CN109476444A - Elevator device and its control method - Google Patents
Elevator device and its control method Download PDFInfo
- Publication number
- CN109476444A CN109476444A CN201780043715.7A CN201780043715A CN109476444A CN 109476444 A CN109476444 A CN 109476444A CN 201780043715 A CN201780043715 A CN 201780043715A CN 109476444 A CN109476444 A CN 109476444A
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- China
- Prior art keywords
- magnetic pole
- synchronous motor
- carriage
- elevator device
- brake
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
- B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
-
- 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
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- 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
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
- H02P1/46—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual synchronous motor
-
- 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
Abstract
In the case where the position of magnetic pole signal from magnetic pole position sensor cannot be obtained, carriage is steadily run.Elevator device has: driving the synchronous motor of carriage；Brake；And the drive dynamic control device of synchronous motor, drive dynamic control device have: current-order establishment portion, create current-order；Position of magnetic pole instructs establishment portion, creation position of magnetic pole instruction；Initial magnetic pole position estimator estimates initial magnetic pole position；And brake control unit, control brake, when brake is disconnected, the current-order of current-order establishment portion creation steady state value, and position of magnetic pole instructs establishment portion that initial magnetic pole position is set as position of magnetic pole instruction, and within the given time from breakaway braking device, and position of magnetic pole instructs establishment portion that position of magnetic pole instruction is maintained at initial magnetic pole position, after given time, pole plate instructs establishment portion creation position of magnetic pole to instruct so that operation carriage.
Description
Technical field
The present invention relates to elevator device and its control methods.
Background technique
In order to drive elevator, from the viewpoint of miniaturization, high efficiency, the electricity for the synchronous mode for having used permanent magnet is utilized
Motivation.In order to control this synchronous motor, need to detect the position of magnetic pole of rotor.As the sensing for detecting position of magnetic pole
Device, such as use optical profile type, the rotary encoder of magnetic-type, resolver (Resolver) etc..
In the elevator device using synchronous motor, the sensor failure for detecting position of magnetic pole the case where
Under, position of magnetic pole signal cannot be obtained, the control of synchronous motor becomes difficult.In particular, to the elevator using counterweight
In the case where being controlled, if synchronous motor cannot export turning for the difference of the weight of the weight and carriage that are equivalent to counterweight
Square, then carriage moves in the way of the big side of the weight being dragged in counterweight or carriage.In this way, in electricity
In the control of ladder, due to the acceleration and deceleration that will be used to make the torque of car stationary as benchmark and carry out carriage, together
Walk motor torque control it is critically important, synchronous motor in order to export desired torque, the position of magnetic pole of sensor
It detects critically important.
As in sensor failure, the conventional art of elevator is driven to rescue operation etc., it is known to patent
The technology recorded in document 1.
In technology described in Patent Document 1, based on detection electric current, voltage instruction and constant of the machine, magnetic pole position is estimated
It sets, and the position of magnetic pole based on estimation, drives synchronous motor.
Citation
Patent document
Patent document 1: Japanese Unexamined Patent Publication 2016-639 bulletin
Summary of the invention
Subject to be solved by the invention
However, in above-mentioned conventional art, the balance of motor due to caused by the estimated accuracy because of initial magnetic pole position
Torque is insufficient, and the vibration of direction of rotation is generated in pulley.In turn, since control followability is insufficient for this vibration, because
This torque cannot be compensated to balancing moment, carriage may be dragged and be moved in carriage or counterweight heavier one
Side.
Therefore, the present invention provides a kind of the case where cannot obtain the position of magnetic pole signal from magnetic pole position sensor
Under, it can steadily run the elevator device and its control method of carriage.
A technical solution to solve project
In order to solve the above problems, elevator device of the invention has: synchronous motor, drives carriage；Brake, to same
Step motor is braked；And drive dynamic control device, synchronous motor is controlled, drive dynamic control device has: current-order wound
Portion is built, the current-order of synchronous motor is created；Position of magnetic pole instructs establishment portion, and the position of magnetic pole for creating synchronous motor refers to
It enables；Initial magnetic pole position estimator estimates the initial magnetic pole position of synchronous motor；And brake control unit, control braking
The disconnection and braking of device, when brake control unit disconnects brake from on-position, the creation of current-order establishment portion is permanent
The current-order of definite value, and the initial magnetic pole position that position of magnetic pole instruction establishment portion will be estimated by initial magnetic pole position estimator
It is set as position of magnetic pole instruction, within the given time from brake control unit breakaway braking device, position of magnetic pole instructs establishment portion
Position of magnetic pole instruction is maintained at initial magnetic pole position, after given time, position of magnetic pole instructs establishment portion to create magnetic pole position
Instruction is set so that operation carriage.
In addition, in order to solve the above problems, the control method of elevator device of the invention includes: first step, in carriage
On-position under in synchronous motor flow constant electric current；Second step, estimation synchronizes electricity under identical on-position
The initial magnetic pole position of motivation；The position of magnetic pole of synchronous motor is instructed setting under identical on-position by third step
For initial magnetic pole position；Four steps releases the on-position of carriage；5th step after four steps, judges from releasing sedan-chair
The on-position in compartment plays whether have passed through given time；And the 6th step, in the 5th step, be judged as have passed through it is given
After time, carriage is run.
Invention effect
According to the present invention, after brake disconnection, by the flow constant electric current in synchronous motor, and by magnetic pole position
It sets instruction and is maintained at initial magnetic pole position given time, so that convergent state has occurred in the whirling vibration in synchronous motor
Under, operation control carriage.Even if also can steadily run carriage as a result, in the case where position of magnetic pole signal cannot be obtained.
Project, structure and effect other than the above are become clear by the explanation of the following embodiments and the accompanying drawings.
Detailed description of the invention
Fig. 1 is the overall structure figure for being shown as the elevator device of first embodiment.
Fig. 2 shows the relationships of the functional block of controller and electric power converter and synchronous motor.
Fig. 3 shows the summary of the operation of first embodiment.
Fig. 4 shows the phase of the actual q axis in the torque and synchronous motor of synchronous motor and the q axis in controller
The relationship of potential difference.
Fig. 5 is the flow chart for showing the process of processing operation of controller.
Fig. 6 is the overall structure figure for being shown as the elevator device of second embodiment.
Fig. 7 shows the pass of in second embodiment, controller functional block and electric power converter and synchronous motor
System.
Fig. 8 is the overall structure figure for being shown as the elevator device of third embodiment.
Fig. 9 shows the pass of in third embodiment, controller functional block and electric power converter and synchronous motor
System.
Figure 10 a show actual q axis in third embodiment, in the torque and synchronous motor of synchronous motor with
And the relationship of the phase difference of the q axis in controller.
Figure 10 b shows actual q axis and control in comparative example, synchronous motor torque and synchronous motor
The relationship of the phase difference of q axis in device.
Figure 11 is the flow chart for showing the process of processing operation of the controller in third embodiment.
Specific embodiment
Hereinafter, the embodiments of the present invention will be described with reference to the drawings.In the various figures, the identical structure table of reference number
Show identical constituent element or has the constituent element of similar function.
(first embodiment)
Fig. 1 is the overall structure figure for being shown as the elevator device of first embodiment of the invention.
In the present embodiment, by being controlled by including the drive dynamic control device of electric power converter 101 and controller 100
The driving of synchronous motor 103 processed, to control the movement of carriage 104.Controller 100 has current-order establishment portion 1, magnetic pole
Position command establishment portion 2 and initial magnetic pole position estimator 3.The function of these components will be carried out aftermentioned.
As synchronous motor 103, using permanent magnet type synchronous motor.In addition, in the present embodiment, application surface
The non-polar permanent magnet type synchronous motor of dashing forward such as magnet type.Accordingly, it is difficult to using so-called sensorless strategy, and usual
When, synchronous motor 103 is controlled based on the position of magnetic pole of not shown magnetic pole position sensor detection.
Carriage 104 is across moving in the liftway formed between floors between multiple floors.Carriage 104 and for
The counterweight that carriage 104 obtains weight balancing is connect with main hoist cable.That is, carriage 104 and counterweight are connected with each other via main hoist cable.
In addition, in carriage 104, equipped with the carriage side door for engaging and being opened and closed with boarding place side door.
If by rotating driving rope sheave (pulley) by synchronous motor 103, so that driving is wound in the main hoist cable of rope sheave,
Then carriage 104 moves in liftway.The electric power of driving is fed into synchronous motor 103 by electric power converter 101.
Electric power converter 101 is exported according to controller 100, car position control instruction or car speed instruction or torque refer to
It enables, exports the electric power for controlling synchronous motor 103.
Controller 100 is in the case where braking carriage 104, output brake power supply halt instruction 10 and electrical source of power
Halt instruction.By brake power supply halt instruction 10, the electromagnetic contactor between brake power supply and brake 102 is set
(Contactor) it is disconnected.The power supply of brake 102 is cut off as a result, therefore brake 102 becomes on-position.
In addition, by electrical source of power halt instruction, the electromagnetic contactor being arranged between electrical source of power and electric power converter 101 is broken
It opens.The power supply of electric power converter 101 is cut off as a result, to stop the power supply to synchronous motor 103.
Position sensor 5 is a kind of to detect whether carriage 104 is located at the position that can open of door by detection shield 6
Door zone sensors.
Fig. 2 shows the relationships of the functional block of controller 100 and electric power converter 101 and synchronous motor 103.
Current-order establishment portion 1 exports current-order corresponding with the output torque of synchronous motor 103.In addition, at this
In embodiment, current-order establishment portion 1 exports current-order corresponding with output torque more than nominal torque.In addition,
In present embodiment, the value of the current-order is steady state value.
Position of magnetic pole instructs establishment portion 2 using the initial magnetic pole position inputted from initial magnetic pole position estimator 3 as benchmark,
Export position of magnetic pole instruction corresponding with the speed of synchronous motor 103.Position of magnetic pole instructs establishment portion 2 first will be from initial magnetic
The initial magnetic pole position that pole location estimation portion 3 inputs is output to current control unit 21 as position of magnetic pole instruction, later, even if
After brake is opened in brake command portion 23, also standby given time (that is, position of magnetic pole instruction is maintained at initial magnetic pole position).
The given time is set as the vibration convergent time of the direction of rotation of synchronous motor 103 and rope sheave.Standby to timing
Between after, position of magnetic pole instruction establishment portion 2 output with for moving the corresponding position of magnetic pole instruction of the speed command of carriage.
The initial magnetic pole position of the estimation synchronous motor 103 of initial magnetic pole position estimator 3.As estimation initial magnetic pole position
The means set, using well known technology.For example, by the higher harmonic current with certain specific mode via electric power converter
101 are applied to synchronous motor 103, are estimated based on the mode of the feedback signal of the electric current detected by current sensor 22 initial
Position of magnetic pole.In addition, this estimation means are not limited to, it can be using various initial magnetic pole positions estimation means or detection hand
Section.
The opening and closing of 23 output brake of brake command portion instructs, if estimating initial magnetic pole position, output is opened later
Open the instruction of brake.
Current control unit 21 instructs establishment portion based on the current-order from current-order establishment portion 1 and from position of magnetic pole
2 position of magnetic pole instruction, the control instruction (for example, voltage instruction) of output power converter 101.
In current control unit 21, control instruction is created by proportional plus integral control so that current-order and from electricity
The difference of the current feedback signal of flow sensor is close to zero.In addition, in the present embodiment, using the d based on rotating coordinate system
Axis and q shaft current carry out current control, so-called vector controlled.In addition, being not limited to vector controlled, it can also be applied
His control technology.
Fig. 3 shows the summary of the operation of first embodiment.Below according to the time by sequence be divided into during (a), (b),
(c) and (d) it is illustrated.
In period (a), current-order corresponds to output torque of the nominal torque or more (in Fig. 3,120%), but locates
Before initial magnetic pole position estimation, position of magnetic pole instruction is 0 °.Therefore, as shown, the position of magnetic pole created in the controller
There are errors between instruction and the actual position of magnetic pole of synchronous motor.In addition, brake command is ON, brake is braking
State.That is, carriage stops.
In period (b), initial magnetic pole position is estimated, and set position of magnetic pole instruction for initial magnetic pole position.In addition,
Equally with period (a), brake is on-position, and carriage stops.Therefore, as shown, the magnetic pole created in controller 100
Error between position command and the actual position of magnetic pole of synchronous motor becomes the steady state value less than period (a).
Here, the size of error depends on the precision of initial magnetic pole position estimation.
In period (c), brake command OFF, brake is disconnected.Position of magnetic pole instruction is tieed up in initial magnetic pole position
Hold the given time (time of period (c)) until the vibration convergence of the direction of rotation of synchronous motor and rope sheave.Cause
This, in period (c), the state of a control of carriage not yet becomes operating status, as standby mode.In addition, electronic according to synchronizing
The vibration of the direction of rotation of machine and rope sheave, the actual magnetic of the position of magnetic pole instruction and synchronous motor that create in the controller
Error between the position of pole is also vibrated.In addition, will be carried out for the vibration of the direction of rotation of synchronous motor and rope sheave
It is aftermentioned.
In period (d), instructed by providing position of magnetic pole corresponding with speed command, thus rotary synchronous motor.
At the beginning of period (d), the rotation of synchronous motor stop at it is corresponding with the electric current applied in the period (c) synchronize it is electronic
The torque of machine and due to cage side load and counterweight load difference caused by load torque balance position of magnetic pole, because
This provides position of magnetic pole corresponding with speed command by using initial magnetic pole position as benchmark, and with feed-forward mode, so as to
It is enough steadily to rotate synchronous motor.
Here, the vibration (hreinafter referred to as " vibrating ") of the direction of rotation about synchronous motor and rope sheave, uses figure
4 below to the vibration convergence until the phenomenon that be illustrated.
Fig. 4 shows the phase of the actual q axis in the torque and synchronous motor of synchronous motor and the q axis in controller
Potential difference Δ θrRelationship.In addition, the longitudinal axis indicates that torque T, horizontal axis indicate Δ θr。
In Fig. 4, if current-order (q axis (torque) current-order) iqcIt is set as constant, then synchronizes electricity by what curve indicated
The torque T of motivationmIt is indicated by expression formula (1).In expression formula (1), KtFor torque constant.
[expression formula 1]
As Δ θrWhen being 0, the torque T of synchronous motormIt is consistent with torque corresponding with the current-order that controller creates.
In addition, the straight line in Fig. 4 indicates the load torque T relative to carriage and the difference of balance weightL。
In Fig. 4, the load in carriage is less than half of gross ladenweight, i.e. load is 50% or less.Therefore, exist
In Fig. 4, it is assumed that in the state that magnetic pole position sensor breaks down, with small load come the case where running carriage.As this
Kind situation, for example, existing to carry out the upkeep operation of the failure for magnetic pole position sensor and carrying out maintenance operation to carriage
The case where.
Here, in the present embodiment, the weight of counterweight is set, so that car and counterweight is relative to 50% load phase
Mutually balance.Therefore, in Fig. 4, counterweight stresses than carriage, therefore TLOn the direction for declining counterweight and increase carriage
It plays a role.
In addition, the useful load of carriage for balancing with counterweight is not limited to 50% load, such as to be also possible to 40% negative
It carries.Even in this case, if counterweight stresses than carriage, present embodiment can also be applied.
In addition, setting electric current instructs iqc, so that TmCan take only with TLThe value of balance.In addition, in the present embodiment, such as
Upper described, current-order establishment portion 1 exports the current-order of steady state value corresponding with output torque more than nominal torque.
For the initial magnetic pole position of estimation, the phase of the actual q axis in synchronous motor and the q axis in controller
In the case that difference is the position of point A, if opening brake, motor torque TmWith load torque TLImbalance, therefore Δ 0rXiang Dian
Mono- Fang Yidong of B.That is, synchronous motor and pulley are to TmAnd TLThe direction of balance rotates.Synchronous motor and pulley are more than Tm
And TLThe position of balance and rotate.That is Δ θrMore than point B.
At this moment, due to TmAnd TLSize relation be reversion, therefore Δ θ before being more than point BrMoving direction reversion,
It is mobile towards point B.That is, synchronous motor and pulley invert direction of rotation, thus to TmAnd TLThe direction of balance rotates.Δ
θrThis movement repeatedly, and restrained in given stand-by time to point B.Although that is, synchronous motor and pulley rotation vibration
It is dynamic, but static determinacy is in T in given stand-by timemAnd TLThe position of balance.
Even if, also can be based on the initial magnetic pole position of estimation as a result, in the state that magnetic pole position sensor breaks down
It sets to control synchronous motor, therefore can steadily run carriage.
Fig. 5 is the flow chart for showing the process of processing operation of the controller 100 in present embodiment.
Firstly, exporting current-order i by current-order establishment portion 1qc(step S101).
Next, being estimated initial magnetic pole position (step S102) by initial magnetic pole position estimator 3.
Refer to next, the initial magnetic pole position of estimation instructs establishment portion 2 to be arranged to position of magnetic pole by position of magnetic pole
Enable (step S103).
Next, by brake command portion 23, breakaway braking device (step S104).
Next, controller 100 judges whether to have passed through preset given time (step S105).It is being judged as not
In the case where having by given time (S105's is no), step S105 is executed again.It is being judged as the feelings that have passed through given time
Under condition (S105's be), next, executing step S106.
In step s 106, establishment portion 2 is instructed by position of magnetic pole, the position of magnetic pole that creation corresponds to speed command refers to
It enables, is instructed according to position of magnetic pole, control synchronous motor.
As described above, according to first embodiment, current-order establishment portion exports constant current value, and position of magnetic pole
Instruction establishment portion is in the state of the initial magnetic pole position that output is estimated by initial magnetic pole position estimator, in brake control unit
After opening brake, controller standby given time, so that the torque of the output of motor and balancing moment become balancing.As a result,
Controller to position of magnetic pole by instructing establishment portion to provide position of magnetic pole corresponding with speed command, so as to be stably driven with
Elevator.
(second embodiment)
Fig. 6 is the overall structure figure for being shown as the elevator device of second embodiment of the present invention.Hereinafter, mainly to
The different point of first embodiment is illustrated.
In the present embodiment, the position sensor 60 of the position of setting detection carriage 104.As the position sensor
60, in the present embodiment, using the encoder for being installed on governor, which connects via speed controller rope and carriage 104
It connects.
In addition, can apply the means for the label that setting is made of tape in liftway as position sensor, set
Rotational position sensor as the rotary encoder of synchronous motor (angle or phase detectors) etc. is able to detect sedan-chair
The various means of the movement in compartment.
Fig. 7 shows in second embodiment, controller 100 functional block and electric power converter 101 and synchronous electronic
The relationship of machine 103.
Different from first embodiment (referring to Fig. 2), the output signal of position sensor 60 is input into position of magnetic pole and refers to
Enable establishment portion 2.After 23 breakaway braking device of brake command portion, based on the output signal of position sensor 60, judgement synchronizes electricity
Whether the whirling vibration of motivation and pulley restrains.Moreover, if being judged as, whirling vibration restrains, and position of magnetic pole instructs establishment portion
2 create and export position of magnetic pole corresponding with speed command.
The whirling vibration of synchronous motor and pulley is transmitted to carriage 104 via main hoist cable, and causes the vibration of carriage 104
It is dynamic.Therefore, it after breakaway braking device, instructs and keeps by the way that initial magnetic pole position is set as position of magnetic pole, and lead to
The vibration that position sensor 60 detects carriage is crossed, so as to detect the whirling vibration of synchronous motor and pulley.In addition,
In present embodiment, the vibration of carriage 104 is transmitted to the (coding of position sensor 60 for being installed on governor via speed controller rope
Device).
According to above-mentioned second embodiment, the rotation vibration of synchronous motor and pulley is judged using position sensor 60
It is dynamic to be restrained, therefore can reliably start the movement of carriage in the state that convergence has occurred in whirling vibration, and energy
Enough stand-by time of the cripetura since playing breakaway braking device until the movement of carriage.
(third embodiment)
Fig. 8 is the overall structure figure for being shown as the elevator device of third embodiment of the present invention.Hereinafter, mainly to
The different point of first embodiment is illustrated.In addition, in the present embodiment, it is assumed that people loads the shape being mounted in carriage
Condition, for example, the case where rescue when carrying out magnetic pole position sensor failure is run.
In the present embodiment, in carriage 104, the scale sensor 4 for detecting the load in carriage is set.Scale sensing
The output signal of device 4 is input to controller 100.
In the present embodiment, scale sensor 4 is used to detect the number of the passenger in carriage.If in usual operation,
Then based on the load detected by scale sensor 4, weight difference of the calculating of controller 100 for compensating car and counterweight synchronizes electricity
Motivation torque.As scale sensor 4, in the case where car floor face is metal, using by be set to car frame close to biography
Sensor etc. estimates the means of load according to the deflection in car floor face.
In addition, can also apply as scale sensor and estimate to load according to the displacement for the spring connecting with main hoist cable end
Means etc..
Fig. 9 shows in third embodiment, controller 100 functional block and electric power converter 101 and synchronous electronic
The relationship of machine 103.
From first embodiment (referring to Fig. 2) different, the output signal of scale sensor 4, the i.e. information of load in carriage
It is input into position of magnetic pole instruction establishment portion 2.Position of magnetic pole instructs establishment portion 2 based on out of, scale sensor 4 obtains carriage
The information of load, to the torque T of synchronous motor as shown in Figure 4mPositive and negative inverted.
More specifically, in the case that the load in carriage is more than half of gross ladenweight, that is to say, that negative
When load is 50% or more, motor torque TmIt is inverted.Here, in the present embodiment, the weight of counterweight is set, so that carriage
With counterweight relative to 50% load balance.It therefore, in the present embodiment, is including load in interior cage side ratio balance
In the case where hammer weight, motor torque TmIt is inverted.
In addition, the useful load of carriage for balancing with counterweight is not limited to 50% load, such as to be also possible to 40% negative
It carries.Even in this case, present embodiment can be also applied, in the case where cage side is than counterweight weight, motor torque
TmIt is inverted.
Next, using Figure 10 a and 10b to motor torque TmIn the case where being inverted, showing until vibration convergence
As being illustrated.
Figure 10 a shows in third embodiment, synchronous motor torque TmWith the actual q axis in synchronous motor
And phase difference (axis error) the Δ θ of the q axis in controllerrRelationship.In addition, the longitudinal axis indicates torque T, horizontal axis as Fig. 4
Indicate Δ θr。
The torque T of synchronous motormUse current-order (q axis (torque) current-order) iqc, torque constant Kt, with it is upper
The same expression formula of expression formula (1) is stated to express.But in the present embodiment, setting electric current instructs (q axis (torque) electric current
Instruction) iqc, so that TmRelative to Δ θrPositive and negative (direction) of value be inverted.
As shown in Figure 10 a, if detecting load torque T by scale sensor 4LIt is 50% or more, then motor torque TmJust
T of the negative for Fig. 4mIt is inverted.Therefore, in figure loa, the T in Fig. 4mAnd TLIt is inverted.Therefore, with Fig. 4 the case where
Equally, corresponding to the point A of the initial magnetic pole position of estimation in TmAnd TLThe ambient vibration of the point B of balance, and it is standby what is given
It is restrained in time to point B.That is, in the present embodiment, although synchronous motor and pulley whirling vibration, what is given
In stand-by time, static determinacy is in TmAnd TLThe position of balance.
In figure 10b, as comparative example, for motor torque TmThe case where not inverting shows turning for synchronous motor
Square TmWith phase difference (axis error) the Δ θ of the actual q axis in synchronous motor and the q axis in controllerrRelationship.
For point A shown in Figure 10 b, as the case where Figure 10 a, point B is converged on.But in initial magnetic pole position
In the case that estimated accuracy is high, and evaluated error is almost nil, lead to the problem of following.
In the case where the evaluated error of initial magnetic pole position is almost nil, point A is located relative to the T of Figure 10 bmOn Δ
θr=0 point, i.e., positive peak value.In this case, motor torque is bigger than load torque, also, its difference also becomes larger.Therefore,
Point A is with big torque (TmAnd TLDifference torque) start to move towards point B, therefore the amplitude vibrated becomes larger, and is to static determinacy is vibrated
Time only is also elongated.In addition, point A does not converge on point B, it is also possible to generate step-out.
As described above, by inverting torque instruction according to load condition, thus be the same as the first embodiment, even if
In the state that magnetic pole position sensor breaks down, also synchronous motor can be controlled based on the initial magnetic pole position of estimation,
Therefore carriage can steadily be run.
Figure 11 is the flow chart for showing the process of processing operation of the controller 100 in third embodiment.Hereinafter, to
The different point of first embodiment (Fig. 5) is illustrated.
As shown in figure 11, in the third embodiment, the step of setting position of magnetic pole instruction for initial magnetic pole position
Between S203 (in Fig. 5, step S103) and the step S206 (in Fig. 5, step S104) of breakaway braking device, setting judgement is negative
The step S205 for carrying the step S204 for whether being 50% or more and inverting torque instruction.
Step S201, S202 and S203 is respectively as step S101, S102, S103 of Fig. 5.
In step S204, based on the information from scale sensor 4, it is judged as that load is 50% or more in controller 100
In the case where (S204's be), next execute step S205.(the S204 in the case where being judged as that load is not 50% or more
It is no), step S205 is skipped, step S206 is next executed.In this case, TmIt is not inverted, keeps T shown in Fig. 4m。
In step S205, the T that is set in inversion controller 100mIt is positive and negative.After step S205, step S206 is executed.
Step S206, S207 and S208 is respectively as step S104, S105, S106 of Fig. 5.
As described above, according to third embodiment, based on the information of the load in carriage, by inverting torque instruction,
Even if also can steadily run carriage in the state that magnetic pole position sensor breaks down to which the load in carriage is big.
In addition, the present invention is not limited to the embodiment, including various modifications example.For example, the embodiment be for
The embodiment for illustrating the present invention with being readily appreciated that and explaining in detail, is not necessarily limited to all structures for having illustrated
Embodiment.In addition, a part of the structure for each embodiment, is able to carry out the addition of other structures/deletion/and sets
It changes.
For example, synchronous motor is not limited to permanent magnet type synchronous motor, it is also possible to winding magnetic field formula synchronous motor.
In addition, permanent magnet type synchronous motor is not limited to surface magnet, it is also possible to embedding magnet type.
Description of symbols
1 current-order establishment portion
2 position of magnetic poles instruct establishment portion
3 initial magnetic pole position estimators
4 scale sensors
5 position sensors
6 shields
10 brake power supply halt instructions
21 current control units
22 current sensors
23 brake command portions
60 position sensors
100 controllers
101 electric power converters
102 brakes
103 synchronous motors
104 carriages.
Claims (15)
1. a kind of elevator device, has:
Synchronous motor drives carriage；
Brake brakes the synchronous motor；And
Drive dynamic control device controls the synchronous motor,
The elevator device is characterized in that,
The drive dynamic control device has:
Current-order establishment portion creates the current-order of the synchronous motor；
Position of magnetic pole instructs establishment portion, creates the position of magnetic pole instruction of the synchronous motor；
Initial magnetic pole position estimator estimates the initial magnetic pole position of the synchronous motor；And
Brake control unit controls the disconnection and braking of the brake,
When the brake control unit disconnects the brake from on-position,
The current-order of the current-order establishment portion creation steady state value,
And the position of magnetic pole instruction establishment portion sets the initial magnetic pole position estimated by the initial magnetic pole position estimator
It is set to position of magnetic pole instruction,
Within the given time from the brake control unit disconnects the brake, the position of magnetic pole instructs establishment portion by institute
It states position of magnetic pole instruction and is maintained at the initial magnetic pole position,
After the given time, the position of magnetic pole instruction establishment portion creates the position of magnetic pole and instructs so that described in operation
Carriage.
2. elevator device according to claim 1, which is characterized in that
Given value is preset in the drive dynamic control device as the given time.
3. elevator device according to claim 2, which is characterized in that
The given value is received for the whirling vibration of the generated synchronous motor after disconnecting the brake
The time value held back.
4. elevator device according to claim 1, which is characterized in that
Have the position sensor for the position for detecting the carriage,
Based on the output signal of the position sensor, the whirling vibration of the synchronous motor is detected.
5. elevator device according to claim 4, which is characterized in that
The given time is the whirling vibration convergence until the synchronous motor detected by the position sensor
Until time.
6. elevator device according to claim 4, which is characterized in that
The position sensor is provided at the encoder of governor.
7. elevator device according to claim 1, which is characterized in that
Have the position sensor for the rotation position for detecting the synchronous motor,
Based on the output signal of the position sensor, the whirling vibration of the synchronous motor is detected.
8. elevator device according to claim 7, which is characterized in that
The given time is the whirling vibration convergence until the synchronous motor detected by the position sensor
Until time.
9. elevator device according to claim 7, which is characterized in that
The position sensor is mounted to the rotary encoder of the synchronous motor.
10. elevator device according to claim 1, which is characterized in that
The steady state value of the current-order is the current value for obtaining the specified above torque.
11. elevator device according to claim 1, which is characterized in that
After the brake is disconnected, if the whirling vibration of the synchronous motor restrains within the given time, institute
State the torque and load torque balance of synchronous motor generation.
12. elevator device according to claim 1, which is characterized in that
The drive dynamic control device inverts the positive and negative of the torque of the synchronous motor according to the load in the carriage.
13. elevator device according to claim 12, which is characterized in that
Has the scale sensor for detecting the load in the carriage.
14. elevator device according to claim 1, which is characterized in that
The synchronous motor has rope sheave, counterweight and the carriage and connect with the main hoist cable for being wound in the rope sheave.
15. a kind of control method of elevator device, the elevator device has the synchronous motor of driving carriage, the elevator system
The control method of system is characterised by comprising:
First step, under the on-position of the carriage, the flow constant electric current in the synchronous motor；
Second step estimates the initial magnetic pole position of the synchronous motor under the on-position of the carriage；
Third step sets described for the position of magnetic pole instruction of the synchronous motor under the on-position of the carriage
Initial magnetic pole position；
Four steps releases the on-position of the carriage；
Whether the 5th step judges to have passed through from the on-position for releasing the carriage given after the fourth step
Time；And
6th step after being judged as and have passed through given time, runs the carriage in the 5th step.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016-166800 | 2016-08-29 | ||
| JP2016166800A JP6578260B2 (en) | 2016-08-29 | 2016-08-29 | Elevator system and control method thereof |
| PCT/JP2017/026059 WO2018042920A1 (en) | 2016-08-29 | 2017-07-19 | Elevator system and control method therefor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109476444A true CN109476444A (en) | 2019-03-15 |
| CN109476444B CN109476444B (en) | 2020-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780043715.7A Active CN109476444B (en) | 2016-08-29 | 2017-07-19 | Elevator system and control method thereof |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6578260B2 (en) |
| CN (1) | CN109476444B (en) |
| WO (1) | WO2018042920A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7058799B2 (en) * | 2019-03-29 | 2022-04-22 | 三菱電機株式会社 | Elevator control device |
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| JPH1160103A (en) * | 1997-08-22 | 1999-03-02 | Toshiba Corp | Elevator control device |
| JP2000134980A (en) * | 1998-10-26 | 2000-05-12 | Hitachi Ltd | Brushless motor-controlling device |
| CN1326608A (en) * | 1999-09-20 | 2001-12-12 | 三菱电机株式会社 | Pole-position detector of synchronous motor |
| CN1411135A (en) * | 2001-09-28 | 2003-04-16 | 松下电器产业株式会社 | Motor driver |
| CN101257272A (en) * | 2007-12-17 | 2008-09-03 | 宁波欣达曳引机科技有限公司 | Method for deducing initial magnetic pole position of permanent magnet synchronous motor |
| CN105293231A (en) * | 2014-07-25 | 2016-02-03 | 株式会社日立制作所 | Elevator control device |
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|---|---|---|---|---|
| JP2007308231A (en) * | 2006-05-17 | 2007-11-29 | Yaskawa Electric Corp | Inverter device for elevators and method of controlling brake of inverter device |
| JP2009057186A (en) * | 2007-09-03 | 2009-03-19 | Hitachi Ltd | Elevator control method |
| JP5328940B2 (en) * | 2010-02-04 | 2013-10-30 | 三菱電機株式会社 | Elevator control device |
| JP6351391B2 (en) * | 2014-06-11 | 2018-07-04 | 三菱電機株式会社 | Elevator control device and control method thereof |
-
2016
- 2016-08-29 JP JP2016166800A patent/JP6578260B2/en active Active
-
2017
- 2017-07-19 CN CN201780043715.7A patent/CN109476444B/en active Active
- 2017-07-19 WO PCT/JP2017/026059 patent/WO2018042920A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1160103A (en) * | 1997-08-22 | 1999-03-02 | Toshiba Corp | Elevator control device |
| JP2000134980A (en) * | 1998-10-26 | 2000-05-12 | Hitachi Ltd | Brushless motor-controlling device |
| CN1326608A (en) * | 1999-09-20 | 2001-12-12 | 三菱电机株式会社 | Pole-position detector of synchronous motor |
| CN1411135A (en) * | 2001-09-28 | 2003-04-16 | 松下电器产业株式会社 | Motor driver |
| CN101257272A (en) * | 2007-12-17 | 2008-09-03 | 宁波欣达曳引机科技有限公司 | Method for deducing initial magnetic pole position of permanent magnet synchronous motor |
| CN105293231A (en) * | 2014-07-25 | 2016-02-03 | 株式会社日立制作所 | Elevator control device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109476444B (en) | 2020-10-30 |
| JP2018034912A (en) | 2018-03-08 |
| JP6578260B2 (en) | 2019-09-18 |
| WO2018042920A1 (en) | 2018-03-08 |
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