KR20040007926A - Structure of elevator speed control system using by speed feedback - Google Patents

Abstract

PURPOSE: A certain band of speed ripple element is detected affecting vibration of an elevator to compensate current value of a current controller to reduce vibration of the elevator. CONSTITUTION: An elevator speed control system comprises a speed order generator(10) sending speed order in operating elevator. A first calculating member(20) compares rotation speed of a motor from a first interface with the speed order to calculate a deviation value. A speed controller(30) generates a current order according to a deviation value. A second calculating member(40) compares an input current value from the motor through a second interface with the speed order of the speed controller. A current controller generates a certain current according to the compared value. A third interface is provided to compensate the current order of the second calculating member.

Description

Structure of elevator speed control system using speed feedback {STRUCTURE OF ELEVATOR SPEED CONTROL SYSTEM USING BY SPEED FEEDBACK}

The present invention relates to a structure of an elevator speed control system using speed feedback, and more particularly, by detecting a speed ripple component of a specific band affecting the vibration of an elevator and performing forward compensation to a current controller to reduce the speed ripple. In addition, the present invention relates to a structure of an elevator speed control system using a speed feedback for improving a ride comfort of an elevator.

In general, in controlling the speed of an elevator, the elevator is regarded as a mechanical system, and the speed of the elevator cage can be controlled by driving the electric motor according to the rotational speed of the electric motor determined by the operation speed of the elevator to be operated.

1 is a block diagram showing the structure of a general elevator speed control system. In the conventional elevator speed control system, a speed command generator 10 for outputting a predetermined speed command to the first subtractor 20 when an elevator is operated is provided. On the other hand, the first subtractor 20 is detected through the speed command generated from the speed command generator 10 and the speed detector 72 of the motor 70 and fed back through the first interface unit 80. Comparing the actual rotational speed of the electric motor 70 to calculate the error value is made to output to the speed controller 30 side.

The speed controller 30 generates a predetermined current command according to the error value output from the first subtractor 20 and outputs the current command to the second subtractor 40. After comparing the current command from the speed controller 30 and the input current value to the motor 70 detected from the current converter 62 fed back through the second interface unit 90, the value is compared to the current controller. It is made to output to the 50 side.

In addition, the current controller 50 generates a predetermined voltage command in accordance with the comparison value input from the second subtractor 40 and outputs the output to the power converter 60, while the power converter 60 The DC power source is switched according to the voltage command input from the current controller 50 and then supplied to the motor 70 through the current converter 62, so that the motor 70 can be driven at an appropriate rotational speed.

On the other hand, in order to reduce the vibration of the cage affecting the ride comfort in the elevator device with a speed control system as described above is mainly used a mechanical method that is provided with a damper (damper), anti-vibration rubber.

However, the speed change generated during operation of the elevator acts as a vibration on the hoisting rope, which causes a problem in that it is limited to suppress it through a mechanical method in which the damper or the anti-vibration rubber is installed. .

In particular, as the height of the building increases, the traveling distance of the elevator is increased, and as the traveling speed is changed at a high speed, the riding comfort of the elevator is remarkably lowered due to the speed change of the electric motor acting on the hoisting rope.

Accordingly, the present invention has been made to improve the conventional problems as described above, the present invention is to detect the speed ripple component of a specific band affecting the vibration of the hoisting rope of the elevator and convert the current to the amount of current through calculation An object of the present invention is to provide a structure of an elevator speed control system using speed feedback, which can suppress the vibration of an elevator by performing forward compensation to a controller.

According to a preferred embodiment of the present invention for achieving the above object, a speed command generator for generating a predetermined speed command during operation of the elevator, a speed command from the speed command generator and a speed detecting device of the motor A first subtractor for comparing the rotational speed of the motor detected from the first interface unit and calculating the error value, and a speed controller for generating a predetermined current command according to the error value calculated by the first subtractor; A second subtractor for comparing the current command from the speed controller and the input current value detected by the current converter to the motor side input through the second interface unit, and a predetermined voltage command according to the comparison value input from the second subtractor; And a DC power supply according to a voltage command input from the current controller. In an elevator speed control system comprising a power converter for switching a motor after supplying the same to a motor at an appropriate rotational speed, the elevator speed control system has a specific influence on vibration among the rotational speeds detected by the speed detection device of the motor. After detecting and calculating the speed component of the band, a third interface unit for outputting to the second subtractor to compensate for the current command value is further included. The structure of the elevator speed control system using the speed feedback is provided.

Preferably, the third interface unit includes a band pass filter for detecting a speed ripple component of a specific band among the rotation speeds detected by the speed detection device, and a differential calculator for calculating the speed ripple component detected by the band pass filter as a rate of change of velocity. And a torque current operator configured to output a torque amount due to the speed ripple by multiplying the torque constant by the speed change rate calculated by the differential operator.

According to the present invention made as described above, it is possible to compensate for the torque component of the motor by detecting and calculating the speed component of a specific band affecting the vibration among the rotational speed of the motor detected by the speed detecting device of the motor The vibration of the cage can be reduced.

1 is a block diagram showing the structure of a general elevator speed control system;

2 is a block diagram showing the structure of an elevator speed control system using a speed feedback according to the present invention.

Explanation of symbols on the main parts of the drawings

10: speed command generator, 20: first subtractor,

30: speed controller, 40: second subtractor,

50: current controller, 60: power converter,

62: current inverter, 70: electric motor,

72: speed detection device, 80: first interface unit,

90: second interface portion, 100: third interface portion,

110: bandpass filter, 120: differential operator,

130: torque current calculator.

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

2 is a block diagram showing the structure of an elevator speed control system using a speed feedback according to the present invention. In the drawing, reference numeral 10 denotes a speed command generator for generating a predetermined speed command according to the operation of the elevator, and reference numeral 20 denotes the above. A first subtractor for comparing the speed command generated by the speed command generator 10 with the actual rotational speed of the motor 70 detected and transmitted by the speed detecting device 72 of the motor 70 and calculating the error value thereof; Reference numeral 30 denotes a speed controller 30 for generating a predetermined current command based on the error value calculated by the first subtractor 20.

Further, reference numeral 40 is a second subtractor which compares the current command generated by the speed controller 30 with the current value input to the motor and calculates the comparison value, and reference numeral 50 is the second subtractor 40. A current controller generates a predetermined voltage command in accordance with a comparison value input from the current controller, and reference numeral 60 denotes a current controller 50 after switching a DC power supply according to the voltage command input from the current controller 50. It is a power converter for driving the motor 70 at an appropriate rotational speed by being supplied to the motor 70 side.

In addition, reference numeral 70 denotes an electric motor that generates a predetermined power required for driving the elevator while rotating by receiving a predetermined power through the current converter 62, and reference numeral 72 detects an actual rotation speed of the electric motor 70. Speed detection device for

Also, reference numeral 80 is a first interface unit for transmitting the actual rotational speed of the motor 70 detected by the speed detecting device 72 to the first subtractor 20 through a predetermined interface process. 90 is a second interface unit which transmits the current detected by the current converter 62 to the second subtractor 40 through an interface process of amplifying and separating the current to an appropriate value.

On the other hand, reference numeral 100 is a third interface unit according to the present invention, the third interface unit 100 affects the vibration of the actual rotational speed of the motor 70 detected by the speed detector 72 In addition to detecting the velocity ripple component of a specific band, the detected component is calculated and output to the second subtracter 40, and the comparison value is input to the current controller 50 to compensate for the current command value. It is configured to be.

In addition, the reference numeral 110 in the third interface unit 100 is a band pass filter for detecting a speed ripple component of a specific band affecting the vibration of the speed signal detected by the speed detection device 72 of the motor 70 Reference numeral 120 denotes a differential operator that calculates a speed ripple component of a specific band detected through the bandpass filter 110 as a rate of change of speed, and reference numeral 130 denotes a torque at a rate of change of speed calculated from the differential operator 120. It is a torque current calculator that multiplies a constant so that the torque amount according to the speed ripple can be output to the second subtractor 40 side.

Next, the operation of the present invention made as described above will be described in detail with reference to FIG.

First, when an elevator to which the structure of an elevator speed control system using the speed feedback according to the present invention is applied is driven, a predetermined speed command is generated from the speed command generator 10 according to the operation of the elevator.

In this case, the speed command generated by the speed command generator 10 is input to the first subtractor 20, and the first subtractor 20 is detected by the speed detecting device 72 of the motor 70. After comparing the actual rotation speed of the electric motor 70 input through the interface unit 80 through the predetermined interface process with the speed command input from the speed command generator 10, the calculated error value is converted into the speed controller 30. ) To the side.

The speed controller 30 generates a predetermined current command based on the error value calculated by the first subtractor 20, and then outputs the current command to the second subtractor 40. ) Is a current command from the speed controller 30, an input current value to the motor 70 side input from the second interface unit 90 through a predetermined interface process, and a third interface according to the present invention. After comparing the torque amount by the speed ripple component of the specific band input through the unit 100 and outputs the value to the current controller 50 side.

In this case, the torque amount due to the speed ripple component of the specific band input through the third interface unit 100 may affect the vibration among the rotation speeds detected by the speed detection device 72 of the electric motor 70. The speed ripple component of the band is detected through the band pass filter 100, and the speed ripple component is calculated by the differential operator 120 and changed to a speed change rate, and then the torque constant is applied to the speed change rate in the torque current calculator 130. Estimated as multiplied.

On the other hand, the current controller 50 generates an appropriate voltage command according to the comparison operation value input from the second subtractor 40 and outputs it to the power converter 60 side, the power converter 60 is the current controller ( By switching the DC power input from the 50 and supplied to the motor 70 through the current converter 62, it is possible to drive the motor 70.

Therefore, the elevator apparatus to which the structure of the elevator speed control system using the speed feedback according to the present invention is applied uses the speed signal detected by the speed detecting device 72 of the electric motor 70 as the feedback signal of the speed controller 30. Through the conversion process in the third interface unit 100 to compensate the current command value by using as an input signal of the current controller 50, by controlling the speed of the motor 70, vibration of a specific band according to the speed change Can be suppressed.

According to the present invention made as described above, the vibration of the elevator can be reduced by detecting the speed ripple component of the specific band affecting the vibration of the elevator and converting it to the amount of current through calculation to perform forward compensation to the current controller. There is an effect, and accordingly there is an effect that can greatly improve the ride comfort of the elevator.

Claims (2)

The speed command generator which generates a predetermined speed command during operation of the elevator, compares the speed command from the speed command generator and the rotational speed of the motor detected by the speed detecting device of the motor and inputted through the first interface unit, and the error thereof. A first subtractor for calculating a value, a speed controller for generating a predetermined current command according to the error value calculated by the first subtractor, and a current command from the speed controller and a current converter detected by the second interface unit. A second subtractor for comparing the input current value to the input motor side, a current controller for generating a predetermined voltage command according to the comparison value input from the second subtractor, and a direct current power source according to the voltage command input from the current controller. After switching the motor and supply it to the motor side to drive the motor at the proper rotation speed. In the elevator speed control system comprising a converter or the like, The elevator speed control system detects and calculates a speed component of a specific band that affects vibration among the rotation speeds detected by the speed detection device of the motor, and outputs the calculated speed component to the second subtractor to compensate for the current command value. Elevator speed control system using a speed feedback, characterized in that the interface unit further comprises. The method of claim 1, The third interface unit A band pass filter for detecting a speed ripple component of a specific band among the rotation speeds detected by the speed detection device; A differential operator for calculating the rate ripple component detected by the band pass filter as a rate of change of velocity, Structure of an elevator speed control system using a speed feedback, characterized in that consisting of a torque current calculator for outputting the torque amount by the speed ripple multiplied by the torque constant calculated by the differential operator.