JP2001019290A - Controller of elevator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the speed controllability of an elevator and to realize the optimum operation control by operating the optimum control constant with respect to a hoisting motor to execute the correction, using the data collected by a motor characteristic measuring means and the data input from a constant input means in the reforming of the elevator. SOLUTION: When the characteristic optimizing mode for optimizing the characteristic of an elevator control system is selected by a mode switching device 18, an electric current value is detected first of all by applying the constant voltage to a DC motor 5 while applying a brake 11 to a hoist, to grasp the winding resistance of the DC motor 5. Similarly the inductance of the DC motor 5 is detected by applying a constant voltage value to the DC motor 5 with a stepped pattern while applying the brake 11 to the same. The operation for optimizing each control constant of a speed control circuit and a current control circuit is executed on the basis of the operated resistance value of the DC motor 5, the inductance, the input of constant from a constant input device 19, and the moment of inertia of the elevator, to correct the costant.

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 driving a hoist.

[0002]

2. Description of the Related Art Conventionally, in modernization in which an existing motor of a hoist, for example, is left as it is as a part of an elevator system when an elevator system is upgraded, optimization of motor control constants and adjustment at an installation site are automatically performed. Japanese Patent Application Laid-Open No. 9-235079
In the patent publication No. 2, the brake of the elevator is released for a certain period of time, the elevator is started to move by an unbalanced torque resulting from an unbalanced weight between the car and the counterweight, and the vehicle is driven while increasing the speed. Growth rate,
That is, there is provided an inertia rate calculating means for measuring acceleration and calculating an inertia rate, and means for calculating coefficients of an elevator speed control system and a current control system based on the inertia rate calculated by the inertia rate calculating means. A technique has been disclosed in which a control system is optimized based on the obtained value to improve the speed control performance of the elevator.

[0003]

However, in such a conventional elevator control apparatus, even if the inertia coefficient is obtained by the above method, the internal resistance and inductance of the motor for determining the constant of the control system are determined. In the case where the motor constant of the existing hoisting machine motor is used as it is before and the elevator is reformed, there is no record or the like, and there are many cases where it is unknown. Therefore, there is a problem that the control system compensating circuit must be configured by estimating the value, and an optimal motor control system cannot be configured.

SUMMARY OF THE INVENTION The present invention has been made to solve this problem, and includes means for grasping the constants of an existing motor in accordance with the reform of an elevator to enhance the speed control performance of the elevator and use the existing motor. Therefore, it is an object of the present invention to enable more optimal elevator operation control.

[0005]

According to a first aspect of the present invention, there is provided an elevator apparatus comprising: a hoist motor for driving a hoist; and a drive control circuit for driving the hoist motor. A motor characteristic measuring means for measuring data used for control of the hoist motor by switching to a normalization mode, and constant input means for inputting known data on the hoist motor, and data collected by the motor characteristic measuring means. And a control constant optimizing means for the drive control circuit to calculate and correct an optimum control constant for the hoist motor by using the data inputted by the constant input means.

In the elevator apparatus according to the second aspect of the present invention, when the resistance value of the hoist motor is determined by the motor characteristic measuring means, the drive control circuit generates a voltage pattern of a constant voltage, and the voltage value of the voltage pattern is determined. Is applied to the hoist motor, and the resistance value is obtained from the current value supplied to the hoist motor at this time.

According to a third aspect of the present invention, there is provided an elevator apparatus, wherein the drive control circuit generates a voltage command of a constant voltage, a voltage command generation circuit for detecting the voltage value, and a voltage value detection circuit for detecting the voltage value. There is provided a voltage command correction means for setting a predetermined value indicated by the voltage pattern.

According to a fourth aspect of the present invention, there is provided the elevator apparatus, wherein a drive control circuit detects a current value of the hoist motor and includes a steady current detecting means for detecting that the current value is a constant steady current. is there.

According to a fifth aspect of the present invention, in the elevator apparatus, when the inductance of the hoist motor is determined by the motor characteristic measuring means, the drive control circuit generates a voltage pattern of a constant voltage, and determines the voltage value of the voltage pattern. The inductance is obtained from the resistance value and the elapsed time until the current value supplied to the hoist motor and supplied to the hoist motor at this time becomes a reference current value.

In the elevator apparatus according to a sixth aspect of the present invention, the drive control circuit is configured to store a steady-state current detected by the steady-state current detector and a time from when the voltage command is output from the voltage command generator to the time. An inductance calculating means for detecting the inductance of the hoist motor by the output time measuring means for measuring is provided.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a block diagram of an elevator control device according to the present invention.
The configuration and operation will be described with reference to FIG.

Reference numeral 1 in FIG. 1 denotes a three-phase AC power supply, which is a commercial power supply used for driving control of an elevator. 2 is a converter for converting the three-phase AC power supply 1 to a DC power supply, 3 is a smoothing capacitor for smoothing the DC voltage output from the converter 2, and 4 is an on / off control for the DC power supply to output a variable DC voltage. DC chopper circuit for output, 5 a DC motor, 6a an encoder for detecting the rotation speed of the DC motor 5, 6b a speed detection circuit for feeding back the rotation speed from the encoder 6a as a speed signal to the control circuit, 7
a is a converter for detecting an output current from the DC chopper circuit 4 to the DC motor 5, and 7b is a current detection circuit for obtaining a current value from the output of the converter 7a and feeding back the detected current signal to the control circuit. .

Reference numeral 8 denotes a sheave that is coupled to the DC motor 5 to form a hoisting machine. Reference numeral 9 denotes a car connected to one end of a rope wound around the sheave 8 to move up and down the hoistway. Reference numeral 10 denotes the other end of the rope. Is a counterweight connected to. 11 is a brake device provided opposite to the sheave 8 to stop the rotation of the hoist.

A pattern generating circuit 12 generates a speed pattern for raising and lowering the car 9 based on each operation state of the elevator. A control circuit 13 calculates and outputs a speed command based on information from the pattern generation circuit 12, the speed detection circuit 6b, and the current detection circuit 7b, and an on / off signal 14 for the DC chopper circuit 4 based on an output signal from the control circuit. , A pulse width modulation command circuit (hereinafter abbreviated as a PWM circuit), which controls DC based on an output signal of the PWM circuit 14
This is a base drive circuit that drives the base of the switching transistor forming the chopper circuit 4. Reference numeral 16 denotes an elevator control unit including the pattern generation circuit 12, the control circuit 13, the pulse width modulation command circuit 14, and the base drive circuit 15.

Reference numeral 17 denotes a voltage detection circuit for detecting the output voltage of the converter 2, reference numeral 18 denotes a normal operation mode in which the control circuit 13 performs normal operation of the elevator, and a characteristic optimization mode in which the characteristics of the elevator control system are optimized. Reference numeral 19 denotes a constant input device for inputting constants of the DC motor 5 and the like to the control circuit 13.

In general, when renovating an existing hoisting machine, the hoisting machine is generally diverted and the other control devices are replaced in many cases. This is because it takes time and effort.

Incidentally, an existing elevator hoist uses a DC motor 5 as a drive motor and is often controlled by a so-called ward Leonard system. However, current elevator control systems are often controlled using a DC chopper system, and when switching from the old control system to the new control system, it is necessary to use the existing old hoist as it is for motor control. In some cases, a constant cannot be obtained.

FIG. 2 shows a DC elevator control device according to the present invention. The elevator control unit shown in FIG. 1 when a characteristic optimization mode for optimizing the characteristics of the elevator control system is selected by the mode switching device 18 of FIG. Control circuit 1 in 16
FIG. 3 is a block diagram mainly showing the function of FIG.

In FIG. 2, first, in order to grasp the winding resistance of the DC motor 5, a constant voltage is applied to the DC motor 5 while the brake 11 is being operated with respect to the hoist, and the DC motor 5 is stabilized to a constant value. The current value at the time of conversion is detected, and the winding resistance value of the DC motor 5 is obtained. 21 is a voltage command generating means for generating a motor voltage command having a predetermined voltage value, 22 is a voltage command correcting means for correcting the output of the voltage command generating means 21 based on the output voltage of the converter 2 detected by the voltage detecting circuit 17, 23 Is a stationary current detecting means for detecting a current output from the current detecting circuit 7b. 24 is a voltage command generating means 21
Is a resistance calculating means for detecting the winding resistance value of the DC motor 5 based on the voltage output from the DC power supply and the output of the steady-state current detecting means 23.

Next, in order to grasp the inductance of the DC motor 5, a predetermined constant voltage value is applied as a voltage command to the DC motor 5 in a step-like pattern while the brake is being operated on the hoisting machine. . At this time, the current gradually increases, the time required to reach a predetermined current value is measured, and the inductance is obtained based on the measured value. 25 is a steady current storage means for storing the steady current detected by the steady current detecting means 23, and 26 is a voltage command generating means 2
Output time measuring means 27 for measuring the time from the output of the voltage command from 1 is a current detected by the current detecting circuit 7b, a steady current value stored in the steady current storing means 25, and an output time measuring means 26. Is an inductance calculating means for detecting the inductance of the DC motor 5 based on the elapsed time measured in.

Reference numeral 19 denotes a control circuit 1 which stores known control data, for example, a rated voltage, a rated current, and a rated rotation speed of the DC motor 5.
A constant input device capable of inputting from outside the device 3; 29
For example, as described in the prior art, the elevator is in the brake released state, and the car 9 and the counterweight 10 are in a free state without electrically driving the DC motor 5 using the mechanical unbalanced weight. Is an inertia ratio calculating means for calculating the inertia ratio by running the elevator.

Reference numeral 30 denotes the resistance value of the DC motor 5 calculated by the resistance calculating means 24, the inductance of the DC motor 5 calculated by the inductance calculating means 27, and the constant input device 1.
A control system characteristic compensation circuit constant operation for optimizing and controlling each of the control constants of the elevator speed control and current control circuit based on the constant inputted from 9 and the inertia ratio of the elevator calculated by the inertia ratio operation means 29, and correcting the constant. Means.

FIG. 3 is a flowchart showing the operation of the elevator control device according to the present invention. The operation of the elevator control device according to the present invention will be described with reference to FIGS.
First, in S40 of FIG. 3, the elevator control device 16 of FIG.
Determines whether the mode switching device 18 in FIG. 1 has selected the control system optimization mode for optimizing the characteristics of the elevator control system.

The mode switching device 18 enables mode switching from outside, and is realized by, for example, a switch provided in an elevator control panel (not shown). A so-called toggle switch may be used. In addition, this control system optimization mode may be programmed so as to be required to be executed at least once as an initial setting after a new control device is installed by elevator reform, and a command for the optimization mode may be issued.
In addition, aging may be reflected during maintenance and inspection, and the control system may be optimized for execution.

If the mode switching device 18 has not selected the control system optimization mode in S40, the elevator control section 16 in FIG. 1 shifts the operation to S41 and performs normal operation of the elevator. If the mode switching device 18 is in the control system optimization mode in S40, the elevator control unit 16 moves the operation to the next S42.

In S42, the maintenance coordinator who performs maintenance and installation of the elevator sends known information on the characteristics of the control system, that is, for example, values of the rated voltage, the rated current, and the rated rotation speed from the constant input device 19 to the elevator control unit 16. input. Note that these values can be input by an elevator maintenance / adjustment person or the like, for example, with reference to the values written on the nameplate of the DC motor 5.

Here, means for collecting data of elevator hoisting machine constants will be described. An example of investigating the characteristics of the control system in S43 to S45 will be described. First, the case where the elevator control unit 16 measures the resistance value of the winding of the DC motor 5 in S43 will be described. However, at this time, the measurement is performed with the DC motor 5 stopped while the brake is operated. The equation for calculating the resistance value of this winding at this time is R = E / I. Voltage command generating means 21 has a predetermined constant voltage value E set in advance.
Is output to the voltage command correction means 22.

At this time, considering that the output voltage of the DC chopper circuit 4 fluctuates due to the fluctuation of the output voltage of the converter 2, the converter output voltage detected by the voltage detecting circuit 17 for detecting the output voltage of the converter 2 Using the value, the voltage command correction means 22
Is corrected to a predetermined voltage value, and a voltage command is output to the pattern generation circuit 12. As a result, it is possible to always output a predetermined voltage to the stopped DC motor 5.

At this time, the elevator control section 16 takes in the current value of the current detection circuit 7b into the steady-state current detection means 23, so that the current output from the current detection circuit 7b eventually becomes a constant current value and is finally stabilized. Then, the current value I at this time is taken out. Thus, the resistance value R of the winding of the DC motor 5 can be obtained by the resistance calculation means 24 from the determined voltage value E and current value I by the following calculation expression. The arithmetic expression is R = E / I.

Next, in S44, the winding inductance of the DC motor 5 is measured. However, at this time, the measurement is performed while the DC motor 5 is stopped while the brake is operated. The calculation of the inductance can be performed by measuring a transient current flowing through the DC motor 5. That is, when a voltage that rises stepwise is applied to the winding of the DC motor 5, a rise time t until the current I flows transiently takes due to the inductance L. Generally, this time t And the current i is: i (t) = I × {1-exp (−Rt / L)}.

Therefore, in such a change due to the transient exponential function, generally, the time when the value reaches 63% of the final value can be said to be the time constant, and the rise time at that time is 1 = Rt / From L, as rise time,
This is a value corresponding to t = L / R. Therefore, the elevator control unit 16 first stores the current value detected by the steady-state current detection unit 23 in the steady-state current storage unit 25, and multiplies the current value by 0.63, that is, the 63% value. The current reference value of the comparison level is used.

Then, the elevator control section 16 outputs a voltage command in a step-like pattern for raising the voltage command value from the voltage value 0 to a predetermined constant voltage value E by the voltage command generating means 21 at the same time. At 26, the time from the output of this step pattern is counted.

Thus, if the output value of the output time measuring means 26 when the current rises to the reference value of the comparison level is t, L = R × t, so that the time t Then, the inductance L can be calculated by substituting the resistance value R obtained previously.

Next, the inertia performance factor is measured in S45. First, the elevator maintenance staff stopped the car 9 on the middle floor,
With the brake of the DC motor 5 released, the car 9 travels with the unbalance torque as a drive source and the torque.

Therefore, the elevator control unit 16 determines the speed at which the car 9 is run for a certain time with the unbalanced torque,
The unbalance torque itself is measured, and the rate of inertia is measured. The moment of inertia J at this time can be obtained by the following formula. The moment of inertia J is J = TUB / (dω / dt)
It is. Note that TUB is an unbalanced torque generated during traveling, ω is an angular velocity, and the relationship between ω and the speed V is
The speed V = rω, where r is the sheave radius.

Finally, in S46, the elevator control section 16 optimizes the motor control system. As an example, the motor control system is optimized by inputting the calculated constants, the constant values of various other control circuits, the inertia rate, and the like to the control system characteristic compensation circuit coefficient calculation means 30 in the control circuit 13 and setting them in advance. The target gain crossing angle frequency, the target gain margin, and the target phase margin of the obtained system are calculated and compared with, for example, a proportional device so as to satisfy the target values, and various coefficients are optimized.

In the above-described embodiment, it has been described that the existing hoisting machine is used and that the present invention is effective for the reform in which the control device is replaced with a new hoisting machine. It is clear that it is also effective when adjusting the matching between the machine and the control device after assembling it on site. Further, in the above embodiment, the DC motor is controlled by the DC chopper circuit. However, the present invention is not limited to this. Optimization can be performed.

[0038]

Since the present invention is configured as described above, it has the following effects. The elevator apparatus according to the first aspect of the present invention includes a hoist motor that drives a hoist, and a drive control circuit that drives the hoist motor, and the drive control circuit is switched to a control optimization mode to perform the hoist operation. Motor characteristic measuring means for measuring data used for controlling the upper motor; and constant input means for inputting known data relating to the hoist motor. The data collected by the motor characteristic measuring means and the constant input means being input by the constant input means. The drive control circuit is provided with control constant optimizing means for calculating and correcting the optimum control constant for the hoist motor using the data and the data, so that the existing DC motor can be used for reforming or the like. However, the DC motor can be controlled optimally.

In the elevator apparatus according to the second aspect of the present invention, when the resistance value of the hoisting motor is obtained by the motor characteristic measuring means, the drive control circuit generates a voltage pattern of a constant voltage, Is applied to the hoist motor, and the resistance value is obtained from the current value supplied to the hoist motor at this time, so that the resistance value of the existing DC motor can be easily measured.

According to a third aspect of the present invention, in the elevator apparatus, the drive control circuit generates voltage command generating means for generating a voltage pattern of a constant voltage, a voltage value detecting circuit for detecting the voltage value, and the detected voltage value is converted to the voltage value. The provision of the voltage command correction means for setting a predetermined value indicated by the pattern allows the resistance value of the existing DC motor to be easily and accurately measured.

According to a fourth aspect of the present invention, in the elevator apparatus, the drive control circuit detects a current value of the hoist motor and includes a steady current detecting means for detecting that the current value is a constant steady current. Therefore, the resistance value of the existing DC motor can be easily measured.

According to a fifth aspect of the present invention, in the elevator apparatus, when the motor characteristic measuring means determines the inductance of the hoist motor, the drive control circuit generates a voltage pattern of a constant voltage, and calculates the voltage value of the voltage pattern. Since the inductance is obtained from the resistance value and the elapsed time until the current value supplied to the hoist motor is applied to the hoist motor at this time, the current value supplied to the hoist motor becomes a reference current value. Inductance can be easily measured.

In the elevator apparatus according to a sixth aspect of the present invention, the drive control circuit measures a time from when the voltage command is output from the voltage command generation means to the steady current storage means for storing the steady current detected by the steady current detection means. Since the output time measuring means includes an inductance calculating means for detecting the inductance of the hoist motor, the inductance of the existing DC motor can be easily measured.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a DC elevator control device showing one embodiment of the present invention.

FIG. 2 is a block diagram of an elevator control unit according to an embodiment of the present invention.

FIG. 3 is an operation flowchart of a DC elevator control device showing one embodiment of the present invention.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 three-phase AC power supply, 2 converter, 4 DC chopper circuit, 5 DC motor, 6 a encoder, 6 b speed detection circuit, 7 a current detection converter, 7 b current detection circuit, 11 brake device, 12 pattern generation circuit, 1
3 control circuit, 14 PWM circuit, 15 base drive circuit, 16 elevator control section, 17 voltage detection circuit, 1
8 mode switching device, 19 constant input device, 21 voltage command generating means, 22 voltage command correcting means, 23 steady current detecting means, 24 resistance calculating means, 25 steady current storing means, 26 output time measuring means, 27 inductance calculating means, 28 constant input means, 29 inertia performance calculating means, 30 control system characteristic compensation circuit coefficient calculating means.

Claims (6)

[Claims] 1. A hoist motor for driving a hoist, and a drive control circuit for driving the hoist motor, wherein the drive control circuit is switched to a control optimization mode to control the hoist motor. Motor characteristic measuring means for measuring data to be used, and constant input means for inputting known data on the hoist motor, using data collected by the motor characteristic measuring means and data input by the constant input means. An elevator control device, wherein the drive control circuit includes control constant optimizing means for calculating and correcting an optimum control constant for the hoist motor. 2. The motor control device according to claim 1, wherein the drive control circuit generates a voltage pattern of a constant voltage and applies the voltage value of the voltage pattern to the motor. 2. The elevator control apparatus according to claim 1, wherein the resistance value is obtained from a current value supplied to the hoist motor at this time. 3. A voltage command generating means for generating a voltage pattern of a constant voltage by a drive control circuit, a voltage value detecting circuit for detecting the voltage value, and a predetermined value represented by the voltage pattern. 3. The elevator control device according to claim 2, further comprising a voltage command correction unit that sets a value. 4. The driving control circuit according to claim 2, further comprising a stationary current detecting means for detecting a current value of the hoist motor and detecting that the current value is a constant stationary current.
A control device for an elevator according to any of the preceding claims. 5. When the motor characteristic measuring means determines the inductance of the hoist motor, the drive control circuit generates a voltage pattern of a constant voltage, and applies a voltage value of the voltage pattern to the hoist motor. 2. The elevator control device according to claim 1, wherein the inductance is obtained from the elapsed time until the current value supplied to the hoist motor reaches a predetermined current value and the resistance value. 6. A drive control circuit comprising: a stationary current storing means for storing a stationary current detected by a stationary current detecting means; and an output time measuring means for measuring a time from when a voltage command is output from a voltage command generating means. 6. The elevator control device according to claim 5, further comprising an inductance calculating means for detecting an inductance of the upper motor.