JPWO2010106863A1 - Elevator door control device - Google Patents

Abstract

In the elevator door control device, the magnetic flux observation unit 117 estimates the secondary magnetic flux of the door motor 5 from the primary voltage command values Vd * and Vq * and an arithmetic expression based on a mathematical model of the door motor 5. The magnetic flux control unit 112 and the speed control unit 119 each generate a current command using the secondary magnetic flux of the door motor 5 calculated by the magnetic flux observation unit 117.

Description

  The present invention relates to an elevator door control device that controls the operation of an elevator door device.

  In a conventional elevator door control device, when the door motor is controlled, the motor target torque is calculated on the assumption that the set value of the motor constant parameter for the door motor matches the actual value. However, an elevator door device may be used in an environment that does not matter indoors or outdoors, and there is a difference in utilization rate between when it is congested and when it is not. For this reason, a relatively large temperature change occurs in the door motor depending on the installation environment and the use situation. With such a temperature change, the resistance value of the motor rotor directly related to the torque characteristics changes, and setting errors are likely to occur. Therefore, if the torque characteristics of the door motor fluctuate with such a temperature change, the followability of the actual opening / closing movement speed (hereinafter, actual opening / closing movement speed) of the door panel with respect to the opening / closing movement speed command (movement speed pattern) is reduced. There was a problem that.

  On the other hand, for example, a conventional elevator door control device as shown in Patent Document 1 measures an opening / closing time that changes due to an external factor such as a temperature fluctuation, so that there is no difference from a target time in advance. An optimum pattern is selected from the plurality of rotation speed patterns stored in the motor and the motor is driven.

  Further, for example, a conventional elevator door control device as shown in Patent Document 2 is based on a door panel movement distance predicted in advance from an opening / closing movement speed command and a table of opening / closing movement speed instructions. The opening / closing movement speed command corresponding to is output. This increases the accuracy (accuracy) of the movement distance of the door panel against the fluctuation of the motor constant due to the influence of the ambient temperature change.

  Further, for example, in a conventional elevator door control device as shown in Patent Document 3, the motor constant is corrected based on the current / voltage value in a mode different from the normal opening / closing, and the rotational speed of the door motor is determined by the corrected motor constant. Thus, relatively high speed control is performed without using a speed detector.

Japanese Patent Publication No. 8-25709 JP 2002-302367 A JP 2007-84189 A

  Here, in order to shorten the opening and closing time of the elevator door and improve the operation efficiency of the elevator, it is conceivable to relatively increase the opening and closing movement speed of the door panel, that is, to open and close at high speed. In this high-speed opening / closing, if the opening / closing moving speed command and the actual opening / closing moving speed of the door panel do not match, the maximum speed of the actual opening / closing moving speed of the door panel may exceed the opening / closing moving speed command. As a result, when a door panel that opens / closes at an actual opening / closing movement speed exceeding the opening / closing movement speed command collides with some object, the collision energy exceeding the assumption is given to the collision object. For this reason, in order to suppress the collision energy, it is necessary to reduce the maximum speed of the actual opening / closing movement speed of the door panel and sufficiently reduce the maximum speed in the opening / closing movement speed command in advance. As a result, there has been a limit to shortening the opening and closing time of the elevator door by high-speed opening and closing.

  In addition, none of the conventional elevator door control devices as shown in Patent Documents 1 to 3 described above sufficiently considers the change in torque characteristics of the rotor of the motor accompanying a change in temperature. Therefore, in these cases, when a change occurs in the torque characteristics of the door motor due to an external factor such as a temperature change, an error between the estimated torque and the actual torque is enlarged, The followability of the actual opening / closing movement speed of the door panel could not be improved.

  The present invention has been made to solve the above-described problems. Even when the torque characteristics of the door motor change due to an external factor such as a temperature change, the estimated torque and the actual torque are not affected. It is an object of the present invention to provide an elevator door control device that can suppress an increase in the error between the two, and can improve the followability of the actual opening / closing movement speed of the door panel with respect to the opening / closing movement speed command.

  An elevator door control device according to the present invention includes: a door panel for opening and closing an elevator door; an AC door motor that provides driving force to the door panel; and a current detection unit that generates a signal corresponding to a primary current of the door motor; And an operation of an elevator door device comprising a speed detection means for generating a signal corresponding to the rotation speed of the door motor, the rotation speed command and magnetic flux for the door motor corresponding to the opening and closing movement speed of the door panel. A speed setting unit that issues a command, a speed command and a magnetic flux command from the speed setting unit, and a rotation speed and a primary current of the door motor from the speed detection unit and the current detection unit A drive control unit for determining the size and controlling the drive of the door motor; Motor constant parameters indicating all physical characteristics can be stored in advance, and using the rotation speed of the door motor from the speed detection means, the primary voltage applied to the door motor, and the motor constant parameter, A feedback processing unit that estimates a secondary magnetic flux, and the drive control unit determines the magnitude of electric power applied to the door motor determined according to the rotational speed command, the magnetic flux command, the rotational speed, and the primary current. The adjustment is performed using the secondary magnetic flux estimated by the feedback processing unit.

It is a block diagram which shows the door apparatus of the elevator by Embodiment 1 of this invention. It is a block diagram which shows the door control apparatus of FIG. It is a block diagram which simplifies and shows a part of door control apparatus of FIG. It is a graph for demonstrating the torque characteristic of the door motor by the calculation system of the door control apparatus of FIG. It is a block diagram which simplifies and shows a part of elevator door control apparatus by Embodiment 2 of this invention. It is a graph for demonstrating the followability of the actual rotational speed of a door motor with respect to rotational speed instruction | command.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.
Embodiment 1 FIG.
1 is a configuration diagram showing a part of a car door device according to Embodiment 1 of the present invention.
In FIG. 1, a car door device 1 opens and closes a car doorway (not shown). The car door device 1 includes a hanger plate (girder) 2, a hanger rail 3, a pair of wrapping wheels 4A and 4B, a door motor 5, a transmission strip (rope) 6, a plurality of hanger rollers 7A to 7D, and a pair of door hangers (hanging). Hand) 8A, 8B, a pair of car door panels 9A, 9B, and a pair of connectors 10A, 10B.

  The hanger plate 2 is provided in the upper part of the car doorway in the car. The hanger rail 3 is horizontally attached to the hanger plate 2 along the longitudinal direction of the hanger plate 2. The pair of winding wheels 4A and 4B are provided at one end and the other end in the longitudinal direction of the hanger plate 2, respectively. The door motor 5 is provided at one end of the hanger plate 2 in the longitudinal direction, and is arranged coaxially with the winding wheel 4A. That is, the winding wheel 4 </ b> A is rotated by the driving force of the door motor 5. The door motor 5 is an induction motor (AC motor).

  The transmission strip 6 is wound around the outer peripheral surfaces of the pair of winding wheels 4A and 4B. Further, the transmission strip 6 is stretched between both the pair of winding wheels 4A and 4B, and is endless. The plurality of hanger rollers 7 </ b> A to 7 </ b> D are mounted on the upper surface of the hanger rail 3 so as to be able to roll. Further, the hanger rollers 7A and 7B are attached to the door hanger 8A. Furthermore, the hanger rollers 7C and 7D are attached to the door hanger 8B.

  The pair of car door panels 9A and 9B are connected to the lower ends of the pair of door hangers 8A and 8B, respectively. That is, the pair of car door panels 9A and 9B are suspended from the hanger rail 3 via the pair of door hangers 8A and 8B and the plurality of hanger rollers 7A to 7D. Further, the pair of car door panels 9A and 9B can move horizontally along the hanger rail 3 by rolling of the hanger rollers 7A to 7D.

  The connector 10A connects the door hanger 8A and the lower side of the transmission strip 6 with each other. The connector 10 </ b> B connects the door hanger 8 </ b> B and the upper side of the transmission strip 6. Accordingly, the driving force of the door motor 5 is transmitted to the pair of car door panels 9A and 9B via the transmission strip 6, the pair of couplers 10A and 10B, and the pair of door hangers 8A and 8B. The pair of car door panels 9 </ b> A and 9 </ b> B are opened / closed (horizontal moved) in opposite directions by the driving force of the door motor 5.

  The car door device 1 further includes a car door engaging mechanism (not shown). The car door engaging mechanism can be engaged with a landing door engaging mechanism of a landing door device (not shown). When the car door engagement mechanism and the landing door engagement mechanism are engaged with each other, the driving force of the door motor 5 of the car door device 1 is transmitted to the landing door device, and the driving force of the door motor 5 causes the landing door panel of the landing door device. (Not shown) is also opened and closed. In other words, the car door device 1 and the landing door device open and close the elevator doorway (the car doorway and the landing doorway) in conjunction with each other. Here, the drive of the door motor 5 is controlled by the door control device 100.

Next, FIG. 2 is a block diagram showing the door control device 100 of FIG. In the following description, it is assumed that the stator side of the door motor 5 is primary, the rotor side of the door motor 5 is secondary, the symbol * means a command value, and the symbol # means an estimated value. . In FIG. 2, the door control device 100 (the one-dot chain line in FIG. 2) is a rotation detector (encoder) that is attached to the door motor 5 and generates an electrical signal corresponding to the secondary rotational angular velocity (motor actual rotational velocity) ω _re of the door motor 5. ) 11 is electrically connected. Also, the door control apparatus 100 is electrically connected to a current detector 12 which generates an electrical signal corresponding to the primary current i _u, i _v of the door motor 5.

  Furthermore, the door control device 100 includes a speed command unit 111, a magnetic flux control unit 112, an input coordinate conversion unit 113, a current control unit 114, an output coordinate conversion unit 115, a PWM (Pulse Width Modulation) inverter 116, a magnetic flux observation unit (magnetic flux observation unit). Device) 117, a speed calculation unit 118, a speed control unit 119, and a floor data storage unit (magnetic flux command unit) 120.

  The speed command unit 111 and the floor data storage unit 120 constitute a speed setting unit 100a. The speed setting unit 100a sets the opening / closing movement speed (opening / closing movement speed command) of the door panel according to the operation state of the car by an operation control device (not shown) that controls the operation of the car, and the rotation speed command for the door motor 5 And issue a magnetic flux command.

  The input coordinate conversion unit 113, the magnetic flux observation unit 117, and the speed calculation unit 118 constitute a feedback processing unit 100 b that performs calculation processing on the feedback signal from the door motor 5. The magnetic flux control unit 112, the current control unit 114, the output coordinate conversion unit 115, and the speed control unit 119 constitute a drive control unit 100c. The drive control unit 100c controls the driving of the door motor 5 using the rotation speed command and the magnetic flux command from the speed setting unit 100a and the information from the feedback processing unit 100b.

The speed command unit 111 estimates (calculates) the position of the pair of car door panels 9A and 9B based on the secondary rotation angular speed ω _{re of the} door motor 5 and the radii of the winding vehicles 4A and 4B registered in advance. Further, the speed command unit 111 sets the opening / closing movement speed of the door panels 9A and 9B according to the operation state of the car by the operation control device, and the rotational angular speed command value ω for the door motor 5 corresponding to the set opening / closing movement speed. ^* Determine.

This rotational angular velocity command value ω ^* has a magnitude corresponding to the elapsed time from the start of opening / closing movement of the door panels 9A, 9B or the position of the pair of car door panels 9A, 9B. The rotation angular speed command value ω ^* is a value corresponding to the secondary rotation angle of the door motor 5 and is stored in advance in the speed command unit 111.

The magnetic flux control unit 112 receives the magnetic flux command φ _d ^* for each landing floor stored in advance in the floor data storage unit 120 and the estimated secondary magnetic flux φ _dr ^# from the magnetic flux observation unit 117. Further, the magnetic flux controller 112, based on the magnetic flux command phi _d ^* and the estimated secondary magnetic flux phi _dr ^#, the magnetic flux command phi _d ^* and the estimated secondary magnetic flux phi _dr ^# excitation for correcting the error between the command i _d ^* Is calculated.

Input coordinate converting unit 113, the primary current i _u of door motor 5 from the current detector 12, an electric signal corresponding to the i _v, and a primary rotation angle θ based on the primary rotational angular velocity ω calculated by the speed calculation unit 118 receive. The input coordinate transformation unit 113, the primary current i _u of door motor 5, based on the i _v, and the primary rotation angle theta, performs typical 3-phase two-phase converted from a stationary coordinate system to the rotating coordinate system. Then, the input coordinate conversion unit 113 calculates the motor currents i _d and _iq of the rotating coordinate system by three-phase two-phase conversion.

The current control unit 114 receives the motor currents i _d and i _q from the input coordinate conversion unit 113, the excitation command i _d ^* from the magnetic flux control unit 112, and the torque command i _q ^* calculated by the speed control unit 119. receive. Further, the current control unit 114 calculates the primary voltages V _d ^* and V _q ^* so that the motor current i _d matches the excitation command i _d ^* and the motor current i _q matches the torque command i _q ^* . Further, the current control unit 114 sends the calculated primary voltages V _d ^* and V _q ^* to the output coordinate conversion unit 115 and the magnetic flux observation unit 117.

The output coordinate conversion unit 115 receives primary voltages V _d ^* and V _q ^* from the current control unit 114 and a primary rotation angle θ based on the primary rotation angular velocity ω calculated by the speed calculation unit 118. In addition, the output coordinate conversion unit 115 performs coordinate conversion from the rotating coordinate system to the stationary coordinate system using the primary voltages V _d ^* , V _q ^* and the primary rotation angle θ. Then, the output coordinate conversion unit 115 calculates primary voltages V _u ^* , V _V ^* , V _w ^* of the stationary coordinate system by coordinate conversion.

Further, the output coordinate conversion unit 115 sends an output command to the PWM inverter 116 and causes the door motor 5 to output the calculated primary voltages V _u ^* , V _V ^* , and V _w ^* from the PWM inverter 116. That is, the output coordinate conversion unit 115 causes the door motor 5 to generate a driving force for opening and closing the door panels 9A and 9B via the PWM inverter 116.

The magnetic flux observation unit 117 includes primary voltage command values V _d ^* and V _q ^* from the current control unit 114, motor currents i _d and i _q from the input coordinate conversion unit 113, and primary rotation calculated by the speed calculation unit 118. Receives angular velocity ω. The magnetic flux observation unit 117 stores in advance an arithmetic expression (observer) based on a mathematical model of the door motor 5 of the following expressions (1) and (2).

Here, a plurality of motor constant parameters used in the arithmetic processing of the expressions (1) and (2), that is, the mutual inductance M, the primary self-inductance L _s , the secondary self-inductance L _r , the primary resistance R _s , and the two The secondary resistance R _r is stored in advance in the magnetic flux observation unit 117 as a characteristic constant. In addition, the matrix elements of the equations (1) and (2) are as shown in the following equations (3) to (8), and are stored in the magnetic flux observation unit 117 in advance.

  Furthermore, an arbitrary observer feedback gain H used in the calculation processing of the equation (2) is as shown in the following equation (9). The observer feedback gain H is stored in advance in the magnetic flux observation unit 117.

Therefore, the magnetic flux observation unit 117 executes the arithmetic processing using the arithmetic expression of the expression (1), thereby _{causing the} primary d-axis magnetic flux φ _ds ^# , the primary q-axis magnetic flux φ _qs ^# , and the secondary d-axis magnetic flux φ _dr ^# (Hereinafter, estimated secondary magnetic flux φ _dr ^# ) is estimated. Further, the magnetic flux observation unit 117 executes arithmetic processing using the arithmetic expression (2), and the primary d-axis current i _d and the primary q-axis are based on the estimated magnetic fluxes φ _ds ^# , φ _qs ^# , φ _dr ^#. The current i _q is estimated.

The speed calculation unit 118 includes the secondary rotational angular velocity ω _re of the door motor 5, the estimated secondary magnetic flux φ _dr ^# and the estimated primary currents i _d ^# and i _q ^# calculated by the magnetic flux observation unit 117, and the input coordinate conversion unit 113. The motor currents i _d and i _q are received. Further, the speed calculation unit 118 stores in advance the following equation (10) in consideration of the slip between the primary side and the secondary side of the door motor 5. Further, the speed calculation unit 118 stores a plurality of motor constant parameters and an observer feedback gain H in advance, as with the magnetic flux observation unit 117.

  The speed calculation unit 118 calculates the primary rotation angular speed ω by executing a calculation process using the calculation formula (10). The primary rotational angular velocity ω is sent to the magnetic flux observation unit 117 and is time-integrated by the integrating means to obtain the primary rotational angle θ. The primary rotation angle θ is sent to the input coordinate conversion unit 113 and the output coordinate conversion unit 115.

  Next, the timing of the calculation process of the magnetic flux observation unit 117 and the speed calculation unit 118 will be described. The functions 111 to 115 and 117 to 120 of the door control device 100 including the magnetic flux observation unit 117 and the speed calculation unit 118 perform processing at a predetermined time interval T [sec] period. Further, in the mutual relationship between the magnetic flux observation unit 117 and the speed calculation unit 118, the magnetic flux observation unit 117 performs a series of calculation processes before the speed calculation unit 118, and then the speed calculation unit 118 performs a series of calculation processes. I do.

Furthermore, the magnetic flux observation unit 117 is calculated by the speed calculation unit 118 in the previous cycle (before the time interval T [sec]) when performing the calculation process using the calculation formulas (1) and (2) above. The primary rotation angular velocity ω and the estimated primary currents i _d ^# and i _q ^# calculated by the previous cycle are used. Similarly, when the speed calculation unit 118 performs the calculation process using the calculation formula (10), the estimated secondary magnetic flux φ _dr ^# calculated by the magnetic flux observation unit 117 in the previous period is used. Are estimated primary currents i _d ^# and i _q ^# .

  Here, the time interval T [sec] is preferably as short as possible, but the calculation amount per unit time increases as the time interval decreases. For this reason, in order to reduce the load required for the arithmetic processing, the time intervals of the respective functions 111 to 115 and 117 to 120 of the door control device 100 can be set to different values.

For example, with respect to the current control unit 114 that desirably performs the calculation process at the shortest time interval, when the time interval is T1 [sec], the time interval of the magnetic flux observation unit 117 is T2 [sec]. However, T2 ≧ T1, and T2 is, for example, an integral multiple of the minimum time interval T1. In this case, the magnetic flux observation unit 117 performs arithmetic processing using the primary rotation angular velocity ω calculated in the period before the time interval T2 [sec] and the estimated primary currents i _d ^# and i _q ^# .

  Next, the speed control unit 119 and the floor data storage unit 120 will be specifically described. FIG. 3 is a block diagram schematically showing a part of the door control device 100 of FIG. In FIG. 3, the magnetic flux control unit 112, the input coordinate conversion unit 113, and the output coordinate conversion unit 115 in FIG. 2 are omitted.

In FIG. 3, the speed control unit 119 receives the estimated secondary magnetic flux φ _dr ^# calculated by the magnetic flux observation unit 117 and the deviation between the rotational angular velocity command value ω ^* and the secondary rotational angular velocity ω _re . Further, the speed control unit 119 is a feedback controller generally represented by a transfer function C _b (s) shown in the following equation (11), and the second rotational angular velocity ω _re with respect to the rotational angular velocity command value ω ^* . Correct the error.
C _b (s) = K _sp + K _si / s (11)

Here, the proportional gain _Ksp has the relationship shown in the following equation (12).
K _sp = J × ω _C / K _T (12)
However, J is the door weight for each landing floor (the inertia value in terms of the motor shaft of the weight of the car door panel and the landing door panel, the same applies hereinafter). ω _C is a control cross frequency for designating output error correction performance with respect to the target value. K _T is a torque characteristic of the door motor 5.

Further, the integral gain _Ksi has the relationship shown in the following equation (13).
K _si ≦ K _sp × ω _C / 5 (13)
Furthermore, the torque characteristic K _T of the motor, the relationship shown in the following equation (14).
K _T = p × M / L _r × φ _dr ^# (14)
Here, p is the number of pole pairs that is a constant parameter of the motor. M is a mutual inductance. L _r is the secondary self-inductance. φ _dr ^# is the estimated secondary magnetic flux of the magnetic flux observation unit 117. When the estimated secondary magnetic flux φ _dr ^# and the magnetic flux command φ _d ^* coincide with each other, the magnetic flux command φ _d ^* may be used as an alternative to the estimated secondary magnetic flux φ _dr ^# .

Here, the door control device 100 applies a pressing force F based on the torque τ of the door motor 5 to the car door device 1 and the landing door device when the car door device 1 and the landing door device are fully closed and fully open. The pressing force F has a relationship expressed by the following equation (15) based on the torque τ generated by the door motor 5 and the radius r of the winding vehicle 4A (or the winding vehicle 4B).
F = τ / r (15)

Further, the torque τ of the door motor 5 is derived from the secondary magnetic flux φ _dr ^# estimated by the magnetic flux observation unit 117 and the motor current i _q from the input coordinate conversion unit 113 as shown in the following equation (16).
τ = p × M / L _r × φ _dr ^# × i _q (16)

Note that the motor current i _q of the input coordinate conversion unit 113 in equation (16) may be the torque command current i _q ^* calculated by the speed control unit 119, and the estimated secondary magnetic flux φ _dr ^# It may be replaced with φ _dr ^* . At this time, by directly giving the torque command i _q ^* so as to satisfy the pressing force F, the door device 1 and the landing door device in the fully closed state or the fully open state are used without using the calculation result by the feedback processing unit 100b. A pressing force F can be applied.

Next, the floor data storage unit 120 stores in advance the magnetic flux command φ _d ^* for each landing floor and the door weight J for each landing floor in association with the information on the landing floor. This door weight J is the sum of the door weights J of the car door device 1 and the landing door device, or the individual door weights J of the car door device 1 and the landing door device. Further, the floor data storage unit 120 sends the door weight J corresponding to the stop floor of the car to the speed control unit 119 based on the operation information from the operation control device that controls the operation of the car, and also stops the floor of the car. Send the corresponding flux command phi _d ^* in the magnetic flux controller 112.

The value of the magnetic flux command φ _d ^* issued by the floor data storage unit 120 is always constant from the start of the opening / closing movement of the door panels 9A, 9B to the end of the opening / closing movement of the door panels 9A, 9B, or the door position, car The weight may be changed according to the door weight, landing door weight, or total door weight.

Here, an example of changing the value of the magnetic flux command φ _d ^* generated by the floor data storage unit 120 will be described. When the elevator door is opened from the fully closed state, the door motor 5 is operated by the door motor 5 in a section until the engagement mechanism of the car door device 1 is engaged (gripped) with the engagement mechanism of the landing door device. Drive only.

Therefore, when the magnetic flux command φ _d ^* is a value corresponding to the total door weight, in the section in which only the door panels 9A and 9B of the car door device 1 are driven, The magnetic flux command from the floor data storage unit 120 is set to n × φ _d ^* using the weight ratio n of 9B. In a section after the engagement mechanisms of both the car door device 1 and the landing door device are engaged, the magnetic flux command from the floor data storage unit 120 is switched to φ _d ^* . The switching of the magnetic flux command is the same even when the car door device 1 and the landing door device are closed from the fully open state.

Therefore, the drive control unit 100c applies the primary voltages V _u ^* , V _V ^* , V applied to the door motor 5 determined according to the rotational angular velocity command value ω ^* , the secondary rotational angular velocity ω _re , and the motor currents i _d , i _q. The magnitude of _w ^* (the magnitude of electric power) is adjusted using the estimated secondary magnetic flux φ _dr ^# and the door weight J.

  Here, the door control device 100 can be configured by a computer (not shown) having an arithmetic processing unit (CPU), a storage unit (ROM, RAM, hard disk, etc.) and a signal input / output unit. The storage unit of the computer of the door control device 100 stores a program for realizing the functions 111 to 115 and 117 to 122 (or 100a to 100c) shown in FIGS.

Next, the conventional calculation method, that is, the calculation method that does not use the previous equations (1), (2), and (10) is applied to the magnetic flux observation unit 117 and the velocity calculation unit 118 of the first embodiment. An example will be briefly described. The magnetic flux observation unit 117 to which the conventional calculation method is applied uses the primary d-axis current i _d from the input coordinate conversion unit 113 to execute a calculation process based on the following equation (17), thereby obtaining a secondary d-axis. Estimate the magnetic flux φ _dr ^# .

However, the motor constant parameters are a mutual inductance M, a secondary self-inductance L _r , and a secondary resistance R _r .

Further, the conventional speed calculation unit 118 receives the estimated secondary magnetic flux φ _dr ^# estimated by the magnetic flux observation unit 117 and the primary q-axis current i _q from the input coordinate conversion unit 113, and the following (18) The primary rotational angular velocity ω is calculated by executing a calculation process based on the equation. This primary rotation angular velocity ω is time-integrated by the integration means to obtain a primary rotation angle θ.

Here, when such a conventional calculation method is applied, an error occurs in the estimated secondary magnetic flux φ _dr ^# when the actual value of the secondary resistance R _r varies due to the temperature change of the door motor 5. For this reason, an error occurs in the speed calculation unit 118 that _{receives the} estimated secondary magnetic flux φ _dr ^# , and an error also occurs in the input coordinate conversion unit 113 in the same manner. As a result, as shown in FIG. 4 (filled triangles / squares), an error occurs between the estimated torque and the actual torque, causing a problem that the torque characteristics fluctuate.

On the other hand, in the control method according to the first embodiment, the magnetic flux observing unit 117 uses the primary voltage command values V _d ^* and V _q ^* and the mathematical model of the door motor 5 (induction motor) based on the equations (1) and ( 2) The estimated secondary magnetic flux φ _dr ^# of the door motor 5 is estimated by the observer shown in the equation (2). Further, the speed calculation unit 118 calculates the primary rotation angular speed ω by a calculation process based on the equation (10). As a result, the elevator door control device according to the first embodiment can calculate the estimated torque with higher accuracy than the conventional calculation method as shown in FIG. 4 (white triangles and squares), and the constant of the door motor 5 can be calculated. Even if an error occurs in the parameter, it is possible to execute magnetic flux estimation with relatively high accuracy. As a result, in the elevator door control apparatus according to the first embodiment, even when a change occurs in the torque characteristics of the door motor 5 due to an external factor such as a temperature change, an error between the estimated torque and the actual torque is reduced. The expansion can be suppressed, and the followability of the actual rotation speed of the door motor 5 with respect to the rotation speed command, that is, the followability of the actual opening / closing movement speed of the door panels 9A and 9B with respect to the opening / closing movement speed command can be improved.

Further, the floor data storage unit 120 sends the door weight J for each platform floor of the car to the speed control unit 119, and the speed control unit 119 uses the door weight J to adjust the torque command i _q ^*. Even if the door weight J is different every time, the followability of the actual opening / closing movement speed of the door panels 9A, 9B with respect to the opening / closing movement speed command can be kept relatively high.

Furthermore, since the floor data storage unit 120 changes the value of the magnetic flux command φ _d ^* based on the door weight J and the positions of the door panels 9A and 9B, the magnetic flux command corresponding to the driving force required for each landing floor is provided. By giving, the power consumption required for the door drive of the door motor 5 can be reduced.

  Here, in a conventional elevator door control device, the opening and closing movement speed of the door panels 9A and 9B may change irregularly as the control accuracy decreases. When a user confirms such an irregular change, the user may be reminded of an elevator failure. As a result, there is a problem that the reliability of the elevator for the user is lowered, and the comfort in the user's car is reduced. On the other hand, in the elevator control apparatus according to the first embodiment, it is possible to avoid a decrease in control accuracy by suppressing fluctuations in torque characteristics due to external factors such as temperature changes. It is possible to suppress a decrease in sex and a decrease in comfort in the user's car.

  In the first embodiment, when a certain pressing force is applied to the fully closed / open car door device 1 and the landing door device, a magnetic flux command corresponding to the pressing force is set in the floor data storage unit 120. Also good. In this case, since the pressing force generated by the door motor 5 is smaller than the opening / closing driving force, the power consumption of the door motor 5 can be reduced.

  In the first embodiment, the observer based on the mathematical model of the door motor 5 of the magnetic flux observation unit 117 is expressed using the equations (1) and (2). However, since the expression method of the mathematical model of the door motor 5 (induction motor) is not necessarily one, the expression may be changed. Furthermore, you may apply the observer different from (1) Formula and (2) Formula. “Applying different observers” means changing the content of the modified feedback term including the observer feedback gain.

Below, the example of arithmetic expressions other than (1) Formula and (2) Formula is demonstrated. For example, the primary current i _s (= [i _d , i _q ] ^T ) and the secondary magnetic flux φ _r (= [φ _dr , φ _qr ] ^T ) are used as state quantities, and the primary voltage command value V _s ^* (= [ When V _d ^* , V _q ^* ]) is input, an observer expressed by the following equations (19) and (20) may be used as an observer based on the mathematical model of the door motor 5.

The magnetic flux observation unit 117 estimates the secondary magnetic flux φ _r, that is, the secondary d-axis magnetic flux φ _dr ^# and the secondary q-axis magnetic flux φ _qr ^# by executing arithmetic processing using the arithmetic expression (20). . In addition, the magnetic flux observation unit 117 performs an arithmetic process using the arithmetic expression (19), and based on the estimated secondary magnetic flux φ _r ^# , the primary current i _s, that is, the primary d-axis current i _d ^# and the primary q The shaft current i _q ^# is estimated.

  The arbitrary observer feedback gain L is as shown in the following equation (21). The observer feedback gain L is stored in advance in the magnetic flux observation unit 117.

  In general, the speed calculation unit 118 performs the calculation so that the secondary q-axis magnetic flux and the time change rate thereof become 0, that is, the following equation (22) is satisfied. For this reason, when (19) Formula and (20) Formula are memorize | stored in the magnetic flux observation part 117, the speed calculating part 118 may memorize | store the following (23) Formula.

Further, by substituting the equation (19) into the equation (20), the following equation (24) is obtained. From this, the equation (24) may be stored in the magnetic flux observation unit 117 as an alternative to the equation (20). In this case, the primary current i _s, and a primary voltage command value V _s ^*, to estimate the secondary magnetic flux phi _r ^#, may be the secondary magnetic flux phi _r ^# as the output of the magnetic flux observing portion 117.

Next, an example of an observer different from the expressions (19) to (21), (23), and (24) will be described. The primary voltage i _s (= [i _d , i _q ] ^T ) and the secondary magnetic flux φ _r (= [φ _dr , φ _qr ] ^T ) are used as state quantities, and the primary voltage command value V _s ^* (= [V _d ^*, based on a mathematical model of the door motor 5 to enter the V _q ^*]), the observer of the magnetic flux observing portion 117, the following equation (25), and (26) may take the configuration of the observer shown in the formula.

The magnetic flux observation unit 117 estimates the secondary magnetic flux φ _r, that is, the secondary d-axis magnetic flux φ _dr ^# and the secondary q-axis magnetic flux φ _qr ^# by executing arithmetic processing using the arithmetic expression (26). . Further, the magnetic flux observing portion 117 (25) arithmetic expression executes a calculation using the estimated secondary flux phi _r primary d-axis primary current i _s clogging based on the ^# current i _d ^# and primary q-axis The current i _q ^# is estimated.

  The arbitrary observer feedback gains Ka and Kb are as shown in the following equation (27). The observer feedback gains Ka and Kb are stored in advance in the magnetic flux observation unit 117.

  In the magnetic flux observation unit 117, when the formulas (25) and (26) are stored, the speed calculation unit 118 sets the following ((2) so that the secondary q-axis magnetic flux and its time change rate become zero. 28) The equation may be stored.

As described above, various configurations can be applied to the observer of the magnetic flux observation unit 117. Basically, at least the secondary d-axis magnetic flux φ _dr ^# is estimated by configuring an observer using an arbitrary observer feedback gain based on a mathematical model of the door motor 5.

Embodiment 2. FIG.
In the first embodiment, the floor data storage unit 120 stores the door weight J measured in advance. On the other hand, in the second embodiment, the floor data storage unit 120 stores the door weight J sequentially identified by the door weight identification unit 122 based on the control history data in the past door opening and closing. That is, the door weight J of the second embodiment is sequentially updated by the door weight identification unit 122.

  FIG. 5 is a block diagram schematically showing a part of an elevator door control apparatus according to Embodiment 2 of the present invention. FIG. 5 is a diagram corresponding to FIG. 3 of the first embodiment, in which the magnetic flux control unit 112, the input coordinate conversion unit 113, and the output coordinate conversion unit 115 in the first embodiment are omitted.

In FIG. 5, the door control device 100 further includes a torque estimation unit 121 and a door weight identification unit 122. Torque estimation unit 121 receives estimated secondary magnetic flux φ _dr ^# from magnetic flux observation unit 117 and current value i _q from current detector 12. The torque estimation unit 121 uses a current value i _q , an estimated secondary magnetic flux φ _dr ^# , a pole pair number p that is a constant parameter of the door motor 5, a mutual inductance M, and a secondary self-inductance L _r to generate a normal door. An estimated torque τ, which is an estimated value of the torque generated from the door motor 5 in opening and closing, is calculated by executing a calculation process shown in the following equation (29).
τ = p × M / L _r × φ _dr ^# × i _q (29)

The door weight identification unit 122 receives the secondary rotation angular velocity ω _re from the rotation detector 11 and the estimated torque τ calculated by the torque estimation unit 121. Then, the door weight identification unit 122 calculates the door weight J based on the secondary rotational angular velocity ω _re and the estimated torque τ, and sends the calculated door weight J to the floor data storage unit 120.

Here, the car door device 1 is provided with a door closing mechanism (not shown) that generates a door closing force for keeping the fully closed state while the car is running. The door closing force generated by this door closing mechanism is a known external force. This known external force is converted into a torque equivalent value of the rotating shaft of the door motor 5, and becomes a torque τ ₀ corresponding to the position of the door panels 9A, 9B (door position) or the opening / closing movement speed of the door panels 9A, 9B.

The door weight identification unit 122 also calculates the estimated torque τ, the torque τ ₀ , the secondary rotational angular acceleration A obtained by differentiating the secondary rotational angular velocity ω _re with time, and a constant generated in the door panel during normal door opening and closing. For example, the door weight J is calculated by executing the arithmetic processing shown in the following equation (30) using the running resistance loss b.
J = (τ−τ ₀ −b) / A (30)

  Here, the floor data storage unit 120 according to the second embodiment stores the door weight J identified by the door weight identification unit 122 and sequentially updates it for each stop floor of the car. In addition, the floor data storage unit 120 sends the updated door weight J to the speed control unit 119. Other configurations are the same as those in the first embodiment.

  Here, FIG. 6 is a graph for explaining the followability of the actual rotational speed of the door motor 5 with respect to the rotational speed command. FIG. 6A shows the actual rotation speed of the door motor 5 whose drive is controlled by the door control device of the second embodiment. FIG. 6B shows the actual rotational speed of the door motor 5 whose drive is controlled by a conventional door control device. Note that the conventional door control device here refers to the calculation method using the previous equations (1), (2), and (10) in the first embodiment, and the door weight by the door weight identification unit 122 in FIG. A door control device that does not apply the identification process.

  According to FIGS. 6A and 6B, in the drive control by the door control device of the second embodiment, the followability of the actual rotation speed of the door motor 5 with respect to the rotation speed command is the drive control by the conventional door control device. It can be seen that the following performance is improved. In the drive control by the door control device of the second embodiment, the peak of the actual rotation speed of the door motor 5 is suppressed from the peak of the actual rotation speed of the door motor 5 in the drive control by the conventional door control device. It can be seen that the excess from the peak of the speed command is decreasing. Therefore, in the door control device of the second embodiment, the followability of the actual rotation speed of the door motor 5 with respect to the rotation command speed of the speed command unit 111 and the correction accuracy of the rotation error of the door motor 5 are improved as compared with the conventional one. Can do.

  In addition, the floor data storage unit 120 according to the second embodiment stores the door weight J identified by using the relatively accurate estimated torque by the door weight identification unit 122. Then, when the door is opened and closed for each landing floor, the control gain of the speed control unit 119 is adjusted for each landing floor with the stored door weight J. As a result, the actual opening / closing movement speed of the door panels 9A, 9B can further improve the followability to the opening / closing movement speed command of the speed command section 111.

  In the first and second embodiments, an example in which an induction motor is used as the door motor 5 of the door driving device has been described. However, even when a permanent magnet synchronous motor is used for the door motor 5 of the door drive device, the same control as in the first and second embodiments can be performed by setting an observer based on a mathematical model for the permanent magnet synchronous motor. Is possible.

Claims (4)

A door panel for opening and closing the elevator doorway;
An AC door motor that applies driving force to the door panel;
Current detection means for generating a signal corresponding to a primary current of the door motor;
An elevator door control device for controlling the operation of an elevator door device comprising: a speed detection means for generating a signal according to a rotation speed of the door motor;
A speed setting unit for issuing a rotational speed command and a magnetic flux command for the door motor corresponding to the opening and closing movement speed of the door panel;
Determining a magnitude of electric power to be applied to the door motor according to a speed command and a magnetic flux command from the speed setting unit, and a rotation speed and a primary current of the door motor from the speed detection unit and the current detection unit; A drive control unit for controlling the drive of
Motor constant parameters indicating physical characteristics of the door motor can be stored in advance, using the rotation speed of the door motor from the speed detection means, a primary voltage applied to the door motor, and the motor constant parameters, A feedback processing unit for estimating the secondary magnetic flux of the door motor,
The drive control unit is configured to estimate the magnitude of electric power applied to the door motor determined according to the rotation speed command, the magnetic flux command, the rotation speed, and the primary current, and the secondary magnetic flux estimated by the feedback processing unit. Adjust using the elevator door control device. The speed setting unit can store the door weight of each of the plurality of landing floors for each landing floor,
The drive control unit is configured to estimate the magnitude of electric power applied to the door motor determined according to the rotation speed command, the magnetic flux command, the rotation speed, and the primary current, and the secondary magnetic flux estimated by the feedback processing unit. The elevator door control device according to claim 1, wherein adjustment is performed using the weight of the stop of the car received from the speed setting unit. Calculated by the secondary magnetic flux from the feedback processing unit or the magnetic flux command from the speed setting unit, the rotational speed from the speed detection unit, and the primary current from the current detection unit or the drive control unit. A door weight identification unit that identifies the door weight for each landing floor based on a current command value for driving the door motor;
The said speed setting part memorize | stores the said door weight identified by the said door weight identification part for every said landing floor, and sends the stored said door weight for every said landing floor to the said drive control part. Elevator door control device. The speed setting unit sequentially adjusts the magnetic flux command to be sent to the speed setting unit based on at least one of the door weight of each of the plurality of landing floors and the position of the monitored door panel. The elevator door control device according to claim 2.

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