ELEVATOR DOOR CONTROL UNIT

Abstract

For providing an elevator door control apparatus that improves the accuracy of estimating a motor's temperature. The elevator door control apparatus comprises: a door state detection section that detects the open / closed state of a door driven by a motor provided in an elevator and comprising three-phase coils; a voltage instruction section that generates a voltage instruction value, which is an instruction value of a voltage applied to the motor and causes a current flow through the motor to follow a current instruction value; a voltage coordinate transformation section that converts a voltage instruction value generated by the voltage instruction section into three-phase voltage instruction values, each to be applied to the three-phase coils;and a temperature rise magnitude estimation part which estimates temperature rise magnitudes of the three-phase coils using current values ​​of three phases, each flowing through the three-phase coils, and the voltage instruction values ​​of the three phases when the door state detection part detects that the door is in a fully open state or a fully closed state.

Description

[Technical field]

[0001] The present invention relates to an elevator door control device. [State of the art]

[0002] PTL 1 discloses an elevator door control apparatus. According to the control apparatus, the total resistance value of a door motor is estimated based on the current flowing through the door motor and the voltage applied to the door motor. The overall temperature of the door motor can be estimated based on this total resistance value. [Citation list][Patent literature]

[0003] [PTL 1] JP 2006-290507 A [Summary of the invention][Problem to be solved by the invention]

[0004] In the control apparatus described in PTL 1, the temperature can be estimated based on the total resistance value of the three-phase coils, even if the door motor consists of three-phase coils. However, the resistance values ​​and heat generation of the three-phase coils differ. Therefore, the temperature of the door motor cannot be estimated accurately.

[0005] The present disclosure was made to solve the problem described above. The purpose of the present disclosure is to provide an elevator door control apparatus capable of improving the accuracy of the temperature estimation of a motor. [Means of solving the problem]

[0006] An elevator door control apparatus according to the present disclosure comprises: a door state detection part that detects an open / closed state of a door driven by a motor provided in an elevator and comprising three-phase coils; a voltage instruction part that generates a voltage instruction value, which is an instruction value of a voltage applied to the motor and causes a current flowing through the motor to follow a current instruction value; a voltage coordinate transformation part that converts a voltage instruction value generated by the voltage instruction part into three-phase voltage instruction values, each to be applied to the three-phase coils;and a temperature rise magnitude estimation part that estimates temperature rise magnitudes of the three-phase coils using values ​​of currents of three phases flowing through the three-phase coils and the voltage instruction values ​​of the three phases when the door state detection part detects that the door is in a fully open state or a fully closed state. [Advantageous effect of the invention]

[0007] According to the present disclosure, the temperature rise of each of the three phases of the coils of a motor is estimated. This can improve the accuracy of the motor temperature estimate. [Brief description of the drawings] Fig. Figure 1 is a diagram showing an outline of an elevator system equipped with a control apparatus for elevator doors according to embodiment 1. Fig. Figure 2 is a block diagram of the control apparatus for elevator doors according to embodiment 1. Fig. Figure 3 is a diagram showing a first example of the test current instruction value generated by the elevator door control apparatus according to embodiment 1. Fig. Figure 4 is a diagram showing a second example of the test current instruction value generated by the elevator door control apparatus according to embodiment 1. Fig. Figure 5 is a flowchart describing an outline of the first example of temperature estimation processing to be performed by the elevator door control apparatus according to embodiment 1. Fig. Figure 6 is a flowchart describing an outline of the second example of temperature estimation processing to be performed by the elevator door control apparatus according to embodiment 1. Fig. Figure 7 is a flowchart describing an outline of a process for estimating an estimated resistance value to be carried out by the elevator door control apparatus according to embodiment 1. Fig. Figure 8 is a flowchart describing an outline of an operation of the overheating protection control device to be performed by the elevator door control apparatus according to embodiment 1. Fig. Figure 9 is a block diagram of the elevator door control apparatus according to embodiment 1. Fig. Figure 10 is a diagram showing an example of the current coil temperature estimated by the elevator door control apparatus according to embodiment 1. Fig. Figure 11 is a flowchart describing an outline of a process to be performed by the elevator door control apparatus according to embodiment 1. Fig. Figure 12 is a block diagram of the elevator door control apparatus according to embodiment 2. Fig. Figure 13 is a diagram showing an outline of the temperature rise magnitude estimator of the elevator door control apparatus according to embodiment 2. Fig. Figure 14 is a diagram showing an example of numerical values ​​used by the temperature rise magnitude estimator of the elevator door control apparatus according to embodiment 2. Fig. Figure 15 is a flowchart describing a design of the first example of temperature estimation processing to be performed by the elevator door control apparatus according to embodiment 2. Fig. Figure 16 is a flowchart describing an outline of the second example of temperature estimation processing to be carried out by the elevator door control apparatus according to embodiment 2. Fig. Figure 17 is a flowchart describing an outline of an operation of the overheating protection control to be performed by the elevator door control apparatus according to embodiment 2. Fig. Figure 18 is a block diagram of the elevator door control apparatus according to embodiment 2. Fig. Figure 19 is a diagram showing an example of the currently estimated temperatures of the coils, which are estimated by the elevator door control apparatus according to embodiment 2. Fig. Figure 20 is a flowchart describing an outline of a process to be performed by the elevator door control apparatus according to embodiment 2. Fig. Figure 21 is a hardware configuration diagram of the elevator door control apparatus according to embodiment 1 or embodiment 2. [Description of the embodiments]

[0008] Embodiments for carrying out the present disclosure are described in accordance with the accompanying drawings. In the corresponding drawings, identical or equivalent sections are identified by the same reference numerals. Redundant descriptions of such sections are simplified or omitted where deemed appropriate. Embodiment 1

[0009] Fig. Figure 1 is a diagram showing an outline of an elevator system equipped with an elevator door control apparatus according to embodiment 1.

[0010] In an elevator system 1, which is located in Fig. As shown in Figure 1, a shaft 2 penetrates each floor of a building 3. A machine room 4 is provided directly above the shaft 2. One of a number of halls 5 is provided on each floor of the building 3. A traction unit 6 is provided in the machine room 4. A control panel 7 is provided in the machine room 4. The control panel 7 can fully control the elevator system 1. A main rope 8 is wound around the traction unit 6. A cabin 9 is provided inside the shaft 2. The cabin 9 is suspended from the main rope 8.

[0011] The elevator system 1 consists of a cabin door 10 in cabin 9. The cabin door 10 comprises a door panel (or door cladding, or door leaf) 11, which is a door, and a control unit 20. The door panel 11 is designed to be movable in a horizontal direction at an entrance to cabin 9. The control unit 20 controls the opening / closing state of the door panel 11 by moving the door panel 11 in a horizontal direction. In particular, the control unit 20 performs the drive control of the position of the door panel 11, the speed of movement of the door panel 11, and the like.

[0012] When the elevator system 1 is in operation, the traction unit 6 rotates based on an instruction from the control panel 7. The main rope 8 moves to follow the rotation of the traction unit 6. The cabin 9 travels up and down, following the movement of the main rope 8. When the cabin 9 stops at a destination hall 5, the control unit 20 opens the door panel 11 in a fully closed position. In doing so, the control unit 20, together with the door panel 11, opens a hatch in the hall 5 where the cabin 9 has stopped. A user enters and exits the cabin 9 through an entrance. While the user is entering and exiting the cabin 9, the control unit 20 holds the door panel 11 and the hatch in a fully open position. Afterward, the control unit 20 closes the door panel 11 and the hatch.

[0013] Next, the control apparatus 20 will be examined in relation to Fig. 2 described.

[0014] Fig. Figure 2 is a block diagram of the control apparatus for elevator doors according to embodiment 1.

[0015] As in Fig. As shown in Figure 2, the control apparatus 20 comprises a motor 21, a rotation sensor (or rotary sensor) 22, a current sensor 23, a door state detector (or door state detector) 24, a current coordinate transformer 25, a current instruction device 26, a voltage instruction device 27, a voltage coordinate transformer 28, a power transformer (or power converter) 29, a resistance estimator 30, a temperature estimator 31, and a protection controller 32. The current sensor 23, the door state detector 24, the current coordinate transformer 25, the current instruction device 26, the voltage instruction device 27, the voltage coordinate transformer 28, the power transformer 29, the resistance estimator 30, the temperature estimator 31, and the protection controller 32 can be installed in an enclosure or provided separately.

[0016] Motor 21 is provided to operate the door panel 11. Motor 21 is a motor that is set in rotation (or rotation) by a three-phase alternating current (AC). Although not shown, motor 21 is equipped with three-phase coils corresponding to the phases of the three-phase AC. The position, speed, torque, and other properties of motor 21 are controlled by the supplied power.

[0017] The rotation sensor 22 measures the rotational position (or turning position) θ of the motor 21. Various sensors, such as an encoder, a resolver, and the like, can be used as the rotation sensor 22. For example, information about the rotational position θ is used in the control apparatus 20 to control the rotational position, as a control reference for a current, and the like.

[0018] The rotation sensor 22 can measure the position of the door panel 11 based on the rotational position of the motor 21. The rotation sensor 22 can transmit information about the measured position of the door panel 11 to the control panel 7 (in Fig. 2 (not shown) transmitted. For example, the position information of the door panel 11 can be used in the control apparatus 20 when assessing an acceleration position, a deceleration position, and the like of the door panel 11.

[0019] The current sensor 23 measures the values ​​Iu, Iv, and Iw of the actual currents of the three phases flowing through the motor 21. Alternatively, the current sensor 23 can be configured to measure the actual current values ​​of two phases among the three-phase currents flowing through the motor 21. For example, the actual three-phase current values ​​can be used as a feedback signal for the current control of the motor 21 in the control apparatus 20.

[0020] As a door state detection component, the door state detector 24 detects the open / closed 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 open / closed state of the door panel 11 based on a rotational position detected by the rotation sensor 22.

[0021] It should be noted that the door state detector 24 can be a device that detects the open / closed state of the door panel 11 using any method, as long as the device is configured to detect the open / closed state of the door panel 11. For example, the door state detector 24 can be configured to detect the open / closed state of the door panel 11 using sensors attached to a fully closed position and a fully open position of the door panel 11.

[0022] The rotational position θ of motor 21 is input by rotation sensor 22 into current coordinate transformer 25. The values ​​Iu, Iv, and Iw of the three phases of the actual currents flowing through motor 21 are input by current sensor 23 into current coordinate transformer 25. As its current coordinate transformation component, current coordinate transformer 25 performs a dq transformation of the coordinate system of the actual current values ​​Iu, Iv, and Iw into a dq coordinate system using the rotational position θ. In other words, based on the rotational position θ and the actual current values ​​Iu, Iv, and Iw, current coordinate transformer 25 outputs an actual current value Id along the corresponding d-axis and an actual current value Iq along the corresponding q-axis.

[0023] The functions of the current instruction device 26 include functions of the motor 21's control systems, such as a position control system and a speed control system. The current instruction device 26 generates a current instruction value that controls the current flow through the motor 21 based on an instruction from the control panel 7, a signal from the motor 21's position control system, a signal from the motor 21's speed control system, and the like. The current instruction device 26 generates and outputs a d-axis current instruction value Id* and a q-axis current instruction value Iq* as current instruction values ​​expressed in the dq coordinate system.

[0024] The actual current value Iq of the q-axis is a current value related to a torque of the motor 21. When controlling the opening of the door panel 11 and when controlling the maintenance of a fully open state of the door panel 11, the current instruction device 26 generates the current instruction value Iq* such that the motor 21 generates a torque in an opening direction of the door panel 11. When controlling the closing of the door panel 11 and when controlling the maintenance of a fully closed state of the door panel 11, the current instruction device 26 generates the current instruction value Iq* such that the motor 21 generates a torque in a closing direction of the door panel 11. On the other hand, the current value of the d-axis Id is a current value that does not contribute to a torque.For example, when controlling the opening and closing of the door panel 11, maintaining a fully open state of the door panel 11, or maintaining a fully closed state of the door panel 11 is performed, the current instruction device 26 sets the current instruction value Id* to 0. Alternatively, for example, when opening and closing the door panel 11 by actuating the motor 21 in a high-speed, high-torque range, the current instruction value Id* can be set to a value other than 0 to perform flux attenuation control. However, even in this range, the current instruction device 26 sets the current instruction value Id* to 0 when maintaining the fully open or fully closed state.

[0025] The voltage instruction device 27 controls a current flowing through the motor 21. As a voltage instruction component, the voltage instruction device 27 generates and outputs a voltage instruction value in a dq coordinate system format, which controls an applied voltage of the motor 21 based on current instruction values ​​and actual current values. Specifically, the actual current values ​​Id and Iq are input to the voltage instruction device 27 by the current coordinate transformer 25. The current instruction values ​​Id* and Iq* are input to the voltage instruction device 27 by the current instruction device 26. The voltage instruction device 27 performs a control calculation so that the actual current values ​​Id and Iq follow the current instruction values ​​Id* and Iq*, and generates voltage instruction values ​​Vd* and Vq* so that the actual current values ​​Id and Iq follow the current instruction values ​​Id* and Iq*.For example, the voltage instruction device 27 performs a control calculation so that the actual current values ​​Id and Iq and the current instruction values ​​Id* and Iq* match each other. The control performed by the voltage instruction device 27 is implemented using any control method, such as PID control.

[0026] A value for the rotational position θ of the motor 21 is input by the rotation sensor 22 into the voltage coordinate transformer 28. The voltage instruction values ​​Vd* and Vq* are input by the voltage instruction device 27 into the voltage coordinate transformer 28. As a voltage coordinate transformation section, the voltage coordinate transformer 28 transforms a coordinate system of the voltage instruction values ​​Vd* and Vq* into a UVW coordinate system using the rotational position θ. In other words, based on the rotational position θ and the instruction values ​​Vd* and Vq*, the voltage coordinate transformer 28 outputs a voltage instruction value Vu* of a corresponding U-phase, a voltage instruction value Vv* of a corresponding V-phase, and a voltage instruction value Vw* of a corresponding W-phase.It should be noted that the voltage coordinate transformer 28 converts the voltage instruction values ​​Vu*, Vv* and Vw* into duty cycles according to a design value of the power converter 29 and outputs the duty cycles.

[0027] The power converter 29 is electrically connected to the motor 21 as the power conversion component. The current sensor 23 is connected between the power converter 29 and the motor 21. The power converter 29 receives power from a ready-to-use power supply (not shown).

[0028] The power converter 29 is an amplifier that provides power for rotating and controlling the motor 21. The power converter 29 functions as a PWM inverter. It generates a corresponding PWM signal by comparing the voltage command values ​​Vu*, Vv*, and Vw*. The power converter 29 uses this PWM signal as a switching command for an inverter switching element. Based on this switching command, the power converter 29 converts the power from the power supply and provides it to the motor 21.

[0029] As a resistance estimation component, the resistance estimator 30 estimates an electrical resistance value of the coils of the motor 21 using the actual current value Id, which is output by the current coordinate transformer 25, and the voltage instruction value Vd*, which is output by the voltage instruction device 27. The resistance estimator 30 estimates the total electrical resistance value R^ of an electrical circuit consisting of three coils.

[0030] The estimated resistance value R^ is an input for the temperature estimator 31 from the resistance estimator 30. As a temperature estimation part, the temperature estimator 31 estimates a coil temperature T of the motor 21 using the estimated resistance value R^.

[0031] An estimated value of the coil temperature T is input by the temperature estimator 31 into the protection controller 32. As part of the protection controller, the protection controller 32 assesses whether the coil temperature T is a temperature at which overheat protection should be activated.

[0032] When a prescribed condition is met, the control apparatus 20 performs a temperature estimation processing as a test to estimate the coil temperature T of the motor 21.

[0033] The temperature estimation operation is started when the door panel 11 is in the fully open or fully closed state. When the door state detector 24 detects that the door panel 11 is in the fully open or fully closed state, the current instruction device 26 generates test current instruction values ​​Id* and Iq*, which are the current instruction values ​​for the test. The current instruction device 26 generates multiple sets of test current instruction values ​​Id* and Iq*. The individual test current values ​​Iq* contained in the multiple sets are identical. The individual test current values ​​Id* contained in the multiple sets have different magnitudes.In other words, the current instruction device 26 generates a variety of sets of test current instruction values ​​Id* and Iq*, in which the current instruction value Iq* of the q-axis is fixed, but the current instruction value Id* of the d-axis is varied.

[0034] The current instruction device 26 outputs initial test current instruction values ​​Id1* and Iq1*, which form one set from the plurality of sets of test current instruction values ​​Id* and Iq*. Subsequently, based on a prescribed control procedure, the current instruction device 26 outputs second test current instruction values ​​Id2* and Iq2*, which form another set from the plurality of sets of test current instruction values ​​Id* and Iq*. In this way, the current instruction device 26 outputs the plurality of sets of instruction values ​​for the test current Id* and Iq* at time intervals.

[0035] The voltage instruction device 27 outputs instruction values ​​for the test voltage Vd* and Vq*, which are voltage instruction values ​​corresponding to the instruction values ​​for the test current Id* and Iq*.

[0036] The power converter 29 supplies power to the motor 21 based on the test voltage instruction values ​​Vd* and Vq*. The current sensor 23 measures the actual current values ​​Iu, Iv, and Iw according to the test voltage instruction values ​​Vd* and Vq*. The current coordinate transformer 25 outputs the actual current values ​​Id and Iq according to the measured actual current values ​​Iu, Iv, and Iw.

[0037] A first test voltage instruction value Vd1*, corresponding to the first test current instruction value Id1*, is input by the voltage instruction device 27 into the resistance estimator 30. A first actual current value Id1, controlled by the first test voltage instruction value Vd1*, is input by the current coordinate transformer 25 into the resistance estimator 30.

[0038] Subsequently, a second test voltage instruction value Vd2*, corresponding to the second test current instruction value Id2*, is input from the voltage instruction device 27 into the resistance estimator 30. A second actual current value Id2, controlled by the second test voltage instruction value Vd2*, is input from the current coordinate transformer 25 into the resistance estimator 30.

[0039] The resistance estimator 30 calculates a deviation Vd2* - Vd1* of the voltage instruction values ​​and a deviation Id2 - Id1 of the actual current values. The resistance estimator 30 takes a value obtained by dividing the deviation of the voltage instruction values ​​by the deviation of the actual current values ​​as the estimated resistance value R^.

[0040] The estimated resistance value R^ is the input to the temperature estimator 31 from the resistance estimator 30. The temperature estimator 31 estimates the temperature T of the coil from the estimated resistance value R^ based on a mathematical temperature model that represents a relationship between the resistance value and the coil temperature of the motor 21. The control apparatus 20 terminates the temperature estimation processing.

[0041] Based on the temperature estimation processing, the estimated resistance value R^ of motor 21 is calculated precisely. Next, a principle is described according to which the estimated resistance value R^ is calculated through the temperature estimation processing.

[0042] In general, the motor 21 satisfies the following expressions (1) and (2). Expression (1) is a stress equation of the d-axis. Expression (2) is a stress equation of the q-axis. [Math. 1] Vd=Rld−ωLqlq [Math. 2] Vq=Rlq+ω(Ldld+φ)

[0043] In the equations, R denotes a general resistance of the coils of motor 21. Ld and Lq denote the inductances of the d-axis and the q-axis, respectively. ω denotes an electric angular velocity. ϕ denotes an induced voltage constant.

[0044] When the door panel 11 is in a fully open or fully closed state, the rotational position θ of the motor 21 does not change over time. In this case, the electric angular velocity ω is 0. Expression (1) and expression (2) can be equated accordingly with expression (3) and expression (4) below. [Math. 3] Vd=Rld [Math. 4] Vq=Rlq

[0045] Based on expression (3) and expression (4), the resistance value R, when the door panel 11 is in a fully open or fully closed state, can be calculated based on Ohm's law from a set of Vd and Id or a set of Vq and Iq.

[0046] The values ​​used in calculating the resistance value R must be reliable. In control apparatus 20, the actual current values ​​Id and Iq are calculated based on the actual current values ​​Iu, Iv, and Iw and a measured value of the rotational position θ. In other words, since the actual current values ​​Id and Iq are calculated based on measured values, they can be considered accurate.

[0047] It is difficult to identify the applied voltage values ​​Vd and Vq as actual measured values. Therefore, the voltage instruction values ​​Vd* and Vq* are used in the temperature estimation processing by the control apparatus 20. However, if the voltage instruction values ​​Vd* and Vq* are to be applied directly to expression (3) or expression (4), various estimation errors in the estimated resistance values ​​may occur.

[0048] For example, a difference between the design value of a power supply voltage supplied to the power converter 29 and a voltage value used as a design value in the control system of the motor 21 can lead to an error between the voltage instruction values ​​Vd* and Vq* and the voltage actually applied to the motor 21 due to this design difference. Additionally, this design difference can cause an error in the dead-time correction that the power converter 29 is supposed to perform.

[0049] In the control apparatus 20, the voltage instruction device 27 generates the voltage instruction values ​​Vd* and Vq* in such a way as to reduce or eliminate the various errors resulting from the design difference. Specifically, the voltage instruction device 27 calculates and generates the voltage instruction values ​​Vd* and Vq* to absorb a difference between a power supply voltage value and a voltage value used as a design value. The voltage instruction device 27 calculates and generates the voltage instruction values ​​Vd* and Vq* to compensate for a dead-time correction error that occurs due to the design difference.

[0050] However, even when performing such calculations, an error may occur between the instruction values ​​Vd* and Vq* and the value of the voltage actually applied. Additionally, to correctly represent an error attributable to the power supply voltage, a sensor measuring the power supply voltage is required. The voltage sensor may not be provided due to constraints such as manufacturing cost limitations or physical space limitations on a device's circuit board. If no voltage sensor is provided, a design value for the power supply voltage may be used to calculate a duty cycle. In other words, an estimation error may occur.

[0051] In the temperature estimation processing according to the existing embodiment, a difference in voltage instruction values ​​and a difference in actual current values ​​are used in an estimation calculation of a resistance value to suppress a decrease in the accuracy of the estimation due to an estimation error. In particular, the following expression (5) is used. [Math. 5] R=ΔV / Δl

[0052] In expression (5), a difference ΔV represents a deviation in the instruction value of the d-axis voltage or a deviation in the instruction value of the q-axis voltage. A difference ΔI represents a deviation in the actual current value of the d-axis or a deviation in the actual current value of the q-axis. By determining the difference between the two instruction values ​​for the voltage, the value ΔV at which an error between the instruction values ​​for the voltages Vd* and Vq* and an actual applied voltage was aborted can be used to estimate a resistance value. ΔV can be considered to be equal to the difference between the values ​​of the voltage actually applied.

[0053] During temperature estimation processing, at least two sets of voltage instruction values ​​Vd* and Vq* must be generated to calculate the difference ΔV. Therefore, the current instruction device 26 generates a plurality of sets of current instruction values ​​as test current instruction values. The voltage instruction device 27 generates sets of voltage instruction values ​​corresponding to the plurality of sets of current instruction values ​​as test voltage instruction values. In this way, the current instruction device 26 generates a test current instruction value that allows the door panel 11 to maintain a fully open or fully closed state.

[0054] In particular, the current instruction device generates 26 test current values ​​where the current instruction value Iq* of the q-axis is fixed, but the current instruction value Id* of the d-axis is varied. This is because varying the current instruction value Iq* of the q-axis risks the door panel 11 not being able to maintain its fully open or fully closed state. During the temperature estimation processing, a first test voltage value Vd1*, a second test voltage value Vd2*, the first actual current value Id1, and the second actual current value Id2, generated or measured to correspond to the first and second test current values ​​as described above, are applied to expression (5). In other words, the estimated voltage value R^ can be calculated according to expression (6) below. [Math. 6] R=(Vd2∗−Vd1∗) / (ld2−ld1)

[0055] If motor 21 is a surface permanent magnet (SPM) motor, no torque is generated even with conducting d-axis current. However, if motor 21 is an interior permanent magnet (IPM) motor, a reluctance torque is generated with conducting d-axis current. Since reluctance torque is often relatively smaller than magnetic torque, it has a lesser effect. Nevertheless, if motor 21 has an IPM structure, the current instruction value Id* is set to account for the effect of the reluctance torque.

[0056] The estimated resistance value R^ is calculated based on the principle described above.

[0057] Subsequently, in the temperature estimation processing, the temperature T of the coil is estimated from the estimated resistance value R^.

[0058] The temperature estimator 31 stores the mathematical temperature model for estimating the coil temperature T in advance. This mathematical temperature model can be created through a test in which a resistance value is measured while the coil temperature of the motor 21 is varied. A theoretically derived model can be adopted as the mathematical temperature model.

[0059] The following expression (7) represents a first example of the mathematical temperature model. [Math. 7] T=α⋅R+β

[0060] The first example of the mathematical temperature model is a model where the relationship between the coil temperature T and the coil resistance R is linear. In this case, a and b denote constants that need to be set. In this first example, the mathematical temperature model can be a higher-order function than a linear one.

[0061] The following expression (8) represents a second example of the mathematical temperature model. [Math. 8] T=(234.5+T′0) / R0×R−234.5

[0062] Expression (8) represents a theoretical model of a coil temperature. In expression (8), T0' denotes a reference temperature. R0 denotes a reference resistance value of the coil at the reference temperature.

[0063] It should be noted that the temperature estimator 31 is not limited to the first and second examples and can use other methods to estimate the coil temperature T from the estimated resistance value R^ of the coil.

[0064] Next, an example of a current instruction value generated by the current instruction device 26 is given with reference to Fig. 3 and Fig. 4 described.

[0065] Fig. Figure 3 is a diagram showing a first example of the test current instruction value generated by the elevator door control apparatus according to embodiment 1. Fig. Figure 4 is a diagram showing a second example of the test current instruction value generated by the elevator door control apparatus according to embodiment 1.

[0066] The upper half of Fig. 3 and the upper half of Fig. Figure 4 represents a relationship between time and a current instruction value Id* or a current instruction value Id on the d-axis. The current instruction value Id is assumed to immediately follow the current instruction value Id*. The lower half of Fig. 3 and the lower half of Fig. Figure 4 are diagrams that represent a relationship between time and a specified voltage value Vd* on the d-axis.

[0067] Fig. Figure 3 shows a first example of the test current instruction value. In the first example, the test current instruction value is set to a pulse waveform. In other words, current instruction values ​​of varying magnitudes are set intermittently as the test voltage instruction value. The test voltage instruction value is generated in a pulse waveform to correspond to the test voltage instruction value. The length of each pulse waveform is set to a length equal to or longer than a settling time. The settling time is the time it takes for the actual current value Id to follow the current instruction value Id* and stabilize. Note that the settling time is a time determined by the design of a control gain of the current instruction device. 26.

[0068] In Fig. 3. The first test current instruction value Id1*, the second test current instruction value Id2*, and a third test current instruction value Id3* are generated sequentially at time intervals. During this process, the current instruction value on the d-axis below the first test current instruction value Id1*, the second test current instruction value Id2*, and the third test current instruction value Id3* is set to 0. The first test voltage instruction value Vd1*, the second test voltage instruction value Vd2*, and a third test voltage instruction value Vd3* are generated in the order corresponding to the test current instruction values. The first actual current value Id1, the second actual current value Id2, and a third actual current value Id3 are measured in this order to correspond to the test voltage instruction values.

[0069] Increasing the actual current value of the d-axis increases the amount of heat generated in the coils of motor 21. Since voltage values ​​in pulse form are used in the first example, the amount of heat generated can be suppressed.

[0070] Fig. Figure 4 shows a second example of the test current instruction value. In this second example, the test current instruction value is set to a ramp waveform. In other words, the test current instruction value is set to continuously increase from 0 to Id1*, Id2*, and Id3*. This second example can be applied to a case where heat generation by the coils is not a concern, or where a tracking delay of an actual current value relative to a current instruction value is not a concern, and so on.

[0071] In the first and second examples, the three test current instruction values ​​Id1*, Id2*, and Id3* are generated. In this case, the following three values ​​can be derived as R: R = (Vd2* - Vd1*) / (Id2 - Id1), R = (Vd3* - Vd2*) / (Id3 - Id2), and R = (Vd3* - Vd1*) / (Id3 - Id1). For example, the resistance estimator 30 can estimate an average value from the multitude of calculated values ​​of R as the estimated resistance value R^. Alternatively, the resistance estimator 30 can estimate R with the largest value among the multitude of calculated values ​​of R as the estimated resistance value R^, which can be used more reliably.

[0072] Alternatively, the current instruction values ​​can be generated by a method that differs from the first and second examples.

[0073] Currents and voltages can be filtered when calculating the estimated resistance value R^. This suppresses current values ​​and high-frequency noise in the current values, improving the accuracy of the R^ estimate. When applying a filter, it must be performed at the same cutoff frequency. This is to ensure the timing of the current and voltage values ​​is consistent. Furthermore, after applying the filter and calculating a variety of resistance values ​​R^, an average value can be calculated.

[0074] Next, a first example of the temperature estimation processing to be carried out by the control apparatus 20 will be given with reference to Fig. 5 described.

[0075] Fig. Figure 5 is a flowchart describing an outline of the first example of temperature estimation processing to be performed by the elevator door control apparatus according to embodiment 1.

[0076] The first example of temperature estimation processing can be performed at any time.

[0077] In step S001, the control unit 20 assesses whether the door panel 11 is in the fully open or fully closed state. The control unit 20 makes the assessment in step S001 based on a detection result from the door state detector 24.

[0078] If the door panel 11 is neither fully open nor fully closed in step S001, the control apparatus 20 terminates the operation of the flowchart.

[0079] If the door panel 11 is in the fully open or fully closed state in step S001, an operation of step S002 is executed. In step S002, the control unit 20 generates test current instruction values. The control unit 20 generates a multitude of test current instruction values ​​with different values ​​in sequence.

[0080] Next, an operation of step S003 is performed. In step S003, the control apparatus 20 estimates the estimated resistance value R^.

[0081] Next, an operation of step S004 is performed. In step S004, the control apparatus 20 estimates the temperature T of the coil using the estimated resistance value R^.

[0082] The control apparatus 20 then terminates the operation of the flowchart.

[0083] Next, a second example of the temperature estimation processing to be performed by the control apparatus 20 will be given with reference to Fig. 6 described.

[0084] Fig. Figure 6 is a flowchart describing an outline of the second example of the temperature estimation processing to be performed by the elevator door control apparatus according to embodiment 1.

[0085] In the second example, the temperature estimation processing is performed while cabin 9 is moving. This is because the control apparatus 20 maintains the fully closed state of the door panel 11 while cabin 9 is moving.

[0086] As in Fig. As shown in Figure 6, the control apparatus 20 assesses in step S101 whether the cabin 9 is moving or not. For this purpose, the control apparatus 20 receives, for example, control information regarding a driving state of the cabin 9 from the control panel 7 and uses this control information for the assessment. It should be noted that the current instruction device 26 of the control apparatus 20 can assess whether the cabin 9 is moving or not.

[0087] If cabin 9 does not move in step S101, the control apparatus 20 terminates the operation of the flowchart.

[0088] When cabin 9 moves to step S101, an operation from step S102 is performed. In step S102, the control unit 20 assesses whether the door panel 11 is in the fully closed state or not.

[0089] If the door panel 11 is not fully closed in step S102, the control unit 20 terminates the flowchart operation. The control unit 20 can then inform the control panel 7 of an abnormality indicating that the door panel 11 is fully closed even though the cabin 9 is moving. In this case, for example, the control panel 7 can initiate an emergency stop of the cabin 9.

[0090] When door panel 11 is in the fully closed state in step S102, the operations of step S103 and subsequent steps are executed. The operations performed by steps S103 to S105 are similar to the operations performed by steps S002 to S004 in the flowchart in Fig. 5 will be carried out.

[0091] After the operation of S105 has been carried out, the control apparatus 20 terminates the operation of the flowchart.

[0092] Next, an example of the processing of the estimated resistance value R^, which is calculated by the control apparatus 20 with reference to Fig. 7 is to be carried out.

[0093] Fig. Figure 7 is a flowchart describing an outline of a process for estimating an estimated resistance value to be performed by the elevator door control apparatus according to embodiment 1.

[0094] In steps S002 to S003 in the Fig. In the flowchart shown in section 5, the control apparatus 20 performs an operation to estimate the estimated resistance value R^, which is an operation similar to the one described in section 5. Fig. This corresponds to the flowchart shown in section 7.

[0095] As in Fig. As shown in Figure 7, the current instruction device 26 of the control apparatus 20 generates the first test current instruction value Id1* in step S201. The resistance estimator 30 of the control apparatus 20 detects the first test voltage instruction value Vd1* and the first actual current value Id1.

[0096] The next step, S202, is performed. In step S202, the current instruction device 26 generates the second test current instruction value Id2*. The resistance estimator 30 detects the second test voltage instruction value Vd2* and the second actual current value Id2.

[0097] The operation of step S203 is then performed. In step S203, the current instruction device 26 generates the third test current instruction value Id3*. The resistance estimator 30 detects the third test voltage instruction value Vd3* and the third actual current value Id3.

[0098] Next, an operation of step S204 is performed. In step S204, the resistance estimator 30 estimates the estimated resistance value R^ using a obtained set of the test voltage value and the actual current value.

[0099] The next step, S205, performs an operation. In step S205, the temperature estimator 31 estimates the coil temperature T using the estimated resistance value R^, which was calculated in step S204.

[0100] The control apparatus 20 then terminates the operation of the flowchart.

[0101] It should be noted that the in Fig. The flowchart shown in Figure 7 represents an operation in which three test stream instruction values ​​with different values ​​are generated. The number of steps in the flowchart can change according to the number of sets of test stream instruction values ​​to be generated.

[0102] Next, an example of an overheating protection control is described, which is controlled by the control apparatus 20 with reference to Fig. 8 is to be executed.

[0103] Fig. Figure 8 is a flowchart describing an outline of an operation of the overheating protection control to be performed by the elevator door control apparatus according to embodiment 1.

[0104] To prevent failures such as motor 21 burning out, the protection controller 32 assesses whether or not overheating protection should be implemented based on the coil temperature T. Based on the assessment result of the protection controller 32, the voltage instruction device 27 stops the drive control of the motor 21 as overheating protection.

[0105] At this point, when the coil temperature T increases, for example, the following causal events are suspected.

[0106] A first causal event is an abnormality occurring in a major part of the motor 21. In particular, the motor temperature T may rise if a bearing of the motor 21 is worn, if the motor 21 is nearing the end of its service life, and so on.

[0107] A second causal event is a high frequency of opening and closing of the door panel 11. In particular, the motor temperature T may increase if the call frequency of the cabin 9 is high, if door reversal operations of the door panel 11 are increased, and so on.

[0108] A third causal event is a fault that has occurred in the cabin door 10. For example, a rotational load on the motor 21 may increase and the coil temperature T may rise if a movement resistance of the door panel 11 increases due to a fault in a mechanical system of the cabin door 10.

[0109] A fourth causal event is a high ambient temperature inside shaft 2. In this case, the coil temperature T can increase with the ambient temperature.

[0110] In a state where a causal event has occurred that can cause an increase in the coil temperature T, the amount of heat generated by motor 21 is greater than in a normal state. If motor 21 continues to be operated in this state, there is a risk that motor 21 will burn out.

[0111] Fig. Figure 8 shows an evaluation operation of a prescribed condition for an overheating protection control to be executed and an operation of the overheating protection control. The operation in the Fig. The flowchart shown in section 8 is executed according to the temperature estimation processing. In other words, in the Fig. In the flowchart shown in Figure 8, the door panel 11 is in the fully open state or in the fully closed state.

[0112] Step S301 represents part of the temperature estimation processing. In step S301, the temperature estimator 31 of the control apparatus 20 estimates the coil temperature T.

[0113] Subsequently, an operation of step S302 is performed. In step S302, the protection controller 32 of the control apparatus 20 assesses whether the coil temperature T, estimated by the temperature estimator 31, is equal to or lower than a reference value. For example, the reference value is predefined based on a thermal design of the overall coil temperature of the motor 21.

[0114] If, in step S302, the coil temperature T is equal to or lower than the reference value, an operation of step S303 is executed. In step S303, the voltage instruction device 27 of the control apparatus 20 determines that the drive control of the motor 21 is to continue. In other words, a normal operation of the elevator system 1 is carried out.

[0115] The control apparatus 20 then terminates the operation of the flowchart.

[0116] If, in step S302, the coil temperature T is higher than the reference value, an operation of step S304 is performed. In step S304, the voltage instruction device 27 stops the drive control of motor 21 as an overheating protection control. The voltage instruction device 27 transmits information indicating that the drive control of motor 21 has been stopped to the control panel 7. In other words, the elevator system 1 transitions from a state of normal operation to a state of emergency stop.

[0117] The control apparatus 20 then terminates the operation of the flowchart.

[0118] If the drive control of motor 21 is stopped in step S304, a user cannot enter or exit car 9. Therefore, control panel 7 can put the elevator system 1 into an emergency stop state after the user has exited car 9. In doing so, control panel 7 can issue a warning or announcement to the user, which will result in the service being interrupted.

[0119] Next, the recovery control, which must be executed by the control apparatus 20 to restore the overheating protection control, will be described with reference to Fig. 9 described.

[0120] Fig. Figure 9 is a block diagram of the elevator door control apparatus according to embodiment 1.

[0121] As in Fig. As shown in Figure 9, the control apparatus 20 for carrying out the recovery control further comprises a temperature drop amount estimator 33. If the coil temperature of the motor 21 falls to or below a reference value, the drive control of the motor 21 and the service of the cabin 9, which is not in Fig. The 9 shown will be started.

[0122] If the protection controller 32 detects that the coil temperature T is higher than a threshold value, the temperature decay estimator 33 begins processing the decay estimation of the coil temperature T estimated by the temperature estimator 31.

[0123] In particular, during the temperature fall-off estimation process, when the protection controller 32 determines that the coil temperature T is higher than the threshold, a coil temperature value T, estimated by the temperature estimator 31, is first input into the temperature fall-off estimator 33. The temperature fall-off estimator 33 then measures the elapsed time t from the point in time at which the coil temperature value T was input. In other words, the temperature fall-off estimator 33 measures the elapsed time t with the point in time at which the protection controller 32 assessed the coil temperature T as being higher than the threshold as its base point. The temperature fall-off estimator 33 takes the input coil temperature T as its initial temperature and estimates and outputs a current coil temperature T' with respect to the elapsed time t.If the drive control of motor 21 is stopped by the overheating protection control, the temperature drop amount estimator 33 cannot use information from a control system such as the current instruction values ​​of motor 21. Therefore, the temperature drop amount estimator 33 estimates the current coil temperature T' using the elapsed time t.

[0124] The temperature drop estimator 33 inputs the estimated value of the current coil temperature T' into the protection controller 32. The protection controller 32 assesses whether the current coil temperature T' has fallen to or below a reference value. If the protection controller 32 determines that the current coil temperature T' has fallen to or below the reference value, the voltage instruction device 27 terminates the overheat protection control and restarts the drive control of the motor 21 as a recovery control. The reference value used at this point can be the same value as the coil temperature threshold used when performing the overheat protection control, or it can be a different value.

[0125] In this case, the temperature decay estimator 33 estimates the current coil temperature based on a decay mathematical model (or mathematical model for the amount of decay) that specifies a relationship between the coil temperature and the elapsed time of day. Various models can be used as the decay mathematical model.

[0126] A first example of the waste amount mathematics model is represented by the following expression (9). [Math. 9] T′=Texp(−t / Ta)

[0127] In expression (9), Ta denotes a time constant representing the rate of temperature decay. Ta is predetermined. According to expression (9), by specifying an initial temperature T, the existing coil temperature T' can be estimated with respect to the elapsed time t.

[0128] A second example of the waste amount mathematics model is a model that includes a variety of time constants, as shown in expression (10) below. [Math. 10] T′=T∑i=1Nαiexp(−t / Tai)

[0129] In expression (10), i denotes a natural number that specifies an order in the range from the first to the Nth. Tai denotes an i-th time constant. ai denotes an i-th constant.

[0130] In general, a time constant in expression (9) or expression (10) can take on a different value depending on the atmospheric temperature. If it is applied to a device that can measure the atmospheric temperature, the value of the time constant can be determined by the measured atmospheric temperature. If a device does not measure the atmospheric temperature, a set constant can be used as the time constant. For example, a numerical value that minimizes a rate of temperature decay within a range of applicable numerical values ​​is taken as the time constant. In other words, the temperature decay amount estimator 33 estimates a temperature decay amount under a condition where thermal radiation from the motor 21 is least likely, which is a safety-centered condition.

[0131] It should be noted that the temperature drop mathematical model can be a different function, such as a direct function of the elapsed time t or a quadratic function of the elapsed time t. Furthermore, if a coefficient of the temperature drop mathematical model is known and the temperature drop rate with respect to the elapsed time is more or less known, it can be assessed whether the existing coil temperature T' has fallen to or below the reference value based on an elapsed time without estimating the existing coil temperature. For example, suppose the model to be applied is one in which a temperature drop of 50 °C occurs over 100 seconds. If the coil temperature T' at the transition to the overheat protection control is 120 °C and the reference temperature is 20 °C, the existing coil temperature may fall to or below the reference value if a temperature drop of 100 °C occurs.In other words, the existing coil temperature can fall to or below the reference value if 200 seconds elapse. In this case, the temperature drop magnitude estimator 33 can assess that the existing coil temperature T' has fallen to or below the reference value when the elapsed time reaches 200 seconds, without calculating the existing coil temperature T'.

[0132] Next, an example of an estimated value of the current coil temperature T' will be given in relation to Fig. 10 shown.

[0133] Fig. Figure 10 is a diagram showing an example of the current coil temperature estimated by the elevator door control apparatus according to embodiment 1.

[0134] The upper half of Fig. Figure 10 is a diagram representing the relationship between the time of day and the elapsed time t. The overheating protection control begins at time 0. At time 0, a measurement of the elapsed time t is started. The elapsed time t increases proportionally to the time of day.

[0135] The lower half of Fig. Figure 10 is a diagram illustrating the relationship between the time of day and the estimated current coil temperature T'. The x-axis represents the time of day. The y-axis represents the estimated current coil temperature T'. A dashed line 1 indicates a reference value for the coil temperature.

[0136] At the time the overheat control is initiated, the coil temperature T is estimated by the temperature estimator 31. The actual coil temperature T' decreases monotonically with increasing elapsed time. At time t1, the actual coil temperature T' falls to or below the reference temperature. In other words, time t1 is a time at which a recovery control can be performed. For example, the control apparatus 20 restarts the drive control of the motor 21 at time t1.

[0137] Next, an example of an operation to perform a recovery from the overheating protection control by the control apparatus 20 will be given with reference to Fig. 11 described.

[0138] Fig. Figure 11 is a flowchart describing an outline of an operation to be performed by the elevator door control apparatus according to embodiment 1.

[0139] The operations described in steps S401 to S404 in the document Fig. The operations performed in the flowchart shown in section 11 are the same as those performed in steps S301 to S304 in the diagram shown. Fig. The flowchart shown in section 8 is executed. After the operation of S403 has been carried out, the control apparatus 20 terminates the operation of the flowchart.

[0140] After operation S404 has been performed, operation S405 is performed. In step S405, the temperature drop amount estimator 33 of the control apparatus 20 starts the drop amount estimation processing.

[0141] The next step, S406, is performed. In step S406, the temperature drop amount estimator 33 assesses whether the existing coil temperature T' has dropped to or below a reference value.

[0142] If, in step S406, the existing coil temperature T' is higher than the reference value, a state in which the drive control of motor 21 has been stopped is continued, or, in other words, operations of step S404 and the subsequent steps are carried out.

[0143] If, in step S406, the current coil temperature T' is equal to or lower than the reference value, an operation of step S407 is performed. In step S407, the control unit 20 recovers from the overheating protection control, or, in other words, restarts the drive control of the motor 21.

[0144] The control apparatus 20 then terminates the operation of the flowchart.

[0145] If the temperature drop magnitude estimator 33 performs an assessment of recovery solely based on elapsed time without estimating the existing coil temperature T', the operations of the flowchart become corresponding operations. Specifically, in step S405, the temperature drop magnitude estimator 33 calculates the elapsed time. In step S406, an assessment is made as to whether the elapsed time is equal to or longer than a reference time.

[0146] According to the embodiment 1 described above, the control apparatus 20 comprises the door state detector 24, which is a door state detection part, the current instruction device 26, which is a current instruction part, the voltage instruction device 27, which is a voltage instruction part, the resistance estimator 30, which is a resistance estimator, and the temperature estimator 31, which is a temperature estimator. The control apparatus 20 varies a voltage instruction value for the motor 21 and a value of an actual current flowing through the motor 21 by generating a test current instruction value. The control apparatus 20 calculates the amount of variation of a current value that has varied as a result of the subsequent test current instruction value. The control apparatus 20 also calculates the amount of variation of a voltage instruction value that has varied as a result of generating the test current instruction value.The control apparatus 20 estimates the estimated resistance value R^ of the motor 21 by dividing the variation of the voltage instruction value by the variation of the actual current value. In this case, the variation of the voltage instruction value corresponds to the variation of the voltage actually applied to the motor 21. The calculation of the estimated resistance value R^ uses a value that eliminates the effect of any error between the voltage instruction value and the actual applied voltage. Therefore, the accuracy of the estimated resistance value R^ can be improved. As a result, the accuracy of the estimation of the coil temperature T, which is the temperature of the motor 21, can also be improved.

[0147] Additionally, the control apparatus 20 generates a first test current instruction value and a second test current instruction value. The control apparatus 20 estimates the estimated resistance value R^ based on a first test voltage instruction value and a second test voltage instruction, which are generated based on the first and second test current instruction values. The generated values ​​are assumed to be suitable for estimating the estimated resistance value R^. Therefore, the accuracy of the estimation of the estimated resistance value R^ can be improved.

[0148] Note that the control apparatus 20 can consider a difference between the first test voltage instruction value, which corresponds to the first test current instruction value, and a test voltage instruction value generated immediately before the generation of the first test voltage instruction value, as a variation of the voltage instruction value. In this case, the control apparatus 20 can consider a difference between an actual current value following the first test current instruction value and an actual current value immediately preceding the generation of the first test current instruction value as a variation of the current value.

[0149] Additionally, the control apparatus 20 generates the first test current instruction value and the second test current instruction value, whose current values ​​on the d-axis differ from each other. A difference in the current value on the d-axis hardly affects the open / closed state of the door panel 11. Therefore, the accuracy of the estimation of the estimated resistance value R^ can be improved.

[0150] Furthermore, the control apparatus 20 generates the first test current instruction value and the second test current instruction in the form of a pulse wave, or in other words, at time intervals. The motor 21 does not heat up due to a test current value after a current following the first test current instruction value ceases to flow and before a current following the second test current value begins to flow. This allows a certain amount of heat generation from the motor 21 to be suppressed.

[0151] Additionally, the control unit 20 generates a test current instruction value while the cabin 9 is moving. In other words, the control unit 20 performs an estimation of the coil temperature T while the cabin 9 is moving. During the temperature estimation, noise (or sounds) such as a magnetostrictive tone, resulting from magnetostriction or the like, may be generated by the motor 21 due to the flow of a d-axis current. If the temperature estimation operation is performed while the cabin 9 is moving, the noise may be masked by the movement of the cabin 9. This prevents any discomfort caused by the noise from being transmitted to a user inside the cabin 9, and so on.

[0152] Furthermore, the control unit 20 estimates the motor temperature T based on a mathematical temperature model. Therefore, the motor temperature T can be estimated accurately.

[0153] Additionally, the control device 20 stops the drive control of the motor 21 if the coil temperature T rises to or above a reference value. In other words, overheating protection of the motor 21 can be adequately implemented. Therefore, burnout of the motor 21 and disasters such as fires caused by heat generation from the motor 21 can be prevented. As a result, the safety of the elevator system 1 can be improved.

[0154] Furthermore, the control apparatus 20 also includes the temperature drop estimator 33 as a temperature drop estimation component. The control apparatus 20 estimates the current coil temperature T' by estimating the temperature drop T of the coil temperature. The control apparatus 20 restarts the drive control of the motor 21 when the current coil temperature T' falls to or below a reference value. Users cannot use the elevator 1 when the drive control of the motor 21 has been stopped. The control apparatus 20 can improve the efficiency of the use of the elevator system 1 by restarting the drive control of the motor 21 at appropriate times.

[0155] Additionally, the control unit 20 estimates the current coil temperature T' based on a decay-value mathematical model. Therefore, the current coil temperature T' can be estimated accurately. Embodiment 2

[0156] Fig. Figure 12 is a block diagram of the elevator door control apparatus according to embodiment 2. Parts that are identical or equivalent to parts of embodiment 1 are provided with the same reference numerals. Descriptions of such parts are omitted.

[0157] As in Fig. As shown in 12, the control apparatus 20 in embodiment 2 further comprises a temperature rise magnitude estimator 34. Although in Fig. 12 not shown, the control apparatus 20 can include the resistance estimator 30 and the temperature estimator 31.

[0158] The temperature rise estimator 34 estimates the magnitude of the temperature rise of the coil temperatures of the three-phase coils in the motor 21. Specifically, the values ​​Iu, Iv, and Iw of the actual three-phase currents flowing from the current sensor 23 to the motor 21 are input into the temperature rise estimator 34. The voltage instruction values ​​Vu*, Vv*, and Vw* are input into the temperature rise estimator 34 by the voltage coordinate transformer 28. These voltage instruction values ​​are input into the temperature rise estimator 34 before being converted to duty cycles. In other words, the voltage coordinate transformer 28 inputs the voltage instruction values ​​Vu*, Vv*, and Vw* into the temperature rise estimator 34 before converting them to duty cycles.Based on the actual current values ​​Iu, Iv, and Iw, or based on the actual current values ​​Iu, Iv, and Iw and the voltage instruction values ​​Vu*, Vv*, and Vw*, the temperature rise magnitude estimator 34 calculates the temperature rise magnitudes ΔTu, ΔTv, and ΔTw of the 3-phase coils accordingly and outputs the temperature rise magnitudes as estimated values. It should be noted that the temperature rise magnitude ΔTu is the temperature rise magnitude of the U-phase coil of motor 21. The temperature rise magnitude ΔTv is the temperature rise magnitude of the V-phase coil of motor 21. The temperature rise magnitude ΔTw is the temperature rise magnitude of the W-phase coil of motor 21.

[0159] The initial temperatures T0 of the three-phase coils are input into the temperature rise estimator 34. The initial temperatures T0 are the coil temperatures at the time the temperature rise estimator 34 begins estimating the temperature rise. The initial temperatures T0 can be different values ​​or the same value for the three-phase coils. The initial temperatures T0 can be determined 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 into 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 into the temperature rise estimator 34.

[0160] The temperature rise magnitude estimator 34 adds the temperature rise magnitudes ΔTu, ΔTv and ΔTw to the initial temperature T0 and calculates and outputs the estimated coil temperatures Tu, Tv and Tw of the three phases accordingly.

[0161] The estimated coil temperatures Tu, Tv, and Tw of the three phases are input by the temperature rise estimator 34 into the protection controller 32. In embodiment 2, the protection controller 32 compares the estimated coil temperatures Tu, Tv, and Tw of the three phases with corresponding reference values ​​and decides whether or not to activate the overheat protection control.

[0162] At this point, the temperature rise magnitude estimator 34 calculates the amount of heat generated for each of the 3-phase coils based on Joule's law. The following expression (11) represents a generalized Joule's law. [Math. 11] P=Vl=Rl2

[0163] In expression (11), P denotes the amount of heat generated per unit of time. In other words, P can be calculated based on a voltage V, a current I, and a resistance R. According to expression (11), the total amount of heat generated Q during a time τ is represented by the following expression (12). [Math. 12] Q=Vlτ=Rl2τ

[0164] According to expression (12), the amount of heat generation Q of a coil can be determined using one of the expressions Q = VIτ or Q = RI. 2 τ can be calculated. The temperature rise magnitude estimator 34 calculates the estimated coil temperatures Tu, Tv and Tw using two calculation methods based on the two expressions accordingly.

[0165] Next, the calculation performed by the temperature rise magnitude estimator 34 will be carried out with reference to Fig. 13 described.

[0166] Fig. Figure 13 is a diagram showing an outline of the temperature rise magnitude estimator of the elevator door control apparatus according to embodiment 2.

[0167] As in Fig. As shown in Figure 13, the temperature increase amount estimator 34 comprises a first estimation part 341, a first addition part 342, a second estimation part 343, a second addition part 344 and an output evaluation part 345.

[0168] The first temperature rise magnitude estimation part 341 calculates the first temperature rise magnitudes ΔTu1, ΔTv1 and ΔTw1 respectively using the amount of heat generation Q, which is based on the expression Q = RI 2τ is calculated. First, the actual current values ​​Iu, Iv, and Iw are entered into the first estimation part 341. The first estimation part 341 calculates the respective squared values ​​of the actual current values ​​Iu, Iv, and Iw. With respect to each of the actual current values ​​of the three phases, the first estimation part 341 multiplies the calculated squared value by a proportionality constant K1 and integrates the product. In this case, the proportionality constant K1 is, for example, a product of a coil resistance value R and one period of integration.

[0169] The resistance value R of the coil, which is included in the proportionality constant K1, is chosen to be the largest possible value. If the temperature rise is estimated to be smaller than the actual value, there is a risk that the motor 21 will burn out. Therefore, safety-centered values, or in other words, values ​​that maximize the amount of heat generated, are chosen for the resistance value R and the proportionality constant K1.

[0170] The value after integration corresponds to a value on the right-hand side of the expression Q = RI. 2τ. At this point, the corresponding values ​​for the three phases are calculated by integration. A first calculation part 341a of the first estimation part 341 calculates the first temperature rise amounts ΔTu1, ΔTv1, and ΔTw1, respectively, using a first amount of heat generation Q of the corresponding UVW phases calculated in this way, and outputs the first temperature rise amounts ΔTu1, ΔTv1, and ΔTw1. For example, the first calculation part 341a calculates the first temperature rise amount ΔTu1 of the U phase using the first amount of heat generation Q of the U phase and outputs the first temperature rise amount ΔTu1. Any suitable method can be used as the procedure for calculating the first temperature rise amounts ΔTu1, ΔTv1, and ΔTw1 from the first amount of heat generation Q.For example, the first temperature rise amounts ΔTu1, ΔTv1 and ΔTw1 can be calculated from the first amount of heat generation Q of the corresponding phases based on a thermal capacity of the 3-phase coils.

[0171] The first temperature rise values ​​ΔTu1, ΔTv1, and ΔTw1, estimated by the first temperature rise value estimation part 341, are entered into the first addition part 342. A value for the initial temperature T0 is also entered into the first addition part 342. The first addition part 342 calculates the first estimated coil temperatures Tu1, Tv1, and Tw1 accordingly by adding the first temperature rise values ​​ΔTu1, ΔTv1, and ΔTw1 to the initial temperature T0 and outputs the first estimated coil temperatures Tu1, Tv1, and Tw1. For example, the first addition part 342 calculates the first estimated coil temperature Tu1 of the U-phase by adding the first temperature rise value ΔTu1 of the U-phase to the initial temperature T0 of the U-phase and outputs the first estimated coil temperature Tu1.

[0172] The second estimation part 343 calculates the second temperature rise amounts ΔTu2, ΔTv2, and ΔTw2 accordingly, using the amount of heat generated Q, which is calculated based on the expression Q = VIτ. First, the actual current values ​​Iu, Iv, and Iw and the voltage instruction values ​​Vu*, Vv*, and Vw* are entered into the second estimation part 343. Additionally, the initial voltage instruction values ​​Vu0*, Vv0*, and Vw0*, as they stood at the time when the temperature rise amount estimator 34 had started estimating the temperature rise amounts, are entered into the second estimation part 343. The second estimation part 343 retains the values ​​of the initial voltage instruction values ​​Vu0*, Vv0*, and Vw0*.

[0173] For each of the phases U, V, and W, the second estimation part 343 takes a difference obtained by subtracting the initial voltage instruction value from a voltage instruction value as the voltage instruction deviation. For each of the phases U, V, and W, the second estimation part 343 integrates the voltage instruction deviation and the actual current value. For each of the phases U, V, and W, the second estimation part 343 multiplies a product of the voltage instruction deviation and the actual current value by a proportionality constant K2 to calculate a second amount of heat generation for each phase. A second calculation part 343a of the second estimation part 343 calculates second temperature rise amounts ΔTu2, ΔTv2 and ΔTw2 using the second amount of heat generation of the corresponding phases and outputs the second temperature rise amounts ΔTu2, ΔTv2 and ΔTw2.For example, the second calculation part 343a calculates the second temperature rise ΔTu2 of the U-phase using the second amount of heat generation of the U-phase and outputs the second temperature rise ΔTu2. Any suitable method can be used to calculate the second temperature rises ΔTu2, ΔTv2, and ΔTw2 from the second amount of heat generation.

[0174] The second temperature rise values ​​ΔTu2, ΔTv2, and ΔTw2, estimated by the second estimation part 343, are entered into the second addition part 344. The initial temperature T0 is also entered into the second addition part 344. The second addition part 344 calculates the second estimated coil temperatures Tu2, Tv2, and Tw2 by adding the second temperature rise values ​​ΔTu2, ΔTv2, and ΔTw2 to the initial temperature T0 and outputs the second estimated coil temperatures Tu2, Tv2, and Tw2. For example, the second addition part 344 calculates the second estimated coil temperature Tu2 of the U-phase by adding the second temperature rise value ΔTu2 of the U-phase to the initial temperature T0 of the U-phase and outputs the second estimated coil temperature Tu2.

[0175] The values ​​of the first estimated coil temperatures Tu1, Tv1, and Tw1 are entered by the first adder part 342 into the output evaluation part 345. The values ​​of the second estimated coil temperatures Tu2, Tv2, and Tw2 are entered by the second adder part 344 into the output evaluation part 345. The output evaluation part 345 evaluates the consistency (or agreement or coherence) between the first estimated coil temperatures and the second estimated coil temperatures. Based on the evaluation result, the output evaluation part 345 outputs the estimated coil temperatures Tu, Tv, and Tw, which are outputs of the temperature rise magnitude estimation part 34.

[0176] In assessing consistency, the output assessment part 345 calculates an 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 equal to or less than a prescribed threshold, the output assessment part 345 assesses that the first estimated coil temperature and the second estimated coil temperature are consistent. If the absolute value of the difference is greater than the prescribed threshold, the output assessment part 345 assesses that the first estimated coil temperature and the second estimated coil temperature are not consistent. The output assessment part 345 makes this assessment for each coil phase.

[0177] If the output assessment part 345 makes an assessment that the phase is consistent with respect to a given phase, the output assessment part 345 outputs one of the first estimated coil temperatures and the second coil temperature of the phase as the estimated coil temperature. If the output assessment part 345 makes an assessment that the phase is consistent with respect to a given phase, the output assessment part 345 may output an average of the first estimated coil temperature and the second estimated coil temperature of the phase as the estimated coil temperature.

[0178] If the output assessment part 345 makes an assessment that the phase is inconsistent with respect to a given phase, the output assessment part 345 outputs either the first estimated coil temperature or the second estimated coil temperature of the phase as the estimated coil temperature, whichever is higher. Therefore, an assessment of whether or not to perform overheat protection control can be made under a safety-centric condition, or in other words, a condition that causes a higher temperature to be estimated.

[0179] Next, an example of each numerical value used in calculations by the temperature rise magnitude estimator 34 is described, with reference to Fig. 14.

[0180] Fig. Figure 14 is a diagram showing an example of numerical values ​​used by the temperature rise magnitude estimator of the elevator door control apparatus according to embodiment 2.

[0181] Fig. Figure 14 shows a time transition of each numerical value when the motor 21 generates a torque while not rotating, which represents a state of the present example. In particular, a time transition of each numerical value is shown when the door panel 11 is in a fully open state and the motor 21 further applies a torque in an opening direction with respect to the door panel 11; when the door panel 11 is in a fully closed state and the motor 21 further applies a torque in a closing direction with respect to the door panel 11; when a forced opening occurs, in which an external force attempting to forcibly open the door panel 11 in a fully closed state is applied to the door panel 11; and the like.For example, a forced opening occurs when a user attempts to forcibly open the door panel 11 from inside cabin 9 when it is in a fully closed state.

[0182] The upper third of Fig. Figure 14 is a diagram illustrating the relationship between the time of day and an actual current value Iq on the q-axis. In this example, a constant q-axis current is passed through motor 21 to generate torque. It should be noted that the direction in which Iq flows differs depending on the direction in which the torque is generated.

[0183] The middle third of Fig. Figure 14 is a diagram representing the relationship between time and the actual current values ​​Iu, Iv, and Iw of the corresponding phases. Since current flow through the coil of each phase occurs in a state where a rotation angle of the motor 21 is fixed, the actual current values ​​Iu, Iv, and Iw of the corresponding phases are all direct current (DC) values. The magnitudes of the actual current values ​​Iu, Iv, and Iw of the corresponding phases are different, so they correspond to a magnitude of the actual current value Iq and the values ​​of a rotation position of the motor 21.

[0184] The lower third of Fig. Figure 14 is a diagram representing a relationship between the time of day and a current instruction value. An abscissa represents the time of day. An ordinate represents a current instruction value. The lower third of Fig. Figure 14 shows a diagram representing current instruction values ​​Vu*, Vv* and Vw*, and dashed lines representing the initial voltage instruction values ​​Vu0*, Vv0* and Vw0*.

[0185] A base point time of day is the time of day furthest to the left in each diagram. In the diagram in the lower third, the current instruction values ​​at the base point time of day are the initial voltage instruction values ​​Vu0*, Vv0*, and Vw0*. Since the value of the current flowing through the coil is different for each phase, the amount of temperature rise of the coil is also different for each phase. The amount of temperature rise in the resistance of the coil in each phase, which is associated with a temperature rise, is also different.

[0186] Since the resistance value of the coil of each phase increases over time, an absolute value of each of the current instruction values ​​Vu*, Vv* and Vw* increases over time to keep the actual current values ​​Iu, Iv and Iw correspondingly constant.

[0187] When estimating the amount of temperature rise, the first estimation part 341 uses a value obtained by multiplying the square of an actual current value by the proportionality constant K1 and integrating the product. The actual current value is controlled to remain constant regardless of the resistance value of the coil. In other words, the actual current value is a numerical value that does not reflect any actual increase in the coil's resistance. The first estimation part 341 uses a value obtained by integrating the product of the square of an actual current value and the proportionality constant K1 to estimate the amount of temperature rise, so that a calculation result includes information about the coil's resistance value, which is the amount of temperature rise.

[0188] When estimating the amount of temperature rise, the second estimation part 343 uses products of values ​​obtained by subtracting the initial voltage instruction values ​​Vu0*, Vv0*, and Vw0* from the current instruction values ​​Vu*, Vv*, and Vw* and the actual current values ​​Iu, Iv, and Iw. The initial voltage instruction values ​​Vu0*, Vv0*, and Vw0* are fixed values. The current instruction values ​​Vu*, Vv*, and Vw* vary with a variation in the resistance of the coils. In other words, the current instruction values ​​Vu*, Vv*, and Vw* contain information related to the amount of temperature rise. Therefore, the second estimation part 343 can use the products of each numerical value to estimate the amount of temperature rise without having to integrate the products.

[0189] Additionally, the second estimation part 343 uses voltage V in the expression Q = VIτ values ​​obtained by subtracting the initial voltage instruction values ​​Vu0*, Vv0*, and Vw0* from the current instruction values ​​Vu*, Vv*, and Vw*. This is done to reduce the effect of errors between the current instruction values ​​Vu*, Vv*, and Vw* and the values ​​of the actual voltages applied to the coils of the corresponding phases. In particular, errors resulting from differences in the power supply voltage and the like can occur between the voltage instruction values ​​Vd* and Vq* and the actual voltages applied. Since the current instruction values ​​Vu*, Vv*, and Vw* are values ​​transformed based on the voltage instruction values ​​Vd* and Vq* and the rotational positions, the current instruction values ​​Vu*, Vv*, and Vw* contain errors from the actual voltage values.To reduce estimation errors in the temperature rise amounts, the second temperature rise amount estimation part uses 343 differences from the initial voltage instruction values ​​Vu0*, Vv0* and Vw0*, which contain similar errors, to estimate the temperature rise amounts.

[0190] Since the actual current values ​​Iu, Iv and Iw are measured values ​​of the current sensor 23, the actual current values ​​Iu, Iv and Iw are considered accurate values ​​and used unchanged to estimate the temperature rise amounts.

[0191] In the first estimation part 341 and the second estimation part 343, the estimated temperature rise values ​​can be filtered to eliminate the effects of high-frequency noise and the like. In other words, the first estimation part 341 and the second estimation part 343 can output temperature rise values ​​that have been filtered.

[0192] Next, a first example of the temperature estimation processing to be carried out by the control apparatus 20 in embodiment 2 is described.

[0193] Fig. Figure 15 is a flowchart describing an outline of the first example of temperature estimation processing to be performed by the elevator door control apparatus according to embodiment 2.

[0194] The first example of temperature estimation processing can be performed at any time.

[0195] In step S501, the control apparatus 20 assesses whether the door panel 11 is in the fully closed state or in the fully open state.

[0196] If the door panel 11 is neither fully open nor fully closed in step S501, the control apparatus 20 terminates the operation of the flowchart.

[0197] If the door panel 11 is in the fully open or fully closed state in step S501, an operation of step S502 is executed. In step S502, the temperature rise magnitude estimator 34 of the control apparatus 20 estimates the first estimated coil temperatures Tu1, Tv1 and Tw1 of the three phases.

[0198] Subsequently, an operation of step S503 is performed. In step S503, the temperature rise magnitude estimator 34 estimates the second estimated coil temperatures Tu2, Tv2 and Tw2 of the three phases accordingly.

[0199] The operation of step S504 is then performed. In step S504, the temperature rise magnitude estimator 34 assesses whether the first estimated coil temperature Tu1 of the U-phase and the second estimated coil temperature Tu2 of the U-phase are the same or not.

[0200] If a match is found in step S504, an operation in step S505 is performed. In step S505, the temperature rise magnitude estimator 34 determines one of the first estimated coil temperatures Tu1 and the second estimated coil temperature Tu2 as an estimated coil temperature Tu of the U-phase. Alternatively, the temperature rise magnitude estimator 34 can determine an average value of the first estimated coil temperature Tu1 and the second estimated coil temperature Tu2 as the estimated coil temperature Tu of the U-phase.

[0201] If no match is found in step S504, an operation from step S506 is performed. In step S506, the estimator for the temperature rise amount 34 determines a worst value, or in other words, the value that indicates a higher temperature for the first estimated coil temperature Tu1 and the second estimated coil temperature Tu2 than the estimated coil temperature Tu of the U-phase.

[0202] After operation S505 or operation S506 has been executed, an operation of step S507 is performed. In step S507, the temperature rise magnitude estimator 34 assesses whether the first estimated coil temperature Tv1 of the V-phase and the second estimated coil temperature Tv2 of the V-phase are the same or not.

[0203] If a match is found in step S507, an operation from step S508 is performed. In step S508, the temperature rise magnitude estimator 34 determines one of the first estimated coil temperatures Tv1 and the second estimated coil temperature Tv2 as the estimated coil temperature Tv of phase V. Alternatively, the temperature rise magnitude estimator 34 can determine an 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.

[0204] If no match is found in step S507, an operation from step S509 is performed. In step S509, the estimator for the temperature rise amount 34 determines a worst value, or in other words, the value that indicates a higher temperature for the first estimated coil temperature Tv1 and the second estimated coil temperature Tv2 than the estimated coil temperature Tv of the V-phase.

[0205] After operation S508 or operation S509 has been performed, operation S510 is performed. In step S510, the temperature rise magnitude estimator 34 assesses whether the first estimated coil temperature Tw1 of the W-phase and the second estimated coil temperature Tw2 of the W-phase are the same or not.

[0206] If a match is found in step S510, an operation from step S511 is performed. In step S511, the temperature rise magnitude estimator 34 determines one of the first estimated coil temperatures Tw1 and the second estimated coil temperature Tw2 as an estimated coil temperature Tw of the W phase. Alternatively, the temperature rise magnitude estimator 34 can determine an average value of the first estimated coil temperature Tw1 and the second estimated coil temperature Tw2 as the estimated coil temperature Tw of the W phase.

[0207] If no match is found in step S510, an operation from step S512 is performed. In step S512, the temperature rise magnitude estimator 34 determines a worst value, or in other words, the value that indicates a higher temperature for the first estimated coil temperature Tw1 and the second estimated coil temperature Tw2 than the estimated coil temperature Tw of phase W.

[0208] After the operation of S511 or the operation of S512 has been executed, an operation of step S513 is performed. In step S513, the temperature rise magnitude estimator 34 outputs the estimated coil temperatures Tu, Tv, and Tw of the respective phases.

[0209] The control apparatus 20 then terminates the operation of the flowchart.

[0210] It should be noted that the temperature estimate in the present flow diagram is particularly effective when the motor 21 continues to push the door panel 11 in the opening direction when it is fully open, or when the motor 21 continues to push the door panel 11 in the closing direction when it is fully closed. This is because under these conditions a load is slightly generated in the motor 21 and the temperature of the coils rises slightly.

[0211] A situation in which the motor 21 continues to push the door panel 11 in the opening direction when it is fully open can occur if an "open" button on the control panel provided in cabin 9 is continuously pressed, if a call button on the control panel provided in hall 5 is continuously pressed when the door panel 11 is open, and the like.

[0212] A situation in which the door panel 11, while fully closed, is further pressed in the closing direction can occur, for example, during forced opening. In this case, the motor 21 generates a torque that exceeds the force attempting to forcibly open the door panel 11. Therefore, a large current flows through the coils of the motor 21, resulting in an increase in the amount of heat generated by the coils.

[0213] Next, an operation to be performed by the control apparatus 20 in the event of forced opening is described as a second example of temperature estimation processing according to embodiment 2.

[0214] Fig. Figure 16 is a flowchart describing an outline of the second example of temperature estimation processing to be performed by the elevator door control apparatus according to embodiment 2.

[0215] As in Fig. As shown in Figure 16, the control apparatus 20 assesses in step S601 whether or not a forced opening has occurred. For example, the door status detector 24 of the control apparatus 20 assesses whether or not a forced opening has occurred. Specifically, the door status detector 24 assesses that a forced opening has occurred if the door panel 11 is in the fully closed state and a torque equal to or greater than a prescribed value is generated in the closing direction. It should be noted that any of these methods can be used by the control apparatus 20 to assess the occurrence of a forced opening. Additionally, for example, the current instruction device 26 can assess whether or not a forced opening has occurred.

[0216] If step S601 determines that no forced opening has occurred, the control apparatus 20 terminates the flowchart operation. In other words, in the second example, the control apparatus 20 only executes the temperature estimation processing if a forced opening has occurred. Alternatively, the control apparatus 20 can execute the temperature estimation processing operation of the first example after determining that no forced opening has occurred.

[0217] If step S601 detects that a forced opening has occurred, the control apparatus 20 executes the operations of step S602 and subsequent steps. The operations performed by steps S602 to S613 are similar to those performed by steps S502 to S513 in the flowchart shown in Fig. Figure 15 shows the first example.

[0218] Next, an example of an overheating protection control, which is to be carried out by the control apparatus 20 in embodiment 2, will be given with reference to Fig. 17 described.

[0219] Fig. Figure 17 is a flowchart describing an outline of the operation of the overheating protection control to be carried out by the elevator door control apparatus according to embodiment 2.

[0220] For each of the estimated coil temperatures Tu, Tv and Tw, the protection controller 32 assesses whether the overheating protection controller should be started or not.

[0221] As in Fig. As shown in Figure 17, the temperature rise estimator 34 of the control apparatus 20 estimates the temperature rises of the phases accordingly in step S701. The temperature rise estimator 34 calculates first temperature rises and second temperature rises.

[0222] Next, an operation of step S702 is performed. In step S702, the temperature rise magnitude estimator 34 calculates and outputs the estimated coil temperatures Tu, Tv, and Tw. In other words, the temperature rise magnitude estimator 34 estimates the coil temperatures Tu, Tv, and Tw accordingly.

[0223] The process of step S703 is then executed. In step S703, the estimated coil temperatures Tu, Tv, and Tw are input into the protection controller 32 of the control apparatus 20. The protection controller 32 assesses whether the estimated coil temperature Tu of the U-phase is equal to or lower than a reference value.

[0224] If, in step S703, the estimated coil temperature Tu is equal to or lower than the reference value, an operation from step S704 is executed. In step S704, the protection controller 32 assesses whether the estimated coil temperature Tv of phase V is equal to or lower than a reference value.

[0225] If, in step S704, the estimated coil temperature Tv is equal to or lower than the reference value, an operation from step S705 is executed. In step S705, the protection controller 32 assesses whether the estimated coil temperature Tw of phase W is equal to or lower than a reference value.

[0226] If, in step S705, the estimated coil temperature Tw is equal to or lower than the reference value, an operation from step S706 is executed. In step S706, the voltage instruction device 27 determines that the drive control of the motor 21 should continue. In other words, normal operation of the elevator system 1 is carried out.

[0227] The control apparatus 20 then terminates the operation of the flowchart.

[0228] If the estimated coil temperature Tu exceeds the reference value in step S703, if the estimated coil temperature Tv exceeds the reference value in step S704, or if the estimated coil temperature Tw exceeds the reference value in step S705, an operation from step S707 is performed. The operation performed in step S707 is similar to that in step S304 of the flowchart in Fig. 8 according to embodiment 1. In other words, the voltage instruction device 27 stops the drive control of the motor 21 as an overheating protection control. The voltage instruction device 27 transmits information indicating that the drive control of the motor 21 has been stopped to the control panel 7. In other words, the elevator system 1 changes from a state of normal operation to a state of emergency stop.

[0229] The control apparatus 20 then terminates the operation of the flowchart.

[0230] Next, the recovery control, which is carried out by the control apparatus 20 in embodiment 2 to restore the overheating protection control, is described with reference to Fig. 18 described.

[0231] Fig. Figure 18 is a block diagram of the elevator door control apparatus according to embodiment 2.

[0232] As in Fig. As shown in Figure 18, the control apparatus 20 in embodiment 2 further comprises a temperature drop estimator 33. The temperature drop estimator 33 differs from embodiment 1 in that, during the drop estimation processing, drop values ​​of the estimated coil temperatures Tu, Tv, and Tw are estimated with respect to the respective phases of the coils. It should be noted that the processing of the calculation of a drop value for each estimated coil temperature is similar to embodiment 1.

[0233] In particular, if the protection controller 32 detects 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 entered into the temperature drop estimator 33. The temperature drop estimator 33 measures an elapsed time t with a time at which the values ​​of the estimated coil temperatures Tu, Tv, and Tw were entered as the base point. The temperature drop estimator 33 accordingly takes the entered estimated coil temperatures Tu, Tv, and Tw as initial temperatures and estimates and outputs any existing estimated coil temperatures Tu', Tv', and Tw' with respect to the elapsed time t.

[0234] The existing estimated coil temperatures Tu', Tv', and Tw' are input by the temperature drop magnitude estimator 33 into the protection controller 32. The protection controller 32 assesses whether all existing estimated coil temperatures Tu', Tv', and Tw' are equal to or lower than a reference value.

[0235] In this case, the temperature decay estimator 33 estimates the available estimated coil temperatures Tu', Tv', and Tw' accordingly, based on a decay mathematical model that specifies a relationship between an estimated coil temperature and an elapsed time of day. Various models can be adopted as the decay mathematical model.

[0236] A first example of the waste amount mathematics model is represented by expressions (13) to (15) below. It should be noted that the corresponding coefficients are similar to those of expression (9). [Math. 13] T′u=Tuexp(−t / Ta) [Math. 14] T′v=Tvexp(−t / Ta) [Math. 15] T′w=Twexp(−t / Ta)

[0237] It should be noted that a different value can be used as the time constant Ta in the temperature mathematics model for each phase.

[0238] A second example of the waste amount mathematics model is a model that includes a variety of time constants, as represented in expressions (16) to (18) below. It should be noted that the corresponding coefficients are similar to those of expression (10). [Math. 16] T′u=Tu∑i=1Nαiexp(−t / Tai) [Math. 17] T′v=Tv∑i=1Nαiexp(−t / Tai) [Math. 18] T′w=Tw∑i=1Nαiexp(−t / Tai)

[0239] In general, a time constant in expressions (13) to (18) can take on different values ​​depending on the atmospheric temperature. If applied to a device capable of measuring the atmospheric temperature, the value of the time constant can be determined by the atmospheric temperature. If a device does not measure the atmospheric temperature, a set constant can be used as the time constant. For example, a numerical value that minimizes the rate of temperature decay within a range of applicable numerical values ​​is used as the time constant. In other words, the temperature decay amount estimator 33 estimates a temperature decay amount under a condition where thermal radiation from the motor 21 is least likely, which is a safety-centered condition.

[0240] It should be noted that the decay mathematical model can be a different function, such as a direct function of the elapsed time t or a quadratic function of the elapsed time t. Furthermore, if a coefficient of the decay mathematical model is known and a temperature decay amount with respect to the elapsed time is more or less known, the temperature decay estimator 33 can assess whether the existing estimated coil temperatures Tu', Tv', and Tw' have all fallen to or below the reference value, based on an elapsed time without estimating the existing coil temperatures. For example, suppose that the model to be applied to all phases is one in which a temperature decay of 50 °C occurs over 100 seconds.If the estimated coil temperature of a phase at the transition to the overheat protection control is 120 °C and the reference temperature is 20 °C, the existing estimated coil temperature of the phase may fall to or below the reference value if a temperature drop of 100 °C occurs. In other words, the existing estimated coil temperatures of all phases may fall to or below the reference value if 200 seconds elapse. In this case, the temperature drop amount estimator 33 can assess that the existing estimated coil temperatures Tu', Tv', and Tw' have all fallen to or below the reference value when the elapsed time reaches 200 seconds, without calculating the existing estimated coil temperatures Tu', Tv', and Tw'.Subsequently, a signal can be input from the temperature drop amount estimator 33 into the protection controller 32, indicating that the currently estimated coil temperatures Tu', Tv' and Tw' have all fallen to or below the reference value.

[0241] Next, an example of estimated values ​​of the currently estimated coil temperatures Tu', Tv' and Tw' will be given in relation to Fig. 19 shown.

[0242] Fig. Figure 19 is a diagram showing an example of the currently estimated coil temperatures estimated by the elevator door control apparatus according to embodiment 2.

[0243] (A) in Fig. Figure 19 is a diagram that illustrates the relationship between the time of day and the elapsed time t. The overheating protection control begins at time 0, which is a base point.

[0244] (Am Fig. 19 is a diagram showing a relationship between the time of day and the existing estimated coil temperature Tu', which affects phase U. (C) in Fig. 19 is a diagram showing a relationship between the time of day and the existing estimated coil temperature Tv', which affects phase V. (D) in Fig. Figure 19 is a diagram that shows a relationship between the time of day and the existing estimated coil temperature Tw', which affects phase W.

[0245] In the Fig. In the 19 examples shown, the currently estimated coil temperatures Tu', Tv', and Tw' decrease exponentially with elapsed time. For example, if the overheat protection circuit is triggered due to a forced opening, the magnitudes of the temperature rise in the respective phases will differ. Therefore, the initial temperatures of the respective phases will differ from each other at the time the overheat protection circuit is triggered.

[0246] At time 0, the value of Tv is at its smallest. Tv' falls to or below the reference value at time t2, before Tu' and Tw'. At time 0, the value of Tw is at its second smallest. Tw' falls to or below the reference value at time t3, which occurs after time t2. At time 0, the value of Tu is at its largest. Tu' falls to or below the reference value at time t4, which occurs after time t3.

[0247] At time t4, the protection controller 32 assesses that all existing estimated coil temperatures Tu', Tv' and Tw' have fallen to or below the reference value.

[0248] Next, an example of a process for performing a recovery from the overheating protection control by the control apparatus 20 is given with reference to Fig. 20 described.

[0249] Fig. Figure 20 is a flowchart to describe an outline of a process to be carried out by the elevator door control apparatus according to embodiment 2.

[0250] The operations described in steps S801 to S807 in the document Fig. The operations performed as shown in the flowchart 20 are similar to those performed by steps S701 to S707 in the diagram. Fig. The flowchart shown in section 17 is executed. After the operation of S706 has been carried out, the control apparatus 20 terminates the operation of the flowchart.

[0251] After operation S807, operation S808 is performed. In step S808, the temperature drop estimator 33 of the control apparatus 20 estimates the current estimated coil temperatures Tu', Tv' and Tw' by calculating the temperature drop rates of the respective phases.

[0252] The next step, S809, is performed. In step S809, the protection controller 32 assesses whether all existing estimated coil temperatures Tu', Tv', and Tw' have fallen to or below the reference value.

[0253] If, in step S809, the current estimated coil temperatures Tu', Tv', and Tw' have all fallen to or below the reference value, an operation of step S810 is performed. In step S810, the control apparatus 20 recovers from the overheating protection control, or, in other words, restarts the drive control of the motor 21.

[0254] The control apparatus 20 then terminates the operation of the flowchart.

[0255] If in step S809 at least one of the currently estimated coil temperatures Tu', Tv' and Tw' is higher than the reference value, a condition in which the drive control of motor 21 is stopped is continued, or, in other words, operations of step S807 and subsequent steps are carried out.

[0256] If the temperature drop estimator 33 performs a recovery assessment solely based on the elapsed time without estimating the existing estimated coil temperatures Tu', Tv', and Tw', the operations of the flowchart become corresponding operations. Specifically, in step S808, the temperature drop estimator 33 calculates the elapsed time. In step S809, the temperature drop estimator 33 assesses whether the elapsed time is equal to or longer than a reference time. In step S810, the protection controller 32 assesses, based on the signal from the temperature drop estimator 33, that the drive control of the motor 21 can be restarted. The control apparatus 20 restarts the drive control of the motor 21.

[0257] According to the embodiment 2 described above, the control apparatus 20 comprises the door state detector 24, which is a door state detection component, the voltage instruction device 27, which is a voltage instruction component, the voltage coordinate transformer 28, which is a voltage coordinate transformation component, and the temperature rise magnitude estimator 34, which is a temperature rise magnitude estimator. The control apparatus 20 estimates the temperature rise magnitudes ΔTu, ΔTv, and ΔTw of the three phases accordingly. Once the temperature rise magnitudes ΔTu, ΔTv, and ΔTw of the three phases have been estimated, the temperature of the motor 21 can be estimated. Therefore, the accuracy of the temperature estimation of the motor 21 can be improved.

[0258] Additionally, the control unit 20 estimates the coil temperatures Tu, Tv, and Tw of the three phases based on the temperature rise rates ΔTu, ΔTv, and ΔTw of the three phases. Therefore, the accuracy of the motor temperature estimation can be improved.

[0259] Furthermore, the temperature rise magnitude estimator 34 comprises the first estimation part 341, the second estimation part 343, and the output evaluation part 345. The control apparatus 20 estimates the first estimated coil temperatures Tu1, Tv1, and Tw1 and the second estimated coil temperatures Tu2, Tv2, and Tw2. The control apparatus 20 evaluates the agreement between the first estimated coil temperatures Tu1, Tv1, and Tw1 and the second estimated coil temperatures Tu2, Tv2, and Tw2 and, based on an evaluation result, estimates the coil temperatures Tu, Tv, and Tw of the three phases. As a result, the accuracy of the temperature estimation of each coil can be improved.

[0260] Additionally, the control apparatus 20 estimates the magnitudes of the first temperature rise ΔTu1, ΔTv1 and ΔTw1 and the second temperature rise ΔTu2, ΔTv2 and ΔTw2 using methods suitable for the respective estimation principles. Therefore, the accuracy of the temperature estimation for each coil can be improved.

[0261] Furthermore, the control device 20 detects the occurrence of a forced opening. If a forced opening occurs, the control device 20 estimates the coil temperatures Tu, Tv, and Tw of the three phases. When a forced opening occurs, the temperature of the motor 21 rises immediately. The control device 20 can estimate the coil temperatures Tu, Tv, and Tw of the three phases even in the event of a forced opening. This improves the safety of the motor 21.

[0262] Additionally, the control device 20 stops the drive control of the motor 21 if at least one of the estimated coil temperatures Tu, Tv, and Tw of the three phases rises to or above a reference value. Therefore, burnout of the motor 21 and disasters such as fires caused by heat generation from the motor 21 can be prevented. As a result, the safety of the elevator system 1 can be improved.

[0263] Furthermore, the control apparatus 20 also includes the temperature drop estimator 33 as a temperature drop estimation component. The control apparatus 20 estimates the existing estimated coil temperatures Tu', Tv', and Tw' by estimating the temperature drops of these estimated coil temperatures. The control apparatus 20 restarts the drive control of the motor 21 when the currently estimated coil temperatures Tu', Tv', and Tw' all fall to or below a reference value. The control apparatus 20 can improve the efficiency of the elevator system 1 by restarting the drive control of the motor 21 at appropriate times.

[0264] Additionally, the control apparatus 20 estimates the currently estimated coil temperatures Tu', Tv', and Tw' based on a waste-value mathematical model. Therefore, the control apparatus 20 can estimate the currently estimated coil temperatures Tu', Tv', and Tw' with sufficient accuracy.

[0265] Next, an example of hardware representing the control apparatus 20 will be described, with reference to Fig. 21.

[0266] Fig. Figure 21 is a hardware configuration diagram of the elevator door control apparatus according to embodiment 1 or embodiment 2.

[0267] Each device contained in the control device 20 can be implemented by a processing circuit that is aggregated into a single device. Each device contained in the control device 20 can be implemented by processing circuits that are aggregated into a plurality of devices in any combination. Alternatively, each device contained in the control device 20 can be implemented individually by a processing circuit. Hereinafter, a processing circuit refers either to a processing circuit in a single device with which respective devices contained in the control device 20 have been consolidated, or to a processing circuit for each device contained in the control device 20.For example, the processing circuit contains at least one processor 100a and at least one memory 100b. For example, the processing circuit contains at least one piece of dedicated hardware 200.

[0268] If the processing circuit comprises at least one processor 100a and at least one memory 100b, each function of the control apparatus 20 is 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 the at least one memory 100b. The at least one processor 100a implements each function of the control apparatus 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 unit, arithmetic unit, microprocessor, microcomputer, or DSP.For example, at least one memory 100b is a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM or an EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disc, a mini disc, a DVD or the like.

[0269] If the processing circuit comprises at least one part of dedicated hardware 200, the processing circuit is implemented, for example, by a single circuit, a combined circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. For example, each function of the control apparatus 20 is implemented independently by a processing circuit. For example, the corresponding functions of the control apparatus 20 are implemented collectively by a processing circuit.

[0270] With regard to the corresponding functions of the control apparatus 20, some of the functions can be implemented by the dedicated hardware 200, while other functions can be implemented by software or firmware. For example, a function for generating current instruction values ​​can be implemented by a processing circuit as part of the dedicated hardware 200, and functions other than the function for generating current instruction values ​​can be implemented by the at least one processor 100a reading and executing a program stored in the at least one memory 100b.

[0271] In this way, the circuit implements every function of the control apparatus 20 using the hardware 200, software, firmware or a combination thereof. [Applicability in industry]

[0272] As described above, the control apparatus according to the present disclosure can be used in an elevator system. [List of reference symbols]

[0273] 1 Elevator system, 2 Shaft, 3 Building, 4 Machine room, 5 Hall, 6 Tractor unit, 7 Control panel, 8 Main rope, 9 Car, 10 Car door, 11 Door panel, 20 Control apparatus, 21 Motor, 22 Rotation sensor, 23 Current sensor, 24 Door status detector, 25 Current coordinate transformer, 26 Current instruction device, 27 Voltage instruction device, 28 Voltage coordinate transformer, 29 Power converter, 30 Resistance estimator, 31 Temperature estimator, 32 Protection control, 33 Temperature drop estimator, 34 Temperature rise estimator, 100a Processor, 100b Memory, 200 Hardware, 341 First estimation part, 341a First calculation part, 342 First addition part, 343 Second Estimation section, 343a Second calculation section, 344 Second addition section, 345 Output assessment section QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2006-290507 A

[0003]

Claims

[1] Elevator door control apparatus comprising: a door state detecting part that detects an open / closed state of a door driven by a motor provided in an elevator and including three-phase coils; a voltage instruction part that generates a voltage instruction value that is an instruction value of a voltage applied to the motor and that causes a current flowing through the motor to follow a current instruction value; a voltage coordinate transformation part that transforms a voltage instruction value generated by the voltage instruction part into voltage instruction values ​​of three phases to be applied to the three-phase coils, respectively; and a temperature rise estimation part that estimates the temperature rise amounts of the three-phase coils, respectively, using current values ​​of the three phases flowing through the three-phase coils, respectively, and the voltage command values ​​of the three phases when the door state detection part detects that the door is in a fully opened or fully closed state. [2] The elevator door control apparatus according to claim 1, wherein the temperature rise amount estimation part estimates respective estimated coil temperatures of the three-phase coils based on the temperature rise amounts of the three-phase coils. [3] The elevator door control apparatus according to claim 2, wherein the temperature rise amount estimation part comprises: a first estimating part that estimates respective first temperature rise amounts of the three-phase coils using current values ​​of the three phases; a second estimating part that estimates respective second temperature rise amounts of the three-phase coils using current values ​​of the three phases and voltage command values ​​of the three phases; and an output judging part that judges the agreement between the first estimated coil temperatures of the three-phase coils estimated based on the first temperature rise amounts and the second estimated coil temperatures of the three-phase coils estimated based on the second temperature rise amounts, and that accordingly estimates the estimated coil temperatures of the three-phase coils based on a judgment result. [4] Elevator door control apparatus according to claim 3, wherein the first estimate part first estimates temperature rise amounts of the three-phase coils using a value obtained by integrating products of values ​​obtained by squaring current values ​​of the coils and a prescribed proportionality constant; and the second part of the estimate each second Estimates temperature rise amounts of the three-phase coils using a product of a variation amount of the voltage command value, the current values, and the prescribed proportionality constant. [5] Elevator door control apparatus according to one of claims 2 to 4, wherein the door state detection part detects the occurrence of forced opening, which is a condition in which an external force attempting to open the door is applied to the door in the fully closed state, and the temperature rise amount estimation part estimates respective estimated coil temperatures of the three-phase coils when the door state detection part detects the occurrence of forced opening. [6] The elevator door control apparatus according to any one of claims 2 to 5, wherein the voltage instruction part stops drive control of the motor when at least one of the estimated coil temperatures of the three-phase coils estimated by the temperature rise amount estimation part rises to or above a reference value. [7] Elevator door control apparatus according to claim 6, further comprising a temperature drop amount estimation part that estimates respective currently estimated coil temperatures of the three-phase coils by estimating respective temperature drop amounts of the three-phase coils when the voltage instruction part stops the drive control of the motor based on one of the estimated coil temperatures of the three-phase coils, wherein the voltage instruction part restarts the drive control of the motor when the current estimated coil temperatures of the three-phase coils estimated by the temperature drop amount estimation part all fall to or below the reference value. [8] The elevator door control apparatus according to claim 7, wherein the temperature drop amount estimating part estimates each of the current estimated coil temperatures of the three-phase coils using an elapsed time with a time of day at which the drive control of the motor was stopped based on one of the estimated coil temperatures of the three-phase coils as a base point. [9] The elevator door control apparatus according to claim 8, wherein the temperature drop amount estimating part calculates respective temperature drop amounts of the three-phase coils from the elapsed time based on a drop amount mathematical model representing a relationship between the elapsed time and a temperature drop amount of a coil temperature of the motor, and respectively estimates the current estimated coil temperatures of the three-phase coils.

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