EP0607646B1 - Commande de vitesse d'un ascenseur - Google Patents

Commande de vitesse d'un ascenseur Download PDF

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Publication number
EP0607646B1
EP0607646B1 EP93300436A EP93300436A EP0607646B1 EP 0607646 B1 EP0607646 B1 EP 0607646B1 EP 93300436 A EP93300436 A EP 93300436A EP 93300436 A EP93300436 A EP 93300436A EP 0607646 B1 EP0607646 B1 EP 0607646B1
Authority
EP
European Patent Office
Prior art keywords
velocity
deceleration
control
constant
inverter
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP93300436A
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German (de)
English (en)
Other versions
EP0607646A1 (fr
Inventor
Satoshi Hayashi
Koji Yamada
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Otis Elevator Co
Original Assignee
Otis Elevator Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to JP3173581A priority Critical patent/JP2888671B2/ja
Application filed by Otis Elevator Co filed Critical Otis Elevator Co
Priority to EP93300436A priority patent/EP0607646B1/fr
Priority to DE1993605489 priority patent/DE69305489T2/de
Publication of EP0607646A1 publication Critical patent/EP0607646A1/fr
Application granted granted Critical
Publication of EP0607646B1 publication Critical patent/EP0607646B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • B66B1/02—Control systems without regulation, i.e. without retroactive action
    • B66B1/06—Control systems without regulation, i.e. without retroactive action electric
    • B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
    • B66B1/16—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements with means for storing pulses controlling the movements of a single car or cage
    • 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
    • B66B1/285—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical with the use of a speed pattern generator
    • 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

Definitions

  • This invention concerns a type of inverter-based velocity control device for elevator induction motors. More specifically, this invention concerns a type of accelerating/decelerating control unit of induction motors in an open-loop velocity control system (see EP-A-0 338 777).
  • the induction motor has been adopted as the primary motor of elevators.
  • the induction motor is usually driven by an inverter with variable voltage and variable frequency (VVVF).
  • VVVF variable voltage and variable frequency
  • the velocity control of the induction motor is usually performed using the open-loop control by a voltage inverter for the low-velocity elevator, and using the velocity feedback control with a velocity detector in the medium- or high-speed elevator.
  • the output frequency and the output voltage of the inverter are controlled so that acceleration, deceleration, or constant velocity is realized to conform to the velocity pattern.
  • a velocity detector is not needed, and there is no need to have a backup means for solving faults in the velocity detection system.
  • the floor-settling precision is poor as the load varies.
  • the present applicant has proposed a velocity control scheme that solves the aforementioned problem by making correction for the variation portion of the load torque (see Japanese Kokai patent Application No. Hei 1[1989]-268479).
  • the concept of this scheme is as follows: From the dc current of the inverter's principal circuit, the slip frequency of the motor is derived; from the aforementioned slip frequency, the output torque of the motor and the load torque of the motor are derived and the rotating speed is calculated; and from its difference from the velocity pattern, the frequency and voltage of the inverter are corrected.
  • the present applicant also proposed a scheme for correcting the torque boost for realizing a necessary driving force needed for the large load torque as the motor operates at a low speed.
  • the torque is detected from the dc current and the variation in the load torque is corrected (see Japanese Kokai Patent Application No. Hei 1[1989]-252193).
  • the slip frequency is derived by detecting the dc current; from the slip frequency, the motor velocity correction and the torque correction are performed, so as to improve the floor-settling accuracy.
  • the slip frequency increases as the load of the elevator increases, and the output current of the inverter rises.
  • the switch element As the inverter output current rises, if it exceeds the rating of the switch element of the reverse conversion main circuit, the switch element is damaged by the surge current.
  • a surge current protecting circuit is provided, and the inverter unit is stopped as the surge current is detected.
  • the purpose of this invention is to solve the aforementioned problems of the conventional methods by providing a type of velocity control device in which there is no surge current shutoff caused by an increase in the load of the elevator, and the floor-settling accuracy can be increased.
  • the inverter-based velocity control device for elevator induction motors performs open-loop velocity control with acceleration, deceleration, or constant velocity; in the deceleration control mode, as the cage of the elevator arrives at a deceleration start position at a prescribed distance L from the cage floor-settling position, deceleration D is carried out.
  • the output current of the inverter is determined by the aforementioned surge current limit judgment means, and the operation is performed at a constant velocity V i , with V i maintained for a prescribed time T 1 after the cage arrives at the deceleration start position; then, deceleration is performed at deceleration D identical to that of the velocity pattern.
  • V i constant velocity
  • T 1 time after the cage arrives at the deceleration start position
  • deceleration is performed at deceleration D identical to that of the velocity pattern.
  • FIG. 1 is an equipment configuration diagram illustrating an application example of this invention.
  • the ac power of ac power source (1) is converted to dc power by rectifier (2), and it is smoothed by capacitor (3).
  • the dc power is then converted to ac power with output frequency and voltage controlled by a voltage inverter principal circuit (4), and sent to induction motor (5) used as the power source of the elevator.
  • Control of the operation frequency and voltage of the inverter principal circuit (4) is carried out by control of the gate pulse frequency and pulse width from a controller (6). In this way, the operation speed of motor (5) drives the load of cage (8) and balance weight (9).
  • CPU (10) obtains the inverter operation frequency and voltage (amplitude) from this velocity pattern and slip frequency S from slip operator circuit (11). From this frequency and voltage, gate pulses with PWM waveform can be obtained at PWM generating unit (12).
  • the slip operator circuit (11) just as in the conventional case, from the detected signal i dc of current detector (13) which detects dc current I dc of inverter principal circuit (4) the current-torque conversion and the torque-slip frequency conversion are performed so as to derive the slip frequency S.
  • the present applicant once proposed a scheme of calculation of the slip frequency directly from the dc current detected value. This direct conversion scheme may also be adopted in this configuration.
  • Peak current detector (l4) detects peak value I pp of detected current i dc of current detector (l3); A/D converter (15) converts peak value I pp to a digital signal; and surge current limit judgment unit (16) determines when peak value I pp in digital form reaches the surge current limit value.
  • the surge current limit judgment means has the same configuration as that of the conventional surge current shutoff judgment means. However, the judgment level is set lower than the level of the surge current shutoff state, and it provides an output of judgment of the surge current limit before the surge current shutoff.
  • the velocity correction means set in CPU (10) performs constant-velocity control at the current velocity when the judgment of the surge current limit is made, with the constant-velocity control maintained for a prescribed time T 1 after cage (8) arrives at the deceleration start position, and it then performs the deceleration control with a deceleration identical to that in the velocity pattern after time T 1 .
  • the velocity correction control of the aforementioned velocity correction control means can prevent surge current shutoff by making a constant-velocity control at the current velocity when the surge current limit is reached.
  • the constant velocity is lower than the constant velocity of the velocity pattern. If the deceleration is carried out at the same deceleration as that of the velocity pattern from the point when cage (8) arrives at the deceleration start position, there would be a significant deviation from the desired floor-settling position when the cage is stopped. However, the constant-velocity control is continued for a prescribed time T 1 , followed by deceleration at the same deceleration as that of the velocity pattern. In this way, the aforementioned problem can be solved and the floor-settling accuracy can be guaranteed.
  • FIG. 2 shows the operation waveform diagram in this application example.
  • the acceleration, deceleration and constant-velocity control are performed by control device (6) according to the velocity pattern V.
  • the deceleration control is performed at a prescribed deceleration when cage (8) of the elevator arrives at a deceleration start position P b at a prescribed distance L from the floor-settling position.
  • inverter output current I out has a waveform with peaks in the acceleration and deceleration phases.
  • time T 1 at which the area of region A is equal to the area of region B is determined beforehand. That is, in the velocity pattern V, the distance for deceleration to stop at a prescribed deceleration from deceleration start point P b corresponds to the area of this portion, and the deceleration start point is set appropriately to ensure that the aforementioned distance is equal to the distance from the deceleration start point to the floor settlement point.
  • the surge current limit if the distance of deceleration to stop from velocity V i at the same deceleration is identical to the aforementioned distance, the same floor-settling position can be reached. In this case, the distance corresponds to the area after deceleration start point P b , and time T 1 is calculated to ensure that the area of region A is equal to the area of region B.
  • a surge current limit level is set and detected before the inverter output current rises to the surge current shutoff level due to increase in the load of the elevator; then, a constant-velocity control is performed with the velocity at the point of detection taken as the velocity; after a prescribed time T 1 , which is determined to ensure the same deceleration distance as that of deceleration according to the velocity pattern after the cage arrives at the deceleration start point, deceleration is performed with the same deceleration as that of the velocity pattern.
  • T 1 which is determined to ensure the same deceleration distance as that of deceleration according to the velocity pattern after the cage arrives at the deceleration start point

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Control (AREA)
  • Control Of Ac Motors In General (AREA)
  • Maintenance And Inspection Apparatuses For Elevators (AREA)
  • Stopping Of Electric Motors (AREA)

Claims (2)

  1. Dispositif de commande de vitesse pour l'onduleur d'un moteur à induction d'ascenseur, destiné à exécuter une commande de vitesse à boucle ouverte comprenant des phases d'accélération, de vitesse constante et de décélération, dans lequel la décélération D est exécutée pendant la phase de commande de décélération lorsque la cabine de l'ascenseur arrive à une position de départ de la décélération à une distance prescrite L de la position d'arrêt à l'étage de la cabine ; caractérisé par un moyen d'estimation qui peut détecter le moment où le courant de sortie de l'onduleur atteint un niveau limite de courant de pointe inférieur à un niveau de coupure du courant de pointe, et par un moyen de commande de correction de vitesse qui, en réponse à ladite détection, exécute une commande de vitesse constante dans laquelle la vitesse est fixée à la vitesse Vi existant au point de ladite détection, la commande de vitesse constante étant prolongée pendant un temps T1 à partir de l'instant où la cabine arrive à la position précitée de départ de la décélération, et qui exécute ensuite une commande de décélération avec la décélération précitée après écoulement dudit temps T1, le temps T1 étant sélectionné de manière que la distance parcourue pendant le temps T1 et pendant la décélération consécutive soit L.
  2. Dispositif de commande de vitesse selon la revendication 1 dans lequel, pendant la phase de décélération, il s'effectue une décélération D sensiblement constante et dans lequel le temps T1 est sélectionné par application de la formule T1 = (L/Vi) - (Vi/2 D).
EP93300436A 1991-07-15 1993-01-21 Commande de vitesse d'un ascenseur Expired - Lifetime EP0607646B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP3173581A JP2888671B2 (ja) 1991-07-15 1991-07-15 エレベータ用インバータの速度制御装置
EP93300436A EP0607646B1 (fr) 1991-07-15 1993-01-21 Commande de vitesse d'un ascenseur
DE1993605489 DE69305489T2 (de) 1993-01-21 1993-01-21 Aufzugsgeschwindigkeitsreglung

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP3173581A JP2888671B2 (ja) 1991-07-15 1991-07-15 エレベータ用インバータの速度制御装置
EP93300436A EP0607646B1 (fr) 1991-07-15 1993-01-21 Commande de vitesse d'un ascenseur

Publications (2)

Publication Number Publication Date
EP0607646A1 EP0607646A1 (fr) 1994-07-27
EP0607646B1 true EP0607646B1 (fr) 1996-10-16

Family

ID=26134150

Family Applications (1)

Application Number Title Priority Date Filing Date
EP93300436A Expired - Lifetime EP0607646B1 (fr) 1991-07-15 1993-01-21 Commande de vitesse d'un ascenseur

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EP (1) EP0607646B1 (fr)
JP (1) JP2888671B2 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7954604B2 (en) 2005-07-11 2011-06-07 Toshiba Elevator Kabushiki Kaisha Elevator speed control device, elevator speed controlling method and elevator speed controlling program

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5677519A (en) * 1996-02-29 1997-10-14 Otis Elevator Company Elevator leveling adjustment
US5777280A (en) * 1996-08-27 1998-07-07 Otis Elevator Company Calibration routine with adaptive load compensation
US5889238A (en) * 1996-11-12 1999-03-30 Otis Elevator Company Deceleration time for an elevator car
CN101044080B (zh) 2004-10-28 2011-05-11 三菱电机株式会社 电梯用旋转机的控制装置
WO2007122676A1 (fr) * 2006-04-13 2007-11-01 Mitsubishi Denki Kabushiki Kaisha Dispositif élévateur
JP5082666B2 (ja) * 2007-08-09 2012-11-28 株式会社ジェイテクト モータ制御装置、伝達比可変装置及び車両用操舵装置
CN114212631B (zh) * 2021-11-04 2023-11-14 深圳市海浦蒙特科技有限公司 电梯运行控制方法、装置、电梯及计算机可读存储介质

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5129288B2 (fr) * 1971-09-08 1976-08-24
JPS59203074A (ja) * 1983-05-06 1984-11-17 株式会社日立製作所 油圧エレベ−タ
JPS60183990A (ja) * 1984-02-29 1985-09-19 Mitsubishi Electric Corp エレベ−タの速度制御装置
JPH0817599B2 (ja) * 1988-04-18 1996-02-21 日本オーチス・エレベータ株式会社 エレベータの速度制御装置
JPH02124981U (fr) * 1989-03-23 1990-10-15

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7954604B2 (en) 2005-07-11 2011-06-07 Toshiba Elevator Kabushiki Kaisha Elevator speed control device, elevator speed controlling method and elevator speed controlling program

Also Published As

Publication number Publication date
JP2888671B2 (ja) 1999-05-10
JPH0517079A (ja) 1993-01-26
EP0607646A1 (fr) 1994-07-27

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