Patent Grant
7931127
The present invention relates to an elevator apparatus having a brake control device capable of controlling a braking force at the time of emergency braking.
In a conventional elevator apparatus, at the time of emergency stop, the current supplied to a brake coil is controlled to variably control the deceleration of a car. At the time of emergency stop, a speed command based on an emergency stop speed reference pattern having a predetermined deceleration is output from a speed reference generating portion (e.g., see Patent Document 1).
Patent Document 1: JP 07-206288 A
In the conventional elevator apparatus structured as described above, changes in stopping distance in controlling the deceleration of the car at the time of emergency stop are not taken into account. Therefore, for example, should the error from the speed reference pattern increase or should the function of control itself fail to be activated properly, there would be an apprehension that the stopping distance may exceed an allowable stopping distance and that the car may plunge into each of terminal portions of a hoistway.
The present invention has been made to solve the above-mentioned problem, and it is therefore an object of the present invention to provide an elevator apparatus capable of more reliably keeping a car from reaching each of terminal portions of a hoistway while preventing the car from undergoing an excessively high deceleration at the time of emergency braking.
An elevator apparatus according to the present invention includes: a car; a brake device for braking running of the car; and a brake control device for controlling the brake device, the brake control device being capable of performing braking force reduction control for reducing a braking force of the brake device at a time of emergency braking of the car, in which the brake control device monitors a running state of the car at the time of emergency braking of the car, and makes a switchover between validity and invalidity of the braking force reduction control such that the car is stopped within a preset allowable stopping distance.
Preferred embodiments of the present invention will be described hereinafter with reference to the drawings.
The braking means 7 has a brake pulley 8 that is rotated integrally with the drive sheave 5, and a brake device 9 for braking rotation of the brake pulley 8. A brake drum, a brake disc, or the like is employed as the brake pulley 8. The drive sheave 5, the motor 6, and the brake pulley 8 are provided coaxially.
The brake device 9 has a plurality of brake shoes 10 that are moved into contact with and away from the brake pulley 8, a plurality of brake springs for pressing the brake shoes 10 against the brake pulley 8, and a plurality of electromagnets for opening the brake shoes 10 away from the brake pulley 8 against the brake springs. The electromagnets have brake coils (electromagnetic coils) 11. Each of the brake coils 11 is excited by being supplied with a current.
By causing a current to flow through the respective brake coils 11, the electromagnets are excited, so an electromagnetic force for canceling a braking force of the brake device 9 is generated. As a result, the brake shoes 10 are opened away from the brake pulley 8. By shutting off the supply of the current to the respective brake coils 11, the electromagnets are stopped from being excited. As a result, the brake shoes 10 are pressed against the brake pulley 8 due to spring forces of the brake springs. In addition, the degree of opening of the brake device 9 can be controlled by controlling the value of the current flowing through the brake coils 11.
The motor 6 is provided with a hoisting machine encoder 12 as a speed detector for generating a signal corresponding to a rotational speed of a rotary shaft of the motor 6, namely, a rotational speed of the drive sheave 5.
A speed governor 13 is installed in an upper portion of the hoistway. The speed governor 13 has a speed governor sheave 14, and a speed governor encoder 15 for generating a signal corresponding to a rotational speed of the speed governor sheave 14. A speed governor rope 16 is looped around the speed governor sheave 14. The speed governor rope 16 is connected at both ends thereof to an operation mechanism of a safety gear mounted on the car 1. The speed governor rope 16 is looped at the lower end thereof around a tension pulley 17 disposed in a lower portion of the hoistway.
The driving of the hoisting machine 4 is controlled by an elevator control device 18. In other words, the raising/lowering of the car 1 is controlled by the elevator control device 18. The brake device 9 is controlled by a brake control device 19. Signals from the elevator control device 18 and the hoisting machine encoder 12 are input to the brake control device 19.
The command generating portion 21 determines whether or not the brake device 9 is in an emergency braking state, based on a signal S1 from the elevator control device 18. Also, the command generating portion 21 detects (calculates) a speed of the car 1 and a deceleration of the car 1 based on a signal S2 from the hoisting machine encoder 12. In addition, when the brake device 9 is in the emergency braking state, the command generating portion 21 generates a command to be given to the brake device 9 in accordance with the deceleration of the car 1 (or speed of car 1). That is, the brake control device 19 can perform braking force reduction control for reducing the braking force of the brake device 9 to prevent the car 1 from undergoing an excessively high deceleration at the time of emergency braking.
The safety determining portion 22 determines whether or not the brake device 9 is in the emergency braking state, based on the signal S1 from the elevator control device 18. Also, the safety determining portion 22 monitors a running state of the car 1 based on the signal S2 from the hoisting machine encoder 12 at the time of emergency braking, and makes a switchover between validity and invalidity of braking force reduction control such that the car 1 is stopped within a preset allowable stopping distance. In Embodiment 1 of the present invention, the safety determining portion 22 detects and monitors the deceleration of the car 1 as the running state of the car 1.
The opening/closing of the first safety relay 23 and the second safety relay 24 is controlled by the safety determining portion 22. The first safety relay 23 and the second safety relay 24 are opened/closed in synchronization with each other. Braking force reduction control performed by the command generating portion 21 is validated through the closure of the first safety relay 23 and the second safety relay 24. When braking force reduction control is valid, a brake command or a brake release command is selectively output to the brake coils 11 in accordance with the deceleration of the car 1 (or speed of car 1). The first safety relay 23 and the second safety relay 24 correspond to the two brake coils 11 of
The brake release command during braking force reduction control at the time of emergency braking is not intended to release the brake device 9 completely but to reduce the braking force exerted by the brake device 9 to some extent. More specifically, the braking force for decelerating the brake pulley 8 is controlled by turning a switch for applying a voltage to the brake coils 11 ON/OFF with a predetermined switching duty.
Braking force reduction control performed by the command generating portion 21 is invalidated through the opening of the first safety relay 23 and the second safety relay 24. When braking force reduction control is invalid, the supply of a current to the respective brake coils 11 is shut off regardless of a calculation result in the command generating portion 21, so a total braking force is applied to the brake pulley 8.
When it is determined that the brake device 9 is in the emergency braking state and that the car 1 can be stopped within the allowable stopping distance, the safety determining portion 22 closes the first safety relay 23 and the second safety relay 24 to validate braking force reduction control. Otherwise, the safety determining portion 22 opens the first safety relay 23 and the second safety relay 24 to invalidate braking force reduction control. When it is determined that the car 1 can be stopped within the allowable stopping distance, the safety relays 23 and 24 may be closed again even after having been opened temporarily in the course of braking force reduction control.
The functions of the command generating portion 21 and the safety determining portion 22 are realized by a single microcomputer or a plurality of micro computers. That is, programs for realizing the functions of the command generating portion 21 and the safety determining portion 22 are stored in the single micro computer of the brake control device 19 or in the plurality of the micro computers of the brake control device 19.
When an emergency stop command is generated at a time instant T1, a braking force is generated at a time instant T2. That is, the supply of a current to the motor 6 is also shut off at the time of emergency braking, so the car 1 is either accelerated (as indicated by alternate long and short dash lines L3) or decelerated (as indicated by broken lines L1) due to an imbalance between the weight on the car 1 side and the weight on the counterweight 2 side until the braking force is actually generated (until brake shoes 10 come into abutment on brake pulley 8) after generation of the emergency stop command.
The elevator apparatus is designed such that the car 1 can be stopped without reaching each of terminal portions of the hoistway even when the distance (stopping distance) to be covered before the stoppage of the car 1 after the start of emergency braking operation is the longest (as indicated by alternate long and short dash lines L3), unless braking force reduction control is performed. Accordingly, even when braking force reduction control is performed in the vicinity of each of terminal floors, the car 1 is prevented from reaching a corresponding one of the terminal portions of the hoistway if the car 1 is stopped at a distance shorter than the longest stopping distance. In this example, the safety determining portion 22 monitors the deceleration of the car 1, determines whether or not the car 1 can be stopped within the allowable stopping distance, and opens/closes the safety relays 23 and 24.
In the case where a determination on the opening/closing of the safety relays 23 and 24 is made on the basis of the deceleration of the car 1, the safety relays 23 and 24 are closed to validate braking force reduction control only when the deceleration of the car 1 is higher than a reference deceleration α1 of
The reference deceleration α1 needs to be set at least higher than a maximum deceleration in the case where the car 1 is stopped at the longest stopping distance. If the reference deceleration α1 is set lower than the maximum deceleration, a braking force is reduced even when the car 1 is to be stopped at the longest stopping distance, so an event that the car 1 cannot be stopped at the envisaged longest stopping distance may occur. As a matter of course, the reference deceleration α1 is set lower than a target deceleration α0 during braking force reduction control.
More specifically, given that a total reduced inertial mass of the elevator apparatus with respect to the car 1 is denoted by m, that a maximum value of the braking force exerted by the brake device 9 is denoted by F1, and that a maximum acceleration force in the case where the difference in weight between the car 1 side and the counterweight 2 side is the largest is denoted by F2, the reference deceleration α1 is calculated from the following equation.
α1=(F1−F2)/m
In the elevator apparatus structured as described above, at the time of emergency braking of the car 1, the brake control device 19 monitors the running state of the car 1 and makes a switchover between the validity and invalidity of braking force reduction control such that the car 1 is stopped within the allowable stopping distance. Therefore, the car 1 can be kept more reliably from reaching each of the terminal portions of the hoistway while being prevented from undergoing an excessively high deceleration at the time of emergency braking.
The brake control device 19 monitors the deceleration of the car 1 as the running state of the car 1, and validates braking force reduction control when the deceleration of the car 1 is higher than the reference deceleration α1. Therefore, the car 1 can be kept more reliably from reaching each of the terminal portions of the hoistway through relatively simple control.
Reference will be made next to
Each of solid lines L1 shown in
A borderline of the allowable range for validating braking force reduction control (a reference speed change curve) L2 is a speed change curve in the case where the car 1 is stopped as an emergency measure in a certain load-carrying state without performing braking force reduction control. When the speed of the car 1 exceeds the borderline L2, the safety determining portion 22 opens the safety relays 23 and 24. The speed of the car 1 cannot enter the allowable range indicated by the hatched region, which is lower than the borderline L2, unless the car 1 can be stopped more easily than in that load-carrying state. Accordingly, when the speed of the car 1 exceeds the borderline L2 during the performance of braking force reduction control within the allowable range, a speed curve extending from a point on the borderline L2 according to which the car 1 is stopped at a maximum stopping distance can be calculated on the assumption that the car 1 carries the load by which the borderline L2 is defined.
If the speed of the car 1 reaches the borderline L2 at a point A, the safety relays 23 and 24 are opened at a time instant T3 to invalidate braking force reduction control (a forcible stop command). A braking force is then generated at a time instant T4. In this case, a speed curve is indicated by a solid line L3.
If the speed of the car 1 reaches the borderline L2 at a point B, the safety relays 23 and 24 are opened at a time instant T5 to invalidate braking force reduction control (a forcible stop command). A braking force is then generated at a time instant T6. In this case, a speed curve is indicated by broken lines L4.
In calculating a speed curve as described above according to which the car 1 is stopped at the longest stopping distance, an idle running time before generation of a braking force needs to be taken into account as well. The borderline L2 is set such that a speed curve extending from any point on the borderline L2 remains below the speed curve L1 according to which the car 1 is stopped at the longest stopping distance. By validating braking force reduction control only when the relationship between the speed of the car 1 and time is within the allowable range indicated by the hatched region, the car 1 can be stopped within the allowable stopping distance.
In the elevator apparatus structured as described above, the speed of the car 1 and the time elapsed after generation of an emergency stop command are monitored as the running state of the car 1, and braking force reduction control is validated when the relationship between the speed of the car 1 and the time is within the allowable range. Therefore, the car 1 can be kept more reliably from reaching each of the terminal portions of the hoistway while being prevented from undergoing an excessively high deceleration at the time of emergency braking.
Next, Embodiment 3 of the present invention will be described.
In Embodiment 2 of the present invention, the load-carrying state of the car 1 is assumed to be unknown, so the safety relays 23 and 24 are controlled so as to stop the car 1 within the allowable stopping distance even when the relationship between the load-carrying state of the car 1 and the running direction of the car 1 constitutes a condition under which the car 1 is stopped at the longest stopping distance. Thus, when the car 1 can be decelerated easily, the speed curves extending from the points A and B of
If the speed of the car 1 reaches the borderline L7 at a point C, the safety relays 23 and 24 are opened at a time instant T7 to invalidate braking force reduction control (a forcible stop command). A braking force is then generated at a time instant T8. In this case, a speed curve is indicated by a solid line L8.
If the speed of the car 1 reaches the borderline L7 at a point D, the safety relays 23 and 24 are opened at a time instant T9 to invalidate braking force reduction control (a forcible stop command). A braking force is then generated at a time instant T10. In this case, a speed curve is indicated by broken lines L9.
The brake control device 19 closes the safety relays 23 and 24 to validate braking force reduction control only when the brake device 9 is in an emergency braking state and the relationship between the speed of the car 1 and time shown in
The borderline L7 is set such that a speed curve extending from any point on the borderline L7 remains below the speed curve L1 according to which the car 1 is stopped at the longest stopping distance in a running state to which the borderline L7 is applied. In other words, when speed change curves are drawn after having determined reference points such as the points C and D at each of the time instants, the borderline L7 can be set as an aggregate of points each corresponding to a maximum speed which are on those speed change curves which always remain below the solid line L1.
In the elevator apparatus structured as described above, the degree of easiness with which the car 1 is decelerated is monitored in addition to the speed of the car 1 and the time elapsed after generation of an emergency stop command, and the allowable range is changed in accordance with the degree of easiness with which the car 1 is decelerated. Therefore, when the car 1 can be decelerated easily, the allowable range of speed and time in which braking force reduction control can be performed can be enlarged.
The aforementioned change in the allowable range may be made either in stages through staged determinations on the degree of easiness with which the car 1 is decelerated or continuously.
Reference will be made next to
As described in Embodiment 2 of the present invention, the borderline L2 of the allowable range needs to be set such that the car 1 can be stopped within an allowable stopping distance if the safety relays 23 and 24 are opened when the borderline L2 is exceeded during the performance of braking force reduction control within the allowable range. In Embodiment 4 of the present invention, in the case where the relationship between the speed of the car 1 and time is within the allowable range, a braking force is applied to the car 1 even when the safety relays 23 and 24 are closed if the car 1 is decelerated such that the laden weight of the car 1 and the running direction of the car 1 are related to each other so as to accelerate the car 1. Thus, the idle running time of the car 1 resulting from a brake gap does not need to be taken into account in calculating the longest stopping distance.
On the contrary, when the laden weight of the car 1 and the running direction of the car 1 are related to each other so as to decelerate the car 1, the car 1 may be decelerated with no braking force applied thereto in the idle running time resulting from the brake gap. Therefore, the idle running time of the car 1 needs to be taken into account in calculating the longest stopping distance.
Accordingly, when the safety relays 23 and 24 are opened during deceleration of the car 1 to forcibly stop the car 1, the car 1 may be stopped at the longest stopping distance in the case where the car 1 is stopped without taking an idle running time into account while a force resulting from an imbalance between the weight on the car 1 side and the weight on the counterweight 2 side acts to the utmost in such a direction as to accelerate the car 1, or in the case where the car 1 is stopped without taking the idle running time into account while there is no force resulting from the imbalance.
Referring to
In the case where speed curves as mentioned above, according to which the car 1 may be stopped at the longest stopping distance, are drawn while making changes in reference time instant, the borderline L2 is an aggregate of points each corresponding to a maximum reference speed which are on those speed curves which always remain below the solid line L1 at each of the time instants. Accordingly, the car 1 is stopped within the allowable stopping distance by opening the safety relays 23 and 24 to forcibly stop the car 1 when the borderline L2 is exceeded.
In the elevator apparatus structured as described above, the speed of the car 1, the time elapsed after generation of an emergency stop command, and the presence/absence of the state of deceleration of the car 1 are monitored, and braking force reduction control is validated when the logical conjunction of the condition that the car 1 is being decelerated and the condition that the relationship between the speed of the car 1 and time is within the allowable range (indicated by the hatched region of
By combining the method of control according to Embodiment 3 of the present invention with the method of control according to Embodiment 4 of the present invention, the allowable range of speed and time in which braking force reduction control can be performed can be further enlarged in comparison with that of Embodiment 4 of the present invention. In this case, the degree of easiness with which the car 1 is decelerated is monitored in addition to the items monitored in Embodiment 4 of the present invention. When it is determined that the car 1 can be decelerated easily, the reference speed change curve is shifted toward the solid line L1 side to enlarge the allowable range. Even when the speed of the car 1 is in a meshed region of
Next, Embodiment 5 of the present invention will be described. In Embodiment 5 of the present invention, the speed of the car 1 and the position (remaining distance) of the car 1 are monitored as the running state of the car 1.
Broken lines L2, L3, and L4 of
In the case where the car 1 is caused to run according to a speed command, the command speed generated by the elevator control device 18 is set such that the speed of the car 1 becomes 0 at a stop floor. Accordingly, it is also possible to estimate a minimum remaining distance to each of the terminal portions of the hoistway from a relationship between changes in command speed over time and the position of the car 1 on the assumption that the stop floor is a corresponding one of the terminal floors, and set the estimated remaining distance as a distance to an allowable stop position. In this case, however, the actual speed of the car 1 is required to follow the command speed appropriately.
On the other hand, a normal elevator apparatus has such a braking performance as can stop the car 1 prior to the arrival thereof at each of the terminal portions of the hoistway even in a load-carrying state corresponding to the longest stopping distance. Therefore, if the longest stopping distance at a speed at the beginning of emergency braking operation is set as a remaining distance at that time instant, the car 1 can be stopped without reaching that terminal portion of the hoistway.
In this case, a remaining distance x0 can be calculated from the following integral equations, using a time t0 required until stoppage of the car 1.
The variables and the constants will now be described below. A total reduced inertial mass of the elevator apparatus with respect to the car 1 is denoted by m. An acceleration of the car 1 is denoted by α(t). A braking force exerted by the brake device 9 is denoted by F(t). A maximum acceleration force in the case where there is a maximum difference between the weight on the car 1 side and the weight on the counterweight 2 side is denoted by F2. A speed of the car 1 at the beginning of emergency braking operation is denoted by v0. However, if the brake device 9 is designed to exert a braking force ensuring a certain margin with respect to an allowable stopping distance, a remaining distance having a certain margin with respect to an allowable stop position is calculated.
In the elevator apparatus structured as described above, the speed of the car 1 and the remaining distance to each of the terminal portions of the hoistway or to the allowable stop position are monitored as the running state of the car 1, and braking force reduction control is validated when the relationship between the speed of the car 1 and the remaining distance is within a preset allowable range. Therefore, the car 1 can be kept more reliably from reaching each of the terminal portions of the hoistway while being prevented from undergoing an excessively high deceleration at the time of emergency braking. Further, braking force reduction control can be performed in a larger number of cases.
Reference will be made next to
A borderline L11 of the allowable range in this case is set as an aggregate of points each corresponding to a maximum speed at which the car 1 can be stopped within an allowable stopping distance with each remaining distance in an understood load-carrying state. Thus, the allowable range of speed and remaining distance in which braking force reduction control can be performed can be further enlarged in comparison with that of Embodiment 5 of the present invention.
In each of the foregoing examples, it is determined based on a signal from the elevator control device 18 whether or not the car 1 is in an emergency braking state. However, the brake control device 19 may independently determine whether or not the car 1 is in the emergency braking state, without resort to the signal from the elevator control device 18. For example, the determination on the emergency braking state of the car 1 may be made by detecting approach of the brake shoes 10 to the brake pulley 8 or contact of the brake shoes 10 with the brake pulley 8. Alternatively, it is possible to determine that the car 1 is in the emergency braking state, when the current value of each of the brake coils 11 is smaller than a predetermined value although the speed of the car 1 is equal to or higher than a predetermined value.
In each of the foregoing examples, the speed of the car 1, the deceleration of the car 1, the position of the car 1, or the like is calculated using a signal from the hoisting machine encoder 12. However, a signal from another sensor such as the speed governor encoder 15, an acceleration sensor mounted on the car 1, or a position sensor mounted on the car 1 may be used instead.
Further, although the safety determining portion 22 is designed to open/close the safety relays 23 and 24 in each of the foregoing examples, a command to generate/stop a command may be transmitted to the command generating portion 21 from the safety determining portion 22.
Still further, the safety determining portion 22 and the command generating portion 21 may be constructed separately from each other.
| Filing Document | Filing Date | Country | Kind | 371c Date |
|---|---|---|---|---|
| PCT/JP2006/315393 | 8/3/2006 | WO | 00 | 9/17/2007 |
| Publishing Document | Publishing Date | Country | Kind |
|---|---|---|---|
| WO2008/015749 | 2/7/2008 | WO | A |
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| Number | Date | Country | |
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| 20090229924 A1 | Sep 2009 | US |
