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JP2009005553A - Control system and method for permanent magnet motor, and control system for elevator - Google Patents

Control system and method for permanent magnet motor, and control system for elevator Download PDF

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JP2009005553A
JP2009005553A JP2007166446A JP2007166446A JP2009005553A JP 2009005553 A JP2009005553 A JP 2009005553A JP 2007166446 A JP2007166446 A JP 2007166446A JP 2007166446 A JP2007166446 A JP 2007166446A JP 2009005553 A JP2009005553 A JP 2009005553A
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permanent magnet
motor
magnet motor
temperature
speed
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Kiyoharu Hiruta
清玄 蛭田
Kosei Kishikawa
岸川　　孝生
Naoto Onuma
大沼　　直人
Fumiaki Mita
三田　　史明
Hisafumi Hotate
尚史 保立
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Hitachi Ltd
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Hitachi Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide speed control that suppresses demagnetization of a magnet in the short-circuit failure of a power converter in a permanent magnet synchronous motor control. <P>SOLUTION: In a system in which an elevator or the like is driven by a permanent magnet motor 1, when the temperature of the magnet inside a motor is detected or estimated from the output of a current detector 41, and the switching element failure of the power converter is assumed under the detected or estimated temperature, the maximum speed is limited so that a short-circuit current value is put in a range of not larger than a current value of demagnetization resistance from the short-circuit current value of a motor winding to be calculated from the motor rotation speed. The demagnetization of the permanent magnet motor is prevented, and in the elevator, overrun caused by the demagnetization or sudden deceleration by a safety device at the terminal floor is avoided. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

本発明は、インバータを用いた永久磁石モータの制御方式および方法、並びにエレベータの制御方式に関する。   The present invention relates to a control system and method for a permanent magnet motor using an inverter, and an elevator control system.

永久磁石モータの減磁特性に関する制御法として、減磁を考慮した高精度トルク制御（特許文献１、特許文献２）や、周辺回路部品へのストレス軽減を目的とした最高回転数制限制御（特許文献３）がある。   As control methods for the demagnetization characteristics of permanent magnet motors, high-accuracy torque control considering demagnetization (Patent Document 1, Patent Document 2) and maximum rotation speed limit control for reducing stress on peripheral circuit components (Patent) There is literature 3).

特開平８―３３１９００号公報JP-A-8-331900 特開平９―５１７００号公報JP-A-9-51700 特開平５―２９２７８９号公報JP-A-5-292789

従来方式は、永久磁石の減磁を考慮した制御であるが、例えば、エレベータの駆動モータとして永久磁石モータを採用した近年のエレベータ制御装置においては、永久磁石モータの減磁は、エレベータの運転にとって、危険を伴うことが考えられる。すなわち、エレベータの重負荷下降や軽負荷上昇のように、目的階の正規着床位置に停止させるために大きなブレーキトルクを必要とするときに、永久磁石モータに大幅な減磁が生じているとブレーキトルクが不足することが考えられる。この場合、正規の着床位置をオーバーランする惧があり、終端階においては、安全装置によって急激に停止し、乗客にショックを与える惧がある。   The conventional method is a control that takes into account the demagnetization of the permanent magnet. It can be dangerous. That is, when a large brake torque is required to stop at the normal landing position on the destination floor, such as when the heavy load is lowered or the light load is increased, the permanent magnet motor is greatly demagnetized. The brake torque may be insufficient. In this case, there is a risk of overrunning the normal landing position, and at the terminal floor, there is a risk of sudden stop by the safety device and shocking the passenger.

したがって、本発明の目的は、永久磁石モータの減磁自体を抑制できる永久磁石モータの制御方式または方法を提供することである。   Accordingly, an object of the present invention is to provide a control method or method for a permanent magnet motor that can suppress demagnetization itself of the permanent magnet motor.

また、本発明の他の目的は、永久磁石モータを駆動モータとするエレベータの安全を確保できるエレベータの制御方式を提供することである。   Another object of the present invention is to provide an elevator control system that can ensure the safety of an elevator using a permanent magnet motor as a drive motor.

永久磁石モータの減磁が発生するケースとして、電力変換器が短絡故障し、モータの誘起電力による過電流が流れた場合、最悪の場合には減磁に至ることが考えられる。   As a case where the demagnetization of the permanent magnet motor occurs, it is conceivable that when the power converter is short-circuited and an overcurrent due to the induced power of the motor flows, the demagnetization may occur in the worst case.

耐減磁電流は、磁石温度で決まることから、減磁抑制のために、冷却ファン等を取付けるなどの冷却構造を採用するか、又は、モータの運転間隔を低減するなどして磁石温度上昇を抑制することが考えられる。このため、冷却構造や運転間隔に応じた耐熱設計が必要である。   Since the demagnetization resistance is determined by the magnet temperature, in order to suppress demagnetization, use a cooling structure such as installing a cooling fan, or reduce the motor operating interval to increase the magnet temperature. It is possible to suppress it. For this reason, the heat-resistant design according to a cooling structure and an operation interval is required.

そこで本発明は、ロータ内部に永久磁石を埋め込んだ永久磁石モータと、この永久磁石モータのロータの磁極位置を検出する磁極位置検出器と、半導体スイッチング素子を含んで構成され前記永久磁石モータに電力を供給する電力変換器と、速度指令と前記磁極位置検出器の出力を入力し、前記電力変換器から前記永久磁石モータに可変電圧・可変周波数の三相交流を供給するためのＰＷＭ信号を演算し生成する演算部と、前記ＰＷＭ信号に基き前記電力変換器の前記半導体スイッチング素子に駆動信号を出力する駆動回路を備えた永久磁石モータ制御において、前記永久磁石モータの前記磁石の温度を検出または推定により温度を判定し、判定した前記磁石の温度に応じて前記永久磁石モータの回転速度を制限することを特徴とする。   Accordingly, the present invention includes a permanent magnet motor having a permanent magnet embedded in the rotor, a magnetic pole position detector for detecting the magnetic pole position of the rotor of the permanent magnet motor, and a semiconductor switching element. A power converter that supplies power, a speed command and the output of the magnetic pole position detector are input, and a PWM signal for supplying a three-phase alternating current of variable voltage and variable frequency from the power converter to the permanent magnet motor is calculated. And detecting the temperature of the magnet of the permanent magnet motor in a permanent magnet motor control comprising a calculation unit that generates and a drive circuit that outputs a drive signal to the semiconductor switching element of the power converter based on the PWM signal or The temperature is determined by estimation, and the rotational speed of the permanent magnet motor is limited according to the determined temperature of the magnet.

本発明の他の特徴とするところは、ロータ内部に永久磁石を埋め込んだエレベータを駆動する永久磁石モータと、この永久磁石モータのロータの磁極位置を検出する磁極位置検出器と、半導体スイッチング素子を含んで構成され前記永久磁石モータに電力を供給する電力変換器と、エレベータの速度指令と前記磁極位置検出器の出力を入力し、前記電力変換器から前記永久磁石モータに可変電圧・可変周波数の三相交流を供給するためのＰＷＭ信号を演算し生成する演算部と、前記ＰＷＭ信号に基き前記電力変換器の前記半導体スイッチング素子に駆動信号を出力する駆動回路を備えたエレベータの制御方式において、前記永久磁石モータの前記磁石の温度を検出または推定により判定する温度判定部と、判定した前記磁石の温度に応じて前記エレベータの速度を制限する速度制限手段を備えたことを特徴とする。   Another feature of the present invention is that a permanent magnet motor that drives an elevator with a permanent magnet embedded in the rotor, a magnetic pole position detector that detects the magnetic pole position of the rotor of the permanent magnet motor, and a semiconductor switching element are provided. A power converter configured to supply power to the permanent magnet motor, an elevator speed command and an output of the magnetic pole position detector are input, and a variable voltage / variable frequency of the permanent magnet motor is input from the power converter. In an elevator control system comprising a calculation unit that calculates and generates a PWM signal for supplying three-phase alternating current, and a drive circuit that outputs a drive signal to the semiconductor switching element of the power converter based on the PWM signal, A temperature determination unit for determining the temperature of the magnet of the permanent magnet motor by detection or estimation; and a temperature determination unit according to the determined temperature of the magnet Characterized by comprising a speed limiting means for limiting the speed of the elevator.

本発明の望ましい実施態様においては、永久磁石モータの減磁自体を抑制できる永久磁石モータの制御方式または方法を提供することができる。   In a preferred embodiment of the present invention, it is possible to provide a control method or method for a permanent magnet motor that can suppress the demagnetization itself of the permanent magnet motor.

本発明の他の望ましい実施態様においては、永久磁石モータを駆動モータとするエレベータの安全を確保できるエレベータ制御方式を提供することができる。   In another preferred embodiment of the present invention, it is possible to provide an elevator control system capable of ensuring safety of an elevator using a permanent magnet motor as a drive motor.

本発明のその他の目的と特徴は、以下に述べる実施形態の中で明らかにする。   Other objects and features of the present invention will be clarified in the embodiments described below.

以下、図面を参照して本発明の実施形態を説明する。   Hereinafter, embodiments of the present invention will be described with reference to the drawings.

図１は、本発明の一実施例による永久磁石同期モータを駆動モータとするエレベータの制御方式の制御ブロック図である。永久磁石モータ１の制御構成は、まず、モータ１の回転子部に備えられた磁石１ａの磁石位置を検出するエンコーダ等の位置検出器２と、永久磁石モータ１の磁石１ａの温度又はモータ巻線１ｂの温度を検出する温度検出器３を備えている。ここで、位置検出器２は、そのコード化された出力に基き、回転子の回転速度を検出するためにも用いられる。   FIG. 1 is a control block diagram of an elevator control system using a permanent magnet synchronous motor as a drive motor according to an embodiment of the present invention. The control configuration of the permanent magnet motor 1 is as follows. First, the position detector 2 such as an encoder for detecting the magnet position of the magnet 1a provided in the rotor portion of the motor 1, the temperature of the magnet 1a of the permanent magnet motor 1, or the motor winding. A temperature detector 3 for detecting the temperature of the wire 1b is provided. Here, the position detector 2 is also used to detect the rotational speed of the rotor based on the encoded output.

主回路としては、交流電源４の交流を可変電圧・可変周波数の交流に変換し、永久磁石モータ１に供給する電力変換器５を備えている。電力変換器５は、交流電源４の交流を直流に変換する整流回路５ａ、平滑コンデンサ５ｂ、ＩＧＢＴ等の半導体スイッチング素子５ｃで構成されたインバータ５ｄからなる。   The main circuit includes a power converter 5 that converts alternating current of the alternating current power supply 4 into alternating current of variable voltage and variable frequency and supplies the alternating current to the permanent magnet motor 1. The power converter 5 includes an inverter 5d including a rectifier circuit 5a that converts alternating current of the alternating current power source 4 into direct current, a smoothing capacitor 5b, and a semiconductor switching element 5c such as IGBT.

制御回路として、まず、インバータ５ｄの各半導体スイッチング素子５ｃの導通・遮断を制御する制御駆動回路６を有する。この制御駆動回路６を制御する制御系を構成する演算制御部７としては、まず、位置検出器２の信号から磁石位置及び回転速度を演算する磁極位置兼速度演算部７ａ、温度検出器３の信号から磁石温度を演算する磁石温度演算部７ｂを備えている。次に、磁石温度演算部７ｂの温度演算値より耐減磁速度制限指令ωＬ ＊を出力する耐減磁速度演算部７ｃと、その耐減磁速度制限指令ωＬ ＊と外部又はマイコン等による速度指令ω＊を比較し、耐減磁範囲に制限した速度指令ω＊＊を出力するリミッタ７ｄを備えている。ここで制限された速度指令ω＊＊と磁極位置兼速度演算部７ａの速度検出値ωの差分信号Δωから、ＰＩ制御等によりトルク指令を得る速度偏差／トルク指令変換部７ｅを備えている。このトルク指令を電圧指令に変換するトルク／電圧指令変換部７ｆと、さらに、この電圧指令からＰＷＭ信号を生成するＰＷＭ変調部７ｇからなる。この演算制御部７により、電流指令、最終的にモータに印加する電圧指令を算出し、この電圧指令と三角波形状の搬送波とを比較するＰＷＭ制御を実施することで、電力変換器５の各スイッチング素子５ｃの導通・遮断信号を制御駆動回路６に出力する。このようにして、変換器５から可変電圧・可変周波数の交流を永久磁石モータ１に供給してそのトルク・速度等を制御する構成である。 As a control circuit, first, there is a control drive circuit 6 for controlling conduction / cutoff of each semiconductor switching element 5c of the inverter 5d. As the calculation control unit 7 constituting the control system for controlling the control drive circuit 6, first, the magnetic pole position / speed calculation unit 7 a for calculating the magnet position and the rotation speed from the signal of the position detector 2, the temperature detector 3 A magnet temperature calculation unit 7b that calculates the magnet temperature from the signal is provided. Next, the demagnetization speed calculation unit 7c that outputs the demagnetization speed limit command ω L * from the temperature calculation value of the magnet temperature calculation unit 7b, and the demagnetization speed limit command ω L * and the outside or by a microcomputer or the like A limiter 7d that compares the speed command ω * and outputs the speed command ω ** limited to the anti-demagnetization range is provided. A speed deviation / torque command conversion unit 7e that obtains a torque command by PI control or the like from the difference signal Δω between the speed command ω ** restricted here and the speed detection value ω of the magnetic pole position / speed calculation unit 7a is provided. A torque / voltage command conversion unit 7f that converts the torque command into a voltage command, and a PWM modulation unit 7g that generates a PWM signal from the voltage command. The arithmetic control unit 7 calculates a current command and finally a voltage command to be applied to the motor, and performs PWM control for comparing the voltage command with a triangular wave carrier wave, whereby each switching of the power converter 5 is performed. The conduction / cutoff signal of the element 5 c is output to the control drive circuit 6. In this way, a variable voltage / variable frequency alternating current is supplied from the converter 5 to the permanent magnet motor 1 to control its torque, speed, and the like.

エレベータの駆動系は、永久磁石モータ１にて回転駆動されるシーブ８と、このシーブ８につるべ状に吊られた乗りかご９とカウンターウエート１０を備えている。   The drive system of the elevator includes a sheave 8 that is rotationally driven by the permanent magnet motor 1, a car 9 that is suspended on the sheave 8 and a counterweight 10.

図２は、本発明の一実施例における耐減磁速度演算部７ｃ内での短絡電流算出等価回路である。モータ巻線１ｂに流れる短絡電流は、電力変換器５のインバータ５ｄ内のスイッチング素子５ｃの短絡故障を想定し予測算出する。モータ１が回転駆動している状態において、スイッチング素子５ｃの１箇所５ｃ１が短絡故障した場合、短絡故障箇所５ｃ１とモータ配線及びモータ１の巻線抵抗２０及びインダクタンス２１で短絡回路が構成され、ここにモータ磁石１ａの鎖交磁束により生じる誘起電圧２２（Ｅ）が印加されて短絡電流ｉが流れる。   FIG. 2 is an equivalent circuit for calculating a short-circuit current in the anti-demagnetization speed calculator 7c according to an embodiment of the present invention. The short circuit current flowing in the motor winding 1b is predicted and calculated assuming a short circuit failure of the switching element 5c in the inverter 5d of the power converter 5. In the state where the motor 1 is rotationally driven, when one location 5c1 of the switching element 5c is short-circuited, a short-circuit is constituted by the short-circuit failure location 5c1, the motor wiring, the winding resistance 20 and the inductance 21 of the motor 1, The induced voltage 22 (E) generated by the interlinkage magnetic flux of the motor magnet 1a is applied to the short circuit current i.

モータ巻線１ｂに生じる誘起電圧Ｅは、（１）式に示すように、磁石１ａの磁束密度により決まる誘起電圧定数ｋと、モータ回転速度ωの積より算出できる。   The induced voltage E generated in the motor winding 1b can be calculated from the product of the induced voltage constant k determined by the magnetic flux density of the magnet 1a and the motor rotational speed ω, as shown in equation (1).

Ｅ＝ｋω…………………………………………………………………………………（１）
また、抵抗２０（Ｒ）及びインダクタンス２１（Ｌ）は、モータ定数から既知であり、モータ回転速度に応じて発生する短絡電流値ｉは、（２）式により予測演算できる。 E = kω …………………………………………………………………………………… (1)
Further, the resistance 20 (R) and the inductance 21 (L) are known from the motor constant, and the short-circuit current value i generated according to the motor rotation speed can be predicted and calculated by the equation (2).

ｉ＝Ｅ／（Ｒ＋ｊωＬ）………………………………………………………………（２）
この関係に基き、インバータ５ｄに短絡が生じた時の、モータ速度−短絡電流特性３２（図３）を、耐減磁速度演算部７ｃに予め格納しておく。これによって、検出された磁石温度Ｔ１から、制限すべきモータ回転速度ωＬ ＊が求められる。 i = E / (R + jωL) ………………………………………………………… (2)
Based on this relationship, the motor speed-short circuit current characteristic 32 (FIG. 3) when a short circuit occurs in the inverter 5d is stored in advance in the anti-demagnetization speed calculator 7c. Thus, the motor rotation speed ω L * to be limited is obtained from the detected magnet temperature T1.

このようにして、永久磁石モータ１内の磁石１ａの温度が高くなるほど、モータ回転速度ωの制限速度ωＬ ＊は低く抑えられ、永久磁石モータ１の減磁という最悪の事態を回避しつつ、安全にエレベータの運転を継続することができる。 In this way, the higher the temperature of the magnet 1a in the permanent magnet motor 1, the lower the speed limit ω L * of the motor rotation speed ω, and while avoiding the worst situation of demagnetization of the permanent magnet motor 1, Elevator operation can be continued safely.

図３は、本発明の一実施例による耐減磁速度演算部７ｃの耐減磁許容速度制限指令演算の流れを示す図である。温度検出器３及び温度演算部７ｂから検出・演算する磁石温度Ｔ１と、モータの耐減磁温度−電流特性３１から、耐減磁電流ｉ１を求める。耐減磁電流ｉ１と、インバータ５ｄ内で短絡故障が生じた時のモータ速度−短絡電流特性３２から、耐減磁許容速度ωＬを算出する。算出した耐減磁許容速度ωＬに対して、モータ速度及び磁石温度の検出・演算誤差を含めた速度指令裕度Δω（マージン）を持たせた耐減磁速度制限指令ωＬ ＊を出力する。そして、速度指令ω＊を、リミッタ７ｄにより、前記の耐減磁速度制限指令ωＬ ＊を上限とするように修正した速度指令ω＊＊を得る。 FIG. 3 is a diagram showing the flow of the anti-demagnetization allowable speed limit command calculation of the anti-demagnetization speed calculator 7c according to one embodiment of the present invention. The anti-demagnetization current i1 is obtained from the magnet temperature T1 detected and calculated from the temperature detector 3 and the temperature calculation unit 7b and the motor demagnetization temperature-current characteristic 31 of the motor. The allowable demagnetization speed ω L is calculated from the anti-demagnetization current i1 and the motor speed-short-circuit current characteristic 32 when a short circuit failure occurs in the inverter 5d. With respect to the calculated demagnetization-resistant allowable speed ω L , a demagnetization speed limit command ω L * having a speed command margin Δω (margin) including detection and calculation errors of the motor speed and magnet temperature is output. . Then, a speed command omega *, the limiter 7d, to obtain the modified velocity command omega ** to the upper limit of the demagnetization resistance磁速degree limitation command omega L * a.

これにより、スイッチング素子５ｃの短絡故障時においても、モータ１の磁石１ａの減磁を防止することが可能となる。   Thereby, it is possible to prevent demagnetization of the magnet 1a of the motor 1 even when the switching element 5c is short-circuited.

この実施例では、磁石の温度に応じて、制限速度が連続的に変化することとなり、効果的に、永久磁石モータの減磁の惧をなくしている。しかし、永久磁石モータの磁石の温度が予定値を上回ったことを予測あるいは検知したとき、最高速度を制限するようにすることによっても、同様の効果が得られる。   In this embodiment, the speed limit changes continuously according to the temperature of the magnet, effectively eliminating the risk of demagnetization of the permanent magnet motor. However, the same effect can be obtained by limiting the maximum speed when the temperature of the magnet of the permanent magnet motor is predicted or detected to exceed the predetermined value.

図４は、本発明の他の実施例による永久磁石同期モータを駆動モータとするエレベータの制御方式の制御ブロック図である。   FIG. 4 is a control block diagram of an elevator control system using a permanent magnet synchronous motor as a drive motor according to another embodiment of the present invention.

図１の実施例１では、磁石１ａの温度を直接的に、温度検出器３で検出したが、この実施例２においては、インバータ５ｄからモータ１に流れるモータ電流を検出する電流検出器４１を備え、その積算に基いて磁石１ａの温度を推定する。モータ制御では、電流制御のために、変流器やホール素子などを備えた電流検出器４１を用いるのが一般的である。そこで、この電流検出器４１の出力を電流実効値演算部７ｈに入力し、モータ巻線１ｂに流れる電流実効値を演算し、磁石温度演算部７ｂにおいて、前記電流実効値とモータ巻線抵抗値Rとから、下記するようにモータ内部の発熱量を逐次演算する。   In the first embodiment of FIG. 1, the temperature of the magnet 1a is directly detected by the temperature detector 3, but in this second embodiment, a current detector 41 for detecting the motor current flowing from the inverter 5d to the motor 1 is provided. The temperature of the magnet 1a is estimated based on the integration. In motor control, it is common to use a current detector 41 having a current transformer or a Hall element for current control. Therefore, the output of the current detector 41 is input to the current effective value calculation unit 7h, the current effective value flowing in the motor winding 1b is calculated, and the current effective value and the motor winding resistance value are calculated in the magnet temperature calculation unit 7b. From R, the amount of heat generated inside the motor is calculated sequentially as described below.

図５は、本発明の実施例２における耐減磁許容速度制限指令演算の流れを示す図である。まず、予め、モータ熱試験やシミュレーションなどから、モータ電流に対するモータ内部の発熱量Ｊ１を発熱量演算部５１で演算する。次に、発熱量Ｊ１に対するモータ内部の温度飽和特性、及びモータ磁石１ａの温度を測定し、発熱量に対する磁石１ａへの熱伝播係数特性５２を用いて熱伝播係数Ｐ１を求める。ここで求めた熱伝播係数を利用して、前記発熱量Ｊ１に対する磁石温度Ｔ１を、発熱量Ｊ１−磁石温度Ｔ１特性５３により逐次推定することで、磁石温度検出器を省略した磁石温度Ｔ１の推定ができる。   FIG. 5 is a diagram illustrating a flow of the anti-demagnetization allowable speed limit command calculation in the second embodiment of the present invention. First, the heat generation amount J1 in the motor with respect to the motor current is calculated by the heat generation amount calculation unit 51 in advance from a motor thermal test or simulation. Next, the temperature saturation characteristic inside the motor with respect to the heat generation amount J1 and the temperature of the motor magnet 1a are measured, and the heat propagation coefficient P1 is obtained using the heat propagation coefficient characteristic 52 to the magnet 1a with respect to the heat generation amount. Using the heat propagation coefficient obtained here, the magnet temperature T1 with respect to the heat generation amount J1 is sequentially estimated from the heat generation amount J1-magnet temperature T1 characteristic 53, thereby estimating the magnet temperature T1 without the magnet temperature detector. Can do.

このようにして得られた磁石の温度に基き、実施例１と同様の要領で耐減磁速度制限速度指令ωＬ ＊を求め、エレベータの最高速度を制限する。 Based on the temperature of the magnet thus obtained, the anti-demagnetization speed limit speed command ω L * is obtained in the same manner as in the first embodiment, and the maximum speed of the elevator is limited.

以上述べた本発明の実施例によれば、永久磁石モータを耐減磁範囲内で運転できるように速度制限するため、電力変換器が短絡故障した場合であっても、モータの永久磁石が減磁することは無い。   According to the embodiment of the present invention described above, since the speed of the permanent magnet motor is limited so that it can be operated within the anti-demagnetization range, the permanent magnet of the motor is reduced even when the power converter is short-circuited. There is no magnetism.

したがって、エレベータの駆動モータとして永久磁石を用いた場合には、正規の停止位置に停止制御でき、減磁に起因するオーバーランや、端階での安全装置による急停止を避けることができる。   Therefore, when a permanent magnet is used as the drive motor for the elevator, stop control can be performed at a normal stop position, and overrun caused by demagnetization and sudden stop by a safety device at the end floor can be avoided.

また、本速度制限に対して影響が少ない用途に対しては、磁石減磁の防止に特化した高価な冷却構造や運転間隔の制限を緩和することができる。   In addition, for applications that have little influence on the speed limit, it is possible to relax the expensive cooling structure specialized in preventing magnet demagnetization and the limit of the operation interval.

本発明の一実施例による永久磁石同期モータを駆動モータとするエレベータの制御方式の制御ブロック図である。It is a control block diagram of the control system of the elevator which uses the permanent magnet synchronous motor by one Example of this invention as a drive motor. 本発明の一実施例における耐減磁速度演算部７ｃ内での短絡電流算出等価回路である。It is a short circuit current calculation equivalent circuit in the demagnetization-speed calculating part 7c in one Example of this invention. 本発明の一実施例による耐減磁速度演算部７ｃの耐減磁許容速度制限指令演算の流れを示す図である。It is a figure which shows the flow of the anti-demagnetization allowable speed limit command calculation of the anti-demagnetization speed calculating part 7c by one Example of this invention. 本発明の他の実施例による永久磁石同期モータを駆動モータとするエレベータの制御方式の制御ブロック図である。It is a control block diagram of the control system of the elevator which uses the permanent magnet synchronous motor by other Example of this invention as a drive motor. 本発明の他の実施例による耐減磁速度演算部７ｃの耐減磁許容速度制限指令演算の流れを示す図である。It is a figure which shows the flow of the anti-demagnetization allowable speed limit command calculation of the demagnetization-proof speed calculating part 7c by the other Example of this invention.

符号の説明Explanation of symbols

１…永久磁石モータ、１ａ…磁石、１ｂ…モータ巻線、２…位置検出器、３…温度検出器、４…交流電源、５…電力変換器、６…制御駆動回路、７…演算制御部、７ａ…磁極位置兼速度演算部、７ｂ…磁石温度演算部、７ｃ…耐減磁速度演算部、７ｄ…リミッタ、７ｈ…電流実効値演算部、８…シーブ、９…乗りかご、１０…カウンターウエート、２０…巻線抵抗、２１…インダクタンス、３１…耐減磁温度−電流特性、３２…短絡故障下のモータ回転速度−短絡電流特性。   DESCRIPTION OF SYMBOLS 1 ... Permanent magnet motor, 1a ... Magnet, 1b ... Motor winding, 2 ... Position detector, 3 ... Temperature detector, 4 ... AC power supply, 5 ... Power converter, 6 ... Control drive circuit, 7 ... Calculation control part , 7a: Magnetic pole position and speed calculation unit, 7b: Magnet temperature calculation unit, 7c: Demagnetization speed calculation unit, 7d: Limiter, 7h ... Current effective value calculation unit, 8 ... Sheave, 9 ... Car, 10 ... Counter Weight: 20 ... Winding resistance, 21 ... Inductance, 31 ... Demagnetization-resistant temperature-current characteristics, 32 ... Motor rotation speed under short-circuit failure-Short-circuit current characteristics

Claims (10)

ロータ内部に永久磁石を埋め込んだ永久磁石モータと、この永久磁石モータのロータの磁極位置を検出する磁極位置検出器と、半導体スイッチング素子を含んで構成され前記永久磁石モータに電力を供給する電力変換器と、速度指令と前記磁極位置検出器の出力を入力し、前記電力変換器から前記永久磁石モータに可変電圧・可変周波数の三相交流を供給するためのＰＷＭ信号を演算し生成する演算部と、前記ＰＷＭ信号に基き前記電力変換器の前記半導体スイッチング素子に駆動信号を出力する駆動回路を備えた永久磁石モータ制御方式において、前記永久磁石モータの前記磁石の温度を検出または推定により判定する磁石温度判定手段と、判定した前記磁石の温度に応じて前記永久磁石モータの回転速度を制限する回転速度制限手段を備えたことを特徴とする永久磁石モータの制御方式。   A permanent magnet motor having a permanent magnet embedded in the rotor, a magnetic pole position detector for detecting the magnetic pole position of the rotor of the permanent magnet motor, and a semiconductor switching element, and power conversion for supplying power to the permanent magnet motor And a calculation unit that inputs a speed command and an output of the magnetic pole position detector, and calculates and generates a PWM signal for supplying a three-phase alternating current of variable voltage and variable frequency from the power converter to the permanent magnet motor And a permanent magnet motor control system comprising a drive circuit for outputting a drive signal to the semiconductor switching element of the power converter based on the PWM signal, and detecting or estimating the temperature of the magnet of the permanent magnet motor Magnet temperature determining means and rotation speed limiting means for limiting the rotation speed of the permanent magnet motor according to the determined temperature of the magnet. Control method of a permanent magnet motor, characterized in that the. 永久磁石モータと、モータ内部に備えた磁石の位置を検出する位置検出器と、半導体スイッチング素子を含んで構成され前記永久磁石モータに電力を供給する電力変換器と、モータ回転速度またはトルクなどの指令値と前記位置検出器の出力情報とにより、前記電力変換器から前記モータに供給する電圧，周波数，および位相を演算しＰＷＭ信号を生成する演算部と、前記ＰＷＭ信号に基き前記電力変換器の前記半導体スイッチング素子に駆動信号を出力する駆動回路を備えた永久磁石モータ制御方式において、前記永久磁石モータの前記磁石の温度を検出する温度検出器と、検出した磁石温度に応じてモータ回転速度を制限する速度制限手段を備えたことを特徴とする永久磁石モータの制御方式。   A permanent magnet motor, a position detector for detecting the position of a magnet provided in the motor, a power converter configured to include a semiconductor switching element and supplying power to the permanent magnet motor, a motor rotation speed or torque, etc. Based on the command value and output information of the position detector, a calculation unit that calculates a voltage, frequency, and phase supplied from the power converter to the motor and generates a PWM signal; and the power converter based on the PWM signal In a permanent magnet motor control system provided with a drive circuit for outputting a drive signal to the semiconductor switching element, a temperature detector for detecting the temperature of the magnet of the permanent magnet motor, and a motor rotation speed according to the detected magnet temperature A control system for a permanent magnet motor, characterized by comprising speed limiting means for limiting 請求項１または２において、前記速度制限手段は、磁石温度が高いほど制限速度を低く抑えることを特徴とする永久磁石モータの制御方式。   3. The control method for a permanent magnet motor according to claim 1, wherein the speed limiting means keeps the speed limit lower as the magnet temperature is higher. 請求項１〜３のいずれかにおいて、前記速度制限手段は、磁石温度が予定の温度を超えたとき最高速度を制限する手段を備えたことを特徴とする永久磁石モータの制御方式。   4. The permanent magnet motor control method according to claim 1, wherein the speed limiting means includes means for limiting a maximum speed when the magnet temperature exceeds a predetermined temperature. 請求項１〜４のいずれかにおいて、前記磁石温度判定手段は、前記永久磁石モータの電流を検出するモータ電流検出器と、検出したモータ電流の積算に基づいて前記永久磁石モータの磁石の温度を推定する推定手段を備えたことを特徴とする永久磁石モータ制御方式。   The magnet temperature determination means according to any one of claims 1 to 4, wherein the magnet temperature determination means detects a temperature of the magnet of the permanent magnet motor based on a motor current detector that detects a current of the permanent magnet motor and an integration of the detected motor current. A permanent magnet motor control system comprising an estimating means for estimating. 請求項１〜５のいずれかにおいて、前記回転速度制限手段は、前記永久磁石モータの固定子巻線の相間が短絡された際に流れる短絡電流の予測値が、前記永久磁石の耐減磁特性範囲内となるように前記永久磁石モータの回転速度を制限することを特徴とする永久磁石モータ制御方式。   6. The anti-demagnetization characteristic of the permanent magnet according to claim 1, wherein the rotational speed limiting means has a predicted value of a short-circuit current that flows when a phase of a stator winding of the permanent magnet motor is short-circuited. A permanent magnet motor control system, wherein the rotational speed of the permanent magnet motor is limited to be within a range. 請求項６において、短絡電流の前記予測値は、前記電力変換器内の前記半導体スイッチング素子の異常によって前記永久磁石モータの相間が短絡された場合の短絡電流の予測値であること特徴とする永久磁石モータ制御方式。   7. The permanent value according to claim 6, wherein the predicted value of the short-circuit current is a predicted value of the short-circuit current when the phases of the permanent magnet motor are short-circuited due to an abnormality of the semiconductor switching element in the power converter. Magnet motor control system. 請求項１〜７のいずれかにおいて、上記回転速度制限手段は、モータ回転速度に応じて決まるモータ端子間誘起電圧が、前記電力変換器内の前記スイッチング素子の短絡故障部とモータ巻線とで構成される短絡回路に印加されたときの短絡電流を算出し、この短絡電流算出値が、前記磁石の温度判定値と磁石耐減磁特性とから求まる耐減磁電流以下となるモータ速度を上限速度として、前記永久磁石モータの速度指令を制限する手段を備えたことを特徴とする永久磁石モータの制御方式。   In any one of Claims 1-7, the said rotational speed restriction | limiting means WHEREIN: The induced voltage between motor terminals determined according to a motor rotational speed is the short circuit fault part of the said switching element in the said power converter, and a motor winding. Calculate the short-circuit current when applied to the configured short-circuit, and the upper limit of the motor speed at which this short-circuit current calculated value is less than or equal to the demagnetization resistance obtained from the temperature judgment value of the magnet and the magnet demagnetization resistance characteristics A permanent magnet motor control system comprising means for limiting a speed command of the permanent magnet motor as a speed. 永久磁石モータと、モータ内部に備えた磁石の磁極位置を検出する磁極位置検出器と、半導体スイッチング素子を含んで構成され前記永久磁石モータに電力を供給する電力変換器と、速度指令と前記磁極位置検出器の出力を入力し、前記電力変換器から前記永久磁石モータに可変電圧・可変周波数の三相交流を供給するためのＰＷＭ信号を演算し生成する演算部と、前記ＰＷＭ信号に基き前記電力変換器の前記半導体スイッチング素子に駆動信号を出力する駆動回路を備えた永久磁石モータ制御方法において、前記永久磁石モータの前記磁石の温度を検出または推定により判定する磁石温度判定ステップと、判定した前記磁石の温度に応じて前記永久磁石モータの回転速度を制限する回転速度制限ステップを備えたことを特徴とする永久磁石モータの制御方法。   A permanent magnet motor, a magnetic pole position detector for detecting the magnetic pole position of a magnet provided in the motor, a power converter configured to include a semiconductor switching element and supplying power to the permanent magnet motor, a speed command and the magnetic pole A calculation unit that inputs an output of a position detector and calculates and generates a PWM signal for supplying a three-phase alternating current of variable voltage and variable frequency from the power converter to the permanent magnet motor, and based on the PWM signal In a permanent magnet motor control method comprising a drive circuit for outputting a drive signal to the semiconductor switching element of a power converter, a magnet temperature determination step for determining by detecting or estimating the temperature of the magnet of the permanent magnet motor is performed. A permanent magnet comprising a rotation speed limiting step for limiting the rotation speed of the permanent magnet motor according to the temperature of the magnet. Control method of chromatography data. ロータ内部に永久磁石を埋め込んだエレベータを駆動する永久磁石モータと、この永久磁石モータのロータの磁極位置を検出する磁極位置検出器と、半導体スイッチング素子を含んで構成され前記永久磁石モータに電力を供給する電力変換器と、エレベータの速度指令と前記磁極位置検出器の出力を入力し、前記電力変換器から前記永久磁石モータに可変電圧・可変周波数の三相交流を供給するためのＰＷＭ信号を演算し生成する演算部と、前記ＰＷＭ信号に基き前記電力変換器の前記半導体スイッチング素子に駆動信号を出力する駆動回路を備えたエレベータの制御方式において、前記永久磁石モータの前記磁石の温度を検出または推定により判定する温度判定部と、判定した前記磁石の温度に応じて前記エレベータの速度を制限する速度制限手段を備えたことを特徴とするエレベータの制御方式。   A permanent magnet motor that drives an elevator in which a permanent magnet is embedded in the rotor, a magnetic pole position detector that detects the magnetic pole position of the rotor of the permanent magnet motor, and a semiconductor switching element are configured to supply power to the permanent magnet motor. A power converter to be supplied, an elevator speed command and an output of the magnetic pole position detector are input, and a PWM signal for supplying a three-phase alternating current of variable voltage and variable frequency from the power converter to the permanent magnet motor. Detecting the temperature of the magnet of the permanent magnet motor in a control system of an elevator comprising a calculation unit that calculates and generates and a drive circuit that outputs a drive signal to the semiconductor switching element of the power converter based on the PWM signal Alternatively, a temperature determination unit that is determined by estimation, and a speed that limits the speed of the elevator according to the determined temperature of the magnet Control system of the elevator, characterized in that it comprises a limit means.
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