JP7732582B2 - Elevator door control device - Google Patents

Description

The present disclosure relates to a control device for an elevator door.

Patent Document 1 discloses an elevator door control device. This control device estimates the resistance of a door motor based on the current flowing through the door motor and the voltage applied to the door motor. Based on the estimated resistance, the temperature of the door motor can be estimated.

Japanese Patent Application Publication No. 2006-290507

However, in the control device described in Patent Document 1, if there is an error between the command value of the voltage applied to the door motor and the actual voltage value applied, the resistance value cannot be accurately estimated. As a result, the temperature of the door motor cannot be accurately estimated.

The present disclosure has been made to solve the above-mentioned problems. The purpose of the present disclosure is to provide an elevator door control device that can improve the accuracy of estimating the motor temperature.

The elevator door control device of the present disclosure comprises a door state detection unit that detects the open/closed state of the elevator door; a current command unit that generates a current command value for controlling the current flowing through the motor that drives the door; a voltage command unit that generates a voltage command value that is a command value for the voltage applied to the motor so that the current flowing through the motor follows the current command value; a resistance estimation unit that estimates the electrical resistance value of the motor; and a temperature estimation unit that estimates the coil temperature of the motor from the electrical resistance value estimated by the resistance estimation unit. When the door state detection unit detects that the door is in a fully open or fully closed state, the current command unit generates a test current command value that is the current command value for estimating the coil temperature, and the resistance estimation unit estimates the electrical resistance value by dividing the amount of change in the voltage command value, which has changed due to the test current command value, by the amount of change in the current flowing through the motor, which has changed due to the test current command value.

According to the present disclosure, the electrical resistance value is estimated by dividing the change in the voltage command value by the change in the current flowing through the motor. This improves the accuracy of estimating the motor temperature.

1 is a diagram showing an overview of an elevator system in which an elevator door control device in embodiment 1 is installed. 1 is a block diagram of an elevator door control device in embodiment 1. A figure showing a first example of a test current command value generated by the elevator door control device in embodiment 1. A figure showing a second example of a test current command value generated by the elevator door control device in embodiment 1. 1 is a flowchart for explaining an overview of a first example of a temperature estimation process performed by an elevator door control device in embodiment 1. 10 is a flowchart for explaining an overview of a second example of the temperature estimation process performed by the elevator door control device in embodiment 1. 1 is a flowchart for explaining an overview of the operation of the elevator door control device in embodiment 1 to estimate an estimated resistance value. 1 is a flowchart for explaining an overview of the overheating protection control operation performed by the elevator door control device in embodiment 1. 1 is a block diagram of an elevator door control device in embodiment 1. A figure showing an example of the current coil temperature estimated by the elevator door control device in embodiment 1. 1 is a flowchart for explaining an overview of the operation performed by the elevator door control device in embodiment 1. A block diagram of an elevator door control device in embodiment 2. A diagram showing an overview of the temperature rise estimator of the elevator door control device in embodiment 2. A figure showing examples of numerical values used by the temperature rise estimator of the elevator door control device in embodiment 2. 10 is a flowchart for explaining an overview of a first example of a temperature estimation process performed by an elevator door control device in embodiment 2. A flowchart for explaining an overview of a second example of temperature estimation processing performed by an elevator door control device in embodiment 2. A flowchart for explaining an overview of the overheating protection control operation performed by the elevator door control device in embodiment 2. A block diagram of an elevator door control device in embodiment 2. A figure showing an example of the current estimated coil temperature estimated by the elevator door control device in embodiment 2. 10 is a flowchart for explaining an overview of the operation performed by the elevator door control device in embodiment 2. A hardware configuration diagram of an elevator door control device in embodiment 1 or embodiment 2.

The embodiments for implementing the present disclosure will be described with reference to the accompanying drawings. Note that in each drawing, identical or corresponding parts are designated by the same reference numerals. Duplicate descriptions of these parts will be appropriately simplified or omitted.

Embodiment 1.
FIG. 1 is a diagram showing an overview of an elevator system in which an elevator door control device according to the first embodiment is provided.

In the elevator system 1 of Figure 1, the hoistway 2 passes through each floor of the building 3. The machine room 4 is provided directly above the hoistway 2. Multiple landings 5 are provided on each floor of the building 3. The hoisting machine 6 is provided in the machine room 4. The control panel 7 is provided in the machine room 4. The control panel 7 can control the elevator system 1 as a whole. The main rope 8 is wound around the hoisting machine 6. The car 9 is provided inside the hoistway 2. The car 9 is suspended from the main rope 8.

As an elevator door in the elevator system 1, a car door 10 is provided on the car 9. The car door 10 comprises a door panel 11 and a control device 20. The door panel 11 is provided at the entrance and exit of the car 9 so that it can move horizontally. The control device 20 controls the open/closed state of the door panel 11 by moving the door panel 11 horizontally. Specifically, the control device 20 drives and controls the position of the door panel 11, the movement speed of the door panel 11, etc.

When the elevator system 1 is operating, the hoist 6 rotates based on commands from the control panel 7. The main rope 8 moves in accordance with the rotation of the hoist 6. The car 9 rises and falls in accordance with the movement of the main rope 8. When the car 9 stops at the destination hall 5, the control device 20 opens the door panel 11, which is in a fully closed state. At this time, the control device 20 opens the hall door of the hall 5 where the car 9 has stopped, along with the door panel 11. Passengers board and disembark through the entrance and exit of the car 9. While passengers are boarding and disembarking, the control device 20 maintains the door panel 11 and hall door in a fully open state. The control device 20 then closes the door panel 11 and hall door.

Next, the control device 20 will be described with reference to FIG.
FIG. 2 is a block diagram of the elevator door control device in embodiment 1.

As shown in FIG. 2, the control device 20 includes a motor 21, a rotation sensor 22, a current sensor 23, a door status detector 24, a current coordinate converter 25, a current command generator 26, a voltage command generator 27, a voltage coordinate converter 28, a power converter 29, a resistance estimator 30, a temperature estimator 31, and a protection controller 32. The current sensor 23, the door status detector 24, the current coordinate converter 25, the current command generator 26, the voltage command generator 27, the voltage coordinate converter 28, the power converter 29, the resistance estimator 30, the temperature estimator 31, and the protection controller 32 may be housed in a single housing or may be provided separately.

The motor 21 is provided to drive the door panel 11. The motor 21 is a motor that is driven to rotate by three-phase AC. Although not shown, the motor 21 is provided with three-phase coils that correspond to each phase of the three-phase AC. The rotational position, rotational speed, rotational torque, etc. of the motor 21 are controlled by the supplied power.

The rotation sensor 22 measures the rotational position θ of the motor 21. Various sensors such as an encoder or resolver can be used for the rotation sensor 22. For example, information on the rotational position θ is used in the control device 20 to control the rotational position, as a control standard for current, etc.

The rotation sensor 22 may measure the position of the door panel 11 based on the rotation position of the motor 21. The rotation sensor 22 may transmit the measured position information of the door panel 11 to the control panel 7, not shown in Figure 2. For example, the position information of the door panel 11 may be used in the control device 20 when determining the acceleration position, deceleration position, etc. of the door panel 11.

The current sensor 23 measures the actual current values Iu, Iv, and Iw of the three phases flowing through the motor 21. The current sensor 23 may also be configured to measure the actual current values of two of the three phases of the current flowing through the motor 21. For example, the actual current values of the three phases may be used as feedback signals for current control of the motor 21 in the control device 20.

The door state detector 24 serves as a door state detector and detects the open/closed state of the door panel 11. Specifically, the door state detector 24 detects whether the door panel 11 is in a fully open state, a fully closed state, or another state that is neither fully open nor fully closed. For example, the door state detector 24 detects the open/closed state of the door panel 11 based on the rotation position detected by the rotation sensor 22.

The door state detector 24 may be a device that detects the open/closed state of the door panel 11 in any manner as long as it is configured to detect the open/closed state of the door panel 11. For example, the door state detector 24 may be configured to detect the open/closed state of the door panel 11 using sensors attached to the fully closed position and the fully open position of the door panel 11.

The current coordinate converter 25 receives the value of the rotational position θ of the motor 21 from the rotation sensor 22. The current coordinate converter 25 receives the three-phase actual current values Iu, Iv, and Iw flowing through the motor 21 from the current sensor 23. As a current coordinate converter, the current coordinate converter 25 performs a dq transformation of the coordinate system of the actual current values Iu, Iv, and Iw into a d-q coordinate system using the rotational position θ. That is, the current coordinate converter 25 outputs the corresponding actual current value Id on the d axis and the actual current value Iq on the q axis based on the rotational position θ and the actual current values Iu, Iv, and Iw.

The functions of the current commander 26 include the functions of the control system of the motor 21, such as the position control system and speed control system of the motor 21. The current commander 26 creates a current command value for controlling the current flowing through the motor 21, based on commands from the control panel 7, signals from the position control system of the motor 21, signals from the speed control system of the motor 21, etc. In this case, the current commander 26 generates and outputs a d-axis current command value Id ^* and a q-axis current command value Iq ^* as current command values expressed in the dq coordinate system.

The q-axis actual current value Iq is a current value related to the rotational torque of the motor 21. When performing control to open the door panel 11 and control to maintain the door panel 11 in a fully open state, the current commander 26 generates a current command value Iq ^* such that the motor 21 generates torque in the opening direction of the door panel 11. When performing control to close the door panel 11 and control to maintain the door panel 11 in a fully closed state, the current commander 26 generates a current command value Iq ^* such that the motor 21 generates torque in the closing direction of the door panel 11. On the other hand, the d-axis current value Id is a current value that does not contribute to the rotational torque. For example, when performing control to open/close the door panel 11, control to maintain the door panel 11 in a fully open state, or control to maintain the door panel 11 in a fully closed state, the current commander 26 sets the current command value Id ^* to 0. For example, when operating the motor 21 in a high-speed, high-torque operating range to open or close the door panel 11, the current command value Id ^* may be set to a non-zero value to perform flux-weakening control. However, even in this operating region, if the fully open or fully closed state is to be maintained, the current command value Id ^* is set to 0 by the current command generator 26.

The voltage commander 27 controls the current flowing through the motor 21. As a voltage commanding unit, the voltage commander 27 generates and outputs a voltage command value in the form of a dq coordinate system for controlling the voltage applied to the motor 21 based on a current command value and an actual current value. Specifically, the actual current values Id and Iq are input to the voltage commander 27 from the current coordinate converter 25. The current command values Id ^* and Iq ^* are input to the voltage commander 27 from the current commander 26. The voltage commander 27 performs a control calculation such that the actual current values Id and Iq follow the current command values Id ^* and Iq ^* , and generates voltage command values Vd* and Vq ^* such that the actual current values Id and Iq follow the current command values ^{Id *} and Iq ^* . At this time, for example, the voltage commander 27 performs a control calculation such that the actual current values Id and Iq match the current command values Id ^* and Iq ^* . The control performed by the voltage commander 27 is realized by any control method such as PID control.

The voltage coordinate converter 28 receives an input of the value of the rotational position θ of the motor 21 from the rotation sensor 22. The voltage coordinate converter 28 receives an input of the voltage command values Vd ^* and Vq ^* from the voltage commander 27. The voltage coordinate converter 28 serves as a voltage coordinate converter and converts the coordinate system of the voltage command values Vd ^* and Vq ^* into a UVW coordinate system using the rotational position θ. That is, the voltage coordinate converter 28 outputs a corresponding U-phase voltage command value Vu ^* , V-phase voltage command value Vv ^{* ,} and W-phase voltage command value Vw ^{* based on the rotational position θ and the voltage command values Vd*} and Vq ^* . The voltage coordinate converter 28 converts the voltage command values Vu ^* , Vv ^* , and Vw ^* into duty ratios in accordance with the design values of the power converter 29 and outputs them.

The power converter 29 serves as a power conversion unit and is electrically connected to the motor 21. A current sensor 23 is connected between the power converter 29 and the motor 21. The power converter 29 receives power from an operating power source (not shown).

The power converter 29 is an amplifier that supplies power to control the rotation of the motor 21. The power converter 29 has a PWM inverter function. The power converter 29 generates a corresponding PWM signal by performing carrier comparison of the voltage command values Vu ^* , Vv ^* , and Vw ^* . The power converter 29 uses the PWM signal as a switching command for the switching elements of the inverter. Based on the switching command, the power converter 29 converts power from the operating power supply and supplies the power to the motor 21.

The resistance estimator 30 serves as a resistance estimation unit and estimates the electrical resistance value of the coils of the motor 21 using the actual current value Id output from the current coordinate converter 25 and the voltage command value Vd ^* output from the voltage commander 27. In this case, the resistance estimator 30 estimates the overall electrical resistance value of the electrical circuit consisting of the three coils as the estimated resistance value R^.

The temperature estimator 31 receives the estimated resistance value R^ from the resistance estimator 30. As a temperature estimator, the temperature estimator 31 uses the estimated resistance value R^ to estimate the coil temperature T of the motor 21.

The protection controller 32 receives the estimated coil temperature T value from the temperature estimator 31. As a protection control unit, the protection controller 32 determines whether the coil temperature T is a coil temperature at which overheat protection control should be executed.

When the specified conditions are met, the control device 20 performs a temperature estimation process as a test to estimate the coil temperature T of the motor 21.

The temperature estimation operation is initiated when the door panel 11 is in a fully open or fully closed state as a condition. When the door state detector 24 detects that the door panel 11 is in a fully open or fully closed state, the current commander 26 generates test current command values Id ^* , Iq ^* , which are current command values for the test. At this time, the current commander 26 generates multiple sets of test current command values Id ^* , Iq ^* . Each of the test current values Iq ^* included in the multiple sets is equal. Each of the test current values Id ^* included in the multiple sets has a different magnitude. In other words, the current commander 26 generates multiple sets of test current command values Id ^* , Iq ^* by fixing the q-axis current command value Iq ^* and varying the d-axis current command value Id ^* .

The current commander 26 outputs first test current command values Id1 ^* , Iq1 ^* , which are one set of the multiple sets of test current command values _Id ^* , _Iq ^* . Then, based on a specified control method, the current commander 26 outputs second test current command values Id2 ^* , _Iq2 ^* , which are another set of the multiple sets of test current command values Id ^* , _Iq ^* . In this way, the current commander 26 outputs the multiple sets of test current command values Id ^* , Iq ^* in sequence with time intervals between them.

The voltage commander 27 outputs test voltage command values Vd ^* , Vq ^* which are voltage command values corresponding to the test current command values Id ^* , Iq ^* .

The power converter 29 supplies power to the motor 21 based on the test voltage command values Vd ^* , Vq ^* . The current sensor 23 measures actual current values Iu, Iv, Iw corresponding to the test voltage command values Vd ^* , Vq ^* . The current coordinate converter 25 outputs actual current values Id, Iq corresponding to the measured actual current values Iu, Iv, Iw.

The resistance estimator 30 receives an input of a first test voltage command value Vd1 ^* corresponding to the first test current command value _Id1 ^* from the voltage commander 27. The resistance estimator 30 receives an input _of a first actual current value _Id1 controlled by the first test voltage command value _Vd1 ^* from the current coordinate converter 25.

Thereafter, the resistance estimator 30 receives an input of a second test voltage command value Vd2 ^* corresponding to the second test current command value _Id2 ^* from the voltage commander 27. The resistance estimator 30 receives an input _of a second actual current value _Id2 controlled by the second test voltage command value _Vd2 ^* from the current coordinate converter 25.

The resistance estimator 30 calculates the change amount Vd ₂ ^* - Vd ₁ ^* in the voltage command value and the change amount Id ₂ - Id ₁ in the actual current value. The resistance estimator 30 obtains the estimated resistance value R^ by dividing the change amount in the voltage command value by the change amount in the actual current value.

The temperature estimator 31 receives the estimated resistance value R^ from the resistance estimator 30. The temperature estimator 31 estimates the coil temperature T from the estimated resistance value R^ based on a temperature formula model that indicates the relationship between the resistance value and coil temperature of the motor 21. The control device 20 ends the temperature estimation process.

The temperature estimation process allows the estimated resistance value R^ of the motor 21 to be calculated with high accuracy. Next, we will explain the principle by which the estimated resistance value R^ is calculated by the temperature estimation process.

Generally, the following equations (1) and (2) hold for the motor 21. Equation (1) is the voltage equation for the d-axis. Equation (2) is the voltage equation for the q-axis.

Here, R is the total resistance of the motor 21 coil. Ld and Lq are the inductances of the d-axis and q-axis, respectively. ω is the electrical angular velocity. φ is the induced voltage constant.

When the door panel 11 is in the fully open or fully closed state, the rotational position θ of the motor 21 does not change over time. In this case, the electrical angular velocity ω is 0. Equations (1) and (2) can be regarded as the following equations (3) and (4), respectively.

From equations (3) and (4), when the door panel 11 is in a fully open or fully closed state, the resistance value R can be calculated based on Ohm's law from the pair of Vd and Id or the pair of Vq and Iq.

The values used to calculate the resistance value R must be reliable. In the control device 20, the actual current values Id and Iq are calculated based on the actual current values Iu, Iv, and Iw and the measured value of the rotational position θ. In other words, the actual current values Id and Iq are calculated based on the measured values, and therefore can be considered accurate values.

It is difficult to detect the applied voltage values Vd and Vq as actual measured values. For this reason, the voltage command values Vd ^* and Vq ^* are used in the temperature estimation process of the control device 20. However, when the voltage command values Vd ^* and Vq ^* are directly applied to equation (3) or (4), various estimation errors may occur in the estimated resistance value.

For example, if there is a design difference between the power supply voltage value supplied from the power supply to power converter 29 and the voltage value used as a design value in the control system of motor 21, the design difference may cause an error between voltage command values Vd ^* , Vq ^* and the voltage actually applied to motor 21. Furthermore, the design difference may cause an error in the dead time correction performed by power converter 29.

In the control device 20, the voltage commander 27 generates the voltage command values Vd ^* , Vq ^* so as to reduce or eliminate various errors caused by the design difference. Specifically, the voltage commander 27 calculates and generates the voltage command values Vd ^* , Vq ^* so as to absorb the difference between the power supply voltage value and the voltage value used as the design value. The voltage commander 27 calculates and generates the voltage command values Vd ^* , Vq ^* so as to compensate for the error in dead time correction caused by the design difference.

However, even if such a calculation is performed, an error may occur between the voltage command values Vd ^* , Vq ^* and the actually applied voltage values. Furthermore, to correct the error due to the power supply voltage value, a voltage sensor that measures the power supply voltage value is required. Such a voltage sensor may not be installed due to constraints such as manufacturing costs and physical space constraints on the device's board. If a voltage sensor is not installed, the design value of the power supply voltage may be used to calculate the duty ratio. In other words, an estimation error may occur.

In the temperature estimation process of this embodiment, in order to prevent deterioration of estimation accuracy due to estimation error, the difference between the voltage command value and the actual current value is used to estimate the resistance value. Specifically, the following equation (5) is used:

In equation (5), the difference ΔV is the amount of change in the d-axis voltage command value or the q-axis voltage command value. The difference ΔI is the amount of change in the d-axis actual current value or the q-axis actual current value. By taking the difference between the two voltage command values, the value ΔV, in which the error between the voltage command values Vd ^* , Vq ^* and the actually applied voltage is canceled out, is used to estimate the resistance value. ΔV can be considered to be equal to the difference in the actually applied voltage values.

In the temperature estimation process, at least two sets of voltage command values Vd ^* , Vq ^* must be generated to calculate the difference ΔV. Therefore, the current commander 26 generates a plurality of sets of current command values as test current command values. The voltage commander 27 generates a set of voltage command values corresponding to the plurality of sets of current command values as test voltage command values. In this case, the current commander 26 generates test current command values that can maintain the door panel 11 in the fully open state or the fully closed state.

Specifically, the current commander 26 generates a test current value by fixing the q-axis current command value Iq ^* and varying the d-axis current command value Id ^* . This is because varying the q-axis current command value Iq ^* may prevent the door panel 11 from being maintained in the fully open or fully closed state. In the temperature estimation process, the first test voltage value _Vd1 ^{*, the second test voltage value Vd2* ,} the first actual current value _Id1 , and the second actual current value _Id2 , which are generated or measured corresponding to the first test current value and the second test current value _, are applied to equation (5). That is, the estimated voltage value R^ can be calculated using the following equation (6).

If the motor 21 is a motor with a surface permanent magnet (SPM) structure, no rotational torque is generated even when a d-axis current is applied. On the other hand, if the motor 21 is a motor with an interior permanent magnet (IPM) structure, reluctance torque is generated by the application of the d-axis current. Since reluctance torque is often relatively smaller than magnet torque, the influence of this reluctance torque is small. However, if the motor 21 has an IPM structure, the value of the test current command value Id ^* is set taking into account the influence of reluctance torque.

The estimated resistance value R^ is calculated based on the above principle.

Then, in the temperature estimation process, the coil temperature T is estimated from the estimated resistance value R^.

The temperature estimator 31 pre-stores a temperature formula model for estimating the coil temperature T. The temperature formula model may be created by a test in which the resistance value is measured while the coil temperature of the motor 21 is changed. The temperature formula model may also be a theoretically derived theoretical model.

The following equation (7) is a first example of a temperature formula model.

The first example of the temperature formula model is a model in which there is a linear relationship between the coil temperature T and the coil resistance value R. Here, α and β are set constants. Note that in the first example, the temperature formula model may be a function of higher order than first order.

The following equation (8) is a second example of a temperature formula model.

Equation (8) is a theoretical model of the coil temperature. In equation (8), T ₀ ′ is the reference temperature. _{R 0} is the reference resistance value of the coil at the reference temperature.

In addition, the temperature estimator 31 may estimate the coil temperature T from the estimated resistance value R^ of the coil using other methods, not limited to the first and second examples.

Next, examples of test current command values generated by the current commander 26 will be described with reference to FIGS.
3 is a diagram showing a first example of a test current command value generated by the elevator door control device in embodiment 1. FIG. 4 is a diagram showing a second example of a test current command value generated by the elevator door control device in embodiment 1.

The upper graphs in Figures 3 and 4 are graphs showing the relationship between time and the d-axis command current value Id ^* or the command current value Id. It is assumed that the command current value Id quickly follows the command current value Id ^* . The lower graphs in Figures 3 and 4 are graphs showing the relationship between time and the d-axis command voltage value Vd ^* .

3 shows a first example of the test current command value. In the first example, the test current command value is set to a pulse waveform. That is, the test current command value is set intermittently as a current command value with different magnitudes. The test voltage command value is generated in a pulse waveform corresponding to the test current command value. The length of each pulse waveform is set to be equal to or longer than the settling time. The settling time is the time required for the actual current value Id to follow and settle relative to the current command value Id ^* . The settling time is determined by the design of the control gain of the current commander 26.

3 , a first test current command value Id ₁ ^* , a second test current command value Id ₂ ^* , and a third test current command value Id ₃ ^* are generated in sequence at time intervals. At this time, the d-axis current command values between the first test current command value Id ₁ ^* , the second test current command value Id ₂ ^* , and the third test current command value Id ₃ ^* are set to 0. A first test voltage command value Vd ₁ ^* , a second test voltage command value Vd ₂ ^* , and a third test voltage command value Vd ₃ ^* are generated in sequence corresponding to the test current command values. A first actual current value Id ₁ , a second actual current value Id ₂ , and a third actual current value Id ₃ are measured in sequence corresponding to the test voltage command values.

When the actual current value on the d-axis increases, the amount of heat generated in the coil of the motor 21 increases. In the first example, the voltage value is applied in pulses, so the amount of heat generated can be suppressed.

4 shows a second example of the test current command value. In the second example, the test current command value is set to have a ramp waveform. That is, the test current command value is set to increase continuously from 0 to _Id1 ^* , _Id2 ^* , and _Id3 ^* . The second example can be applied when heat generation in the coil is not an issue, when a delay in the response of the actual current value to the current command value is not an issue, etc.

In the first and second examples, three test current command values _Id1 ^* , _Id2 ^* , and _Id3 ^* are generated. In this case, the following three values of R can be derived: R=( _Vd2 ^* _-Vd1 ^* )/( _Id2 - _Id1 ), R=( _Vd3 ^* _-Vd2 ^* )/( _Id3 - _Id2 ), R=( _Vd3 ^* _-Vd1 ^* )/( _Id3 - _Id1 ). For example, the resistance estimator 30 may estimate the average value of the multiple calculated values of R as the estimated resistance value R^. For example, the resistance estimator 30 may estimate the largest R among the multiple calculated values of R as the estimated resistance value R^, as a value that allows for safer operation.

In addition, the test current command value may be generated in a manner other than the first and second examples.

When calculating the estimated resistance value R^, filtering may be performed on the current and voltage. In this case, high-frequency noise in the current value and current value is suppressed, improving the accuracy of estimating R^. When filtering is performed, filtering with the same cutoff frequency must be performed. This is to ensure that the temporal correspondence between the current value and the voltage value is consistent. Furthermore, after filtering is performed and multiple resistance values R are calculated, the average value of the multiple resistance values R may be calculated.

Next, a first example of the temperature estimation process performed by the control device 20 will be described with reference to FIG.
Figure 5 is a flowchart for explaining an overview of a first example of the temperature estimation process performed by the elevator door control device in embodiment 1.

The first example of the temperature estimation process can be performed at any time.

In step S001, the control device 20 determines whether the door panel 11 is fully open or fully closed. The control device 20 makes the determination in step S001 based on the detection result of the door state detector 24.

If the door panel 11 is neither fully open nor fully closed in step S001, the control device 20 terminates the operation of the flowchart.

If the door panel 11 is determined to be fully open or fully closed in step S001, step S002 is performed. In step S002, the control device 20 generates a test current command value. At this time, the control device 20 generates multiple test current command values with different values in sequence.

Then, step S003 is performed. In step S003, the control device 20 estimates the estimated resistance value R^.

Then, step S004 is performed. In step S004, the control device 20 estimates the coil temperature T using the estimated resistance value R^.

The control device 20 then terminates the operation of the flowchart.

Next, a second example of the temperature estimation process performed by the control device 20 will be described with reference to FIG.
Figure 6 is a flowchart for explaining an overview of a second example of the temperature estimation process performed by the elevator door control device in embodiment 1.

In the second example, the temperature estimation process is performed while the car 9 is traveling. This is because the control device 20 maintains the door panel 11 in a fully closed state while the car 9 is traveling.

As shown in FIG. 6, in step S101, the control device 20 determines whether the car 9 is traveling. At this time, for example, the control device 20 acquires control information regarding the traveling state of the car 9 from the control panel 7 and uses the control information for this determination. Note that the current commander 26 of the control device 20 may also determine whether the car 9 is traveling.

If, in step S101, the car 9 is not running, the control device 20 terminates the operation of the flowchart.

If the car 9 is traveling in step S101, the operation of step S102 is performed. In step S102, the control device 20 determines whether the door panel 11 is fully closed.

If the door panel 11 is not fully closed in step S102, the control device 20 ends the operation of the flowchart. At this time, the control device 20 may notify the control panel 7 of an abnormality indicating that the door panel 11 is not fully closed even though the car 9 is traveling. In this case, for example, the control panel 7 may bring the car 9 to an emergency stop.

If the door panel 11 is determined to be fully closed in step S102, the operations from step S103 onwards are carried out. The operations carried out in steps S103 to S105 are the same as the operations carried out in steps S002 to S004 in the flowchart of Figure 5.

After the operation of step S105 is performed, the control device 20 terminates the operation of the flowchart.

Next, an example of a process in which the control device 20 estimates the estimated resistance value R^ will be described with reference to FIG.
Figure 7 is a flowchart for explaining an outline of the operation of the elevator door control device in embodiment 1 to estimate an estimated resistance value.

In steps S002 to S003 in the flowchart of Figure 5, the control device 20 performs an operation corresponding to the flowchart of Figure 7 to estimate the estimated resistance value R^.

7, in step S201, the current commander 26 of the control device 20 generates a first test current command value _Id1 ^* . The resistance estimator 30 of the control device 20 acquires a first test voltage command value _Vd1 ^* and a first actual current value _Id1 .

Then, the operation of step S202 is performed. In step S202, the current commander 26 generates a second test current command value _Id2 ^* . The resistance estimator 30 acquires a second test voltage command value _Vd2 ^* and a second actual current value _Id2 .

Then, the operation of step S203 is performed. In step S203, the current commander 26 generates a third test current command value _Id3 ^* . The resistance estimator 30 acquires a third test voltage command value _Vd3 ^* and a third actual current value _Id3 .

Then, the operation of step S204 is performed. In step S204, the resistance estimator 30 estimates the estimated resistance value R^ using the acquired pair of test voltage value and actual current value.

Then, step S205 is performed. In step S205, the temperature estimator 31 estimates the coil temperature T based on the estimated resistance value R^ calculated in step S204.

The control device 20 then terminates the operation of the flowchart.

The flowchart in Figure 7 shows the operation when three different test current command values are generated. The number of steps in the flowchart can change depending on the number of sets of test current command values generated.

Next, an example of the overheat protection control performed by the control device 20 will be described with reference to FIG.
Figure 8 is a flowchart for explaining an overview of the overheat protection control operation performed by the elevator door control device in embodiment 1.

The protection controller 32 determines whether or not to execute overheat protection control based on the coil temperature T in order to prevent failures such as burnout of the motor 21. Based on the determination result of the protection controller 32, the voltage commander 27 stops drive control of the motor 21 as overheat protection control.

Here, if the coil temperature T rises, the following causes are assumed, for example:

The first causal event is an abnormality occurring in the main body of the motor 21. Specifically, the coil temperature T may rise when the bearings of the motor 21 are worn, when the motor 21 is nearing the end of its life, or the like.

The second causal event is a high frequency of opening and closing the door panel 11. Specifically, the coil temperature T may rise when the frequency of calls to the car 9 is high, when the number of reversing operations of the door panel 11 increases, etc.

The third causal event is a malfunction occurring in the car door 10. Specifically, for example, if the movement resistance of the door panel 11 increases due to a malfunction in the mechanical system of the car door 10, the rotational load of the motor 21 may increase, and the coil temperature T may rise.

The fourth causal event is high ambient temperature inside the elevator shaft 2. In this case, the coil temperature T may rise in accordance with the ambient temperature.

When an event that could cause the coil temperature T to rise occurs, the amount of heat generated by the motor 21 is greater than under normal conditions. If drive control of the motor 21 continues under these conditions, there is a risk that the motor 21 will burn out.

Figure 8 shows the operation of determining whether the specified conditions for overheat protection control are met, and the operation of overheat protection control. The operation of the flowchart in Figure 8 is performed following the temperature estimation process. That is, in the flowchart in Figure 8, the door panel 11 is in a fully open or fully closed state.

Step S301 is part of the temperature estimation process. In step S301, the temperature estimator 31 of the control device 20 estimates the coil temperature T.

Then, the operation of step S302 is performed. In step S302, the protection controller 32 of the control device 20 determines whether the coil temperature T estimated by the temperature estimator 31 is equal to or lower than a reference value. For example, the reference value is set in advance based on the thermal design of the overall temperature of the coils of the motor 21.

In step S302, if the coil temperature T is equal to or lower than the reference value, the operation of step S303 is performed. In step S303, the voltage commander 27 of the control device 20 determines to continue drive control of the motor 21. In other words, the elevator system 1 operates normally.

The control device 20 then terminates the operation of the flowchart.

If, in step S302, the coil temperature T is greater than the reference value, the operation of step S304 is performed. In step S304, the voltage commander 27 stops drive control of the motor 21 as overheat protection control. The voltage commander 27 transmits information indicating that drive control of the motor 21 has been stopped to the control panel 7. In other words, the elevator system 1 transitions from a normal operation state to an emergency stop state.

The control device 20 then terminates the operation of the flowchart.

Note that if the drive control of the motor 21 is stopped in step S304, passengers will not be able to board or exit the car 9. Therefore, the control panel 7 may place the elevator system 1 in an emergency stop state after allowing passengers to exit the car 9. At this time, the control panel 7 may issue a warning or announcement to passengers informing them that service will be stopped.

Next, the recovery control in which the control device 20 recovers from the overheat protection control will be described with reference to FIG.
Figure 9 is a block diagram of the elevator door control device in embodiment 1.

As shown in Figure 9, the control device 20 further includes a temperature drop estimator 33 for performing recovery control. When the coil temperature of the motor 21 falls below a reference value, recovery control may involve driving control of the motor 21 and starting service for the car 9 (not shown in Figure 9).

When the protection controller 32 determines that the coil temperature T is greater than the threshold value, the temperature drop amount estimator 33 starts a drop amount estimation process to estimate the drop amount of the coil temperature T estimated by the temperature estimator 31.

Specifically, in the drop amount estimation process, if the protection controller 32 determines that the coil temperature T is greater than the threshold value, the temperature drop amount estimator 33 receives the coil temperature T estimated by the temperature estimator 31. At this time, the temperature drop amount estimator 33 measures the elapsed time t from the point in time when the coil temperature T value was received. That is, the temperature drop amount estimator 33 measures the elapsed time t starting from the point in time when the protection controller 32 determined that the coil temperature T was greater than the threshold value. The temperature drop amount estimator 33 sets the received coil temperature T as the initial temperature, estimates the current coil temperature T' for the elapsed time t, and outputs it. Note that if drive control of the motor 21 is stopped due to overheat protection control, the temperature drop amount estimator 33 cannot use control system information, such as the motor 21 current command value. Therefore, the temperature drop amount estimator 33 estimates the current coil temperature T' using the elapsed time t.

The temperature drop estimator 33 inputs the estimated value of the current coil temperature T' to the protection controller 32. The protection controller 32 determines whether the current coil temperature T' has fallen below a reference value. If the protection controller 32 determines that the current coil temperature T' has fallen below the reference value, the voltage commander 27 terminates the overheat protection control and restarts drive control of the motor 21 as recovery control. The reference value used in this case may be the same as the coil temperature threshold value used when performing overheat protection control, or it may be a different value.

Here, the temperature drop amount estimator 33 estimates the current coil temperature based on a drop amount mathematical model that shows the relationship between the coil temperature and elapsed time. Various models can be used as the drop amount mathematical model.

A first example of a mathematical model for the amount of descent is shown in equation (9) below.

In equation (9), Ta is a time constant that represents the rate of temperature drop. Ta is set in advance. According to equation (9), given the initial temperature T, the current coil temperature T' can be estimated for the elapsed time t.

A second example of a descent amount mathematical model is a model that includes multiple time constants, as shown in equation (10) below.

In equation (10), i is a natural number indicating the order from 1 to N. _Tai is the i-th time constant. _αi is the i-th constant.

In general, the time constant in equation (9) or (10) can take on different values depending on the ambient temperature. When applied to equipment capable of measuring ambient temperature, the value of the time constant may be determined based on the measured ambient temperature. For equipment that does not measure ambient temperature, a set constant may be used as the time constant. In this case, for example, the time constant is set to a value within the applicable range of values that results in the slowest rate of temperature drop. In other words, the temperature drop amount estimator 33 estimates the temperature drop amount under conditions that are the safest conditions, i.e., conditions under which heat dissipation from the motor 21 is least likely to occur.

The drop amount mathematical model may be another function, such as a linear function of the elapsed time t or a quadratic function of the elapsed time t. Furthermore, if the coefficients of the drop amount mathematical model are known and the temperature drop over time is approximately known, it may be determined that the current coil temperature T' has fallen below the reference value based on the elapsed time, without estimating the current coil temperature. Specifically, for example, assume that the applied model results in a temperature drop of 50°C over 100 seconds. If the coil temperature T at the time of transition to overheat protection control is 120°C and the reference temperature is 20°C, a temperature drop of 100°C could cause the current coil temperature to fall below the reference value. In other words, after 200 seconds have passed, the current coil temperature could fall below the reference value. In this case, the temperature drop amount estimator 33 may determine that the current coil temperature T' has fallen below the reference value when 200 seconds have passed, without calculating the current coil temperature T'.

Next, an example of an estimated value of the current coil temperature T' will be shown with reference to FIG.
Figure 10 is a diagram showing an example of the current coil temperature estimated by the elevator door control device in embodiment 1.

The top part of Figure 10 is a graph showing the relationship between time and elapsed time t. Overheat protection control begins at time 0. Measurement of elapsed time t begins at time 0. Elapsed time t increases in proportion to time.

The bottom part of Figure 10 is a graph showing the relationship between time and the estimated current coil temperature T'. The horizontal axis is time. The vertical axis is the estimated current coil temperature T'. The dashed line 1 indicates the reference value of the coil temperature.

At the time when overheat protection control is initiated, the coil temperature estimated by the temperature estimator 31 is T. The current coil temperature T' monotonically decreases as time elapses. At time _t1 , the current coil temperature T' becomes equal to or lower than the reference value. That is, time _t1 is the time when it becomes possible to perform return control. For example, the control device 20 restarts drive control of the motor 21 at time _t1 .

Next, the operation of the control device 20 to recover from the overheat protection control will be described with reference to FIG.
Figure 11 is a flowchart for explaining an outline of the operation performed by the elevator door control device in embodiment 1.

The operations performed in steps S401 to S404 of the flowchart in Figure 11 are the same as the operations performed in steps S301 to S304 of the flowchart in Figure 8. After the operation of step S403 is performed, the control device 20 terminates the operation of the flowchart.

After the operation of step S404 is performed, the operation of step S405 is performed. In step S405, the temperature drop amount estimator 33 of the control device 20 starts the drop amount estimation process.

Then, step S406 is performed. In step S406, the temperature drop estimator 33 determines whether the current coil temperature T' is equal to or lower than the reference value.

In step S406, if the current coil temperature T' is greater than the reference value, the drive control of the motor 21 remains stopped, i.e., operations from step S404 onwards are performed.

If, in step S406, the current coil temperature T' is equal to or lower than the reference value, the operation of step S407 is performed. In step S407, the control device 20 returns from overheat protection control, i.e., restarts drive control of the motor 21.

The control device 20 then terminates the operation of the flowchart.

Note that if the temperature drop amount estimator 33 determines whether to restore the coil temperature T' based solely on the elapsed time, without estimating the current coil temperature T', the operation of the flowchart will be the corresponding operation. Specifically, in step S405, the temperature drop amount estimator 33 calculates the elapsed time. In step S406, it is determined whether the elapsed time is equal to or greater than the reference time.

According to the above-described embodiment 1, the control device 20 includes a door state detector 24, which is a door state detection unit, a current commander 26, which is a current commander, a voltage commander 27, which is a voltage commander, a resistance estimator 30, which is a resistance estimation unit, and a temperature estimator 31, which is a temperature estimation unit. The control device 20 generates a test current command value to change the voltage command value to the motor 21 and the actual current value flowing through the motor 21. The control device 20 calculates the amount of change in the current value that has changed by following the test current command value. The control device 20 calculates the amount of change in the voltage command value that has changed due to the generation of the test current command value. The control device 20 estimates the estimated resistance value R^ of the motor 21 by dividing the amount of change in the voltage command value by the amount of change in the actual current value. Here, the amount of change in the voltage command value corresponds to the amount of change in the voltage value actually applied to the motor 21. When calculating the estimated resistance value R^, a value that eliminates the influence of the error between the voltage command value and the actually applied voltage value is used. This improves the estimation accuracy of the estimated resistance value R^. As a result, the accuracy of estimating the coil temperature T, which is the temperature of the motor 21, can be improved.

The control device 20 also generates a first test current command value and a second test current command value. The control device 20 estimates the estimated resistance value R^ based on a first test voltage command value and a second test voltage command value that are generated based on the first test current command value and the second test current command value . These generated values may be values suitable for estimating the estimated resistance value R^. This improves the accuracy of estimating the estimated resistance value R^.

The control device 20 may consider the difference between the first test voltage command value corresponding to the first test current command value and the test voltage command value generated immediately before the first test voltage command value was generated as the amount of change in the voltage command value. In this case, the control device 20 may consider the difference between the actual current value that follows the first test current command value and the actual current value immediately before the first test current command value was generated as the amount of change in the current value.

The control device 20 also generates a first test current command value and a second test current command value that have different d-axis current values. Even if the d-axis current value changes, there is almost no effect on the open/closed state of the door panel 11. This allows for improved estimation accuracy of the estimated resistance value R^.

Furthermore, the control device 20 generates the first test current command value and the second test current command value in a pulse waveform, i.e., generates them sequentially with a time interval between them. The motor 21 does not generate heat due to the test current value between the end of the current flowing in accordance with the first test current command value and the start of the current flowing in accordance with the second test current command value. This makes it possible to suppress the amount of heat generated by the motor 21.

Furthermore, the control device 20 generates a test current command value when the car 9 is traveling. That is, the control device 20 performs a temperature estimation operation for the coil temperature T while the car 9 is traveling. During the temperature estimation operation, the flow of d-axis current can cause noise such as magnetostrictive sound due to magnetostriction to be generated from the motor 21. By performing the temperature estimation operation while the car 9 is traveling, the noise can be drowned out by the traveling sound of the car 9. This makes it possible to prevent discomfort caused by the noise to users inside the car 9.

Furthermore, the control device 20 estimates the coil temperature T based on a temperature mathematical model, which allows the coil temperature T to be estimated accurately.

In addition, the control device 20 stops drive control of the motor 21 when the coil temperature T reaches or exceeds a reference value. In other words, overheat protection of the motor 21 can be appropriately implemented. This makes it possible to prevent disasters such as burnout of the motor 21 and fires caused by heat generated by the motor 21. As a result, the safety of the elevator system 1 can be improved.

The control device 20 also includes a temperature drop amount estimator 33 as a temperature drop amount estimation unit. The control device 20 estimates the current coil temperature T' by estimating the temperature drop amount of the coil temperature T. The control device 20 resumes drive control of the motor 21 when the current coil temperature T' becomes smaller than a reference value. While drive control of the motor 21 is stopped, users cannot use the elevator system 1. The control device 20 can improve the utilization efficiency of the elevator system 1 by resuming drive control of the motor 21 at an appropriate time.

The control device 20 also estimates the current coil temperature T' based on a drop amount mathematical model. This allows the current coil temperature T' to be accurately estimated.

Embodiment 2.
Figure 12 is a block diagram of an elevator door control device in embodiment 2. Note that parts that are the same as or equivalent to parts in embodiment 1 are given the same reference numerals, and explanations of these parts will be omitted.

As shown in FIG. 12, in embodiment 2, the control device 20 further includes a temperature rise estimator 34. Although not shown in FIG. 12, the control device 20 may also include a resistance estimator 30 and a temperature estimator 31.

The temperature rise amount estimator 34 estimates the amount of rise in the coil temperature of each of the three-phase coils in the motor 21. Specifically, the temperature rise amount estimator 34 receives as input the three-phase actual current values Iu, Iv, and Iw flowing through the motor 21 from the current sensor 23. The temperature rise amount estimator 34 receives as input the voltage command values Vu ^* , Vv ^* , and Vw ^* from the voltage coordinate converter 28. At this time, the temperature rise amount estimator 34 receives as input the voltage command values Vu ^* , Vv ^* , and Vw ^* before being converted into duty ratios. That is, the voltage coordinate converter 28 inputs the voltage command values Vu ^* , Vv ^* , and Vw ^* before being converted into duty ratios to the temperature rise amount estimator 34. The temperature rise estimator 34 calculates the temperature rises ΔTu, ΔTv, ΔTw of the three-phase coils based on the actual current values Iu, Iv, Iw, or based on the actual current values Iu, Iv, Iw and the voltage command values Vu ^* , Vv ^* , Vw ^* , and outputs them as estimated values. The temperature rise ΔTu is the temperature rise of the U-phase coil of the motor 21. The temperature rise ΔTv is the temperature rise of the V-phase coil of the motor 21. The temperature rise ΔTw is the temperature rise of the W-phase coil of the motor 21.

The temperature rise estimator 34 receives input of values of the initial temperature _T0 of the three-phase coils. The initial temperature _T0 is the coil temperature at the time when the temperature rise estimator 34 starts estimating the temperature rise. Note that the initial temperature _T0 may be different values for the three-phase coils or may be the same value. The initial temperature _T0 can be acquired by any method. For example, the coil temperature T estimated by the temperature estimator 31 in the first embodiment may be input to the temperature rise estimator 34 as the initial temperature _T0 . For example, the overall temperature of the motor 21 may be measured by a temperature sensor and input to the temperature rise estimator 34 as the initial temperature _T0 .

The temperature rise estimator 34 adds the temperature rises ΔTu, ΔTv, and ΔTw to the initial temperature T ₀ , respectively, to calculate and output estimated coil temperatures Tu, Tv, and Tw of the three phases, respectively.

The protection controller 32 receives the values of the estimated coil temperatures Tu, Tv, and Tw for the three phases from the temperature rise estimator 34. In embodiment 2, the protection controller 32 compares the values of the estimated coil temperatures Tu, Tv, and Tw for the three phases with the corresponding reference values, and determines whether or not overheat protection control should be initiated.

Here, the temperature rise estimator 34 calculates the heat generation amount for each of the three phase coils based on Joule's law. The following equation (11) shows the general Joule's law:

In equation (11), P is the amount of heat generated per unit time. That is, P can be calculated using voltage V, current I, and resistance R. From equation (11), the total amount of heat Q generated during time τ can be expressed by the following equation (12).

From equation (12), the heat generation amount Q of the coil can be calculated by either the equation Q = VIτ or Q = RI ² τ. The temperature rise estimator 34 calculates the estimated coil temperatures Tu, Tv, and Tw using two calculation methods based on the two equations, respectively.

Next, the calculations performed by the temperature rise amount estimator 34 will be described with reference to FIG.
FIG. 13 is a diagram showing an overview of the temperature rise estimator of the elevator door control device in embodiment 2.

As shown in FIG. 13, the temperature rise estimator 34 includes a first estimation unit 341, a first addition unit 342, a second estimation unit 343, a second addition unit 344, and an output determination unit 345.

The first estimator 341 calculates the first temperature rises _ΔTu1 , _ΔTv1 , and _ΔTw1 using the heat generation amount Q calculated based on the equation Q = RI ² τ. First, the actual current values Iu, Iv, and Iw are input to the first estimator 341. The first estimator 341 calculates the square value of each of the actual current values Iu, Iv, and Iw. The first estimator 341 multiplies the calculated square value by a proportionality constant K1 for each of the three-phase actual current values and integrates the result. Here, the proportionality constant K1 is, for example, the product of the coil resistance value R and the integration period.

The value of the coil resistance R included in the proportionality constant K1 is the largest possible resistance value. If the temperature rise is estimated to be lower than the actual value, there is a risk that the motor 21 will burn out. Therefore, the resistance R and proportionality constant K1 are set to conservative values, i.e., values that generate the largest amount of heat.

The integrated value corresponds to the value on the right side of the equation Q = RI ² τ. Here, values corresponding to each of the three phases are calculated by integration. The first calculation unit 341a of the first estimation unit 341 uses the first heat generation amount Q of each of the UVW phases calculated in this manner to calculate and output first temperature rise amounts ΔTu ₁ , ΔTv ₁ , and ΔTw _1. For example, the first calculation unit 341a uses the first heat generation amount Q of the U phase to calculate and output the first temperature rise amount ΔTu ₁ of the U phase. Note that any suitable method may be used to calculate the first temperature rise amounts ΔTu ₁ , ΔTv ₁ , and ΔTw ₁ from the first heat generation amount Q. For example, the first temperature rise amounts ΔTu ₁ , ΔTv ₁ , and ΔTw ₁ may be calculated from the first heat generation amount Q of each phase based on the heat capacity of the three-phase coils.

The first adder 342 receives the first temperature rise amounts _ΔTu1 , _ΔTv1 , and _ΔTw1 estimated by the first estimator 341. The first adder 342 receives the value of the initial temperature _T0 . The first adder 342 adds the first temperature rise amounts _ΔTu1 , _ΔTv1 , and _ΔTw1 to the initial temperature _T0 , respectively, to calculate and output the first estimated coil temperatures _Tu1 , _Tv1 , and _Tw1 . For example, the first adder 342 adds the first temperature rise amount _ΔTu1 of the U phase to the initial temperature _T0 of the U phase to calculate and output the first estimated coil temperature _Tu1 of the U phase.

The second estimator 343 calculates second temperature rises _ΔTu2 , _ΔTv2 , and _ΔTw2 using the heat generation amount Q calculated based on the equation Q=VIτ. First, the actual current values Iu, Iv, and Iw and the voltage command values Vu ^* , Vv ^* , and Vw ^* are input to the second estimator 343. The second estimator 343 also receives initial voltage command values _Vu0 ^* , _Vv0 ^* , and _Vw0 ^* at the time when the temperature rise estimator 34 starts estimating the temperature rise. The second estimator 343 holds the values of the initial voltage command values _Vu0 ^* , _Vv0 ^* , and _Vw0 ^* .

The second estimator 343 determines the difference, obtained by subtracting the initial voltage command value from the voltage command value, as the amount of change in the voltage command value for each of the U, V, and W phases. The second estimator 343 integrates the amount of change in the voltage command value and the actual current value for each of the U, V, and W phases. The second estimator 343 multiplies the product of the amount of change in the voltage command value and the actual current value for each of the U, V, and W phases by a proportionality constant K2 to calculate the second heat generation amount for each phase. The second calculator 343a of the second estimator 343 calculates and outputs second temperature rise amounts _ΔTu2 , _ΔTv2 , and _ΔTw2 using the second heat generation amount for each phase. For example, the second calculator 343a calculates and outputs the second temperature rise amount _ΔTu2 for the U phase using the second heat generation amount for the U phase. Any suitable method can be used to calculate the second temperature increase amounts ΔTu ₂ , ΔTv ₂ , and ΔTw ₂ from the second heat generation amounts.

The second adder 344 receives the second temperature rise amounts _ΔTu2 , _ΔTv2 , and _ΔTw2 estimated by the second estimator 343. The second adder 344 receives the value of the initial temperature _T0 . The second adder 344 adds the second temperature rise amounts _ΔTu2 , _ΔTv2 , and _ΔTw2 to the initial temperature _T0 , respectively, to calculate and output the second estimated coil temperatures _Tu2 , _Tv2 , and _Tw2 . For example, the second adder 344 adds the second temperature rise amount _ΔTu2 of the U phase to the initial temperature _T0 of the U phase to calculate and output the second estimated coil temperature _Tu2 of the U phase.

The output determination unit 345 receives the values of first estimated coil temperatures _Tu1 , _Tv1 , and _Tw1 from the first adder 342. The output determination unit 345 receives the values of second estimated coil temperatures _Tu2 , _Tv2 , and _Tw2 from the second adder 344. The output determination unit 345 determines the consistency between the first estimated coil temperature and the second estimated coil temperature. Based on the determination result, the output determination unit 345 outputs the estimated coil temperatures Tu, Tv, and Tw, which are the output of the temperature rise amount estimator 34.

When determining consistency, the output determination unit 345 calculates the absolute value of the difference between the first estimated coil temperature and the second estimated coil temperature. If the absolute value of the difference is less than or equal to a specified threshold, the output determination unit 345 determines that the first estimated coil temperature and the second estimated coil temperature are consistent. If the absolute value of the difference is greater than the specified threshold, the output determination unit 345 determines that the first estimated coil temperature and the second estimated coil temperature are not consistent. The output determination unit 345 makes this determination for each phase of the coil.

When the output determination unit 345 determines that a match is found in the determination for a certain phase, it outputs either the first estimated coil temperature or the second estimated coil temperature for that phase as the estimated coil temperature. Note that when the output determination unit 345 determines that a match is found in the determination for a certain phase, it may also output the average value of the first estimated coil temperature and the second estimated coil temperature for that phase as the estimated coil temperature.

If the output determination unit 345 determines that there is no consistency in the determination for a certain phase, it outputs the higher of the first estimated coil temperature and the second estimated coil temperature for that phase as the estimated coil temperature. Therefore, the determination of whether to perform overheat protection control can be made based on a conservative condition, i.e., the condition that estimates the higher temperature.

Next, examples of the values used for calculations in the temperature rise amount estimator 34 will be described with reference to FIG.
FIG. 14 is a diagram showing an example of numerical values used by the temperature rise estimator of the elevator door control device in embodiment 2.

Figure 14 shows the time progression of each numerical value when a rotational torque is generated without the motor 21 rotating, which is the condition of this example. Specifically, the time progression of each numerical value is shown for cases where the door panel 11 is fully open and the motor 21 is applying torque to the door panel 11 in the opening direction, when the door panel 11 is fully closed and the motor 21 is applying torque to the door panel 11 in the closing direction, and when a forcing event occurs, in which an external force is applied to the door panel 11 in an attempt to pry open the door panel 11 in a fully closed state. For example, a forcing event occurs when a user from inside the car 9 tries to pry open the door panel 11 in a fully closed state.

The upper part of Figure 14 is a graph showing the relationship between time and the actual q-axis current value Iq. In this example, a constant q-axis current flows through the motor 21 to generate torque. Note that the direction in which Iq flows varies depending on the direction in which torque is generated.

The middle part of Figure 14 is a graph showing the relationship between time and the actual current values Iu, Iv, and Iw of each phase. Because current flows through the coils of each phase with the rotation angle of the motor 21 fixed, the actual current values Iu, Iv, and Iw of each phase are all DC values. The magnitudes of the actual current values Iu, Iv, and Iw of each phase vary depending on the magnitude of the actual current value Iq and the rotational position of the motor 21.

The lower part of Fig. 14 is a graph showing the relationship between time and the voltage command value. The horizontal axis represents time. The vertical axis represents the voltage command value. The lower part of Fig. 14 shows a graph showing the voltage command values Vu ^* , Vv ^* , and Vw ^* , and dashed lines showing the values of the initial voltage command values _Vu0 ^* , _Vv0 ^* , and _Vw0 ^* .

The base time is the time on the far left of each graph. In the lower graph, the voltage command values at the base time are the initial voltage command values _Vu0 ^* , _Vv0 ^* , and _Vw0 ^* . Since the current values flowing through the coils of each phase are different, the temperature rise of the coils of each phase is different. The amount of increase in the resistance value of the coils of each phase due to the temperature rise is also different.

Since the resistance value of the coil of each phase increases over time, the absolute values of the voltage command values Vu ^* , Vv ^* , Vw ^* increase over time so as to keep the actual current values Iu, Iv, Iw constant, respectively.

When estimating the amount of temperature rise, the first estimation unit 341 uses the value obtained by multiplying the square of the actual current value by a proportionality constant K1 and integrating the result. The actual current value is controlled to be a constant value regardless of the coil's resistance value. In other words, the actual current value is a numerical value that does not reflect the actual amount of rise in the coil's resistance value. To ensure that the calculation result includes information about the amount of rise in the coil's resistance value, which is the amount of temperature rise, the first estimation unit 341 uses the value obtained by integrating the product of the square of the actual current value and the proportionality constant K1 to estimate the amount of temperature rise.

When estimating the amount of temperature rise, the second estimator 343 uses the ^product of the actual current values ^Iu , ^Iv , and Iw and the value obtained by subtracting the initial voltage command values _Vu0 ^* , _Vv0 ^* , and _Vw0 ^* from the voltage command values Vu*, Vv*, and Vw*. The initial voltage command values _Vu0 ^* , _Vv0 ^* , and _Vw0 ^* are fixed values. The voltage command values Vu ^* , Vv ^* , and Vw ^* change with changes in the resistance value of the coil. In other words, the voltage command values Vu ^* , Vv ^* , and Vw ^* contain information related to the amount of temperature rise. Therefore, the second estimator 343 can use the product of each numerical value to estimate the amount of temperature rise without integrating it.

Furthermore, the second estimator 343 uses the voltage V in the equation Q = VIτ by subtracting the initial voltage command values _Vu0 ^* , Vv0 ^* , and Vw0 ^* from the voltage command values Vu ^* , _Vv ^* , and _Vw ^* . This is to reduce the influence of errors between the voltage command values Vu ^* , Vv ^* , and Vw ^* and the actual voltage values actually applied to the coils of each phase. Specifically, errors may occur between the voltage command values Vd ^* and Vq ^* and the actually applied voltages due to differences in power supply voltage, etc. The voltage command values Vu ^* , Vv ^* , and Vw ^* are values converted based on the voltage command values Vd ^* and Vq ^* and the rotational position, and therefore contain errors from the actual voltage values. In order to reduce the estimation error of the temperature rise amount, the second estimator 343 uses the difference between the initial voltage command values _Vu0 ^* , _Vv0 ^* , and _Vw0 ^* , which contain similar errors, to estimate the temperature rise amount.

On the other hand, since the actual current values Iu, Iv, and Iw are measured by the current sensor 23, they are considered to be accurate values and are used as is to estimate the amount of temperature rise.

In addition, the first estimation unit 341 and the second estimation unit 343 may apply a filtering process to the estimated temperature rise amount so that the effects of high-frequency noise and the like can be eliminated. In other words, the first estimation unit 341 and the second estimation unit 343 may output the filtered temperature rise amount.

Next, a first example of the temperature estimation process performed by the control device 20 in the second embodiment will be described.
Figure 15 is a flowchart for explaining an overview of a first example of the temperature estimation process performed by the elevator door control device in embodiment 2.

The first example of the temperature estimation process can be performed at any time.

In step S501, the control unit 20 determines whether the door panel 11 is fully closed or fully open.

If, in step S501, the door panel 11 is neither fully open nor fully closed, the control device 20 terminates the operation of the flowchart.

If the door panel 11 is determined to be fully open or fully closed in step S501, the operation of step S502 is performed. In step S502, the temperature rise estimator 34 of the control device 20 estimates the first estimated coil temperatures _Tu1 , _Tv1 , and _Tw1 of the three phases.

Thereafter, the operation of step S503 is performed. In step S503, the temperature rise estimator 34 estimates the second estimated coil temperatures _Tu2 , _Tv2 , and _Tw2 of the three phases, respectively.

Then, the operation of step S504 is performed. In step S504, the temperature rise estimator 34 determines whether the first estimated U-phase coil temperature _Tu1 and the second estimated U-phase coil temperature _Tu2 are consistent with each other.

If a match is found in step S504, the operation of step S505 is performed. In step S505, the temperature rise estimator 34 determines one of the first estimated coil temperature _Tu1 and the second estimated coil temperature _Tu2 as the estimated coil temperature Tu of the U phase. Note that the temperature rise estimator 34 may also determine the average value of the first estimated coil temperature _Tu1 and the second estimated coil temperature _Tu2 as the estimated coil temperature Tu of the U phase.

If there is no match in step S504, the operation of step S506 is performed. In step S506, the temperature rise estimator 34 determines the worst value of the first estimated coil temperature _Tu1 and the second estimated coil temperature _Tu2 , i.e., the larger temperature value, as the estimated coil temperature Tu of the U phase.

After the operation of step S505 or step S506 is performed, the operation of step S507 is performed. In step S507, the temperature rise estimator 34 determines whether the first estimated V-phase coil temperature _Tv1 and the second estimated V-phase coil temperature Tv2 are consistent with _{each other} .

If a match is found in step S507, the operation of step S508 is performed. In step S508, the temperature rise estimator 34 determines one of the first estimated coil temperature _Tv1 and the second estimated coil temperature _Tv2 as the V-phase estimated coil temperature Tv. Note that the temperature rise estimator 34 may determine the average value of the first estimated coil temperature _Tv1 and the second estimated coil temperature _Tv2 as the V-phase estimated coil temperature Tv.

If there is no match in step S507, the operation of step S509 is performed. In step S509, the temperature rise estimator 34 determines the worst value of the first estimated coil temperature _Tv1 and the second estimated coil temperature _Tv2 , i.e., the larger temperature value, as the V-phase estimated coil temperature Tv.

After the operation of step S508 or step S509 is performed, the operation of step S510 is performed. In step S510, the temperature rise estimator 34 determines whether the first estimated W-phase coil temperature _Tw1 and the second estimated W-phase coil temperature _Tw2 are consistent with each other.

If a match is found in step S510, the operation of step S511 is performed. In step S511, the temperature rise estimator 34 determines one of the first estimated coil temperature _Tw1 and the second estimated coil temperature _Tw2 as the estimated coil temperature Tw of the W phase. Note that the temperature rise estimator 34 may also determine the average value of the first estimated coil temperature _Tw1 and the second estimated coil temperature _Tw2 as the estimated coil temperature Tw of the W phase.

If there is no match in step S510, the operation of step S512 is performed. In step S512, the temperature rise estimator 34 determines the worst value of the first estimated coil temperature _Tw1 and the second estimated coil temperature _Tw2 , i.e., the greater temperature value, as the estimated coil temperature Tw of the W phase.

After the operation of step S511 or step S512 is performed, the operation of step S513 is performed. In step S513, the temperature rise estimator 34 outputs the estimated coil temperatures Tu, Tv, and Tw of each phase that have been determined.

The control device 20 then terminates the operation of the flowchart.

The temperature estimation in this flowchart is particularly effective when the motor 21 presses the door panel 11 further in the opening direction from a fully open state, or when the motor 21 presses the door panel 11 further in the closing direction from a fully closed state. This is because in this state, a load is likely to be generated on the motor 21, and the coil temperature is likely to rise.

A situation in which the motor 21 pushes the door panel 11, which is in a fully open state, further in the opening direction can occur when the "open" button on the control panel installed on the car 9 is continuously pressed, or when the call button on the control panel installed at the landing 5 is continuously operated while the door panel 11 is open.

A situation in which a fully closed door panel 11 is pressed further in the closing direction can occur, for example, when the door panel is pried open. In this case, the motor 21 generates torque to overcome the force trying to pry open the door panel 11. As a result, a large current flows through the motor 21 coil, and the amount of heat generated by the coil increases.

Next, as a second example of the temperature estimation process in the second embodiment, an operation performed by the control device 20 when a forced opening occurs will be described.
Figure 16 is a flowchart for explaining an overview of a second example of the temperature estimation process performed by the elevator door control device in embodiment 2.

As shown in FIG. 16, in step S601, the control device 20 determines whether a forcing has occurred. For example, the door state detector 24 of the control device 20 determines whether a forcing has occurred. In this case, the door state detector 24 determines that a forcing has occurred when the door panel 11 is in a fully closed state and a torque equal to or greater than a specified value is being generated in the closing direction. Note that any method may be used as the method by which the control device 20 determines whether a forcing has occurred. Also, for example, the current commander 26 may determine whether a forcing has occurred.

If it is determined in step S601 that no forcing has occurred, the control device 20 terminates the operation of the flowchart. That is, in the second example, the control device 20 does not perform the temperature estimation process unless forcing has occurred. Note that the control device 20 may perform the operation of the first example of the temperature estimation process after determining that forcing has not occurred.

If it is determined in step S601 that a prying attempt has occurred, the control device 20 performs the operations from step S602 onwards. The operations performed in steps S602 to S613 are the same as the operations performed in steps S502 to S513 in the flowchart of Figure 15, which is the first example.

Next, an example of the overheat protection control performed by the control device 20 in the second embodiment will be described with reference to FIG.
Figure 17 is a flowchart for explaining an overview of the overheat protection control operation performed by the elevator door control device in embodiment 2.

The protection controller 32 determines whether or not overheat protection control should be initiated for each of the estimated coil temperatures Tu, Tv, and Tw.

As shown in FIG. 17, in step S701, the temperature rise amount estimator 34 of the control device 20 estimates the temperature rise amount of each phase. At this time, the temperature rise amount estimator 34 calculates a first temperature rise amount and a second temperature rise amount.

Then, step S702 is performed. In step S702, the temperature rise estimator 34 calculates and outputs the estimated coil temperatures Tu, Tv, and Tw. That is, the temperature rise estimator 34 estimates the estimated coil temperatures Tu, Tv, and Tw, respectively.

Then, the operation of step S703 is performed. In step S703, the values of the estimated coil temperatures Tu, Tv, and Tw are input to the protection controller 32 of the control device 20. The protection controller 32 determines whether the estimated coil temperature Tu of the U phase is below a reference value.

If the estimated coil temperature Tu is equal to or lower than the reference value in step S703, the operation of step S704 is performed. In step S704, the protection controller 32 determines whether the estimated coil temperature Tv of the V phase is equal to or lower than the reference value.

If the estimated coil temperature Tv is equal to or lower than the reference value in step S704, the operation of step S705 is performed. In step S705, the protection controller 32 determines whether the estimated coil temperature Tw of the W phase is equal to or lower than the reference value.

If, in step S705, the estimated coil temperature Tw is equal to or lower than the reference value, the operation of step S706 is performed. In step S706, the voltage controller 27 determines to continue drive control of the motor 21. In other words, the elevator system 1 operates normally.

The control device 20 then terminates the operation of the flowchart.

If the estimated coil temperature Tu exceeds the reference value in step S703, if the estimated coil temperature Tv exceeds the reference value in step S704, or if the estimated coil temperature Tw exceeds the reference value in step S705, the operation of step S707 is performed. The operation performed in step S707 is the same as the operation performed in step S304 of the flowchart in Figure 8 of embodiment 1. That is, the voltage commander 27 stops drive control of the motor 21 as overheat protection control. The voltage commander 27 transmits information indicating that drive control of the motor 21 has been stopped to the control panel 7. That is, the elevator system 1 transitions from a normal operation state to an emergency stop state.

The control device 20 then terminates the operation of the flowchart.

Next, the recovery control in which the control device 20 recovers from the overheat protection control in the second embodiment will be described with reference to FIG.
Figure 18 is a block diagram of an elevator door control device in embodiment 2.

As shown in FIG. 18, in embodiment 2, the control device 20 further includes a temperature drop amount estimator 33. The temperature drop amount estimator 33 differs from embodiment 1 in that, in the drop amount estimation process, it estimates the drop amounts of the estimated coil temperatures Tu, Tv, and Tw for each phase of the coil. Note that the process of calculating the drop amount of each estimated coil temperature is the same as in embodiment 1.

That is, when the protection controller 32 determines that at least one of the estimated coil temperatures Tu, Tv, and Tw exceeds a reference value, the values of the estimated coil temperatures Tu, Tv, and Tw are input to the temperature drop amount estimator 33. At this time, the temperature drop amount estimator 33 measures the elapsed time t, using the time when the values of the estimated coil temperatures Tu, Tv, and Tw were input as the base point. The temperature drop amount estimator 33 sets the input estimated coil temperatures Tu, Tv, and Tw as initial temperatures, respectively, and estimates and outputs the current estimated coil temperatures Tu', Tv', and Tw' for the elapsed time t.

The protection controller 32 receives the current estimated coil temperatures Tu', Tv', and Tw' from the temperature drop estimator 33. The protection controller 32 determines whether the current estimated coil temperatures Tu', Tv', and Tw' are all below a reference value.

Here, the temperature drop amount estimator 33 estimates the current estimated coil temperatures Tu', Tv', and Tw' based on a drop amount mathematical model that shows the relationship between the estimated coil temperature and elapsed time. Various models can be used as the drop amount mathematical model.

A first example of a descent amount mathematical model is shown in the following equations (13) to (15). Note that each coefficient is the same as in equation (9).

Note that different values of the time constant Ta may be used in the temperature formula models of each phase.

The second example of the descent amount formula model is a model that includes multiple time constants, as shown in equations (16) to (18) below. Note that each coefficient is the same as in equation (10).

In general, the time constants in equations (13) to (18) can take different values depending on the ambient temperature. When applied to equipment capable of measuring the ambient temperature, the value of the time constant may be determined by the ambient temperature. For equipment that does not measure the ambient temperature, a set constant may be used as the time constant. In this case, for example, the time constant is set to a value within the applicable range of values that results in the slowest rate of temperature drop. In other words, the temperature drop amount estimator 33 estimates the temperature drop amount under conditions that are the safest conditions, i.e., conditions under which heat dissipation from the motor 21 is least likely to occur.

The drop amount mathematical model may be another function, such as a linear function of elapsed time t or a quadratic function of elapsed time t. Furthermore, if the coefficients of the drop amount mathematical model are known and the temperature drop amount relative to elapsed time is generally known, the temperature drop amount estimator 33 may determine that the current estimated coil temperatures Tu', Tv', and Tw' have all fallen below the reference value based on the elapsed time, without estimating the current coil temperature. Specifically, for example, assume that the model applied to all phases results in a temperature drop of 50°C over 100 seconds. If the estimated coil temperature of one of the phases at the time of transition to overheat protection control is 120°C and the reference temperature is 20°C, a temperature drop of 100°C could cause the current estimated coil temperature of that phase to fall below the reference value. In other words, after 200 seconds have passed, the current estimated coil temperatures for all phases could fall below the reference value. In this case, the temperature drop amount estimator 33 may determine that the current estimated coil temperatures Tu', Tv', Tw' have all become equal to or lower than the reference value when 200 seconds have elapsed, without calculating the current estimated coil temperatures Tu', Tv', Tw'. Thereafter, the protection controller 32 may receive a signal from the temperature drop amount estimator 33 indicating that the current estimated coil temperatures Tu', Tv', Tw' have all become equal to or lower than the reference value.

Next, an example of estimated values of the current estimated coil temperatures Tu', Tv', and Tw' will be shown with reference to FIG.
Figure 19 is a diagram showing an example of the current estimated coil temperature estimated by the elevator door control device in embodiment 2.

Figure 19 (A) is a graph showing the relationship between time and elapsed time t. Overheat protection control begins at time 0, which is the base point.

(B) in Figure 19 is a graph showing the relationship between time and the current estimated coil temperature Tu' for the U phase. (C) in Figure 19 is a graph showing the relationship between time and the current estimated coil temperature Tv' for the V phase. (D) in Figure 19 is a graph showing the relationship between time and the current estimated coil temperature Tw' for the W phase.

In the example shown in Figure 19, the current estimated coil temperatures Tu', Tv', and Tw' decrease exponentially with elapsed time. For example, if overheat protection control is initiated due to a prying operation, the temperature rise in each phase will be different. Therefore, when overheat protection control is initiated, the initial temperatures of each phase will be different.

At time 0, the value of Tv is smallest. Tv' becomes equal to or less than the reference value at time _t2 before Tu' and Tw'. At time 0, the value of Tw is second smallest. Tw' becomes equal to or less than the reference value at time _t3 , which is after time _t2 . At time 0, the value of Tu is largest. Tu' becomes equal to or less than the reference value at time _t4 , which is after time _t3 .

At time _t4 , the protection controller 32 determines that the current estimated coil temperatures Tu', Tv', and Tw' have all become equal to or lower than the reference values.

Next, the operation of the control device 20 to recover from the overheat protection control will be described with reference to FIG.
Figure 20 is a flowchart for explaining an overview of the operation performed by the elevator door control device in embodiment 2.

The operations performed in steps S801 to S807 of the flowchart in Figure 20 are the same as the operations performed in steps S701 to S707 of the flowchart in Figure 17. After the operation of step S706 is performed, the control device 20 terminates the operation of the flowchart.

After the operation of step S807 is performed, the operation of step S808 is performed. In step S808, the temperature drop amount estimator 33 of the control device 20 calculates the temperature drop amount of each phase to estimate the current estimated coil temperatures Tu', Tv', and Tw', respectively.

Then, the operation of step S809 is performed. In step S809, the protection controller 32 determines whether the current estimated coil temperatures Tu', Tv', and Tw' are all below the reference values.

If, in step S809, the current estimated coil temperatures Tu', Tv', and Tw' are all below the reference values, the operation of step S810 is performed. In step S810, the control device 20 returns from overheat protection control, i.e., restarts drive control of the motor 21.

The control device 20 then terminates the operation of the flowchart.

In step S809, if at least one of the current estimated coil temperatures Tu', Tv', and Tw' is greater than the reference value, the drive control of the motor 21 remains stopped, i.e., the operations from step S807 onwards are performed.

Note that if the temperature drop amount estimator 33 determines whether to resume operation based solely on the elapsed time without estimating the current estimated coil temperatures Tu', Tv', and Tw', the operations in the flowchart will be the corresponding operations. Specifically, in step S808, the temperature drop amount estimator 33 calculates the elapsed time. In step S809, the temperature drop amount estimator 33 determines whether the elapsed time is equal to or greater than a reference time. In step S810, the protection controller 32 determines that drive control of the motor 21 can be restarted based on the signal from the temperature drop amount estimator 33. The control device 20 restarts drive control of the motor 21.

According to the second embodiment described above, the control device 20 includes a door state detector 24, which is a door state detection unit, a voltage commander 27, which is a voltage command unit, a voltage coordinate converter 28, which is a voltage coordinate conversion unit, and a temperature rise estimator 34, which is a temperature rise estimation unit. The control device 20 estimates the temperature rises ΔTu, ΔTv, and ΔTw of the three phases. Once the temperature rises ΔTu, ΔTv, and ΔTw of the three phases are estimated, the temperature of the motor 21 can be estimated. This improves the accuracy of estimating the temperature of the motor 21.

The control device 20 also estimates the three-phase coil temperatures Tu, Tv, and Tw based on the three-phase temperature rise amounts ΔTu, ΔTv, and ΔTw, respectively. This improves the accuracy of estimating the motor temperature.

Furthermore, temperature rise estimator 34 includes first estimator 341, second estimator 343, and output determination unit 345. Control device 20 estimates first estimated coil temperatures _Tu1 , Tv1, _Tw1 and second estimated coil temperatures _Tu2 , _Tv2 , _Tw2 . Control device 20 determines the consistency between first estimated coil temperatures _Tu1 , _Tv1 , _Tw1 and second estimated coil temperatures _Tu2 , _Tv2 , _Tw2 , and estimates three-phase estimated coil temperatures Tu, _Tv , Tw based on the determination result. As a result, the accuracy of estimating the temperature of each coil can be improved.

Furthermore, the control device 20 estimates the first temperature rise amounts ΔTu ₁ , ΔTv ₁ , and ΔTw ₁ and the second temperature rise amounts ΔTu ₂ , ΔTv ₂ , and ΔTw ₂ using a method suited to each estimation principle, thereby improving the accuracy of estimating the temperature of each coil.

The control device 20 also detects that a prying attempt has occurred. When a prying attempt has occurred, the control device 20 estimates the estimated three-phase coil temperatures Tu, Tv, and Tw. When a prying attempt has occurred, the temperature of the motor 21 is likely to rise. The control device 20 can estimate the estimated three-phase coil temperatures Tu, Tv, and Tw even when a prying attempt has occurred. This allows for improved safety of the motor 21.

In addition, the control device 20 stops drive control of the motor 21 when at least one of the three-phase estimated coil temperatures Tu, Tv, and Tw exceeds a reference value. This makes it possible to prevent disasters such as burnout of the motor 21 and fires caused by heat generated by the motor 21. As a result, the safety of the elevator system 1 can be improved.

The control device 20 also includes a temperature drop amount estimator 33 as a temperature drop amount estimation unit. The control device 20 estimates the temperature drop amounts of the estimated coil temperatures Tu, Tv, and Tw, respectively, to estimate the current estimated coil temperatures Tu', Tv', and Tw'. The control device 20 resumes drive control of the motor 21 when all of the current estimated coil temperatures Tu', Tv', and Tw' become smaller than the reference value. By resuming drive control of the motor 21 at an appropriate timing, the control device 20 can improve the utilization efficiency of the elevator system 1.

The control device 20 also estimates the current estimated coil temperatures Tu', Tv', and Tw' based on a drop amount mathematical model. This allows the current estimated coil temperatures Tu', Tv', and Tw' to be accurately estimated.

Next, an example of hardware constituting the control device 20 will be described with reference to FIG.
Figure 21 is a hardware configuration diagram of an elevator door control device in embodiment 1 or embodiment 2.

Each device provided in the control device 20 may be realized by a processing circuit integrated into one device. Each device provided in the control device 20 may be realized by a processing circuit integrated into multiple devices in any combination. Furthermore, each device provided in the control device 20 may be realized by a processing circuit. Hereinafter, the term "processing circuit" refers to either a processing circuit integrated into one device provided in the control device 20 or the processing circuit of each device provided in the control device 20. For example, the processing circuit includes at least one processor 100a and at least one memory 100b. For example, the processing circuit includes at least one dedicated hardware 200.

When the processing circuit includes at least one processor 100a and at least one memory 100b, the functions of the control device 20 are implemented by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. At least one of the software and firmware is stored in at least one memory 100b. The at least one processor 100a implements the functions of the control device 20 by reading and executing the program stored in the 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, or DSP. For example, the at least one memory 100b is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, or EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a minidisk, a DVD, or the like.

When the processing circuit includes at least one dedicated hardware 200, the processing circuit may be realized, for example, as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. For example, each function of the control device 20 may be realized individually by a processing circuit. For example, each function of the control device 20 may be realized collectively by a processing circuit.

Some of the functions of the control device 20 may be implemented by dedicated hardware 200, with other functions implemented by software or firmware. For example, the function of generating a current command value may be implemented by a processing circuit as dedicated hardware 200, and functions other than the function of generating a current command value may be implemented by at least one processor 100a reading and executing a program stored in at least one memory 100b.

In this way, the processing circuitry realizes each function of the control device 20 through hardware 200, software, firmware, or a combination of these.

As described above, the control device disclosed herein can be used in elevator systems.

1 Elevator system, 2 Hoistway, 3 Building, 4 Machine room, 5 Landing, 6 Hoisting machine, 7 Control panel, 8 Main rope, 9 Cage, 10 Cage door, 11 Door panel, 20 Control device, 21 Motor, 22 Rotation sensor, 23 Current sensor, 24 Door status detector, 25 Current coordinate converter, 26 Current command generator, 27 Voltage command generator, 28 Voltage coordinate converter, 29 Power converter, 30 Resistance estimator, 31 Temperature estimator, 32 Protection controller, 33 Temperature drop estimator, 34 Temperature rise estimator, 100a Processor, 100b Memory, 200 Hardware, 341 First estimation unit, 341a First calculation unit, 342 First addition unit, 343 Second estimation unit, 343a: second calculation unit, 344: second addition unit, 345: output determination unit

Claims (10)

a door state detection unit that detects the open/closed state of the elevator door;
a current command unit that generates a current command value for controlling a current flowing through a motor that drives the door;
a voltage command unit that generates a voltage command value that is a command value for a voltage to be applied to the motor so that a current flowing through the motor follows the current command value;
a resistance estimating unit that estimates an electrical resistance value of the motor;
a temperature estimation unit that estimates a coil temperature of the motor from the electrical resistance value estimated by the resistance estimation unit;
Equipped with
the current command unit generates a test current command value that is the current command value for estimating the coil temperature when the door state detection unit detects that the door is in a fully open state or a fully closed state;
The resistance estimation unit estimates the electrical resistance value by dividing the change in the voltage command value, which is caused by the test current command value, by the change in the current flowing through the motor, which is caused by the test current command value. the current command unit generates, as the test current command value, a first test current command value and a second test current command value having a magnitude different from that of the first test current command value;
the voltage command unit generates a first test voltage command value corresponding to the first test current command value and a second test voltage command value corresponding to the second test current command value;
2. The elevator door control device of claim 1, wherein the resistance estimation unit calculates the difference between the current value of the motor that follows the first test current command value and the current value of the motor that follows the second test current command value as the change in the current, and calculates the difference between the first test voltage command value and the second test voltage command value as the change in the voltage command value. An elevator door control device as described in claim 2, wherein the current command unit generates the first test current command value as a current command value in which the d-axis current value is not zero, and generates the second test current command value as a current command value in which the d-axis current value is not zero and is different from the first test current command value. An elevator door control device as described in claim 2 or claim 3, wherein the current command unit generates the first test current command value and the second test current command value sequentially with a time interval between them. 4. The elevator door control device according to claim 1 , wherein the current command unit generates the test current command value when a car equipped with the door is traveling. 4. An elevator door control device as described in any one of claims 1 to 3, wherein the temperature estimation unit estimates the coil temperature of the motor from the electrical resistance value estimated by the resistance estimation unit based on a temperature mathematical model representing the relationship between the electrical resistance value of the motor and the coil temperature of the motor. 4. An elevator door control device as described in any one of claims 1 to 3, wherein the voltage command unit stops drive control of the motor when the coil temperature of the motor estimated by the temperature estimation unit becomes equal to or higher than a reference value. a temperature drop amount estimation unit that estimates a current estimated coil temperature of the motor by estimating a temperature drop amount of the coil temperature of the motor when the voltage command unit stops drive control of the motor based on the coil temperature of the motor;
Further provided with
The elevator door control device according to claim 7, wherein the voltage command unit restarts drive control of the motor when the current estimated coil temperature estimated by the temperature drop amount estimation unit becomes smaller than a reference value. An elevator door control device as described in claim 8, wherein the temperature drop estimation unit estimates the current estimated coil temperature using the elapsed time from the time when the voltage command unit stopped drive control of the motor based on the coil temperature of the motor. The elevator door control device described in claim 9, wherein the temperature drop amount estimation unit calculates the temperature drop amount of the motor's coil temperature from the elapsed time based on a drop amount mathematical model that represents the relationship between the elapsed time and the temperature drop amount of the motor's coil temperature, and estimates the current estimated coil temperature.