JP5089695B2 - Elevator equipment - Google Patents

Description

  The present invention relates to an elevator apparatus having a plurality of hoisting machines for raising and lowering a car.

  In a conventional elevator apparatus, when any failure of a plurality of drive units is detected, a drive force that can be generated by a normal drive unit and a necessary drive force required to raise and lower a car by an integrated command unit And the operation command is output only to the normal drive unit. Thereby, low speed driving | running | working or normal driving | operation is performed within the range of the drive force which can be generated (for example, refer patent document 1).

JP 2006-199395 A

  In the conventional elevator apparatus as described above, when the drive unit fails, only the normal drive unit is driven regardless of the failure part, so only the encoder in the drive unit fails, and other than the encoder Even when the device is normal, the driving unit is not used, and the driving force is considerably limited.

  The present invention has been made to solve the above-described problems. When an encoder fails, the hoisting machine provided with the failed encoder can be driven to ensure sufficient driving force. It is an object to obtain an elevator apparatus that can be used.

  The elevator apparatus according to the present invention includes a car, an electric motor, and an encoder for detecting the rotation of the electric motor, and includes a plurality of hoisting machines that raise and lower the car, and a control device that controls the hoisting machine. The apparatus has a rotation speed / rotation magnetic pole position estimation section for estimating the rotation speed and rotation magnetic pole position of each motor, and when the car is run with any of the encoders malfunctioning, a predetermined rotation speed is provided. In the following low-speed range, only the hoisting motor with a normal encoder is driven, and in the low-speed outside region, which is faster than a predetermined rotational speed, the hoisting motor with a normal encoder is driven. In addition, the motor of the hoisting machine provided with the failed encoder is driven based on the estimated value by the rotational speed / rotational magnetic pole position estimating unit.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram which shows the elevator apparatus by Embodiment 1 of this invention. It is a block diagram which shows the 1st and 2nd control apparatus main body of FIG. It is a flowchart which shows operation | movement of the 1st and 2nd control apparatus when the 2nd encoder of FIG. 1 fails. FIG. 6 is a timing chart showing a relationship among a car speed, a driving state of the first electric motor, and a driving state of the second electric motor when the second encoder of FIG. 1 fails. It is a block diagram which shows the elevator apparatus by Embodiment 2 of this invention.

Preferred embodiments of the present invention will be described below with reference to the drawings.
Embodiment 1 FIG.
1 is a block diagram showing an elevator apparatus according to Embodiment 1 of the present invention. In the figure, a first hoisting machine 1 is provided at the upper part of the hoistway. The first hoisting machine 1 includes a first electric motor 2, a first driving sheave 3 rotated by the first electric motor 2, a first brake 4 that brakes rotation of the first driving sheave 3, and a first A first encoder 5 that generates a signal corresponding to the rotation of one drive sheave 3 is provided. The first drive sheave 3 is provided coaxially with the first electric motor 2.

  A second hoisting machine 6 is provided at the lower part of the hoistway. The second hoisting machine 6 includes a second electric motor 7, a second drive sheave 8 rotated by the second electric motor 7, a second brake 9 that brakes the rotation of the second drive sheave 8, and a second The second encoder 10 generates a signal corresponding to the rotation of the second drive sheave 8. The second drive sheave 8 is provided coaxially with the second electric motor 7. As the first and second motors 2 and 7, synchronous motors are used.

  A plurality of main ropes 11 (only one is shown in the figure) serving as suspension means are wound around the first and second drive sheaves 3 and 8. The car 12 and the counterweight 13 are suspended in the hoistway by the main rope 11 and are raised and lowered by the driving force of the first and second hoisting machines 1 and 6. Below the car 12, a plurality of car suspension wheels 14a and 14b around which the main rope 11 is wound are provided. On the upper part of the counterweight 13, a counterweight suspension wheel 15 around which the main rope 11 is wound is provided.

  A return wheel 16 around which the main rope 11 is wound is provided at the upper part of the hoistway. A first end (cage side end) 11a of the main rope 11 is connected to a first rope stop 17 provided at the upper part of the hoistway. A second end portion (a counterweight side end portion) 11b of the main rope 11 is connected to a second rope stop 18 provided at the upper part of the hoistway.

  The main rope 11 is wound around the car suspension wheels 14a and 14b, the first drive sheave 3, the second drive sheave 8, the return wheel 16, and the counterweight suspension wheel 15 in order from the first end 11a side. ing. That is, the car 12 and the counterweight 13 are suspended in the hoistway by a 2: 1 roping method.

  The first hoisting machine 1 is controlled by the first control device 19. The first control device 19 includes a first power converter 20 that supplies power to the first electric motor 2 and a first control device main body (first control block) that controls the first power converter 20. 21.

  The second hoisting machine 6 is controlled by the second control device 22. The second control device 22 includes a second power converter 23 that supplies power to the second electric motor 7 and a second control device main body (second control block) that controls the second power converter 23. 24. The first and second hoisting machines 1 and 6 are normally driven in synchronism with each other, that is, controlled at a uniform speed.

  The first and second control device main bodies 21 and 24 each have a microcomputer. That is, the functions of the first and second control device bodies 21 and 24 can be realized by, for example, arithmetic processing by a microcomputer. The control device according to the first embodiment includes first and second control devices 19 and 22.

  FIG. 2 is a block diagram showing the first and second control device main bodies 21 and 24 of FIG. FIG. 2 shows a functional configuration of the first and second control device main bodies 21 and 24 when the first encoder 5 is normal and the second encoder 10 fails.

  The first control device main body 21 includes a first rotational speed / magnetic pole position detector 25, a car position calculator 26, a car load detector 27, a speed pattern generator 28, a first speed controller 29, and a first speed controller 29. A current controller 30 is provided.

  The first rotation speed / magnetic pole position detection unit 25 calculates the rotation speed and the magnetic pole position of the first electric motor 2 based on the signal from the first encoder 5. The car position calculation unit 26 calculates the position of the car 12 based on the signal from the first encoder 5. The car load detector 27 measures the weight of the car 12 including the weight of the passenger as a car load based on a signal from the scale device.

  The speed pattern generation unit 28 generates a speed pattern of the car 12 based on the car load, car position, and next stop position information, and outputs a speed command corresponding to the speed pattern. The first speed controller 29 calculates a current command based on the speed command obtained from the speed pattern generation unit 28 and the rotation speed information obtained from the first rotation speed / magnetic pole position detection unit 25.

  The first current controller 30 compares the current command obtained from the first speed controller 29 with the value of the current flowing into the first electric motor 2, and from the first rotation speed / magnetic pole position detection unit 25. An appropriate voltage command is calculated using the detected magnetic pole position detection value. Further, the voltage command calculated by the first current controller 30 is supplied to the first power converter 20, whereby the first hoisting machine 1 is optimally operated.

  The second control device main body 24 includes a second rotation speed / magnetic pole position detection unit 31, a rotation speed / magnetic pole position estimation unit 32 during rotation, a second speed controller 33, a second current controller 34, and a hoisting operation. A machine drive condition calculation unit 35 is provided.

  The second rotation speed / magnetic pole position detection unit 31 calculates the rotation speed and the magnetic pole position of the second electric motor 7 based on the signal from the second encoder 10. However, if the signal from the second encoder 10 fails, the information from the second rotational speed / magnetic pole position detection unit 31 cannot be used, so the information from the rotational speed / magnetic pole position estimation unit 32 during rotation is replaced. Used for.

  The rotation speed / rotation magnetic pole position estimation unit 32 estimates the rotation speed and rotation magnetic pole position of the second electric motor 7 by using the induced voltage of the second electric motor 7 (for example, “The Institute of Electrical Engineers of Japan Technical Report No. 719”). No. "pp. 18-19" PMSM sensorless driving method (2) Model following method "). The rotational speed and the magnetic pole position during rotation can also be estimated based on the difference between the measured value of the current flowing into the second electric motor 7 and the armature current command value.

  The second speed controller 33 receives the speed command obtained from the speed pattern generation unit 28 of the first control device main body 21 and the second rotational speed / magnetic pole position detection unit 31 when the second encoder 10 is normal. Based on the obtained rotational speed information, a current command is calculated.

  On the other hand, when the second encoder 10 fails, the second speed controller 33 uses the speed command obtained from the speed pattern generation unit 28 and the rotation speed obtained from the rotation speed / magnetic pole position estimation unit 32 during rotation. The current command is calculated based on the estimated value.

  The second current controller 34 compares the current command obtained from the second speed controller 33 with the value of the current flowing into the second electric motor 7 when the second encoder 10 is normal, An appropriate voltage command is calculated using the magnetic pole position detection value obtained from the rotation speed / magnetic pole position detector 31. Further, the voltage command calculated by the second current controller 34 is supplied to the second power converter 23, whereby the second hoisting machine 6 is optimally operated.

  On the other hand, when the second encoder 10 fails, the second current controller 34 compares the current command obtained from the second speed controller 33 with the value of the current flowing into the second motor 7. Then, an appropriate voltage command is calculated using the rotation magnetic pole position estimated value obtained from the rotation speed / rotation magnetic pole position estimation unit 32.

  The hoisting machine driving condition calculation unit 35 outputs a driving / stopping instruction to the second power converter 23 and switches driving / stopping of the second hoisting machine 6 having the failed second encoder 10. Specifically, the hoisting machine driving condition calculation unit 35 detects the rotational angular velocity ω obtained from the rotational speed estimated value by the rotational speed / rotational magnetic pole position estimating unit 32 and the detected value I of the current flowing into the second electric motor 7. Induction during rotation of the second motor 7 from the armature winding resistance R of the second motor 7 and the maximum value (constant value) Φ of the armature winding flux linkage of the second motor 7 The voltage ωΦ and the voltage drop RI of the armature winding resistance are calculated, the second motor 7 is driven under the condition of ωΦ> RI, and the second motor 7 is stopped under the other conditions.

  Here, in the high speed region of the second electric motor 7, the induced voltage increases with the rotational speed, so that the accuracy of estimation of the magnetic pole position by the rotational speed / rotational magnetic pole position estimation unit 32 is also increased. On the other hand, in the low speed region (ωΦ ≦ RI) of the second motor 7, the induced voltage is smaller than the voltage drop due to the resistance (R), and the induced voltage serving as the magnetic pole position detection information is buried, and the estimated magnetic pole position is An error occurs.

  As described above, in the low speed region of the second electric motor 7, since the magnetic pole position estimation by the rotational speed / rotational magnetic pole position estimation unit 32 is unstable, the speed command and the current command become oscillating or oscillates. there is a possibility. For this reason, the hoisting machine driving condition calculation unit 35 stops the driving of the second electric motor 7 in the low speed region and avoids the unstable driving of the second electric motor 7.

  In addition, in the magnetic pole position estimation method using the difference between the command value of the armature current and the actual measurement value, the current difference information during low speed operation becomes small, so that an error in the estimated magnetic pole position in the low speed region occurs.

  FIG. 3 is a flowchart showing the operation of the first and second control devices 19 and 22 when the second encoder 10 of FIG. 1 fails. The first and second control device main bodies 21 and 24 monitor whether or not appropriate pulse signals are output from the first and second encoders 5 and 10 while the car 12 is traveling. For example, when an abnormality is detected in the signal from the second encoder 10, it is determined that a failure has occurred in the second encoder 10.

  When a failure of the second encoder 10 is detected, the car 12 is urgently stopped (step S1). After the emergency stop, it is confirmed (safety check) whether there is any abnormality in the devices other than the second encoder 10 among the devices monitored by the first and second control device main bodies 21 and 24 (step S2). ).

  If other than the second encoder 10 is normal, the car load detecting unit 27 detects the car load, and the car position calculating unit 26 detects the position of the currently stopped car 12 (step S3). Then, the speed pattern generation unit 28 generates a speed pattern for causing the car 12 to travel (rescue operation) to the nearest floor or a floor designated before the emergency stop (step S4).

  When the speed pattern is determined, both the first and second brakes 4 and 9 are released, and the first and second drive sheaves 3 and 8 are allowed to rotate (step S5). And only the 1st electric motor 2 is driven and driving | running | working of the cage | basket | car 12 is started (step S6). At this time, the second electric motor 7 is not driven, but the second drive sheave 8 and the rotor of the second electric motor 7 are rotated by the movement of the main rope 11.

  After the first electric motor 2 is driven, it is monitored whether or not the condition of ωΦ> RI is satisfied (step S7). When the traveling speed of the car 12 is increased and the condition of ωΦ> RI in the second electric motor 7 is satisfied, it is considered that the reliability of the estimated value by the rotational speed / magnetic pole position estimating unit 32 during rotation is ensured. The driving of the electric motor 7 is started (step S8). The second electric motor 7 is controlled by using the rotational speed estimated value and the magnetic pole position estimated value obtained from the rotational speed / rotational magnetic pole position estimating unit 32, and the car 12 includes the first and second electric motors 2, 7. Both driving forces are equivalent to normal driving.

  Thereafter, when the destination floor approaches and the speed of the car 12 decreases and the induced voltage in the second electric motor 7 becomes ωΦ ≦ RI (step S9), the hoisting machine drive condition calculation unit 35 stops the second electric motor 7. (Step S10). Then, the car 12 is landed only by the first electric motor 2 (step S11).

  When the car 12 is landed on the destination floor, the first and second brakes 4 and 9 are braked, and the car door and the landing door are opened (step S12). Thereby, the movement of the passenger in the car 12 to the landing is possible.

  FIG. 4 is a timing chart showing the relationship among the car speed, the driving state of the first electric motor 2, and the driving state of the second electric motor 7 when the second encoder 10 of FIG. In FIG. 4, a time region t1 is a rescue operation pre-processing mode section, and corresponds to Step S1 to Step S4 in FIG. The time region t2 is a start mode section and corresponds to Step S5 to Step S7 in FIG. In the start mode section, since the rotation speed of the second electric motor 7 is low, only the first electric motor 2 is driven.

  Furthermore, the time region t3 is a low-speed outside mode section and corresponds to Step S8 to Step S9 in FIG. In this non-low speed mode section, since the condition of ωΦ> RI is satisfied, both the first and second electric motors 2 and 7 are driven. Furthermore, the time region t4 is a stop mode section and corresponds to step S10 to step S12 in FIG. In this stop mode section, the second electric motor 7 is stopped, and the car 12 is decelerated and stopped only by the first electric motor 2 according to the speed pattern.

  Here, only the case where the second encoder 10 has failed has been described. However, in order to cope with the failure of the first encoder 5 as well, the first control device main body 21 also includes a rotation speed / rotational magnetic pole position estimation unit. Of course, 32 and the hoisting machine driving condition calculation part 35 are provided. Further, a car position calculation unit 26 is also provided in the second control device main body 24 in order to generate a speed pattern even when the first encoder 5 fails.

  In such an elevator apparatus, the rotation speed / rotation magnetic pole position estimation unit 32 for estimating the rotation speed of the electric motors 2 and 7 and the rotation magnetic pole position is provided in the control device main bodies 21 and 24. Is detected, the car 12 is caused to travel only by the first hoisting machine 1 in the low speed region below the predetermined rotational speed, and in the low speed outside region (ωΦ> RI) higher than the predetermined rotational speed, Since the car 12 is driven by both the first and second hoisting machines 1 and 6, even when the second encoder 10 breaks down, the second hoisting machine 6 can be driven and a sufficient driving force can be obtained. Can be secured. Further, even when the first encoder 5 breaks down, the first hoisting machine 1 can be similarly driven and a sufficient driving force can be ensured.

  Further, since the control device main bodies 21 and 24 determine that the hoisting machine drive condition calculation unit 35 is in the low speed outside region when ωΦ> RI, the rotational speeds of the hoisting machines 1 and 6 can be achieved with a simple configuration. Can be detected to reach the low-speed outside region.

Embodiment 2. FIG.
5 is a block diagram showing an elevator apparatus according to Embodiment 2 of the present invention. In the first embodiment, the 2: 1 roping type elevator apparatus is shown, but in the second embodiment, the 1: 1 roping type elevator apparatus will be described.

  In the figure, first and second hoisting machines 1 and 6 are installed at the upper part of the hoistway. A plurality of (only one is shown in the figure) first main ropes 41 as suspension means are wound around the first drive sheave 3. A plurality of (only one is shown in the figure) second main ropes 42 as suspension means are wound around the second drive sheave 8. The car 12 is connected to one end of the first main rope 41 and one end of the second main rope 42. That is, the car 12 is suspended by the first and second main ropes 41 and 42.

  A first counterweight 43 is connected to the other end of the first main rope 41. A second counterweight 44 is connected to the other end of the second main rope 42. In the vicinity of the first hoisting machine 1, a first deflecting wheel 45 around which a first main rope 41 is wound is disposed. In the vicinity of the second hoisting machine 6, a second deflecting wheel 46 around which a second main rope 42 is wound is disposed.

  A first compensation rope 47 is suspended between the car 12 and the first counterweight 43. The lower end of the first compensation rope 47 is wound around a first tension wheel 48 provided at the lower part of the hoistway. A second compensating rope 49 is suspended between the car 12 and the second counterweight 44. The lower end of the second compensation rope 49 is wound around a second tension wheel 50 provided at the lower part of the hoistway. Other configurations and driving methods of the hoisting machines 1 and 6 are the same as those in the first embodiment.

  Even in such a 1: 1 roping type elevator apparatus, the same driving method as in the first embodiment can be applied when the encoders 5 and 10 fail, and a sufficient driving force can be ensured.

  In the above example, the driving condition of the hoisting machine having the failed encoder is ωΦ> RI. However, the criterion for determining the low-speed outside region is not limited to this. For example, the hoisting machine having the failed encoder The drive condition may be that the estimated value of the rotation speed of the machine is equal to or greater than a predetermined value V. Depending on the conditions of the hoisting machines 1 and 6 such as capacity and rated speed, the magnetic pole position estimated value may contain an error even if the condition of ωΦ> RI is satisfied, but the condition that the estimated value of the rotational speed is V or more. If set, the speed region including the estimation error can be more reliably excluded.

  In the above example, the rescue operation after an emergency stop has been described. However, the above operation method can also be applied continuously to the temporary recovery operation until the actual recovery (encoder replacement) after the rescue operation.

Furthermore, although the traction type elevator apparatus is shown in the above example, the present invention can also be applied to a winding drum type elevator apparatus.
Furthermore, although the case where two hoisting machines 1 and 6 are used is shown in the above example, the present invention can also be applied to an elevator apparatus using three or more hoisting machines.
In the above example, the control device main bodies 21 and 24 are provided for each of the hoisting machines 1 and 6, but control of a plurality of hoisting machines may be processed by a common control device main body.
Furthermore, in the above example, the synchronous motor is used as the electric motors 2 and 7, but the present invention can be applied even if an induction motor is used.

Claims (2)

Basket,
An electric motor and an encoder for detecting the rotation of the electric motor, each of which includes a plurality of hoisting machines that raise and lower the car, and a control device that controls the hoisting machine,
The control device
A rotation speed and rotation magnetic pole position estimation unit for estimating the rotation speed and rotation magnetic pole position of each of the motors,
When running the car in a state where any of the encoders is out of order, only the motor of the hoisting machine provided with the normal encoder is driven in a low speed region below a predetermined rotational speed. In the low-speed outside region that is higher than the rotational speed of the motor, the motor of the hoisting machine provided with the normal encoder is driven, and the motor of the hoisting machine provided with the failed encoder is operated at the rotational speed. An elevator apparatus that is driven based on the estimated value by the rotating magnetic pole position estimating unit.   Each of the control devices includes a rotational angular speed ω obtained from a rotational speed estimated value by the rotational speed / rotational magnetic pole position estimating unit, a detected value I of a current flowing into the motor, an armature winding resistance R of the motor, Then, from the armature winding linkage magnetic flux maximum value Φ of the motor, an induced voltage ωΦ during rotation of the motor provided with the failed encoder and a voltage drop RI of the armature winding resistance are calculated. The elevator apparatus according to claim 1, wherein it is determined that the low-speed outside region is satisfied when ωΦ> RI.

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