WO2011096119A1 - エレベータ制御装置 - Google Patents
エレベータ制御装置 Download PDFInfo
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- WO2011096119A1 WO2011096119A1 PCT/JP2010/069440 JP2010069440W WO2011096119A1 WO 2011096119 A1 WO2011096119 A1 WO 2011096119A1 JP 2010069440 W JP2010069440 W JP 2010069440W WO 2011096119 A1 WO2011096119 A1 WO 2011096119A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
- B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/26—Rotor flux based control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
Definitions
- the present invention relates to an elevator control device, and more particularly to a position sensorless control that does not use a magnetic pole position detector of an elevator hoisting machine using a permanent magnet synchronous motor.
- the armature current is flowed not only in the magnitude of the armature current but also in the phase according to the magnetic pole position. Therefore, it is necessary to always grasp the magnetic pole position of the permanent magnet synchronous motor.
- a permanent magnet synchronous motor is equipped with a magnetic pole position detector for grasping the magnetic pole position.
- position sensorless drive technology that does not have a magnetic pole position detector such as an encoder has been actively studied. .
- Magnetic pole position estimation in a permanent magnet synchronous motor uses the magnetic pole position dependence of the induced voltage caused by the rotation of the rotor and the high frequency voltage using the magnetic pole position dependence of the inductance of the motor with saliency.
- the low speed used in the following is a speed relative to the rated speed in the motor to be used.
- the induced voltage generated by the induced voltage method is small, and it is not impossible to estimate the speed due to a decrease in the S / N ratio. This indicates a speed range where the estimation error is large and cannot be controlled.
- Those using saliency are excellent in startability, but have a drawback that the magnetic pole position cannot be estimated unless the motor has saliency.
- the induced voltage is small and the S / N ratio is reduced at zero speed and low speed. Because of the large controllability, there is a risk that the vehicle will run in the reverse direction to the speed command.
- the current response when a voltage is applied differs depending on the position of the magnetic pole due to the position dependency of the inductance.
- This magnetic pole position can be estimated by applying a voltage (integer multiple of 1/2 the frequency of the triangular wave of the inverter carrier) that is higher in frequency than the motor drive frequency that does not contribute to motor operation, and looking at the current response. Since magnetic pole position estimation by applying a high-frequency voltage has no speed dependence, this technique makes it possible to estimate the magnetic pole position at zero speed and low speed.
- the present invention provides an elevator control device that realizes stable vector control by position sensorless drive control in all speed ranges from zero speed to low speed even in a cylindrical permanent magnet synchronous motor without saliency. .
- the speed of the elevator cab is controlled by torque feed-forward control, and a drive command is generated based on the torque required for stationary holding of the cab, and the permanent magnet is synchronized to move up and down the cab.
- An elevator control device comprising drive command output means for vector control of a motor.
- a speed command determining means for determining a speed command, a model reference controller for converting the speed command into an ideal speed command, and a magnetic pole speed estimation for estimating a speed estimation value of a magnetic pole of a permanent magnet synchronous motor for moving up and down a cab
- the ideal speed command of the model reference controller is equal to or lower than a predetermined speed set in advance, and the ideal speed command is output, and when it exceeds the predetermined speed, it is switched to the speed estimated value of the magnetic pole speed estimator and output.
- Estimated speed switch and drive command output means for performing torque feedforward control while the estimated speed switch outputs the ideal speed command and performing speed feedback control while outputting the estimated speed value And comprising.
- the present invention even in a cylindrical permanent magnet synchronous motor having no saliency, stable vector control is realized by position sensorless drive control in the entire speed range from the zero speed to the low speed range. As a result, even when a load is applied, it is possible to stably perform stationary holding and low-speed control.
- the direction of magnetic flux (direction of the central axis of the permanent magnet) generated by the permanent magnet of the rotor is used as the rotating coordinate system as the d axis
- the electrical and magnetic A description will be given by setting the axis orthogonal to the q axis.
- the positive d-axis current used below is defined as the current direction in which the strong field is generated
- the negative d-axis current is defined as the current direction in which the weak field is performed.
- the induced voltage generated by the induced voltage method is small and the control at zero speed and low speed where the speed cannot be estimated due to the decrease in the S / N ratio is performed by torque feedforward control.
- feedback control is performed based on the estimated magnetic pole position and speed based on the induced voltage, and the acceleration torque required for torque feedforward control is obtained by the model reference controller, and the torque necessary for stationary holding is obtained by the load detection device. It is a configuration.
- FIG. 1 is a diagram showing an outline of the configuration of an elevator system including an elevator control device according to the present invention.
- the elevator cab 1 and the counterweight 2 are connected to each other by a main rope 3 and are suspended from a sheave 4 in a slidable manner.
- the sheave 4 is also connected to a permanent magnet synchronous motor 5 that drives the elevator by the main rope 3, and the cab 1 is moved up and down by the power of the permanent magnet synchronous motor 5.
- a brake 6 is attached to the permanent magnet synchronous motor 5, and the sheave 4 is braked by the brake 6.
- the brake 6 may be a car brake that directly brakes the car compartment 1 or a rope brake that brakes the rope (detailed illustration is omitted).
- the control panel 7 stores a power converter that drives the permanent magnet synchronous motor 5 and a main part of the elevator control device according to the present invention that generates a control signal (three-phase voltage command) to the power converter.
- FIG. 2 is a diagram showing the configuration of the control system of the elevator system of FIG. 1 including the elevator control apparatus according to Embodiment 1 of the present invention.
- a power converter 8 composed of, for example, an inverter provided in the control panel 7 (in some cases, outside) is provided with variable voltage and variable A frequency (VVVF) voltage is output, and the permanent magnet synchronous motor 5 is driven and controlled by the variable voltage and variable frequency voltage.
- Current sensors 9a to 9c are provided for each phase between the power converter 8 and the permanent magnet synchronous motor 5, and the phases flowing in the phases (u phase, v phase, w phase) of the permanent magnet synchronous motor 5 are provided. Detect current. Since a balanced three-phase current is generally used, current sensors may be attached to only two of the three phases (for example, the u phase and the v phase).
- the elevator control device includes, for example, a model reference controller 10, a speed controller 11, a current controller 12, an estimated speed switch 13, a magnetic pole position estimator 14, coordinate converters 15a and 15b, a load detector 16, and a magnetic pole speed estimator. 17 and a speed command determining means 19 are included. These can be constituted by, for example, one computer that has built these functions.
- the speed command determination means 19 includes a floor where the current car room 1 is located, a car call command in the car room 1, and a hall call command (shown by symbol C in FIG. 2) at the landing of each floor.
- a speed command value is determined according to the input status, and the elevator control device calculates a three-phase voltage (voltage command) to the power converter 8 according to the speed command value.
- the elevator is vector controlled by the control of the elevator controller.
- the coordinate converters 15a and 15b convert the magnetic pole angle, which is the output of the magnetic pole position estimator 14, into a vector.
- the coordinate converter 15a converts the phase current values detected by the current sensors 9a to 9c into dq coordinates orthogonal to each other, which are rotational coordinates, based on the magnetic pole angle output from the magnetic pole position estimator 14.
- the coordinate converter 15b converts the dq coordinate voltage command from the current controller 12 into a three-phase voltage command based on the magnetic pole angle of the magnetic pole position estimator 14.
- FIG. 3 shows an example of the internal structure of the model reference controller 10 when the reference model is a perfect rigid body.
- the model reference controller 10 outputs an ideal speed command ⁇ ideal and an ideal torque command ⁇ ideal with the speed command ⁇ ref, which is the output of the speed command determination means 19, as an input.
- the subtractor 10c performs subtraction between the speed command ⁇ ref and the ideal speed command ⁇ ideal from the ideal speed calculator 10b.
- the ideal torque calculator 10a calculates the ideal torque by the upper equation of the following equation (1) in order to realize the speed command ⁇ ref according to the output of the subtractor 10c based on the built-in reference model in which the elevator is regarded as a rigid model. Outputs ideal torque command ⁇ ideal.
- the ideal speed calculator 10b calculates an ideal speed according to the lower expression (1) below according to the output of the ideal torque calculator 10a, and outputs an ideal speed command ⁇ ideal.
- the model reference controller 10 calculates the torque and speed required for accelerating the elevator from the speed command and the reference model, and outputs the ideal torque command and the ideal speed command, assuming that the elevator behaves ideally as a reference model.
- K is the response speed
- Jm is the rigid body model (inertia) of the elevator.
- the reference model is not limited to a complete rigid body model, but may be a spring / mass / damper model or a finite element model.
- the estimated speed switch 13 receives the ideal speed command ⁇ ideal output from the model reference controller 10 and the estimated speed value ⁇ est from the magnetic pole speed estimator 17 and outputs one of them as an estimated speed.
- the ideal speed command ⁇ ideal of the model reference controller 10 is output when the ideal speed command ⁇ ideal of the model reference controller 10 is equal to or lower than a predetermined speed set in advance.
- the output is switched from the ideal speed command to the speed estimated value ⁇ est by the magnetic pole speed estimator 17.
- the output is switched from the speed estimated value ⁇ est of the magnetic pole speed estimator 17 to the ideal speed command ⁇ ideal of the model reference controller 10.
- the output of the estimated speed switch 13 is switched until the speed estimated value ⁇ est of the magnetic pole speed estimator 17 converges (convergence is a state where the estimation is completed without the estimated value being diverged). And the output is switched from the ideal speed command of the model reference controller 10 to the speed estimated value ⁇ est by the magnetic pole speed estimator 17 after the speed estimated value ⁇ est of the magnetic pole speed estimator 17 has converged.
- the speed controller 11 receives the ideal speed command ⁇ ideal of the model reference controller 10 and the ideal speed command ⁇ ideal or the estimated speed value ⁇ est that is the output of the estimated speed switch 13, and obtains the difference between them and the current according to this. Outputs a command.
- the load detector 16 detects, for example, the sum of the weight Wcar of the car room 1 and the weight Wpeople of the passengers by a scale device (not shown) attached in the car room 1 or the hoistway, or the car room 1
- the difference between the weight of the passenger and the weight of the passenger (Wcar + Wpeople) and the weight Wweight of the counterweight 2 (rotational moment in the permanent magnet synchronous motor 5) is detected (the weight Wweight of the counterweight 2 is stored in advance in memory (not shown))
- the torque required to hold the cab 1 in a stationary manner without falling hereinafter referred to as a stationary holding torque
- ⁇ hold is calculated and output.
- output ⁇ hold converted to current. This calculation may be performed in the load detector 16 or may be performed in the current controller 12.
- the stationary holding torque ⁇ hold is expressed by equation (2), where Rs is the radius of the sheave 4.
- the current controller 12 outputs a voltage command.
- the q-axis current which is the torque current
- the q-axis current is the sum of the ideal torque command ⁇ ideal, which is the output of the model reference controller 10, and the current command, which is the output of the speed controller 11, converted to the torque required for accelerating the cab 1 ( As ⁇ acc) (hereinafter referred to as acceleration torque), the sum of a value obtained by converting ⁇ acc into a current and a value obtained by converting a static holding torque ⁇ hold, which is the output of the load detector 16, into a current is used as a q-axis current command value.
- the q-axis voltage command Vq output from the current controller 12 is output so that the difference between the q-axis current value Iq output from the coordinate converter 15a and the q-axis current command value becomes zero.
- the q-axis current command value is a current conversion value of ( ⁇ acc + ⁇ hold).
- the difference between a predetermined d-axis current command value set in advance and the d-axis current value Id output from the coordinate converter 15a is zero.
- Is output as follows. The voltage command and current command are converted using a motor model.
- the voltage commands Vd and Vq which are the outputs of the current controller 12 are vector-converted by the coordinate converter 15b to become voltage commands Vu, Vv and Vw.
- the voltage commands Vu, Vv, and Vw are output from the elevator controller and are input to the power converter 8.
- the magnetic pole speed estimator 17 is, for example, a magnetic flux observer shown in Non-Patent Document 1 above. Using the voltage command output from the current controller 12 and the current value obtained by converting the phase current obtained by the current sensors 9a to 9c into the dq axis by the coordinate converter 15a, the position (angle) of the magnetic pole and the speed of the magnetic pole are obtained. What is estimated is an example.
- FIG. 4 shows an example of the internal structure of the magnetic pole position estimator 14.
- the magnetic pole position estimator 14 includes a stationary magnetic pole position estimator 14a, an integrator 14b, and an adder 14c.
- the magnetic pole position estimator 14 estimates the magnetic pole angle using the estimated speed output from the estimated speed switch 13 as an input.
- the magnetic pole angle refers to an angle formed with the ⁇ axis (usually made to coincide with the u phase) in the ⁇ coordinate system, which is the N pole stationary orthogonal two axes of the permanent magnet that is the rotor of the permanent magnet synchronous motor 5.
- the magnetic pole angle which is the output of the magnetic pole position estimator 14, takes ⁇ 0, which is the magnetic pole position at rest, which is the output of the stationary magnetic pole position estimator 14a, as an initial value, and the output (estimated speed) of the estimated speed switch 13 Is integrated by the integrator 14b and added by the adder 14c.
- the stationary magnetic pole position estimator 14a is disclosed in, for example, Patent Document 4 described above.
- a current having a magnitude causing magnetic saturation is caused to flow as a rotating current in the stationary coordinate system, and the stationary magnetic pole position is determined according to the voltage response. There is something to estimate.
- FIG. 5 is a diagram showing a configuration of a control system of the elevator system of FIG. 1 including an elevator control apparatus according to Embodiment 2 of the present invention.
- a d-axis current command generator 18 is added to the configuration of FIG. 1, and a d-axis current command value that is an output of the d-axis current command generator 18 is used as a d-axis current command.
- the current controller 12 outputs a d-axis voltage command Vd by using the difference between the d-axis current value Id and the d-axis current command value as an output of the coordinate converter 15a.
- the current controller 12 uses the d-axis current command value of the d-axis current command generator 18 instead of the predetermined d-axis current command value set in advance.
- the d-axis current command generator 18 obtains a d-axis current command value according to the static holding torque ( ⁇ hold) of the load detector 16.
- Feed-forward control operates as commanded if there are no errors or disturbances in parameters.
- feedforward control has a drawback that the current speed and position are unknown. Therefore, if there is an error in the estimated angle, the effective torque component of the q-axis current is reduced during coordinate conversion, the torque necessary for holding the car stationary cannot be exhibited, and the vehicle travels in reverse with respect to the speed command. Further, when the estimated angle is shifted and the demonstrating torque becomes zero, it eventually falls freely. In order to prevent this, it is considered that a positive current is supplied to the d-axis to perform feedforward control.
- the d-axis current When a positive d-axis current shown in Patent Documents 5 and 6 is passed, the d-axis current has a torque component when there is a magnetic pole shift.
- the direction of the torque component is a direction that prevents magnetic pole deviation.
- the magnitude of the torque component due to the d-axis current is proportional to the magnitude of the d-axis current and the sine of the magnetic pole deviation angle. That is, when a positive d-axis current is passed, a larger correction torque is applied when the angle deviation is large within ⁇ 90 degrees of the correct magnetic pole position, and a small correction torque is applied when the angle deviation is small.
- the current controller 12 includes a brake control unit (not shown) that controls the brake 6, and the brake control unit outputs a d-axis voltage command Vd based on the d-axis current command value determined by the d-axis current command generator 18. After the output, the q-axis voltage command Vq based on the static holding torque ⁇ hold necessary for the static holding obtained by the load detector 16 is output, and then the release command is output to the brake 6 so that the elevator can be started.
- the d-axis current command generator 18 generates a d-axis current command value that does not drop the car even when the maximum allowable load of the elevator is applied.
- the d-axis current command generator (18) outputs a d-axis current command value based on the maximum torque of the static holding torque ( ⁇ hold) of the load detector 16 during traveling.
- the d-axis current command value that is the output of the d-axis current command generator 18 outputs a d-axis current command value having the same magnitude of the d-axis current as the magnitude of the q-axis current at the assumed maximum load. To do.
- the d-axis current command generator 18 creates a d-axis current command so that the magnitude of the q-axis actual current and the magnitude of the d-axis current to be created have a predetermined relationship.
- the d-axis current command value Id_ref output from the d-axis current command generator 18 and the q-axis current command value Iq_ref that is the current command output from the speed controller 11 have a relationship represented by the following equation (3).
- the d-axis current command generator 18 outputs a d-axis current command.
- the d-axis current command generator 18 converts the sum of the static holding torque ( ⁇ hold) obtained by the load detector 16 and the acceleration torque ( ⁇ acc) described above into a current, that is, a q-axis current command. Is always output as a d-axis current command.
- the d-axis current command generator 18 converts the sum of the static holding torque ( ⁇ hold) of the load detector 16 and the ideal torque command ( ⁇ ideal) of the reference controller 10 into a current.
- the command value Id_ref is input to the current controller 12 and a voltage command is output. At this time, since the input of the speed controller 11 is always zero, the output current command of the speed controller 11 is also zero.
- the d-axis current command generator 18 includes the q-axis current command value Iq (Iq_ref) of the speed controller 11 and the load detector 16.
- Iq the static holding torque
- ⁇ ideal the ideal torque command
- Id_ref a voltage command
- the d-axis current command generator 18 may directly input each output necessary for processing from each device or, for example, the current controller 12 to which these outputs are input as shown in FIG. You may make it receive supply collectively.
- Embodiment 3 Further, in the elevator control apparatus according to Embodiment 3 of the present invention, in the elevator control apparatus of FIG. 5, the d-axis current command generator 18 generates the d-axis current during torque feedforward control and speed feedback control using the estimated speed. The command value is switched.
- the d-axis current command generator 18 switches the command value when the control is switched. That is, when the control is torque feedforward control, as shown in the second embodiment, the d-axis current command generator 18 creates a positive d-axis current command to stabilize the magnetic pole position, and switches to speed feedback control. After that, the d-axis current command is set to zero or switched to a predetermined command value.
- a predetermined command value is a constant or field weakening, and the d-axis current command is determined so that the voltage command value does not exceed the predetermined value.
- the speed controller 11, the current controller (brake control unit 12a) 12, the magnetic pole position estimator 14, and the coordinate converters 15a and 15b constitute drive command output means.
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Abstract
Description
例えば、速度指令を決定する速度指令決定手段と、前記速度指令を理想速度指令に変換するモデル規範制御器と、かご室を昇降させる永久磁石同期モータの磁極の速度推定値を推定する磁極速度推定器と、前記モデル規範制御器の理想速度指令が予め設定した所定速度以下の間は前記理想速度指令を出力し、前記所定速度を超えたら前記磁極速度推定器の速度推定値へ切替えて出力する推定速度切替器と、前記推定速度切替器が前記理想速度指令を出力している間はトルクフィードフォワード制御を行い、前記速度推定値を出力している間は速度フィードバック制御を行なう駆動指令出力手段と、を備える。
これにより、負荷を加えた状態でも静止保持及び低速での制御を安定に行なうことが可能になる。以下では、永久磁石同期モータで一般に使用されているように、回転座標系として回転子の永久磁石がつくる磁束の方向(永久磁石の中心軸の方向)をd軸とし、それと電気的、磁気的に直交する軸をq軸に設定して説明する。また以下で用いる正のd軸電流とは強め界磁を行う電流方向、負のd軸電流とは弱め界磁を行う電流方向と定義する。
図1はこの発明によるエレベータ制御装置を備えたエレベータシステムの構成の概略を示す図である。エレベータのかご室1とカウンターウェイト2は互いに主ロープ3によってつながっており、綱車4につるべ式に吊られている。綱車4は主ロープ3によりエレベータを駆動する永久磁石同期モータ5にも連結しており、かご室1は永久磁石同期モータ5の動力で昇降する。又、永久磁石同期モータ5にはブレーキ6が取り付けられており、ブレーキ6によって綱車4を制動する。ブレーキ6はかご室1を直接制動するかごブレーキでもよく、ロープを制動するロープブレーキでもよい(詳細図示省略)。制御盤7には永久磁石同期モータ5を駆動させる電力変換器や、この電力変換器への制御信号(三相電圧指令)を生成するこの発明によるエレベータ制御装置の主要部が格納されている。
(1)
ωideal=τideal/(Jm・s)
図5はこの発明の実施の形態2によるエレベータ制御装置を含む図1のエレベータシステムの制御系の構成を示す図である。図5では図1の構成にd軸電流指令作成器18が加えられ、d軸電流指令作成器18の出力であるd軸電流指令値をd軸の電流指令とする。座標変換器15aの出力であるd軸の電流値Idとd軸電流指令値の差分を入力として、電流制御器12はd軸の電圧指令Vdを出力する。すなわち電流制御器12が予め設定された所定のd軸電流指令値の代わりにd軸電流指令作成器18のd軸電流指令値を使用する。d軸電流指令作成器18は荷重検出器16の静止保持トルク(τhold)に従ってd軸電流指令値を求める。
またこの発明の実施の形態3によるエレベータ制御装置では、図5のエレベータ制御装置において、d軸電流指令作成器18がトルクフィードフォワード制御時と推定速度を用いた速度フィードバック制御時には作成するd軸電流指令値を切り替えることを特徴とする。
Claims (9)
- エレベータのかご室の速度制御をトルクフィードフォワード制御にて行うと共に、前記かご室の静止保持に必要なトルクに基づいて駆動指令を生成して、前記かご室を昇降する永久磁石同期モータをベクトル制御する駆動指令出力手段を備えたことを特徴とするエレベータ制御装置。
- 静止保持トルクを出力する荷重検出器と、
速度指令を決定する速度指令決定手段と、
前記速度指令を理想トルク指令に変換するモデル規範制御器と、
前記理想トルク指令と前記静止保持トルクとの和に基づく前記駆動指令を出力する駆動指令出力手段と、
を備えたことを特徴とする請求項1に記載のエレベータ制御装置 - 速度指令を決定する速度指令決定手段と、
前記速度指令を理想速度指令に変換するモデル規範制御器と、
かご室を昇降させる永久磁石同期モータの磁極の速度推定値を推定する磁極速度推定器と、
前記モデル規範制御器の理想速度指令が予め設定した所定速度以下の間は前記理想速度指令を出力し、前記所定速度を超えたら前記磁極速度推定器の速度推定値へ切替えて出力する推定速度切替器と、
前記推定速度切替器が前記理想速度指令を出力している間はトルクフィードフォワード制御を行い、前記速度推定値を出力している間は速度フィードバック制御を行なう駆動指令出力手段と、
を備えたことを特徴とする請求項1に記載のエレベータ制御装置。 - 速度指令を決定する速度指令決定手段と、
前記速度指令を理想速度指令に変換するモデル規範制御器と、
かご室を昇降させる永久磁石同期モータの磁極の速度推定値を推定する磁極速度推定器と、
前記磁極速度推定器の速度推定値が収束するまでは前記理想速度指令を出力し、前記速度推定値が収束した後は前記速度推定値へ切替えて出力する推定速度切替器と、
前記推定速度切替器が前記理想速度指令を出力している間はトルクフィードフォワード制御を行い、前記速度推定値を出力している間は速度フィードバック制御を行なう駆動指令出力手段と、
を備えたことを特徴とする請求項1に記載のエレベータ制御装置。 - 駆動指令出力手段がかご室を昇降させる永久磁石同期モータをベクトル制御するためのd軸電圧指令とq軸電圧指令と磁極角度推定値を駆動指令として出力し、
前記d軸電圧指令を求めるための、静止保持トルクに従ったd軸電流指令を出力するd軸電流指令作成器をさらに備えたことを特徴とする請求項1から4までのいずれか1項に記載のエレベータ制御装置。 - 駆動指令出力手段がかご室を昇降させる永久磁石同期モータをベクトル制御するためのd軸電圧指令とq軸電圧指令と磁極角度推定値を駆動指令として出力し、
前記d軸電圧指令を求めるための、走行時の最大の静止保持トルクに基づくd軸電流指令を出力するd軸電流指令作成器をさらに備えたことを特徴とする請求項1から4までのいずれか1項に記載のエレベータ制御装置。 - 駆動指令出力手段がかご室を昇降させる永久磁石同期モータをベクトル制御するd軸電流指令に基づくd軸電圧指令とq軸電流指令に基づくq軸電圧指令と磁極角度推定値を駆動指令として出力し、
前記d軸電圧指令を求めるための、q軸電流指令とd軸電流指令の比が一定となるd軸電流指令を出力するd軸電流指令作成器をさらに備えたことを特徴とする請求項1から4までのいずれか1項に記載のエレベータ制御装置。 - 駆動指令出力手段が、静止保持可能なd軸電圧指令及びq軸電圧指令を出力するまでエレベータのブレーキを開放させないブレーキ制御部を含むことを特徴とする請求項5から7までのいずれか1項に記載のエレベータ制御装置。
- d軸電流指令作成器は、推定速度を用いた速度フィードバック制御時には、指令値を切り替え磁極位置安定化のための正のd軸電流を流さないことを特徴とする請求項5から7までのいずれか1項に記載のエレベータ制御装置。
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