JP4857893B2 - Elevator control device - Google Patents

Description

The present invention relates to an elevator control device.

As described in Patent Document 1 below, a conventional elevator control apparatus is an elevator control apparatus in which a hoisting machine is driven by a permanent magnet synchronous motor, and a d-axis component of a stator winding current of the permanent magnet synchronous motor and Based on the deviation between each command value of the q-axis component and each actual value, current control means for controlling each command value to follow each actual value, and the absolute value accompanying rotation of the rotor of the permanent magnet synchronous motor The rotational angular velocity follows the command value based on the angular velocity calculation means for detecting the actual value of the rotational angular velocity of the permanent magnet synchronous motor from the position and the deviation between the command value of the rotational angular velocity of the permanent magnet synchronous motor and the actual value. And a magnetic pole correction means for correcting the magnetic pole position of the permanent magnet synchronous motor based on the compensation voltage signal based on the d-axis current deviation from the current control means.

According to such an elevator control device, by correcting the encoder mounting angle when starting the elevator, it is possible to avoid starting the elevator with the magnetic pole position shifted with a simple configuration, and to assemble the hoisting machine Thus, the adjustment of the encoder mounting angle, which is a problem, is not necessary, and the manufacturing process can be rationalized.
JP 2005-333746 A

However, in an elevator having a speed abnormality detecting means for monitoring the electrical angular speed ωr of the permanent magnet synchronous motor, if the initial value of the magnetic pole correction value in the elevator control device is fixed, the actual magnetic pole position and the electric The difference in angular phase depends on the mounting angle of the absolute position detector mounted on the permanent magnet synchronous motor. For this reason, if the phase difference is shifted by about 180 °, the permanent magnet synchronous motor rotates so that the torque goes out in the reverse direction and jumps out immediately after the start of operation, and the speed abnormality detecting means operates and becomes permanent. There was a problem that the magnet synchronous motor was stopped and the magnetic pole correction operation was not completed.

The present invention has been made in order to solve the above-described problems, and immediately after starting the magnetic pole correction operation due to the initial phase difference between the actual magnetic pole position of the permanent magnet synchronous motor and the electrical angle phase inside the control device. After detecting the speed abnormality and suspending the correction operation due to the speed abnormality, the initial phase value of the magnetic pole correction value is shifted by a predetermined amount and the correction operation is performed again, so that the magnetic pole correction operation can be reliably completed. An object is to provide a control device.

According to a first aspect of the present invention, there is provided an elevator control apparatus, wherein each command value is calculated based on a deviation between each command value and each actual value of the d-axis component and the q-axis component of the stator winding current of the permanent magnet synchronous motor. Current control means for generating and controlling voltage command values so as to follow the respective actual values, and an actual value of the rotational angular velocity of the permanent magnet synchronous motor from the absolute position accompanying the rotation of the rotor of the permanent magnet synchronous motor And a magnetic pole phase correction means for obtaining a magnetic pole phase correction value of the permanent magnet synchronous motor based on a compensation voltage signal based on a d-axis current deviation from the current control means. In an elevator control apparatus in which a hoisting machine is driven by a magnet synchronous motor, the electrical angle phase of the rotor of the permanent magnet synchronous motor is calculated from the absolute position accompanying the rotation of the rotor of the permanent magnet synchronous motor. Phase calculating means, speed abnormality detecting means for detecting a speed abnormality of the rotational angular speed based on a deviation between a command value and an actual value of the rotational angular speed of the permanent magnet synchronous motor based on the magnetic pole correction operation command, and a speed When detecting an abnormality, the magnetic pole correction operation command is interrupted, and then the magnetic pole initial value correction means for generating an initial phase value obtained by shifting the initial value by a predetermined value, the electrical angle phase and the initial phase value are First addition means for obtaining a correction initial phase value by adding, second addition means for obtaining the magnetic pole phase value by adding the correction initial phase value and the magnetic pole phase correction value, and the voltage command of the current control means Voltage generating means for generating a three-phase voltage command based on the value and the magnetic pole phase value.

According to a second aspect of the present invention, there is provided a control device for an elevator, wherein after detecting a plurality of initial phase values from a magnetic pole initial value correcting means and operating a permanent magnet synchronous motor, a speed abnormality detecting means continuously detects a speed abnormality. And means for ending the magnetic pole correction operation based on detection by the detection means, and alarm means for generating an alarm based on the determination of the end.

In the elevator control device according to the third aspect of the invention, the magnetic pole correction operation command is repeated a predetermined number of times, and the number N is the smallest natural number satisfying N> 360 / θ, where θ is the initial phase value. It is characterized by that.

According to the first invention, the speed abnormality detecting means detects the speed abnormality after starting the magnetic pole correction operation based on the initial phase difference between the actual magnetic pole position of the permanent magnet synchronous motor and the electrical angle phase inside the control device, After interrupting the correction operation due to the speed abnormality, the magnetic pole initial value correcting means shifts the initial phase value of the magnetic pole correction value by a predetermined amount, and the first adding means corrects by adding the electrical angle phase and the initial phase value. An initial phase value is obtained, the second adding means adds the corrected initial phase value and the magnetic pole phase correction value to obtain the magnetic pole phase value, and the voltage generating means is based on the voltage command value and the magnetic pole phase value of the current control means. To generate a three-phase voltage command. Thereby, there is an effect that the magnetic pole correction operation can be completed with certainty by performing the correction operation.

According to the second invention, after the magnetic pole initial value correcting means generates a plurality of initial phase values and operates the permanent magnet synchronous motor, the speed abnormality detecting means continuously detects the speed abnormality, Since it has an end means for ending the magnetic pole correction operation based on the detection of the detection means and an alarm means for generating an alarm based on the determination of the end, the malfunction of the permanent magnet synchronous motor, the absolute position detector, etc. It has the effect that it can be discovered.

According to the third invention, the magnetic pole correction operation command is repeated a predetermined number of times, and the number N is the minimum natural number satisfying N> 360 / θ when the initial phase value is θ °. There is an effect that the number of times of driving can be limited to the minimum number of returns.

Embodiment 1 FIG.
An embodiment of the present invention will be described with reference to FIG. FIG. 1 is an overall configuration diagram of an elevator control apparatus according to an embodiment of the present invention.
In FIG. 1, the elevator control device includes an absolute position detector 2 that detects an absolute position accompanying the rotation of the rotor of the permanent magnet synchronous motor 1, and the rotation of the permanent magnet synchronous motor 1 from the position output of the absolute position detector 2. An angular velocity calculation means 3 for detecting the angular velocity ωr, a subtractor 4 for calculating a deviation between the rotational angular velocity command value ωrcom of the permanent magnet synchronous motor 1 and the rotational angular velocity ωr, and the permanent magnet synchronous motor 1 is generated based on the deviation. And a speed control means 5 for calculating the power torque and controlling the rotational angular speed ωr to follow the command value ωrcom.

In general, control of a three-phase AC synchronous motor is often handled by converting three-phase current and voltage into two axes, and a coordinate system on a stationary two-axis that combines the α-axis with the three-phase U-phase axis. Is called an α-β coordinate system, and a rotating biaxial coordinate system in which the d axis is aligned with the field direction of the rotor is called a dq coordinate system. The elevator control device also includes phase calculation means 6 for calculating the electrical angle phase θre of the rotor of the permanent magnet synchronous motor 1 from the position output of the absolute position detector 2. Here, the electrical angle phase θre indicates the rotation angle of the dq coordinate system viewed from the α-β coordinate system.

The control device for the elevator includes a current detector 7 for detecting three-phase alternating currents Iu, Iv, Iw flowing in the stator winding of the permanent magnet motor 1, and a three-phase alternating current Iu, Iv, Iw for the dq coordinate system. A three-phase / two-phase converter 8 for converting into two-phase currents Id and Iq at V, and converting voltage command values Vd and Vq in the dq coordinate system into three-phase voltage command values Vu, Vv and Vw, A two-phase / three-phase converter 9 as voltage generation means, subtractors 10 and 11, d-axis current control means 12 and q-axis current control means 13 are provided.

The subtractors 10 and 11 calculate deviations between the command value Idcom and actual value Id of the d-axis component of the stator winding current of the permanent magnet synchronous motor 1 and the command value Iqcom and actual value Iq of the q-axis component, respectively. The d-axis current control means 12 and the q-axis current control means 13 are configured to control the command value so as to follow the actual value based on each deviation.

The elevator control device includes a non-interference control unit 14 for compensating so that the d-axis current and the q-axis current can be independently feedback-controlled, and the d-axis current control unit 12 and the q-axis current control unit 13 respectively. Adders 15 and 16 for calculating the voltage command values Vd and Vq by adding the outputs of the non-interference control means 14 to the d-axis and q-axis control outputs Vd ′ and Vq ′, and a two-phase / three-phase converter 9 includes a power converter 17 that outputs a three-phase AC voltage of variable voltage and variable frequency in accordance with the three-phase voltage commands Vu, Vv, and Vw from No. 9.

The speed control means 5 outputs a torque command such that the rotational angular speed ωr of the permanent magnet synchronous motor 1 follows the command value ωrcom. The speed abnormality detection means 20 monitors the rotational angular speed ωr by the magnetic pole correction operation command, and the case where ωr is abnormally high or low with respect to the command value ωrcom, or when the polarity is reversed (ωr × ωrcom <0) is predetermined. If the time continues, the elevator operation is suddenly stopped as a speed error. Further, the q-axis current control unit 13 controls the q-axis current Iq so as to follow the q-axis current command value Iqcom corresponding to the torque command value with respect to the current command output from the speed control unit 5. Also, the d-axis current is usually set to 0 in many cases, but Idcom may be controlled to an appropriate value when field-weakening control is performed to reduce the voltage during high rotation.

The control device for the elevator is connected to the d-axis current control means 12 on the input side, and has a magnetic pole phase correction means 18 for calculating the magnetic pole phase correction value Δθ from the d-axis control output Vd ′.
During the magnetic pole correction operation, if the current deviation in the subtractor 10 is almost 0 by current feedback control, the d-axis current is constant in the steady state when the d-axis current is controlled to 0 (Idcom = 0). Since it becomes 0, the output Δθ is changed by the magnetic pole phase correction means 18 until the output signal of the d-axis current control means 12 becomes 0.

The elevator control device has a magnetic pole initial value correcting means 21, and an initial phase value Δθad as an output of the magnetic pole initial value correcting means 21 is a magnetic pole position as an output of the phase calculating means 6 by an adder 22 as a first adding means. Is added to the electrical angle phase θre to obtain a corrected initial phase value. The magnetic pole phase correction value as the output of the magnetic pole phase correction means 18 and the correction initial phase value are added by the adder 19 as the second addition means, and the magnetic pole phase value θ as the output is the three-phase / two-phase converter 8. Are input to the two-phase / three-phase converter 9.
The initial phase value Δθad is normally set to 0. However, when the speed abnormality detecting means 20 detects a speed abnormality during the magnetic pole correction operation, a predetermined amount θ ′ is output in advance and the initial phase of the magnetic pole phase correction is calculated. Shift the value and perform the magnetic pole correction operation again. If the speed abnormality is detected again even if the initial phase value Δθad is changed and the magnetic pole correction operation is performed, the output value of the initial phase value Δθad as the output of the magnetic pole initial value correction means 21 is further changed. (For example, 2θ ′, 3θ ′, 4θ ′...), And the process is repeated until the magnetic pole correction operation is normally completed.

Further, the elevator control apparatus detects the speed abnormality during the magnetic pole correction operation, shifts the initial phase value Δθad as the output of the magnetic pole initial value correction means 21, and performs the magnetic pole correction operation again. If the magnetic pole correction operation does not end normally even if the process is repeated a predetermined number of times, a plurality of initial phase values are generated from the magnetic pole initial value correction means 21 and the permanent magnet synchronous motor 1 is operated. Detecting means 30 for continuously detecting a speed abnormality, ending means 32 for ending the magnetic pole correction operation based on detection by the detecting means 30, and an alarm means 34 for generating an alarm based on the determination of the end. I have. This is because there is a high possibility that there is an abnormality in the permanent magnet synchronous motor 1, the absolute position detector 2, and other devices, so that the magnetic pole correction operation is interrupted and, for example, a buzzer or a display device can be understood by the installation and adjustment workers. Etc. to output an alarm.

Further, the number N of repetition processes for interrupting the magnetic pole correction operation is set to the minimum natural number satisfying N> 360 / θ ′, and the speed abnormality detecting means 20 detects the speed abnormality during the magnetic pole correction operation and the magnetic pole initial value correcting means. In the case where the magnetic pole correction operation does not end normally even if the repetition process of performing the magnetic pole correction operation again by shifting the value of the initial phase value Δθad as the output of 21 exceeds N times, the alarm means 32 is set in the same manner as above. Make it work.
In this embodiment, the number N is obtained and determined. However, when the initial phase value Δθad as the output of the magnetic pole initial value correction means 21 exceeds 360 °, the magnetic pole correction operation is interrupted. Also good.

The elevator control apparatus configured as described above will be described with reference to FIGS. 2 and 3 are a time chart and a flowchart showing the operation of the elevator control apparatus according to FIG. 1, respectively.
First, when the magnetic pole correction operation is started, as an initial setting, the number of repetitions N used for determining the interruption of the magnetic pole correction operation is set to 1, and the initial phase value Δθad is set to 0 (step S101). Next, it is determined whether the number of repetitions N exceeds N> 360 / θ ′ (step S103). If not, the first adder 22 performs initial correction of the magnetic phase phase Δθre and the initial phase value Δθad by the magnetic pole correction operation. Is added to obtain a corrected initial phase value, and the second adder 19 adds the corrected initial phase value (Δθad + Δθre) and the magnetic pole phase correction value Δθ to obtain the magnetic pole phase value θ. The corrected initial phase value and the magnetic pole phase value θ are added to the 2 / 3-phase converter to generate a three-phase voltage based on the voltage command values Vd and Vq, and the permanent magnet synchronous motor 1 via the power converter 17. To start adjustment of Δθ so that the output signal of the d-axis current control means 12 becomes zero (step S105).

Here, it is determined whether or not a speed abnormality is detected (step S107). If the speed abnormality detecting means 20 detects a speed abnormality as shown in FIG. 2A, as shown in FIG. 2B. Then, the speed abnormality detection flag is set, and the operation of the permanent magnet synchronous motor 1 is suddenly stopped in step S101. Next, the number of repetitions N is counted up, and the initial phase value Δθad is set to Δθad = Δθad + θ ′ using a predetermined value θ ′ as shown in FIG. S113).

Thereafter, the magnetic pole correction operation is restarted, the process returns to step S103, the number of repetitions N is determined again, and the adjustment of Δθ is repeated in step S103. If the number of repetitions increases and N> 360 / θ ′ in step S103, the magnetic pole correction operation is interrupted (step S115) and an alarm is output (step S117).
If the magnetic pole correction operation can be continued without detecting the speed abnormality by shifting the magnetic pole initial value, it is determined in step S109 whether the magnetic pole correction is completed (the amount of change in the magnetic pole correction value Δθ is a certain value). If the convergence is within the range, the completion is generally completed). If the completion condition is satisfied, the magnetic pole correction operation is terminated.

  The present invention can be applied to control of an elevator door.

1 is an overall configuration diagram of an elevator control device showing an embodiment of the present invention. It is a time chart which shows operation | movement of the control apparatus of the elevator shown in FIG. It is a flowchart which shows operation | movement of the control apparatus of the elevator shown in FIG.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Permanent magnet synchronous motor, 3 Angular velocity calculating means, 6 Phase calculating means, 9 2/3 phase converter (voltage generating means), 12 d-axis current control means, 13 q-axis current control means, 18 Magnetic pole phase correction means, 19 Second addition means, 20 speed abnormality detection means, 21 magnetic pole initial value correction means, 22 first addition means, 30 detection means, 32 termination means, 34 alarm means.

Claims (3)

Based on the deviation between each command value and each actual value of the d-axis component and q-axis component of the stator winding current of the permanent magnet synchronous motor, the voltage command value so that each command value follows each actual value. Current control means for generating and controlling
Angular velocity calculation means for detecting the actual value of the rotational angular velocity of the permanent magnet synchronous motor from the absolute position associated with the rotation of the rotor of the permanent magnet synchronous motor;
And a magnetic pole phase correction means for obtaining a magnetic pole phase correction value of the permanent magnet synchronous motor based on a compensation voltage signal based on a d-axis current deviation from the current control means. In the control device of the driven elevator,
Phase calculating means for calculating the electrical angle phase of the rotor of the permanent magnet synchronous motor from the absolute position associated with the rotation of the rotor of the permanent magnet synchronous motor;
Speed abnormality detecting means for detecting a speed abnormality of the rotational angular velocity based on a deviation between a rotational angular velocity command value of the permanent magnet synchronous motor and an actual value based on the magnetic pole correction operation command;
Magnetic pole initial value correction means for generating an initial phase value obtained by interrupting the magnetic pole correction operation command and detecting an initial value shifted by a predetermined phase value at the time of speed abnormality detection;
First addition means for obtaining a corrected initial phase value by adding the electrical angle phase and the initial phase value;
Second addition means for adding the correction initial phase value and the magnetic pole phase correction value to obtain a magnetic pole phase value;
Voltage generating means for generating a three-phase voltage command based on the voltage command value of the current control means and the magnetic pole phase value;
An elevator control device comprising: A detecting means for generating a plurality of initial phase values from the magnetic pole initial value correcting means and operating the permanent magnet synchronous motor, and wherein the speed abnormality detecting means continuously detects the speed abnormality;
Ending means for ending the magnetic pole correction operation based on detection by the detecting means;
Alarm means for generating an alarm based on the determination of the termination;
The elevator control device according to claim 1, further comprising: The magnetic pole correction operation command is repeated a predetermined number of times, and the number N is a minimum natural number satisfying N> 360 / θ, where the initial phase value is θ °.
The elevator control device according to claim 1 or 2.

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