WO2012032593A1 - エレベータの制御装置 - Google Patents
エレベータの制御装置 Download PDFInfo
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- WO2012032593A1 WO2012032593A1 PCT/JP2010/065231 JP2010065231W WO2012032593A1 WO 2012032593 A1 WO2012032593 A1 WO 2012032593A1 JP 2010065231 W JP2010065231 W JP 2010065231W WO 2012032593 A1 WO2012032593 A1 WO 2012032593A1
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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
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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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- 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
- B66B1/304—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 with starting torque control
Definitions
- This invention relates to an elevator control device.
- T (x, L) T ⁇ (L) + Tub (L) + Tcmp (x) + Tloss
- T ⁇ (L) is a torque generated during acceleration / deceleration of the elevator.
- Tub (L) is a torque generated by a deviation between the weight of the elevator car and the equipment around the car and the weight of the counterweight.
- Tcmp (x) is a torque generated by a deviation between the rope weight on the car side and the rope weight on the counterweight side based on the car position x.
- Tloss is a torque generated by friction between a roller attached to the car and a hoistway rail when the car moves.
- the present invention has been made to solve the above-described problems, and an object of the present invention is to provide an elevator control device that can appropriately perform feedforward compensation and improve the speed control performance of the elevator. That is.
- An elevator control device includes a model torque calculation unit that calculates a model torque command value of the electric motor that does not depend on the rotation speed of the electric motor based on a speed command value for the electric motor that drives the elevator,
- the storage unit storing the relationship between the speed-dependent loss torque of the electric motor that fluctuates with the fluctuation of the rotational speed and the rotational speed of the electric motor, and the detected value based on the detected value of the rotational speed of the electric motor.
- a speed-dependent loss torque calculation unit that calculates the speed-dependent loss torque value obtained, and adding the speed-dependent loss torque value related to the detected value to the model torque command value to drive the motor
- a drive torque calculation unit that calculates a torque command value for this.
- FIG. 1 is a configuration diagram of an elevator in which an elevator control apparatus according to Embodiment 1 of the present invention is used.
- a motor (electric motor) 1 is provided on the elevator hoistway (not shown).
- a sheave 2 is attached to the motor 1.
- a rope 3 is wound around the sheave 2.
- a car 4 is suspended from one end of the rope 3.
- a counterweight 5 is suspended from the other end of the rope 3. The counterweight 5 balances with the car 4 with 50% load.
- a governor 6 is provided at the upper part of the hoistway.
- a governor rope 7 is wound around the governor 6. The governor rope 7 is connected to the car 4.
- the motor 1 is connected to a motor speed detector 8.
- the motor speed detector 8 outputs a motor speed detection value corresponding to the rotation of the motor 1.
- a governor speed detector 9 is connected to the governor 6.
- the governor speed detector 9 outputs a governor speed detection value corresponding to the rotation of the governor 6.
- the car 4 is provided with a weight detection device 10.
- the weight detection device 10 outputs a weight value in the car according to the weight value of the load in the car 4.
- the motor 1 and the sheave 2 are provided with a rotating body temperature detection device 11.
- the rotating body temperature detection device 11 outputs a rotating body temperature value corresponding to the temperature of a rotating body (not shown) that rotates following the rotation of the motor 1 and the sheave 2.
- the motor speed detection value, the governor speed detection value, the car loaded weight value, and the rotating body temperature value are input to the control device body 12.
- the main control unit 13 of the control device main body 12 outputs a speed command value according to the operation of the elevator.
- the speed command value is input to the speed control unit 14 of the control device body 12.
- the speed control unit 14 of the control device body 12 calculates a torque command value (not shown) based on the speed command value, the motor speed detection value, the governor speed detection value, the car loaded weight value, and the rotating body temperature value. .
- the torque command value is input to the power converter 15.
- the power converter 15 is driven based on the torque command value.
- electric power is supplied to the motor 1.
- the motor 1 is driven by this power supply.
- the sheave 2 rotates.
- the rope 3 moves.
- the car 4 and the counterweight 5 are raised and lowered in opposite directions.
- FIG. 2 is a block diagram of the speed control unit of the elevator control apparatus according to Embodiment 1 of the present invention.
- the speed control unit 14 includes a model torque calculation unit 16 and a torque compensation unit 17.
- the model torque calculation unit 16 includes a first subtracter 18, a gain multiplier 19, an inertia multiplier 20, and an integrator 21.
- the gain multiplier 19 multiplies the calculated value of the first subtracter 18 by the proportional gain K to calculate the model torque command value T ⁇ (L).
- the inertia multiplier 20 multiplies the model torque command value T ⁇ (L) by the reciprocal of the model inertia J from an inertia calculation unit (not shown).
- the integrator 21 integrates the calculated value of the inertia multiplier 20 to calculate a model speed command value.
- the model torque calculator 16 also functions as a model speed calculator that calculates the model speed command value.
- the speed command value V * is input from the main control unit 13 to one of the input terminals of the first subtractor 18.
- the model speed command value is input from the integrator 21 to the other input terminal of the first subtractor 18.
- the first subtracter 18 calculates a difference between the speed command value V * and the model speed command value. For this reason, the gain multiplier 19 calculates the model torque command value T ⁇ (L) based on the difference calculated by the first subtracter 18.
- the model torque command value T ⁇ (L) is calculated so that the model speed command value follows the speed command value V * .
- the model torque command value T ⁇ (L) and the model speed command value do not consider various loss torques. Therefore, the final torque command value for driving the motor 1 is calculated by the torque compensator 17 in consideration of various loss torques and the like. Hereinafter, the torque compensator 17 will be described.
- the torque compensator 17 includes a second subtracter 22, a PID controller (proportional integral derivative controller) 23, a first adder 24, a first compensator (speed / temperature-dependent loss torque calculator) 25, and a second adder. 26, car position detector 27, second compensator (rope unbalance torque calculator) 28, third adder 29, third compensator (cage unbalance torque calculator) 30, fourth adder 31, 4 compensator (loss torque calculator without speed / temperature dependency) 32 and a fifth adder (drive torque calculator) 33.
- PID controller proportional integral derivative controller
- the model speed command value is input from the integrator 21 to one input terminal of the second subtractor 22.
- the motor speed detection value V is input from the motor speed detector 8 to the other input terminal of the second subtracter 22.
- the second subtracter 22 calculates the difference between the model speed command value and the motor speed detection value V.
- the calculated value of the second subtracter 22 is input to the PID controller 23.
- the PID controller 23 functions as a compensation calculation unit that calculates an error compensation torque value (not shown) by proportionally integrating and differentiating the calculated value of the second subtracter 22.
- the model torque command value T ⁇ (L) is input from the gain multiplier 19 to one input terminal of the first adder 24.
- the error compensation torque value is input from the PID controller 23 to the other input terminal of the first adder 24.
- the first adder 24 adds an error compensation torque value to the model torque command value T ⁇ (L) to calculate a preliminary torque command value (not shown).
- the motor speed detection value V is input from the motor speed detector 8 to one of the input ends of the first compensator 25.
- the rotating body temperature value ⁇ is input from the rotating body temperature detection device 11 to the other input terminal of the first compensator 25.
- the first compensator 25 is based on the motor speed detection value V and the rotating body temperature value ⁇ , and the first compensation value (speed / speed) that varies with the rotation speed of the motor 1 or the temperature of the rotating body of the motor 1 or the like.
- Temperature dependent loss torque compensation value) Tloss (V, ⁇ ) is calculated.
- the preliminary torque command value is input from the first adder 24 to one of the input terminals of the second adder 26.
- the first loss torque compensation value Tloss (V, ⁇ ) is input from the first compensator 25 to the other input terminal of the second adder 26.
- the second adder 26 calculates the first torque command value (not shown) by adding the first compensation value Tloss (V, ⁇ ) to the preliminary torque command value.
- the car position detector 27 receives the governor speed detection value V GOV from the governor speed detector 9.
- the car position detector 27 integrates the governor speed detection value V GOV to calculate the car position x.
- the information on the car position x is input from the car position detector 27 to the second compensator 28.
- the second compensator 28 based on the car position x, generates a second compensation value (rope unbalanced torque compensation value) Tcmp (the rope 3 weight on the car 4 side and the rope 3 weight on the counterweight 5 side). x) is calculated.
- the first torque command value is input from the second adder 26 to one of the input terminals of the third adder 29.
- the second compensation value Tcmp (x) is input from the second compensator 28 to the other input terminal of the third adder 29.
- the third adder 29 calculates a second torque command value (not shown) by adding the second compensation value Tcmp (x) to the first torque command value.
- the third load compensator 30 is input with the car loaded weight value L from the weight detection device 10.
- the third compensator 30 calculates an unbalanced weight value that is the difference between the weight value L in the car and the weight value of the counterweight 5.
- the third compensator 30 calculates a third compensation value (unbalance torque compensation value) Tub (L) based on the unbalance weight value.
- the second torque command value is input from the third adder 29 to one of the input terminals of the fourth adder 31.
- the third compensation value Tub (L) is input from the third compensator 30 to the other input terminal of the fourth adder 31.
- the fourth adder 31 calculates a third torque command value (not shown) by adding the third compensation value Tub (L) to the second torque command value.
- the fourth compensator 32 calculates a fourth compensation value Tloss that does not depend on the rotational speed of the motor 1 or the temperature of the rotating body of the motor 1 or the like.
- the third torque command value is input from the fourth adder 31 to one input terminal of the fifth adder 33.
- the fourth compensation value Tloss is input from the fourth compensator 32 to the other input terminal of the fifth adder 33.
- the fifth adder 33 calculates the final torque command value by adding the fourth compensation value Tloss to the third torque command value.
- the final torque command value is output toward the power converter 15.
- T (x, L) T ⁇ (L) + Tub (L) + Tcmp (x) + Tloss + Tloss (V, ⁇ ) (1)
- the first compensation value Tloss (V, ⁇ ) can be ignored. Therefore, if the rotational speed of the motor 1 is decreased, the model torque command value T ⁇ (L), the second compensation value Tcmp (x), and the third compensation are performed in a method equivalent to the method described in Japanese Patent No. 4230139.
- the value Tub (L) and the fourth compensation value Tloss can be calculated.
- the first compensation value Tloss (V, ⁇ ) cannot be ignored in an ultra-high speed elevator or a large capacity elevator. For this reason, it is necessary to appropriately calculate the first compensation value Tloss (V, ⁇ ).
- a method of obtaining the first compensation value Tloss (V, ⁇ ) will be described with reference to FIG.
- FIG. 3 is a diagram for explaining a loss torque compensation value used in the elevator control apparatus according to Embodiment 1 of the present invention.
- the horizontal axis in FIG. 3 represents the rotating body temperature.
- the vertical axis in FIG. 3 is the loss torque.
- the loss torque that fluctuates with the fluctuation of the rotation speed of the motor 1 may be a bearing loss of a rotating body such as the motor 1 or the sheave 2. Further, a loss due to friction between the sheave 2 and the rope 3 can be considered. On the other hand, as the loss torque that fluctuates with the fluctuation of the rotating body temperature, a loss torque corresponding to the stirring resistance of viscous components such as grease used for the rotation of the rotating body can be considered.
- the elevator is driven, and the relationship between the rotor temperature and the loss torque for each elevator speed is collected.
- This relationship is stored in a storage unit (not shown) of the first compensator 25.
- the motor speed detection value V and the rotating body temperature value ⁇ are input, and the first compensation value Tloss (V, ⁇ ) is calculated. Based on this calculation result, the speed-dependent loss torque component and the temperature-dependent loss torque component of the motor 1 are compensated as feed-forward components.
- the final torque command value is obtained by adding the speed-dependent loss torque compensation value to the model torque command value.
- the feedforward compensation can be appropriately performed to improve the speed control performance of the motor 1. That is, it is difficult for the motor 1 to have excessive or insufficient torque, and the speed deviation component of the motor 1 is reduced.
- the error compensation torque value is also added to the final torque value.
- the speed deviation component of the motor 1 is small. For this reason, it is possible to prevent an elevator start shock and a speed overshoot during acceleration / deceleration. As a result, the riding comfort of the elevator can be improved.
- the temperature dependent loss torque compensation value is added to the final torque command value. For this reason, the speed control performance of the motor 1 can be further improved. Thereby, the riding comfort of the elevator can be further improved.
- FIG. FIG. 4 is an elevator configuration diagram in which the elevator control apparatus according to Embodiment 2 of the present invention is used.
- symbol is attached
- Embodiment 1 the rotator temperature is detected using the rotator temperature detector 11.
- Embodiment 2 the rotating body temperature is estimated without using the rotating body temperature detection device 11.
- FIG. 5 is a block diagram of a speed control unit of the elevator control apparatus according to Embodiment 2 of the present invention. As shown in FIG. 5, in the second embodiment, a rotating body temperature estimator 34 is provided. The rotator temperature estimator 34 estimates the rotator temperature value ⁇ using the fact that the temperature of the viscous component in the rotator varies depending on the work of the elevator.
- FIG. 6 is a diagram for explaining a rotating body temperature estimator used in the speed control unit of the elevator control apparatus according to Embodiment 2 of the present invention.
- the rotating body temperature estimator 34 includes an absolute value calculator 35 and a first-order lag filter 36.
- the absolute value calculator 35 receives the detected motor speed value V.
- the absolute value calculator 35 calculates the absolute value of the detected motor speed value V.
- the absolute value of the motor speed detection value V is input to the primary delay filter 36 from the absolute value calculator 35.
- the first-order lag filter 36 calculates an estimated value of the rotating body temperature value ⁇ based on the absolute value of the detected motor speed value V, the proportionality constant K 1 , and the time constant T 1 .
- the proportionality constant K 1 and the time constant T 1 are determined in consideration of the thermal time constant of the viscous component of the rotating body.
- the temperature-dependent loss torque compensation value can be calculated without using the rotating body temperature detection device 11. For this reason, an apparatus structure can be simplified.
- FIG. FIG. 7 is a diagram for explaining a rotating body temperature estimator used in a speed control unit of an elevator control apparatus according to Embodiment 3 of the present invention.
- symbol is attached
- the input to the rotating body temperature estimator 34 is the motor speed detection value V.
- the input to the rotating body temperature estimator 34 is a final torque command value.
- the setting of the primary delay filter 37 is different from the setting of the primary delay filter 36 of the second embodiment.
- a proportional constant K 2 and a time constant T 2 are set in the first-order lag filter 37. These constants are also determined in consideration of the thermal time constant of the viscous component of the rotating body.
- the temperature-dependent loss torque compensation value can be calculated without using the rotating body temperature detection device 11 as in the second embodiment. For this reason, an apparatus structure can be simplified.
- FIG. FIG. 8 is an elevator configuration diagram in which the elevator control apparatus according to Embodiment 4 of the present invention is used.
- symbol is attached
- the elevator according to the fourth embodiment is obtained by adding a heat source 38 to the elevator according to the first embodiment.
- the heat source 38 is provided in the vicinity of a rotating body such as the motor 1.
- FIG. 9 is a flowchart for illustrating functions of the elevator control apparatus according to Embodiment 3 of the present invention.
- step S1 a rotational temperature value is collected. Then, it progresses to step S2 and it is determined whether a rotary body temperature value is less than a regulation value. When the rotating body temperature is equal to or higher than the specified value, the operation ends.
- step S3 the drive command for the heat source 38 is turned ON.
- the heat source 38 is driven by this command. By this driving, the rotating body temperature rises.
- step S4 it is determined in step S4 whether or not the elevator is at rest. If the elevator is not at rest, the operation ends. On the other hand, when the elevator is at rest, the process proceeds to step S5. In step S5, an elevator start command is output and the operation ends.
- the speed command value corresponding to this start command is output. Based on this speed command value, the speed control unit 14 outputs a final torque command value. Based on this final torque command value, the power converter 15 drives the motor 1. Following this drive, the rotating body rotates. Due to this rotation, the rotating body temperature rises.
- the rotator temperature rises when the rotator temperature value is less than the specified value. For this reason, the stirring resistance of the viscous component utilized for a rotating body falls. Due to this decrease, the loss torque of the motor 1 can be reduced. As a result, the output of the motor 1 can be reduced. For this reason, the motor 1 having a small capacity can be used even when the ambient temperature of the elevator machine room or the like is low.
- the elevator control apparatus according to the present invention can be used for an elevator that improves speed control performance.
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Abstract
Description
T(x、L)=Tα(L)+Tub(L)+Tcmp(x)+Tloss
図1はこの発明の実施の形態1におけるエレベータの制御装置が利用されるエレベータの構成図である。
図2はこの発明の実施の形態1におけるエレベータの制御装置の速度制御部のブロック図である。
図2に示すように、速度制御部14は、モデルトルク演算部16とトルク補償部17とを備える。
モデルトルク演算部16は、第1減算器18、ゲイン乗算器19、イナーシャ乗算器20、積分器21を備える。
T(x、L)=Tα(L)+Tub(L)+Tcmp(x)
+Tloss+Tloss(V、θ) (1)
図3の横軸は回転体温度である。図3の縦軸はロストルクである。
図4はこの発明の実施の形態2におけるエレベータの制御装置が利用されるエレベータの構成図である。なお、実施の形態1と同一又は相当部分には同一符号を付して説明を省略する。
図5に示すように、実施の形態2においては、回転体温度推定器34が設けられる。回転体温度推定器34は、回転体内の粘性成分の温度がエレベータの仕事量に依存して変動することを利用して、回転体温度値θを推定する。
回転体温度推定器34は、絶対値計算器35と1次遅れフィルタ36とを備える。
図7はこの発明の実施の形態3におけるエレベータの制御装置の速度制御部に利用される回転体温度推定器を説明するための図である。なお、実施の形態2と同一又は相当部分には同一符号を付して説明を省略する。
図8はこの発明の実施の形態4におけるエレベータの制御装置が利用されるエレベータの構成図である。なお、実施の形態1と同一又は相当部分には同一符号を付して説明を省略する。
実施の形態4のエレベータは、実施の形態1のエレベータに熱源38を付加したものである。熱源38は、モータ1等の回転体近傍に設けられる。
図9はこの発明の実施の形態3におけるエレベータの制御装置の機能を説明するためのフローチャートである。
まず、ステップS1では、回転温度値が採取される。その後、ステップS2に進み、回転体温度値が規定値未満か否かが判定される。回転体温度が規定値以上の場合は、動作が終了する。
2 シーブ
3 ロープ
4 かご
5 釣合おもり
6 ガバナ
7 ガバナロープ
8 モータ速度検出器
9 ガバナ速度検出器
10 重量検出装置
11 回転体温度検出装置
12 制御装置本体
13 主制御部
14 速度制御部
15 電力変換器
16 モデルトルク演算部
17 トルク補償部
18 第1減算器
19 ゲイン乗算器
20 イナーシャ乗算器
21 積分器
22 第2減算器
23 PID制御器
24 第1加算器
25 第1補償器
26 第2加算器
27 かご位置検出器
28 第2補償器
29 第3加算器
30 第3補償器
31 第4加算器
32 第4補償器
33 第5加算器
34 回転体温度推定器
35 絶対値計算器
36、37 1次遅れフィルタ
38 熱源
Claims (6)
- エレベータを駆動する電動機に対する速度指令値に基づいて、前記電動機の回転速度に依存しない前記電動機のモデルトルク指令値を演算するモデルトルク演算部と、
前記電動機の回転速度の変動に伴って変動する前記電動機の速度依存性ロストルクと前記電動機の回転速度との関係を記憶した記憶部と、
前記電動機の回転速度の検出値に基づいて、前記検出値に関係付けられた前記速度依存性ロストルク値を演算する速度依存性ロストルク演算部と、
前記モデルトルク指令値に、前記検出値に関係付けられた前記速度依存性ロストルク値を加算して、前記電動機を駆動するためのトルク指令値を演算する駆動トルク演算部と、
を備えたことを特徴とするエレベータの制御装置。 - 前記速度指令値に基づいて、前記電動機の回転速度に依存しない前記電動機のモデル速度指令値を演算するモデル速度演算部と、
前記モデル速度指令値と前記電動機の回転速度の検出値との差に基づいて、誤差補償トルク値を演算する補償演算部と、
を備え、
前記モデルトルク演算部は、前記モデル速度指令値が前記速度指令値に追従するように、前記モデルトルク指令値を演算し、
前記駆動トルク演算部は、前記モデルトルク指令値に、前記誤差補償トルク値を加算して、前記トルク指令値を演算することを特徴とする請求項1記載のエレベータの制御装置。 - 前記電動機の回転に追従して回転する回転体の温度を検出する温度検出装置と、
前記回転体の温度の値に基づいて、前記回転体に利用される粘性成分の温度変動に伴って変動する前記電動機の温度依存性ロストルク値を演算する温度依存性ロストルク演算部と、
を備え、
前記駆動トルク演算部は、前記モデルトルク指令値に、前記温度依存性ロストルク値を加算して、前記トルク指令値を演算することを特徴とする請求項1又は請求項2に記載のエレベータの制御装置。 - 前記電動機の回転速度の検出値に基づいて、前記電動機に追従して回転する回転体の温度を推定する推定部と、
前記回転体の温度の値に基づいて、前記回転体に利用される粘性成分の温度変動に伴って変動する前記電動機の温度依存性ロストルク値を演算する温度依存性ロストルク演算部と、
を備え、
前記駆動トルク演算部は、前記モデルトルク指令値に、前記温度依存性ロストルク値を加算して、前記トルク指令値を演算することを特徴とする請求項1又は請求項2に記載のエレベータの制御装置。 - 前記回転体の温度の値が規定値未満の場合に、前記回転体を温める熱源を備えたことを特徴とする請求項2~請求項4のいずれかに記載のエレベータの制御装置。
- 前記電動機が停止しているときに前記回転体の温度の値が規定値未満の場合に、前記電動機を駆動させる主制御部を備えたことを特徴とする請求項2~請求項5のいずれかに記載のエレベータの制御装置。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/813,966 US9242833B2 (en) | 2010-09-06 | 2010-09-06 | Control device of elevator |
KR1020137008839A KR101461349B1 (ko) | 2010-09-06 | 2010-09-06 | 엘리베이터의 제어 장치 |
PCT/JP2010/065231 WO2012032593A1 (ja) | 2010-09-06 | 2010-09-06 | エレベータの制御装置 |
JP2012532748A JP5737292B2 (ja) | 2010-09-06 | 2010-09-06 | エレベータの制御装置 |
CN201080068926.4A CN103079978B (zh) | 2010-09-06 | 2010-09-06 | 电梯控制装置 |
EP10856943.5A EP2615053B1 (en) | 2010-09-06 | 2010-09-06 | Control device for elevator |
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PCT/JP2010/065231 WO2012032593A1 (ja) | 2010-09-06 | 2010-09-06 | エレベータの制御装置 |
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US (1) | US9242833B2 (ja) |
EP (1) | EP2615053B1 (ja) |
JP (1) | JP5737292B2 (ja) |
KR (1) | KR101461349B1 (ja) |
CN (1) | CN103079978B (ja) |
WO (1) | WO2012032593A1 (ja) |
Families Citing this family (6)
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CN102459048A (zh) * | 2009-06-08 | 2012-05-16 | 三菱电机株式会社 | 电梯的控制装置 |
KR102176580B1 (ko) * | 2013-06-24 | 2020-11-09 | 삼성전자주식회사 | 영구자석 동기 전동기의 마찰 토크를 보상하는 방법 및 장치. |
CN107108151B (zh) | 2015-01-13 | 2019-02-12 | 三菱电机株式会社 | 电梯控制装置 |
DE102017008380A1 (de) | 2016-09-22 | 2018-03-22 | Sew-Eurodrive Gmbh & Co Kg | System, umfassend einen ersten Wechselrichter und einen zweiten Wechselrichter |
US10407274B2 (en) * | 2016-12-08 | 2019-09-10 | Mitsubishi Electric Research Laboratories, Inc. | System and method for parameter estimation of hybrid sinusoidal FM-polynomial phase signal |
CN108931950B (zh) * | 2018-08-02 | 2021-03-05 | 重庆市联康科技发展有限公司 | 一种儿童摇摇车的安全智能控制方法 |
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- 2010-09-06 JP JP2012532748A patent/JP5737292B2/ja active Active
- 2010-09-06 KR KR1020137008839A patent/KR101461349B1/ko active IP Right Grant
- 2010-09-06 US US13/813,966 patent/US9242833B2/en not_active Expired - Fee Related
- 2010-09-06 WO PCT/JP2010/065231 patent/WO2012032593A1/ja active Application Filing
- 2010-09-06 CN CN201080068926.4A patent/CN103079978B/zh active Active
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Also Published As
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US20130126276A1 (en) | 2013-05-23 |
EP2615053A1 (en) | 2013-07-17 |
KR20130065708A (ko) | 2013-06-19 |
JPWO2012032593A1 (ja) | 2013-12-12 |
US9242833B2 (en) | 2016-01-26 |
JP5737292B2 (ja) | 2015-06-17 |
EP2615053A4 (en) | 2017-08-23 |
CN103079978A (zh) | 2013-05-01 |
CN103079978B (zh) | 2015-01-07 |
EP2615053B1 (en) | 2018-08-08 |
KR101461349B1 (ko) | 2014-11-13 |
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