JP2017088283A - Elevator control device and control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accomplish an automatic landing operation during blackout of an elevator without increasing a capacity of a power supply for emergency.SOLUTION: An elevator control device 1 drives a motor 5 so that a car 7 is moved in a first direction at a constant speed, then identifies a first torque value of the motor 5. The elevator control device 1 drives the motor 5 so that the car 7 is moved in a second direction being opposite to the first direction, at the constant speed, then identifies a second torque value of the motor 5. The elevator control device 1 compares magnitudes of the first and second torque values, then performs control for landing the car 7 to a floor where is the closest to the car 7 in a direction out of the first and second directions, where the magnitude of the torque value is smaller.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an elevator control device and a control method for performing automatic landing operation at the time of a power failure of a car using an emergency power source.

  In an elevator, automatic landing operation during a power failure is generally performed when a power failure occurs in a normal power supply (for example, commercial AC power supply) that supplies power to the elevator, and then the car is placed on the nearest floor. Has been done. In automatic landing operation during a power failure, the car that has been stopped is usually moved in the regeneration direction, and the car is landed on the nearest floor in the regeneration direction. During the automatic landing operation during a power failure, the electric motor that drives the car is supplied with power by a power storage device that is used as an emergency power source. The power storage device is charged by a normal power source or by regenerative power generated by an electric motor during normal operation of the elevator.

  The following prior arts are known for automatic landing operation at the time of power failure of an elevator.

  In Patent Document 1, a load detector for detecting the weight in the car is provided in the car, and in the event of a power failure of the normal power supply, the regeneration direction is determined from the detection value by the load detector, and automatic landing operation during a power failure is performed. An elevator control device to perform is disclosed.

  In Patent Document 2, a predetermined torque value is set in advance, the motor is driven in a predetermined direction at the start of automatic landing operation during a power failure, and when the torque command value exceeds the specified torque value, If the elevator driving direction is determined to be the power running direction, but the specified torque value is not exceeded, the regeneration direction is determined, and if the automatic landing operation during power failure is performed in the power running direction, the driving direction is regenerated. An elevator control device that reverses direction is disclosed.

  In Patent Document 3 and Patent Document 4, when the current flowing through the motor during a power outage automatic landing operation exceeds a predetermined value, the operation direction of the elevator is determined as the power running direction, while the current exceeds the predetermined value. If not, the automatic landing control device at power failure is disclosed to switch the driving direction to the regenerative direction when the automatic landing operation at power failure is determined in the power running direction by determining the driving direction as the regenerative direction Has been. Since there is a certain relationship between the current flowing through the motor and the output torque of the motor, the output torque can be obtained based on the current flowing through the motor.

Japanese Utility Model Publication No.59-116360 JP 2005-89094 A JP 60-228376 A JP-A-60-262784

  However, the prior arts disclosed in Patent Documents 1 to 4 have the following problems.

  In the prior art of Patent Document 1, if there is an error between the value detected by the load detector and the actual load value and a correct load cannot be detected, the direction of operation of the car is not the regeneration direction but the power running direction (final) In fact, things can be decided. If the driving direction during automatic power outage during a power failure is determined as the power running direction, the power consumption of the motor required for the automatic landing operation during a power outage will exceed the capacity of the power storage device, and automatic landing operation during a power outage will occur. There is a risk that it will not be completed.

  In the prior art of Patent Document 2, it is necessary to appropriately set the specified torque value according to the specification of the elevator to which the elevator control device is applied. If the specified torque value is set inappropriately, the driving direction during automatic power down operation during power failure will be determined as the power running direction, and the capacity of the power storage device will be insufficient, and automatic landing operation during power failure may not be completed. Because there is. However, it is difficult to completely eliminate human error in setting the specified torque value at an elevator manufacturing factory or a site where the elevator is installed.

  In the prior arts disclosed in Patent Document 3 and Patent Document 4, as in the prior art of Patent Document 2, the threshold value of the current flowing through the electric motor is improperly set so that the automatic landing operation at the time of power failure is in the power running direction. If this is done, there is a risk that the automatic landing operation during a power failure will not be completed.

  In the prior arts of Patent Documents 1 to 4, it is conceivable to use a large-capacity power storage device so that automatic landing operation during a power failure can be completed even if the operation direction of the elevator is erroneously determined as the power running direction. Along with the increase in capacity, it is not preferable in that the cost of the power storage device increases and the installation space increases.

  The present invention has been made in view of the above-described problems, and it is possible to reliably specify the regeneration direction, and without having to increase the capacity of a power storage device used as an emergency power supply, automatic landing operation during a power failure It is an object of the present invention to provide an elevator control device and a control method capable of reliably accomplishing the above.

  The elevator control device of the present invention is provided in an elevator including an electric motor that drives a car up and down, a power storage device, and a power supply circuit that supplies power from the power source or the power storage device to the motor. An elevator control device that performs automatic landing operation of the car at the time of a power failure of the regular power source, wherein the elevator control device uses the power supply circuit to supply power from the power storage device at the time of the power failure of the regular power source. Supplying the electric motor, driving the electric motor so that the car moves in the first direction at a constant first speed, and specifying a first torque value of the electric motor; After specifying one torque value, the electric car moves so that the car moves in a second direction opposite to the first direction at a constant second speed that is the same magnitude as the first speed. The second torque value of the electric motor is specified, and the elevator control device compares the magnitude of the first torque value with the magnitude of the second torque value, and compares the first direction with the first torque value. In the second direction, the car is landed on the floor closest to the car in the direction of the smaller torque value.

  In the elevator control device according to the present invention, the elevator further includes a load detector that detects a load existing in the car, and the elevator control device sets the load value detected by the load detector. The regeneration direction is estimated based on the first direction, and the first direction may be a direction opposite to the direction estimated to be the regeneration direction.

  In the elevator control device of the present invention, the elevator control device includes a current control unit that controls a current flowing from the power supply circuit to the electric motor based on a torque command value, and the first torque value and the The second torque value may be the torque command value.

  In the elevator control device of the present invention, the first torque value and the second torque value may be specified based on measurement of a current flowing from the power supply circuit to the electric motor.

  The elevator control method of the present invention includes an electric motor that drives a car up and down, an electric storage device, and an electric power supply circuit that supplies electric power from the electric power source or the electric power from the electric power storage device to the electric motor. An elevator control method for performing automatic landing operation of the car using the elevator control device during a power failure, wherein the elevator control device is connected to the power storage device via the power supply circuit during a power failure of the regular power supply. A first step of specifying the first torque value of the motor by driving the motor so that the car moves in a constant first direction, Then, the elevator controller moves the car in a second direction opposite to the first direction at a constant second speed that is the same magnitude as the first speed. The second step of specifying the second torque value of the motor by driving the motor as described above, and the elevator control device compares the magnitude of the first torque value with the magnitude of the second torque value. And a third step of performing control for landing the car on the floor closest to the car in a direction with a smaller torque value among the first direction and the second direction.

  According to the elevator control method of the present invention, based on the value of the load detected by a load detector that detects a load existing in the car, the elevator control device is in either the ascending direction or the descending direction of the car. The first direction may be a direction opposite to the direction estimated to be the regenerative direction.

  According to the present invention, it is possible to reliably avoid the situation where the automatic landing operation at the time of a power failure is performed in the power running direction, and furthermore, the power storage device so as to cover the power required when such a situation occurs. There is no need to increase the capacity.

Drawing 1 is an explanatory view showing the outline of the elevator using the elevator control device which is the 1st embodiment of the present invention. FIG. 2 is a flowchart showing a flow of automatic landing operation control during power failure executed by the elevator control device of the first embodiment. Drawing 3 is an explanatory view showing the outline of the elevator using the elevator control device which is the 2nd embodiment of the present invention. FIG. 4 is a flowchart showing a flow of automatic landing operation control during power failure executed by the elevator control device of the second embodiment. FIG. 5 is an explanatory diagram showing an outline of an elevator using the elevator control device according to the third embodiment of the present invention. FIG. 6 is a flowchart showing a flow of automatic landing operation control during power failure executed by the elevator control device of the third embodiment. FIG. 7 is an explanatory diagram showing an overview of an elevator using the elevator control device according to the fourth embodiment of the present invention. FIG. 8 is an explanatory diagram showing an overview of an elevator using the elevator control device according to the fifth embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Drawing 1 is an explanatory view showing the outline of the elevator using elevator control device 1 which is a 1st embodiment of the present invention. The elevator is supplied from a converter 3 that converts AC power supplied from the regular power source 2 into DC power, a power supply circuit 4 that converts DC power sent from the converter 3 to AC power, and a power supply circuit 4. An AC motor 5 that operates with AC power, a sheave 6 that is connected to the AC motor 5 and is driven to rotate, a cage 7 that is suspended from one end of a rope wound around the sheave 6, and the other end of the rope And a counterweight 8 suspended on the surface.

  The common power source 2 is a commercial three-phase AC power source. The converter 3 is configured using, for example, a diode bridge or the like, and supplies the converted DC power to the power supply circuit 4 through the high potential side power supply line L1 and the low potential side power supply line L2. Between the power supply line L1 and the power supply line L2, a smoothing capacitor 9 provided to smooth the pulsation of the DC voltage and a series circuit composed of the regenerative resistor 10 and the discharge transistor 11 are inserted. Has been.

  The AC motor 5 is a three-phase AC motor. The power supply circuit 4 is an inverter configured using switching elements such as IGBTs, and the DC power supplied via the high potential side power supply line L1 and the low potential side power supply line L2 is converted by switching of these switching elements. It is converted into three-phase AC power and supplied to the AC motor 5.

  The elevator further includes a power storage device 13 connected to the high potential side power supply line L1 and the low potential side power supply line L2 via the charge / discharge circuit unit 12 configured by a step-up / step-down chopper circuit or the like. For the power storage device 13, for example, a storage battery such as a lead storage battery or a lithium ion storage battery or a large capacity capacitor is used.

  In a situation where the elevator is in a regenerative operation, regenerative power generated by the AC motor 5 is supplied to the high potential side power line L1 and the low potential side power line L2 via the power supply circuit 4. The voltage between the power supply line L1 and the power supply line L2 is measured by a voltmeter (not shown). A main control unit (not shown) of the elevator determines whether regenerative power is supplied to the power supply line L1 and the power supply line L2 based on the voltage measured by the voltmeter, and the regenerative power is supplied. In this case, the charge / discharge control unit 14 that controls the charge / discharge circuit unit 12 is instructed to charge the power storage device 13. The charge / discharge control unit 14 operates the charge / discharge circuit unit 12 so as to step down the voltage between the power supply line L1 and the power supply line L2 and apply it to the power storage device 13. Power exceeding the capacity of the power storage device 13 is consumed by the regenerative resistor 10 when the discharging transistor 11 is turned on. Further, the charge / discharge control unit 14 boosts the voltage of the power storage device 13 based on an instruction from the main control unit of the elevator or the elevator control device 1 (the operation control unit 16 at the time of power failure), and the power supply line L1 and the power supply line. The charge / discharge circuit unit 12 is controlled so as to apply a DC voltage during L2. Note that the charge / discharge circuit unit 12 may be configured such that the power storage device 13 and the power supply line L1 and the power supply line L2 can be directly connected.

  The power storage device 13 is used to supply direct current power to the AC motor 5 as an emergency power source during a power failure of the service power source 2 and to execute an automatic landing operation during a power failure. The elevator is provided with a power failure detection unit 15 that detects a power failure of the utility power supply 2. When the power failure detection unit 15 detects a power failure, the elevator control device 1 is notified of the fact. When automatic landing operation control at power failure described later is executed, the elevator controller 1 instructs the charge / discharge control unit 14 so that a DC voltage is applied between the power supply line L1 and the power supply line L2. The discharge circuit unit 12 is controlled.

  The elevator control device 1 that controls the automatic landing operation at the time of power failure of the elevator includes an operation control unit 16 at the time of power failure, a speed control unit 17, and a current control unit 18. The operation control unit 16 at the time of power failure performs overall control related to the automatic landing operation at the time of power failure. Details of the process performed by the power failure operation control unit 16 will be described later. The elevator is provided with an encoder 19 that detects the rotational speed of the AC motor 5, and the speed control unit 17 is set by the rotational speed of the AC motor 5 detected by the encoder 19 and the operation control unit 16 during power failure. A torque command value related to the AC motor 5 is calculated such that the difference from the command value of the rotational speed of the AC motor 5 becomes zero, and is sent to the current control unit 18. The elevator is provided with a current detector 20 that detects the current value of each phase of the three-phase current flowing in the AC motor 5. The current control unit 18 generates an AC from the torque command value sent from the speed control unit 17. A current command value for the electric motor 5 is determined, and a switching element included in the power supply circuit 4 is switched based on the current command value and the feedback current value detected by the current detector 20 to supply power. The output current of the circuit 4 and its frequency are controlled.

  The elevator control device 1 is used, for example, to connect a CPU (Central Processing Unit) that executes various commands and calculation processing, a volatile memory, a nonvolatile memory, and a device that exists outside the elevator control device 1. (All are not shown). The volatile memory is, for example, a RAM (Random Access Memory), and the nonvolatile memory is, for example, a ROM (Read Only Memory). In the nonvolatile memory, a control program that prescribes processing executed by the elevator control device 1 is stored in advance. The volatile memory is used as a work area when executing the control program. The power failure operation control unit 16, the speed control unit 17, and the current control unit 18 (and a torque calculation unit 21 (FIG. 3) described later) shown in the figure are stored in a non-volatile memory of the elevator control device 1. Is realized by being executed by the CPU of the elevator control device 1.

  Next, the automatic landing operation at the time of a power failure of the elevator controlled by the elevator control device 1 will be described. When a power failure of the service power source 2 is detected by the power failure detection unit 15, the AC main motor 5 and the car 7 are stopped by the main control unit of the elevator operating a stop mechanism (not shown). Then, automatic landing operation at the time of power failure of the elevator is performed. FIG. 2 is a flowchart showing a flow of automatic landing operation control at the time of power failure performed by the CPU of the elevator control device 1 executing a control program.

  After the power failure detection unit 15 detects a power failure of the utility power source 2 and the car 7 is stopped, the elevator control device 1 receives an instruction from the main control unit of the elevator, and the elevator control device 1 performs automatic landing operation control at the time of power failure. Start. First, the power failure operation control unit 16 of the elevator control device 1 sends an instruction to the charge / discharge control unit 14 to apply a DC voltage to the power supply line L1 and the power supply line L2 using the power storage device 13. The unit 12 is operated (step SA100).

  After step SA100, the elevator control device 1 starts control for raising the car 7 at a slow speed for a short time and a short distance (step SA110). In step SA110, the power failure operation control unit 16 sends to the speed control unit 17 a command value for the rotational speed of the AC motor 5 in the direction to raise the car 7. The speed control unit 17 uses the command value and the rotational speed (initially zero) of the AC motor 5 measured by the encoder 19 to raise the car 7 at a constant speed corresponding to the command value. A torque command value that is a value of torque to be generated by the AC motor 5 is determined. The current control unit 18 controls the power supply circuit 4 based on the torque command value sent from the speed control unit 17.

  After step SA110, the power failure operation control unit 16 of the elevator control device 1 determines whether the ascending speed of the car 7 becomes constant at a desired speed based on the measured value of the rotational speed of the AC motor 5 sent from the encoder 19. It is determined whether or not (that is, whether or not the rotational speed of the AC motor 5 has become constant at the above command value) (step SA120). While the determination result in step SA120 is No, the upward acceleration of the car 7 is continued (step SA130).

When the determination result of step SA120 is Yes, that is, when it is determined that the ascending speed of the car 7 has become constant, the operation control unit 16 at the time of power failure is the torque command value T determined by the speed control unit 17 at that time. _{The up} is stored (for example, in a volatile memory) (step SA140).

  In step SA110, the command value of the rotational speed of the AC motor 5 sent from the power failure operation control unit 16 to the speed control unit 17 is, for example, that the car 7 reaches a predetermined speed in about a few seconds from the stopped state. The rising distance of the car 7 is set to be about 10 cm.

  After step SA140, the power failure operation control unit 16 sends the rotation speed command value of the AC motor 5 in the direction to lower the car 7 to the speed control unit 17 to reverse the operation direction of the car 7 (step SA150). ). The command value of the rotational speed of the AC motor 5 sent to the speed control unit 17 in step SA150 is a value obtained by reversing the sign of the command value of the rotational speed of the AC motor 5 sent to the speed control unit 17 in step SA110. (These command values have the same absolute value but different positive and negative), and the car 7 descends for a short time and over a short distance with a slow speed operation.

  After step SA150, the power failure operation control unit 16 of the elevator control device 1 sets the lowering speed of the car 7 to the same magnitude as the above-mentioned constant rising speed based on the measured value of the rotational speed sent from the encoder 19. However, it is determined whether or not the direction is constant at different desired speeds (step SA160). While the determination result in step SA160 is No, the downward acceleration of the car 7 is continued (step SA170).

When the determination result in step SA160 is Yes, that is, when it is determined that the descending speed of the car 7 has become constant, the operation control unit 16 at the time of power failure is the torque command value T determined by the speed control unit 17 at that time. _Down is stored (step SA180).

After step SA180, the power failure operation control unit 16 compares the magnitude (absolute value) of the torque command value T _up stored in step SA140 with the magnitude of the torque command value T _down stored in step SA180. Specifically, it is determined whether or not the former is greater than or equal to the latter (step SA190).

When the determination result in step SA190 is Yes (when the magnitude of the torque command value T _up ≧ the magnitude of the torque command value T _down ), the operation control unit 16 during power failure indicates that the direction in which the car 7 descends is the regeneration direction. The operation control for starting to place the car 7 on the floor closest to the car 7 among the floors located below the car 7 is started with the moving direction of the car 7 as it is (step SA200). ).

If the determination result of step SA190 is No (when the size of the size <torque command value _{T down} of the torque command value _{T Stay up-),} a power failure during operation control unit 16, the direction in which the car 7 is raised regenerative direction And the operation control for inverting the moving direction of the car 7 and landing the car 7 on the floor closest to the car 7 among the floors located above the car 7 is started (step SA210). ).

  When step SA200 or SA210 is started, the operation control unit 16 during power failure causes the speed control unit 16 to appropriately accelerate and decelerate the car 7 toward the target floor, that is, the nearest floor, and stop at the nearest floor. The command value of the rotational speed of the AC motor 5 sent to 17 is appropriately changed. In most cases, the car 7 reaches a speed (absolute value) larger than the speed determined as Yes in Steps SA120 and SA160, and after moving for a certain time while maintaining the speed, It is controlled to decelerate toward.

  After step SA200 or SA210, the power failure operation control unit 16 determines whether the car 7 has landed on the nearest floor (step SA220). In step SA220, for example, the rotation speed sent from the encoder 19 becomes zero, and a notification of landing of the car 7 is sent from a sensor (not shown) that detects the landing of the car 7 provided on the nearest floor. Upon receipt, the operation control unit 16 during a power failure determines that the car 7 has landed on the nearest floor, and ends automatic landing operation control during a power failure. While the determination result in step SA220 is No, the operation control for landing the car 7 on the nearest floor is continued (step SA230).

In the first embodiment of the present invention, by comparing the magnitude of the torque command value T _up stored in step SA140 with the magnitude of the torque command value T _down stored in step SA180, a threshold value as in the prior art is obtained. The regeneration direction in which the automatic landing operation at the time of a power failure is performed is determined without setting the load detector in the car. The regeneration direction is determined more accurately than in the prior art, and there is no situation where the car 7 is automatically landed in the power running direction due to a threshold setting error, a load detector error, or the like.

  Further, in the first embodiment of the present invention, the car 7 is lifted by executing step SA110, is lowered by executing step SA150, and further, step SA210 is executed to perform the regeneration direction toward the nearest floor. Even in the case where the vehicle has risen, the power required for performing Step SA110 and Step SA150 to determine the regeneration direction is very small, and the car 7 is landed on the nearest floor by mistake in powering operation. It is far less than the power required for the case. Therefore, the capacity of the power storage device 13 is such that the power required to execute both step SA100 and step SA150 in addition to the maximum power consumption in the case where the car 7 is landed on the nearest floor by executing step SA210. According to the present invention, the capacity of the power storage device 13 can be significantly reduced as compared with the prior art.

In the first embodiment of the present invention, the car 7 is operated at a slow speed upward and then the car 7 is operated at a slow speed. However, the order may be reversed, and the car 7 is operated at a slow speed downward at step SA110. Then, after obtaining the torque command value T _down at step SA140, the car 7 may be slightly operated upward at step SA150, and the torque command value T _up may be obtained at step SA180. In that case, step SA200 is changed to reverse the driving direction and lower the car 7, and step SA210 is changed to continue the ascending operation of the car 7.

  FIG. 3 is an explanatory view showing an outline of an elevator using the elevator control device 1 according to the second embodiment of the present invention, and FIG. 4 is an automatic arrival at power failure executed by the elevator control device 1 of the second embodiment. It is a flowchart which shows the flow of floor operation control. In the second embodiment of the present invention, as shown in FIG. 3, the current value (feedback current value) of each phase (three-phase current) flowing in the AC motor 5 detected by the current detector 20 is an elevator control device. 1 to the torque calculation unit 21.

In step SA140 ′ of FIG. 4 shown at a position corresponding to step SA140 of FIG. 2, the torque calculation unit 21 returns the feedback current value detected by the current detector 20 when the ascending speed of the car 7 becomes constant. Based on the above, the torque T _up ′ of the AC motor 5 is calculated. Further, in step SA180 ′ of FIG. 4 shown at a position corresponding to step SA180 of FIG. 2, the torque calculation unit 21 returns the feedback detected by the current detector 20 when the descending speed of the car 7 becomes constant. Based on the current value, the torque T _down ′ of the AC motor 5 is calculated. The calculated torques T _up ′ and T _down ′ are sent to the operation control unit 16 during a power failure and stored.

In step SA190 ′ of FIG. 4 shown at a position corresponding to step SA190 of FIG. 2, the power failure operation control unit 16 determines that the magnitude of the torque T _up ′ of the AC motor 5 calculated in step SA140 ′ is It is determined whether or not the torque T _down ′ of the AC motor 5 calculated in SA180 ′ is equal to or greater than the magnitude.

Since feedback control is performed in both the first embodiment and the second embodiment, the torque command value T _{up according} to the first embodiment and the torque T _up ′ according to the second embodiment are substantially the same value. Therefore, these are substantially the same as the values for specifying the torque of the AC motor 5 (during the slow climb operation). The torque command value T _{down according} to the first embodiment and the torque T _down ′ according to the second embodiment are not substantially different as values for specifying the torque of the AC motor 5 (during a slow speed down operation). Therefore, in the first embodiment and the second embodiment, substantially the same automatic landing operation control during power failure is performed.

  Other matters related to the second embodiment of the present invention are the same as those of the first embodiment of the present invention, or can be easily understood from the above description regarding the first embodiment, and thus description thereof will be omitted.

  FIG. 5 is an explanatory diagram showing an overview of an elevator using the elevator control device 1 according to the third embodiment of the present invention, and FIG. 6 is an automatic arrival at power failure executed by the elevator control device 1 according to the third embodiment. It is a flowchart which shows the flow of floor operation control.

  In the third embodiment of the present invention, unlike the first embodiment shown in FIG. 1, the load detector 22 for detecting the load or weight existing in the car 7 includes the car 7 (more specifically, the car 7 under the floor). In the automatic landing operation control at the time of power failure executed by the elevator control device 1 in the third embodiment, after the execution of step SB100 corresponding to step SA100 shown in FIG. Based on the load or weight value present in the car 7 detected in step 1, the ascending direction or the descending direction of the car 7 is estimated as the regeneration direction (step SB110). Then, the power failure operation control unit 16 sends a rotational speed command value to the speed control unit 17 so that the car 7 operates at a low speed at a constant speed in the direction opposite to the direction estimated to be the regeneration direction (step) SB120).

  After step SB120, the power failure operation control unit 16 of the elevator control device 1 determines whether or not the speed of the car 7 has become constant at a desired speed based on the measured value of the rotational speed sent from the encoder 19. (Step SB130). While the determination result in step SB130 is No, the acceleration of the car 7 is continued in the direction opposite to the direction estimated as the regeneration direction (step SB140).

  When the determination result in step SB130 is Yes, that is, when it is determined that the speed of the car 7 has become constant, the operation control unit 16 at the time of power failure uses the torque command value T1 determined by the speed control unit 17 at that time. Store (step SB150).

  As in the first embodiment, in step SB120, the command value for the rotational speed of the AC motor 5 sent from the power failure operation control unit 16 to the speed control unit 17 is, for example, about several seconds from the stopped state of the car 7. The predetermined speed is set, and the moving distance of the car 7 is set to be about 10 cm.

  After step SB150, the power failure operation control unit 16 sends a command value for the rotational speed of the AC motor 5 in the direction estimated as the regenerative direction to the speed control unit 17 to reverse the operation direction of the car 7 (step SB160). ). As in the first embodiment, the command value for the rotational speed of the AC motor 5 sent to the speed control unit 17 in step SB160 is the command value for the rotational speed of the AC motor 5 sent to the speed control unit 17 in step SB120. The value is the opposite of the sign of.

  After step SB160, the power failure operation control unit 16 of the elevator controller 1 determines that the speed of the car 7 is larger than the desired speed in step SB130 based on the measured value of the rotational speed of the AC motor 5 sent from the encoder 19. It is determined whether or not the directions are constant at different speeds (step SB170). While the determination result in step SB170 is No, the acceleration of the car 7 in the estimated direction is continued (step SB180).

  When the determination result in step SB170 is Yes, that is, when it is determined that the speed of the car 7 has become constant, the operation control unit 16 at the time of power failure uses the torque command value T2 determined by the speed control unit 17 at that time. Store (step SB190).

  After step SB190, the power failure operation control unit 16 compares the magnitude of the torque command value T1 stored in step SB150 with the magnitude of the torque command value T2 stored in step SB190. It is determined whether or not the former is greater than or equal to the latter (step SB200).

  When the determination result in step SB200 is Yes (when the magnitude of the torque command value T1 is equal to or greater than the magnitude of the torque command value T2), the operation control unit 16 during power failure indicates that the estimation is correct, that is, the estimated direction is It is determined that the car is in the regenerative direction, and the operation control for landing the car 7 on the floor closest to the car 7 in the floor located in the moving direction of the car 7 is started with the moving direction of the car 7 as it is ( Step SB210).

  When the determination result of step SB200 is No (when the magnitude of the torque command value T1 is smaller than the magnitude of the torque command value T2), the operation controller 16 during power failure estimates that the estimation is incorrect, that is, Operation that determines that the direction opposite to the direction is the regenerative direction, reverses the moving direction of the car 7, and places the car 7 on the floor closest to the car 7 among the floors in the opposite direction Control is started (step SB220). Thereafter, steps SB230 and SB240 corresponding to steps SA220 and SA230 of the first embodiment are executed.

  In the third embodiment of the present invention, the regeneration direction is estimated using the load detector 22, the car 7 is first moved in the opposite direction to the estimated method, and then the car 7 is moved in the estimated direction. . As long as no failure has occurred in the load detector 22, it is determined as No in step SB200, and the possibility that step SB220 is executed is very low. In the third embodiment, compared with the first embodiment. Thus, the possibility that the car 7 performs an extra operation is extremely low. Further, even if the estimated direction is incorrect due to an error of the load detector 22 or the like, the regeneration direction is finally determined correctly, and the car 7 moves in the regeneration direction and reaches the nearest floor. To do.

  In the third embodiment of the present invention, the magnitude of the torque command value obtained by the speed control unit 17 is compared in the opposite direction to the estimated direction to determine the regeneration direction. However, as in the second embodiment. The regenerative direction may be determined by comparing the magnitude of the torque of the AC motor 5 calculated using the feedback current value obtained from the current detector 20 in the direction opposite to the estimated direction.

  FIG. 7 is an explanatory diagram showing an overview of an elevator using the elevator control device 1 according to the fourth embodiment of the present invention. In the first to third embodiments of the present invention, the AC motor 5 is used to drive the car 7. However, in the fourth embodiment of the present invention, the DC motor 5 ′ is used to drive the car 7. Has been. Thus, the present invention can be applied to a DC elevator as in the fourth embodiment (and a fifth embodiment to be described later) in addition to the AC elevator as in the first to third embodiments.

  In the fourth embodiment of the present invention, the current detector 20 detects a DC current flowing through the DC motor 5 '. The current control unit 18 determines a current command value related to the DC motor 5 from the torque command value sent from the speed control unit 17, and determines the current command value and the feedback current value detected by the current detector 20. Based on this, the switching element included in the power supply circuit 4 is switched to control the output voltage of the power supply circuit 4. As in the first to third embodiments, an inverter may be used as the power supply circuit 4.

  In the fourth embodiment of the present invention, unlike the first to third embodiments, the power storage device 13 is configured to be rechargeable using not only the regenerative power but also the regular power source 2 (power storage device). 13 may be configured to be charged only with AC power from the regular power source 2). The charge / discharge circuit unit 12 includes a converter that converts AC power of the regular power supply 2 into DC power. In the fourth embodiment, as in the first to third embodiments, a direct-current voltage is applied to the power supply line L1 and the power supply line L2 using the power storage device 13 during the automatic landing operation during a power failure. However, in the fourth embodiment, AC power from the power storage device 13 is converted into AC power by the charge / discharge circuit unit 12 during the automatic landing operation at the time of a power failure, and the AC power is supplied to the converter 3. May be configured. During the automatic landing operation at the time of power failure, the converter 3 converts the AC power into DC power and supplies it to the power supply circuit 4. In addition, 1st thru | or 3rd embodiment of this invention may be changed so that the electrical storage apparatus 13 can be charged not only using regenerative power but the regular power supply 2 like 4th Embodiment (or. The AC power from the power storage device 13 may be changed into AC power by the charge / discharge circuit unit 12 and supplied to the converter 3. It may be changed.

  Other matters regarding the fourth embodiment are the same as those of the first embodiment of the present invention, or can be easily understood from the above description regarding the first embodiment, and thus description thereof will be omitted.

  FIG. 8 is an explanatory diagram showing an overview of an elevator using the elevator control device 1 according to the fifth embodiment of the present invention. In the fifth embodiment, the elevator control device 1 includes a torque calculation unit 21 as in the second embodiment, and the torque calculation unit 21 is a DC motor based on the feedback current value detected by the current detector 20. The fourth embodiment is different from the fourth embodiment in that a torque 5 ′ is calculated and a load detector 22 ′ that detects a load in the car 7 is provided.

  In the fifth embodiment, the elevator control device 1 performs the same control as the automatic landing operation control at the time of power failure described with reference to FIG. 6, but steps SB150 and SB190 are torques calculated by the torque calculation unit 21. Is stored, and step SB200 is modified to compare the stored torques.

  Unlike the third embodiment, in the fifth embodiment, a load detector 22 'of the type provided in a rope hitch portion (not shown) at the top of the car 7 is used. In the present invention, the arrangement and structure of the load detectors 22 and 22 ′ for detecting the load existing in the car 7 are not limited as long as the effects of the present invention can be obtained.

  Since other matters regarding the fifth embodiment can be easily understood from the above description regarding the first to fourth embodiments, the description thereof will be omitted.

  The above description is provided to illustrate the present invention and should not be construed as limiting the invention described in the claims or reducing the scope thereof. In addition, the configuration of each part of the present invention is not limited to the above embodiment, and various modifications can be made within the technical scope described in the claims.

DESCRIPTION OF SYMBOLS 1 Elevator control apparatus 2 Common power supply 4 Electric power supply circuit 5 AC motor 5 'DC motor 7 Car 13 Electric power storage apparatus 15 Power failure detection part 16 Power failure operation control part 17 Speed control part 18 Current control part 20 Current detector 21 Torque calculation part 22 Load detector 22 'load detector.

Claims (6)

The elevator is provided with an electric motor that drives a car up and down, a power storage device, and a power supply circuit that supplies power from the power storage device or the power storage device to the motor. An elevator control device that performs automatic landing operation of
The elevator control device supplies power from the power storage device to the electric motor via the power supply circuit during a power failure of the utility power supply, so that the car moves in a first direction at a constant first speed. Driving the electric motor to identify a first torque value of the electric motor;
After the elevator control device identifies the first torque value of the electric motor, the elevator controller is configured to move the car in a second direction opposite to the first direction at a constant second speed that is the same size as the first speed. Driving the electric motor to move, specifying a second torque value of the electric motor,
The elevator control device compares the magnitude of the first torque value with the magnitude of the second torque value, and determines whether the magnitude of the torque value is smaller between the first direction and the second direction. An elevator controller that places the car on the nearest floor. The elevator further comprises a load detector for detecting a load present in the car,
The elevator control device estimates a regeneration direction based on the load value detected by the load detector, and the first direction is a direction opposite to the direction estimated to be the regeneration direction. The elevator control device according to claim 1.   The elevator control device includes a current control unit that controls a current flowing from the power supply circuit to the electric motor based on a torque command value, and the first torque value and the second torque value are the torque The elevator control device according to claim 1, wherein the elevator control device is a command value.   The elevator control device according to claim 1 or 2, wherein the first torque value and the second torque value are specified based on measurement of a current flowing from the power supply circuit to the electric motor. An elevator comprising an electric motor that drives a car up and down, a power storage device, and a power supply circuit that supplies power from the power source or the power storage device to the motor. An elevator control method for performing automatic landing operation of the car using,
At the time of a power failure of the utility power supply, the elevator control device supplies the electric power from the power storage device to the electric motor via the electric power supply circuit, and the electric motor is moved so that the car moves in a constant first direction. A first step of driving to identify a first torque value of the motor;
After the first step, the elevator control device is configured to move the car in a second direction opposite to the first direction at a constant second speed that is the same magnitude as the first speed. A second step of driving an electric motor to identify a second torque value of the electric motor;
The elevator control device compares the magnitude of the first torque value and the magnitude of the second torque value, and the car in the direction in which the magnitude of the torque value is smaller between the first direction and the second direction. A third step of performing control to land the car on the floor closest to
Including an elevator control method.   Based on the value of the load detected by a load detector that detects a load existing in the car, the elevator control device estimates either the ascending direction or the descending direction of the car as a regeneration direction. The elevator control method according to claim 5, further comprising a fourth step, wherein the first direction is a direction opposite to the direction estimated to be the regeneration direction.

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