WO2020070795A1 - ガバナシステムの特性制御装置、及びエレベータ装置 - Google Patents

ガバナシステムの特性制御装置、及びエレベータ装置

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Publication number
WO2020070795A1
WO2020070795A1 PCT/JP2018/036861 JP2018036861W WO2020070795A1 WO 2020070795 A1 WO2020070795 A1 WO 2020070795A1 JP 2018036861 W JP2018036861 W JP 2018036861W WO 2020070795 A1 WO2020070795 A1 WO 2020070795A1
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WO
WIPO (PCT)
Prior art keywords
car
governor
characteristic
governor system
resonance frequency
Prior art date
Application number
PCT/JP2018/036861
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
盛臣 見延
Original Assignee
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 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2020550981A priority Critical patent/JP7008839B2/ja
Priority to PCT/JP2018/036861 priority patent/WO2020070795A1/ja
Priority to CN201880097823.7A priority patent/CN112752725B/zh
Publication of WO2020070795A1 publication Critical patent/WO2020070795A1/ja

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B3/00—Applications of devices for indicating or signalling operating conditions of elevators
    • B66B3/02—Position or depth indicators
    • 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
    • B66B5/04—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions for detecting excessive speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B7/00—Other common features of elevators
    • B66B7/06—Arrangements of ropes or cables

Definitions

  • the present invention relates to a governor system characteristic control device and an elevator apparatus including the characteristic control device.
  • Some elevator devices installed in high-rise buildings use an encoder attached to a governor device to detect the position of a car.
  • the length of the rope used in such an elevator device increases according to the height of the building. The longer the rope, the lower the rigidity and the easier it is to deform. Therefore, the higher the building, the more likely the governor rope will sway.
  • the governor rope is subjected to a force due to acceleration and deceleration when the car is raised and lowered.
  • the force may cause the governor rope to sway.
  • the swing of the car may propagate to the governor rope and cause the governor rope to shake.
  • the governor rope also swings due to a cause other than the swing of the building, that is, a cause associated with the operation state of the elevator apparatus.
  • the shaking that occurs in the governor rope may cause a decrease in the accuracy of detecting the position of the car by the encoder attached to the governor device. Therefore, when the position detected by the governor system is used to control the stop position of the elevator car, in order to suppress a decrease in the accuracy of the position detection of the car by the governor system, in a situation where the building does not shake. Also, it is important to suppress the swing of the governor rope due to the operation state of the elevator apparatus.
  • the present invention has been made to solve such a problem, and an object of the present invention is to provide a characteristic control device capable of suppressing a car position detection error in a governor system due to an operation state of an elevator device, and an elevator device. Is to provide.
  • the characteristic control device of the governor system is connected to the first car position detection unit that detects the position of the car based on the governor device, the characteristic changing device, and a physical quantity related to the governor rope connected to the car, and is connected to the car.
  • a generation unit that generates state information indicating a state of a governor system having a governor rope based on a detected value of a physical quantity related to the governor rope, and a characteristic change device that changes characteristics of the governor system based on the state information generated by the generation unit.
  • a control unit for controlling and changing characteristics so as to reduce a detection error of the first car position detecting unit.
  • FIG. 1 is a diagram illustrating a configuration example of an elevator apparatus according to Embodiment 1 of the present invention. It is a figure which shows the modification 1 of a structure of the elevator apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows the modification 2 of a structure of the elevator apparatus which concerns on Embodiment 1 of this invention.
  • FIG. 2 is a diagram illustrating a functional configuration example of a characteristic control device used in the elevator apparatus according to Embodiment 1 of the present invention. It is a figure showing an example of composition of an elevator device concerning Embodiment 2 of the present invention. It is a figure which shows the modification 1 of a structure of the elevator apparatus which concerns on Embodiment 2 of this invention.
  • FIG. 9 is a diagram illustrating a functional configuration example of a characteristic control device used in the elevator apparatus according to Embodiment 2 of the present invention.
  • FIG. 13 is a diagram illustrating a functional configuration example of a characteristic control device used in the elevator apparatus according to Embodiment 3 of the present invention.
  • FIG. 4 is a diagram illustrating an example of information output from a resonance frequency calculation unit to a control unit.
  • 5 is a flowchart illustrating an overall flow of a process executed by a control unit.
  • FIG. 14 is a diagram illustrating a configuration example of an elevator apparatus according to Embodiment 4 of the present invention.
  • FIG. 13 is a diagram illustrating a functional configuration example of a characteristic control device used in an elevator apparatus according to Embodiment 4 of the present invention. It is a figure which shows the modification of the function structure of the characteristic control apparatus used for the elevator apparatus which concerns on Embodiment 4 of this invention.
  • FIG. 4 is a configuration diagram showing a case where each function of a characteristic control device used in the elevator apparatus according to Embodiments 1 to 4 of the present invention is realized by a processing circuit which is dedicated hardware.
  • FIG. 5 is a configuration diagram illustrating a case where each function of a characteristic control device used in the elevator apparatus according to Embodiments 1 to 4 of the present invention is implemented by a processing circuit including a processor and a memory.
  • FIG. 1 is a diagram illustrating a configuration example of an elevator apparatus according to Embodiment 1 of the present invention.
  • the elevator apparatus 1 is installed in, for example, a high-rise building.
  • the elevator apparatus 1 includes a main rope system 2, a governor system 3, an elevator control device 4, and a characteristic control device 5.
  • the main rope system 2 is a system for raising and lowering the car 21 on which the user gets on.
  • the main rope system 2 includes a cage 21, a main rope 22, a counterweight 23, a hoisting machine 24, a deflector 25, a compensating rope 26, and a compensating tension sheave 27.
  • the compensating rope 26 is abbreviated as “compensation rope 26”
  • the compensating stretcher 27 is abbreviated as “compensation stretcher 27”.
  • the hoist 24 is a device that generates power and transmits the generated power to the main rope 22.
  • the hoisting machine 24 is disposed between the car 21 and the counterweight 23.
  • the car 21 and the counterweight 23 are suspended by the hoisting machine 24.
  • both ends of the main rope 22 are fixed to the building, the load of the car 21 is supported by a moving pulley installed on one side via a hoisting machine 24, and a counterweight is suspended by a moving pulley on the other side. May be used.
  • the deflecting wheel 25 is a pulley for adjusting the position at which the main rope 22 is suspended from the counterweight 23 or the position at which the main rope 22 is suspended from the car 21.
  • the compensating rope 26 is a rope for compensating for a weight difference between the car 21 side and the counterweight 23 side of the main rope 22 at the boundary of the hoisting machine 24.
  • One end of the compensating rope 26 is connected to the car 21, and the other end is connected to the counterweight 23.
  • the compensating pulley 27 guides the compens rope 26 and applies tension to the compens rope 26.
  • the main rope system 2 is not limited to the configuration shown in FIG.
  • a configuration without the deflector wheel 25 can be adopted.
  • a configuration without the compensating rope 26 and the compensating pulley 27 may be adopted.
  • the governor system 3 is a system for detecting an excess speed of the car 21. As shown in FIG. 1, the governor system 3 includes a governor device 31, a governor rope 32, a governor tensioner 33, a first car position detector 34, and a characteristic changing device 35.
  • the both ends of the governor rope 32 are connected to each other in an annular shape at a connecting portion (not shown), and the connecting portion is held by the car 21. Thereby, both ends of the governor rope 32 are connected to the car 21.
  • the governor rope 32 is bridged between the governor device 31 and the governor tension wheel 33.
  • the governor device 31 rotates in conjunction with the movement of the governor rope 32 accompanying the elevation of the car 21, and mechanically or electrically detects an excessive speed of the car 21. Further, the governor device 31 operates an emergency stop device (not shown) provided on the car 21 when the speed excess is detected.
  • the first car position detector 34 attached to the governor device 31 detects the position of the car 21.
  • the first car position detection unit 34 is configured using, for example, an encoder.
  • the characteristic changing device 35 is attached to the governor device 31.
  • the characteristic changing device 35 is a device for changing the characteristics of the governor system 3.
  • the characteristic of the governor system 3 is a mechanical property or a state quantity of the governor system 3.
  • the magnitude of the load required for driving the governor rope 32 in other words, the inertia property of the governor system 3 related to the driving of the governor rope 32 corresponds to an example of the characteristic of the governor system 3.
  • This property is hereinafter referred to as “mechanical property”.
  • the governor system 3 is not limited to the configuration as shown in FIG.
  • a configuration in which there is no governor tension wheel 33 for applying tension to the governor rope 32 can be employed.
  • the first car position detection unit 34 detects the position of the car 21 based on the rotation of the governor device 31 and outputs the detection result to the elevator control device 4.
  • the governor device 31 outputs, to the elevator control device 4, excess speed information indicating whether or not the speed of the car 21 exceeds a speed defined as a threshold.
  • the first car position detection unit 34 is attached to the governor device 31, but may be attached to a rotating body other than the governor device 31, such as a governor tensioning wheel 33.
  • the elevator control device 4 outputs a drive command for driving the hoist 24, a stop command for stopping the hoist 24, and the like, and controls the hoist 24.
  • the hoist 24 is equipped with a brake.
  • the elevator control device 4 also controls the brake of the hoist 24.
  • the position of the car 21 detected by the signal output from the first car position detection unit 34 is used for controlling the hoisting machine 24.
  • Excess speed information output by the governor device 31 is used for controlling a brake (not shown) provided on the car 21.
  • the car 21 is provided with a weighing device for measuring the total weight of a user, luggage, and the like in the car 21.
  • the elevator control device 4 can control the brake as needed and acquire weight information indicating the total weight measured by the weighing device. If the weight information can be obtained, the elevator control device 4 may output a command to the hoisting machine 24 to generate a torque capable of holding the car 21 stationary according to the obtained weight information.
  • a characteristic control device 5 is further connected to the elevator control device 4.
  • the characteristic control device 5 controls the characteristic changing device 35 to change the mechanical characteristics of the governor system 3 as needed.
  • the characteristic control device 5 is directly connected to the characteristic changing device 35, but these may be indirectly connected. That is, the characteristic control device 5 may control the characteristic changing device 35 via another device.
  • the characteristic changing device 35 can be attached to the governor device 31.
  • the position where the characteristic changing device 35 is attached is not limited to the governor device 31.
  • the characteristic changing device 35 may be installed at a place where the mechanical characteristics of the governor system 3 can be changed. Therefore, for example, as shown in FIG. 2, the characteristic changing device 35 may be attached to a governor upholstery wheel 33.
  • the characteristic changing device 35 may be installed at a position where a frictional force can be applied directly or indirectly to the governor device 31.
  • the characteristic changing device 35 may be installed at a position where a frictional force can be applied directly or indirectly to the governor tensioner 33.
  • the characteristic changing device 35 may be installed at a position where a frictional force or a torque can be applied to the governor rope 32. Further, a plurality of characteristic changing devices 35 may be provided.
  • the first car position detecting unit 34 is provided in the governor system 3. Then, the first car position detecting unit 34, which is the first car position detecting unit, detects the position of the car 21 as a detected value of the physical quantity related to the governor rope 32.
  • the position detection result by the first car position detection unit 34 changes depending on the state of the swing generated on the governor rope 32. That is, when the hoisting machine 24 is stopped, the swing generated on the governor rope 32 may rotate the governor device 31 to which the first car position detection unit 34 is attached. When the hoisting machine 24 is driven, the swing generated on the governor rope 32 may cause the governor device 31 to change the rotation speed. The shaking that occurs in the governor rope 32 lowers the detection accuracy of the position of the car 21.
  • the swing of the governor rope 32 is caused by the acceleration and deceleration of the car 21 when the car 21 moves up and down.
  • the governor rope 32 also swings. As described above, the swing of the governor rope 32 occurs due to the operation state of the elevator apparatus 1 even when the building is not shaken.
  • the characteristic changing device 35 is provided to suppress, that is, reduce, the swing of the governor rope 32 that causes such a decrease in the position detection accuracy. Therefore, the control for changing the mechanical characteristics of the governor system 3 by the characteristic changing device 35 is performed to suppress the swing of the governor rope 32. By suppressing the swing of the governor rope 32, it is possible to avoid a situation where the position detection accuracy is reduced. Further, the period during which the position detection accuracy is reduced can be shortened.
  • the decrease in the position detection accuracy is basically caused by the swing including the expansion and contraction of the governor rope 32.
  • the vertical vibration of the car 21 causes the governor rope 32 to swing including expansion and contraction. Due to such a swing of the governor rope 32, a detection error occurs in the position of the car 21 detected by the first car position detection unit 34 with respect to the actual position of the car 21.
  • the swing of the governor rope 32 is caused by a delay in transmission by the governor rope 32 to the rotating body to which the first car position detection unit 34 is attached, a rotational position shift of the rotating body caused by a difference in tension around the rotation axis, And other abnormal rotations.
  • An abnormal rotation that occurs in the rotating body to which the first car position detection unit 34 is attached causes a position detection error.
  • the governor rope 32 may swing more. As the swing of the governor rope 32 increases, the degree of rotation abnormality generated in the rotating body increases, and the position detection error also increases.
  • the characteristic control device 5 controls the characteristic changing device 35 in order to suppress the swing of the governor rope 32.
  • FIG. 4 is a diagram showing an example of a functional configuration of the characteristic control device used in the elevator apparatus according to Embodiment 1 of the present invention.
  • the functional configuration of the characteristic control device 5 the control of the characteristic changing device 35 by the functional configuration, and the mechanical characteristics of the governor system 3 changed by the control will be described in detail.
  • the first car position detection unit 34 is connected to the elevator control device 4.
  • the characteristic control device 5 controls the characteristic changing device 35 using the detection result of the first car position detecting unit 34. Therefore, FIG. 4 shows a state in which the first car position detection unit 34 is directly connected to the characteristic control device 5. Actually, the first car position detection unit 34 is connected to the characteristic control device 5 via the elevator control device 4.
  • the characteristic control device 5 includes a generation unit 51 and a control unit 52, as shown in FIG.
  • the generation unit 51 acquires the position of the car 21 output from the first car position detection unit 34 as a detected value of a physical quantity related to the governor rope 32.
  • the control unit 52 generates position information as state information indicating the state of the governor system 3 from the acquired position. In FIG. 4, the position indicated by the position information is described as “p”.
  • the generating unit 51 includes two differentiating units 511 and 512, as shown in FIG.
  • the two differentiating units 511 and 512 both perform a time differentiating operation.
  • the position information indicating the position p is input to the differentiator 511.
  • the differentiating unit 511 performs a time differentiating operation of the position p, and calculates the speed v of the car 21. That is, the differentiator 511 can generate speed information as state information indicating the state of the governor system 3 from the position acquired as the detected value of the physical quantity related to the governor rope 32.
  • Speed information indicating the speed v calculated by the differentiator 511 is input to the differentiator 512.
  • the differentiator 512 performs a time differentiation operation on the speed v indicated by the speed information, and calculates the acceleration a of the car 21. That is, the differentiating unit 512 can generate acceleration information as state information indicating the state of the governor system 3 from the position acquired as the detected value of the physical quantity related to the governor rope 32.
  • the position information indicating the position p, the speed information indicating the speed v, and the acceleration information indicating the acceleration a thus generated by the generation unit 51 are input to the control unit 52. Note that the calculation of the velocity v and the calculation of the acceleration a may be performed by an operation different from the time differentiation operation.
  • the generation unit 51 may generate at least one of position information, speed information, and acceleration information as state information indicating the state of the governor system 3 and output the generated state information to the control unit 52. .
  • the control unit 52 drives the characteristic changing device 35 directly, or generates a command indicating the content of the driving and outputs it to the characteristic changing device 35.
  • the control unit 52 outputs a command. That is, the characteristic changing device 35 operates according to the command received from the control unit 52.
  • the control unit 52 obtains a position pulsation amount, a speed pulsation amount, and an acceleration pulsation amount based on the time transition of the position p, the speed v, and the acceleration a. Then, the control unit 52 determines the control content of the characteristic changing device 35 such that at least one of the position pulsation amount, the velocity pulsation amount, and the acceleration pulsation amount becomes small.
  • Expression (1) is an expression derived for obtaining the amount of change in the mechanical characteristics of the governor system 3. From this, when changing the mechanical characteristics of the governor system 3, it is conceivable to change the value on the right side of Expression (1) or the value on the left side of Expression (1).
  • Both the velocity v and the acceleration a have directions. Therefore, the speed v and the acceleration a have positive and negative signs, and the calculated torques ⁇ and ⁇ c have positive and negative signs.
  • the sign of the torques ⁇ and ⁇ c indicates the direction in which the torque ⁇ should be applied.
  • the torque ⁇ c applied by the characteristic changing device 35 may be a value proportional to at least one of the position p, the speed v, and the acceleration a.
  • a value obtained by filtering at least one of the position p, the velocity v, and the acceleration a may be used.
  • the pulsation amount of at least one of the position p, the velocity v, and the acceleration a is obtained, and a value proportional to the obtained pulsation amount or a value obtained by filtering the pulsation amount may be used. good.
  • a plurality of values may be calculated using at least one of the position p, the velocity v, and the acceleration a, and a total sum of the plurality of calculated torques may be used.
  • a total sum of the plurality of calculated torques may be used.
  • adding the determined torque ⁇ to the governor system 3 results in at least one of the three coefficients existing on the right side of the equation (2) being changed. .
  • the position p, velocity v, and acceleration a are all state information.
  • the type and combination of the state information can be determined according to, for example, the mechanical characteristics to be operated by the governor system 3.
  • the characteristic control device 5 can apply torque to the governor system 3, increase and decrease the moving load of the governor rope 32, and the like.
  • the characteristic changing device 35 may be installed at any of the positions shown in FIGS.
  • the characteristic changing device 35 When the characteristic changing device 35 is a braking device attached to the governor device 31 or the governor tensioning wheel 33, that is, a brake, the characteristic control device 5 applies a frictional force to the governor device 31, the governor tensioning wheel 33, or the governor rope 32. By acting, a load torque can be applied to the governor system 3. Even in this case, the characteristic changing device 35 may be installed at any of the positions shown in FIGS.
  • the characteristic changing device 35 may be a flywheel having a variable inertia mechanism. When this flywheel is adopted as the characteristic changing device 35, the characteristic changing device 35 may be attached to any one of the rotating bodies of the governor device 31 and the governor tension wheel 33 as shown in FIG. 1 or FIG.
  • the variable inertia mechanism provided in the flywheel includes, for example, a plurality of weights that can be moved in the radial direction, and a mechanism that enables the plurality of weights to be supported and moved.
  • the variable inertia mechanism may further include a power source such as a rotating electric machine that enables the weight to move.
  • the power source may be installed separately from the variable inertia mechanism.
  • the variable inertia mechanism includes a power source and a drive circuit for driving the power source.
  • flywheel having a variable inertia mechanism
  • the rotational inertia changes according to the radial position of the weight. This rotational inertia increases as the weight moves away from the center.
  • the rotational inertia of the entire governor system 3 that is, the mechanical characteristics also changes.
  • “flywheel” is used to mean a flywheel having a variable inertia mechanism.
  • the control unit 52 can determine the amount of change in the rotational inertia of the governor device 31 or the governor tensioning wheel 33 using, for example, an equation similar to equation (1). Alternatively, the control unit 52 may obtain the change amount of the rotational inertia using a conversion formula or a table for obtaining the change amount of the rotational inertia from the torque ⁇ calculated by Expression (1).
  • the characteristic control device 5 controls the characteristic changing device 35 to apply a torque so that at least one of the pulsation amount of the position p, the pulsation amount of the speed v, and the pulsation amount of the acceleration a is reduced, or Increase or decrease the rotational inertia.
  • the characteristic control device 5 controls the characteristic changing device 35 so as to change at least one of the rotational inertia coefficient J and the damping coefficient D in the equation (1), for example, thereby suppressing the swing of the governor rope 32. can do.
  • the rotational inertia coefficient J in the equation (1) is a value that is an index of the rotational inertia of the governor system 3 and changes according to the rotational inertia. Therefore, as the rotational inertia of the governor system 3 increases, the rotational inertia coefficient J also increases. Note that the force applied to the car 21 by the governor system 3 is small compared to the force applied to the car 21 by the hoisting machine 24. Therefore, the influence of the change in the mechanical characteristics of the governor system 3 on the movement of the car 21 is minimal. Therefore, the effect of the change in the mechanical characteristics on the main rope system 2 can be ignored.
  • the governor rope 32 is less likely to sway compared to before the rotational inertia coefficient J is increased.
  • the swing of the governor rope 32 can be suppressed even when a torque is applied in a direction in which the swing is reduced. Therefore, to suppress the swing of the governor rope 32, increasing the rotational inertia coefficient J has the same meaning as applying torque in a direction in which the swing is reduced.
  • the degree of abnormal rotation that occurs in the rotating body to which the first car position detection unit 34 is attached is also suppressed. As a result, a decrease in the position detection accuracy of the car 21 is suppressed.
  • the torque can be applied to the governor system 3 by employing a rotating electric machine or a brake as the characteristic changing device 35 as described above.
  • the rotating electric machine can apply the torque as the first load torque in both directions in which the load of the governor system 3 increases and decreases.
  • the brake can apply a torque as a second load torque in a direction in which the load of the governor system 3 increases.
  • a rotating electric machine may be used as the characteristic changing device 35, and this rotating electric machine may be used as a generator, in other words, as a brake.
  • an eddy current brake may be employed as the characteristic changing device 35.
  • the load increases as the speed v increases, so that the damping coefficient D can be increased.
  • the eddy current brake is used as the characteristic changing device 35, the damping coefficient D can be increased because the braking force changes depending on the speed v.
  • a pulsation component of the velocity v is extracted by a low-pass filter, a band-pass filter, or the like, and a torque proportional to only the pulsation component is reduced. You may make it act in a direction. As a result, the amount of pulsation of the speed v is reduced, and a decrease in the position detection accuracy of the first car position detection unit 34 can be suppressed.
  • At least one of the rotational inertia coefficient J, the damping coefficient D, and the stiffness coefficient K in Equation (1) may be independently changed, or a plurality of them may be changed in combination.
  • phase compensation can be performed based on the inverse characteristic, for example, by previously acquiring the transfer characteristic between the first car position detecting unit 34 and the characteristic changing device 35 or by learning it. it can.
  • phase compensation it is possible to suppress the occurrence of rotation pulsation around the rotation axis which affects the first car position detection unit 34 of the governor system 3 due to the change of the mechanical characteristics by the characteristic change device 35. be able to. Therefore, even in a situation where the governor rope 32 vibrates largely with respect to the car 21, the detection position error can be suppressed.
  • the swing of the governor rope 32 usually occurs due to the movement of the car 21, that is, the operating state of the elevator apparatus 1.
  • the first embodiment can cope with the swing of the governor rope 32 caused by the operation state of the elevator apparatus 1.
  • the first embodiment can cope with suppressing the swing of the governor rope. This is because, regardless of the cause, the swing of the governor rope 32 can be suppressed by changing the mechanical characteristics.
  • the mechanical characteristics may be changed, for example, when at least one of the position p, the velocity v, and the acceleration a is obtained and the obtained pulsation is equal to or larger than a set threshold. In this case, the changed mechanical characteristics may be restored on condition that the obtained pulsation amount is less than the set threshold value.
  • the change of the mechanical characteristics may be performed either when the car 21 is stopped or when the car 21 is moved up and down.
  • the control unit 52 does not have to change the mechanical characteristics again so as to return the changed mechanical characteristics to the state before the change. Is also good.
  • the reason why the mechanical characteristics need not be changed again is that the mechanical characteristics have already been changed so as to suppress the pulsation, and the swing of the governor rope 32 is suppressed.
  • the mechanical characteristics may be changed again according to the situation.
  • the mechanical characteristics it is expected that the governor rope 32 can be further suppressed from swinging. It can be expected that the period during which the governor rope 32 is shaking is made shorter.
  • control unit 52 may change the mechanical characteristics under different conditions and different control contents from those at the time of the previous change. For example, the control unit 52 may monitor a change in the pulsation amount of at least one of the position p, the velocity v, and the acceleration a, and change the calculation method according to the change in the pulsation amount.
  • the characteristic control device 5 of the governor system has the following functions. At least one of the position information, speed information, and acceleration information of the car is generated as state information indicating the state of the governor system 3 based on the detected position value of the car, which is the detected value of the physical quantity related to the governor system 3. function. A function of obtaining the amount of pulsation from the generated state information, and changing the characteristic by controlling the characteristic changing device 35 provided to change the characteristic of the governor system 3 in the direction in which the amount of pulsation is reduced
  • the characteristic control device 5 of the governor system 3 that can suppress the swing of the governor rope 32 due to the operation state of the elevator device 1 can be realized. Therefore, the elevator apparatus 1 according to the first embodiment is also realized.
  • FIG. 5 is a diagram illustrating a configuration example of an elevator apparatus according to Embodiment 2 of the present invention.
  • the elevator apparatus 1 shown in FIG. 5 is, for example, installed in a high-rise building, as in the first embodiment.
  • the second car position detector 201 provided in the main rope system 2 is further used to swing the governor rope. A method for suppressing the above will be described.
  • the second car position detecting unit 201 is attached to the hoist 24 and detects the position of the car 21.
  • the second car position detection unit 201 is configured using, for example, an encoder.
  • the second car position detection unit 201 may be an acceleration sensor, a position sensor, or the like attached to the car 21. That is, the second car position detecting unit 201 is for detecting the position of the car 21 via the main rope 22 or is directly attached to the car 21, and the position of the car 21, the speed of the car 21, This is for detecting the position of the car 21 from at least one variation of the acceleration of the car 21.
  • the second car position detecting unit 201 is provided in the main rope system 2.
  • the characteristic changing device 35 can be attached to the governor device 31, as shown in FIG.
  • the characteristic changing device 35 is a device for changing the mechanical characteristics of the governor system 3 as in the first embodiment. Therefore, the position where the characteristic changing device 35 is attached is not limited to the governor device 31.
  • the characteristic changing device 35 may be attached to a governor tensioning wheel 33, and as shown in FIG. 7, a frictional force or torque is applied to the governor device 31 directly or indirectly. May be installed at a position where The characteristic changing device 35 may be installed at a position where a frictional force or a torque can be applied directly or indirectly to the governor tensioner 33.
  • a plurality of characteristic changing devices 35 may be installed.
  • FIG. 8 is a diagram illustrating an example of a functional configuration of a characteristic control device used in the elevator apparatus according to Embodiment 2 of the present invention.
  • a characteristic control device 5 according to the second embodiment will be described in detail focusing on differences from the first embodiment.
  • the characteristic control device 5 controls the characteristic changing device 35 using the detection results of the first car position detection unit 34 and the second car position detection unit 201. Therefore, FIG. 8 shows a state where the first car position detecting unit 34 and the second car position detecting unit 201 are directly connected to the characteristic control device 5. Actually, as described above, the elevator control device 4 exists between each of the first car position detection unit 34 and the second car position detection unit 201 and the characteristic control device 5.
  • the characteristic control device 5 includes a generation unit 51 and a control unit 52, as shown in FIG.
  • the generation unit 51 acquires the first position of the car 21 output from the first car position detection unit 34 as a detected value of a physical quantity related to the governor rope 32.
  • the generation unit 51 acquires the second position of the car 21 output by the second car position detection unit 201 as a detected value of the physical quantity related to the governor rope 32.
  • control unit 52 generates first position information from the acquired first position and second position information from the acquired second position as state information indicating the state of the governor system 3. .
  • first position indicated by the first position information is indicated by “p1”
  • second position indicated by the second position information is indicated by “p2”.
  • the generating unit 51 includes two differentiating units 511a and 511b for generating speed information, two differentiating units 512a and 512b for generating acceleration information, and three subtracting units 521a to 521c for generating a difference amount. Have.
  • the four differentiating units 511a, 511b, 512a, and 512b all perform a time differentiating operation.
  • the differentiator 511a performs a time differentiating operation of the first position p1 to calculate a first speed v1 of the car 21.
  • the differentiator 511b performs a time differentiation operation on the second position p2, and calculates a second speed v2 of the car 21.
  • the differentiating unit 511a can generate first speed information as state information indicating the state of the governor system 3 from the first position p1 acquired as a detected value of the physical quantity related to the governor rope 32.
  • the differentiator 511b can generate second speed information as state information indicating the state of the governor system 3 from the second position p2 acquired as the detected value of the physical quantity related to the governor rope 32.
  • the speed information indicating the first speed v1 calculated by the differentiator 511a is input to the differentiator 512a.
  • the differentiating unit 512a performs a time differentiating operation of the first speed v1 to calculate a first acceleration a1 of the car 21.
  • Speed information indicating the second speed v2 calculated by the differentiator 511b is input to the differentiator 512b.
  • the differentiating unit 512b performs a time differentiating operation of the second speed v2, and calculates a second acceleration a2 of the car 21.
  • the differentiating unit 512a can generate first acceleration information as state information indicating the state of the governor system 3 from the first position p1 acquired as the detected value of the physical quantity related to the governor rope 32.
  • the differentiator 512b can generate second acceleration information as state information indicating the state of the governor system 3 from the second position p2 acquired as a detected value of the physical quantity related to the governor rope 32.
  • the subtraction unit 521a generates a difference amount obtained by subtracting the first position p1 from the second position p2 as a position difference, and outputs the generated position difference to the control unit 52 as position difference information.
  • the subtraction unit 521b generates a difference amount obtained by subtracting the first speed v1 from the second speed v2 as a speed difference, and outputs the generated speed difference to the control unit 52 as speed difference information.
  • the subtraction unit 521c generates a difference amount obtained by subtracting the first acceleration a1 from the second acceleration a2 as an acceleration difference, and outputs the generated acceleration difference to the control unit 52 as acceleration difference information.
  • the generation unit 51 generates at least one of the position difference information, the speed difference information, and the acceleration difference information as the state information indicating the state of the governor system 3 and outputs the generated state information to the control unit 52. May be.
  • the position information, the speed information, and the acceleration information are input to the control unit 52. Then, the control unit 52 uses the at least one of the position pulsation amount, the velocity pulsation amount, and the acceleration pulsation amount as the pulsation amount, and controls the characteristic changing device 35 so that the pulsation amount becomes smaller.
  • the position difference information, the speed difference information, and the acceleration difference information are input to the control unit 52 instead of the position information, the speed information, and the acceleration information.
  • the control unit 52 uses at least one of the input position difference information, speed difference information, and acceleration difference information as a difference amount, and controls the characteristic changing device 35 so that the difference amount becomes smaller.
  • the mechanical property may be changed by the control of the property changing device 35 when at least one of the position difference, the speed difference, and the acceleration difference is equal to or larger than the set threshold value.
  • the changed mechanical characteristics may be restored on the condition that the difference amount that is equal to or larger than the set threshold value is smaller than the set threshold value.
  • the change of the mechanical characteristics may be performed either when the car 21 is stopped or when the car 21 is moved up and down.
  • the torque ⁇ to be applied may be determined using the equation having the same configuration as the equation (1).
  • determining the torque ⁇ a value proportional to at least one of the position difference, the speed difference, and the acceleration difference may be used.
  • determining the torque ⁇ a value obtained by filtering at least one of the position difference, the speed difference, and the acceleration difference may be used.
  • the sum of a plurality of calculated torques may be used.
  • the rotational inertia of a rotating body to which the flywheel is attached is increased or decreased, so that the characteristic of the governor system 3 is increased. May be changed.
  • the rotational inertia By increasing or decreasing the rotational inertia, it is possible to change at least one of the three coefficients present on the right side of the equation (1), particularly the rotational inertia coefficient J.
  • the second position p2 of the car 21 detected by the second car position detection unit 201 attached to the main rope system 2 is the first car position detection attached to the governor system 3. It is assumed that the accuracy is higher than the first position p1 of the car 21 detected from the unit 34. Therefore, controlling the position difference, speed difference, or acceleration difference to be smaller makes the position detection accuracy of the first car position detection unit 34 closer to the position detection accuracy of the second car position detection unit 201. Will be.
  • the detected position error of the second car position detecting unit 201 is smaller than that of the first car position detecting unit 34. Accordingly, by reducing the position difference, the speed difference, or the acceleration difference, the first car position detection unit 34 can eventually suppress the error component included in the output signal. For this reason, it is possible to suppress a decrease in the position detection accuracy of the first car position detection unit 34.
  • the characteristic control device 5 of the governor system 3 has the following functions.
  • a function of controlling the characteristic changing device 35 provided to change the characteristics of the governor system 3 in the direction in which the difference amount decreases from the generated state information, and changing the characteristics.
  • the characteristic control device 5 of the governor system 3 that can suppress the swing of the governor rope 32 due to the operation state of the elevator device 1 can be realized.
  • the position detection result by the car position detection unit 34 attached to the governor system 3 can be made closer to the more accurate position detection result by the car position detection unit 201 attached to the main rope system 2. Therefore, the elevator apparatus 1 according to the second embodiment is also realized.
  • Embodiment 3 FIG. In the third embodiment, suppression of a position detection error when the car 21 swings will be described. For some reason, for example, when the user gives an impact, the car 21 may shake relatively large.
  • the position of the car 21, the speed of the car 21, or the acceleration of the car 21 is determined by the second car position detecting unit 201 attached to the main rope system 2. Change cannot be detected.
  • the detection of the second car position detection unit 201 The actual vibration of the car 21 may be larger than the vibration of the car 21 obtained from the result. In other words, a large error may occur in the position of the car 21 detected by the second car position detection unit 201.
  • the second car position detection unit 201 can use the information based on the large error information. Control. As a result, there is a possibility that the characteristic changing device 35 cannot be appropriately controlled.
  • the characteristic changing device 35 is not used. Will be described. By appropriately controlling the characteristic changing device 35, it is possible to suppress an increase in the position detection error of the car 21 by the first car position detection unit 34.
  • FIG. 9 is a diagram showing an example of a functional configuration of a characteristic control device used for an elevator apparatus according to Embodiment 3 of the present invention.
  • a characteristic control device 5 according to the third embodiment will be described in detail with reference to FIG.
  • the characteristic control device 5 according to the third embodiment includes a generation unit 51, a control unit 52, a frequency analysis unit 531 and a resonance frequency calculation unit 532. That is, to the characteristic control device 5 according to the third embodiment, the frequency analysis unit 531 and the resonance frequency calculation unit 532 are added as functional configurations from the second embodiment.
  • the two pieces of position information indicating the first position p1 and the second position p2 are actually input from the elevator control device 4 as described above.
  • the characteristic control device 5 shown in FIG. 9 also receives information other than the two pieces of position information from the elevator control device 4 in order to calculate the resonance frequency of the main rope 22.
  • the frequency analysis unit 531 performs frequency analysis on the first position p1, the first speed v1 of the car 21, or the first acceleration a1 of the car 21 using the position information indicating the first position p1.
  • the frequency analysis unit 531 generates frequency amplitude information indicating an amplitude value for each frequency as a result of the frequency analysis, and outputs the generated frequency amplitude information to the control unit 52.
  • the resonance frequency calculation unit 532 inputs the position information indicating the first position p1 or the second position p2 and the car load information output by the elevator control device 4, and calculates the first resonance frequency of the main rope 22. I do.
  • the calculated resonance frequency is input to the control unit 52 as resonance frequency information.
  • the car load information is information indicating a load that changes according to the state of the car 21.
  • the weight measured by the weighing device is output from the elevator control device 4 to the characteristic control device 5 as one of the car load information.
  • the first resonance frequency which is the resonance frequency of the main rope 22
  • various physical information of the main rope system 2 is used in addition to the position information and the car load information.
  • the various types of physical information include the mass of the car 21, the mass of the counterweight 23, the mass of the compensating wheel 27, the Young's modulus of the main rope 22, the Young's modulus of the compensating rope 26, and the like. These various types of physical information are stored in the characteristic control device 5 in advance.
  • the first resonance frequency can be prepared in advance as a table for each combination of the car load information and the position of the car 21.
  • the first resonance frequency may be obtained using a prepared table. That is, the method for obtaining the first resonance frequency is not particularly limited.
  • the control unit 52 reads each frequency component indicated by the frequency amplitude information, that is, an amplitude value for each frequency, and a first resonance frequency indicated by the resonance frequency information. Then, the control unit 52 determines whether or not the position of the car 21 detected by the first car position detection unit 34 has changed due to the influence of the first resonance frequency of the main rope 22.
  • the control is performed.
  • the unit 52 can determine whether the amplitude value corresponding to the first resonance frequency in the frequency amplitude information is the main component of the frequency amplitude information. Further, in determining whether or not the position of the car 21 detected by the first car position detection unit 34 is affected by the first resonance frequency of the main rope 22 due to the influence of the first resonance frequency.
  • the control unit 52 can perform the determination based on whether or not the amplitude value corresponding to the first resonance frequency is larger than the set threshold value.
  • the principal component means the maximum amplitude value among the amplitude values obtained for each frequency.
  • control unit 52 determines that the position of the car 21 detected by the first car position detection unit 34 does not fluctuate due to the influence of the first resonance frequency of the main rope 22, the control unit 52 executes the first embodiment or the first embodiment. Similarly to the second embodiment, the characteristic changing device 35 is controlled.
  • the control unit 52 determines that the position of the car 21 detected by the first car position detection unit 34 fluctuates due to the influence of the first resonance frequency of the main rope 22, the control unit 52 Based on the frequency analysis result, the characteristic changing device 35 is controlled using a frequency component other than the first resonance frequency component.
  • the control unit 52 When the control unit 52 uses a frequency component other than the first resonance frequency component, it can use the amplitude value of the frequency indicated by the frequency amplitude information other than the first resonance frequency.
  • the frequencies other than the first resonance frequency may be, for example, all frequencies other than the first resonance frequency, or may be one or more selected frequencies. Further, as one or more selected frequencies, for example, all frequencies selected as having an amplitude value larger than a set threshold value can be used, and only frequencies selected as having the largest amplitude value can be used. You can also.
  • the amplitude value is treated as a pulsation amount at the position of the car 21 and a value proportional to the pulsation amount or a value obtained by filtering the pulsation amount is used.
  • the torque ⁇ may be determined.
  • the amount of pulsation of the speed may be obtained, and the torque ⁇ may be determined using a value proportional to the amount of pulsation of the speed or a value obtained by filtering the amount of pulsation of the speed.
  • the amount of acceleration pulsation may be obtained, and the torque ⁇ may be determined using a value proportional to the amount of acceleration pulsation or a value obtained by filtering the amount of acceleration pulsation.
  • the torque ⁇ may be determined as a total value of two or more of the obtained torques using the pulsation amount of the position, the pulsation amount of the speed, and the pulsation amount of the acceleration.
  • the total value of the amplitude values may be regarded as an error of the position of the car 21 and the torque ⁇ may be determined using a value proportional to the error.
  • the torque ⁇ may be determined using a value proportional to the error.
  • at least one of the pulsation amount of the position, velocity, and acceleration is obtained, a torque to be further applied is calculated from the obtained pulsation amount, and the torque ⁇ is determined using the total value of the calculated torques. You may.
  • the control unit 52 applies the torque ⁇ determined by the above-described method to the characteristic changing device 35.
  • the torque ⁇ determined by the above-described method to the characteristic changing device 35.
  • the swing of the governor rope 32 can be suppressed by a technique other than the first resonance frequency component which is caused by the technique of changing the rotational inertia of the rotating body.
  • the control unit 52 can use, for example, a value after removing the first resonance frequency component from the position p1.
  • the removal of the first resonance frequency component from the position p1 can be performed using, for example, a filter. More specifically, it is conceivable to use a digital filter that removes the set frequency component according to the setting of the control unit 52.
  • the generation unit 51 according to the first embodiment can be used. Further, when a digital filter capable of generating a value obtained by removing the first resonance frequency component from the position p2 is used together with a digital filter capable of generating a value obtained by removing the first resonance frequency component from the position p1, The generation unit 51 according to mode 2 can be used.
  • the control unit 52 determines that the position of the car 21 detected by the first car position detection unit 34 fluctuates due to the influence of the first resonance frequency of the main rope 22
  • the characteristic changing device 35 is controlled using frequency components other than the first resonance frequency.
  • the control unit 52 may not perform control of the characteristic changing device 35.
  • the first resonance frequency component is dominant. If the first resonance frequency component is dominant, the position detection accuracy is improved even if other frequency components are suppressed. Is not so much expected. Accordingly, when the control unit 52 determines that the position of the car 21 detected by the first car position detection unit 34 is fluctuating due to the influence of the first resonance frequency of the main rope 22, the first resonance is performed. It is also possible to further determine whether the frequency component is dominant and determine whether to control the characteristic changing device 35.
  • the resonance frequency calculation unit 532 shown in FIG. 10 calculates the first resonance frequency and also calculates the second resonance frequency.
  • the characteristic control device 5 stores, for example, various physical information of the governor system 3 in advance.
  • the various physical information here includes the number of governor ropes 32, linear density, Young's modulus, rotational inertia of governor device 31, mass of governor tensioner 33, rotational inertia of governor tensioner 33, and the like.
  • a plurality of positions of the car 21 may be assumed, and the second resonance frequency may be prepared in advance as a table for each position of the car 21. In this case, the second resonance frequency may be obtained using a prepared table. That is, the method for obtaining the second resonance frequency is not particularly limited.
  • the control unit 52 receives, from the resonance frequency calculation unit 532, resonance frequency information indicating the first resonance frequency and the second resonance frequency. Then, the control unit 52 determines whether or not the first resonance frequency matches the second resonance frequency. When determining that the first resonance frequency and the second resonance frequency match, the control unit 52 controls the characteristic changing device 35 to change the second resonance frequency.
  • the control of the characteristic changing device 35 at this time is performed, for example, to increase the rotational inertia coefficient J in the equation (1).
  • the characteristic changing device 35 to be controlled is, for example, a flywheel.
  • the change of the rotational inertia coefficient J can be realized by applying a torque proportional to the acceleration of the car 21, for example.
  • the rotational inertia coefficient J can be apparently increased as compared with before the application of the torque.
  • the rotational inertia coefficient J can be apparently reduced as compared with before the application of the torque.
  • the control unit 52 changes the second resonance frequency and controls the characteristic changing device 35 so that the second resonance frequency is different from the first resonance frequency, so that the governor rope 32 associated with the swing of the main rope 22 is controlled. Can be suppressed as compared with before the change of the second resonance frequency. As a result, the position detection error of the car 21 by the first car position detection unit 34 is suppressed. Therefore, by controlling the second resonance frequency to be different from the first resonance frequency, more appropriate control of the characteristic changing device 35 becomes possible.
  • FIG. 11 is a flowchart showing an overall flow of processing executed by the control unit in the third embodiment of the present invention.
  • the operation of the control unit 52 in the third embodiment will be described in more detail.
  • the elevator control device 4 outputs to the characteristic control device 5 the position information indicating the position of the car 21 detected by the first car position detection unit 34 and the second car position detection unit 201 as needed.
  • the frequency analysis unit 531 performs frequency analysis based on the position information, and generates frequency amplitude information.
  • the resonance frequency calculation unit 532 calculates the first resonance frequency and the second resonance frequency based on the position information, and outputs the calculation result as resonance frequency information. After such pre-processing is performed, the control of the flowchart illustrated in FIG. 11 is started.
  • step S11 the control unit 52 inputs frequency amplitude information indicating a new frequency analysis result and two new resonance frequency information. Further, the control unit 52 determines whether or not the main rope 22 is swinging at the first resonance frequency based on a comparison between the frequency amplitude information and the resonance frequency information. This determination is made based on, for example, whether or not the frequency of the main component indicated by the frequency amplitude information matches the first resonance frequency, as described above.
  • step S11 If the frequency of the main component coincides with the first resonance frequency, the determination in step S11 is YES, and the process proceeds to step S13. That is, when the frequency of the main component and the first resonance frequency match within an allowable range, the control unit 52 can determine that they match. If they do not match within the allowable range, the determination in step S11 is NO and the process moves to step S12.
  • step S12 the control unit 52 controls the characteristic changing device 35 as necessary using all frequency components, for example, in the same manner as in the second embodiment or the first embodiment. Do it. Thereafter, the process returns to step S11.
  • step S13 the control unit 52 determines whether or not the first resonance frequency matches the second resonance frequency. If the two resonance frequencies match within the allowable range, the determination in step S13 is YES, and the process proceeds to step S14. If the two resonance frequencies do not match within the allowable range, the determination in step S13 is NO, and the process proceeds to step S15.
  • control unit 52 controls the characteristic changing device 35 in order to change the second resonance frequency, which is the resonance frequency of the governor system 3, so that it does not match the first resonance frequency. Then, for example, the rotational inertia coefficient J in the equation (1) is changed. Thereafter, the process returns to step S11.
  • the control unit 52 controls the characteristic changing device 35 for frequencies other than the first resonance frequency. Specifically, the control unit 52 determines the position pulsation amount, the speed pulsation amount, and the position pulsation amount based on the detection value of the first car position detection unit 34 after removing the first resonance frequency component by the digital filter. At least one of the acceleration pulsation amounts is obtained, and the characteristic changing device 35 is controlled. After such control is performed, the process returns to step S11.
  • the characteristic control device 5 of the governor system 3 has the following functions in addition to the functions of the first or second embodiment.
  • a function of controlling the characteristic changing device 35 provided for changing the characteristics of the governor system 3 and excluding the frequency components that cause the detection error, and changing the characteristics.
  • the characteristic control device 5 of the governor system 3 that can suppress the swing of the governor rope 32 due to the resonance frequency of the main rope system 2 can be realized. Therefore, the elevator apparatus 1 according to the third embodiment is also realized.
  • Embodiment 4 a control method for suppressing a position detection error based on the tension of the governor rope 32 will be described. Specifically, in the fourth embodiment, as the detected value of the physical quantity related to the governor rope 32, the tension of the governor rope 32 is detected, or as the detected value of the physical quantity related to the governor rope 32, the position of the car 21 is detected. The position detection error is suppressed by estimating the tension of the governor rope 32.
  • FIG. 12 is a diagram showing a configuration example of an elevator apparatus according to Embodiment 4 of the present invention.
  • a governor rope 32 is stretched between a governor device 31 and a governor tensioning wheel 33.
  • the governor rope 32 can be divided into a car side connected to the car 21 and a side opposite to the car side, with a governor device 31 and a governor stretcher 33 as rotating bodies as boundaries.
  • the car side of the governor rope 32 is roughly divided into a portion between the governor device 31 and the upper portion of the car 21 and a portion between the lower portion of the car 21 and the governor tensioning wheel 33.
  • the “opposite side” of the governor rope 32 is hereinafter referred to as “anti-car side”.
  • a tension detector 301a is disposed on the car side of the governor rope 32, and a tension detector 301b is disposed on the opposite car side of the governor rope 32.
  • the tension detector 301a and the tension detector 301b are sensors for detecting the tension of the governor rope 32.
  • the difference in tension between the car side and the opposite car side causes a rotational position shift of the governor device 31 and the governor tensioner 33 which are rotating bodies. Therefore, if the tension difference becomes larger than the allowable range, the accuracy of the first car position detecting unit 34 in detecting the position of the car 21 is adversely affected.
  • an error is also generated in the detection result of the first car position detecting unit 34.
  • the control unit 52 sets the absolute value of the tension difference between the car side and the opposite car side to be equal to or smaller than the set threshold when the absolute value of the tension difference is larger than the set threshold.
  • the characteristic changing device 35 is controlled.
  • the control unit 52 gives the characteristic changing device 35 a torque in a direction to reduce the tension difference.
  • the fluctuation of the tension difference is suppressed within an allowable range equal to or less than the set threshold value, and the occurrence of rotational position deviation in the rotating body to which the first car position detecting unit 34 is attached is suppressed. Therefore, the movement of the position of the car 21 is accurately transmitted from the car side to the opposite car side. Therefore, it is possible to suppress a decrease in the position detection accuracy of the car 21 by the first car position detection unit 34.
  • a value according to the operating condition of the elevator apparatus 1 can be used.
  • a value corresponding to a traveling loss within an allowable range can be used as a set threshold.
  • a value corresponding to a torque which is a value obtained by dividing the product of the rotational inertia of the rotating body to which the first car position detecting unit 34 is attached and the acceleration by the rotating radius of the rotating body. Can be used as the set threshold.
  • 0 can be used as the set threshold.
  • FIG. 13 is a diagram illustrating an example of a functional configuration of a characteristic control device used in the elevator apparatus according to Embodiment 4 of the present invention.
  • a characteristic control device 5 according to the fourth embodiment will be described in more detail with reference to FIG.
  • the characteristic control device 5 includes a generation unit 51 and a control unit 52, as shown in FIG.
  • the generation unit 51 includes a tension difference calculation unit 541.
  • the tension detector 301a and the tension detector 301b are directly connected to the characteristic control device 5. Both the tension detecting unit 301a and the tension detecting unit 301b output digital tension detection information indicating the detected tension to the characteristic control device 5.
  • the tension detection information is input to a tension difference calculation unit 541 in the generation unit 51.
  • the tension difference calculation unit 541 calculates a tension difference between the car side and the opposite car side of the governor rope 32 from the tension detection information, and outputs the calculated tension difference to the control unit 52 as tension difference information.
  • the tension difference is, for example, a value obtained by subtracting the tension on the opposite side of the car from the tension on the side of the car.
  • the control unit 52 determines whether or not the absolute value of the tension difference is larger than a set threshold. As a result, when the control unit 52 determines that the absolute value of the tension difference is larger than the set threshold, the control unit 52 controls the characteristic changing device 35 according to the magnitude of the absolute value of the tension difference and the sign of the tension difference. Is determined.
  • the control amount includes a torque to be applied and a direction in which the torque is applied. As a result of controlling the characteristic changing device 35 according to this control amount, at least one of the three coefficients present on the right side of the equation (1) changes so that the difference in tension becomes small.
  • the control amount may be changed according to the operating condition of the elevator apparatus 1. For example, as described above, it is conceivable to divide the operating conditions into an operation in which the car 21 is moving up and down at a constant speed, an operation in a constant acceleration operation, and a stop operation. In this case, the control unit 52 can determine the control amount for each driving situation. When a plurality of constant speeds exist, the control unit 52 can determine the control amount for each speed based on the speed command output from the elevator control device 4 to the hoisting machine 24.
  • the tension detection unit 301a is disposed on the car side, and the tension detection unit 301b is disposed on the opposite side of the car to detect the tension.
  • the tension on the car side and the tension on the opposite car side can be estimated using a disturbance observer that estimates a disturbance torque to a rotating body to which the characteristic changing device 35 is attached.
  • a disturbance observer may be mounted on the characteristic control device 5 as the tension difference estimating unit 551.
  • the tension difference estimation unit 551 is also a part of the generation unit 51.
  • the tension difference estimating unit 551 receives from the control unit 52 various kinds of information related to the control of the characteristic changing device 35, for example, the contents of a command, feedback information used for control, and the like. Further, the tension difference estimating unit 551 generates position information and speed information based on the position of the car 21 detected by the first car position detecting unit 34. Then, the tension difference estimating unit 551 estimates the car side tension and the opposite car side tension using these pieces of information, and further estimates the tension difference. The tension difference information indicating the estimated tension difference is output to the control unit 52.
  • the control unit 52 controls the tension disturbance on the car side and the tension disturbance on the opposite car side to be equal. At this time, the control unit 52 performs control so that the tension disturbance due to the position change of the car 21 is in the same direction in the opposite direction across the sheave. As a result, the positional change of the car 21 is accurately transmitted from the car side to the opposite car side. Therefore, it is possible to suppress a decrease in the position detection accuracy of the car 21 by the first car position detection unit 34.
  • the control unit 52 in the first to third embodiments determines the control amount so that the tension difference between the car side and the opposite car side is equal to or less than the set threshold value, and controls the characteristic changing device 35. be able to. As described above, by performing the control of the characteristic changing device 35 in accordance with the difference in tension, the position detection accuracy of the car 21 by the first car position detection unit 34 can be maintained higher.
  • the characteristic control device 5 of the governor system 3 has the following functions.
  • the elevator device 1 according to the fourth embodiment is also realized.
  • the functions of the characteristic control device 5 used in the elevator devices 1 according to the first to fourth embodiments are realized by a processing circuit.
  • the processing circuit that implements each function may be dedicated hardware or a processor that executes a program stored in a memory.
  • FIG. 15 is a configuration diagram illustrating a case where each function of the characteristic control device used in the elevator apparatus according to Embodiments 1 to 4 of the present invention is implemented by a processing circuit that is dedicated hardware.
  • FIG. 16 is a configuration diagram showing a case where each function of the characteristic control device used in the elevator apparatus according to Embodiments 1 to 4 of the present invention is realized by a processing circuit including a processor and a memory.
  • the processing circuit 1000 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specialized Integrated Circuit), or an FPGA (Field Programmable Gate). Array), or a combination thereof.
  • the functions of the generator 51, the controller 52, the frequency analyzer 531, the resonance frequency calculator 532, the tension difference calculator 541, and the tension difference estimator 551 may be realized by individual processing circuits 1000, respectively.
  • the functions of the respective units may be collectively realized by the processing circuit 1000.
  • the processing circuit 2000 has a configuration including the processor 2001 and the memory 2002
  • the respective components of the generation unit 51, the control unit 52, the frequency analysis unit 531, the resonance frequency calculation unit 532, the tension difference calculation unit 541, and the tension difference estimation unit 551 Is realized by a combination of application software, an OS (Operating @ System) and firmware, or a combination of application software and firmware.
  • the application software, OS, and firmware can be stored in the memory 2002.
  • the processor 2001 realizes the function of each unit by reading and executing various programs stored in the memory 2002. That is, the characteristic control device 5 includes a memory 2002 capable of storing various programs for realizing each unit when the characteristic control device 5 is executed by the processing circuit 2000.
  • the various programs cause the computer to realize the above-described units.
  • the memory 2002 is, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Memory Only, a Non-volatile Memory, etc.) Or volatile semiconductor memory.
  • a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, and the like also correspond to the memory 2002.
  • each unit described above may be realized by dedicated hardware, and a part may be realized by application software, firmware, or the like.
  • the processing circuit can realize the functions of the above-described units by hardware, application software, firmware, or a combination thereof.

Landscapes

  • Lift-Guide Devices, And Elevator Ropes And Cables (AREA)
  • Maintenance And Inspection Apparatuses For Elevators (AREA)
  • Elevator Control (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)
PCT/JP2018/036861 2018-10-02 2018-10-02 ガバナシステムの特性制御装置、及びエレベータ装置 WO2020070795A1 (ja)

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PCT/JP2018/036861 WO2020070795A1 (ja) 2018-10-02 2018-10-02 ガバナシステムの特性制御装置、及びエレベータ装置
CN201880097823.7A CN112752725B (zh) 2018-10-02 2018-10-02 限速器***的特性控制装置和电梯装置

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JP2022082512A (ja) * 2020-11-23 2022-06-02 セメス株式会社 移送装置
JP7298788B1 (ja) * 2022-06-09 2023-06-27 三菱電機株式会社 エレベーター

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CN115072511B (zh) * 2022-06-22 2024-05-28 安徽职业技术学院 无碳化驱动的电梯限速器检测装置及方法

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