KR20110096173A - Door control device of elevator - Google Patents

Abstract

In the door control device of an elevator, the magnetic flux observation unit 117 uses the primary voltage command values V _d ^* , V _q ^* and a calculation formula based on a mathematical model of the door motor 5, so that the door motor 5 can be used. Estimate the second magnetic flux of. The magnetic flux control unit 112 and the speed control unit 119 generate current commands using the secondary magnetic flux of the door motor 5 calculated by the magnetic flux observation unit 117, respectively.

Description

Door control device of an elevator {DOOR CONTROL DEVICE OF ELEVATOR}

The present invention relates to an elevator door control device for controlling the operation of the elevator door device.

In the door control apparatus of the conventional elevator, in the drive control of the door motor, the target torque of the motor is calculated on the assumption that the set value and actual value of the motor constant parameter for the door motor coincide. However, the door device of an elevator may be used in the environment irrespective of whether it is indoors or outdoors, and there exists a difference in utilization rate at the time of congestion and others. For this reason, a comparatively large temperature change arises in a door motor according to installation environment and a use condition. According to such a temperature change, the resistance value of the motor rotor directly related to the torque characteristic changes, and a setting error tends to occur. Therefore, when the torque characteristic of the door motor fluctuates with such a temperature change, the trackability of the actual opening / closing movement speed (hereinafter, referred to as the 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.

In contrast, for example, a conventional elevator door control device as shown in Patent Literature 1 measures the opening / closing time that changes due to external factors such as temperature fluctuations, and stores a plurality of previously stored so that there is no difference from the target time. The motor is driven by selecting the optimum pattern from the rotational speed pattern.

In addition, for example, the door control apparatus of the conventional elevator as shown in patent document 2 is based on the movement distance of the door panel and the table of the opening / closing movement speed instruction which are previously predicted from the opening / closing movement speed instruction | command, and the movement distance of a door panel. Outputs an opening / closing movement speed command corresponding thereto. Thereby, in this, the precision (accuracy) of the movement distance of a door panel is improved with respect to the fluctuation | variation of the motor constant by the influence of the ambient temperature change.

For example, in a conventional elevator door control device as shown in Patent Literature 3, the motor constant is corrected based on the current and voltage values in a mode different from normal opening and closing, and the door motor is rotated by the corrected motor constant. By estimating the speed, relatively high speed control is performed without using a speed detector.

Patent Document 1: Japanese Patent Publication No. Hei 8-25709 Patent Document 2: Japanese Patent Application Laid-Open No. 2002-302367 Patent Document 3: Japanese Unexamined Patent Publication No. 2007-84189

Here, in order to shorten the opening / closing time of an elevator door and to improve the running efficiency of an elevator, it is conceivable to raise the opening / closing movement speed of a door panel comparatively high, ie, opening and closing at high speed. In this high speed opening / closing, if the opening / closing movement speed instruction and the actual opening / closing movement speed of the door panel do not coincide, there is a possibility that the maximum speed of the actual opening / closing movement speed of the door panel exceeds the opening / closing movement speed instruction. As a result, when the door panel which opens and closes at the actual opening / closing movement speed exceeding the opening / closing movement speed command collides with an object, collision energy exceeding the assumption is given to the impact object. For this reason, in order to suppress the collision energy, it is necessary to reduce the maximum speed of the actual opening-and-closing movement speed of a door panel, and to fully fully reduce the maximum speed in the opening-and-closing movement speed instruction in advance. As a result, the shortening of the opening-and-closing time of an elevator door by high speed opening and closing has produced a limit.

Moreover, neither the door control apparatus of the conventional elevator as shown in said patent documents 1-3 fully takes into consideration the change of the torque characteristic of the rotor of a motor according to a temperature change. For this reason, in these things, when the torque characteristic of a door motor changes by external factors, such as a temperature change, the error between estimated torque and actual torque is expanded, and the door panel with respect to the opening / closing movement speed command It was not possible to improve the followability of the actual opening and closing movement speed.

The present invention has been made to solve the above problems, and even if the torque characteristic of the door motor is changed due to external factors such as temperature change, the expansion of the error between the estimated torque and the actual torque can be suppressed. An object of the present invention is to obtain an elevator door control device capable of improving the followability of the actual opening and closing movement speed of the door panel with respect to the opening and closing movement speed command.

An elevator door control apparatus according to the present invention includes a door panel for opening and closing an elevator entrance, an AC door motor for applying a driving force to the door panel, and a current for generating a signal according to a primary current of the door motor. Rotation speed with respect to the door motor corresponding to the opening and closing movement speed of the door panel by controlling the operation of the door apparatus of the elevator having a detection means and a speed detection means for generating a signal corresponding to the rotational speed of the door motor. The door motor in accordance with a speed setting unit for giving a command and a magnetic flux command, a speed command and a magnetic flux command from the speed setting unit, and a rotational speed and primary current of the door motor from the speed detecting means and the current detecting means. A driving controller for controlling the driving of the door motor by determining the amount of power added to the door motor; The motor constant parameter representing the physical characteristics for the door motor can be stored in advance, using the rotational speed of the door motor from the speed detecting means, the primary voltage applied to the door motor, and the motor constant parameter. And a feedback processing unit for estimating the secondary magnetic flux of the door motor, wherein the drive control unit is configured to control the electric power to be applied to the door motor determined according to the rotation speed command, the magnetic flux command, the rotation speed, and the primary current. The magnitude is adjusted using the secondary magnetic flux estimated by the feedback processing unit.

1 is a configuration diagram showing a door device of an elevator according to Embodiment 1 of the present invention;
2 is a block diagram showing a door control device of FIG. 1;
3 is a block diagram schematically illustrating a part of the door control device of FIG. 2;
4 is a graph for explaining the torque characteristics of the door motor by the calculation method of the door control device of FIG.
5 is a block diagram schematically illustrating a part of an elevator door control apparatus according to a second embodiment of the present invention;
6 is a graph for explaining the followability of the actual rotation speed of the door motor to the rotation speed command.

EMBODIMENT OF THE INVENTION Hereinafter, the form for implementing this invention is demonstrated with reference to drawings.

(Embodiment 1)

1 is a configuration diagram showing a part of a car-door device according to Embodiment 1 of the present invention.

In Fig. 1, the car door device 1 opens and closes a doorway (not shown) of the car. Further, the car door device 1 includes a hanger plate (beam) 2, a hanger rail 3, a pair of sheaves 4A, 4B. ), Door motor 5, transmission elongated body (rope) 6, a plurality of hanger rollers 7A-7D, a pair of door hagner 8A 8B), a pair of car door panels 9A and 9B, and a pair of connection tools 10A and 10B.

The hanger plate 2 is provided in the upper part of the car entrance / exit in a car. The hanger rail 3 is attached to the hanger plate 2 horizontally along the longitudinal direction of the hanger plate 2. The pair of pulleys 4A and 4B are provided at one end and the other end of the hanger plate 2 in the longitudinal direction, respectively. The door motor 5 is provided in one end part in the longitudinal direction of the hanger plate 2, and is arrange | positioned coaxially with 4A of pulleys. That is, the pulley 4A is rotated by the driving force of the door motor 5. In addition, the door motor 5 is an induction motor (AC motor).

The long conveying body 6 is wound around the outer peripheral surface of a pair of pulleys 4A and 4B. In addition, the long conveying body 6 is endless fashion across both pairs of pulleys 4A and 4B. The plurality of hanger rollers 7A to 7D are mounted on the upper surface of the hanger rail 3 so as to be rollable. In addition, the hanger rollers 7A and 7B are attached to the door hanger 8A. In addition, the hanger rollers 7C and 7D are attached to the door hanger 8B.

The pair of car door panels 9A, 9B are connected to the lower ends of the pair of door hangers 8A, 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. In addition, the pair of car door panels 9A and 9B can be horizontally moved along the hanger rail 3 by rolling the hanger rollers 7A to 7D.

The connector 10A connects the door hanger 8A and the lower side of the elongate transmission body 6. The connector 10B connects the door hanger 8B and the upper side of the elongate transmission body 6. Therefore, the driving force of the door motor 5 is a pair of car door panels 9A, 9B via the long conveying body 6, a pair of connector 10A, 10B, and a pair of door hangers 8A, 8B. Is passed on. Then, the pair of car door panels 9A and 9B are opened and closed (horizontally moved) in opposite directions by the driving force of the door motor 5.

In addition, the car door apparatus 1 further has a car-door engagement mechanism (not shown). The car door engaging mechanism can engage with the landing door engaging mechanism of the landing door device (not shown). When the car door engaging mechanism and the landing door engaging mechanism engage 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 landing door is driven by the driving force of the door motor 5. The landing door panel (not shown) of the door device is also opened and closed. That is, the car door device 1 and the landing door device interlock with each other to perform the opening / closing operation of the elevator doorway (car doorway and landing doorway). 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, the stator side of the door motor 5 is denoted as a primary and the rotor side of the door motor 5 as a secondary, and the symbol * means a command value, and the symbol 을 means an estimated value. It demonstrates as doing. In FIG. 2, the door control device 100 (the dashed-dotted line in FIG. 2) is attached to the door motor 5 and the electric signal according to the secondary rotational angular velocity (motor actual rotation speed) ω _re of the door motor 5. It is electrically connected to the rotation detector (encoder) 11 which produces | generates. In addition, the door control device 100 is electrically connected to a current detector 12 which generates an electric signal corresponding to the primary currents i _u , i _v of the door motor 5.

In addition, 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, and a PWM (Pulse Width Modulation). An inverter 116, a magnetic flux observer (magnetic flux observer) 117, a speed calculator 118, a speed controller 119, and a floor-data storage section (magnetic flux commander) 120 are provided. .

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 in accordance with the driving situation of the car by a driving control device (not shown) that controls the driving of the car, and the door motor 5 Issue the rotational speed command and magnetic flux command for.

The input coordinate converting unit 113, the magnetic flux observation unit 117, and the speed calculating unit 118 constitute a feedback processing unit 100b that performs arithmetic 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 the drive control unit 100c. The drive control part 100c controls the drive of the door motor 5 using the rotational speed command and magnetic flux command from the speed setting part 100a, and the information from the feedback processing part 100b.

The speed command unit 111 determines the positions of the pair of car door panels 9A and 9B based on the secondary rotational angular velocity ω _re of the door motor 5 and the radius of the pre-registered pulleys 4A and 4B. Estimate (calculate) Further, the speed command unit 111 sets the opening / closing movement speed of the door panels 9A and 9B according to the driving situation of the car by the driving control device, and the door motor 5 corresponding to the set opening / closing movement speed. Determine the rotational angular velocity command value ω ^* for.

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

The magnetic flux control unit 112 receives the magnetic flux command φ _d ^{* for} each landing floor stored in the floor data storage unit 120 and the estimated secondary magnetic flux φ _dr ^# from the magnetic flux observation unit 117. The magnetic flux control section 112, the magnetic flux reference φ _d ^* and the estimated secondary magnetic flux, based on φ _dr ^#, the magnetic flux command φ _d ^* and the estimated secondary woman for correcting the error of the magnetic flux φ _dr ^# command i _d ^* Calculate

The input coordinate conversion unit 113 is an electric signal corresponding to the primary currents i _u , i _v of the door motor 5 from the current detector 12, and the primary rotational angular velocity ω calculated by the speed calculating unit 118. Receives the primary rotation angle θ based on. In addition, the input coordinate conversion unit 113 performs general three-phase two-phase conversion from the stationary coordinate system to the rotation coordinate system based on the primary currents i _u , i _v, and the primary rotation angle θ of the door motor 5. . The input coordinate conversion unit 113 calculates the motor currents i _d and i _q of the rotation coordinate system by three-phase two-phase transformation.

The current control unit 114 includes the motor currents i _d , 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 calculated by the speed control unit 119. Receive i _q ^* The current control unit 114 also calculates the primary voltages V _d ^* and V _q ^{* so} that the motor current i _{d corresponds} to the excitation command i _d ^* and the motor current i _{q corresponds} to the torque command i _q ^* , respectively. The current control unit 114 also sends the calculated primary voltages V _d ^* , V _q ^* to the output coordinate conversion unit 115 and the magnetic flux observation unit 117.

The output coordinate converter 115 has a primary rotation angle θ based on the primary voltages V _d ^* , V _q ^* from the current controller 114 and the primary rotation angular velocity ω calculated by the speed calculator 118. Receive In addition, the output coordinate conversion unit 115 performs coordinate transformation from the rotation coordinate system to the stationary coordinate system using the primary voltages V _d ^* , V _q ^* and the primary rotation angle θ. The output coordinate converting unit 115 is the primary voltage V _U of the stationary coordinate system by the coordinate transformation ^*, and calculates the _V V, V _W ^*.

In addition, the output coordinate conversion unit 115 sends an output command to the PWM inverter 116, and calculates the calculated primary voltages V _U ^* , V _V ^* , V _W ^* from the PWM inverter 116 to the door motor 5. To the output. That is, the output coordinate conversion unit 115 generates the driving force for the door motor 5 for opening and closing the door panels 9A and 9B through the PWM inverter 116.

The magnetic flux observer 117 includes the primary voltage command values V _d ^* , V _q ^* from the current controller 114, the motor current i _d , i _q , and the speed calculator 118 from the input coordinate converter 113. The primary rotational angular velocity ω calculated by) is received. In addition, the magnetic flux observation unit 117 previously stores an operator based on the mathematical model of the door motor 5 of the following formulas (1) and (2).

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

In addition, any observer feedback gain H used for the arithmetic processing of expression (2) is as shown in the following expression (9). This observer feedback gain H is stored in advance in the magnetic flux observation unit 117.

Therefore, the magnetic flux observation unit 117 executes arithmetic processing using the arithmetic formula of (1), whereby the primary d-axis magnetic flux φ _ds ^# , the primary q-axis magnetic flux φ _qs ^# , and the secondary d-axis The magnetic flux φ _dr ^# (hereinafter, estimated second magnetic flux φ _dr ^# ) is estimated. In addition, the magnetic flux observation unit 117 executes arithmetic processing using the arithmetic formula of (2), and based on the estimated magnetic flux φ _ds ^# , φ _qs ^# , φ _dr ^# , the primary d-axis current id and the primary order Estimate the q-axis current iq.

The speed calculating unit 118 includes the secondary rotational angular velocity ωre of the door motor 5, the estimated secondary magnetic flux φ _dr ^# and the estimated primary current i _d ^# , i _q ^# calculated by the magnetic flux observation unit 117. , The motor currents i _d , i _q from the input coordinate conversion unit 113 are received. In addition, the speed calculating unit 118 considers the slip on the primary side and the secondary side of the door motor 5, and stores the following equation (10) in advance. In addition, similar to the magnetic flux observation unit 117, the speed calculating unit 118 stores a plurality of motor constant parameters and the observer feedback gain H in advance.

The speed calculating unit 118 calculates the primary rotational angular velocity ω by executing arithmetic processing using the arithmetic expression of the formula (10). This primary rotational angular velocity ω is sent to the magnetic flux observation unit 117, and is integrally timed by an integration means to become the primary rotational angle θ. The primary rotation angle θ is sent to the input coordinate converter 113 and the output coordinate converter 115.

Next, the timing of the calculation process of the magnetic flux observation part 117 and the speed calculating part 118 is demonstrated. Each function 111-115 and 117-120 of the door control apparatus 100 including the magnetic flux observation part 117 and the speed calculating part 118 processes at predetermined time interval T [sec] period, respectively. Moreover, in the mutual relationship between the magnetic flux observation part 117 and the speed calculating part 118, the magnetic flux observation part 117 performs a series of calculation processes before the speed calculating part 118, and after that, the speed calculating part 118 A series of calculation processing is performed.

In addition, when the magnetic flux observation unit 117 performs arithmetic processing using the arithmetic expressions of the above formulas (1) and (2), it is calculated by the speed calculating unit 118 in the preceding period (before the time interval T [sec]). The primary rotational angular velocity omega and the estimated primary currents i _d ^# and i _q ^# calculated by the previous cycle are used. Similarly, the speed calculating section 118 also estimates the secondary magnetic flux φ _dr ^# calculated by the magnetic flux observing section 117 in the previous period when performing arithmetic processing using the formula (10). The primary currents i _d ^# and i _q ^# are used.

Here, the time interval T [sec] is preferably as short as possible, but the shorter the amount of calculation per unit time increases. For this reason, in order to reduce the load required for arithmetic processing, the time interval of each function 111-115 and 117-120 of the door control apparatus 100 can also be set to a different value.

For example, when the time interval is set to T1 [sec] for the current control unit 114, which preferably performs calculation processing at the shortest time interval, the time interval of the magnetic flux observation unit 117 is set to T2 [sec]. However, T2≥T1, and T2 is, for example, an integer multiple of the minimum time interval T1. In this case, the magnetic flux observation unit 117 performs arithmetic processing using the primary rotational angular velocity ω and the estimated primary currents i _d ^# and i _q ^# calculated in the period before the time interval T2 [sec].

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

In FIG. 3, the speed controller 119 receives the deviation of the estimated secondary magnetic flux φ _dr ^# calculated by the magnetic flux observation unit 117, the rotation angular velocity command value ω ^* and the secondary rotation angular velocity ω _re . In addition, the speed control part 119 is a feedback controller generally represented by the transfer function _Cb (s) shown by following formula (11), and correct | _amends the error of the secondary rotational angular velocity ωre with respect to the rotational angular velocity command value ω ^* . do.

Here, proportional gain K _sp becomes a relationship shown by following (12) Formula.

However, J is the door weight (inertia value of motor shaft conversion of the weight of the car door panel and the landing door panel, the same below) for each landing floor. ω _C is the control crossover frequency to specify the performance of the error correction of the output to the target value. K _T is a torque characteristic of the door motor 5.

In addition, integral gain K _si becomes a relationship shown by following (13).

Moreover, torque characteristic _KT of a motor becomes a relationship shown by following (14).

Where p is the number of pole pairs, an integer parameter of the motor. M is mutual inductance. L _r is the secondary magnetic 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 a substitute for 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 when the car door device 1 and the landing door device are in the fully closed state and the fully open state. It is applied to the door apparatus 1 and the landing door apparatus. This pressing force F becomes the relationship shown by following (15) by the torque (tau) which arises by the door motor 5, and the radius r of the pulley 4A (or pulley 4B).

Further, the torque τ of the door motor 5 is expressed by the following equation (16) based on the secondary magnetic flux φ _dr ^# estimated from the magnetic flux observer 117 and the motor current i _q from the input coordinate converter 113. Induced.

In addition, the motor current i _q of the input coordinate conversion part 113 in Formula (16) may be torque command current i _q ^* computed by the speed control part 119, and assumes estimated secondary magnetic flux phi _dr ^# , The magnetic flux command φ _d ^* may be substituted. At this time, by applying the torque command i _q ^* directly to satisfy the pressing force F, the car door device 1 and the landing in the completely closed state or the fully opened state without using the calculation result by the feedback processing unit 100b. A pressing force F can be applied to the door device.

Next, the floor data storage unit 120 previously stores 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 total of the door weights J of the car door apparatus 1 and the landing door apparatus, or the individual door weights J of the car door apparatus 1 and the landing door apparatus. The floor data storage unit 120 also sends the door weight J corresponding to the stop layer of the car to the speed control unit 119 based on the driving information from the driving control device that controls the driving of the car. The magnetic flux command φ _d ^* corresponding to the stop layer of the signal is sent to the magnetic flux control unit 112.

In addition, 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 and closing movement of the door panels 9A and 9B to the end of the opening and closing movement of the door panels 9A and 9B. Or may be changed depending on the door position, the car door weight, the landing door weight, or the total door weight.

Here, an example will be described for the case where the value of the magnetic flux command φ _d ^* issued by the floor data storage unit 120 is changed. When the elevator door is opened from the fully closed state, in the section until the engagement mechanism of the car door device 1 engages with the engagement mechanism of the landing door device, the door motor 5 is connected to the car door device. Only drive (1).

Therefore, when the magnetic flux command φ _d ^* is a value corresponding to the door gross weight, in the section in which only the door panels 9A and 9B of the car door device 1 are driven, the door of the car door device 1 with respect to the door gross weight. Using the ratio n of the weights of the panels 9A and 9B, the magnetic flux command from the floor data storage unit 120 is n × φ _d ^* . Then, in the 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 also applies to the case where the car door device 1 and the landing door device are closed from the fully open state.

Accordingly, the drive control unit 100c applies the primary voltages V _U ^* , V 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 . _V ^*, the size (size of the power) of V _W ^*, is adjusted using the estimated secondary magnetic flux φ _dr ^# door weight and 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. In the storage unit of the computer of the door control device 100, programs for realizing the respective functions 111 to 115 and 117 to 122 (or 100a to 100c) shown in Figs. 2 to 4 are stored.

Next, when the flux calculation part 117 and the speed calculating part 118 of Embodiment 1 apply the conventional calculation method, ie, the calculation method which does not use the said (1), (2), (10) formula, An example will be briefly described. The magnetic flux observing unit 117 to which the conventional arithmetic method is applied uses the primary d-axis current i _d from the input coordinate converting unit 113 to execute arithmetic processing based on the following equation (17). Estimate the difference d-axis magnetic flux φ _dr ^# .

However, let the motor constant parameters be mutual inductance M, secondary magnetic inductance L _r , and secondary resistance R _r .

In addition, the conventional speed calculating 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, The primary rotational angular velocity ω is calculated by executing arithmetic processing based on the following expression (18). This primary rotational angular velocity ω is time-integrated by the integrating means, and becomes the primary rotational 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 fluctuates due to the temperature change of the door motor 5. For this reason, an error occurs in the speed calculating section 118 that takes the estimated secondary magnetic flux φ _dr ^# as an input, and similarly, an error also occurs in the input coordinate converting section 113. As a result, as shown in Fig. 4 (black triangle / square display), an error occurs between the estimated torque and the actual torque, and the problem that the torque characteristic changes is caused.

In contrast, in the control method of Embodiment 1, the magnetic flux observation unit 117 uses the primary voltage command values V _d ^* , V _q ^* and the mathematical model of the door motor 5 (induction motor) (1). ), And the estimated secondary magnetic flux phi _dr ^# of the door motor 5 is estimated by the observer shown by Formula (2) and Formula (2). The speed calculating unit 118 calculates the primary rotational angular velocity ω by arithmetic processing based on the formula (10). Thereby, the door control apparatus of the elevator of Embodiment 1 can calculate the estimated torque which is high precision compared with the conventional calculation system, as shown in FIG. 4 (white triangle and square display), and the door motor 5 Even if an error occurs in the constant parameter, the magnetic flux estimation with a relatively high accuracy can be performed. As a result, in the door control apparatus of the elevator of Embodiment 1, even if the change in the torque characteristic of the door motor 5 is caused by external factors, such as a temperature change, the expansion of the error between estimated torque and actual torque is suppressed. It is possible to improve 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 open / close movement speed of the door panels 9A and 9B with respect to the open / close movement speed command.

In addition, the floor data storage unit 120 sends the door weight J for each landing floor of the car to the speed control unit 119, and the speed control unit 119 adjusts the torque command i _q ^* using the door weight J. Even if the door weight J differs for each landing floor, 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 kept relatively high.

In addition, 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 layer is provided. By applying this, the power consumption required for driving the door of the door motor 5 can be reduced.

Here, in the door control apparatus of the conventional elevator, the opening / closing movement speed of the door panels 9A and 9B may change irregularly with the fall of control precision. When a user confirms such an irregular change, there is a possibility that the user may associate a failure of the elevator. As a result, there exists a problem that the user's reliability with respect to the elevator will fall, and the comfort in the user's car will fall. On the other hand, in the elevator door control device of Embodiment 1, since the fluctuation | variation of the torque characteristic by external factors, such as a temperature change, is suppressed, the fall of control precision can be avoided, and therefore the reliability of the user's elevator falls And the fall of the comfort in the user's car can be suppressed.

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

In addition, in Embodiment 1, the observer based on the mathematical model of the door motor 5 of the magnetic flux observation part 117 was represented using Formula (1) and Formula (2). However, since the expression method of the mathematical model of the door motor 5 (induction motor) is not necessarily one, you may change an expression. Moreover, you may apply the observer different from Formula (1) and Formula (2). This " applying other observers " is to change the content of the modified feedback term including the observer feedback gain.

Hereinafter, examples of calculation expressions other than (1) and (2) will be described. 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 state quantities, and the primary voltage command value V _s ^* ( = [V _d ^* , V _q ^* ]) as an input, an observer represented by the following equations (19) and (20) may be used as the observer based on the mathematical model of the door motor 5.

The magnetic flux observing 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 performing arithmetic processing using the calculation formula (20). do. In addition, the magnetic flux observation unit 117 executes arithmetic processing using the arithmetic formula of (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-axis current i _q ^# .

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

In addition, the speed calculating section 118 generally performs calculations so that the secondary q-axis magnetic flux and its time change rate become zero, that is, satisfy the following expression (22). For this reason, when the expressions (19) and (20) are stored in the magnetic flux observation section 117, the speed calculating section 118 may store the following expression (23).

In addition, by substituting Eq. (19) into Eq. (20), the following Equation (24) is obtained. From this, the equation (24) may be stored in the magnetic flux observation unit 117 as a substitute for the equation (20). In this case, the secondary magnetic flux φ _r ^# may be estimated based on the primary current i _s and the primary voltage command value V _s ^* , and the secondary magnetic flux φ _r ^# may be used as the output of the magnetic flux observation unit 117.

Next, examples of observers different from the formulas (19) to (21), (23) and (24) will be described. The primary current command value V _s ^* (= [V] is set as the primary current i _s (= [i _d , i _q ] ^T ) and the secondary magnetic flux φ _r (= [φ _dr , φ _qr ] ^T ) as the state quantities. _d ^* , V _q ^* ]) based on the mathematical model of the door motor 5, the observer of the magnetic flux observation unit 117 uses the observer configuration shown in the following equations (25) and (26). You may be drunk.

The magnetic flux observing 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 performing arithmetic processing using the arithmetic formula (26). do. In addition, the magnetic flux observing unit 117 executes arithmetic processing using the equation (25), 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 Estimate the primary q-axis current i _q ^# .

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

When the equations (25) and (26) are stored in the magnetic flux observation section 117, the speed calculating section 118 may store the following expression (28) so that the secondary q-axis magnetic flux and its time change rate become zero. .

As described above, various configurations can be applied to the observer of the magnetic flux observation unit 117. Basically, based on the mathematical model of the door motor 5, an observer is comprised using arbitrary observer feedback gains, and at least 2nd d-axis magnetic flux (phi) _dr ^# is estimated.

(Embodiment 2)

In Embodiment 1, the floor data storage part 120 memorize | stored the door weight J previously measured. In contrast, in the second embodiment, the floor data storage unit 120 is gradually identified by the door-weight identification section 122 based on past control history data of the door opening and closing. ) The door weight J is memorized. That is, the door weight J of Embodiment 2 is memorize | stored in the door weight recognition part 122, and is gradually updated by the door weight recognition part 122. As shown in FIG.

Fig. 5 is a block diagram schematically showing a part of the door control apparatus of the elevator according to the second embodiment of the present invention. 5 is a figure corresponding to FIG. 3 of Embodiment 1, and abbreviate | omits and shows the magnetic flux control part 112, the input coordinate conversion part 113, and the output coordinate conversion part 115 in Embodiment 1. FIG.

In FIG. 5, the door control device 100 further includes a torque estimating unit 121 and a door weight detecting unit 122. The torque estimating unit 121 receives the estimated secondary magnetic flux φ _dr ^# from the magnetic flux observation unit 117 and the current value i _q from the current detector 12. The torque estimating unit 121 uses the current value i _q , the estimated secondary magnetic flux φ _dr ^# , the pole pair p as an integer parameter of the door motor 5, the mutual inductance M and the secondary magnetic inductance L _r . The estimated torque?, Which is an estimated value of the torque generated from the door motor 5 during normal door opening and closing, is calculated by executing the arithmetic processing shown in the following expression (29).

The door weight recognition unit 122 receives the secondary rotational angular velocity ω _re from the rotation detector 11 and the estimated torque τ calculated by the torque estimating unit 121. Then, the door weight recognition 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 apparatus 1 is provided with the door closing mechanism (not shown) which generate | occur | produces the door closing force for maintaining a fully closed state while the car is running. The door closing force generated by this door closing mechanism is known external force. This known external force is converted into the torque equivalent value of the rotation shaft of the door motor 5, and torque (tau) ₀ according to the position (door position) of the door panel 9A, 9B or the opening / closing movement speed of the door panel 9A, 9B. It becomes

In addition, the door weight recognition unit 122 includes a secondary rotation angle acceleration A obtained by time-differentiating the estimated torque τ, the torque τ _0, and the secondary rotational angular velocity ω _re , and the constant generated in the door panel during normal door opening and closing. Using the running resistance loss b, for example, the door weight J is calculated by executing the arithmetic processing shown in the following expression (30).

Here, the floor data storage unit 120 according to the second embodiment stores the recognized door weight J by the door weight recognition unit 122, and gradually updates each stop floor of the car. The floor data storage unit 120 also sends the door weight J after the update to the speed control unit 119. The other configuration is the same as that of the first embodiment.

6 is a graph for explaining the followability of the actual rotation speed of the door motor 5 to the rotation speed command. Fig. 6A shows the actual rotational speed of the door motor 5 whose drive is controlled by the door control device of the second embodiment. Fig. 6 (b) shows the actual rotation speed of the door motor 5 whose drive is controlled by the conventional door control device. In addition, the conventional door control apparatus here is the calculation method using the said (1), (2), (10) formula in Embodiment 1, and the door weight by the door weight recognition part 122 of FIG. The door control device does not apply the recognition process.

According to Fig.6 (a), (b), in the drive control by the door control apparatus of Embodiment 2, the followability of the actual rotational speed of the door motor 5 with respect to the rotational speed instruction | command is based on the conventional door control apparatus. It can be seen that the followability in the drive control is improved. In addition, 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 higher than the peak of the actual rotation speed of the door motor 5 in the drive control by the conventional door control device. It is suppressed and it turns out that the excess from the peak of a rotational speed command is decreasing. Therefore, in the door control apparatus of Embodiment 2, the tracking accuracy of the rotational error of the door motor 5 and the tracking accuracy of the door motor 5 with respect to the rotational speed command of the speed command part 111 are conventionally known. You can improve than that.

The floor data storage unit 120 according to the second embodiment stores the door weight J recognized using the relatively high estimated torque by the door weight recognition unit 122. In the door opening and closing for each landing floor, the control gain of the speed control unit 119 is adjusted for each landing floor by the stored door weight J. Thereby, the actual opening-and-closing movement speed of door panel 9A, 9B can improve the followability with respect to the opening-and-closing movement speed instruction of the speed instruction part 111 more.

Moreover, in Embodiment 1, 2, the example which used the induction motor for the door motor 5 of the door drive apparatus was demonstrated. However, even when the 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. .

Claims (4)

A door panel for opening and closing an elevator entrance and exit door, an AC door motor for applying a driving force to the door panel, current detection means for generating a signal according to a primary current of the door motor, and the door motor An elevator door control device for controlling an operation of an elevator door device having a speed detection means for generating a signal in accordance with a rotational speed of
A speed setting unit for issuing a rotational speed command and a magnetic flux command for the door motor corresponding to the opening / closing movement speed of the door panel;
The magnitude of the power applied to the door motor is determined according to the rotational speed command and the magnetic flux command at the speed setting unit, the rotational speed of the door motor from the speed detection means and the current detection means, and the primary current. A driving control unit controlling driving of the door motor;
It is possible to store motor constant parameters indicative of physical properties for the door motor in advance, and by using the rotational speed of the door motor from the speed detecting means, the primary voltage applied to the door motor, and the motor constant parameters, Feedback processing unit for estimating the secondary magnetic flux of the door motor
Provided with
The drive control unit uses the secondary magnetic flux estimated by the feedback processing unit to determine the magnitude of power applied to the door motor determined according to the rotation speed command, the magnetic flux command, the rotation speed, and the primary current. Adjusted
Door control device in the elevator.
The method of claim 1,
The speed setting unit may store the weight of each door of a plurality of landing floors for each landing floor,
The drive control unit is configured to calculate the magnitude of power applied to the door motor determined according to the rotational speed command, the magnetic flux command, the rotational speed, and the primary current, by the feedback processing unit. Adjusted using the door weight of the stop layer of the car received from the setting unit
Door control device in the elevator.
The method of claim 2,
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 detecting means, the primary current from the current detecting means or the drive control unit And a door weight identification section for identifying the door weight for each landing floor based on a current command value for driving the door motor,
The speed setting unit stores the door weight recognized by the door weight recognition unit for each of the landing floors, and sends the door weight for each of the stored landing floors to the drive control unit.
Door control device in the elevator.
The method of claim 2,
The speed setting unit controls an elevator door that gradually adjusts the magnetic flux command to the speed setting unit based on at least one of the door weight of each of the plurality of landing layers and the position of the door panel being monitored. Device.

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