EP1676360A1 - Method and apparatus for determining the position of the rotor of an elevator motor - Google Patents

Method and apparatus for determining the position of the rotor of an elevator motor

Info

Publication number
EP1676360A1
EP1676360A1 EP04767115A EP04767115A EP1676360A1 EP 1676360 A1 EP1676360 A1 EP 1676360A1 EP 04767115 A EP04767115 A EP 04767115A EP 04767115 A EP04767115 A EP 04767115A EP 1676360 A1 EP1676360 A1 EP 1676360A1
Authority
EP
European Patent Office
Prior art keywords
rotor
motor
vibration
angle
determining
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.)
Granted
Application number
EP04767115A
Other languages
German (de)
French (fr)
Other versions
EP1676360B1 (en
Inventor
Pekka Jahkonen
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.)
Kone Corp
Original Assignee
Kone Corp
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
Application filed by Kone Corp filed Critical Kone Corp
Publication of EP1676360A1 publication Critical patent/EP1676360A1/en
Application granted granted Critical
Publication of EP1676360B1 publication Critical patent/EP1676360B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • 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
    • B66B1/3492—Position or motion detectors or driving means for the detector
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
    • B66B11/04—Driving gear ; Details thereof, e.g. seals
    • B66B11/043—Driving gear ; Details thereof, e.g. seals actuated by rotating motor; Details, e.g. ventilation

Definitions

  • the present invention relates to a method as defined in the preamble of claim 1 and an apparatus as defined in the preamble of claim 5 for determining the position of the rotor of an elevator motor.
  • the torque of a synchronous motor is proportional to the angular difference be- tween the rotor magnetic field and the stator magnetic field, i.e. to the rotor angle.
  • the torque is at a maximum when the rotor angle is 90° and it falls according to the sine function as the rotor angle changes.
  • the torque curve of synchronous motors designed for use in an elevator drive is a nearly sinusoidal function of the rotor angle.
  • the function of the control system controlling the elevator motor is to keep the torque at the maximum point.
  • a method for determining the position of the rotor of a synchronous motor dis- closed in specification WO-A2-02/065139 allows the absolute angular position of the rotor to be computed while the rotor is stationary by monitoring the saturation of the stator iron.
  • an alternating current having a certain frequency and phase angle is fed into the stator, samples are taken at given intervals from the current fed in and the voltage obtained, and the stator induc- tance is calculated from these voltage and current values. After that, the phase angle is increased a certain number of times over the 360-degree cycle and the current feed, sampling and calculation are repeated, thus obtaining a certain number of calculated stator inductances.
  • the object of the present invention is to overcome the drawbacks of prior art and create new type of arrangement that can be used to determine the position of the rotor of an elevator motor without moving the rotor and by using relatively low magnetization.
  • the system of the invention is mainly based on the property of an axial motor that it tends to work as a sound reproducer when the rotor and stator are moving on the shaft.
  • the angular position of the rotor is detected without releasing the brake by feeding a current of a frequency of about 50...200 Hz into the motor and measuring the vibration of the machine as a function of the rotor angle.
  • the invention increases the areas of application of especially permanent- magnet synchronous motors with no angle feedback used in elevators.
  • the arrangement of the invention is an advantageous way of finding the rotor angle.
  • the invention is safe because the brakes need not be released and the correct angle can be determined more reliably than by prior-art methods.
  • the method of the invention can be relatively easily automated, because the elevator is not moving and therefore fewer monitoring and safeguarding measures are required.
  • Fig. 1 is a simplified diagrammatic representation of the apparatus of the invention for determining the rotor angle of an elevator motor.
  • Fig. 1 presents an apparatus comprising an elevator motor 1 , which may be a flat axial motor placed in the elevator shaft and which has a permanent magnet rotor 11 and a stator 12, which is driven by means of a frequency converter 2.
  • the frequency converter is controlled by a control unit 3.
  • the angular position of the rotor is detected without releasing the brake by feeding a current of a frequency of about 50...200 Hz into the motor and measuring the vibration of the machine as a function of the rotor angle.
  • the motion on the shaft is at a maximum when the stator current is in the direction of the d-axis, which means that the stator and rotor have maximum attractive and repelling forces (arrows) but no torque. If the current is in the direction of the q-axis, then the torque is at a maximum while the attractive and repelling forces are at a minimum.
  • the motor noise varies very much depending on the position of the rotor. If the frequency is near the resonant frequency, the amplitude of the noise may vary by tens of dB.
  • acoustic feedback or acceleration feedback e.g. by using a resolver.
  • the adjustments can be automated by finding the minimum signal.
  • the magnetization current may be small, even only a few hundred mA, and the brake of the motor can be kept closed.
  • the maximum torque angle can be found but its direction can not be detected unambiguously. To achieve this, it is possible to release the brake and check the torque direction in connection with the start of motion.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Civil Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Cage And Drive Apparatuses For Elevators (AREA)
  • Control Of Ac Motors In General (AREA)
  • Elevator Control (AREA)

Abstract

A method and an apparatus for determining the position of the rotor of a synchronous motor (1) used as an elevator motor, in which method an alternating current of a certain frequency is fed into the stator of the motor and the vibration of the machine is measured as a function of the rotor angle, and the position of the rotor (11) is determined by utilizing the said vibration.

Description

METHOD AND APPARATUS FOR DETERMINING THE POSITION OF THE ROTOR OF AN ELEVATOR MOTOR
The present invention relates to a method as defined in the preamble of claim 1 and an apparatus as defined in the preamble of claim 5 for determining the position of the rotor of an elevator motor.
The torque of a synchronous motor is proportional to the angular difference be- tween the rotor magnetic field and the stator magnetic field, i.e. to the rotor angle. The torque is at a maximum when the rotor angle is 90° and it falls according to the sine function as the rotor angle changes. The torque curve of synchronous motors designed for use in an elevator drive is a nearly sinusoidal function of the rotor angle. The function of the control system controlling the elevator motor is to keep the torque at the maximum point.
Currently used methods for determining the rotor position are not applicable in the case of e.g. flat surface-magnet motors designed for use in elevators without machine room and placed in the elevator shaft, such motors having equal Lq and Ld. Prior-art methods intended for surface magnet motors are based on a comparison of the torque and the angle. When used in an elevator, they cause problems relating to safety and comfort.
A method for determining the position of the rotor of a synchronous motor dis- closed in specification WO-A2-02/065139 allows the absolute angular position of the rotor to be computed while the rotor is stationary by monitoring the saturation of the stator iron. In this method, an alternating current having a certain frequency and phase angle is fed into the stator, samples are taken at given intervals from the current fed in and the voltage obtained, and the stator induc- tance is calculated from these voltage and current values. After that, the phase angle is increased a certain number of times over the 360-degree cycle and the current feed, sampling and calculation are repeated, thus obtaining a certain number of calculated stator inductances. Next, the position of the d-axis relative to the stator is determined from the minimum of the calculated stator inductance values. This is a relatively complicated method. The object of the present invention is to overcome the drawbacks of prior art and create new type of arrangement that can be used to determine the position of the rotor of an elevator motor without moving the rotor and by using relatively low magnetization.
The system of the invention is mainly based on the property of an axial motor that it tends to work as a sound reproducer when the rotor and stator are moving on the shaft. In the invention, the angular position of the rotor is detected without releasing the brake by feeding a current of a frequency of about 50...200 Hz into the motor and measuring the vibration of the machine as a function of the rotor angle.
The details of the features of the method and apparatus of the invention are presented in the claims below.
The invention increases the areas of application of especially permanent- magnet synchronous motors with no angle feedback used in elevators. In addition, the arrangement of the invention is an advantageous way of finding the rotor angle. Moreover, the invention is safe because the brakes need not be released and the correct angle can be determined more reliably than by prior-art methods. Furthermore, the method of the invention can be relatively easily automated, because the elevator is not moving and therefore fewer monitoring and safeguarding measures are required.
In the following, the invention will be described in detail with reference to an example and the attached drawing, wherein
Fig. 1 is a simplified diagrammatic representation of the apparatus of the invention for determining the rotor angle of an elevator motor.
Fig. 1 presents an apparatus comprising an elevator motor 1 , which may be a flat axial motor placed in the elevator shaft and which has a permanent magnet rotor 11 and a stator 12, which is driven by means of a frequency converter 2. The frequency converter is controlled by a control unit 3. In the invention, the angular position of the rotor is detected without releasing the brake by feeding a current of a frequency of about 50...200 Hz into the motor and measuring the vibration of the machine as a function of the rotor angle.
The motion on the shaft is at a maximum when the stator current is in the direction of the d-axis, which means that the stator and rotor have maximum attractive and repelling forces (arrows) but no torque. If the current is in the direction of the q-axis, then the torque is at a maximum while the attractive and repelling forces are at a minimum.
When an alternating current of a frequency of 50...200 Hz is used, the motor noise varies very much depending on the position of the rotor. If the frequency is near the resonant frequency, the amplitude of the noise may vary by tens of dB.
It is possible to increase acoustic feedback or acceleration feedback e.g. by using a resolver. By adding a very simple microphone (sound reproducer) 4 or an acceleration sensor attached to the motor body, the adjustments can be automated by finding the minimum signal. The magnetization current may be small, even only a few hundred mA, and the brake of the motor can be kept closed.
By using the invention, the maximum torque angle can be found but its direction can not be detected unambiguously. To achieve this, it is possible to release the brake and check the torque direction in connection with the start of motion.
It is obvious to the person skilled in the art that different embodiments of the invention are not limited to the example described above, but that they may be varied within the scope of the claims presented below. Instead of a current sig- nal, it is possible to use a voltage signal, and the direction of the current is estimated by utilizing the motor parameters (resistance, inductance).

Claims

1. A method for determining the position of the rotor (11 ) of a synchronous motor (1) used as an elevator motor, in which method: an alternating current or voltage of a certain frequency is fed into the stator of the motor, and a quantity produced by the alternating current or voltage is measured and used to determine the position of the rotor, characterized in that, in the method, the vibration of the machine is measured as a function of the rotor angle, and the position of the rotor (11 ) is determined by utilizing the said vibration.
2. A method according to claim 1 , characterized in that the vibration is measured by means of a microphone or acceleration sensor attached to the motor body and utilized to provide feedback.
3. A method according to claim 1 , characterized in that, in the method, a minimum signal is found, whereupon it is possible e.g. to detect the maximum torque angle.
4. A method according to claim 1 , characterized in that, in the method, a maximum signal is found, whereupon it is possible e.g. to detect the minimum torque angle and the maximum torque can be obtained with a 90° phase shift.
5. An apparatus for determining the position of the rotor (11 ) of a synchronous motor (1 ) used as an elevator motor, comprising: supply means used to feed an alternating current or voltage of a certain frequency into the motor, and a unit used to measure a quantity produced by the alternating current or voltage fed in, characterized in that the apparatus comprises elements used to measure the vibration of the machine as a function of the rotor angle, the said vibration being utilized to determine the position of the rotor (11 ).
6. An apparatus according to claim 5, characterized in that the apparatus comprises a microphone (4) or an acceleration sensor fitted to the motor body and used to produce feedback.
EP04767115A 2003-10-24 2004-10-11 Method and apparatus for determining the position of the rotor of an elevator motor Expired - Lifetime EP1676360B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20031559A FI114694B (en) 2003-10-24 2003-10-24 Method and apparatus for determining the rotor position of an elevator motor
PCT/FI2004/000601 WO2005041399A1 (en) 2003-10-24 2004-10-11 Method and apparatus for determining the position of the rotor of an elevator motor

Publications (2)

Publication Number Publication Date
EP1676360A1 true EP1676360A1 (en) 2006-07-05
EP1676360B1 EP1676360B1 (en) 2007-06-13

Family

ID=29225996

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04767115A Expired - Lifetime EP1676360B1 (en) 2003-10-24 2004-10-11 Method and apparatus for determining the position of the rotor of an elevator motor

Country Status (5)

Country Link
EP (1) EP1676360B1 (en)
DE (1) DE602004007025T2 (en)
ES (1) ES2285508T3 (en)
FI (1) FI114694B (en)
WO (1) WO2005041399A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119660500B (en) * 2024-11-25 2025-10-21 深圳市测力佳控制技术有限公司 Method, device, apparatus, storage medium and program product for estimating elevator position

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0838669A3 (en) * 1996-10-22 2000-12-20 Robert Bosch Gmbh Method and means for noise measurement of electric machines and apparatus
DE69908786T2 (en) * 1999-12-15 2004-04-22 Bien-Air Holding S.A. Brushless motor with device for determining the rotor position
US6401875B1 (en) * 2001-02-12 2002-06-11 Otis Elevator Company Absolute position sensing method and apparatus for synchronous elevator machines by detection stator iron saturation

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2005041399A1 *

Also Published As

Publication number Publication date
EP1676360B1 (en) 2007-06-13
WO2005041399A1 (en) 2005-05-06
ES2285508T3 (en) 2007-11-16
DE602004007025T2 (en) 2007-10-11
FI20031559A0 (en) 2003-10-24
FI114694B (en) 2004-12-15
DE602004007025D1 (en) 2007-07-26

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