JP2005247574A - Elevator control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an elevator control device capable of accurately measuring and restraining a torque ripple generated from an electric control board and a torque ripple of a permanent magnet synchronous electric motor. <P>SOLUTION: This elevator control device lifts a car 1 by controlling driving of the permanent magnet synchronous electric motor 3 connected to a hoising machine; and makes a restraining table out of a difference between a torque current command Iq* and a feedback torque current Iq of converting a feedback current value provided from a current detector 10 by a three-phase/two-phase exchange 11, an electric angle phase θe detected from an encoder 4 and a speed/position signal processor 12, amplitude, a phase and a torque current command Iq2* of respective frequency components provided by a ripple measuring computing element 19 by measuring the torque ripple generated from the electric control board by the ripple measuring computing element 19 from the torque current command Iq2*. A ripple compensating value generator 18 calculates the torque ripple Iq** by introducing the torque ripple of the respective frequency components corresponding to the torque current command Iq1* from the restraining table, and is constituted so as to restrain the torque ripple generated from the electric control board by being superimposed on the torque current command Iq1* in an opposite phase. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an elevator control device that drives a permanent magnet synchronous motor connected to a hoisting machine with an inverter to raise and lower a cage, and more particularly to a technique for controlling torque ripple generated from a permanent magnet synchronous motor (inverter). .

As a conventional elevator control device, one that suppresses torque ripple in real time has been proposed (see, for example, Patent Document 1).
However, the torque ripple is generated not only from the permanent magnet synchronous motor but also from the electric control panel including the inverter.
For example, torque ripple having a component 6 times the electrical angle fundamental frequency is generated from the inverter due to the influence of the short circuit prevention time. Further, torque ripple having a component twice the fundamental frequency is also generated by the gain imbalance of the current detector used in each phase to feed back the current flowing through the permanent magnet synchronous motor.

  In the conventional device described in Patent Document 1, torque ripple is measured in advance and parameterized, and a ripple corresponding to the torque command is superimposed on a torque command value or the like to suppress torque ripple generated from the permanent magnet synchronous motor. It is necessary to measure the torque ripple in advance by a combination of the electric control panel shipped to the site and the permanent magnet synchronous motor.

JP 2002-223582 A

  In the conventional elevator control device, since the suppression parameter is used when suppressing the torque ripple, it is necessary to measure the torque ripple in advance, but since the torque ripple is not measured in the field, equipment for measuring the torque ripple There was a problem that it took time.

In addition, when torque ripple measurement is performed in combination with an electric control panel different from the electric control panel shipped to the site, the torque ripple generated from the electric control panel is combined with the torque ripple generated from the permanent magnet synchronous motor. There is a problem that the torque ripple of the permanent magnet synchronous motor shipped to the site cannot be measured accurately.
Furthermore, even if the torque ripple is suppressed on site in this state, the torque ripple generated from the electric control panel at the site is further combined, and there will be a double error, and the torque ripple can be suppressed accurately. There was a problem that it could not be done.

  It is an object of the present invention to obtain an elevator control device that can accurately measure and suppress torque ripple.

  An elevator control apparatus according to the present invention is an elevator control apparatus that drives and controls a permanent magnet synchronous motor connected to a hoisting machine to raise and lower a car, and is based on a speed command value for the car and a speed feedback signal from the car. A speed controller for generating a torque command value for the permanent magnet synchronous motor to control the speed of the cage, a current detector for returning the current flowing through the permanent magnet synchronous motor as a current feedback signal, a torque command value, A voltage controller that generates a voltage command for the permanent magnet synchronous motor based on the speed feedback signal and the current feedback signal, an inverter that drives the permanent magnet synchronous motor in response to the voltage command, a torque command value, and a current feedback signal A torque difference calculator that calculates the torque difference of the motor, and at least permanently based on the torque command value, the speed feedback signal, and the torque difference. A ripple measurement processor for measuring a torque ripple generated by the stone synchronous motor, based on the torque ripple, in which a ripple suppression calculator for calculating a ripple compensation value corresponding to the torque command value.

  According to this invention, the torque ripple generated from the permanent magnet synchronous motor can be accurately measured.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a first embodiment of the present invention, and shows an elevator control device that suppresses torque ripple generated from an electric control panel including an inverter.
Here, a case where only the q-axis torque current command Iq * is focused on among the dq-axis torque current commands Id * and Iq * is shown.

  In FIG. 1, an elevator control device includes a permanent magnet synchronous motor (hereinafter simply referred to as “motor”) 3 coupled to a hoisting machine (not shown) that drives a cage 1 together with a counterweight 2, and a motor 3. Encoder 4 for detecting the number of rotations, and a weighing device 5 for measuring the load We of the basket 1.

  1 includes a speed controller 6 that controls the operation speed of the car 1, a compensator 7 that compensates torque current commands Iq * and Id * (corresponding to torque command values) in the dq axis direction, , A 2-phase / 3-phase converter 8 that converts coordinates from the dq axis to the uvw axis, an inverter 9 for driving the motor 3 in three phases, a current detector 10 that detects a three-phase output current from the inverter 9, A three-phase / two-phase converter 8 that converts coordinates from the uvw axis to the dq axis, and a speed / position signal process that calculates the angular velocity ωm of the motor 3 and the electrical angular phase θe of the inverter 9 by processing the detection signal from the encoder 4 And a container 12.

  Further, the elevator control device of FIG. 1 includes a subtractor 13a that calculates a difference between a first torque current command (hereinafter simply referred to as “torque current command”) Iq1 * and a ripple compensation value Iq **, and an operation mode. Accordingly, a torque command switch SW for switching between a torque current command Iq1 * side and a second torque current command (hereinafter simply referred to as “torque current command”) Iq2 * side, a dq axis torque current command and a current feedback signal Id , Iq, torque difference calculators 13d and 13q for calculating the torque difference, and a torque difference calculator 13q for calculating the torque difference between the torque current command value and the current feedback signal Iq.

  The compensator 7, the two-phase / three-phase converter 8, and the torque difference calculators 13d and 13q constitute a voltage controller for the motor 3, and include torque current commands Iq * and Id * (torque command values), electric Based on the angular phase θe (speed feedback signal) and the current feedback signals Id and Iq, a control signal for the inverter 9 (corresponding to a voltage command for the motor 3) is generated.

The torque current command Iq1 * is a torque command value during normal operation of the elevator.
The torque current command Iq2 * is a torque command switching in a state where the elevator is set to the torque ripple measurement mode (first operation mode) and is traveling at an extremely low speed (for example, 4 [m / min], etc.). This is the torque command value input to the ripple measurement calculator 19 by switching the instrument SW from the state shown in FIG.

  Further, the elevator control device of FIG. 1 traces data related to the torque current command Iq2 * for a predetermined time in relation to the speed / position signal processor 12, the torque difference calculator 13q, and the torque command switch SW. A data storage unit 14 to store, a Fourier analyzer 15 to Fourier-analyze the stored data, a ripple calculator 16 to calculate ripples from the Fourier-analyzed data, a suppression table creator 17 to suppress ripples, A ripple compensation value generator 18 for generating a suppressed ripple compensation value Iq **.

The data storage unit 14, the Fourier analyzer 15 and the ripple calculator 16 constitute a ripple measurement calculator 19.
Further, the suppression table generator 17 and the ripple compensation value generator 18 constitute a ripple suppression calculator 20.

The elevator car 1 is connected to a counterweight 2 via a main rope and suspended from a sheep (not shown).
The cage 1 is driven up and down in a hoistway (not shown) together with the counterweight 2 by driving a sheep by a motor 3 in which a permanent magnet is integrated.

The scale device 5 detects the load We in the basket 1 and inputs it to the speed controller 6.
The speed / position signal processor 12 processes the speed signal (rotation speed) of the motor 3 detected by the encoder 4, calculates an angular speed ωm (actual speed), and feeds it back to the speed controller 6. Further, the speed / position signal processor 12 calculates the electrical angle phase θe of the inverter 9 based on the actual speed of the motor 3, the 2-phase / 3-phase converter 8, the 3-phase / 2-phase converter 11, Input to the data storage unit 14.

The speed controller 6 takes in the angular speed ωm (speed signal) of the motor 3 and the load We of the car 1, and based on the speed deviation signal between the angular speed ωm (actual speed) of the motor 3 and the speed command value, and the load We. The dq axis torque current commands Id * and Iq * (torque command values) are calculated.
The q-axis torque current command Iq * is input to the compensator 7 via the torque command switch SW, the subtractor 13a and the torque difference calculator 13q, and the d-axis torque current command Id * is input to the torque difference calculator 13d. Is input to the compensator 7.

Each torque current command on the dq axis is input to the two-phase / three-phase converter 8 via the compensator 7, and becomes a three-phase (uvw axis) control signal to control the inverter 9, thereby controlling the motor 3. Rotating drive.
The three-phase current supplied to the motor 3 is detected by the current detector 10 and becomes a two-phase (dq axis) current feedback signal (feedback torque current command) Id, Iq via the three-phase / two-phase converter 11. Are respectively fed back to the subtraction terminals of the torque difference calculators 13d and 13q.

The ripple measurement arithmetic unit 19 takes in the torque current command Iq2 * from the speed controller 6, the difference signal (= Iq2 * −Iq) from the torque difference calculator 13q, and the electrical angle phase θe of the inverter 9, and the inverter The torque ripple generated from the electric control panel including 9 is measured.
However, the torque ripple component generated due to the influence of the current detector 10 cannot be measured.

FIG. 2 is a block diagram showing the control unit (components 6 to 8 and 11 to 20) in FIG.
In FIG. 2, the control unit includes a CPU 30, a ROM 31, a RAM 32, an output circuit 33, an A / D converter 34, and an encoder signal fetch circuit 35.
The ROM 31 and the RAM 32 belong to the CPU 30, and the output circuit 33, the A / D converter 34, and the encoder signal fetch circuit 35 are connected to the CPU 30.

The RAM 32 functions as the data storage unit 14 in the ripple measurement calculator 19.
The output circuit 33 outputs a control signal for the inverter 9.
The A / D converter 34 captures a signal (each phase current of the motor 3) from the current detector 10, and the encoder signal capture circuit 35 captures a signal (rotation signal of the motor 3) from the encoder 4.

3 and 4 are explanatory diagrams showing data contents (suppression table) of the suppression table creator 17 in FIG.
3 and 4, the horizontal axis is the torque current command, the positive torque current command corresponds to the power running state of the motor 3, and the negative torque current command corresponds to the regenerative state of the motor 3.
The vertical axis in FIG. 3 is the detection signal (current amplitude, the vertical axis in FIG. 4 is the phase of the detection current, and in each figure, “black circle” is the measured value.
As shown in FIGS. 3 and 4, the speed / position signal of the motor 3 needs to be measured based on a plurality of torque current commands.

Next, a specific processing operation of the elevator control apparatus according to the first embodiment of the present invention shown in FIG. 1 will be described with reference to FIGS.
The process according to the first embodiment of the present invention includes a normal operation process (first operation mode) in which torque ripple of the electric control panel system is suppressed using a suppression table according to the switching state of the torque command switch SW. ) And a measurement process (second operation mode) for creating a suppression table. The elevator car 1 is commonly operated in the first and second operation modes.

First, a process for switching the torque command switch SW from the illustrated state, generating a torque current command Iq2 * in the torque ripple measurement mode (second operation mode) of the electric control panel system, and creating a suppression table will be described.
In this case, in the ripple measurement computing unit 19, the data storage unit 14 (RAM 32 in FIG. 2) performs torque torque command Iq2 *, torque current command Iq2 *, and torque of current feedback signal (feedback torque current command) Iq. The difference (= Iq2 * −Iq) and the electrical angle phase θe are traced and stored for a predetermined time.

Further, the Fourier analyzer 15 performs a Fourier analysis using the torque difference (= Iq2 * −Iq) and the electrical phase angle θe among the data stored in the data storage 14.
Further, the ripple calculator 16 calculates the amplitude and phase of each frequency component related to the speed signal of the motor 3 based on the Fourier analysis result.

In the ripple measurement mode, as described above, the torque command switching unit SW is switched from the illustrated state, and data relating to the torque current command Iq2 * is input to the ripple measurement computing unit 19.
Further, the motor 3 (winding machine) is rotated at an extremely low speed (4 [m / min]) to suppress the influence of the ripple of the mechanical system as much as possible, and then the torque current command Iq2 is used using the current feedback signal Iq. Calculate the ripples included in *.

Thereby, the suppression table creation unit 17 in the ripple suppression computing unit 20 forms tables as shown in FIGS.
That is, the suppression table creator 17 has a relationship between the torque current command Iq2 * and the amplitude based on the amplitude and phase of each frequency component obtained by the ripple calculator 16 and the torque current command Iq2 * (FIG. 3). And a suppression table having the relationship between the torque current command Iq2 * and the phase (FIG. 4).

  In the above, the processing in the first operation mode that exclusively constitutes the suppression table has been described, but in the normal operation (first operation mode) in which the torque command switch SW is switched to the state of FIG. Using the suppression table in the ripple suppression computing unit 20, torque ripple generated from the electric control panel system is suppressed as follows.

  That is, the ripple compensation value generator 18 refers to the torque current command Iq1 * during normal operation and the suppression table, and derives the torque ripple of each frequency component corresponding to the torque current command Iq1 * during normal operation from the suppression table. The ripple compensation value Iq ** is calculated by the following equation (1).

  Iq ** = R1 (1) × cos {1 × θe + Φ1 (1)} +... + R1 (N) × cos (N × θe + Φ1 (N)) (1)

However, in Formula (1), R1 (N) shows the amplitude value of the N times component of an electrical angle fundamental frequency, and (PHI) 1 (N) shows the phase of the N times component of an electrical angle fundamental frequency scatter.
Hereinafter, the ripple compensation value generator 18 superimposes the ripple compensation value Iq ** calculated by the equation (1) on the torque current command Iq1 * in the opposite phase by feedback input to the subtraction terminal of the subtractor 13a.

As described above, the ripple compensation value Iq ** calculated by the ripple suppression computing unit 20 is superimposed on the torque current command Iq * in the opposite phase (negative polarity), thereby suppressing the torque ripple generated from the electric control panel. it can.
Further, by measuring the torque ripple in the ripple measurement computing unit 19 in a state where the torque ripple from the electric control panel is suppressed, only the torque ripple generated from the motor 3 can be accurately calculated.
Here, although a detailed method for measuring a specific torque ripple is omitted, it can be referred to, for example, Japanese Patent Application Laid-Open No. 2001-309687.

As described above, the ripple measurement calculator 19 in FIG. 1 performs the torque current command Iq2 * (torque command value), the torque difference between the torque command value and the current feedback signal Iq (= Iq2 * −Iq), and the electrical angle. Torque ripple is measured based on the phase θe (speed feedback signal).
Further, the ripple suppression calculator 20 tabulates the relationship between the torque and the amplitude (FIG. 3) and the relationship between the torque and the phase (FIG. 4) from the measured torque ripple, and corresponds to the torque command value. By calculating the torque ripple from the table, the torque ripple generated from the electric control panel system (inverter 9) is suppressed.

Therefore, the torque ripple generated from the motor 3 can be accurately measured by accurately measuring and suppressing the torque ripple generated from the electric control panel.
In addition, since the torque ripple of the motor 3 can be accurately measured and suppressed with the torque ripple generated from the electric control panel removed, the electric control panel used for measuring the torque ripple of the motor 3 and the field Even if the electric control panel used in is different, torque ripple can be accurately suppressed.
As a result, even when the generated torque of the motor 3 that drives the elevator pulsates, the riding comfort of the elevator can be improved.
Furthermore, since the torque ripple can be measured in the field without measuring the torque ripple in advance, a torque ripple measuring facility or the like is not necessary, and the cost can be reduced.

Embodiment 2. FIG.
In the first embodiment, only the torque ripple of the electric control panel system is suppressed. However, not only the torque ripple of the electric control panel system but also the torque ripple including the torque ripple of the motor 3 may be suppressed.
Hereinafter, processing according to the second embodiment of the present invention in which torque ripple of the electric control panel system and the motor 3 is suppressed will be described.

FIG. 5 is a block diagram showing an elevator control apparatus according to Embodiment 2 of the present invention. Components similar to those described above (see FIG. 1) are denoted by the same reference numerals as those described above or “A” after the reference numerals. "And a detailed description is omitted.
In FIG. 5, the ripple measurement calculator 19A includes a torque current command Iq2 * from the speed controller 6, a current feedback signal Iq from the three-phase / two-phase converter 11, and an angular velocity from the speed / position signal processor 12. ωm and electrical angle phase θe are taken as input information.

  In addition to the elements 14A, 15 and 16 described above, the ripple measurement calculator 19A multiplies the angular velocity ωm by the inertia gain Js to convert it to a torque value, and multiplies the converted torque value by a current gain. And a subtractor 13b that subtracts the current feedback signal (feedback torque current command) Iq and the feedback torque current Id ′ from the torque current command Iq2 *.

The ripple measurement calculator 19A measures the torque ripple generated from the motor 3 based on the torque current command Iq2 *, the current feedback signal Iq, the angular velocity ωm, and the electrical angle phase θe.
In this case, the data storage unit 14A in the ripple measurement computing unit 19A takes in the torque difference signal from the subtractor 13b in addition to the torque current command Iq2 * and the electrical angle phase θe described above.
Further, the ripple compensation value generator 18A in the ripple suppression calculator 20A refers to each table (FIGS. 3 and 4) so that the torque ripple amplitude and phase generated only from the motor 3 are suppressed. A ripple compensation value Iq ** corresponding to the command value is calculated.

Next, a specific processing operation of the elevator control apparatus according to Embodiment 2 of the present invention shown in FIG. 5 will be described.
First, the torque converter 21 and the current converter 22 in the ripple measurement computing unit 19A calculate the feedback torque current value Iq ′ by multiplying the angular velocity ωm of the motor 3 by the inertia gain Js and the current gain.
Subsequently, the subtractor 13b subtracts the current feedback signal (feedback torque current) Iq from the torque current command Iq2 *, and further subtracts the feedback torque current value Iq ′ (= Iq2 * −Iq−Iq ′). ) And is input to the data storage unit 14A.

The data storage 14A stores the torque difference from the subtractor 13b, the torque current command Iq2 *, and the electrical angle phase θe in the data storage 14A for a predetermined time.
Thereafter, in the same manner as described above, the Fourier analyzer 15 performs Fourier analysis using the torque difference (= Iq2 * −Iq′−Iq) and the electrical angle phase θe among the stored data in the data storage 14A, and calculates the ripple. The calculator 16 calculates the amplitude and phase of each frequency component and inputs them to the suppression table generator 17.

Thus, by using the torque difference (= Iq2 * −Iq′−Iq) taking into account the feedback torque current value Iq ′ based on the angular velocity ωm, the torque ripple of the motor 3 in a state including the torque ripple generated from the electric control panel. Can be measured to create a suppression table.
Therefore, in the ripple suppression operation mode using the measured torque ripple value, the torque ripple generated from the motor 3 can be accurately suppressed.
A specific method for suppressing torque ripple is the same as that in the first embodiment.

In FIG. 5, the feedback torque current value Iq ′ is calculated using the angular velocity ωm from the speed / position signal processor 12, but the feedback torque current value Iq ′ (feedback torque) is calculated using the mechanical angle phase θm. It may be calculated.
In this case, the speed / position signal processor 12 calculates the mechanical angle phase θm of the motor 3 and inputs the calculated mechanical angle phase θm to the ripple measurement calculator 19A. The ripple measurement calculator 19A differentiates the mechanical angle phase θm twice to calculate the angle. After the acceleration, the feedback torque is calculated by multiplying the inertia J, and the feedback torque current value Iq ′ is calculated by multiplying the current gain.

As described above, the ripple measurement computing unit 19A in FIG. 5 performs the feedback torque current value Iq ′ calculated from the torque current command Iq2 * (torque command value), the current feedback signal Iq, and the angular velocity ωm (speed feedback signal). And measure torque ripple.
Further, the ripple suppression calculator 20A tabulates the relationship between the torque and the amplitude (FIG. 3) and the relationship between the torque and the phase (FIG. 4) according to the measured torque ripple, and corresponds to the torque command value. Torque ripple is calculated from the table, and torque ripple generated only from the motor 3 is suppressed.

  As a result, as described above, the torque ripple generated from the motor 3 is accurately measured, and the torque ripple is accurately measured even if the electric control panel used for measuring the torque ripple of the motor 3 is different from the electric control panel used in the field. In addition to improving the riding comfort of the elevator, it is possible to reduce costs by eliminating the need for a torque ripple measurement facility.

It is a block block diagram which shows the elevator control apparatus which concerns on Embodiment 1 of this invention. It is a block diagram which shows the elevator control apparatus which concerns on Embodiment 1 of this invention by CPU structure. It is explanatory drawing which shows the suppression table which concerns on Embodiment 1 of this invention. It is explanatory drawing which shows the suppression table which concerns on Embodiment 1 of this invention. It is a block block diagram which shows the elevator control apparatus which concerns on Embodiment 2 of this invention.

Explanation of symbols

  1 cage, 3 motor (permanent magnet synchronous motor), 4 encoder, 5 scale device, 6 speed controller, 7 compensator, 8 2-phase / 3-phase converter, 9 inverter, 10 current detector, 11 3-phase / 2 Phase converter, 12 Speed / position signal processor, 13b Subtractor, 13d, 13q Torque difference calculator, 14, 14A Data storage unit, 15 Fourier analyzer, 16 Ripple calculator, 17 Suppression table generator, 18, 18A Ripple compensation value generator, 19, 19A Ripple measurement calculator, 20, 20A Ripple suppression calculator, 21 Torque converter, 22 Current converter, Id, Iq Current feedback signal, Iq ′ Feedback torque current value, Id *, Iq * Torque current command (torque command value), Iq ** ripple compensation value, SW torque command switch, θe electrical angle phase (speed feedback signal), ωm angular velocity ( Degree feedback signal).

Claims (6)

An elevator control device that drives and controls a permanent magnet synchronous motor coupled to a hoisting machine to raise and lower a car,
Based on a speed command value for the car and a speed feedback signal from the car, a speed controller that generates a torque command value for the permanent magnet synchronous motor and controls the speed of the car;
A current detector for returning the current flowing through the permanent magnet synchronous motor as a current feedback signal;
A voltage controller that generates a voltage command for the permanent magnet synchronous motor based on the torque command value, the speed feedback signal, and the current feedback signal;
An inverter that drives the permanent magnet synchronous motor in response to the voltage command;
A torque difference calculator for calculating a torque difference between the torque command value and the current feedback signal;
A ripple measurement calculator that measures torque ripple generated from at least the permanent magnet synchronous motor based on the torque command value, the speed feedback signal, and the torque difference;
An elevator control device comprising: a ripple suppression calculator that calculates a ripple compensation value corresponding to the torque command value based on the torque ripple. A torque command switching unit for inputting the torque command value to the ripple measurement computing unit in a ripple measurement mode in which the basket is operated at a lower speed than during normal operation;
The ripple measurement calculator includes a data storage unit, a Fourier analyzer, and a ripple calculator.
The data storage device traces and stores the torque command value input via the torque command switch and the input data related to the ripple measurement mode for a predetermined time,
The Fourier analyzer performs Fourier analysis on the data stored in the data storage unit,
The elevator control apparatus according to claim 1, wherein the ripple calculator calculates the torque ripple from data analyzed by the Fourier analyzer. The ripple suppression calculator includes a suppression table generator and a ripple compensation value generator,
The suppression table creator is
A first table in which the relationship between the torque generated from the permanent magnet synchronous motor and the amplitude of the torque ripple is tabulated;
Creating a second table in which the relationship between the torque and the phase of the torque ripple is tabulated;
The ripple compensation value generator calculates a ripple compensation value corresponding to the torque command value so that an amplitude and a phase of the torque ripple are suppressed with reference to the first and second tables. The elevator control device according to claim 1 or 2. An elevator control device that drives and controls a permanent magnet synchronous motor coupled to a hoisting machine to raise and lower a car,
A speed controller that generates a torque command value for the permanent magnet synchronous motor based on a speed command value for the cage and a speed feedback signal from the cage;
A current detector for returning the current flowing through the permanent magnet synchronous motor as the current feedback signal;
A voltage controller that generates a voltage command for the permanent magnet synchronous motor based on the torque command value, the speed feedback signal, and a current feedback signal from the permanent magnet synchronous motor;
An inverter that drives the permanent magnet synchronous motor according to the voltage command;
A ripple measurement calculator that calculates a feedback torque from the current feedback signal and the speed feedback signal, and measures at least a torque ripple generated from the permanent magnet synchronous motor based on the torque command value and the feedback torque;
An elevator control device comprising: a ripple suppression calculator that calculates a ripple compensation value corresponding to the torque command value based on the torque ripple. A torque command switching unit for inputting the torque command value to the ripple measurement computing unit in a ripple measurement mode in which the basket is operated at a lower speed than during normal operation;
The ripple measurement calculator includes a data storage unit, a Fourier analyzer, a ripple calculator, a torque converter, a current converter and a subtractor,
The torque converter multiplies the speed feedback signal by an inertia gain to convert it into a torque value,
The current converter multiplies the torque value by a current gain to convert it into a feedback torque current,
The subtractor subtracts the current feedback signal and the feedback torque from the torque command value to calculate a torque difference;
The data storage unit traces and stores the torque difference, the torque command value input via the torque command switching unit, and input data related to the ripple measurement mode for a predetermined time,
The Fourier analyzer performs Fourier analysis on the data stored in the data storage unit,
The elevator control apparatus according to claim 4, wherein the ripple calculator calculates the torque ripple from data analyzed by the Fourier analyzer. The ripple suppression calculator includes a suppression table generator and a ripple compensation value generator,
The suppression table creator is
A first table in which the relationship between the torque generated from the permanent magnet synchronous motor and the amplitude of the torque ripple is tabulated;
Creating a second table in which the relationship between the torque and the phase of the torque ripple is tabulated;
The ripple compensation value generator refers to the first and second tables, and the ripple corresponding to the torque command value is controlled so that the amplitude and phase of the torque ripple generated only from the permanent magnet synchronous motor are suppressed. The elevator control device according to claim 4 or 5, wherein a compensation value is calculated.

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