JP2005170605A - Abnormal vibration detecting device of elevator - Google Patents

Abnormal vibration detecting device of elevator Download PDF

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JP2005170605A
JP2005170605A JP2003413752A JP2003413752A JP2005170605A JP 2005170605 A JP2005170605 A JP 2005170605A JP 2003413752 A JP2003413752 A JP 2003413752A JP 2003413752 A JP2003413752 A JP 2003413752A JP 2005170605 A JP2005170605 A JP 2005170605A
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phase
current
elevator
abnormal vibration
permanent magnet
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JP4498730B2 (en
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Yoshitaka Kariya
佳孝 仮屋
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Mitsubishi Electric Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide an abnormal vibration detecting device of an elevator for detecting abnormal vibration of a car promptly without relying on accuracy of a scale device. <P>SOLUTION: The device is provided with a permanent magnet synchronous motor 1, an encoder 2 mounted on the motor for generating A-phase and B-phase pulse signals for detecting a rotation position and speed of the motor and an F-phase pulse signal for detecting a magnetic pole position of the motor, a current detector 3 for controlling the speed of the motor on the basis of the signal of the encoder, and mounted on a power line of the motor for detecting U-phase and V-phase electric currents of the motor, a current control device 5 for converting a three-phase AC current detected by the current detector into a d-shaft current and q-shaft current, and controlling on the basis of the d-shaft current and q-shaft current, and an abnormal vibration detecting device 6 for counting the number of times when a d-shaft current deviation of the current controlling device is more than a predetermined value at a time of the abnormal vibration of the elevator, and bringing the elevator to an emergency stop when the number of times exceeds a prescribed value. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

この発明は、ロープ式エレベータに関するもので、特にかごの異常振動を検出する装置に関するものである。   The present invention relates to a rope type elevator, and more particularly to a device for detecting abnormal vibration of a car.

図４は一般的な永久磁石同期電動機（ＰＭモータ）を用いたエレベータの制御装置を示すものである。図４において、１はエレベータを駆動する永久磁石同期電動機、２はこの永久磁石同期電動機１に取り付けられたエンコーダ、３は永久磁石同期電動機１のＵ相、Ｖ相をそれぞれ検出する電流検出器であり、Ｗ相電流ｉＷは一般的に検出したＵ相、Ｖ相電流ｉＵ、ｉＶからｉＷ＝１−ｉＵ−ｉＶとして求められる。４はエンコーダ２からのＡ相、Ｂ相パルスを元にエレベータの速度を制御する速度制御装置であり、速度演算器４ａ、断線検出器４ｂ、速度制御器４ｃから構成されている。５はエンコーダ２からのＡ相、Ｂ相、Ｆ相パルス及び速度制御装置４の出力を元に、永久磁石同期電動機１の電流を制御する電流制御装置であり、位相演算器５ａ、電流制御器５ｂ、３相２相変換器５ｃ、２相３相変換器５ｄから構成されている。 FIG. 4 shows an elevator control device using a general permanent magnet synchronous motor (PM motor). In FIG. 4, 1 is a permanent magnet synchronous motor for driving an elevator, 2 is an encoder attached to the permanent magnet synchronous motor 1, and 3 is a current detector for detecting the U phase and V phase of the permanent magnet synchronous motor 1, respectively. There, W-phase current i W is generally detected U-phase, obtained V-phase current i U, from i V as i W = 1-i U -i V. Reference numeral 4 denotes a speed control device that controls the speed of the elevator based on the A-phase and B-phase pulses from the encoder 2, and includes a speed calculator 4a, a disconnection detector 4b, and a speed controller 4c. Reference numeral 5 denotes a current control device that controls the current of the permanent magnet synchronous motor 1 based on the A-phase, B-phase, and F-phase pulses from the encoder 2 and the output of the speed control device 4, and includes a phase calculator 5a and a current controller. 5b, 3 phase 2 phase converter 5c, 2 phase 3 phase converter 5d.

上記構成において、エレベータの走行中にエンコーダ２の出力線が断線した場合、エンコーダ２のＡ相、Ｂ相パルスの変化量から、断線を検出する断線検出器４ｂにより緊急停止させるが、実際にはエレベータが完全に停止するまでにある程度慣性で走行してしまう。しかし、エンコーダ２の出力線の断線により電流制御装置５中の位相演算器５ａへの入力もなくなるため、位相演算がストップし実際の永久磁石同期電動機１の磁極位置と、電流制御装置５の認識する磁極位置とがずれてしまう。また、Ｆ相パルス信号の出力線も同時に断線しているため、上記磁極位置のずれを補正することもできない。この状態でエレベータを再起動した場合、磁極位置のずれの為に制御不能状態となり、かごの異常振動を起してしまう。しかし、起動直後はもともとＡ相、Ｂ相パルスの変化量も少なく、誤動作を防ぐために一定時間は断線検出を行わないようにしているので、異常振動を瞬時に防ぐことができない。   In the above configuration, when the output line of the encoder 2 is disconnected while the elevator is running, the disconnection detector 4b that detects disconnection from the amount of change in the A-phase and B-phase pulses of the encoder 2 makes an emergency stop. It will travel with some inertia until the elevator stops completely. However, because the output line of the encoder 2 is disconnected, there is no input to the phase calculator 5a in the current control device 5, so that the phase calculation is stopped and the actual magnetic pole position of the permanent magnet synchronous motor 1 and the current control device 5 are recognized. The position of the magnetic pole to be deviated. Further, since the output line of the F-phase pulse signal is also disconnected at the same time, the deviation of the magnetic pole position cannot be corrected. If the elevator is restarted in this state, the magnetic pole position shifts, resulting in an uncontrollable state, causing abnormal car vibration. However, since the amount of change of the A-phase and B-phase pulses is originally small immediately after startup and disconnection detection is not performed for a certain period of time in order to prevent malfunction, abnormal vibration cannot be prevented instantaneously.

このような問題を解決するエレベータの異常振動検出装置としては、精度の良い秤装置である、かご負荷検出器を設け、かごの異常振動を検出できるようにしたものがある（例えば、特許文献１参照）。   As an abnormal vibration detection apparatus for an elevator that solves such a problem, there is an apparatus that is provided with a car load detector, which is a highly accurate weighing apparatus, so that abnormal vibration of the car can be detected (for example, Patent Document 1). reference).

特開２００２−６８６３０号公報JP 2002-68630 A

従来のエレベータの異常振動検出装置は、精度の良い秤装置が必要となるため、接点秤のようにある所定の値からの大小しか検出できないような秤装置を適用している場合には、検出することができないという問題がある。   A conventional elevator abnormal vibration detection device requires a high-precision weighing device. Therefore, if a weighing device that can detect only the magnitude from a certain value, such as a contact balance, is applied, it is detected. There is a problem that you can not.

この発明は上記のような課題を解決するためになされたもので、異常振動発生時に電流制御装置においてｄ軸電流の偏差が一定値以上になったことを計数し、その回数が所定値以上となった時に異常振動として検出することにより、秤装置の精度に頼ることなく、また迅速にかごの異常振動を検出できるようにしたエレベータの異常振動検出装置を提供するものである。   The present invention has been made to solve the above-described problems. When abnormal vibration occurs, the current control device counts that the deviation of the d-axis current exceeds a certain value, and the number of times is equal to or more than a predetermined value. The present invention provides an abnormal vibration detection device for an elevator that detects abnormal vibration of a car quickly without depending on the accuracy of the scale device by detecting it as abnormal vibration at the time.

この発明に係るエレベータの異常振動検出装置においては、エレベータを駆動する永久磁石同期電動機と、この永久磁石同期電動機に取り付けられ、電動機の回転位置、速度を検出するためのＡ相、Ｂ相パルス信号と永久磁石同期電動機の磁極位置を検出するためのＦ相パルス信号とを発生するエンコーダと、エンコーダの信号をもとに永久磁石同期電動機の速度制御を行い、かつ永久磁石同期電動機の動力線に取り付けられ、永久磁石同期電動機のＵ相、Ｖ相電流を検出する電流検出器と、電流検出器より検出した３相交流電流をｄ軸電流及びｑ軸電流に変換し、このｄ軸電流及びｑ軸電流をもとに制御を行う電流制御装置と、エレベータの異常振動時に電流制御装置のｄ軸電流偏差値が一定値以上になる回数を計数し、その回数が規定値以上となった時にエレベータを緊急停止させる異常振動検出装置とを備えたものである。   In the elevator abnormal vibration detection device according to the present invention, a permanent magnet synchronous motor that drives the elevator, and an A-phase and B-phase pulse signal that is attached to the permanent magnet synchronous motor and detects the rotational position and speed of the motor. Generating an F-phase pulse signal for detecting the magnetic pole position of the permanent magnet synchronous motor, the speed control of the permanent magnet synchronous motor is performed based on the encoder signal, and the power line of the permanent magnet synchronous motor is used. A current detector for detecting the U-phase and V-phase currents of the permanent magnet synchronous motor, and a three-phase AC current detected by the current detector is converted into a d-axis current and a q-axis current. Count the number of times the d-axis current deviation value of the current control device exceeds a certain value during abnormal vibration of the elevator, and the current control device that performs control based on the shaft current. It is obtained by a abnormal vibration detecting device for emergency stop an elevator when it becomes the upper.

この発明は以上説明したように、通常行う電流制御中で、ｄ軸電流の偏差を用いることで異常振動を検出することができるので、秤装置など他の計測機器を用いることなく、また迅速に異常振動を検することができ、これまで以上に安全なエレベータを提供することができる。   As described above, the present invention can detect abnormal vibration by using the deviation of the d-axis current during current control that is normally performed, so that it can be quickly performed without using other measuring instruments such as a scale device. Abnormal vibration can be detected, and a safer elevator than ever can be provided.

実施の形態１．
図１はこの発明の実施の形態１におけるエレベータの異常振動検出装置の構成を示すブロック図、図２はこの発明の実施の形態１におけるエレベータの異常振動検出装置の動作を説明するためのフローチャート、図３はこの発明の実施の形態１におけるエレベータの異常振動検出装置の異常信号を検出するまでの流れを示すタイミングチャートである。
図１において、１はエレベータを駆動する永久磁石同期電動機、２はこの永久磁石同期電動機１に取り付けられたエンコーダ、３は永久磁石同期電動機１のＵ相、Ｖ相をそれぞれ検出する電流検出器であり、Ｗ相電流ｉＷは一般的に検出したＵ相、Ｖ相電流ｉＵ、ｉＶからｉＷ＝１−ｉＵ−ｉＶとして求められる。４はエンコーダ２からのＡ相、Ｂ相パルスを元にエレベータの速度を制御する速度制御装置であり、速度演算器４ａ、断線検出器４ｂ、速度制御器４ｃから構成されている。５はエンコーダ２からのＡ相、Ｂ相、Ｆ相パルス及び速度制御装置４の出力を元に、永久磁石同期電動機１の電流を制御する電流制御装置であり、位相演算器５ａ、電流制御器５ｂ、３相２相変換器５ｃ、２相３相変換器５ｄから構成されている。これらの構成は従来のものと同様である。
この発明による異常振動検出装置６は、電流制御装置５内で実施されるものであり、比較器６ａ及び計数器６ｂから構成されている。通常は、永久磁石同期電動機１の電流は３相２相変換器５ｃによりｄ軸電流とｑ軸電流とに分けられ、それぞれ、例えばｄ軸電流制御器５ｅにより制御される。しかしながら、エンコーダ２の出力線が断線して急停止したことにより、電流制御装置５の認識する磁極値が実際の値とずれたまま再起動する場合、ｄ軸電流が制御不能となり、エレベータが異常振動し、それに合わせてｄ軸電流が発振する。そこで、電流制御ループ中のｄ軸電流の偏差(ｉｄ ＊−ｉｄ)の絶対値を、ある一定の検出レベルαとを比較器６ａによって比較し、|ｉｄ ＊−ｉｄ|＞αとなった回数を計数器６ｂにより計数する。その計数した値が所定の値βを超えた時に異常振動発生と判断し、緊急停止指令を出力してエレベータを停止させるものである。 Embodiment 1 FIG.
1 is a block diagram showing a configuration of an abnormal vibration detection apparatus for an elevator according to Embodiment 1 of the present invention. FIG. 2 is a flowchart for explaining the operation of the abnormal vibration detection apparatus for an elevator according to Embodiment 1 of the present invention. FIG. 3 is a timing chart showing a flow until an abnormal signal is detected by the abnormal vibration detecting apparatus for an elevator according to the first embodiment of the present invention.
In FIG. 1, 1 is a permanent magnet synchronous motor for driving an elevator, 2 is an encoder attached to the permanent magnet synchronous motor 1, and 3 is a current detector for detecting the U phase and V phase of the permanent magnet synchronous motor 1, respectively. There, W-phase current i W is generally detected U-phase, obtained V-phase current i U, from i V as i W = 1-i U -i V. Reference numeral 4 denotes a speed control device that controls the speed of the elevator based on the A-phase and B-phase pulses from the encoder 2, and includes a speed calculator 4a, a disconnection detector 4b, and a speed controller 4c. Reference numeral 5 denotes a current control device that controls the current of the permanent magnet synchronous motor 1 based on the A-phase, B-phase, and F-phase pulses from the encoder 2 and the output of the speed control device 4, and includes a phase calculator 5a and a current controller. 5b, 3 phase 2 phase converter 5c, 2 phase 3 phase converter 5d. These configurations are the same as the conventional ones.
The abnormal vibration detection device 6 according to the present invention is implemented in the current control device 5 and includes a comparator 6a and a counter 6b. Normally, the current of the permanent magnet synchronous motor 1 is divided into a d-axis current and a q-axis current by a three-phase / two-phase converter 5c, and is controlled by, for example, a d-axis current controller 5e. However, if the output line of the encoder 2 is disconnected and suddenly stops, and the magnetic pole value recognized by the current control device 5 is restarted with a deviation from the actual value, the d-axis current becomes uncontrollable and the elevator malfunctions. Oscillates and the d-axis current oscillates accordingly. Therefore, the absolute value of the deviation of the d-axis current in the current control loop (i d * -i d), compared by a comparator 6a and certain detection level α, | i d * -i d |> α The number of times of becoming is counted by the counter 6b. When the counted value exceeds a predetermined value β, it is determined that abnormal vibration has occurred, and an emergency stop command is output to stop the elevator.

図２に動作のフローチャートを示す。また、図３に異常信号を検出するまでの流れを示す。図２フローチャート中、cntは|ｉｄ ＊−ｉｄ|＞αとなったことを計数するカウンタ、cutflgは誤動作を防ぐために一度|ｉｄ ＊−ｉｄ|＞αとなった後は、偏差がα以下となるまでは再び計数しないようにする為のフラグである。スタート初期、ステップＳ１において、これら二つの値は０にクリアされる。次にステップＳ２でｄ軸電流指令値ｉｄ ＊（０とするのが一般的である。）とｉｄの偏差の絶対値|ｉｄ ＊−ｉｄ|と検出レベルαとを比較する。|ｉｄ ＊−ｉｄ|＞αの場合、次にステップＳ３でcutflgを確認する。cutflg =OであればステップＳ４に進み、カウンタcntを１つ進め、さらにcutflg ＝１とする。ステップＳ３でcutflg ＝１であった場合は、カウンタcntを進めずにステップＳ５に移る。これにより、|ｉｄ ＊−ｉｄ|＞αとなった時に連続して計数して誤動作を起さないようにする。そしてステップＳ５でカウンタcntの値を確認し、規定の値β以上であれば異常振動と判断し、緊急停止指令を出力し、エレベータを停止させる。cnt≦βであればステップＳ２に戻り、以後繰り返す。なお、ステップＳ２で|ｉｄ ＊−ｉｄ|≦αとなるまではcutflgは０にならない（ステップＳ６）。
このような異常信号を検出するまでの流れをタイミングチャートで表したものが図３である。 FIG. 2 shows a flowchart of the operation. FIG. 3 shows a flow until an abnormal signal is detected. In Figure 2 a flow chart, cnt is | i d * -i d |> counter for counting the fact that a alpha, Cutflg once to prevent malfunctions | i d * -i d | after becoming a> alpha is deviation This is a flag for preventing counting again until becomes less than α. In the initial stage of the start, these two values are cleared to 0 in step S1. Then (it is common to 0.) D-axis current command value i d * in step S2 and the absolute value of i d deviation | i d * -i d | and compares the detection level alpha. | i d * -i d | case of> α, then to confirm the cutflg in step S3. If cutflg = O, the process proceeds to step S4, the counter cnt is incremented by 1, and cutflg = 1 is set. If cutflg = 1 in step S3, the process proceeds to step S5 without advancing the counter cnt. As a result, when | i d * −i d |> α, it is counted continuously so as not to cause a malfunction. In step S5, the value of the counter cnt is confirmed. If the value is equal to or greater than the prescribed value β, it is determined that there is abnormal vibration, an emergency stop command is output, and the elevator is stopped. If cnt ≦ β, the process returns to step S2 and is repeated thereafter. In step S2 | i d * -i d | cutflg does not become zero until ≦ alpha (step S6).
FIG. 3 is a timing chart showing the flow until such an abnormal signal is detected.

上記構成により、通常行う電流制御中の軸電流が制御不能となり、発振する時の偏差を利用することにより、かごの異常振動を秤装置に頼ることなく検出できるため、秤装置などの他の検出機器に頼ることなく異常振動を検出できるようになる。   With the above configuration, the shaft current during normal current control becomes uncontrollable, and by utilizing the deviation when oscillating, abnormal vibration of the car can be detected without relying on the scale device, so other detection such as a scale device Abnormal vibrations can be detected without relying on equipment.

この発明の実施の形態１におけるエレベータの異常振動検出装置の構成を示すブロック図である。It is a block diagram which shows the structure of the abnormal vibration detection apparatus of the elevator in Embodiment 1 of this invention. この発明の実施の形態１におけるエレベータの異常振動検出装置の動作を説明するフローチャートである。It is a flowchart explaining operation | movement of the abnormal vibration detection apparatus of the elevator in Embodiment 1 of this invention. この発明の実施の形態１におけるエレベータの異常振動検出装置の異常信号を検出するまでの流れを示すタイミングチャートである。It is a timing chart which shows the flow until it detects the abnormal signal of the abnormal vibration detection apparatus of the elevator in Embodiment 1 of this invention. 従来のエレベータの異常振動検出装置の構成を示すブロック図である。It is a block diagram which shows the structure of the abnormal vibration detection apparatus of the conventional elevator.

符号の説明Explanation of symbols

１ 永久磁石同期電動機
２ エンコーダ
３ 電流検出器
４ 速度制御装置
４ａ 速度演算器
４ｂ 断線検出器
４ｃ 速度制御器
５ 電流制御装置
５ａ 位相演算器
５ｂ 電流制御器
５ｃ ３相２相変換器
５ｄ ２相３相変換器
５ｅ ｄ軸電流制御器
６ 異常振動検出装置
６ａ 比較器
６ｂ 計数器 DESCRIPTION OF SYMBOLS 1 Permanent magnet synchronous motor 2 Encoder 3 Current detector 4 Speed controller 4a Speed calculator 4b Disconnection detector 4c Speed controller 5 Current controller 5a Phase calculator 5b Current controller 5c 3 phase 2 phase converter 5d 2 phase 3 Phase converter 5e d-axis current controller 6 abnormal vibration detector 6a comparator 6b counter

Claims (2)

エレベータを駆動する永久磁石同期電動機と、
この永久磁石同期電動機に取り付けられ、電動機の回転位置、速度を検出するためのＡ相、Ｂ相パルス信号と永久磁石同期電動機の磁極位置を検出するためのＦ相パルス信号とを発生するエンコーダと、
前記エンコーダの信号をもとに前記永久磁石同期電動機の速度制御を行い、かつ永久磁石同期電動機の動力線に取り付けられ、永久磁石同期電動機のＵ相、Ｖ相電流を検出する電流検出器と、
前記電流検出器より検出した３相交流電流をｄ軸電流及びｑ軸電流に変換し、このｄ軸電流及びｑ軸電流をもとに制御を行う電流制御装置と、
前記電流制御装置のｄ軸電流偏差値が一定値以上になる回数を計数し、その回数が規定値以上となった時にエレベータを緊急停止させる異常振動検出装置と、
を備えたことを特徴とするエレベータの異常振動検出装置。 A permanent magnet synchronous motor for driving the elevator;
An encoder which is attached to the permanent magnet synchronous motor and generates A phase and B phase pulse signals for detecting the rotational position and speed of the motor and an F phase pulse signal for detecting the magnetic pole position of the permanent magnet synchronous motor; ,
A current detector that performs speed control of the permanent magnet synchronous motor based on the signal of the encoder and is attached to a power line of the permanent magnet synchronous motor and detects U-phase and V-phase currents of the permanent magnet synchronous motor;
A current control device that converts the three-phase alternating current detected by the current detector into a d-axis current and a q-axis current, and performs control based on the d-axis current and the q-axis current;
An abnormal vibration detection device that counts the number of times that the d-axis current deviation value of the current control device is equal to or greater than a predetermined value, and that causes the elevator to stop urgently when the number of times becomes equal to or greater than a specified value;
An abnormal vibration detecting device for an elevator, comprising: 一度ｄ軸電流偏差値が一定値以上となった後に、ｄ軸電流偏差値が規定値以下になるまでは、再びｄ軸電流偏差値が一定値以上となっても回数を計数しないようにし、誤動作をしないようにしたことを特徴とする請求項１記載のエレベータの異常振動検出装置。
Once the d-axis current deviation value becomes equal to or greater than a predetermined value after the d-axis current deviation value becomes equal to or greater than a predetermined value, the number of times is not counted again even if the d-axis current deviation value becomes equal to or greater than a certain value. 2. The apparatus for detecting abnormal vibration of an elevator according to claim 1, wherein malfunction is prevented.
JP2003413752A 2003-12-11 2003-12-11 Elevator abnormal vibration detection device Expired - Fee Related JP4498730B2 (en)

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JP2010130726A (en) * 2008-11-25 2010-06-10 Toyota Motor Corp Controller for ac motor
JP5404787B2 (en) * 2009-06-29 2014-02-05 三菱電機株式会社 Elevator equipment
JP2016222420A (en) * 2015-06-01 2016-12-28 株式会社明電舎 Diagnostic system for elevator
WO2017011212A1 (en) * 2015-07-13 2017-01-19 Nidec Motor Corporation System and method for limiting vibration of electric motor
CN111003617A (en) * 2019-12-19 2020-04-14 临沂矿业集团菏泽煤电有限公司 Elevator control system for coal mine, overspeed alarm method and residue detection method
JP7392503B2 (en) 2020-02-13 2023-12-06 村田機械株式会社 Control device and disconnection detection method

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JP2000351547A (en) * 1999-06-11 2000-12-19 Toshiba Corp Crime preventing operation device of elevator
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JP2000351547A (en) * 1999-06-11 2000-12-19 Toshiba Corp Crime preventing operation device of elevator
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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010130726A (en) * 2008-11-25 2010-06-10 Toyota Motor Corp Controller for ac motor
JP5404787B2 (en) * 2009-06-29 2014-02-05 三菱電機株式会社 Elevator equipment
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JP2016222420A (en) * 2015-06-01 2016-12-28 株式会社明電舎 Diagnostic system for elevator
WO2017011212A1 (en) * 2015-07-13 2017-01-19 Nidec Motor Corporation System and method for limiting vibration of electric motor
CN111003617A (en) * 2019-12-19 2020-04-14 临沂矿业集团菏泽煤电有限公司 Elevator control system for coal mine, overspeed alarm method and residue detection method
CN111003617B (en) * 2019-12-19 2022-03-25 临沂矿业集团菏泽煤电有限公司 Control system of lifter for coal mine and residue detection method
JP7392503B2 (en) 2020-02-13 2023-12-06 村田機械株式会社 Control device and disconnection detection method

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