WO2019003310A1 - Abnormality detection device - Google Patents

Abnormality detection device Download PDF

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Publication number
WO2019003310A1
WO2019003310A1 PCT/JP2017/023604 JP2017023604W WO2019003310A1 WO 2019003310 A1 WO2019003310 A1 WO 2019003310A1 JP 2017023604 W JP2017023604 W JP 2017023604W WO 2019003310 A1 WO2019003310 A1 WO 2019003310A1
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WO
WIPO (PCT)
Prior art keywords
threshold
unit
drive control
abnormality
torque
Prior art date
Application number
PCT/JP2017/023604
Other languages
French (fr)
Japanese (ja)
Inventor
智史 山▲崎▼
然一 伊藤
大樹 福井
Original Assignee
三菱電機ビルテクノサービス株式会社
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機ビルテクノサービス株式会社, 三菱電機株式会社 filed Critical 三菱電機ビルテクノサービス株式会社
Priority to KR1020197034859A priority Critical patent/KR102333643B1/en
Priority to JP2019526440A priority patent/JP6743976B2/en
Priority to PCT/JP2017/023604 priority patent/WO2019003310A1/en
Priority to CN201780092262.7A priority patent/CN110785367B/en
Publication of WO2019003310A1 publication Critical patent/WO2019003310A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
    • B66B5/021—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions the abnormal operating conditions being independent of the system
    • B66B5/024—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions the abnormal operating conditions being independent of the system where the abnormal operating condition is caused by an accident, e.g. fire
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
    • B66B5/021—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions the abnormal operating conditions being independent of the system

Definitions

  • the present invention relates to an apparatus for detecting an abnormality occurring in an elevator.
  • Patent Document 1 describes an apparatus for detecting a stuck long object in an elevator.
  • torque commands for the hoisting machine are sequentially recorded. Further, the difference between the latest plurality of torque commands and the current torque command is calculated. If any one of the calculated differences exceeds the threshold value, it is detected that the long object is caught.
  • the torque command to the hoisting machine is influenced by the dimensional accuracy and installation accuracy of the guide rails guiding the car.
  • the torque command is also affected by disturbances.
  • it is necessary to set, as a threshold, an excessive margin in consideration of the variation in torque command. For this reason, there was a possibility that detection of abnormality might be delayed, and a long thing might be damaged or the apparatus in which the long thing was caught may be damaged.
  • An object of the present invention is to provide an abnormality detection device capable of preventing an erroneous detection of an abnormality and detecting an abnormality early.
  • An abnormality detection apparatus includes: drive control means for outputting a torque command to a hoist of an elevator; storage means in which a first torque pattern, a first threshold, and a second threshold are stored; First determining means for determining whether the difference between the torque command and the first torque pattern is greater than a first threshold value; calculating means for calculating the amount of fluctuation of the torque command output by the drive control means; A second determination unit that determines whether the calculated variation amount is larger than a second threshold, and a second determination unit that determines that the difference is larger than the first threshold and the first determination unit and the variation amount is larger than the second threshold And a detection unit that detects an abnormality when it is determined by the determination unit.
  • An abnormality detection device comprises: drive control means for outputting a torque command to a hoisting machine of an elevator; storage means in which a first torque pattern, a second torque pattern, a first threshold and a second threshold are stored; A first determination unit that determines whether the difference between the torque command output by the drive control unit and the first torque pattern is greater than a first threshold, and the difference between the torque command output by the drive control unit and the second torque pattern Calculation means for calculating the integral value of the second, second determination means for determining whether the integral value calculated by the calculation means is greater than the second threshold, and determination by the first determination means if the difference is greater than the first threshold And detecting means for detecting an abnormality when it is judged by the second judging means that the integral value is larger than the second threshold value.
  • the abnormality can be detected at an early stage, and the erroneous detection of the abnormality can be prevented.
  • FIG. 1 is a diagram showing an example of an elevator equipped with an abnormality detection device according to Embodiment 1 of the present invention.
  • the elevator shown in FIG. 1 includes, for example, a car 1 and a counterweight 2.
  • the car 1 moves up and down the hoistway 3.
  • the counterweight 2 moves up and down the hoistway 3.
  • the car 1 and the counterweight 2 are suspended by the main rope 4 in the hoistway 3.
  • the method of roping for suspending the car 1 and the counterweight 2 is not limited to the example shown in FIG.
  • a compensating rope 5 is connected between the car 1 and the counterweight 2.
  • the main rope 4 is wound around a drive sheave 7 of the hoisting machine 6.
  • the rotation and stop of the drive sheave 7 are controlled by the controller 8.
  • the controller 8 is connected to the car 1 by a control cable 9.
  • the hoisting machine 6 is a device for driving the car 1.
  • the control device 8 stops the car 1 in accordance with, for example, the height of the landing 10.
  • the speed governor 11 operates the safety gear (not shown) when the lowering speed of the car 1 exceeds the reference speed.
  • the emergency stop is provided to the car 1. When the emergency stop operates, the car 1 is forcibly stopped.
  • the governor 11 includes, for example, a governor rope 12 and a governor 13.
  • the governor rope 12 is wound around the governor 13. When the car 1 moves, the speed control rope 12 moves.
  • FIG. 1 shows an example in which a hoist 6, a control device 8 and a governor 11 are provided in a machine room 14.
  • the hoisting machine 6, the control device 8 and the speed governor 11 may be provided in the hoistway 3.
  • FIG. 2 is a diagram showing an example of the control device 8.
  • the control device 8 includes, for example, a storage unit 15, a drive control unit 16, an arithmetic unit 17, a determination unit 18, an arithmetic unit 19, a determination unit 20, and a detection unit 21.
  • FIG. 3 is a diagram showing an example of a torque command to the hoisting machine 6.
  • the horizontal axis in FIG. 3 indicates the car position.
  • the car position is synonymous with the height of the car 1.
  • the solid line A shown in FIG. 3 shows an example of the torque command when the long object is not caught. Further, a solid line A shown in FIG. 3 shows an example of a torque command when the car 1 is moved at a constant speed. As indicated by the solid line A, the torque command to the hoisting machine 6 is influenced by the dimensional accuracy and the installation accuracy of the guide rails guiding the car 1. The torque command is also affected by disturbances. For this reason, the torque command output from the drive control unit 16 is not represented by a clean straight line in FIG. B part shown in FIG. 3 shows an example of a torque command when the car 1 passes the joint of the guide rail in which a level difference is generated.
  • the broken line C shown in FIG. 3 shows an example of the torque command when the long object is caught. Further, a broken line C shown in FIG. 3 shows an example of a torque command when the car 1 is moved at a constant speed. As shown by the broken line C, when the long object is caught, the value of the torque command output from the drive control unit 16 moves away from the solid line A as the car 1 approaches the position where the occurrence of the hook.
  • the storage unit 15 stores, for example, a torque pattern TP1, a threshold Th1 and a threshold Th2.
  • the dashed-dotted line D shown in FIG. 3 shows an example of the torque pattern TP1.
  • the torque pattern TP1 corresponds to an example of a torque command output from the drive control unit 16 when no abnormality occurs in the elevator.
  • the torque pattern TP1 is acquired by, for example, a learning operation performed immediately after the maintenance inspection.
  • the threshold Th1 is preset.
  • the threshold Th2 is set in advance.
  • FIG. 4 is a flowchart showing the operation of the abnormality detection device in the first embodiment of the present invention.
  • FIG. 4 shows an example in which detection of abnormality is performed in diagnostic operation.
  • FIG. 5 is a block diagram showing an abnormality detection function.
  • the control device 8 determines whether the start condition of the diagnostic operation is satisfied (S101).
  • the diagnostic operation is performed, for example, periodically.
  • the control device 8 determines that the start condition of the diagnostic operation is satisfied, for example, when a specific date and time are reached and no one gets on the car 1. Other conditions may be adopted as the start condition of the diagnostic operation.
  • the control device 8 starts the diagnostic operation when the start condition is satisfied (S102).
  • the control device 8 it is determined whether a condition for starting abnormality detection is satisfied (S103).
  • the abnormality detection is performed, for example, when the car 1 is moving at a constant speed.
  • the control device 8 moves the unmanned car 1 from the landing 10 on the lowest floor to the landing 10 on the top floor.
  • the control device 8 determines that the abnormality detection start condition is satisfied.
  • Other conditions may be adopted as the start condition of the abnormality detection.
  • the control device 8 starts processing necessary to detect an abnormality (S104).
  • the drive control unit 16 outputs a torque command to the hoisting machine 6.
  • the calculation unit 17 calculates the difference D1 between the torque command output by the drive control unit 16 and the torque pattern TP1 stored in the storage unit 15 (S105).
  • the difference D1 is a difference between the value of the torque command output from the drive control unit 16 and the value of the torque pattern TP1 at the car position when the torque command is output.
  • the determination unit 18 determines whether the difference D1 between the torque command output by the drive control unit 16 and the torque pattern TP1 is larger than a threshold Th1 (S106). The determination unit 18 compares the difference D1 calculated by the calculation unit 17 with the threshold value Th1 stored in the storage unit 15.
  • the calculation unit 19 calculates the fluctuation amount Va1 of the torque command output by the drive control unit 16 (S107).
  • FIG. 5 shows an example in which the calculation unit 19 calculates the time derivative of the torque command output by the drive control unit 16 as the fluctuation amount Va1.
  • the drive control unit 16 also outputs a torque command at a constant cycle.
  • the calculation unit 19 may calculate the difference between the torque command and the torque command previously output from the drive control unit 16 as the fluctuation amount Va1.
  • the determination unit 20 determines whether or not the variation amount Va1 calculated by the calculation unit 19 is larger than the threshold value Th2 stored in the storage unit 15 (S108). If the determination unit 20 determines in S108 that the variation amount Va1 is larger than the threshold Th2, the detection unit 21 detects an abnormality (S109). That is, when the determination unit 18 determines that the difference D1 is larger than the threshold Th1 and the determination unit 20 determines that the variation amount Va1 is larger than the threshold Th2, the detection unit 21 has a long object caught. To detect When the detection unit 21 detects an abnormality, a predetermined operation is performed. For example, when an abnormality is detected by the detection unit 21, the car 1 is urgently stopped. When an abnormality is detected by the detection unit 21, the storage unit 15 may store that the abnormality is detected. When an abnormality is detected by the detection unit 21, it may be notified to the outside that the abnormality is detected.
  • the detection unit 21 does not detect an abnormality (S110). If the determination unit 20 does not determine that the fluctuation amount Va1 is larger than the threshold Th2 in S108, the detection unit 21 does not detect an abnormality (S110). In such a case, the control device 8 determines whether the end condition of abnormality detection is satisfied (S111).
  • the determination based on the torque command output from the drive control unit 16, that is, the determination of S106 and the determination of S108 may be limited while the car 1 is controlled to a constant speed.
  • an abnormality detection end condition is satisfied.
  • Other conditions may be adopted as the termination condition of the abnormality detection.
  • the end condition may be satisfied when the car 1 has moved a fixed distance after the abnormality detection process is started.
  • the termination condition may be satisfied when a predetermined time has elapsed since the start of the abnormality detection process.
  • the drive control unit 16 outputs a torque command at a constant cycle. If the end condition is not satisfied, for example, each time a torque command is output from the drive control unit 16, the processing shown in S105 to S110 is performed. When the end condition is satisfied, the control device 8 ends the process for detecting an abnormality. For example, the control device 8 ends the diagnostic operation.
  • an abnormality is detected when the difference D1 is larger than the threshold Th1 and the fluctuation amount Va1 is larger than the threshold Th2. Since an abnormality is not detected if both S106 and S108 are not determined to be Yes, it is possible to prevent an erroneous detection of the abnormality. For example, even if the torque pattern TP1 changes with age or environment, false detection can be suppressed. Further, even if there is a portion where the torque pattern TP1 has a large fluctuation due to the influence of the dimensional accuracy of the guide rail or the installation accuracy, it is not necessary to set the margin of the threshold Th1 excessively. Similarly, it is not necessary to set the margin of the threshold Th2 excessively. Therefore, the time required to detect an abnormality can be shortened. Since an abnormality can be detected at an early stage, it is possible to prevent the long object itself from being damaged or the device from which the long object is caught being damaged.
  • the difference D1 is compared with the threshold Th1 first, and the variation Va1 is compared with the threshold Th2 later.
  • the variation amount Va1 and the threshold value Th2 may be compared first, and the difference D1 and the threshold value Th1 may be compared later. Both the difference D1 and the fluctuation amount Va1 may be calculated before the comparison with the threshold value.
  • the variation amount Va1 is compared with the threshold value Th2 only once.
  • the fluctuation amount Va1 and the threshold value Th2 may be compared a plurality of times to prevent erroneous detection as an abnormality when the fluctuation amount Va1 is locally increased due to noise or the like.
  • the drive control unit 16 outputs a torque command at a constant cycle.
  • Arithmetic unit 19 calculates variation amount Va1 each time a torque command is output from drive control unit 16.
  • the detection unit 21 detects an abnormality even when the determination unit 18 determines that the difference D1 is larger than the threshold Th1 and the determination unit 20 continuously determines that the variation amount Va1 is larger than the threshold Th2 a predetermined number of times. good.
  • the determination unit 18 determines whether the difference D1 is larger than the threshold Th1. If the difference D1 is larger than the threshold Th1, the computing unit 19 computes the fluctuation amount Va1. The determination unit 20 determines whether the fluctuation amount Va1 calculated by the calculation unit 19 is larger than a threshold value Th2. As described above, the drive control unit 16 outputs a torque command at a constant cycle. If the fluctuation amount Va1 is larger than the threshold value Th2, the calculation unit 19 calculates the fluctuation amount Va1 for the torque command output next. Then, the determination unit 20 determines whether the calculated latest variation amount Va1 is larger than a threshold value Th2.
  • the detection unit 21 detects an abnormality when the determination unit 20 continuously determines that the fluctuation amount Va1 is larger than the threshold Th2 a predetermined number of times.
  • the detection unit 21 does not detect an abnormality. In such a case, the calculation of the difference D1 by the calculation unit 17 is performed again.
  • FIG. 6 is a block diagram showing another abnormality detection function.
  • the threshold value Th1 and the threshold value Th2 is further stored in the storage unit 15.
  • the threshold Th3 is a threshold for detecting torque abnormality.
  • the threshold Th3 is, for example, a value larger than the threshold Th1.
  • the detection unit 21 uses the determination result using the threshold Th1 and the threshold Th2 An abnormality may be detected regardless of the determination result.
  • the determination unit 18 determines whether the difference D1 is larger than the threshold Th1. If the determination unit 18 does not determine that the difference D1 is larger than the threshold Th1, the detection unit 21 does not detect an abnormality. If the difference D1 is larger than the threshold Th1, the determination unit 18 determines whether the difference D1 is larger than the threshold Th3. If the difference D1 is larger than the threshold Th1 and smaller than or equal to the threshold Th3, the calculator 19 calculates the fluctuation amount Va1. Then, the determination unit 20 compares the fluctuation amount Va1 with the threshold value Th2. On the other hand, when the difference D1 is larger than the threshold value Th3, the detection unit 21 detects torque abnormality.
  • the threshold Th3 is set to a value larger than the threshold Th1.
  • the threshold value Th3 needs to be set so as to have a sufficient margin for the comparison of the difference D1 with the threshold value Th1 and the comparison of the variation amount Va1 with the threshold value Th2.
  • the threshold Th3 is set to a value such that the following equation holds. Th3> Th1 + Th2 ⁇ T
  • the cycle T is a cycle in which the drive control unit 16 outputs a torque command.
  • the cycle T is synonymous with a cycle in which an operation is performed to detect an abnormality, that is, the operation cycle.
  • FIG. 7 is a diagram showing an example of the control device 8.
  • the control device 8 includes, for example, a storage unit 15, a drive control unit 16, an arithmetic unit 17, a determination unit 18, an arithmetic unit 19, a determination unit 20, and a detection unit 21.
  • the function of the drive control unit 16 is the same as the function disclosed in the first embodiment.
  • the drive control unit 16 outputs a torque command to the hoisting machine 6.
  • the function of the calculation unit 17 is the same as the function disclosed in the first embodiment.
  • the calculation unit 17 calculates a difference D1 between the torque command output from the drive control unit 16 and the torque pattern TP1 stored in the storage unit 15.
  • the function of the determination unit 18 is the same as the function disclosed in the first embodiment.
  • the determination unit 18 determines whether the difference D1 between the torque command output from the drive control unit 16 and the torque pattern TP1 is larger than a threshold Th1.
  • the storage unit 15 stores a torque pattern TP1, a torque pattern TP2, a threshold Th1, and a threshold Th4.
  • the torque pattern TP1 and the threshold Th1 in the present embodiment are the same as the torque pattern TP1 and the threshold Th1 in the first embodiment.
  • FIG. 8 is a diagram showing an example of a torque command to the hoisting machine 6.
  • the two-dot chain line E shown in FIG. 8 shows an example of the torque pattern TP2.
  • the torque pattern TP ⁇ b> 2 is a straight line connecting end points on both sides of the alternate long and short dash line D.
  • FIG. 9 is a flow chart showing the operation of the abnormality detection device in the second embodiment of the present invention.
  • FIG. 9 shows an example in which detection of abnormality is performed in diagnostic operation.
  • FIG. 10 is a block diagram showing an abnormality detection function.
  • the processes shown in S201 to S206 of FIG. 9 are the same as the processes shown in S101 to S106 of FIG. 4. If the determination unit 18 determines that the difference D1 is larger than the threshold Th1 in S206, the calculation unit 19 determines that the difference between the torque command output by the drive control unit 16 and the torque pattern TP2 stored in the storage unit 15 is abnormal.
  • the integral value In1 from the start of detection is calculated (S207).
  • the difference D2 is a difference between the value of the torque command output from the drive control unit 16 and the value of the torque pattern TP2 at the car position when the torque command is output.
  • the determination unit 20 determines whether the integral value In1 calculated by the calculation unit 19 is larger than the threshold Th4 stored in the storage unit 15 (S208). If the determination unit 20 determines that the integral value In1 is larger than the threshold Th4 in S208, the detection unit 21 detects an abnormality (S209). That is, when the determination unit 18 determines that the difference D1 is larger than the threshold Th1 and the determination unit 20 determines that the integral In1 is larger than the threshold Th4, the detection unit 21 has a long object caught. To detect When the detection unit 21 detects an abnormality, a predetermined operation is performed. For example, when an abnormality is detected by the detection unit 21, the car 1 is urgently stopped. When an abnormality is detected by the detection unit 21, the storage unit 15 may store that the abnormality is detected. When an abnormality is detected by the detection unit 21, it may be notified to the outside that the abnormality is detected.
  • an abnormality is detected when the difference D1 is larger than the threshold Th1 and the integral In1 is larger than the threshold Th4. Since an abnormality is not detected if both S206 and S208 are not determined to be Yes, it is possible to prevent an erroneous detection of the abnormality. In addition, it is not necessary to set the tolerance of the threshold Th1 and the tolerance of the threshold Th4 excessively. Therefore, the time required to detect an abnormality can be shortened. Since an abnormality can be detected at an early stage, it is possible to prevent the long object itself from being damaged or the device from which the long object is caught being damaged.
  • the operation unit 19 may reset the integral value In1 based on a predetermined condition in order to set the threshold value Th4 low.
  • the calculation unit 19 may reset the integral value In1 each time the sign of the difference D2 between the torque command output from the drive control unit 16 and the torque pattern TP2 changes.
  • the sign of the difference D2 changes when the torque command intersects with the torque pattern TP2 in FIG. 8, and there is no particular problem even if the integral value In1 is reset.
  • the computing unit 19 may reset the integral value In1 each time the car 1 moves a fixed distance.
  • Arithmetic unit 19 may reset integral value In1 each time a predetermined time passes.
  • the torque pattern TP1 and the torque pattern TP2 are different patterns. This is an example.
  • the torque pattern TP1 and the torque pattern TP2 may be the same pattern.
  • any features disclosed in the first embodiment may be adopted.
  • the determination based on the torque command output from drive control unit 16, that is, the determination of S206 and the determination of S208 is limited while car 1 is controlled to a constant speed. It is good.
  • the difference D1 and the threshold Th1 are compared first and the integrated value In1 and the threshold Th4 are compared later.
  • the integrated value In1 may be compared with the threshold Th4 first, and the difference D1 may be compared with the threshold Th1 later. Both the difference D1 and the integral value In1 may be calculated before the comparison with the threshold value.
  • the threshold value Th3 may be further stored in the storage unit 15.
  • the detection unit 21 may detect an abnormality regardless of the determination result using the threshold Th1 and the determination result using the threshold Th4.
  • FIG. 11 is a diagram showing an example of the control device 8.
  • the control device 8 in the present embodiment includes, for example, a storage unit 15, a drive control unit 16, an arithmetic unit 17, a determination unit 18, an arithmetic unit 19, a determination unit 20, and a detection unit 21.
  • the function of the drive control unit 16 is the same as the function disclosed in the first embodiment.
  • the drive control unit 16 outputs a torque command to the hoisting machine 6.
  • the function of the calculation unit 17 is the same as the function disclosed in the first embodiment.
  • the calculation unit 17 calculates a difference D1 between the torque command output from the drive control unit 16 and the torque pattern TP1 stored in the storage unit 15.
  • Torque pattern TP1, threshold value Th1 and threshold value Th3 in the present embodiment are the same as torque pattern TP1, threshold value Th1, and threshold value Th3 in the first embodiment.
  • FIG. 12 is a flow chart showing the operation of the anomaly detection apparatus in the third embodiment of the present invention.
  • FIG. 12 shows an example in which detection of abnormality is performed in diagnostic operation. Further, FIG. 12 shows an example in which the threshold value Th2 is calculated each time in the processing for detecting an abnormality.
  • the processes shown in S301 to S306 of FIG. 12 are the same as the processes shown in S101 to S106 of FIG. 4. If the determination unit 18 determines that the difference D1 is larger than the threshold Th1 in S306, the calculation unit 19 calculates a threshold Th2 (S307). For example, the calculation unit 19 uses the torque pattern TP1 stored in the storage unit 15 to calculate the threshold value Th2. Arithmetic unit 19 calculates variation amount Va2 of torque pattern TP1 at the car position when it is determined in S306 that difference D1 is larger than threshold value Th1. For example, the calculation unit 19 calculates the time derivative of the torque pattern TP1 as the fluctuation amount Va2.
  • the calculation unit 19 may calculate the difference between the value of the torque pattern TP1 at the current car position and the value of the torque pattern TP1 at the car position before the time equivalent to the cycle T as the fluctuation amount Va2.
  • the calculation unit 19 sets a value obtained by multiplying the obtained variation amount Va2 by K to a threshold value Th2.
  • K is a preset coefficient.
  • the determination unit 18 determines whether the difference D1 is larger than the threshold Th3 (S308).
  • the determination unit 18 compares the difference D1 calculated by the calculation unit 17 with the threshold value Th3 stored in the storage unit 15. If the determination unit 18 determines that the difference D1 is larger than the threshold Th3 in S308, the detection unit 21 detects an abnormality (S311).
  • the calculation unit 19 calculates the fluctuation amount Va1 (S309).
  • the process shown in S309 is the same as the process shown in S107 of FIG.
  • the determination unit 20 determines whether or not the variation amount Va1 calculated in S309 is larger than the threshold value Th2 calculated in S307 (S310). If the determination unit 20 determines in S310 that the variation amount Va1 is larger than the threshold Th2, the detection unit 21 detects an abnormality (S311). That is, when the determination unit 18 determines that the difference D1 is larger than the threshold Th1 and the determination unit 20 determines that the variation amount Va1 is larger than the threshold Th2, the detection unit 21 has a long object caught. To detect When the detection unit 21 detects an abnormality, a predetermined operation is performed.
  • the process shown in S312 is the same as the process shown in S110 of FIG.
  • the process shown in S313 is the same as the process shown in S111 of FIG.
  • the threshold value Th2 is calculated using the torque pattern TP1. Since the threshold value Th2 can be set to a value corresponding to the position of the car at the time of diagnosis, the margin of the threshold value Th2 can be reduced. Since it is not necessary to set the margin of the threshold Th2 excessively, the time required to detect an abnormality can be shortened. Since an abnormality can be detected at an early stage, it is possible to prevent the long object itself from being damaged or the device from which the long object is caught being damaged.
  • the threshold value Th2 may be set using the speed of the car 1 at the time of diagnosis, that is, the rotational speed of the hoisting machine 6.
  • a table indicating the correspondence between the speed of the car 1 and the value corresponding to the threshold value Th2 is stored in the storage unit 15.
  • the calculation unit 19 refers to the table stored in the storage unit 15 and obtains a value corresponding to the threshold value Th2 from the speed of the car 1 at that time.
  • the calculation unit 19 may use the obtained value as the threshold value Th2.
  • the calculation unit 19 may set a value obtained by multiplying the obtained value by K by a threshold value Th2.
  • the fluctuation amount Va1 before the time corresponding to the cycle T may be set as the threshold value Th2.
  • the detection unit 21 detects an abnormality when the determination unit 18 determines that the difference D1 is larger than the threshold Th1 and the determination unit 20 continuously determines that the variation amount Va1 is larger than the threshold Th2 a certain number of times. Do.
  • the determination unit 20 determines whether the fluctuation amount Va1 is larger than the threshold Th2 in S310.
  • the drive control unit 16 outputs a torque command at a constant cycle. If the fluctuation amount Va1 is larger than the threshold value Th2, the calculation unit 19 calculates the fluctuation amount Va1 for the torque command output next.
  • the calculation unit 19 sets the previously calculated fluctuation amount Va1 to the present threshold value Th2. Then, the determination unit 20 determines whether or not the calculated latest variation amount Va1 is larger than the reset threshold value Th2. As described above, when the variation amount Va1 is larger than the threshold value Th2, calculation of the variation amount Va1, setting of the threshold value Th2, and comparison of the variation amount Va1 and the threshold value Th2 are continuously performed. Then, the detection unit 21 detects an abnormality when the determination unit 20 continuously determines that the fluctuation amount Va1 is larger than the threshold Th2 a predetermined number of times.
  • Arithmetic unit 19 may calculate threshold value Th4 to be compared with integral value In1 disclosed in the second embodiment.
  • the calculation unit 19 calculates the threshold Th4 using, for example, the slope of the torque pattern TP1.
  • the storage unit 15 stores a table indicating the correspondence between the inclination of the torque pattern TP1 and the value corresponding to the threshold value Th4.
  • the computing unit 19 refers to the table stored in the storage unit 15, and obtains a value corresponding to the threshold value Th4 from the slope of the torque pattern TP1 at that time.
  • the calculation unit 19 may set the obtained value as the threshold value Th4.
  • the calculation unit 19 may set a value obtained by multiplying the obtained value by K by a threshold value Th4.
  • FIG. 13 is a diagram illustrating an example of hardware elements included in the control device 8.
  • the controller 8 includes a processing circuit 24 including, for example, a processor 22 and a memory 23 as hardware resources.
  • the functions of the storage unit 15 are realized by the memory 23.
  • the control device 8 implements the functions of the units indicated by reference numerals 16 to 21 by causing the processor 22 to execute the program stored in the memory 23.
  • the processor 22 is also referred to as a central processing unit (CPU), a central processing unit, a processing unit, a computing unit, a microprocessor, a microcomputer, or a DSP.
  • CPU central processing unit
  • a semiconductor memory a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD may be adopted as the memory 23.
  • Semiconductor memories that can be adopted include RAM, ROM, flash memory, EPROM, EEPROM, and the like.
  • the processing circuit 24 may include a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof as dedicated hardware for realizing the functions of the control device 8.
  • the abnormality detection device can be used to detect an abnormality generated in an elevator.

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  • Maintenance And Inspection Apparatuses For Elevators (AREA)

Abstract

An abnormality detection device according to the present invention is provided with a drive control unit (16), a storage unit (15), a determining unit (18), a computing unit (19), a determining unit (20), and a detection unit (21). The determining unit (18) determines whether the difference between a torque command outputted from the drive control unit (16) and a first torque pattern is larger than a first threshold value. The determining unit (20) determines whether a fluctuation quantity computed by the computing unit (19) is larger than a second threshold value. In the cases where the determining unit (18) determined that the difference is larger than the first threshold value, and the determining unit (20) determined that the fluctuation quantity is larger than the second threshold value, the detection unit (21) detects an abnormality.

Description

異常検出装置Abnormality detection device
　この発明は、エレベーターで発生した異常を検出するための装置に関する。 The present invention relates to an apparatus for detecting an abnormality occurring in an elevator.
　特許文献１に、エレベーターにおいて、長尺物の引っ掛かりを検出する装置が記載されている。特許文献１に記載された装置では、巻上機に対するトルク指令が順次記録される。また、直近の複数個のトルク指令と現在のトルク指令との差分が演算される。演算された差分のうち何れか一つでも閾値を超えると、長尺物に引っ掛かりが生じたことが検出される。 Patent Document 1 describes an apparatus for detecting a stuck long object in an elevator. In the device described in Patent Document 1, torque commands for the hoisting machine are sequentially recorded. Further, the difference between the latest plurality of torque commands and the current torque command is calculated. If any one of the calculated differences exceeds the threshold value, it is detected that the long object is caught.
日本特許第５４３１０６４号公報Japanese Patent No. 5431064
　巻上機に対するトルク指令は、かごを案内するガイドレールの寸法精度及び据付精度によって影響を受ける。また、トルク指令は、外乱によっても影響を受ける。特許文献１に記載された装置のように、トルク指令の差分のみに基づいて異常を検出しようとすると、トルク指令のばらつきを考慮した過大な裕度を閾値に設定しなければならない。このため、異常の検出が遅れ、長尺物が損傷したり長尺物が引っ掛かった機器が損傷したりする恐れがあった。 The torque command to the hoisting machine is influenced by the dimensional accuracy and installation accuracy of the guide rails guiding the car. The torque command is also affected by disturbances. As in the device described in Patent Document 1, when trying to detect an abnormality based on only the difference in torque command, it is necessary to set, as a threshold, an excessive margin in consideration of the variation in torque command. For this reason, there was a possibility that detection of abnormality might be delayed, and a long thing might be damaged or the apparatus in which the long thing was caught may be damaged.
　この発明は、上述のような課題を解決するためになされた。この発明の目的は、異常の誤検出を防止でき、且つ異常を早期に検出できる異常検出装置を提供することである。 The present invention has been made to solve the problems as described above. An object of the present invention is to provide an abnormality detection device capable of preventing an erroneous detection of an abnormality and detecting an abnormality early.
　この発明に係る異常検出装置は、エレベーターの巻上機に対するトルク指令を出力する駆動制御手段と、第１トルクパターン、第１閾値及び第２閾値が記憶された記憶手段と、駆動制御手段が出力したトルク指令と第１トルクパターンとの差が第１閾値より大きいか否かを判定する第１判定手段と、駆動制御手段が出力したトルク指令の変動量を演算する演算手段と、演算手段によって演算された変動量が第２閾値より大きいか否かを判定する第２判定手段と、差が第１閾値より大きいと第１判定手段によって判定され且つ変動量が第２閾値より大きいと第２判定手段によって判定された場合に、異常を検出する検出手段と、を備える。 An abnormality detection apparatus according to the present invention includes: drive control means for outputting a torque command to a hoist of an elevator; storage means in which a first torque pattern, a first threshold, and a second threshold are stored; First determining means for determining whether the difference between the torque command and the first torque pattern is greater than a first threshold value; calculating means for calculating the amount of fluctuation of the torque command output by the drive control means; A second determination unit that determines whether the calculated variation amount is larger than a second threshold, and a second determination unit that determines that the difference is larger than the first threshold and the first determination unit and the variation amount is larger than the second threshold And a detection unit that detects an abnormality when it is determined by the determination unit.
　この発明に係る異常検出装置は、エレベーターの巻上機に対するトルク指令を出力する駆動制御手段と、第１トルクパターン、第２トルクパターン、第１閾値及び第２閾値が記憶された記憶手段と、駆動制御手段が出力したトルク指令と第１トルクパターンとの差が第１閾値より大きいか否かを判定する第１判定手段と、駆動制御手段が出力したトルク指令と第２トルクパターンとの差の積分値を演算する演算手段と、演算手段によって演算された積分値が第２閾値より大きいか否かを判定する第２判定手段と、差が第１閾値より大きいと第１判定手段によって判定され且つ積分値が第２閾値より大きいと第２判定手段によって判定された場合に、異常を検出する検出手段と、を備える。 An abnormality detection device according to the present invention comprises: drive control means for outputting a torque command to a hoisting machine of an elevator; storage means in which a first torque pattern, a second torque pattern, a first threshold and a second threshold are stored; A first determination unit that determines whether the difference between the torque command output by the drive control unit and the first torque pattern is greater than a first threshold, and the difference between the torque command output by the drive control unit and the second torque pattern Calculation means for calculating the integral value of the second, second determination means for determining whether the integral value calculated by the calculation means is greater than the second threshold, and determination by the first determination means if the difference is greater than the first threshold And detecting means for detecting an abnormality when it is judged by the second judging means that the integral value is larger than the second threshold value.
　この発明に係る異常検出装置であれば、異常を早期に検出することができるとともに、異常の誤検出を防止できる。 According to the abnormality detection device according to the present invention, the abnormality can be detected at an early stage, and the erroneous detection of the abnormality can be prevented.
この発明の実施の形態１における異常検出装置を備えたエレベーターの例を示す図である。It is a figure which shows the example of the elevator provided with the abnormality detection apparatus in Embodiment 1 of this invention. 制御装置の例を示す図である。It is a figure which shows the example of a control apparatus. 巻上機に対するトルク指令の例を示す図である。It is a figure which shows the example of the torque instruction | command with respect to a winding machine. この発明の実施の形態１における異常検出装置の動作を示すフローチャートである。It is a flowchart which shows operation | movement of the abnormality detection apparatus in Embodiment 1 of this invention. 異常検出機能を示すブロック線図である。It is a block diagram which shows an abnormality detection function. 他の異常検出機能を示すブロック線図である。It is a block diagram which shows the other abnormality detection function. 制御装置の例を示す図である。It is a figure which shows the example of a control apparatus. 巻上機に対するトルク指令の例を示す図である。It is a figure which shows the example of the torque instruction | command with respect to a winding machine. この発明の実施の形態２における異常検出装置の動作を示すフローチャートである。It is a flowchart which shows operation | movement of the abnormality detection apparatus in Embodiment 2 of this invention. 異常検出機能を示すブロック線図である。It is a block diagram which shows an abnormality detection function. 制御装置の例を示す図である。It is a figure which shows the example of a control apparatus. この発明の実施の形態３における異常検出装置の動作を示すフローチャートである。It is a flowchart which shows operation | movement of the abnormality detection apparatus in Embodiment 3 of this invention. 制御装置が備えるハードウェア要素の例を示す図である。It is a figure which shows the example of the hardware element with which a control apparatus is provided.
　添付の図面を参照し、本発明を説明する。重複する説明は、適宜簡略化或いは省略する。各図において、同一の符号は同一の部分又は相当する部分を示す。 The invention will be described with reference to the accompanying drawings. Duplicate descriptions will be simplified or omitted as appropriate. In each figure, the same numerals show the same portion or the corresponding portion.
実施の形態１．
　図１は、この発明の実施の形態１における異常検出装置を備えたエレベーターの例を示す図である。図１に示すエレベーターは、例えばかご１及びつり合いおもり２を備える。かご１は、昇降路３を上下に移動する。つり合いおもり２は、昇降路３を上下に移動する。かご１及びつり合いおもり２は、主ロープ４によって昇降路３に吊り下げられる。かご１及びつり合いおもり２を吊り下げるためのローピングの方式は、図１に示す例に限定されない。かご１及びつり合いおもり２の間に、コンペンロープ５が連結される。 Embodiment 1
FIG. 1 is a diagram showing an example of an elevator equipped with an abnormality detection device according to Embodiment 1 of the present invention. The elevator shown in FIG. 1 includes, for example, a car 1 and a counterweight 2. The car 1 moves up and down the hoistway 3. The counterweight 2 moves up and down the hoistway 3. The car 1 and the counterweight 2 are suspended by the main rope 4 in the hoistway 3. The method of roping for suspending the car 1 and the counterweight 2 is not limited to the example shown in FIG. A compensating rope 5 is connected between the car 1 and the counterweight 2.
　主ロープ４は、巻上機６の駆動綱車７に巻き掛けられる。駆動綱車７の回転及び停止は、制御装置８によって制御される。制御装置８は、制御ケーブル９によってかご１に接続される。駆動綱車７が回転すると、その回転方向に応じた方向に主ロープ４が移動する。主ロープ４が移動する方向に応じて、かご１は上昇或いは下降する。即ち、巻上機６は、かご１を駆動するための装置である。制御装置８は、例えば乗場１０の高さに合わせてかご１を停止させる。 The main rope 4 is wound around a drive sheave 7 of the hoisting machine 6. The rotation and stop of the drive sheave 7 are controlled by the controller 8. The controller 8 is connected to the car 1 by a control cable 9. When the drive sheave 7 rotates, the main rope 4 moves in a direction according to the rotation direction. The car 1 moves up or down depending on the direction in which the main rope 4 moves. That is, the hoisting machine 6 is a device for driving the car 1. The control device 8 stops the car 1 in accordance with, for example, the height of the landing 10.
　調速機１１は、かご１の下降速度が基準速度を超えると、非常止め（図示せず）を動作させる。非常止めは、かご１に備えられる。非常止めが動作すると、かご１が強制的に停止される。調速機１１は、例えば調速ロープ１２及び調速綱車１３を備える。調速ロープ１２は、調速綱車１３に巻き掛けられる。かご１が移動すると、調速ロープ１２が移動する。 The speed governor 11 operates the safety gear (not shown) when the lowering speed of the car 1 exceeds the reference speed. The emergency stop is provided to the car 1. When the emergency stop operates, the car 1 is forcibly stopped. The governor 11 includes, for example, a governor rope 12 and a governor 13. The governor rope 12 is wound around the governor 13. When the car 1 moves, the speed control rope 12 moves.
　図１は、巻上機６、制御装置８及び調速機１１が機械室１４に設けられる例を示す。巻上機６、制御装置８及び調速機１１は、昇降路３に設けられても良い。 FIG. 1 shows an example in which a hoist 6, a control device 8 and a governor 11 are provided in a machine room 14. The hoisting machine 6, the control device 8 and the speed governor 11 may be provided in the hoistway 3.
　図１に示すように、エレベーターには、主ロープ４、コンペンロープ５、制御ケーブル９及び調速ロープ１２といった種々の長尺物が使用される。以下に、昇降路３に設置された機器等に長尺物が引っ掛かったことを異常として検出するための機能について詳しく説明する。 As shown in FIG. 1, various long objects such as a main rope 4, a compensation rope 5, a control cable 9 and a speed control rope 12 are used in the elevator. Hereinafter, a function for detecting that an elongated object is caught on an apparatus or the like installed in the hoistway 3 as an abnormality will be described in detail.
　図２は、制御装置８の例を示す図である。制御装置８は、例えば記憶部１５、駆動制御部１６、演算部１７、判定部１８、演算部１９、判定部２０及び検出部２１を備える。 FIG. 2 is a diagram showing an example of the control device 8. The control device 8 includes, for example, a storage unit 15, a drive control unit 16, an arithmetic unit 17, a determination unit 18, an arithmetic unit 19, a determination unit 20, and a detection unit 21.
　駆動制御部１６は、巻上機６に対するトルク指令を出力する。巻上機６は、駆動制御部１６からのトルク指令に基づいて動作する。図３は、巻上機６に対するトルク指令の例を示す図である。図３の横軸はかご位置を示す。図１に示すエレベーターの例では、かご位置はかご１の高さと同義である。 The drive control unit 16 outputs a torque command to the hoisting machine 6. The hoisting machine 6 operates based on a torque command from the drive control unit 16. FIG. 3 is a diagram showing an example of a torque command to the hoisting machine 6. The horizontal axis in FIG. 3 indicates the car position. In the example of the elevator shown in FIG. 1, the car position is synonymous with the height of the car 1.
　図３に示す実線Ａは、長尺物に引っ掛かりが生じていない時のトルク指令の例を示す。また、図３に示す実線Ａは、かご１を一定の速度で移動させた時のトルク指令の例を示す。実線Ａに示すように、巻上機６に対するトルク指令は、かご１を案内するガイドレールの寸法精度及び据付精度によって影響を受ける。また、トルク指令は、外乱によっても影響を受ける。このため、駆動制御部１６から出力されるトルク指令は、図３においてきれいな直線では表されない。図３に示すＢ部は、段差が生じているガイドレールの継目をかご１が通過する時のトルク指令の例を示す。 The solid line A shown in FIG. 3 shows an example of the torque command when the long object is not caught. Further, a solid line A shown in FIG. 3 shows an example of a torque command when the car 1 is moved at a constant speed. As indicated by the solid line A, the torque command to the hoisting machine 6 is influenced by the dimensional accuracy and the installation accuracy of the guide rails guiding the car 1. The torque command is also affected by disturbances. For this reason, the torque command output from the drive control unit 16 is not represented by a clean straight line in FIG. B part shown in FIG. 3 shows an example of a torque command when the car 1 passes the joint of the guide rail in which a level difference is generated.
　図３に示す破線Ｃは、長尺物に引っ掛かりが生じている時のトルク指令の例を示す。また、図３に示す破線Ｃは、かご１を一定の速度で移動させた時のトルク指令の例を示す。破線Ｃに示すように、長尺物に引っ掛かりが発生すると、駆動制御部１６から出力されるトルク指令の値は、引っ掛かりが発生した位置にかご１が近づくに従って実線Ａから離れていく。 The broken line C shown in FIG. 3 shows an example of the torque command when the long object is caught. Further, a broken line C shown in FIG. 3 shows an example of a torque command when the car 1 is moved at a constant speed. As shown by the broken line C, when the long object is caught, the value of the torque command output from the drive control unit 16 moves away from the solid line A as the car 1 approaches the position where the occurrence of the hook.
　記憶部１５に、例えばトルクパターンＴＰ１、閾値Ｔｈ１及び閾値Ｔｈ２が記憶される。図３に示す一点鎖線Ｄは、トルクパターンＴＰ１の例を示す。トルクパターンＴＰ１は、エレベーターに異常が発生していない時に駆動制御部１６から出力されるトルク指令の一例に対応する。トルクパターンＴＰ１は、例えば保守点検の直後に行われる学習運転によって取得される。閾値Ｔｈ１は予め設定される。閾値Ｔｈ２は予め設定される。 The storage unit 15 stores, for example, a torque pattern TP1, a threshold Th1 and a threshold Th2. The dashed-dotted line D shown in FIG. 3 shows an example of the torque pattern TP1. The torque pattern TP1 corresponds to an example of a torque command output from the drive control unit 16 when no abnormality occurs in the elevator. The torque pattern TP1 is acquired by, for example, a learning operation performed immediately after the maintenance inspection. The threshold Th1 is preset. The threshold Th2 is set in advance.
　以下に、図４及び図５も参照し、異常を検出するための動作について説明する。図４は、この発明の実施の形態１における異常検出装置の動作を示すフローチャートである。図４は、異常の検出を診断運転で行う例を示す。図５は、異常検出機能を示すブロック線図である。 The operation for detecting an abnormality will be described below with reference to FIGS. 4 and 5 as well. FIG. 4 is a flowchart showing the operation of the abnormality detection device in the first embodiment of the present invention. FIG. 4 shows an example in which detection of abnormality is performed in diagnostic operation. FIG. 5 is a block diagram showing an abnormality detection function.
　制御装置８では、診断運転の開始条件が成立したか否かが判定される（Ｓ１０１）。診断運転は、例えば定期的に行われる。制御装置８は、例えば特定の日時になり且つかご１に人が乗っていなければ、診断運転の開始条件が成立したと判定する。診断運転の開始条件として、他の条件を採用しても良い。制御装置８は、開始条件が成立すると、診断運転を開始する（Ｓ１０２）。 The control device 8 determines whether the start condition of the diagnostic operation is satisfied (S101). The diagnostic operation is performed, for example, periodically. The control device 8 determines that the start condition of the diagnostic operation is satisfied, for example, when a specific date and time are reached and no one gets on the car 1. Other conditions may be adopted as the start condition of the diagnostic operation. The control device 8 starts the diagnostic operation when the start condition is satisfied (S102).
　次に、制御装置８では、異常検出の開始条件が成立したか否かが判定される（Ｓ１０３）。異常検出は、例えばかご１が一定の速度で移動している時に行われる。制御装置８は、例えば、無人のかご１を最下階の乗場１０から最上階の乗場１０に移動させる。制御装置８は、かご１を最下階の乗場１０から出発させた後にかご１の速度が一定になると、異常検出の開始条件が成立したと判定する。異常検出の開始条件として、他の条件を採用しても良い。制御装置８は、開始条件が成立すると、異常を検出するために必要な処理を開始する（Ｓ１０４）。 Next, in the control device 8, it is determined whether a condition for starting abnormality detection is satisfied (S103). The abnormality detection is performed, for example, when the car 1 is moving at a constant speed. For example, the control device 8 moves the unmanned car 1 from the landing 10 on the lowest floor to the landing 10 on the top floor. When the speed of the car 1 becomes constant after the car 1 is started from the landing 10 on the lowermost floor, the control device 8 determines that the abnormality detection start condition is satisfied. Other conditions may be adopted as the start condition of the abnormality detection. When the start condition is established, the control device 8 starts processing necessary to detect an abnormality (S104).
　上述したように、駆動制御部１６は、巻上機６に対するトルク指令を出力する。演算部１７は、駆動制御部１６が出力したトルク指令と記憶部１５に記憶されたトルクパターンＴＰ１との差Ｄ１を演算する（Ｓ１０５）。差Ｄ１は、駆動制御部１６から出力されたトルク指令の値とそのトルク指令が出力された時のかご位置におけるトルクパターンＴＰ１の値との差である。 As described above, the drive control unit 16 outputs a torque command to the hoisting machine 6. The calculation unit 17 calculates the difference D1 between the torque command output by the drive control unit 16 and the torque pattern TP1 stored in the storage unit 15 (S105). The difference D1 is a difference between the value of the torque command output from the drive control unit 16 and the value of the torque pattern TP1 at the car position when the torque command is output.
　判定部１８は、駆動制御部１６が出力したトルク指令とトルクパターンＴＰ１との差Ｄ１が閾値Ｔｈ１より大きいか否かを判定する（Ｓ１０６）。判定部１８は、演算部１７によって演算された差Ｄ１と記憶部１５に記憶された閾値Ｔｈ１とを比較する。 The determination unit 18 determines whether the difference D1 between the torque command output by the drive control unit 16 and the torque pattern TP1 is larger than a threshold Th1 (S106). The determination unit 18 compares the difference D1 calculated by the calculation unit 17 with the threshold value Th1 stored in the storage unit 15.
　Ｓ１０６において差Ｄ１が閾値Ｔｈ１より大きいと判定部１８によって判定されると、演算部１９は、駆動制御部１６が出力したトルク指令の変動量Ｖａ１を演算する（Ｓ１０７）。図５は、演算部１９が、駆動制御部１６が出力したトルク指令の時間微分を変動量Ｖａ１として演算する例を示す。また、駆動制御部１６は、一定の周期でトルク指令を出力する。演算部１９は、駆動制御部１６からトルク指令が出力されると、そのトルク指令と駆動制御部１６から前回出力されたトルク指令との差分を変動量Ｖａ１として演算しても良い。 If it is determined by the determination unit 18 that the difference D1 is larger than the threshold Th1 in S106, the calculation unit 19 calculates the fluctuation amount Va1 of the torque command output by the drive control unit 16 (S107). FIG. 5 shows an example in which the calculation unit 19 calculates the time derivative of the torque command output by the drive control unit 16 as the fluctuation amount Va1. The drive control unit 16 also outputs a torque command at a constant cycle. When the torque command is output from the drive control unit 16, the calculation unit 19 may calculate the difference between the torque command and the torque command previously output from the drive control unit 16 as the fluctuation amount Va1.
　判定部２０は、演算部１９によって演算された変動量Ｖａ１が記憶部１５に記憶された閾値Ｔｈ２より大きいか否かを判定する（Ｓ１０８）。Ｓ１０８において変動量Ｖａ１が閾値Ｔｈ２より大きいと判定部２０によって判定されると、検出部２１は異常を検出する（Ｓ１０９）。即ち、検出部２１は、差Ｄ１が閾値Ｔｈ１より大きいと判定部１８によって判定され且つ変動量Ｖａ１が閾値Ｔｈ２より大きいと判定部２０によって判定された場合に、長尺物の引っ掛かりが発生していることを検出する。検出部２１によって異常が検出されると、予め定められた動作が行われる。例えば、検出部２１によって異常が検出されると、かご１が緊急停止される。検出部２１によって異常が検出された場合に、異常が検出されたことを記憶部１５に記憶させても良い。検出部２１によって異常が検出された場合に、異常が検出されたことを外部に発報しても良い。 The determination unit 20 determines whether or not the variation amount Va1 calculated by the calculation unit 19 is larger than the threshold value Th2 stored in the storage unit 15 (S108). If the determination unit 20 determines in S108 that the variation amount Va1 is larger than the threshold Th2, the detection unit 21 detects an abnormality (S109). That is, when the determination unit 18 determines that the difference D1 is larger than the threshold Th1 and the determination unit 20 determines that the variation amount Va1 is larger than the threshold Th2, the detection unit 21 has a long object caught. To detect When the detection unit 21 detects an abnormality, a predetermined operation is performed. For example, when an abnormality is detected by the detection unit 21, the car 1 is urgently stopped. When an abnormality is detected by the detection unit 21, the storage unit 15 may store that the abnormality is detected. When an abnormality is detected by the detection unit 21, it may be notified to the outside that the abnormality is detected.
　一方、Ｓ１０６において差Ｄ１が閾値Ｔｈ１より大きいと判定部１８によって判定されなければ、検出部２１は異常を検出しない（Ｓ１１０）。Ｓ１０８において変動量Ｖａ１が閾値Ｔｈ２より大きいと判定部２０によって判定されなければ、検出部２１は異常を検出しない（Ｓ１１０）。かかる場合、制御装置８では、異常検出の終了条件が成立したか否かが判定される（Ｓ１１１）。 On the other hand, if the determination unit 18 does not determine that the difference D1 is larger than the threshold Th1 in S106, the detection unit 21 does not detect an abnormality (S110). If the determination unit 20 does not determine that the fluctuation amount Va1 is larger than the threshold Th2 in S108, the detection unit 21 does not detect an abnormality (S110). In such a case, the control device 8 determines whether the end condition of abnormality detection is satisfied (S111).
　例えば、駆動制御部１６から出力されたトルク指令に基づく判定、即ちＳ１０６の判定及びＳ１０８の判定を、かご１が一定速度に制御されている間に限定しても良い。かかる場合、かご１の減速或いは加速が開始されると、異常検出の終了条件が成立する。異常検出の終了条件として、他の条件を採用しても良い。例えば、異常検出処理が開始されてからかご１が一定距離移動した場合に上記終了条件が成立しても良い。異常検出処理が開始されてから一定時間が経過した場合に上記終了条件が成立しても良い。 For example, the determination based on the torque command output from the drive control unit 16, that is, the determination of S106 and the determination of S108 may be limited while the car 1 is controlled to a constant speed. In such a case, when deceleration or acceleration of the car 1 is started, an abnormality detection end condition is satisfied. Other conditions may be adopted as the termination condition of the abnormality detection. For example, the end condition may be satisfied when the car 1 has moved a fixed distance after the abnormality detection process is started. The termination condition may be satisfied when a predetermined time has elapsed since the start of the abnormality detection process.
　駆動制御部１６は、一定の周期でトルク指令を出力する。上記終了条件が成立していなければ、例えば駆動制御部１６からトルク指令が出力される度に、Ｓ１０５からＳ１１０に示す処理が行われる。上記終了条件が成立すると、制御装置８は、異常を検出するための処理を終了する。例えば、制御装置８は、診断運転を終了する。 The drive control unit 16 outputs a torque command at a constant cycle. If the end condition is not satisfied, for example, each time a torque command is output from the drive control unit 16, the processing shown in S105 to S110 is performed. When the end condition is satisfied, the control device 8 ends the process for detecting an abnormality. For example, the control device 8 ends the diagnostic operation.
　本実施の形態に示す例では、差Ｄ１が閾値Ｔｈ１より大きく且つ変動量Ｖａ１が閾値Ｔｈ２より大きい場合に、異常が検出される。Ｓ１０６及びＳ１０８の双方でＹｅｓと判定されなければ異常が検出されないため、異常の誤検出を防止できる。例えば、トルクパターンＴＰ１の経年変動或いは環境変動が生じても、誤検出を抑制できる。また、ガイドレールの寸法精度或いは据付精度の影響によってトルクパターンＴＰ１に変動が大きい部分があっても、閾値Ｔｈ１の裕度を過大に設定する必要がない。同様に、閾値Ｔｈ２の裕度を過大に設定する必要がない。このため、異常の検出に要する時間を短くすることができる。異常を早期に検出することができるため、長尺物自体が損傷したり長尺物が引っ掛かった機器が損傷したりすることを防止できる。 In the example shown in the present embodiment, an abnormality is detected when the difference D1 is larger than the threshold Th1 and the fluctuation amount Va1 is larger than the threshold Th2. Since an abnormality is not detected if both S106 and S108 are not determined to be Yes, it is possible to prevent an erroneous detection of the abnormality. For example, even if the torque pattern TP1 changes with age or environment, false detection can be suppressed. Further, even if there is a portion where the torque pattern TP1 has a large fluctuation due to the influence of the dimensional accuracy of the guide rail or the installation accuracy, it is not necessary to set the margin of the threshold Th1 excessively. Similarly, it is not necessary to set the margin of the threshold Th2 excessively. Therefore, the time required to detect an abnormality can be shortened. Since an abnormality can be detected at an early stage, it is possible to prevent the long object itself from being damaged or the device from which the long object is caught being damaged.
　本実施の形態では、差Ｄ１と閾値Ｔｈ１との比較を先に行い、変動量Ｖａ１と閾値Ｔｈ２との比較を後に行う例について説明した。これは一例である。変動量Ｖａ１と閾値Ｔｈ２との比較を先に行い、差Ｄ１と閾値Ｔｈ１との比較を後に行っても良い。閾値との比較を行う前に、差Ｄ１と変動量Ｖａ１との双方を演算しても良い。 In the present embodiment, an example has been described in which the difference D1 is compared with the threshold Th1 first, and the variation Va1 is compared with the threshold Th2 later. This is an example. The variation amount Va1 and the threshold value Th2 may be compared first, and the difference D1 and the threshold value Th1 may be compared later. Both the difference D1 and the fluctuation amount Va1 may be calculated before the comparison with the threshold value.
　本実施の形態では、変動量Ｖａ１と閾値Ｔｈ２との比較を一回だけ行う例について説明した。これは一例である。ノイズ等によって局所的に変動量Ｖａ１が増大した場合に異常と誤検出されることを防止するため、変動量Ｖａ１と閾値Ｔｈ２との比較を複数回行っても良い。例えば、駆動制御部１６は、一定の周期でトルク指令を出力する。演算部１９は、駆動制御部１６からトルク指令が出力される度に変動量Ｖａ１を演算する。検出部２１は、差Ｄ１が閾値Ｔｈ１より大きいと判定部１８によって判定され且つ変動量Ｖａ１が閾値Ｔｈ２より大きいと判定部２０によって一定回数連続して判定された場合に、異常を検出しても良い。 In the present embodiment, an example in which the variation amount Va1 is compared with the threshold value Th2 only once has been described. This is an example. The fluctuation amount Va1 and the threshold value Th2 may be compared a plurality of times to prevent erroneous detection as an abnormality when the fluctuation amount Va1 is locally increased due to noise or the like. For example, the drive control unit 16 outputs a torque command at a constant cycle. Arithmetic unit 19 calculates variation amount Va1 each time a torque command is output from drive control unit 16. The detection unit 21 detects an abnormality even when the determination unit 18 determines that the difference D1 is larger than the threshold Th1 and the determination unit 20 continuously determines that the variation amount Va1 is larger than the threshold Th2 a predetermined number of times. good.
　この場合、例えば、演算部１７によって差Ｄ１が演算されると、判定部１８は差Ｄ１が閾値Ｔｈ１より大きいか否かを判定する。差Ｄ１が閾値Ｔｈ１より大きい場合、演算部１９は変動量Ｖａ１を演算する。判定部２０は、演算部１９によって演算された変動量Ｖａ１が閾値Ｔｈ２より大きいか否かを判定する。上述したように、駆動制御部１６は、一定の周期でトルク指令を出力する。変動量Ｖａ１が閾値Ｔｈ２より大きい場合、演算部１９は、次に出力されたトルク指令について変動量Ｖａ１を演算する。そして、判定部２０は、演算された最新の変動量Ｖａ１が閾値Ｔｈ２より大きいか否かを判定する。このように、変動量Ｖａ１が閾値Ｔｈ２より大きい場合は、変動量Ｖａ１の演算と変動量Ｖａ１及び閾値Ｔｈ２の比較とが連続して行われる。そして、検出部２１は、変動量Ｖａ１が閾値Ｔｈ２より大きいと判定部２０によって一定回数連続して判定された場合に、異常を検出する。一方、変動量Ｖａ１が閾値Ｔｈ２より大きいと一定回数連続して判定される前に閾値Ｔｈ２以下の変動量Ｖａ１が演算されると、検出部２１は異常を検出しない。かかる場合、演算部１７による差Ｄ１の演算が再び行われる。 In this case, for example, when the difference D1 is calculated by the calculation unit 17, the determination unit 18 determines whether the difference D1 is larger than the threshold Th1. If the difference D1 is larger than the threshold Th1, the computing unit 19 computes the fluctuation amount Va1. The determination unit 20 determines whether the fluctuation amount Va1 calculated by the calculation unit 19 is larger than a threshold value Th2. As described above, the drive control unit 16 outputs a torque command at a constant cycle. If the fluctuation amount Va1 is larger than the threshold value Th2, the calculation unit 19 calculates the fluctuation amount Va1 for the torque command output next. Then, the determination unit 20 determines whether the calculated latest variation amount Va1 is larger than a threshold value Th2. As described above, when the fluctuation amount Va1 is larger than the threshold value Th2, the calculation of the fluctuation amount Va1 and the comparison of the fluctuation amount Va1 and the threshold value Th2 are continuously performed. Then, the detection unit 21 detects an abnormality when the determination unit 20 continuously determines that the fluctuation amount Va1 is larger than the threshold Th2 a predetermined number of times. On the other hand, if the fluctuation amount Va1 equal to or less than the threshold Th2 is calculated before the fluctuation amount Va1 is determined to be a predetermined number of times continuously if the fluctuation amount Va1 is larger than the threshold Th2, the detection unit 21 does not detect an abnormality. In such a case, the calculation of the difference D1 by the calculation unit 17 is performed again.
　図６は、他の異常検出機能を示すブロック線図である。図６に示す例では、記憶部１５に、トルクパターンＴＰ１、閾値Ｔｈ１及び閾値Ｔｈ２に加え、閾値Ｔｈ３が更に記憶される。閾値Ｔｈ３は、トルク異常を検出するための閾値である。閾値Ｔｈ３は、例えば閾値Ｔｈ１より大きな値である。検出部２１は、駆動制御部１６が出力したトルク指令と記憶部１５に記憶されたトルクパターンＴＰ１との差Ｄ１が閾値Ｔｈ３より大きい場合は、閾値Ｔｈ１を用いた判定結果及び閾値Ｔｈ２を用いた判定結果に関わらず、異常を検出しても良い。 FIG. 6 is a block diagram showing another abnormality detection function. In the example shown in FIG. 6, in addition to the torque pattern TP1, the threshold value Th1 and the threshold value Th2, the threshold value Th3 is further stored in the storage unit 15. The threshold Th3 is a threshold for detecting torque abnormality. The threshold Th3 is, for example, a value larger than the threshold Th1. When the difference D1 between the torque command output by the drive control unit 16 and the torque pattern TP1 stored in the storage unit 15 is larger than the threshold Th3, the detection unit 21 uses the determination result using the threshold Th1 and the threshold Th2 An abnormality may be detected regardless of the determination result.
　この場合、例えば、演算部１７によって差Ｄ１が演算されると、判定部１８は差Ｄ１が閾値Ｔｈ１より大きいか否かを判定する。差Ｄ１が閾値Ｔｈ１より大きいと判定部１８によって判定されなければ、検出部２１は異常を検出しない。差Ｄ１が閾値Ｔｈ１より大きい場合、判定部１８は、差Ｄ１が閾値Ｔｈ３より大きいか否かを判定する。差Ｄ１が閾値Ｔｈ１より大きく且つ閾値Ｔｈ３以下であれば、演算部１９は変動量Ｖａ１を演算する。そして、判定部２０による変動量Ｖａ１と閾値Ｔｈ２との比較が行われる。一方、差Ｄ１が閾値Ｔｈ３より大きい場合、検出部２１はトルク異常を検出する。 In this case, for example, when the difference D1 is calculated by the calculation unit 17, the determination unit 18 determines whether the difference D1 is larger than the threshold Th1. If the determination unit 18 does not determine that the difference D1 is larger than the threshold Th1, the detection unit 21 does not detect an abnormality. If the difference D1 is larger than the threshold Th1, the determination unit 18 determines whether the difference D1 is larger than the threshold Th3. If the difference D1 is larger than the threshold Th1 and smaller than or equal to the threshold Th3, the calculator 19 calculates the fluctuation amount Va1. Then, the determination unit 20 compares the fluctuation amount Va1 with the threshold value Th2. On the other hand, when the difference D1 is larger than the threshold value Th3, the detection unit 21 detects torque abnormality.
　上述したように、閾値Ｔｈ３は閾値Ｔｈ１より大きな値に設定される。閾値Ｔｈ３は、差Ｄ１と閾値Ｔｈ１の比較、及び変動量Ｖａ１と閾値Ｔｈ２の比較の２つの比較に対し、十分な裕度を持つように設定される必要がある。例えば、閾値Ｔｈ３は、閾値Ｔｈ１、閾値Ｔｈ２、及び周期Ｔを用いて、次式が成り立つような値に設定される。
　Ｔｈ３＞Ｔｈ１＋Ｔｈ２×Ｔ
　なお、周期Ｔは、駆動制御部１６からトルク指令が出力される周期である。本実施の形態に示す例では、周期Ｔは、異常検出のために演算を行う周期、即ち演算周期と同義である。 As described above, the threshold Th3 is set to a value larger than the threshold Th1. The threshold value Th3 needs to be set so as to have a sufficient margin for the comparison of the difference D1 with the threshold value Th1 and the comparison of the variation amount Va1 with the threshold value Th2. For example, using the threshold Th1, the threshold Th2, and the cycle T, the threshold Th3 is set to a value such that the following equation holds.
Th3> Th1 + Th2 × T
The cycle T is a cycle in which the drive control unit 16 outputs a torque command. In the example shown in the present embodiment, the cycle T is synonymous with a cycle in which an operation is performed to detect an abnormality, that is, the operation cycle.
実施の形態２．
　本実施の形態における異常検出装置を備えたエレベーターの例は、図１に示す例と同様である。図７は、制御装置８の例を示す図である。制御装置８は、例えば記憶部１５、駆動制御部１６、演算部１７、判定部１８、演算部１９、判定部２０及び検出部２１を備える。 Second Embodiment
The example of the elevator provided with the abnormality detection device in the present embodiment is the same as the example shown in FIG. FIG. 7 is a diagram showing an example of the control device 8. The control device 8 includes, for example, a storage unit 15, a drive control unit 16, an arithmetic unit 17, a determination unit 18, an arithmetic unit 19, a determination unit 20, and a detection unit 21.
　駆動制御部１６の機能は、実施の形態１で開示した機能と同様である。例えば、駆動制御部１６は、巻上機６に対するトルク指令を出力する。演算部１７の機能は、実施の形態１で開示した機能と同様である。演算部１７は、駆動制御部１６が出力したトルク指令と記憶部１５に記憶されたトルクパターンＴＰ１との差Ｄ１を演算する。判定部１８の機能は、実施の形態１で開示した機能と同様である。判定部１８は、駆動制御部１６が出力したトルク指令とトルクパターンＴＰ１との差Ｄ１が閾値Ｔｈ１より大きいか否かを判定する。 The function of the drive control unit 16 is the same as the function disclosed in the first embodiment. For example, the drive control unit 16 outputs a torque command to the hoisting machine 6. The function of the calculation unit 17 is the same as the function disclosed in the first embodiment. The calculation unit 17 calculates a difference D1 between the torque command output from the drive control unit 16 and the torque pattern TP1 stored in the storage unit 15. The function of the determination unit 18 is the same as the function disclosed in the first embodiment. The determination unit 18 determines whether the difference D1 between the torque command output from the drive control unit 16 and the torque pattern TP1 is larger than a threshold Th1.
　記憶部１５に、トルクパターンＴＰ１、トルクパターンＴＰ２、閾値Ｔｈ１及び閾値Ｔｈ４が記憶される。本実施の形態におけるトルクパターンＴＰ１及び閾値Ｔｈ１は、実施の形態１におけるトルクパターンＴＰ１及び閾値Ｔｈ１と同じである。図８は、巻上機６に対するトルク指令の例を示す図である。図８に示す二点鎖線Ｅは、トルクパターンＴＰ２の例を示す。図８に示す例では、トルクパターンＴＰ２は、一点鎖線Ｄの両側の端点を結ぶ直線である。 The storage unit 15 stores a torque pattern TP1, a torque pattern TP2, a threshold Th1, and a threshold Th4. The torque pattern TP1 and the threshold Th1 in the present embodiment are the same as the torque pattern TP1 and the threshold Th1 in the first embodiment. FIG. 8 is a diagram showing an example of a torque command to the hoisting machine 6. The two-dot chain line E shown in FIG. 8 shows an example of the torque pattern TP2. In the example shown in FIG. 8, the torque pattern TP <b> 2 is a straight line connecting end points on both sides of the alternate long and short dash line D.
　以下に、図９及び図１０も参照し、異常を検出するための動作について説明する。図９は、この発明の実施の形態２における異常検出装置の動作を示すフローチャートである。図９は、異常の検出を診断運転で行う例を示す。図１０は、異常検出機能を示すブロック線図である。 The operation for detecting an abnormality will be described below with reference to FIGS. 9 and 10 as well. FIG. 9 is a flow chart showing the operation of the abnormality detection device in the second embodiment of the present invention. FIG. 9 shows an example in which detection of abnormality is performed in diagnostic operation. FIG. 10 is a block diagram showing an abnormality detection function.
　図９のＳ２０１からＳ２０６に示す処理は、図４のＳ１０１からＳ１０６に示す処理と同様である。Ｓ２０６において差Ｄ１が閾値Ｔｈ１より大きいと判定部１８によって判定されると、演算部１９は、駆動制御部１６が出力したトルク指令と記憶部１５に記憶されたトルクパターンＴＰ２との差Ｄ２の異常検出開始時からの積分値Ｉｎ１を演算する（Ｓ２０７）。差Ｄ２は、駆動制御部１６から出力されたトルク指令の値とそのトルク指令が出力された時のかご位置におけるトルクパターンＴＰ２の値との差である。 The processes shown in S201 to S206 of FIG. 9 are the same as the processes shown in S101 to S106 of FIG. 4. If the determination unit 18 determines that the difference D1 is larger than the threshold Th1 in S206, the calculation unit 19 determines that the difference between the torque command output by the drive control unit 16 and the torque pattern TP2 stored in the storage unit 15 is abnormal. The integral value In1 from the start of detection is calculated (S207). The difference D2 is a difference between the value of the torque command output from the drive control unit 16 and the value of the torque pattern TP2 at the car position when the torque command is output.
　判定部２０は、演算部１９によって演算された積分値Ｉｎ１が記憶部１５に記憶された閾値Ｔｈ４より大きいか否かを判定する（Ｓ２０８）。Ｓ２０８において積分値Ｉｎ１が閾値Ｔｈ４より大きいと判定部２０によって判定されると、検出部２１は異常を検出する（Ｓ２０９）。即ち、検出部２１は、差Ｄ１が閾値Ｔｈ１より大きいと判定部１８によって判定され且つ積分値Ｉｎ１が閾値Ｔｈ４より大きいと判定部２０によって判定された場合に、長尺物の引っ掛かりが発生していることを検出する。検出部２１によって異常が検出されると、予め定められた動作が行われる。例えば、検出部２１によって異常が検出されると、かご１が緊急停止される。検出部２１によって異常が検出された場合に、異常が検出されたことを記憶部１５に記憶させても良い。検出部２１によって異常が検出された場合に、異常が検出されたことを外部に発報しても良い。 The determination unit 20 determines whether the integral value In1 calculated by the calculation unit 19 is larger than the threshold Th4 stored in the storage unit 15 (S208). If the determination unit 20 determines that the integral value In1 is larger than the threshold Th4 in S208, the detection unit 21 detects an abnormality (S209). That is, when the determination unit 18 determines that the difference D1 is larger than the threshold Th1 and the determination unit 20 determines that the integral In1 is larger than the threshold Th4, the detection unit 21 has a long object caught. To detect When the detection unit 21 detects an abnormality, a predetermined operation is performed. For example, when an abnormality is detected by the detection unit 21, the car 1 is urgently stopped. When an abnormality is detected by the detection unit 21, the storage unit 15 may store that the abnormality is detected. When an abnormality is detected by the detection unit 21, it may be notified to the outside that the abnormality is detected.
　図９のＳ２１０及びＳ２１１に示す処理は、図４のＳ１１０及びＳ１１１に示す処理と同様である。 The processes shown in S210 and S211 of FIG. 9 are the same as the processes shown in S110 and S111 of FIG.
　本実施の形態に示す例では、差Ｄ１が閾値Ｔｈ１より大きく且つ積分値Ｉｎ１が閾値Ｔｈ４より大きい場合に、異常が検出される。Ｓ２０６及びＳ２０８の双方でＹｅｓと判定されなければ異常が検出されないため、異常の誤検出を防止できる。また、閾値Ｔｈ１の裕度及び閾値Ｔｈ４の裕度を過大に設定する必要がない。このため、異常の検出に要する時間を短くすることができる。異常を早期に検出することができるため、長尺物自体が損傷したり長尺物が引っ掛かった機器が損傷したりすることを防止できる。 In the example shown in the present embodiment, an abnormality is detected when the difference D1 is larger than the threshold Th1 and the integral In1 is larger than the threshold Th4. Since an abnormality is not detected if both S206 and S208 are not determined to be Yes, it is possible to prevent an erroneous detection of the abnormality. In addition, it is not necessary to set the tolerance of the threshold Th1 and the tolerance of the threshold Th4 excessively. Therefore, the time required to detect an abnormality can be shortened. Since an abnormality can be detected at an early stage, it is possible to prevent the long object itself from being damaged or the device from which the long object is caught being damaged.
　演算部１９は、閾値Ｔｈ４の値を低く設定するため、予め定められた条件に基づいて積分値Ｉｎ１をリセットしても良い。例えば、演算部１９は、駆動制御部１６が出力したトルク指令とトルクパターンＴＰ２との差Ｄ２の符号が変わる度に積分値Ｉｎ１をリセットしても良い。差Ｄ２の符号が変わるのは図８においてトルク指令がトルクパターンＴＰ２と交差する時であり、積分値Ｉｎ１をリセットしても特に問題は生じない。なお、演算部１９は、かご１が一定距離移動する度に積分値Ｉｎ１をリセットしても良い。演算部１９は、一定時間が経過する度に積分値Ｉｎ１をリセットしても良い。 The operation unit 19 may reset the integral value In1 based on a predetermined condition in order to set the threshold value Th4 low. For example, the calculation unit 19 may reset the integral value In1 each time the sign of the difference D2 between the torque command output from the drive control unit 16 and the torque pattern TP2 changes. The sign of the difference D2 changes when the torque command intersects with the torque pattern TP2 in FIG. 8, and there is no particular problem even if the integral value In1 is reset. Note that the computing unit 19 may reset the integral value In1 each time the car 1 moves a fixed distance. Arithmetic unit 19 may reset integral value In1 each time a predetermined time passes.
　本実施の形態では、トルクパターンＴＰ１とトルクパターンＴＰ２とが異なるパターンである例を示した。これは一例である。トルクパターンＴＰ１とトルクパターンＴＰ２とは同じパターンであっても良い。 In the present embodiment, an example is shown in which the torque pattern TP1 and the torque pattern TP2 are different patterns. This is an example. The torque pattern TP1 and the torque pattern TP2 may be the same pattern.
　本実施の形態で開示しない特徴については、実施の形態１で開示した何れの特徴を採用しても良い。例えば、本実施の形態に示す例においても、駆動制御部１６から出力されたトルク指令に基づく判定、即ちＳ２０６の判定及びＳ２０８の判定を、かご１が一定速度に制御されている間に限定しても良い。 As the features not disclosed in the present embodiment, any features disclosed in the first embodiment may be adopted. For example, also in the example shown in the present embodiment, the determination based on the torque command output from drive control unit 16, that is, the determination of S206 and the determination of S208 is limited while car 1 is controlled to a constant speed. It is good.
　本実施の形態では、差Ｄ１と閾値Ｔｈ１との比較を先に行い、積分値Ｉｎ１と閾値Ｔｈ４との比較を後に行う例について説明した。これは一例である。積分値Ｉｎ１と閾値Ｔｈ４との比較を先に行い、差Ｄ１と閾値Ｔｈ１との比較を後に行っても良い。閾値との比較を行う前に、差Ｄ１と積分値Ｉｎ１との双方を演算しても良い。 In the present embodiment, an example has been described in which the difference D1 and the threshold Th1 are compared first and the integrated value In1 and the threshold Th4 are compared later. This is an example. The integrated value In1 may be compared with the threshold Th4 first, and the difference D1 may be compared with the threshold Th1 later. Both the difference D1 and the integral value In1 may be calculated before the comparison with the threshold value.
　本実施の形態に示す例においても、記憶部１５に閾値Ｔｈ３が更に記憶されても良い。かかる場合、検出部２１は、差Ｄ１が閾値Ｔｈ３より大きい場合に、閾値Ｔｈ１を用いた判定結果及び閾値Ｔｈ４を用いた判定結果に関わらず、異常を検出しても良い。 Also in the example shown in the present embodiment, the threshold value Th3 may be further stored in the storage unit 15. In such a case, when the difference D1 is larger than the threshold Th3, the detection unit 21 may detect an abnormality regardless of the determination result using the threshold Th1 and the determination result using the threshold Th4.
実施の形態３．
　本実施の形態における異常検出装置を備えたエレベーターの例は、図１に示す例と同様である。図１１は、制御装置８の例を示す図である。本実施の形態における制御装置８は、例えば記憶部１５、駆動制御部１６、演算部１７、判定部１８、演算部１９、判定部２０及び検出部２１を備える。 Third Embodiment
The example of the elevator provided with the abnormality detection device in the present embodiment is the same as the example shown in FIG. FIG. 11 is a diagram showing an example of the control device 8. The control device 8 in the present embodiment includes, for example, a storage unit 15, a drive control unit 16, an arithmetic unit 17, a determination unit 18, an arithmetic unit 19, a determination unit 20, and a detection unit 21.
　駆動制御部１６の機能は、実施の形態１で開示した機能と同様である。例えば、駆動制御部１６は、巻上機６に対するトルク指令を出力する。演算部１７の機能は、実施の形態１で開示した機能と同様である。演算部１７は、駆動制御部１６が出力したトルク指令と記憶部１５に記憶されたトルクパターンＴＰ１との差Ｄ１を演算する。 The function of the drive control unit 16 is the same as the function disclosed in the first embodiment. For example, the drive control unit 16 outputs a torque command to the hoisting machine 6. The function of the calculation unit 17 is the same as the function disclosed in the first embodiment. The calculation unit 17 calculates a difference D1 between the torque command output from the drive control unit 16 and the torque pattern TP1 stored in the storage unit 15.
　記憶部１５に、トルクパターンＴＰ１、閾値Ｔｈ１及び閾値Ｔｈ３が記憶される。本実施の形態におけるトルクパターンＴＰ１、閾値Ｔｈ１及び閾値Ｔｈ３は、実施の形態１におけるトルクパターンＴＰ１、閾値Ｔｈ１及び閾値Ｔｈ３と同じである。 In the storage unit 15, a torque pattern TP1, a threshold Th1 and a threshold Th3 are stored. Torque pattern TP1, threshold value Th1, and threshold value Th3 in the present embodiment are the same as torque pattern TP1, threshold value Th1, and threshold value Th3 in the first embodiment.
　以下に、図１２も参照し、異常を検出するための動作について説明する。図１２は、この発明の実施の形態３における異常検出装置の動作を示すフローチャートである。図１２は、異常の検出を診断運転で行う例を示す。また、図１２は、異常検出のための処理において閾値Ｔｈ２をその都度演算する例を示す。 The operation for detecting an abnormality will be described below with reference to FIG. FIG. 12 is a flow chart showing the operation of the anomaly detection apparatus in the third embodiment of the present invention. FIG. 12 shows an example in which detection of abnormality is performed in diagnostic operation. Further, FIG. 12 shows an example in which the threshold value Th2 is calculated each time in the processing for detecting an abnormality.
　図１２のＳ３０１からＳ３０６に示す処理は、図４のＳ１０１からＳ１０６に示す処理と同様である。Ｓ３０６において差Ｄ１が閾値Ｔｈ１より大きいと判定部１８によって判定されると、演算部１９は、閾値Ｔｈ２を演算する（Ｓ３０７）。例えば、演算部１９は、閾値Ｔｈ２の演算のために、記憶部１５に記憶されたトルクパターンＴＰ１を用いる。演算部１９は、Ｓ３０６において差Ｄ１が閾値Ｔｈ１より大きいと判定された時のかご位置におけるトルクパターンＴＰ１の変動量Ｖａ２を演算する。例えば、演算部１９は、トルクパターンＴＰ１の時間微分を変動量Ｖａ２として演算する。演算部１９は、現在のかご位置におけるトルクパターンＴＰ１の値と周期Ｔに相当する時間前のかご位置におけるトルクパターンＴＰ１の値との差分を変動量Ｖａ２として演算しても良い。演算部１９は、得られた変動量Ｖａ２をＫ倍した値を閾値Ｔｈ２とする。Ｋは、予め設定された係数である。 The processes shown in S301 to S306 of FIG. 12 are the same as the processes shown in S101 to S106 of FIG. 4. If the determination unit 18 determines that the difference D1 is larger than the threshold Th1 in S306, the calculation unit 19 calculates a threshold Th2 (S307). For example, the calculation unit 19 uses the torque pattern TP1 stored in the storage unit 15 to calculate the threshold value Th2. Arithmetic unit 19 calculates variation amount Va2 of torque pattern TP1 at the car position when it is determined in S306 that difference D1 is larger than threshold value Th1. For example, the calculation unit 19 calculates the time derivative of the torque pattern TP1 as the fluctuation amount Va2. The calculation unit 19 may calculate the difference between the value of the torque pattern TP1 at the current car position and the value of the torque pattern TP1 at the car position before the time equivalent to the cycle T as the fluctuation amount Va2. The calculation unit 19 sets a value obtained by multiplying the obtained variation amount Va2 by K to a threshold value Th2. K is a preset coefficient.
　Ｓ３０６において差Ｄ１が閾値Ｔｈ１より大きいと判定部１８によって判定されると、判定部１８は、差Ｄ１が閾値Ｔｈ３より大きいか否かを判定する（Ｓ３０８）。判定部１８は、演算部１７によって演算された差Ｄ１と記憶部１５に記憶された閾値Ｔｈ３とを比較する。Ｓ３０８において差Ｄ１が閾値Ｔｈ３より大きいと判定部１８によって判定されると、検出部２１は異常を検出する（Ｓ３１１）。 If the determination unit 18 determines in S306 that the difference D1 is larger than the threshold Th1, the determination unit 18 determines whether the difference D1 is larger than the threshold Th3 (S308). The determination unit 18 compares the difference D1 calculated by the calculation unit 17 with the threshold value Th3 stored in the storage unit 15. If the determination unit 18 determines that the difference D1 is larger than the threshold Th3 in S308, the detection unit 21 detects an abnormality (S311).
　一方、Ｓ３０８において差Ｄ１が閾値Ｔｈ３より大きいと判定部１８によって判定されなければ、演算部１９は変動量Ｖａ１を演算する（Ｓ３０９）。Ｓ３０９に示す処理は、図４のＳ１０７に示す処理と同様である。 On the other hand, if the determination unit 18 does not determine that the difference D1 is larger than the threshold value Th3 in S308, the calculation unit 19 calculates the fluctuation amount Va1 (S309). The process shown in S309 is the same as the process shown in S107 of FIG.
　判定部２０は、Ｓ３０９で演算された変動量Ｖａ１がＳ３０７で演算された閾値Ｔｈ２より大きいか否かを判定する（Ｓ３１０）。Ｓ３１０において変動量Ｖａ１が閾値Ｔｈ２より大きいと判定部２０によって判定されると、検出部２１は異常を検出する（Ｓ３１１）。即ち、検出部２１は、差Ｄ１が閾値Ｔｈ１より大きいと判定部１８によって判定され且つ変動量Ｖａ１が閾値Ｔｈ２より大きいと判定部２０によって判定された場合に、長尺物の引っ掛かりが発生していることを検出する。検出部２１によって異常が検出されると、予め定められた動作が行われる。 The determination unit 20 determines whether or not the variation amount Va1 calculated in S309 is larger than the threshold value Th2 calculated in S307 (S310). If the determination unit 20 determines in S310 that the variation amount Va1 is larger than the threshold Th2, the detection unit 21 detects an abnormality (S311). That is, when the determination unit 18 determines that the difference D1 is larger than the threshold Th1 and the determination unit 20 determines that the variation amount Va1 is larger than the threshold Th2, the detection unit 21 has a long object caught. To detect When the detection unit 21 detects an abnormality, a predetermined operation is performed.
　Ｓ３１２に示す処理は、図４のＳ１１０に示す処理と同様である。Ｓ３１３に示す処理は、図４のＳ１１１に示す処理と同様である。 The process shown in S312 is the same as the process shown in S110 of FIG. The process shown in S313 is the same as the process shown in S111 of FIG.
　本実施の形態に示す例では、閾値Ｔｈ２がトルクパターンＴＰ１を用いて演算される。診断を行っている時のかご位置に応じた値に閾値Ｔｈ２を設定できるため、閾値Ｔｈ２の裕度を小さくできる。閾値Ｔｈ２の裕度を過大に設定する必要がないため、異常の検出に要する時間を短くすることができる。異常を早期に検出することができるため、長尺物自体が損傷したり長尺物が引っ掛かった機器が損傷したりすることを防止できる。 In the example shown in the present embodiment, the threshold value Th2 is calculated using the torque pattern TP1. Since the threshold value Th2 can be set to a value corresponding to the position of the car at the time of diagnosis, the margin of the threshold value Th2 can be reduced. Since it is not necessary to set the margin of the threshold Th2 excessively, the time required to detect an abnormality can be shortened. Since an abnormality can be detected at an early stage, it is possible to prevent the long object itself from being damaged or the device from which the long object is caught being damaged.
　本実施の形態では、トルクパターンＴＰ１の傾きを用いて閾値Ｔｈ２を設定する例について説明した。これは一例である。巻上機６に対するトルク指令の変動量は、かご１の速度によって変化する。このため、閾値Ｔｈ２は、診断時のかご１の速度、即ち巻上機６の回転速度を用いて設定されても良い。例えば、記憶部１５に、かご１の速度と閾値Ｔｈ２に相当する値との対応関係を示すテーブルを記憶させておく。異常検出のための処理が開始されると、演算部１９は、記憶部１５に記憶された上記テーブルを参照し、その時のかご１の速度から閾値Ｔｈ２に相当する値を求める。演算部１９は、その求めた値を閾値Ｔｈ２としても良い。演算部１９は、求めた値をＫ倍した値を閾値Ｔｈ２としても良い。 In the present embodiment, the example in which the threshold value Th2 is set using the slope of the torque pattern TP1 has been described. This is an example. The amount of fluctuation of the torque command to the hoisting machine 6 changes with the speed of the car 1. Therefore, the threshold value Th2 may be set using the speed of the car 1 at the time of diagnosis, that is, the rotational speed of the hoisting machine 6. For example, a table indicating the correspondence between the speed of the car 1 and the value corresponding to the threshold value Th2 is stored in the storage unit 15. When the process for detecting an abnormality is started, the calculation unit 19 refers to the table stored in the storage unit 15 and obtains a value corresponding to the threshold value Th2 from the speed of the car 1 at that time. The calculation unit 19 may use the obtained value as the threshold value Th2. The calculation unit 19 may set a value obtained by multiplying the obtained value by K by a threshold value Th2.
　他の例として、周期Ｔに相当する時間前の変動量Ｖａ１が閾値Ｔｈ２として設定されても良い。かかる場合、検出部２１は、差Ｄ１が閾値Ｔｈ１より大きいと判定部１８によって判定され且つ変動量Ｖａ１が閾値Ｔｈ２より大きいと判定部２０によって一定回数連続して判定された場合に、異常を検出する。例えば、判定部２０は、Ｓ３１０において変動量Ｖａ１が閾値Ｔｈ２より大きいか否かを判定する。上述したように、駆動制御部１６は、一定の周期でトルク指令を出力する。変動量Ｖａ１が閾値Ｔｈ２より大きい場合、演算部１９は、次に出力されたトルク指令について変動量Ｖａ１を演算する。また、演算部１９は、前回演算された変動量Ｖａ１を今回の閾値Ｔｈ２に設定する。そして、判定部２０は、演算された最新の変動量Ｖａ１が再設定された閾値Ｔｈ２より大きいか否かを判定する。このように、変動量Ｖａ１が閾値Ｔｈ２より大きい場合は、変動量Ｖａ１の演算と閾値Ｔｈ２の設定と変動量Ｖａ１及び閾値Ｔｈ２の比較とが連続して行われる。そして、検出部２１は、変動量Ｖａ１が閾値Ｔｈ２より大きいと判定部２０によって一定回数連続して判定された場合に、異常を検出する。 As another example, the fluctuation amount Va1 before the time corresponding to the cycle T may be set as the threshold value Th2. In such a case, the detection unit 21 detects an abnormality when the determination unit 18 determines that the difference D1 is larger than the threshold Th1 and the determination unit 20 continuously determines that the variation amount Va1 is larger than the threshold Th2 a certain number of times. Do. For example, the determination unit 20 determines whether the fluctuation amount Va1 is larger than the threshold Th2 in S310. As described above, the drive control unit 16 outputs a torque command at a constant cycle. If the fluctuation amount Va1 is larger than the threshold value Th2, the calculation unit 19 calculates the fluctuation amount Va1 for the torque command output next. In addition, the calculation unit 19 sets the previously calculated fluctuation amount Va1 to the present threshold value Th2. Then, the determination unit 20 determines whether or not the calculated latest variation amount Va1 is larger than the reset threshold value Th2. As described above, when the variation amount Va1 is larger than the threshold value Th2, calculation of the variation amount Va1, setting of the threshold value Th2, and comparison of the variation amount Va1 and the threshold value Th2 are continuously performed. Then, the detection unit 21 detects an abnormality when the determination unit 20 continuously determines that the fluctuation amount Va1 is larger than the threshold Th2 a predetermined number of times.
　本実施の形態では、変動量Ｖａ１と比較するための閾値Ｔｈ２を演算する例について説明した。演算部１９は、実施の形態２で開示した積分値Ｉｎ１と比較するための閾値Ｔｈ４を演算しても良い。演算部１９は、例えば、トルクパターンＴＰ１の傾きを用いて閾値Ｔｈ４を演算する。例えば、記憶部１５に、トルクパターンＴＰ１の傾きと閾値Ｔｈ４に相当する値との対応関係を示すテーブルを記憶させておく。異常検出のための処理が開始されると、演算部１９は、記憶部１５に記憶された上記テーブルを参照し、その時点でのトルクパターンＴＰ１の傾きから閾値Ｔｈ４に相当する値を求める。演算部１９は、その求めた値を閾値Ｔｈ４としても良い。演算部１９は、求めた値をＫ倍した値を閾値Ｔｈ４としても良い。 In the present embodiment, an example in which the threshold value Th2 for comparison with the fluctuation amount Va1 is calculated has been described. Arithmetic unit 19 may calculate threshold value Th4 to be compared with integral value In1 disclosed in the second embodiment. The calculation unit 19 calculates the threshold Th4 using, for example, the slope of the torque pattern TP1. For example, the storage unit 15 stores a table indicating the correspondence between the inclination of the torque pattern TP1 and the value corresponding to the threshold value Th4. When the process for detecting an abnormality is started, the computing unit 19 refers to the table stored in the storage unit 15, and obtains a value corresponding to the threshold value Th4 from the slope of the torque pattern TP1 at that time. The calculation unit 19 may set the obtained value as the threshold value Th4. The calculation unit 19 may set a value obtained by multiplying the obtained value by K by a threshold value Th4.
　符号１５～２１に示す各部は、制御装置８が有する機能を示す。図１３は、制御装置８が備えるハードウェア要素の例を示す図である。制御装置８は、ハードウェア資源として、例えばプロセッサ２２とメモリ２３とを含む処理回路２４を備える。記憶部１５が有する機能はメモリ２３によって実現される。制御装置８は、メモリ２３に記憶されたプログラムをプロセッサ２２によって実行することにより、符号１６～２１に示す各部の機能を実現する。 Each unit indicated by reference numerals 15 to 21 indicates a function that the control device 8 has. FIG. 13 is a diagram illustrating an example of hardware elements included in the control device 8. The controller 8 includes a processing circuit 24 including, for example, a processor 22 and a memory 23 as hardware resources. The functions of the storage unit 15 are realized by the memory 23. The control device 8 implements the functions of the units indicated by reference numerals 16 to 21 by causing the processor 22 to execute the program stored in the memory 23.
　プロセッサ２２は、ＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）、中央処理装置、処理装置、演算装置、マイクロプロセッサ、マイクロコンピュータ或いはＤＳＰともいわれる。メモリ２３として、半導体メモリ、磁気ディスク、フレキシブルディスク、光ディスク、コンパクトディスク、ミニディスク或いはＤＶＤを採用しても良い。採用可能な半導体メモリには、ＲＡＭ、ＲＯＭ、フラッシュメモリ、ＥＰＲＯＭ及びＥＥＰＲＯＭ等が含まれる。 The processor 22 is also referred to as a central processing unit (CPU), a central processing unit, a processing unit, a computing unit, a microprocessor, a microcomputer, or a DSP. A semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD may be adopted as the memory 23. Semiconductor memories that can be adopted include RAM, ROM, flash memory, EPROM, EEPROM, and the like.
　制御装置８が有する各機能の一部又は全部を専用ハードウェアによって実現しても良い。制御装置８の機能を実現する専用ハードウェアとして、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ＡＳＩＣ、ＦＰＧＡ、又はこれらの組み合わせを処理回路２４に備えても良い。 Some or all of the functions of the control device 8 may be realized by dedicated hardware. The processing circuit 24 may include a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof as dedicated hardware for realizing the functions of the control device 8.
　この発明に係る異常検出装置は、エレベーターで発生した異常を検出するために利用できる。 The abnormality detection device according to the present invention can be used to detect an abnormality generated in an elevator.
　１　かご、　２　つり合いおもり、　３　昇降路、　４　主ロープ、　５　コンペンロープ、　６　巻上機、　７　駆動綱車、　８　制御装置、　９　制御ケーブル、　１０　乗場、　１１　調速機、　１２　調速ロープ、　１３　調速綱車、　１４　機械室、　１５　記憶部、　１６　駆動制御部、　１７　演算部、　１８　判定部、　１９　演算部、　２０　判定部、　２１　検出部、　２２　プロセッサ、　２３　メモリ、　２４　処理回路 1 basket, 2 balance weights, 3 hoistways, 4 main ropes, 5 compen ropes, 6 hoists, 7 drive sheaves, 8 controllers, 9 control cables, 10 landings, 11 governors, 12 governor ropes, REFERENCE SIGNS LIST 13 drive sheave 14, 14 machine room, 15 storage unit, 16 drive control unit, 17 calculation unit, 18 determination unit, 19 calculation unit, 20 determination unit, 21 detection unit, 22 processor, 23 memory, 24 processing circuit

Claims (11)

  1. 　エレベーターの巻上機に対するトルク指令を出力する駆動制御手段と、
    　第１トルクパターン、第１閾値及び第２閾値が記憶された記憶手段と、
    　前記駆動制御手段が出力した前記トルク指令と前記第１トルクパターンとの差が前記第１閾値より大きいか否かを判定する第１判定手段と、
    　前記駆動制御手段が出力した前記トルク指令の変動量を演算する演算手段と、
    　前記演算手段によって演算された変動量が前記第２閾値より大きいか否かを判定する第２判定手段と、
    　前記差が前記第１閾値より大きいと前記第１判定手段によって判定され且つ前記変動量が前記第２閾値より大きいと前記第２判定手段によって判定された場合に、異常を検出する検出手段と、
    を備えた異常検出装置。     Drive control means for outputting a torque command to a hoist of the elevator;
    Storage means in which the first torque pattern, the first threshold and the second threshold are stored;
    First determining means for determining whether a difference between the torque command output by the drive control means and the first torque pattern is greater than the first threshold value;
    Calculating means for calculating the amount of fluctuation of the torque command output by the drive control means;
    A second determination unit that determines whether the fluctuation amount calculated by the calculation unit is larger than the second threshold;
    A detection unit that detects an abnormality when it is determined by the first determination unit that the difference is larger than the first threshold and determined by the second determination unit that the variation amount is larger than the second threshold;
    An abnormality detection device equipped with
  2. 　前記演算手段は、前記駆動制御手段が出力した前記トルク指令の時間微分を変動量として演算する請求項１に記載の異常検出装置。 The abnormality detection apparatus according to claim 1, wherein the calculation unit calculates a time derivative of the torque command output by the drive control unit as a fluctuation amount.
  3. 　前記駆動制御手段は、一定の周期で前記トルク指令を出力し、
    　前記演算手段は、前記駆動制御手段から前記トルク指令が出力されると、今回出力された前記トルク指令と前記駆動制御手段から前回出力された前記トルク指令との差分を変動量として演算する請求項１に記載の異常検出装置。     The drive control means outputs the torque command at a constant cycle,
    When the torque command is outputted from the drive control means, the calculation means calculates a difference between the torque command outputted this time and the torque command previously outputted from the drive control means as a fluctuation amount. The abnormality detection device according to 1.
  4. 　前記駆動制御手段は、一定の周期で前記トルク指令を出力し、
    　前記演算手段は、前記駆動制御手段から前記トルク指令が出力される度に、前記変動量を演算し、
    　前記検出手段は、前記差が前記第１閾値より大きいと前記第１判定手段によって判定され且つ前記変動量が前記第２閾値より大きいと前記第２判定手段によって一定回数連続して判定された場合に、異常を検出する請求項１から請求項３の何れか一項に記載の異常検出装置。     The drive control means outputs the torque command at a constant cycle,
    The calculation means calculates the fluctuation amount every time the torque command is outputted from the drive control means.
    The detection unit is determined by the first determination unit if the difference is greater than the first threshold, and the determination unit is continuously determined by the second determination unit if the variation amount is greater than the second threshold The abnormality detection apparatus according to any one of claims 1 to 3, which detects an abnormality.
  5. 　エレベーターの巻上機に対するトルク指令を出力する駆動制御手段と、
    　第１トルクパターン、第２トルクパターン、第１閾値及び第２閾値が記憶された記憶手段と、
    　前記駆動制御手段が出力した前記トルク指令と前記第１トルクパターンとの差が前記第１閾値より大きいか否かを判定する第１判定手段と、
    　前記駆動制御手段が出力した前記トルク指令と前記第２トルクパターンとの差の積分値を演算する演算手段と、
    　前記演算手段によって演算された前記積分値が前記第２閾値より大きいか否かを判定する第２判定手段と、
    　前記差が前記第１閾値より大きいと前記第１判定手段によって判定され且つ前記積分値が前記第２閾値より大きいと前記第２判定手段によって判定された場合に、異常を検出する検出手段と、
    を備えた異常検出装置。     Drive control means for outputting a torque command to a hoist of the elevator;
    Storage means in which a first torque pattern, a second torque pattern, a first threshold and a second threshold are stored;
    First determining means for determining whether a difference between the torque command output by the drive control means and the first torque pattern is greater than the first threshold value;
    Calculating means for calculating an integral value of the difference between the torque command output from the drive control means and the second torque pattern;
    A second determination unit that determines whether the integral value calculated by the calculation unit is larger than the second threshold;
    A detection unit that detects an abnormality when it is determined by the first determination unit that the difference is larger than the first threshold and is determined by the second determination unit that the integral value is larger than the second threshold;
    An abnormality detection device equipped with
  6. 　前記演算手段は、前記駆動制御手段が出力した前記トルク指令と前記第２トルクパターンとの差の符号が変わる度に、前記積分値をリセットする請求項５に記載の異常検出装置。 6. The abnormality detection device according to claim 5, wherein the calculation unit resets the integral value each time the sign of the difference between the torque command output by the drive control unit and the second torque pattern changes.
  7. 　前記第１トルクパターンと前記第２トルクパターンとは同じパターンである請求項５又は請求項６に記載の異常検出装置。
    The abnormality detection device according to claim 5 or 6, wherein the first torque pattern and the second torque pattern are the same pattern.
  8. 　前記記憶手段に、前記第１閾値より大きな値である第３閾値が記憶され、
    　前記検出手段は、前記駆動制御手段が出力した前記トルク指令と前記第１トルクパターンとの差が前記第３閾値より大きい場合に、異常を検出する請求項１から請求項７の何れか一項に記載の異常検出装置。     A third threshold, which is a value larger than the first threshold, is stored in the storage means,
    The said detection means detects abnormality, when the difference of the said torque instruction | command and the said 1st torque pattern which the said drive control means output is larger than the said 3rd threshold value. The abnormality detection device described in.
  9. 　前記第３閾値は、前記第２閾値と演算周期との積に前記第１閾値を加えた値より大きな値である請求項８に記載の異常検出装置。 The abnormality detection device according to claim 8, wherein the third threshold is a value larger than a value obtained by adding the first threshold to a product of the second threshold and an operation cycle.
  10. 　前記第２閾値は、前記第１トルクパターンの変動量を用いて設定される請求項１から請求項９の何れか一項に記載の異常検出装置。 The abnormality detection device according to any one of claims 1 to 9, wherein the second threshold is set using a fluctuation amount of the first torque pattern.
  11. 　前記巻上機は、エレベーターのかごを駆動し、
    　前記第１判定手段及び前記第２判定手段は、前記かごが一定速度に制御されている時に前記駆動制御手段から出力された前記トルク指令に基づいて判定を行う請求項１から請求項１０の何れか一項に記載の異常検出装置。     The hoist drives an elevator car,
    The first judging means and the second judging means make a judgment based on the torque command outputted from the drive control means when the car is controlled to a constant speed. The anomaly detection device according to any one of the preceding claims.
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