JP2001270662A - Direct current elevator control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a direct current elevator control device capable of exhibiting an appropriate responsibility as well as suppressing temperature rise of a field winding. SOLUTION: A field current command value is generated to generate a stronger filed in a speed segment in which a torque command value required for lifting and lowering a car exceeds a predetermined value and reaches the peak. A filed winding of a direct current motor is energized based on the field current command value and an armature current command value required to generate the torque command value is calculated based on an actual field current value detected directly from a field circuit so that the calculated armature current command value flows through an armature.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to control of an armature current and a field current of a DC motor used in a hoist of a DC elevator.

[0002]

2. Description of the Related Art Field current control of a conventional DC motor used in a hoisting machine of a DC elevator is performed during a stop period.
The field current was reduced to save energy and suppress the temperature rise of the field winding. When the start command is issued, the reference field current starts to flow before the brake is released in consideration of the rise time of the field current, and when the brake is released, it is set to a stronger field current and started, and the car accelerates. When it reaches the high-speed operation area,
The field was weakened to increase the speed to reach a constant speed. In the control of the armature current, the armature current command value is calculated using a torque constant based on the reference field current in order to generate a torque command value obtained from the difference between the speed command value and the speed feedback value. Was.

[0003]

As described above, the conventional DC elevator control apparatus uses the armature from the torque constant at the reference field current value to generate the torque required to drive the car up and down. The current command value was being calculated. However, during the stop period, the field current is reduced to suppress the temperature rise of the field winding and save energy. For this reason, it takes time from when the field current starts to flow until the reference field current is reached, and at the moment when the brake is released, the torque constant of the DC motor does not reach the reference field current value. Since the torque generated by the motor has not yet reached the torque command value, the DC motor may be reversed due to the load torque, which has a problem that the ride comfort of the elevator is impaired. In addition, when each floor operation is repeated, acceleration and deceleration are continuously maintained to maintain a stronger field, so that the temperature of the field winding increases, and as a result, the field winding may be shortened in life. There were also problems.

[0004] The present invention solves the above problems,
Provided is a DC elevator control device that suppresses a temperature rise of a field winding. Even if the field current has not reached the command value, the DC motor generates the necessary torque so that
Provided is a DC elevator control device with improved responsiveness.

[0005]

According to a first aspect of the present invention, there is provided a direct-current elevator control apparatus which is enhanced at least in a speed section in which a reference field and a torque command value required for raising and lowering a car have a peak exceeding a predetermined value. A field current is generated as a field current command value, the field winding of the DC motor is energized based on the field current command value, and the field current obtained by directly detecting from the field circuit. , An armature current command value necessary for generating a torque command value is calculated, and the armature current command value is caused to flow through the armature.

A DC elevator control device according to a second aspect of the present invention provides a DC elevator control device comprising: at least a reference field and a field current command value set to a stronger field in a speed section in which the torque command value reaches a peak exceeding a predetermined value; Patterning is performed according to the direction of operation of the car and the load on the car, a field current command value is generated in accordance with the field current pattern, and the field winding of the DC motor is energized based on the field current command value, The armature current command value required to generate the torque command value is calculated based on the actual value of the field current obtained by directly detecting from the magnetic circuit, and the current of the armature current command value is applied to the armature. It is made to flow.

According to a third aspect of the present invention, when the actual value of the detected field current is in a region proportional to the magnetic flux, the armature current value at the time of the reference field is added to the reference field current. And a value obtained by multiplying the reciprocal of the ratio of the actual value to the armature current command value is output from the armature current control circuit.

According to a fourth aspect of the present invention, when the actual value of the detected field current is not in a region proportional to the magnetic flux, the actual value of the detected field current is set to a value equivalent to the magnetic flux when the actual value is assumed to be proportional. From the armature current control circuit as the armature current command value when the actual value is obtained by multiplying the armature current value at the time of the reference field by the reciprocal of the ratio of the conversion value to the reference field. It is output.

According to a fifth aspect of the present invention, when the peak value of the torque command value exceeds a predetermined value by a certain value or more, the field value becomes a field value further strengthening the value set as the strong field value. A current command value is generated.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 1 to 3 show:
Embodiment 1 Embodiment 1 of the present invention will be described. In FIG. 1, reference numeral 1 denotes a three-phase AC power supply, and reference numeral 2 denotes an IgGT (insulated gate).
e Bipolar Transistor) and a diode, which enable both forward conversion from three-phase AC to DC and reverse conversion for returning regenerative power to the three-phase AC power supply 1 side. 3 is a smoothing capacitor for smoothing the DC output converted by the converter 2, and 4 is
A circuit element in which an IGBT and a diode are connected in anti-parallel is further connected in a bridge form, and ON-OF is controlled by PWM control
This is a DC chopper circuit that performs DC voltage control in both forward and reverse directions when the signal is applied.

Reference numeral 5 denotes a DC motor controlled by the DC chopper circuit 4, and reference numeral 6 denotes a converter for converting a three-phase alternating current into a direct current, which is constituted by a diode. 7 is a converter 6
Is a DC chopper circuit that is turned on and off by PWM control to perform voltage control. A field winding 8 of the DC motor 5 is energized by the DC chopper circuit 7. Reference numeral 9 denotes a rotating shaft directly connected to the DC motor 5, reference numeral 10 denotes a hoisting machine connected to the rotating shaft 9, reference numeral 10a denotes a brake for stopping the rotating shaft 9, and reference numeral 11 denotes a main cable wound around the hoisting machine 10. , 12 are baskets suspended at one end of the main rope 11,
12a is a load in the car 12, and 13 is a suspended weight suspended at the other end of the main rope 11.

Reference numeral 21 denotes a DC current transformer mounted on the armature circuit of the DC motor 5, and 22 denotes an armature current from the DC current transformer 21.
An armature current detection circuit for detecting Ia, 23 is a field winding 8
24 is a DC current transformer mounted on the circuit of FIG.
, A field current detection circuit for detecting the actual value of the field current If, 25 is an encoder mounted on the rotating shaft 9, 26 is a speed detecting circuit for detecting the angular speed ω of the rotating shaft 9 from the encoder 25, and 27 is a car This is a car internal load detection circuit that detects the internal load 12a.

Reference numeral 30 denotes an elevator control circuit for controlling the elevator. 31 is a speed pattern S shown in FIG.
A speed pattern generating circuit 32 for generating p is a speed control circuit for calculating and outputting a torque command value T * necessary for controlling the speed of the car 12 according to the speed pattern Sp. A torque command value T * is calculated from the difference between the detected actual speed Sf and the car internal load 12a.

Reference numeral 33 denotes a field current command value I shown in FIG.
A field current command generating circuit that generates f *, the field weakening Ifw when the car 12 is stopped, the reference field Ifs when a start command is issued, and a peak where the torque command value T * exceeds a predetermined value. In the speed section where, the strong field Ift is generated according to the speed pattern Sp. A field current control 34 compares the field current command value If * with the actually detected field current actual value If, and calculates a field voltage command so that the actual value If becomes the command value If *. A PWM circuit 35 for generating a PWM signal based on a field voltage command of the field current control circuit 34;
This is a gate drive circuit that controls ON / OFF of the gate of the C chopper circuit 7 to control the field voltage.

Reference numeral 37 denotes the actual value I of the detected field current.
an armature current control circuit for calculating an armature current command value Ia * required to generate the torque command value T * at f, and a voltage command necessary for flowing the armature current command value Ia *. It is output as a value. Reference numeral 38 denotes a PWM circuit that generates a PWM signal based on a voltage command value of the armature current control circuit 37, and 39 denotes a gate drive circuit that controls ON / OFF of the gate of the DC chopper circuit 4 by a signal of the PWM circuit 38.

Next, the operation will be described with reference to FIG. First,
J: Moment of inertia on the rotating shaft 9; ω: Angular velocity of the rotating shaft 9; τ: Shaft torque; TL: Unbalance weight between the car 12 and the counterweight 13 and load torque due to running resistance;
f: field current, Ia: armature current. Effective magnetic flux Φ
Has a relationship shown in FIG. 3 as a function of the field current If, and Φ (I
f). The shaft torque τ is obtained from the load torque TL and the acceleration / deceleration torque, and τ = J · (dω / dt) + TL (1) The following equation holds for the DC motor 5 as the constant Kt. τ = Kt · Φ (If) · Ia (2) Accordingly, by appropriately allocating the armature current Ia and the field current If to generate the shaft torque τ, the armature current Ia
a, the commutator can be protected, the temperature rise of the field winding 8 can be suppressed, and life extension and miniaturization can be achieved.

Hereinafter, the full load raising operation will be described.
While the elevator is stopped, it is in the area of “A” in FIG. 2B, and the speed pattern Sp and the torque command value T * are both “0”. The field current command value If * is a weak field Ifw, and the armature current command value Ia * is “0”.
Therefore, the DC motor 5 does not generate torque, and the rotating shaft 9 is stopped by the brake 10a.

When a start command is issued at time t1, the area becomes "b", and the speed control circuit 32 outputs a load torque TL as a torque command value T * by a signal from the in-car load detection circuit 27. Field current command generation circuit 33
Decreases the field current command value If * from the field Ifw to the reference field I.
fs, and the field current If gradually increases in accordance with the command value If *. The armature current control circuit 37 calculates an armature current command value Ia * necessary to generate the torque command value T * based on the actual value of the field current If from the field current detection circuit 24. The armature current command value Ia * gradually decreases as the field current If gradually increases from the weakening field Ifw to the reference field Ifs.

When the brake 10a is released at time t2, the area becomes "C", and the acceleration gradually increases. Accordingly, the torque command value T * also gradually increases. In the acceleration region, as the torque command value T * increases, the field current command value If * also gradually increases to become a stronger field Ift. Armature current command value Ia *
Increases with the gradual increase of the torque command value T *, but the actual value of the field current If also increases with the increase of the field current command value If *. Therefore, the amount of increase of the armature current command value Ia * is suppressed. You.

At time t3, the area becomes "d" where the acceleration is constant. The torque command value T * outputs a constant value, and the field current command value If * becomes a constant value of the strong field Ift. Accordingly, the armature current command value Ia * also becomes a constant value.

At time t4, an area "e" where acceleration is completed is set. The torque command value T * gradually decreases. Accordingly, the field current command value If * gradually decreases from the strong field Ift to the reference field Ifs, and the armature current command value Ia * also decreases.

At time t5, the area becomes "F" with a constant speed. The torque command value T *, the field current command value If *, and the armature current command value Ia * are all constant.

At time t6, a deceleration command is issued, and the vehicle enters the deceleration area "g". Here, the torque command value T * decreases because the full load increase operation is performed. However, since the torque command value T * may increase depending on the load state,
The field current command value If * is set so as to gradually increase. The armature current command value Ia * decreases as the torque command value T * decreases and the field current If increases.

At time t7, the area becomes "H" with a constant deceleration. The torque command value T * outputs a constant value, and the field current command value If * becomes a constant value of the strong field Ift. Accordingly, the armature current command value Ia * also becomes a constant value.

At time t8, the area of "R" at the end of deceleration is set. The torque command value T * gradually increases as the deceleration gradually decreases. The field current command value If * is changed from the strong field Ift to the reference field.
Ifs gradually decreases, and the armature current command value Ia * gradually increases. At time t9, the car 12 substantially stops, and at time t10, the brake 10a operates to hold the car 12. Torque command value T
* Is “0”, and accordingly, the armature current command value Ia
* Also becomes “0”. The field current command value If * is a weak field If
w.

Here, a method of obtaining the armature current command value Ia * will be described. The effective magnetic flux Φ (If) and the field current If have a relationship shown in FIG. 3, and are proportional to each other when the field current If is smaller than Ifp. When the shaft torque τ is the same,
The actual value of the detected field current If is If1, and this actual value
The armature current command value Ia1 * for If1 is converted to the reference field I
A method of calculating from the armature current command value Ia * of fs will be described. 1. If the actual value If1 and the effective magnetic flux Φ (If1) are in a proportional region, the reference field If is added to the armature current command value Ia *.
reciprocal 1 / (If1 / If1
fs) is the armature current command value Ia1 *. That is, Ia1 * = Ia * / (If1 / Ifs).

2. The actual value of the detected field current If is equal to If
2, when the actual value If2 and the effective magnetic flux Φ (If2) are in a non-proportional region, if the proportional value is assumed to be proportional, a field current Ifi equivalent to the effective magnetic flux Φ (If2) is added to the actual value If
2 and the armature current value Ia * at the time of the reference field Ifs.
Multiplied by the reciprocal 1 / (Ifi / Ifs) of the ratio of the conversion value IfI to the reference field Ifs is the armature current command value Ia2 * when the actual value If2 is obtained. That is, Ia2 *
= Ia * / (Ifi / Ifs). However, the relationship of FIG. 3 is tabulated, and the magnetic flux Φ (If) with respect to the field current If
May be read directly. That is, Ia2 * = Ia * / ｛(Φ (I
f2) / Φ (Ifs)}.

According to the first embodiment, the torque command T
At the time of acceleration / deceleration in which * increases, the field current command value If * is set to a stronger field Ift, so that the armature current command value Ia * can be suppressed and the commutator can be protected. In addition, during ascending and descending at a constant speed, the field current command value If * is increased from the field Ift to the reference field Ifs. It is possible to extend the life and reduce the size by suppressing the temperature rise. Further, since the armature current command value Ia * is calculated based on the actual value of the field current If, even if the field current If has not yet become the field current command value If *, the torque command value T * Is the shaft torque τ
Will output a value equal to. For this reason, the DC motor 5 is not pulled by the load torque TL and does not rotate backward immediately after the brake 10a is released. Therefore, the ride comfort is not impaired.

Embodiment 2 In the second embodiment, the field current If is patterned in correspondence with the load of the car and the driving direction. That is, the load 12a in the car 12 is
A load that is less than the balance load that balances with the balance weight 13, that is, a load of X% with respect to the rated load, and a load of Y% that is heavier than the balance load is set. The X% and the Y% are set, for example, to values at which the unbalance amounts are equal above and below the balance load. Specifically, in the case of 50% balance, X = 40%, Y = 60%, and 45%
In the case of balance, X = 35% and Y = 55%, respectively. 0% to X%, X% to Y
% And Y% or more, and in consideration of the driving direction, the driving modes are classified as shown in Table 1.

[0030]

[Table 1]

Here, focusing on the armature current Ia during ascending and descending, the armature current Ia increases when the mode I decelerates (regenerative braking) and when the mode II accelerates (powering).
Conversely, the armature current Ia decreases during acceleration in mode I and during deceleration in mode II. In the mode III, the armature current Ia that is equal to or more than the predetermined value does not flow during both acceleration and deceleration. Therefore, in the second embodiment, if the armature current Ia does not increase even during acceleration / deceleration, the field current command value If * is kept at the reference field Ifs, and is strengthened only for a necessary period. The field Ift is used.

FIGS. 4 and 5 show a second embodiment of the present invention.
Is shown. In the drawing, the same symbols as those in FIGS. 1 and 2 indicate the same parts and the same contents. 40 is a field weakening Ifw and a reference field If
s and the field current If is patterned so as to become a strong field Ift in a speed section where the torque command value T * is a peak,
This is a field current pattern generation circuit that generates this field current pattern in correspondence with the car load 12a and the operation direction. Specifically, the patterns I to III shown in FIG.
Is generated. 33A is a field current command generation circuit that generates a field current command value If * corresponding to the speed pattern Sp based on a field current pattern corresponding to the car load 12a and the driving direction.

Next, the operation will be described with reference to FIG. 1. In the case of mode I (regeneration) in Table 1, for example, the UP operation is performed with a load of 0 to X%. At the time of acceleration, the armature current Ia does not increase beyond a predetermined value.
The reference field Ifs may be left as it is. At the time of deceleration (t6 to t9), a large deceleration torque is required, and the armature current Ia becomes large, so that a stronger field Ift is required. Therefore, the pattern I corresponds to the field current If. The same applies to DOWN operation at Y% or more.

2. Mode 2 (powering) in Table 1 For example, DOWN operation is performed with a load of 0 to X%. During acceleration (t2 to t5), a large acceleration torque is required, and the armature current Ia becomes large, so that a stronger field Ift is required. During deceleration, the reference field Ifs may be maintained. Therefore, the pattern current corresponds to the field current If. The same applies to the case of UP operation at Y% or more.

3. Mode 3 in Table 1 Since the armature current Ia does not increase to a predetermined value or more both during acceleration and deceleration, the field current If may be the reference field Ifs, and the pattern III corresponds. The loading load is 3
Although the division is made, it may be divided into two divisions of less than the balance load and more than the balance load. The method of obtaining the armature current Ia from the field current If is the same as in the first embodiment.

According to the second embodiment, the armature current I
If a does not increase, the field current command value If * is kept at the reference field Ifs even during acceleration or deceleration, and the field current command value If * is increased to a stronger field Ift for a necessary period. And the heat generation of the field winding 8 can both be more reliably realized.

Embodiment 3 In the first and second embodiments, the strong field Ift is a constant value as shown in FIGS. 2 and 5, but as shown in FIG. 6, it is better to change the value by the torque command value T *. It may be more desirable. That is, in the elevator, the shaft torque τ greatly changes depending on the load, the driving direction, and the acceleration / deceleration of the car 12, and accordingly, the torque command value T * also changes. For this reason,
It is desirable from the viewpoint of commutator protection to reduce the armature current Ia by changing the strong field Ift according to the change in the torque command value T *.

FIG. 6 shows that the torque command value T * is a predetermined value T1 *.
In the following cases, the reference field Ifs is kept at the predetermined value T1.
* When the value exceeds *, it is gradually increased from the reference field Ifs to increase the field strength If
t is set to a maximum value Ifmax determined by the specification of the DC motor 5 in a range equal to or more than the predetermined value T2 *.
As described above, the field strength is increased according to the change in the torque command value T *.
Changing the value of Ift is effective for commutator protection.
Since the peak of the torque command value T * is short,
It is considered that the influence on the temperature rise of the field winding 8 is small.

[0039]

Since the present invention is configured as described above, it has the following effects. The DC elevator control device according to claim 1 generates a stronger field as a field current command value in a speed section in which a torque command value required for raising and lowering the car has a peak exceeding a predetermined value. While energizing the field winding of the DC motor based on the current command value, the necessary armature current command value is calculated based on the actual value of the field current obtained by directly detecting from the field circuit, The armature current command value flows through the armature.
For this reason, there is an effect that the strong field is limited to a short period and the temperature rise of the field winding can be suppressed. Since the armature current command value is calculated based on the actual value of the field current, even when the field current has not reached the command value, the DC motor generates the necessary torque and responds. Good control becomes possible. For this reason, it is possible to prevent the DC motor from reversing due to the load torque,
This also has the effect of enabling smooth driving with a comfortable ride.

According to a second aspect of the present invention, there is provided a DC elevator control device, comprising: a field current command value set to be a strong field in a speed section in which a torque command value exceeds a predetermined value; It is patterned by the load of the car and generates a field current command value in accordance with this field current pattern, energizes the field winding of the DC motor based on the field current command value, and directly from the field circuit. An armature current command value necessary for generating a torque command value is calculated based on the actual value of the detected and obtained field current, and the current of the armature current command value is caused to flow through the armature. Things. For this reason, the responsiveness is improved to improve the riding comfort, and the period of the strong field is further limited, so that the temperature rise of the field winding can be more reliably suppressed. .

According to a third aspect of the present invention, when the actual value of the detected field current is in a region proportional to the magnetic flux, the armature current value at the time of the reference field is changed to the reference field value. Is a value obtained by multiplying the reciprocal of the ratio of the actual value to the armature current command value. Therefore, there is an effect that the armature current command value can be easily calculated.

According to a fourth aspect of the present invention, in the DC elevator control device, when the actual value of the detected field current is in a region that is not proportional to the magnetic flux, the actual value is set to a value equivalent to the magnetic flux when the proportional value is assumed to be proportional. From the armature current control circuit as the armature current command value when the actual value is obtained by multiplying the armature current value at the time of the reference field by the reciprocal of the ratio of the conversion value to the reference field. It is output.
This also has the same effect as above.

According to a fifth aspect of the present invention, when the peak value of the torque command value exceeds a predetermined value by a certain value or more, the value set as the stronger field is changed to a stronger field. A current command value is generated. Therefore, there is an effect that the commutator can be more reliably protected while suppressing the temperature rise of the field winding.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an overall configuration of a DC elevator control device according to Embodiment 1 of the present invention.

FIG. 2 is an operation explanatory diagram of the DC elevator control device according to the first embodiment of the present invention.

FIG. 3 is an explanatory diagram of the DC elevator according to the first embodiment of the present invention.

FIG. 4 is a block diagram showing an overall configuration of a DC elevator control device according to Embodiment 2 of the present invention.

FIG. 5 is an explanatory diagram of an operation of a DC elevator control device according to Embodiment 2 of the present invention.

FIG. 6 is an explanatory diagram of a DC elevator according to Embodiment 3 of the present invention.

[Explanation of symbols]

1 three-phase AC power supply, 2 converter, 3 smoothing capacitor, 4 DC chopper circuit, 5 DC motor,
Reference Signs List 6 converter, 7 DC chopper circuit, 8 field winding, 9 rotating shaft, 10 hoisting machine, 10a brake, 11 main cable, 12 car, 13 hanging weight, 21 DC transformer, 22 armature current detection circuit , 23 DC current transformer, 24 field current detection circuit,
25 encoder, 26 speed detection circuit, 27 car load detection circuit, 30 elevator control circuit, 3
1 speed pattern generation circuit, 32 speed control circuit, 3
3 field current command generation circuit, 33A field current command generation circuit, 34 field current control circuit, 35 PWM circuit, 36 gate drive circuit, 37 armature current control circuit, 38 PWM circuit, 39 gate drive circuit,
40 Field current pattern generation circuit.

Claims (5)

[Claims] An elevator control device for controlling a DC motor to raise and lower a car, a speed control circuit for calculating a torque command value required to raise and lower the car according to a predetermined speed pattern, and at least a reference field. A field current command generation circuit for generating a field current command value according to the speed pattern so as to be a strong field in a speed section in which the torque command value has a peak exceeding a predetermined value; and A field circuit for energizing the field winding of the DC motor based on a command value, a field current detection circuit for detecting the field current of the field circuit, and an actual value of the detected field current. An armature current control circuit for calculating an armature current command value required to generate the torque command value based on the value, and an electric motor for energizing the armature of the DC motor based on the armature current command value Child A control device for a DC elevator including a circuit. 2. An elevator controller for controlling a DC motor to raise and lower a car, a speed control circuit for calculating a torque command value required for raising and lowering the car according to a predetermined speed pattern, and at least a reference field. In the speed section where the torque command value exceeds a predetermined value, a field current is patterned so as to be a strong field, and this field current pattern is generated corresponding to the load and the driving direction of the car. A field current pattern generation circuit, a field current command generation circuit that generates a field current command value according to the speed pattern based on the field current pattern, and the DC motor based on the field current command value A field circuit for energizing the field, a field current detection circuit for detecting the field current of the field circuit, and the torque based on an actual value of the detected field current. A direct current comprising an armature current control circuit for calculating an armature current command value required to obtain a command value, and an armature circuit for energizing the armature of the DC motor based on the armature current command value Elevator control device. 3. An armature current control circuit according to claim 1, wherein when the actual value of the detected field current is in a region proportional to the magnetic flux, the armature current control circuit adds the armature current value for the reference field to the reference field. 3. The DC elevator control device according to claim 1, wherein a value obtained by multiplying a reciprocal of an actual value ratio is calculated as an armature current command value. 4. An armature current control circuit, when an actual value of a detected field current is in a region that is not proportional to a magnetic flux, converts the actual value to a value equivalent to the magnetic flux when the actual value is assumed to be proportional. And calculating a value obtained by multiplying an armature current value at the time of the reference field by a reciprocal of a ratio of the conversion value to the reference field as the armature current command value at the actual value. The control device for a DC elevator according to claim 1 or 2. 5. A field current command generating circuit, wherein when a peak value of a torque command value exceeds a predetermined value by a predetermined value or more, a field current command which becomes a field further strengthening a value set as a strong field. The control device for a DC elevator according to claim 1 or 2, wherein the value is generated.