Controlling a drive motor of an elevator installation

• US 8,863,908 B2
• Filed: 09/02/2011
• Issued: 10/21/2014
• Est. Priority Date: 09/09/2010
• Status: Active Grant

• Current Assignee: Inventio AG (Schindler Holding AG)
• Original Assignee: Inventio AG (Schindler Holding AG)
• Inventors: Villa, Valerio, Cui, Yong Qi
• Primary Examiner(s): SALATA, ANTHONY J
• Application Number:
  US13/224,641
• Publication Number:
  US 20120222917A1
• Time in Patent Office: 1,145 Days
• Field of Search: 187/247, 187/290, 187/293, 187/295, 187/296, 187/297, 187391-393
• US Class Current: 187/295
• CPC Class Codes: B66B 1/24 Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
• CPC Class Codes: B66B 1/285 with the use of a speed pattern generator
• CPC Class Codes: B66B 1/30 effective on driving gear , e.g. acting on power electronics, on inverter or rectifier controlled motor
• CPC Class Codes: B66B 1/302 for energy saving
• CPC Class Codes: B66B 1/3492 Position or motion detectors or driving means for the detector B66B1/40, B66B1/50 take precedence; length measuring G01B; speed measuring G01P

Abstract

A movement of an elevator cage is detected by an elevator control on the basis of signals of a rotary encoder, coupled with a rotational movement of the drive motor or the drive pulley. Before movement of the cage begins, a movement plot in the form of a trip/speed profile is calculated for travel of the elevator cage from an instantaneous elevator cage position to a destination stopping point position. An anticipated slip between the drive pulley and a support means is included in the calculation of the trip/speed profile, and during the travel of the elevator cage a rotational movement of the drive motor and thus of the drive pulley is controlled by the elevator control in dependence on the calculated trip/speed profile and on signals of the rotary encoder.

Claims

1. An elevator method, comprising:

determining, for an elevator cage in an elevator installation, a movement profile of the elevator cage for movement of the elevator cage to a destination stopping point position in the elevator installation, the determining being based at least in part on an anticipated slip between a drive pulley and a support coupled to the elevator cage;

detecting a movement of the elevator cage based at least in part on signals of a rotary encoder coupled to the drive pulley or to a drive motor; and

during the movement of the elevator cage, controlling the drive motor based at least in part on the signals of the rotary encoder and the movement profile.

2. An elevator method, comprising:

determining, for an elevator cage in an elevator installation, a movement profile of the elevator cage for movement of the elevator cage to a destination stopping point position in the elevator installation, the determining being based at least in part on an anticipated slip between a drive pulley and a support coupled to the elevator cage;

detecting a movement of the elevator cage based at least in part on signals of a rotary encoder coupled to the drive pulley or to a drive motor;

during the movement of the elevator cage, controlling the drive motor based at least in part on the signals of the rotary encoder and the movement profile;

determining an actual travel distance between an instantaneous elevator cage position and the destination stopping point position; and

determining a slip-corrected travel distance based at least in part on the actual travel distance and the anticipated slip between the drive pulley and the support, wherein the movement profile is determined based at least in part on the slip-corrected travel distance and is determined for travel of the elevator cage from the instantaneous cage position to the destination stopping point position.

3. The elevator method of claim 2, the slip-corrected travel distance being further based on one or more slip factors, the one or more slip factors having different respective sizes, the different respective sizes being related to respective cage loads.

4. An elevator method, comprising:

determining, for an elevator cage in an elevator installation, a movement profile of the elevator cage for movement of the elevator cage to a destination stopping point position in the elevator installation, the determining being based at least in part on an anticipated slip between a drive pulley and a support coupled to the elevator cage;

detecting a movement of the elevator cage based at least in part on signals of a rotary encoder coupled to the drive pulley or to a drive motor;

during the movement of the elevator cage, controlling the drive motor based at least in part on the signals of the rotary encoder and the movement profile;

wherein the destination stopping point position is one of a plurality of stopping point positions in the elevator installation, the stopping point positions comprising respective stopping point markings, the stopping point markings being detectable by at least one stopping point sensor coupled to the elevator cage, the stopping point markings having a dimension at least twice as long as a stopping distance for the elevator cage.

5. An elevator method, comprising:

determining, for an elevator cage in an elevator installation, a movement profile of the elevator cage for movement of the elevator cage to a destination stopping point position in the elevator installation, the determining being based at least in part on an anticipated slip between a drive pulley and a support coupled to the elevator cage;

detecting a movement of the elevator cage based at least in part on signals of a rotary encoder coupled to the drive pulley or to a drive motor;

during the movement of the elevator cage, controlling the drive motor based at least in part on the signals of the rotary encoder and the movement profile;

moving the elevator cage from an instantaneous elevator cage position to a stopping marking point of an intermediate stopping point position or a stopping marking point of the destination stopping point position;

after reaching the stopping marking point of the intermediate stopping point position or the stopping marking point of the destination stopping point position, correcting a registered elevator cage position; and

after reaching the stopping marking point of the intermediate stopping point position or the stopping marking point of the destination stopping point position, correcting the movement profile of the elevator cage based at least in part on a residual distance to the destination stopping point position.

6. An elevator method, comprising:

determining, for an elevator cage in an elevator installation, a movement profile of the elevator cage for movement of the elevator cage to a destination stopping point position in the elevator installation, the determining being based at least in part on an anticipated slip between a drive pulley and a support coupled to the elevator cage;

detecting a movement of the elevator cage based at least in part on signals of a rotary encoder coupled to the drive pulley or to a drive motor;

during the movement of the elevator cage, controlling the drive motor based at least in part on the signals of the rotary encoder and the movement profile;

performing a learning trip of the elevator cage, the performing the learning trip comprising determining stopping point position values for one or more stopping points in the elevator installation.

7. The elevator method of claim 6, further comprising:

determining a learning trip slip factor; and

correcting the determined stopping point position values based at least in part on the learning trip slip factor.

8. The elevator method of claim 7, the determining a learning trip slip factor comprising:

determining a first travel distance between a point at a start of an outward journey of the elevator cage and reversal point at the end of the outward journey, the determining being based on a first set of signals received from the rotary encoder;

determining a second travel distance between the reversal position at the end of the outward journey and the point at the start of the outward journey, the determining being based on a first set of signals received from the rotary encoder;

calculating the learning trip slip factor by dividing a difference between the first and second travel distances by a sum of the first and second travel distances.

9. The elevator method of claim 6, the learning trip being performed with a cage loading of less than 30 percent of a rated load for the elevator cage.

10. The elevator method of claim 6, the performing the learning trip further comprising:

performing an outward journey with the elevator cage;

during the outward journey, detecting a zero position marking using a stopping point position sensor coupled to the elevator cage;

during the outward journey, detecting respective stopping point markings of one or more stopping points in the elevator installation using the stopping position sensor;

performing a return journey with the elevator cage;

during the return journey, detecting the zero position marking using the stopping position sensor;

during the return journey, detecting the respective stopping point markings using the stopping position sensor;

as a result of the detecting the respective stopping point markings during the return journey, correcting respective detected travel distances from the zero position marking by half of a stopping point marking length; and

registering the corrected respective detected travel distances as respective stopping point position values.

11. An elevator method, comprising:

determining, for an elevator cage in an elevator installation, a movement profile of the elevator cage for movement of the elevator cage to a destination stopping point position in the elevator installation, the determining being based at least in part on an anticipated slip between a drive pulley and a support coupled to the elevator cage;

detecting a movement of the elevator cage based at least in part on signals of a rotary encoder coupled to the drive pulley or to a drive motor;

during the movement of the elevator cage, controlling the drive motor based at least in part on the signals of the rotary encoder and the movement profile;

determining a first value for a defined travel distance between a start stopping point and a destination stopping point based on a first set of signals from the rotary encoder;

determining a second value for the defined travel distance based on a start stopping point position value and a destination stopping point position value;

determining a cage loading range for the elevator cage;

storing a quotient of the first and second values as an actual value slip factor, the actual value slip factor being stored in association with the cage loading range.

12. The elevator method of claim 11, further comprising storing the quotient in association with an elevator cage travel direction.

13. The elevator method of claim 11, further comprising:

storing a plurality of actual value slip factors; and

determining a mean of the stored plurality of actual value slip factors.

14. An elevator method, comprising:

determining, for an elevator cage in an elevator installation, a movement profile of the elevator cage for movement of the elevator cage to a destination stopping point position in the elevator installation, the determining being based at least in part on an anticipated slip between a drive pulley and a support coupled to the elevator cage;

detecting a movement of the elevator cage based at least in part on signals of a rotary encoder coupled to the drive pulley or to a drive motor;

during the movement of the elevator cage, controlling the drive motor based at least in part on the signals of the rotary encoder and the movement profile;

determining an updated movement profile of the elevator cage based on a current load-dependent slip factor.

15. An elevator installation comprising:

an elevator cage disposed in a shaft;

a drive pulley;

a support coupled to the elevator cage and to the drive pulley;

a rotary encoder coupled to the drive pulley or to a drive motor; and

an elevator control unit, the elevator control unit being configured to,

receive a movement profile of the elevator cage for a movement of the elevator cage to a destination stopping point position in the shaft, the movement profile being based at least in part on an anticipated slip between the drive pulley and the support,

detect a movement of the elevator cage based at least in part on signals of the rotary encoder, and

during the movement of the elevator cage, controlling the drive motor based at least in part on the signals of the rotary encoder and the movement profile.

16. An elevator system component, comprising:

at least one processor;

a memory having stored therein instructions which, when executed by the processor, cause the processor to,

determine, for an elevator cage in the elevator installation, a movement profile of the elevator cage for a movement of the elevator cage to a destination stopping point position in the elevator installation, the determining being based at least in part on an anticipated slip between a drive pulley and a support coupled to the elevator cage,

detect a movement of the elevator cage based at least in part on signals of a rotary encoder coupled to the drive pulley or to a drive motor, and

during the movement of the elevator cage, control the drive motor based at least in part on the signals of the rotary encoder and the movement profile.

17. Method of controlling a drive motor of an elevator installation, wherein an elevator cage can be moved along a travel path by the drive motor by way of a drive pulley and at least one flexible support and stopped at stopping point positions of a plurality of stopping points,

wherein a movement of the elevator cage is detected by an elevator control on the basis of signals of a rotary encoder coupled with a rotational movement of the drive motor or the drive pulley, before the start of travel of the elevator cage a movement course in the form of a trip/speed profile for travel of the elevator cage from a instantaneous elevator cage position to a destination stopping point position is calculated, and anticipated slip between the drive pulley and the support means is included in the calculation of the trip/speed profile and during travel of the elevator cage a rotational movement of the drive motor and thus of the drive pulley is controlled by the elevator control in dependence on the calculated trip/speed profile and on signals of the rotary encoder.

18. A memory having encoded thereon instructions which, when executed by a processor, cause the processor to perform a method, the method comprising:

determining, for an elevator cage in the elevator installation, a movement profile of the elevator cage for a movement of the elevator cage to a destination stopping point position in the elevator installation, the determining being based at least in part on an anticipated slip between a drive pulley and a support coupled to the elevator cage;

detecting a movement of the elevator cage based at least in part on signals of a rotary encoder coupled to the drive pulley or to a drive motor; and

during the movement of the elevator cage, controlling the drive motor based at least in part on the signals of the rotary encoder and the movement profile.