JP2003095546A - Control device of elevator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable smooth running by preventing frontal lift-out and drop of a car by residual tension of a rope. SOLUTION: A data detecting device 15 detects a torque amount before stopping of a motor as the residual tension, and a torque compensation calculating device 16 calculates a torque compensation amount corresponding to the torque amount as the residual tension. At this time, a load change rate calculating device 20 calculates a load change rate in previously running and presently running a car 4, a running direction detecting device 21 detects a previous running direction of the car 4, and the torque compensation calculating device 16 receives them and calculates a torque compensation amount, thereby performing the torque compensation corresponding to a different residual tension of the rope 3 depending on the load change and the previous running direction. Smooth running is thus enabled by preventing the frontal lift-out and drop of the car 4.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevator control device for raising and lowering a car through a rope.

[0002]

2. Description of the Related Art In an elevator control device, it is general practice to add a compensation amount corresponding to a loading load of a car to a torque command value for speed control when the elevator is started. Since the system has unbalanced weight such as rope and tail cord as well as residual tension of the rope, it is not possible to compensate the residual tension remaining on the rope even if the compensation amount is optimized depending on the load of the car. Instead, when the vehicle is restarted, the car may drop slightly at the moment the motor brake is released, so-called hanging may occur.

In order to solve such a problem, for example, in Japanese Patent Application No. 2000-277123, the torque amount before the motor stops is detected as the residual tension amount, and the torque amount is compensated for at the time of restart. Is being done.

FIG. 15 is a diagram for explaining the conventional system, in which a rope 4 for raising and lowering a car 4 and a counterweight 5 through a rope 3 wound around a sheave 2 driven by a motor 1 is slung. The construction of an elevator control device in an elevator is shown.

In the conventional elevator control device, when a command to start the car 4 is received, a deviation between a preset speed command output from the speed control device 11 and an actual speed detected by the speed detection device 12 is detected. Then, the speed control device 13 calculates the torque command value. At that time, the load compensating device 14 adds the load compensation amount corresponding to the loaded load of the car 4 to the torque command value. Further, the torque amount before the motor is stopped, which is held in the data detection device 15, is extracted, the torque compensation calculation device 16 calculates the torque compensation amount corresponding to the torque amount before the motor is stopped, and the torque compensation device 17 is used. By adding the torque compensation amount to the torque command value, a final torque command value is generated and given to the current control device 18.
The current control device 18 converts the final torque command value into a motor current command value, and drives and controls the motor 1 based on the difference from the actual current value detected by the current detector 19.

As described above, in the conventional method, the amount of torque before the motor 1 is stopped is retained as the residual tension by the data detector 15, and this amount of torque is added to compensate for the restart. It was to prevent the car 4 from being suspended.

The residual tension means, as shown in FIG. 16, when the elevator car 4 lands on the floor where the elevator car 4 is located, the rope 3 wound around the sheave 2, the secondary sheave 6, the compensating sheave 7, and the like. This means that expansion and contraction occurs in the rope 3 and that portion remains as tension in the rope 3.
Further, the unbalanced weight is balanced by the car 4 and the counterweight 5 in the elevator hoistway, but the balance is affected by the rope 3 and the tail cord 8. The weight of the imbalance.

[0008]

As described above, in the conventional method, the torque amount before the motor is stopped is detected as the residual tension amount, and the torque amount for the residual tension amount is compensated when restarting. It was However, in reality, the residual tension of the rope differs depending on the driving direction of the car, the fluctuation of the load, and the position of the car.
With the conventional torque compensation, the residual tension that changes each time cannot be completely eliminated, and the suspension of the car does occur to a considerable extent, causing passengers to feel uncomfortable.

The present invention has been made in view of the above points, and it is an object of the present invention to provide an elevator control device which prevents a car from being suspended due to residual tension of a rope and enables smooth running. To do.

[0010]

In order to achieve the above object, an elevator control apparatus according to claim 1 of the present invention comprises:
In an elevator control device that raises and lowers a car through a rope that is wound around a sheave driven by a motor, the amount of torque before the motor is stopped when the car is landed is taken as the residual tension of the rope. Detect and
At the time of restarting, the driving amount of the motor is controlled by compensating the torque amount based on the rate of change of the load of the car and the previous traveling direction.

According to this structure, torque compensation is performed in consideration of the load change of the car and the previous traveling direction, so that the car is prevented from being hung down due to the residual tension of the rope, and the car is smoothly suspended. It becomes possible to drive.

The elevator control apparatus according to a second aspect of the present invention is an elevator control apparatus for raising and lowering a car through a rope wound around a sheave driven by a motor. The amount of torque before the motor stops at the floor is detected as the residual tension of the rope, and at the time of restart, the rate of change of the loading load of the car, the previous running direction, and the position of the car at the time of landing It is characterized in that the drive of the motor is controlled by compensating the torque amount based on the above.

According to this structure, the load of the car is changed, the traveling direction of the last time is taken into consideration, and the position of the car is taken into account to perform torque compensation, so that the hanging of the car caused by the residual tension of the rope is prevented. It enables smooth running.

The elevator control device according to a third aspect of the present invention is an elevator control device that raises and lowers a car via a rope wound around a sheave driven by a motor. Speed control means for outputting a torque command value based on the deviation between the speed command value of the car and the actual speed, and a load compensation amount corresponding to the loading load of the car are calculated and added to the torque command value. Load compensating means, torque amount detecting means for detecting the amount of torque before the motor stops when the car is landing as the residual tension of the rope, and loading of the car during the previous run and the current run The load change rate calculating means for calculating the change rate of the load, the traveling direction detecting means for detecting the previous traveling direction of the car, and the torque amount detecting means have been detected. Torque compensation calculation means for calculating a torque compensation amount corresponding to the amount of torque based on the load change rate obtained by the load change rate calculation means and the previous traveling direction detected by the traveling direction detection means; And a torque compensating means for adding the torque compensation amount obtained by the means to the torque command value, and a load compensating amount is added to the torque command value by the load compensating means, and a torque compensating amount is added by the torque compensating means. Drive control means for controlling the drive of the motor based on the final torque command value finally obtained.

With such a configuration, the load compensation amount and the torque compensation amount are added to the torque command value at the time of restart, and the motor is drive-controlled based on the final torque command after the addition. In this case, the torque compensation amount is calculated based on the load change rate of the car and the previous traveling direction. By using such a torque compensation amount, it is possible to perform torque compensation that corresponds to the residual tension of the rope that varies depending on the load change and the previous traveling direction, which prevents hanging of the car and smooth running. Is possible.

The elevator control device according to a fourth aspect of the present invention is an elevator control device that raises and lowers a car through a rope wound around a sheave driven by a motor. Speed control means for outputting a torque command value based on the deviation between the speed command value of the car and the actual speed, and a load compensation amount corresponding to the loading load of the car are calculated and added to the torque command value. Load compensating means, torque amount detecting means for detecting the amount of torque before the motor stops when the car is landing as the residual tension of the rope, and loading of the car during the previous run and the current run A load change rate calculating means for calculating a load change rate, a running direction detecting means for detecting the previous running direction of the car, and a position of the car for landing. The position detecting means, the torque change amount obtained by the load change rate calculating means for the torque compensation amount corresponding to the torque amount detected by the torque amount detecting means, and the previous traveling direction detected by the traveling direction detecting means. A torque compensation calculating means for calculating the car position detected by the car position detecting means; a torque compensating means for adding the torque compensation amount obtained by the torque compensation calculating means to the torque command value; A drive control means for controlling the drive of the motor on the basis of a final torque command value obtained by adding a load compensation amount to the value by the load compensating means and adding the torque compensation amount by the torque compensating means. And is configured.

With such a configuration, the load compensation amount and the torque compensation amount are added to the torque command value at the time of restart, and the motor is drive-controlled based on the final torque command after the addition. In this case, the torque compensation amount is calculated based on the load change rate of the car, the previous traveling direction, and the car position. By using such a torque compensation amount, it is possible to perform torque compensation that corresponds to the residual tension of the rope that differs depending on the load change, the previous traveling direction, and the car position at the time of restarting, and thus the suspension of the car It is possible to prevent it more reliably and run smoothly.

The elevator control device according to a fifth aspect of the present invention is an elevator control device that raises and lowers a car via a rope wound around a sheave driven by a motor. Speed control means for outputting a torque command value based on the deviation between the speed command value of the car and the actual speed, and a load compensation amount corresponding to the loading load of the car are calculated and added to the torque command value. Load compensating means, torque amount detecting means for detecting the amount of torque before the motor is stopped when the car is landed on the rope as residual tension of the rope, and before the motor is stopped, which is detected by the torque amount detecting means. An averaging means for obtaining an averaging value of a predetermined number of torque amounts, and a load change rate calculation for calculating the change rate of the loaded load of the above car during the previous run and the current run. Means, a traveling direction detecting means for detecting the previous traveling direction of the car, and a torque compensation amount corresponding to the arithmetic mean value of the torque amounts obtained by the arithmetic mean means by the load change rate computing means. Torque compensation calculation means for calculating based on the load change rate and the previous traveling direction detected by the traveling direction detection means, and torque compensation for adding the torque compensation amount obtained by the torque compensation calculation means to the torque command value. Means and
The load compensation means adds a load compensation amount to the torque command value, and the torque compensation means adds the torque compensation amount to control the drive of the motor based on a final torque command value finally obtained. And a drive control means.

According to such a configuration, the torque compensation amount corresponding to the arithmetic mean value of the torque amount of several data is calculated based on the load change rate of the car and the previous traveling direction.
Therefore, it is possible to improve the torque compensation accuracy by eliminating the influence of the data detection error, as compared with the case where the torque compensation amount is obtained from only one data of the torque amount.

According to a sixth aspect of the present invention, there is provided an elevator control device for raising and lowering a car via a rope wound around a sheave driven by a motor. Speed control means for outputting a torque command value based on the deviation between the speed command value of the car and the actual speed, and a load compensation amount corresponding to the loading load of the car are calculated and added to the torque command value. Load compensating means, torque amount detecting means for detecting the amount of torque before the motor is stopped when the car is landed on the rope as residual tension of the rope, and before the motor is stopped, which is detected by the torque amount detecting means. An averaging means for obtaining an averaging value of a predetermined number of torque amounts, and a load change rate calculation for calculating the change rate of the loaded load of the above car during the previous run and the current run. Means, traveling direction detecting means for detecting the previous traveling direction of the car, car position detecting means for detecting the position of the car at the time of landing, and addition of the torque amounts obtained by the averaging means. The torque compensation amount corresponding to the average value is based on the load change rate obtained by the load change rate calculating means, the previous traveling direction detected by the traveling direction detecting means, and the car position detected by the car position detecting means. A torque compensation calculation means for calculating, a torque compensation means for adding the torque compensation amount obtained by the torque compensation calculation means to the torque command value, and a load compensation amount added by the load compensation means to the torque command value. Then, the torque compensation amount is added by the torque compensation means to control the drive of the motor based on the final torque command value finally obtained. Configured by including a drive control means for.

According to such a configuration, the torque compensation amount corresponding to the arithmetic mean value of several pieces of torque amount data is calculated based on the load change rate of the car, the previous traveling direction, and the car position. Therefore, as compared with the case where the torque compensation amount is obtained from only one data of the torque amount, the influence of the data detection error can be removed and the torque compensation accuracy can be further improved.

According to a seventh aspect of the present invention, there is provided an elevator control device for raising or lowering a car via a rope wound around a sheave driven by a motor, wherein the elevator control device is specified in advance. Speed control means for outputting a torque command value based on the deviation between the speed command value of the car and the actual speed, and a load compensation amount corresponding to the loading load of the car are calculated and added to the torque command value. Corresponding to the load compensating means, the torque amount detecting means for detecting the torque amount before the motor stops when the car is landing on the floor as the residual tension of the rope, and the torque amount at each position of the car in advance. The table means in which the amount of torque compensation is specified, the load change rate calculation means for calculating the change rate of the loaded load at the time of the previous traveling and the current traveling of the car, and the above-mentioned vehicle Traveling direction detecting means for detecting the previous traveling direction, and a torque compensation amount corresponding to the torque amount detected by the torque amount detecting means are extracted from the table means, and the torque compensation amount is calculated by the load change rate calculating means. The torque compensation calculation means for correcting the load change rate obtained by the above and the previous traveling direction detected by the traveling direction detection means, and the torque compensation amount obtained by the torque compensation calculation means are added to the torque command value. Based on the final torque command value finally obtained by adding the load compensation amount to the torque command value by the load compensating device and adding the torque compensation amount by the torque compensating device. And a drive control means for controlling the drive of the motor.

According to this structure, the torque compensation amount corresponding to the torque amount can be extracted from the data table, so that the load of the torque compensation amount calculation process can be reduced, and the data table can be reduced. By correcting the torque compensation amount extracted from the above based on the load change rate of the car and the traveling direction, it is possible to obtain a highly accurate torque compensation amount and perform torque compensation.

The elevator control apparatus according to claim 8 of the present invention is the elevator control apparatus for moving a car up and down via a rope wound around a sheave driven by a motor, and the elevator control apparatus is specified in advance. Speed control means for outputting a torque command value based on the deviation between the speed command value of the car and the actual speed, and a load compensation amount corresponding to the loading load of the car are calculated and added to the torque command value. Corresponding to the load compensating means, the torque amount detecting means for detecting the torque amount before the motor stops when the car is landing on the floor as the residual tension of the rope, and the torque amount at each position of the car in advance. The table means in which the amount of torque compensation is specified, the load change rate calculation means for calculating the change rate of the loaded load at the time of the previous traveling and the current traveling of the car, and the above-mentioned vehicle Of traveling direction detecting means for detecting the previous traveling direction, car position detecting means for detecting the position of the car at the time of landing, torque amount detected by the torque amount detecting means and car position detecting means A torque compensation amount corresponding to the detected car position is extracted from the table means, and the torque compensation amount is calculated by the load change rate calculating means and the previous traveling direction detected by the traveling direction detecting means. Torque compensation calculation means for making a correction based on the above, torque compensation means for adding the torque compensation amount obtained by the torque compensation calculation means to the torque command value, and load compensation for the torque command value by the load compensation means. Based on the final torque command value that is finally obtained by adding the torque compensation amount by the torque compensation means. Constructed comprises a drive control means for controlling the driving of the motor.

According to such a configuration, the torque compensation amount corresponding to the torque amount and the car position can be extracted from the data table, so that the load of the calculation process of the torque compensation amount can be reduced, and Since the element of the car position is added to the torque compensation amount extracted from the data table, by correcting the torque compensation amount based on the load change rate of the car and the traveling direction, more accurate torque can be obtained. Torque compensation can be performed by obtaining a compensation amount.

According to a ninth aspect of the present invention, there is provided an elevator control apparatus according to any one of the third to eighth aspects, wherein the torque compensation amount obtained by the torque compensation calculation means is preset. Limiting means for adding the limit value to the torque command value when the set limit value is exceeded is further provided.

According to such a configuration, when the torque compensation amount is abnormal, the torque can be compensated by suppressing the torque to the limit value, so that the safety of passengers in the car can be ensured.

Further, an elevator controller according to a tenth aspect of the present invention is the elevator controller according to any one of the third to eighth aspects, wherein the torque compensation amount obtained by the torque compensation calculation means is preset. A limit means for adding the above limit value to the above torque command value when the set limit value is exceeded, and a signal indicating an abnormal torque compensation when the above limit value is added to the above torque command value by the above limit means. And a torque compensation abnormality detecting means for outputting to.

According to this structure, when the torque compensation amount is abnormal, the torque can be compensated by suppressing the torque to the limit value, so that the safety of passengers in the car can be ensured. Further, at that time, since a signal indicating that the torque compensation amount is abnormal is output, it is possible to promptly deal with the occurrence of abnormality in the torque compensation system.

[0030]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.

(First Embodiment) FIG. 1 is a block diagram showing a configuration of an elevator control apparatus as a first embodiment of the present invention. In the apparatus configuration of FIG. 1, parts common to the configuration of the elevator control apparatus shown in FIG. 15 as a conventional example are designated by the same reference numerals and described.

As shown in FIG. 1, the present apparatus is used in a rope-type elevator in which a car 4 and a counterweight 5 are raised and lowered by a rope 3 which is wound around a sheave 2 driven by a motor 1. An elevator control device, a speed command device 11 that sets a speed command value for the car 4 in response to a start command for the car 4, and a speed detection device 1 that detects the actual speed of the car 4 from the rotation speed of the motor 1.
2 and a speed control device 13 for obtaining and outputting a torque command value corresponding to a deviation between the speed command value of the car 4 and the actual speed
And a load compensating device 14 for calculating a load compensation amount according to the loaded load of the car 4 and adding it to the torque command value.

In addition to the data detecting device 15 which detects and holds the torque amount data before the motor 1 is stopped as the residual tension of the rope 3, the present device includes the load compensating device 1.
Load change rate calculation device 20 for obtaining the change rate between the load during the previous run and the load during the current run obtained from 4, and the running direction detection for detecting the previous running direction (up / down direction) of the car 4 A device 21, a torque compensation calculation device 16 for calculating a torque compensation amount, and this torque compensation calculation device 1
A torque compensating device 17 for adding the torque compensation amount calculated in 6 to the torque command value is provided.

Further, in the present device, the final torque command value finally obtained by the load compensating device 14 and the torque compensating device 17, and the motor 1 detected by the current detector 19.
The current control device 18 for controlling the drive of the motor 1 by controlling the amount of current supplied to the motor 1 based on the current value of

Next, the operation of the elevator control apparatus having the above-mentioned configuration as the first embodiment will be described.

In the data detector 15, various elevator control data are periodically stored and accumulated. When the start command for restarting the car 4 after landing is given, the speed command device 11 outputs a preset speed command value. On the other hand, the speed detection device 12 detects the actual speed of the car 4 from the rotation speed of the motor 1 and feeds it back. The speed control device 13 calculates a torque command value corresponding to the deviation between the speed command output from the speed command device 11 and the actual speed fed back from the speed detection device 12, and the current control device 18 uses this as a motor drive control signal.
Output to. At that time, the load compensator 14 operates the car 4
On the basis of the loaded load amount detected by a load sensor (not shown) provided in, the compensation amount for the loaded load amount is calculated and added to the torque command value. In addition, the torque compensation device 17
Adds the torque compensation amount for the residual tension calculated by the torque compensation calculation device 16 to the torque command value.

The current control device 18 converts the final torque command value into a current command value by inputting the torque command value obtained by adding the load compensation amount and the torque compensation amount as the final torque command value. The motor 1 is drive-controlled based on the deviation from the actual current value of the motor 1 detected by the detector 19.

Here, in the conventional system, the torque compensation calculation device 16 calculates the torque compensation amount for the residual tension from the data detection device 15 only based on the torque amount when the motor was stopped last time. Then, the load change rate calculation device 20 further calculates the change rate between the load during the previous travel and the load during the current travel, and the previous travel direction detection device 21 detects the previous travel direction of the car 4. Then, the torque compensation amount is calculated based on these data.

That is, since the rope 3 used for the elevator has softness, the motor 1 can be restarted at the time of restart.
At the moment when the brake is released, the residual tension due to the expansion and contraction of the rope 3 acts and the car 4 drops slightly. This is a so-called hanging phenomenon. In the conventional method, the amount of torque before the stop is detected as the residual tension and the compensation is made. However, in reality, the change in the load capacity due to the increase or decrease in the number of passengers in the car 4 or the car Since the force acting as the residual tension on the rope 3 differs depending on the traveling direction (up / down direction) of 4 and the like, the compensation amount of only the torque amount before the stop is insufficient.

Therefore, in this embodiment, the data detecting device 15 detects the amount of torque before the motor 1 is stopped as the residual tension of the rope 3, and the torque compensating calculation device 16 moves the car 4 in the up direction. The torque compensation amount is calculated by giving a conversion gain to the residual tension depending on whether the load is increased or decreased and the load is increased or decreased in the down direction of the car 4.

More specifically, the torque amount of the motor 1 when the elevator stops is determined by the output of the speed control system, the load signal, and the compensation compensation amount (torque compensation according to the car position).
And the output of the previous speed control system is set to zero at restart, and this acts as residual tension. In this case, since the compensating compensation amount changes as the car 4 moves, the output of the speed control system includes the compensating compensation amount error. Therefore, the true residual tension is a value obtained by subtracting the load signal and the compensation compensation amount from the torque amount at the time of stop.

The internal calculation by software is as follows.

The output of the speed control system is TALimOut (may be positive and negative), the load compensation amount is TmOld, the compensation compensation amount is DMN, the torque amount of the data detector 13 is TMCMPO, and the torque compensation amount is TMCMPN. If the gain is GAIN, TmOld (New) = TALimOut + TmOld
(Old) TMCMPO = TmOld (New) -DMN TMCMPN = GAIN × TMCMPO.

Further, GAIN is calculated under the conditions of the change of the load capacity and the traveling direction as follows.

GAIN: U_INC (when the load increases after traveling up) U_DEC (when the load decreases after traveling up): D_INC (when the load increases after traveling down): D_DEC (the load decreases after traveling down At this time, the compensation compensation amount DMN is added to the torque compensation amount TMCMPN obtained in this way and used as the torque amount at the next start.

As described above, in the elevator control device according to the first embodiment, the torque corresponding to the residual tension remaining on the rope 3 is applied to the load change rate of the car 4 during the previous running and the current running and the previous running direction. By compensating based on this, it is possible to prevent the rope 3 from being suspended by the residual tension of the rope 3 at the time of restarting and to travel smoothly.

(Second Embodiment) Next, a second embodiment of the present invention will be described.

FIG. 2 is a block diagram showing the configuration of an elevator controller as a second embodiment of the present invention. In FIG. 2, the same parts as those in FIG. 1 (first embodiment) are designated by the same reference numerals.

This apparatus, like the first embodiment,
A speed command device 11 for setting a speed command value for the car 4 in response to a start command for the car 4, a speed detection device 12 for detecting the actual speed of the car 4 from the number of revolutions of the motor 1, and a car 4 for the car 4. A speed control device 13 that obtains and outputs a torque command value corresponding to the deviation between the speed command value and the actual speed, and a load compensation that calculates a load compensation amount according to the loading load of the car 4 and adds it to the torque command value. A device 14 is provided.

In addition, the present apparatus detects the amount of torque before the motor 1 is stopped as the residual tension and holds it, the data detecting device 15, the torque compensation calculating device 16 which calculates the amount of torque compensation, and the data when the previous running was performed. A load change rate calculation device 20 for obtaining a change rate between the load and the load at the time of traveling this time, a traveling direction detection device 21 for detecting the previous traveling direction (up direction / down direction) of the car 4, and a torque compensation calculation device. A torque compensation device 17 for adding the torque compensation amount calculated in 16 to the torque command value is provided.

Further, in the present device, the final torque command value finally obtained by the load compensating device 14 and the torque compensating device 17 and the motor 1 detected by the current detector 19.
The current controller 18 controls the amount of current supplied to the motor 1 on the basis of the current value and the drive control of the motor 1.

Here, the feature of the second embodiment is that a car position detecting device 22 is added to the configuration of the first embodiment. The car position detecting device 22 detects a stop position when the car 4 has landed.

As described above, since the rope 3 has a soft body, the residual tension due to the expansion and contraction of the rope 3 works at the moment when the brake is released at the time of restarting, and the car 4 drops slightly and the car 4 is suspended. Occurs. In this case, for example, when the car 4 stops near the top floor, the distance between the sheave 2 and the car 4 becomes short, so the rope 3
The expansion and contraction of is small. On the other hand, the car 4
When is stopped at a position near the lowest floor, the distance between the sheave 2 and the car 4 becomes long, so that the expansion and contraction of the rope 3 greatly acts. In this way, since the residual tension due to the expansion and contraction of the rope 3 varies depending on the position of the car 4, the present embodiment is characterized in that the torque compensation amount is calculated also including the element of the car position.

That is, in the elevator control device according to the second embodiment, the car position detection device 22 detects the position at which the car 4 stops, and the car position and the load change rate calculation device 20 are detected. The rate of change in load at the time of the previous running and the time of the current running obtained from the above and the previous running direction obtained from the running direction detection device 21 are given to the torque compensation calculation device 16 to calculate the gain converted to the residual tension remaining on the rope 3. The calculation result is added as the torque compensation amount at the next start.

In concrete terms, the data detection device 15 before the stop is TMCMPO and the torque compensation amount is T.
If MCMPN, the car position is POSTION, and the conversion gain is GAIN, then TMCMPN = GAIN × TMCMPO × POSTIO
N.

Further, GAIN is calculated under the conditions of the change of the load capacity and the traveling direction as follows.

GAIN: U_INC (when the load increases after traveling up): U_DEC (when the load decreases after traveling up): D_INC (when the load increases after traveling down): D_DEC (the load decreases after traveling down At this time, the compensation compensation amount DMN is added to the torque compensation amount TMCMPN obtained in this way and used as the torque amount at the next start.

As described above, in the elevator control device according to the second embodiment, the position of the car 4 is an element in addition to the load change rate between the previous run and the current run of the car 4 and the previous running direction. In addition to the above, since the torque for the residual tension remaining on the rope 3 is compensated, more accurate torque compensation can be performed than in the first embodiment, and the cage 4 is suspended by the residual tension at the time of restart. It surely prevents dropping and enables smooth running.

(Third Embodiment) Next, a third embodiment of the present invention will be described.

FIG. 3 is a block diagram showing the configuration of an elevator controller as a third embodiment of the present invention. In FIG. 3, the same parts as those in FIG. 1 (first embodiment) are designated by the same reference numerals.

This apparatus, like the first embodiment,
A speed command device 11 for setting a speed command value for the car 4 in response to a start command for the car 4, a speed detection device 12 for detecting the actual speed of the car 4 from the number of revolutions of the motor 1, and a car 4 for the car 4. A speed control device 13 that obtains and outputs a torque command value corresponding to the deviation between the speed command value and the actual speed, and a load compensation that calculates a load compensation amount according to the loading load of the car 4 and adds it to the torque command value. A device 14 is provided.

Further, the present apparatus detects the amount of torque before the motor 1 is stopped as the residual tension and holds it, the data detecting device 15, the torque compensation calculating device 16 for calculating the torque compensation amount, A load change rate calculation device 20 for obtaining a change rate between the load and the load at the time of traveling this time, a traveling direction detection device 21 for detecting the previous traveling direction (up direction / down direction) of the car 4, and a torque compensation calculation device. A torque compensation device 17 for adding the torque compensation amount calculated in 16 to the torque command value is provided.

Further, in the present device, the final torque command value finally obtained by the load compensating device 14 and the torque compensating device 17 and the motor 1 detected by the current detector 19.
The current controller 18 controls the amount of current supplied to the motor 1 on the basis of the current value and the drive control of the motor 1.

Here, the feature of the third embodiment resides in that an averaging device 23 is added to the configuration of the first embodiment. This arithmetic mean device 23 is used in the data detection device 1.
A predetermined number of data are extracted from the torque amount data before the motor is stopped, which is stored in 5, and the arithmetic mean value thereof is calculated.

A specific description will be given with reference to FIG.

FIG. 4 shows a torque waveform from when the car 4 starts to when it stops. Here, the torque amount data before the car 4 stops is extracted for N points (N
Is 2 or more), and the arithmetic mean is calculated. In this case, assuming that the torque value at each point is TM (1) ... TM (N), the addition average value TMAVE is as follows.

TMAVE = {TM (1) + TM (2) +
.. TM (N)} / N This added average value TMAVE is given to the torque compensation calculation device 16. In the torque compensation calculation device 16, the torque conversion amount corresponding to the addition average value of the torque amount data obtained by the addition average value device 23 is converted by the load change rate calculation device 20 at the time of the previous running and the current running load conversion. The calculation is performed based on the rate and the previous traveling direction detected by the traveling direction detection device 21. The torque compensator 17 adds the torque compensation amount calculated by the torque compensation calculator 16 to the torque command value from the speed controller 13.

As described above, in the elevator controller according to the third embodiment, the N torque amount data are averaged. Therefore, in addition to the function and effect of the first embodiment, the data detection is performed. The influence of the error can be removed to improve the torque compensation accuracy.

(Fourth Embodiment) Next, a fourth embodiment of the present invention will be described.

FIG. 5 is a block diagram showing the configuration of an elevator controller as a fourth embodiment of the present invention. Note that, in FIG. 5, portions common to FIG. 1 (first embodiment) are denoted by the same reference numerals.

The elevator control system in the fourth embodiment is a combination of the second embodiment (car position detection) and the third embodiment (torque amount data averaging), and the car position A detection device 22 and an arithmetic mean value device 23 are provided. The car position detecting device 22 detects the position of the car 4 at the time of stop, and the averaging device 23 calculates a predetermined number of data from the torque amount data before the motor stop held in the data detecting device 15. Is extracted and the arithmetic mean of these is calculated.

In such a configuration, the car position detecting device 22 detects the position when the car 4 is stopped, and the arithmetic mean value device 23 detects a plurality of torque amount data before the motor is stopped. The arithmetic mean value of is calculated. By giving the arithmetic mean value of the car position and the torque amount data to the torque compensation calculation device 16 together with the load change rate of the load change rate calculation device 20 and the previous traveling direction of the traveling direction detection device 21, the residual residue on the rope 3 remains. The calculation of the gain converted to the tension is performed, and the calculation result is added as the torque compensation amount at the next start.

As described above, in the elevator controller according to the fourth embodiment, the N torque amount data are averaged. Therefore, in addition to the function and effect of the first embodiment, the torque amount Compared to the case where the torque compensation amount is obtained from only one data, the influence of the data detection error can be removed to improve the torque compensation accuracy,
Since the position of the car 4 is added to the calculation of the torque compensation amount, more accurate torque compensation can be performed.

(Fifth Embodiment) Next, a fifth embodiment of the present invention will be described.

FIG. 6 is a block diagram showing the configuration of an elevator control device as a fifth embodiment of the present invention. Note that, in FIG. 6, portions common to FIG. 1 (first embodiment) are denoted by the same reference numerals.

This apparatus, like the first embodiment,
A speed command device 11 for setting a speed command value for the car 4 in response to a start command for the car 4, a speed detection device 12 for detecting the actual speed of the car 4 from the number of revolutions of the motor 1, and a car 4 for the car 4. A speed control device 13 that obtains and outputs a torque command value corresponding to the deviation between the speed command value and the actual speed, and a load compensation that calculates a load compensation amount according to the loading load of the car 4 and adds it to the torque command value. A device 14 is provided.

Further, the present apparatus detects the amount of torque before the motor 1 is stopped as a residual tension and holds it, the data detecting device 15, the torque compensation calculating device 16 for calculating the torque compensation amount, A load change rate calculation device 20 for obtaining a change rate between the load and the load at the time of traveling this time, a traveling direction detection device 21 for detecting the previous traveling direction (up direction / down direction) of the car 4, and a torque compensation calculation device. A torque compensation device 17 for adding the torque compensation amount calculated in 16 to the torque command value is provided.

Further, in this device, the final torque command value finally obtained by the load compensating device 14 and the torque compensating device 17 and the motor 1 detected by the current detector 19 are detected.
The current controller 18 controls the amount of current supplied to the motor 1 on the basis of the current value and the drive control of the motor 1.

Here, the feature of the fifth embodiment is that a data table device 24 is added to the configuration of the first embodiment. As shown in FIG. 7, the data table device 24 stores in advance a torque compensation amount corresponding to the torque amount data at each car position in a table format. The torque compensation calculation device 16 refers to the data table device 24 to extract a torque compensation amount corresponding to the amount of torque of the car 4 before landing, and uses the torque compensation amount as the load change rate of the load change rate calculation device 20. The correction is performed based on the rate and the previous traveling direction of the traveling direction detection device 21. The torque compensation device 17 adds the torque compensation amount obtained by the torque compensation calculation device 16 to the torque command value from the speed control device 13.

As described above, in the elevator control device according to the fifth embodiment, in addition to the effects of the first embodiment, the torque compensation amount corresponding to the torque amount before the motor is stopped is extracted from the data table device 24. Therefore, it is possible to reduce the load of the calculation processing of the torque compensation amount, and to correct the torque compensation amount extracted from the data table device 24 based on the load change rate of the car and the traveling direction. Therefore, highly accurate torque compensation can be performed.

(Sixth Embodiment) Next, a sixth embodiment of the present invention will be described.

FIG. 8 is a block diagram showing the configuration of an elevator controller as a sixth embodiment of the present invention. Note that, in FIG. 8, portions common to FIG. 1 (first embodiment) are denoted by the same reference numerals.

In the sixth embodiment, the second embodiment (car position detection) and the fifth embodiment (data table) are combined, and the car position detecting device 22 and the data table are combined. A device 24 is provided. The car position detecting device 22 detects the position of the car 4 at the time of stop, and the data table device 24 stores in advance a torque compensation amount corresponding to the torque amount at each car position in a table format.

In such a configuration, the torque compensation computing device 16 refers to the data table device 24 and the torque amount of the car 4 before landing and the car position detecting device 22.
The torque compensation amount corresponding to the position of the car 4 detected in step S4 is extracted, and the torque compensation amount is calculated as the load change rate calculation device 2
Correction is performed based on the load change rate of 0 and the previous traveling direction of the traveling direction detection device 21. The torque compensation device 17 adds the torque compensation amount obtained by the torque compensation calculation device 16 to the torque command value from the speed control device 13.

As described above, in the elevator controller according to the sixth embodiment, the torque amount before the motor is stopped and the torque compensation amount corresponding to the position of the car 4 at that time can be extracted from the data table device 24. Therefore, the load of the calculation processing of the torque compensation amount can be reduced, and the torque compensation amount extracted from the data table device 24 can be corrected based on the load change rate of the car and the traveling direction to improve the accuracy. High torque compensation can be performed.
Furthermore, in the sixth embodiment, since the position of the car 4 is added to the torque compensation amount, there is an advantage that more accurate torque compensation can be performed.

(Seventh Embodiment) Next, a seventh embodiment of the present invention will be described.

FIG. 9 is a block diagram showing the configuration of an elevator controller as a seventh embodiment of the present invention. Note that, in FIG. 9, portions common to FIG. 1 (first embodiment) are denoted by the same reference numerals.

This apparatus, like the first embodiment,
A speed command device 11 for setting a speed command value for the car 4 in response to a start command for the car 4, a speed detection device 12 for detecting the actual speed of the car 4 from the number of revolutions of the motor 1, and a car 4 for the car 4. A speed control device 13 that obtains and outputs a torque command value corresponding to the deviation between the speed command value and the actual speed, and a load compensation that calculates a load compensation amount according to the loading load of the car 4 and adds it to the torque command value. A device 14 is provided.

Further, the present apparatus includes a data detection device 15 for detecting and holding the torque amount before the motor 1 is stopped as a residual tension amount, a torque compensation calculation device 16 for calculating the torque compensation amount, and a torque compensation calculation device 16 for the previous running. A load change rate calculation device 20 for obtaining a change rate between the load and the load at the time of traveling this time, a traveling direction detection device 21 for detecting the previous traveling direction (up direction / down direction) of the car 4, and a torque compensation calculation device. A torque compensation device 17 for adding the torque compensation amount calculated in 16 to the torque command value is provided.

Further, in this device, the final torque command value finally obtained by the load compensating device 14 and the torque compensating device 17 and the motor 1 detected by the current detector 19 are detected.
The current controller 18 controls the amount of current supplied to the motor 1 on the basis of the current value and the drive control of the motor 1.

Here, the feature of the seventh embodiment is that the limit device 30 for the torque compensation amount, the torque compensation abnormality detection device 31, and the torque compensation limit setting device 32 are added to the configuration of the first embodiment. is there. Limit device 3
0 compares the torque compensation amount output from the torque compensation device 17 with the limit value of the torque compensation amount set by the torque compensation limit setting device 32, and if the limit value is exceeded, a torque command from the speed control device 13 is issued. Then, the limit value is added as the torque compensation amount. Further, the torque compensation abnormality detection device 31 determines that there is torque compensation abnormality when the torque compensation value output from the torque compensation device 17 exceeds the limit value, and outputs an abnormality detection signal to that effect. As a protection operation against the output of this abnormality detection signal, it is possible to take measures to inform the elevator administrator that a torque compensation abnormality has occurred, for example, by lighting a lamp, generating a buzzer, or displaying a message. The torque compensation limit setting device 32 sets a limit value required for protection detection of the torque compensation amount.

According to such a configuration, the torque compensation limit value setting device 32 sets the limit value (upper limit value and lower limit value) of the torque compensation amount necessary for protection detection, so that the limit device 30 operates. Torque compensation is performed within the set limit value range, that is, within the allowable range.
Therefore, for example, when the torque compensation amount output from the torque compensator 17 is abnormally large or abnormally small, the torque compensation suppressed to the limit value can prevent abnormal operation of the car 4 and ensure passenger safety. can do.

Further, when such a torque repair abnormality occurs, the torque compensation abnormality detection device 31 notifies the elevator manager of that fact, so that it is possible to promptly deal with it.

The limit device 30, the torque compensation abnormality detection device 31, and the torque compensation limit setting device 32 adopted in the seventh embodiment are different from the elevator control devices in the second to sixth embodiments described above. Can also be applied. FIG. 10 shows an eighth embodiment of the configuration when the limit device 30, the torque compensation abnormality detection device 31, and the torque compensation limit setting device 32 are applied to the second embodiment (FIG. 2). Similarly, the configuration when applied to the third embodiment (FIG. 3) is shown in FIG. 11 as the ninth embodiment, and the configuration when applied to the fourth embodiment (FIG. 5) is the tenth embodiment. FIG. 12 shows the configuration, and the configuration when applied to the fifth embodiment (FIG. 6) is shown in FIG. 13 as the eleventh embodiment and the configuration when applied to the sixth embodiment (FIG. 8). FIG. 14 shows a twelfth embodiment. As described above, even when applied to the elevator control device of each of the above-described embodiments, the torque compensation abnormality can be prevented and the elevator can travel safely as in the above.

In short, the present invention is not limited to each of the above-mentioned embodiments, and can be variously modified at the stage of implementation without departing from the spirit of the invention. Further, the above embodiments include inventions at various stages, and various inventions can be extracted by appropriately combining a plurality of disclosed constituent elements. For example, even if some components are deleted from all the components shown in each embodiment,
When the effects described in “Problems to be solved by the invention” can be solved and the effects described in the “Effects of the invention” can be obtained, a structure in which this constituent element is deleted is extracted as an invention. obtain.

[0096]

As described above, according to the present invention, the suspension of the car caused by the residual tension of the rope is prevented by performing the torque compensation in consideration of the load change of the car and the previous traveling direction. It enables smooth running.
In this case, if the car position is taken into consideration in addition to the load change of the car and the previous traveling direction, more accurate torque compensation can be performed, and the hanging of the car can be reliably prevented.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an elevator control device as a first embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of an elevator control device as a second embodiment of the present invention.

FIG. 3 is a block diagram showing a configuration of an elevator control device as a third embodiment of the present invention.

FIG. 4 is a torque waveform diagram for explaining the operation of the averaging device used in the third embodiment.

FIG. 5 is a block diagram showing a configuration of an elevator control device as a fourth embodiment of the present invention.

FIG. 6 is a block diagram showing a configuration of an elevator control device as a fifth embodiment of the present invention.

FIG. 7 is a table configuration diagram for explaining the operation of a data table device used in the fifth embodiment.

FIG. 8 is a block diagram showing a configuration of an elevator control device as a sixth embodiment of the present invention.

FIG. 9 is a block diagram showing a configuration of an elevator control device as a seventh embodiment of the present invention.

FIG. 10 is a block diagram showing a configuration of an elevator control device as an eighth embodiment of the present invention.

FIG. 11 is a block diagram showing a configuration of an elevator control device as a ninth embodiment of the present invention.

FIG. 12 is a block diagram showing a configuration of an elevator control device as a tenth embodiment of the present invention.

FIG. 13 is a block diagram showing a configuration of an elevator control device as an eleventh embodiment of the present invention.

FIG. 14 is a block diagram showing a configuration of an elevator control device as a twelfth embodiment of the present invention.

FIG. 15 is a block diagram showing a configuration of a conventional elevator control device.

FIG. 16 is a diagram for explaining a moving mechanism of a car installed in a hoistway of an elevator.

[Explanation of symbols]

1 ... Motor 2 ... sieve 3 ... rope 4 ... Car basket 5 ... Counterweight 11 ... Speed command device 12 ... Speed detection device 13 ... Speed control device 14 ... Load compensator 15 ... Data detection device 16 ... Torque compensation calculation device 17 ... Torque compensation device 18 ... Current control device 19 ... Current detector 20 ... Load change rate calculation device 21 ... Running direction detection device 22 ... Car position detector 23 ... Additional average value device 24 ... Data table device 30 ... Limit device 31 ... Torque compensation abnormality detection device 32 ... Torque compensation limit setting device

Claims (10)

[Claims] 1. A control device for an elevator that raises and lowers a car via a rope wound around a sheave driven by a motor, wherein the amount of torque before the motor is stopped when the car is landing is set to the rope amount. Control of the motor by controlling the drive of the motor by compensating for the torque amount based on the change rate of the loading load of the car and the previous traveling direction at the time of restarting. apparatus. 2. A control device for an elevator that raises and lowers a car through a rope wound around a sheave driven by a motor, wherein the amount of torque before the motor is stopped when the car is landing is set to the rope amount. It is detected as the residual tension of the car, and the motor is driven by compensating the torque amount based on the change rate of the loading load of the car at the time of restart, the previous traveling direction and the position of the car at the time of landing. An elevator control device characterized by controlling. 3. An elevator control device for raising and lowering a car through a rope wound around a sheave driven by a motor, wherein a deviation between a specified speed command value of the car and an actual speed is specified. A speed control means for outputting a torque command value based on the above; a load compensating means for calculating a load compensation amount corresponding to the loading load of the car and adding it to the torque command value; and the motor for landing the car. Torque amount detection means for detecting the amount of torque before stopping as the residual tension of the rope, and load change rate calculation means for calculating the change rate of the loaded load of the car during the previous run and the current run, The driving direction detecting means for detecting the previous traveling direction of the car and the torque compensation amount corresponding to the torque amount detected by the torque amount detecting means are used for the load change rate. The torque compensation calculation means for calculating the load change rate obtained by the calculation means and the previous traveling direction detected by the traveling direction detection means, and the torque compensation amount obtained by the torque compensation calculation means for the torque command value. Based on the final torque command value finally obtained by adding the load compensation amount to the torque command value by the load compensating device, and adding the torque compensation amount by the torque compensating device. And a drive control means for controlling the drive of the motor. 4. A control device for an elevator, which raises and lowers a car via a rope wound around a sheave driven by a motor, wherein a deviation between a speed command value of the car specified in advance and an actual speed is determined. A speed control means for outputting a torque command value based on the above; a load compensating means for calculating a load compensation amount corresponding to the loading load of the car and adding it to the torque command value; and the motor for landing the car. Torque amount detection means for detecting the amount of torque before stopping as the residual tension of the rope, and load change rate calculation means for calculating the change rate of the loading load of the car during the previous run and the current run, By the traveling direction detecting means for detecting the previous traveling direction of the car, the car position detecting means for detecting the position of the car at the time of landing, and the torque amount detecting means. A torque compensation amount corresponding to the output torque amount is obtained by the load change rate calculating means, a load change rate detected by the traveling direction detecting means, a previous traveling direction detected by the traveling direction detecting means, and a car position detected by the car position detecting means. Based on the torque compensation calculation means, the torque compensation means for adding the torque compensation amount obtained by the torque compensation calculation means to the torque command value, and the load compensation means for compensating the load with respect to the torque command value. And a drive control means for controlling the drive of the motor based on the final torque command value finally obtained by adding the torque compensation amount by the torque compensating means. Control device. 5. An elevator control device for elevating and lowering a car through a rope wound around a sheave driven by a motor, wherein a deviation between a predetermined speed command value of the car and an actual speed is specified. A speed control means for outputting a torque command value based on the above; a load compensating means for calculating a load compensation amount corresponding to the loading load of the car and adding it to the torque command value; and the motor for landing the car. Torque amount detecting means for detecting the amount of torque before the motor stops as the amount of residual tension of the rope, and an arithmetic mean for obtaining an arithmetic mean value of a predetermined number of torque amounts before the motor is stopped detected by the torque amount detecting means. Means, load change rate calculation means for calculating the change rate of the load during the previous running of the car and the current running of the car, and detecting the previous running direction of the car. The traveling direction detecting means and the torque compensation amount corresponding to the arithmetic mean value of the torque amounts obtained by the arithmetic mean means, the load change rate obtained by the load change rate calculating means, and the previous time detected by the traveling direction detecting means. Torque compensation calculation means for calculating the torque compensation amount obtained by the torque compensation calculation means, and torque compensation means for adding the torque compensation value to the torque command value. Load compensation amount is added by the torque compensation means, and the torque compensation amount is added by the torque compensation means, and drive control means for controlling the drive of the motor based on a final torque command value finally obtained is provided. Elevator control device. 6. An elevator control device for raising and lowering a car through a rope wound around a sheave driven by a motor, wherein a deviation between a predetermined speed command value of the car and an actual speed is determined. A speed control means for outputting a torque command value based on the above; a load compensating means for calculating a load compensation amount corresponding to the loading load of the car and adding it to the torque command value; and the motor for landing the car. Torque amount detecting means for detecting the amount of torque before the motor stops as the amount of residual tension of the rope, and an arithmetic mean for obtaining an arithmetic mean value of a predetermined number of torque amounts before the motor is stopped detected by the torque amount detecting means. Means, load change rate calculation means for calculating the change rate of the load during the previous running of the car and the current running of the car, and detecting the previous running direction of the car. The load change rate calculation unit calculates the traveling direction detection unit, the car position detection unit that detects the position of the car when landing, and the torque compensation amount corresponding to the arithmetic mean value of the torque amounts calculated by the arithmetic mean unit. Means for calculating the load change rate obtained by the means, the previous traveling direction detected by the traveling direction detecting means, and the car position detected by the car position detecting means, and the torque compensation calculating means. The torque compensation means adds the obtained torque compensation amount to the torque command value, the load compensation amount is added to the torque command value by the load compensation means, and the torque compensation amount is added by the torque compensation means. Drive control means for controlling the drive of the motor based on the final torque command value finally obtained. Elevator control device. 7. An elevator control device for raising and lowering a car through a rope wound around a sheave driven by a motor, wherein a deviation between a predetermined speed command value of the car and an actual speed is determined. A speed control means for outputting a torque command value based on the above; a load compensating means for calculating a load compensation amount corresponding to the loading load of the car and adding it to the torque command value; and the motor for landing the car. Torque amount detecting means for detecting the amount of torque before stopping as the residual tension of the rope, table means in which the torque compensation amount corresponding to the torque amount at each position of the car is defined in advance, A load change rate calculation means for calculating a change rate of the load load of the car during the previous run and a current run, and a running direction detection means for detecting the previous run direction of the car. A torque compensation amount corresponding to the torque amount detected by the torque amount detecting means is extracted from the table means, and the torque compensation amount is detected by the load change rate obtained by the load change rate calculating means and the traveling direction detecting means. The torque compensation calculation means for correcting based on the previous traveling direction, the torque compensation means for adding the torque compensation amount obtained by the torque compensation calculation means to the torque command value, and the torque command value for the torque command value. And a drive control means for controlling the drive of the motor based on a final torque command value obtained by adding the load compensation amount by the load compensating means and adding the torque compensation amount by the torque compensating means. Elevator control device. 8. An elevator control device for raising and lowering a car via a rope wound around a sheave driven by a motor, wherein a deviation between a predetermined speed command value of the car and an actual speed is determined. A speed control means for outputting a torque command value based on the above; a load compensating means for calculating a load compensation amount corresponding to the loading load of the car and adding it to the torque command value; and the motor for landing the car. Amount detecting means for detecting the amount of torque before the stop of the rope as the residual tension of the rope, table means in which the amount of torque compensation corresponding to the amount of torque at each position of the car is specified in advance, A load change rate calculation means for calculating a change rate of the load load of the car during the previous run and a current run, and a running direction detection means for detecting the previous run direction of the car. The car position detecting means for detecting the position of the car at the time of landing, the torque amount detected by the torque amount detecting means and the torque compensation amount corresponding to the car position detected by the car position detecting means are stored in the table. Extracted from the means,
The torque compensation amount is obtained by the torque compensation calculation means for correcting the torque compensation amount based on the load change rate obtained by the load change rate calculation means and the previous traveling direction detected by the traveling direction detection means. And a torque compensating means for adding the torque compensating amount to the torque command value, a load compensating amount is added to the torque command value by the load compensating means, and a torque compensating amount is added by the torque compensating means. And a drive control means for controlling the drive of the motor based on the final torque command value obtained in (1). 9. A limit means for adding the limit value to the torque command value when the torque compensation amount obtained by the torque compensation calculation means exceeds a preset limit value. 9. The elevator control device according to any one of Items 3 to 8. 10. A limit means for adding the limit value to the torque command value when the torque compensation amount obtained by the torque compensation calculation means exceeds a preset limit value, and the torque command by the limit means. 9. The elevator control according to claim 3, further comprising: a torque compensation abnormality detecting unit that outputs a signal indicating abnormality of torque compensation to the outside when the limit value is added to the value. apparatus.