JPH07228438A - Control device for multi-inverter type elevator and method thereof - Google Patents

Abstract

PURPOSE:To prevent a torque fluctuation and a speed fluctuation when an elevator is operated via multiple inverters by obtaining the current (or voltage), frequency, and phase which are inverter control signals from the re-allocated torque instruction values, and outputting them to individual inverters. CONSTITUTION:When a trouble occurs, a specifying means 4 stores the (system A) information at the release position of a release/entry memory table 6 and deletes the system A information from the system A and (system B) information stored at the entry position. The deviation between the received speed signal 1 and the speed instruction value is obtained by a speed control processor 2, and the torque instruction value required to eliminate the speed deviation is obtained. A total torque instruction value calculating means 5 obtains the total torque instruction value from the torque instruction value. A re-allocating means 7 re-allocates the total torque instruction value to the system B as the torque instruction value. An output means 8 calculates the inverter system control signal 9 with the re-allocated total torque instruction value and outputs it to the inverter system of the system B.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-inverter microcomputer control type elevator controller, and more particularly to a device for disconnecting (releasing) and / or assembling (closing) an identified inverter during operation of the elevator. Regarding the method.

[0002]

2. Description of the Related Art Conventionally, there is a multi-inverter type elevator control device disclosed in Japanese Patent Laid-Open No. 2-228288. This is disclosed for the case where the same number of inverters is used from start to stop, and is provided with a plurality of AC supply means and a plurality of electric motors in order to achieve a large capacity of the drive device of the inverter hoisting machine, The torque generated by the AC supply means is controlled to drive the corresponding electric motors. The generated torque to be controlled is divided into a load equivalent portion, an acceleration / deceleration equivalent portion, etc., and each divided equivalent torque is assigned to each AC supply means to control the electric motor.

Further, there is a conventional multi-inverter type elevator control device disclosed in Japanese Patent Application Laid-Open No. 3-36991. In this system, two inverters are operated during normal operation, and the inverter circuit on the failure side is separated during failure to operate only with a healthy circuit. Specifically, when a failure is detected, "the relay on the failure side is turned off and the failed inverter is disconnected. Then, the current command outputs twice as much as that in the normal state ~ ".

[0004]

DISCLOSURE OF THE INVENTION Problems to be Solved by the Invention The elevator control apparatus disclosed in Japanese Patent Laid-Open No. 2-228288 discloses disconnection (release) and / or incorporation (closing) of a specific AC supply means and a corresponding electric motor during operation. It has not been. However, if a problem occurs in the inverter or the motor during elevator operation, or if the generated torque (total torque command value) has a margin, the inverters to be used are separated in order to reduce the number and there is no margin (or there is little margin). ) In some cases, it is quite possible that there will be a need to install the inverters in order to increase them. Heretofore, no specific disclosure has been made of an apparatus and / or method for minimizing torque fluctuation, speed fluctuation, etc. in such a case.

On the other hand, the elevator control device disclosed in Japanese Patent Laid-Open No. 3-36991 doubles the current command value after disconnection as described, so that torque fluctuation occurs during that time.
This causes fluctuations in the speed of the car, making the ride uncomfortable and at the same time giving a great sense of anxiety to passengers.

An object of the present invention is to provide an elevator control apparatus and method capable of disconnecting (releasing) and / or incorporating (closing) a specific inverter by eliminating torque fluctuation, speed fluctuation, etc. during operation of an elevator with a multi-inverter. To provide.

[0007]

In order to achieve the above object, the present invention provides a specific means for specifying an inverter to be disconnected (released) and / or incorporated (closed) during operation of an elevator, and a current total torque command value. Total torque command value calculating means, redistributing means for redistributing the total torque command value to an inverter other than the specified inverter when disconnected, and / or to an inverter including the specified inverter when incorporating, respectively redistributed It is configured to include an output means for obtaining a current (or voltage), a frequency, and a phase, which are inverter control signals, from the generated torque command value and outputting the obtained current to each inverter.

Further, a specifying means for specifying an inverter to be disconnected (released) and / or incorporated (closed) during the operation of the elevator, a gain recalculation means for recalculating the proportional integral gain of the speed control system, and a recalculation. Total torque command value calculating means for calculating the total torque command value using the proportional-plus-integral gain, and redistribution of the total torque command value to an inverter other than the specified inverter when disconnected and / or to an inverter including the specified inverter when incorporated. Redistribution means, and output means for calculating the current (or voltage), frequency, and phase, which are inverter control signals, from the respective redistributed torque command values and outputting them to each inverter. Also, when the compensation torque amount for start compensation is added to the total torque command value, the compensation torque amount is set at the same ratio as the recalculated proportional-integral gain (ratio before and after recalculation of each gain). The compensation torque amount calculation means for recalculation may be provided between the gain recalculation means and the total torque command value calculation means.

[0009]

With this configuration, for example, when a specific inverter is disconnected (released) due to occurrence of a malfunction or a torque command value distributed to each inverter has a margin, the specific means is used. Detach (release)
Identify the inverter, calculate the current total torque command value distributed to each inverter by the total torque command value calculation means, redistribute the total torque command value to inverters other than the inverter specified by the redistribution means, Based on the torque command values redistributed by the output means, the inverter control signal current (or voltage), frequency, and phase can be obtained and output to each inverter. By executing the operation from the total torque command value calculation means to the output means in the same control cycle, the torque command value that the inverter to be disconnected has absorbed by redistributing within the same control cycle, so the total torque amount changes suddenly. It is possible to disconnect (release) a specific inverter during operation of the elevator without affecting the operation and speed. On the other hand, also in the case of incorporating (turning on) the inverter, it becomes possible similarly by executing the incorporation process of the inverter specified based on this re-setting.

Further, during operation of the elevator, the inverter to be disconnected (released) is specified by the specifying means, the proportional-integral gain of the speed control system is recalculated by the gain recalculating means, and recalculated by the total torque command value calculating means. The total torque command value is obtained as the output of the speed control process using the proportional-plus-integral gain, and the total torque command value is redistributed to an inverter other than the inverter specified by the redistribution means, and the redistributed torque command value is output by the output means. From the inverter control signal, the current (or voltage), frequency and phase can be obtained and output to each inverter. In addition, when adding a compensation torque amount for start compensation to the total torque command value, the same ratio as the proportional-plus-integral gain previously recalculated using the compensation torque amount calculation means (ratio before and after calculation of each gain). It is also possible to recalculate the compensation torque amount and add it to the total torque command value.

By executing the operation from the gain recalculation means to the output means in the same control cycle, the torque command value which the inverter to be disconnected has been redistributed within the same control cycle to absorb the total torque. It is possible to disconnect (release) a specific inverter during the operation of the elevator without causing a sudden change in the command value or affecting the speed or the like.

Further, when adding the compensation torque amount for start-up compensation to the total torque command value, the compensation torque amount calculation means is also included between the gain recalculation means and the total torque command value calculation means and executed in the same control cycle. do it.

The case of incorporating (turning on) the inverter can be similarly performed by executing the process of incorporating the inverter specified based on the above concept.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows an example of the configuration when the present invention is applied to, for example, a current source multi-inverter elevator. In FIG. 1, two motors (a plurality of motors) independent of each other are provided on one motor shaft. Each motor is driven by a dedicated independent converter / inverter system (referred to as an inverter or an inverter system in the present invention), and its driving force rotates a sheave directly connected to the motor shaft to cause an elevator car. Raise and lower. On the other hand, the control signals for driving the inverter system (current command value I *, frequency command value ω *, phase command value θ *) are calculated in the speed control system using the speed of the sheave that has been taken in, and are supplied to each inverter system. It is a closed loop configuration that is supplied.

Next, FIG. 2 shows an embodiment in which the present invention is incorporated into a speed control system in FIG. An embodiment will be described below with reference to FIG. In FIG. 2, 1 is a speed signal, 2
Is a speed control process, 3 is a proportional integral gain table, 4 is identification means, 5 is total torque command value calculation means, 6 is a release / make-up storage table, 7 is reallocation means, 8 is output means, and 9 is an inverter system. This is a control signal for driving.

In this embodiment, first, two units (system A, system B)
1) during operation using the inverter system)
A case where the table is separated (released) will be described. Figure 2
The general operation during normal operation (running with the same number of vehicles from start to stop) is as follows.

Normally, in the case of driving with two inverter systems (system A and system B), the speed signal 1 and the speed command value taken in by the speed control processing 2 (omitted in FIG. 2).
The deviation between and is obtained and converted into a torque command value required to eliminate the speed deviation using the proportional-plus-integral gain. The total torque command value calculation means 5 refers to the release / make-up storage table 6 and there is no inverter system to be newly released / make-up, so the inverter system stored at the make-up position of the release / make-up table 6 is stored. The total torque command value is obtained from the torque command values when driving two units. The redistribution means 7 is released /
Since there are two inverter systems stored in the closing position by referring to the closing memory table 6, when the two torque systems share the torque evenly, half of the total torque command value is set for each torque command. Value is redistributed (if the distribution is not uniform, it is redistributed so that the sum of the torque command values used in each inverter system becomes the total torque command value). The output means 8 calculates the control signal 6 of the inverter system using the redistributed torque command values, and outputs the control signal 6 to each inverter system.

The above is the schematic operation of one embodiment when the inverter system is not released / closed during the normal operation. Here, a schematic operation in the case where it is necessary to disconnect (release) the A system shown in FIG. 1 due to a malfunction of the inverter system or the motor will be described below.

A function (not shown in FIG. 2) that detects a defect or the like at the time when the defect or the like occurs informs the specifying means 4 to disconnect (release) the inverter system A system. The identification means 4 which is not incorporated in the closed loop of the speed control,
In response to the release request, refer to the release / input storage table 6 and confirm that the A system is currently turned on and is not released, and that the inverter system that is turned on when the A system is released can continue operation. After that, the A-system information is stored in the release position of the release / insertion storage table 6 (in the case of disconnection due to a failure, the A-system information is not stored in the release position: the stored information of the release position is in the state of waiting for insertion). Do),
The A-system information is deleted from the A-system and B-system information stored in the input position. In the speed control system, the speed control process 2
The deviation between the fetched speed signal 1 and the speed command value (omitted in FIG. 2) is calculated, and the torque command value necessary to eliminate the speed deviation is calculated using the proportional-plus-integral gain. The total torque command value calculation means 5 calculates the total torque command value (double the torque command value when driving two inverter systems) from the torque command value. The reallocation means 7 redistributes the total torque command value to the B system as a torque command value because the inverter system to be supplied is one (B system) by referring to the release / make storage table 6. The output means 8 calculates the inverter system control signal 6 using the redistributed total torque command value and outputs it to the B-system inverter system stored in the closing position of the release / make-up storage table 6.

On the other hand, the case of incorporating an A-type inverter system will be described below.

A function for detecting a request for incorporating the inverter system at the time of generation (omitted in FIG. 2)
Tells that the inverter system A system is to be incorporated (inserted) in the specifying means 4. The specifying means 4 which is not incorporated in the closed loop of the speed control is released / received in response to the input request.
After referring to the input / storage table 6, it is confirmed that the A system is currently released and has not been input, and that the A system is in a standby state (a state where information is stored in the release position), and then released. / A system information is stored in addition to the B system information at the loading position of the loading storage table 6, and the A system information stored at the release position is deleted. In the speed control system, the speed control process 2 calculates the deviation between the speed signal 1 and the speed command value (omitted in FIG. 2), and the torque command value necessary to eliminate the speed deviation is obtained by using the proportional integral gain. Ask. The total torque command value calculation means 5 calculates a total torque command value (doubles the torque command value when two inverter systems are driven) from the calculated torque command value. Redistribution means 7
Refers to the release / make-up storage table 6, and since there are two inverter systems (system A and system B) stored at the make-up position, half of the total torque command value is set as the torque command value. Redistribute to A and B systems (when torque is evenly distributed). The output means 8 is the redistributed A system and B system.
The inverter system control signal 6 is calculated using the torque command value of each system, and is output to each of the A system and B system inverter systems stored in the closing position of the release / make-up storage table 6.

In the embodiment of the present invention, the case where the number of the inverter systems is two is shown, but it is obvious that the present invention can be applied when the number of the inverter systems is two or more.

In one embodiment, it is also possible to obtain the total torque command value by using the equation 1 and obtain the torque command value to be redistributed by using the equation 2.

[0024]

[Equation 1] Total torque command value Tt = N × T (Equation 1)

[0025]

[Equation 2] Torque command value to be redistributed Tn = Tt / n (Equation 2) where N: number of inverter systems in normal time T: torque command value obtained in speed control process n: after release / input Number of Inverter Systems The detailed operation of each means of the present invention will be described below with reference to the processing flow examples of FIGS.

FIG. 3 is a processing flow chart of the specifying means 4 for judging whether the inverter system is opened or closed.

In FIG. 2, the omitted release and / or input request is input and it is determined whether the release request or the input request. If it is a release request, the requested inverter system determines whether or not it is currently turned on by using the information stored in the turn-on position of the release / turn-on storage table 6. If the inverter system is not stored in the closing position, it is determined that the inverter system is currently released (stored in the releasing position: waiting state for closing) or is not stored in either the releasing position or the closing position (during failure). Then, the process ends. In the case of a failure, it is also possible to notify the elevator monitoring center or a maintenance company.

Next, it is determined whether or not continuous operation is possible when the inverter system for which the release request has been issued is released. For example, it is determined whether or not the information of another inverter system is stored at the closing position, or whether the total torque command value can be covered by the inverter system stored at the closing position. If continuous operation is impossible, for example, emergency stop processing is executed. If possible, the information on the inverter system to be released is stored in the release position (waiting state), the information on the inverter system to be released from the input position is deleted, and then the process is terminated. Here, if the release request is due to a failure, it is also possible to notify the monitoring center or the maintenance company without storing the information in the release position.

On the other hand, in the case of a closing request, the inverter system having made the closing request stores in the closing position of the release / insertion storage table 6 whether or not it is currently released (not turned on). Judgment is made using the existing information. Next, the inverter system that has received the closing request determines whether or not it is in the release position (waiting state) by using the information stored in the release position. If it is not stored in the release position, it cannot be closed because it has been disconnected from the elevator system due to a failure or the like, so error processing is executed and the process ends. If it is stored in the open position, the information of the inverter system requested to be closed is stored in the close position, the information of the inverter system to be closed from the open position is deleted, and then the process is terminated.

FIG. 4 is a processing flowchart of the total torque command value calculating means 5. The operation of FIG. 4 will be described below.
The torque command value obtained in the speed control process 2 is input, the total torque command value is calculated using, for example, Equation 1, and the process ends.

FIG. 5 is a processing flowchart of the reallocation means 7. The operation of FIG. 5 will be described below. After obtaining the number of inverter systems stored in the closing position of the release / storage table 6, the total torque command value is input. Using the input total torque command value and the number of inverter systems to be turned on, for example, the torque command value to be redistributed is calculated by the equation 2, and the process ends. In the present embodiment, the torque is evenly distributed to each inverter system, but it is also possible to redistribute the torque by using a predetermined weight or the like.

FIG. 6 is a processing flowchart of the output means 8. The operation of FIG. 6 will be described below. The redistributed torque command value is input, and the control signal given to the inverter system is calculated by using it (omitted in this embodiment).
In the case of a current type inverter system, the current command value I
*, Frequency reference value ω *, and phase reference value θ * are calculated. In the case of the voltage type, the voltage command value V * is obtained instead of the current command value I *. The obtained inverter control signal is output in synchronization with each inverter system, and the processing is completed.

In this embodiment, by executing FIGS. 4 to 6 in the closed loop of the speed control system and executing FIG. 3 outside the loop, the release and / or the closing of the inverter system in the multi-inverter type elevator are realized. it can.

In one embodiment, the specifying means 4 is provided outside the closed loop of the speed control system, but it is provided inside the closed loop by being provided at a position other than between the total torque command value calculating means 5 and the output means 8. It is also possible. For example, between the total torque command value calculation means 5 and the speed control processing 2, or after the output means 8.

In one embodiment, the total torque command value calculation means 5 calculates the total torque command value based on the torque command value obtained in the speed control processing 2, but instead of the total torque command value calculation means 5, , Gain recalculating means for recalculating the value of the proportional-plus-integral gain 3 used when obtaining the torque command value in the speed control processing 2 according to the number of inverter systems, speed control processing 2 using the recalculated gain It is also possible to provide a total torque command value calculating means (in this case, the total torque command value calculating means includes the speed control processing 2) for obtaining the torque command value obtained in step 1 as the total torque command value.

Further, it is possible to input a compensating torque for compensating the unbalanced weight of the counterweight and the car weight to the total torque command value calculating means 5 of one embodiment and add it to the total torque command value. When using the gain recalculation means, the compensation torque value is multiplied by the ratio of the gain before the recalculation and the gain after the recalculation to recalculate the gain (compensation torque amount calculation means), and the total torque command value calculation means It is also possible to add to the total torque command value obtained in.

In the embodiment, the case of separating (releasing) and the case of incorporating (inserting) are described separately, but it is also possible to request both of them to the specifying means 4.

[0038]

By implementing the present invention, a specific inverter can be disconnected (released) and / or incorporated (closed) without generating torque fluctuation and speed fluctuation during operation of an elevator system having a multi-inverter structure. it can.

[Brief description of drawings]

FIG. 1 is a block diagram of a current source multi-inverter elevator.

FIG. 2 is a block diagram showing an embodiment of the present invention.

FIG. 3 is a processing flow sheet of the identifying means of the present invention.

FIG. 4 is a processing flow sheet of the total torque command value calculation means of the present invention.

FIG. 5 is a processing flow sheet of the reallocation means of the present invention.

FIG. 6 is a processing flow sheet of the output means of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Speed signal, 2 ... Speed control processing, 3 ... Proportional / integral gain table, 4 ... Identification means, 5 ... Total torque command value calculation means, 6 ... Release / make-up storage table, 7 ... Redistribution means,
8 ... Output means, 9 ... Control signal for driving the inverter system.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Teruka Atsawa 1-6, Kandanishiki-cho, Chiyoda-ku, Tokyo Inside Hitachi Building System Service Co., Ltd. (72) Inventor Yasuhiro Yokoyama 832, Horiguchi, Katsuta-shi, Ibaraki Hitachi Systems Tem Plaza Katsuta Hitachi Mito Engineering Co., Ltd.

Claims (6)

[Claims] 1. In a multi-inverter elevator control device, specifying means for specifying an inverter to be disconnected and / or incorporated during operation of an elevator, total torque command value calculating means for calculating a current total torque command value, and total torque command value. Means for redistributing to an inverter other than the specified inverter at the time of disconnection and / or to each inverter including the specified inverter at the time of installation, current and frequency which are inverter control signals from the respectively redistributed torque command values A control device for a multi-inverter type elevator, comprising output means for obtaining a phase and outputting it to each inverter. 2. The control method for a multi-inverter elevator according to claim 1, wherein the total torque command value calculation means, the redistribution means, and the output means are executed within the same control cycle. 3. In a multi-inverter elevator control device, specifying means for specifying an inverter to be disconnected and / or incorporated during operation of an elevator, gain recalculating means for recalculating a proportional integral gain of a speed control system, and recalculated. Total torque command value calculating means for calculating total torque command value using proportional-plus-integral gain, redistribution of total torque command value to inverters other than specified inverter when disconnected and / or each inverter including specified inverter when incorporated A control device for a multi-inverter elevator, comprising: a redistribution means for controlling the current, a frequency, and a phase, which are inverter control signals, based on the redistributed torque command values, and outputting the current to each inverter. 4. The compensation torque for recalculating the compensation torque amount at the same ratio as the recalculated proportional-integral gain when the compensation torque amount for starting compensation is added to the total torque command value. A control device for a multi-inverter elevator, which comprises a quantity calculation means. 5. The control method for a multi-inverter elevator according to claim 3, wherein the gain recalculation means, the total torque command value calculation means, the redistribution means, and the output means are executed within the same control cycle. 6. The compensating torque amount calculating means according to claim 3, 4 or 5, wherein the compensating torque amount calculating means is included between the gain recalculating means and the total torque command value calculating means. Control method for a multi-inverter elevator that is executed within the same control cycle.