JP2000197399A - Elevator controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an elevator controller for operating an elevator appropriately by grasping the pole position of a permanent magnet synchronous motor even if a pole position sensor coupled directly with the shaft is not provided. SOLUTION: A speed control system 5 operates a current command value based on the speed difference signal between the actual speed of a permanent magnet synchronous motor 3 and a speed command value thereof and operates the primary frequency angle of an inverter 7 based on the actual speed. A current control system 6 delivers a gate signal to the inverter 7 such that the output current therefrom will be equal to a current command value of primary frequency angle from the speed control system 5. A pole axial position estimation control means 9 compensates for the actual speed such that the primary frequency angle operated by the speed control system 5 matches the pole axial position of the permanent magnet synchronous motor 3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevator control device for controlling an elevator by driving a permanent magnet synchronous motor connected to a hoist with an inverter.

[0002]

2. Description of the Related Art Permanent magnet synchronous motor PMSM (Permanent Ma
gnet Synchronus Motor) has recently been used as a drive unit in elevator systems because it can be manufactured in a smaller size for the same output than an induction motor. The permanent magnet synchronous motor is driven by a variable voltage frequency AC power supplied from an inverter.

In order to control the position or speed of a permanent magnet synchronous motor, it is necessary to detect the rotation speed and magnetic pole axis position of the permanent magnet synchronous motor. For this purpose, a pulse generator PG directly connected to the motor shaft is generally provided. ing. Thus, the speed is measured and the position is measured by detecting the number of pulses.

On the other hand, the adoption of a machine room-less elevator in recent years may make it difficult to employ a motor shaft direct-connection type PG due to the structure of a motor applied to an elevator system. In that case, P
G is attached.

[0005]

However, in the case of a PG in which a motor drive unit is connected to a pulley, the primary frequency angle calculated inside the elevator control device and the primary frequency angle calculated inside the elevator control unit are affected by the slip of the pulley unit that occurs during elevator traveling. A deviation occurs from the actual magnetic pole axis position (electrical angle) of the permanent magnet synchronous motor. If the permanent magnet synchronous motor is started in a state where this deviation has occurred, there is a possibility that the motor may rattle, or the torque may be insufficient, resulting in step-out.

SUMMARY OF THE INVENTION An object of the present invention is to provide an elevator control device capable of grasping the magnetic pole position of a permanent magnet synchronous motor and operating an elevator properly without providing a magnetic pole position sensor of a shaft direct connection type. is there.

[0007]

An elevator control apparatus according to the first aspect of the present invention supplies a variable voltage frequency AC power supply from an inverter to a permanent magnet synchronous motor to drive a hoist connected to the permanent magnet synchronous motor. An elevator control device for controlling an elevator by calculating a current command value based on a speed deviation signal between an actual speed of the permanent magnet synchronous motor and the speed command value, and a primary frequency of the inverter based on the actual speed. A speed control system that calculates an angle, a current control system that outputs a gate signal to the inverter so that an output current of the inverter becomes a current command value of a primary frequency angle from the speed control system, and a speed control system. Magnetic pole axis position estimation for applying speed compensation to the actual speed so that the calculated primary frequency angle matches the magnetic pole axis position of the permanent magnet synchronous motor. Characterized in that a control means.

In the elevator control apparatus according to the first aspect of the present invention, the speed control system calculates a current command value based on a speed deviation signal between the actual speed of the permanent magnet synchronous motor and the speed command value, and calculates the actual speed. The primary frequency angle of the inverter is calculated based on The current control system outputs a gate signal to the inverter so that the output current of the inverter becomes the current command value of the primary frequency angle from the speed control system. And
The magnetic pole axis position estimation control means adds speed compensation to the actual speed so that the primary frequency angle calculated by the speed control system matches the magnetic pole axis position of the permanent magnet synchronous motor.

[0009] The elevator control device according to claim 2 is:
In the invention according to claim 1, the magnetic pole axis position estimation control means calculates a speed compensation value at which a d-axis component value of an induced voltage between terminals of the permanent magnet synchronous motor in a rectangular rotation coordinate system becomes zero, and A speed compensation value is added to the actual speed.

[0010] In the elevator control apparatus according to the second aspect, in addition to the function of the first aspect, the magnetic pole axis position estimating control means may include a d-axis in the orthogonal rotation coordinate system of the induced voltage between the terminals of the permanent magnet synchronous motor. A speed compensation value at which the component value becomes zero is calculated, and the speed compensation value is added to the actual speed to make the primary frequency angle coincide with the magnetic pole axis position of the permanent magnet synchronous motor.

[0011] The elevator control device according to claim 3 is:
3. The magnetic pole axis position estimating control means according to claim 2, wherein the current command value calculated by the speed control system and the orthogonal rotation coordinate system obtained in the process of calculating the gate signal calculated by the current control system. Based on the d-axis voltage command value at
The speed compensation value is calculated.

In the elevator control apparatus according to a third aspect, in addition to the operation of the second aspect, the magnetic pole axis position estimation control means calculates the current command value calculated by the speed control system and the current command value calculated by the current control system. The speed compensation value is calculated based on the d-axis voltage command value in the orthogonal rotation coordinate system obtained in the process of calculating the gate signal.

The elevator control device according to claim 4 is
In the invention of claim 3, the magnetic pole axis position estimation control means replaces the current command value calculated by the speed control system,
The speed compensation value is calculated using a detected value of the output current of the inverter.

In the elevator control apparatus according to a fourth aspect, in addition to the operation of the third aspect, the magnetic pole axis position estimation control means replaces the current command value calculated by the speed control system with
The speed compensation value is calculated using the detected value of the output current of the inverter.

According to a fifth aspect of the present invention, there is provided an elevator control device comprising:
In the invention according to any one of claims 2 to 4,
The magnetic pole axis position estimating control means multiplies the speed compensation value by a variable gain corresponding to the actual speed region, and takes into account the actual speed.

According to a fifth aspect of the present invention, in addition to the operation of the second aspect of the present invention, the magnetic pole axis position estimating control means adjusts the speed compensation value according to the actual speed range. The actual speed is multiplied by the variable gain. This prevents overcompensation.

An elevator control device according to claim 6 is
In the invention according to any one of claims 2 to 4,
The magnetic pole shaft position estimating control means multiplies the detected actual speed of the permanent magnet synchronous motor by a speed adjustment gain so that the speed compensation value becomes zero.

In the elevator control apparatus according to claim 6, in addition to the function of any one of claims 2 to 4, the magnetic pole axis position estimating control means controls the speed compensation value to be zero. The detected actual speed of the permanent magnet synchronous motor is multiplied by a speed adjustment gain.

In the elevator control apparatus according to a seventh aspect, in addition to the function of the sixth aspect, the magnetic pole axis position estimation control means automatically updates the speed adjustment gain based on the speed compensation value obtained during the operation of the elevator. .

[0020]

Embodiments of the present invention will be described below. FIG. 1 is a configuration diagram of an elevator control device according to an embodiment of the present invention.

An elevator car 1 is connected to a counterweight 2 by a main rope, and is suspended via a pulley. The pulley is driven by a permanent magnet synchronous motor 3,
The car 1 is moved up and down. A pulse generator 4 (hereinafter referred to as PG4) is attached to the pulley, and detects the rotation speed of the permanent magnet synchronous motor 3 by a pulse signal. That is, the rotation speed of the permanent magnet synchronous motor 3 is detected by a pulse signal via the PG 4 provided on the pulley.

The pulse signal detected by the PG 4 is input to a speed control system 5 for controlling the speed of the elevator car 1. The speed control system 5 calculates current command values Idc and Iqc to the current control system 6 that outputs a gate signal to the inverter 7 based on a speed deviation signal between the actual speed of the permanent magnet synchronous motor 3 and the speed command value. I do.

The current command values Idc and Iqc are the d-axis current command value Idc and the q-axis current command value Iqc in the orthogonal rotation coordinate system when the permanent magnet synchronous motor 3 is vector-controlled. The d-axis current command value Idc is a magnetic flux current command value for generating a magnetic flux, and the q-axis current command value Iqc is a torque current command value for generating a torque. In the case of a permanent magnet synchronous motor, the d-axis current command value Idc is usually zero because a magnetic flux is generated by the permanent magnet. Also,
The speed control system 5 calculates the actual speed of the permanent magnet synchronous motor 3 based on the pulse signal input from the PG 4, and calculates the primary frequency angle θe of the inverter 7 based on the actual speed.

In the current control system 6, a d-axis current command value Idc, a q-axis current command value Iqc, and a primary frequency angle θe in the orthogonal rotation coordinate system are input from the speed control system 5 and input via the current sensor 8. Output current Iu of inverter 7
A gate signal is output to the inverter 7 so that f and Iwf satisfy the d-axis current command value Idc, the q-axis current command value Iqc, and the primary frequency angle θe. Thereby, the permanent magnet synchronous motor 3 is driven and controlled based on the current command value from the speed control system 5.

Next, the magnetic pole axis position estimating control means 9 calculates the relationship between the primary frequency angle θe due to the slip of the pulley portion generated during the traveling of the elevator and the actual magnetic pole axis position (electrical angle) of the permanent magnet synchronous motor 3. A speed compensation value Frcmp for compensating for a shift occurring between them is calculated. That is, the magnetic pole axis position estimating control means 9 controls the speed in consideration of the actual speed of the permanent magnet synchronous motor 3 so that the primary frequency angle θe calculated by the speed control system matches the magnetic pole axis position of the permanent magnet synchronous motor 3. Calculate the compensation value Frcmp.

The magnetic pole axis position estimating control means 9 uses the current command values Idc and Iqc calculated by the speed control system 5 and the orthogonal rotation coordinate system obtained in the process of calculating the gate signal calculated by the current control system 6. Based on the d-axis voltage command value Vdc,
A speed compensation value Frcmp is calculated. Thus, a speed compensation value at which the d-axis component value E2d of the induced voltage E2 between the terminals of the permanent magnet synchronous motor 3 in the orthogonal rotation coordinate system becomes zero is calculated, and the speed compensation value Frcmp is added to the actual speed. This prevents rattling of the permanent magnet synchronous motor 3 and eliminates torque shortage.

Here, the principle of magnetic pole position estimation control performed by the magnetic pole axis position estimation control means 9 will be described. FIG. 2 is an explanatory diagram of the relationship between the magnetic pole axis position of the permanent magnet synchronous motor and the primary frequency angle. In FIG. 2, it is assumed that the primary frequency angle (electrical angle) of the inverter output voltage during the elevator traveling is θe with respect to the x-axis in the orthogonal stationary coordinate system.
Is θr with respect to the x-axis in the orthogonal stationary coordinate system. The d-axis of the orthogonal rotation coordinate system is located at the primary frequency angle (electrical angle) θe, and the q-axis is perpendicular to the d-axis. The induced voltage vector E2 generated by rotation of the magnetic pole axis of the permanent magnet synchronous motor 3 is in a direction perpendicular to the magnetic pole axis.

FIG. 2 shows a state in which the magnetic pole axis position θr of the permanent magnet synchronous motor 3 is shifted from the primary frequency angle (electrical angle) θe (shift angle θs). The operation is performed in a state where the axial position θr and the primary frequency angle (electrical angle) θe are equal (θr = θe). Magnetic pole axis position θr and primary frequency angle (electrical angle) θ of permanent magnet synchronous motor
In the state where there is no deviation from e, as shown in FIG. 3, the field magnetic flux φ0 is positioned on the d-axis with respect to the q-axis torque current Iq, and the torque current Iq and the field magnetic flux φ0 are 90 °. Is maintained. At this time, the permanent magnet synchronous motor 3
The torque T generated in the rotor is expressed by equation (1).

T = φ0 × Iq (1)

On the other hand, when the magnetic pole axis position θr of the permanent magnet synchronous motor 3 is shifted from the primary frequency angle (electrical angle) θe, as shown in FIG.
With respect to the shaft torque current Iq, the actual torque generation component is I
q ′ (Iqcos θs), and a weak component Iq ″ (Iq · sin θs) of the field magnetic flux φ0 is generated. In this case, the torque T generated in the rotor of the permanent magnet synchronous motor 3 is expressed by the following equation (2).

T = (φ0−Iq ″ · Ld) × Iq ′ (2) where Ld: d-axis inductance value Iq ′ = Iqcos θs Iq ″ = Iq · sinθs

As described above, in the state where the axis deviation has occurred, since the torque current Iq and the field magnetic flux φ0 are not orthogonal, the torque generation component current is the cosine of the axis deviation angle θs with respect to the torque current Iq. Value. Further, the field magnetic flux φ0 is weakened by a value obtained by multiplying a sine value of the axis deviation angle θs with respect to the torque current Iq by a d-axis inductance value Ld of the orthogonal rotating coordinate system. As a result, the torque is reduced as compared with the torque in an attempt to output.

FIG. 5 is an explanatory diagram of an induced voltage vector E2 generated when the magnetic pole axis of the permanent magnet synchronous motor 3 rotates. FIG. 5 (a) shows the relationship between the magnetic pole axis position θr of the permanent magnet synchronous motor 3 and the primary axis. FIG. 5B shows a case where there is a deviation between the frequency angle (electric angle) θe and a case where there is no deviation between the magnetic pole axis position θr of the permanent magnet synchronous motor 3 and the primary frequency angle (electric angle) θe. .

When there is an axis deviation, as shown in FIG. 5A, a d-axis component E2d of the induced voltage E2 is generated, and the sine value (E2 · sin) of the axis deviation angle θs with respect to the induced voltage E2.
θs). On the other hand, when there is no axis deviation, FIG.
As shown in the figure, no d-axis component E2d of the induced voltage E2 occurs.

Therefore, the induced voltage E2 generated between the terminals (U, V, W) of the permanent magnet synchronous motor during the traveling of the elevator.
Is calculated by calculation, and the d-axis component value E of the induced voltage E2 is calculated.
A compensation value such that 2d becomes 0 is corrected for the inverter primary frequency angle θe. Thereby, the field magnetic flux φ0
And the d axis of the orthogonal rotation coordinate system coincide with each other (2)
The phenomenon of torque reduction as in the equation is eliminated.

FIG. 6 is a block diagram of the current control system 6 shown in FIG. Output currents Iuf, Iwf of inverter 7
Is detected by the current sensor 8 and input to the three-phase / two-phase converter 10 of the current control system 6. The three-phase / two-phase converter 10 converts the three-phase current signals Iuf and Iwf from the current sensor 8 in the stationary coordinate system into the two-phase current signals Ix and Iy in the orthogonal stationary coordinate system.

The two-phase current signals Ix and Iy converted by the three-phase / two-phase converter 10 are input to the dq converter 11 and are converted into current signals Idf and Iqf of the orthogonal rotation coordinate system.
That is, the dq converter 11 converts the current signals Ix and Iy of the orthogonal stationary coordinate system into the current signals Idf and Iqf of the orthogonal rotating coordinate system based on the primary frequency angle (electrical angle) θe output from the speed control system 5. And subtracters 12a, 1
2b.

On the other hand, the current command values Idc and Iqc from the speed control system 5 in the orthogonal rotation coordinate system are subtracted from the subtracters 12a and 12q.
b and the d-axis current signal Idf by the subtractor 12a.
And a current deviation signal between the d-axis current command value Idc and
Similarly, a current deviation signal between the q-axis current signal Iqf and the q-axis current command value Iqc is calculated by the subtractor 12b. These current deviation signals are respectively PI controller 13a,
13b, PI calculation (proportional integration calculation) is performed,
D-axis voltage command values Vdc and q in a rectangular rotating coordinate system
A shaft voltage command value Vqc is generated.

The d-axis voltage command value Vdc and q-axis voltage command value Vqc from the PI controllers 13a and 13b
Is input to the inverse dq converter 14 and to the magnetic pole position estimation control means 9. The magnetic pole position estimation control means 9 calculates the speed compensation value Frcmp based on the d-axis voltage command value Vdc, the q-axis voltage command value Vqc, and the current command values Idc and iqc from the speed control system 5. This will be described later.

On the other hand, the inverse dq converter 14 converts the d-axis voltage command value Vdc and the q-axis voltage command value Vqc into voltage command values Vx and Vy of the orthogonal stationary coordinate system. That is, based on the primary frequency angle (electrical angle) θe from the speed control system 5, the voltage command values Vdc and Vqc in the orthogonal rotating coordinate system are converted into the voltage command values Vx and Vy in the orthogonal stationary coordinate system, and two-phase / 3
Output to the phase converter 15. The two-phase / 3-phase converter 15
The voltage command values Vx and Vy of the rectangular stationary coordinate system represented by the three phases are changed to the voltage command values Vu and V of the rectangular stationary coordinate system represented by the three phases
v and Vw. Then, the PWM circuit 16 creates and outputs a gate signal to the inverter 7 by pulse width modulation of the voltage command signals Vu, Vv, Vw.

FIG. 7 is a block diagram showing an example of the speed control system 5 and the magnetic pole position estimation control means 9 shown in FIG. A pulse signal from the PG 4 that rotates via a pulley with respect to the permanent magnet synchronous motor 3 and detects the rotation speed of the permanent magnet synchronous motor 3 is input to a motor actual speed calculator 17 of the speed control system 5. The motor actual speed calculator 17 calculates the actual motor speed value Frpg based on the pulse signal, and outputs the actual motor speed value Frpg to the adder 18.

The adder 18 also receives the velocity compensation value Frcmp calculated by the magnetic pole position estimating means 9 described later.
This speed compensation value Frcmp is added to the motor actual speed value Frpg. The added value of the actual motor speed value Frpg and the speed compensation value Frcmp obtained by the adder 18 is input to the subtractor 12c as the motor speed Fr.

On the other hand, the speed command value Frref from the speed command generator 19 is also input to the subtractor 12c, and the speed command value Frref and the motor speed Fr are input to the subtractor 12c.
Is calculated, and the PI controller 13c
The PI calculation is performed to obtain the q-axis current command value Iqc.
Also, the d-axis current command value Idc is determined by the d-axis current command generator 2
Output from 0. Usually, in the case of the permanent magnet synchronous motor 3, the d-axis current command value Idc is zero.

The primary frequency angle calculator 21 calculates a primary frequency angle (electrical angle) θe based on the motor speed Fr obtained by the adder 18. In this case, the adder 18 adds the speed compensation value Frcmp to the motor speed Fr.
Therefore, the primary frequency angle (electrical angle) θe output from the primary frequency angle calculator 21 has a value equal to the magnetic pole position θr of the permanent magnet synchronous generator 3.

That is, the primary frequency angle calculator 21 calculates the primary frequency angle (electrical angle) θe based on the motor speed Fr obtained by correcting the motor actual speed Frpg with the speed compensation value Frcmp, and calculates the primary frequency angular speed w0. , And outputs the primary frequency angular velocity w0 to the induced voltage calculator 22 of the magnetic pole position estimation control means 9.

The induced voltage calculator 22 of the magnetic pole position estimation control means 9 includes a voltage command value Vdc output from the PI controller 13a of the electric control system 6, and a d-axis current command output from the PI controller 13c of the speed control system 5. Value Idc, d
Q-axis current command value I output from axis current command generator 20
The qc and the primary frequency angular velocity w0 output from the primary frequency calculator 21 of the speed control system 5 are input to calculate the induced voltage value E2d of the d-axis component. The details of this calculation will be described later.

The induced voltage value E2d of the d-axis component obtained by the induced voltage calculator 22 of the magnetic pole position estimation control means 9 is input to the subtractor 12d and is compared with the induced voltage command value of the d-axis component. The induced voltage command value of the d-axis component is zero. This is because, if the compensation value such that the d-axis component value E2d of the induced voltage E2 becomes zero is corrected for the primary frequency angle θe, FIG.
This is because the field magnetic flux φ0 coincides with the d-axis of the orthogonal rotation coordinate system as shown by.

The deviation signal of the d-axis component induced voltage obtained by the subtractor 12d is input to a velocity compensation value calculator 23, and a velocity compensation value Frcmp for eliminating the deviation signal is obtained. Then, it is added to the actual motor speed Frpg by the adder 18.

As described above, the magnetic pole position estimation control means 9 calculates the induced voltage E2 generated between the terminals (U, V, W) of the permanent magnet synchronous motor 3 during traveling of the elevator, and calculates d of the induced voltage E2. A compensation value such that the axis component value E2d becomes zero is corrected for the primary frequency angle θe. As a result, the field magnetic flux φ0 and the d-axis of the orthogonal rotating coordinate system coincide with each other, and there is no backlash or insufficient torque due to axis deviation. The corrected primary frequency angle θe is used as the estimated value of the magnetic pole axis position.

In the above description, the speed compensation value Frcmp is calculated using the current command values Idc and Iqc calculated by the speed control system 5.
The speed compensation value Frcmp is calculated using the detected values Idf and Iqf of the output current of the inverter 7 obtained by the dq converter 11 of the current control system 6 instead of the current command values Idc and Iqc. You may do it.

Next, the contents of the calculation in the induced voltage calculator 22 will be described. First, when the d-axis of the orthogonal rotating coordinate system and the actual magnetic pole axis direction of the permanent magnet synchronous motor 3 coincide with each other and there is no axis deviation, the current / voltage equation of the permanent magnet synchronous motor 3 is expressed by the following equation (3). Indicated by the equation.

[0052]

(Equation 1)

Where, Ra: armature winding resistance Ld: d-axis inductance Lq: q-axis inductance ω0: primary frequency angular velocity φ0: field magnetic flux Vd: d-axis voltage Vq: q-axis voltage Id: d-axis current Iq: q Shaft current s: Differential operator

On the other hand, if the d-axis of the orthogonal rotating coordinate system does not coincide with the actual magnetic pole axis direction of the permanent magnet synchronous motor 3 and an axis shift occurs, the equation (3) indicates that the d-axis induced Voltage E2
Using d- and q-axis induced voltages E2q, it can be expressed as the following equation (4).

[0055]

(Equation 2)

E2d: d-axis induced voltage E2q: q-axis induced voltage

The current differential term (Ld · s) expressed by using the differential operator s in the equation (4) is much smaller than the other terms, and is ignored. E2d, q
Solving the equation for the axial induced voltage E2q gives the following (5)
Equation (6) and Equation (6) are obtained.

E2d = Vd−Ra · Id + ω0 · Lq · Iq (5) E2q = Vd−Ra · Iq + ω0 · Ld · Id (6)

The induced voltage calculator 22 calculates the induced voltage value E2d of the d-axis component using the equation (5).
Regarding Vd and Vq in the equation, the PI controller 13a
D-axis voltage command value Vdc as output from the controller and q-axis voltage command value Vq as output from PI controller 13b.
c is Vd and Vq obtained by scaling the detected value of the DC voltage of the inverter 7.

This is because the unbalanced load between the car 1 and the counterweight 2 applied to the rotor of the permanent magnet synchronous motor 3 during the elevator travel causes fluctuations in the permanent magnet synchronous motor 3.
This is because the powering / regeneration state is repeated, and the DC voltage value of the inverter 7 fluctuates.

Based on the deviation between the induced voltage E2d of the d-axis component calculated by the induced voltage calculator 22 and the d-axis component induced voltage command value (zero), the speed compensation value calculator 23 performs PI calculation and calculates the speed compensation value. Generate Frcmp. The speed compensation value Frcmp is added to the actual motor speed Frpg, and the primary frequency angle θe is calculated based on the added value. By the above processing, the inverter primary frequency angle θe is corrected, and the field magnetic flux φ0 matches the d-axis of the orthogonal rotating coordinate system (θe = θ
r), and rattling and insufficient torque due to axis deviation are eliminated.

As described above, in the elevator system driven by the permanent magnet synchronous motor 3, even if the magnetic pole axis position sensor of the motor shaft direct connection type is not provided, the motor is subject to rattling or step-out during elevator traveling. The position of the magnetic pole axis of the permanent magnet synchronous motor 3 can be estimated within a range where there is no shortage of torque, and the car can be run smoothly.

FIG. 8 is a block diagram showing another example of the magnetic pole position estimation control means 9. For the magnetic pole position estimation control means 9 shown in FIG. 7, a variable gain setter 24 in which a predetermined variable gain is set, and a speed variable Frcmp multiplied by a predetermined variable gain set in the variable gain setter 24. A variable gain multiplier 25 is additionally provided.

FIG. 9 is an explanatory diagram of the variable gain Frcmp_gain set in the variable gain setting unit 24. As shown in FIG. 9, a reference speed (low speed) Fr0 and a reference speed (high speed) Fr1 are set, and a variable gain Frcmp_gain corresponding to the magnitude (speed region) of the actual motor speed Frpg.
Is used.

That is, when the actual motor speed Frpg is | Frpg |
When <Fr0, the gain is set to 0, and Fr0 ≦ | F
When rpg | ≦ Fr1, the gain is changed linearly in the range of 0 to 1, and when | Frpg |> Fr1, the gain is set to 1. And the actual motor speed Frp
According to g, the speed compensation value Frcmp output from the speed compensation value calculator 23 is multiplied by the variable gain.

This is for the following reason. Induced voltage value E2
Is proportional to the rotation frequency of the rotor magnetic pole shaft of the permanent magnet synchronous motor 3, so that in the actual control, the induced voltage E2 decreases in a low frequency range. Also,
Due to the influence of the identification errors of the armature winding resistance Ra, the d-axis inductance value Ld, and the q-axis inductance value Lq used in the equations (5) and (6), it is difficult to accurately calculate the induced voltage E2. Therefore, if the speed compensation value Frcmp, which is the output value of the speed compensation value calculator 23, is compensated even in a low speed region with the same gain as that in the high speed region, overcompensation occurs due to excessive gain, and the permanent magnet Torque ripple or the like occurs in the synchronous motor 3. This is to avoid this.

FIG. 10 is a block diagram showing still another example of the magnetic pole position estimation control means 9. For the magnetic pole position estimation control means 9 shown in FIG. 7, an adjustment gain setter 26 in which a predetermined speed adjustment gain is set, and a predetermined adjustment gain set in the adjustment gain setter 26 are used as the motor actual speed Frpg. An adjustment gain multiplier 27 for multiplying is additionally provided.

That is, the adjustment gain multiplier 27 calculates the actual motor speed Frpg calculated by the actual motor speed calculator 17.
Is multiplied by a speed adjustment gain Frpg_gain such that the speed compensation value Frcmp becomes zero.

This is for the following reason. Speed compensation value Frc
mp is Frcmp if the scale gain of the actual motor speed Frpg calculated from the pulse signal output by PG4 is correct.
Should always be 0, but when the PG4 connected to the drive unit of the permanent magnet synchronous motor 3 by a pulley is applied to the elevator system, due to the influence of the manufacturing accuracy of the pulley, the difference in pressing and the secular change, etc. It is difficult to make it completely zero.

Therefore, the speed adjustment gain Frpg_ is added to the motor actual speed Frpg output by the motor actual speed calculator 17.
and a speed adjustment gain Frpg_ such that the speed compensation value Frcmp becomes 0 during elevator maintenance.
Set gain. Thereby, it becomes possible to cope with the manufacturing accuracy and aging of the pulley portion of the PG4.

FIG. 11 is a block diagram showing still another example of the magnetic pole position estimation control means 9. In addition to the magnetic pole position estimation control means 9 shown in FIG. 10, a speed adjustment gain update means 28 for automatically updating the speed adjustment gain Frpg_gain based on the speed compensation value Frcmp obtained during the elevator operation is additionally provided. .

FIG. 12 is a flowchart showing the contents of the calculation processing of the speed adjustment gain updating means 28. In FIG. 12, during the operation of the elevator, it is determined whether the speed of the car 1 is 95% or more of the rated speed (S1). When the car 1 is operating at a speed less than 95% of the rated speed, The process ends. That is, the speed adjustment gain Frpg_
The gain is not updated.

On the other hand, when the car 1 is operated at a speed of 95% or more of the rated speed, the latest speed adjustment gain Fr
pg_gain is calculated (S2). That is, the actual motor speed Frpg output from the actual motor speed calculator 17 is
And the speed compensation value Frcmp output from the speed compensation value calculator 23.
From the latest speed adjustment gain Frpg_gai
Calculate n_new.

Then, it is determined whether or not the car 1 is stopped (S3). If the car 1 is not stopped, the process ends.
That is, during the operation of the elevator, the speed adjustment gain Frpg
_Gain is not updated. On the other hand, when the car 1 is stopped, the latest speed adjustment gain Frpg_gain_new calculated during the traveling of the elevator is added to the adjustment gain speed adjustment gain setting unit 26 by the speed adjustment gain Frpg_g.
ain is stored (S4).

As described above, during operation of the elevator near the rated speed, the motor actual speed Frpg and the speed compensation value Frcm
The speed adjustment gain is calculated based on p, and is updated while the elevator is stopped. As a result, the speed adjustment gain is automatically adjusted to an appropriate value, and it becomes unnecessary to adjust the manufacturing accuracy and aging of the pulley portion of the PG4.

[0076]

As described above, according to the present invention, the induced voltage generated between the terminals of the permanent magnet synchronous motor during traveling of the elevator is calculated, and the terminal of the permanent magnet synchronous motor is calculated based on the induced voltage. The speed is compensated for the actual speed so that the primary frequency angle of the power supply applied to the magnetic pole axis position of the permanent magnet synchronous motor coincides with that of the permanent magnet synchronous motor. Further, the primary frequency angle after the speed compensation can be grasped as an estimated value of the magnetic pole axis position.

Further, since it is not necessary to use a motor direct-coupled type PG, even when the installation environment of the hoisting machine is limited, the hoisting machine can be driven by the permanent magnet synchronous motor, and the motor can be selected. The degree of freedom is improved.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an elevator control device according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram when a magnetic pole axis position and a primary frequency angle of a permanent magnet synchronous motor deviate from each other.

FIG. 3 is an explanatory diagram of a relationship between a field magnetic flux and a torque current when there is no deviation between a magnetic pole axis position and a primary frequency angle of a permanent magnet synchronous motor.

FIG. 4 is an explanatory diagram of a relationship between a field magnetic flux and a torque current when there is a deviation between a magnetic pole axis position and a primary frequency angle of a permanent magnet synchronous motor.

FIG. 5 is an explanatory diagram of an induced voltage vector generated when a magnetic pole axis of the permanent magnet synchronous motor rotates.

FIG. 6 is a block diagram of a current control system shown in FIG. 1;

FIG. 7 is a block diagram illustrating an example of a speed control system and a magnetic pole position estimation control unit illustrated in FIG. 1;

FIG. 8 is a block diagram showing another example of the magnetic pole position estimation control means in the embodiment of the present invention.

FIG. 9 is an explanatory diagram of a variable gain set in the variable gain setting device shown in FIG. 8;

FIG. 10 is a block diagram showing still another example of the magnetic pole position estimation control means in the embodiment of the present invention.

FIG. 11 is a block diagram showing still another example of the magnetic pole position estimation control means according to the embodiment of the present invention.

FIG. 12 is a flowchart showing a content of a speed adjustment gain updating means calculation process shown in FIG. 11;

[Explanation of symbols]

 Reference Signs List 1 car 2 counter weight 3 permanent magnet synchronous motor 4 PG 5 speed control system 6 current control system 7 inverter 8 current sensor 9 magnetic pole position estimation control means 10 three-phase / two-phase converter 11 dq converter 12 subtractor 13 PI controller 14 Inverse dq converter 15 2-phase / 3-phase converter 16 PWM circuit 17 Motor actual speed calculator 18 Adder 19 Speed command generator 20 d-axis current command generator 21 Primary frequency angle calculator 22 Induced voltage calculator 23 Speed compensation Value calculator 24 variable gain setting device 25 variable gain multiplier 26 speed adjustment gain setting device 27 speed adjustment gain multiplier 28 speed adjustment gain updating means

 ──────────────────────────────────────────────────の Continuing on the front page (72) Inventor Kazuo Shimane 1 Toshiba-cho, Fuchu-shi, Tokyo F-term in the Fuchu Plant of Toshiba Corporation 3F002 EA05 EA08 5H576 AA07 BB04 BB10 DD02 DD07 EE01 EE11 EE19 EE30 GG02 GG04 GG05 GG08 HB01 JJ03 JJ04 JJ10 JJ24 JJ25 LL07 LL22 LL24 LL41

Claims (7)

[Claims] 1. An elevator control apparatus for controlling an elevator by supplying a variable voltage frequency AC power supply from an inverter to a permanent magnet synchronous motor and driving a hoisting machine connected to the permanent magnet synchronous motor to control the elevator. A speed control system that calculates a current command value based on a speed deviation signal between the actual speed and the speed command value and calculates a primary frequency angle of the inverter based on the actual speed; and A current control system that outputs a gate signal to the inverter so as to be a current command value of a primary frequency angle from a speed control system; and a primary frequency angle calculated by the speed control system is a magnetic pole axis position of the permanent magnet synchronous motor. And a magnetic pole axis position estimating control means for applying speed compensation to the actual speed so as to match the actual speed. 2. The magnetic pole axis position estimating control means calculates a speed compensation value at which a d-axis component value of an induced voltage between terminals of the permanent magnet synchronous motor in a rectangular rotating coordinate system becomes zero,
The elevator control device according to claim 1, wherein the speed compensation value is added to the actual speed. 3. The magnetic pole axis position estimation control means according to claim 1, further comprising: a current command value calculated by said speed control system; and a quadrature rotation coordinate system obtained in a process of calculating said gate signal calculated by said current control system. The elevator control device according to claim 2, wherein the speed compensation value is calculated based on a d-axis voltage command value. 4. The magnetic pole axis position estimating control means calculates the speed compensation value using a detected value of the output current of the inverter instead of the current command value calculated by the speed control system. The elevator control device according to claim 3, wherein: 5. The magnetic pole axis position estimating control means multiplies the speed compensation value by a variable gain corresponding to the real speed region, and takes into account the actual speed.
The elevator control device according to any one of claims 1 to 4. 6. The magnetic pole axis position estimating control means multiplies the detected actual speed of the permanent magnet synchronous motor by a speed adjustment gain so that the speed compensation value becomes zero. The elevator control device according to any one of claims 2 to 4. 7. The elevator control device according to claim 6, wherein the magnetic pole axis position estimation control means automatically updates the speed adjustment gain based on the speed compensation value obtained during elevator operation.