Control device for elevator doors

Abstract

Provided is a control device for an elevator door capable of improving the accuracy of estimating the temperature of a motor. The control device for the elevator door includes a door state detection unit that detects the opening and closing state of a door driven by a motor having three-phase coils provided in an elevator; a voltage command unit that generates a voltage command value that is a command value for an applied voltage applied to the motor so that a current flowing in the motor follows a current command value; a voltage coordinate conversion unit that converts the voltage command value generated by the voltage command unit into three-phase voltage command values applied to the three-phase coils, respectively; and a temperature rise amount estimation unit that estimates the temperature rise amount of the three-phase coils, respectively, using three-phase current values flowing in the three-phase coils and the three-phase voltage command values, respectively, in a case where the door is detected by the door state detection unit to be in a fully open state or a fully closed state.

Description

Technical Field

[0001] This disclosure relates to a control device for elevator doors. Background Technology

[0002] Patent Document 1 discloses a control device for an elevator door. According to this control device, the overall resistance of the door motor is estimated based on the current flowing in the door motor and the voltage applied to the door motor. The overall temperature of the door motor can be estimated based on the estimated overall resistance.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2006-290507 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] In the control device described in Patent Document 1, even when the door motor is composed of three-phase coils, the temperature can be estimated based on the overall resistance value of the three-phase coils. However, the resistance values ​​and heat generation of the three-phase coils are different. Therefore, it is not possible to estimate the temperature of the door motor with high accuracy.

[0008] This disclosure was made to solve the aforementioned problems. The purpose of this disclosure is to provide an elevator door control device capable of improving the accuracy of estimating motor temperature.

[0009] Methods for solving problems

[0010] The elevator door control device disclosed herein includes: a door status detection unit that detects the opening and closing state of a door driven by a motor with three-phase coils installed in the elevator; a voltage command unit that generates a voltage command value, which is a command value for an applied voltage applied to the motor, such that the current flowing in the motor follows the current command value; a voltage coordinate conversion unit that converts the voltage command value generated by the voltage command unit into three-phase voltage command values ​​respectively applied to the three-phase coils; and a temperature rise estimation unit that, when the door status detection unit detects that the door is in a fully open or fully closed state, estimates the temperature rise of the three-phase coils respectively using the three-phase current values ​​flowing in the three-phase coils and the three-phase voltage command values.

[0011] Invention Effects

[0012] According to this disclosure, the temperature rise of the three-phase coils of a motor can be estimated separately. Therefore, the accuracy of motor temperature estimation can be improved. Attached Figure Description

[0013] Figure 1 This is a diagram showing an outline of an elevator system equipped with a control device for the elevator door according to Embodiment 1.

[0014] Figure 2 This is a block diagram of the control device for the elevator door according to Embodiment 1.

[0015] Figure 3 This is a diagram showing a first example of the test current command value generated by the control device of the elevator door in Embodiment 1.

[0016] Figure 4 This is a diagram showing a second example of the test current command value generated by the control device of the elevator door in Embodiment 1.

[0017] Figure 5 This is a flowchart outlining a first example of the temperature estimation process performed by the control device for the elevator door in Embodiment 1.

[0018] Figure 6 This is a flowchart outlining a second example of the temperature estimation process performed by the control device for the elevator door in Embodiment 1.

[0019] Figure 7 This is a flowchart outlining the operation of the control device for the elevator door in Embodiment 1 to estimate the estimated resistance value.

[0020] Figure 8 This is a flowchart outlining the operation of the overheat protection control performed by the control device for the elevator door in Embodiment 1.

[0021] Figure 9 This is a block diagram of the control device for the elevator door according to Embodiment 1.

[0022] Figure 10 This is a diagram illustrating an example of the current coil temperature estimated by the control device for the elevator door in Embodiment 1.

[0023] Figure 11 This is a flowchart illustrating the outline of the operation of the control device for the elevator door in Embodiment 1.

[0024] Figure 12 This is a block diagram of the elevator door control device according to Embodiment 2.

[0025] Figure 13 This is a diagram showing a summary of the temperature rise estimator of the elevator door control device according to Embodiment 2.

[0026] Figure 14 This is a diagram showing an example of the values ​​used by the temperature rise estimator of the elevator door control device in Embodiment 2.

[0027] Figure 15 This is a flowchart outlining a first example of the temperature estimation process performed by the control device for the elevator door in Embodiment 2.

[0028] Figure 16 This is a flowchart outlining a second example of the temperature estimation process performed by the control device for the elevator door in Embodiment 2.

[0029] Figure 17 This is a flowchart outlining the operation of the overheat protection control performed by the control device for the elevator door in Embodiment 2.

[0030] Figure 18 This is a block diagram of the elevator door control device according to Embodiment 2.

[0031] Figure 19 This is a diagram illustrating an example of the current estimated coil temperature estimated by the control device for the elevator door in Embodiment 2.

[0032] Figure 20 This is a flowchart illustrating the outline of the operation of the control device for the elevator door in Embodiment 2.

[0033] Figure 21 This is a hardware structure diagram of the elevator door control device according to Embodiment 1 or Embodiment 2. Detailed Implementation

[0034] The embodiments for implementing this disclosure are described with reference to the accompanying drawings. Furthermore, in the drawings, identical or equivalent parts are labeled with the same reference numerals. Repetitive descriptions of these parts are appropriately simplified or omitted.

[0035] Implementation method 1.

[0036] Figure 1 This is a diagram showing an outline of an elevator system equipped with a control device for the elevator door according to Embodiment 1.

[0037] exist Figure 1 In elevator system 1, shaft 2 runs through all floors of building 3. Machine room 4 is located directly above shaft 2. Multiple landings 5 ​​are located on each floor of building 3. Traction machine 6 is located in machine room 4. Control panel 7 is located in machine room 4. Control panel 7 can control elevator system 1 as a whole. Main rope 8 is wound around traction machine 6. Car 9 is located inside shaft 2. Car 9 is suspended by main rope 8.

[0038] As an elevator door in elevator system 1, a car door 10 is provided in the car 9. The car door 10 includes a door panel 11 and a control device 20. The door panel 11 is configured to move horizontally at the entrance / exit of the car 9. The control device 20 controls the opening and closing 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 and the moving speed of the door panel 11.

[0039] When elevator system 1 is operating, traction machine 6 rotates according to instructions from control panel 7. Main rope 8 moves in tandem with the rotation of traction machine 6. Car 9 moves up and down in tandem with the movement of main rope 8. When car 9 stops at target floor 5, control device 20 opens the fully closed door panel 11. At this time, control device 20 opens the landing door of the stopped floor 5 along with door panel 11. Users pass through the entrance / exit of car 9 to board and alight. During the user's boarding and alighting, control device 20 maintains door panel 11 and landing door fully open. Then, control device 20 closes door panel 11 and landing door.

[0040] Next, use Figure 2 Explanation of control device 20.

[0041] Figure 2 This is a block diagram of the control device for the elevator door according to Embodiment 1.

[0042] like Figure 2 As shown, 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 controller 26, a voltage controller 27, a voltage coordinate converter 28, a power converter 29, a resistance estimator 30, a temperature estimator 31, and a protection controller 32. Furthermore, the current sensor 23, door status detector 24, current coordinate converter 25, current controller 26, voltage controller 27, voltage coordinate converter 28, power converter 29, resistance estimator 30, temperature estimator 31, and protection controller 32 can be housed in a single housing or installed independently.

[0043] Motor 21 is configured to drive door panel 11. Motor 21 is a motor that drives rotation via three-phase AC. Although not shown, motor 21 is equipped with three-phase coils corresponding to each phase of the three-phase AC circuit. The rotational position, rotational speed, and rotational torque of motor 21 are controlled by the supplied power.

[0044] Rotation sensor 22 measures the rotational position θ of motor 21. Rotation sensor 22 can be various sensors such as encoders and resolvers. For example, the information of rotational position θ is used in control device 20 as a reference for rotational position control, current control, etc.

[0045] In addition, the rotation sensor 22 can also determine the position of the door panel 11 based on the rotational position of the motor 21. The rotation sensor 22 can also send the measured position information of the door panel 11 to... Figure 2 The control panel 7 is not shown in the figure. 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.

[0046] Current sensor 23 measures the actual three-phase current values ​​Iu, Iv, and Iw flowing in motor 21, respectively. Alternatively, current sensor 23 may also be configured to measure the actual current values ​​of two of the three-phase currents flowing in motor 21. For example, the actual three-phase current values ​​may be used as feedback signals for current control of motor 21 in control device 20.

[0047] The door state detector 24 acts as a door state detection unit to detect the opening and closing 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 any other state that is neither fully open nor fully closed. For example, the door state detector 24 detects the opening and closing state of the door panel 11 based on the rotation position detected by the rotation sensor 22.

[0048] Furthermore, the door status detector 24 can be any structure capable of detecting the opening and closing state of the door panel 11, and can be a device that detects the opening and closing state of the door panel 11 by any method. For example, the door status detector 24 can also be a structure that detects the opening and closing state of the door panel 11 by means of sensors installed in the fully closed position and the fully open position of the door panel 11.

[0049] The rotational position θ of the motor 21 is input from the rotation sensor 22 to the current coordinate converter 25. The actual three-phase current values ​​Iu, Iv, and Iw flowing in the motor 21 are input from the current sensor 23 to the current coordinate converter 25. As a current coordinate transformation unit, the current coordinate converter 25 uses the rotational position θ to transform the coordinate system dq of the actual current values ​​Iu, Iv, and Iw to the dq coordinate system. That is, based on the rotational position θ and the actual current values ​​Iu, Iv, and Iw, 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.

[0050] The current command unit 26 functions as part of the motor 21's control system, including its position and speed control systems. Based on commands from the control panel 7, signals from the motor 21's position and speed control systems, the current command unit 26 creates a current command value to control the current flowing through the motor 21. At this time, the current command unit 26 generates the d-axis current command value Id. *and the current command value Iq on the q-axis * The current command value is expressed in the dq coordinate system and output.

[0051] Furthermore, the actual current value Iq of the q-axis is a current value related to the rotational torque of the motor 21. When controlling the door panel 11 to open or to maintain the door panel 11 in a fully open state, the current command unit 26 generates a current command value Iq that causes the motor 21 to generate torque in the opening direction of the door panel 11. * When controlling the door panel 11 to close or to maintain the door panel 11 in a fully closed state, the current command unit 26 generates a current command value Iq that causes the motor 21 to generate 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 controlling the opening and closing of the door panel 11, maintaining the door panel 11 in a fully open state, or maintaining the door panel 11 in a fully closed state, the current command device 26 will send a current command value Id. * Set to 0. Alternatively, for example, when the motor 21 is operated in a high-speed and high-torque operating region to open and close the door panel 11, the current command value Id can be set to 0 for weak flux control. * It is set to a non-zero value. However, even within this operating region, while maintaining a fully open or fully closed state, the current command unit 26 will also assign the current command value Id. * Set to 0.

[0052] Voltage command unit 27 controls the current flowing in motor 21. As a voltage command unit, voltage command unit 27 generates and outputs a voltage command value for controlling the applied voltage to motor 21 in a dq coordinate system based on the current command value and the actual current value. Specifically, the actual current values ​​Id and Iq are input to voltage command unit 27 from current coordinate converter 25. The current command value Id is input from current command unit 26. * 、Iq * The input is given to voltage command unit 27. Voltage command unit 27 performs operations to make the actual current values ​​Id and Iq follow the current command value Id. * 、Iq * Such control calculations generate actual current values ​​Id and Iq that follow the current command value Id. * 、Iq * That voltage command value Vd * Vq * At this point, for example, the voltage command unit 27 performs a process that causes the actual current values ​​Id and Iq to match the current command value Id. * 、Iq *The control calculation is consistent with that. Furthermore, the control performed by the voltage command unit 27 is achieved through arbitrary control methods such as PID control.

[0053] The rotational position θ of motor 21 is input from rotation sensor 22 to voltage coordinate converter 28. Voltage command value Vd is input from voltage command unit 27. * Vq * The input is sent to the voltage coordinate converter 28. The voltage coordinate converter 28, acting as a voltage coordinate transformation unit, uses the rotation position θ to convert the voltage command value Vd... * Vq * The coordinate system is converted to the UVW coordinate system. That is, the voltage coordinate converter 28 converts the rotation position θ and the voltage command value Vd according to the rotation position θ and the voltage command value Vd. * Vq * Output the corresponding voltage command value Vu for phase U. * The voltage command value Vv for phase V * The voltage command value Vw for phase W * Additionally, the voltage coordinate converter 28, based on the design values ​​of the power converter 29, converts the voltage command value Vu... * Vv * Vw * Convert to duty cycle and output.

[0054] The power converter 29 is electrically connected to the motor 21 as a power conversion unit. 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 in the diagram.

[0055] The power converter 29 is an amplifier that supplies power to control the rotation of the motor 21. The power converter 29 also functions as a PWM inverter. The power converter 29 controls the voltage command value Vu... * Vv * Vw * A carrier comparison is performed to generate a corresponding PWM signal. The power converter 29 uses the PWM signal as a switching command for the switching elements of the inverter. According to the switching command, the power converter 29 converts the power from the operating power supply and supplies power to the motor 21.

[0056] The resistance estimator 30, acting as a resistance estimation unit, uses the actual current value Id output from the current coordinate converter 25 and the voltage command value Vd output from the voltage command unit 27. * The resistance value of the coil of motor 21 is estimated. At this time, the resistance estimator 30 estimates the overall resistance value of the circuit composed of the three coils as the estimated resistance value R^.

[0057] The estimated resistance value R^ is input from the resistance estimator 30 to the temperature estimator 31. The temperature estimator 31, as a temperature estimation unit, uses the estimated resistance value R^ to estimate the coil temperature T of the motor 21.

[0058] The estimated coil temperature T is input from the temperature estimator 31 to the protection controller 32. The protection controller 32, as a protection control unit, determines whether the coil temperature T is the coil temperature at which overheat protection control should be performed.

[0059] When the specified conditions are met, the control device 20 performs temperature estimation processing as a test to estimate the coil temperature T of the motor 21.

[0060] As a condition, the temperature estimation operation begins when the door panel 11 is in a fully open or fully closed state. When the door state detector 24 detects that the door panel 11 is in a fully open or fully closed state, the current command unit 26 generates a test current command value Id as the current command value for testing. * 、Iq * At this point, the current command unit 26 generates multiple sets of test current command values ​​Id. * 、Iq * The multiple sets contain various test current values ​​Iq. * Equal. The individual test current values ​​Id contained in multiple groups. * The values ​​are different. That is, the current command unit 26 generates a current command value Iq for the q-axis. * The d-axis current command value Id was fixed and changed. * Multiple sets of test current command values ​​Id * 、Iq * .

[0061] The output of the current command unit 26 serves as multiple sets of test current command values ​​Id. * 、Iq * The first test current command value Id1 in one group * Iq1 * Then, according to the prescribed control method, the current command unit 26 outputs multiple sets of test current command values ​​Id. * 、Iq * The second test current command value Id2 in another group * Iq2 * In this way, the current command unit 26 sequentially outputs multiple sets of test current command values ​​Id at time intervals. * 、Iq * .

[0062] The voltage command unit 27 outputs the test current command value Id. * 、Iq *The corresponding voltage command value is the test voltage command value Vd. * Vq * .

[0063] The power converter 29 operates according to the test voltage command value Vd. * Vq * Power is supplied to motor 21. The current sensor 23 measures the test voltage command value Vd. * Vq * The corresponding actual current values ​​Iu, Iv, and Iw. The current coordinate converter 25 outputs the actual current values ​​Id and Iq corresponding to the measured actual current values ​​Iu, Iv, and Iw.

[0064] The voltage command unit 27 will be compared with the first test current command value Id1. * The corresponding first test voltage command value Vd1 * The input is given to the resistance estimator 30. The current coordinate converter 25 will output the first test voltage command value Vd1. * The first actual current value Id1 of the control is input to the resistance estimator 30.

[0065] Then, the voltage command unit 27 will output the second test current command value Id2. * The corresponding second test voltage command value Vd2 * The input is given to the resistance estimator 30. The current coordinate converter 25 will output the second test voltage command value Vd2. * The second actual current value Id2 of the control is input to the resistance estimator 30.

[0066] The change in the voltage command value Vd2 operated by the resistance estimator 30 * -Vd1 * The change in the voltage command value is Id2 - Id1. The resistance estimator 30 divides the change in the voltage command value by the change in the actual current value as the estimated resistance value R^.

[0067] The estimated resistance value R^ is input from the resistance estimator 30 to the temperature estimator 31. The temperature estimator 31 estimates the coil temperature T based on the estimated resistance value R^ according to the temperature formula model representing the relationship between the resistance value of the motor 21 and the coil temperature. The control device 20 then ends the temperature estimation process.

[0068] The estimated resistance value R^ of motor 21 is calculated with high precision through temperature estimation processing. Next, the principle of calculating the estimated resistance value R^ through temperature estimation processing will be explained.

[0069] Typically, in motor 21, the following equations (1) and (2) hold true. Equation (1) is the voltage equation for the d-axis. Equation (2) is the voltage equation for the q-axis.

[0070] [Equation 1]

[0071] V d =RI d -ωL q I q (1)

[0072] [Equation 2]

[0073]

[0074] Where R is the overall resistance of the coil of motor 21. Ld and Lq are the inductances along the d-axis and q-axis, respectively. ω is the electric angular velocity. φ is the induced voltage constant.

[0075] 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 with time. In this case, the electric angular velocity ω is 0. Equations (1) and (2) can be regarded as Equations (3) and (4) below, respectively.

[0076] [Equation 3]

[0077] V d =RI d (3)

[0078] [Equation 4]

[0079] V q =RI q (4)

[0080] According to 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 from the combination of Vd and Id or the combination of Vq and Iq according to Ohm's law.

[0081] The values ​​used when calculating 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 values ​​of the rotational position θ. That is, since the actual current values ​​Id and Iq are calculated based on the measured values, they can be considered accurate values.

[0082] The applied voltage values ​​Vd and Vq are difficult to detect as actual measurement values. Therefore, in the temperature estimation processing of the control device 20, the voltage command value Vd is used. * Vq * However, at the voltage command value Vd * Vq * When directly applied to equation (3) or equation (4), the estimated resistance value may produce various estimation errors.

[0083] For example, when there is a design difference between the power supply voltage value supplied from the power source to the power converter 29 and the voltage value used as the design value in the control system of the motor 21, due to this design difference, the voltage command value Vd... * Vq * Errors may occur between the voltage applied to the motor 21 and the actual voltage applied. Furthermore, due to this design flaw, errors may occur in the dead-time correction performed by the power converter 29.

[0084] Furthermore, in the control device 20, the voltage command unit 27 generates a voltage command value Vd in a manner that minimizes or eliminates various errors caused by the design flaw. * Vq * Specifically, the voltage instruction unit 27 calculates and generates a voltage instruction value Vd by absorbing the difference between the power supply voltage value and the voltage value used as the design value. * Vq * The voltage command unit 27 calculates and generates the voltage command value Vd in a manner that compensates for the dead-time correction error caused by this design flaw. * Vq * .

[0085] However, even after performing that calculation, the voltage command value Vd... * Vq * Errors may also occur between the applied voltage and the actual voltage value. Furthermore, a voltage sensor is needed to measure the power supply voltage to correct for errors caused by the power supply voltage. This voltage sensor is sometimes omitted due to constraints such as manufacturing costs or physical limitations of space on the device's circuit board. Without a voltage sensor, the duty cycle calculation may use the designed power supply voltage value. That is, estimation errors may occur.

[0086] In the temperature estimation process of this embodiment, in order to suppress the deterioration of estimation accuracy due to estimation errors, the difference between the voltage command value and the actual current value is used in the resistance value estimation calculation. Specifically, the following equation (5) is used.

[0087] [Equation 5]

[0088] R=ΔV / ΔI(5)

[0089] In equation (5), the difference ΔV is the change in the d-axis voltage command value or the change in the q-axis voltage command value. The difference ΔI is the change in the actual d-axis current value or the change in the actual q-axis current value. By obtaining the difference between the two voltage command values, the voltage command value Vd * Vq *The value ΔV, obtained by canceling out the error between the applied voltage and the actual applied voltage, is used to estimate the resistance value. It can be considered as the difference between ΔV and the actual applied voltage value.

[0090] In temperature estimation processing, at least two sets of voltage command values ​​Vd need to be generated in order to calculate the differential ΔV. * Vq * Therefore, the current command unit 26 generates a group of multiple current command values ​​as the test current command value. The voltage command unit 27 generates a group of voltage command values ​​corresponding to the group of multiple current command values ​​as the test voltage command value. At this time, the current command unit 26 generates a test current command value that enables the door plate 11 to be in a fully open or fully closed state.

[0091] Specifically, the current command unit 26 generates a current command value Iq for the q-axis. * The d-axis current command value Id was fixed and changed. * The test current value. This is because the q-axis current command value Iq was changed. * In such cases, it may be impossible to maintain the fully open or fully closed state of the door panel 11. During the temperature estimation process, a first test voltage value Vd1 is generated or measured corresponding to such a first test current value and a second test current value. * The second test voltage value Vd2 * The first actual current value Id1 and the second actual current value Id2 are applied to equation (5). That is, the estimated voltage value R^ can be calculated according to the following equation (6).

[0092] [Equation 6]

[0093]

[0094] Furthermore, when motor 21 is a motor with a surface permanent magnet (SPM), no rotational torque is generated even when d-axis current is applied. On the other hand, when motor 21 is a motor with an interior permanent magnet (IPM), reluctance torque is generated by applying d-axis current. Reluctance torque is often smaller than magnet torque, so its influence is relatively small. However, when motor 21 has an IPM structure, the influence of reluctance torque is considered when setting the test current command value Id. * The value of .

[0095] The resistance value R^ is estimated based on the principle described above.

[0096] Then, in the temperature estimation process, the coil temperature T is estimated based on the estimated resistance value R^.

[0097] Temperature estimator 31 pre-stores a temperature formula model for estimating coil temperature T. The temperature formula model can be created through experiments that measure resistance values ​​while changing the coil temperature of motor 21. Alternatively, the temperature formula model can employ a theoretically derived model.

[0098] Equation (7) below is the first example of a temperature calculation model.

[0099] [Equation 7]

[0100] T=α·R+β (7)

[0101] The first example of the temperature equation model is the model assuming a linear relationship between the coil temperature T and the coil resistance R. Here, α and β are set constants. Alternatively, in this first example, the temperature equation model could also be a function of a higher order than the first.

[0102] Equation (8) below is the second example of the temperature calculation model.

[0103] [Equation 8]

[0104] T=(234.5+T′0) / R0×R-234.5 (8)

[0105] Equation (8) is the theoretical model of coil temperature. In Equation (8), T0′ is the reference temperature. R0 is the reference resistance value of the coil at the reference temperature.

[0106] In addition, the temperature estimator 31 is not limited to the first and second examples, and the coil temperature T can also be estimated by other methods based on the estimated resistance value R^ of the coil.

[0107] Next, use Figure 3 and Figure 4 This illustrates an example of the test current command value generated by the current command unit 26.

[0108] Figure 3 This is a diagram showing a first example of the test current command value generated by the control device of the elevator door in Embodiment 1. Figure 4 This is a diagram showing a second example of the test current command value generated by the control device of the elevator door in Embodiment 1.

[0109] Figure 3 The upper part and Figure 4 The upper section shows the command current value Id at the time and along the d-axis. * A graph showing the relationship between the command current value Id and the command current value Id. Furthermore, it is assumed that the command current value Id rapidly follows the command current value Id. * . Figure 3 The lower part and Figure 4The lower section shows the command voltage value Vd at the time and along the d-axis. * A graph showing the relationship between them.

[0110] exist Figure 3 The first example of the test current command value is shown. In this first example, the test current command value is set as a pulse wave shape. That is, the test current command value is intermittently set to current command values ​​of different magnitudes. The test voltage command value is generated as a pulse wave shape corresponding to the test current command value. The length of each pulse waveform is set to a length greater than or equal to the settling time. The settling time is the time during which the actual current value Id follows the current command value Id. * The settling time is determined by the design of the control gain of the current command unit 26.

[0111] exist Figure 3 In the first test, the current command value Id1 * The second test current command value Id2 * and the third test current command value Id3 * They are generated sequentially at time intervals. At this point, the first test current command value Id1 is... * The second test current command value Id2 * and the third test current command value Id3 * The d-axis current command value is set to 0. The first test voltage command value Vd1 is generated sequentially, corresponding to the test current command value. * The second test voltage command value Vd2 * and the third test voltage command value Vd3 * The first actual current value Id1, the second actual current value Id2, and the third actual current value Id3 are measured sequentially corresponding to the test voltage command value.

[0112] When the actual current value of the d-axis increases, the heat generated in the coil of motor 21 increases. In the first example, the voltage value is applied in a pulsed manner, thus suppressing this heat generation.

[0113] exist Figure 4 The image shows a second example of the test current command value. In this second example, the test current command value is set to a ramp shape. That is, the test current command value is set to continuously increase from 0 to Id1. * 、Id2 * 、Id3 * In the second example, it can be applied when coil heating is not a problem, and when the delay in following the current command value from the actual current value is not a problem.

[0114] In examples 1 and 2, three test current command values ​​Id1 were generated.* 、Id2 * 、Id3 * In this case, R can derive the following three values. R = (Vd2) * -Vd1 * ) / (Id2-Id1), R=(Vd3) * -Vd2 * ) / (Id3-Id2), R=(Vd3) * -Vd1 * (Id3-Id1). For example, the resistance estimator 30 can estimate the average of the calculated multiple R values ​​as the estimated resistance value R^. For example, the resistance estimator 30 can also estimate the largest value among the calculated multiple R values ​​as the estimated resistance value R^, as a value that can be used more safely.

[0115] Alternatively, the test current command value can be generated using a method different from that used in Examples 1 and 2.

[0116] Alternatively, filtering can be applied to the current and voltage when calculating the estimated resistance value R^. In this case, the current value and high-frequency noise in the current value are suppressed, improving the estimation accuracy of R^. When performing filtering, it is necessary to apply filtering at the same cutoff frequency. This is to ensure that the time correspondence between the current and voltage values ​​is consistent. Furthermore, after calculating multiple resistance values ​​R through filtering, the average of the multiple resistance values ​​R can be calculated.

[0117] Next, use Figure 5 This describes the first example of temperature estimation processing performed by the control device 20.

[0118] Figure 5 This is a flowchart outlining a first example of the temperature estimation process performed by the control device for the elevator door in Embodiment 1.

[0119] The first instance of temperature estimation processing can be performed at any time.

[0120] In step S001, the control device 20 determines whether the door panel 11 is in a fully open or fully closed state. The control device 20 makes the determination in step S001 based on the detection result of the door status detector 24.

[0121] If it is determined in step S001 that the door panel 11 is neither fully open nor fully closed, the control device 20 ends the operation of the flowchart.

[0122] If it is determined in step S001 that the door panel 11 is in a fully open or fully closed state, then step S002 is performed. In step S002, the control device 20 generates a test current command value. At this time, the control device 20 sequentially generates multiple test current command values ​​with different values.

[0123] Then, the operation of step S003 is performed. In step S003, the control device 20 estimates the estimated resistance value R^.

[0124] Then, step S004 is performed. In step S004, the control device 20 uses the estimated resistance value R^ to estimate the coil temperature T.

[0125] Then, control device 20 ends the actions of the flowchart.

[0126] Next, use Figure 6 This is the second example of temperature estimation processing performed by the control device 20.

[0127] Figure 6 This is a flowchart outlining a second example of the temperature estimation process performed by the control device for the elevator door in Embodiment 1.

[0128] In the second example, the temperature estimation process is performed midway through the journey of the car 9. This is because, during the journey of the car 9, the control device 20 needs to maintain the door panel 11 in a fully closed state.

[0129] like Figure 6 As shown, in step S101, the control device 20 determines whether the car 9 is in motion. For example, the control device 20 obtains control information related to the driving state of the car 9 from the control panel 7 and uses this control information for the determination. Alternatively, the current command device 26 of the control device 20 may determine whether the car 9 is in motion.

[0130] If it is determined in step S101 that the car 9 is not moving, the control device 20 ends the operation of the flowchart.

[0131] If it is determined in step S101 that the car 9 is in motion, then step S102 is performed. In step S102, the control device 20 determines whether the door panel 11 is fully closed.

[0132] If it is determined in step S102 that the door panel 11 is not fully closed, the control device 20 terminates the operation of the flowchart. Alternatively, even if the car 9 is in motion, the control device 20 may still notify the control panel 7 of the abnormality indicating that the door panel 11 is not fully closed. In this case, for example, the control panel 7 may cause the car 9 to stop urgently.

[0133] If it is determined in step S102 that the door panel 11 is in a fully closed state, then the actions following step S103 are performed. The actions performed in steps S103 to S105 are the same as those in... Figure 5 The actions performed in steps S002 to S004 of the flowchart are the same.

[0134] After performing step S105, the control device 20 ends the flowchart operation.

[0135] Next, use Figure 7 This section describes an example of how the control device 20 estimates the estimated resistance value R^.

[0136] Figure 7 This is a flowchart illustrating the outline of the operation of the control device for the elevator door in Embodiment 1 to estimate the estimated resistance value.

[0137] Control device 20 in Figure 5 In steps S002 to S003 of the flowchart, the process is performed with... Figure 7 The corresponding action in the flowchart is the action of estimating the estimated resistance value R^.

[0138] like Figure 7 As shown, in step S201, the current command unit 26 of the control device 20 generates the first test current command value Id1. * The resistance estimator 30 of the control device 20 obtains the first test voltage command value Vd1. * And the first actual current value Id1.

[0139] Then, step S202 is performed. In step S202, the current command unit 26 generates the second test current command value Id2. * The resistance estimator 30 obtains the second test voltage command value Vd2. * And the second actual current value Id2.

[0140] Then, step S203 is performed. In step S203, the current command unit 26 generates the third test current command value Id3. * The resistance estimator 30 obtains the third test voltage command value Vd3. * And the third actual current value Id3.

[0141] Then, step S204 is performed. In step S204, the resistance estimator 30 uses the obtained test voltage value and actual current value to estimate the estimated resistance value R^.

[0142] 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.

[0143] Then, control device 20 ends the actions of the flowchart.

[0144] in addition, Figure 7 The flowchart illustrates the actions involved in generating three different test current command values. The number of steps in this flowchart can vary depending on the number of groups of test current command values ​​generated.

[0145] Next, use Figure 8 This section describes an example of overheat protection control performed by control device 20.

[0146] Figure 8 This is a flowchart outlining the operation of the overheat protection control performed by the control device for the elevator door in Embodiment 1.

[0147] To prevent malfunctions such as motor 21 burnout, the protection controller 32 determines whether overheat protection control should be implemented based on the coil temperature T. According to the determination result of the protection controller 32, as an overheat protection control measure, the voltage command unit 27 stops the drive control of the motor 21.

[0148] Here, in the case of a rise in coil temperature T, consider the following cause events.

[0149] The first cause is an abnormality occurring in the main body of motor 21. Specifically, the coil temperature T may rise in cases such as bearing wear in motor 21 or the end of the lifespan of motor 21.

[0150] The second cause is the high opening and closing frequency of door panel 11. Specifically, when the call frequency of car 9 is high, or when the reverse movement of door panel 11 increases, the coil temperature T may rise.

[0151] The third cause is a malfunction in the car door 10. Specifically, for example, if the moving 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 increases, and the coil temperature T may rise.

[0152] The fourth cause is the high ambient temperature inside shaft 2. In this case, the coil temperature T may rise along with the ambient temperature.

[0153] In a state where an event occurs that could cause the coil temperature T to rise, the heat generated by motor 21 is greater than normal. If the drive control of motor 21 continues under this state, motor 21 may burn out.

[0154] exist Figure 8 The diagram shows the determination action for the specified conditions used for overheat protection control and the actions of the overheat protection control. Figure 8The flowchart actions are performed after the temperature estimation process. That is, in Figure 8 In the flowchart, door panel 11 is either fully open or fully closed.

[0155] 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.

[0156] Then, 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 below a reference value. For example, the reference value is preset based on the thermal design of the overall coil temperature of the motor 21.

[0157] If, in step S302, the coil temperature T is determined to be below a reference value, step S303 is performed. In step S303, the voltage command unit 27 of the control device 20 determines to continue the drive control of the motor 21. That is, the elevator system 1 operates normally.

[0158] Then, control device 20 ends the actions of the flowchart.

[0159] If, in step S302, the coil temperature T is determined to be higher than the reference value, step S304 is performed. In step S304, as an overheat protection control, the voltage command unit 27 stops the drive control of the motor 21. The voltage command unit 27 sends information indicating that the drive control of the motor 21 has been stopped to the control panel 7. That is, the elevator system 1 transitions from the normal operating state to the emergency stop state.

[0160] Then, control device 20 ends the actions of the flowchart.

[0161] Additionally, in step S304, when the drive control of motor 21 is stopped, the user cannot board or disembark from car 9. Therefore, control panel 7 can also put elevator system 1 into an emergency stop state after the user disembarks from car 9. At this time, control panel 7 can also issue a warning or broadcast to the user that service will be suspended.

[0162] Next, use Figure 9 This describes the recovery control of control device 20 from overheat protection control.

[0163] Figure 9 This is a block diagram of the control device for the elevator door according to Embodiment 1.

[0164] like Figure 9As shown, the control device 20 also includes a temperature drop estimator 33 for recovery control. When the coil temperature of the motor 21 falls below a reference value, as recovery control, drive control of the motor 21 can be initiated. Figure 9 The service of car 9, which is not shown in the diagram.

[0165] When the protection controller 32 determines that the coil temperature T is greater than the threshold, the temperature drop estimator 33 begins the drop estimation process to estimate the amount of drop in coil temperature T estimated by the temperature estimator 31.

[0166] Specifically, in the temperature drop estimation process, firstly, if the protection controller 32 determines that the coil temperature T is greater than a threshold, the value of the coil temperature T estimated by the temperature estimator 31 is input to the temperature drop estimate 33. At this time, the temperature drop estimate 33 measures the elapsed time t from the moment the coil temperature T value is input. That is, the temperature drop estimate 33 measures the elapsed time t based on the moment when the protection controller 32 determines that the coil temperature T is greater than the threshold. The temperature drop estimate 33 uses the input coil temperature T as the initial temperature, estimates and outputs the current coil temperature T′ relative to the elapsed time t. Furthermore, if the drive control of the motor 21 is stopped by overheat protection control, the temperature drop estimate 33 cannot use control system information such as the current command value of the motor 21. Therefore, the temperature drop estimate 33 uses the elapsed time t to estimate the current coil temperature T′.

[0167] The temperature drop estimator 33 inputs the estimated 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 command unit 27 terminates the overheat protection control and, as a recovery control, restarts the drive control of the motor 21. Furthermore, the reference value used at this time can be the same as the coil temperature threshold used during overheat protection control, or it can be a different value.

[0168] Here, the temperature drop estimator 33 estimates the current coil temperature based on a drop calculation model that represents the relationship between the coil temperature and the elapsed time. Various models can be used for the drop calculation model.

[0169] The first example of the descent formula model is shown in the following equation (9).

[0170] [Equation 9]

[0171] T′=Texp(-t / Ta) (9)

[0172] In equation (9), Ta is a time constant representing the rate of temperature decrease. Ta is preset. According to equation (9), by giving the initial temperature T, the current coil temperature T′ can be estimated over an elapsed time t.

[0173] The second example of the descent calculation model is a model that includes multiple time constants, as shown in equation (10) below.

[0174] [Equation 10]

[0175]

[0176] In equation (10), i is a natural number representing the order from the 1st to the Nth. i It is the i-th time constant. α i It is the i-th constant.

[0177] Furthermore, in equation (9) or (10), the time constant can typically be a different value depending on the ambient temperature. Alternatively, when applied to a device capable of measuring the ambient temperature, the value of the time constant can be determined based on the measured ambient temperature. When applied to a device that does not measure the ambient temperature, the time constant can be a pre-set constant. In this case, for example, the time constant may be the value with the slowest temperature drop rate within the applicable range. That is, the temperature drop estimator 33 estimates the temperature drop under safety-centric conditions, i.e., under conditions where heat dissipation from the motor 21 is least likely to occur.

[0178] Furthermore, the temperature drop calculation model can also be a linear function of time t, a quadratic function of time t, or other functions. Additionally, if the coefficients of the temperature drop calculation model are known and the approximate temperature drop relative to the elapsed time is known, the current coil temperature T′ can be determined to be below the reference value based on the elapsed time, without estimating the current coil temperature. Specifically, for example, suppose the applied model has a temperature drop of 50°C in 100 seconds. If the coil temperature T is 120°C and the reference temperature is 20°C when switching to overheat protection control, a temperature drop of 100°C may cause the current coil temperature to fall below the reference value. That is, if 200 seconds pass, the current coil temperature may fall below the reference value. In this case, the temperature drop estimator 33 can determine that the current coil temperature T′ has fallen below the reference value when 200 seconds have elapsed, without calculating the current coil temperature T′.

[0179] Next, use Figure 10 This shows an example of an estimated value for the current coil temperature T′.

[0180] Figure 10This is a diagram illustrating an example of the current coil temperature estimated by the control device for the elevator door in Embodiment 1.

[0181] Figure 10 The upper section is a graph showing the relationship between time t and elapsed time t. Overheat protection control begins at time 0. At time 0, the elapsed time t is measured. The elapsed time t increases proportionally to the time t.

[0182] Figure 10 The lower section is a graph showing the relationship between time and the estimated current coil temperature T′. The horizontal axis represents time. The vertical axis represents the estimated current coil temperature T′. The dashed line l represents the baseline value of the coil temperature.

[0183] At the moment the overheat protection control begins, the coil temperature estimated by the temperature estimator 31 is T. The current coil temperature T′ decreases monotonically as time increases. At time t1, the current coil temperature T′ falls below the reference value. That is, time t1 is the moment when recovery control can be performed. For example, the control device 20 restarts the drive control of the motor 21 at time t1.

[0184] Next, use Figure 11 This indicates that the control device 20 has resumed operation from overheat protection control.

[0185] Figure 11 This is a flowchart illustrating the outline of the operation of the control device for the elevator door in Embodiment 1.

[0186] Figure 11 The actions performed in steps S401 to S404 of the flowchart and Figure 8 The actions performed in steps S301 to S304 of the flowchart are the same. After performing the action in step S403, the control device 20 ends the actions of the flowchart.

[0187] After performing step S404, step S405 is performed. In step S405, the temperature drop estimator 33 of the control device 20 begins the drop estimation process.

[0188] Then, step S406 is performed. In step S406, the temperature drop estimator 33 determines whether the current coil temperature T′ is below the reference value.

[0189] If it is determined in step S406 that the current coil temperature T′ is greater than the reference value, the drive control of motor 21 continues to stop, that is, the actions after step S404 are performed.

[0190] If, in step S406, it is determined that the current coil temperature T′ is below the reference value, the operation in step S407 is performed. In step S407, the control device 20 resumes overheat protection control, that is, the drive control of the motor 21 is restarted.

[0191] Then, control device 20 ends the actions of the flowchart.

[0192] Furthermore, if the temperature drop estimator 33 determines the recovery solely based on elapsed time without estimating the current coil temperature T′, the flowchart operation changes accordingly. Specifically, in step S405, the temperature drop estimator 33 calculates the elapsed time. In step S406, it is determined whether the elapsed time is greater than or equal to a reference time.

[0193] According to Embodiment 1 described above, the control device 20 includes a door state detector 24 as a door state detection unit, a current command unit 26 as a current command unit, a voltage command unit 27 as a voltage command unit, a resistance estimator 30 as a resistance estimation unit, and a temperature estimator 31 as a temperature estimation unit. The control device 20 generates a test current command value to change the voltage command value applied to the motor 21 and the actual current value flowing through the motor 21. The control device 20 calculates the change in the current value due to the change in following the test current command value. The control device 20 calculates the change in the voltage command value 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 change in the voltage command value by the change in the actual current value. Here, the change in the voltage command value corresponds to the change in the voltage value actually applied to the motor 21. When calculating the estimated resistance value R^, a value after removing the influence of the error between the voltage command value and the actual applied voltage value is used. Therefore, the estimation accuracy of the estimated resistance value R^ can be improved. As a result, the accuracy of estimating the coil temperature T, which is the temperature of motor 21, can be improved.

[0194] Furthermore, the control device 20 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 the first test voltage command value and the second test voltage command value, which are generated from the first test current command value and the second test current command value. These generated values ​​can be estimated values ​​suitable for estimating the resistance value R^. Therefore, the estimation accuracy of the estimated resistance value R^ can be improved.

[0195] Alternatively, 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 before the first test voltage command value is generated as the change in the voltage command value. In this case, the control device 20 may also consider the difference between the actual current value following the first test current command value and the actual current value before the first test current command value is generated as the change in the current value.

[0196] Furthermore, the control device 20 generates a first test current command value and a second test current command value with different d-axis current values. Even if the d-axis current value changes, it has almost no effect on the opening and closing state of the door panel 11. Therefore, the estimation accuracy of the estimated resistance value R^ can be improved.

[0197] Furthermore, the control device 20 generates the first test current command value and the second test current command value as pulse waves, that is, they are generated sequentially with time intervals. During the period from the end of the current flowing according to the first test current command value to the beginning of the current flowing according to the second test current command value, the motor 21 will not generate heat due to the test current value. Therefore, the heat generation of the motor 21 can be suppressed.

[0198] Furthermore, the control device 20 generates a test current command value while the car 9 is moving. That is, the control device 20 performs a temperature estimation operation on the coil temperature T while the car 9 is moving. During the temperature estimation operation, noise such as magnetostriction noise caused by magnetostriction may be generated from the motor 21 due to the flow of d-axis current. By performing the temperature estimation operation while the car 9 is moving, the driving sound of the car 9 can mask this noise. Therefore, it is possible to suppress discomfort caused by this noise to users inside the car 9.

[0199] Furthermore, the control device 20 estimates the coil temperature T based on a temperature calculation model. Therefore, it is able to accurately estimate the coil temperature T.

[0200] Furthermore, the control device 20 stops the drive control of the motor 21 when the coil temperature T has risen above the reference value. That is, it can appropriately implement overheat protection for the motor 21. Therefore, it can prevent disasters such as motor burnout and fires caused by motor overheating. As a result, the safety of the elevator system 1 can be improved.

[0201] Furthermore, the control device 20 also includes a temperature drop estimator 33 as a temperature drop estimation unit. The control device 20 estimates the current coil temperature T′ by estimating the temperature drop of the coil temperature T. If the current coil temperature T′ is lower than a reference value, the control device 20 restarts the drive control of the motor 21. When the drive control of the motor 21 is stopped, the user cannot use the elevator system 1. By restarting the drive control of the motor 21 at an appropriate time, the control device 20 can improve the utilization efficiency of the elevator system 1.

[0202] Furthermore, the control device 20 estimates the current coil temperature T′ based on the descent calculation model. Therefore, it is able to accurately estimate the current coil temperature T′.

[0203] Implementation method 2.

[0204] Figure 12 This is a block diagram of the elevator door control device according to Embodiment 2. Furthermore, parts that are the same as or equivalent to those in Embodiment 1 are labeled with the same reference numerals. Descriptions of these parts are omitted.

[0205] like Figure 12 As shown, in Embodiment 2, the control device 20 also includes a temperature rise estimator 34. Furthermore, although in Figure 12 Although not shown in the figure, the control device 20 may also include a resistance estimator 30 and a temperature estimator 31.

[0206] Temperature rise estimator 34 estimates the temperature rise of the three-phase coils of motor 21. Specifically, the actual three-phase current values ​​Iu, Iv, and Iw flowing in motor 21 are input from current sensor 23 to temperature rise estimator 34. Voltage command value Vu is input from voltage coordinate converter 28. * Vv * Vw * The input is given to the temperature rise estimator 34. At this point, the temperature rise estimator 34 receives the voltage command value Vu before it is converted to the duty cycle. * Vv * Vw * That is, the voltage coordinate converter 28 will convert the voltage command value Vu before the duty cycle. * Vv * Vw * The input is given to the temperature rise estimator 34. The temperature rise estimator 34 estimates the temperature rise based on the actual current values ​​Iu, Iv, and Iw, or based on the actual current values ​​Iu, Iv, and Iw and the voltage command value Vu. * Vv * Vw *The temperature rise amounts ΔTu, ΔTv, and ΔTw of the three-phase coils are calculated separately and output as estimated values. Specifically, ΔTu represents the temperature rise of the U-phase coil of motor 21. ΔTv represents the temperature rise of the V-phase coil of motor 21. ΔTw represents the temperature rise of the W-phase coil of motor 21.

[0207] The temperature rise estimator 34 receives the value of the initial temperature T0 of the three-phase coil. The initial temperature T0 is the coil temperature at the moment the temperature rise estimator 34 begins estimating the temperature rise. Furthermore, the initial temperature T0 can be different or the same value in the three-phase coil. The initial temperature T0 can be obtained by any method. For example, the coil temperature T estimated by the temperature estimator 31 in Embodiment 1 can be input as the initial temperature T0 to the temperature rise estimator 34. Alternatively, the overall temperature of the motor 21 can be measured by a temperature sensor and input as the initial temperature T0 to the temperature rise estimator 34.

[0208] The temperature rise estimator 34 adds the temperature rise amounts ΔTu, ΔTv, and ΔTw to the initial temperature T0, respectively, and calculates and outputs the estimated three-phase coil temperatures Tu, Tv, and Tw.

[0209] The three-phase estimated coil temperatures Tu, Tv, and Tw are input from the temperature rise estimator 34 to the protection controller 32. In embodiment 2, the protection controller 32 compares the three-phase estimated coil temperatures Tu, Tv, and Tw with the corresponding reference values ​​to determine whether overheat protection control should be initiated.

[0210] Here, in the temperature rise estimator 34, the heat generation is calculated separately for each of the three-phase coils according to Joule's law. The following equation (11) shows the general Joule's law.

[0211] [Equation 11]

[0212] P = VI = RI 2 (11)

[0213] In equation (11), P is the heat generated per unit time. That is, P can be calculated using voltage V, current I, and resistance R. According to equation (11), the total heat generated Q during the time period τ is expressed by the following equation (12).

[0214] [Equation 12]

[0215] Q = VIτ = RI 2 τ (12)

[0216] According to equation (12), the heat generated by the coil, Q, can be expressed by Q = VIτ and Q = RI. 2The calculation is performed using any one of the formulas in τ. The temperature rise estimator 34 uses two calculation methods based on the two formulas respectively to calculate and estimate the coil temperatures Tu, Tv, and Tw.

[0217] Next, use Figure 13 This describes the calculations performed by the temperature rise estimator 34.

[0218] Figure 13 This is a diagram showing a summary of the temperature rise estimator of the elevator door control device according to Embodiment 2.

[0219] like Figure 13 As shown, 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.

[0220] First estimation section 341 uses Q=RI 2 The heat generated Q, calculated from the formula for τ, is used to calculate the first temperature rise ΔTu1, ΔTv1, and ΔTw1, respectively. First, the first estimation unit 341 is input with the actual current values ​​Iu, Iv, and Iw. The first estimation unit 341 calculates the square of each of the actual current values ​​Iu, Iv, and Iw. For each of the three-phase actual current values, the first estimation unit 341 multiplies the calculated square by a proportionality constant K1 and integrates. Here, for example, the proportionality constant K1 is the product of the coil resistance R and the integration period.

[0221] Furthermore, the resistance value R of the coil included in the proportional constant K1 is the largest conceivable resistance value. If the temperature rise is estimated to be less than the actual value, the motor 21 may burn out. Therefore, the resistance value R and the proportional constant K1 are chosen with safety in mind, i.e., the value that generates the most heat.

[0222] The value after integration is equivalent to Q = RI. 2 The value on the right side of the expression for τ. Here, the values ​​corresponding to the three phases are calculated by integration. The first calculation unit 341a of the first estimation unit 341 uses the first heat generation Q of each phase of the UVW phase calculated in this way to calculate and output the first temperature rise ΔTu1, ΔTv1, and ΔTw1 respectively. For example, the first calculation unit 341a uses the first heat generation Q of the U phase to calculate and output the first temperature rise ΔTu1 of the U phase. In addition, the method for calculating the first temperature rise ΔTu1, ΔTv1, and ΔTw1 from the first heat generation Q can be any appropriate method. For example, the first temperature rise ΔTu1, ΔTv1, and ΔTw1 can also be calculated from the first heat generation Q of each phase based on the heat capacity of the three-phase coils.

[0223] The first adder 342 is input with the first temperature rise ΔTu1, ΔTv1, and ΔTw1 estimated by the first estimator 341. The first adder 342 is also input with the value of the initial temperature T0. The first adder 342 calculates and outputs the first estimated coil temperatures Tu1, Tv1, and Tw1 by adding the first temperature rise ΔTu1, ΔTv1, and ΔTw1 to the initial temperature T0, respectively. For example, the first adder 342 calculates and outputs the first estimated coil temperature Tu1 of phase U by adding the first temperature rise ΔTu1 of phase U to the initial temperature T0 of phase U.

[0224] The second estimation unit 343 uses the heat generated Q calculated according to the formula Q = VIτ to calculate the second temperature rise ΔTu2, ΔTv2, and ΔTw2 respectively. First, the second estimation unit 343 is input with the actual current values ​​Iu, Iv, Iw and the voltage command value Vu. * Vv * Vw * Furthermore, the second estimation unit 343 is input with the initial voltage command value Vu0 at the moment when the temperature rise estimator 34 begins estimating the temperature rise. * Vv0 * Vw0 * The second estimation unit 343 maintains the initial voltage command value Vu0. * Vv0 * Vw0 * The value of .

[0225] The second estimation unit 343 calculates the change in voltage command value by subtracting the initial voltage command value from the voltage command value for each of the U, V, and W phases. The second estimation unit 343 integrates the change in voltage command value and the actual current value for each of the U, V, and W phases. The second estimation unit 343 multiplies the product of the change in voltage command value and the actual current value by a proportionality constant K2 for each of the U, V, and W phases to calculate the second heat generation of each phase. The second calculation unit 343a of the second estimation unit 343 uses the second heat generation of each phase to calculate and output the second temperature rise ΔTu2, ΔTv2, and ΔTw2. For example, the second calculation unit 343a uses the second heat generation of phase U to calculate and output the second temperature rise ΔTu2 of phase U. Furthermore, any appropriate method can be used to calculate the second temperature rise ΔTu2, ΔTv2, and ΔTw2 from the second heat generation.

[0226] The second adder 344 is input with the second temperature rise amounts ΔTu2, ΔTv2, and ΔTw2 estimated by the second estimator 343. The second adder 344 is also input with the value of the initial temperature T0. The second adder 344 calculates and outputs the second estimated coil temperatures Tu2, Tv2, and Tw2 by adding the second temperature rise amounts ΔTu2, ΔTv2, and ΔTw2 to the initial temperature T0, respectively. For example, the second adder 344 calculates and outputs the second estimated coil temperature Tu2 of phase U by adding the second temperature rise amount ΔTu2 of phase U to the initial temperature T0 of phase U.

[0227] The values ​​of the first estimated coil temperatures Tu1, Tv1, and Tw1 are input from the first adder 342 to the output determination unit 345. The values ​​of the second estimated coil temperatures Tu2, Tv2, and Tw2 are input from the second adder 344 to the output determination unit 345. The output determination unit 345 determines the matching degree between the first and second estimated coil temperatures. Based on the determination result, the output determination unit 345 outputs the estimated coil temperatures Tu, Tv, and Tw as the output of the temperature rise estimator 34.

[0228] In determining matching, 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 below a predetermined threshold, the output determination unit 345 determines that the first estimated coil temperature and the second estimated coil temperature are matched. If the absolute value of the difference is greater than the predetermined threshold, the output determination unit 345 determines that the first estimated coil temperature and the second estimated coil temperature are not matched. The output determination unit 345 performs this determination for each phase of the coil.

[0229] When the output determination unit 345 determines that a match has been made in the determination concerning a certain phase, it outputs either the first estimated coil temperature or the second estimated coil temperature of that phase as the estimated coil temperature. Alternatively, when the output determination unit 345 determines that a match has been made in the determination concerning a certain phase, it outputs the average value of the first estimated coil temperature and the second estimated coil temperature of that phase as the estimated coil temperature.

[0230] When the output determination unit 345 determines a mismatch 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, it is possible to determine whether to perform overheat protection control based on a safety-centric condition, i.e., the condition that the temperature is expected to be higher.

[0231] Next, use Figure 14 Examples of the values ​​used in the calculations in the temperature rise estimator 34 are provided.

[0232] Figure 14This is a diagram showing an example of the values ​​used by the temperature rise estimator of the elevator door control device in Embodiment 2.

[0233] exist Figure 14 The diagram shows the time progression of various values ​​under the condition that the motor 21 generates rotational torque while not rotating, as a condition in this example. Specifically, the time progression of various values ​​is shown in the following cases: when the door panel 11 is fully open and the motor 21 applies torque in the opening direction to the door panel 11; when the door panel 11 is fully closed and the motor 21 applies torque in the closing direction to the door panel 11; and when a prying event occurs, in which an external force is applied to the door panel 11 to pry open the fully closed door panel 11. For example, prying occurs when the user attempts to pry open the fully closed door panel 11 from inside the car 9.

[0234] Figure 14 The upper section 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 motor 21 to generate torque. Furthermore, the direction of Iq flow varies depending on the direction of torque generation.

[0235] Figure 14 The middle section is a graph showing the relationship between time and the actual current values ​​Iu, Iv, and Iw of each phase. Since current flows through the coils of each phase when the rotation angle of motor 21 is 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 are different from the magnitude of the actual current value Iq and the rotation position of motor 21.

[0236] Figure 14 The lower section is a graph showing the relationship between time and voltage command value. The horizontal axis represents time, and the vertical axis represents the voltage command value. Figure 14 The lower section shows the voltage command value Vu. * Vv * Vw * The graph, and the initial voltage command value Vu0 * Vv0 * Vw0 * The value is indicated by a dashed line.

[0237] The base point time is the leftmost time on each curve. In the lower section of the curve, the voltage command value at the base point time is the initial voltage command value Vu0. * Vv0 * Vw0 * Because the current flowing in each phase coil is different, the temperature rise of each phase coil is different. Consequently, the increase in resistance of each phase coil accompanying the temperature rise is also different.

[0238] Because the resistance of each phase coil increases over time, the voltage command value Vu * Vv * Vw * Their absolute values ​​increase over time in a manner that keeps the actual current values ​​Iu, Iv, and Iw constant.

[0239] When estimating the temperature rise, the first estimation unit 341 uses the value obtained by multiplying the square of the actual current value by the proportionality constant K1 and integrating it. The actual current value is controlled to be a constant value independent of the coil resistance value. That is, the actual current value does not reflect the increase in the actual coil resistance value. 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 temperature rise, so that the calculation result includes information related to the increase in the coil resistance value, which is the temperature rise.

[0240] When estimating the temperature rise, the second estimation unit 343 uses the voltage command value Vu. * Vv * Vw * Subtract the initial voltage command value Vu0 * Vv0 * Vw0 * The obtained value is the product of the actual current values ​​Iu, Iv, and Iw. The initial voltage command value is Vu0. * Vv0 * Vw0 * It is a fixed value. Voltage command value Vu * Vv * Vw * It changes along with the coil resistance. That is, the voltage command value Vu * Vv * Vw * It contains information related to the amount of temperature rise. Therefore, the second estimation unit 343 can use the product of the values ​​to estimate the amount of temperature rise without integrating the product.

[0241] Furthermore, the second estimation unit 343 uses the voltage command value Vu * Vv * Vw * Subtract the initial voltage command value Vu0 * Vv0 * Vw0 * The obtained value is the voltage V in the equation Q = VIτ. This is to reduce the voltage command value Vu. * Vv * Vw *The effect of the error between the actual voltage value and the actual voltage value applied to each phase coil. Specifically, in the voltage command value Vd * Vq * There may be errors between the actual applied voltage and the actual voltage due to differences in the power supply voltage, etc. This is because the voltage command value Vu... * Vv * Vw * It is based on the voltage command value Vd * Vq * The value obtained by converting the rotational position contains an error compared to the actual voltage value. To reduce the estimation error of the temperature rise, the second estimation unit 343 uses the initial voltage command value Vu0, which contains the same error, as the estimated value. * Vv0 * Vw0 * The difference is used to estimate the temperature rise.

[0242] On the other hand, since the actual current values ​​Iu, Iv, and Iw are measured by the current sensor 23, they are considered accurate values ​​and are directly used to estimate the temperature rise.

[0243] Furthermore, in the first estimation unit 341 and the second estimation unit 343, the estimated temperature rise can also be filtered to eliminate the influence of high-frequency noise, etc. That is, the first estimation unit 341 and the second estimation unit 343 can also output the temperature rise after the filtering process.

[0244] Next, in Embodiment 2, the first example of temperature estimation processing performed by the control device 20 will be described.

[0245] Figure 15 This is a flowchart outlining a first example of the temperature estimation process performed by the control device for the elevator door in Embodiment 2.

[0246] The first instance of temperature estimation processing can be performed at any time.

[0247] In step S501, the control device 20 determines whether the door panel 11 is in a fully closed or fully open state.

[0248] If it is determined in step S501 that the door panel 11 is neither fully open nor fully closed, the control device 20 ends the operation of the flowchart.

[0249] If it is determined in step S501 that the door panel 11 is in a fully open or fully closed state, the action 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 respectively.

[0250] Then, step S503 is performed. In step S503, the temperature rise estimator 34 estimates the temperatures Tu2, Tv2, and Tw2 of the second estimated coil of the three phases, respectively.

[0251] Then, step S504 is performed. In step S504, the temperature rise estimator 34 determines whether the first estimated coil temperature Tu1 of phase U matches the second estimated coil temperature Tu2 of phase U.

[0252] If a match is determined in step S504, the operation in 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 phase U. Alternatively, 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 phase U.

[0253] If a mismatch is determined in step S504, the operation in step S506 is performed. In step S506, the temperature rise estimator 34 determines the worst value between the first estimated coil temperature Tu1 and the second estimated coil temperature Tu2, i.e., the value of the one with the higher temperature, as the estimated coil temperature Tu of phase U.

[0254] After performing step S505 or step S506, step S507 is performed. In step S507, the temperature rise estimator 34 determines whether the first estimated coil temperature Tv1 of phase V matches the second estimated coil temperature Tv2 of phase V.

[0255] If a match is determined in step S507, 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 estimated coil temperature Tv of phase V. Alternatively, the temperature rise estimator 34 may also determine the average value of the first estimated coil temperature Tv1 and the second estimated coil temperature Tv2 as the estimated coil temperature Tv of phase V.

[0256] If a mismatch is determined in step S507, the operation in step S509 is performed. In step S509, the temperature rise estimator 34 determines the worst value between the first estimated coil temperature Tv1 and the second estimated coil temperature Tv2, i.e., the value of the one with the higher temperature, as the estimated coil temperature Tv of phase V.

[0257] After performing step S508 or step S509, step S510 is performed. In step S510, the temperature rise estimator 34 determines whether the first estimated coil temperature Tw1 of phase W matches the second estimated coil temperature Tw2 of phase W.

[0258] If a match is determined in step S510, the operation in 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 phase W. Alternatively, 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 phase W.

[0259] If a mismatch is determined in step S510, the operation in step S512 is performed. In step S512, the temperature rise estimator 34 determines the worst value between the first estimated coil temperature Tw1 and the second estimated coil temperature Tw2, i.e., the value of the one with the higher temperature, as the estimated coil temperature Tw of phase W.

[0260] After performing step S511 or step S512, step S513 is performed. In step S513, the temperature rise estimator 34 outputs the estimated coil temperatures Tu, Tv, and Tw for each phase.

[0261] Then, control device 20 ends the actions of the flowchart.

[0262] Furthermore, the temperature estimation in this flowchart is particularly effective when the motor 21 presses the door panel 11 further open in the fully open direction, or when the motor 21 presses the door panel 11 further close in the fully closed direction. This is because, in these states, the motor 21 is prone to load, and the coil temperature is prone to rise.

[0263] The motor 21 may press the fully open door panel 11 further in the opening direction, such as when the "open" button is continuously pressed on the control panel of the car 9, or when the call button on the control panel of the landing 5 is continuously operated while the door panel 11 is open.

[0264] It is possible that the fully closed door panel 11 may be pressed further in the closing direction, for example, in the event of prying. In this case, the motor 21 generates torque to overcome the force attempting to pry open the door panel 11. As a result, a larger current flows through the coil of the motor 21, and the heat generated in the coil increases.

[0265] Next, as a second example of temperature estimation processing in Implementation 2, the operation of the control device 20 in the event of prying will be described.

[0266] Figure 16 This is a flowchart outlining a second example of the temperature estimation process performed by the control device for the elevator door in Embodiment 2.

[0267] like Figure 16 As shown, in step S601, the control device 20 determines whether prying has occurred. For example, the door status detector 24 of the control device 20 determines whether prying has occurred. At this time, the door status detector 24 determines that prying has occurred if the door panel 11 is fully closed and a torque of more than a predetermined value is generated in the closing direction. In addition, the control device 20 can use any method to determine whether prying has occurred. Alternatively, for example, the current command device 26 can determine whether prying has occurred.

[0268] If it is determined in step S601 that no prying 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 temperature estimation processing as long as no prying has occurred. Alternatively, the control device 20 may perform the temperature estimation processing as in the first example after determining that no prying has occurred.

[0269] If it is determined in step S601 that prying has occurred, the control device 20 performs the actions following step S602. The actions performed in steps S602 to S613 are the same as those in the first example. Figure 15 The actions performed in steps S502 to S513 of the flowchart are the same.

[0270] Next, use Figure 17 An example of overheat protection control performed by the control device 20 in Embodiment 2 is explained.

[0271] Figure 17 This is a flowchart outlining the operation of the overheat protection control performed by the control device for the elevator door in Embodiment 2.

[0272] The protection controller 32 determines whether overheat protection control should be initiated for each of the estimated coil temperatures Tu, Tv, and Tw.

[0273] like Figure 17 As shown, in step S701, the temperature rise estimator 34 of the control device 20 estimates the temperature rise of each phase respectively. At this time, the temperature rise estimator 34 calculates the first temperature rise and the second temperature rise.

[0274] 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.

[0275] Then, step S703 is performed. In step S703, the protection controller 32 of the control device 20 is input with the estimated coil temperatures Tu, Tv, and Tw. The protection controller 32 determines whether the estimated coil temperature Tu of phase U is below the reference value.

[0276] In step S703, if the estimated coil temperature Tu is below the reference value, the operation of step S704 is performed. In step S704, the protection controller 32 determines whether the estimated coil temperature Tv of phase V is below the reference value.

[0277] If it is determined in step S704 that the estimated coil temperature Tv is below the reference value, the operation in step S705 is performed. In step S705, the protection controller 32 determines whether the estimated coil temperature Tw of phase W is below the reference value.

[0278] If, in step S705, it is determined that the estimated coil temperature Tw is below the reference value, step S706 is performed. In step S706, the voltage command unit 27 decides to continue the drive control of the motor 21. That is, the elevator system 1 operates normally.

[0279] Then, control device 20 ends the actions of the flowchart.

[0280] If the estimated coil temperature Tu exceeds the reference value in step S703, the estimated coil temperature Tv exceeds the reference value in step S704, or the estimated coil temperature Tw exceeds the reference value in step S705, then step S707 is performed. The operation performed in step S707 is the same as in Embodiment 1. Figure 8 The same action is performed in step S304 of the flowchart. That is, as an overheat protection control, the voltage command unit 27 stops the drive control of the motor 21. The voltage command unit 27 sends information indicating that the drive control of the motor 21 has been stopped to the control panel 7. That is, the elevator system 1 changes from the normal operating state to the emergency stop state.

[0281] Then, control device 20 ends the actions of the flowchart.

[0282] Next, use Figure 18 This explains the recovery control of the control device 20 from overheat protection control in Embodiment 2.

[0283] Figure 18This is a block diagram of the elevator door control device according to Embodiment 2.

[0284] like Figure 18 As shown, in Embodiment 2, the control device 20 further includes a temperature drop estimater 33. The temperature drop estimater 33 differs from Embodiment 1 in that it estimates the drop in estimated coil temperatures Tu, Tv, and Tw related to each phase of the coil during the drop estimation process. However, the processing for calculating the drop in temperature of each estimated coil is the same as in Embodiment 1.

[0285] That is, if 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 estimator 33. At this time, the temperature drop estimator 33 measures the elapsed time t using the moment when the estimated coil temperatures Tu, Tv, and Tw were input as the reference point. The temperature drop estimator 33 uses the input estimated coil temperatures Tu, Tv, and Tw as initial temperatures, and estimates and outputs the current estimated coil temperatures Tu′, Tv′, and Tw′ relative to the elapsed time t.

[0286] The estimated coil temperatures Tu′, Tv′, and Tw′ are input from the temperature drop estimator 33 to the protection controller 32. The protection controller 32 determines whether the estimated coil temperatures Tu′, Tv′, and Tw′ are all below the reference value.

[0287] Here, the temperature drop estimator 33 estimates the current estimated coil temperatures Tu′, Tv′, and Tw′ based on the drop calculation model representing the relationship between the estimated coil temperature and the elapsed time. Various models can be used for the drop calculation model.

[0288] The first example of the descent formula model is shown in equations (13) to (15) below. In addition, the coefficients are the same as in equation (9).

[0289] [Equation 13]

[0290] T′ u =T u exp(-t / Ta) (13)

[0291] [Equation 14]

[0292] T′ v =T v exp(-t / Ta) (14)

[0293] [Equation 15]

[0294] T′ w =T w exp(-t / Ta) (15)

[0295] In addition, the time constant Ta can also be used with different values ​​in the temperature calculation model of each phase.

[0296] The second example of the descent calculation model is a model that includes multiple time constants, as shown in equations (16) to (18) below. In addition, the coefficients are the same as in equation (10).

[0297] [Equation 16]

[0298]

[0299] [Equation 17]

[0300]

[0301] [Equation 18]

[0302]

[0303] Furthermore, in equations (13) to (18), the time constant can typically be a different value depending on the ambient temperature. Alternatively, when applied to a device capable of measuring the ambient temperature, the value of the time constant can be determined based on that ambient temperature. When applied to a device that does not measure the ambient temperature, a pre-set constant can be used. In this case, for example, the time constant may be the value with the slowest rate of temperature decrease within the applicable range. That is, the temperature decrease estimator 33 estimates the temperature decrease under safety-centric conditions, i.e., under conditions where heat dissipation from the motor 21 is least likely to occur.

[0304] Furthermore, the temperature drop calculation model can also be a linear function of time t, a quadratic function of time t, or other functions. Alternatively, when the coefficients of the temperature drop calculation model are known and the temperature drop relative to the elapsed time is approximately known, the temperature drop estimator 33 determines that the current estimated coil temperatures Tu′, Tv′, and Tw′ have all fallen below the reference value based on the elapsed time, and therefore does not estimate the current coil temperature. Specifically, for example, suppose the model applied to all phases is a model where the temperature drop is 50°C over 100 seconds. If the estimated coil temperature of any phase during the transition to overheat protection control is 120°C and the reference temperature is 20°C, and a temperature drop of 100°C occurs, then the current estimated coil temperature of that phase can fall below the reference value. That is, if 200 seconds have elapsed, the current estimated coil temperature associated with all phases can fall below the reference value. In this case, the temperature drop estimator 33 may determine that the current estimated coil temperatures Tu′, Tv′, and Tw′ have all fallen below the reference value after 200 seconds have elapsed, and therefore may not calculate the current estimated coil temperatures Tu′, Tv′, and Tw′. Then, the temperature drop estimator 33 may input a signal indicating that the current estimated coil temperatures Tu′, Tv′, and Tw′ have all fallen below the reference value to the protection controller 32.

[0305] Next, use Figure 19 This shows an example of the estimated values ​​of the current estimated coil temperatures Tu′, Tv′, and Tw′.

[0306] Figure 19 This is a diagram illustrating an example of the current estimated coil temperature estimated by the control device for the elevator door in Embodiment 2.

[0307] Figure 19 (A) is a graph showing the relationship between time t and elapsed time t. Overheat protection control starts at time 0, which serves as the base point.

[0308] Figure 19 (B) is a graph showing the relationship between time and the current estimated coil temperature Tu′ associated with phase U. Figure 19 (C) is a graph showing the relationship between time and the current estimated coil temperature Tv′ associated with phase V. Figure 19 (D) is a graph showing the relationship between time and the current estimated coil temperature Tw′ associated with W.

[0309] exist Figure 19In the example shown, the current estimated coil temperatures Tu′, Tv′, and Tw′ decrease exponentially with respect to elapsed time. For example, in the case where overheat protection control is initiated due to a pry-opening, the temperature rise of each phase is different. Therefore, at the moment the overheat protection control begins, the initial temperatures of each phase are different.

[0310] At time 0, the value of Tv is the smallest. Tv′ falls below the baseline value before Tu′ and Tw′ at time t2. At time 0, the value of Tw is the second smallest. Tw′ falls below the baseline value at time t3, which is later than time t2. At time 0, the value of Tu is the largest. Tu′ falls below the baseline value at time t4, which is later than time t3.

[0311] The protection controller 32 determines at time t4 that the current estimated coil temperatures Tu′, Tv′, and Tw′ have all fallen below the reference values.

[0312] Next, use Figure 20 This indicates that the control device 20 has resumed operation from overheat protection control.

[0313] Figure 20 This is a flowchart illustrating the outline of the operation of the control device for the elevator door in Embodiment 2.

[0314] Figure 20 The actions performed in steps S801 to S807 of the flowchart and Figure 17 The actions performed in steps S701 to S707 of the flowchart are the same. After performing the action in step S706, the control device 20 ends the actions of the flowchart.

[0315] After performing step S807, step S808 is performed. In step S808, the temperature drop estimator 33 of the control device 20 estimates the current estimated coil temperatures Tu′, Tv′, and Tw′ by calculating the temperature drop of each phase.

[0316] Then, step S809 is performed. In step S809, the protection controller 32 determines whether the current estimated coil temperatures Tu′, Tv′, and Tw′ have all fallen below the reference value.

[0317] If, in step S809, it is determined that the current estimated coil temperatures Tu′, Tv′, and Tw′ have all fallen below the reference values, then step S810 is performed. In step S810, the control device 20 resumes overheat protection control, that is, the drive control of the motor 21 is restarted.

[0318] Then, control device 20 ends the actions of the flowchart.

[0319] If, in step S809, it is determined that at least one of the current estimated coil temperatures Tu′, Tv′, and Tw′ is greater than the reference value, the drive control of motor 21 remains stopped, that is, the actions after step S807 are performed.

[0320] Furthermore, if the temperature drop estimator 33 only determines the recovery based on elapsed time without estimating the current estimated coil temperatures Tu′, Tv′, and Tw′, the flowchart action changes accordingly. Specifically, in step S808, the temperature drop estimator 33 calculates the elapsed time. In step S809, the temperature drop estimator 33 determines whether the elapsed time has exceeded the reference time. In step S810, the protection controller 32 determines, based on the signal from the temperature drop estimator 33, that the drive control of the motor 21 can be restarted. The control device 20 restarts the drive control of the motor 21.

[0321] According to Embodiment 2 described above, the control device 20 includes a door state detector 24 as a door state detection unit, a voltage command unit 27 as a voltage command unit, a voltage coordinate converter 28 as a voltage coordinate conversion unit, and a temperature rise estimator 34 as a temperature rise estimation unit. The control device 20 estimates the temperature rises ΔTu, ΔTv, and ΔTw for each of the three phases. If the temperature rises ΔTu, ΔTv, and ΔTw for the three phases are estimated, the temperature of the motor 21 can be estimated. Therefore, the accuracy of estimating the temperature of the motor 21 can be improved.

[0322] Furthermore, the control device 20 estimates the estimated coil temperatures Tu, Tv, and Tw of the three phases based on the temperature rise amounts ΔTu, ΔTv, and ΔTw of the three phases, respectively. Therefore, the accuracy of the estimated motor temperature can be improved.

[0323] Furthermore, the temperature rise estimator 34 includes a first estimation unit 341, a second estimation unit 343, and an output determination unit 345. The control device 20 estimates the first estimated coil temperatures Tu1, Tv1, Tw1 and the second estimated coil temperatures Tu2, Tv2, Tw2. The control device 20 determines the matching degree between the first estimated coil temperatures Tu1, Tv1, Tw1 and the second estimated coil temperatures Tu2, Tv2, Tw2, and estimates the estimated coil temperatures Tu, Tv, Tw of the three phases based on the determination result. As a result, the accuracy of estimating the temperature of each coil can be improved.

[0324] Furthermore, the control device 20 estimates the first temperature rise ΔTu1, ΔTv1, ΔTw1 and the second temperature rise ΔTu2, ΔTv2, ΔTw2 respectively using methods suitable for each estimation principle. Therefore, the accuracy of estimating the temperature of each coil can be improved.

[0325] Furthermore, the control device 20 detects a prying incident. In the event of a prying incident, the control device 20 estimates the estimated coil temperatures Tu, Tv, and Tw for all three phases. In the event of a prying incident, the temperature of the motor 21 is prone to rise. Even in the event of a prying incident, the control device 20 can still estimate the estimated coil temperatures Tu, Tv, and Tw for all three phases. Therefore, the safety of the motor 21 can be improved.

[0326] Furthermore, if at least one of the estimated coil temperatures Tu, Tv, and Tw of the three phases exceeds a reference value, the control device 20 stops the drive control of the motor 21. Therefore, it is possible to prevent disasters such as burnout of the motor 21 and fires caused by the overheating of the motor 21. As a result, the safety of the elevator system 1 can be improved.

[0327] Furthermore, the control device 20 also includes a temperature drop estimator 33 as a temperature drop estimation unit. The control device 20 estimates the current estimated coil temperatures Tu′, Tv′, and Tw′ by respectively estimating the temperature drop of the estimated coil temperatures Tu, Tv′, and Tw. If the current estimated coil temperatures Tu′, Tv′, and Tw′ are all less than a reference value, the control device 20 restarts the drive control of the motor 21. By restarting the drive control of the motor 21 at an appropriate time, the control device 20 can improve the utilization efficiency of the elevator system 1.

[0328] Furthermore, the control device 20 estimates the current estimated coil temperatures Tu′, Tv′, and Tw′ based on the descent calculation model. Therefore, it can accurately estimate the current estimated coil temperatures Tu′, Tv′, and Tw′ respectively.

[0329] Next, use Figure 21 An example of the hardware constituting the control device 20 will be described.

[0330] Figure 21 This is a hardware structure diagram of the elevator door control device according to Embodiment 1 or Embodiment 2.

[0331] The various devices included in the control device 20 can be implemented by a processing circuit that integrates them into a single device. The various devices included in the control device 20 can also be implemented by a processing circuit that integrates multiple devices in any combination. Furthermore, the various devices included in the control device 20 can also be implemented separately by processing circuits. Hereinafter, "processing circuit" refers to either the processing circuit that integrates the various devices included in the control device 20 into a single device or the processing circuit for each device included 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.

[0332] 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 described 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 device, arithmetic unit, microprocessor, microcomputer, or DSP. For example, at least one memory 100b is a non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), disk, floppy disk, optical disk, CD (compact disk), minidisc, DVD (Digital Versatile Disk), etc.

[0333] When the processing circuit has at least one dedicated hardware 200, the processing circuit is implemented, for example, by a single circuit, a composite circuit, a programming processor, a parallel programming processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. For example, each function of the control device 20 is implemented by the processing circuit. For example, each function of the control device 20 is implemented centrally by the processing circuit.

[0334] Regarding the various functions of the control device 20, some can be implemented by dedicated hardware 200, while others can be implemented by software or firmware. For example, the function of generating current command values ​​can be implemented by processing circuitry as dedicated hardware 200, while functions other than generating current command values ​​can be implemented by at least one processor 100a reading and executing programs stored in at least one memory 100b.

[0335] Thus, the processing circuit implements the functions of the control device 20 through hardware 200, software, firmware, or a combination thereof.

[0336] Industrial availability

[0337] As described above, the control device disclosed herein can be used in elevator systems.

[0338] Label Explanation

[0339] 1: Elevator system; 2: Shaft; 3: Building; 4: Machine room; 5: Landing; 6: Traction machine; 7: Control panel; 8: Main rope; 9: Car; 10: Car 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 device; 27: Voltage command device; 28: Voltage coordinate converter; 29: Power supply 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 arithmetic unit; 342: First adder; 343: Second estimation unit; 343a: Second arithmetic unit; 344: Second adder; 345: Output determination unit.

Claims

1. A control device for an elevator door, wherein, The elevator door control device includes: The door status detection unit detects the opening and closing status of the door driven by a motor with three-phase coils installed in the elevator. A voltage command unit generates a voltage command value, which is a command value for the applied voltage applied to the motor, such that the current flowing in the motor follows the current command value. A voltage coordinate conversion unit converts the voltage command value generated by the voltage command unit into three-phase voltage command values ​​respectively applied to the three-phase coils; and The temperature rise estimation unit estimates the temperature rise of the three-phase coils using the three-phase current values ​​flowing in the three-phase coils and the three-phase voltage command values, respectively, when the door state detection unit detects that the door is fully open or fully closed. The temperature rise estimation unit estimates the estimated coil temperature of each of the three-phase coils based on the temperature rise of the three-phase coils. The temperature rise estimation unit has: The first estimation unit uses the three-phase current values ​​to estimate the first temperature rise of the three-phase coils respectively. The second estimation unit uses the three-phase current value and the three-phase voltage command value to estimate the second temperature rise of the three-phase coil, respectively. as well as The output determination unit determines the matching between the first estimated coil temperature of the three-phase coil estimated based on the first temperature rise and the second estimated coil temperature of the three-phase coil estimated based on the second temperature rise, and estimates the estimated coil temperature of the three-phase coil respectively based on the determination result.

2. The elevator door control device according to claim 1, wherein, The first estimation unit uses the product of the squared current value of the coil and a predetermined proportionality constant to estimate the first temperature rise of the three-phase coils. The second estimation unit uses the product of the change in voltage command value, current value, and a specified proportional constant to estimate the second temperature rise of the three-phase coil.

3. The elevator door control device according to claim 1 or 2, wherein, The door status detection unit detects that a prying has occurred, which means that an external force is being applied to the fully closed door in an attempt to open it. When the door status detection unit detects that the door has been pried open, the temperature rise estimation unit estimates the estimated coil temperature of each of the three phase coils.

4. The elevator door control device according to any one of claims 1 to 3, wherein, If at least one of the estimated coil temperatures of the three-phase coils estimated by the temperature rise estimation unit becomes above a reference value, the voltage command unit stops the drive control of the motor.

5. The elevator door control device according to claim 4, wherein, The elevator door control device also includes a temperature drop estimation unit. This unit estimates the temperature drop of each of the three-phase coils when the voltage command unit stops the motor drive control based on any one of the estimated coil temperatures of the three-phase coils, thereby estimating the current estimated coil temperature of each of the three-phase coils. When the voltage command unit restarts the motor drive control if the current estimated coil temperature of the three-phase coils, as estimated by the temperature drop estimation unit, is lower than the reference value.

6. The elevator door control device according to claim 5, wherein, The temperature drop estimation unit uses the elapsed time, based on the moment when the motor drive control was stopped according to any one of the estimated coil temperatures of the three-phase coils, to estimate the current estimated coil temperature of each of the three-phase coils.

7. The elevator door control device according to claim 6, wherein, The temperature drop estimation unit calculates the temperature drop of each of the three-phase coils based on a drop calculation model that represents the relationship between the elapsed time and the temperature drop of the motor coils, and estimates the current estimated coil temperature of each of the three-phase coils.

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