EP2303744B1 - Procede de reglage de la boucle de vitesse d'un variateur de vitesse - Google Patents

Procede de reglage de la boucle de vitesse d'un variateur de vitesse Download PDF

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Publication number
EP2303744B1
EP2303744B1 EP09779628.8A EP09779628A EP2303744B1 EP 2303744 B1 EP2303744 B1 EP 2303744B1 EP 09779628 A EP09779628 A EP 09779628A EP 2303744 B1 EP2303744 B1 EP 2303744B1
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EP
European Patent Office
Prior art keywords
motor
speed
load
tot
nominal
Prior art date
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Application number
EP09779628.8A
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German (de)
English (en)
French (fr)
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EP2303744A2 (fr
Inventor
Stéfan Capitaneanu
Duro Basic
François Malrait
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.)
Schneider Toshiba Inverter Europe SAS
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Schneider Toshiba Inverter Europe SAS
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—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

  • the present invention relates to a method of adjusting a speed control loop of a variable speed drive, the variable speed drive controlling a synchronous or asynchronous electric motor for driving a hoist load, in particular a booth. elevator.
  • a variable speed drive usually comprises a control system having a motor speed control loop and a current regulation loop sent on the various phases of the motor.
  • a hoisting application especially in an elevator, it is particularly important to adjust the parameters of the current control and speed control loops of the speed controller controlling the hoist motor of the cab. Indeed, the correct setting of these control loops directly affects firstly the overall performance of the elevator and secondly the feelings of comfort and safety that are perceived by the elevator users. However, this adjustment is sometimes long and / or complicated to implement at the time of commissioning of the drive controller.
  • the document US5929400 already describes a method for automatically commissioning a variable speed drive in a lifting application.
  • this method includes a pre-start pre-calibration phase during which it is in particular necessary to inject current into the motor by keeping the rotor locked.
  • the document JP 08 012206 shows a device for adjusting the speed control loop of an elevator. This device nevertheless requires the use of a load sensor to determine the actual mass of the elevator car, so as to automatically adjust the proportional gain of the speed control loop.
  • the invention therefore aims to facilitate and simplify the commissioning of a variable speed drive driving a hoist motor, by providing an estimate of the proportional gain and the integral gain of the speed control loop.
  • These gains are calculated based only on a small number of user parameters to be filled in, without requiring current injection steps, which makes it possible to simply have a preset of the speed regulation loop.
  • this setting is done off-line, ie the gains are calculated only once from the parameters entered, and no longer requires adjustment of the gains according to the actual mass of the load during the operation of the elevator.
  • the method is therefore simple and economical because it does not require a load sensor.
  • said parameters to be filled in correspond advantageously to known physical quantities of the application. As they are easily identifiable, these physical quantities can thus be very simply introduced by a user.
  • the invention thus makes it possible to reduce the time and the cost of implementing a variable speed drive in a lifting application, for example of the elevator type.
  • the invention describes a method for adjusting a speed control loop of a variable speed drive which is intended to drive a motor connected to a lifting load comprising an elevator car.
  • the method comprises a step of calculating a proportional gain and an integral gain of the speed regulation loop, as a function of the linear nominal speed of the car, the nominal frequency of rotation of the motor, the number of pairs motor poles and the total mass of the load.
  • the total mass is a predetermined parameter not measured by a sensor.
  • the load comprises an elevator car and the total mass of the load is proportional to the nominal capacity of the elevator car, to the mass of the elevator car or to the mass of a counterweight of the elevator car.
  • the method therefore takes into account not only the mass of the elevator car but the total mass of the entire system.
  • the method also comprises a step of calculating an inertia of the motor as a function of the nominal torque of the motor and the number of pairs of poles of the motor, in order to refine the calculation of the proportional gain and the integral gain of the loop. speed control.
  • the method also comprises a step of calculating a filtering time constant of the speed measurement as a function of the nominal torque of the motor and information representative of the resolution of a speed measurement encoder. of the motor, to refine the calculation of the proportional gain and the integral gain of the speed control loop.
  • the invention also relates to a speed variator comprising a control system performing a speed control loop and intended to drive a motor connected to a lifting load, the control system of the variable speed drive comprising calculation blocks which implement such a method of adjustment.
  • a variable speed drive comprises a control system for the purpose of driving an electric motor M.
  • the motor M is a synchronous or asynchronous motor which is intended to drive a lifting type load, for example an elevator-type application.
  • the load (not shown in the figures) then mainly comprises an elevator car, its counterweight and associated cables.
  • the drive control system includes a speed controller 5 which performs a speed control loop.
  • the speed controller 5 receives as input a setpoint from a deviation between a reference speed V M engine rotational ref and a velocity measurement V my engine rotation M.
  • the speed controller 5 uses a proportional gain K P and an integral gain K I to effect the speed control loop.
  • the output of the speed controller 5 provides a reference of the motor torque current Iq ref .
  • the speed measurement V mes is provided for example by a measurement module 9.
  • the drive control system also performs a common regulation loop. To this end, it comprises a current regulator 6 of torque Iq and a current regulator 7 of flow Id.
  • the torque current regulator 6 receives as input a setpoint resulting from a difference between the reference of the torque current Iq ref and a measurement of the torque current Iq mes .
  • the outputs of the current regulators 6 and 7 are then transformed into variable currents sent on each phase of the motor M by a transformation module 8.
  • the figure 2 presents a block diagram showing different calculation blocks of the speed controller control system, making it possible to estimate a proportional gain K P and an integral gain K I of the speed control loop, according to the invention. These gains K P and K I are used by the cruise control 5 to perform the speed control loop.
  • a first calculation block 10 has the function of determining the total mass M tot of the displaced load.
  • a second calculation block 20 has the function of determining the inertia of the load J load by using the total mass M tot calculated in the first block 10.
  • a third calculation block 30 has the function of determining K P and K I in using the inertia of the load J load calculated in the second block 20.
  • the third calculation block 30 can use a value of the motor inertia J word calculated in a fourth calculation block 40. Similarly, the third calculation block 30 can use a value of bandwidth coefficient calculated in a fifth Calculation block 50 (see details below).
  • the inertia of the load J load takes into account the inertia of the elevator car when it is loaded with a nominal capacity of the elevator as well as the inertia of the counterweight of the elevator. cabin, outside the engine's inertia.
  • the inertia of the lift cables is considered negligible.
  • the nominal motor rotation frequency F nom represents the nominal rotor rotation frequency of the motor.
  • the nominal rotation frequency of the motor F name corresponds to the stator power supply frequency.
  • the rated rotational frequency of the motor F nom corresponds to the power supply frequency of the stator multiplied by a slip coefficient which is less than 1. This sliding coefficient can be considered as fixed for the nominal operating point.
  • the inertia of the lifting motor J word is chosen as being a fixed value which is predetermined in the variable speed drive without the intervention of a user.
  • the third block 30 then calculates the proportional gain K P and the integral gain K I of the speed control loop.
  • ⁇ corresponds to a bandwidth coefficient of the speed regulation loop (sometimes referred to as ⁇ BP )
  • ⁇ corresponds to an attenuation coefficient (also called coefficient of stability) of the speed regulation loop.
  • the values of these coefficients ⁇ and ⁇ are fixed and predetermined in the variable speed drive, at values of ⁇ 0 and ⁇ 0, respectively .
  • the method for adjusting the speed regulation loop therefore comprises a step of calculating the gains K P and K I.
  • the K P and K I are only calculated according to the following user parameters: linear nominal speed V load name , nominal rotation frequency F motor name , number of P N pole pairs of the motor and total mass M tot the displaced load.
  • the parameters F nom , P N , and V nom correspond to physical quantities that are easily known by a user for a given application, while the total mass M tot may be more difficult for a user to know.
  • the invention thus also proposes a simple estimate of the total mass M tot .
  • the total mass M tot of the displaced load is equal to the sum of the mass of the empty cab M cab , the mass of the counterweight M ctp of the cab and the mass M load corresponding to the nominal capacity on board of the cab. the elevator, neglecting the mass of cables.
  • M early M cab + M ctp + M load
  • the total mass M tot is proportional to the nominal capacity M load of the elevator car which corresponds to a physical quantity which is easily known by a user for a given elevator.
  • the first block 10 is able to make a total mass estimate of the load M tot .
  • this nominal capacity M load of the cabin can be entered by the user from a maximum number of people (for example 8 people) or directly from the equivalent weight (for example 600 Kg, taking a means of 75 Kg per person).
  • the total mass M tot is therefore proportional to each of the three physical quantities, which makes it possible to quickly make an estimate.
  • the user has the choice to enter only one of these physical quantities, so that the first calculation block 10 calculates an estimate of the total mass M tot of the displaced load.
  • the total mass M tot is a fixed and predetermined parameter, which does not need to be measured in real time by a sensor giving the actual mass of the cabin during operation of the lift, to take into account, for example, the number of people in the cabin.
  • the inertia of the lifting motor J word is not fixed and predetermined, but can be calculated in the fourth block 40 of calculation, as being a function of the number of pairs of poles of the motor P N and the nominal torque of the motor T N.
  • the user To calculate an inertia of the lifting motor J word , the user must therefore provide an additional parameter, namely the nominal torque of the motor T N which is an easy parameter to enter because it also corresponds to a known physical quantity of the engine.
  • This second embodiment makes it possible to improve the value of the total inertia of the application J tot and thus to refine the calculation of the gains K P and K I.
  • T 0 represents a constant base torque equal to 1 Nm and in which J 0 represents a fixed coefficient of inertia which is chosen to be substantially equal to 10 -5 kg.m 2 .
  • a third embodiment makes it possible to further refine the calculation of the gains K P and K I.
  • the adjustment method calculates a value ⁇ cal of the bandwidth coefficient ⁇ , instead of taking the predetermined fixed value ⁇ 0 .
  • the fifth calculation block 50 calculates a time constant T filt for filtering the speed measurement made by the measurement module 9. This time constant T filt is between a minimum value T filtmin and a maximum value T filtmax .
  • the minimum value T filtmin is determined from the nominal torque of the motor T N and the resolution N S of an encoder used to measure the speed of rotation V mes of the motor, in the case where this speed of rotation is measured.
  • This value T filtmin is for example chosen to have a maximum noise of 2% compared to the nominal torque T N.
  • the maximum value T filtmax is imposed by the stability limits of the drive control system.
  • T filt is equal to T filtmin and T filtmax remains greater than or equal to T filtmin .
  • the user must therefore provide an additional parameter, namely the encoder resolution N S which is an easy parameter to enter because it also corresponds to a physical quantity known to the user. 'application.
  • the invention thus determines the proportional gain K P and the integral gain K I of the speed control loop by using predetermined and known functional parameters, without the need for a measurement sensor.
  • the method is therefore very simple since the calculation of the gains K P and K I can be performed once "off-line", that is to say before the actual operation of the elevator, since earnings do not need to be recalculated or readjusted in real time.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Electric Motors In General (AREA)
  • Elevator Control (AREA)
EP09779628.8A 2008-06-30 2009-06-03 Procede de reglage de la boucle de vitesse d'un variateur de vitesse Active EP2303744B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0854388A FR2933249B1 (fr) 2008-06-30 2008-06-30 Procede de reglage de la boucle de vitesse d'un variateur de vitesse
PCT/EP2009/056835 WO2010003740A2 (fr) 2008-06-30 2009-06-03 Procede de reglage de la boucle de vitesse d'un variateur de vitesse

Publications (2)

Publication Number Publication Date
EP2303744A2 EP2303744A2 (fr) 2011-04-06
EP2303744B1 true EP2303744B1 (fr) 2015-09-23

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Application Number Title Priority Date Filing Date
EP09779628.8A Active EP2303744B1 (fr) 2008-06-30 2009-06-03 Procede de reglage de la boucle de vitesse d'un variateur de vitesse

Country Status (6)

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EP (1) EP2303744B1 (es)
JP (1) JP2011526233A (es)
CN (1) CN102076589A (es)
ES (1) ES2550948T3 (es)
FR (1) FR2933249B1 (es)
WO (1) WO2010003740A2 (es)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6557185B2 (ja) * 2016-07-06 2019-08-07 ファナック株式会社 サーボ制御装置、サーボ制御方法、及びサーボ制御用プログラム
CN109095301B (zh) * 2018-09-25 2020-11-24 日立楼宇技术（广州）有限公司 一种电梯控制方法、装置、设备和介质

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3344087B2 (ja) * 1994-07-01 2002-11-11 三菱電機株式会社 エレベーターの制御装置
JPH1053378A (ja) * 1996-06-07 1998-02-24 Otis Elevator Co エレベータの速度制御回路
JPH11193190A (ja) * 1997-12-26 1999-07-21 Toshiba Corp エレベータ速度制御装置
JP2002171778A (ja) * 2000-09-25 2002-06-14 Aisin Seiki Co Ltd 電動モータの振動抑制制御装置及び電動モータの振動抑制制御における設計手法
JP4283056B2 (ja) * 2003-07-24 2009-06-24 三菱電機株式会社 電動機の制御装置

Also Published As

Publication number Publication date
CN102076589A (zh) 2011-05-25
EP2303744A2 (fr) 2011-04-06
WO2010003740A2 (fr) 2010-01-14
JP2011526233A (ja) 2011-10-06
FR2933249A1 (fr) 2010-01-01
WO2010003740A3 (fr) 2010-06-10
ES2550948T3 (es) 2015-11-13
FR2933249B1 (fr) 2010-07-30

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