KR100259510B1 - Elevator control apparatus and method for coping with breaking down - Google Patents

Abstract

PURPOSE: Controlling device and method are provided to generate continuous speed command to fit running condition of an elevator in power failure without emergency stopping for saving passengers quickly and to calculate braking deceleration of an elevator car as well as controlling the elevator by generating speed pattern of save operation to be proper for capacity. CONSTITUTION: In normal common power, a closed contact is closed so power supply of an induction electromotor is converted by a power unit to be supplied to an elevator control unit. Power supply for power source is converted into DC(direct current) by being fed to a converter and the DC as a pulsation voltage is flattened by a flattening condenser to be delivered to an inverter. The inverter converts direct voltage input to a 3-phase alternating voltage to feed to the induction electromotor for driving. The elevator travels upon calling of passenger and the control unit generates an angular speed command value corresponding to a running condition. Then a speed controller(31) generates a current command value corresponding to an angular speed command value to a current controller(32). And the current controller(32) converts into the 3-phase voltage command to feed to the induction electromotor for controlling torque and speed of the induction electromotor.

Description

Control device and method in case of power failure of elevator

The present invention relates to a control device and a method of a power failure of an elevator to rescue the passengers inside the car without emergency stop of the elevator when performing a power failure rescue operation to rescue the passengers trapped inside the car of the elevator, in particular, Control device and method in case of power failure of an elevator that can rescue the trapped passengers in a short time by generating a continuous speed command to meet the elevator operating conditions at the time of power failure without emergency stop if the power failure occurs during normal operation It is about.

If a power failure occurs while the elevator is operating in response to a passenger's call, a separate device is provided to operate the elevator to the nearest floor in order to rescue passengers in the car. This is called an ALP (Auto Landing for Power failure) device.

The ALP device includes a battery, and when a power failure occurs, the DC voltage of the battery is converted into a voltage suitable for the elevator control panel and supplied to the control panel, and the speed control apparatus and method of the elevator perform an electrostatic discharge operation.

However, if a power outage occurs while the elevator is running, the elevator car will be emergency stopped, and passengers inside the car will not only receive a shock shock but also the time required until the elevator is restarted and rescued by rescue operation will be longer. Passengers become nervous and nervous.

Accordingly, the present invention relates to a control apparatus and method for a power failure of an elevator to rescue passengers inside a car without emergency stop even if a power failure occurs during operation, which will be described later.

1 is a block diagram of a control device and a method of a conventional elevator. As shown in FIG. 1, a converter 2 converts an input three-phase AC power into a DC voltage and outputs the DC voltage, and a DC voltage output from the converter 2. Converts the inverter into a three-phase AC voltage having a variable voltage and a variable frequency (VVVF), an induction motor 4 driven by a three-phase AC voltage provided by the inverter 3, and the induction motor ( In accordance with the driving of the current detector 11 for detecting the three-phase AC current flowing to the primary side of 4), the speed detector 12 for detecting the rotational angular velocity of the induction motor 4, and the induction motor 4 An elevator car 16 which moves up and down to guide a passenger, a load detector 13 for detecting a load weight in the elevator car 16, the current detector 11, a speed detector 12, and a load detector ( To control the switching operation of the inverter 3 according to the output of the An elevator control unit 6, a power supply unit for supplying power to the elevator control unit 6, and an ALP unit separately provided to operate the elevator to the nearest floor in order to rescue passengers in the car when a power failure occurs (7), a battery 20 for supplying a three-phase AC voltage at the time of power failure to the ALP apparatus 7, an upper contact point 18 connected between the ALP apparatus 7 and the elevator control section 6, It consists of a normal closing contact 19 connected between a commercial power supply and an elevator control panel.

FIG. 2 is a detailed configuration diagram of the elevator control unit 6 in FIG. 1, and as shown therein, a speed pattern according to an elevator operating condition. (Wr ^* ) Rotational angular velocity of the induction motor by receiving an output signal from the speed command generator 30 generating the speed command, the electrostatic speed command generator 35 generating the electrostatic speed command during power failure, and the speed detector (Wr) The angular speed command value of the speed detector 21 and the speed command generator 30 (Wr ^* ) Rotational angular velocity of the vortex speed detecting unit 21 (Wr) The first subtractor 33 and the current command value according to the error of the subtractor 33 (I ^* ) And a current flowing in the primary side of the induction motor (I) A current detection unit 22 providing a current command value of the speed controller 31; (I ^* ) And the current of the current detector 22 (I) And a second subtractor 36 for obtaining a current difference, a current controller 32 for providing a current for controlling a current flowing in an induction motor according to the current difference of the second subtractor 36, and the current controller 32. Calculate the voltage for controlling the induction motor according to the current output from the) as a transfer function, and comprises a motor transfer function 34 that provides the calculated speed value.

Looking at the prior art configured as described above is as follows.

First, when commercial power is normal, when commercial power is supplied, the upper contact 18 is opened and the closed contact 19 is closed, so that the supplied commercial power is converted by the power supply 8 to the elevator controller 6. Will be supplied.

In addition, the power supply for the induction motor for driving the elevator is supplied to the converter 2 is converted into direct current.

Since the converted direct current is a pulsating voltage, it is smoothed by the smoothing capacitor 14 and supplied to the inverter 3.

Then, the inverter 3 converts the input DC voltage into a three-phase AC voltage again and supplies it to the induction motor 4 to be driven.

At this time, when the elevator is driven in response to the call of the passenger, the elevator control unit 6 in accordance with the elevator operating conditions in the speed command generation unit 30 shown in Figure 2 as shown in Figure 3 (a) (Wr ^* ) Occurs.

The speed controller 31 then executes the angular speed command value. (Wr ^* ) Current command value (I ^* ) Is generated by the current controller 32, and the current controller 32 provides a current command value provided from the speed controller 31. (I ^* ) It converts into a three-phase voltage command according to the applied to the induction motor 4 of Figure 1, to control the torque and speed of the induction motor (4).

At this time, the voltage supplied to the induction motor 4 is such that when the operating conditions of the induction motor 4 is no load falling or full load rising, the power as shown in (b) of FIG. 3 is accelerated or consumed in the normal driving section, and in the last deceleration section. Some power is regenerated in the induction motor 4.

However, when the operating condition is no load rising or full load falling, the power as shown in FIG. 3C is regenerated in the acceleration section, the normal driving and the deceleration section.

The regenerative power generated during operation is supplied to the regenerative semiconductor element 10 at the input terminal of the inverter 3 to drive the regenerative semiconductor element 10.

As the regenerative semiconductor element 10 is driven, power that is regenerated by the regenerative resistor 9 is consumed.

On the other hand, the ALP apparatus 7 performs the charger operation when the capacity of the battery 20 is less than a predetermined value, otherwise it is in the idle state.

The induction motor 4 is driven by the operation as described above.

If a power failure occurs while repeatedly performing such an operation, the elevator makes an emergency stop at the time t2 shown in FIG. 4 (b), and the upper / close contact 19 is opened in FIG. 1.

The ALP apparatus 7 then closes the top contact 18 and converts the DC power of the battery 20 into three-phase alternating current, and then supplies it to the elevator power supply 8 and the converter 2.

The power supply device 8, which is supplied with three-phase AC power, converts and supplies power suitable for the elevator control unit 6, and on the other hand, the power required to drive the induction motor 4 is the converter 2 and the smoothing capacitor 14 Is converted into direct current and then supplied to the input side of the inverter (3).

Then, the elevator control unit 6 revived by the ALP apparatus 97 generates a speed command necessary for the electrostatic discharge operation at time t3 shown in FIG. 4B.

Accordingly, the speed command from the electrostatic speed command unit 35 constituting the elevator control unit 6. (Wr ^* ) Occurs.

Then the speed command (Wr ^* ) The three-phase voltage command is applied to the inverter 3 by the speed controller 31 and the current controller 32 that receive the input to control the torque and the speed of the induction motor 4 to rescue the passengers trapped in the elevator car 16. Done.

However, in the prior art as described above, if a power failure occurs during operation of the elevator, passengers in the elevator car do not stop because of the emergency stop as shown in Figure 4 (a) as well as in some cases the human body It may be damaged. In FIG. 4B, since the power failure occurs at time t1 and the rescue operation is completed at time t3 after the rescue operation is performed at time t3, the passenger in the elevator car is nervous and nervous until the rescue is completed. There is a problem that you have to wait a long time in mind.

Accordingly, an object of the present invention for solving the conventional problems as described above is to trap a passenger who is able to generate a continuous speed command to meet the elevator operating conditions at the time of power failure without emergency stop if a power failure occurs during normal operation. The present invention provides a control device and method in the event of a power failure of an elevator that can be rescued in a short time.

Another object of the present invention is to calculate the deceleration of the elevator car at the time of the outage, control the elevator outage to generate a rescue speed pattern to meet the allowable capacity of the battery from this deceleration to control the elevator An apparatus and method are provided.

1 is a block diagram of a control apparatus and method of a conventional elevator.

2 is a configuration diagram of the elevator control unit in FIG.

3 is a timing diagram for consumption and regenerative power according to the speed command of the elevator in FIG. 2;

Figure 4 is a timing diagram showing the acceleration and deceleration according to the speed command of the elevator at the time of blackout.

Figure 5 is a block diagram of a control device for power failure of the elevator of the present invention.

6 is a detailed block diagram of the elevator control unit in FIG.

7 is an operation flowchart for a control method of power failure of the elevator of the present invention.

8 is a speed command pattern in accordance with the elevator speed conversion in the emergency stop in FIG.

FIG. 9 is an elevator speed change diagram when the emergency reduction is negative in FIG. 5; FIG.

10 is an equivalent model diagram of an elevator machine system.

Explanation of symbols on the main parts of the drawings

2: converter 3: inverter

4: induction motor 6: elevator control unit

7: ALP device 8: power supply device

11 current detector 12 speed detector

18: Open contact 19: Closed contact

20: battery 30: speed command generator

35: electrostatic speed command generator 36: deceleration calculation unit

37: speed pattern control unit

The present invention for achieving the above object is a converter for converting an AC voltage supplied from a commercial power source to a DC voltage, an inverter for driving the induction motor by converting the DC voltage into an AC voltage, the current supplied to the induction motor, Elevator control unit for controlling the operation of the inverter according to the speed and load of the motor to control the speed of the induction motor, and ALP device for converting the DC voltage of the battery into an AC voltage to supply to the elevator control unit in case of power failure of commercial power In the elevator, the elevator control unit is a speed command generation unit for generating a speed pattern in accordance with the operating conditions of the elevator, a speed controller for generating a current command value according to the speed pattern generated in the speed command generator, and the current command value A current controller for supplying a current according to the induction motor, and A speed detector for calculating the rotational angular velocity of the induction motor, a deceleration calculator for calculating the deceleration using the rotational angular velocity output from the speed detector, and selecting and adjusting the emergency speed pattern according to the deceleration calculated above And a speed pattern control unit for generating a continuous speed command and an electrostatic speed command generator for generating a speed command for driving an elevator car when a power failure occurs according to the output of the speed pattern controller.

In addition, the present invention is a first step of checking whether the near-end floor when the power failure occurs during the operation of the elevator, the second step of calculating the deceleration by receiving the current speed of the elevator if not near the end floor in the first step; A third step of determining whether to generate a bottom or destination floor speed pattern according to the deceleration calculated in the second step; and a step of stopping the elevator to the bottom or destination floor according to the speed pattern determined in the third step. It is characterized by consisting of four steps.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 5 is a block diagram of a control apparatus and method of power failure of an elevator of the present invention. As shown in FIG. 5, a converter 2 converting an input three-phase AC power into a DC voltage and outputting the same, and the converter 2 Inverter (3) for converting the DC voltage output from the) into a three-phase AC voltage of variable voltage, variable frequency (VVVF), and an induction motor (4) driven by the three-phase AC voltage provided by the inverter (3) And a current detector 11 for detecting a three-phase alternating current flowing in the primary side of the induction motor 4, a speed detector 12 for detecting a rotational angular velocity of the induction motor 4, and the induction motor ( 4) the elevator car 16 which moves up and down to guide the passengers according to the driving of the vehicle, a load detector 13 which detects the load weight in the elevator car 16, the current detector 11 and the speed detector ( 12 and the inverter 3 according to the output of the load detector 13. Elevator control unit 6 for controlling a switching operation of the control unit, a power supply unit 8 for supplying power to the elevator control unit 6, and a power outage cost power supply unit 23 to distinguish the power supplied to the elevator ALP device 7 for driving an elevator by generating a continuous speed command without emergency stop of the car in case of power failure, and a battery 20 for supplying three-phase AC voltage to the ALP device 7 in case of power failure; The upper and lower contact points 19 are connected between the commercial power supply and the elevator control panel.

FIG. 6 is a detailed configuration diagram of the elevator control unit 6 in FIG. 5, and as shown therein, a speed pattern according to an elevator operating condition. (Wr ^* ) The rotational angular velocity of the induction motor by receiving the speed command generation unit 30 for generating a signal, an electrostatic speed command generation unit for generating an electrostatic speed command during power failure, and an output signal of the speed detector; (Wr) A deceleration calculated by the deceleration calculator 36, a deceleration calculator 36 that calculates deceleration using the speed detected by the speed detector 21, and a deceleration calculator 36. A speed pattern controller 37 for continuously driving the elevator car by generating a continuous degree speed command to the speed command generator 30 or the electrostatic speed command generator 35 by using Angular velocity command value of section 30 (Wr ^* ) Rotational angular velocity of the vortex speed detecting unit 21 (Wr) The first subtractor 33 and the current command value according to the error of the subtractor 33 (I ^* ) And a current flowing in the primary side of the induction motor (I) A current detection unit 22 providing a current command value of the speed controller 31; (I ^* ) And the current of the current detector 22 (I) And a second subtractor 36 for obtaining a current difference, a current controller 32 for providing a current for controlling a current flowing in an induction motor according to the current difference of the second subtractor 36, and the current controller 32. Calculate the voltage for controlling the induction motor according to the current output from the) as a transfer function, and comprises a motor transfer function 34 that provides the calculated speed value.

Referring to the operation and effect of the present invention configured as described in detail as follows.

The operation of the elevator looks at the case of normal power source and the case of power failure.

When the commercial power is normal, the upper and lower contact point 19 is closed, so that the power supply for the induction motor 4 for driving the elevator is converted by the power supply device 8 to be supplied to the elevator control unit 6.

In addition, the power supply for the induction motor for driving the elevator is supplied to the converter 2 is converted into direct current.

Since the converted direct current is a pulsating voltage, it is smoothed by the smoothing capacitor 14 and supplied to the inverter 3.

Then, the inverter 3 converts the input DC voltage into a three-phase AC voltage again and supplies it to the induction motor 4 to be driven.

At this time, when the elevator is running in response to the call of the passenger, the elevator control unit 6 is the angular speed command value according to the elevator operating conditions in the speed command generation unit 30 shown in FIG. (Wr ^* ) Occurs.

The speed controller 31 then executes the angular speed command value. (Wr ^* ) Current command value (I ^* ) Is generated by the current controller 32, and the current controller 32 provides a current command value provided from the speed controller 31. (I ^* ) By converting into a three-phase voltage command according to the applied to the induction motor (4), to control the torque and speed of the induction motor (4).

At this time, the voltage supplied to the induction motor 4 is accelerated or consumed in the normal driving section when the operating condition of the induction motor 4 is no-load falling or full load, and a little power is generated in the last deceleration section (4). Is regenerated from).

However, when the operating condition is no load rising or full load falling, the power is regenerated in the acceleration section, the normal driving and the deceleration section.

The regenerative power generated during operation is supplied to the regenerative semiconductor element 10 at the input terminal of the inverter 3 to drive the regenerative semiconductor element 10.

As the regenerative semiconductor element 10 is driven, power that is regenerated by the regenerative resistor 9 is consumed.

The induction motor 4 is driven by the operation as described above.

The power supplied to the elevator control unit 6 is classified into two types, and the power that does not affect the emergency stop in case of power failure is converted to commercial power by the power supply device 8 and supplied to the elevator. The power source supplies power to the elevator control unit 6 by the electrostatic charge cost power supply unit 23 inside the ALP apparatus 7.

In other operations, the ALP apparatus 7 performs the charger operation when the capacity of the battery 20 becomes less than a predetermined value, otherwise it is in the idle state.

Then, the operation in the case of a power failure, if the power failure occurs at the time point t1 of the timing diagram shown in Fig. 8 (a) while the elevator is running, the elevator will be an emergency stop or constant acceleration operation, deceleration or acceleration at this time The speed pattern is different depending on the operating conditions of the elevator.

When the operating condition of the elevator is no-load falling or full load rising, the speed pattern decelerated in (a) of FIG. 8 has the shape of j, k, m depending on the load conditions inside the elevator car 16, but the driving stops. When the condition is no load rising or full load falling, the speed pattern accelerated in (a) of FIG. 8 has a shape of e, f, g according to the load conditions inside the elevator car 16, and continues constant acceleration operation.

Based on Fig. 10 showing the equivalent model of the elevator machine, the equation of motion at the elevator car side is obtained as in Equation (1).

ma = T-mg ..... (1)

The equation of motion at the counterweight estimate is shown in equation (2).

Ma = Mg-T ..... (2)

The acceleration is obtained from Equation (1) and (2).

..... (3)

Where m: car side mass, M: balanced mass, g: gravitational acceleration (9.8m / sec ² )

If an emergency stop assumes that the elevator car 16 free-falls, the free-fall speed is given by Equation (4).

V = V _O + (a * t) ...............(4)

here V _o : Speed before power outage

The moving distance is shown in equation (5).

_{y = V O * t + (} a * t 2/2) ............... (5)

Drawing the speed change of the elevator during the emergency stop by using the above formula (1) ~ (5) appears as a variety of operating conditions as shown in (a) of FIG.

Then, in order to obtain the deceleration of the speed pattern as shown in FIG. 8A, the deceleration is calculated using the speed detection value which is the output value of the speed detector 21 of FIG.

............ (6)

here V _n -V _n-1 = Rate conversion during sampling period, t _n -t _n-1 : Sampling time

The deceleration calculation unit 36 calculates the deceleration in the same manner as in Equation (6) and applies it to the speed pattern adjusting unit 37.

Then, if the speed pattern adjusting unit 37 determines that the deceleration is negative, the induction motor 4 is operating in the regenerative area so that the elevator can be driven to the target floor without supplying energy from the outside. do.

Therefore, the elevator is decelerated and stopped by the normal speed command generation unit 30 to rescue passengers trapped inside the elevator car 16.

In addition, if the deceleration is positive (+), the speed pattern adjusting unit 37 may operate the elevator without supplying energy from the outside although the induction motor 4 is operating in the electric motor region.

However, in FIG. 9, when the deceleration is large, not only the stop shock is large but also the operation to the lowest floor (the closest floor) is impossible, so that the stop shock is small and the selection of the deceleration capable of operating to the lowest floor is necessary.

Therefore, if the optimum deceleration speed is a0 pattern and the deceleration speed is a0 < a1, the elevator can be driven to the lowest floor with less external energy supply.

Therefore, to give a speed command as shown in (b) of FIG.

And if the deceleration speed is a0> a1, the elevator can be driven to the target floor by supplying a lot of external energy.

Therefore, to give the speed command as in (c) of FIG.

Therefore, the elevator control unit 6 rescues the passengers trapped inside the elevator car 16 by stopping the elevator to the lowest floor or the target floor with the determined speed command pattern.

Referring to FIG. 7 for this process, if a power failure occurs during operation of the elevator (S1), it is checked whether it is near the end floor. (S2)

As a result of the check, if it is near the end floor, after performing emergency stop (S8), if not near the end floor, the speed of the elevator is input from the speed detector 12 (S3) and decelerated by the deceleration calculation unit 36. Calculate the degree (S4), and using the calculated deceleration results, the speed pattern control unit 37 determines whether to generate the bottom layer speed pattern or the target layer speed pattern to generate the electrostatic speed command generator 35 The result of the determination is notified to (S5).

The noticed electrostatic speed command generation unit 35 transmits the speed command to the speed controller 31 to stop the elevator to the lowest floor or the destination floor and rescue the passengers trapped inside the elevator car 16. S6) (S7)

As another example of calculating the deceleration, the deceleration may be obtained from the torque of the induction motor.

T = T _U -T _dec ......... (7)

T _dec = J * a / R _she .................. (8)

here T : Motor torque, T _U : Unbalanced torque, J : Inertia (kG.m ² ), R _she Sir sheave

Unbalance torque in Equation (7) T _U ) Can be observed when the elevator is in normal operation, or can be calculated according to the load condition inside the elevator car 16.

As another example of obtaining the deceleration, the mass of the elevator car 16 and the counterweight 17 required in Equation (3) can be observed from Equations (9) and (10).

m = W _car + W _LOAD ............ (9)

m = W _car + W _LOAD / 2 .......... (10)

here m : Car side mass, M Is the estimated mass, W _car : Kamass, W _LOAD : Rated load mass

The rated load mass required in equations (9) and (10) can be observed from the output of the load detector 13, and the car side mass can be known from the design specification.

Therefore, in the present invention, if a power failure occurs during normal operation of an elevator, a continuous speed command is generated to meet the elevator operating conditions at the time of power failure without emergency stop, thereby controlling the elevator to safely rescue passengers inside the car. One effect is to make it work.

Claims (7)

A converter for converting an AC voltage supplied from a commercial power source into a DC voltage, an inverter for converting the DC voltage into an AC voltage to drive an induction motor, and the inverter according to the current, motor speed, and load supplied to the induction motor. In an elevator comprising an elevator control unit for controlling the operation to control the speed of the induction motor, and an ALP device for converting the DC voltage of the battery into an AC voltage and supplying the elevator control unit in case of a power failure of commercial power. A speed command generator for generating a speed pattern according to the driving conditions, an electrostatic speed command generator for generating an electrostatic speed command during an elevator blackout, and a speed controller for generating a current command value according to the speed pattern generated by the speed command generator And induction motor current according to the above current command value. A deceleration calculator for calculating a deceleration using a current controller supplied to the controller, a speed detector for calculating a rotational angular velocity of the induction motor, a rotational angular velocity output from the speed detector, and the deceleration calculated above. Selecting and adjusting the emergency speed pattern to generate a continuous speed command to the speed command generator or the electrostatic speed command generator to include a speed pattern controller for continuously driving the elevator car in the event of a power failure. Control unit. The apparatus of claim 1, wherein the speed pattern adjusting unit uses an induction motor speed. The apparatus of claim 1, wherein the speed pattern adjusting unit uses the torque output of the induction motor. The apparatus of claim 1, wherein the speed pattern adjusting unit uses a load output of the elevator car side. 2. The elevator according to claim 1, wherein the ALP apparatus includes a power supply unit for power failure cost to separately supply power to the elevator, and to continuously drive the elevator by generating a continuous speed command in the event of a power failure. Control in case of power failure. A first step of checking whether a power failure occurs while the elevator is in operation; a second step of calculating a deceleration rate by receiving a current elevator speed if the terminal is not near the end floor in the first step; and in the second step And a fourth step of determining whether to generate a bottom or destination floor speed pattern according to the calculated deceleration, and a fourth step of stopping the elevator to the bottom or destination floor according to the speed pattern determined in the third step. Control method during power failure of the elevator, characterized in that. 7. The control method of an elevator blackout as claimed in claim 6, further comprising an emergency stop if the elevator car is near the termination layer when the power failure occurs.