JP5524893B2 - Elevator rotating machine control device - Google Patents

Description

  The present invention relates to a control device for an elevator rotating machine that controls a rotating machine for driving an elevator hoisting machine and the like without a speed sensor.

  As a conventional control device for an elevator rotator, there is one in which a speed sensorless inverter is applied to elevator control to control the rotator without speed sensor (see, for example, Patent Document 1).

  In addition, there is a control device for an elevator rotating machine that estimates the rotation speed using an adaptive magnetic flux observer in order to control a rotating machine (induction machine) without a speed detector (see Non-Patent Document 1, for example). .

  In addition, in a control device for a rotating machine that controls a rotating machine (induction machine) without a speed detector, the output current of the inverter is overcurrent in order to eliminate an overcurrent stop due to an increase in elevator load and to improve landing accuracy. It detects that the overcurrent limit level lower than the stop level has been reached, performs constant speed control based on the speed at the time of detection, and when the car reaches the deceleration start point, it will have the same deceleration distance as deceleration by the speed pattern Some perform deceleration control that is the same as deceleration for a fixed time (see, for example, Patent Document 2).

Japanese Patent No. 3260070 (second page, FIG. 1) Japanese Patent Laid-Open No. 05-017079 (page 3, FIG. 2)

Proceedings of the 1998 Annual Meeting of the Institute of Electrical Engineers of Japan, I-55 “Stable analysis of adaptive magnetic flux observer of induction motor during regenerative operation”

  However, the prior art has the following problems. The conventional speed control device for a rotating machine disclosed in Patent Document 1 outputs a slip frequency command in accordance with the load of a car in an acceleration section after the start of elevator operation until the inverter frequency command reaches a predetermined value. However, in the deceleration zone until the inverter stops after the inverter frequency command reaches a predetermined value, the operation curve of the elevator is kept constant regardless of the load amount of the car.

  In addition, when the control device for a rotating machine shown in the conventional patent document 2 is controlled without a speed detector, the control stability and control performance are lowered at a low speed and in a regeneration area. Therefore, a speed pattern in which the maximum deceleration is suppressed must be used so that the deceleration time becomes long regardless of the elevator car load, and there is a problem that the moving time of the elevator becomes long.

  In addition, if the speed pattern with limited deceleration is not used, the elevator travel time will not be long, but there are problems such as low ride speed due to low stability and low riding comfort. there were. Further, in Non-Patent Document 1, it is necessary to separately design a stable observer.

  The present invention has been made to solve the above-described problems, and in a control device for an elevator rotating machine that does not use a speed detector, the control performance and stability according to the moving direction and load capacity of the elevator car. An object of the present invention is to obtain a control device for an elevator rotating machine that can suppress an increase in elevator travel time.

An elevator rotating machine control device according to the present invention is an elevator rotating machine control device that performs speed control of an elevator rotating machine without a speed sensor, and a speed command signal generating means for generating a rotating speed command of the rotating machine, comprising a speed sensor-less control means for controlling a voltage applied to the rotating machine at a speed sensorless based on the rotational speed command from the command signal generation means and a brake for providing a braking torque of the rotating machine, speed sensorless control means, slow regeneration In a specific section of the deceleration section that includes the area, combine the regenerative torque of the rotating machine and the brake torque to reduce the difference in the load of the car so that a constant acceleration operation curve is obtained regardless of the load of the car. by supplementing the amount, depending on the load of the moving direction and the car of the car, the regenerative torque of the rotating machine in the deceleration section , Thereby changing the ratio of the braking torque of the brake.

  According to the present invention, in an elevator rotating machine control device that does not use a speed detector, by changing the acceleration operation curve in the deceleration section according to the moving direction and load capacity of the car, or by using brake torque together, It is possible to obtain a control device for an elevator rotating machine capable of suppressing an increase in the travel time of an elevator while ensuring control performance and stability in accordance with the travel direction and load capacity of the elevator car.

It is a block diagram of the control apparatus of the rotary machine for elevators in Embodiment 1 of this invention. It is the figure which showed an example of the driving | running | working curve of the elevator when a cage | basket | car raises. It is the figure which showed an example of the driving | running locus | trajectory of the rotational speed and output torque when drive-controlling the rotary machine for elevators according to the driving | running | working curve of the elevator shown in FIG. It is the figure which divided and showed the driving | running locus | trajectory in case the load capacity of FIG. 3 is small to area AF. It is the figure which showed an example of the driving | running curve of the elevator when a cage | basket | car descends. It is the figure which showed an example of the driving | running locus | trajectory of a rotational speed and an output torque when drive-controlling the rotary machine for elevators according to the driving | running | working curve of the elevator shown in FIG. It is the figure which divided and showed the driving | running locus | trajectory in case the loading capacity of FIG. 5 is large to area AF. It is the figure which showed an example of the driving | running | working curve of the elevator when the cage | basket | car in Embodiment 1 of this invention raises. It is the figure which showed the driving | running curve of the elevator in case the load capacity of the car when the car in Embodiment 1 of this invention raises is small. It is the figure which showed the driving | running locus | trajectory of the rotational speed and output torque when drive-controlling the rotary machine for elevators according to the driving | running | working curve of the elevator shown in FIG. It is the figure which showed an example of the driving | running | working curve of the elevator when the cage | basket | car in Embodiment 2 of this invention raises. It is the figure which showed the driving | running | working curve of the elevator in case the load capacity of the cage | basket | car when the cage | basket rises in Embodiment 2 of this invention is small. It is the figure which showed the driving | running locus of the rotational speed and output torque when drive-controlling the rotary machine for elevators according to the driving | running | working curve of the elevator shown in FIG. It is the figure which showed an example of the operating curve of the elevator when the cage | basket | car in Embodiment 3 of this invention raises. It is the figure which showed the driving | running | working curve of the elevator in case the loading capacity of the cage | basket | car when the cage | basket rises in Embodiment 3 of this invention is small. It is the figure which showed the driving | running locus | trajectory of the rotational speed and output torque when drive-controlling the rotary machine for elevators according to the driving | running | working curve of the elevator shown in FIG. It is a block diagram of the control apparatus of the rotary machine for elevators in Embodiment 4 of this invention. It is the figure which showed an example of the operating curve of the elevator when the cage | basket | car in Embodiment 4 of this invention raises. It is the figure which showed an example of the operating curve of the elevator when the cage | basket | car in Embodiment 5 of this invention raises.

DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of a control device for an elevator rotating machine according to the invention will be described with reference to the drawings.
The control device for an elevator rotating machine according to the present invention secures both control performance and stability by changing the acceleration operation curve in the deceleration zone in accordance with the load capacity of the elevator.

Embodiment 1 FIG.
FIG. 1 is a configuration diagram of a control device for an elevator rotary machine according to Embodiment 1 of the present invention. The control device for an elevator rotator includes an elevator mechanism 10, a rotator 20, a speed sensorless control unit 30, and a speed command signal generation unit 40.

  The elevator mechanism unit 10 to be controlled includes a car 11, a car load detector 12, a hoisting rope 13, a hoisting sheave 14, a counterweight 15, and a brake 16. The car 11 is provided with a car load detector 12, and a counterweight 15 is attached to the car 11 via a hoisting sheave 14 by a hoisting rope 13. The brake 16 brakes the hoisting sheave 14 before and after the rotating machine 20 starts rotating. Further, the rotating machine 20 moves the car 11 up and down by driving the hoisting sheave 14.

  The speed command signal generating means 40 stores in advance a driving curve over an acceleration section, a constant speed section, and a deceleration section in a storage unit (not shown) in order to generate a speed command that serves as a reference for an elevator car. Here, the running curve defines the speed pattern when moving from a stop floor where an elevator car is located to a target floor, and is specified by any change pattern of speed, acceleration or jerk over time. can do.

  The driving curve can have a plurality of speed patterns according to the moving distance or the relationship between the stop floor and the target floor, and can also have a speed pattern as a reference for the acceleration section and the deceleration section.

  Then, the speed command signal generating means 40 generates and generates the rotation speed command ω * of the rotating machine 20 according to the output of the car load detector 12 and the stored operation curve as time elapses after the movement starts. The rotational speed command ω * is output to the voltage command calculator 33. The generation of the rotation speed command ω * will be described in detail later.

  On the other hand, the speed sensorless control means 30 is composed of a PWM inverter 31, a current detector 32, and a voltage command calculator 33, and the three-phase voltage is supplied to the rotating machine 20 without inputting the speed information of the rotating machine 20. v is applied.

  Specifically, the voltage command calculator 33 does not input the rotation speed of the rotating machine 20, and the three-phase detected by the rotation speed command ω * generated by the speed command signal generation means 40 and the current detector 32. A voltage command v * is generated based on the current i and output to the PWM inverter 31. Furthermore, the PWM inverter 31 applies a three-phase voltage v to the rotating machine 20 based on the generated voltage command v *.

  Next, the operation of the control device for the elevator rotating machine based on the acceleration driving curve and the braking torque of the brake will be described. First, the operation when the acceleration driving curve and the braking torque of the brake are not changed according to the load amount of the car will be described.

  FIG. 2 is a diagram showing an example of an operation curve of the elevator when the car 11 is raised. The horizontal axis in FIG. 2 indicates time, and the vertical axis indicates the position, speed, acceleration, and jerk of the car 11 in order from the top. The speed command signal generation means 40 calculates a speed command with the passage of time after the start of movement by storing at least one of operation curves related to position, speed, acceleration, and jerk in the storage unit. Can do.

  The operation curve of the elevator in FIG. 2 shows an acceleration section (corresponding to sections A, B, and C shown in the lower part of FIG. 2) until the magnitude of the rotational speed of the rotating machine 20 reaches a predetermined value, and the rotating machine 20. Can be distinguished from a deceleration zone (corresponding to zones D, E, and F shown in the lower part of FIG. 2) until the magnitude of the rotation speed stops from a predetermined value. Although the description of the constant speed section is omitted in FIG. 2, strictly speaking, between the section C that is the last section of the acceleration section and the section D that is the first section of the deceleration section, depending on the travel distance. Will include a constant speed section.

  Here, in the acceleration section divided into three sections A, B, and C, section A is a section in which the magnitude of acceleration increases, and section B is a section in which the magnitude of acceleration is kept constant. , Section C is a section where the magnitude of acceleration decreases and then becomes zero. Similarly, in the deceleration section divided into three sections D, E, and F, section D is a section in which the magnitude of acceleration increases from zero, and section E is a section in which the magnitude of acceleration is kept constant. And section F is a section in which the magnitude of acceleration decreases.

  FIG. 3 is a diagram showing an example of an operation trajectory of the rotation speed and the output torque when the elevator rotating machine is driven and controlled according to the operation curve of the elevator shown in FIG. In FIG. 3, the vertical axis represents the output torque output from the rotating machine 20, and the horizontal axis represents the rotational speed of the rotating machine 20. 3 shows an example where the reverse efficiency of the gear connecting the hoisting sheave 14 and the rotating machine 20 is low.

  The operating point of the operation locus shown in FIG. 3 draws a locus clockwise from the vicinity of the origin when it starts, and after returning through the first quadrant and the fourth quadrant, draws a locus that returns to the vicinity of the origin again when stopped. Here, when the loading amount of the car 11 is different, the locus also appears in the vertical axis direction. FIG. 3 shows an operation locus when the car 11 is raised corresponding to FIG. 2, and the locus is shifted to the power running side when the load is large (the operation locus shown by the one-dot chain line in FIG. 3). Correspondingly), when the load is small, the locus shifts to the regeneration side (corresponding to the operation locus shown by the solid line in FIG. 3).

  Further, FIG. 3 shows a low speed and unstable region of the regenerative region when an induction machine is used as the rotating machine 20. It can be seen from the relationship between the driving locus and the unstable region in FIG. 3 that there are cases where the unstable region passes or does not pass depending on the load.

  That is, when the car 11 rises, it passes through the unstable area when the load is small, but does not pass through the unstable area when the load is large. Further, as will be described later, when the car 11 is lowered, the car 11 passes through the unstable region when the load is large, but unstable when the load is small. Do not pass through the area.

  FIG. 4 is a diagram showing the operation trajectory when the loading amount of FIG. 3 is small divided into sections A to F. In FIG. 4, the vertical axis represents the output torque output from the rotating machine 20, and the horizontal axis represents the rotational speed of the rotating machine 20.

  In FIG. 4, section A is a trajectory at the time of starting, and reaches the rated speed via section B and section C. Thereafter, the vehicle starts decelerating from the section D and stops through the sections E and F. When the car 11 rises, it can be seen from the relationship between the operation section of FIG. 3 and the unstable region that attention is required when the load capacity of the car is small. More specifically, the operation section of FIG. It can be seen that attention should be paid to the section F before stoppage from the relationship between and the unstable region.

  FIG. 5 is a view showing an example of an operation curve of the elevator when the car 11 is lowered, and shows an operation in the opposite direction to FIG. The horizontal axis in FIG. 5 indicates time, and the vertical axis indicates the position, speed, acceleration, and jerk of the car 11 in order from the top.

  Similar to the operation curve of the elevator of FIG. 2, the operation curve of the elevator of FIG. 5 is also an acceleration section (section A, shown in the lower part of FIG. 5) until the magnitude of the rotational speed of the rotating machine 20 reaches a predetermined value. B and C) and a deceleration zone (corresponding to zones D, E, and F shown in the lower part of FIG. 5) until the magnitude of the rotational speed of the rotating machine 20 stops from a predetermined value.

  Here, in the acceleration section divided into three sections A, B, and C, section A is a section in which the magnitude of acceleration increases, and section B is a section in which the magnitude of acceleration is kept constant. , Section C is a section where the magnitude of acceleration decreases and then becomes zero. Similarly, in the deceleration section divided into three sections D, E, and F, section D is a section in which the magnitude of acceleration increases from zero, and section E is a section in which the magnitude of acceleration is kept constant. And section F is a section in which the magnitude of acceleration decreases.

  FIG. 6 is a diagram showing an example of an operation trajectory of the rotation speed and the output torque when the elevator rotating machine is driven and controlled according to the operation curve of the elevator shown in FIG. In FIG. 6, the vertical axis represents the output torque output from the rotating machine 20, and the horizontal axis represents the rotational speed of the rotating machine 20.

  The operating point of the driving locus shown in FIG. 6 draws a locus clockwise from the vicinity of the origin when starting, passes a second quadrant and a third quadrant, and then returns to the vicinity of the origin again when stopped. Here, when the loading amount of the car 11 is different, the locus also appears in the vertical axis direction. FIG. 6 shows an operation locus when the car 11 descends corresponding to FIG. 5. When the load is large, the locus is shifted to the power running side (the operation locus shown by the one-dot chain line in FIG. 3). Correspondingly), when the load is small, the locus shifts to the regeneration side (corresponding to the operation locus shown by the solid line in FIG. 3).

  Further, FIG. 6 shows a low speed and unstable region of the regeneration region when an induction machine is used as the rotating machine 20. It can be seen from the relationship between the driving locus and the unstable region in FIG. 6 that there are cases where the unstable region passes or does not pass depending on the load.

  That is, when the car 11 descends, it passes through the unstable region when the load is large, but does not pass through the unstable region when the load is small. In addition, as described above, when the car 11 is raised, contrary to the case where the car 11 is lowered, the car 11 passes through the unstable region when the load is small, but is unstable when the load is large. Do not pass through the area.

  FIG. 7 is a diagram showing the operation trajectory when the load amount of FIG. 5 is large divided into sections A to F. In FIG. 7, the vertical axis represents the output torque output from the rotating machine 20, and the horizontal axis represents the rotational speed of the rotating machine 20.

  In FIG. 7, section A is a trajectory at the start, and reaches the rated speed via section B and section C. Thereafter, the vehicle starts decelerating from the section D and stops through the sections E and F. When the car 11 descends, it can be seen from the relationship between the operation section of FIG. 6 and the unstable region that attention is required when the load capacity of the car is large. More specifically, the operation section of FIG. It can be seen that attention should be paid to the section F before stoppage from the relationship between and the unstable region.

From the above, it can be seen that the following two points need attention.
(1) When the speed sensorless control means 30 is used, attention should be paid to the section F before stopping regardless of whether the car is raised or lowered.
(2) When the car rises, care should be taken as the car load is small. When the car is going down, care should be taken as the car load is large.

  Based on this, the operation principle of the control device for the elevator rotating machine in the first embodiment will be described next. FIG. 8 is a diagram illustrating an example of an operation curve of the elevator when the car 11 is raised according to the first embodiment of the present invention. The horizontal axis in FIG. 8 indicates time, and the vertical axis indicates acceleration and jerk in order from the top.

  In the acceleration driving curve of the elevator shown in FIG. 8, since there is no problem in the stability of the speed sensorless control means 30 from the section A to the section E described above, it is the same as the acceleration driving curve shown in FIG. However, in the section F when the car 11 is rising, when the load amount of the car 11 is small, attention is paid to the unstable region so that the maximum jerk is smaller than the normal driving curve. A running curve is obtained (corresponding to the solid line in section F in FIG. 8).

  Further, in the section F when the car 11 is rising, when the load amount of the car 11 is large, as described above, it is not necessary to pay attention to the unstable region, so that it is shown in FIG. The driving curve is the same (corresponding to the dotted line in section F in FIG. 8).

  Thus, by reducing the magnitude of the maximum jerk and extending the allocation period, the period during which the acceleration in the section F changes increases, but the speed sensorless control means 30 reduces the low-speed regenerative torque. As a result, the rotating machine 20 can be stably controlled while avoiding the unstable region.

  FIG. 9 is a diagram showing an operation curve of the elevator when the car load is small when the car 11 is raised according to the first embodiment of the present invention. As described with reference to FIG. 8, in the section F when the car 11 is rising, when the car load is small, allocation of the deceleration jerk is suppressed by suppressing the magnitude of the maximum jerk during deceleration. The period is increased, and the allocation period of the deceleration time is increased.

  FIG. 10 is a diagram showing an operation locus of the rotational speed and the output torque when the elevator rotating machine is driven and controlled according to the operation curve of the elevator shown in FIG. In FIG. 10, the vertical axis represents the output torque output from the rotating machine 20, and the horizontal axis represents the rotational speed of the rotating machine 20.

  As shown in FIG. 10, in the section F when the car 11 is ascending, when the car load is small, that is, when the rotating machine 20 requires a large regenerative torque in the low speed range, it is during deceleration. The speed sensorless control means 30 can avoid the unstable region of low-speed regeneration by suppressing the magnitude of the maximum jerk and allowing the deceleration jerk allocation period and increasing the deceleration time allocation period. Become.

  That is, by changing the acceleration operation curve according to the load amount of the car, the rotating machine 20 does not require a large regenerative torque in the low speed range. As a result, the speed sensorless control means 30 can avoid a low speed regeneration region that becomes unstable.

  In the above, the operation when the loading amount of the car 11 is small in the section F when the car 11 is rising has been described with reference to FIGS. 8 to 10, but when the car 11 is descending. Similarly, in the section F, when the load of the car 11 is large, it is possible to avoid the unstable low-speed regeneration area.

  That is, in the section F when the car 11 is descending, even when the load amount of the car 11 is large, the maximum jerk at the time of deceleration is suppressed to allow the deceleration jerk allocation period, and the deceleration time By increasing the allocation period, the speed sensorless control means 30 can avoid an unstable region of low speed regeneration.

  Based on the principle described above, the speed command signal generation means 40 of FIG. 1 avoids an unstable region of low speed regeneration by operating as follows. When the speed command signal generating means 40 outputs the rotational speed command ω * according to the driving curve, the speed command signal generating means 40 changes the size of the acceleration driving curve in the section F stored in the storage unit according to the load amount W of the car 11. To do.

  That is, when raising the car, the speed command signal generating means 40 suppresses the maximum magnitude of the jerk in the section F as the loading amount W becomes smaller, so that the speed command signal generating means 40 in the jerk driving curve in the section F Increase the allocation time for deceleration jerk. In addition, when the car is lowered, the speed command signal generation means 40 suppresses the maximum jerk in the section F as the loading amount W increases, so that the speed acceleration signal generation section 40 in the section F in the jerk operating curve. Increase the allocation time for deceleration jerk.

  Specifically, the speed command signal generation means 40 stores the acceleration operation curves at the time of ascent and descent having the relationship as described above in advance in the storage unit corresponding to a plurality of loading amounts. The acceleration driving curve can be changed according to the load amount W of the car 11. Further, the speed command signal generation means 40 formulates the allocation period of the deceleration section and the maximum acceleration / deceleration value with respect to the load amount as a function expression for each rise and fall and stores them in the storage unit in advance. In addition, the acceleration driving curve can be changed according to the load amount W of the car 11.

  Further, the speed command signal generation means 40 may store a differential result of acceleration, that is, a jerk driving curve instead of storing the acceleration driving curve. Alternatively, the speed command signal generation means 40 may store the acceleration integration result, that is, the speed driving curve instead of storing the acceleration driving curve.

  According to the first embodiment, the speed command signal generating means determines the magnitude of the maximum jerk in a section where the magnitude of acceleration decreases in the deceleration section before the stop, according to the moving direction of the car and the load amount of the car. By making the change small, it is possible to lengthen the allocation time during which the acceleration changes. As a result, when the car load W is large at the time of ascending or when the car load is small at the time of descending, the car is stopped during the normal deceleration period, so that the operation time required for raising and lowering is not increased.

  Further, when the car load W is small during ascent or when the car load is large when descending, the speed sensorless control means can control the rotating machine so as to avoid the unstable region of low speed regeneration. As a result, it is possible to obtain a control device for an elevator rotating machine that can suppress an increase in the travel time of the elevator while ensuring control performance and stability in accordance with the load capacity of the elevator car.

  In the above-described first embodiment, the method of changing only the allocation time to the section F according to the load amount of the car has been described. However, the present invention is not limited to this. It is only necessary to change at least the allocation time of the section F in accordance with the load amount of the car, and in addition to the section F, the allocation time of other sections may be incidentally changed in accordance with the load amount of the car. The same effect can be obtained.

Embodiment 2. FIG.
In Embodiment 1, the control apparatus of the rotary machine for elevators which changes the magnitude | size of the maximum jerk of the area F according to the loading amount W of the car was shown. In the second embodiment, a control device for an elevator rotating machine that changes the acceleration rate immediately before stopping, that is, the jerk, without changing the magnitude of the maximum jerk in the section F will be described. In addition, the structure of the control apparatus of the rotary machine for elevators in this Embodiment 2 is the same as FIG.

  FIG. 11 is a diagram illustrating an example of an operation curve of the elevator when the car 11 is elevated in the second embodiment of the present invention. The horizontal axis in FIG. 11 indicates time, and the vertical axis indicates acceleration and jerk in order from the top.

  Similar to the first embodiment, there is no problem in the stability of the speed sensorless control means 30 from the section A to the section E. Further, regarding the section F, it is necessary to pay attention to the unstable region when the car is loaded with a small load and when the car is loaded with a large load.

  In the first embodiment, as a measure for avoiding the unstable region, the driving curve is changed so that the maximum jerk in the section F is smaller than the normal driving curve. In the second embodiment, the magnitude of the maximum jerk in the section F is not changed, the period during which the acceleration in the section F changes is lengthened, and the jerk in the section F is changed over time.

  That is, in the section F, when the loading capacity of the car 11 is small at the time of ascent, attention is paid to the unstable region, and the driving curve is made such that the jerk is changed with time unlike the normal driving curve (section of FIG. 11). Equivalent to the solid line in F). Further, when the loading capacity of the car 11 is large at the time of ascending, it is not necessary to pay attention to the unstable region as described in the first embodiment, and therefore, it is the same as the operation curve shown in FIG. 11 corresponding to the dotted line in section F).

  Specifically, the speed command signal generation means 40 stores the acceleration operation curves at the time of ascent and descent having the relationship as described above in advance in the storage unit corresponding to a plurality of loading amounts. The acceleration driving curve can be changed according to the load amount W of the car 11. Further, the speed command signal generation means 40 formulates the allocation period of the deceleration section with respect to the load amount and the time change value of the acceleration / deceleration as a function expression for each time of ascent and descent and stores them in the storage unit in advance. In this way, the acceleration driving curve can be changed according to the loading amount W of the car 11.

  Thus, by changing the jerk over time and lengthening the period during which the acceleration in the section F changes, the speed sensorless control means 30 can reduce the low-speed regenerative torque, and as a result, it can rotate stably. The machine 20 can be controlled.

  FIG. 12 is a diagram illustrating an operation curve of the elevator when the load amount of the car is small when the car 11 ascends according to Embodiment 2 of the present invention. As described with reference to FIG. 11, when the load amount of the car is small, the period during which the jerk during deceleration is increased to increase the allocation period for deceleration jerk and increase the allocation period for deceleration time. Let

  FIG. 13 is a diagram showing an operation locus of the rotational speed and the output torque when the elevator rotating machine is driven and controlled in accordance with the operation curve of the elevator shown in FIG. In FIG. 13, the vertical axis represents the output torque output from the rotating machine 20, and the horizontal axis represents the rotational speed of the rotating machine 20.

  As shown in FIG. 13, in the section F when the car 11 is moving up, when the car load is small, that is, when the rotating machine 20 requires a large regenerative torque in the low speed range, it is during deceleration. The speed sensorless control means 30 can avoid the unstable region of low-speed regeneration by increasing the allocation period of deceleration jerk by increasing the period during which the jerk changes, and increasing the allocation period of deceleration time. It becomes possible.

  That is, by changing the acceleration operation curve according to the load amount of the car, the rotating machine 20 does not require a large regenerative torque in the low speed range. As a result, the speed sensorless control means 30 can avoid a low speed regeneration region that becomes unstable.

  In the above description, the case where the car is raised has been described. However, when the car is lowered, the period during which the jerk of the section F is changed when the load is large may be lengthened, and thereby the car is raised. Similarly to the case, the speed sensorless control unit 30 can avoid a low-speed regeneration region that becomes unstable.

  According to the second embodiment, the speed command signal generation means changes the jerk of the section where the magnitude of acceleration decreases in the deceleration section before the stop according to the moving direction of the car and the load amount of the car. Thus, it is possible to lengthen the allocation time during which the acceleration changes. As a result, when the car load W is large at the time of ascending or when the car load is small at the time of descending, the car is stopped during the normal deceleration period, so that the operation time required for raising and lowering is not increased.

  Further, when the car load W is small during ascent or when the car load is large when descending, the speed sensorless control means can control the rotating machine so as to avoid the unstable region of low speed regeneration. As a result, it is possible to obtain a control device for an elevator rotating machine that can suppress an increase in the travel time of the elevator while ensuring control performance and stability in accordance with the load capacity of the elevator car.

Embodiment 3 FIG.
In Embodiment 1, the control apparatus of the rotary machine for elevators which changes the magnitude | size of the maximum jerk of the area F according to the loading amount W of the car was shown. Further, in the second embodiment, the control device for an elevator rotating machine that changes the acceleration change rate immediately before stopping, that is, the jerk, over time, instead of changing the magnitude of the maximum jerk in the section F, is shown. . In both of these Embodiments 1 and 2, the jerk and acceleration in the section F are changed.

  On the other hand, in Embodiment 3, the case where jerk and acceleration are changed in the sections D to F corresponding to the deceleration section will be described. In addition, the structure of the control apparatus of the rotary machine for elevators in this Embodiment 2 is the same as FIG.

  FIG. 14 is a diagram illustrating an example of an operation curve of the elevator when the car 11 is elevated in the third embodiment of the present invention. The horizontal axis in FIG. 14 indicates time, and the vertical axis indicates acceleration and jerk in order from the top. In the figure, there is no problem in the stability of the speed sensorless control means 30 from the section A to the section C corresponding to the acceleration section.

  As described in the first embodiment, when the load amount W of the car is small at the time of ascent, it is necessary to pay attention to the unstable region. Therefore, in the third embodiment, in order to suppress the maximum acceleration in the section E, it is considered to change the driving curves of the jerk in the sections D and F.

  In the first embodiment, the driving curve is changed so that the maximum jerk is smaller than the normal driving curve. On the other hand, in this Embodiment 3, the period which maintains the acceleration of the area E is lengthened, without adding the magnitude | size of the maximum jerk itself.

  That is, in the section D and the section F, when the load of the car 11 is small when ascending, pay attention to the unstable region and, unlike the normal driving curve, make the driving curve to change the jerk in a triangular shape over time. (Corresponding to the solid lines in section D and section F in FIG. 14). Further, when the loading capacity of the car 11 is large at the time of ascending, it is not necessary to pay attention to the unstable region as described in the first embodiment, and therefore, it is the same as the operation curve shown in FIG. 14 corresponding to dotted lines in Section D and Section F).

  Specifically, the speed command signal generation means 40 stores the acceleration operation curves at the time of ascent and descent having the relationship as described above in advance in the storage unit corresponding to a plurality of loading amounts. The acceleration driving curve can be changed according to the load amount W of the car 11. Further, the speed command signal generation means 40 formulates the allocation period of the deceleration section with respect to the load amount and the time change value of the acceleration / deceleration as a function expression for each time of ascent and descent and stores them in the storage unit in advance. In this way, the acceleration driving curve can be changed according to the loading amount W of the car 11.

  As shown in FIG. 14, by changing the jerk in the sections D and F with time, the periods D to F become longer, but the magnitude of the acceleration itself can be suppressed, and the speed sensorless control means 30. Can reduce the low-speed regenerative torque, and as a result, the rotating machine 20 can be stably controlled.

  FIG. 15 is a diagram illustrating an operation curve of the elevator when the load amount of the car is small when the car 11 ascends according to Embodiment 3 of the present invention. As described with reference to FIG. 14, when the loading capacity of the car is small, by changing the jerk in the sections D and F with time, the periods in the sections D to F become longer, but the acceleration in the deceleration section The size itself can be suppressed.

  FIG. 16 is a diagram showing an operation locus of the rotation speed and the output torque when the elevator rotating machine is driven and controlled according to the operation curve of the elevator shown in FIG. In FIG. 16, the vertical axis represents the output torque output from the rotating machine 20, and the horizontal axis represents the rotational speed of the rotating machine 20.

  As shown in FIG. 16, in the section F when the car 11 is moving up, when the car load is small, that is, when the rotating machine 20 requires a large regenerative torque in the low speed range, it is during deceleration. The speed sensorless control means 30 can avoid an unstable region of low speed regeneration by suppressing the magnitude of the maximum acceleration and increasing the deceleration acceleration allocation period and increasing the deceleration time allocation period. .

  That is, by changing the acceleration operation curve according to the load amount of the car, the rotating machine 20 does not require a large regenerative torque in the low speed range. As a result, the speed sensorless control means 30 can avoid a low speed regeneration region that becomes unstable.

  In the above description, the case where the car is raised has been described. However, when the car is lowered, the jerk in the sections D and F may be changed with time when the load is large, thereby raising the car. Similarly to the case, the speed sensorless control means 30 can avoid a low-speed regeneration region that becomes unstable.

  According to the third embodiment, the speed command signal generating means reduces the magnitude of the acceleration by changing the jerk over time in the deceleration section before the stop according to the moving direction of the car and the load amount of the car. At the same time, the allocation time during which the acceleration changes can be lengthened. As a result, when the car load W is large at the time of ascending or when the car load is small at the time of descending, the car is stopped during the normal deceleration period, so that the operation time required for raising and lowering is not increased.

  Further, when the car load W is small during ascent or when the car load is large when descending, the speed sensorless control means can control the rotating machine so as to avoid the unstable region of low speed regeneration. As a result, it is possible to obtain a control device for an elevator rotating machine that can suppress an increase in the travel time of the elevator while ensuring control performance and stability in accordance with the load capacity of the elevator car.

Embodiment 4 FIG.
FIG. 17 is a configuration diagram of the control device for the elevator rotating machine according to the fourth embodiment of the present invention. Compared with FIG. 1 which is a configuration diagram of the first to third embodiments, FIG. 17 is different in that the car load detector 12 is not provided. In FIG. 17, the same reference numerals as those in FIG. 1 denote the same or corresponding parts, and the description thereof will be omitted and different configurations will be mainly described.

  The speed sensorless control means 30a includes a PWM inverter 31, a current detector 32, and a voltage command calculator 33a, and applies a three-phase voltage to the rotating machine 20 without inputting speed information of the rotating machine 20. Further, the voltage command calculator 33a in the speed sensorless control means 30a estimates the load amount of the car 11 based on the current obtained from the current detector 32, and outputs it to the speed command signal generation means 40a. The estimation of the load amount will be described later.

  The speed command signal generation means 40a, with the passage of time after the start of movement, according to the estimated value of the load amount W of the car 11 that is the output of the voltage command calculator 33a and the stored operation curve, ω * is generated, and the generated rotation speed command ω * is output to the voltage command calculator 33a.

  In the configuration of FIG. 1, the load amount can be easily measured by providing the car load detector 12 provided in the car 11. On the other hand, according to the configuration of FIG. 17, the load amount of the car can be estimated by the voltage command calculator 33a, and the car load detector 12 shown in FIG. A signal line connecting the detector 12 and the speed command signal generation means 40 is also unnecessary.

  Next, the voltage command calculator 33a, which is a technical feature of the fourth embodiment, estimates the load amount W of the car 11 based on the three-phase current i detected by the current detector 32, and generates a speed command signal. The operation output to the means 40a will be described.

  FIG. 18 is a diagram illustrating an example of an operation curve of the elevator when the car 11 is raised in the fourth embodiment of the present invention. In FIG. 18, the horizontal axis indicates time, and the vertical axis indicates speed, acceleration, and torque current in order from the top.

  The torque current at the third stage is obtained by separating the current i output from the current detector 32 into an excitation current and a torque current by a voltage command calculator 33a using a known method using coordinate transformation. It is obtained.

  In FIG. 18, in sections A, B, and C, which are acceleration sections, an operation curve related to a preset acceleration is given regardless of the load amount W of the car 11. Here, as shown in the third row of FIG. 18, the torque current when the load is large has a relationship of shifting in a direction in which the torque current increases as compared with the torque current when the load is small.

  Therefore, by storing in advance a data relating the torque current and the load capacity in the storage unit, the voltage command calculator 33a estimates the load capacity of the car 11 based on the difference in the response of the torque current. . The load amount of the car 11 can be estimated based on the torque current calculated from the current i output from the current detector 32.

  Here, in calculating the value of the torque current, the following method can be considered. For example, the load amount of the car 11 may be determined from the value of the torque current at an arbitrary time. Alternatively, the load amount of the car 11 may be determined based on the maximum value of the torque current in any of the sections A, B, and C. Alternatively, the load amount of the car 11 may be determined based on the average value of the torque current in any of the sections A, B, and C. The voltage command calculator 33a can easily estimate the load amount by preparing in advance a load amount data corresponding to any torque current in the storage unit.

  The speed command signal generating means 40a needs the estimated value of the loading amount when calculating the rotational speed command ω * for the sections D to F that are the deceleration period. Therefore, the voltage command calculator 33a may estimate the load amount of the car 11 between the sections A to C which are acceleration sections. Further, the speed command signal generation means 40a operates in the sections D, E, and F according to the load amount of the car 11 by any of the methods shown in the first to third embodiments based on the estimated load amount. By changing the curve, the low-speed regenerative torque can be reduced, and as a result, the rotating machine 20 can be controlled stably.

  According to the fourth embodiment, the voltage command calculator can estimate the load amount of the car 11 based on the torque current value. As a result, without using the in-car load detector, the same as in the first to third embodiments, the control performance and stability are ensured according to the load capacity of the elevator car, and the elevator travel time is increased. It is possible to obtain a control device for an elevator rotating machine capable of suppressing the above-described problem.

  In the above description, the case where the car 11 is raised has been described. However, even when the car is lowered, in the sections A, B, and C, by giving an operation curve related to a preset acceleration regardless of the load amount of the car 11, A difference appears in the response of the torque current between when the load of the car 11 is large and when the load is small. Therefore, it goes without saying that the load amount of the car 11 can be estimated based on the difference in the torque current response in the same manner as when the car is raised.

  Further, in the above-described fourth embodiment, the case where the voltage command calculator 33a estimates the load amount of the car by storing the data relating the torque current and the load amount in the storage unit in advance has been described. However, the present invention is not limited to this. The voltage command calculator 33a can also estimate the load amount of the car from the torque current value by storing in advance a functional expression of the calculated torque current and load amount in the storage unit.

  In the fourth embodiment described above, a torque current command value, that is, a torque command value may be used instead of the torque current. The voltage command calculator 33a has a storage unit that stores data relating the torque command and the load amount in advance, calculates a torque command necessary to make the rotational speed follow the rotational speed command, and accelerates the elevator. The load amount of the car may be estimated by taking out the load amount corresponding to the torque command in the section from the storage unit, and the same effect as in the fourth embodiment described above can be obtained.

Embodiment 5 FIG.
In the first to fourth embodiments, the invention in which the operation curve of at least one of the operation curves of the sections D, E, and F is changed according to the load amount of the car 11 has been described. On the other hand, in the fifth embodiment, a case will be described in which the operation is performed using the brake torque of the brake 16 in addition to the rotating machine torque of the rotating machine 20 in the sections D, E, and F. The configuration in the fifth embodiment is the same as in FIG.

  FIG. 19 is a diagram illustrating an example of an operation curve of the elevator when the car 11 is raised according to the fifth embodiment of the present invention. In FIG. 19, the horizontal axis indicates time, and the vertical axis indicates speed, acceleration, total output torque, rotating machine torque, and brake torque in order from the top.

  Here, the rotating machine torque is a torque output from the rotating machine 20, and the brake torque is a braking torque output from the brake 16. The total output torque is the sum of the rotating machine torque and the brake torque.

  As for the rotating machine torque, if the rotating machine 20 is controlled by the speed sensorless control means 30, it is possible to output both the power running torque and the regenerative torque, but it is not easy to ensure the stability in the low speed and regenerative region. The brake torque can be output by the brake 16, but only the regenerative torque can be output.

Here, the total output torque is
"Total output torque" = "Rotating machine torque" + "Brake torque"
The relationship is established.

  Therefore, in the deceleration section of sections D to F including the low speed regeneration area, by appropriately combining the rotating machine torque and the brake torque, at least one section of sections D, E, and F implemented in the first to fourth embodiments. It becomes possible to eliminate the need to change the operating curve.

  In the fourth embodiment, the voltage command calculator 33a outputs brake torque to the brake 16 before the elevator starts and after the elevator is started. On the other hand, in the fifth embodiment, as shown in FIG. 19, instead of changing the operation curve in accordance with the load amount of the car 11, the brake torque is applied in a specific section of the deceleration section. Thus, an effect equivalent to that of Form 4 is obtained.

  The voltage command calculator 33a in the speed sensorless control means 30 controls the rotating machine 20 so that the rotating machine torque becomes small in the low speed / regenerative regions in the sections D, E, and F, and keeps the rotating machine torque small. The brake torque of the brake 16 is supplemented by the amount.

  As shown in FIG. 19, by controlling with a constant operation curve regardless of the loading capacity, the rotating machine torque varies depending on the loading capacity. However, since the voltage command calculator 33a applies the brake torque according to the variation, as a result, the load difference can be compensated by the amount of the brake torque.

  According to the fifth embodiment, the speed sensorless control means can reduce the low-speed regenerative torque and can reduce the brake torque by using the brake torque in combination according to the moving direction and load capacity of the car. In the section to be effective, it is not necessary to change the operation curve according to the moving direction and load capacity of the car as shown in the first to fourth embodiments. As a result, the speed sensorless control means can stably control the rotating machine and can suppress a delay in the elevator lift time.

  In addition, when the brake torque can be compensated by the brake, the acceleration operation curve itself stored in advance in the storage unit of the speed command signal generation means is operated so that the rotating machine torque becomes small in the low speed / regenerative region. It can be set as a curve.

  In the above description, the case where the car 11 is raised has been described, but even when the car is lowered, by appropriately combining the rotating machine torque and the brake torque in the deceleration section of the sections D to F including the low speed regeneration area, Needless to say, it is possible to eliminate the need to change the operating curve in at least one of the sections D, E, and F implemented in the fourth embodiment.

  Furthermore, although the above-described fifth embodiment has been described based on FIG. 17 which is the configuration of the fourth embodiment, the present invention is not limited to this. In FIG. 1, which is the configuration of the first to third embodiments, the function described in the fifth embodiment can also be realized by the voltage command calculator 33 reading the load amount of the car from the car load detector 12. it can.

  Furthermore, in the above-described fifth embodiment, the case where the brake operation in the deceleration zone is used in combination using the constant acceleration operation curve regardless of the moving direction of the car and the load amount of the car has been described, but the present invention is not limited to this. . As described in the first to fourth embodiments, the brake operation in the deceleration zone can be used in combination even when the acceleration operation curve corresponding to the moving direction of the car and the load amount of the car is used. As a result, the speed sensorless control means can stably control the rotating machine and can suppress a delay in the elevator up / down time.

  In addition, since the general-purpose inverter for driving the rotating machine can apply a voltage to the rotating machine (induction machine) so that a desired rotating speed is obtained by inputting a speed command, the speed sensorless control means 30 described above is used. A general-purpose inverter can be used.

  10 elevator mechanism, 11 car, 12 internal load detector, 13 hoisting rope, 14 hoisting sheave, 15 counterweight, 16 brake, 20 rotating machine, 30, 30a speed sensorless control means, 31 inverter, 32 current detection , 33, 33a Voltage command calculator, 40, 40a Speed command signal generating means.

Claims (1)

In an elevator rotating machine control device that controls the speed of an elevator rotating machine without a speed sensor,
Speed command signal generating means for generating a rotation speed command of the rotating machine;
Speed sensorless control means for controlling a voltage applied to the rotating machine without a speed sensor based on the rotational speed command from the speed command signal generating means;
A brake for applying a braking torque to the rotating machine,
The speed sensorless control means combines a regenerative torque and a brake torque of the rotating machine in a specific section of a deceleration section including a low speed regeneration area, so that a constant acceleration operation curve is obtained regardless of the load amount of the car. By compensating for the difference in the load capacity of the car by the amount of brake torque, the ratio of the regenerative torque of the rotating machine and the braking torque of the brake in the deceleration zone is determined according to the direction of car movement and the load capacity of the car. Elevator rotating machine control device.

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