JPS59198272A - Controller for alternating current elevator - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an inverter-driven AC motor control device,
In particular, the present invention relates to a control device for an AC elevator using vector control.

In general, DC motors have been widely used as drive motors for elevators that require wide-range, high-precision controllability and excellent riding comfort. Because of the constraints, the structure has changed in recent years. 7j iii Various inverter control systems that combine a robust and inexpensive induction motor with a frequency converter have been developed.

By the way, in the basic inverter control method, the angular frequency ωl of the primary current is controlled to be ω1+ω+ω, , , , , (1). However, in this method, the angle between the primary current vector and the secondary flux linkage vector is not controlled, so good transient response characteristics cannot be obtained. There are problems in that the riding comfort deteriorates when the torque suddenly changes at the end of the process, and the car speed response during deceleration is also poor, resulting in a large landing error. In order to solve this problem, (1) operate the secondary interlinkage flux at a constant value to avoid deterioration of the control response due to a delay in response of the magnetic flux, and (1) change the primary angular frequency ω1 to dθ ω]= ω +ω 10-,,,, (2) r S
A so-called vector control method has been developed that performs control so that dt.

A current hector diagram when this vector control method is adopted is shown in FIG. In FIG. 1, i, ζ41st order current vector, y. is the magnetizing current vector, 1 is the )・lux current vector, R is the secondary flux linkage vector, F is the deflection angular frequency vector, L2 is the secondary self-inductance, R2
is the secondary resistance, and 1ψ is the primary and secondary mutual inductance.

From Figure 1 - θ-2 , , , , , f3)
The program diagram for high-speed response operation is shown in Figure 2. In Fig. 2, 1 is a speed command generator;
is a speed regulator that amplifies the deviation between the speed command and the rotor angular frequency θ nor r and outputs it as a torque current command; 11ω8), 4 is magnetization current 1°G
, a pair of L2 k O corresponding values (constant values) and a function generator that generates an output of torque '1-iQ fashion to -', 5 (+- k o2+1
T2 is a differentiator, and 6 is a multiplier. Note that each circuit 17r +>Y
Since the details are well known, the explanation of -Chi will be omitted here.

As is clear from Fig. 2, in the configuration of the conventional hectonon control system, there is a differential term in the speed control loop. The ripple is amplified and superimposed f on the original primary angular frequency ω1. The same applies to other speed detectors.

Mouth) Very sensitive to noise.

It has some problems.

The present invention has been made in view of the above points, and an object of the present invention is to provide a control device for an AC elevator that can perform stable, high-speed response operation by minimizing the influence of ripples and noise of Ml (detector). 1-1 target.

As is clear from Fig. 1, when the 12th order magnetic flux linkage cup 2 is operated at - constant, the angle θ between the primary current hector i and the secondary linkage flux hector 2 becomes the torque current ■□, that is, the required torque. Determined accordingly.

By the way, in the case of an electric motor, the magnitude of the required torque can be determined by calculation without being obtained from the speed feedback control loop. In other words, the required torque of the elevator is 1) unbalanced torque caused by the elevator load (load), 2) motor GD2. It is given by the sum of the torques required to accelerate and decelerate the inertia of the sheet shaft load section. Here, the unbalanced torque is increased by the load borrowed from the load detection device, and does not change at all during operation. On the other hand, the torque required for acceleration/deceleration is obtained by the acceleration/deceleration pattern from the speed command generator, and changes in a predetermined pattern during operation. Therefore, the required torque turn, that is, the angle θ pattern can be almost obtained depending on the load signal and the acceleration/deceleration pattern, and there is no need to obtain it from the speed feedback control loop.

The present invention takes into consideration the above point and is characterized by a configuration in which the above-mentioned differential term is not included in the speed feedback control loop.

The present invention will be explained below with reference to FIG. 6G, which is a block diagram thereof. In FIG. The speed command generator 1 is configured by: 7 is the speed command and rotor angular frequency (7J.

8 is a load detection device, which does not amplify the deviation between the two and outputs it as a Veri angular frequency ω6.

Ha is the current component that generates the torque necessary for acceleration/deceleration of inertia (corresponding to the acceleration/deceleration pattern), and 1L is the current component that generates the unbalanced torque based on the elevator load (corresponding to the load signal). The sum of a and IL becomes the aforementioned torque 'city trend'.

Next, the operation will be explained based on the configuration described in -1- below.

Based on the elevator operation sequence, the acceleration/deceleration command generator 1a outputs a predetermined acceleration/deceleration pattern, while the load detection device 8 outputs a load signal and.They are added together to obtain the required torque, that is, the torque current command. Becomes an engineer. The function generator 4 generates an output corresponding to TIo2+E2 according to this l.rw current command. In addition, the acceleration/deceleration pattern (i.e. acceleration/deceleration current command) a is obtained by the differentiating circuit 5 as - (i.e. side + IL) (dI change dt dt circle is constant during operation), and is multiplied by the multiplier O, , , , +6+, that is, it is possible to obtain the angle change dθ command value - corresponding to the above-mentioned equation (5).

dt On the other hand, the acceleration/deceleration pattern (acceleration/deceleration current command) Ia becomes a speed command through the integrator 1b, and the deviation of '1 from the rotor angular frequency ωr (i.e., the actual speed of the elevator) is determined by the speed regulator 7 as a flat angular frequency ω8. is output as Then, this shear angular frequency dθ ω8, the angle change command value −, and the rotor angular frequency t ω are added, and the ideal 1 shown in the above equation (2) is obtained.
It is possible to obtain the second angular frequency ω1. Therefore, even when the torque suddenly changes at the start of acceleration/deceleration of the elevator and at the end of the acceleration/deceleration cycle γ, the angle change command value dθ is computationally controlled and the primary frequency ω1 can be obtained, resulting in extremely good transient torque. As well as getting a response,
Since a differential term is not included in the speed feedback control loop as in the prior art, ripples such as tachometer rake are not amplified and superimposed, and it is also possible to almost eliminate noise from being introduced into the control loop.

As described above, according to the present invention, it is possible to obtain good riding comfort and highly accurate floor landing performance, and to provide an extremely stable and highly reliable control device.

[Brief explanation of drawings]

FIG. 1 is a current vector diagram in the hector control system, FIG. 2 is a block diagram of a conventional control device, and FIG. 6 is a block diagram showing an embodiment of the present invention. 193. Speed command generator 1a, , acceleration command generator 2.7. Speed regulator 411. Function generator 5
, Differentiator 6.1. Multiplier 8 Load detector (J)1. ,．． Primary angular frequency 04,..., Rotor angular frequency ω810. Slip angular frequency I,, primary main flow construction. 19. Magnetizing current J , l rk current
-1,..., secondary magnetic flux linkage +3'l Applicant Fujichik Co., Ltd. 461 No. l l'1 Ji Z1 Prisoner No. 31η

Claims (1)

[Claims] Through vector control, the primary frequency and secondary voltage of the induction motor are made variable by an impark device, and the angle between the primary current vector and the secondary flux linkage vector is controlled to keep the secondary flux linkage constant. In an elevator speed control system, the angle between the primary current vector and the secondary flux linkage vector is calculated based on a load signal from a cart detection device and an acceleration/deceleration pattern from a speed command generator. What is claimed is: 1. A control device for an AC elevator, characterized in that it has a configuration that requires.