Elevator door control device

Abstract

An elevator door control device is provided that is capable of improving the accuracy of estimating the temperature of a motor. The control device comprises: a door state detection section that detects the open / closed state of an elevator door; a current instruction section that generates a current instruction value to control the current flowing through the motor that drives the door; a voltage instruction section that generates a voltage instruction value, which is an instruction value of a voltage applied to the motor and causes the current flowing through the motor to follow the current instruction value; and a resistance estimation section that estimates the electrical resistance value of the motor.and a temperature estimation section which estimates a coil temperature of the motor from the electrical resistance value estimated by the resistance estimation section, wherein, when the door state detector detects that the door is in a fully open state or a fully closed state, the current instruction section generates a test current instruction value which is the current instruction value for estimating the coil temperature, and the resistance estimation section estimates the electrical resistance value by dividing a variation amount of the voltage instruction value varied by the test current instruction value by a variation amount of the current flowing through the motor varied by the test current instruction value.

Description

Technical AREA

[0001] The present disclosure relates to an elevator door control device. background

[0002] PTL 1 discloses an elevator door control device. According to the control device, a resistance value of a door motor is estimated based on a current value flowing through the door motor and a voltage value applied to the door motor. A temperature of the door motor can be estimated based on the estimated resistance value. Citation listPatent literature

[0003] [PTL 1] JP 2006-290507 A Summary of the inventionTask of the invention

[0004] However, in the control device described in PTL 1, a resistance value cannot be accurately estimated if there is an error between a command value of a voltage to be applied to the door motor and a value of an actually applied voltage. Therefore, the temperature of the door motor cannot be accurately estimated.

[0005] The present disclosure was made to solve the problem described above. An object of the present disclosure is to provide an elevator door control device that can improve the accuracy of estimating the temperature of a motor. Solution to the problem

[0006] An elevator door control device according to the present disclosure includes: a door state detection section that detects an open / closed state of a door of an elevator; a current command section that generates a current command value for controlling a current flowing through a motor that drives the door; a voltage command section that generates a voltage command value that is a command value of a voltage applied to the motor and that causes the current flowing through the motor to follow the current command value; a resistance estimation section that estimates an electrical resistance value of the motor;and a temperature estimation section that estimates a coil temperature of the motor from the electrical resistance value estimated by the resistance estimation section; wherein, when the door state detector detects that the door is in a fully open state or a fully closed state, the current instruction section generates a test current instruction value that is the current instruction value for estimating the coil temperature, and the resistance estimation section estimates the electrical resistance value by dividing a variation amount of the voltage instruction value varied by the test voltage instruction value by a variation amount of the current flowing through the motor varied by the test current instruction value. Advantageous effects of the invention

[0007] According to the present disclosure, an electrical resistance value is estimated by dividing a variation amount of a voltage command value by a variation amount of a current flowing through a motor. Therefore, the accuracy of estimating the temperature of the motor can be improved. Brief description of the drawings Fig. 1 is a schematic diagram of an elevator system provided with an elevator door control device according to Embodiment 1. Fig. 2 is a block diagram of the elevator door control device according to Embodiment 1. Fig. 3 is a diagram showing a first example of the test current instruction value generated by the elevator door control device according to Embodiment 1. Fig. 4 is a diagram showing a second example of the test current instruction value generated by the elevator door control device according to Embodiment 1. Fig. 5 is a flowchart for describing an outline of the first example of the temperature estimation processing to be performed by the elevator door control device according to Embodiment 1. Fig. 6 is a flowchart for describing an outline of the second example of the temperature estimation processing to be performed by the elevator door control device according to Embodiment 1. Fig. 7 is a flowchart for describing an outline of an operation for estimating an estimated resistance value performed by the elevator door control device according to Embodiment 1. Fig. 8 is a flowchart for describing an outline of an operation of the overheat protection control performed by the elevator door control device according to Embodiment 1. Fig. 9 is a block diagram of the elevator door control device according to Embodiment 1. Fig. 10 is a diagram showing an example of the present coil temperature estimated by the elevator door control device according to Embodiment 1. Fig. 11 is a flowchart for describing an operation to be performed by the elevator door control device according to Embodiment 1. Fig. 12 is a block diagram of the elevator door control device according to Embodiment 2. Fig. 13 is a diagram showing an outline of the temperature rise estimation unit of the elevator door control device according to Embodiment 2. Fig. 14 is a diagram showing an example of numerical values ​​used by the temperature rise estimation unit of the elevator door control device according to Embodiment 2. Fig. 15 is a flowchart for describing an outline of the first example of the temperature estimation processing to be performed by the elevator door control device according to Embodiment 2. Fig. 16 is a flowchart for describing an outline of the second example of the temperature estimation processing to be performed by the elevator door control device according to Embodiment 2. Fig. 17 is a flowchart for describing an outline of an operation of the overheat protection control performed by the elevator door control device according to Embodiment 2. Fig. 18 is a block diagram of the elevator door control device according to Embodiment 2. Fig. 19 is a diagram showing an example of the current estimated coil temperatures estimated by the elevator door control device according to Embodiment 2. Fig. 20 is a flowchart for describing an outline of an operation to be performed by the elevator door control device according to Embodiment 2. Fig. 21 is a hardware configuration diagram of the elevator door control device according to Embodiment 1 or Embodiment 2. Description of the embodiments

[0008] Embodiments of the present disclosure will be described in accordance with the accompanying drawings. In the respective drawings, like or equivalent parts are designated by like reference numerals. Redundant descriptions of such parts are simplified or omitted where appropriate. Embodiment 1

[0009] Fig. 1 is a schematic diagram of an elevator system provided with an elevator door control device according to Embodiment 1.

[0010] In the Fig. In the elevator system 1 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. Each floor of the building 3 contains one of a plurality of halls 5. A traction machine 6 is provided in the machine room 4. A control unit 7 is provided in the machine room 4. The control unit 7 can completely control the elevator system 1. A main rope 8 is wound around the traction machine 6. A car 9 is provided inside the shaft 2. The car 9 is suspended from the main rope 8.

[0011] As an elevator door in the elevator system 1, a car door 10 is provided in the car 9. The car door 10 includes a door panel 11, which is a door, and a control unit 20. The door panel 11 is provided to be movable in the horizontal direction at an entrance of the car 9. The control device 20 controls an open / closed state of the door panel 11 by moving the door panel 11 in the horizontal direction. Specifically, the control device 20 performs operation control of a position of the door panel 11, a moving speed of the door panel 11, and the like.

[0012] When the elevator system 1 is in operation, the traction machine 6 rotates at the instruction of the control unit 7. The main rope 8 moves to follow the rotation of the traction machine 6. The car 9 ascends and descends to follow the movement of the main rope 8. When the car 9 stops at a destination hall 5, the control unit 20 opens the door panel 11 in a fully closed state. At this time, the control device 20, together with the door panel 11, opens a shaft door of the hall 5 where the car 9 had stopped. A user enters and exits the car 9 through an entrance of the car 9. While the user enters and exits the car 9, the control device 20 maintains the door panel 11 and the shaft door fully open. Then, the control device 20 closes the door panel 11 and the shaft door.

[0013] The control device 20 will be described below with reference to Fig. 2 described.

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

[0015] As in Fig. 2, the control device 20 includes a motor 21, a rotation sensor 22, a current sensor 23, a door state detector 24, a current coordinate transformer 25, a current command device 26, a voltage command device 27, a voltage coordinate transformer 28, a power converter 29, a resistance estimator 30, a temperature estimator 31, and a protective controller 32. The current sensor 23, the door state detector 24, the current coordinate transformer 25, the current command device 26, the voltage command device 27, the voltage coordinate transformer 28, the power converter 29, the resistance estimator 30, the temperature estimator 31, and the protective controller 32 may be installed in a housing or provided separately.

[0016] The motor 21 is provided to drive the door leaf 11. The motor 21 is a motor driven by a three-phase alternating current (AC). Although not shown, the motor 21 is provided with three-phase coils, each corresponding to the phase of the three-phase alternating current. The rotational position, rotational speed, torque, etc., of the motor 21 are controlled by the supplied power.

[0017] The rotation sensor 22 measures a rotation 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 rotation position θ is used in the control device 20 to control the rotation position, as a control reference for a current, and the like.

[0018] The rotation sensor 22 can measure a position of the door leaf 11 based on the rotation position of the motor 21. The rotation sensor 22 can transmit information about the measured position of the door leaf 11 to the controller (control unit) 7 (in Fig. 2 not shown). For example, the position information of the door leaf 11 can be used in the control device 20 when judging an acceleration position, a deceleration position, and the like of the door leaf 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, respectively. Alternatively, the current sensor 23 can be configured to measure the actual current values ​​of two phases of 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 device 20.

[0020] As a door state detection section, the door state detector 24 detects an open / closed state of the door panel 11. Specifically, the door state detector 24 detects, with respect to the door panel 11, whether the state of the door panel 11 is a fully open state, a fully closed state, or a state other than a fully open or fully closed state. For example, the door state detector 24 detects the open / closed state of the door panel 11 based on a rotation position detected by the rotation sensor 22.

[0021] Note that the door state detector 24 may 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 may be configured to detect the fully closed state of the door panel 11 using sensors mounted at a fully closed position of the door panel 11 and a fully opened position of the door panel 11.

[0022] The current coordinate transformer 25 receives a value for the rotational position θ of the motor 21 from the rotation sensor 22. The values ​​lu, Iv, and Iw of the three-phase actual currents flowing through the motor 21 are input to the current coordinate transformer 25 from the current sensor 23. As a current coordinate transforming section, the current coordinate transformer 25 performs dq transformation of a coordinate system of the current actual values ​​lu, Iv, and Iw into a dq coordinate system using the rotational position θ. In other words, the current coordinate transformer 25 outputs a current actual value Id of a corresponding d-axis and a current actual value Iq of a corresponding q-axis based on the rotational position θ and the current actual values ​​lu, Iv, and Iw.

[0023] The functions of the current command device 26 include functions of the control systems of the motor 21, such as a position control system and a speed control system of the motor 21. The current command unit 26 generates a current command value that controls a current flowing through the motor 21 based on an instruction from the controller 7, a signal from the motor control system of the motor 21, a signal from the speed control system of the motor 21, and the like. At this time, the current command device 26 generates and outputs a d-axis current command value Id* and a q-axis current command value Iq* as current command values ​​expressed by the dq coordinate system.

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

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

[0026] The voltage coordinate transformer 28 is supplied with a value of the rotational position θ of the motor 21 from the rotation sensor 22. The voltage command values ​​Vd* and Vq* are supplied to the voltage coordinate transformer 28 from the voltage command device 27. As a voltage coordinate transformer section, the voltage coordinate transformer 28 transforms a coordinate system of the voltage command values ​​Vd* and Vq* into a UVW coordinate system using the rotational position θ. In other words, the voltage coordinate transformer 28 outputs a voltage command value Vu* of a corresponding U-phase, a voltage command value Vv* of a corresponding V-phase, and a voltage command value Vw* of a corresponding W-phase based on the rotational position θ and the voltage command values ​​Vd* and Vq*.Note that the voltage coordinate transformer 28 converts the voltage command values ​​Vu*, Vv*, and Vw* into duty cycles corresponding 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 a power-converting section. The current sensor 23 is connected between the power converter 29 and the motor 21. The power converter 29 is powered by a power supply from the plant (not shown).

[0028] The power converter 29 is an amplifier that supplies power for rotating and controlling the motor 21. The power converter 29 functions as a PWM inverter. The power converter 29 generates a corresponding PWM signal by carrier-comparing the voltage command values ​​Vu*, Vv*, and Vw*. The power converter 29 uses the PWM signal as a switching command for a switching element of an inverter. Based on the switching command, the power converter 29 converts the energy from the operating power supply and supplies the motor 21 with energy.

[0029] As a resistance estimation section, the estimation unit 30 estimates an electrical resistance value of coils of the motor 21 based on the current command value Id output from the current coordinate transformer 25 and the voltage command value Vd* output from the voltage command device 27. Here, the estimation unit 30 estimates, as the estimated resistance value R^, a total electrical resistance value of a circuit consisting of three coils.

[0030] The estimated resistance value R^ is supplied to the temperature estimation unit 31 from the resistance estimation unit 30. As a temperature estimation section, the estimation unit 31 estimates the coil temperature T of the motor 21 using the estimated resistance value R^.

[0031] An estimated value of the coil temperature T is input from the estimation unit 31 to the control unit 32. As a protection control section, the control unit 32 judges whether the coil temperature T is a coil temperature at which overheat protection control should be performed or not.

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

[0033] The operation of the estimation unit is started when the door panel 11 is in the fully opened state or the fully closed state. When the detection device 24 detects that the door panel 11 is in the fully opened state or the fully closed state, the current instruction device 26 generates the test current instruction values ​​Id* and Iq*, which are current instruction values ​​for the test. At this time, the current instruction device 26 generates a plurality of sets of the test current instruction values ​​Id* and Iq*. The respective test current values ​​Iq* included in the plurality of sets are equal to each other. The respective test current values ​​Id* included in the plurality of sets have different magnitudes.In other words, the current instruction device 26 generates a plurality of sets of the test current instruction values ​​Id* and Iq* in which the q-axis current instruction value Iq* is fixed, but the d-axis current instruction value Id* is varied.

[0034] The current command device 26 outputs first test current command values ​​Id1* and Iq1*, which form one of a plurality of sets of test current command values ​​Id* and Iq*. Subsequently, based on a predetermined control method, the current command device 26 outputs second test current command values ​​Id2* and Iq2*, which form another of the plurality of sets of test current command values ​​Id* and Iq*. In this way, the current command device 26 sequentially outputs the plurality of sets of test current command values ​​Id* and Iq* at time intervals.

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

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

[0037] A first test voltage command value Vd1* corresponding to the first test current command value Id1* is input from the voltage command device 27 to the resistance estimation unit 30. A first actual current command value Id1 controlled by the first test voltage command value Vd1* is input from the voltage coordinate transformer 25 to the current coordinate transformer estimation unit 30.

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

[0039] The estimation unit 30 calculates a variation amount Vd2* - Vd1* of the voltage command values ​​and a variation amount Id2 - Id1 of the actual current command values. The estimation unit 30 adopts as the estimated resistance value R^ a value resulting from dividing the variation amount of the voltage commands by the variation amount of the actual current commands.

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

[0041] Due to the temperature estimation processing, the estimated resistance value R^ of the motor 21 is accurately calculated. The following describes a principle by which the estimated resistance value R^ is calculated by the temperature estimation processing.

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

[0043] In the equations, R represents the total resistance of the coils of motor 21. Ld and Lq represent the inductances of the d-axis and the q-axis, respectively. ω represents an electrical angular velocity. ϕ represents an induced voltage constant.

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

[0045] Based on expression (3) and expression (4), the resistance value R when the door leaf 11 is fully opened or fully closed 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 to calculate the resistance value R must be reliable. In the control device 20, the actual current values ​​Id and Iq are calculated based on the actual current values ​​Iu, Iv, and Iw and a measured value of the rotational position θ. In other words, since the actual current values ​​Id and Iq are values ​​calculated based on measured values, the actual current values ​​Id and Iq can be considered accurate values.

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

[0048] For example, if there is a design difference between a supply voltage value supplied from the power supply to the power converter 29 and a voltage value used as a design value in the control system of the motor 21, an error may occur between the voltage command values ​​Vd* and Vq* and the voltage actually applied to the motor 21 due to the design difference. Furthermore, an error may occur in the dead time correction to be performed by the power converter 29 due to the design difference.

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

[0050] However, even if such calculations are performed, an error may occur between the test voltage command values ​​Vd** and Vq* and the actual applied voltage. To correct an error due to the power supply voltage value, a voltage sensor that measures the power supply voltage value is also required. The voltage sensor may not be provided due to conditions such as manufacturing costs or space constraints on a device's control board. If a voltage sensor is not provided, a rated value of a power supply can be used to calculate a duty cycle. In other words, an estimation error may occur.

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

[0052] In expression (5), a difference amount ΔV represents a variation amount of the d-axis voltage command value or a variation amount of the q-axis voltage command value. A difference ΔI represents a variation amount of the d-axis actual current value or a variation amount of the q-axis actual current value. By determining the difference between the two voltage command values, the value ΔV at which an error between the voltage command values ​​Vd* and Vq* and an actually applied voltage has been compensated is to be used to estimate a resistance value. ΔV can be regarded as equal to the difference between the values ​​of the actually applied voltage.

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

[0054] Specifically, the current instruction device 26 generates test current values ​​in which the q-axis current instruction value Iq* is fixed, but the d-axis current instruction value Id* is varied. This is because if the q-axis current instruction value Iq* is varied, there is a risk that the fully opened state or the fully closed state of the door panel 11 cannot be maintained. In 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, which are generated or measured to correspond to the above-described first test current value and the second test current value, are applied to Expression (5). In other words, the estimated voltage value R^ can be calculated according to the following Expression (6). [Math. 6] R=(Vd2∗−Vd1∗) / (ld2−ld1)

[0055] If the motor 21 is a surface permanent magnet (SPM) motor, no torque is generated even if the d-axis current is passed. On the other hand, if the motor 21 is an interior permanent magnet (IPM) motor, a reluctance torque is generated when the current flows in the d-axis. Since a reluctance torque is often relatively smaller than a magnetic torque, the reluctance torque has a smaller effect. However, if the motor 21 has an IPM structure, a value for the test current command value Id* is set taking the effect of the reluctance torque into account.

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

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

[0058] The estimation unit 31 stores in advance the mathematical temperature model for estimating the coil temperature T. The mathematical temperature model can be created by a test in which a resistance value is measured while varying the coil temperature of the motor 21. A theoretically derived model can also be used as the mathematical temperature model.

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

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

[0061] The following expression (8) is a second example of a mathematical temperature model. [Math. 8] T=(234.5+T0') / R0×R−234.5

[0062] Expression (8) represents a theoretical model of the 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 estimation unit 31 is not limited to the first and second examples and may also use other methods to estimate the coil temperature T from the estimated resistance value R^ of the coil.

[0064] The following is based on Fig. 3 and Fig. 4 describes an example of a test current command value generated by the current command device 26. Fig. 3 is a diagram showing a first example of the test current instruction value generated by the elevator door control device according to Embodiment 1. Fig. 4 is a diagram showing a second example of the test current instruction value generated by the elevator door control device according to Embodiment 1.

[0065] The upper half of Fig. 3 and the upper half of Fig. 4 are diagrams illustrating a relationship between the time of day and a current instruction value Id* or a current instruction value Id of the d-axis. It is assumed that the current instruction value Id follows the current instruction value Id* in a timely manner. The lower half of Fig. 3 and the lower half of Fig. 4 are diagrams showing a relationship between the time of day and a commanded voltage value Vd* of the d-axis.

[0066] Fig. Figure 3 shows a first example of the test current command value. In the first example, the test current command value is set to a pulse waveform. In other words, as the test voltage command value, current command values ​​with different magnitudes are intermittently set. The test current command value is generated in a pulse waveform so that it corresponds to the voltage command value. The length of each pulse waveform is set to a length equal to or longer than the settling time. The settling time is the time it takes for the actual current command value Id to * required to follow the current command value Id and settle. Note that the settling time is a time determined by the design of the current command control unit 26.

[0067] In Fig. 3, the first test current command value Id1*, the second test current command value Id2*, and a third test current command value Id3* are generated sequentially at time intervals. At this time, the d-axis current command value among the first test current command value Id1*, the second test current command value Id2*, and the third test current command value Id3* is set to 0. The first test voltage command value Vd1*, the second test voltage command value Vd2*, and a third test voltage command value Vd3* are generated in the order corresponding to the test current command values. The first current command actual value Id1, the second current command actual value Id2, and a third current command actual value Id3 are measured sequentially to correspond to the voltage command values.

[0068] As the current value of the d-axis increases, heat generation in the coils of motor 21 increases. Since the voltage values ​​are applied in pulses in the first example, heat generation can be suppressed.

[0069] Fig. Figure 4 shows a second example of the test current command value. In the second example, the test current command value is set to a ramp shape. In other words, the test current command value is set to continuously increase from 0 to Id1*, Id2*, and Id3*. The second example can be applied in a case where heat generation by the coils is not a problem, in a case where a tracking delay of an actual current value with respect to a current command value is not a problem, and in similar cases.

[0070] In the first example and the second example, the three test current command 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 estimation unit 30 may estimate an average value from the plurality of calculated values ​​of R as the estimated resistance value R^. For example, the estimation unit 30 may estimate the largest value from the plurality of calculated values ​​of R as the estimated resistance value R^ because this value is more certain.

[0071] Alternatively, the test stream instruction values ​​may also be generated by a method different from the first and second examples.

[0072] Currents and voltages can be filtered when calculating the estimated resistance value R^. In this case, current values ​​and high-frequency noise in the current values ​​are suppressed, and the estimation accuracy of R^ is improved. When filtering, it is important to ensure that the filtering is performed with the same cutoff frequency. This is because the current values ​​and voltage values ​​are temporally related. In addition, after filtering and calculating a plurality of resistance values ​​R, an average value of the plurality of resistance values ​​R can be calculated.

[0073] Next, a first example of the temperature estimation processing to be performed by the control device 20 will be described with reference to Fig. 5 described.

[0074] Fig. 5 is a flowchart for describing a first example of temperature estimation processing to be performed by the elevator door control device according to Embodiment 1.

[0075] The first example of processing the temperature estimation can be performed at any time.

[0076] In step S001, the control device 20 judges whether the door panel 11 is in the fully open state or the fully closed state. The control device 20 makes the decision in step S001 based on a detection result of the door state detector 24.

[0077] In step S001, when the door panel 11 is neither in the fully opened state nor in the fully closed state, the control unit 20 ends the operation of the flowchart.

[0078] In step S001, when the door panel 11 is in the fully opened state or the fully closed state, an operation of step S002 is performed. In step S002, the control device 20 generates test current command values. At this time, the control device 20 generates a plurality of test current command values ​​with different values ​​in sequence.

[0079] Subsequently, an operation of step S003 is performed. In step S003, the control device 20 estimates the estimated resistance value R^.

[0080] Subsequently, an operation of step S004 is performed. In step S004, the controller 20 estimates the coil temperature T based on the estimated resistance value R^.

[0081] Then, the control device 20 terminates the operation of the flowchart.

[0082] Next, a second example of the temperature estimation processing to be performed by the control device 20 will be explained with reference to Fig. 6 described.

[0083] Fig. 6 is a flowchart for describing the second example of the temperature estimation processing to be performed by the elevator door control device according to Embodiment 1.

[0084] In the second example, the temperature estimation is performed while the cabin 9 is traveling. This is because the control device 20 maintains the fully closed state of the door leaf 11 while the cabin 9 is traveling.

[0085] As in Fig. As shown in Figure 6, the control device 20 judges whether the car 9 is traveling or not in step S101. At this time, the control device 20 acquires, for example, control information related to a traveling state of the car 9 from the controller 7 and uses the control information for the judgment. Note that the power instruction device 26 of the control device 20 can judge whether the car 9 is traveling or not.

[0086] In step S101, when the car 9 is not traveling, the control device 20 ends the operation of the flowchart.

[0087] In step S101, an operation of step S102 is performed while the car 9 is traveling. In step S102, the control device 20 judges whether the door panel 11 is in the fully closed state or not.

[0088] In step S102, the control device 20 terminates the operation of the flowchart if the door panel 11 is not in the fully closed state. At this time, the control device 20 may report an abnormality to the control unit 7 indicating that the door panel 11 is in the fully closed state even though the car 9 is moving. In this case, the controller 7 may, for example, bring the car 9 to an emergency stop.

[0089] In step S102, when the door leaf 11 is in the fully closed state, the operations of step S103 and subsequent steps are performed. The operations performed in steps S103 to S105 are similar to the operations performed in steps S002 to S004 of the Fig. 5 shown flowchart.

[0090] After performing the operation of S105, the control device 20 ends the operation of the flowchart.

[0091] Next, Fig. 7 describes an example of the estimation of the resistance value R^ to be performed by the control device 20.

[0092] Fig. 7 is a flowchart for describing an operation for estimating an estimated resistance value performed by the elevator door control device according to Embodiment 1.

[0093] In steps S002 to S003 of the Fig. 5, the control device 20 performs an operation to estimate the estimated resistance value R^ corresponding to the Fig. 7 shown flowchart.

[0094] As in Fig. As shown in Figure 7, the current command device 26 of the control device 20 generates the first test current command value Id1* in step S201. The resistance estimator 30 of the control device 20 detects the first test voltage command value Vd1* and the first current command value Id1.

[0095] Subsequently, the operation of step S202 is performed. In step S202, the current command device 26 generates the second test current command value Id2*. The estimation unit 30 acquires the second test current command value Vd2* and the second current command value Id2.

[0096] Subsequently, an operation of step S203 is performed. In step S203, the current command device 26 generates the third test current command value Id3*. The estimation unit 30 acquires the third test current command value Vd3* and the third current command value Id3.

[0097] Subsequently, an operation of step S204 is performed. In step S204, the estimation unit 30 estimates the estimated resistance value R^ using a detected set of the test voltage value and the actual current value.

[0098] Subsequently, an operation of step S205 is performed. In step S205, the estimation unit 31 estimates the coil temperature T using the estimated resistance value R^ calculated in step S204.

[0099] Then, the control device 20 terminates the operation of the flowchart.

[0100] It should be noted that the Fig. The flowchart shown in Figure 7 illustrates an operation in which three test current instruction values ​​with different values ​​are generated. The number of steps in the flowchart may vary depending on the number of sets of test current instruction values ​​to be generated.

[0101] Next, Fig. 8 describes an example of an overheat protection control to be performed by the control device 20.

[0102] Fig. 8 is a flowchart for describing an operation of the overheat protection control performed by the elevator door control device according to Embodiment 1.

[0103] To prevent failures such as burnout of the motor 21, the voltage control unit 32 judges whether or not to perform overheat protection control based on the coil temperature T. Based on a judgment result of the voltage control unit 32, the voltage instruction device 27 terminates the operation control of the motor 21 as overheat protection control.

[0104] At this point, for example, when the coil temperature T increases, the following causal events are suspected.

[0105] A first causal event is an irregularity that has occurred in a major part of the motor 21. In particular, the motor temperature T may increase if a bearing of the motor 21 is worn, if the motor 21 is approaching the end of its service life, and the like.

[0106] A second causal event is a high frequency of opening and closing of the door leaf 11. In particular, the motor temperature T may rise when the call frequency of the car 9 is high, when the door reversing operations of the door leaf 11 have increased, and the like.

[0107] A third causal event is a fault in the car door 10. For example, the rotational load of the motor 21 may increase and the coil temperature T may rise if the resistance to movement of the door leaf 11 increases due to a fault in a mechanical system of the car door 10.

[0108] 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.

[0109] In a state where a causal event has occurred that may cause the coil temperature T to rise, the amount of heat generated by the motor 21 is greater than in a normal state. If the operation control of the motor 21 continues in this state, there is a risk of the motor 21 burning out.

[0110] Fig. Figure 8 shows a judgment process of a prescribed condition for an overheat protection control to be performed and an operation of the overheat protection control. The operation in the Fig. The flowchart shown in Figure 8 is executed after the processing of the temperature estimation unit. In other words, in the Fig. In the flowchart shown in Fig. 8, the door leaf 11 is in the fully opened state or in the fully closed state.

[0111] Step S301 constitutes a portion of the temperature estimation processing. In step S301, the temperature estimation unit 31 of the control device 20 estimates the coil temperature T.

[0112] Subsequently, an operation of step S302 is performed. In step S302, the protection control unit 32 of the control device 20 judges whether the coil temperature T estimated by the temperature estimation unit 31 is equal to or lower than a reference value. For example, the reference value is set in advance based on a thermal design of a total temperature of the coils of the motor 21.

[0113] In step S302, if the coil temperature T is equal to or lower than the reference value, an operation of step S303 is performed. In step S303, the voltage command device 27 of the control device 20 determines that the operation control of the motor 21 is continued. In other words, normal operation of the elevator system 1 is performed.

[0114] Then, the control device 20 terminates the operation of the flowchart.

[0115] In step S302, if the coil temperature T is higher than the reference value, an operation of step S304 is performed. In step S304, the voltage command device 27 stops the operation control of the motor 21 as an overheat protection control. The voltage command device 27 transmits information indicating that the operation control of the motor 21 has been stopped to the control panel 7. In other words, the elevator system 1 transitions from a normal operation state to an emergency stop state.

[0116] Then, the control device 20 terminates the operation of the flowchart.

[0117] When the operation control of the motor control unit 21 is stopped in step S304, a user cannot enter or exit the car 9. Therefore, the control unit 7 may place the elevator system 1 in an emergency stop state after the user exits the car 9. At this time, the controller 7 may issue a warning or announcement to the user indicating that the operation is being stopped.

[0118] Next, the recovery control to be performed by the control device 20 for recovering the overheat protection control will be described with reference to Fig. 9 described.

[0119] Fig. 9 is a block diagram of the elevator door control device according to Embodiment 1.

[0120] As in Fig. 9, the control device 20 for performing the recovery control further comprises a temperature drop estimation unit 33. When the coil temperature of the motor unit 21 drops to or below a reference value, the operation control of the motor 21 and the operation of the cabin 9 (not shown in Fig. 9).

[0121] When the control unit 32 determines that the coil temperature T is above a threshold, the estimation unit 33 starts estimating the temperature drop amount to determine the drop amount of the coil temperature T estimated by the estimation unit 31.

[0122] When the control unit 32 determines that the coil temperature T is above the threshold value, first, a value of the coil temperature T estimated by the temperature estimation unit 31 is input to the temperature estimation unit 33. At this time, the estimation unit 33 measures the elapsed time t from the time the value of the coil temperature T was input. In other words, the estimation unit 33 measures the elapsed time t with a time at which the coil temperature T was judged by the control unit 32 to be higher than the threshold value as a base point. The estimation unit 33 adopts the input coil temperature T as the initial temperature and estimates and outputs a current coil temperature T' with respect to the elapsed time t. When the operation control of the motor 21 is stopped by the overheat protection control, the estimation unit 33 cannot use information of a control system such as the current command values ​​of the motor 21.Therefore, the estimation unit 33 estimates the current coil temperature T' based on the elapsed time t.

[0123] The estimation unit 33 outputs the estimated value of the current coil temperature T' to the control unit 32. The control unit 32 judges whether the current coil temperature T' has dropped to or below a reference value. When the protection controller 32 determines that the current coil temperature T' has dropped to or below the reference value, the voltage command device 27 terminates the overheat protection control and resumes operation control of the motor 21 as recovery control. The reference value used at this time may be the same value as the coil temperature threshold used when executing the overheat protection control, or a different value.

[0124] In this case, the estimation unit 33 estimates the current coil temperature based on a mathematical decay model that specifies a relationship between the coil temperature and the elapsed time of day. Various models can be used for the mathematical decay model.

[0125] A first example of the mathematical waste amount model is represented by the following expression (9). [Math. 9] T′=T exp(−t / Ta)

[0126] In expression (9), Ta denotes a time constant representing the rate of temperature decay. Ta is set in advance. According to expression (9), by inputting an initial temperature T, the current coil temperature T' can be estimated as a function of the elapsed time t.

[0127] A second example of the mathematical waste amount model is a model that includes a plurality of time constants, as shown in expression (10) below. [Math. 10] T′=T∑i=1Nαi exp(−t / Tai)

[0128] In expression (10), i denotes a natural number that specifies a sequence ranging from the first to the Nth. Ta i denotes an i-th time constant. αi denotes an i-th constant.

[0129] In general, a time constant in expression (9) or expression (10) may take a different value depending on the atmospheric temperature. When applied to a device that can measure atmospheric temperature, the value of the time constant may be determined by the measured atmospheric temperature. In the case of a device that does not measure atmospheric temperature, a set constant may be used as the time constant. For example, a numerical value that minimizes the temperature drop rate within a range of applicable numerical values ​​is adopted as the time constant. In other words, the estimation unit 33 estimates the temperature drop under a condition where heat radiation from the motor 21 is least likely, which is a safety-related condition.

[0130] It should be noted that the mathematical drop amount model can also be another function, such as a direct function of the elapsed time t or a quadratic function of the elapsed time t. If a coefficient of the mathematical drop amount model is known and a temperature drop with respect to the elapsed time is more or less known, the current coil temperature T' can be judged to have fallen to or below the reference value based on an elapsed time without estimating the current coil temperature. For example, suppose that the model to be applied is a model in which a temperature drop of 50°C occurs over 100 seconds. If the coil temperature T is 120°C when transitioning to the overheat protection control and the reference temperature is 20°C, the current coil temperature may fall to or below the reference value when a temperature drop of 100°C occurs.In other words, the current coil temperature may drop to or below the reference value when 200 seconds elapse. In this case, the estimation unit 33 may judge that the current coil temperature T' has dropped to or below the reference value when the elapsed time reaches 200 seconds without calculating the current coil temperature T'.

[0131] Next, Fig. 10 shows an example of an estimated value of the current coil temperature T'.

[0132] Fig. 10 is a diagram showing an example of the present coil temperature estimated by the elevator door control device according to Embodiment 1.

[0133] The upper half of Fig. Figure 10 is a graph illustrating the relationship between time of day and elapsed time t. At time of day 0, a measurement of elapsed time t is started. The elapsed time t increases proportionally to the time of day.

[0134] The lower half of Fig. Figure 10 is a graph illustrating the relationship between the time of day and the estimated current coil temperature T'. An abscissa axis represents the time of day. An ordinate axis represents the estimated current coil temperature T'. A dashed line I denotes a reference value for the coil temperature.

[0135] At the time the superheat degree control starts, the coil temperature estimated by the estimation unit 31 is T. The current coil temperature T' decreases monotonically with time. At a time of day t1, the current coil temperature T' drops to or below the reference temperature. In other words, the time of day t1 is a time of day at which recovery control can be performed. For example, the control device 20 resumes operation control of the motor 21 at the time of day t1.

[0136] Next, Fig. 11, for example, describes an operation in which the control unit 20 cancels the overheat protection control.

[0137] Fig. 11 is a flowchart for describing an operation to be performed by the elevator door control device according to Embodiment 1.

[0138] The data from steps S401 to S404 in the Fig. 11 are the same as those performed by steps S301 to S304 in the flowchart shown in Fig. 8. After the operation of S403 is performed, the control device 20 ends the operation of the flowchart.

[0139] After the operation of S404 is performed, an operation of step S405 is performed. In step S405, the estimation unit 33 of the control device 20 starts the temperature drop amount estimation processing.

[0140] Subsequently, an operation of step S406 is performed. In step S406, the estimation unit 33 judges whether or not the current coil temperature T' has fallen to or below a reference value.

[0141] In step S406, when the current coil temperature T' is higher than the reference value, a state in which the operation control of the motor 21 has been stopped is continued, or, in other words, the operation of step S404 and the subsequent steps is performed.

[0142] In step S406, if 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 device 20 returns from the overheat protection control, or in other words, restarts the operation control of the motor 21.

[0143] Then, the control device 20 terminates the operation of the flowchart.

[0144] When the temperature drop amount estimation unit 33 makes a recovery judgment based solely on the elapsed time without estimating the current coil temperature T', the operations of the flowchart become corresponding operations. Specifically, in step S405, the estimation unit 33 calculates the elapsed time. In step S406, it is judged whether the elapsed time is equal to or longer than a reference time.

[0145] According to Embodiment 1 described above, the control device 20 includes the door state detector 24, which is a door state detection section, the current instruction unit 26, which is a current instruction section, the voltage instruction unit 27, which is a voltage instruction section, the resistance estimation unit 30, which is a resistance estimation section, and the temperature estimation unit 31, which is a temperature estimation section. The control device 20 varies a voltage instruction value to the motor 21 and a value of an actual current flowing through the motor 21 by generating a test current instruction value. The control device 20 calculates a variation amount of a current value that has changed due to compliance with the test current instruction value. The control device 20 calculates a variation amount of a voltage instruction value that has changed due to generation of the test current instruction value.The control device 20 estimates the estimated resistance value R^ of the motor 21 by dividing the variation amount of the voltage command by the variation amount of the actual current value. In this case, the variation amount of the voltage command value corresponds to the variation amount of a voltage value actually applied to the motor 21. When calculating the estimated resistance value R^, a value is used from which the effect of an error between the voltage command value and the value of the actually applied voltage has been removed. Therefore, the accuracy of estimating the estimated resistance value R^ can be improved. As a result, the accuracy of estimating the coil temperature T, i.e., the temperature of the motor 21, can be improved.

[0146] Furthermore, the control device 20 generates a first test current command value and a second test current command value. The control device 20 estimates the estimated resistance value R^ based on a first test voltage command value and a second test voltage command generated based on the first test current command value and the second test current command value. The generated values ​​are assumed to be values ​​suitable for estimating the estimated resistance value R^. Therefore, the accuracy of estimating the estimated resistance value R^ can be improved.

[0147] Note that the control device 20 may consider a difference between the first test current command value corresponding to the first test current command value and a test current command value corresponding immediately before the generation of the first test current command value as a variation amount of the voltage command value. In this case, the control device 20 may consider a difference between an actual current value following the first test current command value and an actual current value immediately preceding the generation of the first test current command value as a variation amount of the current value.

[0148] Furthermore, the control device 20 generates the first test current command value and the second test current command value whose d-axis current values ​​differ from each other. A variation in the d-axis current value hardly affects the open / closed state of the door panel 11. Therefore, the accuracy of estimating the estimated resistance value R^ can be improved.

[0149] Furthermore, the control device 20 generates the first test current command value and the second test current command value in the form of pulse waves, or in other words, sequentially at time intervals. The motor 21 does not generate heat due to a test current command value after a current following the first test current command value stops flowing and before a current following the second test current value starts flowing. Therefore, heat generation of the motor 21 can be suppressed.

[0150] Furthermore, the control device 20 generates a test current command value during the travel of the car 9. In other words, the control device 20 performs an operation to estimate the coil temperature T while the car 9 is traveling. During the temperature estimation operation, noise such as magnetostrictive noise due to magnetostriction or the like may be generated by the motor 21 due to the flow of a d-axis current. By performing the operation of the estimation unit during the travel of the car 9, the noise can be masked by the traveling noise of the car 9. Therefore, a user in the car 9 can be prevented from feeling discomfort attributable to the noise, etc.

[0151] Furthermore, the control device 20 estimates the engine temperature T based on a mathematical temperature model. Therefore, the engine temperature T can be accurately estimated.

[0152] If the coil temperature T rises to or above a reference value, the control device 20 interrupts the operation control of the motor 21. In other words, overheat protection of the motor 21 can be appropriately implemented. Therefore, burnout of the motor 21 and disasters such as fire caused by the heat generation by the motor 21 can be prevented. As a result, the safety of the elevator system 1 can be improved.

[0153] In addition, the control device 20 also includes the temperature drop amount estimation unit 33 as a temperature estimation section. The control device 20 estimates the current coil temperature T' by estimating a temperature drop amount of the coil temperature T. The control device 20 restarts the operation control of the motor 21 when the current coil temperature T' drops to or below a reference value. Users cannot use the elevator system 1 in a state where the operation control of the motor control unit 21 has been stopped. The control device 20 can improve the efficiency of using the elevator system 1 by restarting the operation control of the motor 21 at appropriate times.

[0154] Furthermore, the control device 20 estimates the current coil temperature T' based on a mathematical drop-amount model. Therefore, the current coil temperature T' can be accurately estimated. Embodiment 2

[0155] Fig. 12 is a block diagram of the elevator door control device according to Embodiment 2. Parts that are the same as or equivalent to parts of Embodiment 1 are denoted by the same symbols. Description of such parts is omitted.

[0156] As in Fig. 12, the control device 20 in Embodiment 2 further includes a temperature rise estimation unit 34. Although in Fig. 12, the control device 20 may include the resistance estimation unit 30 and the temperature estimation unit 31.

[0157] The temperature rise estimation unit 34 estimates the temperature rise of the coil temperatures of the three-phase coils in the motor 21, respectively. Specifically, the values ​​lu, Iv, and Iw of the three-phase actual currents flowing from the current sensor 23 to the motor 21 are input to the temperature rise estimation unit 34. The voltage command values ​​Vu*, Vv*, and Vw* are input from the voltage coordinate transformer 28 to the estimation unit 34. The voltage command values ​​Vu*, Vv*, and Vw* are input to the temperature rise estimation unit 34 before being converted into duty cycles. In other words, the voltage coordinate transformer 28 inputs the voltage command values ​​Vu*, Vv*, and Vw* before being converted into duty cycles to the temperature rise estimation unit 34.Based on the actual current values ​​Iu, Iv, and Iw, or based on the actual current values ​​Iu, Iv, and Iw and the voltage command values ​​Vu*, Vv*, and Vw*, the estimation unit 34 calculates the temperature rise amounts ΔTu, ΔTv, and ΔTw of the three-phase coils, respectively, and outputs the temperature rise amounts as estimated values. Note that the temperature rise value ΔTu is a temperature rise value of the U-phase coil of the motor 21. The temperature rise ΔTv is a temperature rise for the V-phase coil of the motor 21. The temperature rise amount ΔTw is a temperature rise amount of the W-phase coil of the motor 21.

[0158] The values ​​of the initial temperatures T0 of the three-phase coils are input to the temperature rise estimation unit 34. The initial temperatures T0 are the coil temperatures at a time when the estimation unit 34 starts estimating the temperature rise. The initial temperatures T0 may have different values ​​or the same value for the three-phase coils. The initial temperatures T0 can be acquired by any method. For example, the coil temperature T estimated by the temperature estimation unit 31 in Embodiment 1 may be input to the estimation unit 34 as the initial temperature T0. For example, an overall temperature of the motor 21 may be measured by a temperature sensor and input to the estimation unit 34 as the initial temperature T0.

[0159] The temperature rise estimation unit 34 adds the temperature rise amounts 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.

[0160] The values ​​of the estimated coil temperatures Tu, Tv, and Tw of the three phases are input from the temperature rise estimation unit 34 to the protection unit 32. In Embodiment 2, the control unit 32 compares the values ​​of the estimated coil temperatures Tu, Tv, and Tw of the three phases with the corresponding reference values ​​and decides whether or not to initiate overheat protection control.

[0161] At this point, the temperature rise estimation unit 34 calculates an amount of heat for each of the three-phase coils based on Joule's law. Expression (11) below represents a generalized Joule's law. [Math. 11] P=V1=Rl2

[0162] In expression (11), P denotes the amount of heat generated per unit 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 Q generated during a period of time τ is represented by the following expression (12). [Math. 12] Q=Vlτ=Rl2τ

[0163] According to expression (12), the amount of heat Q generated by a coil can be expressed using one of the two expressions Q= VIτ or Q= RI 2 τ can be calculated. The temperature rise estimation unit 34 calculates the estimated coil temperatures Tu, Tv, and Tw using two calculation methods based on the two expressions.

[0164] The following is the calculation by the estimation unit 34 for the temperature rise based on Fig. 13 described.

[0165] Fig. 13 is a diagram showing an outline of the temperature rise estimation unit of the elevator door control device according to Embodiment 2.

[0166] As in Fig. 13, the temperature rise estimation unit 34 includes a first section 341, a first adding section 342, a second section 343, a second adding section 344, and an output-side judging part 345.

[0167] The first estimation unit 341 calculates the first temperature rise amounts Δ Tu, Tv1Δ1 and Δ Tw1 respectively using the heat generation amount Q calculated based on the expression Q = RI 2τ is calculated. First, the current values ​​Iu, Iv, and Iw are input into the first section 341. The first section 341 of the estimation unit calculates the respective squared values ​​of the current values ​​lu, Iv, and Iw. For each of the 3-phase current actual values, the first section 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 R and an integration period.

[0168] The coil resistance R, which includes the proportionality constant K1, is assumed to be the largest among the assumed resistance values. If the temperature rise value is estimated to be smaller than the actual value, there is a risk of motor 21 burning out. Therefore, safety-oriented values, or in other words, values ​​that maximize heat generation, are assumed for the resistance R and the proportionality constant K1.

[0169] The value after integration corresponds to a value on the right side of the expression Q= RI 2τ . At this point, the values ​​corresponding to the three phases are calculated by integration. A first calculation part 341a of the first estimation unit part 341 calculates first temperature increase amounts ΔTu, Tv1Δ1, and ΔTw1 using a thus generated first heat generation amount Q of the respective phases of the UVW phases, and outputs the first temperature increase amounts ΔTu , Tv1Δ1, and ΔTw1. For example, the first calculation section 341a calculates the first temperature increase amount ΔTu1 of the U phase from the first heat generation amount Q of the U phase and outputs the first temperature increase amount ΔTu1. As a method for calculating the first temperature increase amounts ΔTu, Tv1Δ1, and ΔTw1 from the first heat generation amount Q, any suitable method can be used.For example, the first temperature rise amounts Δ Tu, Tv1Δ1 and Δ Tw1 can be calculated from the first heat generation amount Q of the respective phases based on a heat capacity of the 3-phase coils.

[0170] The first temperature rise values ​​ΔTu, Tv1Δ1, and ΔTw1 estimated by the first section 341 are input to the first adding section 342. A value of the initial temperature T0 is input to the first adding section 342. The first adding section 342 calculates first estimated coil temperatures Tu1, Tv1, and Tw1 by adding the first temperature rise amounts ΔTu, Tv1Δ1, and ΔTw1 to the initial temperature T0, and outputs the first estimated coil temperatures Tu1, Tv1, and Tw1. For example, the first adding section 342 calculates the first estimated coil temperature Tu1 of the U-phase by adding the first temperature rise amount ΔTu1 of the U-phase to the initial temperature T0 of the U-phase and outputs the first estimated coil temperature Tu1.

[0171] The second estimation unit 343 calculates the second temperature rise ΔTu, Tv2Δ2, and ΔTw2, respectively, using the heat generation Q calculated based on the expression Q = VIτ. First, the current current values ​​lu, Iv, and Iw, as well as the voltage command values ​​Vu*, Vv*, and Vw*, are input to the second estimation section 343. Furthermore, the initial voltage command values ​​Vu0*, Vv0*, and Vw0* at a time point when the temperature rise amount estimation unit 34 started estimating the temperature rise amounts are input to the second estimation section 343. The second estimation section 343 maintains the values ​​of the initial voltage command values ​​Vu0*, Vv0*, and Vw0*.

[0172] For each of the U phase, the V phase, and the W phase, the second estimation unit 343 takes a difference obtained by subtracting the initial voltage command value from a voltage command value as the variation amount of the voltage command value. For each of the U phase, the V phase, and the W phase, the second estimation unit 343 integrates the variation amount of the voltage command value and the actual current value. For each of the U phase, the V phase, and the W phase, the second estimation section 343 multiplies a product of the variation amount of the voltage command value and the current command value by a proportionality constant K2 to calculate a second amount of heat generation of each phase.A second calculation part 343a of the second estimation unit part 343 calculates second temperature rise amounts ΔTu, Tv2Δ2, and ΔTw2 using the second heat generation amount of the respective phases, and outputs the second temperature rise amounts ΔTu, Tv2Δ2, and ΔTw2. For example, the second calculation section 343a calculates the second temperature rise amount ΔTu2 of the U phase using the second heat generation amount of the U phase and outputs the second temperature rise amount ΔTu2. As a method for calculating the second temperature rise amounts ΔTu, Tv2Δ2, and ΔTw2 from the second heat generation amount, any suitable method can be used.

[0173] The second temperature rise amounts ΔTu, Tv2Δ2, and ΔTw2 estimated by the second section 343 are input to the second adding section 344. A value of the initial temperature T0 is input to the second adding section 344. The second adding section 344 calculates second estimated coil temperatures Tu2, Tv2, and Tw2 by adding the second temperature rise amounts ΔTu, Tv2Δ2, and ΔTw2 to the initial temperature T0, and outputs the second estimated coil temperatures Tu2, Tv2, and Tw2. For example, the second adding section 344 calculates the second estimated coil temperature Tu2 of the U-phase by adding the second temperature rise amount ΔTu2 of the U-phase to the initial temperature T0 of the U-phase and outputs the second estimated coil temperature Tu2.

[0174] The values ​​of the first estimated coil temperatures Tu1, Tv1, and Tw1 are input from the first adding section 342 to the output judging section 345. The values ​​of the second estimated coil temperatures Tu2, Tv2, and Tw2 are input from the second adding section 344 to the output judging section 345. The output judging section 345 judges the agreement between the first estimated coil temperatures and the second estimated coil temperatures. Based on the judgment result, the output judging section 345 outputs the estimated coil temperatures Tu, Tv, and Tw output from the temperature rise estimation unit 34.

[0175] When judging consistency, the output judgment section 345 calculates the absolute value of a 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 judgment section 345 judges 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 judgment section 345 judges that the first estimated coil temperature and the second estimated coil temperature do not match. The output judgment section 345 makes this judgment for each phase of the coils.

[0176] When the output judging section 345 judges that the phase is consistent with respect to a given phase, the output judging section 345 outputs the first estimated coil temperature and the second estimated coil temperature of the phase as the estimated coil temperature. When the output judging section 345 judges that the phase is consistent with respect to a given phase, the output judging section 345 may output an average value of the first estimated coil temperature and the second estimated coil temperature of the phase as the estimated coil temperature.

[0177] If the output judgment section 345 concludes that the phase is inconsistent with respect to a particular phase, the output judgment section 345 outputs the estimated coil temperature of the phase as the estimated coil temperature, whichever is higher than the first estimated coil temperature and the second estimated coil temperature of the phase. Therefore, the decision whether or not to perform overheat protection control can be made under a safety-oriented condition or, in other words, under a condition that results in a higher temperature being estimated.

[0178] The following is an example of each numerical value used in the calculations of the temperature rise estimation unit 34 with reference to Fig. 14 described. Fig. 14 is a diagram showing an example of reference numerals used by the temperature rise estimation unit of the elevator door control device according to Embodiment 2.

[0179] Fig. 14 shows a temporal transition of each numerical value when the motor 21 generates torque while not rotating, which is a state of the present example. Specifically, a temporal transition of each reference numeral is shown when the door panel 11 is in a fully opened state and the motor 21 continues to apply 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 continues to apply torque in a closing direction with respect to the door panel 11, when forced opening, which is an event 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 force open the door leaf 11 from the cabin 9 when it is completely closed.

[0180] The upper third of Fig. Figure 14 is a graph showing a relationship between the time of day and a current value of the q-axis Iq. In this example, a constant q-axis current is caused to flow through the motor 21 to generate torque. Note that the direction in which Iq flows varies depending on the direction in which the torque is generated.

[0181] The middle third of Fig. Figure 14 is a graph illustrating the relationship between the time of day and the actual current values ​​Iu, Iv, and Iw of the respective phases. Since a current flows through the coil of each phase in a state where the rotation angle of the motor 21 is fixed, the actual current values ​​Iu, Iv, and Iw of the respective phases are all direct current (DC) values. The magnitudes of the actual current values ​​Iu, Iv, and Iw of the respective phases differ in such a way that they correspond to an absolute value of the actual current value Iq and values ​​of a rotational position of the motor 21.

[0182] The lower third of Fig. Figure 14 is a graph showing a relationship between the time of day and a current command value. An abscissa axis represents the time of day. An ordinate axis represents a current command value. The lower third of Fig. 14 shows a diagram illustrating the current command values ​​Vu*, Vv*, and Vw*, and dashed lines illustrating values ​​of the initial voltage command values ​​Vu0*, Vv0*, and Vw0*.

[0183] A base point of day is the leftmost time of day in each graph. In the graph in the lower third, the current command values ​​at the base point of day are the initial voltage command values ​​Vu0*, Vv0*, and Vw0*. Because the current flowing through the coil of each phase is different, the temperature rise of the coil of each phase is also different. The increase in the resistance value of the coil of each phase, which accompanies a temperature rise, is also different.

[0184] Since the resistance value of the coil of each phase increases with time, the absolute value of each of the current command values ​​Vu* , Vv* and Vw* increases with time to keep the actual current values ​​lu, Iv and Iw constant.

[0185] When estimating a temperature rise, the first section 341 uses a value obtained by multiplying a square of a current feedback value by the proportionality constant K1 and integrating the product. The current feedback value is controlled to assume a constant value regardless of a resistance value of a coil. In other words, the current feedback value is a numerical value to which an actual increase in the resistance value of the coil is not reflected. The first section 341 uses a value obtained by integrating the product of the square of a current current value and the proportionality constant K1 to estimate a temperature rise amount, so that a calculation result includes information related to the increase amount of the resistance value of the coil, which is the temperature rise amount.

[0186] When estimating the temperature rise, the second estimation section 343 uses the products of the values ​​obtained by subtracting the initial voltage command values ​​Vu0*, Vv0*, and Vw0* from the current command values ​​Vu*, Vv*, and Vw* and the actual current command values ​​Iu, Iv, and Iw. The initial voltage command values ​​Vu0*, Vv0*, and Vw0* are fixed values. The current command values ​​Vu*, Vv*, and Vw* vary with the resistance value of the coils. In other words, the current command values ​​Vu*, Vv*, and Vw* contain information related to the amount of temperature rise. Therefore, the second section 343 can use the products of the individual numerical values ​​to estimate the amount of temperature rise without having to integrate the products.

[0187] Furthermore, the second estimation unit 343 uses, as the voltage V in the expression Q = VIτ, values ​​obtained by subtracting the initial current command values ​​Vu0*, Vv0*, and Vw0* from the current command values ​​Vu*, Vv*, and Vw*. This is done to reduce the effects of errors between the current command values ​​Vu*, Vv*, and Vw* and the values ​​of the voltages actually to be applied to the coils of the respective phases. In particular, errors may occur between the voltage command values ​​Vd* and Vq* and the actual voltages to be applied due to differences in power supplies and the like. Since the current command values ​​Vu*, Vv*, and Vw* are values ​​transformed based on the voltage command values ​​Vd* and Vq* and the rotation positions, the current command values ​​Vu*, Vv*, and Vw* contain errors from the actual voltage values.In order to reduce the estimation errors of the temperature rise amounts, the second section 343 uses differences from the original voltage command values ​​Vu0*, Vv0* and Vw0*, which contain similar errors, to estimate the temperature rise amounts.

[0188] Since the current values ​​lu, Iv and Iw are measured values ​​of the current sensor 23, the current values ​​lu, Iv and Iw are considered as accurate values ​​and are used unchanged for estimating the temperature rise amounts.

[0189] In the first estimation unit 341 and the second section 343, the estimated temperature rise amounts may be filtered to eliminate the effects of high-frequency noise and the like. In other words, the first estimation unit 341 and the second section 343 may output the filtered temperature rise values.

[0190] Next, a first example of the temperature estimation control processing to be performed by the control device 20 in Embodiment 2 will be described.

[0191] Fig. 15 is a flowchart for describing a first example of the temperature estimation processing to be performed by the elevator door control device according to Embodiment 2.

[0192] The first example of processing the temperature estimation can be performed at any time.

[0193] In step S501, the control device 20 judges whether the door panel 11 is in the fully closed state or in the fully opened state.

[0194] In step S501, when the door panel 11 is neither in the fully opened nor the fully closed state, the control device 20 ends the operation of the flowchart.

[0195] In step S501, when the door panel 11 is in the fully opened state or the fully closed state, an operation of step S502 is performed. In step S502, the estimation unit 34 of the control device 20 estimates the first estimated coil temperatures Tu1, Tv1, and Tw1 of the three phases.

[0196] Subsequently, the operation of step S503 is performed. In step S503, the estimation unit 34 estimates the second estimated coil temperatures Tu2, Tv2, and Tw2 of the three phases.

[0197] Subsequently, an operation of step S504 is performed. In step S504, the estimation unit 34 judges whether the first estimated U-phase coil temperature Tu1 and the second estimated U-phase coil temperature Tu2 agree with each other or not.

[0198] If this matches in step S504, an operation of step S505 is performed. In step S505, the estimation unit 34 determines one of the first estimated coil temperature Tu1 and the second estimated coil temperature Tu2 as the estimated coil temperature Tu of the U-phase. Alternatively, the estimation unit 34 may 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.

[0199] If the values ​​in step S504 do not match, an operation of step S506 is performed. In step S506, the temperature rise estimation unit 34 determines a worst-case value, or in other words, the value indicating a higher temperature of the first estimated coil temperature Tu1 and the second estimated coil temperature Tu2 than the U-phase estimated coil temperature Tu.

[0200] After the operation of S505 or the operation of S506 is performed, an operation of step S507 is performed. In step S507, the temperature rise estimation unit 34 judges whether the first estimated V-phase coil temperature Tv1 and the second estimated V-phase coil temperature Tv2 are consistent with each other.

[0201] If this matches in step S507, an operation of step S508 is performed. In step S508, the estimation unit 34 determines one of the first estimated coil temperature Tv1 and the second estimated coil temperature Tv2 as the V-phase estimated coil temperature Tv. Alternatively, the estimation unit 34 may determine an average value of the first estimated coil temperature Tv1 and the second estimated coil temperature Tv2 as the V-phase estimated coil temperature Tv.

[0202] If the values ​​do not match in step S507, an operation of step S509 is performed. In step S509, the temperature rise estimation unit 34 determines a worst-case value, or in other words, the value indicating a higher temperature of the first estimated coil temperature Tv1 and the second estimated coil temperature Tv2 than the estimated coil temperature Tv of phase V.

[0203] After the operation of S508 or the operation of S509 is performed, an operation of step S510 is performed. In step S510, the temperature rise estimation unit 34 judges whether the first estimated W-phase coil temperature Tw1 and the second estimated W-phase coil temperature Tw2 are consistent with each other.

[0204] If this matches in step S510, an operation of step S511 is performed. In step S511, the estimation unit 34 determines one of the first estimated coil temperature Tw1 and the second estimated coil temperature Tw2 as the estimated coil temperature Tw of the W phase. Alternatively, the estimation unit 34 may 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.

[0205] If the values ​​in step S510 do not match, an operation of step S512 is performed. In step S512, the temperature rise estimation unit 34 determines a worst-case value, or in other words, the value indicating a higher temperature of the first estimated coil temperature Tw1 and the second estimated coil temperature Tw2 than the W-phase estimated coil temperature Tw.

[0206] After the operation of S511 or the operation of S512 is performed, an operation of step S513 is performed. In step S513, the temperature rise estimation unit 34 outputs the determined estimated coil temperatures Tu, Tv, and Tw of the respective phases.

[0207] Then, the control device 20 terminates the operation of the flowchart.

[0208] Note that the estimation unit of the present flowchart is particularly effective when the motor 21 further pushes the door panel 11 in the opening direction in the fully open state, or when the motor 21 further pushes the door panel 11 in the closing direction in the fully closed state. This is because under these conditions, a load is easily generated in the motor 21 and the temperature of the coils rises slightly.

[0209] A situation in which the motor 21 further pushes the door leaf 11 in the fully opened state in the opening direction may occur when an "open" button on the control panel provided in the car 9 is continuously pressed, when a call button of the control panel provided in the hall 5 is continuously operated in a state in which the door leaf 11 is opened, and the like.

[0210] A situation in which the door leaf 11 is pushed further in the closing direction when fully closed may occur, for example, during forced opening. In this case, the motor 21 generates a torque that exceeds the force attempting to force the door leaf 11 open. Therefore, a large current flows through the coils of the motor 21, and the heat generation of the coils increases.

[0211] Next, an operation performed by the control device 20 when a forced opening occurs will be described as a second example of the temperature estimation processing according to Embodiment 2. Fig. 16 is a flowchart for describing the second example of the temperature estimation processing to be performed by the elevator door control device according to Embodiment 2.

[0212] As in Fig. As shown in Fig. 16, the control device 20 judges whether or not forced opening has occurred in step S601. For example, the door state detector 24 of the control device 20 judges whether or not forced opening has occurred. At this time, the door state detector 24 judges that forced opening has occurred when 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. Note that any method may be adopted by the control device 20 to judge the occurrence of forced opening. In addition, for example, the power instruction device 26 may judge whether or not forced opening has occurred.

[0213] In step S601, the control device 20 terminates the operation of the flowchart if it determines that a forced opening has not occurred. In other words, in the second example, the control device 20 does not perform the temperature estimation control processing unless a forced opening has occurred. Alternatively, the control device 20 may perform the operation of the first example of the temperature estimation processing after determining that a forced opening has not occurred.

[0214] In step S601, if it is determined that a forced opening has occurred, the control device 20 executes the operation of step S602 and subsequent steps. The operations performed in steps S602 to S613 are similar to the operations described in the Fig. 15, which illustrates the first example, in steps S502 to S513.

[0215] Next, with reference to Fig. 17, an example of an overheat protection control to be performed by the control device 20 in Embodiment 2 will be described. Fig. 17 is a flowchart for describing an operation of the overheat protection control performed by the elevator door control device according to Embodiment 2.

[0216] For each of the estimated coil temperatures Tu, Tv and Tw, the control unit 32 decides whether or not to initiate an overheat protection control.

[0217] As in Fig. As shown in Figure 17, the estimation unit 34 of the control device 20 estimates the temperature rise amounts of the phases in step S701. The estimation unit 34 calculates the first temperature rise amounts and the second temperature rise amounts.

[0218] Subsequently, the operation of step S702 is performed. In step S702, the temperature rise estimation unit 34 calculates and outputs the estimated coil temperatures Tu, Tv, and Tw. In other words, the temperature rise estimation unit 34 estimates the estimated coil temperatures Tu, Tv, and Tw.

[0219] Subsequently, an operation of step S703 is performed. In step S703, the estimated coil temperatures Tu, Tv, and Tw are input to the protection control unit 32 of the control device 20. The protection control unit 32 judges whether or not the estimated coil temperature Tu of the U-phase is equal to or lower than a reference value.

[0220] In step S703, if the estimated coil temperature Tu is equal to or lower than the reference value, an operation of step S704 is performed. In step S704, the control unit 32 judges whether or not the estimated V-phase coil temperature Tv is equal to or lower than a reference value.

[0221] In step S704, if the estimated coil temperature Tv is equal to or lower than the reference value, an operation of step S705 is performed. In step S705, the control unit 32 judges whether or not the estimated coil temperature Tv of the W phase is equal to or lower than a reference value.

[0222] In step S705, if the estimated coil temperature Tw is equal to or lower than the reference value, an operation of step S706 is performed. In step S706, the voltage command device 27 determines that the operation control of the motor 21 is continued. In other words, normal operation of the elevator system 1 is performed.

[0223] Then, the control device 20 terminates the operation of the flowchart.

[0224] 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 in step S707 is performed. The operation performed in step S707 is similar to the operation performed in step S304 in the Fig. 8 according to Embodiment 1. In other words, the voltage instruction device 27 stops the operation control of the motor 21 as overheat protection control. The voltage instruction device 27 transmits information indicating that the operation control of the motor 21 has been stopped to the operation panel 7. In other words, the elevator system 1 transitions from a normal operation state to an emergency stop state.

[0225] Then, the control device 20 terminates the operation of the flowchart.

[0226] Next, the recovery control to be performed by the control device 20 in Embodiment 2 for recovering the overheat protection control will be described with reference to Fig. 18 described. Fig. 18 is a block diagram of the elevator door control device according to Embodiment 2.

[0227] As in Fig. As shown in Figure 18, the control device 20 in Embodiment 2 further includes a temperature drop amount estimation unit 33. The temperature drop amount estimation unit 33 differs from Embodiment 1 in that, when estimating the drop, the drops of the estimated coil temperatures Tu, Tv, and Tw related to the respective phases of the coils are estimated. Note that the processing of calculating a drop amount for each estimated coil temperature is similar to that in Embodiment 1.

[0228] If the control unit 32 determines that at least one of the estimated coil temperatures Tu, Tv, and Tw exceeds a reference value, the values ​​of the estimated coil temperatures Tu, Tv, and Tw are input to the estimation unit 33. The estimation unit 33 measures an elapsed time t using a time at which the values ​​of the estimated coil temperatures Tu, Tv, and Tw were input as a base point. The estimation unit 33 adopts the input estimated coil temperatures Tu, Tv, and Tw as initial temperatures, respectively, and estimates and outputs the current estimated coil temperatures Tu', Tv', and Tw' with respect to the elapsed time t.

[0229] The current estimated coil temperatures Tu', Tv', and Tw' are input to the control unit 32 from the temperature drop estimation unit 33. The control unit 32 judges whether or not all the current estimated coil temperatures Tu', Tv', and Tw' are equal to or lower than a reference value.

[0230] In this case, the estimation unit 33 estimates the current estimated coil temperatures Tu', Tv', and Tw' based on a mathematical decay model that specifies a relationship between an estimated coil temperature and an elapsed time of day. Various models can be used for the mathematical decay model.

[0231] A first example of the mathematical waste model is represented by the following expressions (13) to (15). Note that the respective coefficients are similar to those of expression (9). [Math. 13] Tu`=Tu exp(−t / Ta) [Math. 14] Tv`=Tv exp(−t / Ta) [Math. 15] Tw`=Tw exp(−t / Ta)

[0232] It should be noted that in the mathematical temperature model a different value can be used as the time constant Ta for each phase.

[0233] A second example of the mathematical waste amount model is a model that includes a plurality of time constants, as shown in Expressions (16) to (18) below. Note that the respective coefficients are similar to those of Expression (10). [Math. 16] Tu`=Tu∑i=1nαi exp(−t / Tai) [Math. 17] Tv`=Tv∑i=1nαi exp(−t / Tai) [Math. 18] Tw`=Tw∑i=1nαi exp(−t / Tai)

[0234] In general, a time constant in expressions (13) to (18) may take a different value depending on the atmospheric temperature. When applied to a device that can measure the atmospheric temperature, the value of the time constant may be determined by the atmospheric temperature. For a device that does not measure the atmospheric temperature, a set constant may be used as the time constant. For example, a numerical value that minimizes the temperature drop rate within a range of applicable reference symbols is adopted as the time constant. In other words, the estimation unit 33 estimates the temperature drop under a condition where heat radiation from the motor 21 is least likely, which is a safety-related condition.

[0235] Note that the mathematical drop amount model may be another function, such as a direct function of the elapsed time t or a quadratic function of the elapsed time t. When a coefficient of the mathematical drop amount model is known and a temperature drop amount with respect to the elapsed time is more or less known, the temperature drop amount estimation unit 33 may judge that the current estimated coil temperatures Tu', Tv', and Tw' have all dropped to or below the reference value based on an elapsed time without estimating the current coil temperatures. For example, assume that the model to be applied with respect to all phases is a model in which a temperature drop of 50°C occurs over 100 seconds.If the estimated coil temperature of any phase is 120°C and the reference temperature is 20°C when transitioning to overheat protection control, the current estimated coil temperature of the phase may drop to or below the reference value when a temperature drop of 100°C occurs. In other words, the current estimated coil temperatures of all phases may drop to or below the reference value when 200 seconds elapse. In this case, the estimation unit 33 may determine that the current estimated coil temperatures Tu', Tv', and Tw' have all dropped to or below the reference value when the elapsed time reaches 200 seconds without calculating the current estimated coil temperatures Tu', Tv', and Tw'. Then, a signal indicating that the estimated coil temperatures Tu', Tv', and Tw' have all dropped to or below the reference value may be input from the estimation unit 33 to the control unit 32.

[0236] Next, Fig. 19 shows an example of the estimated values ​​of the current coil temperatures Tu', Tv' and Tw'.

[0237] Fig. 19 is a diagram showing an example of the current estimated coil temperatures estimated by the elevator door control device according to Embodiment 2.

[0238] (A) in Fig. Figure 19 is a graph illustrating the relationship between the time of day and the elapsed time t. The overheat protection control starts at time 0, which represents a base point.

[0239] (Am Fig. Figure 19 is a graph showing a relationship between the time of day and the current estimated coil temperature Tu', which concerns the U-phase. (C) in Fig. 19 is a graph showing a relationship between the time of day and the current estimated coil temperature Tv' concerning the V phase. (D) in Fig. Figure 19 is a graph showing a relationship between the time of day and the current estimated coil temperature Tw' concerning the W phase.

[0240] In the Fig. In the examples shown in Figure 19, the estimated coil temperatures Tu', Tv', and Tw' decrease exponentially with elapsed time. For example, when the overheat protection control is started due to a forced opening, the temperature rise amounts of the respective phases differ from each other. Therefore, the initial temperatures of the respective phases differ at the time the overheat protection control is started.

[0241] At time 0 of day, the value of Tv is at its lowest. At time t2 of day, Tv' falls to or below the reference value before Tu' and Tw'. At time 0 of day, the value of Tw is the second lowest. At time t3 of day, which is after time t2, Tw' falls to or below the reference value. At time 0 of day, the value of Tu is at its highest. Tu' reaches or falls below the reference value at time t4 of day, which is after time t3.

[0242] At time t4 of the day, the control unit 32 determines that all currently estimated coil temperatures Tu', Tv' and Tw' have fallen to or below the reference value.

[0243] Next, Fig. 20, for example, describes an operation in which the control unit 20 performs an overheat protection check.

[0244] Fig. 20 is a flowchart for describing the flow of an operation to be performed by the elevator door control device according to Embodiment 2.

[0245] The data from steps S801 to S807 in the Fig. 20 are similar to those performed by steps S701 to S707 in the flowchart shown in Fig. 17. After the operation of S706 is performed, the control device 20 ends the operation of the flowchart.

[0246] After the operation of S807 is performed, an operation of step S808 is performed. In step S808, the estimation unit 33 of the control device 20 estimates the current estimated coil temperatures Tu', Tv', and Tw' by calculating the temperature drop amounts of the respective phases.

[0247] Subsequently, an operation of step S809 is performed. In step S809, the control unit 32 judges whether or not all the currently estimated coil temperatures Tu', Tv', and Tw' have fallen to or below the reference value.

[0248] In step S809, if 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 device 20 returns from the overheat protection control, or in other words, it restarts the operation control of the motor 21.

[0249] Then, the control device 20 terminates the operation of the flowchart.

[0250] In step S809, when at least one of the currently estimated coil temperatures Tu', Tv' and Tw' is higher than the reference value, a state in which the operation control of the motor 21 is stopped is continued, or, in other words, the operations of step S807 and subsequent steps are performed.

[0251] When the temperature drop amount estimation unit 33 makes a recovery judgment based solely on the elapsed time without associating the current estimated coil temperatures Tu', Tv', and Tw', the operations of the flowchart become corresponding operations. Specifically, in step S808, the temperature drop amount estimation unit 33 calculates the elapsed time. In step S809, the temperature drop amount estimation unit 33 judges whether or not the elapsed time is equal to or longer than a reference time. In step S810, the control unit 32 decides that the operation control of the motor 21 can be resumed based on the signal from the temperature drop amount estimation unit 33. The control device 20 restarts the operation control of the motor 21.

[0252] According to Embodiment 2 described above, the control device 20 includes the door state detector 24, which is a door state detection section, the voltage instruction device 27, which is a voltage instruction section, the voltage coordinate transformer 28, which is a voltage coordinate transformer, and the temperature rise amount estimation unit 34, which is a temperature rise amount estimation section. The control device 20 estimates the temperature rise values ​​ΔTu, ΔTv, and ΔTw of the three phases, respectively. Once the temperature rise values ​​ΔTu, ΔTv, and ΔTw of the three phases are estimated, the temperature of the motor 21 can be estimated. This can improve the accuracy of estimating the temperature of the motor 21.

[0253] Furthermore, the control device 20 estimates the estimated coil temperatures Tu, Tv, and Tw of the three phases based on the temperature rise values ​​ΔTu, ΔTv, and ΔTw of the three phases. This can improve the accuracy of the motor temperature estimation.

[0254] Furthermore, the temperature rise estimation unit 34 includes a first section 341, a second section 343, and an output judgment section 345. The control device 20 estimates the first estimated coil temperatures Tu1, Tv1, and Tw1 and the second estimated coil temperatures Tu2, Tv2, and Tw2. The control device 20 judges the agreement between the first estimated coil temperatures Tu1, Tv1, and Tw1 and the second estimated coil temperatures Tu2, Tv2, and Tw2, and estimates the estimated coil temperatures Tu, Tv, and Tw for the three phases based on a judgment result. In this way, the accuracy of estimating the temperature of each coil can be improved.

[0255] Furthermore, the control device 20 estimates the first temperature rise ΔTu, Tv1Δ1, and ΔTw1 and the second temperature rise ΔTu, Tv2Δ2, and ΔTw2 using methods suitable for the respective estimation principles. In this way, the accuracy of estimating the temperature of the individual coils can be improved.

[0256] In addition, the control device 20 detects the occurrence of a forced opening. When a forced opening occurs, the control device 20 estimates the estimated coil temperatures Tu, Tv, and Tw of the three phases. When a forced opening occurs, the temperature of the motor 21 rises slightly. The control device 20 can estimate the estimated coil temperatures Tu, Tv, and Tw of the three phases even during a forced opening. Therefore, the safety of the motor 21 can be improved.

[0257] Furthermore, the control device 20 stops the operation control of the motor 21 when 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 by the motor 21 can be prevented. As a result, the safety of the elevator system 1 can be improved.

[0258] In addition, the control device 20 also includes the temperature drop amount estimation unit 33 as a temperature estimation section. The control device 20 estimates the current estimated coil temperatures Tu', Tv', and Tw' by estimating the temperature drop amounts of the estimated coil temperatures Tu, Tv, and Tw, respectively. The control device 20 resumes the operation control of the motor 21 when the current estimated coil temperatures Tu', Tv', and Tw' all fall to or below a reference value. A control system 20 can improve the efficiency of using the elevator system 1 by restarting the operation control of the motor control unit 21 at appropriate times.

[0259] Furthermore, the control device 20 estimates the current estimated coil temperatures Tu', Tv', and Tw' based on a mathematical decay amount model. Therefore, the control device 20 can accurately estimate the current estimated coil temperatures Tu', Tv', and Tw', respectively.

[0260] An example of the hardware constituting the control device 20 will be described below with reference to Fig. 21 described.

[0261] Fig. 21 is a hardware configuration diagram of the elevator door control device according to Embodiment 1 or Embodiment 2.

[0262] Each device included in the control device 20 can be implemented by a processing circuit combined into a single device. Each device included in the control device 20 can be implemented by processing circuits combined into a plurality of devices in any combination. Alternatively, each device included in the control device 20 can be individually implemented by a processing circuit. Hereinafter, a processing circuit refers either to a processing circuit in a single device into which the respective devices included in the control device 20 have been combined, or to a processing circuit for each device included in the control device 20. For example, the processing circuit includes at least one processor 100a and at least one memory 100b.For example, the processing circuitry includes at least a portion of the associated hardware 200.

[0263] If the processing circuit comprises the at least one processor 100a and the at least one memory 100b, each function of the control device 20 is implemented by software, firmware, or a combination of software and firmware. At least one of the software and the firmware is described as a program. At least one of the software and the firmware is stored in the at least one memory 100b. The at least one processor 100a performs each function of the control device 20 by reading and executing the program stored in the at least one memory 100b. The at least one processor 100a is also referred to as a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP.The at least one memory 100b is, for example, 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.

[0264] For example, if the processing circuit comprises at least part of the associated hardware 200, the processing circuit is implemented 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 device 20 is implemented independently by a processing circuit. For example, the respective functions of the control device 20 are implemented jointly by a processing circuit.

[0265] Regarding the respective functions of the control device 20, some of the functions may be implemented by the portion of the dedicated hardware 200, while other portions may be implemented by software or firmware. For example, a function for generating current command values ​​may be implemented by a processing circuit as part of the dedicated hardware 200, and other functions other than the function for generating current command values ​​may be implemented by the at least one processor 100a reading and executing a program stored in the at least one memory 100b.

[0266] In this way, the processing circuit implements each function of the control device 20 using the hardware 200, the software, the firmware, or a combination thereof. Industrial applicability

[0267] As described above, the control device according to the present disclosure can be used in an elevator system. LIST OF REFERENCE SYMBOLS 1 elevator system, 2 shafts, 3 buildings, 4 engine room, 5 Hall, 6 traction engine, 7 Control, 8 main rope, 9 cabins, 10 cabin door, 11 door leaf, 20 control device, 21 engine, 22 rotation sensor, 23 current sensor, 24 door status detector, 25 current coordinate transformer, 26 Power control device, 27 Voltage instruction device, 28 voltage coordinate transformer, 29 power converters, 30 resistance estimation section, 31 Temperature estimation section, 32 protection control unit, 33 Temperature drop amount estimation section, 34 Temperature rise amount estimation section, 100a processor, 100b memory, 200 hardware, 341 first estimation section, 341a first calculation section, 342 first addition section, 343 second estimation section, 343a second calculation section, 344 second addition section, 345 Initial assessment section QUOTES CONTAINED IN THE DESCRIPTION

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

[0000] JP 2006-290507 A

[0003]

Claims

[1] An elevator door control device comprising: a door state detection section that detects an open / closed state of a door of an elevator; a current instruction section that generates a current instruction value for controlling a current flowing through a motor that drives the door; a voltage instruction section that generates a voltage instruction value that is an instruction value for a voltage applied to the motor and that causes the current flowing through the motor to follow the current instruction value; a resistance estimation section that estimates an electrical resistance value of the motor; and a temperature estimation section that estimates a coil temperature of the motor from the electrical resistance value estimated by the resistance estimation section, wherein, when the door state detection section detects that the door is in a fully open state or in a fully closed state, the current instruction section generates a test current instruction value, which is the current instruction value for estimating the coil temperature, and the resistance estimation section estimates the electrical resistance value by dividing a variation amount of the voltage instruction value varied by the test voltage instruction value by a variation amount of the current flowing through the motor varied by the test voltage instruction value. [2] The elevator door control device according to claim 1, wherein the current instruction section generates, as the test current instruction value, a first test current instruction value and a second test current instruction value whose size is different from that of the first test current instruction value, the voltage instruction section generates a first test voltage instruction value corresponding to the first test current instruction value and generates a second test voltage instruction value corresponding to the second test current instruction value, and the resistance estimation section calculates a difference between a current value of the motor following the first test current instruction value and a current value of the motor following the second test current instruction value as a variation amount of the current, and calculates a difference between the first test voltage instruction value and the second test voltage instruction value as a variation amount of the voltage instruction value. [3] The elevator door control device according to claim 2, wherein the current instruction section generates the current instruction value at which a current value of a d-axis is not zero as the first test current instruction value, and generates the current instruction value at which a current value of the d-axis is not zero and which is different from the first test current instruction value as the second test current instruction value. [4] The elevator door control device according to claim 2 or 3, wherein the current instruction section generates the first test current instruction value and the second test current instruction value in sequence at time intervals. [5] The elevator door control device according to any one of claims 1 to 4, wherein the current instruction section generates the test current instruction value when a car provided with the door is in operation. [6] The elevator door control device according to any one of claims 1 to 5, wherein the temperature estimating section estimates a coil temperature of the motor from the electrical resistance value estimated by the resistance estimating section based on a mathematical temperature model representing a relationship between the electrical resistance value of the motor and the coil temperature of the motor. [7] The elevator door control device according to any one of claims 1 to 6, wherein the voltage instruction section stops the operation control of the motor when the coil temperature of the motor estimated by the temperature estimation section rises to or above a reference value. [8] Elevator door control device according to claim 7, further comprising a temperature drop amount estimation section that estimates a current estimated coil temperature of the motor by estimating a temperature drop amount of the coil temperature of the motor when the voltage instruction section ends the operation control of the motor based on the coil temperature of the motor, wherein the voltage instruction unit resumes the operation control of the motor when the current coil temperature estimated by the temperature drop amount estimation unit falls to or below the reference value. [9] The elevator door control device according to claim 8, wherein the temperature drop amount estimation section estimates the current estimated coil temperature by using an elapsed time with a time of day at which the voltage instruction section had stopped the operation control of the motor based on the coil temperature of the motor as a base point. [10] The elevator door control device according to claim 9, wherein the temperature drop amount estimating section calculates a temperature drop amount of the coil temperature of the motor from the elapsed time based on a mathematical drop amount model representing a relationship between the elapsed time and the temperature drop amount of the coil temperature of the motor, and estimates the current estimated coil temperature.

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