JPH0255353B2 - - Google Patents

Info

Publication number
JPH0255353B2
JPH0255353B2 JP58231544A JP23154483A JPH0255353B2 JP H0255353 B2 JPH0255353 B2 JP H0255353B2 JP 58231544 A JP58231544 A JP 58231544A JP 23154483 A JP23154483 A JP 23154483A JP H0255353 B2 JPH0255353 B2 JP H0255353B2
Authority
JP
Japan
Prior art keywords
torque
control
speed
level
induction motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
JP58231544A
Other languages
Japanese (ja)
Other versions
JPS60128176A (en
Inventor
Hideaki Takahashi
Yoshio Sakai
Masayuki Hirose
Toshio Meguro
Noboru Arahori
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP58231544A priority Critical patent/JPS60128176A/en
Priority to KR1019840007503A priority patent/KR920004303B1/en
Priority to GB08430945A priority patent/GB2151420B/en
Publication of JPS60128176A publication Critical patent/JPS60128176A/en
Priority to HK305/88A priority patent/HK30588A/en
Publication of JPH0255353B2 publication Critical patent/JPH0255353B2/ja
Granted legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
    • B66B1/302—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor for energy saving
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
    • B66B1/40—Means for stopping the cars, cages, or skips at predetermined levels and for correct levelling at landings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
    • B66B1/44—Means for stopping the cars, cages, or skips at predetermined levels and for taking account of disturbance factors, e.g. variation of load weight
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Elevator Control (AREA)

Description

【発明の詳細な説明】 〔発明の利用分野〕 本発明は、誘導電動機を巻上機駆動に用いたエ
レベーターの制御装置に係り、特にこのようなエ
レベーターの着床レベル補償運転のための制御装
置に関する。[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a control device for an elevator using an induction motor to drive a hoisting machine, and in particular to a control device for landing level compensation operation of such an elevator. Regarding.

〔発明の背景〕[Background of the invention]

一般に、広範囲高精度の制御性と優れた乗心地
が要求されるエレベーターの駆動電動機として
は、従来より直流伝動機が向く用いられている
が、直流電動機には、機械的な整流機構に基づく
種々の制約があるため、近年構造が簡単で堅牢、
安価な特徴のため一般産業分野に多用されている
誘導電動機を駆動用としたエレベーターが種々開
発され、実用化されるようになつてきた。 In general, DC transmissions have traditionally been used as driving motors for elevators that require wide-range, high-precision controllability and excellent riding comfort. Due to the constraints of
BACKGROUND ART Various elevators driven by induction motors, which are often used in general industrial fields due to their low cost, have been developed and put into practical use.

そして、このような誘導電動機を用いたエレベ
ーターのうちで、従来から広く用いられているも
のに１次電圧を制御して速度制御を行なう方式の
エレベーターがある。 Among elevators using such induction motors, one that has been widely used in the past is one that controls the speed by controlling the primary voltage.

しかしながら、この方式のものは、その１次電
圧制御という性格上、例えば、ワードレオナード
方式やサイリスタレオナード方式を用いたギヤレ
スエレベーターで達成されている、次に記載する
ような制御を行なうにはおのずと限界がある。 However, due to the nature of primary voltage control, this method naturally has a limit to the control described below, which is achieved in gearless elevators using Ward Leonard method or thyristor Leonard method, for example. There is.

(1) ギヤレス駆動の電動機の定格回転数は、360
ｍ／minの高速エレベーターにおいても、
200RPM以下であり、更に低い定格速度のエレ
ベーターを誘導電動機の定格回転数付近で制御
する場合、１次電圧制御では、多極数の電動機
が必要になる。(1) The rated rotation speed of a gearless drive motor is 360
Even in high-speed elevators of m/min,
When controlling an elevator with an even lower rated speed of 200 RPM or less around the rated rotation speed of the induction motor, a motor with a large number of poles is required for primary voltage control.

(2) 誘導電動機の制御は、種々の非線形要素を含
むため、直流機の制御のように広範囲にわたつ
て安定制御が困難である。(2) Since the control of induction motors includes various nonlinear elements, it is difficult to perform stable control over a wide range like the control of DC machines.

(3) 現在の直流ギヤレスエレベーターでは、エレ
ベーター停止時の乗かご床レベルと乗り場床レ
ベルの微小な差を検出し、微小速度で、レベル
差を零とする運転、いわゆる着床レベル補償運
転を行なつているが、１次電圧制御では速度零
付近での正確なトルク制御がほとんど不可能
で、このような運転ができない。(3) Current DC gearless elevators detect the minute difference between the car floor level and the landing floor level when the elevator is stopped, and operate at a minute speed to reduce the level difference to zero, so-called landing level compensation operation. However, with primary voltage control, accurate torque control near zero speed is almost impossible, making this type of operation impossible.

すなわち、現在の直流ギヤレスエレベーターは
非常に優れた運転特性を実現できるが、１次電圧
制御による誘導電動機駆動の交流エレベーターで
上記のような制御を実現することはほとんど不可
能に近い。 That is, although current DC gearless elevators can achieve very excellent operating characteristics, it is almost impossible to achieve the above control with an AC elevator driven by an induction motor using primary voltage control.

たとえば、１次電圧制御の場合、第１図に示す
ように、２種類の巻線をもつ誘導電動機２を用
い、そのうちの巻線Ｃ１には、速度指令に見合つ
た交流電圧を交流電圧制御装置１０１よりかけ
る。しかし、これでは、微小速度指令をすること
が困難なため、別の巻線Ｃ２に対して、制御力と
なる直流電圧を直流電圧制御装置１０２よりか
け、これらの力のつり合いによつて微小な速度指
令となるトルクを与える。しかし、この方法で
は、乗り場の床レベルと乗かご床レベルの差が小
さくなるにつれ、上記交流電圧制御装置１０１、
直流電圧制御装置１０２の出力を変化させ、最終
的には、速度零で、乗かごとつり合いおもりのア
ンバランス分を補正するトルクだけが出力される
ように、制御しなければならない。これは、制御
が非常に複雑、高価となり、現実的にはレベル誤
差零、速度零として停止させることは不可能に近
いことになつてしまうのである。 For example, in the case of primary voltage control, as shown in FIG. 1, an induction motor 2 having two types of windings is used, and one of the windings C1 is supplied with an AC voltage corresponding to the speed command by an AC voltage control device. Multiply by 101. However, with this, it is difficult to give a minute speed command, so a direct current voltage serving as a control force is applied to another winding C2 from the direct current voltage control device 102, and the balance of these forces causes a minute speed command. Gives the torque that becomes the speed command. However, in this method, as the difference between the landing floor level and the car floor level becomes smaller, the AC voltage control device 101
The output of the DC voltage control device 102 must be changed so that, ultimately, at zero speed, only the torque that corrects the unbalance between the car and the counterweight is output. This makes control very complicated and expensive, and in reality, it is almost impossible to stop the motor with zero level error and zero speed.

以上述べた誘導電動機の１次電圧制御に対し、
更に優れた制御方式として１次周波数制御があ
る。しかして、この１次周波数制御方式にも種々
の方式があるが、第２図はそれらのなかでも最も
制御性能の優れた方式の１つである、すべり周波
数制御のブロツク図である。この制御方式は周知
なので詳細な説明は省略するが、図に示すよう
に、制御系は閉ループを構成し、速度指令発生回
路１３から与えられる速度指令ωと、タコジエネ
レータ１０３及び速度検出回路１０４によつて検
出された誘導電動機２の実回転周波数ωrとを比
較し、その偏差を速度制御回路１０５に入力して
すべり周波数ωsを得、このすべり周波数ωsを電
流制御回路１０６に入力して周波数変換装置１の
出力電流値を制御させると共に、すべり周波数
ωsと実回転周波数ωrとの和によつて１次周波数
ω1を得、これを周波数制御回路１０７に入力し
て周波数変換装置１の出力周波数を制御するよう
になつている。 Regarding the primary voltage control of the induction motor described above,
A more superior control method is primary frequency control. Although there are various types of primary frequency control methods, FIG. 2 is a block diagram of slip frequency control, which is one of the methods with the best control performance. Since this control system is well known, a detailed explanation will be omitted, but as shown in the figure, the control system constitutes a closed loop, and is based on the speed command ω given from the speed command generation circuit 13, the tachogenerator 103, and the speed detection circuit 104. The detected actual rotation frequency ω r of the induction motor 2 is compared, the deviation is input to the speed control circuit 105 to obtain the slip frequency ω s , and this slip frequency ω s is input to the current control circuit 106. While controlling the output current value of the frequency converter 1, the primary frequency ω 1 is obtained by the sum of the slip frequency ω s and the actual rotation frequency ω r , and this is input to the frequency control circuit 107 to convert the frequency converter. It is designed to control the output frequency of 1.

すなわち、このすべり周波数制御では、すべり
周波数ωsを直接制御することにより誘導電動機
２のトルクを制御するようになつている。 That is, in this slip frequency control, the torque of the induction motor 2 is controlled by directly controlling the slip frequency ω s .

このすべり周波数制御は、下記のような特徴を
有する。 This slip frequency control has the following characteristics.

(イ) 閉ループにより精密な速度制御ができる。(b) Closed loop enables precise speed control.

(ロ) 電動機の能力を十分活用できるので、電動機
を小型化できる。(b) Since the capacity of the electric motor can be fully utilized, the electric motor can be made smaller.

(ハ) 広範囲な速度制御ができ４象限運転が容易で
ある。(c) A wide range of speed control is possible and four-quadrant operation is easy.

(ニ) 負荷変動や速度変動に対して安定性がよい。(d) Good stability against load and speed fluctuations.

(ホ) 保守が軽減化が可能で耐環境性がよい。(e) Maintenance can be reduced and environmental resistance is good.

従つて、このすべり周波数制御によれば、(1)項
で記した定格速度の問題は解決される。また、(2)
項に記した広範囲にわたる制御の安定性も実現で
きる。 Therefore, according to this slip frequency control, the problem of rated speed described in item (1) is solved. Also, (2)
It is also possible to achieve the wide range of control stability described in Section 3.

しかしながら３項で示した微少速度領域では次
のような問題がある。 However, the following problem exists in the extremely small velocity region shown in Section 3.

例えば、微小速度運転時には、一般に乗かごの
戸は開いた状態であり、乗客の乗り降りにより誘
導電動機からみると、トルク外乱が発生した状態
となる。 For example, during very low speed operation, the door of the car is generally open, and when passengers get on and off, a torque disturbance occurs from the perspective of the induction motor.

一方、すべり周波数制御におけるトルク変動
は、すべり周波数の変化、一次電流の変化のみで
あり電流の位相は制御していない。そのため、ト
ルク変動前に比べ励磁電流成分が変化し、トルク
の応答遅れが大きくなつて微小速度運転時には滑
らかなトルク制御が困難である。 On the other hand, the torque fluctuations in slip frequency control are only changes in the slip frequency and changes in the primary current, and the phase of the current is not controlled. Therefore, the excitation current component changes compared to before the torque change, and the torque response delay increases, making smooth torque control difficult during micro speed operation.

従つて、すべり周波数制御方式では、微小速度
運転時に充分な乗心地を与えることができず、か
つ着床レベル制御も充分に得られないという問題
があるのである。 Therefore, the slip frequency control method has the problem that it cannot provide sufficient ride comfort during very low speed operation, and cannot provide sufficient landing level control.

〔発明の目的〕[Purpose of the invention]

本発明の目的は、上記した従来技術の欠点を除
き、誘導電動機を巻上機駆動用としたエレベータ
ーにおいて、優れた微小速度運転特性が得られる
ようにしたエレベーター制御装置を提供するにあ
る。 SUMMARY OF THE INVENTION An object of the present invention is to provide an elevator control device that eliminates the drawbacks of the prior art described above and provides excellent micro-speed operating characteristics in an elevator using an induction motor for driving a hoist.

〔発明の概要〕[Summary of the invention]

この目的を達成するため、本発明は、エレベー
ターの乗かごが所定の階床に到達後、乗かご床レ
ベルと乗り場床レベルの差を表わすレベル差信号
と、誘導電動機の回転角速度の偏差信号をペクト
ル制御装置に入力することにより、その入力に応
じて誘導電動機の１次電流の瞬時値を制御し、エ
レベーターに適した制御性能を得るようにした点
を特徴とする。 To achieve this objective, the present invention provides a level difference signal representing the difference between the car floor level and the landing floor level and a deviation signal of the rotational angular velocity of the induction motor after the elevator car reaches a predetermined floor. The present invention is characterized in that the instantaneous value of the primary current of the induction motor is controlled in accordance with the input to the spectrum control device, thereby obtaining control performance suitable for elevators.

〔発明の実施例〕[Embodiments of the invention]

以下、本発明によるエレベーター制御装置につ
いて、図示の実施例を用いて詳細に説明する。 EMBODIMENT OF THE INVENTION Hereinafter, the elevator control device according to the present invention will be explained in detail using illustrated embodiments.

まず、本発明の実施例の前提となるエレベータ
ー制御装置について、第３図により説明すると、
この図において、１は誘導電動機２に供給すべき
１次電流の瞬時値を制御するための周波数変換装
置、３は誘導電動機２の回転角速度を検出する角
速度検出装置、４1〜４3は電源母線、５，６，７
は１次電流の各瞬時値を検出するための直流変流
器、８は直流変流器５，６，７の検出値を演算回
路内の信号レベルに変換する電流検出回路、９は
誘導電動機２の回転子に結合された鋼車、１０は
乗かご、１１はつり合い錘、１２は鋼車９を介し
て乗かご１０とつり合い錘１１を結ぶメインロー
プ、１３は速度指令発生回路、１４はレベル差検
出器、１５はレベル差を速度指令の信号レベルに
変換する微小速度指令回路、１６は磁束指令回
路、１７は速度指令と速度信号が等しくなるよう
に制御するための速度制御回路、１８は速度制御
回路１７の出力信号と磁束指令、それに磁束位置
信号を入力し、１次電流のα軸成分瞬時基準値、
β軸成分瞬時基準値とを出力する１次電流演算回
路、１９は回転子の回転角速度とトルク指令を入
力し、磁束位置を検出する磁束位置検出回路、２
０はα軸成分、β軸分の１次電流瞬時値を入力
し、３相信号に変換する３相変換回路、２１Ｕ，
２１Ｖ，２１Ｗは３相信号を基準として誘導電動
機２の一次電流値を制御する電流制御装置であ
る。 First, the elevator control device that is the premise of the embodiment of the present invention will be explained with reference to FIG.
In this figure, 1 is a frequency conversion device for controlling the instantaneous value of the primary current to be supplied to the induction motor 2, 3 is an angular velocity detection device for detecting the rotational angular velocity of the induction motor 2, and 4 1 to 4 3 are power supplies. Bus line, 5, 6, 7
8 is a DC current transformer for detecting each instantaneous value of the primary current, 8 is a current detection circuit that converts the detected values of DC current transformers 5, 6, and 7 into signal levels in the arithmetic circuit, and 9 is an induction motor. 2, a steel car connected to the rotor 2; 10, a car; 11, a counterweight; 12, a main rope connecting the car 10 and the counterweight 11 via the steel car 9; 13, a speed command generation circuit; and 14, a A level difference detector, 15 a minute speed command circuit for converting the level difference into a speed command signal level, 16 a magnetic flux command circuit, 17 a speed control circuit for controlling the speed command and speed signal to be equal, 18 inputs the output signal of the speed control circuit 17, the magnetic flux command, and the magnetic flux position signal, and calculates the instantaneous reference value of the α-axis component of the primary current,
19 is a magnetic flux position detection circuit that inputs the rotational angular velocity and torque command of the rotor and detects the magnetic flux position; 2
0 is a three-phase conversion circuit that inputs the instantaneous primary current values for the α-axis component and β-axis and converts them into three-phase signals, 21U,
21V and 21W are current control devices that control the primary current value of the induction motor 2 based on three-phase signals.

次に、この第３図に記載のエレベーター制御装
置の動作について説明する。 Next, the operation of the elevator control device shown in FIG. 3 will be explained.

誘導電動機２の回転磁界上で、１次電流1を
磁束方向と、磁束と直交する方向に分解すると、
励磁電流成分Inと２次電流の起磁力を打ち消すよ
うに流れるトルク電流Itに分解できる。これを式
で表わせば、 I1＝In＋It である。ここで、第４図に示すように直交ベクト
ルである。InとItを独立に制御し、Inを一定とし、
トルクが大きい領域では、ItをI〓2とし、トルクが
小さい領域では、ItをIt1とすることにより、直流
電動機と同様の制御が可能である。なお、これは
ベクトル制御方式として周知である。 On the rotating magnetic field of the induction motor 2, if the primary current 1 is decomposed into the magnetic flux direction and the direction orthogonal to the magnetic flux, we get
It can be decomposed into an exciting current component I n and a torque current I t that flows so as to cancel the magnetomotive force of the secondary current. Expressing this as a formula, I 1 = I n + I t . Here, as shown in FIG. 4, they are orthogonal vectors. I n and I t are controlled independently, I n is constant,
In a region where the torque is large, I t is set to I〓 2 , and in a region where the torque is small, I t is set to I t1 , so that control similar to that of a DC motor is possible. Note that this is well known as a vector control method.

ここで、速度制御回路１７の出力であるItと磁
束指令回路１６の出力であるInとは回転磁界上で
の座標であるので、固定子側から観測した座標系
に変換する必要がある。まず、直交するα軸、β
軸を考えると、回転磁界位置信号sinω1t、cosω1t
（磁束位置検出回路１９の出力）より iα＝sinω1tIn＋cosω1tIt iβ＝−cosω1tIn＋sinω1tIt と表わすことができる。ここで、iα、iβは１次電
流演算回路１８の出力であり、また、角速度ω1
は、回転子の回転角速度ωrとトルク指令に比例
するすべり周波数ωsの和で表わされる。 Here, I t, which is the output of the speed control circuit 17, and I n , which is the output of the magnetic flux command circuit 16, are coordinates on the rotating magnetic field, so they need to be converted to the coordinate system observed from the stator side. . First, the orthogonal α axis and β
Considering the axis, the rotating magnetic field position signals sinω 1 t, cosω 1 t
(output of the magnetic flux position detection circuit 19), it can be expressed as iα=sinω 1 tI n +cosω 1 tI t iβ=−cosω 1 tI n +sinω 1 tI t . Here, iα and iβ are the outputs of the primary current calculation circuit 18, and the angular velocity ω 1
is expressed as the sum of the rotational angular velocity ω r of the rotor and the slip frequency ω s that is proportional to the torque command.

また、３相の１次電流に交換するには、各相の
１次電流が、120゜づつ位相がずれていることか
ら、３相変換回路２０の出力である３相の１次電
流iU、iV、iWは、 と表わせる。この１次電流を瞬時基準値として誘
導電動機に供給することにより、直流電動機と同
等の制御性能が得られる。 In addition, in order to exchange to a three-phase primary current, since the primary currents of each phase are out of phase by 120 degrees, the three-phase primary current iU, which is the output of the three-phase conversion circuit 20, iV, iW are It can be expressed as By supplying this primary current to the induction motor as an instantaneous reference value, control performance equivalent to that of a DC motor can be obtained.

ゆえに、微小速度指令回路１５の出力信号より
速度制御回路１７かトルク指令Itを出力すれば、
直流電動機と同等の微小速度運転特性が得られ
る。 Therefore, if the speed control circuit 17 outputs the torque command I t from the output signal of the minute speed command circuit 15,
Micro-speed operation characteristics equivalent to DC motors can be obtained.

そこで、この微小速度指令が与えられる特性
を、第５図に示すように、レベル差が０に近づく
ほど速度指令が小さくなるようにすると、乗かご
床レベルと、乗り場床レベル差が０となるように
制御可能となる。 Therefore, if the characteristic of giving this minute speed command is such that the speed command becomes smaller as the level difference approaches 0, as shown in Figure 5, the difference between the car floor level and the landing floor level will become 0. It can be controlled as follows.

従つて、この第３図のエレベーター制御装置に
よれば、誘導電動機２のトルクが、その停止時も
含めた極低速領域でも充分滑らかに、しかも精度
良く制御できるため、乗かご床レベルと乗り場床
レベルのレベル差が高精度で補償でき、また、こ
の補償運転状態での乗り心地も充分に改善出来る
のであるが、しかしながら、このような微小速度
運転時には、上記したように、一般に乗かごの戸
は開いた状態であり、乗客の乗り降りによるトル
ク外乱が発生していることが多い。 Therefore, according to the elevator control device shown in FIG. 3, the torque of the induction motor 2 can be controlled sufficiently smoothly and accurately even in the extremely low speed range, including when the induction motor 2 is stopped, so that the car floor level and the landing floor level can be controlled sufficiently. Level differences can be compensated for with high precision, and ride comfort can be sufficiently improved in this compensated operation state. However, during such very low speed operation, as mentioned above, generally is in an open state, and torque disturbances often occur due to passengers getting on and off.

そこで、本発明は、微小速度運転時の負荷トル
ク外乱に対しても、充分に乗り心地の良い運転が
得られるようにしたもので、以下、その一実施例
を第６図により説明する。 Therefore, the present invention is designed to provide sufficiently comfortable driving even in response to load torque disturbances during very low speed operation.One embodiment of the present invention will be described below with reference to FIG. 6.

この第６図の実施例は、第３図で示した実施例
に、さらに、荷重検出器３０と負荷補償トルク指
令回路３１を追加したものである。 The embodiment shown in FIG. 6 is obtained by adding a load detector 30 and a load compensation torque command circuit 31 to the embodiment shown in FIG.

従つて、この実施例によれば、微小速度運転中
での乗客の乗り降りにより発生した負荷トルクの
変化に対しても速度が大きく変化することがなく
なり、乗心地よく乗り場床レベルと乗かご床レベ
ルを合せることができる。 Therefore, according to this embodiment, the speed does not change significantly even when the load torque changes due to passengers getting on and off during very low speed operation, and the landing floor level and the car floor level are maintained with good riding comfort. Can be matched.

すなわち、第７図にしたがつて説明すれば、外
乱トルクを補正しない第７図ａの場合、外乱が発
生したことにより、速度指令と実速度に差が発生
し、この偏差からさらにトルク指令が作り出され
るため、実速度は、図のように波を打ち、なめら
かな運転ができない。 That is, in the case of FIG. 7a in which the disturbance torque is not corrected, a difference occurs between the speed command and the actual speed due to the occurrence of the disturbance, and from this deviation, the torque command is further increased. As a result, the actual speed waves as shown in the figure, making it impossible to drive smoothly.

これに対して荷重検出器３０と負荷補償トルク
指令回路３１とを追加することにより第７図ｂに
示すように、トルク指令とトルク変化に時間差を
生じないようにできるため、図示のように実速度
の波打ちがなくなり微小速度運転がなめらかに行
なえる。 On the other hand, by adding the load detector 30 and the load compensation torque command circuit 31, as shown in FIG. 7b, it is possible to eliminate the time difference between the torque command and the torque change. Speed undulations are eliminated, allowing smooth operation at very low speeds.

〔発明の効果〕〔Effect of the invention〕

以上説明したように、本発明によれば、誘導電
動機を用いたエレベーターの着床レベル補償運転
をベクトル制御によつて行なうようにしたから、
従来技術の欠点を除き、常に滑らかに乗かごを微
小速度で運転させ、乗心地よく、しかも高い精度
で着床レベルの補正を行なうことができ、直流電
動機を用いたエレベーターと同等以上の性能をも
ちながら保守や点検が容易で、かつローコストの
高性能エレベーターを得ることができる。 As explained above, according to the present invention, since the landing level compensation operation of the elevator using the induction motor is performed by vector control,
Excluding the shortcomings of the conventional technology, the car can always operate smoothly at a minute speed, provide a comfortable ride, and can correct the landing level with high precision, and has performance equivalent to or better than elevators using DC motors. However, it is possible to obtain a high-performance elevator that is easy to maintain and inspect, and is low-cost.

【図面の簡単な説明】[Brief explanation of drawings]

第１図は１次電圧制御方式によるエレベーター
制御装置の従来例を示す回路図、第２図はすべり
周波数制御方式によるエレベーター制御装置の従
来例を示すブロツク図、第３図は本発明の前提と
なるエレベーター制御装置の一例を示すブロツク
図、第４図はその動作説明用のベクトル図、第５
図はレベルと速度指令の関係を示す特性図、第６
図は本発明によるエレベーター制御装置の一実施
例を示すブロツク図、第７図ａ，ｂはその動作を
示す説明図である。 １……周波数変換装置、２……誘導電動機、３
……角速度検出装置、４1〜４3……電源母線、５
〜７……直流変流器、８……電圧検出回路、９…
…綱車、１０……乗かご、１１……つり合い錘、
１２……メインロープ、１３……速度指令発生回
路、１４……レベル差検出器、１５……微小速度
指令回路、１６……磁束指令回路、１７……速度
制御回路、１８……１次電流演算回路、１９……
磁束位置検出回路、２０……３相変換回路、２１
Ｕ，２１Ｖ，２１Ｗ……電流制御装置、３０……
荷重検出器、３１……負荷補償トルク指令回路。 Fig. 1 is a circuit diagram showing a conventional example of an elevator control device using a primary voltage control method, Fig. 2 is a block diagram showing a conventional example of an elevator control device using a slip frequency control method, and Fig. 3 is a circuit diagram showing a conventional example of an elevator control device using a slip frequency control method. 4 is a block diagram showing an example of an elevator control device, FIG. 4 is a vector diagram for explaining its operation, and FIG.
The figure is a characteristic diagram showing the relationship between level and speed command.
The figure is a block diagram showing one embodiment of the elevator control device according to the present invention, and FIGS. 7a and 7b are explanatory diagrams showing its operation. 1... Frequency converter, 2... Induction motor, 3
... Angular velocity detection device, 4 1 to 4 3 ... Power bus, 5
~7...DC current transformer, 8...Voltage detection circuit, 9...
...Sheave, 10... Car, 11... Counterweight,
12... Main rope, 13... Speed command generation circuit, 14... Level difference detector, 15... Minute speed command circuit, 16... Magnetic flux command circuit, 17... Speed control circuit, 18... Primary current Arithmetic circuit, 19...
Magnetic flux position detection circuit, 20...3 phase conversion circuit, 21
U, 21V, 21W...Current control device, 30...
Load detector, 31...Load compensation torque command circuit.

Claims (1)

【特許請求の範囲】[Claims] １ 周波数変換装置によつて駆動される誘導電動
機を用いたエレベーターにおいて、乗り場の床レ
ベルと乗かごの床レベルとのレベル差を検出する
レベル差検出手段と、上記誘導電動機の回転角速
度を検出する角速度検出手段と、これらレベル差
検出手段の出力信号と角速度検出手段の出力信号
との偏差に基づいてトルク指令信号を出力するト
ルク演算手段と、乗かご停止時での負荷トルクを
検出して上記トルク指令信号に加算する負荷補償
トルク指令手段と、上記負荷トルクが加算された
トルク指令信号に基づいて上記誘導電動機の１次
電流瞬時値基準信号を演算する瞬時値演算手段と
を設け、該１次電流瞬時値基準信号により上記周
波数変換装置を制御することにより乗り場床レベ
ルと乗かご床レベルとを一致させるためのレベル
補償運転の制御を行うように構成したことを特徴
とするエレベーター制御装置。1. In an elevator using an induction motor driven by a frequency converter, level difference detection means detects a level difference between a floor level of a landing and a floor level of a car, and detects a rotational angular velocity of the induction motor. angular velocity detection means; torque calculation means for outputting a torque command signal based on the deviation between the output signal of the level difference detection means and the output signal of the angular velocity detection means; and torque calculation means for detecting the load torque when the car is stopped. Load compensation torque command means for adding to the torque command signal, and instantaneous value calculation means for calculating a primary current instantaneous value reference signal of the induction motor based on the torque command signal to which the load torque is added, An elevator control device characterized in that it is configured to control a level compensation operation for matching a landing floor level and a car floor level by controlling the frequency conversion device using a next current instantaneous value reference signal.
JP58231544A 1983-12-09 1983-12-09 Controller for elevator Granted JPS60128176A (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP58231544A JPS60128176A (en) 1983-12-09 1983-12-09 Controller for elevator
KR1019840007503A KR920004303B1 (en) 1983-12-09 1984-11-29 Levelling apparatus for a.c. elevator
GB08430945A GB2151420B (en) 1983-12-09 1984-12-07 Levelling apparatus for ac motor driven elevator
HK305/88A HK30588A (en) 1983-12-09 1988-04-28 Levelling apparatus for ac elevator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP58231544A JPS60128176A (en) 1983-12-09 1983-12-09 Controller for elevator

Publications (2)

Publication Number Publication Date
JPS60128176A JPS60128176A (en) 1985-07-09
JPH0255353B2 true JPH0255353B2 (en) 1990-11-27

Family

ID=16925157

Family Applications (1)

Application Number Title Priority Date Filing Date
JP58231544A Granted JPS60128176A (en) 1983-12-09 1983-12-09 Controller for elevator

Country Status (4)

Country Link
JP (1) JPS60128176A (en)
KR (1) KR920004303B1 (en)
GB (1) GB2151420B (en)
HK (1) HK30588A (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07102948B2 (en) * 1986-03-19 1995-11-08 株式会社東芝 Elevator control method
US10532908B2 (en) 2015-12-04 2020-01-14 Otis Elevator Company Thrust and moment control system for controlling linear motor alignment in an elevator system
RU2628666C2 (en) * 2015-12-11 2017-08-25 Федеральное государственное автономное образовательное учреждение высшего образования "Южно-Уральский государственный университет (национальный исследовательский университет)" (ФГАОУ ВО "ЮУрГУ (НИУ)") Method of controlling active bi-directional frequency converter
CN112225021B (en) * 2020-11-02 2022-04-12 江苏蒙哥马利电梯有限公司 Intelligent elevator dispatching control method based on planetary gear transmission module

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS50132641A (en) * 1974-04-06 1975-10-21

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS50132641A (en) * 1974-04-06 1975-10-21

Also Published As

Publication number Publication date
GB8430945D0 (en) 1985-01-16
KR920004303B1 (en) 1992-06-01
KR850004555A (en) 1985-07-25
GB2151420A (en) 1985-07-17
HK30588A (en) 1988-05-06
GB2151420B (en) 1987-04-15
JPS60128176A (en) 1985-07-09

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