。圖3所示則為(PM-VVVF)馬達110的操控示意，變頻器18提供變頻變壓動力驅動馬達110，變頻器18將信號除頻號送給控制模組16，編碼器17提供回授信號給變頻器18，控制模組16下達加速、減速或停車等控速定位命令，變頻器18提供變頻變壓動力驅動馬達110。上述電梯定位的方法，如果電梯10車廂13一旦卡住，則會造成鋼索15打滑，此時控制模組16則會誤認電梯10車廂13持續在位移之中，雖然有加上時間計時器45sec的保護，惟，同樣無法達到即時(Real time)檢出故障並做出緊急停車的控制功效。At present, the positioning method of the elevator 10 mostly adopts a single-axis signal feedback mode, as shown in FIGS. 1 to 3, in other words, a set of encoders 17 is used to sense the rotation state of the motor 110, and is converted into The instantaneous position of the carriage 13 displacement. Moreover, the encoder 17 signal fed back to the inverter 18 by the motor 110 is used as the basis for determining the position of the car 13. When the motor 110 rotates, it indicates that the car 13 is moving. In addition, the motor 110 is further divided into two types of (PM) and (AM). Figure 2 shows the control of the induction motor (AM) 10. The inverter 18 sends the signal division number to the control module 16, and the encoder 17 (Encoder) provides the feedback signal to the inverter 18. The control module 16 is issued. Accelerate deceleration or parking and other speed control positioning commands. FIG. 3 is a schematic diagram of the operation of the (PM-VVVF) motor 110. The frequency converter 18 provides a variable frequency variable voltage power drive motor 110. The frequency converter 18 sends a signal frequency division number to the control module 16, and the encoder 17 provides a feedback letter. The frequency converter 18 is provided to the frequency converter 18, and the control module 16 issues a speed control positioning command such as acceleration, deceleration or parking, and the frequency converter 18 provides a variable frequency variable pressure power drive motor 110. The above method for positioning the elevator, if the elevator 10 compartment 13 is stuck, the cable 15 will be slipped. At this time, the control module 16 will mistakenly recognize that the elevator 10 is continuously displaced, although a time counter is added for 45 sec. Protection, however, is also unable to achieve Real time detection failure and make emergency stop control.
除此之外，依據目前所知，與本案相關的專利前案如下所示：In addition, as far as we know, the patent predecessors related to this case are as follows:
(1)本國發明公告第37548號『電梯之位置檢出方法及裝置』，其與傳統電梯定位方式相同，其是以一位置檢測器來感測電梯馬達的旋轉狀態，並轉換為車廂位移的即時位置，其與傳統電梯定位方式差異僅在於，其設定有一比對校正之用的基準值，雖然可以得到較傳統電梯定位更好的位置檢測精度，惟，其仍為單軸的訊號感測架構，倘若車廂或配重下行時受阻停住且馬達持續運行時，由於車廂或配重停住的一側的鋼索沒有了受力，根據電梯的曳引條件，必然出現鋼索在槽輪上打滑，經過一段時間後勢必會將鋼索磨斷，導致配重或車廂墜落，以致發生重大的電梯工安事故。(1) National Invention Bulletin No. 37548, "Method and Apparatus for Detecting the Position of an Elevator", which is the same as the conventional elevator positioning method, which senses the rotation state of the elevator motor by a position detector and converts it into a displacement of the carriage. The instantaneous position is different from the traditional elevator positioning mode only in that it is set with a reference value for comparison correction, although better position detection accuracy than conventional elevator positioning can be obtained, but it is still a single-axis signal sensing. The structure, if the car or the counterweight is blocked and stopped, and the motor continues to run, because the steel cable on the side where the car or the weight is stopped is not stressed, according to the traction condition of the elevator, the cable must be slipped on the sheave. After a period of time, the steel cable will be ground, causing the counterweight or the car to fall, resulting in a major elevator safety accident.
(2)本國發明公告第284741號『電梯之位置檢測裝置』，其與傳統電梯定位方式不同的是，其是以一組位置檢測器來感測電梯限速器(即調速器)的旋轉狀態，並轉換為車廂位移的即時位置，雖說可以得到較傳統電梯定位更好的位置檢測精度，惟，其仍為單軸的訊號感測架構，故無法做進一步即時的雙重比對確認，當位置檢測器或是調速器故障而馬達的傳動部分為正常運轉時，控制模組則會誤認電梯車廂處於故障狀態，因而強制關閉馬達，並使車廂停車，如此將會造成電梯搭乘上的不便與困擾。(2) National Invention Announcement No. 284741 "Location Detection Device for Elevators", which differs from the conventional elevator positioning method in that it senses the rotation of the elevator speed limiter (ie, the governor) with a set of position detectors. State, and converted to the instantaneous position of the car's displacement, although it can get better position detection accuracy than the traditional elevator positioning, but it is still a single-axis signal sensing architecture, so no further immediate double comparison confirmation can be made. When the position detector or the governor fails and the transmission part of the motor is in normal operation, the control module will mistakenly recognize that the elevator car is in a fault state, thus forcibly closing the motor and stopping the car, which will cause inconvenience on the elevator. With trouble.
有鑑於此，習知電梯設備無法建構出一套雙軸訊號感測的技術架構，以致無法做進一步即時雙重的比對確認，從而造成重大的電梯工安事故，因此，經本發明人努力研發之下，終於研發出一套可以善習知電梯設備缺失的本發明。In view of this, the conventional elevator equipment cannot construct a technical structure of two-axis signal sensing, so that it is impossible to make further simultaneous double comparison confirmation, thereby causing a major elevator safety accident. Therefore, the inventor has worked hard to develop Next, the present invention has finally been developed to provide a good understanding of the absence of elevator equipment.
本發明第一目的在於提供一種電梯安全故障即時檢出系統及其方法，主要是藉由雙軸即時比對校正的機能建置，以達到電梯故障即時檢出的功效，因而具有車廂定位檢測精度高、準確性佳以及提升人員乘坐電梯的安全性等特點。達成上述目的之技術手段，係以二組編碼器分別感測電梯捲揚機與電梯限速器轉輪的旋轉狀態而產生二個可供比對的回授訊號。控制模組再將二個回授訊號分別轉換為對應電梯車箱位移位置的第一位移值及第二位移值；或是對應車箱位移速度的第一速度值及第二速度值，當第一位移值與第二位移值之差值大於一預定位移值；或第一速度值與第二速度值大於一預定速度值時，則判定電梯為故障狀態，並輸出停車的該控制訊號至馬達中。The first object of the present invention is to provide an elevator safety fault immediate detection system and a method thereof, which are mainly implemented by a dual-axis real-time comparison correction function, so as to achieve the effect of prompt detection of an elevator fault, thereby having a cabin positioning detection accuracy. High and accurate, as well as improving the safety of the elevators. The technical means for achieving the above object is to use two sets of encoders to respectively sense the rotation state of the elevator hoist and the elevator speed limiter wheel to generate two comparable feedback signals. The control module then converts the two feedback signals into a first displacement value and a second displacement value corresponding to the displacement position of the elevator car; or a first speed value and a second speed value corresponding to the displacement speed of the car, when The difference between the displacement value and the second displacement value is greater than a predetermined displacement value; or the first speed value and the second speed value are greater than a predetermined speed value, determining that the elevator is in a fault state, and outputting the control signal to the motor to the motor in.
本發明第二目的在於提供一種具備虛擬終點開關功效之電梯安全故障即時檢出系統及其方法，主要是藉由虛擬終點開關的建置，以避免因實體終點限速開關故障所致之電梯工安事故的發生，以增加多一層的安全防護保護網。達成上述目的之技術手段，係於控制模組內建有一運算程式，該運算程式包括一虛擬終點開關模式，執行該虛擬終點開關模式時，係將對應各實體終點限速開關位置之該第一位移值與該第二位移值分別設定為第一虛擬終點開關與第二虛擬終點開關，當該車箱經過對應該第一虛擬終點開關與該第二虛擬終點開關的位置且該實體終點開關尚未回送感測訊號時，該控制模組則判定該實體終點限速開關故障，並輸出減速或停車之該控制訊號至該馬達中。A second object of the present invention is to provide an elevator safety fault immediate detection system and a method thereof, which are provided with a virtual end point switch function, mainly by using a virtual end point switch to avoid an elevator work caused by a physical end point limit switch failure. The accident occurred to increase the safety protection network of one more layer. The technical means for achieving the above object is that a control program is built in the control module, and the operation program includes a virtual end point switch mode. When the virtual end point switch mode is executed, the first position of the limit switch position corresponding to each entity end point is determined. The displacement value and the second displacement value are respectively set as a first virtual end point switch and a second virtual end point switch, when the car passes the position corresponding to the first virtual end point switch and the second virtual end point switch and the physical end point switch has not yet been When the sensing signal is sent back, the control module determines that the physical end speed limit switch is faulty, and outputs the control signal for deceleration or stopping to the motor.
本發明第三目的在於提供一種具備虛擬限速器功效之電梯安全故障即時檢出系統及其方法，主要是藉由虛擬限速器的建置，以避免因實體虛擬限速器故障所致之電梯工安事故的發生，以增加多一層的安全防護保護網。達成上述目的之技術手段，係該控制模組內建有一運算程式，該運算程式包括一虛擬限速器模式，執行該虛擬限速器模式時，係預先設定一電梯速度跳脫值Vov，當該第一速度值或該第二速度值大於該電梯速度跳脫值Vov時，則判定實體該限速器故障，並執行電器跳脫中斷。A third object of the present invention is to provide an elevator safety fault immediate detection system and a method thereof, which are provided with a virtual speed limiter, mainly by the virtual speed limiter, to avoid the failure of the physical virtual speed limiter. The occurrence of elevator safety accidents is to increase the safety protection network of one more layer. The technical means for achieving the above object is that the control module has a calculation program built therein, and the operation program includes a virtual speed limiter mode. When the virtual speed limiter mode is executed, an elevator speed jump value Vov is preset. When the first speed value or the second speed value is greater than the elevator speed trip value Vov, it is determined that the entity speed limiter is faulty, and the electrical tripping interruption is performed.
本發明第四目的在於提供一種具備雙軸定位校正功效之電梯安全故障即時檢出系統及其方法，主要是藉由雙軸虛擬限速開關的建置，以提升電梯車廂於各樓層的定位精度與安全性。達成上述目的之技術手段，係該控制模組內建有一運算程式，該運算程式包括一虛擬限速開關模式，執行該虛擬限速開關模式時，係先將各樓層參數輸入，將每一該樓層參數依序設定為複數個對應的該第一位移值與該第二位移值，並於對應各實體該限速開關位置之該第一位移值與該第二位移值分別設定為第一虛擬限速開關及第二虛擬限速開關，於該電梯運轉時，分別比對該第一位移值、該第二位移值、該第一速度值及該第二速度值，並將比對結果作為調節加速、減速或停車之該控制訊號的依據。A fourth object of the present invention is to provide an elevator safety fault immediate detection system and method thereof, which are capable of improving the positioning accuracy of elevator cars on each floor by using a dual-axis virtual speed limit switch. And security. The technical means for achieving the above object is that the control module has a calculation program built therein, and the operation program includes a virtual speed limit switch mode. When the virtual speed limit switch mode is executed, each floor parameter is input first, and each of the parameters is input. The floor parameter is sequentially set to a plurality of corresponding first displacement values and the second displacement value, and the first displacement value and the second displacement value respectively set to the first virtual value of the speed limit switch position corresponding to each entity are respectively set as the first virtual The speed limit switch and the second virtual speed limit switch respectively compare the first displacement value, the second displacement value, the first speed value and the second speed value when the elevator is running, and use the comparison result as Adjust the basis of the control signal for acceleration, deceleration or stop.
本實施例為達成本發明第一目的之基本實施例。圖5、6所示之系統係包括一第一編碼器20、一第二編碼器30及一控制模組40等技術特徵。第一編碼器20用以感測電梯10之捲揚機11的旋轉狀態而產生第一回授訊號。第二編碼器30用以感測電梯10限速器12轉輪120的旋轉狀態而產生第二回授訊號。控制模組40可依據輸入指令而輸出包括加速、減速及停車等控制訊號來控制馬達110的運轉，上述輸入指令可以是指車廂13內之複數個樓層選擇按鈕或是位於各樓層搭乘口的上、下選擇按鈕而言。且控制模組40可將第一回授訊號與第二回授訊號轉換為對應電梯10之車廂13位移位置的一第一位移值及一第二位移值，再由圖8中得知，每一第一位移值與第二位移值各自皆定義有對應的樓層高度以及位置，或是對應車廂13位移速度的一第一速度值及一第二速度值，當第一位移值與第二位移值之差值大於一預定位移值或第一速度值與第二速度值大於一預定速度值時，則判定電梯10為故障狀態，並輸出加速、減速或停車的控制訊號至捲揚機11的馬達110中。This embodiment is a basic embodiment for achieving the first object of the present invention. The system shown in FIGS. 5 and 6 includes technical features such as a first encoder 20, a second encoder 30, and a control module 40. The first encoder 20 is configured to sense the rotation state of the hoist 11 of the elevator 10 to generate a first feedback signal. The second encoder 30 is configured to sense the rotation state of the governor 12 of the elevator 10 to generate a second feedback signal. The control module 40 can output a control signal including acceleration, deceleration, and parking according to an input command to control the operation of the motor 110. The input command may refer to a plurality of floor selection buttons in the car 13 or on the landing ports of each floor. , under the selection button. The control module 40 can convert the first feedback signal and the second feedback signal into a first displacement value and a second displacement value corresponding to the displacement position of the compartment 13 of the elevator 10, and then, as shown in FIG. A first displacement value and a second displacement value are each defined with a corresponding floor height and position, or a first speed value corresponding to the displacement speed of the compartment 13 and a second speed value, when the first displacement value and the second displacement When the difference between the values is greater than a predetermined displacement value or the first speed value and the second speed value are greater than a predetermined speed value, the elevator 10 is determined to be in a fault state, and the control signal for acceleration, deceleration or parking is output to the motor 110 of the hoisting machine 11. in.
具體而言，為使馬達110得到較佳的動能輸出，如圖6所示之架構係包括一變頻器31，可將第一回授訊號除頻後傳送至控制模組40中，變頻器31再將控制訊號變頻後傳送至馬達110中，以控制馬達110的運作。此外，圖5所示之限速器12與馬達110位於頂部之電機室1，限速器12包括一位於電機室1且與第二編碼器30連動的轉輪120、一位於相對電機室1另端的滑輪122、一套連在轉輪120與滑輪122的限速器鋼索121，限速器鋼索121與車廂13連動，可藉由車廂13垂直位移而帶動限速器鋼索121，進而驅動轉輪120與滑輪122的旋轉，當車廂13失速時，轉輪120上之卡制機構(其為習知構造，本圖式例未再贅示)會因離心力作用而被啟動，進而夾住限速器鋼索121，同時觸發連動車廂13上的連動機構(其為習知構造，本圖式例未再贅示)，使車廂13上的安全卡鉗(其為習知構造，本圖式例未再贅示)伸出而卡制導軌(其為習知構造，本圖式例未再贅示)，如此即可達到車廂13的緊急停車功效。Specifically, in order to obtain a better kinetic energy output of the motor 110, the architecture shown in FIG. 6 includes a frequency converter 31, which can transmit the first feedback signal to the control module 40, and the inverter 31 The control signal is then frequency converted and transmitted to the motor 110 to control the operation of the motor 110. In addition, the speed limiter 12 and the motor 110 shown in FIG. 5 are located at the motor compartment 1 at the top, and the speed limiter 12 includes a runner 120 located in the motor compartment 1 and interlocked with the second encoder 30, and a motor compartment 1 in the opposite direction. The other end of the pulley 122, a set of speed governor cables 121 connected to the runner 120 and the pulley 122, the speed governor cable 121 and the carriage 13 are linked, and the speed limiter cable 121 can be driven by the vertical displacement of the compartment 13 to drive the rotation. When the wheel 120 and the pulley 122 are rotated, when the car 13 is stalled, the locking mechanism on the wheel 120 (which is a conventional structure, which is not shown in the figure) is activated by the centrifugal force, and then the limit is clamped. The speed adjusting wire 121 simultaneously triggers the interlocking mechanism on the interlocking car 13 (which is a conventional structure, which is not shown in the figure), and the safety caliper on the car 13 (which is a conventional structure, this example is not shown) Further, the extended guide rail guide rail (which is a conventional structure, which is not shown in the figure) is used to achieve the emergency stop function of the passenger compartment 13.
為方便說明本發明雙軸的技術概念，故將X軸表示為第一編碼器20所感測而換算得到的數值，亦即第一編碼器20感測馬達110轉動狀態，由控制模組換算為電梯10位移的第一位移值，並定義為X軸的數值。並將Y軸表示為第二編碼器30所感測而換算得到的數值，第二編碼器30感測車廂13連動限速器12的電梯10位移的第二位移值，並定義為Y軸的數值。當電梯10運轉時，第一編碼器20、第二編碼器30分別感測而傳回之第一、第二回授訊號，經轉換後分別表示為X軸及Y軸的二維座標值，亦表示虛擬為電梯10在二維座標軸上之位置的二維座標，即本發明所謂的電梯位移位置Position=(X,Y)。若電梯10處於無故障狀態，捲揚機與限速器所帶動的位移距離應相等，亦即X軸與Y軸之位置與速度經過單位換算後應該要相等，否則誤差R超過一定值以上，我們就要判定為故障產生。位置誤差之單位以mm來表示，則電梯10無故障狀態時，應符合∣(X_mm-Y_mm)∣<R_mm。當誤差R_mm超過一預定值以上即表示第一位移值(X_mm)與車廂13實際位置不一致，也就是故障出現，此時控制模組會下達緊急停止之控制訊號，以完成所需的車廂13停車功能，以避免重大危害的發生。For convenience of description of the technical concept of the two-axis of the present invention, the X-axis is represented as a value obtained by the first encoder 20 and converted, that is, the first encoder 20 senses the rotation state of the motor 110, and is converted by the control module into The first displacement value of the displacement of the elevator 10 is defined as the value of the X-axis. The Y-axis is represented as a value converted by the second encoder 30, and the second encoder 30 senses the second displacement value of the displacement of the elevator 10 of the carriage 13 linked to the speed limiter 12, and is defined as the value of the Y-axis. . When the elevator 10 is in operation, the first encoder 20 and the second encoder 30 respectively sense and return the first and second feedback signals, which are respectively converted into two-dimensional coordinate values of the X-axis and the Y-axis. Also shown is a virtual two-dimensional coordinate of the position of the elevator 10 on the two-dimensional coordinate axis, that is, the so-called elevator displacement position Position=(X, Y) of the present invention. If the elevator 10 is in a fault-free state, the displacement distance driven by the winch and the speed limiter should be equal, that is, the position and speed of the X-axis and the Y-axis should be equal after unit conversion, otherwise the error R exceeds a certain value, we will It is determined that a fault has occurred. The unit of position error is expressed in mm, and when the elevator 10 is in a faultless state, it should conform to ∣(X_mm-Y_mm)∣<R_mm. When the error R_mm exceeds a predetermined value, it means that the first displacement value (X_mm) does not coincide with the actual position of the car 13, that is, the fault occurs, and the control module will issue an emergency stop control signal to complete the required car 13 parking. Function to avoid the occurrence of major hazards.
本發明於一種較為具體的實施例中，控制模組40內建有一運算程式，運算程式包括位移計算模式，執行位移計算模式時，首先設定基準電梯10之車廂13的速度V為一時間單位內車廂13行走的距離，單位為公釐(mm)，再將電梯10速度V除以該時間單位內第一編碼器20的脈波數，以求得每一脈波的移動距離，並將第一編碼器20產生的總計脈波數乘以每一脈波的移動距離，如此即可求出第一位移值(X_mm)。In a more specific embodiment of the present invention, the control module 40 has a calculation program built therein. The calculation program includes a displacement calculation mode. When the displacement calculation mode is executed, the speed V of the carriage 13 of the reference elevator 10 is first set to a time unit. The distance traveled by the carriage 13 is in millimeters (mm), and the speed 10 of the elevator 10 is divided by the pulse wave number of the first encoder 20 in the time unit to obtain the moving distance of each pulse wave, and the first The total pulse number generated by an encoder 20 is multiplied by the moving distance of each pulse wave, so that the first displacement value (X_mm) can be obtained.
換言之，通常第一編碼器20每轉一圈產生之脈波數(Pluse)以En(p/r)來表示。馬達轉速(RPM)=每分鐘馬達旋轉的圈數(1000)。電梯速度(V)=每分鐘車廂13行走的距離，其單位為m/m。設電梯運轉1分鐘所行走之距離為1 M_plus=En(p/r)x RPM(r/m)=V(m/m)x 1000(mm)=1M_mm。1 pulse=V x 1000/En x RPM(mm)。車廂X軸位置：X_mm=X_pluse x(V x 1000/En x RPM)(mm)。In other words, the number of pulses (Pluse) generated by one revolution per first encoder 20 is generally expressed as En(p/r). Motor Speed (RPM) = number of revolutions per minute of motor rotation (1000). Elevator speed (V) = distance traveled by car 13 per minute, the unit is m/m. The distance traveled by the elevator for 1 minute is 1 M_plus = En (p / r) x RPM (r / m) = V (m / m) x 1000 (mm) = 1 M_mm. 1 pulse=V x 1000/En x RPM(mm). Car X-axis position: X_mm=X_pluse x (V x 1000/En x RPM) (mm).
另一方面，運算程式之位移計算模式執行時，係將第二編碼器30產生的脈波數乘以2πR再除以第二編碼器30每轉一圈產生之脈波數，以計算出第二位移值(y_mm)，且2πR為限速器12之轉輪120轉一圈之圓周長，R則為限速器12之轉輪120的半徑。限速器12輪轉一圈之脈波數Y_En(p/r)=轉一圈之圓周長2πR(mm)，R=限速器12輪之半徑。電梯車廂的Y軸位置：Y_mm=Y_pluse x(2πR/Y_En)(mm)。On the other hand, when the displacement calculation mode of the calculation program is executed, the pulse wave number generated by the second encoder 30 is multiplied by 2πR and divided by the pulse wave number generated by one rotation per second of the second encoder 30 to calculate the number of pulses. The second displacement value (y_mm), and 2πR is the circumference of one revolution of the runner 120 of the speed limiter 12, and R is the radius of the runner 120 of the speed limiter 12. The number of pulse waves of the speed limiter 12 in one revolution Y_En(p/r)=the circumference of one revolution is 2πR(mm), and R=the radius of the 12th wheel of the speed limiter. Y-axis position of the elevator car: Y_mm=Y_pluse x(2πR/Y_En)(mm).
如圖8、9所示，運算程式包括一雙軸安全控速模式，執行雙軸安全控速模式時，將第一編碼器20於一時間單位內所產生的脈波數轉換為車廂13的行走距離，亦即利用前述原理所獲得的X軸位置對應時間軸的變化，可以計算出第一速度值(Vx)。並將第二編碼器30於該時間單位內所產生的脈波數轉換為車廂13的行走距離，亦即利用前述原理所獲得的Y軸位置對應時間軸的變化，可以計算出第二速度值(Vy)。其中可將第一速度值(Vx)與第二速度值(Vy)分別表示為電梯之X軸及Y軸的二維速度式，電梯二維之速度式：Speed=(Vx,Vy)。如圖9所示，假設將第一速度值Vx速度與第二速度值Vy速度做比較，發現兩者速度偏差過大(亦即超過一預定值)時就可以判定電梯為故障。亦即符合∣(Vx_m/m-Vy_m/m)∣<R_m/m，則判電梯無故障。As shown in FIGS. 8 and 9, the calculation program includes a dual-axis safety speed control mode, and when the two-axis safety speed control mode is executed, the pulse wave number generated by the first encoder 20 in one time unit is converted into the carriage 13 The walking distance, that is, the change in the time axis corresponding to the X-axis position obtained by the foregoing principle, can calculate the first speed value (Vx). And converting the pulse wave number generated by the second encoder 30 in the time unit to the walking distance of the car 13 , that is, the Y-axis position obtained by the foregoing principle corresponds to the change of the time axis, and the second speed value can be calculated. (Vy). The first speed value (Vx) and the second speed value (Vy) can be respectively expressed as a two-dimensional speed type of the X-axis and the Y-axis of the elevator, and a speed type of the elevator two-dimensional: Speed=(Vx, Vy). As shown in Fig. 9, it is assumed that the first speed value Vx speed is compared with the second speed value Vy speed, and it is found that the elevator is faulty when the speed deviation between the two is too large (i.e., exceeds a predetermined value). That is, if the ∣(Vx_m/m-Vy_m/m)∣<R_m/m is met, the elevator is judged to be fault-free.
本實施例為達成本發明第二目的之具體實施例。本實施例除了包括第一實施例的技術特徵外，係於控制模組40內建有一運算程式，該運算程式包括虛擬終點開關模式，執行虛擬終點開關模式時，係將對應實體終點限速開關50位置之第一位移值與第二位移值分別設定為第一虛擬終點開關41a與第二虛擬終點開關41b，如圖7所示，當車廂13經過實體終點限速開關50且未回送感測訊號時，控制模組40則判定實體終點限速開關50故障，並於車廂13抵達對應第一虛擬終點開關41a與第二虛擬終點開關41b所在的位置時，開始輸出減速或停車之該控制訊號至馬達110中，以控制車廂13減速或停車。This embodiment is a specific embodiment for achieving the second object of the present invention. In addition to the technical features of the first embodiment, the embodiment includes an operation program in the control module 40. The operation program includes a virtual end point switch mode. When the virtual end point switch mode is executed, the corresponding end point speed limit switch is used. The first displacement value and the second displacement value of the 50 position are respectively set as the first virtual end point switch 41a and the second virtual end point switch 41b, as shown in FIG. 7, when the car 13 passes the physical end point limit switch 50 and does not return the sensing. When the signal is received, the control module 40 determines that the physical end point limit switch 50 is faulty, and starts to output the control signal for deceleration or stop when the car 13 reaches the position corresponding to the first virtual end point switch 41a and the second virtual end point switch 41b. In the motor 110, the car 13 is controlled to decelerate or stop.
圖7所示，為保護該等實體終點限速開關50於失效時，讓車廂13仍能即時減速與停車，故本發明控制模組40包括一組微處理器(DSP型MPU)，並以定位編碼器介面(Quadrature Encoder Interface，QEI)中斷功能製造出兩組虛擬終點限速開關41a、41b，其功能與實體終點限速開關50均一樣。此外，一般微處理器使用加法暫存器來做運算，其功能只有整數，例如3/2的結果等於1，如果要得到小數點1.5的效果就得運用一些函數，要做得越精細定義的小數點就要業多，這些運算往往會佔掉很多中央處理器的運算時間(CPU time)，因而影響即時控制的功效，以及計算出來數值之準確度。近年來，一些微處理器單元(Microprocessor Unit，MPU)廠商針對這些問題與需求推出結合微控制器(MCU)和數位訊號處理器(DSP)而設計有支援浮點運算的中央處理器(Floating-Point CPU)，例如德州儀器公司於2011年11月推出的28x+ CorteXTM M3 ConcertoTM Series雙核心中央處理器，就有支援浮點運算之功能，本發明於大量且即時之運算時，依照上述微處理器單元(MPU)之規格即可支應完成與勝任。As shown in FIG. 7 , in order to protect the physical end point speed limit switch 50 from failure, the car 13 can still be decelerated and stopped immediately, so the control module 40 of the present invention includes a set of microprocessors (DSP type MPU), and The Quadrature Encoder Interface (QEI) interrupt function creates two sets of virtual end point speed limit switches 41a, 41b that function the same as the physical end point speed limit switch 50. In addition, the general microprocessor uses the addition register to do the operation, its function is only an integer, for example, the result of 3/2 is equal to 1. If you want to get the effect of the decimal point 1.5, you have to use some functions, the finer the definition is to be done. The decimal point is too much. These operations often take up a lot of CPU time, which affects the effectiveness of the immediate control and the accuracy of the calculated values. In recent years, some microprocessor unit (MPU) manufacturers have introduced a central processor that supports floating-point operations in combination with a microcontroller (MCU) and a digital signal processor (DSP) for these problems and needs (Floating- Point CPU), such as 28x+ from Texas Instruments in November 2011 The CorteX TM M3 Concerto TM Series dual-core CPU has the function of supporting floating-point operations. The present invention can be completed and qualified according to the specifications of the above-mentioned microprocessor unit (MPU) in a large number of real-time calculations.
本實施例為達成本發明第三目的之具體實施例。本實施例除了包括第一實施例的技術特徵外，係於控制模組40內建有運算程式，該運算程式包括虛擬限速器模式，執行虛擬限速器模式時，係預先設定一速度跳脫值Vov，當第一速度值或該第二速度值大於速度跳脫值Vov時，則判定實體限速器12故障，並執行電梯10之電氣設備跳脫而斷電，以中斷對捲揚機之馬達的供電，輔助車廂13減速或停車。本發明電梯速度式表示為Speed=(第一速度值(Vx),第二速度值(Vy))，加上過速度中斷之功能，就可以完成電梯之電氣設備跳脫而斷電之功能。第一速度值(Vx)及第二速度值(Vy)中可以設定一電梯速度跳脫值Vov，當Vx或Vy大於Vov時就執行跳脫中斷，由於執行在於軟體，沒有實體之裝置，故本發明稱為虛擬限速器，此一虛擬限速器可以當作備援之限速器功能，當實體限速器12失效時仍具有限速或停車的功能，使得電梯10於乘坐上可以多一層的保障。This embodiment is a specific embodiment for achieving the third object of the present invention. In addition to the technical features of the first embodiment, the embodiment has an operation program built in the control module 40. The operation program includes a virtual speed limiter mode. When the virtual speed limiter mode is executed, a speed jump is preset. Deviating Vov, when the first speed value or the second speed value is greater than the speed trip value Vov, determining that the physical speed limiter 12 is faulty, and performing electrical tripping of the elevator 10 to power off, to interrupt the hoisting machine The power supply of the motor, the auxiliary car 13 is decelerated or stopped. The elevator speed type of the invention is expressed as Speed=(first speed value (Vx), second speed value (Vy)), and the function of over-speed interruption can complete the function of tripping and power-off of the electrical equipment of the elevator. An elevator speed trip value Vov may be set in the first speed value (Vx) and the second speed value (Vy), and the tripping interruption is performed when Vx or Vy is greater than Vov. Since the execution is in the software, there is no physical device, so The invention is called a virtual speed limiter, and the virtual speed limiter can be regarded as a backup speed limiter function. When the physical speed limiter 12 fails, the speed limiter or the parking function is still available, so that the elevator 10 can be used for riding. One more layer of protection.
本實施例為達成本發明第四目的之具體實施例。本實施例除了包括第一實施例的技術特徵外，係於控制模組40內建有運算程式，該運算程式包括雙軸定位校正模式，執行雙軸定位校正模式時，係先將各樓層參數輸入，將每一樓層參數依序設定為複數個對應的第一位移值與第二位移值。如圖7所示，係於對應各實體限速開關51位置之第一位移值與第二位移值分別設定為第一虛擬限速開關42a及第二虛擬限速開關42b，於電梯10運轉時，分別比對第一位移值、第二位移值、第一速度值及第二速度值，並將比對結果作為輸出加速、減速或停車之控制訊號的依據。This embodiment is a specific embodiment for achieving the fourth object of the present invention. In addition to the technical features of the first embodiment, the embodiment has an operation program built in the control module 40. The operation program includes a dual-axis positioning correction mode. When the dual-axis positioning correction mode is executed, the floor parameters are firstly used. Input, each floor parameter is sequentially set to a plurality of corresponding first displacement values and second displacement values. As shown in FIG. 7, the first displacement value and the second displacement value corresponding to the positions of the respective body speed limit switches 51 are respectively set as the first virtual speed limit switch 42a and the second virtual speed limit switch 42b, when the elevator 10 is running. And comparing the first displacement value, the second displacement value, the first speed value and the second speed value respectively, and using the comparison result as a basis for outputting the control signal for accelerating, decelerating or stopping.
另外，雙軸定位之具體作法則如圖7所示，首先將電梯10實際樓高等參數輸入，經演算將雙軸樓層計算出來，並於實體限速開關51之位置處，設立第一虛擬限速開關42a及第二虛擬限速開關42b，然後電梯10運轉時兩軸之位置與速度進行比對。有了雙軸的校正做法，如此即可不需再依靠水平遮板來校正，故可將實體之遮板省略，且一樣可以達到車廂13精準的停車功效。In addition, the specific method of the two-axis positioning is as shown in FIG. 7. First, the actual building height and other parameters of the elevator 10 are input, and the biaxial floor is calculated by calculation, and the first virtual limit is set at the position of the physical speed limit switch 51. The speed switch 42a and the second virtual speed limit switch 42b are then compared with the speed of the two axes when the elevator 10 is in operation. With the two-axis calibration method, it is no longer necessary to rely on the horizontal shutter to correct, so the physical shutter can be omitted, and the same parking effect can be achieved.
捲揚機馬達(PM馬達)之精度計算，假設捲揚機之馬達轉速RPM=96r/m，速度V=120m/m，除頻值D=32，馬達精度計算公式為：A=V x 1000 x D/En x RPM(mm/p)。第一編碼器20每圈的脈波數En=8192p/r，由上述公式可求得捲揚機馬達精度A=4.88mm/p。Accuracy calculation of the hoist motor (PM motor), assuming that the motor speed of the hoist is RPM=96r/m, the speed V=120m/m, the frequency value D=32, the motor accuracy calculation formula is: A=V x 1000 x D/En x RPM (mm/p). The number of pulse waves per revolution of the first encoder 20 is En=8192p/r, and the accuracy of the hoist motor A=4.88 mm/p can be obtained by the above formula.
限速器(調速機)之精度計算公式為：A=2πr/En(mm/p)。第二編碼器30每轉一圈的脈波數En=1024pluse/r，限速器12轉一圈輪軸圓周長=2πr=3.1416x240=754mm/r(輪軸半徑120mm)，進而可得限速器(調速機)之精度A=754/1024=0.736mm/p。The accuracy calculation formula of the speed limiter (speed governor) is: A=2πr/En(mm/p). The number of pulse waves per revolution of the second encoder 30 En=1024pluse/r, the speed limiter 12 turns one wheel circumference circumference length=2πr=3.1416x240=754mm/r (the axle radius is 120mm), and the speed limiter can be obtained. The accuracy of the speed governor is A=754/1024=0.736mm/p.
由以上精度計算可得下列現象：1.PM馬達極數變大轉速變慢，精度變粗，所以提高Encoder之值來提升精度；2.電梯速度愈快其精度愈差，愈需要降低除頻值來提升精度；3.精度愈差愈容易定位不準，衝頂或衝底等不良控制之現象；及4.樓層愈高鋼索愈長及輕重載差愈大，延展性之誤差愈大，影響精度也愈大。From the above accuracy calculation, the following phenomena can be obtained: 1. The number of poles of the PM motor becomes larger and the speed becomes slower, and the precision becomes thicker. Therefore, the value of the Encoder is increased to improve the accuracy; 2. The faster the elevator speed is, the worse the accuracy is, and the lower the frequency is required. Value to improve accuracy; 3. The worse the accuracy is, the more difficult it is to locate, the phenomenon of bad control such as punching or punching; and 4. The higher the floor, the longer the cable and the larger the light and heavy load difference, the greater the error of ductility. The impact accuracy is also greater.
捲揚機馬達(PM馬達)之精度公式中除頻值D的由來，係因現有控制模組(主機電路)中之計數器(Conter)係採用外掛方式，只有16位元最大處理值只有65532個pluse，無法容納高樓高速產生之計數值，例如1024pluse/r之第一編碼器(Encoder)裝於轉速為1750r/m之馬達轉2sec就會產生59733個pluse，就會產生計數溢位之錯誤，為了解決這一問題，如果將控制模組40之計數器(Counter)及中央處理器(CPU)升級成32位元，即可容納65532x65532=4,294,967,296個脈波(pluse)，該馬達轉1天所產生之脈波(pluse)乃不會溢位。倘若將以上之除頻值D去掉，就可以得到捲揚機馬達(PM馬達)之精度計算公式為：A=V x 1000/En x RPM(mm/p)。The frequency value D of the accuracy formula of the hoist motor (PM motor) is due to the fact that the counter (Conter) in the existing control module (host circuit) adopts the plug-in method, and only the maximum processing value of 16 bits is only 65532 pluse. Can not accommodate the high-speed high-speed generated count value, for example, the first encoder (Encoder) of 1024pluse / r installed in the motor speed of 1750r / m for 2sec will generate 59,733 pluse, it will generate a count overflow error, in order To solve this problem, if the counter and central processing unit (CPU) of the control module 40 are upgraded to 32 bits, it can accommodate 65532x65532=4,294,967,296 pulses (pluse), which is generated by one day of the motor. The pulse (pluse) will not overflow. If the above divisor value D is removed, the accuracy calculation formula of the hoist motor (PM motor) can be obtained as: A=V x 1000/En x RPM(mm/p).
如果將電梯之車廂的移動速度提升到V=300m/m，第一編碼器20每圈的脈波數En=1024pluse/r，可以求得捲揚機精度A=0.167mm/p。If the moving speed of the elevator car is raised to V=300 m/m, the pulse number En=1024 pluse/r per revolution of the first encoder 20 can be used to obtain the accuracy of the winch A=0.167 mm/p.
第二編碼器每圈的脈波數En=8192pluse/r，rpm=96，可求得限速器(調速機)之精度A=0.381mm/p。The pulse number of each encoder of the second encoder En=8192pluse/r, rpm=96, the accuracy of the speed limiter (speed governor) can be obtained as A=0.381mm/p.
X軸的精度除了取決於以上之機械特性外，槽輪的摩察係數摩察力不足、信號干擾、井道內之終點開關靈敏度不足等，也會造成該項精度的失真，本發明利用X軸及Y軸兩軸互校正的作法，可以補足精度之失真。In addition to the above mechanical characteristics, the accuracy of the X-axis, the frictional force of the sheave coefficient, the signal interference, the lack of sensitivity of the end switch in the hoistway, etc., may also cause distortion of the accuracy. The present invention utilizes the X-axis. And the Y-axis two-axis mutual correction method can complement the distortion of precision.
除此之外，雖然本發明可在安裝電梯10之初即將建物之樓高參數輸入，也可以透過試車時的學習動作將該參數讀入記憶體(EEPROM)內，但是萬一無樓高參數可供參考時，本發明亦可於運算程式內建有一學習模式，該學習模式係於該電梯10試車時啟動，可將與各樓層高度參數對應之該第一位移值與該第二位移值依序讀入至一記憶體(EEPROM)內，以供後續之運轉計算使用。再者，為了電梯專業技術人員操作方便，最好這些參數單位均為實際之長度單位如(mm)，如此現場調適作業將會比較順手。參數之轉換公式如下列所示：電梯車廂的X軸位置(第一位移值)：X_mm=X_pluse x(V x 1000/En x RPM)(mm)；電梯車廂的Y軸位置(第二位移值)：Y_mm=Y_pluse x(2πR/Y_En)(mm)。In addition, although the present invention can input the building height parameter of the building at the beginning of the installation of the elevator 10, the parameter can also be read into the memory (EEPROM) through the learning operation during the test run, but in case there is no building height parameter. For reference, the present invention may also have a learning mode built in the computing program, the learning mode is initiated when the elevator 10 is tested, and the first displacement value and the second displacement value corresponding to each floor height parameter may be It is sequentially read into a memory (EEPROM) for subsequent operational calculations. Furthermore, in order to facilitate the operation of the elevator professional technicians, it is preferable that these parameter units are actual length units such as (mm), so that the field adjustment operation will be relatively easy. The conversion formula of the parameters is as follows: X-axis position of the elevator car (first displacement value): X_mm=X_pluse x (V x 1000/En x RPM) (mm); Y-axis position of the elevator car (second displacement value) ): Y_mm=Y_pluse x(2πR/Y_En)(mm).
因此，藉由上述技術特徵的建置，本發明確實具有下列的特點：Therefore, with the construction of the above technical features, the present invention does have the following features:
1.本發明可藉由雙軸即時比對校正的機能建置，而達到電梯故障即時檢出的功效，因而具有車廂定位檢測精度高、準確性佳以及提升人員乘坐電梯的安全性等特點。1. The invention can realize the function of detecting the fault of the elevator by the function of the two-axis real-time alignment correction, thereby having the characteristics of high detection accuracy, good accuracy and safety of the elevator.
2.本發明確實具備虛擬終點開關功效，主要是藉由虛擬終點開關的建置，以避免因實體終點限速開關故障所致之電梯工安事故的發生，以增加多一層的安全防護保護網。2. The invention does have the function of virtual end point switch, mainly by the establishment of the virtual end point switch, to avoid the occurrence of elevator safety accident caused by the failure of the physical end point limit switch, so as to increase the safety protection network of one layer. .
3.本發明確實具備虛擬限速器功效，主要是藉由虛擬限速器的建置，以避免因實體虛擬限速器故障所致之電梯工安事故的發生，以增加多一層的安全防護保護網。3. The invention does have the function of a virtual speed limiter, mainly by the construction of a virtual speed limiter, to avoid the occurrence of elevator safety accidents caused by the failure of the physical virtual speed limiter, so as to increase the safety protection of one layer. Protection network.
4.本發明確實具備雙軸定位校正功效，主要是藉由雙軸虛擬限速開關的建置，以提升電梯車廂於各樓層的定位精度與安全性。4. The invention does have the dual-axis positioning correction function, mainly by the construction of the two-axis virtual speed limit switch, to improve the positioning accuracy and safety of the elevator car on each floor.
以上所述，僅為本發明之一可行實施例，並非用以限定本發明之專利範圍，凡舉依據下列請求項所述之內容、特徵以及其精神而為之其他變化的等效實施，皆應包含於本發明之專利範圍內。本發明所具體界定於請求項之結構特徵，未見於同類物品，且具實用性與進步性，已符合發明專利要件，爰依法具文提出申請，謹請 鈞局依法核予專利，以維護本申請人合法之權益。The above is only one of the possible embodiments of the present invention, and is not intended to limit the scope of the patents of the present invention, and the equivalent implementations of other changes according to the contents, features and spirits of the following claims are It should be included in the scope of the patent of the present invention. The invention is specifically defined in the structural features of the request item, is not found in the same kind of articles, and has practicality and progress, has met the requirements of the invention patent, and has filed an application according to law, and invites the bureau to approve the patent according to law to maintain the present invention. The legal rights of the applicant.
1．．．電機室1. . . Motor room
10．．．電梯10. . . elevator
11．．．捲揚機11. . . hoist
110．．．馬達110. . . motor
111．．．槽輪111. . . Slot wheel
12．．．限速器12. . . Speed limiter
120．．．轉輪120. . . Runner
121．．．限速器鋼索121. . . Speed limiter cable
122．．．滑輪122. . . pulley
13．．．車廂13. . . car
14．．．配重14. . . Counterweight
15．．．鋼索15. . . Steel cable
16、40．．．控制模組16, 40. . . Control module
17．．．編碼器17. . . Encoder
18、31．．．變頻器18, 31. . . Frequency converter
19．．．限速開關19. . . Speed limit switch
20．．．第一編碼器20. . . First encoder
30．．．第二編碼器30. . . Second encoder
50．．．終點限速開關50. . . End speed limit switch
41a．．．第一虛擬終點開關41a. . . First virtual end switch
41b．．．第二虛擬終點開關41b. . . Second virtual end switch
51．．．限速開關51. . . Speed limit switch
42a．．．第一虛擬限速開關42a. . . First virtual speed limit switch
42b．．．第二虛擬限速開關42b. . . Second virtual speed limit switch
圖1係習知結構的架構實施示意圖。Figure 1 is a schematic diagram of the architecture of a conventional structure.
圖2係習知結構控制AM馬達驅動實施示意圖。2 is a schematic diagram of a conventional structure control AM motor drive implementation.
圖3係習知結構控制PM馬達驅動實施示意圖。FIG. 3 is a schematic diagram of a conventional structure control PM motor drive implementation.
圖4係習知結構之限速開關於各樓層分佈的實施示意圖。Fig. 4 is a schematic view showing the implementation of the distribution of the speed limit switch of the conventional structure on each floor.
圖5係本發明基本架構實施的示意圖。Figure 5 is a schematic illustration of the implementation of the basic architecture of the present invention.
圖6係本發明雙軸控制的方塊示意圖。Figure 6 is a block diagram of the dual axis control of the present invention.
圖7係本發明各虛擬限速開關於各樓層分佈的實施示意圖。Fig. 7 is a schematic view showing the implementation of the distribution of each virtual speed limit switch of the present invention on each floor.
圖8係本發明電梯行程對應各樓層位置的實施示意圖。Fig. 8 is a schematic view showing the implementation of the elevator stroke corresponding to each floor position of the present invention.
圖9係本發明雙軸速度對應的實施示意圖。Figure 9 is a schematic illustration of the implementation of the biaxial speed of the present invention.
1．．．電機室1. . . Motor room
10．．．電梯10. . . elevator
11．．．捲揚機11. . . hoist
110．．．馬達110. . . motor
111．．．槽輪111. . . Slot wheel
12．．．限速器12. . . Speed limiter
120．．．轉輪120. . . Runner
121．．．限速器鋼索121. . . Speed limiter cable
122．．．滑輪122. . . pulley
13．．．車廂13. . . car
14．．．配重14. . . Counterweight
15．．．鋼索15. . . Steel cable
20．．．第一編碼器20. . . First encoder
30．．．第二編碼器30. . . Second encoder
Claims (10)
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW101114973A TWI529117B (en) | 2012-04-26 | 2012-04-26 | Elevator faults real time detecting system for safety and method using the same |
| CN201210240820.9A CN103373646B (en) | 2012-04-26 | 2012-07-11 | Elevator safety fault instant detection system and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW101114973A TWI529117B (en) | 2012-04-26 | 2012-04-26 | Elevator faults real time detecting system for safety and method using the same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| TW201343528A true TW201343528A (en) | 2013-11-01 |
| TWI529117B TWI529117B (en) | 2016-04-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW101114973A TWI529117B (en) | 2012-04-26 | 2012-04-26 | Elevator faults real time detecting system for safety and method using the same |
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| Country | Link |
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| CN (1) | CN103373646B (en) |
| TW (1) | TWI529117B (en) |
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| CN104310148B (en) * | 2014-09-24 | 2016-08-10 | 深圳市正弦电气股份有限公司 | A kind of elevator rescue method and device |
| JP6200467B2 (en) * | 2015-08-07 | 2017-09-20 | ファナック株式会社 | Motor control system with function to detect brake abnormality |
| CN110304507A (en) * | 2018-03-27 | 2019-10-08 | 蒂森克虏伯电梯（上海）有限公司 | Monitoring system for elevator |
| US20230219785A1 (en) * | 2020-05-08 | 2023-07-13 | Inventio Ag | Method for operating a passenger conveyor system by reliably configuring an electronic safety device |
| CN112612227A (en) * | 2020-12-09 | 2021-04-06 | 合肥中科离子医学技术装备有限公司 | Control method of particle rotating treatment room rotating rack |
| CN113682917B (en) * | 2021-08-26 | 2023-04-18 | 日立电梯（中国）有限公司 | Elevator safety device and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP2141108B1 (en) * | 2007-03-27 | 2016-12-07 | Mitsubishi Electric Corporation | Brake device for elevator |
| CN101765557B (en) * | 2007-07-25 | 2012-07-25 | 三菱电机株式会社 | Elevator |
| DE112009002129T5 (en) * | 2008-09-01 | 2011-06-22 | Mitsubishi Electric Corp. | elevator system |
| CN102344063A (en) * | 2011-09-29 | 2012-02-08 | 日立电梯（中国）有限公司 | Detection system of elevator sedan absolute position |
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- 2012-04-26 TW TW101114973A patent/TWI529117B/en active
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| CN103373646A (en) | 2013-10-30 |
| TWI529117B (en) | 2016-04-11 |
| CN103373646B (en) | 2015-09-09 |
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