JPS60113685A - Speed controller of ac elevator - Google Patents

Abstract

PURPOSE:To accurately control a wide speed range from a low speed to a high speed by separating an induction motor into a field current component and a torque current component and controlling the vector. CONSTITUTION:A variable voltage/frequency controller 1 outputs AC outputs 1a-1c in response to the primary voltage command values 32a-32c and synchronizing angle speed signal 23a. A 3-phase/2-phase coordinates converter 6 converts the primary current into a field current component 6a and a torque current component 6b. A field voltage component command value 31a is outputted in response to the difference between a field current component command value 19a and a field current component signal 6b. On the other hand, a torque current component command value 16a in response to the speed deviation, a weighing command value 13a, and a torque voltage component command value 30a in response to the difference from the torque current component signal 6b are outputted. Further, a slip frequency signal 22a and a speed signal 7a are added, and a synchronous angular speed signal 23a is outputted.

Description

TECHNICAL FIELD OF THE INVENTION This invention relates to an improvement in a device for controlling the speed of an AC elevator.

[Prior art]

For example, U.S. Pat.
66097'Q-.

This is done by inserting a power thyristor into each phase of the three-phase induction motor, and when the elevator requires power torque, for example during acceleration operation such as when raising a heavy load or lowering a light load. A variable voltage three-phase alternating current is applied to the primary winding of the motor by controlling the gate of the motor. On the other hand, when the elevator requires braking torque, for example during deceleration operation when a heavy load is lowered or a light load is increased, the braking thyristor connected to two phases of the motor is controlled to apply DC voltage to the primary winding of the motor. supply In this manner, the electric motor generates torque commensurate with the load torque required by the elevator, and smooth variable speed control is performed.

However, in a high-speed elevator with a speed of 150 m/min or more, the acceleration! Frequently operated at a speed much lower than the rated speed. Furthermore, at startup, a so-called scale startup is performed in which the electric motor is made to generate torque commensurate with the unbalanced torque due to the weight difference between the car and the two joint weights before the brake is released, but in this case too, the speed is extremely low. It is driven by.

In order to achieve such low speeds with the above control, it is necessary to reduce the voltage applied to the motor to increase slippage when moving, and to control by flowing DC current to the motor's primary winding during braking. be.

Since such operation is inefficient, long-term operation results in large energy losses. In addition, since the above control d2 has non-linearity in that the gain of the control system varies depending on the rotational speed and torque of the motor, it is difficult to perform highly accurate control similar to that of a DC motor or efficient control. . .

[Summary of the invention]

This invention is an attempt to improve the above-mentioned problems, and by separating the induction motor into a field current component and a torque current component, performing vector control, and performing feedback control on the field current component or the torque current component, the p1 induction motor Just like a DC motor, the field and torque can be controlled independently according to command values.
An object of the present invention is to provide a speed control device for an AC elevator that can control a wide speed range from low speed to high speed with high precision.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to FIGS. 1 to 28.

In Fig. 1, R, S, 'II' are three-phase AC power supplies, (1) is connected to AC power supplies R, S, and T, and primary voltage command values (32a) to (320) and synchronous angular velocity signals ( 23a)
Input the variable voltage/variable frequency AC output (], a,
) to (1c) and controls the instantaneous value of the -order current of the three-phase induction motor (2).
(hereinafter referred to as VVVF device), (3) to (5) are DC outputs (3) corresponding to the instantaneous values of AC outputs (1a) to (1c).
a) to (5a), (6) is the 8111Uo Is (25a) and cosθ0 signal (described later).
25b) f, input the above DC outputs (3a) to (5a
) into a field current component and a torque current component, (6a) is a field current component signal, (6b
) id) torque current component signal; (7) is a speed detector consisting of a speedometer generator encoder etc. which is directly connected to the electric motor (2) and emits a speed signal (7a) proportional to its rotational speed;
8) is the driving sheave of the hoist driven by the electric motor (2), (9) is the main rope that is wound around the sheave (8) and connected to the car 4 and the counterweight aυ, respectively; (9) Hakato (
A load signal (12a) corresponding to the load inside the car is provided in IIK.
), 03 is a scale circuit that inputs a load signal (12a) and issues a scale command value (13a), a is a speed command generation circuit that issues a speed command value (14a), αG is a subtractor ( Figure 25) Consists of two pieces, speed command value (1+a)
, the speed signal -jJ (7a) and the damping circuit (described later)
7) a subtracter that subtracts the output of and generates a deviation signal, 0
Q is a speed control circuit configured with a delay/lead circuit shown in FIG. 27 and controls the above deviation signal to zero;
) is the torque current component command value, (17) is the adder (24th
It is composed of one subtracter (Fig. 25) and two subtractors (Fig. 25), and adds the torque current component command value (16a) and the scale command value (rsa), and generates the torque current component signal j + (ab) and the damping circuit (described later). A torque current component control circuit that controls the output of the subtractor a7) so that the output of the subtractor a7) becomes zero, and the reducer η-, which generates a deviation signal by subtracting it from the output of θ field is a field command circuit that emits a field current component command value (19a), and (a) is a field current component command value (19a).
) is a subtracter that subtracts the field current component signal (6a) and generates a deviation signal. The field current component control circuit controls the field current component signal (6a) and the torque current component signal J+ (6b), and calculates the slip frequency by inputting the field current component signal (6a) and the torque current component signal J+ (6b), and generates the slip frequency signal (Z2a). The circuit @ adds the slip frequency signal 1za) and the speed signal (7a) to generate the synchronous angular velocity signal Ji3' (23
(a) is an adder that emits the synchronous angular velocity signal (23a).
) to generate a rotation angle signal (24a);
2) inputs the rotation angle signal (24a) and calculates B j, nθ0
A +3-inch P/C08 converter that outputs the signal, Jij (25a) and C08UQ signal (25b), (e) is a damping circuit that is composed of a lead/lag circuit shown in Fig. 28, and inputs the speed signal (7a) and outputs a damping signal. Circuit 2 is a damping circuit that also inputs the torque current component signal (6b) and issues a damping signal, (c), LA is the field current component command value (19a) and the torque current component command value (1aa).
) is a compensation circuit that prevents mutual interference between the magnetic current component (6a) and the synchronous angular velocity component (Zaa).
is input, a compensation signal (2sa) is generated, and the compensation circuit (4)
is the torque current component signal J [6b) and the synchronous angular velocity signal (z
aa) Input k and issue a compensation signal (29a). - is the output of the torque current component control circuit θ barrel and the compensation signal 9 (28a
) to generate the torque voltage component command value (30a), 3I) subtracts the compensation signal %) (29a) from the output of the field current component control circuit υ to generate the field voltage component command value (3I).
31a), C is the torque voltage component command value (3oa), p is the field voltage component command value (31a), si
nθ0+) (25a) and (!0Elv.

Input the signal (25b) and input the primary voltage command value (
32a) to (S2C) is a two-phase/three-phase coordinate converter.

Figure 2 i4 shows the circuit of the VVvF device (1), and in the figure,
An example is a thyristor (34A) connected to AC power supplies R, S, and T.
) to (34F) form a three-phase full-wave rectifier circuit, (34&g) to (s4Fg) are the gates of thyristors (34A) to (34F), and (7) are thyristors (35A) to (35F). ) forms a three-phase full-wave rectifier circuit, the AC side is connected to AC power supplies R, S, and T, and the DC side is connected to the DC side of the power running converter ■. (35ag) to (35Fg) are thyristors ( 35A) to (35F) gates, (to) the smoothing capacitor connected to the DC side of the power running converter (b), (
B) is a voltage detector consisting of a resistor connected to both ends of the smoothing capacitor (B), and (3'7a) is a voltage detector (B).
The output of the trowel inputs the synchronous angular velocity signal (23&) and the voltage detector output (3'7a), and emits firing signals (3B&) to (3B7) according to the synchronous angular velocity signal (23a). ssa) ~ (sef) respectively as gates (34&g)
~ (34Fg) is a gate circuit that gives ignition signal % (38g) ~ (3st) to gates (35A) ~ (35Fg), respectively, (G) is an inverter connected to both ends of the smoothing capacitor ( 6 transistors (39A) ~ (
39F), and three sets of two each connected in series are connected in parallel.

(39Aa) ~ (39Fa) FJ-) transistor (
39A) ~ (39F) base, (39a) ~ (39
f) are transistors (39A) to (39B'), respectively.
with a diode connected in parallel to the transistor (39
AC outputs (1a) to (lc) are emitted from two connection points A) to (39F), respectively. f:I is primary C
inputs pressure command values (32a) to (320) and base drive signals (40a) to (+of) respectively to base (39A).
a) to (39Fa), which is the base drive circuit. Figures 3 to 7 show the configuration of the gate circuit, and in Figure 3, @ is an inverting amplifier with a gain of -1 (Figure 22). , (Foundation)
is a normal rotation amplifier (Fig. 23), ■ is an operational amplifier, (44
a) is its output; (c) is a comparator whose output (45a) becomes rHj when the input reaches a positive predetermined value (Fig. 29);
1L411 outputs (46a) when the input reaches a predetermined negative value.
) is "H" to the comparator Jr, Figure 3a), R1-R4
is resistance.

The voltage detector output (37a) is the synchronous angular velocity signal (23a)
, that is, when the voltage of the smoothing capacitor (7) is lower than the voltage command value, the added value becomes negative, but it is inverted by the operational amplifier and the output (44a) becomes positive. Therefore, the output (45a) of the comparator is "H"
, the output (46a) of the comparator (g) becomes rLJ. In the opposite case, that is, when the voltage of the smoothing capacitor (7) is higher than the voltage command value, the added value will be positive, but
The output (a4a) of the operational amplifier becomes negative.

Therefore, the output (45a) of the comparator (c) is "L",
The output (46a) of the comparator 11 becomes rnJ. This output (45a) and output (46a) are used to operate either the power converter 1 or the regeneration converter.

In Fig. 4, 17) is an inverting amplifier with a gain of -1 (Fig. 22), (as) and (49) are switching elements (for example, HARRI
Company S, HA201), ■ is an operational amplifier, (50a)
is its output, R5-R7 is a resistor, and C1 is a capacitor. When the number 0 (45a) is "H", the signal (44a)
is reversed and passes through the switch element (goods), (II!”)(
When 46a) is "H", the signal (44a) passes through the switch element (41) as it is.The gain and phase of these signals are compensated by the operational amplifier, resistors R5 to R8, and capacitor C1.

In Figure 5, (51) is a transformer, (52) is a transformer (51)
) is connected to the secondary side of the bridge-connected rectifier circuit, (
53) is a Zena diode connected to the DC side of the rectifier circuit (52), (54) is a capacitor, and (55) is a gain of -
1 is an inverting amplifier (Fig. 22), (56) + (5') is an operational amplifier, (5B).

(59) is a diode that limits the negative side voltage, (6
0).

(61) is a transistor, (60a) and (61a) are their collector outputs, R10" and R21 are resistors, +v is a semiconductor power source, and -■ is also a negative power source. Note that the second
The gate circuit shown in the figure is provided with three sets of the circuits shown in FIG. 5 for R-phase to T-phase.

Transformer (51), rectifier circuit (52), Zena diode (53).

The circuit composed of the capacitor (54) and the resistor R10"'-RII is the thyristor (34A) to (34A) in FIG.
F) This is a circuit that generates a power supply synchronous voltage for controlling the firing angle of (35A) to (35F). for example,
By applying R-phase and T-phase line voltages to the transformer (51), R-phase thyristors (34A) + (34D),
A nearly triangular voltage is generated by the zero rectifier circuit (52), the Zena diode (53), and the capacitor (54), which provide a synchronous voltage for controlling the firing angle of (35A) and (35D). This becomes the reference value and the operational amplifier (5
6) and (57). Operational amplifier (56),
A circuit consisting of resistors R121R13 and a negative power supply -■,
and operational amplifier (4M), resistor R14゜R15, and positive power supply +V. Since biased voltages are input to operational amplifiers (56) and (5'7), each has a hysteresis width. A comparator is configured. Therefore, for example, when the signal (50a) has a positive value and exceeds the predetermined value of the triangular voltage, the output of the operational amplifier (56) becomes rHJ. At this time, the output of the operational amplifier (57) is "L". Conversely, the signal (
When 50a) is a negative value and exceeds the predetermined value of the triangular voltage, the output of the operational amplifier (57) becomes rHJ. At this time, the output of the operational amplifier (56) is "L". When the output of the operational amplifier (56) becomes rHJ, the transistor (60) becomes conductive and the output (6Oa) becomes zero voltage. On the other hand, since the transistor (61) is non-conductive,
The output (61a) becomes a positive voltage.

In FIGS. 6 and 7, (ω) to (7o) are diodes,
(71) to (74) are pulse pressure devices, (75) to (78
) is a capacitor, (79) to (82) are transistors,
R2□ to R9 are resistances. Note that although the figure shows only the R phase, the S phase and T phase are also configured in the same way.

The signal (45a) is "H", that is, the smoothing capacitor)
When the voltage of
71).

A positive voltage is applied to one end of the negative side of (72). Then, when the transistor output (6Oa) becomes zero voltage, a current flows through the negative side of the pulse transformer (71) and the diode (63) through 1ffl, so a pulse voltage is generated on the secondary side, and the thyristor ( 34A) is conductive. At this time, since the transistor output (61a) has a positive voltage, no current flows to the negative side of the pulse transformer (72).
No pulse voltage is generated on the secondary side, and the thyristor (34D
) is not conductive. In this way, the voltage converter operates and increases the voltage across the smoothing capacitor. Also, when the signal (<ea) is rHJ, the pulse transformer (
73) or the pulse transformer (74) operates, and the thyristor (35A) or the thyristor (35D) becomes conductive.

In this way, the regenerative converter phosphorus operates and lowers the voltage across the smoothing capacitor (2).

8 and 9 show the configuration of the base drive circuit),
In Fig. 8, (84) is a triangular wave generator that oscillates a triangular wave (84a) with a constant frequency sufficiently higher than the frequency of AC power supplies R, S, and T, and (85A) to (s5c) are inputs A1 and A2. A comparator (Fig. 31) in which the output becomes rHJ when the input A, > input A2, and the output becomes rLJ when the input A, < input A2 (Fig. 31), (86A) to (86C) are two-phase dividers, ( 86'AA) ~ (86AC) are NOT gates,
(86AD) is a resistor, (86AE) is a capacitor, (8
6AF) and (86AG) are AND gates.

The comparator (85A) compares the -th voltage command value (32a) and the triangular wave (84a), and when the -th voltage command value (32a) is greater than or equal to the triangular wave (84a), the output becomes "H", so the comparison The output (85Aa) of the device (85A) has a waveform as shown in FIG. NOT gate (86AA) ~ (86A
Due to the operation of C), when the output (85Aa) is rHJ, A
The output (40a) of the ND gate (86AF) is I”l(
J, and the output (40d) of the AND gate (86AG)
becomes rLJ. Also, when the output (s5Aa) is rLJ, the output (40a) of AND (86AF) is r
It becomes LJ, and how the A N D gate (86AG) comes out (4
Oa) becomes [(J. That is, inverter (T)
The transistors (39A) and (39D) are made conductive alternately.

The same goes for the two-phase dividers (86B), (86C), and the outputs (40b), (40e) are connected to the transistors (39B).

(39E) alternately, output (40c), (cof)
The transistors (39C) and (39F) are made conductive alternately. In this way, a voltage in which a sine wave is modulated into a triangular wave is applied to the motor (2).

In Fig. 9, (84A) is an AC power supply that generates a sine wave AC with a constant frequency sufficiently higher than the frequency of AC power supplies R, S, and T, (84B) and (84C) are Senata Auto, (84C) are
4D) is a capacitor, and (84E) and (84F) are resistors.

The sine wave AC of the AC power supply (84A) is connected to the Zena diode (
The maximum value can be limited by 84B) and (84C).

A triangular wave (84a) is obtained by delaying this by a delay circuit with a large time constant consisting of a capacitor (84D) and a resistor (84JE).

Figure 11 shows the configuration of the three-phase/two-phase a sign exchanger (6),
In the figure, (88A) and (88B) each have a gain of
(89A) to (89c) are adders (Figure 24), (89D) is a subtracter (Figure 25), (9
0A), (90D) are multipliers (for example, ANALOG
0 field current component signal (6a) and torque current component signal (6a) to DEVICFiS, D533)
As is well known, the following relationship exists between the negative currents (3a) to (5a) of the electric motor (2).

Here, id: Field current component (6a) 19: Torque current component (6b) 1 a-1o Knee current (3a) to (5a) The coordinate converter (6) calculates this.

Figure 12 shows the working configuration of the two-phase/three-phase coordinate converter, in which (91A) to (91D) are multipliers similar to the multiplier (9oh), and (92A) and (92E) are subtracters. (Figure 25), (92C).

(92D) is an adder (Fig. 24), (94A), (94
B) are inverting amplifiers (FIG. 22) each having a gain of m-.

π field voltage component command value (31a), torque voltage component command value (30a), and negative voltage command value (32a) to (32
As is well known, there is the following relationship between c).

vu咄(Vd(!08θ−vqsinθ) Here, Vu
""' V, secondary voltage command value (32a) ~ (32c
)v, :Field' heavy pressure component command value (31a) v Two-torque voltage component command value (5oa) The coordinate converter (2) calculates this.

Figure 13 shows the configuration of the compensation circuit (96).
A).

(96B) are non-inverting amplifiers (FIG. 23) with gains of -1 and -2, respectively, and (96C) is a multiplier similar to the multiplier (90A). The field current component that affects the torque voltage component command value (30a) is xt x Wo x ia
(Here, K, = k.

x and 22wo are expressed as synchronous angular velocity). The compensation circuit (c) calculates this. The torque voltage component is compensated by the compensation signal (28a) which is the output thereof.

Figure 14 shows the configuration of the compensation circuit, in which (97A)
.

(97B) are non-inverting amplifiers (FIG. 23) with gains of -3 and -4, respectively, and (97G) is a multiplier similar to the multiplier (90A). The torque current component that affects the field voltage component command value (31a) is 2×wo X19 (here,
K2 = 3 x 4). The compensation circuit calculates this. The field voltage component is compensated by the compensation signal (29a) which is the output thereof.

FIG. 15 shows the configuration of the slip frequency calculation circuit (A), in which (9th) is a divider (for example, ANALOG DEV
ICES, AD53.3), (99), (YOO>
U operational amplifier, 35 to R40 are resistors.

The slip frequency W1 is calculated as shown in the following equation.

W, -3-73- However, R3 is a fixed income, that is, the divider (9th) calculates 19/i from the field current component signal (6a) and the torque current component signal (6b), and the operational amplifier ( 99) and resistors R35+R36, 3 is added to the constant, and the constant is inverted to become a negative value. Furthermore, this is inverted by the operational amplifier (100) and becomes a positive value,
A slip frequency signal (ZZa) is output.

FIG. 16 shows the configuration of the sin #cos converter (2), in which (lOl) is an A/D converter (for example, BURRBROWN) that inputs the rotation angle signal (2aa) and converts it into a digital value. company, ADC80), (102)
is each rotation angle θ.

A cosine ROM in which the value of coaθ0 for
), C3) is the same sine ROM in which the value of (sin θ.) is stored.

(1o4) and (105) are D/A converters (for example, BURRBROWIJ) that convert digital values to analog values.
Company, DAC80).

Rotation angle θ represented by rotation angle signal (24a). The value of CO8θ0 for K is the remainder g, from ROM (102), and sinθ.

The values of are respectively read from the sine ROM (103),
Cosuo signal j8' (25b) converted to analog value
and 5inlノ.

Shin Jij (25a).

Figure 1 shows the configuration of the speed command circuit a. In the figure, E is a DC power supply, 81 to S4 are closed sequentially with a start command, and when a deceleration command is issued, the speed is reversed each time car 4 passes a predetermined position. Acceleration/deceleration relay contacts that are opened sequentially in the order of R4, ~R4
8 is a resistor, and C3 and C4 are capacitors. 0 When the contacts 81 to S4 are closed in sequence during acceleration, the resistor R4
□ to R44 are sequentially short-circuited, and the speed command value (14a) becomes an acceleration command value that gradually increases as shown by the curve (14a1) in FIG. When the acceleration is completed, the constant speed command value is maintained at a constant value as shown by the curve (14a2). When decelerating,
When contacts 84 to S1 are sequentially opened, resistors R44 to R4
Since 1 is inserted sequentially, the deceleration command value gradually decreases as shown by the curve (14a3).

Figure 19 shows the configuration of the field command circuit 0, and in the figure, w&
'i field weakening relay contact that closes when field weakening is performed;
N is a reference field relay contact that closes when applying a reference field;
S is a strong field relay contact that closes when a strong field is applied;
R49 to R5° are resistances.

When any one of the contacts W, N, and S is closed, the field current component command value (19a) determined by the resistors R49 to R5□ can be output. This value becomes E when contact W is closed.

FIG. 20 shows the configuration of a weighing device, for example, US Pat.
No. 4996, Figure 6. Kagosu Q is the main rope (
9) and the car frame (1 oa) suspended from the car frame (1 oa).
0a) supported by an elastic body (lob)
IOC). When the load in the car (loc) changes, the load detector (I4) emits a corresponding load signal (1Za).The weighing circuit So outputs a load signal (12a).
Corresponding to the scale command value (13a
) is emitted. In other words, the fI command value (13a) is 10
If the coefficient is 0, it will be zero when the load is bo%, it will be a positive value when the load IJf is a dog, and it will be a negative value when it is small.

The configurations of other elements are shown in FIGS. 22 to 28.

In the figure, A, A, , A2... are inputs, B is output, p
, p, , p2... are operational amplifiers, R,, R2...
, r 1. r2... is a resistor, C is a capacitor, D
is a diode.

FIG. 22 shows an inverting amplifier.

Therefore, when R1=R2, B=-A.

FIG. 23 shows a normal rotation amplifier.

FIG. 24 shows an adder.

B=A1+A2,000A3 becomes.

FIG. 25 shows a subtracter.

B=A2-A.

becomes.

FIG. 26 shows an integrator.

B=-A (s is Laplace operator) R, C8 Therefore, when R1·C=1, B=-.

FIG. 27 shows a delay/lead circuit.

Therefore, R1=R2, R2c=T3. (R2+R2
I) c=T2 and FIG. 28 is a lead/lag circuit.

Therefore, if RC=K, R, C=T, then B
= −A1+Ts.

FIGS. 29 and 30 show comparators, and bias voltages determined by resistors R2 and R4 are applied to the operational amplifier P, respectively. Assuming that this value is e, when it becomes A) 6 in Fig. 29, and when it becomes A - e in Fig. 3o, the output B
becomes rHJ.

Figure 31 is also a comparator, and when A1>A2, the output B is rnJ
Then, A, (When A2, the output B becomes rLJ.

Next, the operation of this embodiment will be explained.

The field current component command value output from the field command circuit θ (
19a) is a field current component signal (6a) inputted to the subtractor (1) and sent from the two-phase/three-phase coordinate converter (6).

That is, it can be compared with the field current component of the current that actually flows through the motor (2), and the deviation is output. This deviation is input to the subtracter Gυ via the field current component control circuit c2υ, and by subtracting the compensation signal (29a) issued from the compensation circuit, the torque current component command value (16a
) will be compensated so as not to be affected by

Then, the field voltage component command value (3], a) is input to the two-phase/three-phase coordinate converter c34.

Speed command value (14a) output from speed command circuit 0
is input to the subtractor H, and the speed 1 from the speed detector (7)
It is compared with No. 8 (7a), and this speed No. 13 (7a)
a) is also compared with the damping signal differentially fed back via the damping circuit (4), and their deviation is output. This deviation becomes a torque current component command value (16a) via the speed control circuit α6, and is input to the subtractor α force. Here, the torque current component signal (6b) emitted from the three-phase/two-phase coordinate converter (6), that is, the torque current component of the current that actually flowed in the electric 5LII machine (2) K, is compared, and this torque The current component signal -5yl16b) is also compared with the damping signal differentially fed back via the damping circuit @, and furthermore, when the car QO is started, the scale command value (13a) from the scale circuit Q3 is added. The output of the subtractor α force is inputted to the adder (K) via the torque current component control circuit (4), and a compensation signal (28a) is generated from the compensation circuit (E).
is added, the field current component command value (19a
) will be compensated so as not to be affected by The torque voltage component command value (3Oa) is then input to the two-phase/three-phase coordinate converter Oyu.

On the other hand, the slip frequency calculation circuit (A) uses the slip frequency signal (2
2a), which generates a speed signal (7a) at the adder (e).
is added to form a synchronous angular velocity signal (2aIL>). This is integrated by an integrator (2) and becomes a transmission angle signal (24a) corresponding to the rotation angle uo. sin θ for the rotation angle of 0° of the 4-mer of the 08 inch QO8 converter. Signal (z5a) and 008
θ. The signal (z5b) is calculated, and the coordinate converter (o),
Sent to C2.

The coordinate converter (2) has inputs (30a, ), (31a), (
25a) and (25b) to obtain the primary voltage command value (32
a) to (32c) are output and sent to the VVVF device (1).

The gate circuit (to) of the VVVF device (1) detects whether the electric motor (2) is running in power or in regenerative mode from the voltage detector output (37a) and the synchronous angular velocity signal (23a), When driving in a row, the ignition signal (38Q,) to (3sf
) is given to the converter for power (b), and during regenerative operation, ignition signals (38g) to (38t) are given to the converter for regeneration (c).

As a result, the voltage across the smoothing capacitor (7) is changed, and well-known PAM (pulse amplitude modulation) control is performed.

In addition, the pace drive circuit I40 outputs the primary voltage command value (32a
)-(32c), the base drive signal (40a) ~(
4Of) is applied to the inverter, and well-known pvtM (pulse width modulation) control is performed.

Now, the VVVF device (1) generates variable voltage/variable frequency variable outputs (1a) to (1c), and the electric motor (2)
is driven, the car (11) runs, and its speed is automatically controlled with high precision.

FIG. 32 shows another embodiment of the invention.

This feeds back the field current component signal (6a) negatively, and further sends the field current component signal 9 (6a) to the damping circuit (l).
Negative feedback is provided via lO)f:. Incidentally, the damping circuit (110) is constituted by the circuit shown in FIG. 28, and the subtractor eIIJ is constituted in the same manner as the subtractor tm. The rest is the same as in FIG.

This makes it possible to control the field current component more stably.

FIG. 33 also shows another embodiment of the present invention, in which the scale command sensor (1
3a) When controlling by K and the torque current component command value (16
The gain of the control loop is changed during control according to a).

In the figure, P1 to P3 are operational amplifiers, R1 to R13 are resistors,
C, , C2 are capacitors, and (Ill) is a starting relay contact that opens when the car uQ is started and closes when the starting is completed.

Generally, when controlling using the scale command value (1sa) K, a stronger gain is required than when controlling using the torque current component command value (16a) Ic, so the resistor R1 is set smaller than the resistor R4. In response to this, the damping gain is increased to achieve stability.

The gain when controlling by the torque current component command value (16a) K is: The gain when controlling by the scale command value (13a) is (however, R1<R4).

Also, the damping gain during control using the torque current command value (16a) K is 81C2S 1+R0C2S since the starting relay contact (111) is closed. However, R8□ is the resistance value of a part of the resistor R8. Scale command value (
The damping gain during control by 13a) is R8C25 l+R9C2S because the starting relay contact (lEl) is open.

〔Effect of the invention〕

As described above, in this invention, vector control is performed by separating the induction motor for driving an elevator car into a field current component and a torque current component, and the field current component or the torque current component is fed back to generate the field current. A voltage command value is generated by comparing the component command value or torque current component command value to control the speed of the motor, and a damping circuit is inserted in the feedback circuit, so the field current component and torque current component are set to the command value. It is possible to control the feedback circuit independently according to the feedback circuit, and it is possible to control a wide speed range from low speed to high speed with high precision, and to stably control the feedback circuit.

In addition, at startup, the difference between the torque current component and the torque current component command value is output by adding a scale signal corresponding to the load inside the car, so torque feedback is performed on the scale command value, and the scale command value The correct starting torque is generated, making it possible to start the car smoothly.

Furthermore, since the gain of the feedback circuit is changed between startup and control using the torque current component command value, stable and highly accurate control can be achieved in both cases.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing an embodiment of the speed control device for a current-transforming elevator according to the present invention, FIG. 2 is a circuit diagram of the VVVF device shown in FIG. 1, and FIGS. 3 to 7 are the gates shown in FIG. 2. Circuit diagram of the circuit, Fig. 8 is a block circuit diagram of the base drive circuit of Fig. 2, Fig. 9 is a circuit diagram of the triangular wave generator of Fig. 8, Fig. 1O is an explanatory diagram of the operation of Fig. 8, Fig. 11 The figure is a block circuit diagram of the three-phase/two-phase coordinate converter shown in Fig. 1, Fig. 12 is a block circuit diagram of the two-phase/three-phase coordinate converter shown in Fig. 1, and Figs.
Figure 4 is a block circuit diagram of the compensation circuit in Figure 1, Figure 15 is a circuit diagram of the slip frequency calculation circuit in Figure 1, and Figure 16 is a block diagram of the compensation circuit in Figure 1.
The block circuit diagram of the sln@cos converter shown in the figure, Figure 17 is the circuit diagram of the speed command circuit of Figure 1, and Figure 18 is the circuit diagram of the speed command circuit of Figure 1'I.
Figure 19 is a circuit diagram of the field command circuit in Figure 1, Figure 20 is a configuration diagram of the load detector and scale circuit portion in Figure 1, and Figure 21 is the H of Figure 20.・Circuit input/output characteristic diagrams. Figures 22 to 31 are circuit diagrams of other elements. Figure 22 is an inverting amplifier, Figure 23 is a normal amplifier, Figure 24 is an adder, and Figure 25 is a circuit diagram of other elements. 26 is an integrator, FIG. 27 is a lag/lead circuit, 28 is a lead/lag circuit, 29 to 31 are comparator circuit diagrams, and 32 and 33 are circuit diagrams of this invention. O which is a partial circuit diagram of the J1 diagram showing another embodiment of the O. 6) is a three-phase/two-phase coordinate converter, (7) is a speed detector, U* and others, and 04
1 is a speed command circuit, 05. (Jη is a subtracter, (II is a field command circuit, (4) is a subtracter, (2) is a slip frequency calculation circuit, (E) is an adder, (C) is an integrator, ■ is a sin
*Cos converter, (b) is a damping circuit, (b) is a two-phase/three-phase coordinate converter. Note that the same symbols in the figures indicate the same parts. Agent Masuo Oiwa Figure 1 Figure 2 Figure 3 Figure Akane 5 Figure 2 to Figure 0 Figure 3g 814 Recommendation Figure 9 [Figure 0 Time □ Figure 11 Figure Otsu Figure 12 Figure 13 Figure 8 I L J 14-Figure 2 De L J 17 ) 1 between 2 Fig. 16 5 Fig. 17 S Fig. 1 ε Fig. B cotton → Fig. 19/ri Fig. 2f Fig. 22 Fig. 23 [4 Fig. 24 Section 251 Fig. 2 Otsu Fig. 27 Fig. 28 Fig. Figure 29 Figure 30 Figure J1 Figure 32//U J,) l'X1 Procedural amendment (spontaneous) Showa 9, 1935, January 1, Mr. Commissioner of the Japan Patent Office 1, Indication of the case, Patent application 1987 -221481 No. 2, Lee Qi 1st son. Nameless AC elevator speed control device 3, relationship to the evening incident where amendment is made Patent applicant representative Kata Yuhito Department within Mitsubishi Electric Corporation 5, subject of amendment (1) Detailed explanation of the invention in document aAaU Column (2) Figures 12 and 18 of the drawings, 6, Contents of amendment (1) In the fourth line of page 5 of the specification, the statement ``Even if the speed is extremely low'' is corrected to ``If the speed is zero,'' . (2) In the drawings, Figures 12 and 18 will be corrected as shown in the attached appendix. 7. One or more drawings showing Figures 12 and 18 after the catalog of attached documents has been corrected.

Claims (3)

[Claims] (1) The field current component detected from the current of the car driving induction motor is controlled by the field current component command value, and the torque current component detected from the above current is controlled by the torque current component command value. A feedback circuit for feeding back the field current component or the torque current component; When the field current component is fed back by the feedback circuit, it is compared with the field current component command value and the Il? [) When the torque current component is fed back by the feedback circuit, it is compared with the torque current component command value to calculate the deviation between them and sent to the converter, and a calculation circuit inserted into the feedback circuit. A speed control device for an AC elevator, characterized in that it is equipped with a damping circuit. (2) The field current component detected from the current of the car driving induction motor is controlled by the field current component command value, and the torque current component detected from the current is controlled by the torque current component command value, respectively. A voltage command value is generated via a converter, and the speed of the motor is controlled by the voltage command value, which includes a scale circuit that generates a scale signal corresponding to the load in the cage, the field current component or A feedback circuit that feeds back the torque current component, and when the field current component is fed back by this feedback circuit, it is compared with the field current component command value, and the torque current component is fed back by the feedback circuit. At this time, this is compared with the above-mentioned torque current component command value to calculate their deviation, and at the time of starting either of the above, an arithmetic circuit is installed which adds the above-mentioned balance signal to the above-mentioned deviation and sends it to the above-mentioned converter. A speed control device for a variable wave elevator, characterized by: (3) The field current component detected from the current of the car drive induction motor is controlled by the field current component command direct, and the torque current component detected from the current is controlled by the torque current component command value, respectively. A feedback circuit that feeds back the field current component or the torque current component, in which a voltage command value is generated via a converter and the speed of the motor is controlled by the voltage command value; When the field current component is returned to Ml, it is compared with the field current component command value, and when the torque current component can be fed back by the feedback circuit, it is compared with the torque current component command value. An arithmetic circuit that calculates these deviations and sends them to the converter, and a circuit that feeds back the torque current component of the feedback circuit, are inserted into the circuit that feeds back the torque current component, and when the car is started and when the torque current component is controlled by the torque current component command value. A speed control device for an AC elevator, comprising a gain setting circuit that changes the gain of a torque current component feedback circuit.