WO2014207830A1

WO2014207830A1 - Elevator control apparatus

Info

Publication number: WO2014207830A1
Application number: PCT/JP2013/067475
Authority: WO
Inventors: 馬場　俊行
Original assignee: 三菱電機株式会社
Priority date: 2013-06-26
Filing date: 2013-06-26
Publication date: 2014-12-31
Also published as: CN105143079A; JPWO2014207830A1; CN105143079B; JP5939358B2

Abstract

Provided is an elevator control apparatus (8) capable of determining whether a suitable current sensor (6) is used or not. The elevator control apparatus is provided with: a current controller (14) that outputs, on the basis of an inputted current command, a voltage command to a motor (2) that drives a car (4) of an elevator; a current detecting section (11) that detects a current value from a current sensor that detects a drive current flowing in the motor, said current value corresponding to the drive current; a car load detecting section (12); and a determining section (15b), which acquires a first current value detected by means of the current detecting section when the current controller outputs a voltage command corresponding to a load of the car in a state wherein the rotation of the motor is braked, and which acquires a second current value detected by means of the current detecting section when the current controller outputs the voltage command, such that the motor does not rotate in a state wherein rotation of the motor is not braked, and which determines whether the current sensor is normal or not on the basis of the first current value and the second current value.

Description

Elevator control device

This invention relates to an elevator control device.

For example, Patent Document 1 describes a motor control device used for an elevator or the like. According to the control device, torque ripple caused by the offset voltage of the current sensor can be reduced.

Japanese Unexamined Patent Publication No. 2011-61910 Japanese Patent No. 31216767

However, the control device cannot determine whether or not an appropriate current sensor is used.

This invention has been made to solve the above-mentioned problems. The objective of this invention is providing the control apparatus of the elevator which can determine whether the suitable electric current sensor is used.

An elevator control device according to the present invention detects a drive current that flows through a current controller that outputs a voltage command based on an input current command to an electric motor that drives an elevator cage by rotating. A current detection unit that detects a current value corresponding to the drive current from a current sensor that detects a load of the car, a current detection unit that detects the load of the car, and the current controller that is in a state where the rotation of the motor is braked The current controller detects a first current value detected by the current detection unit when a voltage command corresponding to a load of the motor is output, and prevents the motor from rotating in a state where braking of the rotation of the motor is released. Acquires a second current value detected by the current detector when the voltage command is output, and determines whether the current sensor is normal based on the first current value and the second current value. A determination unit, with a.

According to the present invention, it can be determined whether or not an appropriate current sensor is used.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram of the elevator system using the elevator control apparatus in Embodiment 1 of this invention. It is a figure for demonstrating the case where the current sensor of the elevator system using the elevator control apparatus in Embodiment 1 of this invention is normal. It is a figure for demonstrating the case where the current sensor of the elevator system using the elevator control apparatus in Embodiment 1 of this invention is not normal. It is a figure for demonstrating the case where the current sensor of the elevator system using the elevator control apparatus in Embodiment 1 of this invention is not normal. It is a flowchart for demonstrating operation | movement of the control block provided in the control apparatus of the elevator in Embodiment 1 of this invention. It is a flowchart for demonstrating operation | movement of the control block provided in the control apparatus of the elevator in Embodiment 2 of this invention.

DETAILED DESCRIPTION Embodiments for carrying out the invention will be described with reference to the accompanying drawings. In addition, the same code | symbol is attached | subjected to the part which is the same or it corresponds in each figure. The overlapping explanation of the part is appropriately simplified or omitted.

Embodiment 1 FIG.
1 is a configuration diagram of an elevator system using an elevator control apparatus according to Embodiment 1 of the present invention.

In FIG. 1, the input side of a converter (not shown) is connected to the output side of a power supply (not shown). An input side of a DC bus (not shown) is connected to the output side of the converter. A capacitor (not shown) is connected to the DC bus. The input side of the inverter 1 is connected to the output side of the DC bus. A hoisting machine 2 is connected to the output side of the inverter 1.

The hoisting machine 2 is provided in the upper part of a hoistway (not shown). The hoisting machine 2 includes a synchronous motor 2a, a sheave 2b, a brake 2c, and an encoder 2d.

The input side of the synchronous motor 2a is connected to the output side of the inverter 1. The sheave 2b is provided on the output shaft of the synchronous motor 2a. The brake 2c is provided on the inner peripheral side of the sheave 2b. The encoder 2d is provided in the vicinity of the synchronous motor 2a.

The suspension rope 3 is wound around the sheave 2b. A basket 4 is connected to one end of the hanging rope 3. The basket 4 is provided with a scale device 4a. A counterweight 5 is connected to the other end of the suspension rope 3. The basket 4 and the counterweight 5 are provided in the hoistway.

A current sensor 6 is connected between the inverter 1 and the synchronous motor 2a. The input side of the A / D converter 7 is connected to the output side of the current sensor 6.

The input side of the control block 8 is connected to the output side of the scale device 4a. The input side of the control block 8 is connected to the output side of the A / D converter 7. The output side of the control block 8 is connected to the gate terminal of the inverter 1.

The control block 8 includes a speed pattern generation unit 9, a braking pattern generation unit 10, a current detection unit 11, a basket load detection unit 12, a speed controller 13, and a current controller 14.

The control block 8 includes a current sensor determination block 15. The current sensor determination block 15 includes a current ratio calculation unit 15a and a current sensor determination unit 15b.

The control block 8 includes a gain setting block 16. The gain setting block 16 includes a gain storage unit 16a, a gain calculation unit 16b, and a gain setting unit 16c.

The power supply outputs AC power. As a power conversion device, the converter converts the AC power into DC power. The DC power is input to the DC bus. At this time, the capacitor removes the influence of the pulsating current or the like. The DC power is input to the inverter 1.

The inverter 1 converts the DC power into AC power as a power converter. The AC power is input to the synchronous motor 2a. The synchronous motor 2a is rotated by the AC power. The sheave 2b is rotated by the rotation. The suspension rope 3 is moved by the rotation. By the movement, the cage 4 and the counterweight 5 are raised and lowered in the hoistway.

At this time, the current sensor 6 detects the drive current flowing into the synchronous motor 2a. The drive current is A / D converted by the A / D converter 7. The A / D converter 7 outputs a current detection value corresponding to the drive current. The encoder 2d detects the rotational speed of the synchronous motor 2a. The encoder 2d outputs a speed detection value corresponding to the rotation speed. The scale device 4 a measures the load of the basket 4. The scale device 4a outputs a load detection value corresponding to the load.

The speed pattern generation unit 9 generates a speed pattern based on information on the current position of the car 4 and the next stop position. The speed pattern generation unit 9 outputs a speed command based on the speed pattern. The braking pattern generation unit 10 generates a braking pattern synchronized with the speed pattern. The braking pattern generation unit 10 outputs a braking command or a release command based on the braking pattern.

The current detection unit 11 acquires a current detection value from the A / D converter 7. The current detection unit 11 outputs a feedback current value corresponding to the current detection value. The basket load detection unit 12 acquires a load detection value from the scale device 4a. The basket load detection unit 12 outputs a current command value based on the torque corresponding to the load detection value.

The speed controller 13 acquires a speed command from the speed pattern generation unit 9. The speed controller 13 acquires a speed detection value from the encoder 2d. The speed controller 13 outputs a current command based on the speed command and the speed detection value.

The current controller 14 acquires a current command from the speed controller 13. The current controller 14 acquires a feedback current value from the current detection unit 11. The current controller 14 acquires the speed detection value from the encoder 2d. The current controller 14 acquires a current command value from the basket load detection unit 12. The current controller 14 compares the current command with the feedback current value. The current controller 14 detects the magnetic pole position of the synchronous motor 2a based on the speed detection value. The current controller 14 calculates a current command value corresponding to the acceleration / deceleration torque corresponding to the speed pattern based on the comparison result and the magnetic pole position. The current controller 14 outputs an appropriate voltage command based on a value obtained by adding the current command value from the basket load detection unit 12 to the current command value corresponding to the acceleration / deceleration torque.

The inverter 1 acquires a voltage command from the current controller 14. The inverter 1 converts DC power into AC power having an optimum variable voltage and variable frequency based on the voltage command. The synchronous motor 2a rotates in an optimal state by the AC power.

The brake 2c brakes the rotation of the sheave 2b based on the braking command from the braking pattern generation unit 10. The rotation of the synchronous motor 2a is braked by the braking. The brake 2c releases the braking of the sheave 2b based on the release command from the braking pattern generation unit 10. By the release, braking of the rotation of the synchronous motor 2a is released.

際 When the basket 4 starts to move up and down, a scale starting period and a zero speed control period are set.

制動 During the scale starting period, the braking pattern generation unit 10 outputs a braking command. In response to the braking command, the brake 2c brakes the rotation of the synchronous motor 2a. Thereafter, the door of the basket 4 is closed. Thereafter, in a state where the speed command is 0, the current controller 14 raises the voltage command based only on the current command value from the basket load detection unit 12.

In the zero speed control period, the braking pattern generation unit 10 outputs an opening command while the speed command is 0. In response to the release command, the brake 2c releases the braking of the rotation of the synchronous motor 2a. At this time, the stationary state of the cage 4 is maintained only by the driving force of the synchronous motor 2a.

When the car 4 decelerates to a stop, a zero speed control period and a scale starting period are set.

During the zero speed control period, the speed command is 0. At this time, the current controller 14 outputs a voltage command based only on the current command value from the basket load detection unit 12. In this state, the output of the braking pattern generation unit 10 is switched from the release command to the braking command. In response to the braking command, the brake 2c brakes the rotation of the synchronous motor 2a.

In the scale starting period, the current controller 14 causes the voltage command to fall based only on the current command value from the basket load detection unit 12. At this time, the cage 4 is kept stationary only by the braking force of the brake 2c. After that, the cage 4 door opens.

When the cage 4 starts to move up and down, the current detection unit 11 holds the current command value a during the scale starting period as the first current command value. The current detection unit 11 holds the current command value b in the zero speed control period as the second current command value.

The current ratio calculation unit 15a acquires the current command value a and the current command value b from the current detection unit 11. The current ratio calculation unit 15a calculates a ratio between the current command value a and the current command value b. The current sensor determination unit 15b acquires the ratio between the current command value a and the current command value b from the current ratio calculation unit 15a. The current sensor determination unit 15b determines whether or not the current sensor 6 is normal based on the ratio. If the current sensor 6 is not normal, the current sensor determination unit 15 b outputs an alert 17.

The gain storage unit 16a stores a plurality of gains in advance. The plurality of gains are set corresponding to the type of the current sensor 6. The gain calculation unit 16b acquires the ratio between the current command value a and the current command value b from the current ratio calculation unit 15a. The gain calculation unit 16b acquires the determination result of the current sensor determination unit 15b. The gain calculation unit 16b determines the type of the current sensor 6 based on the ratio from the current ratio calculation unit 15a and the determination result from the current sensor determination unit 15b. The gain calculation unit 16b selects one gain from a plurality of gains based on the type of the current sensor 6. The gain setting unit 16c corrects the feedback current value based on the gain selected by the gain calculation unit 16b.

Next, the case where the current sensor 6 is normal will be described with reference to FIG.
FIG. 2 is a diagram for explaining a case where the current sensor of the elevator system using the elevator control device according to Embodiment 1 of the present invention is normal.

The first stage of FIG. 2 is a speed command timing chart. The second stage of FIG. 2 is an acceleration command timing chart. The acceleration command corresponds to the speed command. The third stage of FIG. 2 is a current command timing chart. The current command corresponds to the torque of the synchronous motor 2a. The current command corresponds to the torque obtained by adding the torque based on the acceleration command and the torque based on the load of the car 4. The fourth stage in FIG. 2 is a timing chart of the braking command and the release command.

In the scale starting period, the current detection unit 11 acquires the same current detection value as the actual drive current value. As a result, the feedback current value becomes the same as the actual drive current value. In this case, the current controller 14 outputs a voltage command so as to maintain the current detection value. At this time, the current detection unit 11 stores a current command value a.

After that, when the zero speed control period is reached, the brake 2c is released. At this time, the torque of the synchronous motor 2a is generated without excess or deficiency. As a result, the cage 4 is kept stationary. At this time, the current detection unit 11 stores the current command value b.

In this case, “b = a” holds. At this time, the current sensor determination unit 15b determines that the current sensor 6 is normal.

Next, the case where the current sensor 6 corresponds to an inverter having a smaller capacity than the inverter 1 will be described with reference to FIG.
FIG. 3 is a diagram for explaining a case where the current sensor of the elevator system using the elevator control device according to Embodiment 1 of the present invention is not normal.

In the scale starting period, the current detection unit 11 acquires a current detection value larger than the actual drive current value. As a result, the feedback current value becomes larger than the actual drive current value. In this case, the current controller 14 outputs a voltage command so that the detected current value becomes small. As a result, the torque value of the synchronous motor 2a is smaller than the value when the current sensor 6 is normal. At this time, the current detection unit 11 stores a current command value a.

After that, when the zero speed control period is reached, the brake 2c is released. At this time, the torque of the synchronous motor 2a is insufficient. As a result, the basket 4 starts moving. At this time, the current controller 14 increases the voltage command so that the torque of the synchronous motor 2a is increased. As a result, the torque value of the synchronous motor 2a increases to a value actually required. In this case, the current detection value is larger than the value when the current sensor 6 is normal. At this time, the current detection unit 11 stores the current command value b.

For example, when the gain of the normal current sensor is 1 and the gain of the current sensor 6 is 2, “b / 2 = a” is established. At this time, the current sensor determination unit 15b determines that the current sensor 6 is not normal.

Next, a current command in the case where the current sensor 6 corresponds to an inverter having a larger capacity than the inverter 1 will be described with reference to FIG.
FIG. 4 is a diagram for explaining a case where the current sensor of the elevator system using the elevator control device according to Embodiment 1 of the present invention is not normal.

In the scale starting period, the current detection unit 11 acquires a current detection value smaller than the actual drive current value. As a result, the feedback current value becomes smaller than the actual drive current value. In this case, the current controller 14 outputs a voltage command so that the detected current value becomes large. As a result, the torque value of the synchronous motor 2a becomes larger than the value when the current sensor 6 is normal. At this time, the current detection unit 11 stores a current command value a.

After that, when the zero speed control period is reached, the brake 2c is released. At this time, the torque of the synchronous motor 2a becomes excessive. As a result, the basket 4 starts moving. At this time, the current controller 14 reduces the voltage command so that the torque of the synchronous motor 2a is reduced. As a result, the torque value of the synchronous motor 2a is reduced to the actually required value. In this case, the current detection value is smaller than the value when the current sensor 6 is normal. At this time, the current detection unit 11 stores the current command value b.

For example, when the gain of the normal current sensor 6 is 1 and the gain of the current sensor 6 is 0.5, “b = a / 2” is established. At this time, the current sensor determination unit 15b determines that the current sensor 6 is not normal.

Next, the operation of the control block 8 will be described with reference to FIG.
FIG. 5 is a flowchart for illustrating the operation of a control block provided in the elevator control apparatus according to Embodiment 1 of the present invention.

In step S1, the current detection unit 11 determines whether or not the synchronous motor 2a is activated. For example, the current detection unit 11 determines whether or not the synchronous motor 2a is started based on the gate signal of the inverter 1. If the synchronous motor 2a is not activated in step S1, the process returns to step S1. If the synchronous motor 2a is activated in step S1, the process proceeds to step S2.

In step S2, the current detection unit 11 determines whether or not a condition for holding the current command value a in the scale starting period is satisfied. Specifically, the current detection unit 11 determines whether or not the current command value is a constant value. If the current command value is not a constant value in step S2, the process returns to step S2. If the current command value is a constant value in step S2, the process proceeds to step S3.

In step S3, the current detection unit 11 stores the current command value a. Thereafter, when the scale activation period elapses, the process proceeds to step S4. In step S4, the braking pattern generation unit 10 outputs an opening command. Then, it progresses to step S5 and the electric current detection part 11 determines whether the conditions holding the electric current command value b in a zero speed control period are satisfied. Specifically, the current detection unit 11 determines whether or not the current command value is a constant value.

If the current command value is not a constant value in step S5, the process returns to step S5. If the current command value is a constant value in step S5, the process proceeds to step S6. In step S6, the current detection unit 11 stores the current command value b.

Thereafter, the process proceeds to step S7, where the current ratio calculation unit 15a calculates the ratio between the current command value a and the current command value b.

Thereafter, the process proceeds to step S8, and the current sensor determination unit 15b determines whether or not the current sensor 6 corresponds to an inverter having a smaller capacity than the inverter 1. For example, when the gain of the normal current sensor is 1 and the gain of the current sensor 6 is 2, whether the current sensor determination unit 15b satisfies the following expression (1) using the threshold width L designed in advance: Determine whether or not.

(B / 2-L) <a <(b / 2 + L) (1)

If the equation (1) is not satisfied in step S8, the process proceeds to step S9. In step S <b> 9, the current sensor determination unit 15 b determines whether or not the current sensor 6 corresponds to an inverter having a larger capacity than the inverter 1. For example, when the gain of the normal current sensor 6 is 1 and the gain of the current sensor 6 is 0.5, the current sensor determination unit 15b uses the threshold width L designed in advance to obtain the following equation (2): It is determined whether or not it is established.

(B−L) <a / 2 <(b + L) (2)

If the expression (2) is not satisfied in step S9, the process proceeds to step S10. In step 10, the current sensor determination unit 15b determines that the current sensor 6 is normal. Thereafter, the operation ends.

When the expression (1) is established in step S8, the current sensor determination unit 15b determines that the current sensor 6 corresponds to an inverter having a smaller capacity than the inverter 1. In this case, the process proceeds to step S11.

If the expression (2) is established in step S9, the current sensor determination unit 15b determines that the current sensor 6 corresponds to an inverter having a larger capacity than the inverter 1. In this case, the process proceeds to step S11.

In step S11, the current sensor determination unit 15b outputs an alert. Then, it progresses to step S12 and the control block 8 prevents the starting of an elevator. Thereafter, the operation ends.

According to the first embodiment described above, the current sensor determination unit 15b determines whether the current sensor 6 is normal based on the ratio between the current command value a in the scale starting period and the current command value b in the zero speed control period. Determine whether or not. For this reason, it is possible to easily determine whether or not the appropriate current sensor 6 is used without using a special device.

Also, if the current sensor 6 is not normal, the elevator is prevented from starting. For this reason, it is possible to prevent an excessive current from flowing to the inverter 1 instantaneously. By the prevention, it is possible to prevent the abnormal stop of the inverter 1 and the deterioration of the power conversion element of the inverter 1. By the prevention, it is possible to prevent the deterioration of the running performance of the basket 4 and the like.

Also, if the current sensor 6 is not normal, an alert is output. For this reason, when deterioration of the running performance of the basket 4 or the like occurs, it can be easily specified that the current sensor 6 is the cause among various factors. As a result, it is possible to reduce time and labor when identifying the cause of the deterioration of the running performance of the car 4 and the like.

It should be noted that the current command value a in the scale starting period is set based on the load of the car 4 detected by the car load detection unit 12. For this reason, before the adjustment of the scale device 4a performed at the time of installation of the elevator or the like is completed, the current command value a greatly deviates from the correct value. In this case, the current command value b in the zero speed control period is controlled to a value corresponding to the correct load torque so as to keep the car 4 stationary. As a result, the calculation result of the ratio between the current command value a and the current command value b greatly deviates from the correct value. In this case, it cannot be accurately determined whether or not the appropriate current sensor 6 is used. In order to accurately determine whether or not the appropriate current sensor 6 is used, the current sensor determination block 15 and the gain setting block 16 may be validated when the adjustment of the scale device 4a is completed. In this case, whether or not the appropriate current sensor 6 is used can be accurately determined based on the current command value a and the current command value b after the adjustment of the scale device 4a is completed.

Embodiment 2. FIG.
FIG. 6 is a flowchart for illustrating the operation of a control block provided in the elevator control apparatus according to Embodiment 2 of the present invention. In addition, the same code | symbol is attached | subjected to Embodiment 1 and an equivalent part, and description is abbreviate | omitted.

The operation from step S1 to step S10 is the same as the operation described in FIG. 5 of the first embodiment.

If the expression (1) is established in step S8, the process proceeds to step S13. In step S13, the gain calculator 16b calculates “conventional gain × b / a”. The gain setting unit 16c tentatively changes the output of the current detection unit 11 based on the calculation result of the gain calculation unit 16b.

Thereafter, the process proceeds to step S15, and the current sensor determination unit 15b outputs an alert. Then, it progresses to step S16 and the control block 8 continues the starting of an elevator. Thereafter, the operation ends.

If the formula (2) is established in step S9, the process proceeds to step S14. In step S14, the gain calculator 16b calculates “conventional gain × a / b”. The gain setting unit 16c tentatively changes the output of the current detection unit 11 based on the calculation result of the gain calculation unit 16b.

According to the second embodiment described above, when the current sensor 6 is not normal, the output of the current detection unit 11 is a gain based on the current command value a in the scale starting period and the current command value b in the zero speed control period. Is provisionally corrected. For this reason, the startup of the elevator can be tentatively continued during the period until the current sensor 6 is replaced while preventing the inverter 1 from being abnormally stopped and the deterioration of the power conversion element of the inverter 1.

Note that the gain of the normal current sensor 6 and the gain of the non-normal current sensor 6 are arbitrarily set. In this case, the equations (1) and (2) may be used in general according to the gain of the normal current sensor 6 and the gain of the abnormal current sensor 6. Even in this case, it can be determined whether or not the appropriate current sensor 6 is used.

Also, if necessary, a baffle may be provided at the top of the hoistway. In this case, the suspension rope 3 may be wound around the sheave 2b and the deflector. Even in this case, it can be determined whether or not the appropriate current sensor 6 is used.

Also, the elevator roping method may be arbitrarily set to “1: 1”, “2: 1”, or the like. Further, the control block 8 may be applied to an elevator other than a traction type elevator such as a hoisting machine type elevator. Even in these cases, it can be determined whether or not the appropriate current sensor 6 is used.

As described above, the elevator control device according to the present invention can be used in an elevator system that determines whether or not an appropriate current sensor is used.

1 inverter, 2 hoisting machine, 2a synchronous motor, 2b sheave, 2c brake, 2d encoder, 3 hanging rope, 4 basket, 4a weighing device, 5 counterweight, 6 current sensor, 7 A / D converter, 8 control Block, 9 speed pattern generation unit, 10 braking pattern generation unit, 11 current detection unit, 12 basket load detection unit, 13 speed controller, 14 current controller, 15 current sensor determination block, 15a current ratio calculation unit, 15b current sensor Judgment unit, 16 gain setting block, 16a gain storage unit, 16b gain calculation unit, 16c gain setting unit

Claims

A current controller that outputs a voltage command based on the input current command to an electric motor that drives the elevator car by rotating;
A current detection unit that detects a current value corresponding to the drive current from a current sensor that detects the drive current flowing in the electric motor;
A basket load detecting unit for detecting the load of the basket;
The first current value detected by the current detection unit when the current controller outputs a voltage command corresponding to the load of the basket in a state where the rotation of the motor is braked, and the rotation of the motor is braked The second current value detected by the current detection unit when the current controller outputs a voltage command so that the electric motor does not rotate in a state where the motor is opened, and the first current value and the second current are acquired. A determination unit for determining whether or not the current sensor is normal based on a value;
Elevator control device.
The elevator control device according to claim 1, wherein the determination unit outputs an alert when the current sensor is not normal.
The basket load detection unit detects a load of the basket from a weighing device provided in the basket,
The elevator control device according to claim 1 or 2, wherein the determination unit determines whether or not the current sensor is normal after the adjustment of the scale device is completed.
A gain calculation unit that calculates a gain of the current value detected by the current detection unit based on the first current value and the second current value;
With
The elevator control device according to any one of claims 1 to 3, wherein the current controller outputs a voltage command based on a current value corrected by the gain.
A gain storage unit storing a plurality of gains;
An A / D converter that A / D converts the drive current and outputs a current value corresponding to the drive current to the current detection unit based on the first current value and the second current value. A gain calculator for selecting a gain from a plurality of gains;
With
The elevator control device according to any one of claims 1 to 3, wherein the current controller outputs a voltage command based on a current value corrected by the gain.