Elevator system

Abstract

An elevator system assists accurate estimation of a magnetic pole position of a permanent magnet synchronous motor driving a door of an elevator. The elevator system comprises: a permanent magnet synchronous motor for driving the opening and closing of a door of an elevator; a door control unit that controls the rotation of the permanent magnet synchronous motor so as to open and close the door; and an elevator control unit that controls the lifting movement of the elevator car. The door control unit receives and stores floor information of the car from the elevator control unit, and learns and stores the magnetic pole position of the permanent magnet synchronous motor when the floor information is changed due to the lifting movement of the car.

Description

Technical Field

[0001] This invention relates to elevator systems. Background Technology

[0002] Patent Document 1 describes an elevator control system that implements magnetic pole position estimation control to update the identification of the magnetic pole position of the permanent magnet synchronous motor driving the elevator door. This elevator control system implements magnetic pole position estimation control when it detects that the elevator has switched from an unpowered state to a powered state, when it detects that although an opening command has been issued, the door is not in the fully open position, or when it detects that although a closing command has been issued, the door is not in the fully closed position.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2016-141564

[0004] The state of the elevator doors varies depending on the floor. In the prior art described in Patent Document 1, the state of the doors based on the floor is not adequately considered, which may lead to errors in the estimation of the magnetic pole positions. Summary of the Invention

[0005] This invention addresses the aforementioned problem. The object of this invention is to provide an elevator system capable of assisting in the accurate estimation of the magnetic pole position of the permanent magnet synchronous motor driving the elevator doors.

[0006] The elevator system of the present invention includes: a permanent magnet synchronous motor that drives the opening and closing of elevator doors; a door control unit that controls the rotation of the permanent magnet synchronous motor to open and close the doors; and an elevator control unit that controls the vertical movement of the elevator car. The door control unit receives and stores floor information of the car from the elevator control unit, and when the floor information changes due to the vertical movement of the car, it learns and stores the magnetic pole position of the permanent magnet synchronous motor.

[0007] According to the elevator system of the present invention, it is possible to assist in the accurate estimation of the magnetic pole position of the permanent magnet synchronous motor that drives the elevator door. Attached Figure Description

[0008] Figure 1 This is a diagram showing the structure of the elevator system according to Embodiment 1.

[0009] Figure 2 This is a flowchart illustrating an example of magnetic pole position learning performed by the gate control unit in Embodiment 1.

[0010] Figure 3 This is a flowchart illustrating a processing example of determining the success or failure of magnetic pole position learning performed by the gate control unit in Embodiment 1.

[0011] Figure 4 This is a flowchart illustrating a processing example in Embodiment 1 where the magnetic pole position storage unit outputs to the opening / closing control unit.

[0012] Figure 5 This is a flowchart illustrating a processing example where learning the magnetic pole position in Implementation 1 is successful across multiple floors.

[0013] Figure 6 This illustrates the situation where learning the magnetic pole position fails in Implementation 1. Figure 4 Flowcharts for different processing examples.

[0014] Label Explanation

[0015] 1: Door motor; 2: Rotation angle sensor; 3: Door; 4: Car; 5: Traction machine; 6: Counterweight; 7: Elevator control unit; 8: Door control unit; 9: Magnetic pole position learning instruction unit; 10: Magnetic pole position learning unit; 11: Magnetic pole position storage unit; 12: Learning success or failure determination unit; 13: Opening and closing control unit. Detailed Implementation

[0016] The embodiments will now be described with reference to the accompanying drawings. In each drawing, the same or equivalent parts are labeled with the same reference numerals. In this invention, repeated descriptions are appropriately simplified or omitted. In the following description, for simplicity, the positional relationships of the structures are sometimes shown based on the illustrated states. Furthermore, this invention is not limited to the embodiments and variations shown below. Any structural elements described in the following embodiments and variations can be freely combined, modified, or omitted without departing from the spirit of this invention.

[0017] Implementation Method 1

[0018] Figure 1 This is a diagram showing the structure of the elevator system according to Embodiment 1. The elevator system of this embodiment includes a door motor 1, which is a permanent magnet synchronous motor. The door motor 1 drives the opening and closing of the elevator doors 3. The door motor 1 rotates, thereby generating a driving force for opening and closing the elevator doors 3.

[0019] A rotation angle sensor 2 is installed on the door motor 1 to detect the rotation angle of the door motor 1. The rotation of the door motor 1 is controlled based on the detection information of the rotation angle sensor 2.

[0020] Door 3 opens and closes to allow passengers to board and alight relative to the elevator. Door 3 is connected to door motor 1 via a belt. The driving force generated by door motor 1 is transmitted to door 3 via the belt.

[0021] Door motor 1 and door 3 are installed in the elevator car 4. In addition to being installed in the car 4, door 3 also includes a landing door installed on the building side. When door 3 is actuated by door motor 1 installed in car 4, the landing door is held by a locking device installed in door 3 in car 4, thereby opening and closing door 3 in car and landing door together.

[0022] The locking device installed on the door 3 of the car 4, in addition to its function of holding the landing door, also has the function of generating a mechanical closing force in the closing direction when the door 3 is in the fully closed position. Therefore, the door 3 of the car 4 will not open naturally. When the door 3 of the car 4 is opened, the door motor 1 generates torque to overcome the mechanical closing force of the locking device.

[0023] Furthermore, the landing doors on the building side are also constructed with a mechanical closing force. In elevator door 3, a mechanical force always acts in the closing direction. This prevents door 3 from accidentally opening naturally, thus preventing the elevator from traveling with the door open, preventing emergency stops, and ensuring passenger safety.

[0024] Furthermore, a sensor is installed on door 3 to detect its open / closed state. For example, sensors are installed in the fully open and fully closed positions to determine whether door 3 is fully open or fully closed. Alternatively, the open / closed state of door 3 can also be determined based on information detected by rotation angle sensor 2.

[0025] The traction machine 5 operates, thereby causing the elevator car 4 to move up and down. The traction machine 5 generates the driving force to move the car 4 up and down towards the target floor. Generally, the elevator car 4 is connected to the counterweight 6 via the traction machine 5 in a bucket-type configuration. The traction machine 5 only needs to generate torque based on the weight difference between the car 4 and the counterweight 6, thereby allowing the traction machine 5 to be miniaturized.

[0026] like Figure 1 As shown, the elevator system of this embodiment includes an elevator control unit 7 and a door control unit 8. The traction machine 5 is driven by the elevator control unit 7. The elevator control unit 7 controls the drive of the traction machine 5, thereby controlling the vertical movement of the elevator car 4. The elevator control unit 7 controls the traction machine 5 so that when a target floor is selected by using a call button provided at a landing or a destination button provided inside the car 4, the car 4 travels towards the selected target floor.

[0027] In addition, the elevator control unit 7 stores information about the floor where the elevator car 4 is currently stopped, i.e., floor information. This floor information is, for example, 1F or 2F. The elevator control unit 7 outputs this floor information to the door control unit 8.

[0028] The door control unit 8 controls the rotation of the door motor 1 to open and close the elevator door 3. Furthermore, the door control unit 8 has the function of learning the magnetic pole position of the door motor 1 in its initial state.

[0029] The door control unit 8 receives and stores floor information from the elevator control unit 7. Furthermore, the door control unit 8 can also receive information about the status of the door 3 from the door 3. As described above, the door control unit 8 learns the magnetic pole position of the door motor 1. After learning the magnetic pole position, the door control unit 8 performs control for opening and closing the door 3. For example, as... Figure 1 As shown, the door control unit 8 includes a magnetic pole position learning instruction unit 9, a magnetic pole position learning unit 10, a magnetic pole position storage unit 11, a learning success or failure determination unit 12, and an opening and closing control unit 13.

[0030] The magnetic pole position learning command unit 9 receives floor information from the elevator control unit 7. Furthermore, the magnetic pole position learning command unit 9 can also receive information about the status of the door 3. Based on the received information, the magnetic pole position learning command unit 9 outputs learning commands to the magnetic pole position learning unit 10.

[0031] The magnetic pole position learning instruction unit 9 stores floor information obtained from the elevator control unit 7. When the floor information changes due to the vertical movement of the elevator car 4, a learning instruction for learning the magnetic pole position is output to the magnetic pole position learning unit 10. Furthermore, the magnetic pole position learning instruction unit 9 may also output a learning instruction to the magnetic pole position learning unit 10 when it receives information that the door 3 is fully closed.

[0032] When the magnetic pole position learning unit 10 receives a learning command from the magnetic pole position learning command unit 9, it applies a voltage for magnetic pole position learning to the gate motor 1. Furthermore, as a result of applying the voltage, it receives current value information from the gate motor 1. More specifically, it receives current value information from a current sensor (not shown) that detects the current value of the gate motor 1. The magnetic pole position learning unit 10 performs calculations to learn the magnetic pole position based on the current value obtained from the gate motor 1.

[0033] Furthermore, in this invention, the magnetic pole position learned by the magnetic pole position learning unit 10 represents the electrical reference position of the gate motor 1. As described above, the gate motor 1 is a permanent magnet synchronous motor. In the control of a permanent magnet synchronous motor, the method of converting three-phase AC to two-phase DC is used as a general control method. Information on the magnetic pole position is required during this conversion. Therefore, the magnetic pole position is learned by the magnetic pole position learning unit 10.

[0034] Furthermore, the magnetic pole position learned by the magnetic pole position learning unit 10 represents the reference position at the point in time when the learning was performed. The amount of change from this reference position can be detected by the rotation angle sensor 2. Alternatively, the amount of change from the reference position can be detected using estimated rotation information, similar to sensorless control.

[0035] The magnetic pole position storage unit 11 receives learned magnetic pole position information from the magnetic pole position learning unit 10. Furthermore, the magnetic pole position storage unit 11 can also receive floor information from the elevator control unit 7. The magnetic pole position storage unit 11 can also store the magnetic pole positions learned by the magnetic pole position learning unit 10 according to each floor's information. For example, the floor information and the learning results of the magnetic pole positions can be stored together, such as "Magnetic pole position learning value for 1F = X", "Magnetic pole position learning value for 2F = Y". By storing the magnetic pole positions together with the floor information, it is possible to determine which floor the learning was successful on and which floors do not require further learning.

[0036] The learning success / failure determination unit 12 uses a signal representing information about the rotation angle received from the rotation angle sensor 2 to determine whether the learning by the magnetic pole position learning unit 10 is successful or unsuccessful. The success / failure information is sent to the magnetic pole position learning unit 10. Based on the success / failure of the learning, the magnetic pole position learning unit 10 selects the magnetic pole position information to output to the magnetic pole position storage unit 11. For example, if the magnetic pole position learning is successful, the magnetic pole position learning unit 10 outputs the learned magnetic pole position information. If the magnetic pole position learning fails, the magnetic pole position learning unit 10 outputs other values ​​indicating failure.

[0037] The opening and closing control unit 13 receives information about the magnetic pole position from the magnetic pole position storage unit 11. The opening and closing control unit 13 uses the received information about the magnetic pole position to control the door motor 1 for opening and closing the door 3.

[0038] Here, the learning operation of the magnetic pole position learning unit 10 will be explained in more detail. Furthermore, the method by which the magnetic pole position learning unit 10 learns the magnetic pole position is not limited to the examples below. For example, a method for the magnetic pole position learning unit 10 to learn the magnetic pole position can be described as learning the magnetic pole position based on the response, i.e., the current value, when a pulse voltage is applied.

[0039] When a pulse voltage is applied, if the phase of the magnetic poles of the rotor of the gate motor 1 is in the same direction as the phase of the applied voltage, the direction of the magnetic flux of the current generated by the applied voltage is the same as the direction of the magnetic flux of the rotor's magnets. At this time, the total magnetic flux increases, thereby causing magnetic saturation in the motor core. When magnetic saturation occurs, the winding inductance of the gate motor 1 decreases, and the amplitude of the current flowing through the gate motor 1 increases.

[0040] On the other hand, when the phase of the rotor's magnetic poles and the phase of the applied voltage are opposite, when a pulse voltage is applied, the direction of the magnetic flux based on the current generated by the applied voltage is opposite to the direction of the magnetic flux of the rotor's magnets. At this time, the total magnetic flux decreases, and magnetic saturation does not occur in the motor core. When magnetic saturation does not occur, the winding inductance of the gate motor 1 increases, and the amplitude of the current flowing through the gate motor 1 decreases.

[0041] Thus, based on the relationship between the phase of the rotor's magnetic poles and the phase of the applied voltage, the degree of magnetic saturation of the motor core changes, and the amplitude of the current flowing through the gate motor 1 changes. This property can be used to learn the magnetic pole position.

[0042] The magnetic pole position learning unit 10, for example, learns the magnetic pole position by applying a voltage while intermittently changing the phase along the αβ axis. In a permanent magnet synchronous motor, when converting AC to DC using the magnetic pole position, a dq conversion is performed. At this time, the current along the d-axis is independent of torque, while the current along the q-axis becomes torque-dependent.

[0043] When the magnetic pole position is unknown, the q-axis is also energized when a pulse voltage that shifts the phase is applied, thereby instantaneously generating torque. Since the direction of torque cannot be controlled during magnetic pole position learning, torque acts in both the opening and closing directions of door 3. Furthermore, during magnetic pole learning, the magnetic pole position changes when door motor 1 rotates, introducing errors into the learned magnetic pole position results.

[0044] When door 3 is fully closed, as described above, a mechanical force acts in the closing direction of door 3. Furthermore, static friction acts due to the weight of door 3. Therefore, even if a torque is generated in the opening direction of door 3 due to the applied voltage for magnetic pole learning, door 3 will not open, and door motor 1 will not rotate. Furthermore, even if a torque is generated in the closing direction of door 3 when it is fully closed, door 3 will not move further, and door motor 1 will not rotate. Thus, by performing magnetic pole position learning when door 3 is fully closed, the accuracy of the learning results can be improved.

[0045] If the torque generated during magnetic pole position learning exceeds the mechanical force acting on door 3 in the closing direction and the static friction based on its own weight, door motor 1 may rotate. The weight of door 3 at each elevator station varies depending on the floor. Therefore, depending on the station, door 3 may be light and have low static friction based on its own weight, thus door motor 1 may rotate during magnetic pole position learning. In this case, the accuracy of the learning result can be considered low; therefore, it is preferable to perform learning on other floors.

[0046] In this embodiment, the magnetic pole position learning instruction unit 9 outputs a learning instruction to the magnetic pole position learning unit 10 when the floor information changes. Furthermore, the learning success / failure determination unit 12 monitors the rotation of the door motor 1 using the detection value of the rotation angle sensor 2 during magnetic pole position learning. For example, if the door motor 1 is detected to have rotated more than a reference value during magnetic pole position learning, it can be determined that the learning has failed. This reference value is, for example, 1 mm. Furthermore, the determination of learning success or failure can be performed using the detection result of the rotation angle sensor 2, or it can be performed using other methods.

[0047] Figure 2 This is a flowchart illustrating an example of magnetic pole position learning performed by the door control unit 8 in Embodiment 1. At the start of magnetic pole position learning, the magnetic pole position learning instruction unit 9 first determines whether the floor information has changed (step S201). If the floor information has not changed, magnetic pole position learning is not performed (step S205), and the process ends. In this embodiment, magnetic pole position learning is performed when the floor information changes. That is, magnetic pole position learning is performed when the state of the door 3 at the landing changes due to a change in the floor information. This avoids conditions that could lead to learning failure and improves learning accuracy.

[0048] When the floor information changes in step S201, the magnetic pole position learning instruction unit 9 determines whether door 3 is in a fully closed state (step S202). Door 3 is not in a fully closed state when it stops somewhere between the fully closed and fully open positions. This situation does not occur during normal elevator operation, but it may occur during installation or maintenance. In this case, when the voltage for learning the magnetic pole position is applied, as described above, door 3 may move in either the closed or open direction. The state where door 3 is not in a fully closed state is unsuitable for learning the magnetic pole position. Therefore, when door 3 is not in a fully closed state, magnetic pole position learning is not performed (step S205), and the process ends.

[0049] If, in step S202, it is determined that door 3 is in a fully closed state, a learning command is sent from the magnetic pole position learning command unit 9 to the magnetic pole position learning unit 10 to perform magnetic pole position learning (step S203). At the end of the learning process, the learned magnetic pole position information is sent to the magnetic pole position storage unit 11 and saved together with the floor information (step S204).

[0050] Figure 3This is a flowchart illustrating a processing example of determining the success or failure of magnetic pole position learning performed by the door control unit 8 in Embodiment 1. The learning success or failure determination unit 12 determines whether magnetic pole position learning is underway based on the learning instruction from the magnetic pole position learning instruction unit 9 (step S301). If magnetic pole position learning is not underway, it is not necessary to determine the success or failure of learning, and therefore, the process ends.

[0051] In the case of learning the magnetic pole position, it is determined whether there is a change in the rotation angle of the gate motor 1 during the learning of the magnetic pole position (step S302). Here, "change in rotation angle" means a change in rotation angle greater than a predetermined angle or a rotation of the gate motor 1 greater than a predetermined amount of movement, etc. For example, it is determined whether the rotation angle has changed by a reference value or more. This reference value is, for example, 10°. If there is a "change in rotation angle", it is determined that the learning has failed (step S303).

[0052] If the learning of the magnetic pole position fails, the magnetic pole position storage unit 11 is not allowed to save the learning result (step S304). Alternatively, the magnetic pole position learning unit 10 may output a value indicating that the learning of the magnetic pole position has failed.

[0053] If there is no change in rotation angle during the learning of the magnetic pole position, the learning is considered successful (step S305). If the learning of the magnetic pole position is successful, the magnetic pole position storage unit 11 saves the learning result together with the floor information (step S306).

[0054] Figure 4 This is a flowchart illustrating a processing example in which the magnetic pole position storage unit 11 outputs to the opening / closing control unit 13 in Embodiment 1. In this embodiment, the opening / closing control unit 13 controls the door motor 1 based on the magnetic pole position information stored in the magnetic pole position storage unit 11 to open and close the door 3 on a specific floor. At this time, the magnetic pole position information used by the opening / closing control unit 13 is, for example, obtained through... Figure 4 The process shown will determine this.

[0055] As described above, the magnetic pole position learning unit 10 learns the magnetic pole position, and the learning success determination unit 12 determines whether the learning of the magnetic pole position is successful. If the learning success determination unit 12 determines that the learning is successful (step S401), the magnetic pole position storage unit 11 outputs the learned magnetic pole position information to the opening and closing control unit 13 (step S402).

[0056] If the learning success / failure determination unit 12 determines that the learning has failed (step S401), when a request is made to open or close door 3 on the specific floor where the learning failed, the magnetic pole position storage unit 11 determines whether the learning results for other floors are saved (step S403). If the learning results for other floors are saved, the magnetic pole position storage unit 11 outputs the learning results for other floors to the opening / closing control unit 13 (step S404). The opening / closing control unit 13 uses the learning results for other floors to control the door motor 1. Furthermore, when controlling the door motor 1 to open or close door 3 on a specific floor, for example, if the floor information does not change and learning is not performed, the learning results for other floors can also be used to control the door motor 1.

[0057] If the learning results for other floors are not saved in step S403, the opening / closing control unit 13 instructs the elevator control unit 7 to move the car 4 to a different floor (step S405). This allows the learning results to be obtained for other floors. Alternatively, if the learning results for other floors are not saved in step S403, open-loop control can be implemented, i.e., applying a sinusoidal voltage with a 120° phase difference to the door motor 1 for drive control.

[0058] For example, the magnetic pole position learning of the door motor 1 can be performed during elevator installation. That is, before the elevator is installed and started running, the operator can move between floors to learn the magnetic pole position. Thus, even if there are floors where learning fails, the magnetic pole position can be learned by the operator repeatedly moving between floors. Alternatively, during installation, the elevator control unit 7 can be instructed to stop at all floors, thereby learning the magnetic pole position of all floors. By learning the magnetic pole position during installation, when the elevator is in operation, the opening and closing control unit 13 can open and close the door 3 according to the pre-learned results. Furthermore, magnetic pole position learning can also be performed during maintenance. By performing learning at regular intervals during periodic maintenance, changes since the learning results during installation can be confirmed. Thus, for example, abnormalities of the door motor 1 can be detected.

[0059] Furthermore, the magnetic pole position storage unit 11 can also determine that further learning is unnecessary if the magnetic pole position learning is successful multiple times while changing floors, and save the value obtained by averaging multiple learning results as the magnetic pole position learning value. This averaged value can also be used for the opening and closing control of door 3.

[0060] Figure 5This is a flowchart illustrating a processing example where magnetic pole position learning is successful on multiple floors in Embodiment 1. The magnetic pole position storage unit 11 determines whether a number of learning results exceeding a reference number are stored (step S501). If no number of learning results exceeding a reference number are stored, any one of the magnetic pole positions learned on each floor is selected (step S504). If a number of learning results exceeding a reference number are stored, the learning results are averaged (step S502). Then, the averaged value is stored as the magnetic pole position (step S503). In the opening and closing operation of the door 3 after saving the average value, the opening and closing control unit 13 uses this average value to control the rotation of the door motor 1.

[0061] As described above, if learning is performed on all floors during installation, the average value of the learning results is automatically saved, and the opening and closing control unit 13 can control the door motor 1 based on this average value.

[0062] As described above, in the elevator system of this embodiment, the magnetic pole position of the door motor 1 is learned when the elevator moves to a floor, thereby enabling the learning of the magnetic pole position based on the state of the floor door. This improves the learning accuracy. Furthermore, the elevator system of this embodiment can assist in accurately estimating the magnetic pole position of the permanent magnet synchronous motor that drives the elevator doors.

[0063] Furthermore, during the learning of the magnetic pole position, the detection results of the rotation angle sensor 2 are monitored. If rotation of the door motor 1 is detected during learning, it is determined to be a learning failure, and learning is performed on other floors, thereby improving learning accuracy. In the case of learning failure on a specific floor, the learning results from successful learning on other floors are used to control the door motor 1, thereby enabling the door 3 to open and close correctly. When multiple learning results are stored, they can be averaged and used for the opening and closing control of the door 3.

[0064] exist Figure 4 In the process shown in the flowchart, if learning the magnetic pole position fails on a specific floor, the learning results from other floors are used to control the door motor 1. For example, if learning the magnetic pole position fails, a pre-stored reference value for the magnetic pole position can also be used to control the door motor 1.

[0065] As described above, the magnetic pole position represents the electrical reference position of the door motor 1. The change from the reference position is detected by the rotation angle sensor 2. Generally, the rotation angle sensor 2 mostly uses an incremental encoder. While incremental encoders can measure the amount of movement, they cannot detect the absolute position. Therefore, the magnetic pole position is pre-learned, and the rotation angle sensor 2 is used to detect the amount of movement from that magnetic pole position.

[0066] On the other hand, if the rotation angle sensor 2 can detect the absolute position, it can store the magnetic pole position corresponding to the absolute position detected by the rotation angle sensor 2. Sensors capable of detecting absolute position include, for example, absolute encoders.

[0067] The rotation angle sensor 2, capable of detecting absolute position, is configured such that the phase of the magnetic poles relative to the rotor of the door motor 1 is always the same. For example, this can be achieved if the rotor of the door motor 1 is designed during manufacturing so that the rotation angle sensor 2 is positioned identically. In this case, the position of the magnetic poles relative to the absolute position detected by the rotation angle sensor 2 is the same in any door motor 1. For example, the door control unit 8 pre-stores the position of the magnetic poles relative to the rotation angle sensor 2 as a reference value for the magnetic pole position. Even when the floor information remains unchanged and no learning is performed, the door motor 1 can be controlled using the pre-stored reference value for the magnetic pole position in the door control unit 8 during at least one of the following states: before the magnetic pole position learning is completed, or when the magnetic pole position learning fails. By configuring the rotation angle sensor 2 in this way, the door motor 1 can be driven with a certain level of performance even without magnetic pole position learning.

[0068] In the example above, the magnetic pole position storage unit 11 pre-stores a reference value for the magnetic pole position. This reference value is independent of floor information and is stored as a value that can be used on any floor. Figure 6 This illustrates the situation where learning the magnetic pole position fails in Implementation 1. Figure 4 Flowcharts for different processing examples. As described above, the opening / closing control unit 13 controls the rotation of the door motor 1 based on the magnetic pole position information stored in the magnetic pole position storage unit 11. At this time, the magnetic pole position information used by the opening / closing control unit 13 can also be obtained through... Figure 6 The process will determine this.

[0069] First, the magnetic pole position storage unit 11 determines whether magnetic pole position learning has been performed on the floor where the vehicle is currently stopped (step S601). This determination can be achieved by determining whether learning results have been sent from the magnetic pole position learning unit 10.

[0070] If it is determined that the magnetic pole position has not been learned on the floor where the floor is currently stopped, the reference value of the pre-stored magnetic pole position is output to the opening and closing control unit 13 (step S604) to complete the processing.

[0071] When learning the magnetic pole position of a floor where the floor is currently in use, the learning success / failure determination unit 12 determines whether the learning of the magnetic pole position is successful (step S602). If the learning is successful, the magnetic pole position storage unit 11 outputs the learned magnetic pole position information to the opening / closing control unit 13 (step S603), completing the process. On the other hand, if the learning fails, when a request is made to open or close door 3 on a floor where the learning failed, the magnetic pole position storage unit 11 outputs the stored reference value to the opening / closing control unit 13 (step S604), completing the process. By pre-storing the reference value of the magnetic pole position, door 3 can be opened and closed even without moving to a different floor.

[0072] As described above, the door control unit 8 stores reference values ​​for the magnetic pole position. Therefore, even when no floor movement occurs and magnetic pole position learning is not performed, or when learning fails and the learning results for other floors are not saved, the door 3 can still be opened and closed based on the door motor 1. Furthermore, for example, during installation work, floor movement can be avoided, which can shorten the installation time.

[0073] The various methods of the present invention will be uniformly described below as an appendix.

[0074] (Postscript 1)

[0075] An elevator system, characterized in that the elevator system comprises:

[0076] A permanent magnet synchronous motor drives the elevator doors to open and close.

[0077] A door control unit that controls the rotation of the permanent magnet synchronous motor to open and close the door; and

[0078] The elevator control unit controls the vertical movement of the elevator car.

[0079] The door control unit receives and stores the floor information of the car from the elevator control unit. When the floor information changes due to the lifting and lowering movement of the car, the permanent magnet synchronous motor learns and stores the magnetic pole position.

[0080] (Postscript 2)

[0081] According to the elevator system described in Appendix 1, wherein,

[0082] The door control unit learns the magnetic pole position of the permanent magnet synchronous motor when the door is fully closed.

[0083] (Note 3)

[0084] According to the elevator system described in Appendix 1 or Appendix 2, wherein,

[0085] The door control unit stores the magnetic pole positions according to the floor information for each floor.

[0086] (Note 4)

[0087] The elevator system according to any one of Appendix 1 to Appendix 3, wherein,

[0088] The elevator system has a rotation angle sensor that detects the rotation angle of the permanent magnet synchronous motor.

[0089] During the learning of the magnetic pole position, the gate control unit determines whether the learning is successful based on the detection result of the rotation angle sensor.

[0090] (Note 5)

[0091] According to the elevator system described in Appendix 4, wherein...

[0092] When the learning of the magnetic pole position is successful on multiple floors, the door control unit uses the value obtained by averaging the learning results of the magnetic pole position on the successful floors to control the permanent magnet synchronous motor.

[0093] (Note 6)

[0094] According to the elevator system described in Appendix 4, wherein...

[0095] When controlling the permanent magnet synchronous motor to open and close the door on a specific floor, in at least one of the following situations—where the floor information does not change and learning is not performed, or where the learning of the magnetic pole position fails—the door control unit uses information about the magnetic pole position learned on other floors to control the permanent magnet synchronous motor.

[0096] (Note 7)

[0097] According to the elevator system described in Appendix 4, wherein...

[0098] The door control unit pre-stores a reference value for the magnetic pole position. If the floor information does not change and no learning is performed, or if the learning of the magnetic pole position fails, the reference value is used to control the permanent magnet synchronous motor.

[0099] (Postscript 8)

[0100] The elevator system according to any one of Appendix 1 to Appendix 7, wherein,

[0101] The door control unit learns the magnetic pole position during the elevator installation process.

Claims

1. An elevator system, characterized in that, The elevator system has the following features: A permanent magnet synchronous motor drives the elevator doors to open and close. A door control unit that controls the rotation of the permanent magnet synchronous motor to open and close the door; and The elevator control unit controls the vertical movement of the elevator car. The door control unit receives and stores the floor information of the car from the elevator control unit. When the floor information changes due to the lifting and lowering movement of the car, the permanent magnet synchronous motor learns and stores the magnetic pole position.

2. The elevator system according to claim 1, wherein, The door control unit learns the magnetic pole position of the permanent magnet synchronous motor when the door is fully closed.

3. The elevator system according to claim 1 or 2, wherein, The door control unit stores the learning results of the magnetic pole positions for each floor.

4. The elevator system according to claim 1 or 2, wherein, The elevator system has a rotation angle sensor that detects the rotation angle of the permanent magnet synchronous motor. During the learning of the magnetic pole position, the gate control unit determines whether the learning is successful based on the detection result of the rotation angle sensor.

5. The elevator system according to claim 4, wherein, When the learning of the magnetic pole position is successful on multiple floors, the door control unit uses the value obtained by averaging the learning results of the magnetic pole position on the successful floors to control the permanent magnet synchronous motor.

6. The elevator system according to claim 4, wherein, When controlling the permanent magnet synchronous motor to open and close the door on a specific floor, in at least one of the following situations—where the floor information does not change and learning is not performed, or where the learning of the magnetic pole position fails—the door control unit uses information about the magnetic pole position learned on other floors to control the permanent magnet synchronous motor.

7. The elevator system according to claim 4, wherein, The door control unit pre-stores a reference value for the magnetic pole position. If the floor information does not change and no learning is performed, or if the learning of the magnetic pole position fails, the reference value is used to control the permanent magnet synchronous motor.

8. The elevator system according to claim 1 or 2, wherein, The door control unit learns the magnetic pole position during the elevator installation process.

Images