| 摘要 |
PURPOSE:To lighten any uncomfortable oscillation of an elevator cage by provid ing a constant adjusting means for adjusting the control constant of an elevator model, according to speed commands and compensation signals. CONSTITUTION:A constant adjusting means 51 seeks a deviation epsilonV between a speed command value 1 and an estimated speed 17 at acceleration and deceleration of an elevator. Next when the deviation epsilonV is larger than the preset deviation limit value, a quantity AepsilonV of adjustment is sought by using a formula (K: coefficient, epsilonV: deviation at acceleration and deceleration, KD: differential constant), and when the deviation is +, the quantity of adjustment is added to a control constant, and when it is -, it is subtracted from the control constant. The control constant after adjustment is KD+AepsilonV. The quantity AepsilonV of adjustment of the deviation AepsilonV at constant velocity also is sought in the same way as the quantity AepsilonV of adjustment of the deviation epsilonV at acceleration and deceleration. Hereby, the deviation between the speed command of an elevator and the estimated speed outputted from the rigid body model of an elevator can be minimized or eliminated, so the vibration suppression effect can be exhibited to the maximum extent. |
