WO2010106863A1 - Dispositif de commande de porte d'ascenseur - Google Patents

Dispositif de commande de porte d'ascenseur Download PDF

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Publication number
WO2010106863A1
WO2010106863A1 PCT/JP2010/052337 JP2010052337W WO2010106863A1 WO 2010106863 A1 WO2010106863 A1 WO 2010106863A1 JP 2010052337 W JP2010052337 W JP 2010052337W WO 2010106863 A1 WO2010106863 A1 WO 2010106863A1
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WIPO (PCT)
Prior art keywords
door
magnetic flux
speed
unit
motor
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PCT/JP2010/052337
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English (en)
Japanese (ja)
Inventor
正行 菅原
健児 宇都宮
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to CN201080007626.5A priority Critical patent/CN102317194B/zh
Priority to KR1020117017060A priority patent/KR101246485B1/ko
Priority to JP2011504783A priority patent/JP5328892B2/ja
Priority to DE112010002617T priority patent/DE112010002617T8/de
Publication of WO2010106863A1 publication Critical patent/WO2010106863A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/02—Door or gate operation
    • B66B13/14—Control systems or devices
    • B66B13/143—Control systems or devices electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/02—Door or gate operation
    • B66B13/14—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/02—Door or gate operation
    • B66B13/06—Door or gate operation of sliding doors
    • B66B13/08—Door or gate operation of sliding doors guided for horizontal movement

Definitions

  • This invention relates to an elevator door control device for controlling the operation of an elevator door device.
  • the motor target torque is calculated assuming that the set value of the motor constant parameter for the door motor matches the actual value.
  • an elevator door device may be used in an environment that does not matter indoors or outdoors, and there is a difference in utilization rate between when it is congested and when it is not. For this reason, a relatively large temperature change occurs in the door motor depending on the installation environment and the use situation. With such a temperature change, the resistance value of the motor rotor directly related to the torque characteristics changes, and setting errors are likely to occur.
  • a conventional elevator door control device as shown in Patent Document 1 measures an opening / closing time that changes due to an external factor such as a temperature fluctuation, so that there is no difference from a target time beforehand.
  • An optimum pattern is selected from the plurality of rotation speed patterns stored in the motor and the motor is driven.
  • a conventional elevator door control device as shown in Patent Document 2 is based on a door panel movement distance predicted in advance from an opening / closing movement speed command and a table of opening / closing movement speed instructions.
  • the opening / closing movement speed command corresponding to is output. This increases the accuracy (accuracy) of the movement distance of the door panel against the fluctuation of the motor constant due to the influence of the ambient temperature change.
  • the motor constant is corrected based on the current / voltage value in a mode different from the normal opening / closing, and the rotational speed of the door motor is determined by the corrected motor constant.
  • relatively high speed control is performed without using a speed detector.
  • the present invention has been made to solve the above-described problems. Even when the torque characteristics of the door motor change due to an external factor such as a temperature change, the estimated torque and the actual torque are not affected. It is an object of the present invention to provide an elevator door control device that can suppress an increase in the error between the two, and can improve the followability of the actual opening / closing movement speed of the door panel with respect to the opening / closing movement speed command.
  • An elevator door control device includes: a door panel for opening and closing an elevator door; an AC door motor that provides driving force to the door panel; and a current detection unit that generates a signal corresponding to a primary current of the door motor; And an operation of an elevator door device comprising a speed detection means for generating a signal corresponding to the rotation speed of the door motor, the rotation speed command and magnetic flux for the door motor corresponding to the opening and closing movement speed of the door panel.
  • a speed setting unit that issues a command, a speed command and a magnetic flux command from the speed setting unit, and a rotation speed and a primary current of the door motor from the speed detection unit and the current detection unit
  • a drive control unit that determines the size and controls the drive of the door motor, and the door motor Motor constant parameters indicating the physical characteristics of the door motor can be stored in advance, and using the rotation speed of the door motor from the speed detection means, the primary voltage applied to the door motor, and the motor constant parameter,
  • a feedback processing unit that estimates a secondary magnetic flux, and the drive control unit determines the magnitude of electric power applied to the door motor determined according to the rotational speed command, the magnetic flux command, the rotational speed, and the primary current. The adjustment is performed using the secondary magnetic flux estimated by the feedback processing unit.
  • FIG. 1 is a configuration diagram showing a part of a car door device according to Embodiment 1 of the present invention.
  • a car door device 1 opens and closes a car doorway (not shown).
  • the car door device 1 includes a hanger plate (girder) 2, a hanger rail 3, a pair of wrapping wheels 4A and 4B, a door motor 5, a transmission strip (rope) 6, a plurality of hanger rollers 7A to 7D, and a pair of door hangers (hanging).
  • Hand 8A, 8B, a pair of car door panels 9A, 9B, and a pair of connectors 10A, 10B.
  • the hanger plate 2 is provided at the upper part of the car doorway in the car.
  • the hanger rail 3 is horizontally attached to the hanger plate 2 along the longitudinal direction of the hanger plate 2.
  • the pair of winding wheels 4A and 4B are provided at one end and the other end in the longitudinal direction of the hanger plate 2, respectively.
  • the door motor 5 is provided at one end of the hanger plate 2 in the longitudinal direction, and is arranged coaxially with the winding wheel 4A. That is, the winding wheel 4 ⁇ / b> A is rotated by the driving force of the door motor 5.
  • the door motor 5 is an induction motor (AC motor).
  • the transmission strip 6 is wound around the outer peripheral surfaces of the pair of winding wheels 4A and 4B. Further, the transmission strip 6 is stretched between both the pair of winding wheels 4A and 4B, and is endless.
  • the plurality of hanger rollers 7A to 7D are mounted on the upper surface of the hanger rail 3 so as to be able to roll. Further, the hanger rollers 7A and 7B are attached to the door hanger 8A. Furthermore, the hanger rollers 7C and 7D are attached to the door hanger 8B.
  • the pair of car door panels 9A and 9B are connected to the lower ends of the pair of door hangers 8A and 8B, respectively. That is, the pair of car door panels 9A, 9B is suspended from the hanger rail 3 via the pair of door hangers 8A, 8B and the plurality of hanger rollers 7A-7D. The pair of car door panels 9A and 9B can be moved horizontally along the hanger rail 3 by the rolling of the hanger rollers 7A to 7D.
  • the connecting tool 10 ⁇ / b> A connects the door hanger 8 ⁇ / b> A and the lower side of the transmission strip 6.
  • the connector 10 ⁇ / b> B connects the door hanger 8 ⁇ / b> B and the upper side of the transmission strip 6. Accordingly, the driving force of the door motor 5 is transmitted to the pair of car door panels 9A and 9B via the transmission strip 6, the pair of couplers 10A and 10B, and the pair of door hangers 8A and 8B.
  • the pair of car door panels 9 ⁇ / b> A and 9 ⁇ / b> B are opened / closed (horizontal moved) in opposite directions by the driving force of the door motor 5.
  • the car door device 1 further includes a car door engaging mechanism (not shown).
  • the car door engaging mechanism can be engaged with a landing door engaging mechanism of a landing door device (not shown).
  • the driving force of the door motor 5 of the car door device 1 is transmitted to the landing door device, and the driving force of the door motor 5 causes the landing door panel of the landing door device. (Not shown) is also opened and closed.
  • the car door device 1 and the landing door device open and close the elevator doorway (the car doorway and the landing doorway) in conjunction with each other.
  • the drive of the door motor 5 is controlled by the door control device 100.
  • FIG. 2 is a block diagram showing the door control device 100 of FIG.
  • the door control device 100 (the one-dot chain line in FIG. 2) is a rotation detector (encoder) that is attached to the door motor 5 and generates an electrical signal corresponding to the secondary rotational angular velocity (motor actual rotational velocity) ⁇ re of the door motor 5. ) 11 is electrically connected. Also, the door control apparatus 100 is electrically connected to a current detector 12 which generates an electrical signal corresponding to the primary current i u, i v of the door motor 5.
  • the door control device 100 includes a speed command unit 111, a magnetic flux control unit 112, an input coordinate conversion unit 113, a current control unit 114, an output coordinate conversion unit 115, a PWM (Pulse Width Modulation) inverter 116, a magnetic flux observation unit (magnetic flux observation unit). Device) 117, a speed calculation unit 118, a speed control unit 119, and a floor data storage unit (magnetic flux command unit) 120.
  • a speed command unit 111 includes a speed command unit 111, a magnetic flux control unit 112, an input coordinate conversion unit 113, a current control unit 114, an output coordinate conversion unit 115, a PWM (Pulse Width Modulation) inverter 116, a magnetic flux observation unit (magnetic flux observation unit). Device) 117, a speed calculation unit 118, a speed control unit 119, and a floor data storage unit (magnetic flux command unit) 120.
  • PWM Pulse Width Modulation
  • the speed command unit 111 and the floor data storage unit 120 constitute a speed setting unit 100a.
  • the speed setting unit 100a sets the opening / closing movement speed (opening / closing movement speed command) of the door panel according to the operation state of the car by an operation control device (not shown) that controls the operation of the car, and the rotation speed command for the door motor 5 And issue a magnetic flux command.
  • the input coordinate conversion unit 113, the magnetic flux observation unit 117, and the speed calculation unit 118 constitute a feedback processing unit 100b that performs calculation processing on the feedback signal from the door motor 5.
  • the magnetic flux control unit 112, the current control unit 114, the output coordinate conversion unit 115, and the speed control unit 119 constitute a drive control unit 100c.
  • the drive control unit 100c controls the driving of the door motor 5 using the rotation speed command and the magnetic flux command from the speed setting unit 100a and the information from the feedback processing unit 100b.
  • the speed command unit 111 estimates (calculates) the position of the pair of car door panels 9A and 9B based on the secondary rotation angular speed ⁇ re of the door motor 5 and the radii of the winding vehicles 4A and 4B registered in advance. Further, the speed command unit 111 sets the opening / closing movement speed of the door panels 9A and 9B according to the operation state of the car by the operation control device, and the rotational angular speed command value ⁇ for the door motor 5 corresponding to the set opening / closing movement speed. * Determine.
  • This rotational angular velocity command value ⁇ * has a magnitude corresponding to the elapsed time from the start of opening / closing movement of the door panels 9A, 9B or the position of the pair of car door panels 9A, 9B.
  • the rotation angular speed command value ⁇ * is a value corresponding to the secondary rotation angle of the door motor 5 and is stored in advance in the speed command unit 111.
  • the magnetic flux control unit 112 receives the magnetic flux command ⁇ d * for each landing floor stored in advance in the floor data storage unit 120 and the estimated secondary magnetic flux ⁇ dr # from the magnetic flux observation unit 117. Further, the magnetic flux controller 112, based on the magnetic flux command phi d * and the estimated secondary magnetic flux phi dr #, the magnetic flux command phi d * and the estimated secondary magnetic flux phi dr # excitation for correcting the error between the command i d * Is calculated.
  • Input coordinate converting unit 113 the primary current i u of door motor 5 from the current detector 12, an electric signal corresponding to the i v, and a primary rotation angle ⁇ based on the primary rotational angular velocity ⁇ calculated by the speed calculation unit 118 receive.
  • the input coordinate transformation unit 113, the primary current i u of door motor 5, based on the i v, and the primary rotation angle theta, performs typical 3-phase two-phase converted from a stationary coordinate system to the rotating coordinate system. Then, the input coordinate conversion unit 113 calculates the motor currents i d and iq of the rotating coordinate system by three-phase two-phase conversion.
  • the current control unit 114 receives the motor currents i d and i q from the input coordinate conversion unit 113, the excitation command i d * from the magnetic flux control unit 112, and the torque command i q * calculated by the speed control unit 119. receive. Further, the current control unit 114 calculates the primary voltages V d * and V q * so that the motor current i d matches the excitation command i d * and the motor current i q matches the torque command i q * . Further, the current control unit 114 sends the calculated primary voltages V d * and V q * to the output coordinate conversion unit 115 and the magnetic flux observation unit 117.
  • the output coordinate conversion unit 115 receives primary voltages V d * and V q * from the current control unit 114 and a primary rotation angle ⁇ based on the primary rotation angular velocity ⁇ calculated by the speed calculation unit 118. In addition, the output coordinate conversion unit 115 performs coordinate conversion from the rotating coordinate system to the stationary coordinate system using the primary voltages V d * , V q * and the primary rotation angle ⁇ . Then, the output coordinate conversion unit 115 calculates primary voltages V u * , V V * , V w * of the stationary coordinate system by coordinate conversion.
  • the output coordinate conversion unit 115 sends an output command to the PWM inverter 116 and causes the door motor 5 to output the calculated primary voltages V u * , V V * , and V w * from the PWM inverter 116. That is, the output coordinate conversion unit 115 causes the door motor 5 to generate a driving force for opening and closing the door panels 9A and 9B via the PWM inverter 116.
  • the magnetic flux observation unit 117 includes primary voltage command values V d * and V q * from the current control unit 114, motor currents i d and i q from the input coordinate conversion unit 113, and primary rotation calculated by the speed calculation unit 118. Receives angular velocity ⁇ . Further, the magnetic flux observation unit 117 stores in advance an arithmetic expression (observer) based on the mathematical model of the door motor 5 of the following expressions (1) and (2).
  • a plurality of motor constant parameters used in the arithmetic processing of the expressions (1) and (2) that is, the mutual inductance M, the primary self-inductance L s , the secondary self-inductance L r , the primary resistance R s , and the two
  • the secondary resistance R r is stored in advance in the magnetic flux observation unit 117 as a characteristic constant.
  • the matrix elements of the equations (1) and (2) are as shown in the following equations (3) to (8), and are stored in the magnetic flux observation unit 117 in advance.
  • an arbitrary observer feedback gain H used for the arithmetic processing of the equation (2) is as shown in the following equation (9).
  • the observer feedback gain H is stored in advance in the magnetic flux observation unit 117.
  • the magnetic flux observation unit 117 executes the arithmetic processing using the arithmetic expression of the expression (1), thereby causing the primary d-axis magnetic flux ⁇ ds # , the primary q-axis magnetic flux ⁇ qs # , and the secondary d-axis magnetic flux ⁇ dr # (Hereinafter, estimated secondary magnetic flux ⁇ dr # ) is estimated. Further, the magnetic flux observation unit 117 executes arithmetic processing using the arithmetic expression (2), and the primary d-axis current i d and the primary q-axis are based on the estimated magnetic fluxes ⁇ ds # , ⁇ qs # , ⁇ dr #. The current i q is estimated.
  • the speed calculation unit 118 includes the secondary rotational angular velocity ⁇ re of the door motor 5, the estimated secondary magnetic flux ⁇ dr # and the estimated primary currents i d # and i q # calculated by the magnetic flux observation unit 117, and the input coordinate conversion unit 113. Motor currents i d and i q are received. Further, the speed calculation unit 118 stores in advance the following equation (10) in consideration of the slip between the primary side and the secondary side of the door motor 5. Furthermore, the speed calculation unit 118 stores a plurality of motor constant parameters and an observer feedback gain H in advance, similarly to the magnetic flux observation unit 117.
  • the speed calculation unit 118 calculates the primary rotation angular velocity ⁇ by executing a calculation process using the calculation formula (10).
  • the primary rotational angular velocity ⁇ is sent to the magnetic flux observation unit 117 and is time-integrated by the integrating means to obtain the primary rotational angle ⁇ .
  • the primary rotation angle ⁇ is sent to the input coordinate conversion unit 113 and the output coordinate conversion unit 115.
  • Each function 111 to 115 and 117 to 120 of the door control device 100 including the magnetic flux observation unit 117 and the speed calculation unit 118 performs processing at a predetermined time interval T [sec] period.
  • T [sec] period a predetermined time interval
  • the magnetic flux observation unit 117 performs a series of calculation processes before the speed calculation unit 118, and then the speed calculation unit 118 performs a series of calculation processes. I do.
  • the magnetic flux observation unit 117 is calculated by the speed calculation unit 118 in the previous cycle (before the time interval T [sec]) when performing the calculation process using the calculation formulas (1) and (2) above.
  • the primary rotation angular velocity ⁇ and the estimated primary currents i d # and i q # calculated by the previous cycle are used.
  • the speed calculation unit 118 performs the calculation process using the calculation formula (10)
  • the estimated secondary magnetic flux ⁇ dr # calculated by the magnetic flux observation unit 117 in the previous period is used.
  • the time interval T [sec] is preferably as short as possible, the calculation amount per unit time increases as the time interval becomes shorter. Therefore, in order to reduce the load required for the arithmetic processing, the time intervals of the functions 111 to 115 and 117 to 120 of the door control device 100 can be set to different values.
  • the time interval of the magnetic flux observation unit 117 is T2 [sec].
  • T2 ⁇ T1 and T2 is, for example, an integral multiple of the minimum time interval T1.
  • the magnetic flux observation unit 117 performs arithmetic processing using the primary rotation angular velocity ⁇ calculated in the period before the time interval T2 [sec] and the estimated primary currents i d # and i q # .
  • FIG. 3 is a block diagram schematically showing a part of the door control device 100 of FIG.
  • the magnetic flux control unit 112 the input coordinate conversion unit 113, and the output coordinate conversion unit 115 in FIG. 2 are omitted.
  • the speed control unit 119 receives the estimated secondary magnetic flux ⁇ dr # calculated by the magnetic flux observation unit 117 and the deviation between the rotational angular velocity command value ⁇ * and the secondary rotational angular velocity ⁇ re . Further, the speed control unit 119 is a feedback controller generally represented by a transfer function C b (s) shown in the following equation (11), and the second rotational angular velocity ⁇ re with respect to the rotational angular velocity command value ⁇ * . Correct the error.
  • C b (s) K sp + K si / s (11)
  • K sp J ⁇ ⁇ C / K T (12)
  • J is the door weight for each landing floor (the inertia value of the weight of the car door panel and the landing door panel in terms of the motor shaft, the same applies hereinafter).
  • ⁇ C is a control cross frequency for designating output error correction performance with respect to the target value.
  • K T is a torque characteristic of the door motor 5.
  • K T p ⁇ M / L r ⁇ ⁇ dr # (14)
  • p is the number of pole pairs that is a constant parameter of the motor.
  • M is a mutual inductance.
  • L r is the secondary self-inductance.
  • ⁇ dr # is the estimated secondary magnetic flux of the magnetic flux observation unit 117. In the case where the estimated secondary magnetic flux phi dr # and the magnetic flux command phi d * matches may use magnetic flux command phi d * As an alternative to the estimated secondary flux phi dr #.
  • the door control device 100 applies a pressing force F based on the torque ⁇ of the door motor 5 to the car door device 1 and the landing door device when the car door device 1 and the landing door device are fully closed and fully open.
  • the torque ⁇ of the door motor 5 is derived from the secondary magnetic flux ⁇ dr # estimated by the magnetic flux observation unit 117 and the motor current i q from the input coordinate conversion unit 113 as shown in the following equation (16).
  • ⁇ p ⁇ M / L r ⁇ ⁇ dr # ⁇ i q (16)
  • the motor current i q of the input coordinate conversion unit 113 in equation (16) may be the torque command current i q * calculated by the speed control unit 119, and the estimated secondary magnetic flux ⁇ dr # It may be replaced with ⁇ dr * .
  • the torque command i q * so as to satisfy the pressing force F, the door device 1 and the landing door device in the fully closed state or the fully open state are used without using the calculation result by the feedback processing unit 100b.
  • a pressing force F can be applied.
  • the floor data storage unit 120 stores in advance the magnetic flux command ⁇ d * for each landing floor and the door weight J for each landing floor in association with the information on the landing floor.
  • This door weight J is the sum of the door weights J of the car door device 1 and the landing door device, or the individual door weights J of the car door device 1 and the landing door device.
  • the floor data storage unit 120 sends the door weight J corresponding to the stop floor of the car to the speed control unit 119 based on the operation information from the operation control device that controls the operation of the car, and also stops the floor of the car. Send the corresponding flux command phi d * in the magnetic flux controller 112.
  • the value of the magnetic flux command ⁇ d * issued by the floor data storage unit 120 is always constant from the start of the opening / closing movement of the door panels 9A, 9B to the end of the opening / closing movement of the door panels 9A, 9B, or the door position, car
  • the weight may be changed according to the door weight, the landing door weight, or the total door weight.
  • the door motor 5 is operated by the door motor 5 in a section until the engagement mechanism of the car door device 1 is engaged (gripped) with the engagement mechanism of the landing door device. Drive only.
  • the magnetic flux command ⁇ d * is a value corresponding to the total door weight
  • the door panel 9A of the car door device 1 with respect to the total door weight.
  • the magnetic flux command from the floor data storage unit 120 is set to n ⁇ ⁇ d * using the weight ratio n of 9B.
  • the magnetic flux command from the floor data storage unit 120 is switched to ⁇ d * .
  • the switching of the magnetic flux command is the same even when the car door device 1 and the landing door device are fully closed.
  • the drive control unit 100c applies the primary voltages V u * , V V * , V applied to the door motor 5 determined according to the rotational angular velocity command value ⁇ * , the secondary rotational angular velocity ⁇ re , and the motor currents i d , i q.
  • the magnitude of w * (the magnitude of electric power) is adjusted using the estimated secondary magnetic flux ⁇ dr # and the door weight J.
  • the door control device 100 can be configured by a computer (not shown) having an arithmetic processing unit (CPU), a storage unit (ROM, RAM, hard disk, etc.) and a signal input / output unit.
  • the storage unit of the computer of the door control device 100 stores programs for realizing the functions 111 to 115 and 117 to 122 (or 100a to 100c) shown in FIGS.
  • the magnetic flux observation unit 117 to which the conventional calculation method is applied uses the primary d-axis current i d from the input coordinate conversion unit 113 to execute a calculation process based on the following equation (17), thereby obtaining a secondary d-axis. Estimate the magnetic flux ⁇ dr # .
  • the motor constant parameters are a mutual inductance M, a secondary self-inductance L r , and a secondary resistance R r .
  • the conventional speed calculation unit 118 receives the estimated secondary magnetic flux ⁇ dr # estimated by the magnetic flux observation unit 117 and the primary q-axis current i q from the input coordinate conversion unit 113, and the following (18)
  • the primary rotational angular velocity ⁇ is calculated by executing a calculation process based on the equation.
  • This primary rotation angular velocity ⁇ is time-integrated by the integration means to obtain a primary rotation angle ⁇ .
  • the magnetic flux observation unit 117 has the following equations (1) and (1) based on the primary voltage command values V d * and V q * and the mathematical model of the door motor 5 (induction motor). 2)
  • the estimated secondary magnetic flux ⁇ dr # of the door motor 5 is estimated by the observer shown in the equation (2).
  • the speed calculation unit 118 calculates the primary rotation angular speed ⁇ by a calculation process based on the equation (10).
  • the elevator door control device can calculate the estimated torque with higher accuracy than the conventional calculation method as shown in FIG. 4 (white triangles / squares), and the constant of the door motor 5 can be calculated.
  • the elevator door control device Even if an error occurs in the parameter, it is possible to execute magnetic flux estimation with relatively high accuracy. As a result, in the elevator door control device according to the first embodiment, even if a change occurs in the torque characteristics of the door motor 5 due to an external factor such as a temperature change, an error between the estimated torque and the actual torque is reduced. Expansion can be suppressed, and the followability of the actual rotation speed of the door motor 5 with respect to the rotation speed command, that is, the followability of the actual opening / closing movement speed of the door panels 9A and 9B with respect to the opening / closing movement speed command can be improved.
  • the floor data storage unit 120 sends the door weight J for each platform floor of the car to the speed control unit 119, and the speed control unit 119 uses the door weight J to adjust the torque command i q *. Even if the door weight J is different every time, the followability of the actual opening / closing movement speed of the door panels 9A, 9B to the opening / closing movement speed command can be kept relatively high.
  • the floor data storage unit 120 changes the value of the magnetic flux command ⁇ d * based on the door weight J and the positions of the door panels 9A and 9B, the magnetic flux command corresponding to the driving force required for each landing floor is provided. By giving, the power consumption required for the door drive of the door motor 5 can be reduced.
  • the opening and closing movement speed of the door panels 9A and 9B may change irregularly as the control accuracy decreases.
  • the user may be reminded of an elevator failure.
  • the reliability of the elevator for the user is lowered, and the comfort in the user's car is reduced.
  • the elevator control apparatus according to the first embodiment it is possible to avoid a decrease in control accuracy by suppressing fluctuations in torque characteristics due to external factors such as temperature changes. It is possible to suppress a decrease in sex and a decrease in comfort in the user's car.
  • a magnetic flux command corresponding to the pressing force is set in the floor data storage unit 120. Also good. In this case, since the pressing force generated by the door motor 5 is smaller than the opening / closing driving force, the power consumption of the door motor 5 can be reduced.
  • the observer based on the mathematical model of the door motor 5 of the magnetic flux observation unit 117 is expressed using the equations (1) and (2).
  • the expression method of the mathematical model of the door motor 5 is not necessarily one, the expression may be changed.
  • you may apply the observer different from (1) Formula and (2) Formula. “Applying different observers” means changing the content of the modified feedback term including the observer feedback gain.
  • the magnetic flux observation unit 117 estimates the secondary magnetic flux ⁇ r, that is, the secondary d-axis magnetic flux ⁇ dr # and the secondary q-axis magnetic flux ⁇ qr # by executing arithmetic processing using the arithmetic expression (20). .
  • the magnetic flux observation unit 117 performs an arithmetic process using the arithmetic expression (19), and based on the estimated secondary magnetic flux ⁇ r # , the primary current i s, that is, the primary d-axis current i d # and the primary q
  • the shaft current i q # is estimated.
  • Arbitrary observer feedback gain L is as shown in the following equation (21).
  • the observer feedback gain L is stored in advance in the magnetic flux observation unit 117.
  • the speed calculation unit 118 generally performs the calculation so that the secondary q-axis magnetic flux and the time change rate thereof are 0, that is, the following equation (22) is satisfied. For this reason, when (19) Formula and (20) Formula are memorize
  • the equation (24) may be stored in the magnetic flux observation unit 117 as an alternative to the equation (20).
  • the primary current i s, and a primary voltage command value V s *, to estimate the secondary magnetic flux phi r # may be the secondary magnetic flux phi r # as the output of the magnetic flux observing portion 117.
  • the observer of the magnetic flux observation unit 117 may take the configuration of the observer shown in the following equations (25) and (26).
  • the magnetic flux observation unit 117 estimates the secondary magnetic flux ⁇ r, that is, the secondary d-axis magnetic flux ⁇ dr # and the secondary q-axis magnetic flux ⁇ qr # by executing arithmetic processing using the arithmetic expression (26). . Further, the magnetic flux observing portion 117 (25) arithmetic expression executes a calculation using the estimated secondary flux phi r primary d-axis primary current i s clogging based on the # current i d # and primary q-axis The current i q # is estimated.
  • Arbitrary observer feedback gains Ka and Kb are as shown in the following equation (27).
  • the observer feedback gains Ka and Kb are stored in advance in the magnetic flux observation unit 117.
  • the speed calculation unit 118 sets the following ((2) so that the secondary q-axis magnetic flux and its time change rate become zero. 28)
  • the equation may be stored.
  • At least the secondary d-axis magnetic flux ⁇ dr # is estimated by configuring an observer using an arbitrary observer feedback gain based on a mathematical model of the door motor 5.
  • Embodiment 2 the floor data storage unit 120 stores the door weight J measured in advance.
  • the floor data storage unit 120 stores the door weight J sequentially identified by the door weight identification unit 122 based on the control history data in the past door opening and closing. That is, the door weight J of the second embodiment is sequentially updated by the door weight identification unit 122.
  • FIG. 5 is a block diagram schematically showing a part of an elevator door control apparatus according to Embodiment 2 of the present invention.
  • FIG. 5 is a diagram corresponding to FIG. 3 of the first embodiment, in which the magnetic flux control unit 112, the input coordinate conversion unit 113, and the output coordinate conversion unit 115 in the first embodiment are omitted.
  • the door control device 100 further includes a torque estimation unit 121 and a door weight identification unit 122.
  • Torque estimation unit 121 receives estimated secondary magnetic flux ⁇ dr # from magnetic flux observation unit 117 and current value i q from current detector 12.
  • the torque estimation unit 121 uses a current value i q , an estimated secondary magnetic flux ⁇ dr # , a pole pair number p that is a constant parameter of the door motor 5, a mutual inductance M, and a secondary self-inductance L r to generate a normal door.
  • An estimated torque ⁇ which is an estimated value of the torque generated from the door motor 5 in opening and closing, is calculated by executing a calculation process shown in the following equation (29).
  • ⁇ p ⁇ M / L r ⁇ ⁇ dr # ⁇ i q (29)
  • the door weight identification unit 122 receives the secondary rotation angular velocity ⁇ re from the rotation detector 11 and the estimated torque ⁇ calculated by the torque estimation unit 121. Then, the door weight identification unit 122 calculates the door weight J based on the secondary rotational angular velocity ⁇ re and the estimated torque ⁇ , and sends the calculated door weight J to the floor data storage unit 120.
  • the car door device 1 is provided with a door closing mechanism (not shown) that generates a door closing force for keeping the fully closed state while the car is running.
  • the door closing force generated by this door closing mechanism is a known external force.
  • This known external force is converted into a value corresponding to the torque of the rotating shaft of the door motor 5, and becomes a torque ⁇ 0 corresponding to the position (door position) of the door panels 9A, 9B or the opening / closing movement speed of the door panels 9A, 9B.
  • the door weight identification unit 122 also calculates the estimated torque ⁇ , the torque ⁇ 0 , the secondary rotational angular acceleration A obtained by differentiating the secondary rotational angular velocity ⁇ re with time, and a constant generated in the door panel during normal door opening and closing.
  • the floor data storage unit 120 stores the door weight J identified by the door weight identification unit 122 and sequentially updates it for each stop floor of the car. In addition, the floor data storage unit 120 sends the updated door weight J to the speed control unit 119.
  • Other configurations are the same as those in the first embodiment.
  • FIG. 6 is a graph for explaining the followability of the actual rotational speed of the door motor 5 with respect to the rotational speed command.
  • FIG. 6A shows the actual rotation speed of the door motor 5 whose drive is controlled by the door control device of the second embodiment.
  • FIG. 6B shows the actual rotational speed of the door motor 5 whose drive is controlled by a conventional door control device.
  • the conventional door control device here refers to the calculation method using the previous equations (1), (2), and (10) in the first embodiment, and the door weight by the door weight identification unit 122 in FIG. A door control device that does not apply the identification process.
  • the followability of the actual rotation speed of the door motor 5 with respect to the rotation speed command is the drive control by the conventional door control device. It can be seen that the following performance is improved.
  • the peak of the actual rotation speed of the door motor 5 is suppressed from the peak of the actual rotation speed of the door motor 5 in the drive control by the conventional door control device. It can be seen that the excess from the peak of the speed command is decreasing.
  • the followability of the actual rotation speed of the door motor 5 with respect to the rotation command speed of the speed command unit 111 and the correction accuracy of the rotation error of the door motor 5 are improved as compared with the conventional one. Can do.
  • the floor data storage unit 120 of the second embodiment stores the door weight J identified using the estimated torque with relatively high accuracy by the door weight identification unit 122. Then, when the door is opened and closed for each landing floor, the control gain of the speed control unit 119 is adjusted for each landing floor with the stored door weight J. As a result, the actual opening / closing movement speed of the door panels 9A, 9B can further improve the followability to the opening / closing movement speed command of the speed command section 111.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Door Apparatuses (AREA)

Abstract

L'invention porte sur un dispositif de commande de porte d'un ascenseur, dans lequel dispositif une section d'observation de flux magnétique (117) estime le flux magnétique secondaire d'un moteur de porte (5) à l'aide de valeurs de commande de tension primaires Vd*, Vq* et d'une expression arithmétique basée sur le modèle mathématique du moteur de porte (5). Une section de commande de flux magnétique (112) et une section de commande de vitesse (119) génèrent des commandes de courant respectives à l'aide du flux magnétique secondaire du moteur de porte (5) calculé par la section d'observation de flux magnétique (117).
PCT/JP2010/052337 2009-03-18 2010-02-17 Dispositif de commande de porte d'ascenseur WO2010106863A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN201080007626.5A CN102317194B (zh) 2009-03-18 2010-02-17 电梯的门控制装置
KR1020117017060A KR101246485B1 (ko) 2009-03-18 2010-02-17 엘리베이터의 도어 제어 장치
JP2011504783A JP5328892B2 (ja) 2009-03-18 2010-02-17 エレベータのドア制御装置
DE112010002617T DE112010002617T8 (de) 2009-03-18 2010-02-17 Türsteuervorrichtung für Aufzüge

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2009-066467 2009-03-18
JP2009066467 2009-03-18

Publications (1)

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WO2010106863A1 true WO2010106863A1 (fr) 2010-09-23

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JP (1) JP5328892B2 (fr)
KR (1) KR101246485B1 (fr)
CN (1) CN102317194B (fr)
DE (1) DE112010002617T8 (fr)
WO (1) WO2010106863A1 (fr)

Cited By (1)

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CN103459295A (zh) * 2011-03-22 2013-12-18 三菱电机株式会社 电梯的门控制装置

Families Citing this family (2)

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Publication number Priority date Publication date Assignee Title
JP6467372B2 (ja) * 2016-03-22 2019-02-13 株式会社日立ビルシステム エレベーター制御装置及びエレベーター制御方法
CN107545828A (zh) * 2017-08-30 2018-01-05 顺德职业技术学院 一种教学实训电梯的门结构

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JPH02273092A (ja) * 1989-04-14 1990-11-07 Meidensha Corp 誘導電動機のベクトル制御装置
JPH02286588A (ja) * 1989-04-26 1990-11-26 Mitsubishi Electric Corp エレベータのドアの制御装置
WO2002041486A1 (fr) * 2000-11-20 2002-05-23 Mitsubishi Denki Kabushiki Kaisha Procede de controle d'un moteur a induction
JP2002302367A (ja) * 2001-04-05 2002-10-18 Mitsubishi Electric Corp エレベータのドア制御装置
WO2004028951A1 (fr) * 2002-09-27 2004-04-08 Mitsubishi Denki Kabushiki Kaisha Unite de commande de portes d'ascenseur
JP2005008386A (ja) * 2003-06-20 2005-01-13 Mitsubishi Electric Corp エレベータのドア制御装置
JP2007084189A (ja) * 2005-09-20 2007-04-05 Toshiba Elevator Co Ltd エレベータのドア制御装置

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JPH0825709B2 (ja) * 1987-11-21 1996-03-13 株式会社日立製作所 エレベーターの扉制御装置
JPH09233898A (ja) * 1996-02-28 1997-09-05 Hitachi Ltd 交流電動機の制御装置及びエレベータの制御装置
JP2000308400A (ja) * 1999-04-20 2000-11-02 Meidensha Corp エレベータ用誘導電動機のベクトル制御装置
DE10196495T1 (de) * 2001-07-13 2003-08-07 Mitsubishi Electric Corp Geschwindigkeitsregelungsvorrichtung eines Wechselstrommotors
JP4907355B2 (ja) * 2006-02-03 2012-03-28 三菱電機株式会社 エレベータのドア装置

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JPH02273092A (ja) * 1989-04-14 1990-11-07 Meidensha Corp 誘導電動機のベクトル制御装置
JPH02286588A (ja) * 1989-04-26 1990-11-26 Mitsubishi Electric Corp エレベータのドアの制御装置
WO2002041486A1 (fr) * 2000-11-20 2002-05-23 Mitsubishi Denki Kabushiki Kaisha Procede de controle d'un moteur a induction
JP2002302367A (ja) * 2001-04-05 2002-10-18 Mitsubishi Electric Corp エレベータのドア制御装置
WO2004028951A1 (fr) * 2002-09-27 2004-04-08 Mitsubishi Denki Kabushiki Kaisha Unite de commande de portes d'ascenseur
JP2005008386A (ja) * 2003-06-20 2005-01-13 Mitsubishi Electric Corp エレベータのドア制御装置
JP2007084189A (ja) * 2005-09-20 2007-04-05 Toshiba Elevator Co Ltd エレベータのドア制御装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103459295A (zh) * 2011-03-22 2013-12-18 三菱电机株式会社 电梯的门控制装置
EP2690051A1 (fr) * 2011-03-22 2014-01-29 Mitsubishi Electric Corporation Dispositif de commande de porte d'ascenseur
EP2690051A4 (fr) * 2011-03-22 2014-11-12 Mitsubishi Electric Corp Dispositif de commande de porte d'ascenseur

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CN102317194B (zh) 2014-01-22
KR20110096173A (ko) 2011-08-29
JP5328892B2 (ja) 2013-10-30
JPWO2010106863A1 (ja) 2012-09-20
CN102317194A (zh) 2012-01-11
DE112010002617T8 (de) 2012-12-13
KR101246485B1 (ko) 2013-03-25
DE112010002617T5 (de) 2012-08-23

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