JP2008230797A - Control device for elevator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control device for an elevator capable of controlling a motor and a brake mechanism, capable of stably driving a sheave, and capable of performing rescue operation even while a hoisting machine is driven at a low speed. <P>SOLUTION: The control device for the elevator is provided with a control part 14 for controlling operation of the synchronous motor 9 driving the sheave and the brake mechanism 10 braking the sheave respectively, a rotation speed-rotation time magnetic pole position estimating means 16 for estimating a rotation speed and a magnetic pole position of the rotor in rotation from an electric signal of an armature coil of the synchronous motor 9, a stop time magnetic pole position estimating means 17 for estimating the magnetic pole position in stopping from the electric signal of the armature coil, and a first comparison means 24 for comparing the magnitude between induced voltage generated in the armature coil by rotation of the rotor and voltage lowering in the armature coil by supply of armature current. When the induced voltage is lower than voltage lowering, the control part 14 stops driving of the sheave by the synchronous motor 9, and brakes the sheave by the brake mechanism 10. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an elevator control device including a control unit that controls operations of an electric motor and a braking mechanism.

  Conventionally, the rotational speed and the magnetic pole of the electric motor from the electric signals from the control unit for controlling the operation of the electric motor for driving the sheave and the braking mechanism for braking the sheave and the encoder for detecting the magnetic pole position of the electric motor. A rotation speed and magnetic pole position detection means for detecting a position; and a magnetic pole position estimation means at a stop time for estimating the magnetic pole position when the electric motor is stopped by an electric signal from the electric motor. 2. Description of the Related Art An elevator control device is known that controls operations of the electric motor and the control mechanism using a speed signal and a magnetic pole position signal (see, for example, Patent Document 1).

Japanese Patent Laid-Open No. 11-60103

However, in this case, when the encoder fails and the rescue operation of the car is started, the magnetic pole position of the motor during the rescue operation is not estimated, and it is difficult to drive the sheave stably. was there.
Further, even when the rotation speed and magnetic pole position estimation means for estimating the rotation speed and magnetic pole position during rotation of the electric motor are further provided, while the hoisting machine is driven at a low speed, the rotation of the rotor The value of the induced voltage generated in the armature winding due to this is small, so the accuracy of the estimated magnetic pole position is poor, and it is difficult to control the electric motor using this magnetic pole position and drive the sheave stably. It was.

  An object of the present invention is to solve the above-described problems. The purpose of the present invention is to provide an electric motor and a braking mechanism, respectively, even while the hoisting machine is driven at a low speed. Thus, an elevator control device that can control the operation of the vehicle and stably drive the sheave to perform a rescue operation is provided.

  The elevator control device according to the present invention includes: a motor that drives a sheave; a control unit that controls the operation of a braking mechanism that brakes the sheave; and an electric signal of an armature winding of the motor. A rotational speed / rotational magnetic pole position estimating means for estimating the rotational speed and magnetic pole position of the rotor during rotation of the rotor; and the magnetic pole position when the rotor is stopped from an electric signal of the armature winding And a control unit for an elevator that controls the operations of the electric motor and the braking mechanism using the rotational speed signal and the magnetic pole position signal, respectively. The induced voltage generated in the armature winding as the rotor rotates and the voltage drop generated in the armature winding as the armature current flows. First control means for comparing the two, the control unit stops driving the sheave by the electric motor and brakes the sheave by the braking mechanism when the induced voltage is smaller than the voltage drop. When the induced voltage is larger than the voltage drop, the electric motor drives the sheave using the rotational speed signal and the magnetic pole position signal estimated by the rotational speed / rotational magnetic pole position estimating means. .

  Further, the elevator control device according to the present invention includes an electric motor that drives the sheave and a control unit that controls the operation of each braking mechanism that brakes the sheave, and an electric signal of the armature winding of the electric motor, The rotational speed / magnetic pole position estimating means for estimating the rotational speed and magnetic pole position of the rotor during rotation of the rotor of the electric motor, and the electric signal of the armature winding from the electric signal of the armature winding, when the rotor is stopped Elevator control for controlling the respective operations of the electric motor and the braking mechanism using the rotational speed signal and the magnetic pole position signal using the rotational speed signal and the magnetic pole position signal. In the apparatus, a voltage drop generated in the armature winding due to an induced voltage and an armature current flowing in the armature winding caused by rotation of the rotor First comparing means for comparing the magnitudes of the two, the control unit causes the electric motor to start driving the sheave using the magnetic pole position signal estimated by the stationary magnetic pole position estimating means, When the induced voltage becomes larger than the voltage drop, the sheave is driven by the electric motor using the rotational speed signal and the magnetic pole position signal estimated by the rotational speed / magnetic pole position estimating means during rotation. Let

  Further, the elevator control device according to the present invention includes an electric motor that drives the sheave and a control unit that controls the operation of each braking mechanism that brakes the sheave, and an electric signal of the armature winding of the electric motor, The rotational speed / magnetic pole position estimating means for estimating the rotational speed and magnetic pole position of the rotor during rotation of the rotor of the electric motor, and the electric signal of the armature winding from the electric signal of the armature winding, when the rotor is stopped A stationary magnetic pole position estimating means for estimating the magnetic pole position, and the control unit controls the operation of each of the electric motor and the braking mechanism using the rotational speed signal and the magnetic pole position signal. In the elevator control device, a voltage drop generated in the armature winding due to an induced voltage and an armature current flowing in the armature winding as the rotor rotates. First comparing means for comparing the size of the car, and second comparing means for comparing the size of the total weight of the car and the weight of the counterweight, wherein the control unit includes the total weight of the car and the counterweight. When the weight of the weight does not balance, the braking of the sheave by the braking mechanism is released, and the elevator starts to move up and down, and when the induced voltage becomes larger than the voltage drop, the rotational speed The sheave is driven by the electric motor using the rotational speed signal and the magnetic pole position signal estimated by the rotating magnetic pole position estimating means.

  Further, the elevator control device according to the present invention includes an electric motor that drives the sheave and a control unit that controls the operation of each braking mechanism that brakes the sheave, and an electric signal of the armature winding of the electric motor, The rotational speed / magnetic pole position estimating means for estimating the rotational speed and magnetic pole position of the rotor during rotation of the rotor of the electric motor, and the electric signal of the armature winding from the electric signal of the armature winding, when the rotor is stopped A stationary magnetic pole position estimating means for estimating the magnetic pole position, and the control unit controls the operation of each of the electric motor and the braking mechanism using the rotational speed signal and the magnetic pole position signal. The elevator control device further includes a third comparison unit that compares the rotational speed with a predetermined speed, and the control unit is configured such that when the rotational speed is smaller than the predetermined speed, When the driving of the sheave by the motor is stopped, the sheave is braked by the braking mechanism, and the rotational speed is greater than the predetermined speed, the rotational speed / magnetic pole position estimation means during rotation is estimated. The electric motor drives the sheave using the rotational speed signal and the magnetic pole position signal.

  Further, the elevator control device according to the present invention includes an electric motor that drives the sheave and a control unit that controls the operation of each braking mechanism that brakes the sheave, and an electric signal of the armature winding of the electric motor, The rotational speed / magnetic pole position estimating means for estimating the rotational speed and magnetic pole position of the rotor during rotation of the rotor of the electric motor, and the electric signal of the armature winding from the electric signal of the armature winding, when the rotor is stopped Elevator control for controlling the respective operations of the electric motor and the braking mechanism using the rotational speed signal and the magnetic pole position signal using the rotational speed signal and the magnetic pole position signal. The apparatus further comprises third comparing means for comparing the rotational speed with a predetermined speed, and the control unit is estimated by the stop-time magnetic pole position estimating means. Using the signal of the pole position, the driving of the sheave by the electric motor is started, and when the rotational speed becomes larger than the predetermined speed, the rotational speed / rotational magnetic pole position estimating means is estimated Using the rotational speed signal and the magnetic pole position signal, the electric motor drives the sheave.

  The elevator control device according to the present invention includes a control unit that controls the operation of each of the electric motor that drives the sheave and the braking mechanism that brakes the sheave, and the electric power of the armature winding of the electric motor. Rotational speed / rotational magnetic pole position estimating means for estimating the rotational speed and magnetic pole position of the rotor when the rotor of the electric motor rotates from the signal, and stopping of the rotor from the electrical signal of the armature winding And a magnetic pole position estimating means at the time of stopping, and the control unit controls each operation of the electric motor and the braking mechanism using the signal of the rotation speed and the signal of the magnetic pole position. And a third comparison means for comparing the rotational speed with a predetermined speed, and for comparing the total weight of the car with the weight of the counterweight. Second control means, and the control unit releases the braking of the sheave by the braking mechanism when the total weight of the car and the weight of the counterweight are not balanced, and the raising and lowering of the car When the rotational speed becomes greater than the predetermined speed, the rotational speed and rotational magnetic pole position estimating means estimated by the rotational speed / rotational magnetic pole position estimating means are used for the motor. The sheave is driven.

  Further, the elevator control device according to the present invention includes an electric motor that drives the sheave and a control unit that controls the operation of each braking mechanism that brakes the sheave, and an electric signal of the armature winding of the electric motor, The rotational speed / magnetic pole position estimating means for estimating the rotational speed and magnetic pole position of the rotor during rotation of the rotor of the electric motor, and the electric signal of the armature winding from the electric signal of the armature winding, when the rotor is stopped Elevator control for controlling the respective operations of the electric motor and the braking mechanism using the rotational speed signal and the magnetic pole position signal using the rotational speed signal and the magnetic pole position signal. In the apparatus, the apparatus includes a landing plate detecting means for detecting that the car has approached the landing plate, and the control unit, when the car has approached the landing plate, It stops driving of the sheave by the electric motor to brake the sheave by the braking mechanism.

  According to the elevator control device of the present invention, even when the sheave is being driven at a low speed, the electric motor and the braking mechanism are controlled so that the sheave is stably driven to perform the rescue operation. can do.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding members and parts will be described with the same reference numerals.
Embodiment 1 FIG.
FIG. 1 is an overall configuration diagram of an elevator 1, and FIG. 2 is a block diagram of an elevator control device 7 according to a first embodiment.
The elevator 1 has a car 3 that moves up and down in the hoistway 2, a rope 4 having one end connected to the car 3, and the other end of the rope 4 is connected, and moves up and down in the reverse direction in conjunction with the car 3. Traction equipped with a counterweight 5, a hoisting machine 6 that lifts and lowers the car 3 and the counterweight 5 when the rope 4 is wound and rotated, and an elevator control device 7 that controls the driving of the hoisting machine 6. It is a type elevator.

The hoisting machine 6 includes a rotatable sheave 8 around which the rope 4 is wound, a synchronous motor 9 that is provided coaxially with the sheave 8 and rotates the sheave 8, and a braking mechanism that brakes the sheave 8. 10.
The sheave 8 is provided with an encoder 11 that detects the rotation speed and rotation angle of the sheave 8. The encoder 11 detects the rotation speed and rotation angle, which will be described later. To enter.
The car 3 is provided with car load detecting means 12 for measuring the weight of the object to be detected inside the car 3.
On the side wall of the hoistway 2, a landing plate 13 is provided at a position corresponding to the height of the landing on each floor.

The elevator control device 7 is configured to rotate the synchronous motor 9 based on a control unit 14 that controls the operation of the synchronous motor 9 and the braking mechanism 10, and a rotational speed signal and a rotational angle signal of the sheave 8 input from the encoder 11. Rotational speed / magnetic pole position detecting means 15 for detecting the rotational speed and magnetic pole position of the child, and the rotational speed for estimating the rotational speed and magnetic pole position of the rotor of the synchronous motor 9 at the time of rotation based on electric signals from the synchronous motor The rotating magnetic pole position estimating means 16 and the stationary magnetic pole position estimating means 17 for estimating the magnetic pole position of the rotor of the synchronous motor 9 at the time of stopping by the electric signal from the synchronous motor 9 and the car 3 are attached to the landing plate 13. And a landing plate detecting means 18 for detecting the approach.
The control unit 14 inputs a voltage command to the power converter 19 to control the synchronous motor 9, and inputs a current command to the current controller 20 to control the rotation speed of the synchronous motor 9. A speed controller 21 and a braking mechanism controller 22 that controls the operation of the braking mechanism 10 are provided.
An electric signal input from the power converter 19 to the synchronous motor 9 is input to the current controller 20, and a voltage command is input to the power converter 19 again, and the synchronous motor 9 is feedback-controlled.

The rotational speed / rotational magnetic pole position estimating means 16 estimates the rotational speed and magnetic pole position of the rotor based on the value of the induced voltage generated in the armature winding due to the rotation of the rotor of the synchronous motor 9.
The rotational speed / rotational magnetic pole position estimating means 16 is electrically connected to the current controller 20 and the speed controller 21, and the estimated rotational speed signal is input to the speed controller 21 and estimated. The signal of the magnetic pole position is input to the current controller 20, and the synchronous motor 9 is feedback controlled.
When the rotational speed of the rotor is slow and the value of the induced voltage is smaller than the value of the voltage drop caused by the armature current flowing through the armature winding, the rotational speed / magnetic pole position estimation means 16 during rotation A large error is included in the rotational speed value and the magnetic pole position value estimated by.

The stopping magnetic pole position estimating means 17 is a magnetic pole position when the rotor is stopped based on an inductance value measured by energizing the armature winding for a predetermined time while the rotor is stopped. Is estimated.
Moreover, the magnetic pole position estimation means 17 at the time of a stop is electrically connected with the current controller 20, The signal of the estimated magnetic pole position is input into the current controller 20, and the synchronous motor 9 is feedback-controlled.

The car load detection means 12 is electrically connected to a rotation speed / braking pattern generation means 23, a rotation speed / magnetic pole position detection means 15, and a destination notification means (not shown) for notifying the destination of the car 3. Yes.
The weight signal of the detected object inside the car 3 detected by the car load detecting means 12, the current car 3 position information detected by the rotational speed / magnetic pole position detecting means 15, and the next stop position information. Based on the above, the rotational speed / braking pattern generation means 23 generates the rotational speed and braking pattern of the sheave 8.
The rotational speed / braking pattern generation means 23 inputs a rotational speed signal to the speed controller 21 and inputs a braking pattern signal to the braking mechanism controller 22.

  The elevator control device 7 is electrically connected to the speed controller 21 and the braking mechanism controller 22, and compares the magnitude of the induced voltage value and the voltage drop value of the armature winding with a first comparison. Means 24 is electrically connected to the speed controller 21 and the braking mechanism controller 22, and is balanced with the total weight of the car 3 based on the weight signal of the detected object inside the car 3 from the car load detecting means 12. A second comparison means 25 is provided for comparing the size with the weight 5 or determining that the weight 5 is balanced.

Next, a rescue operation for evacuating passengers inside the car 3 when the encoder 11 breaks down will be described.
FIG. 3 is a flowchart showing the procedure of the rescue operation when the elevator control device 7 according to the first embodiment is used. FIGS. 4 and 5 show the speed of the car 3 and the braking pattern of the braking mechanism 10 during the rescue operation. FIG.
When the encoder 11 fails (step S1), the rotation speed / magnetic pole position detection means 15 detects the failure, and the control unit 14 stops driving the sheave 8 by the synchronous motor 9 and controls the braking mechanism 10. The sheave 8 is braked to urgently stop the car 3 that is moving up and down. At this time, the traveling direction of the car 3 before the emergency stop is stored (step S2).
After the emergency stop of the car 3, whether or not there is an abnormality in each part of the elevator 1 other than the encoder 11 is confirmed (step S3), and if there is no abnormality, the passenger inside the car 3 is retreated out of the car 3 Then, the rescue operation of moving from the position of the stopped car 3 to the nearest floor is started.

FIG. 4 shows the speed of the car 3 and the braking pattern of the braking mechanism 10 when one of the total weight of the car 3 and the weight of the counterweight 5 is heavier than the other. The section I in FIG. 2 shows the speed of the car 3 and the state of the brake mechanism 10 when the brake mechanism 10 brakes and stops the sheave 8 before the start of.
First, the car load detecting means 12 measures the weight of the detected object inside the car 3, and the second comparing means 25 compares or balances the total weight of the car 3 with the weight of the counterweight 5. (Step S4).
If it is determined in step S4 that one of the total weight of the car 3 and the weight of the counterweight 5 is heavier than the other, the rotational speed / braking pattern generating means 23 determines whether the car 3 and the counterweight 5 are The driving direction of the car 3 is determined so that the heavier one descends, and the speed pattern of the car 3 when moving the car 3 to the nearest floor along the driving direction is determined (step S5). .
At this time, since the encoder 11 is out of order, the magnetic pole position signal input from the rotational speed / magnetic pole position detecting means 15 cannot be used, and the rotational speed / braking pattern generating means 23 The position cannot be detected. As a result, since the moving distance of the car 3 is unknown, the rotational speed / braking pattern generating means 23 can stop the rotational speed of the sheave 8 immediately by the braking mechanism 10. The rotation speed is low.

The section II in FIG. 4 switches the braking mechanism 10 from the braking state to the open state, and the speed of the car 3 when the car 3 starts to move from the difference between the total weight of the car 3 and the weight of the counterweight 5. The operation of the braking mechanism 10 is shown.
When either one of the total weight of the car 3 and the weight of the counterweight 5 is heavier than the other, when the braking of the sheave 8 by the braking mechanism 10 is switched to release, the raising / lowering of the car 3 is started (step S6).
At this time, no current for rotating the sheave 8 flows through the synchronous motor 9.
Immediately after the sheave 8 begins to rotate, the rotational speed of the rotor is low, so that the value of the induced voltage generated in the armature winding is smaller than the value of the voltage drop generated in the armature winding. As a result, the rotational speed signal and the magnetic pole position signal estimated by the rotational speed / rotational magnetic pole position estimating means 16 contain many errors. Therefore, without using these signals, the control unit 14 does not operate the synchronous motor 9 and continues to move up and down due to the difference between the total weight of the car 3 and the weight of the counterweight 5.

The section III in FIG. 4 shows the speed of the car 3 and the state of the braking mechanism 10 when the value of the induced voltage generated in the armature winding is larger than the value of the voltage drop generated in the armature winding. .
When the rotation speed of the rotor increases and the value of the induced voltage generated in the armature winding becomes larger than the value of the voltage drop generated in the armature winding, the first comparison means 24 detects it, The control unit 14 feedback-controls the operations of the synchronous motor 9 and the braking mechanism 10 using the rotational speed signal and the magnetic pole position signal estimated by the rotational speed / rotational magnetic pole position estimating means 16 (step S7).

In the section IV in FIG. 4, the speed of the car 3 and the braking mechanism when the driving of the sheave 8 by the synchronous motor 9 is stopped and the movement of the car 3 is stopped are switched from the open state to the braking state. 10 operations are shown.
When the car 3 moves and approaches the landing plate 13, the landing plate detecting means 18 detects this, stops driving the sheave 8 by the synchronous motor 9, and brakes the sheave 8 by the braking mechanism 10 ( Step S8).
After the landing plate detecting means 18 detects that the car 3 has approached the landing plate 13, the rotation of the sheave 8 by the synchronous motor 9 is decelerated, and the induced voltage generated in the armature winding is reduced. When the value becomes smaller than the value of the voltage drop generated in the armature winding, the sheave 8 may be braked by the braking mechanism 10 to stop the rotation.
After the arrival of the car 3 is confirmed, the door is opened, and the passenger inside the car 3 retreats outside (step S9).

Next, the case where it is determined in step S4 that the total weight of the car 3 and the weight of the counterweight 5 are balanced will be described.
FIG. 5 shows the speed of the car 3 and the braking pattern of the braking mechanism 10 when the total weight of the car 3 and the weight of the counterweight 5 are balanced. The section I in FIG. 5 shows the speed of the car 3 and the state of the braking mechanism 10 when the braking mechanism 10 brakes and stops the sheave 8.
First, when the total weight of the car 3 and the weight of the counterweight 5 are balanced in step S4, the magnetic pole position of the rotor is estimated by the stop-time magnetic pole position estimating means 17 (step S10).
In the rotational speed / braking pattern generation means 23, the driving direction of the car 3 is determined so as to be opposite to the traveling direction of the car 3 before the emergency stop stored in step S2, and the car 3 is driven along the driving direction. The speed pattern of the car 3 is determined when moving to the nearest floor (step S11).
At this time, the rotational speed of the sheave 8 is low enough that the braking mechanism 10 can immediately stop the rotation of the sheave 8.

The section II in FIG. 5 switches the braking mechanism 10 from the braking state to the released state, controls the operation of the synchronous motor 9 to rotate the sheave 8, and the speed of the car 3 when the car 3 starts to move. The operation of the braking mechanism 10 is shown.
In a state where the sheave 8 is braked by the braking mechanism 10, the synchronous motor 9 is energized, and then the braking of the sheave 8 by the braking mechanism 10 is switched to release, and the magnetic pole position signal in step S 10 and the car 3 in step 11 Based on the speed pattern, a start voltage command having an appropriate phase is input to the synchronous motor 9 to start raising and lowering the car 3 (step S12).
Immediately after the sheave 8 begins to rotate, the rotational speed of the rotor is low, so that the value of the induced voltage generated in the armature winding is smaller than the value of the voltage drop generated in the armature winding. As a result, the rotational speed signal and the magnetic pole position signal estimated by the rotational speed / rotational magnetic pole position estimating means 16 contain many errors. Therefore, without using these signals, the control unit 14 operates the synchronous motor 9 with a preset value and does not perform feedback control.
When the sheave 8 starts to be driven by the synchronous motor 9, the current input to the synchronous motor 9 is reduced. By reducing the current, the voltage drop generated in the armature winding is reduced, and when the sheave 8 rotates due to inertia, the value of the induced voltage generated in the armature winding is generated in the armature winding. It becomes larger than the voltage drop value.

The section III in FIG. 5 shows the speed of the car 3 and the state of the braking mechanism 10 when the value of the induced voltage generated in the armature winding is larger than the value of the voltage drop generated in the armature winding. .
When the rotation speed of the rotor increases and the value of the induced voltage generated in the armature winding becomes larger than the value of the voltage drop generated in the armature winding, the first comparison means 24 detects it, The control unit 14 feedback-controls the operation of the synchronous motor 9 and the braking mechanism 10 using the rotational speed signal and the magnetic pole position signal estimated by the rotational speed / rotational magnetic pole position estimating means 16 (step S13).

In the section IV in FIG. 5, the speed of the car 3 and the braking mechanism when the braking mechanism 10 is switched from the open state to the braking state, the driving of the sheave 8 by the synchronous motor 9 is stopped, and the movement of the car 3 is stopped. 10 operations are shown.
When the car 3 moves and approaches the landing plate 13, the landing plate detecting means 18 detects this, stops driving the sheave 8 by the synchronous motor 9, and brakes the sheave 8 by the braking mechanism 10 ( Step S14).
After the landing plate detecting means 18 detects that the car 3 has approached the landing plate 13, the rotation of the sheave 8 by the synchronous motor 9 is decelerated, and the induced voltage generated in the armature winding is reduced. When the value becomes smaller than the value of the voltage drop generated in the armature winding, the sheave 8 may be braked by the braking mechanism 10 to stop the rotation.
After the arrival of the car 3 is confirmed, the door is opened, and the passenger inside the car 3 retreats outside (step S15).

  As described above, according to the elevator control device 7 according to the first embodiment, the induced voltage generated in the armature winding of the synchronous motor 9 is compared with the voltage drop generated in the armature winding. When the value of the induced voltage is smaller than the value of the voltage drop, the driving of the sheave 8 by the synchronous motor 9 is stopped and the sheave 8 is braked by the braking mechanism 10, while the induced voltage When the value is larger than the voltage drop value, the sheave 8 is driven by the synchronous motor 9 using the rotational speed signal and the magnetic pole position signal estimated by the rotational speed / rotational magnetic pole position estimating means 16. Even while the upper machine 6 is driven at a low speed, the rescue operation can be performed by controlling the operations of the synchronous motor 9 and the braking mechanism 10 to drive the sheave 8 stably. it can.

  Further, when the synchronous motor 9 is started to drive the sheave 8 by using the magnetic pole position signal estimated by the stop magnetic pole position estimating means 17, the induced voltage of the armature winding becomes larger than the voltage drop. Since the synchronous motor 9 drives the sheave 8 using the rotational speed signal and the magnetic pole position signal estimated by the rotational speed / rotational magnetic pole position estimating means 16, the rescue operation can be performed stably.

  Further, when one of the total weight of the car 3 and the weight of the counterweight 5 is heavier than the other, the heavier one is moved downward, and when the induced voltage of the armature winding becomes larger than the voltage drop, the rotation is performed. Since the synchronous motor 9 drives the sheave 8 using the rotational speed signal and the magnetic pole position signal estimated by the speed / rotation magnetic pole position estimating means 16, the rescue operation can be performed stably.

  Further, a landing plate detecting means 18 for detecting that the car 3 approaches the landing plate 13 is provided. When the car 3 moves up and down and approaches the landing plate 13, the synchronous motor 9 drives the sheave 8. Is stopped, and the sheave 8 is braked by the brake mechanism 10, so that the car 3 during the rescue operation can be stably stopped at the target position.

In the first embodiment, the magnitude of the induced voltage value generated in the armature winding by the synchronous motor 9 driving the sheave 8 and the value of the voltage drop generated in the armature winding are compared. The elevator control device 7 having the first comparing means 24 is described. However, the rotational speed of the rotor of the synchronous motor 9, the value of the induced voltage generated in the armature winding, and the armature winding are generated. The elevator control device 7 may be provided with a third comparison unit that compares the magnitude of the voltage drop with a predetermined speed of the rotor when the value of the voltage drop becomes equal.
In this case, when the rotational speed of the rotor is smaller than a predetermined speed, the driving of the sheave 8 by the synchronous motor 9 is stopped, and the sheave 8 is braked by the braking mechanism 10, while the rotational speed of the rotor is When the speed is greater than the predetermined speed, the sheave 8 is driven by the synchronous motor 9 using the rotational speed signal and the magnetic pole position signal estimated by the rotational speed / magnetic pole position estimating means 16 during rotation. In particular, the sheave 8 can be driven stably by controlling the operations of the synchronous motor 9 and the braking mechanism 10 even while the hoisting machine 6 is driven at a low speed.
Further, when the synchronous motor 9 starts driving the sheave 8 and the rotational speed of the rotor becomes larger than a predetermined speed, the rotational speed signal estimated by the rotational speed / rotational magnetic pole position estimating means 16 and Since the sheave 8 is driven by the synchronous motor 9 using the magnetic pole position signal, the rescue operation can be performed stably.
Further, when either the total weight of the car 3 or the weight of the counterweight 5 is heavier than the other, the heavier one is moved downward, and the rotational speed becomes higher when the rotational speed of the rotor becomes higher than a predetermined speed. Since the synchronous motor 9 drives the sheave 8 using the rotational speed signal and the magnetic pole position signal estimated by the rotating magnetic pole position estimating means 16, the rescue operation can be performed stably.

Embodiment 2. FIG.
FIG. 6 is a block diagram of the elevator control device 7 according to the second embodiment.
In the elevator control device 7 according to the second embodiment, the rotation speed / magnetic pole position estimation means 16 estimates the rotation speed and the magnetic pole position, and integrates the estimated rotation speed with time, thereby Calculate the travel distance.
The rotational speed / rotational magnetic pole position estimating means 16 is electrically connected to the rotational speed / braking pattern generating means 23, and the travel distance of the car 3 calculated by the rotational speed / rotational magnetic pole position estimating means 16 is calculated. The signal is input to the rotational speed / braking pattern generation means 23.
Other configurations are the same as those in the first embodiment.

Next, a procedure for performing a temporary restoration operation in order to repair the encoder 11 and restore the elevator 1 after the encoder 11 breaks down and performs a rescue operation will be described.
FIG. 7 is a flowchart showing the procedure of the temporary recovery operation, FIG. 8 is a diagram showing the speed of the car 3 and the braking pattern of the braking mechanism 10 during the temporary recovery operation, and FIG. It is the figure which showed the speed and the moving distance of the cage | basket | car 3.
First, the weight of the detected object inside the car 3 is detected by the car load detecting means 12 (step S1).
Next, the position of the stopped car 3 is detected from the landing plate detection means 18 (step S2), and the magnetic pole position of the rotor of the synchronous motor 9 is detected by the stop magnetic pole position estimation means 17 (step S3). ).
The section I in FIG. 8 shows the speed of the car 3 and the state of the braking mechanism 10 before the start of the temporary restoration operation.
Based on the movement distance and movement direction calculated from the signal of the movement destination of the car 3 notified by the movement destination notification means (not shown) and the signal of the position of the car 3 being stopped, the rotational speed / braking pattern generation means 23 Determines the driving direction and the speed pattern (step S4).
The speed pattern is the same as the normal operation of the elevator 1.

In the section II in FIG. 8, the speed of the car 3 when the car 3 starts to move by switching the braking mechanism 10 from the braking state to the open state, controlling the operation of the synchronous motor 9 to rotate the sheave 8, and The operation of the braking mechanism 10 is shown.
In a state where the sheave 8 is braked by the braking mechanism 10, the synchronous motor 9 is energized, the braking of the sheave 8 by the braking mechanism 10 is switched to open, and the sheave 8 is driven by the synchronous motor 9 (step S5). ).
Immediately after the sheave 8 begins to rotate, the rotational speed of the rotor is low, so that the value of the induced voltage generated in the armature winding is smaller than the value of the voltage drop generated in the armature winding. As a result, the rotational speed value and the magnetic pole position value estimated by the rotational speed / magnetic pole position estimating means 16 include a lot of errors. Therefore, without using these values, the control unit 14 operates the synchronous motor 9 with a preset value and does not perform feedback control.
When the sheave 8 starts to be driven by the synchronous motor 9, the current input to the synchronous motor 9 is reduced. By reducing the current, the voltage drop generated in the armature winding is reduced, and when the sheave 8 rotates due to inertia, the value of the induced voltage generated in the armature winding is generated in the armature winding. It becomes larger than the voltage drop value.

Section III in FIG. 8 shows the speed of the car 3 and the state of the braking mechanism 10 when the value of the induced voltage generated in the armature winding is larger than the value of the voltage drop generated in the armature winding. .
When the rotational speed of the sheave 8 increases and the value of the induced voltage generated in the armature winding becomes larger than the value of the voltage drop generated in the armature winding, the first comparison means 24 detects it. The control unit 14 feedback-controls the operations of the synchronous motor 9 and the braking mechanism 10 using the rotational speed signal and the magnetic pole position signal estimated by the rotational speed / rotational magnetic pole position estimating means 16 (step S6). .

In the section IV in FIG. 8, the speed of the car 3 and the braking mechanism when the driving of the sheave 8 by the synchronous motor 9 is stopped and the movement of the car 3 is stopped are switched from the open state to the braking state. 10 operations are shown.
The moving speed of the car 3 is calculated by the rotating speed / magnetic pole position estimating means 16, and the rotating speed / braking pattern generating means 23 determines that the moving distance has approached the planned moving distance calculated in step S4. The control unit 14 reduces the rotational speed of the sheave 8.
When the rotational speed of the rotor decreases and the induced voltage generated in the armature winding becomes smaller than the voltage drop generated in the armature winding, the first comparison means 24 detects it and the sheave by the synchronous motor 9 8 is stopped, and the sheave 8 is braked by the braking mechanism 10 (step S7).

FIG. 9 is a diagram showing the speed of the car 3 and the moving distance of the car 3 when the sheave 8 is stopped and the sheave 8 is braked by the braking mechanism 10.
In the figure, the car speed Va indicates the speed of the car 3 when the sheave 8 is stopped using the speed pattern of the normal operation, and the car speed Vb indicates the sheave 8 using the speed pattern of the temporary restoration operation. The speed of the car 3 when the car is stopped is shown.
When the rotational speed of the rotor decreases and the value of the induced voltage generated in the armature winding becomes smaller than the value of the voltage drop generated in the armature winding, the sheave 8 stops suddenly, so the speed pattern of normal operation When the sheave 8 is stopped by using, the vehicle is stopped by ΔX from the planned position of the car 3 like the car speed Va.
The elevator controller 7 determines that the car 3 is a target position based on the driving speed of the sheave 8 by the synchronous motor 9, the braking distance of the car 3 by the braking mechanism 10, and the planned moving distance of the car 3. So that the sheave 8 can be stopped at a slower speed than the normal driving speed pattern.
When the car 3 stops at the target position, the door is opened (step S8).

  As described above, according to the elevator control device 7 according to the second embodiment, the rotational speed / rotational magnetic pole estimating means 16 estimates the rotational speed and the magnetic pole position, and integrates the estimated rotational speed with time. Thus, the moving distance of the car 3 is calculated, and the rotation speed / braking pattern generation means 23 calculates the current position of the car 3 using the estimated moving distance of the car 3, so that the encoder 11 has failed. Even in this case, the car 3 can be moved to an arbitrary position.

  Further, based on the driving speed of the sheave 8 by the synchronous motor 9, the braking distance of the car 3 by the braking mechanism 10, and the planned moving distance of the car 3, the car 3 can be stopped at the target position. Since the deceleration of the rotational speed of the sheave 8 starts slower than the speed pattern of the normal operation, the moving speed of the car 3 is reduced, the rotational speed of the rotor is lowered, and the induction generated in the armature winding When the sheave 8 suddenly stops because the voltage is smaller than the voltage drop generated in the armature winding, the car 3 can stop at the target position.

In each of the above embodiments, the magnitude of the induced voltage generated in the armature winding due to the rotation of the rotor and the voltage drop generated in the armature winding due to the armature current flowing through the armature winding is small. The elevator control device 7 having the first comparison means 24 for comparing the above has been described, but the third comparison means for comparing the rotational speed of the rotor and the predetermined speed V is provided to rotate the rotor. When the speed is lower than the predetermined speed V, the rotational speed value and the magnetic pole position value estimated by the rotational speed / magnetic pole position estimating means 16 are not used, and the rotational speed of the rotor is conversely set to the predetermined speed. When it is larger than V, the elevator controller 7 may control the operation of the synchronous motor 9 using these values.
However, the predetermined speed V in this case is the rotational speed of the rotor when the induced voltage becomes larger than the voltage drop.

  Moreover, although each said embodiment demonstrated the elevator 1 provided with the synchronous motor 9, the elevator provided with the induction motor may be sufficient, for example.

  In each of the above embodiments, a traction type elevator has been described. However, for example, a winding drum type elevator may be used. Moreover, although roping is not demonstrated, any of 1: 1, 1: 2, etc. may be sufficient.

It is a whole block diagram of an elevator. 1 is a block diagram of an elevator control device according to Embodiment 1. FIG. It is a flowchart figure which shows the procedure of the rescue operation when using the control apparatus for elevators of FIG. FIG. 4 is a diagram showing the speed of the car and the braking pattern of the braking mechanism when one of the total weight of the car and the weight of the counterweight is heavier than the other during the rescue operation of FIG. 3. FIG. 4 is a diagram showing the speed of the car and the braking pattern of the braking mechanism when the total weight of the car and the weight of the counterweight are balanced during the rescue operation of FIG. 3. 6 is a block diagram of an elevator control device according to Embodiment 2. FIG. It is a flowchart figure which shows the procedure of temporary restoration driving | operation when the control apparatus for elevators of FIG. 6 is used. It is the figure which showed the speed of the cage | basket | car and the braking pattern of a braking mechanism at the time of the temporary restoration driving | operation of FIG. It is the figure which showed the speed of the cage | basket | car, and the moving distance of the cage | basket | car at the time of the temporary restoration driving | operation of FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Elevator, 2 Hoistway, 3 Car, 4 Rope, 5 Counterweight, 6 Hoisting machine, 7 Elevator control device, 8 Sheave, 9 Synchronous motor, 10 Braking mechanism, 11 Encoder, 12 Car load detection means, 13 Landing plate, 14 control unit, 15 rotational speed / magnetic pole position detection means, 16 rotational speed / magnetic pole position estimation means during rotation, 17 magnetic pole position estimation means during stop, 18 landing plate detection means, 19 power converter, 20 current Controller, 21 Speed controller, 22 Braking mechanism controller, 23 Rotational speed / braking pattern generating means, 24 First comparing means, 25 Second comparing means, 26 Induced voltage detecting means, 27 Voltage drop detecting means

Claims (8)

A control unit for controlling the operation of each of the electric motor that drives the sheave and the braking mechanism that brakes the sheave;
From the electrical signal of the armature winding of the electric motor, a rotational speed / rotational magnetic pole position estimating means for estimating the rotational speed and magnetic pole position of the rotor when the rotor of the electric motor rotates,
A stationary magnetic pole position estimating means for estimating the magnetic pole position when the rotor is stopped from an electrical signal of the armature winding;
In the elevator control device, wherein the control unit controls the operations of the electric motor and the braking mechanism using the rotation speed signal and the magnetic pole position signal,
A first comparing means for comparing the magnitude of an induced voltage generated in the armature winding as the rotor rotates and a voltage drop generated in the armature winding as an armature current flows;
When the induced voltage is smaller than the voltage drop, the control unit stops driving the sheave by the electric motor, brakes the sheave by the braking mechanism, and the induced voltage is larger than the voltage drop. The elevator control apparatus further causes the electric motor to drive the sheave using the rotational speed signal and the magnetic pole position signal estimated by the rotational speed / rotational magnetic pole position estimating means. A control unit for controlling the operation of each of the electric motor that drives the sheave and the braking mechanism that brakes the sheave;
From the electrical signal of the armature winding of the electric motor, a rotational speed / rotational magnetic pole position estimating means for estimating the rotational speed and magnetic pole position of the rotor when the rotor of the electric motor rotates,
A stationary magnetic pole position estimating means for estimating the magnetic pole position when the rotor is stopped from an electrical signal of the armature winding;
In the elevator control device, wherein the control unit controls the operations of the electric motor and the braking mechanism using the rotation speed signal and the magnetic pole position signal,
A first comparing means for comparing the magnitude of an induced voltage generated in the armature winding as the rotor rotates and a voltage drop generated in the armature winding as an armature current flows;
The control unit causes the electric motor to start driving the sheave using the signal of the magnetic pole position estimated by the magnetic pole position estimating means at the time of stop, and when the induced voltage becomes larger than the voltage drop. An elevator control device that causes the electric motor to drive the sheave using the rotational speed signal and the magnetic pole position signal estimated by the rotational speed / rotational magnetic pole position estimating means. A control unit for controlling the operation of each of the electric motor that drives the sheave and the braking mechanism that brakes the sheave;
From the electrical signal of the armature winding of the electric motor, a rotational speed / rotational magnetic pole position estimating means for estimating the rotational speed and magnetic pole position of the rotor when the rotor of the electric motor rotates,
A stationary magnetic pole position estimating means for estimating the magnetic pole position when the rotor is stopped from an electrical signal of the armature winding;
In the elevator control device, wherein the control unit controls the operation of each of the electric motor and the braking mechanism using the rotational speed signal and the magnetic pole position signal.
A first comparing means for comparing the magnitude of an induced voltage generated in the armature winding as the rotor rotates and a voltage drop generated in the armature winding as an armature current flows;
A second comparing means for comparing the total weight of the car and the weight of the counterweight,
When the total weight of the car and the weight of the counterweight are not balanced, the control unit releases braking of the sheave by the braking mechanism, starts raising and lowering the car, and the induced voltage is When the voltage drop is greater than the voltage drop, the electric motor drives the sheave using the rotational speed signal and the magnetic pole position signal estimated by the rotational speed / magnetic pole position estimating means during rotation. The elevator control device. A control unit for controlling the operation of each of the electric motor that drives the sheave and the braking mechanism that brakes the sheave;
From the electrical signal of the armature winding of the electric motor, a rotational speed / rotational magnetic pole position estimating means for estimating the rotational speed and magnetic pole position of the rotor when the rotor of the electric motor rotates,
A stationary magnetic pole position estimating means for estimating the magnetic pole position when the rotor is stopped from an electrical signal of the armature winding;
In the elevator control device, wherein the control unit controls the operation of each of the electric motor and the braking mechanism using the rotational speed signal and the magnetic pole position signal.
A third comparing means for comparing the rotational speed with a predetermined speed;
When the rotational speed is lower than the predetermined speed, the control unit stops driving the sheave by the electric motor, brakes the sheave by the braking mechanism, and the rotational speed is less than the predetermined speed. An elevator control device that drives the sheave to the electric motor using the rotation speed signal and the magnetic pole position signal estimated by the rotation speed / rotation magnetic pole position estimation means when the rotation speed is large. . A control unit for controlling the operation of each of the electric motor that drives the sheave and the braking mechanism that brakes the sheave;
From the electrical signal of the armature winding of the electric motor, a rotational speed / rotational magnetic pole position estimating means for estimating the rotational speed and magnetic pole position of the rotor when the rotor of the electric motor rotates,
A stationary magnetic pole position estimating means for estimating the magnetic pole position when the rotor is stopped from an electrical signal of the armature winding;
In the elevator control device, wherein the control unit controls the operations of the electric motor and the braking mechanism using the rotation speed signal and the magnetic pole position signal,
A third comparing means for comparing the rotational speed with a predetermined speed;
The control unit starts driving the sheave by the electric motor using the signal of the magnetic pole position estimated by the magnetic pole position estimating means at the time of stop, and when the rotational speed becomes larger than the predetermined speed The elevator control apparatus further causes the electric motor to drive the sheave using the rotational speed signal and the magnetic pole position signal estimated by the rotational speed / rotational magnetic pole position estimating means. A control unit that controls the operation of each of an electric motor that drives the sheave and a braking mechanism that brakes the sheave;
From the electrical signal of the armature winding of the electric motor, a rotational speed / rotational magnetic pole position estimating means for estimating the rotational speed and magnetic pole position of the rotor when the rotor of the electric motor rotates,
A stationary magnetic pole position estimating means for estimating the magnetic pole position when the rotor is stopped from an electrical signal of the armature winding;
In the elevator control device, the control unit controls each operation of the electric motor and the braking mechanism using the rotation speed signal and the magnetic pole position signal.
Third comparison means for comparing the rotation speed with a predetermined speed;
Second comparing means for comparing the total weight of the cage and the weight of the counterweight,
When the total weight of the car and the weight of the counterweight are not balanced, the control unit releases braking of the sheave by the braking mechanism, starts raising and lowering the car, and the rotational speed is When the rotational speed exceeds a predetermined speed, the sheave is driven by the electric motor using the rotational speed signal and the magnetic pole position signal estimated by the rotational speed / rotational magnetic pole position estimating means. An elevator control device. A control unit for controlling the operation of each of the electric motor that drives the sheave and the braking mechanism that brakes the sheave;
From the electrical signal of the armature winding of the electric motor, a rotational speed / rotational magnetic pole position estimating means for estimating the rotational speed and magnetic pole position of the rotor when the rotor of the electric motor rotates,
A stationary magnetic pole position estimating means for estimating the magnetic pole position when the rotor is stopped from an electrical signal of the armature winding;
In the elevator control device, wherein the control unit controls the operations of the electric motor and the braking mechanism using the rotational speed signal and the magnetic pole position signal,
Equipped with a landing plate detection means for detecting that the car has approached the landing plate;
The control device for an elevator, wherein when the car approaches the landing plate, the driving of the sheave by the electric motor is stopped and the sheave is braked by the braking mechanism.   The control unit stops driving the sheave by the electric motor based on a speed at which the sheave is driven, a braking distance for braking the sheave, and a distance to a position where the car is to be stopped. The elevator control device according to claim 1, wherein the sheave is braked by the control mechanism.

Images