CN106464195B - Control device, lift appliance and the method for finding out rotation angular error of elevator - Google Patents

Control device, lift appliance and the method for finding out rotation angular error of elevator Download PDF

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Publication number
CN106464195B
CN106464195B CN201580023650.0A CN201580023650A CN106464195B CN 106464195 B CN106464195 B CN 106464195B CN 201580023650 A CN201580023650 A CN 201580023650A CN 106464195 B CN106464195 B CN 106464195B
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angular error
error
ingredient
estimated value
study
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CN106464195A (en
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大塚康司
酒井雅也
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B3/00—Applications of devices for indicating or signalling operating conditions of elevators
    • B66B3/02—Position or depth indicators
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Elevator Control (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

A kind of control device of elevator, has：Frequency analysis portion exports the ingredient that specific frequency obtained from frequency analysis is carried out to the electric current that the current detector for the electric current for detecting the motor for going up and down carriage in hoistway detects；And angular error estimator,It uses the ingredient of the specific frequency,The amplitude and phase of cycle estimator angular error,And it is exported them as angular error estimated value,Wherein,The periodicity angular error is uniquely determined according to the rotation angle of the rotation detection portion for the rotation angle for carrying out motor described in self-test,The angular error estimator is controlled,To implement the study for making carriage carry out specific sections operating operating,And continuously obtain the ingredient of multiple specific frequencies,Calculation Estimation value,And calculate the angular error estimated value,Angular error estimated value when to select institute's evaluation values be minimum,Wherein,The ingredient of the specific frequency is that the electric current detected in the study operating is inputed to the frequency analysis portion and is found out,Institute's evaluation values be the acquired specific frequency ingredient in continuously set quantity the ingredient of the specific frequency be formed by geometric sense in coordinate plane.

Description

Control device, lift appliance and the method for finding out rotation angular error of elevator
Technical field
The present invention relates to the angular error estimations in the control device of elevator, more particularly to due to being installed on composition traction machine Motor on rotation sensor periodical angular error and there is periodical torque pulsation and/or the control of velocity fluctuation Angular error estimation in device.
Background technique
In the previous resolver arrangement (resolver device) as rotation sensor, rotary transformer Error waveform be made of the intrinsic frequency content of rotary transformer, due to reproducible, referring to the angle that detects Signal calculating position error, and differential is carried out to location error and carrys out calculating speed error signal, Fu is carried out to speed error signal In leaf transformation come calculate be directed to be divided into multiple ingredients the detection error of each size.Calculated detection is missed Difference is synthesized, and is restored and is obtained to the detection error for including in the angle signal detected using rotary transformer to generate The error waveform signal arrived.The angle of the rotary transformer comprising detection error is corrected using error waveform signal generated Detect signal.By carrying out Fourier transformation to the velocity error found out according to location error, each rotation can be accurately calculated Change the detection signal of depressor, and corrects the angle signal detected by using calculated detection error, thus, it is possible to Obtain accurate angle signal.
Existing technical literature
Patent document
Patent document 1：Japanese Unexamined Patent Publication 2012-145371 bulletin
Summary of the invention
Subject to be solved by the invention
In the past, in the feelings estimated using the signal comprising pulsation caused by periodical angular error angular error Under condition, if the frequency of periodical angular error and the load as motor and the eigentone one of mechanical system that connect It causes, then angular error causes to resonate with mechanical system, and the amplitude of the velocity fluctuation as caused by angular error and phase are interim as a result, Change and lose reproducibility, therefore in the method for previous device, it is possible to be difficult to estimate angular error and obtain mistake Estimated result.
Especially as elevator in the system that the eigentone of mechanical system corresponds to rope lengths and changes, because The frequency moment to resonate is changing, therefore and it is indefinite will wherein resonate, erroneous estimation angular error can Energy property is higher.If learning the detailed specification of the mechanical system of elevator in advance, the eigentone of elevator can be calculated And/or gain characteristic, phase characteristic, the estimation of angular error can be implemented under the speed and car position not resonated, But the rating of machine of elevator is different according to every building in most cases, in the case where depending on the method for prior information Design time becomes very long.Thus, in the case where the load as motor is connected with the mechanical system with resonance, when When estimating angular error, judged using the signal comprising pulsation caused by angular error angular error estimated result success with It is no to become project.
Moreover, being carried out in previous device referring to the angle signal calculating position error detected, and to location error Differential carrys out calculating speed error signal, carries out Fourier transformation to speed error signal to estimate angular error.Here, using Speed signal in the case where estimating angular error, determines angle by the velocity resolution of angle detector or speed detector Spend the estimated accuracy of resolution ratio.Therefore, it in the case where the lower angle detector of velocity resolution or speed detector, deposits The project of enough angular error estimated accuracies cannot be obtained in generation quantization error.
The present invention completes to solve project as described above, and its purpose is to provide have to include periodicity The rotation detection portion of the motor of angular error, and angular error and mechanical system resonate will not to angular error into Row erroneous estimation can obtain the control device etc. of the elevator of the higher angular error estimated result of reliability.
Means for solving the problems
The present invention relates to control device of elevator etc., which has：Motor is flowed through in current detector, detection Electric current, the motor generate go up and down carriage in hoistway power；Rotation detection portion detects the rotation of the motor Angle；Frequency analysis portion exports the specific frequency obtained to the electric current progress frequency analysis that the current detector detects Ingredient；And angular error estimator, use the specific frequency ingredient, the amplitude of the angular error of cycle estimator and Phase, and exported them as angular error estimated value, wherein the periodic angular error is according to from the rotation What the rotation angle of test section uniquely determined, the angular error estimator is controlled, specific to implement to make the carriage to carry out The study operating of section operating, and the ingredient of multiple specific frequencies is continuously obtained, Calculation Estimation value, and described in calculating Angular error estimated value simultaneously associates institute's evaluation values with the angular error estimated value, selects institute's evaluation values for minimum When the angular error estimated value, wherein the ingredient of the specific frequency be will in the study operating institute that detects Electric current is stated to input to the frequency analysis portion and find out, institute's evaluation values be the acquired specific frequency ingredient in connect The ingredient of the specific frequency of continuous setting quantity is formed by the geometric sense in coordinate plane.
Invention effect
The present invention is capable of providing angular error and mechanical system will not carry out the erroneous estimation of angular error resonance, It can obtain the control device etc. of the elevator of the higher angular error estimated result of reliability.
Detailed description of the invention
Fig. 1 is the structure chart for showing an example of control device of elevator of the invention.
Fig. 2 is the structure chart for showing an example of the structure of angular error estimator of Fig. 1.
Fig. 3 is the figure for showing an example of the frequency characteristic of speed control of Fig. 1.
Fig. 4 is the curve graph for showing an example of the gain characteristic of mechanical system of elevator.
Fig. 5 is the curve graph for showing an example of the phase characteristic of mechanical system of elevator.
Fig. 6 is the curve graph for showing an example of the coordinate plane of the Fourier coefficient of frequency analysis portion calculating of Fig. 1.
Fig. 7 is an example of the movement of the study operating in the embodiment 1 for the angular error estimator progress for showing Fig. 1 Flow chart.
Fig. 8 is an example for showing the area impaled with the coordinate of the Fourier coefficient of the angular error estimator of Fig. 1 calculating Curve graph.
Fig. 9 is an example of the movement of the study operating in the embodiment 2 for the angular error estimator progress for showing Fig. 1 Flow chart.
Figure 10 is an example of the movement of the study operating in the embodiment 3 for the angular error estimator progress for showing Fig. 1 Flow chart.
Figure 11 is an example of the movement of the study operating in the embodiment 4 for the angular error estimator progress for showing Fig. 1 Flow chart.
Figure 12 is the structure chart for showing an example of the structure of angular error estimator of Fig. 1.
Figure 13 is an example for showing the line segment length between the coordinate of the Fourier coefficient of angular error estimator calculating of Fig. 1 Curve graph.
Figure 14 is an example of the movement of the study operating in the embodiment 5 for the angular error estimator progress for showing Fig. 1 Flow chart.
Figure 15 is an example of the movement of the study operating in the embodiment 6 for the angular error estimator progress for showing Fig. 1 Flow chart.
Specific embodiment
In the control device of elevator of the invention, frequency analysis portion carries out frequency to the electric current that current detector detects Analyze and calculate the amplitude and phase of specific frequency ingredient；Angular error estimator is specific using being calculated by frequency analysis portion The amplitude and phase of frequency content estimate the angular error that is made of specific frequency ingredient as angular error estimated value, when estimating When counting angle detection error, implements the study operating for operating carriage in specific sections, stored in study operating multiple specific The amplitude of frequency content and the operation result of phase, Calculation Estimation value select angular error estimated value when evaluation of estimate minimum, In, which is that the geometric sense of coordinate is formed by by the amplitude and phase of the multiple specific frequency ingredients stored.
Therefore, will not due to resonance influence and carry out the erroneous estimation of angular error, it is higher reliability can be obtained Angular error estimated value.
Hereinafter, illustrating the control device etc. of elevator of the invention according to each embodiment using attached drawing.In addition, in each reality It applies in mode, indicates identically or comparably part with identical label, and the repetitive description thereof will be omitted.
Embodiment 1.
Fig. 1 is the structure chart for showing an example of control device of elevator of the invention.In Fig. 1, the carriage 4 of elevator with match 5 are weighed mutually to be connected by traction rope 6 and be suspended on rope sheave 3 in hanging bottle type.Rope sheave 3 and the drive motor as carriage 4 Motor 1 connect, carriage 4 gone up and down by the power of motor 1.The motor 1 for going up and down carriage 4 is, for example, that permanent magnetism is same Walk motor.
The rotation of the rotation angle of detection motor 1 or rope sheave 3 is installed on the identical axis of motor 1 and rope sheave 3 Test section 2.The periodic error accordingly uniquely determined in angle information comprising the rotation angle with motor 1, wherein the angle Degree information be exported such as the rotation detection portion 2 constituted by rotary transformer or encoder or Magnetic Sensor it is electronic The rotation angle of machine 1.Here, referring to the periodic error that the rotation angle of motor 1 accordingly uniquely determines, such as become by rotation Missing pulse caused by the detection error of depressor or gap in optical encoders, angle sensors are bad and pulse distance from it is unbalanced that Sample, the error reproducible corresponding to rotation angle, that is, the error generated at the identical rotary angle position in each week.
In addition, utilizing the frequency analysis portion 8 shown in functional module described later, angular error estimator 9, velocity arithmetic It is in portion 10, speed command operational part 11, speed control 12, current controller 13 and each subtracter SU1-SU3, at least frequency Rate analysis portion 8, angular error estimator 9, velocity arithmetic portion 10, speed command operational part 11 and each subtracter SU1-SU3 by Such as constituted comprising the computer of processor and memory, respectively according to various needed for the program and processing for being stored in memory Set information executes respective processing.In addition, can also be equally by above-mentioned meter for speed control 12, current controller 13 Calculate mechanism at.In addition, can be also made of the digital circuit for executing respective function using the part shown in each functional module.
In addition, this is also the same in Fig. 2.
11 operation of speed command operational part is directed to the speed value of motor 1 and is exported.In addition, although not shown, But speed command operational part 11 also may include position control system.Even if including position control system in speed command operational part 11 It, also can be using the present invention in the case where system.
Speed control 12 is transported from speed value of the subtracter SU1 input from speed command operational part 11 with by speed Difference between the rotation speed for the motor 1 that calculation portion 10 calculates, union carry out defeated for the current instruction value of motor 1 Out.Speed control 12 can also be constituted with the arbitrary control method such as PI control, PD control.
Velocity arithmetic portion 10 is according to the correction rotation angle after the correction from subtracter SU2, the rotation of operation motor 1 Speed is exported, this has corrected the rotation angle that rotation angle is the motor 1 as the output from rotation detection portion 2 and by angle The angular error estimated value for the periodic error uniquely determined according to the rotation angle of motor 1 that degree estimation error portion 9 estimates Difference.In addition, velocity arithmetic portion 10 carrys out operation rotation speed most simply by the time diffusion of rotation angle.Alternatively, it is also possible to The structure for being noise caused by order to remove time diffusion and being smoothed by low-pass filter (illustration omitted).In addition, Velocity arithmetic portion 10 can both carry out the rotation speed of operation motor 1 according to the preset stipulated time, also may include use Carry out operation rotation speed according to preset regulation rotation angle in the structure for measuring the time.
Current controller 13 from subtracter SU3 input current instruction value from speed control 12 with as coming from electric current Phase current has been carried out the electronic of d-q axis conversion by coordinate conversion (not shown) by the phase current of the output of detector 7 The voltage instruction of the difference of the shaft current of machine 1, operation motor 1 is exported.Current controller 13 also as speed control 12 that Sample is not construed as limiting control method.
The electric current of the detection motor 1 of current detector 7.For example, in the case where motor 1 is threephase motor, measurement The case where phase current of two-phase, is more, but can also measure the phase current of three-phase.In addition, current detector 7 measures in Fig. 1 The output electric current of power converter 14, but current detector 7 can also be as based on single current divider resistance (one-shunt Resistor galvanometry) is such, measures the bus current of power converter 14 to estimate each phase current.Even if this In the case of, also any influence is not brought to the present invention.
Power converter 14 is converted into the phase according to the voltage instruction from current controller 13, by supply voltage (not shown) The variable voltage variable frequency of prestige.Power converter 14 of the invention refers to comprising power converter or power-converting device Variable voltage variable frequency power converter, wherein the power converter is sharp as the DC-to-AC converter that open market is sold After alternating voltage is converted into DC voltage with converter, using inverter by converting direct-current voltage into alternating-current voltage, the electric power Alternating voltage is directly changed into the variable voltage variable current of exchange by converting means as matrix converter.
In addition, power converter 14 of the invention other than above-mentioned inverter, can also include the function of coordinate conversion Energy.That is, the voltage instruction value of d-q axis is converted into phase in the case where being also contained in the voltage instruction value that voltage instruction is d-q axis Voltage or line voltage, and it is converted into the coordinate transformation function of the voltage according to commanded voltage instruction value, above functions table Up to for power converter 14.In addition, even if being provided with the device or correction unit of the dead time of correction power converter 14, It can be using the present invention.
The electric current that 8 pairs of the frequency analysis portion phase current detected using current detector 7 or shaft current are constituted carries out frequency Rate analysis, exports amplitude, the phase of specific frequency.It is desirable here that frequency analysis portion 8 is such as Fourier transformation, discrete fourier Transformation, Fourier expansion or Fast Fourier Transform (FFT) obtain amplitude and phase under the specific frequency of inputted signal like that The structure of position.It however, it can be the filter as being combined with notch filter and/or bandpass filter, extract specific Frequency signal, by amplitude detection portion and/or phase-detection portion (illustration omitted) to the output electric current of such as bandpass filter Progress amplitude operation and phase operation etc., and the structure of amplitude and phase under the specific frequency of operation input signal.In addition, This filter used is also possible to calculating either be combined with the filter of the electrical resistance of resistance, capacitor, coil etc. The processing handled in machine.Hereinafter, illustrate frequency analysis portion 8 to be configured to structure as carrying out Fourier transformation.
Fourier coefficient of the angular error estimator 9 used as the output from frequency analysis portion 8, estimation is as rotation The periodical angular error that the rotation angle of the output of test section 2 is included.Change type is pre-stored within by angular error estimator 9 In memory, and the estimated value of angular error is calculated using change type according to electric current, wherein the change type is used using electronic The rotary angle information of machine carries out Fourier coefficient obtained from Fourier transformation to the electric current of current detector 7 and misses to calculate angle Difference.
In addition, angular error estimator 9 is according to rotation as the output from frequency analysis portion 8, using motor The information at angle carries out Fourier coefficient obtained from Fourier transformation to the electric current of current detector 7, calculates by Fourier coefficient The area in region that impales of coordinate as the geometric sense on coordinate plane i.e. evaluation of estimate.In addition, below to by Fourier coefficient The calculation method of area that impales of coordinate and its meaning be illustrated.
Angular error estimated by angular error estimator 9 is by the error amplitude and error phase these two aspects that illustrate below It constitutes.
Angular error estimator 9 when error amplitude and error phase are calculated as the estimated value of angular error, For the angular error of recurring periods, believed using the correction that error amplitude and error phase calculate sine wave or cosine wave It number is exported.
Fig. 2 is the structure chart for showing an example of angular error estimator 9.
The rotation angle of the motor 1 that pace of learning operational part 91 is detected according to rotation detection portion 2 calculates motor 1 Rotation speed.Pace of learning operational part 91 carrys out operation rotation speed most simply by the time diffusion of rotation angle.In addition, can also To be noise caused by order to remove time diffusion and the structure smoothed by low-pass filter.In addition, pace of learning Operational part 91 can both carry out the rotation speed of operation motor 1 according to the preset stipulated time, also may include based on It surveys the structure of time and carrys out operation rotation speed according to preset regulation rotation angle.
Rotation angle detected by rotation detection portion 2 includes periodical angular error, therefore in pace of learning operational part 91 It pulses in the rotation speed of calculated motor 1 comprising cyclical velocity.Velocity information needed for angular error estimator 9 is For judging whether the rotation speed of motor 1 reaches preset speed in the study operating of angular error described later It spends and reaches information used in the constant speed travel condition based on setting speed.Thus, even if including in velocity information Pulsation, which also can determine, has reached constant speed travel condition, therefore there is no problem.
Car position operational part 92 is calculated according to the rotation angle of the motor 1 as the output from rotation detection portion 2 Position of the carriage 4 in hoistway is simultaneously exported.Base position in hoistway either lowest level is also possible to top layer, and And it can also be using arbitrary floor as benchmark.Because in the rotation angle of the motor 1 as the output from rotation detection portion 2 In comprising periodical angular error, therefore also include error in the car position that car position operational part 92 calculates.In this hair The location information of carriage 4 needed for bright is in angular error described later study operating judging whether that spy is completed The information determining the traveling in section and using.Thus, it can judge to have carried out even if in the location information in carriage 4 including error Specific sections are advanced, therefore there is no problem.In addition, car position operational part 92 can not also calculate carriage 4 according to rotation angle Position, but for example, by being counted to the go out number of area's plate (door zone plate) of detection and judging to have carried out spy Determine the case where section is advanced.Alternatively, it is also possible to utilize the notice base positions such as top layer or lowest level being set in hoistway Position switch is come the case where judging to be completed specific sections traveling.
Whether the study judgement of determination unit 93 reaches as the rotation speed of the motor 1 of the output of pace of learning operational part 91 Constant speed travel condition and whether carriage 4 is judged according to the position of the carriage 4 of the output as car position operational part 92 It is traveling in preset specific sections.Study determination unit 93 is constant speed travel condition and just specific in rotation speed Output study instruction when in the traveling of section, does not export study in the case where in addition to this and instructs.That is, estimating about angular error Implement the estimation of angular error when the rotation speed constant of motor 1, when the frequency-invariant of angular error in portion 9.As a result, can It is enough to handle the frequency of angular error as known.
About angular error operational part 94, when receiving study instruction from study determination unit 93, used as frequency point The output in analysis portion 8, Fourier transformation carried out to the electric current of current detector 7 by using the rotary angle information of motor 1 and Obtained Fourier coefficient carrys out operation angular error.Change type is pre-stored within memory, and root by angular error operational part 94 According to Fourier coefficient operation angular error, wherein the change type according to as use the rotary angle information of motor 1 to electric current into The Fourier coefficient of result after row Fourier transformation finds out angular error.In addition, the angle that angular error operational part 94 calculates Error is the error amplitude illustrated below and error phase.
Area operational part 95 is according to the output as frequency analysis portion 8, rotary angle information pair by using motor 1 The electric current of current detector 7 carries out Fourier coefficient obtained from Fourier transformation, to calculate the coordinate shape by Fourier coefficient At region area.The area in the region formed by the coordinate of Fourier coefficient because for judge angular error estimation at Whether function, therefore it is exported to output determination unit 96.In addition, below to the area and its meaning formed by the coordinate of Fourier coefficient Think of is illustrated.
Output determination unit 96 is selected as the area of the output of area operational part 95 formed by the coordinate of Fourier coefficient Error amplitude and error phase when for minimum are exported.The area formed by the coordinate of Fourier coefficient is equal when being minimum When the influence of resonance is minimum, thus, it is possible to the estimated values of angular error of the influence of selective reaonance when less.
Error amplitude and error phase of the error signal operational part 97 used as the output of output determination unit 96, calculating pair The corrected correction signal of periodical angular error (angular error estimated value) of rotation detection portion 2 is exported.Correction letter It is calculated using angular error operational part 94 number to be that the output as rotation detection portion 2, motor 1 rotation angle is added The sine value or cosine value of rotation angle obtained from error phase are multiplied by the value (formula illustrated below obtained after error amplitude (1))。
Then, the periodical angular error in the angle for the output for being contained in rotation detection portion 2 is illustrated.Rotation inspection The periodical angular error in survey portion 2 can approximatively be showed as following formula (1) using sine wave.In addition, because of either base In the statement of sine wave or the statement based on cosine wave in itself without difference, therefore it is unified into the present invention based on just The statement that string wave carries out.
θe=A1sin(Xθm+φ) (1)
θe：The periodical angular error of rotation detection portion 2
X：Number (known value) of the angular error of rotation detection portion 2 relative to the mechanical angle of motor 1
θm：The rotation angle of motor 1
A1：The error amplitude of the angular error of rotation detection portion 2
The phase offset (error phase) of the mechanical angle relative to motor 1 of rotation detection portion 2
Number of the angular error of X expression rotation detection portion 2 relative to the mechanical angle of motor 1, is known value.Cause And if learning the rotation angle θ of motor 1mThat is the rotation speed of motor 1 can then learn rotation detection portion shown in formula (1) The frequency of 2 periodical angular error.A1Indicate the error amplitude of the angular error of rotation detection portion 2,Indicate rotation detection The phase offset (error phase) of the mechanical angle relative to motor 1 in portion 2.
In angular error estimator 9, error amplitude A is used1Estimated result and error phaseEstimated result calculate Correction signal shown in formula (1).
Then, periodicity angular error shown in formula (1) is converted into the period by velocity arithmetic portion 10 as following formula (2) Property velocity error.
ωe=XA1ωcos(Xθm+ φ)=A2cos(Xθm+φ) (2)
ωe：The cyclical velocity error of rotation detection portion 2
A2：The amplitude of the velocity error of angular error based on formula (1)
ω：The rotation speed of motor
Thus, the rotation speed for the motor 1 that velocity arithmetic portion 10 exports includes that cyclical velocity shown in formula (2) misses Difference.Moreover, the speed that velocity arithmetic portion 10 exports is compared with the speed value that speed command operational part 11 exports, and by It is input to speed control 12.In speed control 12, current-order is determined according to speed value and the difference for detecting speed, But because the rotation speed that velocity arithmetic portion 10 exports includes cyclical velocity error as formula (2), in speed control In the current-order that device 12 calculates, drawn by the angular error of the rotation detection portion 2 of formula (1) comprising the pulsation caused by formula (2) The pulsation risen.The pulsation for the current-order that speed control 12 calculates is expressed according to formula (2) using formula (3).
Ie=A3cos(Xθm+φ+φc) (3)
Ie：The pulsation of current-order
A3：The amplitude of pulsation of current caused by angular error
The phase delay that speed control 12 generates
By Fourier expansion, pulsation of current shown in (3) formula is stated as following formula (4).
Ie=Ancos(Xθm)+Bnsin(Xθm) (4)
Because being utilized in the current-order that speed control 12 exports comprising pulsation of current shown in formula (4) Also comprising pulsation of current shown in formula (4) in the electric current that current detector 7 detects.By the synthesis of trigonometric function, formula (4) Pulsation of current can be rewritten as following formula.
γ=tan-1(An/Bn)
In formula (5),Indicate the electric current arteries and veins as caused by the angular error of rotation detection portion 2 Dynamic amplitude,
It sets up.
γ=tan-1(An/Bn) indicate pulsation of current the mechanical angle relative to motor 1 phase difference,
γ=tan-1(An/Bn)=φ+φcIt sets up.
In the following description, willThe referred to as amplitude of pulsation of current, by γ=tan-1(An/ Bn) it is known as the phase of pulsation of current.
Here, the Fourier coefficient A that explanation is obtained according to the frequency analysis result using electric currentn、Bn, find out angular error Error amplitude A1And error phaseMethod.Firstly, the error phase of angular errorIt can be found out as following formula (6).
φ=tan-1(An/Bn)-φc (6)
The phase delay that speed control 12 generatesIt is determined by the frequency characteristic of speed control 12.Because of angular error Frequency be known, so the frequency of velocity error is known value.Fig. 3 shows the gain and phase of speed control 12 Frequency characteristic.For example, the phase delay that speed control 12 generates is -150 in the case where the frequency of angular error is A [deg].In addition, the phase delay that speed control 12 generates is -170 [deg] in the case where the frequency of angular error is B. The phase delay of speed control 12 is uniquely determined by speed control 12.Thus, it is special according to the frequency of speed control 12 Performance enough finds out the phase delay of the generation of speed control 12The error phase of angular error can be found out using formula (6)
It is also the same for amplitude, it can be found out according to the frequency characteristic of speed control 12.When according to speed control 12 Frequency characteristic and when considering the frequency of known angular error, the gain C1 from speed to current-order can be found out.According to Fig. 3 Speed control 12 frequency characteristic, such as in the case where the frequency of angular error is A, increasing that speed control 12 generates Benefit is -10 [dB].In addition, the gain that speed control 12 generates is -35 [dB] in the case where the frequency of angular error is B. Thus, it is possible to calculate the error amplitude A of angular error as following formula (7)1。
Formula (6) and formula (7) are pre-stored in memory by angular error operational part 94, using according to the frequency of electric current point The Fourier coefficient that analysis result obtains, calculates the error amplitude A of angular error1And error phaseIn addition, angular error operation As long as portion 94 for example according to multi-frequency each as table data storage the frequency characteristic based on speed control 12 phase Position delay and gain.
Then, to the Fourier coefficient A in above-mentioned formula (4), (5)n、BnCalculating be illustrated.Frequency analysis portion 8 uses The information of the rotation angle of motor 1 carries out Fourier transformation to the electric current I detected using current detector 7 to calculate in Fu Leaf system number.The calculating of Fourier coefficient is carried out using generally known following formula (8).
An=(1/ π) ∫0 2πI·cos(Xθm)dθ
Bn=(1/ π) ∫0 2πI·sin(Xθm)dθ (8)
Implement the operation of the Fourier coefficient of formula (8) every specified period.For example, according to formula (8), it is specified that the period is suitable In the rotation angle θ of motor 1mThe amount to circle.In other words, according to carriage 4 during motor 1 circles middle traveling it is every Section distance, every time circling required according to motor 1, operation Fourier coefficient.In addition, between operation Fourier coefficient It circles but turns two weeks or turns three weeks etc. every may not be motor 1.In this case, because asking several periods Average value, therefore can reduce the deviation of pulsation of current and the influence of interference.
Frequency analysis portion 8 may not be the structure of operation Fourier coefficient shown in formula (8), but such as be combined with trap The filter of filter and/or bandpass filter extracts specific frequency signal like that, and utilizes amplitude detection portion and/or phase Position test section, the structure of amplitude and/or phase under the specific frequency of operation input signal.
In this case, for phase, the tan in formula (6) can be directly detected-1(An/Nn), therefore by subtracting The phase delay that speed control 12 generatesSo as to find out error phaseFor amplitude, formula can be directly detected (7) inTherefore the amplitude A of angular error can be found out by process same as formula (7)1。
Then, following study method of operation is illustrated：The angular error shown in the formula (1) of present embodiment In estimation, amplitude and when the changing less of phase, the i.e. frequency of the angular error of rotation detection portion 2 and electricity of pulsation of current are selected The resonant frequency of the mechanical system of ladder is inconsistent and makes estimated value when influencing less of resonance.
Firstly, being illustrated to the characteristic of the mechanical system of elevator.Fig. 4 show detected from rotation detection portion 2 it is electronic An example of the gain characteristic for the electric current that the angular error that the rotation angle of machine 1 includes is detected to current detector 7, Fig. 5 show phase An example of characteristic.
According to Figure 4 and 5, when the frequency of angular error is A and C, regardless of which position of the carriage 4 in hoistway, gain It is all steady state value with phase.
It on the other hand, is near the lowest level being represented by dashed line in the position of carriage 4 when the frequency of angular error is B In the case where near top layer indicated by the solid line, gain and phase invariant, but it is attached in the middle layer indicated with chain-dotted line Resonance characteristics is closely shown.Characteristic shown in Figure 4 and 5 is an example, because of the rating of machine according to building difference elevator Difference, therefore gain characteristic, phase characteristic shown in Figure 4 and 5 are different according to the building of each elevator.In addition, because electricity Ladder speed it is also different according to building, therefore, it is difficult to learn in advance angular error and mechanical system which position with how Speed resonate.Therefore, it is difficult to avoid resonating according to information in advance, it is expected that carrying out the study and estimation of angular error simultaneously Success or not judgement.
Then, the judgment method of the success or not of the estimation in angle estimation error portion 9 is illustrated.Fig. 6 is with horizontal axis For Bn, longitudinal axis AnTo calculated 2 Fourier coefficients of frequency analysis portion 8 when the carriage 4 of elevator being made to advance in specific sections An、BnDraw obtained figure.In the following, the plane is known as Fourier coefficient coordinate plane.It is learnt according to formula (5), in Fig. 6, away from The distance of originIt is equal with the amplitude of pulsation of current, angle formed by the vector of the distance away from origin Spend γ=tan-1(An/Bn) equal with the phase of pulsation of current.
Then, to the vibration of the coordinate of the Fourier coefficient in the Fourier coefficient coordinate plane area impaled and pulsation of current Width, pulsation of current phase between relationship be illustrated.In the Fourier coefficient coordinate plane of Fig. 6, if to pulsation of current AmplitudeWith phase γ=tan of pulsation of current-1(An/Bn) variation account for, then work as electricity Flow the amplitude of pulsationWith phase γ=tan of pulsation of current-1(An/Bn) variation it is smaller when, by The area that the coordinate of 3 points or more of Fourier coefficient impales is smaller.In the section A of Fig. 6, because Fourier coefficient The variation of coordinate is smaller, therefore smaller by the area that the coordinate of Fourier coefficient impales, the amplitude of pulsation of currentWith phase γ=tan of pulsation of current-1(An/Bn) variation it is smaller.In addition, in interval B, with Section A is compared, and the area impaled by the coordinate of Fourier coefficient is larger, the amplitude of pulsation of current With phase γ=tan of pulsation of current-1(An/Bn) variation it is also larger.Thus, calculate Fu in Fourier coefficient coordinate plane In the area that is impaled of coordinate of leaf system number be equal to the amplitude and phase changing capacity of calculating current pulsation.
In Fourier coefficient coordinate plane, the coordinate institute of 3 points or more of Fourier coefficient can be calculated using coordinate method The area impaled.For example, utilizing calculated Fu in frequency analysis portion 8 when setting the carriage 4 for making elevator and advancing in specific sections In leaf system number according to calculated result sequence from the old to the new be (Bn1, An1)、(Bn2, An2)、(Bn3, An3) when, by this 3 groups of Fu The area S that the coordinate of leaf system number impales can be calculated with following formula (9).
S=(1/2) | (Bn1An2-Bn2An1)+(Bn2An3-Bn3An2)+(Bn3An1-Bn1An3)| (9)
If setting the (B from origin to coordinaten1, An1) distanceFor G1, (the B from origin to coordinaten2, An2) distanceFor G2, (the B from origin to coordinaten3, An3) distanceFor G3, Set the amplitude of the pulsation of current under each coordinate as G1、G2、G3, (the B from origin to coordinaten1, An1) distance vector formed by angle tan-1(An1/Bn1) it is γ1, (the B from origin to coordinaten2, An2) distance vector formed by angle tan-1(An2/Bn2) it is γ2, from original Point arrives coordinate (Bn3, An3) distance vector formed by angle tan-1(An3/Bn3) it is γ 3, that is, set the pulsation of current under each coordinate Phase is γ1、γ2, γ 3, then the area of formula (9) can be rewritten as follows.
S=(1/2) | G1G2sin(γ2-γ1)+G2G3sin(γ3-γ2)+G1G3sin(γ1-γ3)| (10)
The angular error that the rotation angle of the motor 1 detected from rotation detection portion 2 is included is detected to current detector 7 The gain characteristic and phase characteristic of electric current are characteristics as Figure 4 and 5, such as when the frequency of angular error is A and C, carriage 4 No matter which position in hoistway, gain and phase are all steady state values, i.e. the frequency of angular error if it is A or C, then not with The mechanical system of elevator resonates, therefore G1、G2、G3And γ1、γ2, γ 3 be steady state value, be with formula (9) area calculated 0。
On the other hand, when the frequency of angular error is B, when carriage 4 is located near lowest level and top layer, gain is Amplitude and phase are steady state values, but when close to middle layer, and gain and phase significantly change.That is, the frequency when angular error is B When, resonance is generated near middle layer, does not generate resonance in other positions.In this case, the area calculated using formula (9) It is 0 near lowest level and top layer, but as the area close to middle layer, formula (9) becomes larger.When resonating, because increasing Benefit and phase change simultaneously, therefore pass through the area of calculating formula (9), being capable of the amplitude of calculating current pulsation and the variation of phase.
In addition, being mentioned even if being to be combined with the filter of notch filter and/or bandpass filter in frequency analysis portion 8 It takes specific frequency signal and utilizes amplitude detection portion and/or the amplitude of the specific frequency of phase-detection portion operation input signal And/or in the case where the structure of phase, it can also pass through same step reference area.That is, when frequency analysis portion 8 is to be combined with The filter of notch filter and/or bandpass filter extracts specific frequency signal, utilizes amplitude detection portion and/or phase When the amplitude and/or phase of the specific frequency of position test section operation input signal, the pulsation of current in formula (10) can be obtained The phase γ of amplitude G and pulsation of current, therefore formula (10) reference area can be utilized.Moreover, if using pulsation of current vibration Width G, error phaseThen An=Gsin (φ), Bn=Gcos (φ), therefore simultaneously by the amplitude of detection pulsation of current and phase It is converted into Fourier coefficient, even thus the operation method based on formula (9) also being capable of reference area.
Moreover, being to be combined with the filter of notch filter and/or bandpass filter in frequency analysis portion 8, extract special Fixed frequency signal, and using the amplitude of the specific frequency of amplitude detection portion and/or phase-detection portion operation input signal and/ Or in the case where the structure of phase, even as shown in fig. 6, using the longitudinal axis as amplitude, horizontal axis for the coordinate plane of phase or with The coordinate plane that the longitudinal axis is phase, horizontal axis is amplitude, rather than by Fourier coefficient AnAnd BnThe coordinate plane of formation, also by With the operation based on formula (9) come reference area, and being capable of the amplitude of calculating current pulsation and the variation of phase.As long as that is, making Amplitude and AnIt corresponds to, make phase and BnCorrespond to or make phase and AnIt corresponds to, make amplitude and BnCorrespondence.
It is equal to according to the area that the above finds out formula (9) and finds out the amplitude of pulsation of current and the variable quantity of phase, face The amplitude of the larger that is pulsation of current of product and the variable quantity of phase are larger.In addition, in Fig. 6, with 3 points of Fourier coefficient The area that impales of coordinate for be illustrated, but if being that 3 points or more the coordinates that can then calculate Fourier coefficient impale Area, therefore do not need to be defined at 3 points.
Then, the movement for the study operating being described as follows using the flow chart of Fig. 7：In study operating, using by formula (9) mechanical system of the area that the coordinate of Fourier coefficient shown in impales, selected angle error and elevator does not resonate and electric The estimated value of angular error when the variable quantity of the amplitude and phase that flow pulsation is smaller.
About angular error estimator 9, refer to when from such as study determination unit 93 or output determination unit 96 to the speed of Fig. 1 When enabling operational part 11 send study operation instruction and starting study operating, study determination unit 93 determines the rotation speed of motor 1 Whether according to the output of pace of learning operational part 91 and as constant (step S71).Do not become permanent in the rotation speed of motor 1 In the case where fixed, continue step S71 until rotation speed constant.This is because when the rotation speed constant of motor 1, The frequency-invariant of the angular error of rotation detection portion 2, readily estimated angle detection error.
After the rotation speed of motor 1 becomes constant, angular error operational part 94 will be as from frequency analysis portion 8 The information of rotation angle export, using motor 1 carries out in Fu obtained from Fourier transformation the electric current of current detector 7 The calculated result of leaf system number is saved in memory (step S72).
Then, angular error operational part 94 judge the calculated result of Fourier coefficient whether be stored 3 times or 3 times with On amount (the following amount as 3 times or more is illustrated) (step S73).In the Fourier coefficient for the amount for not saving 3 times or more In the case where, return step S72 repeats the preservation of the Fourier coefficient as the output from frequency analysis portion 8.In Fourier In the case that coefficient has been saved 3 times or more amounts, area operational part 95 is formed using the coordinate that formula (9) calculate Fourier coefficient Area.In addition, angular error operational part 94 uses Fourier coefficient, stored Fourier coefficient and angle detection is utilized to miss The change type of difference, calculates the estimated value (step S74) of angular error.The estimated value of angular error is error amplitude and error phase Position.Moreover, area is associated with the estimated value of angular error and is stored in memory by output determination unit 96.
At the end of the calculating of the estimated value of the area and angle detection error of step S74, output determination unit 96 compares institute The area of storage calculated area and calculated area (step S75) in step S74 i.e. in preceding 1 process.This Outside, the initial value of the area compared is set as the maximum value that can be stored, so that centainly saving the 1st calculated result. The estimated value of angle detection error is also possible to arbitrarily be worth.
Output determination unit 96 is to be judged as when the result for comparing stored area and calculated area in step S75 In step S74 in the calculated lesser situation of area, by area calculated in step S74 and angle detection error Estimated value is stored together.At this point, deleting stored area and angle detection error (step S76).
On the other hand, when the result for comparing stored area and calculated area in step S75 is to be judged as It is without any processing in the case that calculated area is stored area or more in step S74.That is, continuing to save The estimated value and area of the angular error of storage, and it is transferred to next step.
Then, whether study determination unit 93 judges carriage in specific sections row according to the output of car position operational part 92 Into (step S77).Being judged as that return step S72 is repeated up to step in the case where not carrying out specific sections traveling Processing until S77.In the case where being judged as that having carried out specific sections advances, terminate study operating.
In addition, it is the car position judgement calculated according to car position operational part 92 that carriage 4 is advanced in specific sections, But such as it can also judge to have advanced in specific sections by counting the number for detecting area's plate of going out.In addition, can also Judged with position switch using notice top layer or lowest level etc. the base positions being set in hoistway in specific sections The case where traveling.
After the completion of study operating, error signal operational part 97 is calculated using the estimated result of error phase and error amplitude The periodical angular error of rotation detection portion 2, and exported as correction signal, it is rotated using the subtracter SU2 of Fig. 1 The correction of the angular error of test section 2.
In addition, finally judging whether carriage has advanced in specific sections to determine whether being learned in above-mentioned movement Operating is practised but it is also possible to be if the rotation speed that the output for most starting pace of learning operational part 91 shows motor 1 is constant speed The output of degree travel condition and car position operational part 92 shows carriage 4 and advances in preset specific sections, then learns The output study instruction of determination unit 93 makes to learn operation start.In this case, step S77 and step S71 is carried out parallel.
In the case where implementing study operating by above processing, when having carried out specific sections traveling, it can extract Fourier coefficient obtained from Fourier transformation is carried out to the electric current of current detector 7 using the information of the rotation angle of motor 1 Coordinate be formed by angle detection error when area is minimum.Because of the Fourier coefficient when having carried out specific sections traveling Coordinate be formed by area as minimum, to be equal to the amplitude of pulsation of current and the variable quantity of phase in specific sections smaller When, therefore it is also minimum with the influence of the resonance of mechanical system, finally, the smallest angle detection error of evaluated error can be extracted Estimated value.
The coordinate that Fig. 8 shows 3 Fourier coefficients of the adjoining in the Fourier coefficient coordinate plane using Fig. 6 calculates Area and car position between relationship.For example, in the study operating of angular error, when obtaining Fourier as Fig. 6 When the coordinate of coefficient, the area calculated using the area operational part 95 of angular error estimator 9 is as shown in Figure 8.The face in the A of section Product is smaller, and in interval B, area ratio section A is big.According to the process of the study operating of Fig. 7, angle when extracting section A is missed The estimated value of difference.It is equal to because area is small without resonance, the estimation of the higher angular error of reliability can be obtained Value.
According to the method for embodiment 1, the success or not of the estimation of angular error can be carried out simultaneously and based on electric current arteries and veins The judgement of the success or not of the estimation of dynamic amplitude and phase, the estimation for the angular error that resonance can be extracted when influencing minimum Value, and do not investigate in advance relevant to resonance information also can, therefore the time required for the study of angular error can be shortened. In addition, according to the method for embodiment 1, even if not being elevator but being connected with the arbitrary machinery of the load as motor 1 System can also extract estimated value when influencing minimum of resonance according to the amplitude of pulsation of current and the variable quantity of phase.? In Fig. 6, the method carried out using 3 points of Fourier coefficient is shown, but as long as being to be capable of 3 points of reference area or more.
In addition, even if the structure of the not instead of operation Fourier coefficient of frequency analysis portion 8, is such as combined with notch filter And/or the filter of bandpass filter is such, extracts specific frequency signal and utilizes amplitude detection portion and/or phase-detection The amplitude of the specific frequency of portion's operation input signal and/or the structure of phase, then can also be obtained reliably by same step The estimated value of the higher angular error of property.
Embodiment 2.
In the embodiment 1, show can exclude angular error frequency it is consistent with the frequency of mechanical system and be difficult to Estimated value when estimation, and the method for extracting estimated value when influencing minimum of resonance.In embodiment 2, learn to changing Repeatedly implement to speed when operating the study operating of the angular error shown in the embodiment 1, and carries out repeatedly study knot The consistency of fruit confirms that the method for thus obtaining the estimated value of the angular error than 1 high reliablity of embodiment is illustrated.
In the method for embodiment 1, by extract Fourier coefficient formed coordinate impaled area minimum when The estimated value of angular error, thus the angle estimation error for extracting resonance when influencing less.But it is advised according to the machinery of elevator Lattice, have no matter which position in hoistway, which is advanced, all generates the speed of resonance.In such a case, even if occurring Resonance, also extract pulsation of current amplitude and phase change minimum when angular error estimated value.In this case, because To be possible to be unable to get the estimated value of the higher angular error of reliability, it is therefore desirable for changing the speed of study operating.Thus, In embodiment 2, with the changing speed when study operating repeatedly study of implementation angular error, and the knot repeatedly learnt The consistency of fruit confirms.
Fig. 9 shows the flow chart of the study operating in embodiment 2.In addition, the control device and angular error of elevator are estimated The structure in meter portion 9 and structure shown in Fig. 1,2 are essentially identical.
About angular error estimator 9, refer to when from such as study determination unit 93 or output determination unit 96 to the speed of Fig. 1 When enabling operational part 11 send study operation instruction and starting study operating, study determination unit 93 determines the rotation speed of motor 1 Whether according to the output of pace of learning operational part 91 and as constant (step S901).Do not become in the rotation speed of motor 1 In the case where constant, continue step S901 until rotation speed becomes constant.This is because working as the rotation speed of motor 1 As it is constant when, the frequency-invariant of the angular error of rotation detection portion 2, readily estimated angle detection error.
After the rotation speed of motor 1 becomes constant, angular error operational part 94 will be as from frequency analysis portion 8 The information of rotation angle export, using motor 1 carries out in Fu obtained from Fourier transformation the electric current of current detector 7 The calculated result of leaf system number is saved in memory (step S902).
Then, angular error operational part 94 judges whether the calculated result of Fourier coefficient is stored 3 times or more amounts (step S903).In the case where not saving 3 times or more the Fourier coefficients of amount, conduct is repeated in return step S902 The preservation of the Fourier coefficient of output from frequency analysis portion 8.The case where Fourier coefficient has been saved 3 times or more amounts Under, area operational part 95 calculates the area of the coordinate formation of Fourier coefficient using formula (9).In addition, angular error operational part 94 Using Fourier coefficient, the change type of stored Fourier coefficient and angle detection error is utilized, estimating for angular error is calculated Evaluation (step S904).The estimated value of angular error is error amplitude and error phase.Moreover, output determination unit 96 by area with The estimated value of angular error, which associates, is stored in memory.
At the end of the calculating of the estimated value of the area and angle detection error of step S904,96 pairs of determination unit of output is deposited The area of the storage i.e. calculated area in preceding 1 process with area calculated in step S904 is compared (step S905).In addition, the initial value of the area compared is set as the maximum value that can be stored, so that centainly saving the 1st meter Calculate result.The estimated value of angle detection error is also possible to arbitrarily be worth.
The result that output determination unit 96 compares stored area and calculated area in step S905 is to be judged as In step S904 in the calculated lesser situation of area, will in step S904 calculated area and angle detection error Estimated value stored together.At this point, deleting stored area and angle detection error (step S906).
On the other hand, the result that stored area and calculated area are compared in step S905 is to be judged as in step It is without any processing in the case that calculated area is stored area or more in rapid S904.That is, continuing to have deposited The estimated value and area of the angular error of storage, and it is transferred to next step.
Then, study determination unit 93 judges whether carriage has carried out given zone according to the output of car position operational part 92 Between advance (step S907).Being judged as that return step S902 is performed repeatedly until in the case where not carrying out specific sections traveling Processing until step S907.In the case where being judged as that having carried out specific sections advances, output determination unit 96 will learn number It is stored in memory (step S908) together with the angular error estimated value saved.Learning number can be by using carriage position The position for setting the calculated carriage 4 of operational part 92, number when advancing to specific sections are counted to calculate.
In addition, it is the carriage position calculated according to car position operational part 92 that carriage 4, which has carried out the case where specific sections traveling, Judgement is set, for example, it is also possible to judge to advance in specific sections by counting the number for detecting area's plate of going out.Separately Outside, it can use the position switch for notice top layer or lowest level etc. the base positions being set in hoistway also to judge given zone Between advance situation.
Then, study determination unit 93 judges whether to implement 2 times or more i.e. multiple angles according to the study number stored The study (step S909) of error.When be judged as in step S909 2 times or more study is not carried out in the case where, sentence from study Determine portion 93 or output determination unit 96 and send study operation instruction to the speed command operational part 11 of Fig. 1, changes study operating Speed is again carried out study operating (step S914).By changing pace of learning, the frequency of periodical angular error becomes Change.For example, changing in Fig. 4,5 from frequency B to A.The electric current as caused by the periodical angular error of rotation detection portion 2 as a result, The tendency of pulsation changes.For example, resonating near middle layer at frequency B, but under frequency A, C, regardless of at which A floor does not resonate.Thereby, it is possible to estimate angular error under conditions of being different from the 1st study.In addition, learning The speed setting aspect for practising operating does not restrict especially, but because most jogging speed, prestissimo that carriage can advance etc. is extreme The tendency of pulsation of current in the case where ground change speed significantlys change, therefore can implement angular error under different conditions Study.
It, both can be to the identical direction of study with the 1st time (i.e. when the 1st time about the direction of travel of study operating At the end of habit, implemented again back to the position for starting study and with identical rotation direction, alternatively, from completing the 1st Continue to identical direction the position of secondary study) operating, it can also be since completing the 1st position of study to the 1st The opposite direction of the rotation direction of secondary study operates.If changing pace of learning to be operated, rotation direction is not limited.This Learning method when outside, about the speed for changing study operating is identical as the 1st study.
Learn determination unit 93 in the case where being judged as the study for having carried out 2 times or more angular errors in step S909, Carry out the consistency confirmation (step S910) of the estimated result of multiple angular error.The estimated value of angular error by formula (1) mistake Poor amplitude and error phase are constituted, but carry out the consistency confirmation of the estimated result of error amplitude first.It is repeatedly being learned that is, calculating Whether the difference for practising the estimated value of error amplitude obtained in operating, confirm the difference within preset value.For example, when real When having applied 3 study operating, estimated with the 3rd time, the 1st time with what is obtained in this way for the 3rd time by carrying out the 1st time with the 2nd time, the 2nd time Whole combinations of result are counted, to carry out consistency confirmation.Judge that the setting value of the difference of the error amplitude of consistency both can be pre- It is first stored in memory, it can also be from external input.
At the end of the consistency confirmation of error amplitude, then implement the consistency confirmation of error phase.Error phase Consistency is carried out similarly when confirming also with error amplitude.That is, calculating estimating for the error phase obtained in multiple study operating Whether the difference of evaluation confirms the difference within setting value.Judge that the setting value of the difference of the error amplitude of consistency both can be with It is pre-stored in memory, it can also be from external input.
In the consistency confirmation of error amplitude, the consistency confirmation of error phase, even if being judged as more in either side In the case that secondary learning outcome is inconsistent (step S911), all judge learn number whether maximum learn number within (step S912)。
If learning number to learn within number in maximum, changes pace of learning and be again carried out study operating (step S914)。
In the consistency confirmation of estimated result, it is consistent in error amplitude and in the case that error phase is inconsistent, can also Only to carry out relearning for error phase in the study operating for changing speed.On the other hand, in the consistent of estimated result Property confirmation in, it is consistent in error phase and in the case that error amplitude is inconsistent, can also only carry out again of error amplitude It practises.It is all relearned alternatively, it is also possible to error amplitude and error phase.
In step S912, in the case where being judged as that study number is more than maximum study number, study determination unit 93 will It cannot learn notice output and give host control device (illustration omitted) (step S913).In addition, maximum study number both can be pre- It is first stored in memory, can also be instructed from outside.Additionally, it is desirable to which what is exported in step S913 cannot learn notice energy It is enough to show in the control panel (illustration omitted) of elevator to notify exception.In addition, when notice cannot be learnt by outputing, it is expected that leading to Crossing makes elevator halt to ensure safety.
When the confirmation of the consistency of step S911 is completed or output cannot learn notice in step S913, study determines Complete study operating in portion 93.In the case where confirming the repeatedly consistency of the result of study operating in step S911, learning After the completion of operating, error signal operational part 97 calculates rotation detection portion 2 using the estimated result of error phase and error amplitude Periodical angular error, and exported as correction signal, the angular error of rotation detection portion 2 is carried out using the subtracter SU2 of Fig. 1 Correction.
When implementing study operating by above processing, Fourier coefficient when carrying out specific sections traveling can be extracted Coordinate is formed by angle detection error when area minimum.In addition, the consistency by multiple learning outcome confirms, can obtain To the estimated value of the angular error of the method high reliablity than embodiment 1.Moreover, passing through limitation study number, it can be ensured that The safety when study of angular error cannot proceed normally.
Embodiment 3.
In embodiment 3, in Fourier coefficient corresponding with the estimated value of angular error obtained by study operating Be formed by area ratio a reference value that coordinate impales it is big in the case where, learnt by changing the speed of study operating, by This method for obtaining the estimated value of the angular error than 1 high reliablity of embodiment is illustrated.
In the method for embodiment 1, when the area that the coordinate by extracting Fourier coefficient formation is impaled is minimum Angular error estimated value, extract resonance influence it is less when angle estimation error.But it is advised according to the machinery of elevator Lattice, have no matter which position in hoistway, which is advanced, all generates the speed of resonance.In such a case, even if occurring Resonance, also extract pulsation of current amplitude and phase change minimum when angular error estimated value.In this case, because To be possible to be unable to get the estimated value of the higher angular error of reliability, it is therefore desirable for changing the speed of study operating.
In embodiment 2, the consistency confirmation of the multiple learning outcome of speed when changing study operating is implemented. In embodiment 3, prepare a reference value for the area that the coordinate that Fourier coefficient is formed is impaled, such as is pre-stored within storage Device is medium, impales in the coordinate that Fourier coefficient corresponding with the estimated value of angular error obtained by study operating is formed In the case that area ratio a reference value is big, speed when changing study operating carries out the study of angular error.
Figure 10 shows the flow chart of the study operating of embodiment 3.In addition, the control device and angular error of elevator are estimated The structure in portion 9 and structure shown in Fig. 1,2 are essentially identical.
About angular error estimator 9, refer to when from such as study determination unit 93 or output determination unit 96 to the speed of Fig. 1 When enabling operational part 11 send study operation instruction and starting study operating, study determination unit 93 determines the rotation speed of motor 1 Whether according to the output of pace of learning operational part 91 and as constant (step S101).Do not become in the rotation speed of motor 1 In the case where constant, continue step S101 until rotation speed becomes constant.This is because working as the rotation speed of motor 1 When constant, the frequency-invariant of the angular error of rotation detection portion 2, readily estimated angle detection error.
After the rotation speed of motor 1 becomes constant, angular error operational part 94 will be as from frequency analysis portion 8 The information of rotation angle export, using motor 1 carries out the Fourier that Fourier transformation obtains to the electric current of current detector 7 The calculated result of coefficient is saved in memory (step S102).
Then, angular error operational part 94 judge the calculated result of Fourier coefficient whether be stored 3 times or 3 times with On amount (the following amount as 3 times or more is illustrated) (step S103).In the Fourier coefficient for the amount for not saving 3 times or more In the case where, the preservation of the Fourier coefficient as the output from frequency analysis portion 8 is repeated in return step S102.? In the case that Fourier coefficient has been saved 3 times or more amounts, area operational part 95 calculates the seat of Fourier coefficient using formula (9) Mark the area formed.In addition, angular error operational part 94 is using Fourier coefficient and utilizes stored Fourier coefficient and angle The change type for spending detection error, calculates the estimated value (step S104) of angular error.The estimated value of angular error is error amplitude And error phase.Moreover, area is associated with the estimated value of angular error and is stored in memory by output determination unit 96.
At the end of the calculating of the estimated value of the area and angle detection error of step S104,96 pairs of determination unit of output is deposited The area of the storage i.e. calculated area in preceding 1 process with area calculated in step S104 is compared (step S105).In addition, the initial value of the area compared is set as the maximum value that can be stored, so that centainly saving the 1st meter Calculate result.The estimated value of angle detection error is also possible to arbitrarily be worth.
The result that output determination unit 96 compares stored area and calculated area in step s105 is to be judged as In step S104 in the calculated lesser situation of area, will in step S104 calculated area and angle detection error Estimated value stored together.At this point, deleting stored area and angle detection error (step S106).
On the other hand, the result for comparing stored area and calculated area in step s105 is to be judged as in step It is without any processing in the case that calculated area is stored area or more in rapid S104.That is, continuing to have deposited The estimated value and area of the angular error of storage, and it is transferred to next step.
Then, study determination unit 93 judges whether carriage has carried out given zone according to the output of car position operational part 92 Between advance (step S107).Being judged as that return step S102 is performed repeatedly until in the case where not carrying out specific sections traveling Processing until step S107.In the case where being judged as that having carried out specific sections advances, terminate study operating.
In addition, it is the car position calculated according to car position operational part 92 that carriage 4, which carries out the case where specific sections traveling, Judgement, for example, it is also possible to judge the feelings advanced in specific sections by being counted to the number for detecting area's plate of going out Condition.Alternatively, it is also possible to be judged using the position switch for notice top layer or lowest level etc. the base positions being set in hoistway Specific sections traveling situation.
Then, study determination unit 93 judgement Fourier corresponding with the estimated value of angular error obtained in study operating The area that impales of coordinate that coefficient is formed whether be the area that coordinate that pre-stored Fourier coefficient is formed is impaled base Standard is worth following (step S108).In step S108, it is being judged as the estimated value with the angular error obtained in study operating The face that the coordinate that the pre-stored Fourier coefficient of the area ratio that the coordinate that corresponding Fourier coefficient is formed impales is formed impales In the case that long-pending a reference value is big, sent out from study determination unit 93 or output determination unit 96 to the speed command operational part 11 of Fig. 1 Study operation instruction is sent, the speed of study operating is changed, is again carried out study operating (step S109).
By changing pace of learning, the frequency of periodical angular error changes.For example, in Fig. 4,5, from frequency B It is changed to A.The tendency of the pulsation of current as caused by the periodical angular error of rotation detection portion 2 changes as a result,.Example Which such as, at frequency B, resonate near middle layer, but under frequency A, C, regardless of not resonating in floor.By This, can estimate angular error under conditions of being different from the 1st study.In addition, in terms of the speed setting of study operating In the case that most jogging speed, prestissimo that does not restrict especially, but can advance because of carriage etc. terrifically changes speed The tendency of pulsation of current significantlys change, therefore can implement the study of angular error under different conditions.
When completing the confirmation of step S108, study determination unit 93 completes study operating.Confirmed in step S108 with The area that the coordinate that the corresponding Fourier coefficient of estimated value of the angular error obtained in study operating is formed impales is preparatory The Fourier coefficient of storage is formed by a reference value situation below for the area that coordinate impales, after the completion of learning operating, Error signal operational part 97 calculates the periodical angle of rotation detection portion 2 using the estimated result of error phase and error amplitude Error, and exported as correction signal, the school of the angular error of rotation detection portion 2 is carried out using the subtracter SU2 of Fig. 1 Just.
When implementing study operating by above processing, Fourier coefficient when carrying out specific sections traveling can be extracted Coordinate is formed by angle detection error when area is minimum.In addition, by being impaled to the coordinate that Fourier coefficient is formed Area confirmation is compared with a reference value, the estimation of the angular error of the method high reliablity than embodiment 1 can be obtained Value.
Embodiment 4.
In embodiment 4, illustrate using Fourier coefficient be formed by coordinate between line segment length it is flat as coordinate Geometric sense, that is, the evaluation of estimate in face determines the method for resonating, and obtaining the higher estimated value of reliability.
Firstly, in Fourier coefficient coordinate plane, the length of the line segment being formed by coordinate to Fourier coefficient with Relationship between the amplitude of pulsation of current, the phase of pulsation of current is illustrated.In the Fourier coefficient coordinate plane of Fig. 6, If to the amplitude of pulsation of currentWith phase γ=tan of pulsation of current-1(An/Bn) variation carry out Consider, then when the amplitude of pulsation of currentWith phase γ=tan of pulsation of current-1(An/Bn) change When changing smaller, the length for the line segment being formed by between coordinate by the Fourier coefficient of two points shortens.In the section A of Fig. 6, Fu In leaf system number coordinate variation it is smaller, therefore Fourier coefficient be formed by the line segment between coordinate length it is shorter, electric current arteries and veins Dynamic amplitudeWith phase γ=tan of pulsation of current-1(An/Bn) variation it is smaller.In addition, in area Between in B, compared with the A of section, the length that Fourier coefficient is formed by the line segment between coordinate is longer, the amplitude of pulsation of currentWith phase γ=tan of pulsation of current-1(An/Bn) variation it is also larger.Thus, calculate Fourier The length for the line segment that Fourier coefficient in coefficient coordinate plane is formed by between coordinate is equal to the amplitude of calculating current pulsation And phase changing capacity.
In Fourier coefficient coordinate plane, the length that the coordinate of the Fourier coefficient of two points is formed by line segment can It is calculated by formula (11).For example, calculated Fu of frequency analysis portion 8 when setting the carriage 4 for making elevator and carrying out specific sections traveling In leaf system number according to calculated result sequence from the old to the new be (Bn1, An1)、(Bn2, An2) when, by these 2 groups of Fourier coefficients Coordinate formed line segment length L become following formula.
If setting the (B from origin to coordinaten1, An1) distanceFor G1, (the B from origin to coordinaten2, An2) DistanceFor G2, that is, the amplitude of the pulsation of current at each coordinate is set as G1、G2, from origin to coordinate (Bn1, An1) distance vector formed by angle tan-1(An1/Bn1) it is γ1, (the B from origin to coordinaten2, An2) distance vector institute at Angle tan-1(An2/Bn2) it is γ2, that is, the phase of the pulsation of current at each coordinate is set as γ1、γ2, then the length of the line segment of formula (11) Degree can be rewritten as follows.
The angular error that the rotation angle of the motor 1 detected from rotation detection portion 2 is included is detected to current detector 7 The gain characteristic and phase characteristic of electric current are the characteristics as Figure 4 and 5, for example, when the frequency of angular error is A and C, because For carriage 4 no matter which position in hoistway, gain and phase are all steady state values, i.e., the frequency of angular error if it is A or C does not resonate then with the mechanical system of elevator, therefore G1、G2And γ1、γ2It is steady state value, with the length for the line segment that formula (12) calculate It is 0.
On the other hand, when the frequency of angular error is B, when carriage 4 is located near lowest level and top layer, gain is Amplitude and phase are steady state values, but when close to middle layer, and gain and phase significantly change.That is, working as the frequency of angular error When being B, resonance is generated near middle layer, does not generate resonance in position in addition to this.In this case, it is counted with formula (11) The length of the line segment of calculation is 0 near lowest level and top layer, but as the length close to middle layer, the line segment of formula (11) becomes It is long.When resonating, because gain and phase change simultaneously, pass through the length of the line segment of calculating formula (11), Neng Gouji Calculate the amplitude of pulsation of current and the variation of phase.
In addition, even if being to be combined with the filter of notch filter and/or bandpass filter in frequency analysis portion 8, the frequency Rate analysis portion 8 extracts specific frequency signal and utilizes amplitude detection portion and/or the spy of phase-detection portion operation input signal In the case where determining the amplitude of frequency and/or the structure of phase, the length of same workflow management line segment can be also used.That is, if Frequency analysis portion 8 is to be combined with the filter of notch filter and/or bandpass filter, extracts specific frequency signal, benefit With amplitude detection portion and/or the amplitude and/or phase of the specific frequency of phase-detection portion operation input signal, then because obtaining formula (12) the amplitude G of the pulsation of current in the and phase γ of pulsation of current, therefore the length of line segment can be calculated using formula (12).And And if use the amplitude G of pulsation of current, error phaseThen An=Gsin (φ), Bn=Gcos (φ) is set up, therefore is passed through The amplitude and phase of detection pulsation of current are simultaneously converted into Fourier coefficient, even thus the operation method based on formula (11) also can Enough calculate the length of line segment.
Moreover, being to be combined with the filter of notch filter and/or bandpass filter in frequency analysis portion 8, extract special Fixed frequency signal, and using the amplitude of the specific frequency of amplitude detection portion and/or phase-detection portion operation input signal and/ Or in the case where the structure of phase, even as shown in fig. 6, using the longitudinal axis as amplitude, horizontal axis for the coordinate plane of phase or with The longitudinal axis is phase, horizontal axis is amplitude coordinate plane rather than with Fourier coefficient AnAnd BnThe coordinate plane of formation, passes through utilization Operation based on formula (11) calculates the length of line segment, also being capable of the amplitude of calculating current pulsation and the variation of phase.As long as that is, making Amplitude and AnIt corresponds to, make phase and BnCorrespond to or make phase and AnIt corresponds to, make amplitude and BnCorrespondence.
It is equal to amplitude and the change of phase for finding out pulsation of current according to the length that the above finds out the line segment of formula (11) Change amount, the amplitude of the longer that is pulsation of current of line segment and the variable quantity of phase are larger.
Then, formula (11) institute is used using the block diagram illustrating of the angular error estimator 8 of the flow chart of Figure 11 and Figure 12 The Fourier coefficient shown is formed by the length of the line segment between coordinate, the mechanical system of selected angle error and elevator do not resonate and The movement of the study operating of the estimated value of angular error when the amplitude of pulsation of current and the smaller variable quantity of phase.
Figure 12 is the figure for showing an example of the structure of angular error estimator 9 of embodiment 4.Basic structure and Fig. 2 It is identical, and replace the area operational part 95 in Fig. 2 and be provided with line segment length operational part 98.Thus, omit detailed description.
About angular error estimator 9, refer to when from such as study determination unit 93 or output determination unit 96 to the speed of Fig. 1 When enabling operational part 11 send study operation instruction and starting study operating, study determination unit 93 determines the rotation speed of motor 1 Whether according to pace of learning operational part 91 constant (step S111) is output into.Do not become permanent in the rotation speed of motor 1 In the case where fixed, continue step S111 until rotation speed becomes constant.This is because the rotation speed when motor 1 is permanent Periodically, the frequency-invariant of the angular error of rotation detection portion 2, readily estimated angle detection error.
After the rotation speed of motor 1 becomes constant, angular error operational part 94 will be as from frequency analysis portion 8 The information of rotation angle export, using motor 1 carries out the Fourier that Fourier transformation obtains to the electric current of current detector 7 The calculated result of coefficient is saved in memory (step S112).
Then, angular error operational part 94 judges whether the calculated result of Fourier coefficient is stored 2 amount (steps S113).In the case where not saving 2 Fourier coefficients of amount, return step S112, and be repeated as from frequency The preservation of the Fourier coefficient of the output of analysis portion 8.In the case where Fourier coefficient has been saved 2 amounts, line segment length Operational part 98 calculates the length of the line segment between the coordinate of Fourier coefficient using formula (11).In addition, angular error operational part 94 makes With Fourier coefficient and utilizes the change type of stored Fourier coefficient and angle detection error and calculate estimating for angular error Evaluation (step S114).The estimated value of angular error is error amplitude and error phase.Moreover, exporting determination unit 96 for line segment Length associates with the estimated value of angular error and is stored in memory.
At the end of the calculating of the estimated value of the length and angle detection error of the line segment of step S114, determination unit 96 is exported To the length of the line segment stored i.e. in preceding 1 process the length of calculated line segment with it is calculated in step S114 The length of line segment is compared (step S115).In addition, the initial value of the length of the line segment compared is set as to store most Big value, so that centainly saving the 1st calculated result.The estimated value of angle detection error is also possible to arbitrarily be worth.
Output determination unit 96 compares the length of stored line segment and the length of calculated line segment in step sl 15 As a result for be judged as that the length of the calculated line segment in step S114 is shorter in the case where, will be calculated in step S114 The length of line segment is stored together with the estimated value of angle detection error.At this point, delete stored line segment length and Angle detection error (step S116).
On the other hand, compare the result of the length of stored line segment and the length of calculated line segment in step sl 15 In the case where to be judged as that the length of the calculated line segment in step S114 is the length of stored line segment or more, do not appoint Where reason.That is, continuing to save the estimated value of stored angular error and the length of line segment, and it is transferred to next step.
Then, whether study determination unit 93 judges carriage in specific sections according to the output of car position operational part 92 It advances (step S117).Being judged as that return step S112 is performed repeatedly until step in the case where not carrying out specific sections traveling Processing until rapid S117.In the case where being judged as that having carried out specific sections advances, terminate study operating.
In addition, it is the carriage position calculated according to car position operational part 92 that carriage 4, which has carried out the case where specific sections are advanced, Judgement is set, for example, it is also possible to judge to advance in specific sections by counting the number for detecting area's plate of going out.Separately Outside, it can use the position switch for notice top layer or lowest level etc. the base positions being set in hoistway also to judge given zone Between advance situation.
After the completion of study operating, error signal operational part 97 is calculated using the estimated result of error phase and error amplitude The periodical angular error of rotation detection portion 2, and exported as correction signal, it is rotated using the subtracter SU2 of Fig. 1 The correction of the angular error of test section 2.
In addition, finally judging whether carriage has advanced in specific sections to determine whether being learnt in above-mentioned movement Operating is but it is also possible to be being in constant speed in the rotation speed that the output for most starting pace of learning operational part 91 shows motor 1 When the output of degree travel condition and car position operational part 92 shows carriage 4 the case where preset specific sections are advanced, Then learn the output study of determination unit 93 to instruct and start study operating.In this case, it step S117 and step 111 and advances Row.
When implementing study operating by above processing, it can extract and use motor when carrying out specific sections traveling The coordinate of Fourier coefficient obtained from the information of 1 rotation angle carries out Fourier transformation to the electric current of current detector 7 Angle detection error when the length minimum of line segment.Because of the length of the line segment when carrying out specific sections traveling between Fourier coefficient Degree for minimum with the amplitude of pulsation of current in specific sections and the smaller variable quantity of phase when be equal, therefore with mechanical system The influence of resonance is minimum, can finally extract the estimated value of the smallest angle detection error of evaluated error.
The coordinate that Figure 13 shows 2 Fourier coefficients of the adjoining in the Fourier coefficient coordinate plane using Fig. 6 calculates Relationship between the length and car position of line segment out.For example, in the study operating of angular error, it is such when obtaining Fig. 6 Fourier coefficient coordinate when, the length such as Figure 13 for the line segment that the line segment length operational part 98 of angular error estimator 9 calculates Like that.In section, the length of A middle conductor is shorter, and in interval B, the length of line segment is longer than section A.It is operated according to the study of Figure 11 Process, the estimated value of angular error when extraction interval A.It is equal because the length of line segment is shorter with without resonance, It can obtain the estimated value of the higher angular error of reliability.
According to the method for embodiment 4, because carrying out the success or not of angular error estimation simultaneously and based on pulsation of current Amplitude and phase estimation success or not judgement, can extract resonance influence it is minimum when angular error estimated value, And do not investigate in advance relevant to resonance information also can, therefore time needed for the study of angular error can be shortened.In addition, According to the method for embodiment 4, even if not being elevator but being connected with the arbitrary mechanical system of the load as motor 1, Also the estimated value when influence that resonance can be extracted according to the amplitude of pulsation of current and the variable quantity of phase is minimum.
In addition, even if the structure of the not instead of operation Fourier coefficient of frequency analysis portion 8, is such as combined with notch filter And/or the filter of bandpass filter extracts specific frequency signal like that and utilizes amplitude detection portion and/or phase-detection The amplitude of the specific frequency of portion's operation input signal and/or the structure of phase also can obtain reliability by same process The estimated value of higher angular error.
Embodiment 5.
In embodiment 4, angle can be excluded using the length that the coordinate of Fourier coefficient is formed by line segment by showing The frequency for spending error is consistent with the frequency of mechanical system and estimated value when being difficult to estimate, and extracts when influencing minimum of resonance The method of estimated value.
In embodiment 5, the angle shown in embodiment 4 is repeatedly implemented to speed when changing study operating and is missed The study operating of difference, carries out the consistency confirmation of multiple learning outcome, misses to obtain the reliability angle higher than embodiment 4 The method of the estimated value of difference is illustrated.
In the method for embodiment 4, by extracting the length of the line segment between the coordinate that Fourier coefficient is formed most in short-term Angular error estimated value, thus extract resonance influence it is less when angle estimation error.But according to the machine of elevator Tool specification, has no matter which position in hoistway, which is advanced, all generates the speed of resonance.In such a case, even if It resonates, the estimated value of the angular error when variation of the amplitude and phase that also extract pulsation of current is less.In such case Under, as it is possible that the estimated value of the higher angular error of reliability is unable to get, it is therefore desirable for changing the speed of study operating. Thus, in embodiment 5, speed when changing study operating repeatedly implements the study of angular error, and is repeatedly learnt Result consistency confirmation.
Figure 14 shows the flow chart of the study operating in embodiment 5.In addition, the control device and angular error of elevator are estimated The structure in meter portion 9 and structure shown in Fig. 1,12 are essentially identical.In addition, the flow chart of Figure 14 with shown in the embodiment 2 The flow chart of Fig. 9 is substantially the same, is the resonance judgement based on area in Fig. 9, but for based on line segment length in Figure 14 Resonance determines.
In addition, in Figure 14, because the movement phase of the process Yu above embodiment 2 of identical label with Fig. 9 is marked Together, and the description is omitted.In embodiment 5, to preservation line segment since the preservation of Fourier coefficient handles (step S1403) Length and angle error estimate processing (step S1406) until movement it is different.
In embodiment 5, in step S1403, angular error operational part 94 judges the calculated result of Fourier coefficient Whether 2 amount is stored.In the case where not saving 2 times or more the Fourier coefficients of amount, return step S902, and it is anti- The preservation of the Fourier coefficient as the output from frequency analysis portion 8 is carried out again.2 amounts have been saved in Fourier coefficient In the case where, line segment length operational part 98 calculates the length of the line segment between the coordinate of Fourier coefficient using formula (11).In addition, angle Error op portion 94 is spent using Fourier coefficient and utilizes the change type of stored Fourier coefficient and angle detection error, meter Calculate the estimated value (step S1404) of angular error.The estimated value of angular error is error amplitude and error phase.Moreover, output The length of line segment is associated with the estimated value of angular error and is stored in memory by determination unit 96.
At the end of the calculating of the estimated value of the line segment length and angle detection error of step S1404, determination unit 96 is exported To the length of the line segment stored, the length of calculated line segment is calculated in step S1404 i.e. in preceding 1 process The length of line segment be compared (step S1405).In addition, the initial value of the line segment length compared is set as to store most Big value, so that centainly saving the 1st calculated result.The estimated value of angle detection error is also possible to arbitrarily be worth.
Output determination unit 96 compares the result of stored line segment length and calculated line segment length in step S1405 In the case where to be judged as that calculated line segment length is shorter in step S1404, will in step S1404 calculated line segment Length is stored together with the estimated value of angle detection error.At this point, deleting stored line segment length and angle detection Error (step S1406).
On the other hand, the result that stored line segment length and calculated line segment length are compared in step S1405 is In the case where being judged as that calculated line segment length is the length of stored line segment or more in step S1404, do not do any Processing.That is, continuing the estimated value and line segment length of the stored angular error of preservation, and it is transferred to next step.
It is identical as flow chart shown in Fig. 9 about later processing.When implementing study operating by above processing, Angle detection error when line segment length when carrying out specific sections traveling between the coordinate of Fourier coefficient is minimum can be extracted. In addition, the consistency by multiple learning outcome confirms, the reliability angular error higher than the method for embodiment 4 can be obtained Estimated value.Moreover, passing through limitation study number, it can be ensured that cannot proceed normally the safety when study of angular error.
Embodiment 6.
In embodiment 6, it is in Fourier corresponding with the estimated value of angular error obtained by study operating Number be formed by line segments between coordinate length it is longer than a reference value in the case where, change the speed of study operating to implement to learn, The method of estimated value to obtain the reliability angular error higher than embodiment 4 is illustrated.
In the method for embodiment 4, the length by extracting the line segment between the coordinate that Fourier coefficient is formed is minimum When angular error estimated value, thus extract resonance influence it is less when angle estimation error.But according to elevator Rating of machine, has no matter which position in hoistway, which is advanced, all generates the speed of resonance.In such a case, even if just It is resonating, the estimated value of the angular error when variation of the amplitude and phase that also extract pulsation of current is less.In this feelings Under condition, as it is possible that the estimated value of the higher angular error of reliability is unable to get, it is therefore desirable for changing the speed of study operating Degree.
In embodiment 5, the consistency confirmation of the multiple learning outcome of speed when changing study operating is implemented. In embodiment 6, prepare a reference value of the length of the line segment between the coordinate that Fourier coefficient is formed, such as is pre-stored within and deposits Reservoir is medium, between the coordinate that Fourier coefficient corresponding with the estimated value for operating obtained angular error by study is formed Line segment length it is longer than a reference value in the case where, change study operating when speed carry out angular error study.
Figure 15 shows the flow chart of the study operating in embodiment 6.In addition, the control device and angular error of elevator are estimated The structure in meter portion 9 and structure shown in Fig. 1,12 are essentially identical.In addition, the flow chart of Figure 15 with shown in the embodiment 3 The flow chart of Figure 10 is substantially the same, is the resonance judgement based on area in Figure 10, but for based on line segment length in Figure 15 Resonance determine.
In addition, in Figure 15, because being marked with the movement phase of the process Yu above embodiment 3 of identical label with Figure 10 Together, and the description is omitted.In embodiment 6, to preservation line segment since the preservation of Fourier coefficient handles (step S1503) Movement until the processing (step S1506) of length and angle error estimate and the judgement of a reference value based on line segment length (step S1508) is different.
In embodiment 6, in step S1503, angular error operational part 94 judges the calculated result of Fourier coefficient Whether 2 amount is stored.In the case where not saving 2 times or more the Fourier coefficients of amount, return step S102, and it is anti- The preservation of the Fourier coefficient as the output from frequency analysis portion 8 is carried out again.2 amounts have been saved in Fourier coefficient In the case where, line segment length operational part 98 calculates the length of the line segment between the coordinate of Fourier coefficient using formula (11).In addition, angle Error op portion 94 is spent using Fourier coefficient and utilizes the change type of stored Fourier coefficient and angle detection error, meter Calculate the estimated value (step S1504) of angular error.The estimated value of angular error is error amplitude and error phase.Moreover, output Line segment length is associated with the estimated value of angular error and is stored in memory by determination unit 96.
At the end of the calculating of the estimated value of the line segment length and angle detection error of step S1504, determination unit 96 is exported To the line segment length stored i.e. in preceding 1 process calculated line segment length in step S1504 calculated line Segment length is compared (step S1505).In addition, the initial value of the length of the line segment compared be set as to store it is maximum Value, so that centainly saving the 1st calculated result.The estimated value of angle detection error is also possible to arbitrarily be worth.
Output determination unit 96 compares the result of stored line segment length and calculated line segment length in step S1505 In the case where to be judged as that calculated line segment length is shorter in step S1504, will in step S1504 calculated line segment Length is stored together with the estimated value of angle detection error.At this point, deleting stored line segment length and angle detection Error (step S1506).
On the other hand, the result that stored line segment length and calculated line segment length are compared in step S1505 is In the case where being judged as that calculated line segment length is stored line segment length or more in step S1504, any place is not done Reason.That is, continuing the estimated value and line segment length of the stored angular error of preservation, and it is transferred to next step.
Then, whether study determination unit 93 judges carriage in specific sections according to the output of car position operational part 92 It advances (step S107).The movement is identical as embodiment 3.
Then, study determination unit 93 judgement Fourier corresponding with the estimated value of angular error obtained in study operating Whether the length for the line segment that coefficient is formed by between coordinate is line segment that pre-stored Fourier coefficient is formed by between coordinate Length a reference value below (step S1508).It is judged as in step S1508 and the angular error obtained in study operating The corresponding Fourier coefficient of the estimated value coordinate that is formed between the length of line segment formed than pre-stored Fourier coefficient In the case that a reference value of the length of line segment between coordinate is long, from study determination unit 93 or output speed of the determination unit 96 to Fig. 1 It spends ordering calculation portion 11 and sends study operation instruction, change the speed of study operating, be again carried out study operating (step S109).
By changing pace of learning, the frequency of periodical angular error changes.For example, in Fig. 4,5, from frequency B It is changed to A.The tendency of the pulsation of current as caused by the periodical angular error of rotation detection portion 2 changes as a result,.Example Which such as, at frequency B, resonate near middle layer, but under frequency A, C, regardless of not resonating in floor.By This, can estimate angular error under conditions of being different from the 1st study.In addition, not having in terms of the speed setting of study operating There is special restriction, but because most jogging speed, prestissimo that carriage can advance etc. terrifically changes the electricity in the case where speed The tendency of stream pulsation significantlys change, therefore can implement the study of angular error under different conditions.
When completing the confirmation of step S1508, study determination unit 93 completes study operating.It is confirmed in step S1508 The length of line segment between the coordinate that Fourier coefficient corresponding with the estimated value of angular error obtained in study operating is formed Be the length of the line segment between the coordinate that pre-stored Fourier coefficient is formed a reference value situation below under, study has operated Cheng Hou, error signal operational part 97 calculate the periodicity of rotation detection portion 2 using the estimated result of error phase and error amplitude Angular error, and exported as correction signal, the angular error of rotation detection portion 2 is carried out using the subtracter SU2 of Fig. 1 Correction.
When implementing study operating by above processing, Fourier coefficient when carrying out specific sections traveling can be extracted The length of line segment between coordinate is angle detection error most in short-term.In addition, by being formed by coordinate to Fourier coefficient The length of line segment confirmation is compared with a reference value, the reliability angular error higher than the method for embodiment 4 can be obtained Estimated value.
In addition, the layout of the integral device of elevator and baudrier etc. are not limited to the example of Fig. 1.For example, the present invention also can Enough it is applied to 2：The elevator of 1 wiring ratio.In addition, the position for the traction machine being for example made of motor 1 is also not necessarily limited to the example of Fig. 1 Son.
The present invention is not limited to above-mentioned each embodiments, certainly include their all possible combination.
Industrial availability
The present invention can be applied to such as machine-roomless lift, double-deck elevator, the elevator of one-shaft multi-car system or tiltedly Various types of elevators such as row elevator.

Claims (11)

1. a kind of control device of elevator, wherein the control device of the elevator has：
The electric current of motor is flowed through in current detector, detection, which generates the power for going up and down carriage in hoistway；
Rotation detection portion detects the rotation angle of the motor；
Frequency analysis portion exports and carries out specific frequency obtained from frequency analysis to the electric current that the current detector detects Ingredient；And
Angular error estimator, use the specific frequency ingredient, the amplitude and phase of the angular error of cycle estimator, And exported them as angular error estimated value, wherein the periodic angular error is detected according to from the rotation What the rotation angle in portion uniquely determined,
The angular error estimator is controlled, to implement the study for making the carriage carry out specific sections operating operating, and And the ingredient of multiple specific frequencies, Calculation Estimation value are continuously obtained, and calculate the angular error estimated value and by institute Evaluation values associate with the angular error estimated value, angular error estimation when to select institute's evaluation values be minimum Value, wherein the ingredient of the specific frequency is that the electric current detected in the study operating is inputed to the frequency Analysis portion and find out, institute's evaluation values be the acquired specific frequency ingredient in continuously set the spy of quantity The ingredient for determining frequency is formed by geometric sense in coordinate plane.
2. the control device of elevator according to claim 1, wherein
The setting quantity is 2, and the geometric sense is the amplitude and phase of the ingredient of specific frequency described in the coordinate plane It is formed by the length of the line segment between coordinate.
3. the control device of elevator according to claim 1, wherein
The setting quantity is 3 or more, the geometric sense be the ingredient of specific frequency described in the coordinate plane amplitude and Phase is formed by the area in the region that coordinate impales.
4. the control device of elevator as claimed in any of claims 1 to 3, wherein
The angular error estimator utilizes institute's evaluation values, selection with described in the electric current detected as the current detector The angular error estimated value when variable quantity of the ingredient of the corresponding specific frequency of angular error is minimum.
5. the control device of elevator as claimed in any of claims 1 to 3, wherein
The angular error estimator is a reference value in institute's evaluation values corresponding with the selected angular error estimated value In the case where above, change the running speed of the study operating, be again carried out the study operating, to estimate that the angle is missed Poor estimated value.
6. the control device of elevator as claimed in any of claims 1 to 3, wherein
The angular error estimator implements repeatedly the study operating under different running speeds, and by multiple institute It states the angular error estimated value obtained in study operating to be compared confirmation and carry out consistency confirmation, in inconsistent feelings Running speed is further changed under condition to implement the study operating.
7. the control device of elevator as claimed in any of claims 1 to 3, wherein
The frequency analysis portion carries out Fourier transformation and operation Fourier coefficient, as frequency analysis.
8. the control device of elevator as claimed in any of claims 1 to 3, wherein
The frequency analysis portion includes the bandpass filter for passing through the specific frequency ingredient, and to the bandpass filter It exports electric current and carries out amplitude operation and phase operation.
9. the control device of elevator as claimed in any of claims 1 to 3, wherein
The rotation detection portion includes rotary transformer, encoder or Magnetic Sensor.
10. a kind of method of the angular error of the rotation angle for finding out rotation detection portion for elevator drive motor, wherein This method has following steps：
To flow through the drive motor for going up and down carriage in hoistway electric current carry out frequency analysis, operation specific frequency at Point；And
Using the ingredient of the specific frequency, the vibration of periodic angular error contained in the output of rotation detection portion is estimated They are estimated as angular error estimated value by width and phase, wherein and the rotation detection portion detects the rotation angle of the motor, The periodic angular error is uniquely determined according to the rotation angle,
In the step of angular error is estimated as angular error estimated value,
It is controlled to implement the study for making the carriage carry out specific sections operating operating,
The ingredient of multiple specific frequencies is continuously obtained, the ingredient of the specific frequency is by study operating What the step of what is detected flows through the ingredient progress operation of the specific frequency of the electric current of the motor found out,
Calculation Estimation value, and calculate the angular error estimated value and close institute's evaluation values and the angular error estimated value Connection gets up, angular error estimated value when to select institute's evaluation values be minimum, wherein institute's evaluation values are acquired institutes The ingredient for stating the specific frequency that quantity is continuously set in the ingredient of specific frequency is formed by geometry in coordinate plane Amount.
11. a kind of lift appliance, has：
Carriage is gone up and down in hoistway；
Motor generates the power for making the carriage lifting；
Rotation detection portion detects the rotation angle of the motor；
The electric current of the motor is flowed through in current detector, detection；
Frequency analysis portion exports and carries out specific frequency obtained from frequency analysis to the electric current that the current detector detects Ingredient；And
Angular error estimator, use the specific frequency ingredient, the amplitude and phase of the angular error of cycle estimator, And exported them as angular error estimated value, wherein the periodic angular error is detected according to from the rotation What the rotation angle in portion uniquely determined,
The angular error estimator is controlled, to implement the study for making the carriage carry out specific sections operating operating, and And the ingredient of multiple specific frequencies, Calculation Estimation value are continuously obtained, and calculate the angular error estimated value and by institute Evaluation values associate with the angular error estimated value, angular error estimation when to select institute's evaluation values be minimum Value, wherein the ingredient of the specific frequency is that the electric current detected in the study operating is inputed to the frequency Analysis portion and find out, institute's evaluation values be the acquired specific frequency ingredient in continuously set the spy of quantity The ingredient for determining frequency is formed by geometric sense in coordinate plane.
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