WO2023139690A1 - Dispositif de commande d'ascenseur - Google Patents

Dispositif de commande d'ascenseur Download PDF

Info

Publication number
WO2023139690A1
WO2023139690A1 PCT/JP2022/001793 JP2022001793W WO2023139690A1 WO 2023139690 A1 WO2023139690 A1 WO 2023139690A1 JP 2022001793 W JP2022001793 W JP 2022001793W WO 2023139690 A1 WO2023139690 A1 WO 2023139690A1
Authority
WO
WIPO (PCT)
Prior art keywords
control device
car
failure
upper arm
arm
Prior art date
Application number
PCT/JP2022/001793
Other languages
English (en)
Japanese (ja)
Inventor
康司 大塚
久広 和田山
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2023574943A priority Critical patent/JPWO2023139690A1/ja
Priority to PCT/JP2022/001793 priority patent/WO2023139690A1/fr
Publication of WO2023139690A1 publication Critical patent/WO2023139690A1/fr

Links

Images

Classifications

    • 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
    • B66B1/32—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on braking devices, e.g. acting on electrically controlled brakes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions

Definitions

  • the present disclosure relates to an elevator control device.
  • Patent Document 1 discloses an elevator device.
  • the elevator system is provided with a dynamic braking circuit.
  • the dynamic braking circuit is connected to the feed line to the electric motor.
  • the rescue operation switch When the rescue operation switch is operated, the electric motor and the dynamic brake circuit form a closed circuit. In this case, a rescue operation in which the car travels with unbalanced torque acting due to the difference between the weight of the car and the weight of the counterweight can be performed with the dynamic brake acting on the electric motor.
  • An object of the present disclosure is to provide an elevator control device capable of applying a dynamic brake to an electric motor with a simple configuration.
  • An elevator control device is an elevator control device that controls a synchronous electric motor that rotationally drives a sheave around which a main rope that suspends a car and a counterweight is wound, and includes an inverter unit that supplies a plurality of phases of AC voltage obtained by converting a DC voltage to the electric motor, and a control unit that controls the inverter unit. and a lower arm composed of elements, wherein the control unit turns off all the switching elements belonging to one of the upper arm and the lower arm and turns on all the switching elements belonging to the other of the upper arm and the lower arm when a rescue operation is performed in which the car is moved by the torque acting on the sheave due to the difference between the weight of the car and the weight of the counterweight.
  • the control unit when a rescue operation is performed, the control unit turns off all switching elements belonging to one of the upper arm and the lower arm and turns on all switching elements belonging to the other. Therefore, the dynamic brake can be applied to the electric motor with a simple configuration.
  • FIG. 1 is a schematic diagram of an elevator system to which an elevator control device according to Embodiment 1 is applied;
  • FIG. 1 is a diagram showing a circuit of a main part of an elevator control device according to Embodiment 1;
  • FIG. FIG. 2 is a diagram showing an overview of on-operation performed by the elevator control device according to Embodiment 1;
  • FIG. 2 is a diagram showing an overview of on-operation performed by the elevator control device according to Embodiment 1;
  • FIG. 4 is a diagram showing duty ratio values set in the elevator control device according to Embodiment 1;
  • 4 is a flow chart for explaining the outline of the operation of the elevator control device according to Embodiment 1.
  • FIG. 4 is a flow chart for explaining the outline of the operation of the elevator control device according to Embodiment 1.
  • FIG. 4 is a flow chart for explaining the outline of the operation of the elevator control device according to Embodiment 1.
  • FIG. 4 is a flow chart for explaining the outline of the operation of the elevator control device according to Embodiment 1.
  • FIG. 2 is a hardware configuration diagram of an elevator control device according to Embodiment 1.
  • FIG. 10 is a diagram showing an overview of on-operation performed by the elevator control device according to Embodiment 2; 8 is a flow chart for explaining an overview of the operation of the elevator control device according to Embodiment 2.
  • FIG. FIG. 10 is a schematic diagram of an elevator system to which an elevator control device according to Embodiment 3 is applied; 10 is a flow chart for explaining an overview of the operation of the elevator control device according to Embodiment 3.
  • FIG. 10 is a flow chart for explaining an overview of the operation of the elevator control device according to Embodiment 3.
  • FIG. 10 is a flow chart for explaining an overview of the operation of the elevator control device according to Embodiment 3.
  • FIG. 1 is a schematic diagram of an elevator system to which an elevator control device according to Embodiment 1 is applied.
  • the hoistway 1 runs through each floor of the building (not shown).
  • a machine room (not shown) is provided directly above the hoistway 1 .
  • Each of the plurality of landings 2 is provided on each floor of the building.
  • One of a plurality of landings 2 is shown in FIG.
  • the electric motor 3 is installed in the machine room.
  • the electric motor 3 is a synchronous motor.
  • the electric motor 3 has a permanent magnet rotor.
  • the electric motor 3 has a rotary shaft that rotates in synchronization with the rotor.
  • the sheave 4 is provided in the machine room.
  • the shaft of the sheave 4 is fixed coaxially with the rotary shaft of the electric motor 3 .
  • Two brakes 5 are provided adjacent to the sheave 4 . Two brakes 5 can brake the sheave 4 . In the elevator system, the number of brakes 5 may be one or three or more instead of two.
  • the main rope 6 is wound around the sheave 4.
  • the car 7 is provided inside the hoistway 1 .
  • a car 7 is suspended on one side of the main rope 6 .
  • a counterweight 8 is provided inside the hoistway 1 .
  • a counterweight 8 is suspended on the other side of the main rope 6 . That is, the cage 7 and the counterweight 8 are hung by the sheave 4 and the main rope 6 in a hanging manner.
  • the weight of the counterweight 8 is a preset weight. For example, the weight of counterweight 8 is equal to the weight of car 7 plus a value of 50% of the rated payload of car 7 .
  • the weighing device 9 is provided under the floor of the car 7.
  • a weighing device 9 can measure the weight inside the car 7 .
  • a door zone sensor 10 is provided outside the car 7 .
  • a plurality of door zone plates 11 are provided inside the hoistway 1 .
  • a plurality of door zone plates 11 are provided at height positions corresponding to a plurality of landings 2 .
  • One of a plurality of door zone plates 11 is shown in FIG.
  • the control device 12 is installed in the machine room.
  • the controller 12 is supplied with an AC voltage from a commercial power supply E.
  • Controller 12 may provide overall control of the elevator system.
  • the control device 12 includes a converter section 13 , an inverter section 14 and a control section 15 .
  • Converter unit 13 includes a converter circuit. Converter unit 13 is electrically connected to commercial power supply E. As shown in FIG. The converter unit 13 converts an AC voltage from the commercial power source E into a DC voltage. The converter unit 13 outputs a DC voltage from the bus line P on the positive side and the bus line N on the negative side. In this embodiment, the converter unit 13 outputs a DC voltage with a voltage value of Vdc .
  • the inverter section 14 is electrically connected to the converter section 13 via the bus line P and the bus line N.
  • the inverter unit 14 is a full-bridge inverter circuit.
  • the inverter unit 14 converts the DC voltage into a plurality of phase AC voltages in the bridge 16 .
  • the bridge 16 outputs AC voltages of U-phase, V-phase and W-phase. It should be noted that the bridge 16 may convert the DC voltage into AC voltage of a number of phases other than three.
  • the bridge 16 includes three legs 17. Three legs 17 correspond to the U-phase, V-phase and W-phase respectively. The three legs 17 are connected across the positive bus line P and the negative bus line N, respectively. Each of the three legs 17 includes an upper arm switch 18 and a lower arm switch 19. That is, bridge 16 includes three upper arm switches 18 and three lower arm switches 19 .
  • the three upper arm switches 18 are connected to the bus P on the positive side. Three upper arm switches 18 correspond to the U phase, V phase, and W phase, respectively.
  • Upper arm switch 18 includes a semiconductor switching element that is a switching element.
  • the upper arm switch 18 includes an IGBT (Insulated Gate Bipolar Transistor) and a feedback diode.
  • IGBT Insulated Gate Bipolar Transistor
  • a set of three upper arm switches 18 serve as the upper arm 20 of the bridge 16 .
  • the three lower arm switches 19 are connected to the bus N on the negative side.
  • the three lower arm switches 19 are connected in series with the corresponding three upper arm switches 18 between the bus P and the bus N, respectively.
  • Three lower arm switches 19 correspond to the U phase, V phase, and W phase, respectively.
  • Lower arm switch 19 includes a semiconductor switching element that is a switching element.
  • the lower arm switch 19 includes an IGBT (Insulated Gate Bipolar Transistor) and a feedback diode.
  • a set of three lower arm switches 19 serve as lower arm 21 of bridge 16 .
  • the three conductors 22 electrically connect the electric motor 3 and each of the three legs 17 .
  • Three conductors 22 are connected between the upper arm switch 18 and the lower arm switch 19 of the corresponding phase.
  • the control unit 15 is electrically connected to the two brakes 5, the weighing device 9 and the door zone sensor 10.
  • the control section 15 controls the operation of the inverter section 14 . Specifically, the control unit 15 generates a switching command for individually turning on or off the three upper arm switches 18 and the three lower arm switches 19 and transmits the switching command to the inverter unit 14 . Note that the control unit 15 may directly turn on or off the three upper arm switches 18 and the three lower arm switches 19 without creating a switching command.
  • the control device 12 controls the operation of the electric motor 3 by supplying power.
  • the converter section 13 converts the AC voltage of the commercial power source E into a DC voltage, and supplies the DC voltage to the inverter section 14 .
  • the inverter unit 14 converts the DC voltage into a three-phase AC voltage.
  • the control device 12 controls the AC voltage converted by the inverter section 14 by individually controlling the three upper arm switches 18 and the three lower arm switches 19 .
  • the inverter unit 14 supplies an AC voltage to the electric motor 3 .
  • the electric motor 3 generates torque on the rotary shaft based on the AC voltage from the inverter section 14 .
  • the electric motor 3 rotates a sheave 4 coaxially connected to the rotary shaft. That is, the control device 12 controls the rotational driving of the electric motor 3 and sheave 4 .
  • the main rope 6 moves following the rotation of the sheave 4. - ⁇
  • the car 7 and the counterweight 8 follow the movement of the main rope 6 and move up and down in opposite directions.
  • the weighing device 9 transmits information indicating the weight inside the car 7 as the weight of the passenger to the control device 12 at regular intervals.
  • the control device 12 controls the driving of the electric motor 3 and the driving of the two brakes 5 to decelerate the car 7 .
  • the control device 12 controls the electric motor 3 to reduce the value of the torque generated in the sheave 4 .
  • the controller 12 sends commands to the two brakes 5 to apply braking force to the sheave 4 .
  • Each of the two brakes 5 slows down the car 7 by creating a frictional force that stops the sheave 4 .
  • the door zone sensor 10 detects the door zone plate 11 corresponding to the landing 2.
  • Door zone sensor 10 sends a signal to controller 12 indicating that door zone plate 11 has been detected.
  • the control device 12 controls the driving of the electric motor 3 and the driving of the two brakes 5 based on the signal from the door zone sensor 10 to stop the car 7 at the landing position.
  • the car 7 transports passengers to the corresponding landing 2, which is the landing of the destination floor.
  • the electric motor 3 does not generate torque in the sheave 4 .
  • Two brakes 5 hold the sheave 4 stationary.
  • a rescue operation may be performed using the difference between the weight of the car 7 and the weight of the counterweight 8.
  • a specific failure is a failure in which voltage should not be applied to the electric motor 3 to control the rotation of the electric motor 3 .
  • rescue operation is performed because the position and speed of the car 7 cannot be controlled.
  • the rescue operation the car 7 stopped between the two landings 2 is moved to one of the landings 2 .
  • the doors of the car 7 are then opened so that the passengers can exit the car 7 .
  • An unbalanced torque due to the difference between the weight of the cage 7 and the weight of the counterweight 8 acts on the sheave 4 .
  • the weight inside the car 7, which is the weight of the load is less than 50% of the rated load weight
  • the weight of the car 7 including the main body of the car 7 and the load of the car 7 is lighter than the weight of the counterweight 8.
  • unbalanced torque acts on the sheave 4 in the direction in which the car 7 ascends.
  • the unbalanced torque also acts on the electric motor 3 via the rotating shaft.
  • the weight inside the car 7 exceeds 50% of the rated payload, the weight of the car 7 is greater than the weight of the counterweight 8 . In this case, unbalanced torque acts on the sheave 4 and the electric motor 3 in the direction in which the car 7 descends.
  • the weight of the counterweight 8 may be set equal to the sum of the weight of the car 7 and a value other than 50%, such as 40%, 45%, etc. of the rated load weight of the car 7. A similar unbalanced torque acts on the sheave 4 and the electric motor 3 also in this case.
  • the two brakes 5 release the braking sheave 4 based on the command from the control device 12 .
  • the sheave 4 is rotationally driven by unbalanced torque.
  • the car 7 moves following the rotation of the sheave 4 .
  • the control device 12 short-circuits the closed circuit including the electric motor 3 and the inverter unit 14 to cause the electric motor 3 to generate a dynamic brake.
  • the torque of the dynamic brake acts in the direction of braking the rotational motion of the sheave 4 .
  • the car 7 moves at a prescribed speed that causes passengers inside the car 7 to feel uneasy and uneasy as much as possible by the action of the unbalanced torque and the torque generated by the dynamic brake.
  • the door zone sensor 10 detects the corresponding door zone plate 11.
  • Door zone sensor 10 transmits a detection signal of door zone plate 11 to control device 12 .
  • the control device 12 stops the car 7 at the hall 2 by driving the two brakes 5 based on the detection signal.
  • FIG. 2 is a circuit diagram of a main part of the elevator control device according to the first embodiment.
  • FIG. 2 shows the state of the inverter section 14 when the electric motor 3 is dynamically braked.
  • a plurality of switching elements included in upper arm 20 are in an ON state.
  • a plurality of switching elements included in the lower arm 21 are in an off state.
  • a closed circuit may be formed between the switching element included in the lower arm 21 instead of the upper arm 20 and the electric motor 3 . That is, all switching elements included in one of the upper arm 20 and the lower arm 21 are off, and all switching elements included in the other of the upper arm 20 and the lower arm 21 are on.
  • the electric motor 3 and the inverter section 14 constitute a closed circuit indicated by a solid line. That is, the electric motor 3 and the inverter unit 14 are short-circuited in all of the U-phase, V-phase, and W-phase circuits.
  • the electric motor 3 When the rotating shaft of the electric motor 3 rotates in this state, the electric motor 3 is dynamically braked. Specifically, when the rotary shaft rotates, the permanent magnet rotor rotates in the vicinity of the coil inside the electric motor 3 . An induced electromotive force is generated in the coil based on Fleming's right-hand rule. That is, the electric motor 3 works as a generator, and an induced current flows in a closed circuit formed by the electric motor 3 and the inverter section 14 . The induced current does not flow in the circuit indicated by the dashed line, which is the circuit between the plurality of switching elements included in the lower arm 21 and the electric motor 3 . The induced current returns to the electric motor 3 via the inverter section 14 .
  • the magnitude of the rotational resistance to the rotational speed of the rotor is determined by the characteristics inherent to the electric motor 3, such as the number of windings of the coil of the electric motor 3 and the magnetic force of the rotor. Therefore, in the state of FIG. 2, the magnitude of the torque generated by the dynamic brake depends on the rotation speed of the rotor.
  • the torque of the dynamic brake increases as the rotational speed of the rotor increases.
  • the control unit 15 turns off all switching elements included in the lower arm 21 of the inverter unit 14 and turns on all switching elements included in the upper arm 20, thereby controlling the torque of the dynamic brake generated in the electric motor 3. At this time, the control unit 15 intermittently turns on all the switching elements included in the upper arm as ON operation. Namely. The control unit 15 alternately turns on and off all the switching elements included in the upper arm as the on operation. The control unit 15 controls the torque acting by the dynamic brake by performing ON operation.
  • Turning on all the switching elements included in the upper arm 20 is also referred to as “turning on the upper arm 20". Turning off all the switching elements included in the upper arm is also called “turning off the upper arm 20".
  • the lower arm 21 is also called similarly.
  • FIG. 3 is a diagram showing an outline of ON operation performed by the elevator control device according to Embodiment 1.
  • FIG. 3 is a diagram showing an outline of ON operation performed by the elevator control device according to Embodiment 1.
  • FIG. 3 is a graph showing the net torque value acting on the sheave 4 during ON operation for each time.
  • FIG. 3B is a graph showing the ON or OFF state of the UVW phase upper arm 20 at a certain time.
  • (C) of FIG. 3 is a graph showing the ON or OFF state of the lower arm 21 of the UVW phase at a certain time.
  • the lower arm 21 is in an off (OFF) state at any time.
  • the upper arm 20 is intermittently turned on as the on-operation, that is, alternately switched between the on (ON) state and the off (OFF) state.
  • the control unit 15 turns off all the switching elements included in the upper arm 20 during the period from time t0 to t1 .
  • the control unit 15 turns on the upper arm 20 at time t1 , and keeps the upper arm 20 on during the period from time t1 to t2 .
  • the control unit 15 turns off the upper arm 20 at time t2 , and keeps the upper arm 20 on during the period from time t2 to t3 .
  • the control unit 15 repeats the same operation. At this time, the control unit 15 controls the ON operation of the upper arm 20 so as to achieve a prescribed duty ratio.
  • the duty ratio is the ratio of the ON time, which is the total value of the ON state time, to the total value of the entire time.
  • the total time is the sum of the ON time and the OFF time, which is the sum of the OFF states.
  • FIG. 3B shows a case where the duty ratio is 50%.
  • the net torque value acting on the sheave 4 changes with time. Specifically, a net torque value corresponding to the unbalanced torque acts on the sheave 4 during the period from time t0 to t1 .
  • the sheave 4 is subjected to torque due to the dynamic braking of the electric motor 3 . Therefore, the net torque value acting on the sheave 4 during the period from time t1 to t2 is smaller than the torque value during the period from time t0 to t1 by the torque value due to dynamic braking.
  • a net torque value corresponding to unbalanced torque acts on the sheave 4 .
  • the net average torque value T ave in a specified time period including the time period from t0 to t4 is indicated by a dashed line.
  • the average torque value T ave is smaller than the torque value corresponding to unbalanced torque.
  • FIG. 4 is a diagram showing an outline of ON operation performed by the elevator control device according to Embodiment 1.
  • FIG. 4 is a diagram showing an outline of ON operation performed by the elevator control device according to Embodiment 1.
  • the control unit 15 controls the average torque value T ave by changing the duty ratio during ON operation. For example, the control unit 15 controls the duty ratio of the ON operation so that the average torque value Tave becomes a constant value. At this time, the controller 15 sets a duty ratio corresponding to the magnitude of the unbalanced torque. The control unit 15 controls the duty ratio so that the maximum moving speed of the car 7 in the rescue operation becomes a constant value regardless of the magnitude of the unbalance torque.
  • FIG. 4A shows ON operation when the unbalanced torque has a relatively large torque value.
  • the torque value of the unbalanced torque in FIG. 4A is greater than the torque value of the unbalanced torque in FIG.
  • the duty ratio is set to a value higher than 50%.
  • the time period from time t1 to t2 which is the ON state time, is longer than the time period from time t2 to t3 , which is the OFF state time. That is, the time during which the torque by the dynamic brake acts becomes longer than when the duty ratio is 50%. Therefore, the difference of the average torque value T ave with respect to the torque value of the unbalanced torque is larger in the case of FIG. 4A than in the case of FIG.
  • the average torque value T ave in the case of (A) in FIG. 4 becomes the same value as the average torque value T ave in the case of FIG. 3 .
  • FIG. 4B shows ON operation when the torque value of unbalanced torque is relatively small.
  • the torque value of the unbalanced torque in FIG. 4B is smaller than the torque value of the unbalanced torque in FIG.
  • the duty ratio is set to a value lower than 50%.
  • the time span from time t1 to t2 which is the ON state time, is shorter than the time span from time t2 to t3 , which is the OFF state time. That is, the time during which the torque by the dynamic brake acts becomes shorter than when the duty ratio is 50%. Therefore, the difference between the average torque value T ave and the torque value of the unbalanced torque is smaller in the case of FIG. 4A than in the case of FIG.
  • the average torque value T ave in the case of FIG. 4B becomes the same value as the average torque values T ave in the cases of FIGS. 3 and 4A.
  • FIG. 5 is a diagram showing duty ratio values set in the elevator control device according to the first embodiment.
  • FIG. 5 shows an example of the correspondence relationship between the weight inside the car 7 and the duty ratio.
  • the vertical axis is the duty ratio.
  • the horizontal axis is the weight inside the car 7 .
  • the control unit 15 stores information indicating the corresponding relationship. For example, the control unit 15 creates and stores information indicating the corresponding relationship by performing learning driving.
  • the torque value of the unbalance torque corresponds to the difference between the weight of the car 7 and the weight of the counterweight 8.
  • the weight of the counterweight 8 is a preset fixed value. That is, the torque value of the unbalance torque changes based on the weight inside the car 7 .
  • the absolute value of the torque value changes with respect to the absolute value of the difference between the weight inside the car 7 and the rated load weight of the car 7 . Therefore, the control unit 15 determines the duty ratio corresponding to the weight inside the car 7 based on the information indicating the weight inside the car 7 from the weighing device 9 .
  • FIG. 5 shows the correspondence relationship between condition A and condition B represented by line segment A and dashed line B.
  • the difference between condition A and condition B is the difference in characteristics inherent to the electric motor 3 .
  • the magnitude of the rotational resistance against the rotational speed of the electric motor 3 under condition A is smaller than the magnitude of the rotational resistance against the rotational speed of the electric motor 3 under condition B.
  • condition A the closer the weight inside the car 7 is to 50% of the rated load weight, the lower the duty ratio.
  • the line segment indicated by the correspondence has a shape that turns back at the value of 50% of the rated load weight.
  • the graph represented by the correspondence relationship may be a graph showing a higher-order function instead of a straight line.
  • FIG. 6 is a flow chart for explaining the outline of the operation of the elevator control device according to the first embodiment.
  • the operation of the flowchart shown in FIG. 6 is started when the control device 12 determines that a rescue operation is to be performed.
  • step S001 the control device 12 acquires information indicating the weight inside the car 7 from the weighing device 9.
  • the control device 12 detects the weight inside the car 7 .
  • step S002 the control device 12 selects the duty ratio corresponding to the weight inside the car 7 based on the correspondence information stored in advance. The control device 12 determines the selected duty ratio as the duty ratio used in the rescue operation.
  • control device 12 ends the operation of the flowchart. For example, after that, the control device 12 starts a rescue operation.
  • FIG. 7 is a flow chart for explaining the outline of the operation of the elevator control device according to the first embodiment.
  • step S101 the control device 12 causes the two brakes 5 to release the restraint of the sheave 4.
  • the controller 12 turns off the lower arm 21 and turns on the upper arm 20 . Therefore, the car 7 runs by the action of the unbalanced torque and the action of the dynamic brake. If the two brakes 5 have already released the sheave 4 in step S101, the control device 12 maintains the state in which the two brakes 5 have released the sheave 4. FIG.
  • step S102 the control device 12 determines whether or not the door zone has been detected. Specifically, when the control device 12 receives the detection signal of the door zone plate 11 from the door zone sensor 10, it determines that the door zone is detected.
  • step S102 If it is not determined in step S102 that the door zone has been detected, the control device 12 performs operations from step S101 onward.
  • step S103 When it is determined in step S102 that the door zone has been detected, the operation of step S103 is performed. In step S ⁇ b>103 , the control device 12 causes the two brakes 5 to stop the sheave 4 . Therefore, the car 7 stops in the door zone.
  • control device 12 ends the operation of the flowchart.
  • FIG. 7 shows the operation of an example in which only one level of the door zone is set as the landing position. If the door zone is divided into a plurality of levels, the vehicle may resume traveling toward the next door zone level after step S103. In this case, the operations after step S101 may be repeated.
  • the controller 12 first detects the door zone at the level of 50 mm in step S102.
  • the control device 12 stops by performing the operation of step S103.
  • the operation of step S101 causes the car 7 to travel toward the door zone at the level of 20 mm.
  • the control device 12 repeats the operations from steps S101 to S103 until door zones of 20 mm, 5 mm, and 0 mm are detected. If the 0 mm level door zone is detected, the controller 12 terminates the operation of the flow chart. For example, controller 12 then opens the door of car 7 .
  • FIG. 8 is a flow chart for explaining the outline of the operation of the elevator control device according to the first embodiment.
  • the control device 12 performs a learning operation in order to create the relationship between the weight inside the car 7 and the duty ratio, which is the corresponding relationship shown in FIG.
  • the learning operation is performed when the electric motor 3 and the like, which are driving devices of the elevator system, are in a normal state. Specifically, the learning operation is performed during installation of the elevator system, during testing in an elevator test tower, during testing using a motor benchmark device, and the like. After the learning operation, the control device 12 stores information indicating the correspondence created by the learning operation.
  • a weight of known weight is mounted on the car. After that, the car runs with the brakes released, that is, in a manner similar to the rescue operation. At this time, the duty ratio and the speed of the car are measured. Based on the measured information, a duty ratio is determined at which the car travels at a specified speed when the weight inside the car is a certain value. The prescribed speed is the speed at which the passengers inside the car do not feel unsafe and uncomfortable.
  • the flowchart shown in FIG. 8 outlines the operation of the learning operation of the control device 12 during installation of the elevator system or during testing in the elevator test tower. Note that the operations in the flowchart may be performed by a testing device other than the control device 12 .
  • step S201 the control device 12 detects the weight inside the car 7 based on the information from the weighing device 9. At this time, the control device 12 may detect the weight inside the car 7 by inputting the weight of the weight loaded on the car 7 instead of the information from the weighing device 9 .
  • step S201 the control device 12 sets the duty ratio to a prescribed value. For example, controller 12 sets the duty ratio to 100%. In this example, 100%, which is the maximum duty ratio, is adopted as a specified value for ensuring safety. However, controller 12 may set the duty ratio to another value.
  • step S203 the operation of step S203 is performed.
  • the controller 12 causes the two brakes 5 to open.
  • the car 7 runs by the action of the unbalanced torque and the action of the dynamic brake.
  • Controller 12 monitors the speed of car 7 .
  • the control device 12 determines whether or not the speed of the car 7 is a specified speed.
  • the control device 12 uses the speed when the car 7 is stabilized in a constant speed range for determination.
  • the speed of the car 7 may be measured by any method.
  • the control device 12 may calculate the speed of the car 7 based on the rotation speed of the electric motor 3 calculated from the measured value of the angle detector provided on the electric motor 3 .
  • Controller 12 may also monitor the speed of car 7 based on information from a speed governor attached to car 7 .
  • step S204 When it is determined in step S204 that the speed of the car 7 is not the prescribed speed, the operation of step S205 is performed.
  • step S205 the control device 12 adjusts the duty ratio by changing the duty ratio to another value. After that, the control device 12 performs the operations after step S204.
  • step S204 When it is determined in step S204 that the speed of the car 7 is the specified speed, the operation of step S206 is performed.
  • step S206 the controller 12 stores the current duty ratio and the weight inside the car 7 in association with each other. After that, the control device 12 ends the operation of the flowchart.
  • the control device 12 After repeating the operation of the flowchart a plurality of times, the control device 12 creates information indicating the correspondence relationship between the duty ratio and the weight inside the car 7 . At this time, the information about the weight inside the car 7 does not have to be information measured under all weight conditions. For example, the control device 12 may create information indicating the correspondence by performing linear approximation from several measurement points. For example, when the rated load weight is 50%, the control device 12 may calculate the weight correspondence between 50% and 100% based on the condition that the weight inside the car 7 is between 0% and 50%. In this case, the weight correspondence from 50% to 100% is complemented as a shape obtained by folding the facing relationship from 0% to 50%. This is because the absolute value of the unbalance torque acting on the sheave 4 is the same and the acting direction is different when the weight of the car 7 is 0% and 100% of the rated load weight.
  • the control device 12 includes the inverter section 14 and the control section 15 .
  • Control device 12 turns off one of upper arm 20 and lower arm 21 and turns on the other during rescue operation.
  • a switching element included in the arm that is turned on forms a closed circuit with the electric motor 3 . Therefore, a dynamic brake acts on the electric motor 3 . That is, according to the control device 12 of the present embodiment, there is no need to add a device for applying the dynamic brake to the existing elevator system configuration. As a result, a dynamic brake can be applied to the electric motor 3 with a simple configuration.
  • control device 12 alternately turns on and off all the switching elements included in the arm as the on operation. Dynamic braking occurs in the electric motor 3 when all the switching elements are on. When all the switching elements are off, the electric motor 3 does not generate dynamic braking. Since the torque generated by the dynamic brake acts intermittently on the sheave 4, the average torque value acting on the sheave 4 is always smaller than when the dynamic brake is acting. Therefore, the speed of the car 7 can be increased during the rescue operation compared to the case where the dynamic brake is always applied.
  • control device 12 controls the duty ratio during ON operation. If the duty ratio were constant, the maximum value of the dynamic brake generated in the electric motor 3 would be constant. On the other hand, the value of the unbalance torque changes according to the weight inside the car 7 . That is, depending on the weight inside the car 7, the maximum speed of the car 7 in the rescue operation may change. If the speed is too high, the passengers boarding the car 7 may feel uncomfortable and uneasy. Also, if the speed is too slow, it will take time for passengers to escape from the car 7 . Control device 12 in the present embodiment can control the speed of car 7 in the rescue operation by controlling the duty ratio so as to correspond to the weight of car 7 . As a result, the car 7 can be run at a constant speed regardless of the weight of the car 7 .
  • control device 12 stores information on correspondence.
  • the control device 12 determines the duty ratio in the rescue operation based on the information measured by the weighing device 9 and the information on the correspondence. Therefore, the control device 12 can appropriately control the duty ratio according to the weight of the car 7 .
  • control device 12 performs learning operation and creates correspondence information. Therefore, when installing an elevator, for example, the control device 12 can create correspondence information.
  • control device 12 controls the car 7 to land on the landing position according to the signal from the door zone sensor 10 during the rescue operation.
  • rescue operations have sometimes been performed manually by workers dispatched to the elevator system.
  • the control device 12 in this embodiment can automatically perform a rescue operation.
  • the electric motor 3 and sheave 4 may be indirectly connected by a gear provided therebetween instead of being directly connected by a rotating shaft.
  • the elevator system is not the 1:1 roping system shown in FIG. Also, the elevator system may be of a type in which no machine room is provided.
  • the weighing device 9 may be installed at a place other than under the floor of the car 7 as long as the weight inside the car 7 can be measured.
  • the control device 12 may intermittently run the car 7 by setting a time interval for releasing the two brakes 5 .
  • the controller 12 may cause the two brakes 5 to brake the sheave 4 if no door zone is detected while the two brakes 5 are open for only 5 seconds.
  • the control device 12 may repeat the operation after step S101 to divide the traveling operation into a plurality of times to cause the car 7 to travel. Therefore, the maximum speed of the car 7 in the rescue operation can be suppressed. As a result, the rescue operation can be carried out more safely.
  • FIG. 9 is a hardware configuration diagram of the elevator control device according to the first embodiment.
  • Each function of the control device 12 can be realized by a processing circuit.
  • the processing circuitry comprises at least one processor 100a and at least one memory 100b.
  • the processing circuitry comprises at least one piece of dedicated hardware 200 .
  • each function of the control device 12 is realized by software, firmware, or a combination of software and firmware. At least one of software and firmware is written as a program. At least one of software and firmware is stored in at least one memory 100b. At least one processor 100a realizes each function of the control device 12 by reading and executing a program stored in at least one memory 100b.
  • the at least one processor 100a is also referred to as a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, DSP.
  • the at least one memory 100b is a nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD, or the like.
  • the processing circuit comprises at least one piece of dedicated hardware 200
  • the processing circuit is implemented, for example, as a single circuit, multiple circuits, programmed processors, parallel programmed processors, ASICs, FPGAs, or combinations thereof.
  • each function of the control device 12 is implemented by a processing circuit.
  • each function of the control device 12 is collectively realized by a processing circuit.
  • a part of each function of the control device 12 may be realized by dedicated hardware 200, and the other part may be realized by software or firmware.
  • the functions of the converter unit 13 may be realized by a processing circuit as dedicated hardware 200, and the functions other than the functions of the converter unit 13 may be realized by reading and executing a program stored in at least one memory 100b by at least one processor 100a.
  • the processing circuit implements each function of the control device 12 with hardware 200, software, firmware, or a combination thereof.
  • FIG. 10 is a diagram showing an outline of ON operation performed by the elevator control device according to the second embodiment.
  • the same reference numerals are given to the same or corresponding parts as those of the first embodiment. Description of this part is omitted.
  • the control device 12 alternately switches which arm of the upper arm 20 and the lower arm 21 is turned on. Specifically, after one of the upper arm 20 and the lower arm 21 is turned off and the other is turned on, the control unit 15 turns off the other of the upper arm 20 and the lower arm and turns on the other. Thereafter, control unit 15 turns off one of upper arm 20 and lower arm 21 and turns on the other. In this manner, the control unit 15 alternately switches the arms to be turned on. The control unit 15 turns off the arms that are not in ON operation. At this time, in the ON operation, the number of times the arm is turned ON may be any number of times as long as it is at least once.
  • FIG. 10 shows a case where the cycle, which is the number of times the arm is turned on, is once in the ON operation.
  • the control unit 15 turns off the lower arm 21 and turns on the upper arm 20 during the period from time t0 to t2 . After that, the control unit 15 turns off the upper arm 20 and turns on the lower arm 21 during the period from time t2 to t4 . After that, the control unit 15 turns off the lower arm 21 and turns on the upper arm 20 during the period from time t4 to t6 .
  • the dynamic brake acts on the electric motor 3 in the time period from time t1 to t2 , the time period from time t3 to t4 , and the time period from time t5 to t6 . Therefore, the net average torque value T ave is the value indicated by the dashed line.
  • the control unit 15 controls the average torque value Tave in this way.
  • the heat load generated by the ON operation is evenly distributed between the upper arm 20 and the lower arm 21 .
  • FIG. 11 is a flow chart for explaining the outline of the operation of the elevator control device according to the second embodiment.
  • the operation of the flowchart shown in FIG. 11 is started when the control device 12 determines that the rescue operation is to be performed.
  • step S301 the control device 12 acquires information from the weighing device 9 and detects the weight inside the car 7.
  • step S302 the control device 12 selects the duty ratio corresponding to the weight inside the car 7 based on the correspondence information stored in advance, and determines the duty ratio to be used in the rescue operation.
  • step S303 the control device 12 selects, as the initial arm, one of the upper arm 20 and the lower arm 21 to be turned on first. Any arm may be selected as the arm to be turned on first.
  • step S304 the operation of step S304 is performed.
  • the control device 12 causes the two brakes 5 to release the sheave 4 .
  • the controller 12 turns on the arm selected in step S303 and turns off the other arm. Therefore, the car 7 starts running by the action of the unbalanced torque and the action of the dynamic brake.
  • step S305 the control unit 15 of the control device 12 determines whether or not the arm that is being turned on has been turned on for a specified period.
  • step S305 If it is determined in step S305 that the arm has not been turned on for the prescribed period, the operation of step S305 is repeated. That is, the control device 12 causes the same arm to continue the ON operation.
  • step S306 the control device 12 determines whether or not the car 7 has finished traveling. Specifically, the control device 12 determines that the car 7 has finished traveling when it receives a landing position detection signal from the door zone sensor 10 and the brake 5 stops the sheave 4 .
  • step S306 When it is determined in step S306 that the car 7 has not finished traveling, the operation of step S307 is performed.
  • step S307 the control unit 15 of the control device 12 switches the arm that is in ON operation to the other arm. After that, the control device 12 performs the operations after step S305.
  • step S306 When it is determined in step S306 that the car 7 has finished traveling, the control device 12 ends the operation of the flowchart.
  • the control device 12 switches the arm to be turned on during the rescue operation. Therefore, heat can be alternately generated in the upper arm 20 and the lower arm 21 when the dynamic brake is generated. That is, unevenness of heat generated between the upper arm 20 and the lower arm 21 can be suppressed. If an excessive heat load is applied to the switching element, the switching element may fail. According to the control device 12, the configuration of the inverter section 14 can be protected during the rescue operation.
  • FIG. 12 is a schematic diagram of an elevator system to which the elevator control device according to Embodiment 3 is applied.
  • symbol is attached
  • FIG. Description of this part is omitted.
  • the control device 12 has a failure detection section 30 .
  • the failure detection unit 30 detects failure of the switching element of the inverter unit 14 as detection of failure of the inverter unit 14 .
  • the failure detection unit 30 identifies the location of the failure of the inverter unit 14 . That is, the inverter unit 14 identifies the failed switching element. For example, the inverter unit 14 detects which of the upper arm 20 and the lower arm 21 the arm to which the failed switching element belongs.
  • the failure detection unit 30 detects whether the failed switching element is an ON failure or an OFF failure.
  • An on-failure is a failure in which the switching element sticks to the on-side and is always on.
  • An off failure is a failure in which a switching element sticks to the off side and is always in an off state.
  • the failure detection section 30 may detect failure of the switching element based on the detection result of an overcurrent detection circuit (not shown) provided in the inverter section 14 . For example, based on information indicating the voltage and current supplied to the electric motor 3 when driving the electric motor 3, the failure detection section 30 may estimate and detect a failure of the switching element.
  • the failure detection unit 30 When the failure detection unit 30 detects a failure of the inverter unit 14 , it transmits information indicating the location of the failure of the inverter unit 14 to the control unit 15 . For example, the failure detection unit 30 detects whether the inverter unit 14 is out of order while the elevator system is operating normally.
  • control unit 15 When the control unit 15 receives information indicating the location of the failure from the failure detection unit 30, it shifts to rescue operation. In the rescue operation, the control section 15 controls the inverter section 14 corresponding to the failure point of the inverter section 14 . Specifically, the control unit 15 determines which of the upper arm 20 and the lower arm 21 is to be turned off and which arm is to be turned on, according to the location of the failure.
  • FIG. 13 is a flow chart for explaining the outline of the operation of the elevator control device according to the third embodiment.
  • the flowchart shown in FIG. 13 is the control performed by the control device 12 when the failure detection unit 30 detects an ON failure of the switching element.
  • the control device 12 starts the operation of the flowchart when detecting a failure of the switching element.
  • step S401 the failure detection unit 30 of the control device 12 detects the failure location of the switching element as the ON failure location and that the failure is the ON failure.
  • the failure detection unit 30 transmits the detected information to the control unit 15 .
  • step S402 determines whether or not the faulty switching element belongs to upper arm 20 based on information from fault detection unit 30 .
  • step S403 When it is determined in step S402 that the faulty switching element belongs to the upper arm, the operation of step S403 is performed.
  • the control unit 15 transmits to the inverter unit 14 a command to turn off the lower arm 21 and turn on the upper arm 20 .
  • the inverter unit 14 operates based on the command. In the ON operation, ON and OFF of the switching elements in which the ON failure does not occur are switched.
  • control device 12 ends the operation of the flowchart.
  • step S404 If it is determined in step S402 that the faulty switching element does not belong to the upper arm, the operation of step S404 is performed. In this case, the switching element with the ON failure belongs to the lower arm 21 .
  • step S ⁇ b>404 the control unit 15 transmits to the inverter unit 14 a command to turn off the upper arm 20 and turn on the lower arm 21 .
  • the inverter unit 14 operates based on the command. In the ON operation, ON and OFF of the switching elements in which the ON failure does not occur are switched.
  • control device 12 ends the operation of the flowchart.
  • FIG. 14 is a flow chart for explaining the outline of the operation of the elevator control device according to the third embodiment.
  • the flowchart shown in FIG. 14 is the control performed by the control device 12 when the failure detection unit 30 detects an off failure of the switching element.
  • the control device 12 starts the operation of the flowchart when detecting a failure of the switching element.
  • step S501 the failure detection unit 30 of the control device 12 detects the failure location of the switching element as the OFF failure location and that the failure is the OFF failure.
  • the failure detection unit 30 transmits the detected information to the control unit 15 .
  • step S502 the operation of step S502 is performed.
  • step S ⁇ b>502 the control unit 15 of the control device 12 determines whether or not the faulty switching element belongs to the upper arm 20 based on the information from the fault detection unit 30 .
  • step S503 When it is determined in step S502 that the faulty switching element belongs to the upper arm, the operation of step S503 is performed.
  • the control unit 15 transmits to the inverter unit 14 a command to turn off the upper arm 20 and turn on the lower arm 21 .
  • the inverter unit 14 operates based on the command. That is, the controller 12 turns on the lower arm 21 that can be turned on.
  • control device 12 ends the operation of the flowchart.
  • step S504 If it is determined in step S502 that the faulty switching element does not belong to the upper arm, the operation of step S504 is performed. In this case, the off-failed switching element belongs to the lower arm 21 .
  • step S ⁇ b>504 the control unit 15 transmits to the inverter unit 14 a command to turn off the lower arm 21 and turn on the upper arm 20 .
  • the inverter unit 14 operates based on the command. That is, the controller 12 turns on the upper arm 20 that can be turned on.
  • control device 12 ends the operation of the flowchart.
  • the control device 12 includes the failure detection section 30 . Therefore, the control device 12 can perform a rescue operation according to the failure location of the switching element.
  • the failure detection unit 30 of the control device 12 detects an ON failure.
  • the control device 12 turns on the arm including the switching element that has the on-failure in the rescue operation. Therefore, even if an on-failure occurs, the electric motor 3 can generate a dynamic brake.
  • the failure detection unit 30 of the control device 12 detects an off failure.
  • the control device 12 turns on the arm that does not include the off-failed switching element. Therefore, even if the off-call occurs, the rescue operation can be carried out. Also, at this time, the electric motor 3 can efficiently generate a dynamic brake.
  • control device can be used for elevator systems.

Landscapes

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

Abstract

Est divulgué un dispositif de commande d'ascenseur capable, au moyen d'une configuration simple, d'amener un frein dynamique à agir sur un moteur électrique. Le dispositif de commande d'ascenseur commande à un moteur électrique synchrone d'entraîner en rotation une poulie, et comprend : une partie onduleur qui alimente une tension de courant alternatif d'une pluralité de phases, converties à partir d'une tension de courant directe, au moteur électrique ; et une unité de commande qui commande la partie onduleur. La partie onduleur comprend un bras supérieur conçu à partir d'une pluralité d'éléments de commutation correspondant respectivement à la pluralité des phases, et un bras inférieur conçu à partir d'une pluralité d'éléments de commutation correspondant respectivement à la pluralité des phases. Lorsqu'une opération de sauvetage est effectuée, dans laquelle la cabine d'ascenseur est amenée à se déplacer par un couple agissant sur la poulie dû à la différence entre le poids de la cabine d'ascenseur et le poids du contrepoids, l'unité de commande définit tous les éléments de commutation qui appartiennent à l'un du bras supérieur et du bras inférieur sur ARRÊT, et à tous les éléments de commutation qui appartiennent à l'autre du bras supérieur et du bras inférieur de fonctionner sur MARCHE.
PCT/JP2022/001793 2022-01-19 2022-01-19 Dispositif de commande d'ascenseur WO2023139690A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2023574943A JPWO2023139690A1 (fr) 2022-01-19 2022-01-19
PCT/JP2022/001793 WO2023139690A1 (fr) 2022-01-19 2022-01-19 Dispositif de commande d'ascenseur

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/001793 WO2023139690A1 (fr) 2022-01-19 2022-01-19 Dispositif de commande d'ascenseur

Publications (1)

Publication Number Publication Date
WO2023139690A1 true WO2023139690A1 (fr) 2023-07-27

Family

ID=87348200

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/001793 WO2023139690A1 (fr) 2022-01-19 2022-01-19 Dispositif de commande d'ascenseur

Country Status (2)

Country Link
JP (1) JPWO2023139690A1 (fr)
WO (1) WO2023139690A1 (fr)

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01321277A (ja) * 1988-06-22 1989-12-27 Mitsubishi Electric Corp エレベータの制御装置
JPH07215620A (ja) * 1994-01-31 1995-08-15 Mitsubishi Denki Bill Techno Service Kk エレベータかん詰め故障救出システム
JP2001354366A (ja) * 2000-06-14 2001-12-25 Mitsubishi Electric Corp エレベータの制御装置
WO2009013821A1 (fr) * 2007-07-25 2009-01-29 Mitsubishi Electric Corporation Ascenseur
JP2012036003A (ja) * 2010-08-11 2012-02-23 Toshiba Elevator Co Ltd エレベータの制御装置
CN103508286A (zh) * 2012-06-28 2014-01-15 上海三菱电梯有限公司 电梯安全保护方法
JP2016159994A (ja) * 2015-02-27 2016-09-05 株式会社日立製作所 エレベーター
WO2018016045A1 (fr) * 2016-07-21 2018-01-25 三菱電機株式会社 Circuit de freinage dynamique, et dispositif d'ascenseur pourvu d'un circuit de freinage dynamique

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01321277A (ja) * 1988-06-22 1989-12-27 Mitsubishi Electric Corp エレベータの制御装置
JPH07215620A (ja) * 1994-01-31 1995-08-15 Mitsubishi Denki Bill Techno Service Kk エレベータかん詰め故障救出システム
JP2001354366A (ja) * 2000-06-14 2001-12-25 Mitsubishi Electric Corp エレベータの制御装置
WO2009013821A1 (fr) * 2007-07-25 2009-01-29 Mitsubishi Electric Corporation Ascenseur
JP2012036003A (ja) * 2010-08-11 2012-02-23 Toshiba Elevator Co Ltd エレベータの制御装置
CN103508286A (zh) * 2012-06-28 2014-01-15 上海三菱电梯有限公司 电梯安全保护方法
JP2016159994A (ja) * 2015-02-27 2016-09-05 株式会社日立製作所 エレベーター
WO2018016045A1 (fr) * 2016-07-21 2018-01-25 三菱電機株式会社 Circuit de freinage dynamique, et dispositif d'ascenseur pourvu d'un circuit de freinage dynamique

Also Published As

Publication number Publication date
JPWO2023139690A1 (fr) 2023-07-27

Similar Documents

Publication Publication Date Title
KR100913337B1 (ko) 엘리베이터 제어 장치
JP5307394B2 (ja) エレベータの制御装置
US11296623B2 (en) Emergency braking for a drive system
KR101075729B1 (ko) 엘리베이터 장치
KR20170101146A (ko) 순조로운 구출을 위한 엘리베이터 운행 프로필 변경
JP2008207898A (ja) エレベータの制御装置
JP6978839B2 (ja) エレベータシステムの操作方法、およびエレベータシステムの操作装置
JP6297942B2 (ja) エレベータ制御装置
JP6950809B1 (ja) エレベーターおよび制御装置
JP4397721B2 (ja) エレベータの制御装置
WO2023139690A1 (fr) Dispositif de commande d'ascenseur
JP5143454B2 (ja) エレベータ用制御装置
CN106241540B (zh) 驱动辅助的紧急停止
JP4663849B2 (ja) エレベータの制御装置
JPWO2018154621A1 (ja) エレベーター
JP2006206196A (ja) エレベーターの改修工法
JP2001240335A (ja) エレベータの停電時運転装置
CN110482343B (zh) 电梯系统的马达控制方法
CN111252637A (zh) 电梯控制系统及电梯控制方法
JP2005145637A (ja) エレベータの駆動システム
JP2008037568A (ja) エレベーターの制御システム
JPH0570047A (ja) 交流エレベータの制御装置
JPS6141832B2 (fr)
KR19990043552A (ko) 엘리베이터 제어방법 및 장치

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22921849

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2023574943

Country of ref document: JP