Description Title of Invention: ELEVATOR CONTROL APPARATUS AND METHOD FOR ESTIMATING EXPANSION/CONTRACTION AMOUNT OF GOVERNOR ROPE
Technical Field
[0001] The present invention relates to an elevator control apparatus and a method of estimating a governor rope expansion and contraction amount, for estimating an error of a governor encoder caused by expansion or contraction of a governor rope when the governor encoder is used to detect a position of a car.
Background Art
[0002] For example, in Patent Literature 1, a related-art elevator is disclosed. The related-art elevator includes two governor speed detectors, and the position of a car is grasped based on detection values of those two governor speed detectors. Thus, it is possible to grasp the position of the car accurately even when a governor rope expands or contracts in an elevator with a long hoistway.
Citation List
Patent Literature
[0003] [PTL1]JP 2006-176215 A
Summary of Invention
Technical Problem
[0004] However, the related art has the following problem.

The elevator disclosed in Patent Literature 1 requires two governor speed detectors. Therefore, an additional governor speed detector is required to take expansion and contraction of a governor rope into consideration in a normal elevator.
[0005] The present invention has been made to solve the above-mentioned problem, and an object thereof is to provide an elevator control apparatus and a method of estimating a governor rope expansion and contraction amount, which are capable of estimating an error of a governor encoder caused by expansion or contraction of the governor rope without incorporating an additional governor speed detector.
Solution to Problem
[0006] According to one embodiment of the present invention, there is provided an elevator control apparatus including a current position calculator configured to calculate a current position of a car based on a counter value of a governor encoder, which is output in accordance with rotation of a governor around which a governor rope connected to the car is wound, the current position calculator being configured to: calculate a movement amount of the car based on the counter value of the governor encoder, the movement amount being calculated for a period of time from when the car starts to move from a state in which a landing plate detector installed in the car of the elevator detects one of landing plates installed at respective floor positions of a building and the car is stationary until the landing plate detector ceases to detect the one of landing plates; and estimate a governor rope expansion and contraction amount of a floor from which the car starts to move by estimating a counter error of the

governor encoder caused by expansion or contraction of the governor rope by comparing the calculated movement amount with an actual length of the one of landing plates.
[0007] Further, according to one embodiment of the present invention, there is provided a method of estimating a governor rope expansion and contraction amount, which is executed by a current position calculator included in an elevator control apparatus, the current position calculator being configured to calculate a current position of a car based on a counter value of a governor encoder, which is output in accordance with rotation of a governor around which a governor rope connected to the car is wound, the method including: a movement amount calculation step of calculating a movement amount of the car based on the counter value of the governor encoder, the movement amount being calculated for a period of time from when the car starts to move from a state in which a landing plate detector installed in the car of the elevator detects one of landing plates installed at respective floor positions of a building and the car is stationary until the landing plate detector ceases to detect the one of landing plates; and an estimation step of estimating a governor rope expansion and contraction amount of a floor from which the car starts to move by estimating a counter error of the governor encoder caused by expansion or contraction of the governor rope by comparing the movement amount calculated in the movement amount calculation step with an actual length of the one of landing plates.
Advantageous Effects of Invention
[0008] According to the present invention, the configuration allows estimation

of the error of the governor encoder caused by expansion or contraction of the governor rope in consideration of the length of the landing plate detected by the landing plate detector. As a result, it is possible to provide the elevator control apparatus and the method of estimating a governor rope expansion and contraction amount, which are capable of estimating the error of the governor encoder caused by expansion or contraction of the governor rope without incorporating an additional governor speed detector.
Brief Description of Drawings
[0009] FIG. 1 is a configuration diagram of an elevator to which an elevator
control apparatus according to a first embodiment of the present invention is
applied.
FIG. 2 is a configuration diagram of a current position calculator installed in the elevator control apparatus according to the first embodiment of the present invention.
FIG. 3 is a configuration diagram of a governor rope expansion and contraction amount estimator installed in the elevator control apparatus according to the first embodiment of the present invention.
FIG. 4 is a configuration diagram of a car position calculator installed in the elevator control apparatus according to the first embodiment of the present invention.
FIG. 5 is a graph for showing an expansion and contraction amount of a governor rope estimated by the elevator control apparatus according to the first embodiment of the present invention.
FIG. 6 is a configuration diagram of an elevator to which an elevator

control apparatus according to a second embodiment of the present invention is applied.
FIG. 7 is a configuration diagram of the current position calculator installed in the elevator control apparatus according to the second embodiment of the present invention.
FIG. 8 is a flowchart for illustrating a series of adjustment processing to be executed by an adjustment calculator for output of the governor rope expansion and contraction amount estimator in the second embodiment of the present invention.
FIG. 9 is a configuration diagram of an elevator to which an elevator control apparatus according to a third embodiment of the present invention is applied.
FIG. 10 is a configuration diagram of the current position calculator installed in the elevator control apparatus according to the third embodiment of the present invention.
FIG. 11 is a flowchart for illustrating a series of adjustment processing to be executed by the adjustment calculator for output of the governor rope expansion and contraction amount estimator in the third embodiment of the present invention.
FIG. 12 is a configuration diagram of an elevator to which an elevator control apparatus according to a fourth embodiment of the present invention is applied.
FIG. 13 is an example of time-series information on a governor rope expansion and contraction amount during a period in which the elevator control apparatus according to the fourth embodiment of the present invention is

landing.
FIG. 14 is a configuration diagram of an elevator to which an elevator control apparatus according to a fifth embodiment of the present invention is applied.
FIG. 15 is a configuration diagram of an elevator to which an elevator control apparatus according to a sixth embodiment of the present invention is applied.
Description of Embodiments
[0010] Now, with reference to the drawings, an elevator control apparatus
according to exemplary embodiments of the present invention is described. In
the drawings, the same or corresponding components are denoted by the same
reference symbols. A redundant description thereof is appropriately simplified
or omitted.
[0011] First Embodiment
FIG. 1 is a configuration diagram of an elevator to which an elevator control apparatus according to a first embodiment of the present invention is applied. In FIG. 1, a hoistway 1 is formed through floors of a building (now shown). A motor 2 is installed on an upper side of the hoistway 1. A sheave 3 is installed on an upper side of the hoistway 1, and is fixed to a rotary shaft of the motor 2. A main rope 4 is wound around the sheave 3. [0012] A car 5 is installed inside the hoistway 1, and is suspended at one end of the main rope 4. Meanwhile, a balance weight 6 is set inside the hoistway 1, and is suspended at the other end of the main rope 4. [0013] A governor 7 is installed on an upper side of the hoistway 1. A

governor rope 8 is wound around the governor 7, and is connected to the car 5. [0014] A plurality of door zone plates 9 are installed as first landing plates at positions corresponding to door zones of respective floors inside the hoistway 1. A plurality of re-level zone plates 10 are installed as second landing plates at positions corresponding to re-level zones of respective floors inside the hoistway 1. The length of the re-level zone plate 10 in a vertical direction is shorter than the length of the door zone plate 9 in the vertical direction. [0015] A weight detection apparatus 11 is installed in the car 5 so as to be capable of detecting a weight value of a load inside the car 5. A door zone plate detector 12 is installed in the car 5 as a first landing plate detector. The door zone plate detector 12 is configured to detect the door zone plate 9 when the door zone plate detector 12 is placed at the same height as the door zone plate 9, and transmit a door zone signal when detecting the door zone plate 9. [0016] A re-level zone plate detector 13 is installed in the car 5 as a second landing plate detector. The re-level zone plate detector 13 is configured to detect the re-level zone plate 10 when the re-level zone plate detector 13 is placed at the same height as the re-level zone plate 10, and transmit a re-level zone signal when detecting the re-level zone plate 10.
[0017] A motor speed detector 14 is connected to the motor 2, and is installed so as to transmit a motor encoder counter signal in accordance with the number of revolutions of the motor 2. A governor speed detector 15 is connected to the governor 7, and is installed so as to transmit a governor encoder counter signal in accordance with the number of revolutions of the governor 7. [0018] A control apparatus 16 includes a drive circuit 17, a speed controller 18, and a main control unit 19. The main control unit 19 includes an operation

command calculator 20, a current position calculator 21, and a speed command
calculator 22.
[0019] The operation command calculator 20 is configured to calculate an
operation command for an elevator, and transmit the calculated operation
command.
[0020] The current position calculator 21 is configured to receive the governor
encoder counter signal from the governor speed detector 15. Further, the
current position calculator 21 is configured to receive the door zone signal from
the door zone plate detector 12. Further, the current position calculator 21 is
configured to receive the re-level zone signal from the re-level zone plate
detector 13.
[0021] Then, the current position calculator 21 calculates the current position of
the car 5 based on the governor encoder counter signal, the door zone signal, the
re-level zone signal, start floor information, destination floor information, an
acceleration/deceleration pattern, and a start/stop signal.
[0022] The speed command calculator 22 is configured to receive the motor
encoder counter signal from the motor speed detector 14. Further, the speed
command calculator 22 is configured to receive the door zone signal from the
door zone plate detector 12. Further, the speed command calculator 22 is
configured to receive the re-level zone signal from the re-level zone plate
detector 13. Further, the speed command calculator 22 is configured to receive
the operation command from the operation command calculator 20. Further,
the speed command calculator 22 is configured to receive a signal relating to the
current position of the car 5 from the current position calculator 21.
[0023] Then, the speed command calculator 22 calculates a speed command

value based on the governor encoder counter signal, the door zone signal, the re-level zone signal, the operation command, and the signal relating to the current position of the car 5. Further, the speed command calculator 22 transmits the start floor information, the destination floor information, the acceleration/deceleration pattern, and the start/stop signal to the current position calculator 21. Further, the speed command calculator 22 transmits the speed command value to the speed controller 18.
[0024] The speed controller 18 is configured to drive the drive circuit 17 based on the speed command value. The drive circuit 17 is configured to drive the motor 2 based on the speed command value. The sheave 3 rotates in synchronization with drive of the motor 2. The main rope 4 moves in synchronization with rotation of the sheave 3. The car 5 and the balance weight 6 ascend/descend at a desired speed in synchronization with movement of the main rope 4 along a guide rail (not shown).
[0025] Next, a description is given in detail of the function of the current position calculator 21 with reference to FIG. 2. FIG. 2 is a configuration diagram of the current position calculator 21 installed in the elevator control apparatus according to the first embodiment of the present invention. The current position calculator 21 includes a governor rope expansion and contraction amount estimator 23, a governor rope expansion and contraction amount memory 24, and a car position calculator 25.
[0026] The governor rope expansion and contraction amount estimator 23 is configured to estimate an expansion and contraction amount of the governor rope 8 with respect to the floor at which the car 5 is started based on the governor encoder counter signal, the door zone signal, the re-level zone signal,

and the start/stop signal. The expansion and contraction amount of the governor rope 8 corresponds to an error of the governor encoder caused by expansion or contraction of the governor rope 8, namely, an error of the position of the car 5.
[0027] The governor rope expansion and contraction amount memory 24 of the first embodiment has a memory function and a processing function. Instead, the governor rope expansion and contraction amount memory 24 may be configured to have only the memory function and a peripheral device may read/write data from/to the governor rope expansion and contraction amount memory 24.
[0028] Then, the governor rope expansion and contraction amount memory 24 stores an estimation value of the expansion and contraction amount of the governor rope 8 estimated by the governor rope expansion and contraction amount estimator 23 as the expansion and contraction amount of the governor rope 8 at each floor in association with the start floor information. [0029] Regarding a floor for which the expansion and contraction amount of the governor rope 8 is not estimated, the governor rope expansion and contraction amount memory 24 stores information on the expansion and contraction amount of the governor rope 8, which is estimated through interpolation based on information on a plurality of floors for which the expansion and contraction amount of the governor rope 8 is estimated, in association with the information on the floor.
[0030] The governor rope expansion and contraction amount memory 24 is configured to update the information on the expansion and contraction amount of the governor rope 8 associated with the floor and store the information every

time the governor rope expansion and contraction amount estimator 23 estimates the expansion and contraction amount of the governor rope 8. [0031] Then, the governor rope expansion and contraction amount memory 24 transmits information on the expansion and contraction amount of the governor rope 8 associated with the floor corresponding to the destination floor information on the car 5. Further, the governor rope expansion and contraction amount memory 24 associates the estimation value of the expansion and contraction amount of the governor rope 8 estimated by the governor rope expansion and contraction amount estimator 23 with the information on the floor in response to a command from the outside, and transmits those pieces of associated information.
[0032] The car position calculator 25 is configured to calculate the current position of the car 5 based on the governor encoder counter signal, the door zone signal, the re-level zone signal, the acceleration/deceleration pattern, and the estimation value of the expansion and contraction amount of the governor rope 8 associated with the floor corresponding to the destination floor information on the car 5.
[0033] Next, a description is given in detail of the function of the governor rope expansion and contraction amount estimator 23 with reference to FIG. 3. FIG. 3 is a configuration diagram of the governor rope expansion and contraction amount estimator 23 installed in the elevator control apparatus according to the first embodiment of the present invention.
[0034] The governor rope expansion and contraction amount estimator 23 includes a door zone plate length storage 26, a re-level zone plate length storage 27, a first storage 28, a second storage 29, a third storage 30, and a selector 31.

[0035] The door zone plate length storage 26 is configured to store information on the length of the door zone plate 9, which is a fixed design value. Meanwhile, the re-level zone plate length storage 27 is configured to store information on the length of the re-level zone plate 10, which is a fixed design value.
[0036] The first storage 28 is configured to store, based on the start/stop signal, information on the value of the governor encoder counter signal at the time when the car 5 departs from an N-th floor (N is an integer). The second storage 29 is configured to store, based on the re-level zone signal, information on the value of the governor encoder counter signal of the N-th floor at the time when the car 5 departs from the N-th floor to leave the re-level zone of the N-th floor. The third storage 30 is configured to store, based on the door zone signal, information on the value of a governor encoder counter signal of the N-th floor at the time when the car 5 travels further to leave the door zone of the N-th floor. [0037] The selector 31 is configured to select one estimation value of the expansion and contraction amount of the governor rope 8 from among a plurality of estimation values obtained from pieces of information stored in the door zone plate length storage 26, the re-level zone plate length storage 27, the first storage 28, the second storage 29, and the third storage 30. Further, the selector 31 transmits the selected estimation value as the estimation value of the expansion and contraction amount of the governor rope 8 at the start floor. [0038] Values are defined by the following reference symbols for the description of the method of calculating the estimation value.
Zl: 1/2 of length of re-level zone plate 10
Z2: 1/2 of length of door zone plate 9

CI: value of governor encoder counter signal stored in first storage 28 C2: value of governor encoder counter signal stored in second storage 29 C3: value of governor encoder counter signal stored in third storage 30 [0039] For example, the selector 31 selects an estimation value A of the expansion and contraction amount of the governor rope 8 represented by Expression (1) given below.
Estimation value A(N)=Z1-(C2-C1) (1)
[0040] For example, the selector 31 selects an estimation value B of the expansion and contraction amount of the governor rope 8 represented by Expression (2) given below.
Estimation value B(N)=Z2-(C3-C1) (2)
[0041] For example, the selector 31 selects an estimation value C of the expansion and contraction amount of the governor rope 8 represented by Expression (3) given below.
[0042] Estimation value C(N)=(Z2-Z1)-(C3-C2) (3)
[0043] In order to eliminate an influence caused by a difference in stop position of the car when the estimation value A(N), the estimation value B(N), and the estimation value C(N) are calculated, it is conceivable to perform an operation of calculating those estimation values after the landing error of the car position is corrected to substantially 0.
[0044] Further, when the estimation value A(N), the estimation value B(N), and the estimation value C(N) are different from themselves by more than a certain allowable value between when the car 5 ascends and when the car 5 descends, it is conceivable to calculate those estimation values differently for when the car 5 ascends and when the car 5 descends, and to store those estimation values into

the first storage 28, the second storage 29, and the third storage 30 distinctively
for when the car 5 ascends and when the car 5 descends.
[0045] Next, a description is given in detail of the function of the car position
calculator 25 with reference to FIG. 4. FIG. 4 is a configuration diagram of the
car position calculator 25 installed in the elevator control apparatus according to
the first embodiment of the present invention.
[0046] The car position calculator 25 illustrated in FIG. 4 includes an integrator
32 and a governor rope expansion and contraction amount corrector 33.
Further, the governor rope expansion and contraction amount corrector 33
includes a correction value calculator 34 and a switch 35.
[0047] The integrator 32 is configured to integrate the value of the governor
encoder counter signal to calculate a temporary position of the car 5.
[0048] The governor rope expansion and contraction amount corrector 33 is
configured to correct the expansion and contraction amount of the governor rope
8 using the estimation value of the expansion and contraction amount of the
governor rope 8 corresponding to the destination floor, which is acquired from
the governor rope expansion and contraction amount memory 24, the door zone
signal of the destination floor, the re-level zone signal of the destination floor,
and a deceleration pattern signal.
[0049] Specifically, the correction value calculator 34 of the governor rope
expansion and contraction amount corrector 33 calculates a correction value for
the expansion and contraction amount of the governor rope 8 using, for example,
the estimation value of the expansion and contraction amount of the governor
rope 8 corresponding to the destination floor, a deceleration timing indicated by
the deceleration pattern signal, a timing indicated by the re-level zone signal of

the destination floor, and a timing indicated by the door zone signal of the destination floor.
[0050] Further, the switch 35 is switched to stop the correction value calculator 34 from transmitting a correction value for the expansion and contraction amount of the governor rope 8 when a deceleration pattern signal is not received. Meanwhile, the switch 35 is switched to allow the correction value calculator 34 to transmit a correction value for the expansion and contraction amount of the governor rope 8 when a deceleration pattern signal is received. [0051] At this time, the current position of the car 5 is calculated by subtracting the correction value for the expansion and contraction amount of the governor rope 8, which is acquired from the governor rope expansion and contraction amount corrector 33, from the value of the temporary position of the car 5, which is transmitted from the integrator 32.
[0052] Next, a description is given of the estimation value of the expansion and contraction amount of the governor rope 8 with reference to FIG. 5. FIG. 5 is a graph for showing the expansion and contraction amount of the governor rope estimated by the elevator control apparatus according to the first embodiment of the present invention. The horizontal axis of FIG. 5 represents a ratio (%) of a distance from the lowest floor to the full hoistway height of the car 5. Further, the vertical axis of FIG. 5 represents the estimation value (mm) of the expansion and contraction amount of the governor rope 8 stored in the governor rope expansion and contraction amount memory 24.
[0053] As shown in FIG. 5, as the ratio of the distance from the lowest floor to the full hoistway height of the car 5 is lower, the estimation amount of the expansion and contraction amount of the governor rope 8 stored in the governor

rope expansion and contraction amount memory 24 is larger. That is, as the car 5 approaches the lowest floor, the expansion and contraction amount of the governor rope 8 is larger.
[0054] As described above, the elevator control apparatus according to the first embodiment is configured to estimate the error of the governor encoder caused by expansion or contraction of the governor rope with respect to the floor on which the car 5 is stopped at the time of start of movement, in consideration of the length of the landing plate detected by the re-level zone plate detector or the door zone plate detector at the time of the start of movement. Therefore, it is possible to estimate the error of the governor encoder caused by expansion or contraction of the governor rope without incorporating an additional governor speed detector.
[0055] As a result, even when the governor rope 8 expands or contracts due to its string characteristic when the car of an elevator with a long hoistway, for example, that of a skyscraper, accelerates or decelerates, it is possible to grasp the position of the car 5 accurately.
[0056] Further, the elevator control apparatus according to the first embodiment is configured to correct the position of the car using the already calculated estimation value of the error of the governor encoder caused by expansion or contraction of the governor rope when the door zone plate detector changes from the state of not detecting the landing plate to the state of detecting the landing plate during deceleration of the car for stopping at the destination floor. Therefore, it is possible to grasp the position of the car accurately even when the car decelerates to land. As a result, it is possible to suppress the landing error of the car and vibration of the car at the time of landing, to thereby improve

comfortability of riding the car.
[0057] Further, the elevator control apparatus according to the first embodiment is configured to store the information on the error of the governor encoder caused by expansion or contraction of the governor rope and the information on the floor in association with each other. Therefore, it is possible to grasp the position of the car accurately in accordance with the position of each floor. [0058] Further, regarding a floor for which the error of the governor encoder caused by expansion or contraction of the governor rope is not estimated, the elevator control apparatus according to the first embodiment is configured to store the information on the error of the governor encoder caused by expansion or contraction of the governor rope, which is estimated through interpolation based on information on a plurality of floors for which the errors of the governor encoder caused by expansion or contraction of the governor rope are estimated, in association with the information on the floor. Therefore, it is possible to grasp the position of the car accurately even for the floor on which the car is going to land for the first time.
[0059] Further, the elevator control apparatus according to the first embodiment is configured to update the information on the error of the governor encoder caused by expansion or contraction of the governor rope corresponding to the floor and store the information every time the governor rope expansion and contraction amount estimator estimates the error of the governor encoder caused by expansion or contraction of the governor rope. Therefore, it is possible to cope with change over time of the expansion and contraction characteristic of the governor rope. [0060] Further, the elevator control apparatus according to the first embodiment

is configured to associate the information on the error of the governor encoder caused by expansion or contraction of the governor rope, which is estimated by the governor rope expansion and contraction amount estimator, with the information on the floor, and transmit those pieces of information to the outside. Therefore, it is possible to utilize the information on the error of the governor encoder caused by expansion or contraction of the governor rope effectively at the time of, for example, maintenance work of the elevator. [0061] Second Embodiment
In a second embodiment of the present invention, a description is given of a method of coping with a case in which a detection error is caused due to a dynamic characteristic of a governor mechanism, which is performed by the governor rope expansion and contraction amount estimator 23 in the current position calculator 21 of the elevator control apparatus according to the first embodiment.
[0062] FIG. 6 is a configuration diagram of an elevator to which an elevator control apparatus according to the second embodiment of the present invention is applied. The configuration of FIG. 6 in the second embodiment is the same as that of FIG. 1 in the first embodiment except for some additional or changed components. Thus, the same components are not described in detail, and the following description is primarily given of an adjustment calculator 50, which is newly added.
[0063] The adjustment calculator 50 is configured to receive an adjustment processing start signal from the operation command calculator 20 to detect the fact that an adjustment operation is to be performed. Further, the adjustment calculator 50 acquires landing error measurement information, which is based

on the actual position of the car at the destination floor after the adjustment operation is performed, through an operation of inputting the measurement result by maintenance personnel. Then, the adjustment calculator 50 performs calculation for adjusting output of the governor rope expansion and contraction amount estimator 23 based on the landing error measurement information, and transmits an amplification factor command signal to the current position calculator 21.
[0064] Next, a description is given in detail of the function of the current position calculator 21 according to the second embodiment with reference to FIG. 7. FIG. 7 is a configuration diagram of the current position calculator 21 installed in the elevator control apparatus according to the second embodiment of the present invention.
[0065] The current position calculator 21 has a basic configuration similar to that of the current position calculator 21 of the first embodiment illustrated in FIG. 2. Thus, the same components are not described in detail, and the following description is primarily given of an amplification factor corrector 40, which is newly added.
[0066] The amplification factor corrector 40 is inserted between the governor rope expansion and contraction amount estimator 23 and the governor rope expansion and contraction amount memory 24. The amplification factor corrector 40 is configured to receive a transmission signal from the governor rope expansion and contraction amount estimator 23 and a transmission signal from the adjustment calculator 50, and transmit a signal with a corrected amplification factor to the governor rope expansion and contraction amount memory 24.

[0067] The information output from the governor rope expansion and contraction amount estimator 23 contains start floor information and governor rope expansion and contraction amount estimation value information. The amplification factor corrector 40 does not process the start floor information among those two pieces of information, and processes only the governor rope expansion and contraction amount estimation value information based on the transmission information from the adjustment calculator 50. [0068] Specifically, the amplification factor corrector 40 multiplies the governor rope expansion and contraction amount estimation value information by the amplification factor of the amplification factor command signal acquired from the adjustment calculator 50, and transmits the multiplication result to the governor rope expansion and contraction amount memory 24. [0069] FIG. 8 is a flowchart for illustrating a series of adjustment processing to be executed by the adjustment calculator 50 for output of the governor rope expansion and contraction amount estimator 23 in the second embodiment of the present invention. The adjustment processing in the second embodiment is performed in accordance with the following procedure.
[0070] First, in Step S801, when the adjustment calculator 50 receives an adjustment processing start signal from the operation command calculator 20, the adjustment calculator 50 performs an initial setting by setting amplification factor information, which is an amplification factor command signal, to 1 before the adjustment operation is performed. Next, in Step S802, the adjustment calculator 50 acquires the landing error measurement information, which is input by maintenance personnel based on the measurement result, after the control apparatus 16 performs an operation of adjusting the elevator.

[0071] Specifically, the operation of adjusting the elevator described above is performed in the following manner. First, the control apparatus 16 sets a floor to be adjusted as the start floor and a predetermined floor as the destination floor, and moves the car 5. Then, the amplification factor corrector 40 acquires a governor rope expansion and contraction amount estimation value of the start floor, which is estimated by the governor rope expansion and contraction amount estimator 23, through the movement operation, and transmits the governor rope expansion and contraction amount estimation value to the governor rope expansion and contraction amount memory 24. [0072] Next, the control apparatus 16 sets the floor to be adjusted as the destination floor, performs a movement operation that is corrected using the estimation value, and causes the maintenance personnel to measure the landing error measurement information after the car 5 returns to the floor to be adjusted. This concludes the description of the adjustment operation. [0073] Next, in Step S803, the adjustment calculator 50 determines whether or not the acquired landing error measurement information falls within an evaluation reference range. Then, when the landing error measurement information falls within the evaluation reference range, the adjustment calculator 50 proceeds to Step S804 to hold the current amplification factor information, and finishes a series of processing.
[0074] On the contrary, when the landing error measurement information does not fall within the evaluation reference range, the adjustment calculator 50 proceeds to Step S805 to determine whether the landing error measurement information exceeds the evaluation reference range or the landing error measurement information falls below the evaluation reference range.

[0075] Then, when the adjustment calculator 50 determines that the landing error measurement information exceeds the evaluation reference range, the adjustment calculator 50 proceeds to Step S806 to increase the amplification factor from the current set value by an increase amount determined in advance, and then returns to Step S802.
[0076] On the contrary, when the adjustment calculator 50 determines that the landing error measurement information falls below the evaluation reference range, the adjustment calculator 50 proceeds to Step S807 to decrease the amplification factor from the current set value by a decrease amount determined in advance, and then returns to Step S802.
[0077] Then, when the adjustment calculator 50 returns to Step S802 via Step S806 or Step S807, the control apparatus 16 uses a new updated amplification factor to perform the operation of adjusting the elevator again. Then, the control apparatus 16 continues the series of processing until the landing error measurement information acquired after the adjustment operation falls within the evaluation reference range.
[0078] With the series of processing of FIG. 8, it is possible to correct the governor rope expansion and contraction amount estimation value estimated by the governor rope expansion and contraction amount estimator 23 configured to detect the governor rope expansion and contraction amount, and to obtain an appropriate amplification factor with its landing error falling within the evaluation reference range. As a result, it is possible to implement an elevator control apparatus that can reduce the detection error due to the dynamic characteristic of the governor mechanism. [0079] As described in the first embodiment with reference to FIG. 5, the

expansion and contraction amount of the governor rope 8 changes among floors. Thus, the correction value also needs to be changed depending on change in expansion and contraction amount of each floor.
[0080] A method of adding the landing error of each floor to the governor rope expansion and contraction amount estimation value as a correction value is also conceivable. However, the correction value changes for each floor, and thus this method requires a certain amount of time for adjustment because the correction value needs to be acquired in association with each floor. [0081] In contrast, the correction technique in the second embodiment of the present invention corrects the governor rope expansion and contraction amount estimation value using the amplification factor with the landing error being set as a parameter. Thus, one common amplification factor can be used to cope with change in correction value for each floor, which means that there is no need for adjustment at each floor.
[0082] As described above, according to the second embodiment, the elevator control apparatus is configured to calculate the amplification factor for correcting the governor rope expansion and contraction amount estimation value even when the detection error is caused due to the dynamic characteristic of the governor mechanism. As a result, it is possible to correct the detection error due to the dynamic characteristic, and adjust the landing error to an appropriate value that falls within the evaluation reference range. [0083] Third Embodiment
In the second embodiment, at the time of processing of adjusting the amplification factor, a predetermined increase amount is added to the landing error measurement information when the landing error measurement information

exceeds the evaluation reference range, whereas a predetermined decrease amount is subtracted from the landing error measurement information when the landing error measurement information falls below the evaluation reference range.
[0084] However, in such adjustment processing, when the predetermined increase amount and decrease amount are not appropriate values, there is a fear in that the landing error measurement information does not converge rapidly. For example, there is a problem in that, when the increase amount and the decrease amount are smaller than the appropriate values, the trial needs to be performed many times until the landing error converges to the evaluation reference range. On the other hand, when the increase amount and the decrease amount are larger than the appropriate values, there is a problem in that the landing error diverges without converging to the evaluation reference range. [0085] In view of the above, in a third embodiment of the present invention, a description is given of a method of performing the correction processing for the detection error of the governor rope expansion and contraction amount estimator 23 more rapidly and stably as compared to the correction processing of the second embodiment.
[0086] FIG. 9 is a configuration diagram of an elevator to which an elevator control apparatus according to the third embodiment of the present invention is applied. Further, FIG. 10 is a configuration diagram of the current position calculator 21 installed in the elevator control apparatus according to the third embodiment of the present invention. The configuration of FIG. 9 in the third embodiment is the same as that of FIG. 6 in the second embodiment except for some additional or changed components. Thus, the same components are not

described in detail, and the following description is primarily given of the correction processing, which is newly added.
[0087] As compared to the adjustment calculator 50 of the second embodiment, the adjustment calculator 50 of the third embodiment has a function of further receiving the governor rope expansion and contraction amount estimation value of the start floor from the current position calculator 21, calculating the amplification factor, and transmitting the amplification factor command signal to the current position calculator 21.
[0088] In description of the processing of adjusting the amplification factor performed by the adjustment calculator 50, the landing error measurement information is represented by a signal A and the governor rope expansion and contraction amount estimation value of the start floor is represented by a signal B in relation to two pieces of information received by the adjustment calculator 50.
[0089] FIG. 11 is a flowchart for illustrating a series of adjustment processing to be executed by the adjustment calculator 50 for output of the governor rope expansion and contraction amount estimator 23 in the third embodiment of the present invention. Step S801 to Step S804 of FIG. 11 are similar to those of FIG. 8 in the second embodiment. The adjustment processing in the third embodiment is performed in accordance with the following procedure. [0090] First, in Step S801, when the adjustment calculator 50 receives an adjustment processing start signal from the operation command calculator 20, the adjustment calculator 50 performs an initial setting by setting amplification factor information, which is an amplification factor command signal, to 1 before the adjustment operation is performed. Next, in Step S802, the adjustment

calculator 50 acquires the landing error measurement information, which is input by maintenance personnel, as the signal A after the control apparatus 16 performs an operation of adjusting the elevator.
[0091] Specifically, the operation of adjusting the elevator described above is performed in the following manner. First, the control apparatus 16 sets a floor to be adjusted as the start floor and a predetermined floor as the destination floor, and moves the car 5. Then, the amplification factor corrector 40 acquires a governor rope expansion and contraction amount estimation value of the start floor, which is estimated by the governor rope expansion and contraction amount estimator 23, as the signal B through the movement operation, and transmits the signal B to the adjustment calculator 50 as well as the governor rope expansion and contraction amount memory 24.
[0092] Next, the control apparatus 16 sets the floor to be adjusted as the destination floor, performs a movement operation that is corrected using the estimation value, and causes the maintenance personnel to measure the signal A, which is the landing error measurement information, after the car 5 is caused to return to the floor to be adjusted.
[0093] Next, in Step S803, the adjustment calculator 50 determines whether or not the signal A, which is the acquired landing error measurement information, falls within the evaluation reference range. Then, when the landing error measurement information falls within the evaluation reference range, the adjustment calculator 50 proceeds to Step S804 to hold the current amplification factor information, and finishes a series of processing.
[0094] On the contrary, when the signal A, which is the landing error measurement information, does not fall within the evaluation reference range,

the adjustment calculator 50 proceeds to Step SI 101 to acquire the governor rope expansion and contraction amount estimation value of the start floor as the signal B. Then, in Step SI 102, the adjustment calculator 50 determines the amplification factor of the signal B, which is the governor rope expansion and contraction amount estimation value of the start floor, based on two signals, namely, the signal A and the signal B.
[0095] Thus, the amplification factor is defined as a function F with the signal A and the signal B being set as parameters, and is represented by Expression (4) given below.
Amplification factor=F(signal A, signal B) (4)
[0096] The function F for determining the amplification factor command signal can be set in the following manner, for example. The amplification factor corrector 40 multiplies the signal B, which is the governor rope expansion and contraction amount estimation value of the start floor, by the amplification factor received as the amplification factor command signal to obtain a multiplication result. The multiplication result is desired to be ((signal A)+(signal B)), which is a signal obtained by correcting the signal A, which is the landing error measurement information. In this case, the landing error can be set to 0.
[0097] Thus, the amplification factor corresponding to the amplification factor command signal may be defined as a function of Expression (5) given below, for example.
Amplification factor
=F(signal A, signal B)
=((signal A)+(signal B))/(signal B) (5)

[0098] After the amplification factor is set using Expression (5), the adjustment calculator 50 returns to Step S802 to perform processing following the adjustment operation again. The processing of adjusting the amplification factor is continued until the landing error measurement information falls within the evaluation reference range. However, in principle, the number of times of determination processing is shortened to twice or less.
[0099] Although not shown in the flowchart of FIG. 11, when the landing error does not converge to the evaluation reference range within twice, the following adjustment can be performed. Specifically, the adjustment calculator 50 assumes an XY-plane with the amplification factor command value being set as the X-axis and the landing error amount being set as the Y-axis, and stores information on the amplification factor command value and the landing error of the first time and the second time. Then, the adjustment calculator 50 plots the first time and second time results on the XY-plane, calculates an X-intercept of a straight line passing through those two points, and sets the X-intercept as an amplification factor. Through calculation of the amplification factor in this manner, the landing error can be set to substantially zero.
[0100] Through implementation of the series of processing illustrated in FIG. 11, it is possible to correct the governor rope expansion and contraction amount estimation value rapidly, and obtain an appropriate amplification factor with the landing error falling within the evaluation reference range. [0101] As described above, according to the third embodiment, the elevator control apparatus is configured to calculate the amplification factor for correcting the governor rope expansion and contraction amount estimation value rapidly even when the detection error is caused by the dynamic characteristic of

the governor mechanism. As a result, it is possible to correct the detection error caused by the dynamic characteristic and obtain an appropriate amplification factor with the landing error falling within the evaluation reference range.
[0102] Further, it is possible to decrease the number of times of trial until the detection error converges to the evaluation reference range, and to rapidly obtain an appropriate amplification factor with the landing error falling within the evaluation reference range. [0103] Fourth Embodiment
In the first embodiment, a description is given of the processing of correcting the amplification factor, which is effective for an apparatus in which the dynamic characteristic of the governor rope expansion and contraction amount responds to a deceleration pattern signal without time delay. In contrast, in a fourth embodiment of the present invention, a description is given of processing of correcting the amplification factor for a case in which the dynamic characteristic of the governor rope expansion and contraction amount delays after a deceleration pattern signal.
[0104] In some cases, the dynamic characteristic of the governor rope expansion and contraction amount of an elevator with a long hoistway has a high-frequency cutoff characteristic for a deceleration pattern signal. In this case, there occurs time delay or waveform change in the dynamic characteristic of the governor rope expansion and contraction amount with respect to the deceleration pattern signal. The time delay and waveform change are factors of the estimation error of the governor rope expansion and contraction amount estimator, resulting in a problem in that the landing position error of the car 5

occurs.
[0105] Thus, in the fourth embodiment, a description is given of processing of correcting the amplification factor, which is effective for the case in which the dynamic characteristic of the governor rope expansion and contraction amount has a high-frequency cutoff characteristic for a deceleration pattern signal. [0106] FIG. 12 is a configuration diagram of an elevator to which an elevator control apparatus according to the fourth embodiment of the present invention is applied. The configuration of FIG. 12 in the fourth embodiment is the same as that of FIG. 1 in the first embodiment except for some additional or changed components. Thus, the same components are not described in detail, and the following description is primarily given of a low pass filter 60, which is newly added. The low pass filter 60 corresponds to a characteristic correction unit configured to perform correction based on the dynamic characteristic of the governor rope expansion and contraction amount depending on the current position of the car.
[0107] The low pass filter 60 is configured to receive time-series information on the current position of the car from the current position calculator 21, filters the received time-series information to cut off the high frequency band, and transmits a signal obtained by the filtering to the speed command calculator 22. [0108] Next, a description is given of the dynamic characteristic of the governor rope expansion and contraction amount according to the fourth embodiment of the present invention with reference to FIG. 13. FIG. 13 is an example of time-series information on the governor rope expansion and contraction amount during a period in which the elevator control apparatus according to the fourth embodiment of the present invention is landing.

[0109] In FIG. 13, the dotted line is added, and indicates a deceleration pattern signal for reference. This deceleration pattern signal has the acceleration of the car as the unit of the vertical axis, and the time axis is set so as to match the time-series information on the governor rope expansion and contraction amount for depiction.
[0110] The dynamic characteristic of the governor rope expansion and contraction amount in this example has a characteristic of delaying after the trapezoidal waveform, which is the deceleration pattern signal, at the start point and the end point of the trapezoidal waveform on the time axis, and changing smoothly. This characteristic is a characteristic of filtering the deceleration pattern signal to cut off the high frequency band.
[0111] Such a high-frequency cutoff characteristic can be simulated by a low pass filter. The low pass filter can be implemented by, for example, Expression (6) given below.
LPF(s)=l/(Ts+l) (6) [0112] LPF(s) indicates the transfer function of the low pass filter, and T indicates a time constant. Through change of the time constant T of Expression (6), it is possible to simulate the dynamic characteristic of the governor rope expansion and contraction amount with a smaller error than the related art.
[0113] The time-series information on the current position of the car output by the current position calculator 21 is a signal synchronized with the deceleration pattern signal. Thus, it follows that the time-series information on the current position of the car fails to simulate the dynamic characteristic of the governor rope expansion and contraction amount, namely, the high-frequency cutoff

characteristic.
[0114] To address this issue, through filtering of the time-series information on the current position of the car by the low pass filter as represented by Expression (6), it is possible to obtain the time-series information on the current position of the car that simulates the dynamic characteristic of the governor rope expansion and contraction amount with a smaller error than the related art. [0115] This information represents the position of the car 5 more accurately than the related art. Thus, through filtering of the time-series information on the current position of the car by the low pass filter 60 and transmission of the time-series information to the speed command calculator 22, it is possible to suppress the landing position error of the car 5 and the vibration of the car 5 at the time of landing. Such a suppression effect can improve comfortability of riding the car 5.
[0116] As described above, according to the fourth embodiment, a low pass filter for simulating first-order delay is included for a case in which the dynamic characteristic of the governor rope expansion and contraction amount delays after the deceleration pattern signal. As a result, it is possible to suppress the landing position error of the car and the vibration of the car at the time of landing due to the first-order delay. [0117] Fifth Embodiment
It is to be understood that the configuration of including the low pass filter 60 described in the fourth embodiment can be applied to the configuration of the second embodiment. FIG. 14 is a configuration diagram of an elevator to which an elevator control apparatus according to a fifth embodiment of the present invention is applied. With the configuration, it is possible to give, to

the second embodiment as well, the effect of suppressing the landing position error of the car and the vibration of the car at the time of landing due to the first-order delay. [0118] Sixth Embodiment
It is to be understood that the configuration of including the low pass filter 60 described in the fourth embodiment can be applied to the configuration of the third embodiment. FIG. 15 is a configuration diagram of an elevator to which an elevator control apparatus according to a sixth embodiment of the present invention is applied. With the configuration, it is possible to give, to the third embodiment as well, the effect of suppressing the landing position error of the car and the vibration of the car at the time of landing due to the first-order delay.

Claims [Claim 1] An elevator control apparatus, comprising a current position calculator configured to calculate a current position of a car based on a counter value of a governor encoder, which is output in accordance with rotation of a governor around which a governor rope connected to the car is wound,
the current position calculator being configured to:
calculate a movement amount of the car based on the counter value of the governor encoder, the movement amount being calculated for a period of time from when the car starts to move from a state in which a landing plate detector installed in the car of the elevator detects one of landing plates installed at respective floor positions of a building and the car is stationary until the landing plate detector ceases to detect the one of landing plates; and
estimate a governor rope expansion and contraction amount of a floor from which the car starts to move by estimating a counter error of the governor encoder caused by expansion or contraction of the governor rope by comparing the calculated movement amount with an actual length of the one of landing plates.
[Claim 2] An elevator control apparatus according to claim 1, wherein the current position calculator comprises:
an expansion and contraction amount estimator configured to estimate the counter error corresponding to a start floor when the car starts to move from the start floor;
an expansion and contraction amount memory configured to store information on the counter error estimated by the expansion and contraction

amount estimator in association with information on a floor corresponding to the start floor; and
a car position calculator configured to, at a timing when the landing plate detector changes from a state of not detecting a landing plate of a destination floor, which is set as the start floor for which the counter error is already calculated, to a state of detecting the landing plate during a period in which the car is moving to the destination floor and decelerating to stop, extract the counter error stored in the expansion and contraction amount memory as a value corresponding to the destination floor, and correct the counter value of the governor encoder based on the extracted counter error, to thereby calculate the current position of the car.
[Claim 3] An elevator control apparatus according to claim 2, wherein the expansion and contraction amount estimator is configured to estimate the counter error at each start floor from which the car starts to move, and store information on the estimated counter error and information on a floor corresponding to the start floor into the expansion and contraction amount memory in association with each other.
[Claim 4] An elevator control apparatus according to claim 2, wherein the expansion and contraction amount estimator is configured to, when there is a floor for which the counter error is not estimated and the expansion and contraction amount memory already stores estimated counter errors corresponding to a plurality of floors, perform interpolation based on the estimated counter errors corresponding to the plurality of floors to estimate the

counter error of the floor for which the counter error is not estimated, and store the estimated counter error into the expansion and contraction amount memory.
[Claim 5] An elevator control apparatus according to any one of claims 2 to 4, wherein the expansion and contraction amount estimator is configured to estimate the counter error every time the car starts to move from the start floor, and update data stored in the expansion and contraction amount memory using the newly estimated counter error.
[Claim 6] An elevator control apparatus according to any one of claims 2 to 5, wherein the expansion and contraction amount estimator is configured to, in response to a command from an outside, read data stored in the expansion and contraction amount memory and transmit the data to the outside.
[Claim 7] An elevator control apparatus according to any one of claims 2 to 6, further comprising a characteristic correction unit configured to correct the current position of the car output by the current position calculator based on a dynamic characteristic of the governor rope expansion and contraction amount.
[Claim 8] An elevator control apparatus according to claim 7, wherein the characteristic correction unit comprises a low pass filter configured to cut off a high frequency band of output from the current position calculator.
[Claim 9] An elevator control apparatus according to any one of claims 2 to 8, further comprising an adjustment calculator configured to acquire landing error

measurement information, which is measured when the car stops at the destination floor, and adjust the counter error estimated by the expansion and contraction amount estimator based on the landing error measurement information.
[Claim 10] An elevator control apparatus according to claim 9, wherein the adjustment calculator is configured to calculate an amplification factor based on the landing error measurement information, and adjust the counter error estimated by the expansion and contraction amount estimator by multiplying the counter error by the amplification factor.
[Claim 11] An elevator control apparatus according to claim 10, wherein the adjustment calculator is configured to, depending on a result of determining whether the landing error measurement information exceeds, falls within, or falls below an evaluation reference range, increase or decrease the amplification factor and perform a plurality of times of adjustments, to thereby cause the amplification factor to converge.
[Claim 12] An elevator control apparatus according to claim 10 or 11, wherein the adjustment calculator is configured to calculate the amplification factor based on the counter error estimated by the expansion and contraction amount estimator and the landing error measurement information.
[Claim 13] An elevator control apparatus according to claim 12, wherein the adjustment calculator is configured to calculate the amplification factor as a

value obtained by dividing a result of addition of the counter error and the landing error measurement information by the counter error.
[Claim 14] A method of estimating a governor rope expansion and contraction amount, which is executed by a current position calculator included in an elevator control apparatus, the current position calculator being configured to calculate a current position of a car based on a counter value of a governor encoder, which is output in accordance with rotation of a governor around which a governor rope connected to the car is wound, the method comprising:
a movement amount calculation step of calculating a movement amount of the car based on the counter value of the governor encoder, the movement amount being calculated for a period of time from when the car starts to move from a state in which a landing plate detector installed in the car of the elevator detects one of landing plates installed at respective floor positions of a building and the car is stationary until the landing plate detector ceases to detect the one of landing plates; and
an estimation step of estimating a governor rope expansion and contraction amount of a floor from which the car starts to move by estimating a counter error of the governor encoder caused by expansion or contraction of the governor rope by comparing the movement amount calculated in the movement amount calculation step with an actual length of the one of landing plates.