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Elevator Controls

A control device and elevator technology, which is applied in the field of elevator control devices, can solve problems such as rising costs, and achieve the effects of reducing slippage and suppressing car vibration

Active Publication Date: 2021-01-05
MITSUBISHI ELECTRIC CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] This method requires a load detection device for detecting the load capacity of the car, and the cost increases

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0039] exist figure 1 In the elevator control device according to Embodiment 1 shown, the pulley 2 is connected to the rotation shaft of the motor 1 . A rope 3 is hung from the pulley 2 , a car 4 is suspended from one end thereof, and a counterweight 5 is suspended from the other end via the rope 3 . A pulse encoder 11 for detecting an angle is provided on the motor 1, and speed control described below is performed based on the angle information. The output of the pulse encoder 11 , that is, a motor angle detection signal is input to the speed calculation unit 12 .

[0040] The speed computing unit 12 has a function of converting the motor angle detection signal into an angular speed signal of the motor 1, and outputs a speed signal ω. The speed signal ω is subtracted from the speed command signal ω_ref, which is the output of the speed command generation unit 13 , by the subtraction unit 14 to obtain the speed error signal ω_err. The speed error signal ω_err is input to th...

Embodiment approach 2

[0094] In the first embodiment described above, the motor drive current signal iq is used as the input signal of the disturbance observer 17, but instead, as Figure 11 As shown, the torque current command signal iq_t* can also be used. According to this structure, since the calculation of the disturbance observer 17 is comprised only by the internal signal of a calculation part, it becomes possible to generate|occur|produce a system more simply.

[0095] The disturbance observer 17 in this case is as Figure 12 like that. Only the input signal of the disturbance observer 17 changes from the motor drive current signal iq to the torque current command signal iq_t*, which is the same as figure 1 and figure 2 The structure is the same as that of Embodiment 1 shown, and the effect is also the same.

[0096] In addition, in the above-mentioned embodiment, the disturbance observer 17 was described and described using an analog system, but it may be configured to perform digitiz...

Embodiment approach 3

[0098] In this embodiment, by limiting the end timing of the speed feedback control, it is possible to further realize high-performance and stable operation.

[0099] That is, in figure 1 In this method, the detection information of the pulse encoder 11 that detects the rotation angle of the motor 1 is input to the speed calculation unit 12 to obtain the speed of the motor 1 . This pulse encoder 11 outputs and detects a waveform of one pulse every time the rotation angle of the motor 1 reaches a predetermined value. In this structure, when the rotation speed of the motor 1 is slow, that is, when the change of the rotation angle is slow, the pulse detection period of the pulse encoder 11 is long. Therefore, since the detection update period of the motor angle detection signal which is the input signal of the speed calculation unit 12 is long, a detection time delay occurs in the speed signal ω which is the output of the speed calculation unit 12 .

[0100] Furthermore, when t...

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Abstract

Provides an elevator control device capable of stably reducing starting shock and car backslip by estimating and correcting the unbalanced torque after brake release in a short time. The unbalanced torque estimator is used to estimate the weight difference between the car and the counterweight, that is, the unbalanced torque, according to the motor drive current or the torque current command signal of the motor, and the speed detection signal of the motor. The control device of the elevator has: a switching unit , which selects whether to output the signal obtained by adding the estimated unbalanced torque and a value proportional to the speed signal as a torque offset current command signal, or to output the signal when the brake on the rotation of the motor is released Outputting the estimated unbalanced torque after the brake as a torque offset current command signal; and an adding section that adds the torque offset current command output from the switching section to the input of the current control section, that is, the torque current command signal Signal.

Description

technical field [0001] The present invention relates to a control device for an elevator, in particular to a control device for an elevator which reduces the starting shock generated when the elevator starts to run. Background technique [0002] Generally, in a rope elevator, a car and a counterweight are suspended by ropes via pulleys connected to a motor. When the car is at rest, the brakes are used to keep it stationary, but when the car starts to travel, the brakes are released, and the pulleys are rotated by the motor, thereby lifting and lowering. [0003] At this time, as the brake is released, the unbalanced torque of the weight difference between the car and the counterweight is transmitted to the motor via the pulley. From the perspective of motor speed control, the unbalanced torque acts as a step-like disturbance, so when the brake is released with the motor torque being zero, the motor (pulley) is affected by this step-like disturbance , resulting in car accel...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B66B1/30H02P23/12H02P29/40
CPCB66B1/30H02P23/12H02P29/40
Inventor 横山英二大塚康司
Owner MITSUBISHI ELECTRIC CORP