CN101729007B - Power converter device and elevator using the same - Google Patents
Power converter device and elevator using the same Download PDFInfo
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- CN101729007B CN101729007B CN2009101662465A CN200910166246A CN101729007B CN 101729007 B CN101729007 B CN 101729007B CN 2009101662465 A CN2009101662465 A CN 2009101662465A CN 200910166246 A CN200910166246 A CN 200910166246A CN 101729007 B CN101729007 B CN 101729007B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
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Abstract
The invention provides a power converter device for performing torque pulse modification of motor in high frequency section using simple torque modification information, and elevators using the power converter devices. The controlling computation portion for computing in order to control the instruct value of the inverter for motor driving includes a storage unit for storing torque-current conversion gain corresponding to the position of the magnetic pole of the motor, and induction voltage compensation voltage corresponding to the position of the magnetic pole of the motor. Additionally, when the motor is driven, the control computation portion correspondingly reads the torque-current conversion gain and the torque instruct value to compute the current instruct value of the torque shaft according to the detection value from the magnetic pole position of the storage unit and the motor, and modifies voltage instruct values of each phase, or the voltage instruct value of the magnetic flux shaft or the torque shaft according to the induction voltage compensation voltage correspondingly read from the detection value of the magnetic pole position of the storage unit and the motor.
Description
Technical field
The present invention relates to a kind of power-converting device and use torque pulsation in the elevator of this power-converting device and the inhibitory control of torque ripple (torque ripple) etc.
Background technology
In the power-converting device that adopts inverter control in the past, normal operation is divided into the vector control mode that magnetic flux axle (d axle) and torque axis (q axle) are controlled in rotary coordinate system.Under normal conditions, the induced voltage of load motor is assumed to be desirable sine wave, and induced voltage constant and torque constant etc. is set as steady state value, carry out easy control with this.As conventional art, in the control device of the motor that the flat 7-46878 communique of Japan's open patent (patent documentation 1) is put down in writing, correcting current value that will be corresponding with the position of rotation of torque instruction, velocity information and motor, be stored in the memory as the torque error data in advance, with its be assumed to be the torque instruction value addition that calculates in the sinusoidal wave situation, come the compensating torque fluctuation with this.As other conventional art, in control method and control device that the torque pulsation that embedding is had the motor of permanent magnet that the flat 11-103588 communique of Japan's open patent (patent documentation 2) is put down in writing is controlled, calculate correction waveform according to pre-prepd torque pulsation correction model (pattern), and correction waveform and basic current multiplied each other, come thus torque pulsation inhibited.
The flat 11-103588 communique of the flat 7-46878 communique of patent documentation 1 Japan's open patent patent documentation 2 Japan's open patents
Fig. 7 is the structure chart of control mode in the past, the main circuit of power-converting device part by power supply 1, with the commercial ac voltage of power supply 1 be transformed to inverter 3 that the rectifier 2 of direct voltage, the voltage transformation that will be transformed into direct current by rectifier 2 are the alternating voltage of optional frequency, the motor 4 that drives by inverter 3 and be used for detecting the rotary speed of motor 4 and the rotary encoder 5 of position of magnetic pole consists of.Inverter 3 is controlled magnetic flux axle component and the torque axis component of rotary coordinate system according to the vector control of motor, thereby drives.For the magnetic flux axle, by being rotated difference between the magnetic flux shaft current id that coordinate transform obtains with magnetic flux shaft current instruction id* and by the output current to inverter 3, be input in the magnetic flux shaft current control system piece 6, come thus the voltage instruction value of computing magnetic flux axle component.For torque axis, the difference by between the rotary speed ω that obtains with the speed command ω * of motor 4 and from rotary encoder 5 is input to speed control system piece 7, obtains thus torque instruction value τ *.By further being input in the torque-current conversion gain piece (Ka) 18, can access torque axis current-order iq*.At this, torque-current conversion gain piece (Ka) is the constant that is expressed from the next, and in the Ka=1/Kit formula, Kit represents torque constant (unit is Nm/A).By being rotated difference between the torque axis current i q that coordinate transform obtains with torque axis current-order iq* and by the output current to inverter 3, be input in the torque axis current control system piece 9, can access voltage instruction.And add that further the rotary speed ω that will obtain from rotary encoder 5 multiply by the induced voltage bucking voltage that the induced voltage constant K e (unit is V/rpm) as induced voltage compensating gain 19 obtains, and calculates the voltage instruction of torque axis component.By the voltage instruction of magnetic flux axle component and the voltage instruction of torque axis component are carried out three-phase-two phase inversion (10), calculate each mutually corresponding voltage instruction value vu*, vv*, the vw* of inverter 3.
But, in control in the past, when constant-speed operation the load motor the situation of induction voltage waveform near desirable sine wave under, performance is good, but as the induction voltage waveform (the alternate waveform of U phase-V) of load motor shown in Figure 8, including under the condition of allocation of distortion, if torque constant Kit and induced voltage constant K e during as the steady state value computing, then can be produced torque pulsation and torque ripple etc.The magnet shape of the motor of loading is depended in the generation of the allocation of distortion that comprises in the induction voltage waveform of Fig. 8.For this reason, when being applied to that elevator is this need to affect the purposes that the factor of riding comfort strictly controls to meetings such as vibrations, need to carry out Precision Machining to the shape of the magnet of motor, reducing torque pulsation and torque ripple etc., thereby cause the manufacturing cost of motor to rise.
In the conventional art that patent documentation 1 is put down in writing, for the compensating torque fluctuation, correcting current value that will be corresponding with the position of rotation of torque instruction, velocity information and motor is stored in the memory as the torque error data in advance, and with correction and current instruction value addition.By this mode, though accurately compensating torque fluctuation, this moment is very many as the quantity of the parameter of prerequisite, increases so be stored in the dimension of the arrangement in the memory, and it is very complicated that computing becomes.The measurement quantity of the correction that need to implement in advance in addition, is also very huge.
In the conventional art that patent documentation 2 is put down in writing, with being stored in the information of the torque pulsation ripple in the torque pulsation memory, be transformed to the torque modification waveform according to pre-prepd torque pulsation correction model, and it be multiply by basic current.But, also need to implement in advance the load test for detection of the torque ripple component this moment, and need to carry out complex calculations as the pulsation correction model.
Summary of the invention
The present invention makes in order to address the above problem just, the object of the invention is to, and provides a kind of and can utilize the power-converting device of the torque pulsation correction that simple torque modification information implements motor and the elevator that uses this power-converting device.
Solution
In order to address the above problem, be used for computing and control with vector control in the control algorithm part of motor driven with the command value of inverter of the present invention, have the storage torque-current conversion gain corresponding with the position of magnetic pole of motor and with the memory cell of induced voltage bucking voltage corresponding to the position of magnetic pole of motor.And, when motor is driven, this control algorithm part is according to the torque-current conversion gain and the torque instruction value that read accordingly with the detected value of the position of magnetic pole of motor from memory cell, come the current instruction value of computing torque axis, and according to the induced voltage bucking voltage that from memory cell, reads accordingly with the detected value of the position of magnetic pole of motor, revise the voltage instruction value of each phase or the voltage instruction value of magnetic flux axle and torque axis.
Other features of the present invention will be set forth in the following description.
According to the present invention, when the command value of vectors control, use torque-current conversion gain and the induced voltage bucking voltage corresponding with the position of magnetic pole of motor, can revise simply thus the torque pulsation of motor.Description of drawings Fig. 1 is the structure chart of first embodiment of the invention.Fig. 2 is the graph of a relation of flutter component and control area.Fig. 3 is the result of the test of expression Torque Ripple Reduction effect.Fig. 4 is the example that the control area that the Torque Ripple Minimization between the vibration generating region is controlled is limited.Fig. 5 is the switching flow figure of ripple compensation control and common control.Fig. 6 is the structure chart of second embodiment of the invention.Fig. 7 is the structure chart of control mode in the past.Fig. 8 is the example of the induction voltage waveform of motor.Symbol description 1 power supply 2 rectifiers 3 inverters 4 motor 5 rotary encoders 11 rope sheaves 12 hoist cables 13 lift cars 14 balance weights
Embodiment
Referring to accompanying drawing embodiments of the present invention are described.
[embodiment 1]
Fig. 1 represents the power-converting device of first embodiment of the invention and the elevator that is driven by this power-converting device.The main circuit of power-converting device part by power supply 1, with the commercial ac voltage of power supply 1 be transformed to inverter 3 that the rectifier 2 of direct voltage, the voltage transformation that will be transformed into direct current by rectifier 2 are the alternating voltage of optional frequency, the motor 4 that drives by inverter 3 and the rotary speed that detects motor 4 and the rotary encoder 5 of position of magnetic pole consist of.In addition, motor 4 is connected connection with rope sheave, by the hoist cable 12 that is wound on the rope sheave 11 lift car 13 and balance weight 14 are suspended in the not shown hoist trunk.Driven by power-converting device and during the driven and rotation of rope sheave 11, hoist cable 12 is driven at motor 4, lift car 13 and balance weight 14 in hoist trunk towards opposite direction lifting.
If the induction voltage waveform during with constant speed drive motor 4 is desirable sine wave, then according to Faraday's electromagnetic induction rule, voltage is used as the time diffusion of magnetic flux and gives, so flux waveforms also is sinusoidal waveform.If the magnetic flux to this moment is rotated coordinate transform, then the component of magnetic flux axle (d axle) is zero, and the component of torque axis (q axle) is constant D. C. value.On the other hand, as shown in Figure 8, when induction voltage waveform was superimposed with distortion, magnetic flux axle (d axle) component and torque axis (q axle) component produced pulsation along with the variation of the position of magnetic pole θ of motor.Wherein, if the magnetic flux of magnetic flux axle component is Φ d (θ), the magnetic flux of torque axis component is Φ q (θ), the electric current of magnetic flux axle component and torque axis component is respectively id, iq, and the motor inductance of magnetic flux axle component and torque axis component is respectively Ld, during Lq, torque T satisfies following formula: T=(Ld-Lq) idiq+ Φ d (θ) id+ Φ q (θ) iq (1) is in formula (1), when magnetic flux axle current weight id is zero, T=Φ q (θ) iq (2) namely iq=(1/ Φ q (θ)) T (3) can know from formula (3), when fixed torque was given as command value, the electric current of torque axis component also changed according to the change of the gain (1/ Φ q (θ)) that changes take position of magnetic pole θ as parameter.In other words, even in induction voltage waveform, be superimposed with in the situation of allocation of distortion, also can be zero by the current instruction value id* that makes magnetic flux axle component, and it is torque pulsation inhibited to make the torque-current conversion gain piece (Ka) 18 of giving as definite value in the conventional art of Fig. 7 become torque-current conversion gain piece 8, wherein, torque-current conversion gain piece 8 is take the position of magnetic pole that is made of gain (1/ Φ q (θ)) as parameter, and gain (1/ Φ q (θ)) changes take position of magnetic pole θ as parameter.In the first embodiment of Fig. 1, the gain (∝ 1/ Φ q (θ)) that will change as parameter with position of magnetic pole θ will be pre-stored in memory cell as pulsation update information table 17, and read gain (∝ 1/ Φ q (θ)) according to the position of magnetic pole of the motor 4 that obtains from rotary encoder 5.
Be stored in the gain in the pulsation update information table 17, can be with following method pre-estimation.At first, as induced voltage between the line of Fig. 8 (U-V phase), detect induced voltage (Vuv (θ), Vvw (θ), Vwu (θ)) between each line with constant speed.After this, come the induced voltage of each phase of computing according to following formula: Vu=(Vuv (θ)-Vwu (θ))/3 (4) Vv=(Vvw (θ)-Vuv (θ))/3 (5) Vw=(Vwu (θ)-Vvw (θ))/3 (6), by this induced voltage is rotated coordinate transform, can calculate the voltage Vq of torque axis.Because torque axis voltage Vq equals the flux component of torque axis and amassing of angular velocity component (frequency component), so, by divided by constant speed, can calculate in advance the torque-current conversion gain of position of magnetic pole as parameter.
Then, in the in the past mode of Fig. 7, with the output of torque axis current control system piece 9 and the voltage instruction of induced voltage bucking voltage phase Calais's computing torque axis component, wherein, the induced voltage bucking voltage obtains by rotary speed ω being multiply by induced voltage compensating gain (induced voltage constant K e (unit " V/rpm ")) 19.But under this occasion, as shown in Figure 8, if the waveform of the induced voltage during take constant speed drive is not sinusoidal wave, then bucking voltage itself can become the inducement of error.Especially, be superimposed with the induction voltage waveform of distortion shown in Figure 8, have the frequency component (six order harmonic component) that equals 6 times of basic wave frequencies, thereby become the inducement of torque pulsation.Fig. 2 is the graph of a relation between the control area of flutter component and current control system.Shown in Fig. 2 (a), in six order harmonic frequency (6f) during fully less than the crossover frequency of current control system (the frequency f c that intersects with 0db), the inducement that can suppress by current control system error, but this control performance is along with descending near crossover frequency, in six order harmonic frequency (6f) shown in Fig. 2 (b) during greater than the crossover frequency (fc) of current control system, the error that can't suppress bucking voltage, thus torque pulsation can be produced.Therefore, in the first embodiment of Fig. 1, in the output of 2 phases-3 phase inversion piece, add the phase voltage component of the induced voltage corresponding with position of magnetic pole θ, replace the induced voltage compensating gain 19 of Fig. 7 with this.The phase voltage component of this induced voltage is also pre-stored in pulsation update information table 17, and carry out conversion according to the position of magnetic pole of the motor 4 that obtains from rotary encoder 5.The phase voltage component of pre-stored induced voltage, be by can through type (4), the value (standard voltage value) that obtains of the rotary speed (constant speed amount) of the value that derives of formula (5) and formula (6) when detecting, when control, can by will from pulsation update information table 17 read on duty with rotary speed or rotary speed command value, derive the bucking voltage value.Thus, can in wide frequency range, reduce torque pulsation.
Fig. 3 is the experimental result of the Torque Ripple Reduction effect of present embodiment, has used the motor of the induced voltage characteristic with Fig. 8 when experiment.The frequency characteristic of the torque in Fig. 3 (a) expression control mode in the past, wherein dotted portion is equivalent to the frequency component of six order harmonicses.From figure, can confirm to have occured significant six order harmonic component.Result when Fig. 3 (b) expression has only been carried out the torque-current conversion gain to adjust according to position of magnetic pole as mentioned above.The characteristic of the characteristic of this moment and the in the past control mode of Fig. 3 (a) is roughly the same, can know the frequency component that significant six order harmonicses have occured.This be because, shown in Fig. 2 (b), in current control system, the cause that the corresponding gain of the frequency component of six order harmonic component is little.Result when Fig. 3 (c) expression has only been carried out the induced voltage compensation to adjust according to position of magnetic pole as mentioned above.The characteristic of this moment is specific roughly the same with the in the past control mode of Fig. 3 (a) also, can know the frequency component that significant six order harmonicses have occured.This frequency component is the flutter component that keeps steady state value to produce because of the torque-current conversion gain.In general situation, the gain of torque axis current control system is higher, and then control performance is better, but the situation of above-mentioned flutter component is to gain highlyer, and the error component that produces is more for significantly.Result when Fig. 3 (d) expression is adjusted torque-current conversion gain and induced voltage compensation both sides simultaneously according to position of magnetic pole.From figure, can know the frequency component decrease of six order harmonicses that surrounded by dotted portion.That is to say, from figure, can know, in order to implement torque pulsation control in the wide area frequency range, need to be according to position of magnetic pole simultaneously to torque-current conversion gain and the induced voltage compensation both sides correction of pulsing.
In the pulsation update information table 17 of the first embodiment, only the position of magnetic pole of motor 4 just need to can as parameter, and as the object of measuring in advance, also only need to measure in advance induction voltage waveform and just can, so it is very easy to detect, and pre-stored data volume is also seldom in table.Especially, the load as object be to the required precision of position and speed high and adopted rotary encoder 5 elevator etc. the time owing to can correctly grasp the position of magnetic pole of motor 4, so can carry out high-precision correction.In addition, self-evident, the pulsation correction of present embodiment can also be used in the situation of the supposition position of magnetic poles such as use location transducer control.In addition, utilize the symmetry of threephase motor, phase differences of each 120 degree are being made on the basis of considering, reading the value of the induced voltage offset of 3 phases by the data according to 1 phase, can reduce data volume pre-stored in table thus.
In the first embodiment of Fig. 1, for the velocity information that obtains from rotary encoder 5, detect positional information θ by integrator 15.But by enforcement control algorithms such as microcomputers the time, before making reflection for detected positional information θ instruction, phase place may be advanced.This phenomenon is because the unnecessary time delay important document of control system causes that especially when motor 4 High Rotation Speed, the advance amount of phase place is larger.Therefore, by the rotary speed according to motor 4, come the implementing phase correction by phase-shifts 16, thereby can improve the precision that pulsation is revised.That is to say, owing to can when design, roughly grasp the control lag time td of microcomputer, so, by detection speed ω [rad/s] be multiply by control lag time td, can grasp the advance amount of phase place.By using the θ ' that phase advance amount and positional information θ addition are obtained, can access than instruction and make pulsation update information on the position of magnetic pole nearer when reflecting, can strengthen the reduction effect of pulsation.
In the first embodiment, can the compensating torque flutter component, but output voltage range may be less than control mode in the past.Especially, when the amount of distortion in being superimposed upon induced voltage increased, compensation rate increased.Dwindling of this output voltage range can be suppressed by the control range that limits Torque Ripple Minimization control.Fig. 4 is the example that the control area that corresponding Torque Ripple Minimization between the vibration generating region is controlled is limited.In elevator, when the resonance frequency of mechanical system is consistent with the frequency of described higher harmonic components, violent vibration can occur in lift car, and wherein the resonance frequency of mechanical system is by the spring constant key element of the length that depends on hoist cable and material etc. and the decisions such as weight key element of lift car, balance weight part and passenger.That is to say, be near the interval the resonance frequency of mechanical system by the higher harmonic components in the speed (rotary speed) of motor, the control of enforcement Torque Ripple Minimization, then implement common control in other intervals, thus, can suppress the vibration of lift car, and can prevent that output voltage range from dwindling.
Fig. 5 is the switching flow figure of ripple compensation control and common control.At first, confirm to have or not operating instruction (step 20), when not having operating instruction, end process.When operating instruction was arranged, the higher harmonic components that judges whether to belong to the speed (rotary speed) of motor was near the vibration generation area (step 21) of resonance frequency of mechanical system.When belonging to the vibration generation area, adopt the ripple compensation control model to move (step 22).On the other hand, when not belonging to the vibration generation area, adopt common control model to move (step 23).Some cycles according to control task of the speed command of microcomputer etc. is implemented this action, can implement thus the switching of control model.
Since can be in when design and grasp the resonance frequency of mechanical system when installing etc., so can preset control interval.In addition, can be according to the positional information of lift car, grasp the spring fixed number that the length (rope sheave 11 among the first embodiment of Fig. 1 and the length of the hoist cable 12 between the lift car 13) by hoist cable determines, and can use the information of the load cell in the lift car, correctly grasp with the passenger and wait the relevant weight factor of increase and decrease.Thus, can grasp in the degree of moment the resonance frequency of mechanical system, by with its with can compare according to the high order harmonic component frequency that the speed command value of motor is calculated, the control range of Torque Ripple Minimization control can be limited in minimum limit.In addition, under the position of the speed of the motor that easily causes the lift car vibration-generating and lift car, implement Torque Ripple Minimization control, and drive in the common control mode of the next employing of other situation, can reduce easily the reduction zone of output voltage range.
[embodiment 2]
Fig. 6 represents the power-converting device of second embodiment of the invention and the elevator that is driven by this power-converting device.The main circuit part of power-converting device and the structure of elevator, identical with the first embodiment of Fig. 1, but in both control system pieces, it is different that induced voltage compensates corresponding amending unit.Be specifically, in the first embodiment of Fig. 1, the output addition of the phase voltage component of the induced voltage corresponding with position of magnetic pole θ and 2 phases-3 phase inversion piece 10, and in the second embodiment of Fig. 6, the output addition of the rotary coordinate system (system of magnetic flux axle and torque axis) of the input side of the induced voltage compensate component corresponding with position of magnetic pole θ and 2 phases-3 phase inversion piece 10.At this, the offset of addition is the magnetic flux shaft voltage corresponding with position of magnetic pole θ and the torque axis voltage corresponding with position of magnetic pole θ, its respectively with magnetic flux axle and torque axis addition.Wherein, position of magnetic pole θ is rotated coordinate transform by the phase voltage component to the induced voltage corresponding with the position of magnetic pole θ of the first embodiment and obtains.In this case, pre-stored information in pulsation update information table 17, that standard voltage value (value that the rotary speed (constant speed amount) of the value that can derive according to formula (4), formula (5) and formula (6) when detecting obtains) to the first embodiment is rotated the value that coordinate transform obtains, when control, multiply by equally rotary speed or rotary speed command value with the first embodiment, can calculate thus the bucking voltage value corresponding with position of magnetic pole θ of answering addition.The second embodiment of Fig. 6 also can access the pulsation identical with the first embodiment of Fig. 1 and reduce effect.
More than embodiments of the present invention are illustrated, but self-evident, the present invention is not limited in above-mentioned execution mode, can implement various distortion in the scope of technological thought of the present invention.
Claims (10)
1. power-converting device, it has inverter and control algorithm part, and this inverter is used for drive motor, and this control algorithm partial arithmetic is used for controlling by vector control the command value of described inverter, and this power-converting device is characterised in that,
Described control algorithm part, memory cell with storage torque-current conversion gain and induced voltage bucking voltage, wherein the torque-current conversion gain is corresponding with the position of magnetic pole of motor, the induced voltage bucking voltage is corresponding with the position of magnetic pole of motor, when motor is driven, according to the described torque-current conversion gain and the torque instruction value that from described memory cell, read accordingly with the detected value of the position of magnetic pole of described motor, come the current instruction value of computing torque axis, and according to the described induced voltage bucking voltage that from described memory cell, reads accordingly with the detected value of the described position of magnetic pole of described motor, revise the voltage instruction value of each phase.
2. power-converting device, it has inverter and control algorithm part, and this inverter is used for drive motor, and this control algorithm partial arithmetic is used for controlling by vector control the command value of described inverter, and this power-converting device is characterised in that,
Described control algorithm part, memory cell with storage torque-current conversion gain and induced voltage bucking voltage, wherein the torque-current conversion gain is corresponding with the position of magnetic pole of motor, the induced voltage bucking voltage is corresponding with the position of magnetic pole of motor, when motor is driven, according to the described torque-current conversion gain and the torque instruction value that from described memory cell, read accordingly with the detected value of the position of magnetic pole of described motor, come the current instruction value of computing torque axis, and according to the described induced voltage bucking voltage that from described memory cell, reads accordingly with the detected value of the described position of magnetic pole of described motor, revise the magnetic flux axle of rotary coordinate system and the voltage instruction value of torque axis.
3. power-converting device as claimed in claim 1 is characterized in that,
The size of described torque-current conversion gain is inversely proportional to the magnetic flux that the magnet by motor interior that changes according to position of magnetic pole causes.
4. power-converting device as claimed in claim 2 is characterized in that,
The size of described torque-current conversion gain is inversely proportional to the magnetic flux that the magnet by motor interior that changes according to position of magnetic pole causes.
5. power-converting device as claimed in claim 1 is characterized in that,
To add that to the detected value of described position of magnetic pole the value that obtains with the proportional phase advance amount of the rotary speed of motor is as the 2nd position of magnetic pole, when motor is driven, according to the described torque-current conversion gain and the described torque instruction value that from described memory cell, read accordingly with described the 2nd position of magnetic pole, come the described current instruction value of the described torque axis of computing, and according to the described induced voltage bucking voltage that from described memory cell, reads accordingly with described the 2nd position of magnetic pole, revise the described voltage instruction value of described each phase.
6. power-converting device as claimed in claim 2 is characterized in that,
To add that to the detected value of described position of magnetic pole the value that obtains with the proportional phase advance amount of the rotary speed of motor is as the 2nd position of magnetic pole, when motor is driven, according to the described torque-current conversion gain and the described torque instruction value that from described memory cell, read accordingly with described the 2nd position of magnetic pole, come the described current instruction value of the described torque axis of computing, and revise the described voltage instruction value of described magnetic flux axle and torque axis according to the described induced voltage bucking voltage that from described memory cell, reads accordingly with described the 2nd position of magnetic pole.
7. such as claim 1 or 2 described power-converting devices, it is characterized in that,
In service at elevator, during near the resonance frequency of the mechanical system of described elevator, from described memory cell, read described torque-current conversion gain and described induced voltage bucking voltage in the high order harmonic component frequency of the speed of motor.
8. power-converting device as claimed in claim 7 is characterized in that,
According to the information of the positional information of lift car and the load cell in the lift car at least one, come the resonance frequency of the described mechanical system of the described elevator of computing.
9. elevator, it has by lift car and the balance weight of hoist cable suspention, the power-converting device that is wound with the rope sheave of described hoist cable, described rope sheave is rotated the motor of driving and drives described motor, and this elevator is characterised in that,
Described power-converting device has inverter and control algorithm part, and this inverter is used for drive motor, and this control algorithm partial arithmetic is used for driving by vector control the command value of described inverter,
Described control algorithm part, memory cell with storage torque-current conversion gain and induced voltage bucking voltage, wherein the torque-current conversion gain is corresponding with the position of magnetic pole of described motor, the induced voltage bucking voltage is corresponding with the position of magnetic pole of described motor, when motor is driven, according to the described torque-current conversion gain and the torque instruction value that from described memory cell, read accordingly with the detected value of the position of magnetic pole of described motor, come the current instruction value of computing torque axis, and revise the voltage instruction value of each phase according to the described induced voltage bucking voltage that from described memory cell, reads accordingly with the detected value of the described position of magnetic pole of described motor.
10. elevator, it has by lift car and the balance weight of hoist cable suspention, the power-converting device that is wound with the rope sheave of described hoist cable, described rope sheave is rotated the motor of driving and drives described motor, and this elevator is characterised in that,
Described power-converting device has inverter and control algorithm part, and this inverter is used for drive motor, and this control algorithm partial arithmetic is used for driving by vector control the command value of described inverter,
Described control algorithm part, memory cell with storage torque-current conversion gain and induced voltage bucking voltage, wherein the torque-current conversion gain is corresponding with the position of magnetic pole of described motor, the induced voltage bucking voltage is corresponding with the position of magnetic pole of described motor, when motor is driven, according to the described torque-current conversion gain and the torque instruction value that from described memory cell, read accordingly with the detected value of the position of magnetic pole of described motor, come the current instruction value of computing torque axis, and according to the described induced voltage bucking voltage that from described memory cell, reads accordingly with the detected value of the described position of magnetic pole of described motor, revise the magnetic flux axle of rotary coordinate system and the voltage instruction value of torque axis.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| JP2008-277593 | 2008-10-29 | ||
| JP2008277593A JP2010105763A (en) | 2008-10-29 | 2008-10-29 | Power converter and elevator using the same |
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| CN101729007B true CN101729007B (en) | 2013-04-10 |
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| KR20130057902A (en) * | 2011-11-24 | 2013-06-03 | 엘에스산전 주식회사 | A method for controlling an elevator, a control apparatus of elevator using it and an elevator using it |
| CN102946226B (en) * | 2012-05-28 | 2015-11-04 | 同济大学 | Permagnetic synchronous motor 6i rank electromagnetic torque fluctuation detection method and device |
| WO2014167667A1 (en) * | 2013-04-10 | 2014-10-16 | 三菱電機株式会社 | Rotary machine controller |
| WO2015019905A1 (en) * | 2013-08-08 | 2015-02-12 | 日産自動車株式会社 | Control device for induction motor and method for controlling induction motor |
| JP6308894B2 (en) * | 2014-07-08 | 2018-04-11 | 三菱電機株式会社 | Control device for three-phase AC rotating machine |
| JP6165352B2 (en) * | 2015-04-30 | 2017-07-19 | 三菱電機株式会社 | Method for obtaining rotation angle error of rotation control unit of elevator control device, elevator device, and elevator motor |
| CN110114293B (en) * | 2017-02-21 | 2021-07-09 | 株式会社日立制作所 | Elevator with a movable elevator car |
| JP7286528B2 (en) * | 2019-12-13 | 2023-06-05 | 株式会社日立産機システム | power converter |
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| JPH07257830A (en) * | 1994-03-17 | 1995-10-09 | Hitachi Ltd | Vibration suppressing and controlling device of elevator |
| JPH10279201A (en) * | 1997-04-11 | 1998-10-20 | Hitachi Ltd | Damping control device for linear motor elevator |
| JP3806539B2 (en) * | 1999-03-24 | 2006-08-09 | 株式会社日立製作所 | Control method of permanent magnet type synchronous motor |
| JP2001031339A (en) * | 1999-07-27 | 2001-02-06 | Toshiba Corp | Elevator controller |
| JP2004336949A (en) * | 2003-05-12 | 2004-11-25 | Nippon Densan Corp | Motor drive control method and motor drive controller |
| JP4604493B2 (en) * | 2004-01-13 | 2011-01-05 | 日本精工株式会社 | Control device for electric power steering device |
| JP5330652B2 (en) * | 2007-02-28 | 2013-10-30 | 三菱重工業株式会社 | Permanent magnet motor control device |
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| JP特开2005-60070A 2005.03.10 |
| JP特开2006-33937A 2006.02.02 |
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| JP2010105763A (en) | 2010-05-13 |
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