Elevator system

Abstract

To assist accurate estimation of a magnetic pole position of a permanent magnet synchronous motor for driving an elevator door.SOLUTION: This elevator system comprises: a permanent magnet synchronous motor for driving opening / closing of an elevator door; a door control unit that controls rotation of the permanent magnet synchronous motor to open / close the door; and an elevator control unit that controls car lifting motion of the elevator. The door control unit receives and stores floor information of the car from the elevator control unit, and learns and stores the magnetic pole position of the permanent magnet synchronous motor when the car lifting motion changes the floor information.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to elevator systems. [Background technology]

[0002] Patent Document 1 describes an elevator control system that performs magnetic pole position estimation control to update the recognition of the magnetic pole position of a permanent magnet synchronous motor that drives an elevator door. This elevator control system performs magnetic pole position estimation control when it detects that the elevator has switched from a powered-off state to a powered-on state, when it detects that the doors do not reach the fully open position even when a door-open command is issued, or when it detects that the doors do not reach the fully closed position even when a door-close command is issued. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-141564 Summary of the Invention [Problem to be solved by the invention]

[0004] The state of elevator doors varies depending on the floor. In the prior art such as that described in Patent Document 1, the state of doors depending on the floor is not sufficiently taken into consideration, which can lead to errors in estimating the magnetic pole position.

[0005] The present disclosure is intended to solve the above-mentioned problems, and an object of the present disclosure is to provide an elevator system that can support accurate estimation of the magnetic pole position of a permanent magnet synchronous motor that drives an elevator door. [Means for solving the problem]

[0006] An elevator system according to the present disclosure includes a permanent magnet synchronous motor that drives an elevator door to open and close, a door control unit that controls the rotation of the permanent magnet synchronous motor to open and close the door, and an elevator control unit that controls the up and down movement of the elevator car. The door control unit receives and stores floor information of the car from the elevator control unit, and when the floor information changes due to the up and down movement of the car, learns and stores the magnetic pole position of the permanent magnet synchronous motor. [Effects of the Invention]

[0007] The elevator system according to the present disclosure can assist in accurate estimation of the magnetic pole position of a permanent magnet synchronous motor that drives the elevator doors. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram showing a configuration of an elevator system according to a first embodiment. [Figure 2] 6 is a flowchart showing an example of a process of learning a magnetic pole position by the door control unit according to the first embodiment. [Figure 3] 6 is a flowchart showing an example of a process for determining whether magnetic pole position learning has been successful, performed by the door control unit according to the first embodiment. [Figure 4] 6 is a flowchart showing an example of processing that is output from a magnetic pole position storage unit to an opening / closing control unit in the first embodiment. [Figure 5] 10 is a flowchart showing an example of processing when learning of magnetic pole positions is successful on a plurality of floors in the first embodiment. [Figure 6] 5 is a flowchart showing an example of processing different from that of FIG. 4 when learning of the magnetic pole position fails in the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments will be described with reference to the accompanying drawings. In each drawing, the same or corresponding parts are designated by the same reference numerals. In this disclosure, duplicated descriptions will be simplified or omitted as appropriate. For convenience, in the following description, the positional relationship of each structure may be expressed based on the illustrated state. Note that this disclosure is not limited to the following embodiments and their variations. Any components described in the following embodiments and their variations can be freely combined, modified, or omitted within the scope of the present disclosure.

[0010] Embodiment 1 FIG. 1 is a diagram showing the configuration of an elevator system according to a first embodiment. The elevator system according to this embodiment includes a door motor 1, which is a permanent magnet synchronous motor. The door motor 1 drives the elevator doors 3 to open and close. The door motor 1 generates a driving force for opening and closing the elevator doors 3 by rotating.

[0011] A rotation angle sensor 2 is attached to the door motor 1 to detect the rotation angle of the door motor 1. The rotation of the door motor 1 is controlled based on the detection information of the rotation angle sensor 2.

[0012] The door 3 opens and closes to allow passengers to get on and off the elevator. The door 3 is connected to a door motor 1 via a belt. The driving force generated by the door motor 1 is transmitted to the door 3 via the belt.

[0013] The door motor 1 and the door 3 are provided in an elevator car 4. The door 3 includes not only the car 4 but also a landing door installed at a landing on the building side. When the door 3 is operated by the door motor 1 provided in the car 4, the landing door is gripped by an engagement device attached to the door 3 of the car 4, so that the door 3 provided in the car and the landing door open and close together.

[0014] The engagement device attached to the door 3 of the car 4 has the function of gripping the landing door, as well as the function of generating a mechanical door closing force in the closing direction when the door 3 is in a state near the fully closed position. This prevents the door 3 of the car 4 from opening naturally. When the door 3 of the car 4 is to be opened, the door motor 1 generates torque to resist the mechanical door closing force of the engagement device.

[0015] In addition, the landing doors on the building side are also designed to have a mechanical door closing force acting on them. A mechanical force is always acting on the elevator doors 3 in the closing direction. This prevents the doors 3 from opening unintentionally, preventing the elevator from running with the doors open, preventing emergency stops of the elevator, and ensuring the safety of passengers.

[0016] In addition, a sensor is attached to the door 3 to detect the open / closed state of the door 3. For example, sensors are provided at the fully open position and the fully closed position, so that it is possible to determine whether the door 3 is fully open or fully closed. The open / closed state of the door 3 may also be determined from information detected by the rotation angle sensor 2.

[0017] The elevator car 4 moves up and down when a hoist 5 is operated. The hoist 5 generates a driving force to move the car 4 up and down and move it to the destination floor. Generally, the elevator car 4 is connected to a counterweight 6 via the hoist 5 in a bucket-type connection. The hoist 5 only needs to generate a torque equivalent to the weight difference between the car 4 and the counterweight 6, which allows the capacity of the hoist 5 to be reduced.

[0018] As shown in Fig. 1, the elevator system according to this embodiment includes an elevator control unit 7 and a door control unit 8. The hoisting machine 5 is driven by the elevator control unit 7. The elevator control unit 7 controls the driving of the hoisting machine 5, thereby controlling the up and down movement of the elevator car 4. When a destination floor is determined by a call button installed at a landing or a destination button installed inside the car 4, the elevator control unit 7 controls the hoisting machine 5 so that the car 4 travels toward the determined destination floor.

[0019] The elevator control unit 7 also holds floor information, which is information about the floor at which the elevator car 4 is stopped. This floor information is, for example, information such as 1F or 2F. The elevator control unit 7 outputs this floor information to the door control unit 8.

[0020] The door control unit 8 controls the rotation of the door motor 1 to open and close the elevator doors 3. The door control unit 8 also has a function of learning the magnetic pole position of the door motor 1 in its initial state.

[0021] The door control unit 8 receives and stores floor information from the elevator control unit 7. The door control unit 8 may also receive information on the state of the door 3 from the door 3. As described above, the door control unit 8 learns the magnetic pole position of the door motor 1. After completing learning of the magnetic pole position, the door control unit 8 performs control to open and close the door 3. As an example, as shown in FIG. 1 , the door control unit 8 has a magnetic pole position learning command unit 9, a magnetic pole position learning unit 10, a magnetic pole position storage unit 11, a learning success / failure determination unit 12, and an opening / closing control unit 13.

[0022] The magnetic pole position learning command unit 9 receives floor information from the elevator control unit 7. The magnetic pole position learning command unit 9 may also receive information on the state of the door 3 from the door 3. The magnetic pole position learning command unit 9 outputs a learning command to the magnetic pole position learning unit 10 in accordance with the received information.

[0023] The magnetic pole position learning command unit 9 stores floor information acquired from the elevator control unit 7. When the floor information changes due to the up and down movement of the elevator car 4, it outputs a learning command to learn the magnetic pole position to the magnetic pole position learning unit 10. Furthermore, the magnetic pole position learning command unit 9 may output a learning command for the magnetic pole position to the magnetic pole position learning unit 10 when it acquires information that the door 3 is in a fully closed state, for example.

[0024] When the magnetic pole position learning unit 10 receives a learning command from the magnetic pole position learning command unit 9, it applies a voltage for magnetic pole position learning to the door motor 1. As a result of applying the voltage, it also receives current value information from the door motor 1. More specifically, it receives current value information from a current sensor (not shown) that detects the current value of the door motor 1. The magnetic pole position learning unit 10 performs calculations to learn the magnetic pole position from the current value obtained from the door motor 1.

[0025] In this disclosure, the magnetic pole position learned by the magnetic pole position learning unit 10 refers to the electrical reference position of the door motor 1. As described above, the door motor 1 is a permanent magnet synchronous motor. In controlling a permanent magnet synchronous motor, a method of converting three-phase AC to two-phase DC is commonly used. This conversion requires information about the magnetic pole position. Therefore, the magnetic pole position is learned by the magnetic pole position learning unit 10.

[0026] The magnetic pole position learned by the magnetic pole position learning unit 10 indicates a reference position at the time of learning. The amount of change from this reference position can be detected by the rotation angle sensor 2. Alternatively, the amount of change from the reference position may be detected using estimated rotation information, as in sensorless control.

[0027] The magnetic pole position storage unit 11 receives information about the learned magnetic pole position from the magnetic pole position learning unit 10. The magnetic pole position storage unit 11 may also receive floor information from the elevator control unit 7. The magnetic pole position storage unit 11 may store the magnetic pole position learned by the magnetic pole position learning unit 10 for each piece of floor information. For example, the floor information and the learning results of the magnetic pole position may be stored together, such as "learned magnetic pole position value for 1F = X" and "learned magnetic pole position value for 2F = Y." Storing the magnetic pole position together with the floor information makes it possible to determine which floors learning was successful, which floors do not require further learning, etc.

[0028] The learning success / failure determination unit 12 determines whether learning by the magnetic pole position learning unit 10 has succeeded or failed using a signal indicating information about the rotation angle received from the rotation angle sensor 2. Information about the success or failure of learning is sent to the magnetic pole position learning unit 10. The magnetic pole position learning unit 10 selects magnetic pole position information to output to the magnetic pole position storage unit 11 depending on whether learning has succeeded. For example, if learning of the magnetic pole position has succeeded, the magnetic pole position learning unit 10 outputs information about the learned magnetic pole position. For example, if learning of the magnetic pole position has failed, the magnetic pole position learning unit 10 outputs a different value indicating failure.

[0029] The opening / closing control unit 13 receives information about the magnetic pole position from the magnetic pole position storage unit 11. The opening / closing control unit 13 controls the door motor 1 for opening and closing the door 3 using the received information about the magnetic pole position.

[0030] Here, the learning operation by the magnetic pole position learning unit 10 will be described in more detail. Note that the method of learning the magnetic pole position by the magnetic pole position learning unit 10 is not limited to the following example. For example, the method of learning the magnetic pole position by the magnetic pole position learning unit 10 may be to learn the magnetic pole position from a current value that is a response when a pulse voltage is applied.

[0031] When a pulse voltage is applied, if the phase of the magnetic poles of the rotor of the door motor 1 and the phase of the applied voltage are in the same direction, the direction of the magnetic flux caused by the current generated by the applied voltage will be the same as the direction of the magnetic flux of the rotor magnet. At this time, the total magnetic flux value increases, causing magnetic saturation in the motor core. When magnetic saturation occurs, the winding inductance of the door motor 1 decreases, and the amplitude of the current flowing through the door motor 1 increases.

[0032] On the other hand, if the phase of the rotor's magnetic poles and the phase of the applied voltage are opposite, when a pulse voltage is applied, the direction of the magnetic flux caused by the current generated by the applied voltage will be opposite to the direction of the rotor's magnet magnetic flux. In this case, the total magnetic flux value will be small, and magnetic saturation will not occur in the motor core. When magnetic saturation does not occur, the winding inductance of the door motor 1 will be large, and the amplitude of the current flowing through the door motor 1 will be small.

[0033] In this way, the degree of magnetic saturation of the motor core changes depending on the relationship between the phase of the rotor's magnetic poles and the phase of the applied voltage, which in turn changes the amplitude of the current flowing through the door motor 1. By utilizing this property, the magnetic pole position can be learned.

[0034] The magnetic pole position learning unit 10 learns the magnetic pole position by, for example, applying a voltage while intermittently changing the phase on the αβ axes and determining the phase where magnetic saturation occurs. In a permanent magnet synchronous motor, a dq transformation is performed when AC is converted to DC using the magnetic pole position. In this case, the d-axis current is a current that is not related to torque, and the q-axis current is a current that is related to torque.

[0035] When the magnetic pole position is unknown, applying a phase-shifted pulse voltage causes a momentary torque to be generated by also energizing the q-axis. Because the direction of the torque cannot be controlled during magnetic pole position learning, the torque acts in both the opening and closing directions of the door 3. If the door motor 1 rotates during magnetic pole learning, the magnetic pole position will be deemed to have changed, resulting in an error in the magnetic pole position learning results.

[0036] When the door 3 is in the fully closed state, as described above, a mechanical force acts in the direction that closes the door 3. In addition, a static friction force acts due to the weight of the door 3. For this reason, even if torque in the direction that opens the door 3 is generated by applying voltage for magnetic pole learning, the door 3 does not open and the door motor 1 does not rotate. Furthermore, even if torque is generated in the direction that closes the door 3 in the fully closed state, the door 3 does not move any further and the door motor 1 does not rotate. In this way, by learning the magnetic pole position when the door 3 is in the fully closed state, the accuracy of the learning results can be improved.

[0037] If the torque generated during learning of the magnetic pole position exceeds the mechanical force acting on the door 3 in the closing direction and the static friction force due to its own weight, the door motor 1 may rotate. The weight of the doors 3 at elevator landings may differ from floor to floor. For this reason, at some landings, the doors 3 are light and the static friction force due to their own weight is low, so the door motor 1 may rotate during learning of the magnetic pole position. In this case, the accuracy of the learning results is considered low, so it is desirable to perform learning on another floor.

[0038] In this embodiment, the magnetic pole position learning command unit 9 outputs a learning command to the magnetic pole position learning unit 10 when the floor information changes. Furthermore, the learning success / failure determination unit 12 monitors the rotation of the door motor 1 using the detection value of the rotation angle sensor 2 while the magnetic pole position is being learned. For example, if it is detected that the door motor 1 has rotated more than a reference value during learning of the magnetic pole position, it may determine that the learning has failed. This reference value is, for example, 1 mm. The success / failure of learning may be determined using the detection result of the rotation angle sensor 2 in this way, or may be determined by other methods.

[0039] FIG. 2 is a flowchart showing an example of the magnetic pole position learning process by the door control unit 8 of the first embodiment. When magnetic pole position learning starts, the magnetic pole position learning command unit 9 first determines whether the floor information has changed (step S201). If the floor information has not changed, the magnetic pole position learning is not performed (step S205) and the process ends. In this embodiment, the magnetic pole position is learned when the floor information has changed. That is, the magnetic pole position is learned when the state of the landing door 3 has changed in response to a change in floor. This makes it possible to avoid conditions that cause learning to fail and improve learning accuracy.

[0040] When the floor information changes in step S201, the magnetic pole position learning command unit 9 determines whether the door 3 is in a fully closed state (step S202). The door 3 is not in a fully closed state when the door 3 is stopped somewhere between the fully closed position and the fully open position. This situation does not occur during normal elevator operation, but it can occur during installation or maintenance. If a voltage is applied in this case to learn the magnetic pole position, as described above, the door 3 may move either in the closing or opening direction. A state in which the door 3 is not in a fully closed state is not suitable for learning the magnetic pole position. Therefore, if the door 3 is not in a fully closed state, magnetic pole position learning is not performed (step S205) and the process ends.

[0041] If it is determined in step S202 that the door 3 is in a fully closed state, a learning command is sent from the magnetic pole position learning command unit 9 to the magnetic pole position learning unit 10, and learning of the magnetic pole position is carried out (step S203). After the learning is completed, information on the learned magnetic pole position is sent to the magnetic pole position storage unit 11 and stored together with the floor information (step S204).

[0042] 3 is a flowchart showing an example of a process for determining whether magnetic pole position learning has been successful by the door control unit 8 of embodiment 1. The learning success / failure determination unit 12 determines whether the magnetic pole position is currently being learned in response to a learning command from the magnetic pole position learning command unit 9 (step S301). If the magnetic pole position is not currently being learned, there is no need to determine whether learning has been successful, and the process ends.

[0043] If the magnetic pole position is being learned, it is determined whether there has been a change in the rotation angle of the door motor 1 during learning of the magnetic pole position (step S302). Here, "change in rotation angle" means a change in rotation angle equal to or greater than a predetermined angle, or rotation of the door motor 1 equal to or greater than a predetermined movement amount. For example, it is determined whether the rotation angle has changed by more than a reference value. This reference value is, for example, 10°. If there has been a "change in rotation angle," it is determined that learning has failed (step S303).

[0044] If the learning of the magnetic pole position fails, the magnetic pole position memory unit 11 performs processing so that the learning result is not stored (step S304). Alternatively, a value indicating that the learning of the magnetic pole position has failed may be output to the magnetic pole position learning unit 10.

[0045] If there is no change in the rotation angle during learning of the magnetic pole position, it is determined that learning has been successful (step S305). If learning of the magnetic pole position has been successful, the magnetic pole position storage unit 11 stores the learning result together with the floor information (step S306).

[0046] 4 is a flowchart showing an example of processing that the magnetic pole position storage unit 11 outputs to the opening / closing control unit 13 in the first embodiment. In the present embodiment, the opening / closing control unit 13 controls the door motor 1 to open or close the door 3 on a specific floor, based on the magnetic pole position information stored in the magnetic pole position storage unit 11. The magnetic pole position information used by the opening / closing control unit 13 at this time is determined, for example, by the flow shown in FIG.

[0047] As described above, the magnetic pole position learning unit 10 learns the magnetic pole position, and the learning success / failure determination unit 12 determines whether learning of the magnetic pole position has been successful. If the learning success / failure determination unit 12 determines that learning has been successful (step S401), the magnetic pole position storage unit 11 outputs information about the learned magnetic pole position to the opening / closing control unit 13 (step S402).

[0048] If the learning success / failure determination unit 12 determines that learning has failed (step S401), when a request is made to open or close the door 3 at the specific floor where learning failed, the magnetic pole position storage unit 11 determines whether learning results for other floors have been saved (step S403). If learning results for other floors have been saved, the magnetic pole position storage unit 11 outputs the learning results for the other floors to the opening / closing control unit 13 (step S404). The opening / closing control unit 13 controls the door motor 1 using the learning results for the other floors. Note that when controlling the door motor 1 to open or close the door 3 at a specific floor, for example, even if the floor information does not change and learning is not performed, the door motor 1 may be controlled using the learning results for the other floors in the same way.

[0049] If, in step S403, the learning results for other floors are not stored, opening / closing control unit 13 commands elevator control unit 7 to move car 4 to the floor (step S405). This makes it possible to obtain the learning results for other floors. Alternatively, if, in step S403, the learning results for other floors are not stored, open-loop control, that is, control for applying a sine wave voltage with a phase difference of 120° to door motor 1 to drive it, may be performed.

[0050] The magnetic pole position of the door motor 1 may be learned, for example, during elevator installation. That is, after elevator installation is complete and before operation begins, an employee may move between floors to learn the magnetic pole position. This allows the employee to complete learning of the magnetic pole position by repeatedly moving between floors, even if learning fails on a particular floor. Alternatively, during installation, the elevator control unit 7 may be instructed to land on all floors, thereby learning the magnetic pole positions on all floors. By learning the magnetic pole position during installation, the opening / closing control unit 13 can open and close the door 3 based on the previously learned results when the elevator is in operation. Furthermore, learning of the magnetic pole position may also be performed during maintenance. By performing learning during regular maintenance, any changes from the results learned during installation can be confirmed. This allows, for example, to detect abnormalities in the door motor 1.

[0051] Furthermore, when the magnetic pole position memory unit 11 has successfully learned the magnetic pole position multiple times while changing floors, the unit may determine that further learning is unnecessary and may store an average value of the multiple learning results as the learned value of the magnetic pole position. This average value may be used to control the opening and closing of the door 3.

[0052] 5 is a flowchart showing an example of processing when learning of magnetic pole positions is successful for multiple floors in the first embodiment. The magnetic pole position storage unit 11 determines whether a reference number or more of learning results have been stored (step S501). If the reference number or more of learning results have not been stored, one of the magnetic pole positions learned for each floor is selected (step S504). If the reference number or more of learning results have been stored, the learning results are averaged (step S502). The averaged value is then stored as the magnetic pole position (step S503). When opening or closing the door 3 after the average value has been stored, the opening / closing control unit 13 uses this average value to control the rotation of the door motor 1.

[0053] As described above, if learning is performed on all floors during installation, the average value of the learning results is automatically saved, and the opening / closing control unit 13 can control the door motor 1 based on this average value.

[0054] As described above, in the elevator system according to this embodiment, by learning the magnetic pole position of the door motor 1 while the elevator is moving between floors, it is possible to learn the magnetic pole position according to the state of the landing door. This improves the learning accuracy. The elevator system according to this embodiment can support accurate estimation of the magnetic pole position of the permanent magnet synchronous motor that drives the elevator door.

[0055] Furthermore, the detection results of the rotation angle sensor 2 are monitored during learning of the magnetic pole position, and if rotation of the door motor 1 is detected during learning, the learning is deemed to have failed and learning is performed on another floor, thereby improving the learning accuracy. If learning on a specific floor fails, the door 3 can be opened and closed correctly by controlling the door motor 1 using successful learning results on other floors. If multiple learning results are saved, they can be averaged and used to control the opening and closing of the door 3.

[0056] 4, if learning of the magnetic pole position on a specific floor fails, the learning results on other floors are used to control the door motor 1. For example, if learning of the magnetic pole position fails, the door motor 1 may be controlled using a pre-stored reference value of the magnetic pole position.

[0057] As mentioned above, the magnetic pole position indicates the electrical reference position of the door motor 1. The amount of change from the reference position is detected by the rotation angle sensor 2. An incremental encoder is generally used for the rotation angle sensor 2. Incremental encoders can measure the amount of movement, but cannot detect absolute positions. For this reason, the magnetic pole position is learned in advance, and the amount of movement from this magnetic pole position is detected by the rotation angle sensor 2.

[0058] On the other hand, if the rotation angle sensor 2 can detect an absolute position, it can store the magnetic pole position corresponding to the absolute position detected by the rotation angle sensor 2. An example of a sensor that can detect an absolute position is an absolute encoder.

[0059] Assume that the rotation angle sensor 2, which can detect the absolute position of the rotor of the door motor 1, is installed so that the relationship is always the same with respect to the phase of the magnetic poles of the rotor. For example, this can be achieved by designing the rotor of the door motor 1 so that the installation position of the rotation angle sensor 2 is the same during manufacturing. In this case, the position of the magnetic pole relative to the absolute position detected by the rotation angle sensor 2 will be the same for each door motor 1. For example, the door control unit 8 pre-stores the position of the magnetic pole relative to the rotation angle sensor 2 as a reference value of the magnetic pole position. The door motor 1 may be controlled using the reference value of the magnetic pole position pre-stored in the door control unit 8 in at least one of the following situations: when the floor information does not change and learning is not performed, until learning of the magnetic pole position is completed, and when learning of the magnetic pole position fails. By configuring the rotation angle sensor 2 in this way, it is possible to drive the door motor 1 with a certain level of performance guaranteed without learning the magnetic pole position.

[0060] In the above example, the magnetic pole position storage unit 11 stores a reference value of the magnetic pole position in advance. This reference value is stored as a value that can be used on any floor without being associated with floor information. FIG. 6 is a flowchart showing a processing example different from that of FIG. 4 when learning of the magnetic pole position fails in embodiment 1. As described above, the opening / closing control unit 13 controls the rotation of the door motor 1 based on the magnetic pole position information stored in the magnetic pole position storage unit 11. At this time, the magnetic pole position information used by the opening / closing control unit 13 may be determined according to the flow of FIG. 6.

[0061] First, the magnetic pole position storage unit 11 determines whether the magnetic pole position at the floor where the vehicle has landed has been learned (step S601). This determination can be realized by determining whether the learning result has been sent from the magnetic pole position learning unit 10.

[0062] If it is determined that the magnetic pole position has not been learned for the floor on which the vehicle has landed, the pre-stored reference value of the magnetic pole position is output to the opening / closing control unit 13 (step S604), and the process is completed.

[0063] When learning of the magnetic pole position at the floor on which the vehicle has landed has been performed, the learning success / failure determination unit 12 determines whether learning of the magnetic pole position has been successful (step S602). When learning has been successful, the magnetic pole position storage unit 11 outputs information on the learned magnetic pole position to the opening / closing control unit 13 (step S603), and the process ends. On the other hand, when learning has failed, and a request to open or close the door 3 is made at the floor on which learning has failed, the magnetic pole position storage unit 11 outputs the stored reference value to the opening / closing control unit 13 (step S604), and the process ends. By storing the reference value of the magnetic pole position in advance, the door 3 can be opened and closed without moving between floors.

[0064] As described above, by storing the reference value of the magnetic pole position in the door control unit 8, even when floor movement does not occur and learning of the magnetic pole position is not performed, or when learning fails and learning results for other floors are not saved, the door 3 can be opened and closed by the door motor 1. Also, for example, floor movement is not required during installation work, which can shorten the installation work time.

[0065] Various aspects of the present disclosure are summarized below as appendices.

[0066] (Appendix 1) a permanent magnet synchronous motor that drives the elevator doors to open and close; a door control unit that controls rotation of the permanent magnet synchronous motor to open and close the door; an elevator control unit that controls the up and down movement of the elevator car; Equipped with The door control unit receives and stores floor information of the car from the elevator control unit, and when the floor information changes due to the up and down movement of the car, learns and stores the magnetic pole position of the permanent magnet synchronous motor. (Appendix 2) 2. The elevator system according to claim 1, wherein the door control unit learns the magnetic pole position of the permanent magnet synchronous motor when the door is in a fully closed state. (Appendix 3) The elevator system according to claim 1 or 2, wherein the door control unit stores the magnetic pole position for each of the floor information. (Appendix 4) a rotation angle sensor for detecting a rotation angle of the permanent magnet synchronous motor; The elevator system according to any one of Supplementary Note 1 to Supplementary Note 3, wherein the door control unit determines whether learning has been successful or not depending on the detection result of the rotation angle sensor when learning the magnetic pole position. (Appendix 5) 5. The elevator system according to claim 4, wherein when the learning of the magnetic pole position is successful at a plurality of floors, the door control unit controls the permanent magnet synchronous motor using an average value of the learning results of the magnetic pole position at the successful floors. (Appendix 6) The elevator system according to Appendix 4, wherein when controlling the permanent magnet synchronous motor to open or close the door at a specific floor, the door control unit controls the permanent magnet synchronous motor using information on the magnetic pole position learned at another floor in at least one of the following cases: when the floor information does not change and learning is not performed, and when learning of the magnetic pole position fails. (Appendix 7) The elevator system described in Appendix 4, wherein the door control unit pre-stores a reference value for the magnetic pole position, and controls the permanent magnet synchronous motor using the reference value if the floor information does not change and learning is not performed, or if learning of the magnetic pole position fails. (Appendix 8) 8. The elevator system according to claim 1, wherein the door control unit learns the magnetic pole position during installation of the elevator. [Explanation of symbols]

[0067] 1 door motor, 2 rotation angle sensor, 3 door, 4 car, 5 hoist, 6 counterweight, 7 elevator control unit, 8 door control unit, 9 magnetic pole position learning command unit, 10 magnetic pole position learning unit, 11 magnetic pole position storage unit, 12 learning success / failure determination unit, 13 opening / closing control unit

Claims

1. a permanent magnet synchronous motor that drives the elevator doors to open and close; a door control unit that controls rotation of the permanent magnet synchronous motor to open and close the door; an elevator control unit that controls the up and down movement of the elevator car; Equipped with The door control unit receives and stores floor information of the car from the elevator control unit, and when the floor information changes due to the up and down movement of the car, learns and stores the magnetic pole position of the permanent magnet synchronous motor.

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

3. 3. The elevator system according to claim 1, wherein the door control unit stores a learning result of the magnetic pole position for each of the floor information.

4. a rotation angle sensor for detecting a rotation angle of the permanent magnet synchronous motor; 3. The elevator system according to claim 1, wherein the door control unit determines whether the learning of the magnetic pole position has been successful or not based on the detection result of the rotation angle sensor when the learning of the magnetic pole position is successful.

5. 5. The elevator system according to claim 4, wherein when the learning of the magnetic pole position is successful at a plurality of floors, the door control unit controls the permanent magnet synchronous motor using an average value of the learning results of the magnetic pole position at the successful floors.

6. 5. The elevator system according to claim 4, wherein when the door control unit controls the permanent magnet synchronous motor to open or close the door at a specific floor, in at least one of the cases where the floor information does not change and learning is not performed, and where learning of the magnetic pole position fails, the door control unit controls the permanent magnet synchronous motor using information on the magnetic pole position learned at another floor.

7. 5. The elevator system according to claim 4, wherein the door control unit pre-stores a reference value of the magnetic pole position, and when the floor information does not change and learning is not performed, or when learning of the magnetic pole position fails, the door control unit controls the permanent magnet synchronous motor using the reference value.

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

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