JP6297942B2 - Elevator control device - Google Patents

Description

  The present invention relates to an elevator control device for controlling an elevator car provided in a building, and more particularly to an elevator control device for an elevator using a synchronous motor using a permanent magnet rotor for a hoisting machine.

  In general, elevators are suspended in a hoistway formed in a building by a main rope (hoisting rope), and the car moves up and down in the hoistway by hoisting the main rope with a hoisting machine. It is configured to move up and down. Here, in the car, various electric load devices that require a power source such as a destination display device, a door opening / closing device, a sensor such as a position detector, and an air conditioner are mounted. For this reason, the movement cable provided with the power line for power supply is spanned on the wall surface in the hoistway together with the passenger car.

  And the synchronous motor using the permanent magnet rotor is generally used for the hoisting machine which winds up the main rope. In an elevator in which a sheave of a hoisting machine is driven by a synchronous motor, the rotational speed and torque of the synchronous motor are controlled by vector control of the electric power of the synchronous motor. In other words, a rotary encoder is attached to the rotary shaft of the synchronous motor to detect the magnetic pole position, the phase current of the synchronous motor is detected by a current sensor, and the synchronous motor power is vector controlled using these detected values. The electric car is rotated to drive the car.

  By the way, when the rotary encoder of the synchronous motor fails, the vector control becomes impossible and the car cannot move while stopped. If the vector control becomes impossible, the car cannot run, stops in the middle of the hoistway, and the passenger cannot be rescued from the car. Also, if the synchronous motor is energized for the purpose of rescue operation without knowing the magnetic pole position, the synchronous motor may reverse depending on the magnetic pole position, or the car may run in an unintended direction without generating torque. There is. In order to eliminate such problems caused by the failure of the rotary encoder, for example, Japanese Patent Application Laid-Open No. 11-60103 (Patent Document 1), Japanese Patent Application Laid-Open No. 2009-51656 (Patent Document 2), and Japanese Patent Application Laid-Open No. 2008-230797. In (Patent Document 3), the following proposal is made.

  Patent Document 1 proposes that a voltage is applied to a synchronous motor during a stop after an emergency stop due to a failure of a rotary encoder, and a magnetic pole is estimated from an armature inductance at this time. Further, in Patent Document 2, when performing a rescue operation when a rotary encoder fails, braking is performed before entering a low speed operation where the position accuracy deteriorates, and the inertial traveling is performed toward the target landing position. It has been proposed to improve the landing accuracy by guiding the car with the magnetic attraction force of the electromagnet device set to. Furthermore, in Patent Document 3, when performing rescue operation when the rotary encoder fails, in low-speed operation where the position accuracy deteriorates, the car is moved in a free state due to the weight difference between the counterweight and the car. Thus, it has been proposed to start the magnetic pole estimation from a point in time when a certain traveling speed is reached.

Japanese Patent Laid-Open No. 11-60103 JP 2009-51656 A JP 2008-230797 A

  By the way, in the technique described in Patent Document 1, in order to escape from the state in which vector control cannot be performed due to a failure of the rotary encoder, an alternating voltage is applied to the synchronous motor while the synchronous motor is stopped. The magnetic pole position is estimated from the armature inductance. Moreover, although the technique described in patent document 2 and patent document 3 has the description about the control in the low-speed area where the estimation precision of a magnetic pole position is not stable, about the magnetic pole position estimation method at the time of a stop of a cage | basket | car The method similar to 1 is adopted.

  However, when an alternating voltage is applied to the armature coil of the synchronous motor in this way, electromagnetic noise is generated in the armature coil, and this electromagnetic noise propagates to the room adjacent to the car and the hoistway and is recognized as abnormal noise. Will be. If abnormal noise is generated in this way, it will have an unpleasant effect on passengers in the car and residents in the room, and it is desired to suppress this electromagnetic noise.

  An object of the present invention is to provide an elevator control device capable of smoothly restarting a synchronous motor by suppressing the generation of electromagnetic noise when the synchronous motor is restarted when a rotary encoder fails. .

  The feature of the present invention is that the motor current flowing through the armature coil is acquired until the synchronous motor is stopped by detecting the abnormality of the rotary encoder and applying the dynamic brake to the synchronous motor, and the synchronous motor is stopped using this motor current. The magnetic pole position at this time is estimated and calculated, and the synchronous motor is restarted using the estimated and calculated magnetic pole position.

  According to the present invention, since the magnetic pole position can be estimated and calculated without applying a voltage to the synchronous motor, the generation of electromagnetic noise when the synchronous motor is restarted can be eliminated.

It is a block diagram which shows schematic structure of the elevator incorporating the control apparatus which becomes one Example of this invention. It is a block diagram which shows the structure of the functional block of the control apparatus shown in FIG. It is a flowchart which shows the processing operation of the control apparatus shown in FIG. It is a wave form diagram which shows the relationship between the motor current shown in FIG. 2, and magnetic pole data.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. However, the present invention is not limited to the following embodiments, and various modifications and application examples are included in the technical concept of the present invention. Is also included in the range.

  FIG. 1 shows the structure of an elevator. A sheave 2 wound with a main rope 1 is rotated by a synchronous motor 3 using a permanent magnet rotor, and is balanced with an elevator car 4 via the main rope 1. 5 is driven up and down in opposite directions. The three-phase AC power source 6 used as the power source of the synchronous motor 3 has an output side motor output line connected to an armature coil of the synchronous motor 3 via an inverter device 7.

  On the output side of the inverter device 7, the time required to stop the synchronous motor 3 by short-circuiting three phases of the motor output line that supplies power from the inverter device 7 to the synchronous motor 3 and applying a dynamic brake (power generation brake) Is provided with a dynamic brake device 9. Further, the synchronous motor 3 is provided with a rotary encoder 8 for detecting the rotational position and rotational speed of the synchronous motor 3, and the motor output line is provided with a current detector 10 for detecting a current flowing through the motor output line. ing. In addition to consuming the electric power generated by the counter electromotive force of the synchronous motor 3 when the dynamic brake device 9 is operated by the resistor, the electric power generated by the counter electromotive force can be stored in the storage battery.

  The control device 11 receives a rotation signal from the rotary encoder 8 that detects the rotation speed and magnetic pole position of the synchronous motor 3 and a current signal from the current detector 10 that detects the current output from the inverter device 7. The control device 11 controls the inverter device 7 so as to control and drive the synchronous motor 3 based on a command value for raising and lowering the car 4. The control device 11 receives signals from other detection sensors and instruction buttons other than the rotary encoder 8 and the current detector 10 to appropriately control the operation of the car 4.

  FIG. 2 is a functional block diagram showing a schematic configuration of the control device 11 shown in FIG. Signals from the rotary encoder 8, the current detector 10, and the other detectors 12 are input to the emergency braking unit 13 constituting the control device 11. The emergency braking unit 13 transfers these signals to the rotary encoder failure detection unit 14, and the rotary encoder failure detection unit 14 monitors the operation of the rotary encoder 8. When an abnormality of the rotary encoder 8 is detected by the rotary encoder failure detection unit 14, this abnormality detection signal is sent to the emergency braking unit 13, and the emergency braking unit 13 operates the dynamic brake device 9 to activate the synchronous motor 3. Braking. Thereby, the car 4 can be safely stopped. In addition, it is also possible to stop the movement of the car 4 by using a drum brake provided in the hoisting machine separately from the dynamic brake device 9.

  Further, when the controller 11 detects an abnormality by the rotary encoder failure detector 14, the motor current from the current detector 10 until the dynamic brake device 9 is activated and the synchronous motor 3 is stopped is continued. A motor current acquisition unit 15 for acquisition is provided. Furthermore, a motor current storage unit 16 that stores the motor current acquired by the motor current acquisition unit 15 is provided. In addition, a magnetic pole position calculation unit 17 is provided that calculates the magnetic pole position of the synchronous motor 3 when the synchronous motor 3 is stopped from the motor current stored in the motor current storage unit 16. A car driving unit 18 is also provided for restarting the synchronous motor 3 after the emergency stop using the magnetic pole position calculated by the magnetic pole position calculating unit 17 and moving the car 4 to the nearest floor.

  Furthermore, it has the memory | storage part 19 which stored the control program for operating these functional blocks, and the control part 20 which operates each functional block based on this control program. These components are generally composed of a microcomputer and an input / output circuit connected thereto.

  In such an elevator control device, a specific processing operation when an abnormality occurs in the rotary encoder 8 will now be described based on the control flowchart shown in FIG. This control flowchart is started at an interrupt timing at a predetermined time interval.

<< Step S1 >>
In step S1, while the normal operation of the elevator is being executed, the operation of the rotary encoder 8 is monitored by the rotary encoder failure detection unit 14 using signals from the rotary encoder 8, the current detector 10, and the like. This monitoring operation may be monitored by a control flow activated at another time interval. In this case, an abnormality can be detected by checking a flag indicating that an abnormality has been detected.

<< Step S2 >>
In step S <b> 2, the rotary encoder failure detection unit 14 determines whether an abnormality has occurred in the operation of the rotary encoder 8. If no abnormality has occurred in the rotary encoder 8, the process returns to step S1, and the abnormality of the rotary encoder 8 is monitored again. On the other hand, if it is determined in step S2 that an abnormality has occurred, the process proceeds to step S3.

<< Step S3 >>
If it is determined in step S2 that an abnormality has occurred in the rotary encoder 8, this step S3 is executed. If the rotary encoder 8 becomes abnormal, the signal of the rotary encoder 8 becomes unreliable, and it is necessary to stop the driving of the synchronous motor 3 in consideration of the safety of the car 4.

  Therefore, in step S3, the dynamic braking device 9 is operated by the emergency braking unit 13 to apply the dynamic brake to the synchronous motor 3. As a result, the car 4 is stopped from traveling. At this time, an induced voltage due to the counter electromotive force is generated in the synchronous motor 3, which is passed through a resistor (not shown) and consumed as heat. If the behavior of the motor current flowing at this time is evaluated, the magnetic pole position can be estimated.

<< Step S4 >>
When the dynamic brake device 9 is actuated in step S3, a motor current is generated by the action of the dynamic brake. Until the time, the motor current is continuously acquired from the current detector 10 and stored in the motor current storage unit 16.

  The motor current storage unit 16 that acquires the motor current from the current detector 10 is configured to store the motor current immediately before the abnormality immediately before the abnormality detection by the rotary encoder failure detection unit 14. This can be realized by updating and storing a predetermined number of motor currents in time series. Since the motor current immediately before the abnormality is a motor current before the abnormality detection of the rotary encoder 8 is performed, the magnetic pole position can be estimated based on the motor current immediately before the abnormality.

  The waveform shown in FIG. 4 shows the relationship between the motor current 21 stored in the motor current storage unit 16 and the magnetic pole position 22 between the time when the abnormality is detected by the rotary encoder failure detection unit 14 and the time when the synchronous motor 3 is stopped. It shows conceptually. As shown in FIG. 4, the magnetic pole position 22 by the rotary encoder 8 can be obtained before the abnormality detection time t1. However, the magnetic pole position 22 cannot be obtained by the rotary encoder 8 after the abnormality detection time t1. Therefore, the motor current is acquired from the current detector 10 from the abnormality detection time t1 to the stop time t2 at which the rotation of the synchronous motor 3 stops, and the magnetic pole position 23 after the abnormality detection time t1 is estimated.

≪Step S5≫
When the motor current generated by the operation of the dynamic brake device 9 is stored in step S4, the current magnetic pole position is determined using the motor current stored in the motor current storage unit 16 by the magnetic pole position calculation unit 17 in step S5. Estimate calculation. In this case, the magnetic pole position immediately before the abnormality detection time t1 is the reference. There are many such estimation calculation methods, but in this embodiment, estimation is performed as follows.

  That is, since the output of the rotary encoder 8 is normal immediately before the abnormal time t1, the magnetic pole position at this time is set as the reference magnetic pole position. Next, the change in the motor current per predetermined time is converted into a phase, the converted phase is added to the reference magnetic pole position, and this estimation calculation is executed until the synchronous motor 3 stops. As a result, the magnetic pole position is sequentially estimated and updated. Here, the predetermined time may be an execution cycle of this control flow, or a motor current detected based on a separately determined cycle may be used. This method is merely an example, and in short, the phase may be estimated and calculated using a motor current based on the counter electromotive force when the dynamic brake device 9 is operated.

<< Step S6 >>
After performing the magnetic pole position estimation calculation in step S5, it is determined in step S6 whether the synchronous motor 3 has stopped. If the synchronous motor 3 has not stopped yet, the process returns to step S5, and the magnetic pole position estimation calculation is executed again. On the other hand, when it is determined that the synchronous motor 3 has stopped, the magnetic pole position at that time is determined as the stop position and is determined. The determined magnetic pole position is stored in, for example, a RAM which is a storage area of a microcomputer, or is stored in a storage area of a flash memory and used for vector control calculation at the time of restart.

<< Step S7 >>
After the synchronous motor 3 is stopped and the magnetic pole position is determined in step S6, the synchronous motor 3 is restarted after the emergency stop. As described above, since the magnetic pole position estimated and calculated when the dynamic brake device 9 is operated is restarted, unstable operation such as reversal or step-out of the synchronous motor 3 does not occur. In addition, unlike Patent Document 1, since no alternating voltage is applied to the armature coil in order to obtain the magnetic pole position at the time of restart, generation of electromagnetic noise based on this is suppressed. Therefore, electromagnetic noise is not generated and propagated to the room adjacent to the car or the hoistway to be recognized as abnormal noise.

<< Step S8 >>
In step S7, the synchronous motor 7 is restarted, and in step S8, the current situation is checked to determine whether or not the car 4 can be run. In this case, as in the case of normal abnormal operation, the operation state of the car 4 due to restart is monitored to determine whether or not there is an abnormal operation. As a result of the determination, if there is no abnormality, the process proceeds to step S9, and if there is an abnormality, the process proceeds to step S10.

≪Step S9≫
If it is determined that there is no abnormality as a result of the determination in step S8, the synchronous motor 3 is further driven to move the car 4 to the nearest floor, and the passenger is rescued on the nearest floor. Since the rotary encoder 8 is out of order, the elevator operation is stopped and maintenance such as repair or replacement of the rotary encoder 8 is performed.

<< Step S10 >>
If it is determined that there is an abnormality as a result of the determination in step S8, it is considered dangerous to drive the synchronous motor 3 in this state and move the car 4 to the nearest floor, and stop the synchronous motor 3. And stand by on the spot. After that, it will wait for the rescue of passengers by workers.

  As described above, according to the present embodiment, when a failure of the rotary encoder is detected by the rotary encoder failure detector, until the synchronous motor is stopped by the dynamic brake device, the motor current is detected based on the dynamic brake by the current detector. The magnetic pole position in the stopped state of the synchronous motor can be estimated by performing estimation calculation of the magnetic pole position based on this motor current. For this reason, when the synchronous motor is restarted from a stopped state due to a failure of the rotary encoder as in Patent Document 1, it is not necessary to apply an alternating voltage to the armature coil of the synchronous motor, and electromagnetic noise is not generated. In addition, since the synchronous motor can be restarted and traveled to the nearest floor using the magnetic pole position estimated after the emergency stop of the car, the car confinement accident caused by the failure of the encoder can be reduced.

  As described above, according to the present invention, the motor current flowing through the armature coil until the synchronous motor is stopped by applying the dynamic brake to the synchronous motor after detecting the abnormality of the rotary encoder is obtained, and this motor current is used. Thus, the magnetic pole position when the synchronous motor is stopped is estimated and calculated, and the synchronous motor is restarted using the magnetic pole position.

  According to this, since the magnetic pole position can be calculated without applying an alternating voltage to the armature coil of the synchronous motor, it is possible to eliminate the generation of electromagnetic noise when the synchronous motor is restarted. As a result, electromagnetic noise is not generated and propagated to the living room adjacent to the car or the hoistway to be recognized as abnormal noise.

  DESCRIPTION OF SYMBOLS 1 ... Main rope, 2 ... Sheave, 3 ... Synchronous motor, 4 ... Car, 5 ... Counterweight, 7 ... Inverter device, 8 ... Rotary encoder, 9 ... Dynamic brake device, 10 ... Current detector, 14 ... Rotary encoder Failure detection unit, 15 ... motor current acquisition unit, 16 ... motor current storage unit, 17 ... magnetic pole position calculation unit. 18 ... Car drive unit.

Claims (3)

A rotary encoder that detects a magnetic pole position of a synchronous motor using a permanent magnet rotor that raises and lowers a car, a current detector that detects a current flowing in a motor output line between the synchronous motor and an inverter device, and the motor output A dynamic brake device that applies a dynamic brake to the synchronous motor by short-circuiting the wires, and calculating a voltage command to the synchronous motor based on at least detection signals of the rotary encoder and the current detector. In an elevator control device equipped with a drive control device,
The controller detects an abnormality of the rotary encoder and acquires a motor current flowing through the motor output line from when the synchronous motor is stopped by applying dynamic braking by the dynamic brake device to the synchronous motor, Estimating and calculating the magnetic pole position when the synchronous motor is stopped using the motor current, restarting the synchronous motor using the estimated magnetic pole position ,
The control device includes a motor current acquisition unit that continuously acquires, from the current detector, a motor current that flows through the motor output line until an abnormality of the rotary encoder is detected and the synchronous motor stops, and the motor current A magnetic pole position calculation unit that estimates and calculates the magnetic pole position at the time when the synchronous motor stops using the motor current acquired by the acquisition unit;
Further, the motor current acquisition unit stores a motor current immediately before an abnormality immediately before the rotary encoder is determined to be abnormal, and the magnetic pole position calculation unit estimates and calculates a magnetic pole position based on the motor current immediately before the abnormality. An elevator control device characterized by that. In the elevator control device according to claim 1,
The control device includes a car drive unit that restarts the synchronous motor using the magnetic pole position estimated by the magnetic pole position calculation unit and moves the car to the nearest floor. Elevator control device. The elevator control device according to claim 2,
The magnetic pole position calculation unit uses the magnetic pole position at the time of detection of the motor current immediately before the abnormality stored in the motor current acquisition unit as a reference magnetic pole position, converts the change in the motor current every predetermined time into a phase, and An elevator control device characterized by adding to a reference magnetic pole position and determining a magnetic pole position at the time when the synchronous motor is stopped as a magnetic pole position at the time of restart.

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