CN85102912A - Elevator control apparatus - Google Patents
Elevator control apparatus Download PDFInfo
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- CN85102912A CN85102912A CN85102912.4A CN85102912A CN85102912A CN 85102912 A CN85102912 A CN 85102912A CN 85102912 A CN85102912 A CN 85102912A CN 85102912 A CN85102912 A CN 85102912A
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Abstract
The primary current of the induction motor in the elevator control device is controlled by a component parallel to and a component perpendicular to the secondary cross-linked magnetic field, respectively, and has a correction signal device for generating a predetermined frequency, phase and magnitude, eliminating the fluctuation of the magnetic flux of the induction motor caused by the deflection of the rotating shaft of the elevator due to the action of the elevator load. The signal from the device is superimposed on a component parallel or perpendicular to the secondary cross flux in order to control the primary current, which control eliminates any fluctuations in torque and thus makes the riding elevator comfortable.
Description
The present invention relates to elevator control aggregate, this elevator adopts induction motor (IM).More clearly saying so relates to the elevator control aggregate of eliminating the magnetic flow fluctuation, and the magnetic flow fluctuation is because due to the caused induction motor (IM) air gap variation of deflection of transmission shaft.
In recent years, induction motor (IM) is as the electrical motor of elevator lifting machine, and the transformation system of variable voltage and variable frequency is also as the device of control of induction speed, this device can from halted state to quite wide at full speed scope inner control induction motor (IM).
Fig. 1 be expression common, adopt above-mentioned induction motor (IM) as the elevator of power half section figure with elevator, the base of numeral 1 expression elevator, numeral 2 expressions are installed in the induction motor (IM) on the base 1.This induction motor (IM) 2 comprises a stator 2a and a rotor 2b, and stator and rotor are fixed on the S. A. 3 of induction motor (IM) 2 central axis.One end of S. A. 3 be installed in induction motor (IM) be on the bearing frame 2C of one, feasible axle can rotate by bearing 4, and the other end of axle 3 extends the shell of induction motor (IM), and is installed on the bearing frame 5, bearing frame 5 is fixed on the base 1, makes axle by bearing 6 rotations.In addition, reel 7 is contained on the axle 3, between induction motor (IM) 2 and bearing frame 5.In addition, form single-piece brake wheel 8 at the edge of reel 7, the brake control lever 9 that brake scotch 9a is housed is arranged in the circumferential periphery of brake wheel, make to be easy to separate and contact, and brake control lever 9 is driven by brake magnet 10.
In the elevator of said structure, the jackstay that is wrapped on the reel 7 is hanging elevator cage and balance weight body, so elevator load acts on the reel 7.Therefore, be supported on the axle 3 downward deflections at two ends.When the downward deflection of axle 3, the stator 2a of induction motor (IM) and a. g. Ga between the rotor 2b become big above shown in Figure 2, below diminish.
The mmf of identical size acts on induction motor (IM), produces the magnetic flow of rotation.When its during by low magnetic resistance passage, promptly when magnetic flow when the direction of arrow refers to downward or upward as shown in Figure 3, the revolving magnetic flux maximum.When magnetic flow pointed to a left side or points to the right side, the revolving magnetic flux minimum was because pass through high magneto-resistive a. g. in very long distance.This situation is shown in Fig. 4.
Fig. 4 axis of abscissa is represented flux vector angle (for the downward magnetic flow of Fig. 3, angle is zero), and Y axis Y is represented the magnetic flow size.With respect to the represented reference magnetic flow of straight line 1, the flux vector that the deflection of axle is followed is a sine wave shape, and 2b rotates a circle when rotor, and two cycles of glint are shown in the curve II.
The torque T that induction motor (IM) produces is T=i
2gΦ
I in the formula
2gBe primary current component perpendicular to rotating field.Therefore, when magnetic flux phi fluctuates by Fig. 4 curve II mode, torque makes and takes advantage of an elevator that the serious discomfort sense is arranged with identical frequency fluctuation.
In order to eliminate the problems referred to above, can consider to strengthen the intensity of S. A. 3, even the effect that makes axle be subjected to elevator load also is unlikely deflection.Yet it is thick that this requires axle to be designed to, based on the increase of elevator weight, so this design is infeasible.
Brief description of drawings
Fig. 1 is the lateral plan of partly cutting open, shows the elevator of the alternating-current motor/AC motor control system that adopts variable voltage and variable frequency transfer device;
Fig. 2 is a partly schematic cross-section of induction motor (IM), shows the relation between rotor and the stator;
The scheme drawing of Fig. 3 for concerning between expression rotor and the stator;
When Fig. 4 is shaft flexing, the characteristic pattern between magnetic flow and the angle of rotation;
Fig. 5 is the block scheme according to elevator control gear scheme of the present invention;
Fig. 6 is the circuit diagram of VVVF control setup among the present invention;
Fig. 7 is the block scheme of an example of corrected signal generator among expression the present invention;
Fig. 8 is the circuit diagram of the illustrated examples of modified gain computing circuit, and this circuit is made up of the corrected signal unit among the present invention;
Fig. 9 is the block scheme of another program of elevator control aggregate of the present invention;
Figure 10 is the instruction diagram of the canoe of expression deflecting wheel;
Figure 11 is under the situation that adopts deflecting wheel, the instruction diagram of position relation between motor rotor and the stator;
Figure 12 is under the situation that adopts deflecting wheel, the block scheme of the corrected signal generation unit example among the present invention;
The △ θ component that Figure 13 is made up of the corrected signal generation unit of Figure 12 produces the circuit diagram of the possible example of circuit.
Existing problem in above-mentioned, the previous work that the present invention has solved, and a kind of elevator control aggregate has been proposed in view of the above.In this equipment control setup be by the sinusoidal waveform of preset frequency or similarly corrected signal be added to parallel or component perpendicular to secondary commissure magnetic flow on control.Even because torque fluctuation when the deflection of induction motor (IM) S. A. causes air gap deviation, can not take place, so guaranteed to take advantage of an elevator comfortable in this equipment yet.
Preferred version of the present invention
Now, of the present invention preferred version relevant with accompanying drawing will be narrated.
Fig. 5-8 shows a scheme according to elevator control aggregate of the present invention.Wherein Fig. 5 is the circuit diagram of elevator control gear, and this system adopts the PWM(pulse width modulation) induction motor (IM) of conv control controls variable magnetic flow.
Referring to Fig. 5, numeral 11 representatives are wrapped in the jackstay on the reel 7.End at this jackstay 11 is hanging elevator cage 12, and the other end hangs balance weight body 13.The three-phase induction motor that is used to drive reel 7 is supplied with primary voltage Vu by variable voltage and variable frequency control setup (below be abbreviated as the VVVF control setup) 14, Vv, and Vw, and its value is near component voltage instruction Vu
*, Vv
*And Vw
*It is R mutually that the VVVF control setup connects the position, the three phase mains of S and T.This VVVF control setup 14 obtains voltage instruction Vu from two-phase/three-phase inversion circuit 15
*, Vv
*And Vw
*, two-phase/three-phase inversion circuit by op amp and multiplier, be that the adder-subtracter that D/A converter is formed is constituted.
Sin θ and cos θ are the sine output of the function generator 25 that will be described below in the equation (1).
Be added on the subtracter 18 with the component of signal ides that three-phase/two-phase change-over circuit 17 provides, then, its difference signal relevant with the output signal of coefficient double circuit 20 is added on the integrator 19.Output signal from integrator 19 is added on coefficient double circuit 20 and the divider 21, and 21 also have the component of signal iges that three-phase/two-phase change-over circuit 17 provides.
Subtracter 18, integrator 19, coefficient double circuit 20 and divider 21 are formed a circuit that calculates declinate frequency pws and secondary flux.The output signal of divider 21 becomes and is declinate frequency R
WSAnd the output signal of double circuit 20 is secondary flux.R in the coefficient double circuit
rAnd L
rIndicate the secondary electrical resistance and the secondary inductance value of induction motor (IM) 2, as the parameter of control circuit, adopt calibration value to carry out high-precision vector controlled based on experiment with respectively.
Numeral 22 expressions are used for according to the adder of difference frequency Pws judgement secondary flux azimuth frequency W, and Pws is the output signal of divider 21.Obtain the angle of rotation frequency with method direct and the spin velocity Wr that induction motor (IM) bonded assembly tachogenerator 26 produces, Pwr multiply by the quantity of pole pair P with multiplier 23.The angular frequency w that numeral 24 expression integrations are obtained by adder 22 calculates the integrating circuit of secondary flux phase angle theta.When the signal of the phase angle theta of being calculated by integrating circuit 24 was provided, it was sinusoidal signal sin θ and the cosine signal cos θ of θ that function generator 25 provides phase angle.Sinusoidal signal sin θ and cosine signal cos θ are added on two-phase/three-phase inversion circuit 15 and the three-phase/two-phase change-over circuit 17.Function generator 25 is made up of A/D converter, D/A converter, ROM.
Magnetic flow control circuit 31 produces with torque current controling circuit 36 and is in two kinds of positions current-order Vdes mutually
*And Vges
*Offer two-phase/three-phase inversion circuit 15, convert the voltage instruction Vu that is in three kinds of position phases to by it
*, Vv
*And Vw
*, be re-used as rate control instruction and be input to VVVF control setup 14.Carry out this conversion according to following formula:
When sending into the three phasevoltage instruction, according to this equation, VVVF control setup 14 provides primary voltage Vu, Vv and Vw to induction motor (IM) 2.
In Fig. 5, numeral 37 expressions are connected the load detector on the elevator cage 12, it produces corresponding to the signal 37a that loads in the compartment, the load signal 37a of load detector 37 is input to the circuit 3c that weighs, this circuit produces the command value 38a that weighs according to load signal, and the command value of weighing is input to corrected signal generation unit 29.
As shown in Figure 7, corrected signal generation unit 29 is by the beneficial noninverting amplifier 291 of 2 multiplications, cosine generator 292, and modified gain computing circuit 293 and multiplicator 294 constitutes.24(sees Fig. 5 by integrating circuit) phase angle theta of the secondary flux vector that provides is that 2 noninverting amplifier 291 is amplified to 2 θ by gain, after this 2 θ signal transition becomes cos2 θ then, be multiply by the output signal Ka of modified gain computing circuit 293 by multiplicator 294, produce corrected signal 29a.
Fig. 8 illustrates the illustrative circuit figure of modified gain circuit 293.It produces the signal D that loads with the irrelevant and corresponding reel of compartment load to this circuit by adder (being made up of op amp OP1 and resistance R 1～R4), amplifier (op amp OP2 and resistance R 5-R7 form) and variable resistance VR() constitute.Adder is added up the signal D of variable resistance VR with these two inputs of weight instruction 38a that the circuit 38 of weighing provides, the result who obtains is amplified by amplifier, so that produce output signal Ka.Therefore, the corrected signal 29a that is provided by corrected signal generation unit 29 equates on phase place, and equals to describe the variation (corresponding to Alternating Component shown in Figure 4) of the magnetic flux phi of S. A. deflection on the numerical value.
Fig. 6 shows the illustrative circuit figure of VVVF control setup 14.Numeral 39 expression power operation convs, it forms three-phase full wave rectifier circuit by silicon control 39A-39F, and silicon control is connected by three-phase bridge with T mutually with R, the S of source of AC.Symbol 39Ag-39Fg represents the control utmost point of silicon control 39A-39F.The regenerative brake conv of the three-phase full wave rectifier circuit that symbol 40 expression is made up of silicon control 40A-40F, silicon controlled exchanges end and connects power supply R, S, T, dc terminal connects the direct current limit that power moves conv 39.Symbol 40Ag-40Fg represents the control utmost point of silicon control 40A-40F.In addition, numeral 41 expression filter capacitors are connected across on the dc terminal of power operation conv 39, and numeral 42 is a piezoelectric detector, is connected across the two ends of filter capacitor 41, and it is made of resistor.Numeral 43 is the control polar circuit, receives the output signal 42a of synchronous angular velocity signal W and piezoelectric detector, produces the energizing signal 43a-43l corresponding to synchronous angular velocity signal W then.Energizing signal 43a-43f is added to respectively on the control utmost point 39Ag-39Fg of silicon control 39A-39F of power operation conv, and energizing signal 43g-43l is added to the control utmost point 40Ag-40Fg of the silicon control 40A-40F of regenerative brake conv 40 respectively.Numeral 44 expressions are connected across the conv on the filter capacitor 41.Conv comprises 6 transistor 44A-44F, and every group has two series connected transistors, then three groups parallel with one another.In addition, diode 39a-39f is connected in parallel with transistor 44A-44F respectively.Therefore, from transistor 44A and the 44D that is connected in series, 44B and 44E, the contact of 44C and 44F provides ac output voltage Vu respectively, Vv and Vw.In addition, numeral 45 expression base drive circuits, it receives the primary voltage command value Vu from two-phase/three-phase inversion circuit 15
*, Vv
*And Vw
*, produce base drive signal 45a-45f then.Each base drive signal 45a-45f is added to the base stage 44Aa-44Fa of the transistor 44A-44F of conv 44.
To explain the present invention program's method of work as constituted above below.
When magnetic flow instruction signal generating circuit 27 sends magnetic flow command signal 27a, the corrected signal 29a of its corrected signal generation unit 29 is deducted by subtracter 28, then, in subtracter 30 with difference signal with from the flux signal 20a of double circuit 20 relatively, the i.e. magnetic flow that calculates according to the actual current of induction motor (IM) 2 of flowing through is so that deduct the latter from the former.Thereby exported difference signal between the two, this difference signal is input to two-phase/three-phase inversion circuit 15 by magnetic flow control circuit 31.
On the one hand, produce the speed value Wr that circuit 32 provides by speed command signal
*Be input in the subtracter 33, and with from the speed signal Wr of tachogenerator 26 relatively so that from the former, deduct the latter, so difference signal is as both difference output.This difference signal is treated as torque current instruction iges by speed control circuit 34
*Be input to subtracter 35 again.In subtracter 35, iges
*With torque current feedback signal iges from three-phase/two-phase change-over circuit 17 be that the torque component that actual flow is crossed the electric current of electrical motor 2 compares so that from the former, deduct the latter.So, the difference signal of the two difference by torque current controling circuit 36 as voltage instruction Vges
*Be input to two-phase/three-phase inversion circuit 15.
On the other hand, when with multiplier 23 speed signal Wr be multiply by the resulting angle of rotation frequency of magnetic pole logarithm P Pwr with adder 22 additions, difference frequency signal Pws becomes the synchronous angular velocity signal.In addition, this angular velocity signal W is integrated device 24 integrations, becomes the angle of rotation signal corresponding to angle of rotation θ therefrom.Corresponding to the sin θ signal 25a of angle of rotation θ and cos θ signal 25b by sine.Cosine transform device 25 calculates, and delivers to two-phase/three phase converer road 15 and three-phase/two-phase change-over circuit 17 then.
Two-phase/three-phase inversion circuit 15 conversion sin θ signal 25a, cos θ signal 25b and with voltage instruction value Vdes
*And Vges
*For its incoming signal so that primary voltage command value Vu to be provided
*, Vr
*And Vw
*, these signals are added on the VVVF control setup 14.
Control polar circuit 43 judges that according to the output signal 42a and the synchronous angular velocity signal w of piezoelectric detector 42 electrical motor 2 is in power running state or regenerative brake state.If the power running state, energizing signal 43a-43f is added on the power operation conv 39; And if the regenerative brake state, then energizing signal 43g-43l is to regeneration operation conv 40.Therefore, the terminal voltage that changes filter capacitor 41 is carried out so-called PAM(pulse amplitude modulation) the control base stage.Base stage control circuit 45 is according to primary voltage command value Vu
*, Vv
*And Vw
*Base drive signal 45a-45f is added on the conv 44, so that carry out so-called PWM(pulse width modulation) control.
Therefore, VVVF control setup 14 produces the ac output voltage Vu of voltage variable and changeable frequency, Vv and Vw, and driven induction motor 2 is so compartment 12 is with the speed operation of high precision in control.It is resulting that the magnetic flow instruction of this moment is that the magnetic flow command signal 27a for reference deducts corrected signal 29a.And corrected signal 29a has elimination because the frequency of the magnetic flow fluctuation due to the S. A., position phase and amplitude.So, both having made with shaft flexing and caused rotor-position to change relevant a. g. change, actual magnetic flow is not subjected to the fluctuation of torque yet.Therefore, can make and take advantage of an elevator comfortable.
Fig. 9 shows another scheme of elevator control aggregate of the present invention.
In the figure, represent identical part as the same-sign of Fig. 5.With Fig. 5 difference is mutually/three on the signal wire (SW) of a phase transformation circuit 15, to insert subtracter 46, so that deduct the corrected signal 29a of corrected signal generating unit 29 from the output signal of magnetic flow control circuit 31 in coupling magnetic flow control circuit 31 and dibit.
Owing to adopted this scheme, can estimate to obtain the effect identical with scheme shown in Figure 5.
Though do not make an explanation, also can allow from the output signal of the output signal of speed control circuit 34 or torque current controling circuit 36, to deduct corrected signal 29a.And magnetic flux value, the output signal of mlultiplying circuit 20 and angle of rotation θ have been estimated by the signal generator in the aforementioned schemes, and these values can directly be detected by Hall element or resolver fully.
Figure 10-13 shows the method that produces corrected signal under the deflecting wheel situation adopting.As shown in figure 10, jackstay 11 is wrapped on reel 7 and the deflecting wheel 47.The side that reel 7 was fixed and be suspended on to one end of compartment 12 and jackstay, and the side that deflecting wheel 47 was fixed and be suspended on to the other end of counterweight 13 and jackstay.As a result, because power and the power of vertical direction and the resultant vector effect of flexural force as shown in figure 11 of deflecting wheel 47 deflection directions, S. A. 3 descends.At this moment, angle of the direction of resultant vector definition is approximately equal to 1/2 of bend angle θ d.Therefore, magnetic flow angle of rotation hour is compared mobile △ θ with situation shown in Figure 3.Figure 12 shows a kind of practical circuit that produces the corrected signal generation unit 29 with △ θ component compensation corrected signal.
Among Figure 12, the identical part of the symbology identical with Fig. 7.In order to compensate △ θ component, subtracter 295 is contained in the input limit of noninverting amplifier 291.This subtracter 295 produces circuit 296 by △ θ component △ θ is provided the angle, and cuts the signal corresponding to △ θ component from the angle of rotation signal corresponding to θ.Its difference is input in the noninverting amplifier 291, then by cosine generator 292 and amplifier 294.Therefore, exported corrected signal 29a with the compensation of △ θ component.
Figure 13 shows a kind of possible example that △ θ component produces circuit 296.This circuit is made of direct supply E and variable resistance VR1.
As mentioned above, according to the present invention, produce corrected signal so that revise the torque fluctuation that the magnetic flow fluctuation causes, torque fluctuation is because the deflection of elevator S. A. makes due to the change of induction motor (IM) a. g., so corrected signal is input in the control setup.So, both made the deflection that axle takes place, also can avoid any fluctuation of torque, so can reach the purpose of taking advantage of an elevator comfortable.
Claims (10)
1, in elevator control aggregate, the primary current of induction motor (IM) is parallel to and perpendicular to the control respectively of the component of secondary commissure magnetic flow institute; The characteristics of elevator control aggregate are to produce to have the corrected signal that pre-determines frequency plot and amplitude, eliminate because the elevator load effect causes the induction motor (IM) magnetic flow due to the deflection of elevator S. A. fluctuates.Corrected signal from said apparatus will be superimposed upon on the component that is parallel and perpendicular to secondary commissure magnetic flow, so that the control primary current.
2, according to the elevator control aggregate of claim 1, also comprise S. A. deflection calibration unit, to detect the deflection of axle, the corrected signal generating means sends corrected signal after receiving the shaft flexing detection signal of aforesaid deflection detector generation.
3, according to the elevator control aggregate of claim 2, also comprise the magnetic flow instruction signal generating device, to produce the magnetic flow command signal that motor is used, the magnetic flow detecting device detects the actual magnetic flux in the aforementioned electric motivation, produce the detected flux signal of expression then, the signal that receives two signals and produce a control aforementioned electric motivation is described, so that the magnetic flow detection signal is identical with the magnetic flow command signal.
4, according to the elevator control gear of claim 2, the magnetic flow command signal that provided of corrected signal and aforesaid magnetic flow instruction signal generating device combines within it, and this composite signal is added to the control signal generation device then, as the magnetic flow command signal.
Above-mentioned corrected signal generation device produces corrected signal by receiving the magnetic flow detection signal.
5, according to the elevator control aggregate of claim 3, the magnetic flow detection signal that is added within it on the corrected signal generation device is the phase signal of expressing above-mentioned electrical motor secondary flux vector.
6, according to the elevator control aggregate of claim 3, the magnetic flow detecting device detects the electric current of the above-mentioned electrical motor of flowing through within it, and produces the magnetic flow detection signal according to detected current value.
7, according to the elevator control aggregate of claim 2, aforesaid within it S. A. deflection detector comprises load detector, and it detects the load in the elevator cage and produces the signal of expressing load.
8, according to the elevator control gear of claim 7, aforesaid within it corrected signal generation device comprises that generation is corresponding to the load that acts on the S. A., and disregard the device of compartment internal loading, and send the signal of expressing the S. A. deflection according to producing aforesaid signal and compartment load signal.
9, according to the elevator control gear of claim 1, aforesaid within it corrected signal generation device comprises the compensating signal generation device, with the compensation with act on S. A. on the consistent corrected signal of flexural force direction.
10, according to the elevator control gear of claim 9, the elevator of elevator comprises S. A. and deflecting wheel within it, and has measured and the resultant vector direction one of the vertical direction consistent compensating signal of aforementioned deflecting wheel deflection direction of making peace.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 85102912 CN1020882C (en) | 1985-04-18 | 1985-04-18 | Elevator control aggregate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 85102912 CN1020882C (en) | 1985-04-18 | 1985-04-18 | Elevator control aggregate |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN85102912A true CN85102912A (en) | 1986-10-15 |
| CN1020882C CN1020882C (en) | 1993-05-26 |
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ID=4792854
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 85102912 Expired - Fee Related CN1020882C (en) | 1985-04-18 | 1985-04-18 | Elevator control aggregate |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1020882C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1035050C (en) * | 1992-10-22 | 1997-06-04 | 株式会社日立制作所 | Elevator system |
-
1985
- 1985-04-18 CN CN 85102912 patent/CN1020882C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1035050C (en) * | 1992-10-22 | 1997-06-04 | 株式会社日立制作所 | Elevator system |
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| Publication number | Publication date |
|---|---|
| CN1020882C (en) | 1993-05-26 |
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