WO2014034461A1 - エレベータの制御装置およびエレベータの制御方法 - Google Patents
エレベータの制御装置およびエレベータの制御方法 Download PDFInfo
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- WO2014034461A1 WO2014034461A1 PCT/JP2013/072078 JP2013072078W WO2014034461A1 WO 2014034461 A1 WO2014034461 A1 WO 2014034461A1 JP 2013072078 W JP2013072078 W JP 2013072078W WO 2014034461 A1 WO2014034461 A1 WO 2014034461A1
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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
- B66B1/308—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 AC powered elevator drive
Definitions
- the present invention relates to an elevator control device and an elevator control method capable of stably reducing start-up shock and car rollback at the start of elevator travel.
- a car and a counterweight are suspended in a vine shape via a drive sheave.
- a rope-type elevator car When such a rope-type elevator car is stationary, it is held stationary by a brake, and at the start of running (starting up), the brake is released and the drive sheave is rotated by an electric motor to raise and lower the car. .
- an unbalanced load amount equivalent to the weight difference from the car and the counterweight is transmitted to the motor as the brake is released. Therefore, if the brake is released while the torque of the motor is zero, a start shock or a rollback of the car may occur due to a delay in control response.
- a start control method is generally used in which the load of the car is detected, a torque that cancels the unbalanced load is generated by the electric motor, and then the brake is released. ing.
- the brake coil current is controlled to gradually reduce the braking torque of the brake, and further, the speed detector detects the movement of the car.
- a control apparatus which adds the offset amount based on the motion of the detected cage with respect to the torque current command value of an electric motor (for example, refer patent document 3).
- the unbalance load is large or the unbalance load is small, even if the control response is sufficiently high to reduce the start shock, the speed of the car will be zero after start.
- the change in pulse was small, so the command value was likely to become unstable.
- the case where the unbalanced load is large here means that the car is loaded almost empty or is full.
- the case where the unbalanced load is small means that the loaded car is balanced. It means a state close to the weight of the weight.
- the present invention has been made in order to solve the above-described problems.
- the response speed of the control response at startup is sufficiently high regardless of the magnitude of the unbalanced load amount and the oscillation of the torque current command value.
- An elevator control apparatus is an elevator control apparatus that moves an elevator car up and down by controlling an elevator drive unit having an electric motor and a brake that brakes / releases the rotation of the electric motor. In the start-up period from the first time corresponding to the time when the brake is released through the second time to the third time, the first shock and the rollback caused by releasing the brake are reduced.
- the second torque current command value is generated and the second torque current command And an offset current corresponding to the unbalanced load amount based on the first torque current command value during the period from the second time to the third time.
- a car load estimating unit that calculates a command value is further provided, and the second control system is configured to control a torque period command value generated by itself from a start period control by the first control system to a steady period by the second control system.
- the elevator drive unit is controlled by generating a second torque current command value as a value obtained by adding the offset current command value calculated by the car load estimation unit as an initial value. .
- the elevator control method is an elevator control method for moving an elevator car up and down by controlling an elevator drive unit having an electric motor and a brake for braking and releasing the rotation of the electric motor.
- the start shock and the rollback caused by releasing the brake are reduced.
- the first control step of generating the first torque current command value and controlling the elevator driving unit based on the first torque current command value and in the steady period after the third time has elapsed, the start shock and As control during steady operation without considering reduction of rollback, a second torque current command value is generated, and the second torque current command value is generated.
- a second control step for controlling the elevator drive unit based on the current command value, and in the period from the second time to the third time, the unbalanced load amount is determined based on the first torque current command value.
- the car load estimation step for calculating the corresponding offset current command value is further provided, and the start executed in the first control step with respect to the torque current command value generated in the second control step in the second control step.
- the elevator drive unit is controlled by generating a torque current command value.
- the first control system generates the first torque current command value during the startup period when the elevator is started, and the steady period after the startup period has elapsed.
- the second control system adds, as an initial value, an offset current command value corresponding to the unbalanced load amount calculated by the car load estimation unit when the control system is switched to the torque current command value generated by itself.
- the elevator driving unit can be controlled by generating the second torque current command value as the obtained value.
- FIG. 1 is a configuration diagram illustrating an elevator control device 200 according to Embodiment 1 of the present invention.
- FIG. 1 shows a car 10, a counterweight 20, a suspension 30, a drive sheave 40, an elevator driving unit 100, and an elevator control device 200.
- the elevator drive unit 100 includes an electric motor 101, a brake 102, a brake control unit 103, a speed detector 104, an inverter 105, a drive signal generation unit 106, an AC power source 107, a converter 108, a smoothing capacitor 109, and a current detector 110. Prepare.
- the elevator control device 200 includes a speed command generation unit 201, a speed calculation unit 202, a first speed control unit 203, a second speed control unit 204, a first switching unit 205, a car load estimation unit 206, a first 2 switching unit 207 and current control unit 208.
- the car 10 and the counterweight 20 are suspended from the drive sheave 40 via the suspension part 30.
- the suspension unit 30 includes, for example, a plurality of ropes or a plurality of belts.
- the electric motor 101 included in the elevator driving unit 100 drives the driving sheave 40 to raise and lower the car 10.
- the brake control unit 103 performs operation control of braking and braking release of the brake 102.
- the brake 102 is composed of, for example, a disc brake or a drum brake. Further, while the elevator car 10 is stopped, the brake 102 is in a braking state. In addition, when the elevator is activated, the brake 102 is in a brake release state (release state).
- the speed detector 104 is connected to the electric motor 101 and outputs a signal corresponding to the rotation speed of the electric motor 101 to the speed calculation unit 202.
- a detector such as an encoder or a resolver is used as the speed detector 104, and these detectors output a pulse or a voltage corresponding to the rotational speed.
- the inverter 105 outputs a drive voltage to the electric motor 101 in order to drive the electric motor 101.
- a PWM inverter is used as the inverter 105.
- the drive signal generator 106 generates a drive signal for the inverter 105 to output a drive voltage.
- AC power supply 107 outputs an AC voltage to converter 108.
- Converter 108 converts the AC voltage input from AC power supply 107 to DC, and outputs the DC voltage smoothed by smoothing capacitor 109 to inverter 105.
- the current detector 110 detects the motor current and outputs it to the current control unit 208.
- the elevator control device 200 in a conventional elevator control device, if the control gain is increased in order to increase the response speed of a control system such as speed control, it becomes unstable during low-speed running.
- the elevator control device of the present invention includes a control system used in the starting period and a control system used in the subsequent steady period, and further includes a car load estimation unit 206. With such a configuration, it is possible to increase the control gain in order to increase the response speed in the start period, stably reduce the start shock and rollback, and consider the unbalanced load amount, It has the technical feature that the stability of the speed control system in the steady period can be secured.
- the speed command generator 201 provided in the elevator control device 200 outputs a speed command value ⁇ * obtained by converting the traveling speed pattern of the car 10 to the rotational speed of the electric motor 101. Further, when the elevator is activated, the speed command generation unit 201 outputs a speed command value (usually zero) for holding the car 10 stationary before the brake 102 is released.
- the speed calculation unit 202 calculates the rotation speed of the electric motor 101 based on the signal input from the speed detector 104, and outputs the calculated rotation speed ⁇ (hereinafter referred to as a rotation speed calculation value ⁇ ).
- a rotation speed calculation value ⁇ since the change in the output of the speed detector 104 is small in the very low speed state including when the car 10 is stationary immediately after the elevator is started, the signal change during the calculation cycle in which the speed calculation unit 202 calculates the rotation speed also occurs. As a result, the error of the rotational speed calculation value ⁇ with respect to the actual speed and the time delay of the calculation become relatively larger than when traveling at high speed.
- the first speed control unit 203 and the second speed control unit 204 which are speed control units for controlling the rotation speed of the electric motor 101 include a speed command value ⁇ * output from the speed command generation unit 201 and a speed calculation unit. The difference from the rotational speed calculation value ⁇ output from 202 is input. Further, for example, P control, PI control, PID control or the like is used for these speed control units 203 and 204.
- the first speed control unit 203 has a response speed suitable for reducing the start shock and rollback
- the second speed control unit 204 is a response speed suitable for control during steady operation.
- These speed controllers 203 and 204 have different response speeds.
- it is assumed that the first speed control unit 203 has a larger control gain than the second speed control unit 204 and has a high response speed.
- each of the first speed control unit 203 and the second speed control unit 204 has a torque current command value iq * such that the difference between the input speed command value ⁇ * and the rotational speed calculation value ⁇ becomes zero. Is generated.
- the torque current command value iq * is obtained by converting the torque command value into a current.
- the first switching unit 205 selects one of the first speed control unit 203 and the second speed control unit 204 based on a switching command from a switching command unit (not shown). Switch over.
- the first speed control unit 203 is selected by the first switching unit 205 during the start period, and the second speed control unit 204 is selected during the steady period.
- the car load estimation unit 206 receives the torque current command value iq * output from the speed control unit selected by the first switching unit 205. Then, the car load estimation unit 206 estimates an unbalance load amount corresponding to a weight difference between the elevator car 10 and the counterweight 20 based on the input torque current command value iq *.
- the car load estimation unit 206 is configured to offset the torque current command value offset amount iq * _off (hereinafter referred to as the offset) corresponding to the estimated unbalance load amount (hereinafter referred to as the unbalanced load amount estimated value).
- Current command value iq * _off is calculated and output.
- the second switching unit 207 selects the offset current command value iq * _off output from the car load estimation unit 206 and the zero output based on a switching command from a switching command unit (not shown). I do. Here, the second switching unit 207 selects zero output in the start period and selects the output of the offset current command value iq * _off in the steady period.
- the current control unit 208 receives an addition value of the torque current command value iq * output from the speed control unit selected by the first switching unit 205 and the value selected by the second switching unit 207. Is done.
- vector control is generally used.
- the current control unit 208 that performs such vector control converts the motor current detected by the current detector 110 into the d-axis and the q-axis, the q-axis current value that contributes to the motor torque, and the input torque current.
- a voltage command value is generated so that the command value iq * matches.
- the current control unit 208 outputs the voltage command values vd * and vq * (corresponding to the d axis and the q axis) thus generated to the drive signal generation unit 106.
- the drive signal generator 106 generates a drive signal for the inverter 105 to output a drive voltage to the electric motor 101 based on the input voltage command values vd * and vq * as described above.
- the speed control system for controlling the rotational speed of the electric motor 101 by the first speed control unit 203 corresponds to the first control system, and the speed control system for the rotational speed of the electric motor 101 by the second speed control unit 204 is the second. Corresponds to the control system.
- FIG. 2 is a configuration diagram showing an example of the configuration of the car load estimation unit 206 according to Embodiment 1 of the present invention.
- the car load estimation unit 206 in FIG. 2 includes an integrator 2061, an integration time storage unit 2062, a divider 2063, and a hold circuit unit 2064.
- the integrator 2061 starts time integration of the torque current command value iq * input to the car load estimation unit 206 at the timing defined in advance after the brake 102 in FIG. .
- the integration time storage unit 2062 stores an elapsed time after the integrator 2061 starts time integration, that is, an integration time.
- timing at which the time integration is started can be specified in advance as an elapsed time after generation of a command for releasing the brake 102 from the brake control unit 103.
- the timing for starting the time integration is determined based on the amount of change in the torque current command value iq * or the torque current command value iq * when the braking torque of the brake 102 is reduced, and these values are specified values. Integration may be started at a timing exceeding. As described above, when the braking torque of the brake 102 is reduced, that is, when the time integration is started at the timing immediately after the operation of the brake shoe is started, it is shorter than the determination method as described above. Thus, it is possible to estimate the unbalance load with high accuracy.
- these values are not based on the change amount of the torque current command value iq * or the torque current command value iq * described above, but based on the value detected by the speed detector 104 or the change amount of the value detected by the speed detector 104. Integration may be started at a timing exceeding the specified value.
- the timing for starting the time integration may be determined based on the coil current of the brake 102. That is, for example, time integration may be started at a timing when the coil current of the brake 102 exceeds a predetermined threshold value.
- the time integration may be started at the timing when the change of the coil current or the coil voltage generated by the back electromotive force of the coil generated by the operation of the brake shoe is detected.
- Divider 2063 divides the time integral value of torque current command value iq * by the integration time stored in integration time storage unit 2062 (that is, averages), and outputs the division value to hold circuit unit 2064. .
- the hold circuit unit 2064 holds the division value input from the divider 2063 at a predetermined timing, and determines the division value at the time of holding as an unbalanced load amount estimated value (offset current command value iq * _off).
- a predetermined time may be stored in the integration time storage unit 2062, and the integrator 2061 may be operated for the predetermined time, or the brake 102 may be opened and closed.
- a switch for detecting the operation may be provided, and the time may be dynamically determined based on the detection state by the switch, and the integrator 2061 may be operated for the determined time.
- the timing at which the hold circuit unit 2064 holds the division value input from the divider 2063 may be determined based on a predetermined elapsed time, or a switch for detecting the opening / closing operation of the brake 102 may be set. It may be determined based on the detection state by this switch.
- the car load estimating unit 206 performs an operation of averaging the torque current command value iq * (calculating an average value of the torque current command value iq *), and thus the torque current command value iq * oscillates. Even in the state, the unbalanced load amount can be estimated with high accuracy.
- the method of dividing the time integral value of the torque current command value iq * by the integration time has been described, but the present invention is not limited to this example. Any method may be used.
- the switching command unit (not shown) includes the first switching unit 205 and the second switching unit after the operation of the hold circuit unit 2064 in the car load estimation unit 206 or in synchronization with the operation of the hold circuit unit 2064.
- a switching command is output to 207.
- the second speed control unit 204 is selectively switched from the first speed control unit 203 by the first switching unit 205 to which the switching command is input, and the offset current command calculated by the car load estimating unit 206 is selected.
- the value iq * _off is selectively switched from zero output by the second switching unit 207.
- the torque current command value iq * output from the second speed control unit 204 and the offset current command value iq * _off calculated by the car load estimation unit 206 are added.
- the second speed control unit 204 operates.
- selection switching from the first speed control unit 203 to the second speed control unit 204 is smoothly performed by the first switching unit 205 without causing a shock to the car 10.
- the control used for the second speed control unit 204 is PI control
- the value accumulated in the integrator inside the PI controller is reset when the first switching unit 205 performs selection switching. To do.
- FIG. 3 is an explanatory diagram comparing the series of operations of the elevator control device 200 according to Embodiment 1 of the present invention with and without the car load estimating unit 206.
- (1) is the rotational speed of the electric motor 101 (the speed of the car 10) at each time
- (2) is the current control unit at each time.
- the torque current command value iq * and (3) input to 208 indicate the offset current command value iq * _off calculated by the car load estimation unit 206 at each time.
- (1) is the rotational speed of the electric motor 101 (the speed of the car 10) at each time, and (2) is the current control unit 208 at each time.
- the torque current command value iq * input to is shown.
- the rotation speed of the electric motor 101 is referred to as an electric motor speed.
- the illustrated first time t1 indicates a time corresponding to the time when the brake 102 is released
- the second time t2 indicates that the car load estimation unit 206 calculates the offset current command value iq * _off (torque current command
- the time corresponding to the timing of starting the time integration of the value iq * is shown.
- the third time t3 indicates a time when the first switching unit 205 and the second switching unit 207 to which the switching command from the switching command unit is input are selectively switched.
- the starting period corresponds to the period from the first time t1 to the third time t3, and the steady period corresponds to the period after the third time t3 (period during normal operation in which a normal car lifting operation is performed). To do.
- the speed control is started, and the speed command generation unit 201 in FIG. 1 outputs a command so that the motor speed becomes zero.
- the first speed control unit 203 is selected by the first switching unit 205 based on the switching command of the switching command unit.
- the first speed control unit 203 controls the motor speed to be zero, and as a result, the torque current command value iq * output by itself increases.
- the first speed control unit 203 performs a control operation so as to reduce the startup shock and the rollback during the startup period in order to reduce the startup shock and the rollback.
- the first speed control unit 203 sufficiently increases the control response (response speed) for the purpose of sufficiently reducing the starting shock. It can be seen that the torque current command value iq * output by itself vibrates.
- the car load estimation unit 206 starts the calculation operation of the offset current command value iq * _off (time integration of the torque current command value iq *) as described above at the second time t2. Then, the car load estimation unit 206 performs an operation of averaging the torque current command value iq *, thereby reducing the influence of vibration of the torque current command value iq * and accurately estimating the unbalanced load amount.
- the second time t2 corresponds to the timing at which the integrator 2061 in FIG. 2 starts the time integration as described above.
- the car load estimating unit 206 determines the held value as the unbalanced load amount estimated value at the third time t3.
- This estimated unbalanced load amount corresponds to the offset current command value iq * _off at the third time t3 shown in (3) of FIG.
- the third time t3 corresponds to the timing at which the hold circuit unit 2064 in FIG. 2 holds as described above.
- the first switching unit 205 to which the switching command from the switching command unit is input causes the first speed control unit 203 to perform the second operation.
- the selection is switched to the speed control unit 204, and the second switching unit 207 is selectively switched from the zero output to the output of the offset current command value iq * _off.
- the second speed control unit 204 adds the offset current command value iq * _off at the third time t3 calculated by the car load estimation unit 206 as an initial value to the torque current command value iq * output by itself. As a value obtained, a torque current command value iq * is generated. Then, the generated torque current command value iq * is input to the current control unit 208.
- the second speed control unit 204 uses the offset current command value iq * _off at the third time t3 as the torque current command value iq * generated by itself. Use the initial value. Then, the second speed control unit 204 receives the input speed command value ⁇ * and the calculated rotational speed value ⁇ in the steady period after the third time t3 (period during steady operation in which a normal car lifting operation is performed). A torque current command value iq * is generated so that the difference between and becomes zero, and the control operation is performed.
- the first switching unit 205 can perform the selective switching from the first speed control unit 203 to the second speed control unit 204 smoothly without causing a shock to the car 10.
- the first switching unit 205 performs the same as described above. Assume that the selection switching is performed from the first speed control unit 203 to the second speed control unit 204.
- the initial value of the torque current command value iq * generated by the second speed control unit 204 at the time of selection switching is the torque current command value output by the first speed control unit 203 at the third time t3. It becomes the value of iq *.
- the torque generated in the motor 101 as a result is the torque that causes the car 10 to stop. Also grows. Therefore, as shown in (1) of FIG. 3B, the motor speed is not zero near the third time t3, and the car 10 starts to move.
- the second speed control unit 204 performs a control operation so that the motor speed becomes zero after the third time t3 in order to prevent the car 10 from starting to move.
- the response speed of the second speed control unit 204 is lower than that of the first speed control unit 203, it takes time until the motor speed converges to zero. Therefore, since the car 10 starts moving without being stationary, a shock is generated in the car 10 and the riding comfort is deteriorated.
- the elevator control device 200 switches to the second speed control unit 204. Depending on the switching timing, the car 10 may be shocked.
- the speed control unit can set the response speed of the control response so high that the torque current command value iq * vibrates. There wasn't.
- the elevator control apparatus 200 includes a control system used in the start period and a control system used in the subsequent steady period, and further includes a car load estimation unit 206. ing.
- the control system in the starting period is switched to the control system in the steady period, the offset current command value corresponding to the unbalanced load amount estimated by the car load estimating unit 206 is taken into consideration.
- the control gain is increased in order to increase the response speed in the start-up period, the start-up shock and rollback are stably reduced, and the unbalanced load amount is taken into account to switch to the steady period.
- the first speed control unit generates the torque current command value during the startup period when the elevator is started, and during the steady period after the startup period has elapsed.
- the second speed control unit adds, as an initial value, an offset current command value corresponding to the unbalanced load amount calculated when the car load estimation unit switches the speed control unit to the torque current command value generated by itself.
- a torque current command value is generated as the calculated value.
- a low-order filter such as a primary filter or a high-order filter can be used in addition to the configuration example shown in FIG.
- a high-order filter is used for the car load estimation unit 206, the amount of calculation increases.
- the car load estimation unit 206 uses the torque current command value iq * output from the first speed control unit 203 to estimate the unbalanced load amount, but the actual torque current detected by the current detector 110. May be used.
- the elevator control apparatus 200 is configured such that the first control system includes the first speed control unit 203 and the second control system includes the second speed control unit 204. explained.
- the speed command value is generated by the position control system included in the first control system during the start period, and the speed included in the second control system during the steady period.
- a description will be given of an elevator control device 200a in which a speed command value is output by the command generation unit 201.
- FIG. 4 is a configuration diagram showing an elevator control device 200a according to Embodiment 2 of the present invention.
- the elevator control device 200a in FIG. 4 is different from the elevator control device 200 in FIG. 1 described above, and performs position control for controlling the rotational position of the electric motor 101, and further, a position control loop is provided outside the speed control loop. It has an added configuration.
- the elevator control device 200a includes a speed command generation unit 201, a second speed control unit 204, a first switching unit 205, a car load estimation unit 206, a second switching unit 207, and a current control unit 208. Further, a speed / position calculation unit 401, a position command generation unit 402, and a position control unit 403 are provided as a position control system.
- each of the components constituting the elevator control device 200a has only two speed control units 204, and instead of the speed calculation unit 202, the electric motor A speed / position calculation unit 401 that calculates not only the rotation speed of 101 but also the rotation position is used. Further, the elevator control device 200a is newly provided with a position control system for generating a speed command value in the start period. Further, as shown in the figure, the first switching unit 205 is positioned so that selection switching between the speed command generation unit 201 and the position control unit 403 can be performed.
- the configuration shown in FIG. 4 is the same as the functional configuration described in FIG. 1 in the first embodiment except for the position control system, and thus the description thereof is omitted.
- the speed / position calculation unit 401 further has a function as a position calculation unit.
- the speed / position calculation unit 401 calculates the rotation speed and rotation position of the electric motor 101 based on the signal input from the speed detector 104, and calculates the calculated rotation speed ⁇ (rotation speed calculation value ⁇ ) and rotation position ⁇ . (Hereinafter referred to as a rotational position calculation value ⁇ ).
- the position command generation unit 402 outputs a rotational position command value ⁇ * obtained by converting the position command value of the car 10 into the rotational position command value of the electric motor 101.
- the position command generator 402 outputs a rotational position command value (usually zero) for holding the car 10 stationary before the brake 102 is released.
- the position controller 403 receives the difference between the rotational position command value ⁇ * output from the position command generator 402 and the rotational position calculated value ⁇ output from the speed / position calculator 401. Then, the position controller 403 calculates a speed command value ⁇ * such that the difference between the rotational position command value ⁇ * and the rotational position calculation value ⁇ is zero.
- the position control unit 403 uses, for example, P control, PI control, PID control, or the like.
- the first switching unit 205 selects either the position control unit 403 or the speed command generation unit 201 based on the switching command from the switching command unit ( ⁇ * set by the speed command generation unit 201 or the position control unit Selection switching is performed to select (one of ⁇ * calculated by 403). Then, the selected speed command value ⁇ * is output to the first switching unit 205.
- the position control apparatus 200a Before the elevator is started, the position control is started, and the position command generator 402 outputs a command such that the rotational position of the electric motor 101 (the position of the car 10) becomes zero (keep stationary). Further, the position control unit 403 of the position control system is selected by the first switching unit 205 before the brake 102 is released at the time of activation.
- the second speed control unit 204 receives a difference between the speed command value ⁇ * calculated by the position control unit 403 and the rotational speed calculation value ⁇ calculated by the speed / position calculation unit 401. Become. When the brake 102 is released, the second speed control unit 204 performs the same operation as in the first embodiment and outputs the torque current command value iq * during the start period.
- the car load estimation unit 206 performs the same operation control as that of the first embodiment based on the torque current command value iq * output from the second speed control unit 204 to estimate the unbalanced load amount. To do.
- the operation control after the current control unit 208 after the second speed control unit 204 outputs the torque current command value iq * is performed in the same manner as in the first embodiment. While the position control unit 403 is selected by the first switching unit 205, such operation control is performed.
- timing when the first switching unit 205 switches from the first control system including the position control unit 403 to the second control system including the speed command generation unit 201 (corresponding to the third time t3 in FIG. 3).
- selection switching from the position control unit 403 to the speed command generation unit 201 is performed.
- the speed command generation unit 201 outputs a speed command value ⁇ * in place of the position control unit 403 during a steady period after the start period has elapsed. Note that this switching timing may be defined in advance.
- the speed command value ⁇ * input to the second speed control unit 204 becomes discontinuous simply by switching. Therefore, processing is performed such that the speed command value ⁇ * before and after switching becomes a continuous value with respect to the speed command value ⁇ * output from the speed command generation unit 201 after switching. This is realized by adding an appropriate offset value to the output of the speed command generator 201 after switching so that the speed command value ⁇ * is continuous before and after switching. Alternatively, a filtering process such as a primary filter may be performed so that the speed command value ⁇ * before and after the switching becomes a continuous value.
- the second switching unit 207 operates in synchronization with the first switching unit 205, so that the second speed control unit 204 outputs the torque that it outputs.
- a torque current command value iq * is generated as a value obtained by adding an offset current command value iq * _off corresponding to the unbalanced load amount as an initial value to the current command value iq *.
- zero is output before the second switching unit 207 performs selection switching to output the offset current command value iq * _off.
- the control used for the second speed control unit 204 is PI control
- the value accumulated in the integrator inside the PI controller is reset at the time of selection switching by the first switching unit 205. To do.
- the car 10 is switched by the first switching unit 205 with the torque current command value balanced with the unbalanced load amount added.
- the switching from the position control unit 403 to the speed command generation unit 201 is performed smoothly without causing a shock.
- the selection control is switched from the position control unit 403 to the speed command generation unit 201, so that the activation is performed as in the first embodiment.
- the occurrence of shock and rollback can be stably reduced.
- the position control unit outputs the speed command value during the starting period when the elevator is started, and the speed command generating unit during the steady period after the starting period has elapsed. Outputs the speed command value, and the second speed control unit calculates the unbalanced load calculated when the car load estimation unit switches from the position control unit to the speed command generation unit with respect to the torque current command value generated by itself.
- a torque current command value is generated as a value obtained by adding an offset current command value corresponding to the amount as an initial value. This makes it possible to sufficiently speed up the response speed of the position control response at startup, regardless of the magnitude of the unbalanced load and the oscillation of the torque current command value. Can be reduced.
- the method for detecting the rotational position of the electric motor 101 is exemplified as the position control method.
- a method for directly detecting the position of the car 10 may be used.
- the configuration shown in FIG. 4 is used as the position control method, but the configuration of the first speed control unit 203 in the configuration of FIG.
- a double integral of the difference between the speed command value ⁇ * and the rotational speed calculation value ⁇ may be added.
- a cheaper elevator control device 200a can be realized.
- the elevator control apparatus 200a further includes the first speed control unit 203 according to the first embodiment, so that the single speed control unit can be replaced with the previous one.
- the number may be two as in the first mode.
- the difference between the speed command value ⁇ * output from the position control unit 403 and the rotational speed calculation value ⁇ output from the speed / position calculation unit 401 is transferred to the first speed control unit 203.
- the first speed control unit at the timing of switching from the first control system including the position control unit 403 to the second control system including the speed command generation unit 201. It may be configured to switch from 203 to the second speed control unit 204 and perform the same control operation during a steady period after the start-up period.
- Embodiment 3 FIG.
- the elevator control device 200 is described in which the response speeds of the first speed control unit 203 and the second speed control unit 204 that are selectively switched are fixed when the elevator is started.
- the elevator control device 200b capable of continuously changing the response speed of the first speed control unit 203 having a high response speed when the elevator is started. explain.
- FIG. 5 is a configuration diagram illustrating an elevator control device 200b according to Embodiment 3 of the present invention.
- the elevator control device 200b in FIG. 5 includes a speed command generation unit 201, a speed calculation unit 202, a first speed control unit 203, a second speed control unit 204, a first switching unit 205, and a car load estimation unit 206. , A second switching unit 207, a current control unit 208, and a variable gain 501.
- variable gain 501 is newly added to each part of the elevator control device 200b as compared with the elevator control device 200 shown in FIG.
- the configuration shown in FIG. 5 is the same as the functional configuration and operation described with reference to FIG. 1 in the first embodiment except for the variable gain 501, and thus the description thereof is omitted.
- variable gain 501 is located between the first speed control unit 203 and the first switching unit 205.
- the variable gain 501 is set to 1 as the initial value of the gain K, and when a trigger is input, the gain K decreases from 0 to less than 1 over time. This trigger is input to the variable gain 501 at a predetermined timing from when the brake 102 is released at the time of starting the elevator to when it is selectively switched by the first switching unit 205 and the second switching unit 207. Is done.
- the trigger may be input to the variable gain 501 in synchronization with the timing at which the brake control unit 103 releases the brake 102, or the car load estimation unit 206 may integrate the torque current command value iq * over time.
- the trigger may be input to the variable gain 501 in synchronization with the timing of starting the operation.
- FIG. 6 is an explanatory diagram of an operation example of the variable gain 501 according to the third embodiment of the present invention.
- a time tk1 indicates a time when a trigger is input to the variable gain 501.
- the time tk2 indicates the time when the gain K decreases from the initial value 1 with time and reaches a predetermined gain value KL after the time tk1.
- the predetermined gain value KL may be defined in advance.
- the value that can be taken by the gain K of the variable gain 501 is the initial value 1 until the time tk1 when the trigger is input to the variable gain 501.
- the value that the gain K can take from time tk1 to time tk2 decreases at a constant rate with time, and becomes a predetermined gain value KL at time tk2.
- the rate of decrease in the value that the gain K can take from time tk1 to time tk2 becomes slower with time than in FIG. 6A.
- the value of the gain K is smoothly decreased from the initial value 1 to the predetermined gain value KL as compared with FIG. 6A. It can be done smoothly.
- the variable gain 501 by providing the variable gain 501 and preliminarily specifying the timing of decreasing the gain K and the rate of decrease of the gain K as necessary, it is possible to arbitrarily change the response change of the control response.
- variable gain 501 can be continuously decreased at a specified rate of decrease in the response speed of the first speed control unit 203 from a predetermined timing after the brake 102 is released when the elevator is started.
- the control response of the first speed control unit 203 is set to a high response immediately after the brake 102 is released, and thereafter, the control response is gradually If (gain K) is lowered, oscillation of the control system can be mitigated.
- the unbalanced load amount can be estimated by the car load estimating unit 206 with higher accuracy.
- first speed is the same as in the third embodiment.
- a similar effect can be obtained by further providing a variable gain for continuously decreasing the response speed of the control unit 203 at a specified reduction rate.
- the response speed of the first speed control unit is determined by the variable gain at a predetermined timing and a decreasing rate after the brake is released when the elevator is started. Can be lowered continuously. As a result, not only the starting shock and rollback are stably reduced, but also the oscillation relaxation of the control system is achieved at the same time, so that more stable control can be performed.
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Abstract
Description
特許文献1、2に記載の従来技術では、速度制御系またはトルク制御系(電流制御系)の応答速度を高速にすると、起動ショックおよびロールバックを低減できる。しかしながら、指令値が不安定になりやすくなり、特に、起動時の速度が微速な領域においては、顕著となっていた。なお、ここでいう不安定になりやすいとは、振動を発生(発振)しやすくなることをいう。
図1は、本発明の実施の形態1におけるエレベータの制御装置200を示す構成図である。この図1には、かご10、釣合錘20、懸架部30、駆動シーブ40、エレベータ駆動部100、およびエレベータの制御装置200が図示されている。
先の実施の形態1では、第1制御系が第1の速度制御部203を含んで構成され、第2制御系が第2の速度制御部204を含んで構成されるエレベータの制御装置200について説明した。これに対して、本発明の実施の形態2では、始動期間においては、第1制御系に含まれる位置制御系により速度指令値が生成され、定常期間においては、第2制御系に含まれる速度指令発生部201により速度指令値が出力されるエレベータの制御装置200aについて説明する。
先の実施の形態1では、エレベータ起動時において、選択切替えされる第1の速度制御部203および第2の速度制御部204の応答速度が固定されているエレベータの制御装置200について説明した。これに対して、本発明の実施の形態3では、エレベータ起動時において、応答速度が高速である第1の速度制御部203の応答速度を連続的に変化させることのできるエレベータの制御装置200bについて説明する。
Claims (10)
- 電動機と、前記電動機の回転を制動・制動解除するブレーキとを有するエレベータ駆動部を制御することで、エレベータのかごの昇降・停止を行うエレベータの制御装置であって、
前記ブレーキの制動解除時に相当する第1時刻から第2時刻を経て、第3時刻に達するまでの始動期間においては、前記ブレーキを制動解除することによる起動ショックおよびロールバックを低減するように、第1のトルク電流指令値を生成するとともに、前記第1のトルク電流指令値に基づいて、前記エレベータ駆動部を制御する第1制御系と、
前記第3時刻を経過後の定常期間においては、前記起動ショックおよび前記ロールバックの低減を考慮しない定常運転時の制御として、第2のトルク電流指令値を生成するとともに、前記第2のトルク電流指令値に基づいて、前記エレベータ駆動部を制御する第2制御系と
を備え、
前記第2時刻から前記第3時刻までの期間において、前記第1のトルク電流指令値に基づいて、アンバランス負荷量に相当するオフセット電流指令値を算出するかご負荷推定部をさらに備え、
前記第2制御系は、自身が生成したトルク電流指令値に対して、前記第1制御系による前記始動期間の制御から、前記第2制御系による前記定常期間の制御に切り替わる前記第3時刻において、前記かご負荷推定部が算出した前記オフセット電流指令値を初期値として加算した値として、前記第2のトルク電流指令値を生成することで、前記エレベータ駆動部を制御する
エレベータの制御装置。 - 請求項1に記載のエレベータの制御装置において、
前記第1制御系は、前記電動機の回転速度を制御する速度制御部として、前記起動ショックおよび前記ロールバックを低減するのに適した応答速度を有する第1の速度制御部を含み、
前記第2制御系は、前記電動機の回転速度を制御する速度制御部として、前記第1の速度制御部と比較して低速であり、前記定常運転時の制御に適した応答速度を有する第2の速度制御部を含み、
前記第1制御系および前記第2制御系は、さらに、
前記電動機が所望の回転速度で、動作するように指令する速度指令値を出力する速度指令発生部と、
前記電動機の実際の回転速度に基づいて算出した回転速度演算値を出力する速度演算部と
を共有し、
前記第1制御系に含まれる前記第1の速度制御部は、前記始動期間において、前記速度指令発生部が出力した速度指令値と、前記速度演算部が出力した回転速度演算値との差分がゼロとなるように、前記第1のトルク電流指令値を生成し、
前記第2制御系に含まれる前記第2の速度制御部は、前記定常期間において、前記速度指令発生部が出力した速度指令値と、前記速度演算部が出力した回転速度演算値との差分がゼロとなるように、自身が生成したトルク電流指令値に対して、前記かご負荷推定部が算出した前記オフセット電流指令値を初期値として加算した値として、前記第2のトルク電流指令値を生成する
エレベータの制御装置。 - 請求項1に記載のエレベータの制御装置において、
前記第1制御系は、前記電動機が所望の回転位置に、動作するように指令する位置指令値を出力する位置指令発生部と、前記電動機の実際の回転位置に基づいて算出した回転位置演算値を出力する位置演算部と、前記位置指令発生部が出力した位置指令値と、前記位置演算部が出力した回転位置演算値との差分がゼロとなるように第1の速度指令値を出力する位置制御部とを有し、前記起動ショックおよび前記ロールバックを低減するのに適した値として前記第1の速度指令値を出力する位置制御系を含み、
前記第2制御系は、前記定常運転時において、前記電動機が所望の回転速度で動作するように指令する第2の速度指令値を出力する速度指令発生部を有し、
前記第1制御系および前記第2制御系は、さらに、
前記電動機の実際の回転速度に基づいて算出した回転速度演算値を出力する速度演算部と、
前記電動機の回転速度を速度制御する速度制御部と
を共有し、
前記第1制御系および前記第2制御系に共有して含まれる前記速度制御部は、
前記始動期間において、前記第1制御系に含まれる前記位置制御系が出力した前記第1の速度指令値と、前記速度演算部が出力した前記回転速度演算値との差分がゼロとなるように、前記第1のトルク電流指令値を生成し、
前記定常期間において、前記速度指令発生部が出力した前記第2の速度指令値と、前記速度演算部が出力した前記回転速度演算値との差分がゼロとなるように、自身が生成したトルク電流指令値に対して、前記かご負荷推定部が算出した前記オフセット電流指令値を初期値として加算した値として、前記第2のトルク電流指令値を生成する
エレベータの制御装置。 - 請求項3に記載のエレベータの制御装置において、
前記速度制御部は、
前記起動ショックおよび前記ロールバックを低減するのに適した応答速度を有し、前記始動期間において、前記第1のトルク電流指令値を生成する第1の速度制御部と、
前記第1の速度制御部と比較して低速であり、前記定常運転時の制御に適した応答速度を有し、前記定常期間において、前記第2のトルク電流指令値を生成する第2の速度制御部と
を有するエレベータの制御装置。 - 請求項2または4に記載のエレベータの制御装置において、
前記第1の速度制御部の応答速度を、あらかじめ規定したタイミングおよびあらかじめ規定した減少割合にて時間変化させる可変ゲインをさらに備える
エレベータの制御装置。 - 請求項1から5のいずれか1項に記載のエレベータの制御装置において、
前記かご負荷推定部は、入力された前記第1のトルク電流指令値に対して、前記第2時刻から前記第3時刻までの期間における、前記第1のトルク電流指令値の平均値を前記オフセット電流指令値として算出する
エレベータの制御装置。 - 請求項6に記載のエレベータの制御装置において、
前記かご負荷推定部は、入力された前記第1のトルク電流指令値に対して、前記第2時刻から前記第3時刻までの期間における時間積分を行うことによって得られる前記第1のトルク電流指令値の積分値を、前記時間積分を行った積分時間で除算することにより前記第1のトルク電流指令値の平均値を算出する
エレベータの制御装置。 - 請求項1から7のいずれか1項に記載のエレベータの制御装置において、
前記ブレーキが電磁ブレーキである場合には、前記第2時刻は、前記ブレーキのコイル電流あるいはコイル電圧があらかじめ規定した閾値を超えた時刻、または前記コイル電流あるいは前記コイル電圧の変化を検出した時刻としてあらかじめ設定される
エレベータの制御装置。 - 請求項1から7のいずれか1項に記載のエレベータの制御装置において、
前記第2時刻は、前記第1のトルク電流指令値あるいは前記第1のトルク電流指令値の変化量があらかじめ規定した閾値を超えた時刻、前記電動機の回転速度の値あるいは前記回転速度の値の変化量があらかじめ規定した閾値を超えた時刻、または前記ブレーキの制動解除動作に基づいてあらかじめ規定した時刻として設定される
エレベータの制御装置。 - 電動機と、前記電動機の回転を制動・制動解除するブレーキとを有するエレベータ駆動部を制御することで、エレベータのかごの昇降・停止を行うエレベータの制御方法であって、
前記ブレーキの制動解除時に相当する第1時刻から第2時刻を経て、第3時刻に達するまでの始動期間においては、前記ブレーキを制動解除することによる起動ショックおよびロールバックを低減するように、第1のトルク電流指令値を生成するとともに、前記第1のトルク電流指令値に基づいて、前記エレベータ駆動部を制御する第1制御ステップと、
前記第3時刻を経過後の定常期間においては、前記起動ショックおよび前記ロールバックの低減を考慮しない定常運転時の制御として、第2のトルク電流指令値を生成するとともに、前記第2のトルク電流指令値に基づいて、前記エレベータ駆動部を制御する第2制御ステップと
を備え、
前記第2時刻から前記第3時刻までの期間において、前記第1のトルク電流指令値に基づいて、アンバランス負荷量に相当するオフセット電流指令値を算出するかご負荷推定ステップをさらに備え、
前記第2制御ステップにおいて、前記第2制御ステップにて生成されたトルク電流指令値に対して、前記第1制御ステップにて実行された前記始動期間の制御から、前記第2制御ステップにて実行された前記定常期間の制御に切り替わる前記第3時刻において、前記かご負荷推定ステップにて算出された前記オフセット電流指令値を初期値として加算した値として、前記第2のトルク電流指令値を生成することで、前記エレベータ駆動部を制御する
エレベータの制御方法。
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JP2018024483A (ja) * | 2016-08-08 | 2018-02-15 | 株式会社日立製作所 | エレベーター |
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JPWO2018003500A1 (ja) * | 2016-06-30 | 2018-11-08 | 三菱電機株式会社 | エレベーターの制御装置 |
JP2018024483A (ja) * | 2016-08-08 | 2018-02-15 | 株式会社日立製作所 | エレベーター |
CN108862426A (zh) * | 2018-08-31 | 2018-11-23 | 武汉市政工程设计研究院有限责任公司 | 一种自清洁粗格栅皮带输送装置、清洁系统及清洁方法 |
CN108862426B (zh) * | 2018-08-31 | 2024-03-19 | 武汉市政工程设计研究院有限责任公司 | 一种自清洁粗格栅皮带输送装置、清洁系统及清洁方法 |
JP2020150584A (ja) * | 2019-03-11 | 2020-09-17 | 株式会社ジェイテクト | モータの制御装置 |
JP7249822B2 (ja) | 2019-03-11 | 2023-03-31 | 株式会社ジェイテクト | モータの制御装置 |
CN114644269A (zh) * | 2022-03-11 | 2022-06-21 | 上海三菱电梯有限公司 | 电梯驱动控制系统 |
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DE112013004225B4 (de) | 2019-08-01 |
JP5738491B2 (ja) | 2015-06-24 |
JPWO2014034461A1 (ja) | 2016-08-08 |
CN104520223A (zh) | 2015-04-15 |
KR101657020B1 (ko) | 2016-09-12 |
KR20150038503A (ko) | 2015-04-08 |
CN104520223B (zh) | 2016-03-09 |
DE112013004225T5 (de) | 2015-06-03 |
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