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Elevator control device

A technology of elevator control device and shaft current, which is applied in the direction of controlling electromechanical transmission device, current controller, motor control, etc., can solve the problems of large estimation error, difficulty in estimating the position of magnetic poles, etc., and achieve the effect of stable vector control

Active Publication Date: 2015-01-07
MITSUBISHI ELECTRIC CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the method of using induced voltage, although the magnetic pole position can be estimated for a motor without apparent magnetic polarity, it has the disadvantage that it cannot or is difficult to estimate the magnetic pole position at zero speed and low speed
The low speed used below refers to the relative speed of the motor used relative to the rated speed. Especially in the induced voltage mode, the induced voltage is small and the S / N ratio decreases. Therefore, low speed means that the speed cannot be estimated, but the estimation error is large. and uncontrollable speed range
Although the permanent magnet synchronous motor with apparent magnetic polarity has good starting performance, there is a disadvantage that the magnetic pole position cannot be estimated unless the motor has apparent magnetic polarity.

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0036] figure 1 It is a figure which shows the outline of the structure of the elevator system provided with the elevator control apparatus of this invention. The car room 1 and the counterweight 2 of the elevator are connected to each other through the main rope 3, and are suspended on the sheave 4 in the manner of a bucket. The sheave 4 is connected with the permanent magnet synchronous motor 5 driving the elevator through the main rope 3, and the car room 1 is lifted by the power of the permanent magnet synchronous motor 5. In addition, a brake 6 is attached to the permanent magnet synchronous motor 5 , and the sheave 4 is braked by the brake 6 . The brake 6 may be a car brake that directly brakes the car chamber 1, or may be a rope brake that brakes a rope (detailed illustration is omitted). A power converter for driving the permanent magnet synchronous motor 5 and main parts of the elevator control device of the present invention for generating control signals (three-ph...

Embodiment approach 2

[0059] Figure 5 means including the elevator control device according to Embodiment 2 of the present invention, figure 1 A diagram showing the structure of the control system of the elevator system. exist Figure 5 in, yes figure 1 In the configuration shown, a d-axis current command generator 18 is added, and the d-axis current command value which is the output of the d-axis current command generator 18 is used as a d-axis current command. The current controller 12 receives the difference between the d-axis current value Id and the d-axis current command value, which is the output of the coordinate converter 15a, and outputs a d-axis voltage command Vd. That is, the current controller 12 uses the d-axis current command value of the d-axis current command generator 18 instead of the predetermined d-axis current command value set in advance. The d-axis current command generator 18 obtains a d-axis current command value in accordance with the static holding torque (τhold) o...

Embodiment approach 3

[0073] In addition, the elevator control device according to Embodiment 3 of the present invention is characterized in that Figure 5 In the shown elevator control device, the d-axis current command generator 18 switches the d-axis current command value generated during torque feedforward control and speed feedback control using an estimated speed.

[0074] Since the magnetic pole position is estimated when speed feedback control using the estimated speed is performed, it is not necessary to flow a d-axis current in order to stabilize the magnetic pole position. Therefore, the d-axis current command generator 18 switches the command value during the switching of the control. That is, when the control is the torque feedforward control, as described in Embodiment 2, the d-axis current command generator 18 generates a positive d-axis current command in order to stabilize the magnetic pole position, and after switching to the speed feedback control, the d-axis current commanded t...

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PUM

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Abstract

Provided is an elevator control device wherein it is possible to perform stable vector control in the entire speed range from speed zero to a low speed by means of position sensorless drive control. A drive command output means controls the speed of the car chamber of an elevator by means of torque feedforward control, and controls a permanent magnet synchronous motor, that hoists the car chamber, by means of vector control by generating a drive command on the basis of the torque needed to maintain the car chamber stationary. The elevator control device is provided with: a speed command determination means for determining the speed command; a model control unit for converting the speed command into an ideal speed command; a magnetic speed estimation unit for estimating the magnetic speed estimation value of the permanent magnet synchronous motor which hoists the car chamber; an estimation speed switching unit for outputting the ideal speed command when the ideal speed command of the model control unit is at a predetermined speed or lower, and for outputting the speed estimation value when the ideal speed command is over a predetermined speed; and the drive command output means for performing the torque feedforward control while the estimation speed switching unit is outputting the ideal speed command, and for performing the speed feedback control while the speed estimation value is being outputted.

Description

technical field [0001] The invention relates to an elevator control device, in particular to a position sensorless control of an elevator traction machine using a permanent magnet synchronous motor without using a magnetic pole position sensor. Background technique [0002] In order to vector control the permanent magnet synchronous motor controlled by the variable voltage and variable frequency voltage of the power converter, it is necessary to flow the armature current not only according to the magnitude of the armature current but also according to the phase corresponding to the magnetic pole position. The pole positions of permanent magnet synchronous motors need to be known at all times. [0003] Generally, a permanent magnet synchronous motor is equipped with a magnetic pole position sensor for grasping the magnetic pole position, and in recent years, for example, a position sensorless drive technology that does not have a magnetic pole position detector such as an enc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P6/18B66B1/30H02P21/00H02P27/04H02P29/00H02P6/06H02P6/08H02P6/17H02P6/182H02P6/28H02P21/13H02P21/14H02P21/18H02P21/22H02P21/24H02P23/12H02P23/14H02P23/16
CPCH02P6/18H02P21/0042B66B1/30H02P21/26
Inventor 见延盛臣酒井雅也
Owner MITSUBISHI ELECTRIC CORP