CN102887402A - Device for controlling hybrid drive elevator - Google Patents
Device for controlling hybrid drive elevator Download PDFInfo
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- CN102887402A CN102887402A CN2012102495743A CN201210249574A CN102887402A CN 102887402 A CN102887402 A CN 102887402A CN 2012102495743 A CN2012102495743 A CN 2012102495743A CN 201210249574 A CN201210249574 A CN 201210249574A CN 102887402 A CN102887402 A CN 102887402A
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Abstract
The invention relates to a device for controlling a hybrid drive elevator which uses regenerated energy to drive a car of the elevator. An electrical storage device of the hybrid drive elevator carries out high output if necessary, and the electrical storage device is provided with long life. According to the embodiments, the device for controlling the hybrid drive elevator comprises an electrical storage device (30) for storing electrical power generated by a power supply line during a regeneration operation of a car (14) of the elevator such that the ratio of a current charging capacity to a complete charging capacity is within a predetermined range, and the stored electrical power is supplied to the power supply line during a powered operation; an electrical storage control device (32) for controlling the charge and discharge of the electrical storage device; and a charge/discharge control unit (42) which enlarges the range of the ratio of the current charging capacity to the complete charging capacity of the electrical storage device in a predetermined time period when the discharge capacity of the electrical storage device is required to increase.
Description
The application is take the Japanese patent application 2011-158411(applying date: on July 19th, 2011) be basis, the preceence of request this application.The application comprises its all the elements with reference to this application.
Technical field
Embodiment of the present invention relates to the control setup of the hybrid drive-type elevator of the car that utilizes regenerated energy (energy) to drive elevator.
Background technology
In general, in the elevator (elevator), car (car) and bob-weight (counter weight) are hung on the S. A. of electrical motor (winch (hoisting device)) at volume the two ends of cable (rope) hang, by the rotation of electrical motor, be situated between by cable so that car is being done the bucket type lifting action with the opposite sense of bob-weight.
Herein, for example, when car moved in the downward direction of lift path (hoistway), this moment, the California bearing ratio bob-weight of car was heavy, owing to not needing power, electrical motor produces regenerated energy as electrical generator work.Again, when car was moved upward, this moment, the California bearing ratio bob-weight of car was light, did not need power, therefore produced regenerated energy.
The situation that does not need power can move car like this is called " regeneration operation ", and the car moving direction of this moment is called " direction of regeneration ".Again, opposite, need the operation of power to be called " power operation ", this moment, the moving direction of car was called " power direction ".
Therefore, requirement along with in recent years brownout, the electric power regenerated energy that consideration produces when above-mentioned regeneration is moved, accumulate in the electrical storage device such as formations such as high-capacity electric capacity (capacitor), the regenerated energy that utilizes electrical storage device to accumulate when the power operation of next time moves the elevator of the hybrid drive-type of car.
In the elevator of such hybrid drive-type, effectively use electrical storage device, extremely important to saving the source power supply electricity consumption, simultaneously, to the life-span that prolongs electrical storage device also be very important.
Use has large bulk capacitance etc. as electrical storage device.These large bulk capacitances etc. are such as being 2 primary cells or the double layer capacitors such as nickel (nickel) hydrogen battery, lithium ion battery (lithium-ion battery), lithium polymer battery (lithium polymer battery).
In such electrical storage device, demonstration is with respect to the SOC(state of charge of the current charge condition of full charge capacity) scope, namely with respect to the higher limit of the ratio of the charging capacity that usually can use of full charge capacity and the scope between the lower limit, along with device characteristics are different.
In the less situation of the scope of the SOC of electrical storage device, with respect to the full charge capacity of this electrical storage device, the actual charging capacity that can use is less, can't carry out high input and output control by this electrical storage device.
Again, more with respect to the actual charging capacity that can use of full charge capacity in the larger situation of the scope of the SOC of electrical storage device, therefore, can stably carry out high input and output control by this electrical storage device.
But, in the larger situation of the scope of the SOC of electrical storage device, as mentioned above, can carry out high input and output control, but then, the charge condition of electrical storage device reaches near the higher limit of scope of SOC or under near the state the lower limit, when electrical storage device continues to use, compare the less situation of scope of the SOC of electrical storage device, the life-span of electrical storage device can significantly reduce.
Summary of the invention
Technical matters to be solved by this invention is, a kind of control setup of hybrid drive-type elevator that carries out high output by electrical storage device in case of necessity and can realize the high life of this electrical storage device is provided.
According to embodiment, the control setup of hybrid drive-type elevator comprises: electrical storage device, it accumulates the car electric power that the electric power supply line produces when the regeneration operation of elevator, so that current charging capacity with respect to the ratio of full charge capacity in specialized range, and the described electric power that will accumulate offers described electric power supply line when power moves; Power storage controller, it controls discharging and recharging of described electrical storage device; Discharge and recharge control part, it increases the discharge rate of described electrical storage device at needs specific time section makes current charging capacity with respect to the range extension of the ratio of full charge capacity described in the described electrical storage device.
Description of drawings
Fig. 1 is for showing the figure of the formation of the control setup of hybrid drive-type elevator in the 1st embodiment.
Fig. 2 is for showing the figure of the formation of the control setup of hybrid drive-type elevator in the 1st embodiment.
Fig. 3 is the figure of a variable example of the SOC scope of the used electrical storage device of the control setup that shows hybrid drive-type elevator in the 1st embodiment.
The diagram of circuit (flowchart) of the flow process of processing is controlled in the practiced operation of SOC control setup that Fig. 4 comprises for hybrid drive-type elevator in demonstration the 1st embodiment.
Fig. 5 is for showing the figure of the formation of the control setup of hybrid drive-type elevator in the 2nd embodiment.
The diagram of circuit of the flow process of processing is controlled in the practiced operation of SOC control setup that Fig. 6 comprises for hybrid drive-type elevator in demonstration the 2nd embodiment.
Fig. 7 is for showing the figure of the formation of the control setup of hybrid drive-type elevator in the 3rd embodiment.
The diagram of circuit of the flow process of processing is controlled in the practiced operation of SOC control setup that Fig. 8 comprises for hybrid drive-type elevator in demonstration the 3rd embodiment.
Fig. 9 is for showing the figure of the formation of the control setup of hybrid drive-type elevator in the 4th embodiment.
Figure 10 is the figure of a variable example of the SOC scope of the used electrical storage device of the control setup that shows hybrid drive-type elevator in the 4th embodiment.
The diagram of circuit of the flow process of processing is controlled in the practiced operation of SOC control setup that Figure 11 comprises for hybrid drive-type elevator in demonstration the 4th embodiment.
Figure 12 is for showing the figure of the formation of the control setup of hybrid drive-type elevator in the 5th embodiment.
The diagram of circuit of the flow process of processing is controlled in the practiced operation of SOC control setup that Figure 13 comprises for hybrid drive-type elevator in demonstration the 5th embodiment.
Figure 14 is for showing the figure of the formation of the control setup of hybrid drive-type elevator in the 6th embodiment.
Figure 15 is the figure of a variable example of the SOC scope of the used electrical storage device of the control setup that shows hybrid drive-type elevator in the 6th embodiment.
The diagram of circuit of the flow process of processing is controlled in the practiced operation of SOC control setup that Figure 16 comprises for hybrid drive-type elevator in demonstration the 6th embodiment.
Figure 17 is for showing the figure of the formation of the control setup of hybrid drive-type elevator in the 7th embodiment.
The diagram of circuit of the flow process of processing is controlled in the practiced operation of SOC control setup that Figure 18 comprises for hybrid drive-type elevator in demonstration the 7th embodiment.
The specific embodiment
Below, with reference to the accompanying drawings embodiment is described.
(the 1st embodiment)
At first, the 1st embodiment is described.
Fig. 1 is for showing the figure of the formation of the control setup of hybrid drive-type elevator in the 1st embodiment.
This elevator 10 comprises: the driving electric power that receives regulation is rotated the electrical motor 11 of action, be installed on pulley (sheave) 12 that the S. A. of this electrical motor 11 is rotated, be hung on car 14 that the two ends of the cable 13 of this pulley 12 hang and bob-weight (counterweight) 15 etc. at volume.
As the drive system of car 14, comprise source power supply 16, rectifier 17, smoothing capacity 18, inverter (inverter) 19, inverter current detecotr 20 etc. again.
Again, source power supply 16 is three phase mains.The alternating-current voltage/AC voltage of this three phase mains is carried out biphase rectification, is absorbed corrugated portion, the smooth vdc that turns to by smoothing capacity 18 by rectifier 17.The vdc of this smoothing is applied to inverter 19, and is converted to the alternating-current voltage/AC voltage of assigned frequency, is provided for electrical motor 11 as driving electric power.
Supply with by such electric power, electrical motor 11 is driven in rotation, and pulley 12 rotates thereupon, is hung on the cable 13 of this pulley 12 by volume, and car 14 and bob-weight 15 are done the bucket type lifting action in lift path.
Again, this elevator 10 comprises the control device for running the engine 21 for the running velocity etc. of control car 14.
Fig. 2 illustrates the formation of control device for running the engine 21.This control device for running the engine 21 is by formations such as speed command section 22, speed test section 23, speed controlling portion 24, load-carrying detector switch section 25, load-carrying signal operation section 26, torque (torque) instruction judging part 27, inverter current control parts 28.
Load-carrying detector switch (switch) section 25 is the switch of the load-carrying of detection car 14.Load-carrying detector switch section 25 for example, is made of a plurality of switches that carry out selectively unlocking (on) action corresponding to load value.Load-carrying signal operation section 26 is based on the load-carrying calculated signals compensated torque value of load-carrying detector switch section 25 outputs.
Specifically, load-carrying detector switch section 25 is made of 3 switch a, b, c.Switch a is ON when the load value of car 14 is heavier than the loaded weight (with the weight of bob-weight 15 balances) of stipulating.Switch b is the time ON of the loaded weight of regulation in the load value of car 14.ON when switch c when the load value of car 14 is lighter than the loaded weight of above-mentioned regulation is.Load-carrying signal operation section 26 with respect to each ON signal of these switches a, b, c, for example exports the compensated torque value of " 10 ", " 0 ", "+10 ".
Whether the final torque instruction value that the torque instruction value that torque instruction judging part 27 is judged speed controlling portion 24 output and the compensated torque value addition that load-carrying signal operation section 26 exports obtain is in permissible range.If the result that torque instruction judging part 27 is judged be torque instruction value outside permissible range, then limit so that it is in permissible range.
Inverter current control part 28, the torque instruction value of the current value that detects based on inverter current detecotr 20 and 27 outputs of torque instruction judging part cooperates the electric current of torque instruction value control inflow motor 11.
This elevator 10 as hybrid drive system, further comprises electrical storage device 30, charge-discharge circuit 31 and power storage controller 32 except above-mentioned formation.
The regenerated energy (electric power) that electric power supply line (line) produces during the operation of this electrical storage device 30 storing, regeneratings discharges the regenerated energy (electric power) of this storage to the electric power supply line when the power operation of next time, to save electric power.
Charge-discharge circuit 31 is for switching the circuit that discharges and recharges to electrical storage device 30.This charge-discharge circuit 31 is by charging switchover element (switching element) 33 and the formations such as discharge switchover element 34, direct current reactor (reactor) 35.
Charging is connected between the dc bus of the electric power supply line of inverter 19 in conduct with switchover element 34 with being connected side by side with switchover element 33.
Direct current reactor 35 is connected in the common connecting portion of switchover element 33,34, with the direct current power smoothing.
Specifically, this power storage controller 32 by voltage detection department 41, discharge and recharge control part 42, voltage detection department 43, change of voltage monitoring unit 44, voltage instruction section 45, current detecting part 46 etc. and consist of.
After the three plase alternating current that source power supply 16 provides is pressed in rectifier 17 places and is converted into vdc, be converted to desirable alternating-current voltage/AC voltage and offer electrical motor 11 by inverter 19.At this moment, car 14 is the regeneration operation, and regenerated energy returns the input terminal side from inverter 19, and therefore, voltage rises between dc bus.
In the common elevator, voltage is certain value when above between dc bus, and control is located at the switchover element 51 of the input terminal side of inverter 19, by regeneration resistance 52 heat consumption energy.On the other side, in the hybrid-driven elevator, have for the electrical storage device 30 that this regenerated energy is effectively utilized.
Simple declaration is carried out in the action of the charging and discharging of regenerated energy in the hybrid-driven elevator that comprises electrical storage device 30 herein.
(a) charging of regenerated energy action
As mentioned above, in the regeneration of car 14 when operation,, regenerated energy returns the input terminal side from inverter 19, so regenerated energy is accumulated in smoothing capacity 18, as to the voltage climbed between the dc bus of the electric power supply line of inverter 19.The voltage of this moment rises and detects by the voltage detection department 41 in the power storage controller 32.
Herein, in the power storage controller 32, voltage between dc bus becomes predefined a reference value when above, by voltage instruction section 45, be the voltage that is suitable for to the charging of electrical storage device 30 with the voltage step-down between dc bus, make the charging in the charge-discharge circuit 31 use switchover element 33 to be ON by discharging and recharging control part 42 again, so that electrical storage device 30 is charged.
The change of voltage of the electrical storage device 30 of this moment is monitored by change of voltage monitoring unit 44 by voltage detection department 43, and gives voltage instruction section 45.At this moment, the electric current that flows into electrical storage device 30 is detected by current detecting part 46, and by discharging and recharging control part 42 control charging currents.Like this, regenerated energy can be accumulated in electrical storage device 30.
(b) discharging action of regenerated energy
During the operation of the power of car 14, offer inverter 19 by the direct current after smoothing capacity 18 smoothings, therefore, descended as when voltage between the dc bus of the electric power supply line of inverter 19 stops with car 14, comparing.The voltage drop of this moment detects by the voltage detection department 41 in the power storage controller 32.
In the power storage controller 32, in case when voltage drop between dc bus arrives lower than predefined a reference value, namely so that the expected value that the boost in voltage of electrical storage device 30 is set to voltage instruction section 45, with and dc bus between voltage be complementary, making thus the discharge in the charge-discharge circuit 31 is ON with switchover element 34, will accumulate in the regenerated energy of electrical storage device 30 and discharge to the electric power supply line.At this moment, the electric current that electrical storage device 30 flows out is detected by current detecting part 46, discharges and recharges 42 pairs of discharge currents of control part and controls.
Elevator comprises SOC control setup 60 in the present embodiment.
This SOC control setup 60 comprises: to timing section 61, the SOC configuration part 62 of current time timing, discharge and recharge instruction department 63.
Once you begin regeneration operation or power operation, discharge and recharge instruction department 63 and namely obtain the voltage detecting value of electrical storage device 30 by voltage detection department 43, and send instruction to the control part 42 that discharges and recharges of power storage controller 32, so that this voltage detecting value that obtains is for corresponding to the magnitude of voltage in the SOC scope after enlarging.Like this, elevator can be realized high output control where necessary, and the high life of realizing electrical storage device 30.
Fig. 3 is the figure of a variable example of the SOC scope of the electrical storage device that shows that the control setup of hybrid drive-type elevator in the 1st embodiment is used.
In the present embodiment, the SOC scope that SOC control setup 60 can make it possible to use, namely can export the SOC scope of the electric power of certain above power density, scope is switched between the two when common scope and electric power peak value.
SOC scope when more common SOC scope and electric power peak value, the lower limit of the SOC scope during the electric power peak value is lower than the lower limit of common SOC scope, and the higher limit of the SOC scope during the electric power peak value is higher than the higher limit of common SOC scope.Therefore, the situation of the scope when the SOC scope is the electric power peak value is compared the situation that the SOC scope is common scope, and its charge volume, discharge rate all can increase, and therefore can realize the operation control of high output.
But the state of the scope when the SOC scope switches to the electric power peak value is compared with the state that the SOC scope switches to common scope, and life-span of electrical storage device 30 reduces, so SOC control setup 60, when the electric power peak value beyond, the SOC scope is switched to common scope.Like this, can realize simultaneously the operation control of height output in case of necessity and the long lifetime of electrical storage device.
Then, the action of the hybrid drive-type elevator of formation shown in Figure 4 described.
Fig. 4 is the diagram of circuit of the flow process of the practiced operation control of the SOC control setup processing that hybrid drive-type elevator comprises in demonstration the 1st embodiment.
In the initial condition, when current time was not the electric power peak value that arranges in the building of elevator, the SOC scope of electrical storage device 30 was made as common scope.
Then, during such specified time section that timing section 61 timing of SOC control setup 60 detect current time when being electric power peak value in the building (step S1), scope (step S2) when SOC configuration part 62 is the electric power peak value with the SOC scope of electrical storage device 30 from common range extension.
In case the lower charging to electrical storage device 30 of regeneration operation begins, SOC control setup 60 discharge and recharge instruction department 63 is namely obtained electrical storage device 30 by the voltage detection department 43 of power storage controller 32 voltage detecting value.Discharge and recharge instruction department 63 and send instruction to the control part 42 that discharges and recharges of power storage controller 32, so that this voltage detecting value that obtains is no more than the higher limit of the SOC scope after the expansion.Discharge and recharge control part 42 and in a single day receive instruction, namely obtain the detected value of the electric current that flows into electrical storage device 30 by current detecting part 46, with the control charging current, so that the SOC of electrical storage device 30 is no more than the higher limit of the SOC scope after the expansion.
In case the discharge of the lower electrical storage device 30 of power operation begins, discharge and recharge instruction department 63 is namely obtained electrical storage device 30 by voltage detection department 43 voltage detecting value again.Discharge and recharge instruction department 63 and send instruction to the control part 42 that discharges and recharges of power storage controller 32, so that this voltage detecting value that obtains can be less than the lower limit of the SOC scope after enlarging.Discharge and recharge control part 42 and in a single day receive instruction, the detected value of namely obtaining the electric current that flows out from electrical storage device 30 by current detecting part 46 is with the controlled discharge electric current, makes the SOC can be less than the lower limit of the SOC scope after enlarging.
Then, detecting in timing section 61 timing of the specified time section of current time when not being electric power peak value in the building, SOC control setup 60 is (step S3) outside the specified time section, and SOC configuration part 62 makes the SOC scope of electrical storage device 30 return common scope (step S4) before enlarging.
During the SOC range extension, when causing the voltage detecting value of this electrical storage device 30 to surpass the higher limit of common SOC scope along with the charging of operation to electrical storage device 30 of regenerating, the SOC scope is returned in the initial situation, by along with the discharge of power so that after SOC reaches below the higher limit of common scope, discharge and recharge instruction department 63 and send instruction to discharging and recharging control part 42, even the operation so that again regenerate can not exceed this higher limit ground charging yet.
Again, during the SOC range extension, by being accompanied by the discharge of power operation electrical storage device 30, when the voltage detecting value of this electrical storage device 30 becomes the lower limit of not enough common SOC scope, the SOC scope is returned when initial, by along with the charging of regeneration operation so that after SOC arrives more than the lower limit of common scope, discharge and recharge instruction department 63 and send instruction to discharging and recharging control part 42, even again carry out the power operation, also can not discharge into less than this lower limit.
As mentioned above, hybrid drive-type elevator in the 1st embodiment, in the specific time section when being the use electric power peak value of building side, enlarge the SOC scope of electrical storage device 30, with the power-assisted amount of the operation that increase to be used for elevator, be the discharge rate of electrical storage device 30, and beyond above-mentioned specific time section, the SOC scope of electrical storage device 30 is returned initially.Therefore, can realize height output control in case of necessity and the high life of realizing electrical storage device 30.Again, because the discharge rate of the electrical storage device 30 can make the electric power peak value time increases, the use electric power from source power supply in the time of can making the electric power peak value reduces, and therefore can cut down the electricity usage expense.
(the 2nd embodiment)
Then, the 2nd embodiment is described.Again, description thereof is omitted to the part identical with part shown in Figure 1 in the formation of hybrid drive-type elevator in each following embodiment.
The feature of present embodiment is, continuous power operation during electric power peak value by building, when the SOC arrival specified value of electrical storage device 30 is following, for the peak value that uses electric power in the building that elevator is set is risen, and save the charge capacity of the power electrical storage device 30 in service of next time from damage, operational mode (mode) is switched to energy-conservation (eco) operational mode.Operational mode after average velociity, maximum speed, the acceleration/accel of this energy conservation model when car advanced relatively limits with common operational mode.
Fig. 5 is the figure that shows the formation of the control setup of hybrid drive-type elevator in the 2nd embodiment.
In the present embodiment, SOC control setup 60 except the illustrated timing section 61 of the 1st embodiment, SOC configuration part 62, discharge and recharge instruction department 63, also further comprise SOC test section 71, purpose floor test section 72, load-carrying test section 73, use electric power judging part 74, operational mode switching part 75.
The SOC of electrical storage device 30 is at specified value V when the electric power peak value of building
1When following, during the lower limit of the SOC scope after namely the SOC by may not enough this electrical storage device 30 along with the discharge of the electrical storage device 30 of the operation of the power after next time enlarges, use electric power judging part 74 based on the testing result of the power of next time purpose floor in service and load value, judge the power consumption that makes that needs electric weight as this operation.
Operational mode switching part 75 has following function: relatively this judgement obtains making power consumption and detects the SOC that finishes, in the situation that utilize this that power consumption is moved, the power-assisted of the discharge by electrical storage device 30, during the lower limit of the SOC scope that the SOC of electrical storage device 30 is not enough after enlarging, operational mode is switched to the switching that makes the few energy conservation model of power consumption.
Fig. 6 is the diagram of circuit of the flow process of the practiced operation control of the SOC control setup processing that hybrid drive-type elevator comprises in the 2nd embodiment.
Wherein, current time is the specified time section during as the electric power peak value in the building, and is identical with the 1st embodiment, scope when the SOC scope of electrical storage device 30 is the electric power peak value from common range extension.Again, operational mode is common operational mode.
Under this state, the SOC test section 71 of SOC control setup 60 detects the SOC of electrical storage device 30.This SOC is the specified value V in the scope after enlarging
1When following (step S11), purpose floor test section 72 detects the purpose floor (step S12) of car 14, and load-carrying test section 73 obtains the load value (step S13) that car load-carrying detector detects.
Then, use electric power judging part 74, the testing result of purpose floor show next time operate to the power operation time, based on the testing result of purpose floor and load value, calculate the power operation of next time required make power consumption (step S14).
The SOC that power consumption and detection are finished that operational mode switching part 75 relatively uses electric power judging part 74 to calculate.Carrying out after this makes the operation of power consumption, because when the power-assisted under the discharge of electrical storage device 30 caused the lower limit of the SOC scope after the not enough expansion of the SOC of electrical storage device 30, the switching that operational mode switching part 75 will make operational mode switch to energy conservation model exported control device for running the engine 21 to instruction.Control device for running the engine 21 after this instruction of input, switches to energy conservation model (step S15) with operational mode from common operational mode.Like this, the average velociity during the car traveling, maximum speed, acceleration/accel and usually operational mode relatively and be limited, therefore can so that in during the power operation discharge rate of electrical storage device 30 reduce, save the charge capacity of electrical storage device 30 from damage.
Then, operation beginning (step S16), the current SOC of the electrical storage device 30 that SOC test section 71 detects surpasses above-mentioned specified value V
1The time (step S17), operational mode switching part 75 is considered as, when not needing to reduce the power operation in the discharge rate of electrical storage device 30, and operational mode is switched to the instruction of common operational mode to control device for running the engine 21 outputs.After control device for running the engine 21 these instructions of output, operational mode is switched to common operational mode (step S18).Like this, the traveling speed of car 14 can return common speed, does not need to limit the traveling speed of car 14.
As mentioned above, hybrid drive-type elevator in the 2nd embodiment, it is that specified value is when following that continuous power operation when the electric power peak value of building causes the SOC of electrical storage device 30, operational mode is switched to the energy conservation model of restriction gait of march, thereby can be so that use the peak value of electric power not rise in the building, and, when reducing the power operation in the discharge rate of electrical storage device 30, save the charge capacity of electrical storage device 30 from damage.
(the 3rd embodiment)
Then, the 3rd embodiment is described.
Present embodiment is switching to operational mode under the state of energy conservation model take the 2nd embodiment as prerequisite, and the SOC of electrical storage device 30 further drops to V
2(＜V
1) when following, the discharge rate of restriction electrical storage device 30 with this restriction state continuous driving force operation, further drops to specified value V at the SOC of electrical storage device 30
3(＜V
2) when following, by the carrying capacity of restriction car, save the charge capacity of electrical storage device 30 from damage.
Fig. 7 is the figure that shows the formation of the control setup of hybrid drive-type elevator in the 3rd embodiment.
In the present embodiment, SOC control setup 60 except the illustrated timing section 61 of the 1st and the 2nd embodiment, SOC configuration part 62, discharge and recharge instruction department 63, SOC test section 71, purpose floor test section 72, load-carrying test section 73, use electric power judging part 74, the operational mode switching part 75, also comprising discharge restriction instruction department 76, loading restriction instruction department 77.
Discharge restriction instruction department 76 is specified value V in the scope at the current SOC of the electrical storage device 30 that SOC test section 71 detects
2(＜V
1) when following, send instruction to the control part 42 that discharges and recharges of power storage controller 32, so that the discharge rate of electrical storage device 30 is restricted.
Loading restriction instruction department 77 is specified value V in the scope at the current SOC of the electrical storage device 30 that SOC test section 71 detects
3(＜V
2) when following, send instruction to control device for running the engine 21, so that the carrying capacity of car 14 is restricted.
Fig. 8 is the diagram of circuit of the flow process of the practiced operation control of the SOC control setup processing that hybrid drive-type elevator comprises in demonstration the 3rd embodiment.
Wherein, the specified time section when current time is electric power peak value in the building, identical with the 1st embodiment, scope when the SOC scope of electrical storage device 30 is the electric power peak value from common range extension.Again, operational mode is common operational mode.
Then, under this state, the SOC test section 71 of SOC control setup 60 detects the SOC of electrical storage device 30.This SOC becomes the interior specified value V of scope after the expansion
1When following (step S21), illustrated such as the 2nd embodiment, purpose floor test section 72 detects the purpose floor (step S12) of car 14.Load-carrying test section 73 is obtained the load value (step S13) that car load-carrying detector detects.
Then, use electric power judging part 74, the testing result of purpose floor for show next time operate to the power operation time, based on the testing result of purpose floor and load value, calculate the operation of next time required make power consumption (step S14).
Then, identical with the 2nd embodiment, according to using the power consumption that makes that electric power judging part 74 calculates, switch (step S15) from the common operational mode of operational mode to energy conservation model.
Then, power operation beginning (step S16), the SOC of electrical storage device 30 reduces, and the current SOC of the electrical storage device 30 that SOC test section 71 detects is the specified value V of the 2nd in the scope after enlarging
2Below (＜V
1) time (step S22), discharge restriction instruction department 76 sends instruction to discharging and recharging control part 42, so that the discharge rate of electrical storage device 30 is restricted.Then, discharge and recharge the discharge rate (step S23) of control part 42 with respect to the unit time of the electrical storage device 30 in restricted power when operation before the instruction.
Under this state, continue etc. by power operation, the SOC of electrical storage device 30 further reduces, and SOC test section 71 current SOC that detect, electrical storage device 30 reach the specified value V in the scope after the expansion
3Below (＜V
2) time (step S24), load restriction instruction department 77 in order to save the charge capacity of electrical storage device 30 from damage, send instruction to control device for running the engine 21, so that the carrying capacity of car 14 is restricted.Then, the notifying device that control device for running the engine 21 does not show to the figure in the car 14 provides the instruction of the notice (announce) of urging passenger's descending stair in the car, the loading a reference value that makes the benchmark of keeping as opening the door than instruction before low (step S25).Like this, with the carrying capacity than a reference value low before the instruction, owing to by send the notice of urging descending stair to the passenger, keeping and opening the door, therefore can limit the load-carrying of car 14 before instruction.Like this, can reduce the load of the operation of car 14, save the charge capacity of electrical storage device 30 from damage.
Then, behind the power end of run, by the operation of regenerating, the SOC of electrical storage device 30 recovers, the specified value V in SOC test section 71 current SOC that detect, electrical storage device 30 overrun
3The time (step S26), load restriction instruction department 77, send instruction to control device for running the engine 21, to remove the loading quantitative limitation of car 14.Then, control device for running the engine 21 will return to as the loading a reference value of the benchmark of the notice of passenger's descending stair in urging in the car (step S27) before the instruction.Like this, can passenger's number not carried out unnecessary restriction.
Then, further move so that the SOC of electrical storage device 30 recovers again by regeneration, the current SOC of the electrical storage device 30 that SOC test section 71 detects surpasses the interior specified value V of scope after enlarging
2The time (step S28), discharge restriction instruction department 76 sends instruction to discharging and recharging control part 42, to remove the discharge quantitative limitation to electrical storage device 30.In when then, discharging and recharging control part 42 and remove the power operation to the discharge quantitative limitation (step S29) of unit time of electrical storage device 30.Like this, the discharge rate of electrical storage device 30 is returned initially, can reduce the power consumption of the electric power of source power supply.
Then, the SOC of electrical storage device 30 further recovers, the specified value V in the scope after SOC test section 71 current SOC that detect, electrical storage device 30 surpass expansion
1The time (step S30), operational mode switching part 75 will export control device for running the engine 21 to for the indicator signal that operational mode is switched to common operational mode, operational mode switches to common operational mode (step S31).
As mentioned above, hybrid drive-type elevator in the 3rd embodiment, illustrated such as the 2nd embodiment, operational mode is being switched under the state of energy conservation model, the SOC of electrical storage device 30 further drops to specified value when following, the discharge rate of restriction electrical storage device 30, by moving with this restriction state continuous driving force, the SOC of electrical storage device 30 further drops to specified value when following, and the carrying capacity of restriction car is with the effect of saving from damage of the charge capacity that improves electrical storage device 30.
(the 4th embodiment)
Then, the 4th embodiment is described.
The feature of present embodiment is, when the electric power of the machine beyond the elevator in supply arranges the building of elevator surpasses specified value, same during with the electric power peak value, by enlarging the SOC scope of electrical storage device 30, and operational mode is switched to energy conservation model, save the charge capacity of electrical storage device 30 from damage.
Fig. 9 is for showing the figure of the formation of the control setup of hybrid drive-type elevator in the 4th embodiment.
In the present embodiment, SOC control setup 60 except the illustrated timing section 61 of the 1st embodiment, SOC configuration part 62, discharge and recharge instruction department 63, further comprise, detect the electric power of the elevator machine in addition that offers in the building that elevator is set and electric power test section 81, the operational mode switching part 82 of change thereof.
Operational mode switching part 82 has, and when client's electric weight surpasses when a certain amount of, operational mode is switched to the switching function of energy conservation model.
Figure 10 is the figure of a variable example of the SOC scope of the used electrical storage device of the control setup that shows hybrid drive-type elevator in the 4th embodiment.
As described in Figure 10, it is regional that electrical storage device 30 has the regional and urgent use of use.This does not use the zone to refer to, even SOC arrives the higher limit of SOC scope, and the zone of the charging when also being not used in the regeneration operation.Again, promptly do not use the zone to refer to, SOC reaches the lower limit of SOC scope, the zone of the discharge when also being not used in the power operation in the electric power storage zone beyond the zone even this does not use.
In the present embodiment, SOC control setup 60, when the electric power of the machine beyond the elevator in offering the building that elevator is set surpasses specified value, the use pattern of electrical storage device 30 is high region mode from common use mode altering, to enlarge the range of use as the scope of SOC.By this expansion, a part of not using the zone that is not used for charging before enlarging is used for charging, and the urgent part in zone of using that will be used for discharge before will enlarging is used for discharge so that the discharge rate of the charge volume during the regeneration operation when move with power compare range of use and enlarge before increase.
Figure 11 is the diagram of circuit of the flow process of the practiced operation control of the SOC control setup processing that hybrid drive-type elevator comprises in demonstration the 4th embodiment.
In the present embodiment, different from the action that the 1st embodiment is illustrated, the electric power test section 81 of SOC control setup 60 detects the client's electric weight (step S41) as the electric power of the machine beyond the elevator that offers in the building that elevator is set.Like this, whether no matter whether the use electric power of elevator increases, all can detect use electric power whole in the building that elevator is set increases.
Then, client's electric weight that electric power test section 81 detects surpasses (step S42) when a certain amount of, operational mode switching part 82 arranges the electric power that uses whole in the building of elevator and is purpose with minimizing, will export control device for running the engine 21 to indicator signal for the switching that operational mode is switched to energy conservation model.By this output, operational mode is switched to energy conservation model (step S43) from common operational mode.
In the present embodiment, when operational mode switches to energy conservation model from common operational mode, by make electrical storage device 30 with pattern from usually enlarging range of use as the scope of SOC with mode altering to high region mode shown in Figure 10.Like this, can so that the discharge rate of the charge volume in when operation regeneration when move with power increase to some extent before comparing the expansion of range of use since in the elevator electric power of source power supply make the power consumption minimizing, the use electric power that the whole building of elevator is set can be inhibited.The expense of use electric power that the whole building of elevator is set can be cut down.
Then, offer the electric power of the elevator machine in addition in the building that elevator is set by minimizing, it is above-mentioned when a certain amount of following (step S44) that client's electric weight that electric power test section 81 detects reaches, operational mode switching part 82 is considered as there is no need the use electric power of the whole building of restraint measure elevator, exports the indicator signal that makes operational mode switch to the switching usefulness of common operational mode to control device for running the engine 21.By this output, operational mode switches to common operational mode (step S45).
As mentioned above, when the electric power of the machine in the 4th embodiment beyond the elevator of hybrid drive-type elevator in offering the building that elevator is set surpasses specified value, enlarge the SOC scope of electrical storage device 30, and, operational mode switches to energy conservation model, use electric power to reduce in the elevator, the result arranges that whole use electric power can be inhibited in the building of elevator.
(the 5th embodiment)
Then, the 5th embodiment is described.
The feature of present embodiment is, continuous power operation when the electric power peak value of building is so that the SOC of electrical storage device 30 arrives specified value when following, average velociity, maximum speed, acceleration/accel when the car of the car 14 when increasing the regeneration operation is advanced, by more regenerated energy is filled with electrical storage device 30, the charge capacity of electrical storage device 30 is increased.
Figure 12 is the figure that shows the formation of the control setup of hybrid drive-type elevator in the 5th embodiment.
In the present embodiment, SOC control setup 60 except the illustrated timing section 61 of the 1st and the 2nd embodiment, SOC configuration part 62, discharge and recharge instruction department 63, SOC test section 71, purpose floor test section 72, load-carrying test section 73, use electric power judging part 74, further comprise speed variable order section 91.Cause the SOC of electrical storage device 30 to arrive specified value when following, average velociity, maximum speed, the acceleration/accel of the traveling speed of the car 14 when increasing the regeneration operation under the continuous power operation of speed variable order section 91 when the electric power peak value of building.
Figure 13 is the diagram of circuit of the flow process of the practiced operation control of the SOC control setup processing that hybrid drive-type elevator comprises in demonstration the 5th embodiment.Characteristic action in the present embodiment is the action of the following step S51 to S57 that promotes operation for charging.
Under this state, the SOC test section 71 of SOC control setup 60 detects the SOC of electrical storage device 30.This SOC reaches specified value in the scope after the expansion when following (step S11), purpose floor test section 72 detects the purpose floor (step S12) of car 14, the load value (step S13) that the car load-carrying detector that load-carrying test section 73 detection figure do not show detects.
Then, use electric power judging part 74, when the testing result of purpose floor shows that the operation of next time is the regeneration operation, based on the testing result of purpose floor and load value, calculate the operation of next time required make power consumption.
Then, make power consumption electric weight few and that move regenerated electric power by regenerating for being filled with the electric weight of electrical storage device 30 by what electric power judging part 74 calculated, the operational mode when control device for running the engine 21 will be regenerated operation switches to charging promotion operational mode (step S51) from common operational mode.This charging promotes operation to be so that be filled with the usually more regeneration operation of charge volume ratio of electrical storage device 30.
Then, regeneration operation beginning (step S52), speed variable order section 91 is to the instruction of control device for running the engine 21 outputs for increasing the average velociity of the gait of march of car 14, maximum speed, acceleration/accel.In case input this instruction, control device for running the engine 21 namely increases average velociity, maximum speed, the acceleration/accel (step S53) of the gait of march of current regeneration running cage 14.Like this, the rotation number of electrical motor 11 is many, therefore more regenerated energy can be filled with electrical storage device 30.
Then, regeneration end of run (step S54), speed variable order section 91 makes average velociity, maximum speed, the acceleration/accel of the gait of march of car 14 get back to initial instruction to control device for running the engine 21 outputs.When inputting this instruction, control device for running the engine 21 is so that average velociity, maximum speed, the acceleration/accel of the gait of march of the car 14 under the later operation return initially (step S55).
Under this state, the SOC test section 71 of SOC control setup 60 detects the SOC of electrical storage device 30.This SOC surpasses the interior specified value V of scope after enlarging
1The time (step S56), control device for running the engine 21 promotes operational mode to switch to common operational mode (step S57) from charging operational mode
As mentioned above, in the 5th embodiment, the SOC of the continuous lower electrical storage device 30 of power operation during the electric power peak value of building arrives specified value when following, average velociity, maximum speed, the acceleration/accel of the gait of march of the car 14 when increasing the regeneration operation, because more regenerated energy is filled with electrical storage device 30, can increase the charge capacity of electrical storage device 30.
(the 6th embodiment)
Then, the 6th embodiment is described.
The feature of present embodiment is, before the operation beginning, calculate this and move the electric weight of required use, make power consumption based on what this calculated, SOC to electrical storage device 30 carries out variable control, so that the amplitude of fluctuation that makes power consumption that the machine beyond the elevator in the building of elevator is set is in specialized range.
Figure 14 is the figure that shows the formation of the control setup of hybrid drive-type elevator in the 6th embodiment.
Figure 15 is the figure of a variable example of the SOC scope of the electrical storage device that shows that the control setup of hybrid drive-type elevator in the 6th embodiment is used.
As shown in figure 15, it is regional that electrical storage device 30 has the regional and urgent use of use.In the present embodiment, SOC control setup 60 makes as the range of use of the scope of SOC variable, so that the amplitude of fluctuation that makes power consumption that the machine beyond the elevator in the building of elevator is set is in specialized range.By so variable, the discharge rate the when charge volume when making the regeneration operation and power operation is variable, and therefore, the amplitude of fluctuation that makes power consumption that the machine beyond the elevator in the building of elevator is set can be in specialized range.
Figure 16 is the diagram of circuit of the flow process of the practiced operation control of the SOC control setup processing that hybrid drive-type elevator comprises in demonstration the 6th embodiment.
At first, purpose floor test section 72 detects the purpose floor (step S12) of car 14, the load value (step S13) that the car load-carrying detector that load-carrying test section 73 detection figure do not show detects.
Then, use electric power judging part 74, when the testing result of purpose floor show next time operate to the power operation time, based on the testing result of purpose floor and load value, calculate in the immutable situation of scope of SOC of electrical storage device 30, since the operation of next time to the time response that makes power consumption (step S14) that finishes.
Specifically, the variable control part 101 of SOC is based on the result of calculation of using electric power judging part 74, begin to end from operation, when a reference value that makes power consumption with respect to amplitude of fluctuation (here on average making power consumption) rises or descend, according to this ascensional range or fall, enlarge the scope of the SOC of electrical storage device 30, emit more electric power when making the power operation, be filled with more electric power when making the regeneration operation again.Like this, can suppress to begin to the amplitude of fluctuation that makes power consumption of the electric power of the source power supply that finishes from operation.
Then, during this end of run (step S63), the variable control part 101 of SOC makes the scope of the SOC of electrical storage device 30 get back to initially (step S64).
As above illustrated, in the 6th embodiment, begin to end from operation, when making power consumption rise or descend with respect to a reference value of amplitude of fluctuation, SOC to electrical storage device 30 carries out variable control, by so that charge and discharge electric weight and increase, so that begin to be inhibited to the amplitude of fluctuation that makes power consumption of the electric power of the source power supply that finishes from operation, therefore, can so that the amplitude of fluctuation that makes power consumption that the machine beyond the elevator in the building of elevator is set in specialized range.
(the 7th embodiment)
Then, the 7th embodiment is described.
In the present embodiment, be below the specified value at the SOC of electrical storage device 30, and current time be night etc. the whole building that elevator is set make the few specified time section of power consumption the time, make the electric power of source power supply to electrical storage device 30 chargings.
Figure 17 is the figure that shows the formation of the control setup of hybrid drive-type elevator in the 7th embodiment.
In the present embodiment, SOC control setup 60 except the illustrated timing section 61 of the 1st and the 2nd embodiment, SOC configuration part 62, discharge and recharge instruction department 63, SOC test section 71, also comprise charging instruction section 111, changeable frequency instruction department 112.
Figure 18 is the diagram of circuit of the flow process of the practiced operation control of the SOC control setup processing that hybrid drive-type elevator comprises in demonstration the 7th embodiment.
At first, timing section 61 timing of SOC control setup 60 learn current time be arrange elevator whole building make few time period at night of power consumption the time (step S71), the SOC test section 71 of SOC control setup 60 detects the SOC of electrical storage devices 30.
This SOC is specified value when following (step S72), the instruction that changeable frequency instruction department 112 rises the carrier frequency of inverter 19 to control device for running the engine 21 outputs.Control device for running the engine 21 these instructions of input are even the carrier frequency of inverter 19 rises (step S73).Then, charging instruction section 111 is to the instruction of power storage controller 32 output 30 chargings from source power supply to electrical storage device.In case input this instruction, power storage controller 32 is namely controlled source power supply to the charging (step S74) of electrical storage device 30.Wherein, the carrier frequency of inverter 19 rises, so charge efficiency improves.
Herein, power storage controller 32, voltage between dc bus is that predefined a reference value is when above, make the voltage between dc bus reduce to the voltage that is fit to the charging of electrical storage device 30 by voltage instruction section 45, then, by discharging and recharging control part 42 charging in the charge-discharge circuit 31 is charged to electrical storage device 30 for ON with switchover element 33.
The change of voltage of the electrical storage device 30 of this moment is monitored by change of voltage monitoring unit 44 by voltage detection department 43, and gives voltage instruction section 45.At this moment, the electric current that flows into electrical storage device 30 is detected by current detecting part 46, and by discharging and recharging control part 42 control charging currents.Like this, the electric power of source power supply can be stored in electrical storage device 30.
Then, when the current SOC of the electrical storage device 30 that detects by SOC test section 71 surpasses above-mentioned specified value (step S75), changeable frequency instruction department 112 returns initial instruction to the carrier frequency of control device for running the engine 21 output inverters 19.During control device for running the engine 21 this instruction of input, the carrier frequency of inverter 19 is namely returned initially (step S76).The carrier frequency of inverter 19 is returned initially, is that the life-span of the switchover element of inverter 19 can descend because if the carrier frequency propradation continues.
Then, charging instruction section 111 will be from source power supply to electrical storage device 30 charging END instruction export to and discharge and recharge control part 42.In case input this instruction, discharge and recharge control part 42 and namely finish source power supply to the charging (step S77) of electrical storage device 30.
As above illustrated, in the 7th embodiment, owing to carry out being filled with to electrical storage device 30 control of the electric power of source power supply, even in the situation that the operation of not regenerating also can realize the charging to electrical storage device 30.Such control owing to carrying out in the less specified time section of power consumption that makes of the whole building that elevator is set, therefore can not cause hindering owing to the charging of source power supply the use of elevator machine in addition.
According to each embodiment, can be provided in case of necessity electrical storage device and carry out height output, and realize the hybrid drive-type elevator of the high life of this electrical storage device.
Although understand several embodiments of the present invention, but these embodiments just are suggested as an example, are not for the restriction scope of invention.These embodiments can be implemented with other various forms, in the scope of the main idea that does not break away from invention, can carry out various omissions, replacement, change.These embodiments and distortion thereof are contained in scope of invention, the purport, equally also are contained in the invention that is recorded in patent claims and the equal scope thereof.
Nomenclature
11 ... electrical motor, 12 ... pulley, 13 ... cable, 14 ... car, 15 ... bob-weight, 16 ... source power supply, 17 ... rectifier, 18 ... smoothing capacity, 19 ... inverter, 20 ... inverter current detecotr, 21 ... control device for running the engine, 22 ... speed command section, 23 ... the speed test section, 24 ... speed controlling portion, 25 ... load-carrying detector switch section, 26 ... load-carrying signal operation section, 27 ... the torque instruction judging part, 28 ... the inverter current control part, 30 ... electrical storage device, 31 ... charge-discharge circuit, 32 ... power storage controller, 33 ... the charging switchover element, 34 ... the discharge switchover element, 35 ... direct current reactor, 41 ... voltage detection department, 42 ... discharge and recharge control part, 43 ... voltage detection department, 44 ... the change of voltage monitoring unit, 45 ... voltage instruction section, 46 ... current detecting part, 51 ... switchover element, 52 ... regeneration resistance, 60 ... the SOC control setup, 61 ... timing section, 62 ... the SOC configuration part, 63 ... discharge and recharge instruction department, 71 ... the SOC test section, 72 ... purpose floor test section, 73 ... the load-carrying test section, 74 ... use the electric power judging part, 75,82 ... the operational mode switching part, 76 ... discharge restriction instruction department, 77 ... load the restriction instruction department, 81 ... the electric power test section, 91 ... speed variable order section, 101 ... the variable control part of SOC, 111 ... charging instruction section, 112 ... the changeable frequency instruction department.
Claims (9)
1. the control setup of a hybrid drive-type elevator is characterized in that, comprising:
Electrical storage device (30), the electric power that produces at the electric power supply line when its car (14) regeneration that is accumulated in elevator moves, so that current charging capacity with respect to the ratio of full charge capacity in specialized range, and the described electric power of accumulating offered described electric power supply line when power moves;
Power storage controller (32), it controls discharging and recharging of described electrical storage device;
Discharge and recharge control part (42), it increases the discharge rate of described electrical storage device at needs specific time section makes current charging capacity with respect to the range extension of the ratio of the described full charge capacity in the described electrical storage device.
2. the control setup of hybrid drive-type elevator as claimed in claim 1 is characterized in that,
The described control part that discharges and recharges outside described specific time section, makes current charging capacity turn back to the front scope of expansion with respect to the scope of the ratio of the described full charge capacity in the described electrical storage device.
3. the control setup of hybrid drive-type elevator as claimed in claim 1 is characterized in that,
Further comprise control device for running the engine (21), it is in described specific time section, reach the specified value of saving from damage that needs described current charging capacity when following in current charging capacity with respect to the ratio of the described full charge capacity in the described electrical storage device, the speed of described car is slowed down.
4. the control setup of hybrid drive-type elevator as claimed in claim 3 is characterized in that,
Further comprise discharge restriction instruction department (76), its current charging capacity has reached the described specified value of saving from damage that needs current charging capacity with respect to the ratio of the described full charge capacity in the described electrical storage device below after, be less than the 2nd value of regulation of restriction of discharge described specified value, that need described electrical storage device when following at described ratio, send instruction to described power storage controller, to limit the discharge rate of described electrical storage device.
5. the control setup of hybrid drive-type elevator as claimed in claim 4 is characterized in that,
Further comprise and load restriction instruction department (77), it has reached at described ratio in the situation below the 2nd value of described regulation, be less than the 3rd value of loading restriction the 2nd value, that need described car of described regulation when following at described ratio, send instruction to limit the carrying capacity of described car to described control device for running the engine.
6. the control setup of hybrid drive-type elevator as claimed in claim 1 is characterized in that,
Further comprise the elevator electric power test section (81) that makes power consumption in addition that detects in the building that elevator is set,
The described control part that discharges and recharges, reach the specified value of the use electric power that need to reduce the integral body in the building that elevator is set when above at the described electric power that detects, so that current charging capacity is with respect to the range extension of the ratio of the described full charge capacity in the described electrical storage device.
7. the control setup of hybrid drive-type elevator as claimed in claim 1 is characterized in that,
Further comprise, control device for running the engine (21), it reaches specified value when following in current charging capacity with respect to the ratio of the described full charge capacity in the described electrical storage device, and is in service in regeneration, make the speed of described car variable, so that be promoted to the electric power storage of described charging unit.
8. the control setup of hybrid drive-type elevator as claimed in claim 1 is characterized in that,
For making the variation that makes power consumption beyond elevator in the building that elevator is set and the elevator in specialized range, before the operation of described car begins, calculate described operation and begin the power consumption that makes to end of run, and carry out the variable control that charges and discharge electric weight to described electrical storage device, so that the described variation of power consumption that makes is in specialized range.
9. the control setup of hybrid drive-type elevator as claimed in claim 1 is characterized in that,
When described ratio below specified value, the current time provides the source power supply of electric power that described electrical storage device is charged by the various machines that comprise elevator in the building that elevator is set when being fit to the specific time section to described electrical storage device charging.
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| Application Number | Priority Date | Filing Date | Title |
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| JP2011-158411 | 2011-07-19 | ||
| JP2011158411A JP5839873B2 (en) | 2011-07-19 | 2011-07-19 | Control device for hybrid drive elevator |
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| CN102887402A true CN102887402A (en) | 2013-01-23 |
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| CN2012102495743A Pending CN102887402A (en) | 2011-07-19 | 2012-07-18 | Device for controlling hybrid drive elevator |
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| CN (1) | CN102887402A (en) |
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| CN109455605A (en) * | 2017-09-06 | 2019-03-12 | 上海三菱电梯有限公司 | Energy-saving device of elevator |
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| Publication number | Publication date |
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| JP5839873B2 (en) | 2016-01-06 |
| JP2013023319A (en) | 2013-02-04 |
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