Elevator door control device

Abstract

Provided is an elevator door control device capable of improving the accuracy of estimating the temperature of a motor. This control device comprises: a door state detection unit that detects the open / closed state of a door; a current command unit that generates a current command value for controlling the current flowing in a motor that drives the door; a voltage command unit that generates a voltage command value, which is a command value of the voltage applied to the motor, such that the current flowing in the motor follows the current command value; a resistance estimation unit that estimates the electrical resistance value of the motor; and a temperature estimation unit that estimates the coil temperature of the motor from the electrical resistance value estimated by the resistance estimation unit. The current command unit generates a test current command value, which is a current command value for estimating the coil temperature, if the door is detected by the door state detection unit to be in a fully open state or a fully closed state. The resistance estimation unit divides the amount of change in the voltage command value changed by the test current command value by the amount of change in the current flowing in the motor changed by the test current command value, thereby estimating the electrical resistance value.

Description

[Technical Field]

[0001] The present disclosure relates to a control device for an elevator door. [Background technology]

[0002] Patent Document 1 discloses an elevator door control device. The control device estimates the resistance of a door motor based on the current flowing through the door motor and the voltage applied to the door motor. The temperature of the door motor can be estimated based on the estimated resistance. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2006-290507 Summary of the Invention [Problem to be solved by the invention]

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

[0005] The present disclosure has been made to solve the above-mentioned problems, and an object of the present disclosure is to provide an elevator door control device that can improve the accuracy of estimating the motor temperature. [Means for solving the problem]

[0006] The elevator door control device according to the present disclosure includes a door state detection unit that detects whether an elevator door is open or closed, a current command unit that generates a current command value for controlling a current flowing through a motor that drives the door, a voltage command unit that generates a voltage command value that is a command value for a voltage to be applied to the motor such that the current flowing through the motor follows the current command value, a resistance estimation unit that estimates an electrical resistance value of the motor, and a temperature estimation unit that estimates a coil temperature of the motor from the electrical resistance value estimated by the resistance estimation unit, wherein the current command unit generates a test current command value that is the current command value for estimating the coil temperature when the door state detection unit detects that the door is in a fully open or fully closed state, and the resistance estimation unit estimates the electrical resistance value by dividing the amount of change in the voltage command value that has changed due to the test current command value by the amount of change in the current flowing through the motor that has changed due to the test current command value. [Effects of the Invention]

[0007] According to the present disclosure, the electrical resistance value is estimated by dividing the change in the voltage command value by the change in the current flowing through the motor, thereby improving the accuracy of estimating the temperature of the motor. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram showing an overview of an elevator system in which an elevator door control device in embodiment 1 is installed. [Figure 2] FIG. 1 is a block diagram of an elevator door control device in embodiment 1. [Figure 3] FIG. 2 is a diagram showing a first example of a test current command value generated by the elevator door control device in the first embodiment. [Figure 4] FIG. 10 is a diagram showing a second example of a test current command value generated by the elevator door control device in the first embodiment. [Figure 5] 1 is a flowchart for explaining an overview of a first example of a temperature estimation process performed by the elevator door control device in embodiment 1. [Figure 6] 10 is a flowchart for explaining an overview of a second example of the temperature estimation process performed by the elevator door control device in embodiment 1. [Figure 7] 10 is a flowchart for explaining an overview of the operation of the elevator door control device in embodiment 1 to estimate an estimated resistance value. [Figure 8] 1 is a flowchart for explaining an overview of the operation of the overheat protection control performed by the elevator door control device in embodiment 1. [Figure 9] FIG. 1 is a block diagram of an elevator door control device in embodiment 1. [Figure 10] FIG. 2 is a diagram showing an example of the current coil temperature estimated by the elevator door control device in embodiment 1. [Figure 11] 1 is a flowchart for explaining an overview of the operation performed by the elevator door control device in embodiment 1. [Figure 12] FIG. 10 is a block diagram of an elevator door control device in embodiment 2. [Figure 13] FIG. 10 is a diagram showing an overview of a temperature rise estimator for an elevator door control device in embodiment 2. [Figure 14] FIG. 10 is a diagram showing an example of numerical values ​​used by the temperature rise estimator of the elevator door control device in embodiment 2. [Figure 15] 10 is a flowchart for explaining an overview of a first example of a temperature estimation process performed by an elevator door control device in embodiment 2. [Figure 16] 10 is a flowchart for explaining an overview of a second example of the temperature estimation process performed by the elevator door control device in embodiment 2. [Figure 17] 10 is a flowchart for explaining an overview of the operation of the overheat protection control performed by the elevator door control device in embodiment 2. [Figure 18] FIG. 10 is a block diagram of an elevator door control device in embodiment 2. [Figure 19]FIG. 10 is a diagram showing an example of the current estimated coil temperature estimated by the elevator door control device in embodiment 2. [Figure 20] 10 is a flowchart for explaining an overview of the operation performed by the elevator door control device in embodiment 2. [Figure 21] FIG. 1 is a hardware configuration diagram of an elevator door control device in embodiment 1 or embodiment 2. DETAILED DESCRIPTION OF THE INVENTION

[0009] The embodiments of the present disclosure will be described with reference to the accompanying drawings. In each drawing, the same or corresponding parts are designated by the same reference numerals. Duplicate descriptions of these parts will be appropriately simplified or omitted.

[0010] Embodiment 1 FIG. 1 is a diagram showing an overview of an elevator system in which an elevator door control device according to the first embodiment is provided.

[0011] In the elevator system 1 of Figure 1, a hoistway 2 passes through each floor of a building 3. A machine room 4 is provided directly above the hoistway 2. A plurality of landings 5 ​​are provided on each floor of the building 3. A hoisting machine 6 is provided in the machine room 4. A control panel 7 is provided in the machine room 4. The control panel 7 can control the elevator system 1 as a whole. A main rope 8 is wound around the hoisting machine 6. A car 9 is provided inside the hoistway 2. The car 9 is suspended from the main rope 8.

[0012] As an elevator door in the elevator system 1, a car door 10 is provided on the car 9. The car door 10 includes a door panel 11, which is a door, and a control device 20. The door panel 11 is provided at the entrance of the car 9 so as to be movable horizontally. The control device 20 controls the open / closed state of the door panel 11 by moving the door panel 11 horizontally. Specifically, the control device 20 drives and controls the position of the door panel 11, the movement speed of the door panel 11, etc.

[0013] When the elevator system 1 is operating, the hoist 6 rotates based on commands from the control panel 7. The main rope 8 moves following the rotation of the hoist 6. The car 9 rises and falls following the movement of the main rope 8. When the car 9 stops at the destination landing 5, the control device 20 opens the door panel 11, which is in a fully closed state. At this time, the control device 20 opens the landing door of the landing 5 where the car 9 has stopped, along with the door panel 11. Passengers board and disembark through the entrance and exit of the car 9. While passengers are boarding and disembarking, the control device 20 maintains the door panel 11 and the landing door in a fully open state. Thereafter, the control device 20 closes the door panel 11 and the landing door.

[0014] Next, the control device 20 will be described with reference to FIG. FIG. 2 is a block diagram of the elevator door control device in the first embodiment.

[0015] 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 converter 25, a current command generator 26, a voltage command generator 27, a voltage coordinate converter 28, a power converter 29, a resistance estimator 30, a temperature estimator 31, and a protection controller 32. The current sensor 23, the door state detector 24, the current coordinate converter 25, the current command generator 26, the voltage command generator 27, the voltage coordinate converter 28, the power converter 29, the resistance estimator 30, the temperature estimator 31, and the protection controller 32 may be housed in a single housing or may be provided separately.

[0016] The motor 21 is provided to drive the door panel 11. The motor 21 is a motor that is rotationally driven by three-phase AC. Although not shown, the motor 21 is provided with three-phase coils that correspond to the respective phases of the three-phase AC. The rotational position, rotational speed, rotational torque, etc. of the motor 21 are controlled by the supplied power.

[0017] The rotation sensor 22 measures the rotational position θ of the motor 21. Various sensors such as an encoder or a resolver can be used for the rotation sensor 22. For example, information on the rotational position θ is used in the control device 20 for controlling the rotational position, as a control standard for current, etc.

[0018] The rotation sensor 22 may measure the position of the door panel 11 based on the rotation position of the motor 21. The rotation sensor 22 may transmit the measured position information of the door panel 11 to the control panel 7 (not shown in Fig. 2). For example, the position information of the door panel 11 may be used in the control device 20 to determine the acceleration position, deceleration position, etc. of the door panel 11.

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

[0020] The door state detector 24 serves as a door state detector and detects the open / closed state of the door panel 11. Specifically, the door state detector 24 detects whether the door panel 11 is in a fully open state, a fully closed state, or another state that is neither fully open nor fully closed. For example, the door state detector 24 detects the open / closed state of the door panel 11 based on the rotation position detected by the rotation sensor 22.

[0021] The door state detector 24 may be a device that detects the open / closed state of the door panel 11 by any method as long as it 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 open / closed state of the door panel 11 by sensors attached to the fully closed position and the fully open position of the door panel 11.

[0022] The current coordinate converter 25 receives an input of the value of the rotational position θ of the motor 21 from the rotation sensor 22. The current coordinate converter 25 receives input of the three-phase actual current values ​​Iu, Iv, and Iw flowing through the motor 21 from the current sensor 23. The current coordinate converter 25, as a current coordinate converter, performs dq transformation from the coordinate system of the actual current values ​​Iu, Iv, and Iw into a dq coordinate system using the rotational position θ. That is, the current coordinate converter 25 outputs the corresponding actual current value Id of the d axis and the actual current value Iq of the q axis based on the rotational position θ and the actual current values ​​Iu, Iv, and Iw.

[0023] The function of the current commander 26 includes the functions of the control system of the motor 21, such as the position control system and speed control system of the motor 21. The current commander 26 generates a current command value for controlling the current flowing through the motor 21 based on commands from the control panel 7, signals from the position control system of the motor 21, signals from the speed control system of the motor 21, etc. In this case, the current commander 26 generates a d-axis current command value Id * , and the q-axis current command value Iq * and are generated and output.

[0024] The actual current value Iq of the q axis is a current value related to the rotational torque of the motor 21. When performing control to open the door panel 11 and control to maintain the door panel 11 in a fully open state, the current commander 26 sets a current command value Iq such that the motor 21 generates torque in the opening direction of the door panel 11. * When performing control to close the door panel 11 and control to maintain the door panel 11 in a fully closed state, the current commander 26 generates a current command value Iq such that the motor 21 generates torque in the closing direction of the door panel 11. * On the other hand, the d-axis current value Id is a current value that does not contribute to the rotational torque. For example, when performing control to open and close the door panel 11, control to maintain the door panel 11 in a fully open state, or control to maintain the door panel 11 in a fully closed state, the current commander 26 generates the current command value Id * is set to 0. For example, when the motor 21 is operated in a high-speed and high-torque operating range to open and close the door panel 11, the current command value Id *may be set to a value other than 0. However, even in this operating region, when maintaining the fully open state or the fully closed state, the current command value Id * Set to 0.

[0025] The voltage commander 27 controls the current flowing through the motor 21. The voltage commander 27, as a voltage commanding unit, generates and outputs a voltage command value in the form of a dq coordinate system for controlling the voltage applied to the motor 21 based on a current command value and an actual current value. Specifically, the actual current values ​​Id and Iq are input to the voltage commander 27 from the current coordinate converter 25. The voltage commander 27 receives the current command value Id from the current commander 26. * , Iq * The voltage commander 27 receives the actual current values ​​Id and Iq as the current command value Id * , Iq * The actual current values ​​Id and Iq are calculated to follow the current command value Id * , Iq * The voltage command value Vd * , Vq * At this time, for example, the voltage commander 27 generates the actual current values ​​Id and Iq and the current command value Id * , Iq * The control performed by the voltage commander 27 is realized by an arbitrary control method such as PID control.

[0026] The voltage coordinate converter 28 receives the value of the rotational position θ of the motor 21 from the rotation sensor 22. The voltage coordinate converter 28 also receives the voltage command value Vd * , Vq * The voltage coordinate converter 28, which functions as a voltage coordinate converter, converts the voltage command value Vd * , Vq * That is, the voltage coordinate converter 28 converts the coordinate system of the rotation position θ and the voltage command value Vd * , Vq * Based on this, the corresponding U-phase voltage command value Vu * and the V-phase voltage command value Vv * and the W-phase voltage command value Vw *The voltage coordinate converter 28 outputs the voltage command value Vu in accordance with the design value of the power converter 29. * , Vv * , Vw * is converted into a duty ratio and output.

[0027] The power converter 29 serves as a power conversion unit and is electrically connected to the motor 21. A current sensor 23 is connected between the power converter 29 and the motor 21. The power converter 29 receives a supply of power from an operating power supply (not shown).

[0028] The power converter 29 is an amplifier that supplies power to control the rotation of the motor 21. The power converter 29 has a function of a PWM inverter. The power converter 29 converts a voltage command value Vu * , Vv * , Vw * The power converter 29 converts the power from the operating power supply based on the switching command and supplies the power to the motor 21.

[0029] The resistance estimator 30 functions as a resistance estimator and calculates the actual current value Id output from the current coordinate converter 25 and the voltage command value Vd output from the voltage command generator 27. * and estimate the electrical resistance value of the coils of the motor 21. At this time, the resistance estimator 30 estimates the overall electrical resistance value of the electrical circuit made up of the three coils as the estimated resistance value R^.

[0030] The temperature estimator 31 receives the estimated resistance value R^ from the resistance estimator 30. The temperature estimator 31 functions as a temperature estimator and estimates the coil temperature T of the motor 21 using the estimated resistance value R^.

[0031] The protection controller 32 receives the estimated coil temperature T value from the temperature estimator 31. The protection controller 32, as a protection control unit, determines whether the coil temperature T is a coil temperature at which overheat protection control should be executed.

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

[0033] The temperature estimation operation is started when the door panel 11 is in a fully open or fully closed state as a condition. When the door state detector 24 detects that the door panel 11 is in a fully open or fully closed state, the current commander 26 outputs a test current command value Id * , Iq * At this time, the current command generator 26 generates a plurality of sets of test current command values ​​Id * , Iq * Generate the test current values ​​Iq contained in multiple sets. * Each of the test current values ​​Id included in the plurality of sets is equal. * The current command value Iq of the q axis is different from the current command value Iq of the q axis. * is fixed and the d-axis current command value Id * Multiple sets of test current command values ​​Id * , Iq * Generate.

[0034] The current command generator 26 generates a plurality of sets of test current command values ​​Id * , Iq * The first test current command value Id1 is one of the sets * , Iq1 * Then, based on the specified control method, the current command generator 26 outputs a plurality of sets of test current command values ​​Id * , Iq * The second test current command value Id2 is another set of the * , Iq2 * In this way, the current command generator 26 outputs a plurality of sets of test current command values ​​Id * , Iq * are output in order with time intervals.

[0035] The voltage commander 27 outputs a test current command value Id * , Iq * The test voltage command value Vd *, Vq * Output.

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

[0037] The resistance estimator 30 receives a first test current command value Id1 * The first test voltage command value Vd1 corresponding to * is input from the voltage commander 27. The resistance estimator 30 receives the first test voltage command value Vd1 from the current coordinate converter 25. * The first actual current value Id1 controlled by the above is input.

[0038] Thereafter, the resistance estimator 30 receives the second test current command value Id2 * The second test voltage command value Vd2 corresponding to * is input from the voltage commander 27. The resistance estimator 30 receives the second test voltage command value Vd2 * The second actual current value Id2 controlled by the above is input.

[0039] The resistance estimator 30 estimates the change amount Vd2 of the voltage command value. * -Vd1 * and the amount of change in the actual current value Id2-Id1. The resistance estimator 30 divides the amount of change in the voltage command value by the amount of change in the actual current value to obtain an estimated resistance value R^.

[0040] The temperature estimator 31 receives the estimated resistance value R^ from the resistance estimator 30. The temperature estimator 31 estimates the coil temperature T from the estimated resistance value R^ based on a temperature formula model that indicates the relationship between the resistance value and the coil temperature of the motor 21. The control device 20 ends the temperature estimation process.

[0041] The temperature estimation process accurately calculates the estimated resistance value R^ of the motor 21. Next, the principle of how the estimated resistance value R^ is calculated by the temperature estimation process will be described.

[0042] Generally, the following equations (1) and (2) hold true for the motor 21. Equation (1) is the voltage equation for the d-axis. Equation (2) is the voltage equation for the q-axis.

[0043]

number

[0044]

number

[0045] Here, R is the total resistance of the coil of the motor 21. Ld and Lq are the inductances of the d-axis and q-axis, respectively. ω is the electrical angular velocity. φ is the induced voltage constant.

[0046] When the door panel 11 is in a fully open or fully closed state, the rotational position θ of the motor 21 does not change over time. In this case, the electrical angular velocity ω is 0. Equations (1) and (2) can be regarded as the following equations (3) and (4), respectively.

[0047]

number

[0048]

number

[0049] From equations (3) and (4), when the door panel 11 is in a fully open or fully closed state, the resistance value R can be calculated based on Ohm's law from the pair of Vd and Id or the pair of Vq and Iq.

[0050] Reliability is required for the values ​​used in calculating the resistance value R. In the control device 20, the actual current values ​​Id and Iq are calculated based on the actual current values ​​Iu, Iv, and Iw and the measured value of the rotational position θ. In other words, the actual current values ​​Id and Iq are calculated based on the measured values ​​and can therefore be considered accurate values.

[0051] It is difficult to detect the applied voltage values ​​Vd and Vq as actual measured values. For this reason, in the temperature estimation process of the control device 20, the voltage command value Vd * , Vq * However, when the voltage command value Vd is added to equation (3) or (4), * , Vq * When is directly applied, various estimation errors may occur in the estimated resistance value.

[0052] For example, if there is a design difference between the power supply voltage value supplied from the power supply to the power converter 29 and the voltage value used as a design value in the control system of the motor 21, the design difference may cause the voltage command value Vd * , Vq * and the voltage actually applied to the motor 21. Furthermore, due to this design difference, an error may occur in the dead time correction performed by the power converter 29.

[0053] In the control device 20, the voltage command value Vd * , Vq * Specifically, the voltage command value Vd is generated so as to absorb the difference between the power supply voltage value and the voltage value used as the design value. * , Vq * The voltage command value Vd is calculated and generated so as to compensate for the error in the dead time correction caused by the design difference. * , Vq * is calculated and generated.

[0054] However, even if such a calculation is performed, the voltage command value Vd * , Vq *An error may occur between the value of the power supply voltage and the value of the voltage actually applied. Furthermore, to correct the error caused by the power supply voltage value, a voltage sensor that measures the power supply voltage value is required. However, such a voltage sensor may not be installed due to constraints such as manufacturing costs and physical space constraints on the device board. If a voltage sensor is not installed, the design value of the power supply voltage may be used to calculate the duty ratio. In other words, an estimation error may occur.

[0055] In the temperature estimation process of this embodiment, in order to prevent deterioration of estimation accuracy due to estimation errors, the difference between the voltage command values ​​and the actual current values ​​is used in the resistance value estimation calculation. Specifically, the following equation (5) is used.

[0056]

number

[0057] In equation (5), the difference ΔV is the amount of change in the d-axis voltage command value or the amount of change in the q-axis voltage command value. The difference ΔI is the amount of change in the d-axis actual current value or the amount of change in the q-axis actual current value. By taking the difference between the two voltage command values, the voltage command value Vd * , Vq * The value ΔV, in which the error between the actual voltage and the resistance is cancelled out, is used to estimate the resistance value. ΔV can be considered to be equal to the difference between the actual voltage values ​​applied.

[0058] In the temperature estimation process, the voltage command value Vd * , Vq * At least two sets of test current command values ​​must be generated. Therefore, the current commander 26 generates a set of multiple current command values ​​as the test current command values. The voltage commander 27 generates a set of voltage command values ​​corresponding to the set of multiple current command values ​​as the test voltage command values. In this case, the current commander 26 generates test current command values ​​that can maintain the door panel 11 in the fully open state or the fully closed state.

[0059] Specifically, the current command value Iq* is fixed, and the d-axis current command value Id * This generates a test current value by changing the q-axis current command value Iq * This is because, if the first test voltage value Vd1 is changed, the door panel 11 may not be able to be maintained in the fully open or fully closed state. * , second test voltage value Vd2 * The first actual current value Id1 and the second actual current value Id2 are applied to equation (5). That is, the estimated voltage value R^ can be calculated by the following equation (6).

[0060]

number

[0061] If the motor 21 is a motor with a surface permanent magnet (SPM) structure, no rotational torque is generated even when a d-axis current is applied. On the other hand, if the motor 21 is a motor with an interior permanent magnet (IPM) structure, reluctance torque is generated by the application of the d-axis current. Since the reluctance torque is often relatively smaller than the magnet torque, the influence of the reluctance torque is small. However, if the motor 21 has an IPM structure, the test current command value Id * The value of is set taking into consideration the effect of reluctance torque.

[0062] Based on the above principle, the estimated resistance value R^ is calculated.

[0063] Thereafter, in the temperature estimation process, the coil temperature T is estimated from the estimated resistance value R^.

[0064] The temperature estimator 31 stores in advance a temperature mathematical model for estimating the coil temperature T. The temperature mathematical model may be created by a test in which the resistance value is measured while the coil temperature of the motor 21 is changed. Alternatively, a theoretically derived theoretical model may be used as the temperature mathematical model.

[0065] The following equation (7) is a first example of a temperature equation model.

[0066]

number

[0067] The first example of the temperature formula model is a model in which there is a linear relationship between the coil temperature T and the coil resistance value R. Here, α and β are set constants. Note that in the first example, the temperature formula model may be a function of higher order than first order.

[0068] The following equation (8) is a second example of a temperature equation model.

[0069]

number

[0070] Equation (8) is a theoretical model of the coil temperature. In equation (8), T0' is the reference temperature. R0 is the reference resistance value of the coil at the reference temperature.

[0071] The temperature estimator 31 is not limited to the first and second examples, and may estimate the coil temperature T from the estimated resistance value R^ of the coil using other methods.

[0072] Next, examples of test current command values ​​generated by the current commander 26 will be described with reference to FIGS. Fig. 3 is a diagram showing a first example of a test current command value generated by the elevator door control device in embodiment 1. Fig. 4 is a diagram showing a second example of a test current command value generated by the elevator door control device in embodiment 1.

[0073] The upper part of Fig. 3 and the upper part of Fig. 4 show the relationship between time and the d-axis command current value Id * 10 is a graph showing the relationship between the command current value Id and the command current value Id. * The bottom part of Fig. 3 and the bottom part of Fig. 4 show the relationship between time and the d-axis command voltage value Vd * 10 is a graph showing the relationship between

[0074] FIG. 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. current The command value is set to a current command value with different magnitudes intermittently. current The pulse waveform is generated in response to the command value. The length of each pulse waveform is set to be equal to or longer than the settling time. The settling time is determined by the current command value Id * The settling time is the time required for the actual current value Id to follow and settle relative to the current command value Id. The settling time is determined by the design of the control gain of the current commander 26.

[0075] In FIG. 3, the first test current command value Id1 * , second test current command value Id2 * , and the third test current command value Id3 * are generated in order at time intervals. At this time, the first test current command value Id1 * , second test current command value Id2 * , and the third test current command value Id3 * The d-axis current command value is set to 0 during the test current command value. * , second test voltage command value Vd2 * , and the third test voltage command value Vd3 * are generated in sequence. The first actual current value Id1, the second actual current value Id2, and the third actual current value Id3 are measured in sequence in response to the test voltage command value.

[0076] When the actual current value of the d-axis increases, the amount of heat generated increases in the coil of the motor 21. In the first example, the voltage value is applied in pulses, so that the amount of heat generated can be suppressed.

[0077] 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 waveform. That is, the test current command value is set to a ramp waveform from 0 to Id1. * , Id2 * , Id3 * The second example can be applied when the heat generation of the coil is not a problem, when the delay in the response of the actual current value to the current command value is not a problem, etc.

[0078] In the first and second examples, three test current command values ​​Id1 * , Id2 * , Id3 * In this case, the following three values ​​can be derived from R: R=(Vd2 * -Vd1 * ) / (Id2-Id1), R=(Vd3 * -Vd2 * ) / (Id3-Id2), R=(Vd3 * -Vd1 * ) / (Id3-Id1). For example, the resistance estimator 30 may estimate the average value of the multiple calculated R values ​​as the estimated resistance value R^. For example, the resistance estimator 30 may estimate the largest R among the multiple calculated R values ​​as the estimated resistance value R^, as a value that allows for safer operation.

[0079] The test current command value may be generated by a method different from the first and second examples.

[0080] When calculating the estimated resistance value R^, filtering may be performed on the current and voltage. In this case, high-frequency noise in the current and voltage values ​​is suppressed, improving the accuracy of estimating R^. When filtering is performed, filtering with the same cutoff frequency is required. This is to match the temporal correspondence between the current and voltage values. Furthermore, after filtering is performed and multiple resistance values ​​R are calculated, an average value of the multiple resistance values ​​R may be calculated.

[0081] Next, a first example of the temperature estimation process performed by the control device 20 will be described with reference to FIG. FIG. 5 is a flowchart for explaining an outline of a first example of the temperature estimation process performed by the elevator door control device in the first embodiment.

[0082] The first example of the temperature estimation process can be performed at any timing.

[0083] In step S001, the control device 20 determines whether the door panel 11 is in a fully open state or a fully closed state. The control device 20 makes the determination in step S001 based on the detection result of the door state detector 24.

[0084] If the door panel 11 is not in the fully open state or the fully closed state in step S001, the control device 20 ends the operation of the flowchart.

[0085] In step S001, if the door panel 11 is in the fully open or fully closed state, the operation of step S002 is performed. In step S002, the control device 20 generates a test current command value. At this time, the control device 20 generates a plurality of test current command values ​​having different values ​​in sequence.

[0086] Thereafter, the operation of step S003 is performed. In step S003, the control device 20 estimates an estimated resistance value R^.

[0087] Then, the operation of step S004 is performed. In step S004, the control device 20 estimates the coil temperature T using the estimated resistance value R^.

[0088] Thereafter, the control device 20 ends the operation of the flowchart.

[0089] Next, a second example of the temperature estimation process performed by the control device 20 will be described with reference to FIG. FIG. 6 is a flowchart for explaining an outline of a second example of the temperature estimation process performed by the elevator door control device in the first embodiment.

[0090] In the second example, the temperature estimation process is performed while the car 9 is traveling. This is because the control device 20 maintains the door panel 11 in a fully closed state while the car 9 is traveling.

[0091] As shown in Fig. 6, in step S101, the control device 20 determines whether the car 9 is traveling. At this time, for example, the control device 20 acquires control information related to the traveling state of the car 9 from the control panel 7 and uses the control information for this determination. Note that the current commander 26 of the control device 20 may determine whether the car 9 is traveling.

[0092] If the car 9 is not traveling in step S101, the control device 20 ends the operation of the flowchart.

[0093] If it is determined in step S101 that the car 9 is traveling, the operation of step S102 is performed. In step S102, the control device 20 determines whether or not the door panel 11 is in a fully closed state.

[0094] In step S102, if the door panel 11 is not in the fully closed state, the control device 20 ends the operation of the flowchart. At this time, the control device 20 determines that the door panel 11 is not in the fully closed state even though the car 9 is traveling. do not have An abnormality indicating this may be notified to the control panel 7. In this case, for example, the control panel 7 may bring the car 9 to an emergency stop.

[0095] If the door panel 11 is determined to be fully closed in step S102, the operations from step S103 onward are carried out. The operations carried out in steps S103 to S105 are the same as the operations carried out in steps S002 to S004 in the flowchart of FIG.

[0096] After the operation of step S105 is performed, the control device 20 ends the operation of the flowchart.

[0097] Next, an example of a process in which the control device 20 estimates the estimated resistance value R^ will be described with reference to FIG. FIG. 7 is a flowchart for explaining an outline of the operation of the elevator door control device in embodiment 1 to estimate an estimated resistance value.

[0098] In steps S002 and S003 in the flowchart of FIG. 5, the control device 20 performs an operation to estimate the estimated resistance value R^, which corresponds to the operation in the flowchart of FIG.

[0099] As shown in FIG. 7, in step S201, the current commander 26 of the control device 20 outputs a first test current command value Id1 * The resistance estimator 30 of the control device 20 generates the first test voltage command value Vd1 * and the first actual current value Id1.

[0100] Then, the operation of step S202 is performed. In step S202, the current commander 26 sets the second test current command value Id2 * The resistance estimator 30 generates the second test voltage command value Vd2 * and the second actual current value Id2.

[0101] Then, the operation of step S203 is performed. In step S203, the current commander 26 sets the third test current command value Id3 * The resistance estimator 30 generates the third test voltage command value Vd3 * and the third actual current value Id3.

[0102] Then, the operation of step S204 is performed. In step S204, the resistance estimator 30 estimates the estimated resistance value R^ using the acquired pair of test voltage value and actual current value.

[0103] Then, the operation of step S205 is performed. In step S205, the temperature estimator 31 estimates the coil temperature T based on the estimated resistance value R^ calculated in step S204.

[0104] Thereafter, the control device 20 ends the operation of the flowchart.

[0105] 7 illustrates an operation when three different test current command values ​​are generated. The number of steps in the flowchart can vary depending on the number of sets of test current command values ​​that are generated.

[0106] Next, an example of the overheat protection control performed by the control device 20 will be described with reference to FIG. FIG. 8 is a flowchart for explaining an overview of the operation of the overheat protection control performed by the elevator door control device in embodiment 1.

[0107] The protection controller 32 determines whether or not to execute overheat protection control in accordance with the coil temperature T in order to prevent a failure such as burnout of the motor 21. Based on the determination result of the protection controller 32, the voltage commander 27 stops the drive control of the motor 21 as the overheat protection control.

[0108] Here, when the coil temperature T rises, the following causes are assumed, for example.

[0109] The first causal event is an abnormality that occurs in the main body of the motor 21. Specifically, this occurs when the bearings of the motor 21 are worn out, when the motor 21 has reached the end of its life, etc. coil The temperature T may increase.

[0110] The second causal event is a high frequency of opening and closing the door panel 11. Specifically, when the frequency of calls to the car 9 is high, when the reversing operation of the door panel 11 is increased, etc. coil The temperature T may increase.

[0111] The third causal event is a malfunction occurring in the car door 10. Specifically, for example, if the movement resistance of the door panel 11 increases due to a malfunction in the mechanical system of the car door 10, the rotation load of the motor 21 increases, and the coil temperature T may rise.

[0112] The fourth causal event is high environmental temperature inside the elevator shaft 2. In this case, the coil temperature T may rise along with the environmental temperature.

[0113] When an event that may cause an increase in coil temperature T occurs, the amount of heat generated by motor 21 is greater than in normal conditions. If drive control of motor 21 continues in this state, there is a risk that motor 21 will burn out.

[0114] 8 shows the operation of determining whether the specified conditions for performing the overheat protection control are met and the operation of the overheat protection control. The operation of the flowchart in FIG. 8 is performed following the temperature estimation process. That is, in the flowchart in FIG. 8, the door panel 11 is in a fully open state or a fully closed state.

[0115] Step S301 is part of the temperature estimation process. In step S301, the temperature estimator 31 of the control device 20 estimates the coil temperature T.

[0116] Then, the operation of step S302 is performed. In step S302, the protection controller 32 of the control device 20 determines whether the coil temperature T estimated by the temperature estimator 31 is equal to or lower than a reference value. For example, the reference value is set in advance based on the thermal design of the overall temperature of the coils of the motor 21.

[0117] In step S302, if the coil temperature T is equal to or lower than the reference value, the operation of step S303 is performed. In step S303, the voltage commander 27 of the control device 20 determines to continue the drive control of the motor 21. That is, the elevator system 1 operates normally.

[0118] Thereafter, the control device 20 ends the operation of the flowchart.

[0119] If the coil temperature T is greater than the reference value in step S302, the operation of step S304 is performed. In step S304, the voltage commander 27 stops the drive control of the motor 21 as overheat protection control. The voltage commander 27 transmits information indicating that the drive control of the motor 21 has been stopped to the control panel 7. That is, the elevator system 1 transitions from a normal operation state to an emergency stop state.

[0120] Thereafter, the control device 20 ends the operation of the flowchart.

[0121] In step S304, if the drive control of the motor 21 is stopped, the passengers will not be able to get on or off the car 9. Therefore, the control panel 7 may put the elevator system 1 into an emergency stop state after the passengers have been allowed to get off the car 9. At this time, the control panel 7 may issue a warning or announcement to the passengers that service will be stopped.

[0122] Next, recovery control in which the control device 20 recovers from the overheat protection control will be described with reference to FIG. FIG. 9 is a block diagram of the elevator door control device in the first embodiment.

[0123] As shown in Fig. 9, in order to perform the recovery control, the control device 20 further includes a temperature drop amount estimator 33. When the coil temperature of the motor 21 falls below a reference value, the recovery control may involve driving control of the motor 21 and starting service of the car 9 (not shown in Fig. 9).

[0124] When the protection controller 32 determines that the coil temperature T is greater than the threshold value, the temperature drop amount estimator 33 starts a drop amount estimation process to estimate the drop amount of the coil temperature T estimated by the temperature estimator 31.

[0125] Specifically, in the temperature drop amount estimation process, when the protection controller 32 determines that the coil temperature T is greater than the threshold value, the temperature drop amount estimator 33 receives the coil temperature T estimated by the temperature estimator 31. At this time, the temperature drop amount estimator 33 measures the elapsed time t from the time when the coil temperature T was received. That is, the temperature drop amount estimator 33 measures the elapsed time t from the time when the protection controller 32 determined that the coil temperature T was greater than the threshold value. The temperature drop amount estimator 33 sets the received coil temperature T as the initial temperature, estimates the current coil temperature T' for the elapsed time t, and outputs it. Note that when drive control of the motor 21 is stopped due to overheat protection control, the temperature drop amount estimator 33 cannot use information from the control system, such as the current command value for the motor 21. Therefore, the temperature drop amount estimator 33 estimates the current coil temperature T' using the elapsed time t.

[0126] The temperature drop amount estimator 33 inputs the estimated value of the current coil temperature T' to the protection controller 32. The protection controller 32 determines whether the current coil temperature T' has become equal to or less than a reference value. If the protection controller 32 determines that the current coil temperature T' has become equal to or less than the reference value, the voltage commander 27 terminates the overheat protection control and restarts drive control of the motor 21 as recovery control. The reference value used here may be the same as the coil temperature threshold value used when performing the overheat protection control, or it may be a different value.

[0127] Here, the temperature drop amount estimator 33 estimates the current coil temperature based on a drop amount mathematical model that indicates the relationship between the coil temperature and elapsed time. Various models can be used as the drop amount mathematical model.

[0128] A first example of the descent amount mathematical model is shown in the following equation (9).

[0129]

number

[0130] In equation (9), Ta is a time constant that represents the rate of temperature drop. Ta is set in advance. According to equation (9), by giving the initial temperature T, the current coil temperature T' can be estimated with respect to the elapsed time t.

[0131] The second example of the drop amount mathematical model is a model including multiple time constants, as shown in the following equation (10).

[0132]

number

[0133] In equation (10), i is a natural number indicating the order from 1 to N. i is the i-th time constant. α i is the i-th constant.

[0134] Generally, the time constant in equation (9) or (10) may vary depending on the ambient temperature. When applied to equipment capable of measuring the ambient temperature, the value of the time constant may be determined based on the measured ambient temperature. When applied to equipment that does not measure the ambient temperature, a preset constant may be used as the time constant. In this case, for example, the time constant is set to a value within the applicable range of values ​​that results in the slowest rate of temperature drop. In other words, the temperature drop amount estimator 33 estimates the temperature drop amount under conditions that are the safest conditions, i.e., conditions under which heat dissipation from the motor 21 is least likely to occur.

[0135] The drop amount mathematical model may be another function, such as a linear function of elapsed time t or a quadratic function of elapsed time t. Furthermore, if the coefficients of the drop amount mathematical model are known and the temperature drop over time is approximately known, the current coil temperature T' may be determined to be below the reference value based on the elapsed time without estimating the current coil temperature. Specifically, for example, assume that the applied model is one that produces a temperature drop of 50°C over 100 seconds. If the coil temperature T at the time of transition to overheat protection control is 120°C and the reference temperature is 20°C, a temperature drop of 100°C could cause the current coil temperature to fall below the reference value. That is, after 200 seconds have passed, the current coil temperature could fall below the reference value. In this case, the temperature drop amount estimator 33 may determine that the current coil temperature T' has fallen below the reference value when 200 seconds have passed, without calculating the current coil temperature T'.

[0136] Next, an example of an estimated value of the current coil temperature T' will be shown using FIG. FIG. 10 is a diagram showing an example of the current coil temperature estimated by the elevator door control device in embodiment 1.

[0137] The upper part of Fig. 10 is a graph showing the relationship between time and elapsed time t. Overheat protection control starts at time 0. Measurement of elapsed time t starts at time 0. Elapsed time t increases in proportion to time.

[0138] The bottom part of Figure 10 is a graph showing the relationship between time and the estimated current coil temperature T'. The horizontal axis is time, and the vertical axis is the estimated current coil temperature T'. The dashed line 1 indicates the reference value of the coil temperature.

[0139] overheating protectionAt the time control starts, the coil temperature estimated by the temperature estimator 31 is T. The current coil temperature T' decreases monotonically as time elapses. At time t1, the current coil temperature T' becomes equal to or lower than the reference value. That is, time t1 is the time when it becomes possible to perform return control. For example, the control device 20 starts drive control of the motor 21 again at time t1.

[0140] Next, the operation of the control device 20 to return from the overheat protection control will be described with reference to FIG. FIG. 11 is a flowchart for explaining an outline of the operation performed by the elevator door control device in embodiment 1.

[0141] The operations performed in steps S401 to S404 of the flowchart in Fig. 11 are the same as the operations performed in steps S301 to S304 of the flowchart in Fig. 8. After the operation in step S403 is performed, the control device 20 ends the operation of the flowchart.

[0142] After the operation of step S404, the operation of step S405 is performed. In step S405, the temperature drop amount estimator 33 of the control device 20 starts the drop amount estimation process.

[0143] Then, the operation of step S406 is performed. In step S406, the temperature drop amount estimator 33 determines whether the current coil temperature T' is equal to or lower than the reference value.

[0144] If it is determined in step S406 that the current coil temperature T' is greater than the reference value, the state in which the drive control of the motor 21 is stopped continues, that is, the operations from step S404 onwards are carried out.

[0145] If the current coil temperature T' is equal to or lower than the reference value in step S406, the operation of step S407 is performed. In step S407, the control device 20 returns from the overheat protection control, that is, starts the drive control of the motor 21 again.

[0146] Thereafter, the control device 20 ends the operation of the flowchart.

[0147] Note that if the temperature drop amount estimator 33 determines whether or not to restore the coil temperature T' based only on the elapsed time without estimating the current coil temperature T', the operation of the flowchart will be the corresponding operation. Specifically, in step S405, the temperature drop amount estimator 33 calculates the elapsed time. In step S406, it is determined whether the elapsed time is equal to or greater than a reference time.

[0148] According to the first embodiment described above, the control device 20 includes the door state detector 24, which is a door state detection unit, the current command generator 26, which is a current command generator, the voltage command generator 27, which is a voltage command generator, the resistance estimator 30, which is a resistance estimator, and the temperature estimator 31, which is a temperature estimator. The control device 20 generates a test current command value to change a voltage command value for the motor 21 and an actual current value flowing through the motor 21. The control device 20 calculates the amount of change in the current value that has changed by following the test current command value. The control device 20 calculates the amount of change in the voltage command value that has changed due to the generation of the test current command value. The control device 20 estimates the estimated resistance value R^ of the motor 21 by dividing the amount of change in the voltage command value by the amount of change in the actual current value. Here, the amount of change in the voltage command value corresponds to the amount of change in the voltage value actually applied to the motor 21. When calculating the estimated resistance value R^, a value that is free of the influence of an error between the voltage command value and the actually applied voltage value is used. This improves the estimation accuracy of the estimated resistance value R^. As a result, the accuracy of estimating the coil temperature T, which is the temperature of the motor 21, can be improved.

[0149] The control device 20 also generates a first test current command value and a second test current command value. The control device 20 also generates a first test voltage command value and a second test voltage command value based on the first test current command value and the second test current command value. value The estimated resistance value R^ is estimated based on these. These generated values ​​may be used as values ​​suitable for estimating the estimated resistance value R^. This improves the accuracy of estimating the estimated resistance value R^.

[0150] The control device 20 may consider the difference between a first test voltage command value corresponding to the first test current command value and a test voltage command value generated immediately before the first test voltage command value is generated as the amount of change in the voltage command value. In this case, the control device 20 may consider the difference between the actual current value that follows the first test current command value and the actual current value immediately before the first test current command value is generated as the amount of change in the current value.

[0151] Furthermore, the control device 20 generates a first test current command value and a second test current command value that have different d-axis current values. Even if the d-axis current value changes, there is almost no effect on the open / closed state of the door panel 11. This improves the estimation accuracy of the estimated resistance value R^.

[0152] The control device 20 also determines a first test current command value and a second test current command value. value The motor 21 generates the second test current command after the current following the first test current command has finished flowing. directive Therefore, the motor 21 does not generate heat due to the test current value until the current following the test current value starts to flow.

[0153] Furthermore, the control device 20 generates a test current command value while the car 9 is traveling. That is, the control device 20 performs a temperature estimation operation for the coil temperature T while the car 9 is traveling. During the temperature estimation operation, a d-axis current flows, which can cause noise such as magnetostrictive sound due to magnetostriction from the motor 21. By performing the temperature estimation operation while the car 9 is traveling, the noise can be drowned out by the traveling sound of the car 9. This makes it possible to prevent the noise from causing discomfort to users and the like inside the car 9.

[0154] In addition, the control device 20 coil The temperature T is estimated based on a temperature formula model. coil The temperature T can be estimated.

[0155] Furthermore, the control device 20 stops the drive control of the motor 21 when the coil temperature T becomes equal to or higher than a reference value. That is, the overheat protection of the motor 21 can be appropriately performed. This makes it possible to prevent disasters such as burnout of the motor 21 and fires caused by heat generation from the motor 21. As a result, the safety of the elevator system 1 can be improved.

[0156] The control device 20 also includes a temperature drop amount estimator 33 as a temperature drop amount estimation unit. The control device 20 estimates the current coil temperature T' by estimating the temperature drop amount of the coil temperature T. The control device 20 resumes drive control of the motor 21 when the current coil temperature T' becomes smaller than a reference value. While drive control of the motor 21 is stopped, users cannot use the elevator system 1. The control device 20 can improve the utilization efficiency of the elevator system 1 by resuming drive control of the motor 21 at an appropriate time.

[0157] Furthermore, the control device 20 estimates the current coil temperature T' based on the drop amount mathematical model, which allows the current coil temperature T' to be accurately estimated.

[0158] Embodiment 2 Figure 12 is a block diagram of an elevator door control device in embodiment 2. Note that parts that are the same as or equivalent to parts in embodiment 1 are given the same reference numerals, and explanations of these parts will be omitted.

[0159] 12, in the second embodiment, the control device 20 further includes a temperature rise amount estimator 34. Although not shown in FIG. 12, the control device 20 may also include a resistance estimator 30 and a temperature estimator 31.

[0160] The temperature rise amount estimator 34 estimates the amount of rise in the coil temperature of each of the three phase coils in the motor 21. Specifically, the temperature rise amount estimator 34 receives the three phase actual current values ​​Iu, Iv, Iw flowing through the motor 21 from the current sensor 23. The temperature rise amount estimator 34 receives the voltage command value Vu from the voltage coordinate converter 28. * , Vv * , Vw * At this time, the temperature rise amount estimator 34 receives the voltage command value Vu before being converted into the duty ratio. * , Vv * , Vw * That is, the voltage coordinate converter 28 inputs the voltage command value Vu before being converted into a duty ratio to the temperature rise amount estimator 34. * , Vv * , Vw * The temperature rise estimator 34 inputs the actual current values ​​Iu, Iv, Iw, or the actual current values ​​Iu, Iv, Iw and the voltage command value Vu * , Vv * , Vw * Based on this, the temperature rise amounts ΔTu, ΔTv, and ΔTw of the three-phase coils are calculated and output as estimated values. The temperature rise amount ΔTu is the temperature rise amount of the U-phase coil of the motor 21. The temperature rise amount ΔTv is the temperature rise amount of the V-phase coil of the motor 21. The temperature rise amount ΔTw is the temperature rise amount of the W-phase coil of the motor 21.

[0161] The temperature rise estimator 34 receives input of the values ​​of the initial temperatures T0 of the three-phase coils. The initial temperatures T0 are the coil temperatures at the time when the temperature rise estimator 34 starts estimating the temperature rise. The initial temperatures T0 may be different values ​​for the three-phase coils or may be the same value. The initial temperatures T0 can be acquired by any method. For example, the coil temperatures T estimated by the temperature estimator 31 in the first embodiment may be input to the temperature rise estimator 34 as the initial temperatures T0. For example, the overall temperature of the motor 21 may be measured by a temperature sensor and input to the temperature rise estimator 34 as the initial temperatures T0.

[0162] The temperature rise estimator 34 adds the temperature rises ΔTu, ΔTv, and ΔTw to the initial temperature T0, respectively, to calculate and output estimated coil temperatures Tu, Tv, and Tw of the three phases, respectively.

[0163] The protection controller 32 receives the values ​​of the estimated coil temperatures Tu, Tv, and Tw of the three phases from the temperature rise estimator 34. In the second embodiment, the protection controller 32 compares the values ​​of the estimated coil temperatures Tu, Tv, and Tw of the three phases with the corresponding reference values, and determines whether or not to start overheat protection control.

[0164] Here, the temperature rise amount estimator 34 calculates the heat generation amount for each of the three phase coils based on Joule's law. The following equation (11) shows the general Joule's law.

[0165]

number

[0166] In equation (11), P is the amount of heat generated per unit time. That is, P can be calculated using voltage V, current I, and resistance R. From equation (11), the total amount of heat Q generated during time τ is expressed by the following equation (12).

[0167]

number

[0168] From equation (12), the heat generation amount Q of the coil is Q=VIτ or Q=RI 2 The temperature rise estimator 34 calculates the estimated coil temperatures Tu, Tv, and Tw using two calculation methods based on two equations, respectively.

[0169] Next, the calculations performed by the temperature rise amount estimator 34 will be described with reference to FIG. FIG. 13 is a diagram showing an overview of a temperature rise estimator of the elevator door control device in the second embodiment.

[0170] As shown in FIG. 13, the temperature rise amount estimator 34 includes a first estimating section 341, a first adding section 342, a second estimating section 343, a second adding section 344, and an output determining section 345.

[0171] The first estimation unit 341 calculates Q=RI 2 The first temperature rise amounts ΔTu1, ΔTv1, and ΔTw1 are calculated using the heat generation amount Q calculated based on the equation τ. First, the actual current values ​​Iu, Iv, and Iw are input to the first estimator 341. The first estimator 341 calculates the square value of each of the actual current values ​​Iu, Iv, and Iw. The first estimator 341 multiplies the calculated square value by a proportionality constant K1 for each of the three-phase actual current values ​​and integrates the result. Here, the proportionality constant K1 is, for example, the product of the coil resistance value R and the integration period.

[0172] The coil resistance R included in the proportionality constant K1 is the largest possible resistance value. If the temperature rise is estimated to be smaller than the actual value, there is a risk of the motor 21 burning out. Therefore, the resistance R and proportionality constant K1 are set to conservative values, i.e., values ​​that generate the largest amount of heat.

[0173] The value after the integration is Q=RI 2 This corresponds to the value on the right side of the equation for τ. Here, values ​​corresponding to each of the three phases are calculated by integration. The first calculation unit 341a of the first estimation unit 341 uses the first heat generation amount Q of each of the UVW phases calculated in this manner to calculate and output first temperature rise amounts ΔTu1, ΔTv1, and ΔTw1. For example, the first calculation unit 341a uses the first heat generation amount Q of the U phase to calculate and output the first temperature rise amount ΔTu1 of the U phase. Note that any suitable method can be used to calculate the first temperature rise amounts ΔTu1, ΔTv1, and ΔTw1 from the first heat generation amount Q. For example, the first temperature rise amounts ΔTu1, ΔTv1, and ΔTw1 may be calculated from the first heat generation amount Q of each phase based on the heat capacity of the three-phase coils.

[0174] The first adder 342 receives the first temperature rise amounts ΔTu1, ΔTv1, and ΔTw1 estimated by the first estimator 341. The first adder 342 receives the value of the initial temperature T0. The first adder 342 adds the first temperature rise amounts ΔTu1, ΔTv1, and ΔTw1 to the initial temperature T0, respectively, to calculate and output the first estimated coil temperatures Tu1, Tv1, and Tw1. For example, the first adder 342 adds the first temperature rise amount ΔTu1 of the U phase to the initial temperature T0 of the U phase to calculate and output the first estimated coil temperature Tu1 of the U phase.

[0175] The second estimation unit 343 calculates second temperature rise amounts ΔTu2, ΔTv2, and ΔTw2 using the heat generation amount Q calculated based on the equation Q=VIτ. * , Vv * , Vw * The second estimation unit 343 receives the initial voltage command value Vu0 at the time when the temperature rise amount estimator 34 starts estimating the temperature rise amount. * , Vv0 * , Vw0 * The second estimation unit 343 receives the initial voltage command value Vu0 * , Vv0 * , Vw0 * Holds the value of

[0176] The second estimator 343 calculates the difference, obtained by subtracting the initial voltage command value from the voltage command value, as the amount of change in the voltage command value for each of the U, V, and W phases. The second estimator 343 integrates the amount of change in the voltage command value and the actual current value for each of the U, V, and W phases. The second estimator 343 multiplies the product of the amount of change in the voltage command value and the actual current value for each of the U, V, and W phases by a proportionality constant K2 to calculate the second amount of heat generation for each phase. The second calculator 343a of the second estimator 343 calculates and outputs second amounts of temperature increase ΔTu2, ΔTv2, and ΔTw2 using the second amount of heat generation for each phase. For example, the second calculator 343a calculates and outputs the second amount of temperature increase ΔTu2 for the U phase using the second amount of heat generation for the U phase. Any suitable method can be used to calculate the second temperature rise amounts ΔTu2, ΔTv2, and ΔTw2 from the second heat generation amounts.

[0177] The second adder 344 receives the second temperature rise amounts ΔTu2, ΔTv2, and ΔTw2 estimated by the second estimator 343. The second adder 344 receives the value of the initial temperature T0. The second adder 344 adds the second temperature rise amounts ΔTu2, ΔTv2, and ΔTw2 to the initial temperature T0, respectively, to calculate and output the second estimated coil temperatures Tu2, Tv2, and Tw2. For example, the second adder 344 adds the second temperature rise amount ΔTu2 of the U phase to the initial temperature T0 of the U phase to calculate and output the second estimated coil temperature Tu2 of the U phase.

[0178] The output determination unit 345 receives the values ​​of first estimated coil temperatures Tu1, Tv1, and Tw1 from the first adder 342. The output determination unit 345 receives the values ​​of second estimated coil temperatures Tu2, Tv2, and Tw2 from the second adder 344. The output determination unit 345 determines the consistency between the first estimated coil temperature and the second estimated coil temperature. Based on the determination result, the output determination unit 345 outputs the estimated coil temperatures Tu, Tv, and Tw, which are the output of the temperature rise amount estimator 34.

[0179] When determining consistency, the output determination unit 345 calculates the absolute value of the difference between the first estimated coil temperature and the second estimated coil temperature. If the absolute value of the difference is equal to or less than a specified threshold, the output determination unit 345 determines that the first estimated coil temperature and the second estimated coil temperature are consistent. If the absolute value of the difference is greater than a specified threshold, the output determination unit 345 determines that the first estimated coil temperature and the second estimated coil temperature are inconsistent. The output determination unit 345 performs this determination for each phase of the coil.

[0180] When it is determined that there is a match in the determination regarding a certain phase, the output determination unit 345 calculates the first estimated coil temperature and the second estimated coil temperature of the phase. Estimate If the output determination unit 345 determines that there is a match in the determination for a certain phase, the output determination unit 345 may output the average value of the first estimated coil temperature and the second estimated coil temperature for that phase as the estimated coil temperature.

[0181] When the output determination unit 345 determines that there is no consistency in the determination for a certain phase, it outputs the higher of the first estimated coil temperature and the second estimated coil temperature for that phase as the estimated coil temperature. Therefore, the determination of whether to perform overheat protection control can be made based on a conservative condition, i.e., a condition that estimates a higher temperature.

[0182] Next, examples of the values ​​used in the calculations by the temperature rise amount estimator 34 will be described with reference to FIG. FIG. 14 is a diagram showing an example of numerical values ​​used by the temperature rise amount estimator of the elevator door control device in the second embodiment.

[0183] 14 shows the time progression of each numerical value when a rotational torque is generated without the motor 21 rotating, which is the condition of this example. Specifically, the time progression of each numerical value is shown for the following cases: when the door panel 11 is in a fully open state and the motor 21 is applying torque to the door panel 11 in the opening direction; when the door panel 11 is in a fully closed state and the motor 21 is applying torque to the door panel 11 in the closing direction; when a forcing operation occurs, which is an event in which an external force that tries to force open the door panel 11 in the fully closed state is applied to the door panel 11; for example, a forcing operation occurs when a user from inside the car 9 tries to force open the door panel 11 in the fully closed state.

[0184] The upper graph in Fig. 14 shows the relationship between time and the actual q-axis current value Iq. In this example, a constant q-axis current flows through the motor 21 to generate torque. Note that the direction of Iq flow differs depending on the direction of torque generation.

[0185] 14 is a graph showing the relationship between time and the actual current values ​​Iu, Iv, and Iw of each phase. Because current flows through the coils of each phase with the rotation angle of the motor 21 fixed, the actual current values ​​Iu, Iv, and Iw of each phase are all DC values. The magnitudes of the actual current values ​​Iu, Iv, and Iw of each phase vary depending on the magnitude of the actual current value Iq and the rotational position of the motor 21.

[0186] The bottom part of Figure 14 shows the time and Voltage 1 is a graph showing the relationship between the command value and the horizontal axis. The vertical axis is time. Voltage This is the command value. The bottom part of Figure 14 shows Voltage Command value Vu * , Vv * , Vw * and the initial voltage command value Vu0 * , Vv0 * , Vw0 * A dashed line representing the value of is shown.

[0187] The base time is the time on the left side of each graph. VoltageThe command value is the initial voltage command value Vu0 * , Vv0 * , Vw0 * Since the current value flowing through the coil of each phase is different, the temperature rise of the coil of each phase is different. The increase in the resistance value of the coil of each phase due to the temperature rise is also different.

[0188] The resistance of each phase coil increases over time, Voltage Command value Vu * , Vv * , Vw * The absolute values ​​of each of the currents Iu, Iv, and Iw increase over time so as to keep the actual current values ​​Iu, Iv, and Iw constant.

[0189] When estimating the amount of temperature rise, the first estimation unit 341 uses the value obtained by multiplying the square of the actual current value by a proportionality constant K1 and integrating the result. The actual current value is controlled to be a constant value regardless of the coil resistance value. In other words, the actual current value is a numerical value that does not reflect the actual amount of increase in the coil resistance value. To ensure that the calculation result includes information about the amount of increase in the coil resistance value, which is the amount of temperature rise, the first estimation unit 341 uses the value obtained by integrating the product of the square of the actual current value and the proportionality constant K1 to estimate the amount of temperature rise.

[0190] When estimating the amount of temperature rise, the second estimation unit 343 Voltage Command value Vu * , Vv * , Vw * to the initial voltage command value Vu0 * , Vv0 * , Vw0 * The product of the value obtained by subtracting Vu0 from the actual current values ​​Iu, Iv, and Iw is used. * , Vv0 * , Vw0 * is a fixed value. Voltage Command value Vu * , Vv * , Vw * changes with the change in the resistance of the coil. Voltage Command value Vu * , Vv * , Vw *contains information about the amount of temperature rise. Therefore, the second estimation unit 343 can use the product of each numerical value to estimate the amount of temperature rise without integrating it.

[0191] Furthermore, the second estimation unit 343 calculates the voltage V in the equation Q=VIτ as follows: Voltage Command value Vu * , Vv * , Vw * to the initial voltage command value Vu0 * , Vv0 * , Vw0 * This is the value obtained by subtracting Voltage Command value Vu * , Vv * , Vw * This is to reduce the influence of the error between the voltage command value Vd * , Vq * An error may occur between the actual voltage applied and the voltage due to differences in the power supply voltage, etc. Voltage Command value Vu * , Vv * , Vw * is the voltage command value Vd * , Vq * and the rotational position, it contains an error with respect to the actual voltage value. In order to reduce the estimation error of the temperature rise amount, the second estimator 343 uses the initial voltage command value Vu0 * , Vv0 * , Vw0 * The difference between these values ​​is used to estimate the amount of temperature rise.

[0192] On the other hand, the actual current values ​​Iu, Iv, and Iw are measured by the current sensor 23 and are therefore considered to be accurate values, and are used as is to estimate the amount of temperature rise.

[0193] The first estimating unit 341 and the second estimating unit 343 may apply a filtering process to the estimated temperature rise amount so as to eliminate the influence of high-frequency noise, etc. That is, the first estimating unit 341 and the second estimating unit 343 may output the filtered temperature rise amount.

[0194] Next, a first example of the temperature estimation process performed by the control device 20 in the second embodiment will be described. FIG. 15 is a flowchart for explaining an outline of a first example of the temperature estimation process performed by the elevator door control device in the second embodiment.

[0195] The first example of the temperature estimation process can be performed at any timing.

[0196] In step S501, the control device 20 determines whether the door panel 11 is in a fully closed state or a fully open state.

[0197] If the door panel 11 is not in the fully open state or the fully closed state in step S501, the control device 20 ends the operation of the flowchart.

[0198] If the door panel 11 is in the fully open or fully closed state in step S501, the operation of step S502 is performed. In step S502, the temperature rise amount estimator 34 of the control device 20 estimates the first estimated coil temperatures Tu1, Tv1, and Tw1 of the three phases, respectively.

[0199] Thereafter, the operation of step S503 is performed. In step S503, the temperature rise amount estimator 34 estimates the second estimated coil temperatures Tu2, Tv2, and Tw2 of the three phases, respectively.

[0200] Then, the operation of step S504 is performed. In step S504, the temperature rise amount estimator 34 determines whether the first estimated U-phase coil temperature Tu1 and the second estimated U-phase coil temperature Tu2 match.

[0201] If a match is found in step S504, the operation of step S505 is performed. In step S505, the temperature rise amount estimator 34 determines one of the first estimated coil temperature Tu1 and the second estimated coil temperature Tu2 as the estimated coil temperature Tu of the U phase. Note that the temperature rise amount estimator 34 may also determine the average value of the first estimated coil temperature Tu1 and the second estimated coil temperature Tu2 as the estimated coil temperature Tu of the U phase.

[0202] If there is no match in step S504, the operation of step S506 is performed. In step S506, the temperature rise estimator 34 determines the worst value of the first estimated coil temperature Tu1 and the second estimated coil temperature Tu2, i.e., the larger temperature value, as the estimated coil temperature Tu of the U phase.

[0203] After the operation of step S505 or step S506 is performed, the operation of step S507 is performed. In step S507, the temperature rise estimator 34 determines whether the first estimated V-phase coil temperature Tv1 and the second estimated V-phase coil temperature Tv2 are consistent.

[0204] If a match is found in step S507, the operation of step S508 is performed. In step S508, the temperature rise estimator 34 determines one of the first estimated coil temperature Tv1 and the second estimated coil temperature Tv2 as the V-phase estimated coil temperature Tv. Note that the temperature rise estimator 34 may also determine the average value of the first estimated coil temperature Tv1 and the second estimated coil temperature Tv2 as the V-phase estimated coil temperature Tv.

[0205] If there is no match in step S507, the operation of step S509 is performed. In step S509, the temperature rise estimator 34 determines the worst value of the first estimated coil temperature Tv1 and the second estimated coil temperature Tv2, i.e., the larger temperature value, as the V-phase estimated coil temperature Tv.

[0206] After the operation of step S508 or step S509 is performed, the operation of step S510 is performed. In step S510, the temperature rise amount estimator 34 determines whether the first estimated W-phase coil temperature Tw1 and the second estimated W-phase coil temperature Tw2 are consistent.

[0207] If a match is found in step S510, the operation of step S511 is performed. In step S511, the temperature rise amount estimator 34 determines one of the first estimated coil temperature Tw1 and the second estimated coil temperature Tw2 as the W-phase estimated coil temperature Tw. Note that the temperature rise amount estimator 34 may also determine the average value of the first estimated coil temperature Tw1 and the second estimated coil temperature Tw2 as the W-phase estimated coil temperature Tw.

[0208] If there is no match in step S510, the operation of step S512 is performed. In step S512, the temperature rise estimator 34 determines the worst value of the first estimated coil temperature Tw1 and the second estimated coil temperature Tw2, i.e., the larger temperature value, as the W-phase estimated coil temperature Tw.

[0209] After the operation of step S511 or step S512, the operation of step S513 is performed. In step S513, the temperature rise amount estimator 34 outputs the determined estimated coil temperatures Tu, Tv, and Tw of each phase.

[0210] Thereafter, the control device 20 ends the operation of the flowchart.

[0211] The temperature estimation in this flowchart is particularly effective when the motor 21 presses the fully open door panel 11 further in the opening direction, or when the motor 21 presses the fully closed door panel 11 further in the closing direction, because in this state, a load is likely to be generated on the motor 21, and the coil temperature is likely to rise.

[0212] A situation in which the motor 21 pushes the fully open door panel 11 further in the opening direction can occur when the "open" button on the control panel provided on the car 9 is continuously pressed, or when the call button on the control panel provided on the landing 5 is continuously operated while the door panel 11 is open.

[0213] A situation in which the door panel 11 in the fully closed state is further pressed in the closing direction may occur, for example, when someone tries to pry open the door panel 11. In this case, the motor 21 generates torque to overcome the force trying to pry open the door panel 11. As a result, a large current flows through the coil of the motor 21, and the amount of heat generated by the coil increases.

[0214] Next, as a second example of the temperature estimation process in the second embodiment, an operation performed by the control device 20 when the door is forced open will be described. FIG. 16 is a flowchart for explaining an outline of a second example of the temperature estimation process performed by the elevator door control device in the second embodiment.

[0215] As shown in FIG. 16, in step S601, the control device 20 determines whether or not a forcing has occurred. For example, the door state detector 24 of the control device 20 determines whether or not a forcing has occurred. At this time, the door state detector 24 determines that a forcing has occurred when the door panel 11 is in a fully closed state and a torque equal to or greater than a specified value is generated in the closing direction. Note that any method may be applied as the method by which the control device 20 determines whether a forcing has occurred. Also, for example, the current commander 26 may determine whether or not a forcing has occurred.

[0216] If it is determined in step S601 that no forcing has occurred, the control device 20 ends the operation of the flowchart. That is, in the second example, the control device 20 does not perform the temperature estimation process unless a forcing has occurred. Note that the control device 20 may perform the operation of the first example of the temperature estimation process after determining that a forcing has not occurred.

[0217] If it is determined in step S601 that forcing has occurred, the control device 20 performs the operations from step S602 onwards. The operations performed in steps S602 to S613 are the same as the operations performed in steps S502 to S513 in the flowchart of Fig. 15, which is the first example.

[0218] Next, an example of the overheat protection control performed by the control device 20 in the second embodiment will be described with reference to FIG. Figure 17 is a flowchart for explaining an overview of the overheat protection control operation performed by the elevator door control device in embodiment 2.

[0219] The protection controller 32 determines whether or not overheat protection control should be initiated for each of the estimated coil temperatures Tu, Tv, and Tw.

[0220] 17, in step S701, the temperature rise amount estimator 34 of the control device 20 estimates the temperature rise amount of each phase. At this time, the temperature rise amount estimator 34 calculates a first temperature rise amount and a second temperature rise amount.

[0221] Then, the operation of step S702 is performed. In step S702, the temperature rise estimator 34 calculates and outputs the estimated coil temperatures Tu, Tv, and Tw. That is, the temperature rise estimator 34 estimates the estimated coil temperatures Tu, Tv, and Tw, respectively.

[0222] Then, the operation of step S703 is performed. In step S703, the values ​​of the estimated coil temperatures Tu, Tv, and Tw are input to the protection controller 32 of the control device 20. The protection controller 32 determines whether the estimated coil temperature Tu of the U phase is equal to or lower than a reference value.

[0223] If the estimated coil temperature Tu is equal to or lower than the reference value in step S703, the operation of step S704 is performed. In step S704, the protection controller 32 determines whether the estimated coil temperature Tv of the V phase is equal to or lower than the reference value.

[0224] If the estimated coil temperature Tv is equal to or lower than the reference value in step S704, the operation of step S705 is performed. In step S705, the protection controller 32 determines whether the estimated coil temperature Tw of the W phase is equal to or lower than the reference value.

[0225] In step S705, if the estimated coil temperature Tw is equal to or lower than the reference value, the operation of step S706 is performed. In step S706, the voltage commander 27 determines to continue the drive control of the motor 21. That is, the elevator system 1 operates normally.

[0226] Thereafter, the control device 20 ends the operation of the flowchart.

[0227] 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, the operation of step S707 is performed. The operation performed in step S707 is the same as the operation performed in step S304 of the flowchart in FIG. 8 of the first embodiment. That is, the voltage commander 27 stops the drive control of the motor 21 as overheat protection control. The voltage commander 27 transmits information indicating that the drive control of the motor 21 has been stopped to the control panel 7. That is, the elevator system 1 transitions from a normal operation state to an emergency stop state.

[0228] Thereafter, the control device 20 ends the operation of the flowchart.

[0229] Next, recovery control in which the control device 20 recovers from the overheat protection control in the second embodiment will be described with reference to FIG. FIG. 18 is a block diagram of an elevator door control device in the second embodiment.

[0230] 18, in the second embodiment, the control device 20 further includes a temperature drop amount estimator 33. The temperature drop amount estimator 33 differs from the first embodiment in that it estimates the drop amounts of the estimated coil temperatures Tu, Tv, and Tw for each phase of the coil in the drop amount estimation process. Note that the process of calculating the drop amount of each estimated coil temperature is the same as in the first embodiment.

[0231] That is, when the protection controller 32 determines that at least one of the estimated coil temperatures Tu, Tv, and Tw exceeds a reference value, the values ​​of the estimated coil temperatures Tu, Tv, and Tw are input to the temperature drop amount estimator 33. At this time, the temperature drop amount estimator 33 measures the elapsed time t, using the time when the values ​​of the estimated coil temperatures Tu, Tv, and Tw were input as the base point. The temperature drop amount estimator 33 sets 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.

[0232] The protection controller 32 receives the current estimated coil temperatures Tu', Tv', and Tw' from the temperature drop amount estimator 33. The protection controller 32 determines whether or not the current estimated coil temperatures Tu', Tv', and Tw' are all equal to or lower than a reference value.

[0233] Here, the temperature drop amount estimator 33 estimates the current estimated coil temperatures Tu', Tv', and Tw' based on a drop amount mathematical model that indicates the relationship between the estimated coil temperature and elapsed time. Various models can be used as the drop amount mathematical model.

[0234] A first example of the descent amount mathematical model is shown in the following equations (13) to (15). Note that each coefficient is the same as in equation (9).

[0235]

number

[0236]

number

[0237]

number

[0238] The time constant Ta may have a different value in the temperature mathematical model for each phase.

[0239] The second example of the drop amount mathematical model is a model including multiple time constants, as shown in the following equations (16) to (18). Note that each coefficient is the same as in equation (10).

[0240]

number

[0241]

number

[0242]

number

[0243] Generally, the time constants in equations (13) to (18) may vary depending on the ambient temperature. When applied to equipment capable of measuring the ambient temperature, the value of the time constant may be determined based on the ambient temperature. When applied to equipment that does not measure the ambient temperature, a preset constant may be used as the time constant. In this case, for example, the time constant is set to a value within the applicable range of values ​​that results in the slowest rate of temperature drop. In other words, the temperature drop amount estimator 33 estimates the temperature drop amount under conditions that are the safest conditions, i.e., conditions under which heat dissipation from the motor 21 is least likely to occur.

[0244] The drop amount mathematical model may be another function, such as a linear function of elapsed time t or a quadratic function of elapsed time t. Furthermore, if the coefficients of the drop amount mathematical model are known and the temperature drop amount relative to elapsed time is generally known, the temperature drop amount estimator 33 may determine that the current estimated coil temperatures Tu', Tv', and Tw' have all fallen below the reference value based on the elapsed time, without estimating the current coil temperature. Specifically, for example, assume that the model applied to all phases is a model that results in a temperature drop of 50°C over 100 seconds. If the estimated coil temperature of one of the phases at the time of transition to overheat protection control is 120°C and the reference temperature is 20°C, a temperature drop of 100°C could cause the current estimated coil temperature of that phase to fall below the reference value. That is, after 200 seconds, the current estimated coil temperatures of all phases could fall below the reference value. In this case, the temperature drop amount estimator 33 may determine that the current estimated coil temperatures Tu', Tv', Tw' have all become equal to or lower than the reference value when 200 seconds have elapsed, without calculating the current estimated coil temperatures Tu', Tv', Tw'. Thereafter, the protection controller 32 may receive a signal from the temperature drop amount estimator 33 indicating that the current estimated coil temperatures Tu', Tv', Tw' have all become equal to or lower than the reference value.

[0245] Next, an example of estimated values ​​of the current estimated coil temperatures Tu', Tv', and Tw' will be shown using FIG. FIG. 19 is a diagram showing an example of the current estimated coil temperature estimated by the elevator door control device in the second embodiment.

[0246] 19A is a graph showing the relationship between time and elapsed time t. Overheat protection control starts at time 0, which is the base point.

[0247] (B) of FIG. 19 is a graph showing the relationship between time and the current estimated coil temperature Tu' for the U phase. (C) of FIG. 19 is a graph showing the relationship between time and the current estimated coil temperature Tv' for the V phase. (D) of FIG. 19 is a graph showing the relationship between time and the current estimated coil temperature Tw' for the W phase.

[0248] In the example shown in Figure 19, the current estimated coil temperatures Tu', Tv', and Tw' decrease exponentially with time. For example, if overheat protection control is initiated due to a prying-open, the temperature rise of each phase is different. Therefore, when overheat protection control is initiated, the initial temperatures of each phase are different.

[0249] At time 0, the value of Tv is smallest. Tv' becomes equal to or less than the reference value at time t2 before Tu' and Tw'. At time 0, the value of Tw is second smallest. Tw' becomes equal to or less than the reference value at time t3, which is after time t2. At time 0, the value of Tu is largest. Tu' becomes equal to or less than the reference value at time t4, which is after time t3.

[0250] At time t4, the protection controller 32 determines that all of the current estimated coil temperatures Tu', Tv', and Tw' have become equal to or lower than the reference values.

[0251] Next, the operation of the control device 20 to return from the overheat protection control will be described with reference to FIG. FIG. 20 is a flowchart for explaining an outline of the operation performed by the elevator door control device in embodiment 2.

[0252] The operations performed in steps S801 to S807 of the flowchart in Fig. 20 are the same as the operations performed in steps S701 to S707 of the flowchart in Fig. 17. After the operation in step S706 is performed, the control device 20 ends the operation of the flowchart.

[0253] After the operation of step S807 is performed, the operation of step S808 is performed. In step S808, the temperature drop amount estimator 33 of the control device 20 calculates the temperature drop amount of each phase to estimate the current estimated coil temperatures Tu', Tv', and Tw', respectively.

[0254] Thereafter, the operation of step S809 is performed. In step S809, the protection controller 32 determines whether or not all of the current estimated coil temperatures Tu', Tv', and Tw' have become equal to or lower than the reference values.

[0255] In step S809, if the current estimated coil temperatures Tu', Tv', and Tw' are all equal to or lower than the reference values, the operation of step S810 is performed. In step S810, the control device 20 returns from the overheat protection control, i.e., restarts the drive control of the motor 21.

[0256] Thereafter, the control device 20 ends the operation of the flowchart.

[0257] In step S809, if at least one of the current estimated coil temperatures Tu', Tv', and Tw' is greater than the reference value, the state in which drive control of the motor 21 is stopped continues, that is, the operations from step S807 onwards are performed.

[0258] Note that if the temperature drop amount estimator 33 determines whether to resume operation based solely on the elapsed time without estimating the current estimated coil temperatures Tu', Tv', and Tw', the operations in the flowchart will be the corresponding operations. Specifically, in step S808, the temperature drop amount estimator 33 calculates the elapsed time. In step S809, the temperature drop amount estimator 33 determines whether the elapsed time is equal to or greater than a reference time. In step S810, the protection controller 32 determines that drive control of the motor 21 may be restarted based on the signal from the temperature drop amount estimator 33. The control device 20 restarts drive control of the motor 21.

[0259] According to the second embodiment described above, the control device 20 includes the door state detector 24, which is a door state detection unit, the voltage commander 27, which is a voltage command unit, the voltage coordinate converter 28, which is a voltage coordinate conversion unit, and the temperature rise estimator 34, which is a temperature rise estimation unit. The control device 20 estimates the three-phase temperature rises ΔTu, ΔTv, and ΔTw. Once the three-phase temperature rises ΔTu, ΔTv, and ΔTw are estimated, the temperature of the motor 21 can be estimated. This improves the accuracy of estimating the temperature of the motor 21.

[0260] Furthermore, the control device 20 estimates the three-phase coil temperatures Tu, Tv, and Tw based on the three-phase temperature rise amounts ΔTu, ΔTv, and ΔTw, respectively, thereby improving the accuracy of estimating the motor temperature.

[0261] Furthermore, temperature rise estimator 34 includes first estimator 341, second estimator 343, and output determiner 345. Control device 20 estimates first estimated coil temperatures Tu1, Tv1, Tw1 and second estimated coil temperatures Tu2, Tv2, Tw2. Control device 20 determines the consistency between first estimated coil temperatures Tu1, Tv1, Tw1 and second estimated coil temperatures Tu2, Tv2, Tw2, and estimates three-phase estimated coil temperatures Tu, Tv, Tw based on the determination result. As a result, the accuracy of estimating the temperature of each coil can be improved.

[0262] Furthermore, the control device 20 estimates the first temperature rise amounts ΔTu1, ΔTv1, and ΔTw1 and the second temperature rise amounts ΔTu2, ΔTv2, and ΔTw2 using methods suited to the respective estimation principles, thereby improving the accuracy of estimating the temperature of each coil.

[0263] Furthermore, the control device 20 detects that a forcing operation has occurred. When a forcing operation has occurred, the control device 20 estimates the estimated three-phase coil temperatures Tu, Tv, and Tw. When a forcing operation has occurred, the temperature of the motor 21 is likely to rise. The control device 20 can estimate the estimated three-phase coil temperatures Tu, Tv, and Tw even when a forcing operation has occurred. This allows the safety of the motor 21 to be improved.

[0264] Furthermore, the control device 20 stops the drive control of the motor 21 when at least one of the three-phase estimated coil temperatures Tu, Tv, and Tw becomes equal to or higher than a reference value. This makes it possible to prevent disasters such as burnout of the motor 21 and fires caused by heat generated by the motor 21. As a result, the safety of the elevator system 1 can be improved.

[0265] The control device 20 also includes a temperature drop amount estimator 33 as a temperature drop amount estimator. The control device 20 estimates the temperature drop amounts of the estimated coil temperatures Tu, Tv, and Tw, respectively, to estimate the current estimated coil temperatures Tu', Tv', and Tw'. The control device 20 resumes drive control of the motor 21 when all of the current estimated coil temperatures Tu', Tv', and Tw' become smaller than their reference values. By resuming drive control of the motor 21 at an appropriate timing, the control device 20 can improve the utilization efficiency of the elevator system 1.

[0266] Furthermore, the control device 20 estimates the current estimated coil temperatures Tu', Tv', and Tw' based on the drop amount mathematical model, which allows the current estimated coil temperatures Tu', Tv', and Tw' to be accurately estimated.

[0267] Next, an example of hardware constituting the control device 20 will be described with reference to FIG. FIG. 21 is a hardware configuration diagram of an elevator door control device in the first or second embodiment.

[0268] Each device included in the control device 20 may be realized by a processing circuit integrated into one device. Each device included in the control device 20 may be realized by a processing circuit integrated into multiple devices in any combination. Furthermore, each device included in the control device 20 may be realized by a processing circuit. Hereinafter, the processing circuit refers to either a processing circuit integrated into one device included in the control device 20 or the processing circuit of each device included in the control device 20. For example, the processing circuit includes at least one processor 100a and at least one memory 100b. For example, the processing circuit includes at least one dedicated hardware 200.

[0269] When the processing circuit includes at least one processor 100a and 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 firmware is written as a program. At least one of the software and firmware is stored in the at least one memory 100b. The at least one processor 100a implements each function of the control device 20 by reading and executing the program stored in the at least one memory 100b. The at least one processor 100a is also referred to as a central processing unit, processing device, arithmetic unit, microprocessor, microcomputer, or DSP. For example, the at least one memory 100b may be a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, or EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a minidisk, or a DVD.

[0270] When the processing circuit includes at least one dedicated hardware 200, the processing circuit may be implemented, for example, as a single circuit, a composite 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 may be implemented individually by a processing circuit. For example, each function of the control device 20 may be implemented collectively by a processing circuit.

[0271] Some of the functions of the control device 20 may be realized by dedicated hardware 200, and the remaining functions may be realized by software or firmware. For example, the function of generating a current command value may be realized by a processing circuit as the dedicated hardware 200, and functions other than the function of generating a current command value may be realized by at least one processor 100a reading and executing a program stored in at least one memory 100b.

[0272] Thus, the processing circuitry implements the functions of the controller 20 in hardware 200, software, firmware, or a combination thereof. [Industrial Applicability]

[0273] As described above, the control device according to the present disclosure can be used in an elevator system. [Explanation of symbols]

[0274] REFERENCE SIGNS LIST 1 elevator system, 2 hoistway, 3 building, 4 machine room, 5 landing, 6 hoisting machine, 7 control panel, 8 main rope, 9 car, 10 car door, 11 door panel, 20 control device, 21 motor, 22 rotation sensor, 23 current sensor, 24 door state detector, 25 current coordinate converter, 26 current command generator, 27 voltage command generator, 28 voltage coordinate converter, 29 power converter, 30 resistance estimator, 31 temperature estimator, 32 protection controller, 33 temperature drop amount estimator, 34 temperature rise amount estimator, 100a processor, 100b memory, 200 hardware, 341 first estimation unit, 341a first calculation unit, 342 first addition unit, 343 Second estimation unit, 343a second calculation unit, 344 second addition unit, 345 output determination unit

Claims

1. a door state detection unit that detects the open / closed state of the elevator door; a current command unit that generates a current command value for controlling a current flowing through a motor that drives the door; a voltage command unit that generates a voltage command value that is a command value for a voltage to be applied to the motor so that a current flowing through the motor follows the current command value; a resistance estimating unit that estimates an electrical resistance value of the motor; a temperature estimation unit that estimates a coil temperature of the motor from the electrical resistance value estimated by the resistance estimation unit; Equipped with the current command unit generates a test current command value that is the current command value for estimating the coil temperature when the door state detection unit detects that the door is in a fully open state or a fully closed state; The resistance estimation unit estimates the electrical resistance value by dividing the change in the voltage command value, which is caused by the test current command value, by the change in the current flowing through the motor, which is caused by the test current command value.

2. the current command unit generates, as the test current command value, a first test current command value and a second test current command value having a magnitude different from that of the first test current command value; the voltage command unit generates a first test voltage command value corresponding to the first test current command value and a second test voltage command value corresponding to the second test current command value; 2. The elevator door control device of claim 1, wherein the resistance estimation unit calculates the difference between the current value of the motor that follows the first test current command value and the current value of the motor that follows the second test current command value as the change in the current, and calculates the difference between the first test voltage command value and the second test voltage command value as the change in the voltage command value.

3. 3. The elevator door control device according to claim 2, wherein the current command unit generates the current command value as the first test current command value, the current command value being a d-axis current value that is not 0, and generates the current command value as the second test current command value, the current command value being a d-axis current value that is not 0 and is different from the first test current command value.

4. The elevator door control device according to claim 2 or 3, wherein the current command unit generates the first test current command value and the second test current command value in sequence with a time interval therebetween.

5. 4. The elevator door control device according to claim 1, wherein the current command unit generates the test current command value when a car equipped with the door is traveling.

6. 4. An elevator door control device as described in any one of claims 1 to 3, wherein the temperature estimation unit estimates the coil temperature of the motor from the electrical resistance value estimated by the resistance estimation unit based on a temperature mathematical model representing the relationship between the electrical resistance value of the motor and the coil temperature of the motor.

7. 4. An elevator door control device as described in any one of claims 1 to 3, wherein the voltage command unit stops drive control of the motor when the coil temperature of the motor estimated by the temperature estimation unit becomes equal to or higher than a reference value.

8. a temperature drop amount estimation unit 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 command unit stops drive control of the motor based on the coil temperature of the motor; Further provided with The elevator door control device according to claim 7, wherein the voltage command unit restarts drive control of the motor when the current estimated coil temperature estimated by the temperature drop amount estimation unit becomes smaller than a reference value.

9. The elevator door control device described in claim 8, wherein the temperature drop estimation unit estimates the current estimated coil temperature using the elapsed time from the time when the voltage command unit stopped drive control of the motor based on the coil temperature of the motor.

10. The elevator door control device described in claim 9, wherein the temperature drop amount estimation unit calculates the temperature drop amount of the motor's coil temperature from the elapsed time based on a drop amount mathematical model that represents the relationship between the elapsed time and the temperature drop amount of the motor's coil temperature, and estimates the current estimated coil temperature.

Images