JPH11292411A - Elevator speed control - Google Patents

Abstract

(57) [Summary] [Problem] Vibration caused by backlash of a speed reducer that transmits motor power to a load, which is caused by operating conditions of an elevator, and resonance phenomena of a rope system and resonance caused by a sheave caused by the backlash. Control means for suppressing the noise. A motor-driven elevator includes means for detecting a loaded load, means for instructing a driving direction, an operating speed and acceleration, and means for switching a speed control device by means for detecting a car position before and after driving. .

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a motor and a speed control device for a motor-driven elevator.

[0002]

2. Description of the Related Art Generally, in a system that drives an electric motor as power, a load condition to be controlled often differs in each operation. For example, in an elevator drive system, when a rider and a counterweight are driven via a rope, a vibration phenomenon occurs due to a backlash of a gear that transmits motor power to a load depending on operating conditions. It induces a resonance phenomenon or a resonance phenomenon via a sheave, resulting in a continuous vibration, which adversely affects the riding comfort.

[0003]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vibration damping control device for suppressing a vibration of a car due to a driving condition of a motor or a motor driven elevator.

[0004]

In order to achieve the above object, a control device according to the present invention comprises means for detecting a load of a motor or a load of an elevator driven by a motor, and detecting a driving direction, a driving speed and an acceleration. It is characterized by comprising means for instructing, and means for switching the speed control device by means for detecting the car position before and after driving.

[0005]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings.

An outline of a system configuration of a geared motor driven elevator shown in FIG. 4 will be described. First, power of a motor 1 serving as a driving source is supplied from an AC power supply 2 via a converter 3 and an inverter 4. The motor 1 transmits power to a sheave 6 via a speed reducer 5 and traction-drives a counterweight 9 via a car 7 and a main rope 8. The braking of the car 7 is maintained by the brake circuit 10 and the brake 11.

Further, the load detection circuit 13 detects the loaded amount of the car 7 from the load detection device 12 installed in the car 7, and the rotary encoder 1 directly connected to the motor 1.
4, the speed of the elevator is detected via a speed detection circuit 15, and the motor current is detected via a current detector 16 and a current detection circuit 17. The load amount, the elevator speed, and the motor current are speed-controlled by the microcomputer circuit 19 via the input / output circuit 18 by the system shown in FIG.
The signal is amplified by 0 and used as a gate signal of the inverter 4.

A first embodiment of the present invention will be described with reference to FIGS.

FIG. 1 shows an example of an elevator speed control system diagram. FIG. 2 shows a system configuration of the acceleration pattern generation circuit. First, in FIG. 2, before the elevator is started by the car or hall call, the operating condition by the car call and the hall call, that is, the driving direction and the operating speed are determined by the microcomputer circuit 19 and obtained by the load detection circuit 13. The acceleration pattern is determined by the acceleration pattern determination circuit 21 based on the loaded amount, the driving direction, and the driving speed.

The acceleration pattern is stored in an acceleration generation circuit 22.
And a speed command through the integrator 23. The motor speed ωm obtained from the speed detection circuit 15 is fed back via the filter 24, and the deviation from the speed command ωr is input to the speed controller 25. The output of the speed controller 25 is used as a torque command, which is used as a torque current command by the proportional calculator 26.

On the other hand, a primary current frequency command ω1 of the motor is calculated from the slip frequency ωs calculated from the torque command by the proportional calculator 27 and the motor speed ωo. From the excitation current command Id determined by the motor characteristics, the torque current command Iq, the primary current frequency command ω1, and the motor current Im obtained from the current detection circuit 17, the vector operation and the current controller 28 provide the dq-axis components Vd, Vq is calculated, and a gate drive signal of the inverter 4 is created by the PWM generation circuit 30 from the phase θ and Vd, Vq through which the primary current frequency command ω1 has passed through the integrator 29, and sent to the gate drive circuit 20.

In this embodiment, information on the load of the car 7 is obtained from the load detection circuit 13 before the elevator is started.
The speed response time of the speed control system of FIG. 1, that is, the speed response time constant T1 is calculated by the microcomputer circuit, and the speed command value ω is calculated using the response time constant T1 as shown in FIG.
The first-order delay circuit 31 is branched and connected to r. On the other hand, the acceleration information is obtained from the acceleration generation circuit 22 and the acceleration α is determined by the acceleration zero determination circuit 32 only once in each of the eight regions of the acceleration pattern of FIG. <| Α0 | and | α | <| α
0 | is used as a speed feedback signal for the speed command value ωr through the first-order delay circuit 31 only during the period T0 when the vibration caused by the backlash of the speed reducer 5 is settled. To cut off the normal speed feedback signal. The acceleration α
“0” is a value close to “0” in consideration of a fluctuation due to a speed response delay, a calculation error, or the like, or a time required for the backlash vibration to converge. Thereby, it is possible to prevent the vibration caused by the backlash of the speed reducer 5 and the continuous vibration caused by the backlash.

In the case of an elevator on a high floor, the car position is detected via the position detecting circuit 33 before the elevator is started. Based on this information, the weight of the main rope 8 or the main rope weight compensating rope is the same as the loading capacity of the car. By calculating the response time T1 of the speed control system in consideration of the above, a more accurate motor speed can be simulated.

The response time T1 is obtained by measuring a step response of a speed command or the like at a time when a low-speed operation can be actually performed in an actual elevator, and is tabulated in accordance with the loading capacity of the car. By doing so, the motor speed can be more accurately simulated.

Further, in the present embodiment, the motor speed is simulated by the primary delay circuit 31, and the above-mentioned speed is fed back when a backlash occurs. However, the speed control system of FIG. 1 is modeled to calculate the feedback amount ωx. It can also be implemented by providing a vessel.

Another embodiment of the present invention will be described with reference to FIG. This embodiment has the same basic configuration as the speed control system of the embodiment of FIG. 1, but when switching the speed control device at the time of backlash, it determines switching based on a torque command value without depending on acceleration. That is, the speed controller 25
The torque command value T is | T | <| Tw | and | T | only once in each of the eight torque command value areas shown in FIG.
The signal ωx passed through the primary delay circuit 31 to the speed command value ωr is used as a speed feedback signal only during the period in which the condition of | <| Tw | To cut off the normal speed feedback signal via It should be noted that the torque command value Tw is set to 0 in consideration of a fluctuation due to a speed response delay, a calculation error or the like, or a time when the backlash vibration converges.
It is a value close to. Thereby, it is possible to prevent the vibration caused by the backlash of the speed reducer 5 and the continuous vibration caused by the backlash.

[0017]

According to the present invention, in a motor and an elevator using the motor as a drive source, it is possible to avoid a resonance phenomenon caused by a mechanical system of a drive system depending on an operation condition, and to suppress a vibration of a load mechanism or a car vibration.

[Brief description of the drawings]

FIG. 1 is a diagram of an elevator speed control system according to an embodiment of the present invention.

FIG. 2 is an acceleration generation system diagram of the elevator according to the embodiment of the present invention.

FIG. 3 is an acceleration pattern diagram of the elevator according to the embodiment of the present invention.

FIG. 4 is a basic system configuration diagram of a motor-driven elevator according to the present invention.

FIG. 5 is a configuration diagram of an elevator speed control system.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Motor, 2 ... AC power supply, 3 ... Converter, 4 ... Inverter, 5 ... Reduction gear, 6 ... Sheave, 7 ... Car, 8 ... Main rope, 9 ... Counterweight, 10 ... Brake circuit, 11
... Brake, 12 ... Load detection device, 13 ... Load detection circuit, 14 ... Rotary encoder, 15 ... Speed detection circuit,
16 current detector, 17 current detection circuit, 18 input / output circuit, 19 microcomputer circuit, 20 gate drive circuit, 21 acceleration pattern determination circuit, 22 acceleration generation circuit, 23, 29 integrator, 24 ... Filter, 25 ... Speed controller, 26, 27 ... Proportional calculator, 28 ... Vector calculation and current controller, 30 ... PWM generation circuit, 31 ... First-order delay circuit, 32 ... Zero acceleration determination circuit, 33 ... Position detection circuit , 34 ... Torque command zero determination circuit.

Claims (4)

[Claims] In a speed control apparatus for a geared motor and a geared elevator, a means for detecting a load of a motor or an elevator driven by the motor, and a means for instructing a driving direction of the motor or the elevator, acceleration, and speed are provided. An elevator speed control device comprising a vibration suppression control device having means for switching the speed control device. 2. A speed control apparatus for a geared elevator, comprising: means for detecting a load on the elevator; means for detecting a position of a car before and after driving; and means for instructing the driving direction, acceleration, and speed of the elevator. A speed control device for an elevator, comprising a vibration suppression control device having means for switching a control device. 3. A speed control apparatus for a geared elevator, comprising: a means for calculating a torque command of a motor, comprising a vibration suppression control apparatus for suppressing vibration due to backlash of a speed reducer having means for switching the speed control apparatus. Features elevator speed control device. 4. A speed control device for a geared elevator, means for detecting a load on the elevator, means for detecting the position of a car before and after operation, means for instructing the operation direction, acceleration, and speed of the elevator, and these means. An elevator speed control device comprising: a vibration suppression control device having means for switching the speed control device by means for calculating a motor speed of the elevator from a motor.