JPS6013490A - Speed controller of elevator - Google Patents

Speed controller of elevator

Info

Publication number
JPS6013490A
JPS6013490A JP58121348A JP12134883A JPS6013490A JP S6013490 A JPS6013490 A JP S6013490A JP 58121348 A JP58121348 A JP 58121348A JP 12134883 A JP12134883 A JP 12134883A JP S6013490 A JPS6013490 A JP S6013490A
Authority
JP
Japan
Prior art keywords
command
speed
command signal
current
signal
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.)
Pending
Application number
JP58121348A
Other languages
Japanese (ja)
Inventor
Hiroyuki Ikejima
宏行 池島
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.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
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 Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to JP58121348A priority Critical patent/JPS6013490A/en
Publication of JPS6013490A publication Critical patent/JPS6013490A/en
Pending legal-status Critical Current

Links

Classifications

    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • 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
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/08—Controlling based on slip frequency, e.g. adding slip frequency and speed proportional frequency

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Elevator Control (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

PURPOSE:To improve the ride feeling of an elevator by applying the value produced by multiplying the differentiated value of a slip frequency command by a constant gain to a frequency command only when a current amplitude command is small, thereby improving the transient characteristic of a motor. CONSTITUTION:When an induction motor is shifted from a power drive to a regenerative brake or vice versa, a current amplitude command signal I becomes minimum. In such a case, a comparator 128 operates, the output of a differentiator 125A is outputted through a converter 129 to an adder 129, and the value produced by multiplying the differentiated value of a slip frequency command by a constant gain is applied to the frequency command. While the signal I is largely accelerating, the comparator 128 is not operated, and the output of the differentiator 125A is not inputted to an adder 126.

Description

【発明の詳細な説明】 本発明は電動機により駆動されるエレベータの速度制御
装置に関し、特に該電動機の過渡特性改善に係わるもの
である エレベータのかごを駆動する電動機に誘導電動機を用い
、これにインバータで変換された交流電力を供給して電
動機を速度制御するものがある。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a speed control device for an elevator driven by an electric motor, and is particularly concerned with improving the transient characteristics of the electric motor.An induction motor is used as the electric motor for driving an elevator car, and an inverter is used for this electric motor. There are devices that control the speed of electric motors by supplying AC power converted by

これを第１図に示す。This is shown in FIG.

図中、（１）は三相交流電源、（２）はダイオードから
成るコンバータ、（４）は平滑用コンデンサ（３）を介
してコンバータ（２）の出力を受けパルス幅変調方式に
より交流電力を供給する周知のトランジスタインバータ
、（５）はインバータ（４）により駆動される三相誘導
電動機、（６）は電動ｍ　（５）により駆動される巻」
１機の駆動網車、（７）は綱車（６）に巻き掛けられた
ロープ、（８）、（！３）はロープ（７）にそれぞれ結
合されたかご及びつり合いおもりである。In the figure, (1) is a three-phase AC power supply, (2) is a converter consisting of a diode, and (4) receives the output of converter (2) via a smoothing capacitor (3) and generates AC power using a pulse width modulation method. A well-known transistor inverter is supplied, (5) is a three-phase induction motor driven by the inverter (4), and (6) is a winding motor driven by an electric motor (5).
There is one drive sheave, (7) is a rope wrapped around the sheave (6), and (8) and (!3) are a cage and a counterweight that are respectively connected to the rope (7).

しかして、（１０）は電動機（５）の速度検出器、（１
１）は速度指令発生装置、（１２）はこの速度指令発生
装置（１１）からの速度指令信号Ｖｐと速度検出器（１
０）による速度検出信号ＶＴに基づいてすベリ周波数を
制御すべく各相の電流指令信号ｒｕ、Ｉｖ、Ｉｗを送出
する速度制御回路で、後述する第２図の構成を備えてい
る。さらに、（１３）は上記電流指令信号Ｔｕ、Ｉｖ、
Ｉｗに一致した電流を電動機（５）に供給すべくインバ
ータ（４）をオンオフ制御するパルス幅変調回路（以下
ＰＷＭ回路と称す）である。Therefore, (10) is the speed detector of the electric motor (5), (1
1) is a speed command generator, and (12) is a speed command signal Vp from this speed command generator (11) and a speed detector (1).
This speed control circuit sends out current command signals ru, Iv, and Iw for each phase in order to control the sweep frequency based on the speed detection signal VT according to 0), and has the configuration shown in FIG. 2, which will be described later. Furthermore, (13) is the current command signal Tu, Iv,
This is a pulse width modulation circuit (hereinafter referred to as a PWM circuit) that controls on/off of the inverter (4) in order to supply the electric motor (5) with a current that matches Iw.

上記速度制御回路（１２）としては次の構成を備える。The speed control circuit (12) has the following configuration.

第２図において、（１２１）は速度指令信号Ｖｐと速度
検出信号Ｖ１−との差を得る減算器、（１２２）は減算
器（＋２１）の出力に基づいてゲイン及び位相補償を行
うべくすべり周波数指令信号Ｖｓを送出する補償器、（
１２３）はそのすべり周波数指令信号Ｖｓがら一次電疏
の振幅指令信号■を与える関数発生器であり、また、（
１２４）は上記すべり周波数指令信号Ｖｓと速度検出信
号ｖＴとを加え合せる加算器、（１２５）は誘導電動機
（５）の過渡特性の改善の為に設けられたもので、上記
すべり周波数指令信号Ｖｓを微分する微分器で、その微
分ゲインは一次電流振幅指令信号■の関数で与えられて
おり、そして、その出力信号Ｖｓ１は加算器（１２４）
の出力信号と加算器（１２６）により加えられて周波数
指令信号Ｆとなり、三相基準正弦波発生器（１２？）に
与えられるようになされている。これにより、該三相ノ
＾準正弦波発生器（１２？）は、振幅が」−記振幅指令
４１Ｍ号Ｉに、周波数が」−２周波数指令信号Ｆにそれ
ぞれ等しい三相基準正弦波を、Ｕ、Ｖ、Ｗ相の電流指令
信号Ｔｕ、Ｉｖ、Ｉｗとして第１図ノＰＩｌ１Ｍ回路（
１３）に出力するようになされている。In Fig. 2, (121) is a subtracter that obtains the difference between the speed command signal Vp and the speed detection signal V1-, and (122) is the slip frequency for performing gain and phase compensation based on the output of the subtracter (+21). A compensator that sends out a command signal Vs, (
123) is a function generator that provides the amplitude command signal ■ of the primary electric tube from the slip frequency command signal Vs, and (
124) is an adder that adds the slip frequency command signal Vs and the speed detection signal vT, and (125) is an adder that is provided to improve the transient characteristics of the induction motor (5). The differential gain is given by a function of the primary current amplitude command signal ■, and the output signal Vs1 is sent to the adder (124).
is added to the output signal of F by an adder (126) to form a frequency command signal F, which is applied to a three-phase reference sine wave generator (12?). As a result, the three-phase quasi-sine wave generator (12?) generates a three-phase reference sine wave whose amplitude is equal to the amplitude command 41M I and whose frequency is equal to the frequency command signal F. As current command signals Tu, Iv, and Iw for U, V, and W phases, the PIl1M circuit in Figure 1 (
13).

ところで、上記構成において、微分器（１２５）の入出
力関係は Ｖｓｌ　＝に／Ｉ　拳ｄ／ｄｔ（Ｖｓ）　ここでＫは定
数・（１）上式（１）により与えられ、その微分ゲイン
はに／Ｉで、電流振幅指令信号■が小さい程微分ゲイン
が犬きくなる。By the way, in the above configuration, the input/output relationship of the differentiator (125) is Vsl = /I d/dt (Vs) where K is a constant (1) given by the above equation (1), and its differential gain is In /I, the smaller the current amplitude command signal ■, the sharper the differential gain becomes.

このように従来の構成において、電流機（５）の過渡特
性の改善のためには、すべり周波数の微分補正が必要で
あるが、その微分ゲイ・ンは電流の関数で与えられ、正
確な補正をするためには割算器及び乗算器が必要となり
、その回路構成が複雑かつ高価なものとならざるを得な
かった。In this way, in the conventional configuration, in order to improve the transient characteristics of the current machine (5), differential correction of the slip frequency is necessary, but the differential gain is given as a function of the current, and accurate correction is not possible. In order to do this, dividers and multipliers are required, and the circuit configuration thereof has to be complicated and expensive.

そこで１本発明は上記のような従来のものの問題点に鑑
みてなされたもので、簡単かつ安価な構成により過渡特
性の良好なエレベータの速度制御装置を提供するもので
ある。SUMMARY OF THE INVENTION The present invention has been made in view of the problems of the conventional devices as described above, and it is an object of the present invention to provide an elevator speed control device with a simple and inexpensive structure and excellent transient characteristics.

すなわち、本発明においては、エレベータの制御の場合
、過渡特性が問題となるのは、誘導電動機（５）がカ行
から回生制動へ、またはその逆の場合に移行する際に限
られ、その場合電流振幅指令信号Ｉが最小となる点に着
目したもので、ＰＷＭ回路に電流指令信号を送出する速
度制御回路を、所定のゲインが設定されていて上記速度
検出信号と速度指令信号とによりめるすべり周波数指令
を微分する微分器と、該すべり周波数指令に応じた電流
振幅指令が所定値以下の時動作するコンパレータと、こ
のコンパレータが動作した時に周波数指令に」１記微分
器の出力を加え合せる切換器と、上記電流振幅指令と周
波数指令とに基づいて上記パルス幅変調回路への電流指
令信号を送出する基準正弦波発生器とで構成したことを
特徴とするものである。That is, in the present invention, in the case of elevator control, transient characteristics become a problem only when the induction motor (5) shifts from power to regenerative braking or vice versa. It focuses on the point where the current amplitude command signal I is minimum, and the speed control circuit that sends the current command signal to the PWM circuit is set with a predetermined gain and is controlled by the speed detection signal and the speed command signal. A differentiator that differentiates the slip frequency command, a comparator that operates when the current amplitude command corresponding to the slip frequency command is less than a predetermined value, and when this comparator operates, adds the output of the differentiator described in 1. to the frequency command. The present invention is characterized by comprising a switching device and a reference sine wave generator that sends a current command signal to the pulse width modulation circuit based on the current amplitude command and frequency command.

以下、第２図と同一部分は同一符号を附して示す第３図
に基づいて本発明を説明すると、第３図において、（１
２５Ａ）は所定の微分ゲインを有し、すべり周波数指令
信号Ｖｓを微分する微分器、（１２８）は電流振幅指令
信号Ｉが所定値以下の時に動作するコンパレータ、　（
１２１＋）は該コンパレータ（１２８）の動作時に上記
微分器（１２５Ａ）の出力を加算器（１２Ｂ）へ、他方
コンパレータ（１２８）の不動作時には零信号を加算器
（１２１１１）へ出力するようになされた切換器であり
、その他は従来と同様である。Hereinafter, the present invention will be explained based on FIG. 3, in which the same parts as in FIG. 2 are denoted by the same reference numerals.
25A) is a differentiator that has a predetermined differential gain and differentiates the slip frequency command signal Vs; (128) is a comparator that operates when the current amplitude command signal I is below a predetermined value;
121+) outputs the output of the differentiator (125A) to the adder (12B) when the comparator (128) is in operation, and outputs a zero signal to the adder (12111) when the comparator (128) is not in operation. The other features are the same as the conventional one.

上記構成を備える速度制御回路（１２０）は次のように
動作する。すなわち、誘導電動ｍ　（５）がカ行から回
生制動へ、又、逆へ移行する場合、電流振幅指令信号Ｉ
は最小となる。そこで、この様な場合に、コンパレータ
（１２８）は動作し、微分器（１２５Ａ）の出力は加算
器（１２ｆｌ）へ出力される。そして微分器（１２５Ａ
）のゲインを（１）式で示される振幅値に／Ｉの最大値
に設定しておけば、適正な微分補償が可能となり、過渡
特性は改善され良好な乗心地が得られることになる。The speed control circuit (120) having the above configuration operates as follows. That is, when the induced electric motor m (5) shifts from power to regenerative braking or vice versa, the current amplitude command signal I
is the minimum. Therefore, in such a case, the comparator (128) operates and the output of the differentiator (125A) is output to the adder (12fl). And a differentiator (125A
) is set to the maximum value of /I to the amplitude value shown by equation (1), it becomes possible to perform appropriate differential compensation, improve transient characteristics, and obtain good riding comfort.

他方、電流振幅指令信号Ｉが大きい加速中などにおいて
は、コンパレーク（１２８）は動作せず、この為、微分
器（１２５Ａ）の出力信号Ｖｓｌは加算器（１２ｅ）に
入力されないが、この領域では、エレベータの制御にお
いては、安定な動作を示す為その必要はない。On the other hand, during acceleration where the current amplitude command signal I is large, the comparator (128) does not operate, and therefore the output signal Vsl of the differentiator (125A) is not input to the adder (12e); , in elevator control, it is not necessary because the operation is stable.

なお、この実施例では、電流振幅指令信号Ｉの大きさに
より、微分補償を行なうか否か判定しているが、これを
すべり周波数指令信号Ｖｓあるいは速度指令信号Ｖｐと
速度検出信号ＶＴとの偏差信号、すなわち、減算器（１
２１）の出力から判定しても同様な効果が得られる事は
明白である。In this embodiment, whether or not to perform differential compensation is determined based on the magnitude of the current amplitude command signal I, but this is determined based on the deviation between the slip frequency command signal Vs or the speed command signal Vp and the speed detection signal VT. signal, i.e., the subtractor (1
It is clear that a similar effect can be obtained by judging from the output of 21).

以」二説明した通り、本発明によれば、電流振幅指令が
小さい時にのみ、すべり周波数指令の微分値に一定のゲ
インを乗じた値を、周波数指令に加え合せる様にしたも
のであるから、従来の方式に比べ安価にかつ容易な構成
で電動機の過渡特性を改善し、乗心地を向上させる車が
できる。As explained below, according to the present invention, the value obtained by multiplying the differential value of the slip frequency command by a certain gain is added to the frequency command only when the current amplitude command is small. Compared to conventional methods, this method improves the transient characteristics of the electric motor with a simpler and cheaper structure, making it possible to create a car with improved ride comfort.

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

第１図は従来例によるエレベータの速度制御装置を示す
構成図、第２図は第１図の部分詳細回路図、第３図は第
２図に対応する本発明の一実施例による回路図である。 （４）・・・インへ−夕、　（５）・・・電動機、（１
０）・・・速度検出器、（１２）　、（１２０）・・・
速度制御回路、（１３）・・・パルス幅制御回路、（１
２２）・・・補償器、（１２３）・・・関数発生器、　
（１２５）、　（１２５Ａ）・・・微分器、（１２７）
・・・三相基準正弦波発生器、（１２８）・・・コンパ
レータ、（１２９）・・・切換器、Ｖｐ・・・速度指令
信号、　ＶＴ・・・速度検出信号、Ｖｓ・・・すべり周
波数指令信号、 ■・・・電流振幅指令信号、 Ｆ・・・周波数指令信号、 ｒｕ、Ｉｖ、Ｉｗ・・・電流指令信号。 なお、図中、同一符号は同−又は相当部分を示す。 第１図 第２図 ２ 第　３　図 ど囚Fig. 1 is a block diagram showing a conventional elevator speed control device, Fig. 2 is a partial detailed circuit diagram of Fig. 1, and Fig. 3 is a circuit diagram according to an embodiment of the present invention corresponding to Fig. 2. be. (4)...into-evening, (5)...electric motor, (1
0)...Speed detector, (12), (120)...
Speed control circuit, (13)...Pulse width control circuit, (1
22)...Compensator, (123)...Function generator,
(125), (125A)...Differentiator, (127)
...Three-phase reference sine wave generator, (128)...Comparator, (129)...Switcher, Vp...Speed command signal, VT...Speed detection signal, Vs...Slip frequency Command signal, ■...Current amplitude command signal, F...Frequency command signal, ru, Iv, Iw...Current command signal. In addition, in the figures, the same reference numerals indicate the same or corresponding parts. Figure 1 Figure 2 Figure 2 Figure 3 Prisoner

Claims (1)

【特許請求の範囲】[Claims] かごを駆動制御する電動機と、この電動機に所定の交流
電力を供給する電流制御型インバータと、電流指令信号
に基づいて該インバータの出力をパルス幅変調制御する
パルス幅変調回路と、上記電動機の速度検出信号と速度
指令信号とに基づいてすべり周波数を制御すべく上記電
流指令信号を送出する速度制御回路とを備えたエレベー
タの速度制御装置において、上記速度制御回路を、所定
のゲインが設定されていて上記速度検出信号と速度指令
信号とによりめるすべり周波数指令を微分する微分器と
、該すべり周波数指令に応じた電流振幅指令が所定値以
下の時動作するコンパレータと、このコンパレータが動
作した時に周波数指令に上記微分器の出力を加え合せる
切換器と、上記電流振幅指令と周波数指令とに基づいて
上記パルス幅変調回路への電流指令信号を送出する基準
正弦波発生器とで構成したことを特徴とするエレベータ
の速度制御装置。An electric motor that drives and controls the car, a current control type inverter that supplies predetermined alternating current power to the electric motor, a pulse width modulation circuit that pulse width modulates the output of the inverter based on a current command signal, and a speed of the electric motor. In an elevator speed control device comprising a speed control circuit that sends out the current command signal to control a slip frequency based on a detection signal and a speed command signal, the speed control circuit is configured to have a predetermined gain set. a differentiator for differentiating the slip frequency command obtained from the speed detection signal and the speed command signal; a comparator that operates when the current amplitude command corresponding to the slip frequency command is less than a predetermined value; and a comparator that operates when the comparator operates. A switching device that adds the output of the differentiator to the frequency command, and a reference sine wave generator that sends a current command signal to the pulse width modulation circuit based on the current amplitude command and frequency command. Features: Elevator speed control device.
JP58121348A 1983-07-04 1983-07-04 Speed controller of elevator Pending JPS6013490A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP58121348A JPS6013490A (en) 1983-07-04 1983-07-04 Speed controller of elevator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP58121348A JPS6013490A (en) 1983-07-04 1983-07-04 Speed controller of elevator

Publications (1)

Publication Number Publication Date
JPS6013490A true JPS6013490A (en) 1985-01-23

Family

ID=14809047

Family Applications (1)

Application Number Title Priority Date Filing Date
JP58121348A Pending JPS6013490A (en) 1983-07-04 1983-07-04 Speed controller of elevator

Country Status (1)

Country Link
JP (1) JPS6013490A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6348468A (en) * 1986-08-19 1988-03-01 Pioneer Electronic Corp Digital level display device
JPH04101975A (en) * 1990-08-13 1992-04-03 Nippon Otis Elevator Co Speed control device for elevator

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6348468A (en) * 1986-08-19 1988-03-01 Pioneer Electronic Corp Digital level display device
JPH04101975A (en) * 1990-08-13 1992-04-03 Nippon Otis Elevator Co Speed control device for elevator

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