JPH1160103A - Elevator control device - Google Patents

Abstract

(57) [Problem] To provide an elevator capable of performing vector control by estimating a magnetic pole position and performing rescue operation without a rotation sensor even when a rotation sensor of a permanent magnet rotor synchronous motor fails. Is to obtain a control device. When a magnetic pole position cannot be detected from a rotation sensor, an arithmetic processing unit estimates a magnetic pole position from an armature inductance of a permanent magnet rotor synchronous motor, and based on the magnetic pole position. Then, a command for the rescue operation is output to the motor drive device 2 to perform the rescue operation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevator control apparatus powered by a synchronous motor of a permanent magnet rotor.

[0002]

2. Description of the Related Art In an elevator in which a hoist is driven by a synchronous motor of a permanent magnet rotor, the position of a magnetic pole of the permanent magnet rotor synchronous motor is detected by a rotation sensor, and the speed and speed of the car are controlled by vector control. Controls torque. That is, a rotation sensor is attached to the rotating shaft of the permanent magnet rotor synchronous motor to detect the magnetic pole position, and the phase current of the permanent magnet rotor synchronous motor is detected using the current sensor. By performing vector control based on these values, the permanent magnet rotor synchronous motor is rotated to control the elevator.

Here, when a three-phase alternating current is passed through an armature, a permanent magnet rotor synchronous motor has a magnetic flux Φa due to an armature reaction.
Occurs. FIG. 16 is an explanatory diagram of characteristics of a permanent magnet rotor synchronous motor. FIG. 16A is an explanatory diagram of a relative position between a rotor of a synchronous motor and a rotating magnetic field, and FIG. 16B is a characteristic diagram of torque. It is.

In FIG. 16A, if the permanent magnet rotor, which is a field pole, is rotating at a synchronous speed, the armature current I
And the field flux Φ rotate at a synchronous speed while maintaining a constant relational position. That is, the armature magnetic flux Φa generated by the armature current I and the field magnetic flux Φ generated by the permanent magnet rotor rotate while maintaining a constant phase difference γ. Then, a force acts between the armature current I and the field speed Φ according to the Fleming's left-hand rule, and a fixed torque is generated in the rotor in the A direction because the armature is fixed.

Assuming that the phase difference between the axes of the field magnetic flux Φ and the armature magnetic flux Φa is γ and the proportional constant is k, the torque τ is expressed by the following equation (1).

Τ = kΦIsinγ (1) Therefore, as shown in FIG. 16B, the torque becomes maximum when γ = 90 °, and becomes minimum when γ = 0 ° or γ = 180 °.

Next, as for the relationship between the magnetic pole position and the armature inductance, the relationship between the equivalent exchange winding and the magnetic flux interlinked with the magnitude of the current vector will be described. When the relative angle between the magnetic pole axis and the armature magnetic flux is γ, the total magnetic flux Φo interlinked with the equivalent exchange winding is expressed by the following equation (2). Here, Φ is a field magnetic flux generated by the permanent magnet rotor, and Φa is a magnetic flux generated by the armature current I.

Φo = Φa + Φcosγ (2) Equation (2) is a relation when magnetic saturation is neglected, but the relative magnitude relation of the magnetic flux Φo does not change even if magnetic saturation is considered. This relationship is shown in FIG. FIG. 17A shows the total magnetic flux Φ.
FIG. 17B is a diagram showing the relationship between o and the magnetic pole position γ, and FIG. 17B is a diagram showing the relationship between the armature inductance L and the magnetic pole position γ. Actually, the armature inductance L becomes small when the flux linkage is large and becomes large when the magnetic flux is small due to the magnetic saturation of the iron core. As a result, as shown in FIG. 17B, the armature inductance L changes depending on the magnetic pole position γ.

[0009]

However, in such an elevator control apparatus, if the rotation sensor of the permanent magnet rotor synchronous motor breaks down, vector control becomes impossible and the elevator cannot move without stopping. For example, when the rotation sensor is a pulse generator, if the magnetic pole position of the permanent magnet rotor synchronous motor cannot be detected due to a failure of a light emitting diode or a phototransistor, vector control becomes impossible and the elevator cannot move while stopped. If vector control is not possible, it will not be possible to rescue passengers in a canned state.

Further, when the power is supplied for the purpose of rescue operation without knowing the position of the magnetic pole, the permanent magnet rotor synchronous motor reversely rotates or the car is dropped without producing the torque depending on the position of the magnetic pole. It is possible.

It is an object of the present invention to perform vector control by estimating a magnetic pole position using a relationship between a magnetic pole position and an armature inductance even when a rotation sensor of a permanent magnet rotor synchronous motor fails. It is an object of the present invention to provide an elevator control device capable of performing a rescue operation without a rotation sensor.

[0012]

According to the first aspect of the present invention, there is provided an elevator control apparatus comprising: a rotation sensor for detecting a magnetic pole position of a permanent magnet rotor synchronous motor for driving a hoist of a car; A phase current sensor for detecting the phase current of the slave synchronous motor, a car position sensor for detecting the position of the car, and a permanent magnet rotor for elevating the car based on the magnetic pole position, the phase current and the car position. An arithmetic processing unit that calculates a voltage command to the synchronous motor; and a motor drive control device that drives the permanent magnet rotor synchronous motor based on the voltage command from the arithmetic processing device. When the detection of the magnetic pole position becomes impossible, the magnetic pole position is estimated from the armature inductance of the permanent magnet rotor synchronous motor, and the rescue operation is performed based on the magnetic pole position. Those were.

In the elevator control apparatus according to the first aspect of the present invention, when the magnetic pole position cannot be detected from the rotation sensor, the arithmetic processing unit determines the magnetic pole position from the armature inductance of the permanent magnet rotor synchronous motor. Is estimated, and a command for a rescue operation is output to the motor drive device based on the magnetic pole position to perform the rescue operation.

According to a second aspect of the present invention, there is provided an elevator control apparatus according to the first aspect of the present invention, further comprising a car speed sensor for detecting a moving speed of the car, and the arithmetic processing unit includes a car speed sensor detected by the car speed sensor. The rescue operation is performed when the moving speed of the car is lower than a predetermined value, and the elevator is stopped when the moving speed is higher than the predetermined value.

In the elevator control apparatus according to the second aspect of the present invention, in addition to the operation of the first aspect of the present invention, a speed signal from a car speed sensor of a car in performing a rescue operation of the elevator based on the estimated magnetic pole position. Is higher than a predetermined maximum speed reference value, the elevator is stopped. This prevents the car from being suspended when the torque control fails.

According to a third aspect of the present invention, there is provided an elevator control apparatus according to the first aspect, further comprising a traveling direction sensor for detecting a traveling direction of a car, and the arithmetic processing unit is configured to rotate a permanent magnet rotor synchronous motor. When it is detected that the direction has rotated in the direction opposite to the rotation command direction, the elevator is stopped.

In the elevator control apparatus according to the third aspect of the present invention, in addition to the operation of the first aspect of the present invention, when the elevator rescue operation is performed based on the estimated magnetic pole position, a signal from the traveling direction sensor of the car is used. And the elevator is stopped when the permanent magnet rotor synchronous motor rotates in the direction opposite to the rotation command direction of the arithmetic processing unit at the time of start-up based on the estimated magnetic pole position error.

According to a fourth aspect of the present invention, in the elevator control device according to the first aspect of the present invention, a car load sensor for detecting a load of a car of the elevator is provided. When the car load is larger than a predetermined value, the operation is performed in the descending direction.

According to a fourth aspect of the present invention, in the elevator control apparatus, in addition to the operation of the first aspect, a rescue operation is performed based on a signal from a car load sensor that detects a load on a car of the elevator. Determines the traveling direction in a direction that requires less torque for the permanent magnet rotor synchronous motor and performs the rescue operation of the elevator.

According to a fifth aspect of the present invention, in the elevator control apparatus according to the first aspect of the present invention, a current change sensor for detecting a rise of an armature current of the permanent magnet rotor synchronous motor is provided. The armature inductance of the magnet rotor synchronous motor is identified from the rising speed of the current flowing through the armature.

In the elevator control apparatus according to the fifth aspect of the present invention, in addition to the effect of the first aspect of the present invention, the rise degree of the armature current of the permanent magnet rotor synchronous motor is detected,
The armature inductance of the permanent magnet rotor synchronous motor is identified from the rising degree, and the magnetic pole position is estimated from the obtained armature inductance. Then, vector control is performed based on the magnetic pole positions obtained by the estimation to perform the rescue operation of the elevator.

[0022]

Embodiments of the present invention will be described below. FIG. 1 is a configuration diagram of an elevator control device according to a first embodiment of the present invention. The elevator car 5 and the counterweight 6 are connected by a main rope 10 and suspended in a hanging manner from a main sheave 4, and the main sheave 4 is driven by power from a permanent magnet rotor synchronous motor 3. As a result, the car 5 is raised and lowered, and the car 5
Is stopped at a predetermined floor 12 so that passengers can get on and off.

The permanent magnet rotor synchronous motor 3 is driven by the motor drive unit 2 based on a voltage command from the processing unit 1. That is, the arithmetic processing unit 1 receives a car position signal from the car position sensor 13, a magnetic pole position from the rotation sensor 7, and a phase current from the phase current sensor 8 of the permanent magnet rotor synchronous motor. While being stored in the memory 11, a voltage command for controlling the elevation of the car 5 to a predetermined floor 12 is output to the motor drive device 2.
The arithmetic processing unit 1 also controls the electromagnetic brake 9 in an emergency.
, And the elevator can be braked.

That is, the arithmetic processing unit 1 includes the car 5
A voltage command value for raising and lowering is given to the motor driving device 2. The motor driving device 2 drives the permanent magnet rotor synchronous motor 3 based on the voltage command value. The rotating shaft of the permanent magnet rotor synchronous motor 3 is connected to the main sheave 4 and driven by the permanent magnet rotor synchronous motor 3. A current sensor 8u is attached to the U-phase of the permanent magnet rotor synchronous motor 3, and the U-phase current iu detected by the current sensor 8u is input to the arithmetic processing unit 1, and similarly, the permanent magnet rotor synchronous motor 3 A current sensor 8w is attached to the W-phase, and the W-phase current iw detected by the current sensor 8w.
Is input to the arithmetic processing unit 1.

The main sheave 4 is provided with an electromagnetic brake 9
The brake is applied, and a command is output to the electromagnetic brake 9 by the arithmetic processing unit 1 to turn on and off the brake.

In the present invention, the arithmetic processing unit 1 uses the car position signal from the car position sensor 13, the magnetic pole position from the rotation sensor 7, the phase current from the phase current sensor 8 of the permanent magnet rotor synchronous motor. If the rotation sensor 7 fails during the elevator control of the car 5 based on the above, the arithmetic processing unit outputs a voltage command value Vθ1 * for magnetic pole position estimation to the electric motor driving device 2, and the permanent magnet rotor The armature inductance L of the synchronous motor 4 is identified to estimate the magnetic pole position.

FIG. 2 shows a system model diagram of the permanent magnet rotor synchronous motor 3. 2, R represents the winding resistance of the permanent magnet rotor synchronous motor 3, L represents the armature inductance of the permanent magnet rotor synchronous motor 3, Vθ1 * is a voltage command for magnetic pole position estimation, iθ1 Is an armature current of the permanent magnet rotor synchronous motor 3 with respect to the voltage command Vθ1 * for magnetic pole position estimation. FIG. 3 is an example of a current command i * to be passed to measure the armature inductance L of the permanent magnet rotor synchronous motor 3. The horizontal axis is time t,
The vertical axis represents the magnitude of the current vector flowing through the armature.

Next, the operation will be described. FIG. 4 shows a rescue operation procedure when the rotation sensor 7 fails.
Assuming that the elevator stops due to the failure of the rotation sensor 7, the armature current is measured in S101. That is,
The U-phase current iuθ1 and the W-phase current iwθ1 are detected.
In this case, the main sheave 4 is fixed by the electromagnetic brake 9 and the shaft of the permanent magnet rotor synchronous motor 3 is fixed. The magnetic pole position fixes the armature current vector in a certain direction and measures the armature current value of the motor.

As shown in FIG. 5, the arithmetic processing unit 1 sends a voltage command value Vθ1 * (V) to the motor driving device 2 so that a step-like current command value i * as shown in FIG.
uθ1 *, Vvθ1 *, Vwθ1 *). The motor drive device 2 supplies a current to the permanent magnet rotor synchronous motor 3, and outputs the respective phase currents iuθ1 and iwθ1 by the U-phase current sensor 8u and the W-phase current sensor 8w.
Are detected at time intervals of Δt, and a voltage command value Vθ1 * (Vuθ1 *, Vvθ1 *, Vwθ1 *) at each time and a phase current iθ1 (iuθ1, ivθ1, iw) corresponding thereto are detected.
θ1) is recorded in the memory 11.

Next, the routine proceeds to S102, where the armature inductance L is identified from the armature current and the voltage value, and the relative angle of the magnetic pole to the armature current vector is estimated. From the recorded time-series data, the armature inductance Lθ1 is identified by, for example, the least squares method. Then, proceed to S103,
From the identified armature inductance Lθ1, the magnetic pole position of the permanent magnet rotor synchronous motor 3 becomes γ = γ as shown in FIG.
1 or γ1 '. Here, γ represents the relative angle of the current vector with respect to the axis of the unknown magnetic pole as shown in FIG.

Then, the program proceeds to S104, in which the armature current is measured while changing the direction of the current vector. That is, the arithmetic processing unit 1 calculates a direction θ1 + Δ obtained by adding △ θ to a certain direction θ1.
With respect to θ, a voltage command value Vθ1 + △ θ is supplied to the motor drive device 2 so that a step-like current command i * as shown in FIG.
* (Vuθ1 + △ θ *, Vvθ1 + △ θ *, Vwθ1 +
Δθ *). The motor driving device 2 supplies a current to the permanent magnet rotor synchronous motor 3 and causes the U-phase current sensor 8u and the W-phase current sensor 8w to change the respective phase currents iuθ1 + お よ び θ and iWθ1 + △ θ for Δt. Detected at intervals, and the voltage command value Vθ1 + △ θ at each time
* (Vuθ1 + △ θ *, Vvθ1 + △ θ *, Vwθ1 +
Δθ *) and the corresponding phase current iθ1 + Δθ (iuθ1)
+ △ θ, ivθ1 + △ θ, iwθ1 + △ θ) in memory 1
Record in 1.

Next, the routine proceeds to S105, where the armature inductance is identified. From the recorded time-series data, the armature inductance Lθ1 + △ θ can be identified by, for example, the least squares method. Next, the process proceeds to S106, in which the identified armature inductance values are compared. As a result of the comparison, Lθ1> Lθ1 +
If Δθ, the process proceeds to S107a, and it is estimated that the magnetic pole position γ = γ1. On the other hand, if Lθ1 <Lθ1 + △ θ, S107b
And it is estimated that γ = γ1 ′.

Next, the program proceeds to S108, where rescue operation is started. Using the estimated magnetic pole position γ, the armature current vector is controlled to be advanced by 90 ° from the magnetic pole position and rotated. The arithmetic processing unit 1 releases the electromagnetic brake 9 and starts the elevator. The arithmetic processing device 1 rotates the permanent magnet rotor synchronous motor 3 by open loop control so that the car 5 descends. Next, the process proceeds to S109, where it is determined whether the vehicle has landed.
The position of the car 5 is detected by the car position sensor 13. If the car 5 has not landed, the process returns to S108 to continue the operation. When the car 5 arrives at the floor 12, the process goes to S110 to stop the elevator. The permanent magnet rotor synchronous motor 3 is stopped, and the electromagnetic brake 9 is operated to fix the main receive 4. The car 5 opens the door, drops the passenger, and ends the rescue operation.

As described above, in the first embodiment, since the magnetic pole position is estimated from the change in the armature inductance L of the permanent magnet rotor synchronous motor 3, even if the rotation sensor 7 breaks down, Vector control of the magnet rotor synchronous motor 3 is enabled, and rescue operation can be performed.

Next, a second embodiment of the present invention will be described. FIG. 7 is a configuration diagram of an elevator control device according to the second embodiment of the present invention. This second embodiment is different from the first embodiment shown in FIG.
A car speed sensor 14 for detecting the moving speed of the car 5, and the arithmetic processing unit 1 performs a rescue operation when the moving speed of the car 5 detected by the car speed sensor 14 is lower than a predetermined value, and when the moving speed is higher than the predetermined value. Is to stop the elevator.

That is, when the rescue operation of the elevator is performed based on the estimated magnetic pole position, the arithmetic processing unit 1 sets the speed signal from the car speed sensor 14 of the car 5 at a speed larger than a predetermined maximum speed reference value. In some cases, the elevator is stopped. This prevents the car 5 from being suspended when the torque control fails.

In FIG. 7, the elevator car 5 and the counterweight 6 are connected by a main rope 10 and hung in a hanging manner on a main sheave 4, and the main sheave 4 is connected to a permanent magnet rotor synchronous motor 3 by a motor. It is driven by power. Thereby, the car 5 is raised and lowered, and the car 5 is stopped on the predetermined floor 12 so that the passenger can get on and off.

The permanent magnet rotor synchronous motor 3 is driven by the motor drive unit 2 based on a voltage command from the processing unit 1. That is, the arithmetic processing unit 1 receives a car position signal from the car position sensor 13, a car speed signal from the car speed sensor 14, a magnetic pole position from the rotation sensor 7, and a phase current sensor 8 from the permanent magnet rotor synchronous motor. The phase current is input, these data are stored in the memory 11, and a voltage command for controlling the elevation of the car 5 to a predetermined floor 12 is output to the electric motor driving device 2. In an emergency, the arithmetic processing unit 1 can issue a command to the electromagnetic brake 9 to brake the elevator.

That is, the arithmetic processing unit 1 includes the car 5
A voltage command value for raising and lowering is given to the motor driving device 2. The motor driving device 2 drives the permanent magnet rotor synchronous motor 3 based on the voltage command value. The rotating shaft of the permanent magnet rotor synchronous motor 3 is connected to the main sheave 4 and driven by the permanent magnet rotor synchronous motor 3.

A current sensor 8 u is attached to the U-phase of the permanent magnet rotor synchronous motor 3, and a U-phase current iu detected by the current sensor 8 u is input to the arithmetic processing unit 1. A current sensor 8w is attached to the W-phase of the synchronous motor 3, and a W-phase current iw detected by the current sensor 8w is input to the processing unit 1. Further, the car speed sensor 14 differentiates the output of the car position sensor 13 to detect the car speed Vc of the car 5 and inputs the detected car speed Vc to the arithmetic processing unit 1.

The main sheave 4 is provided with an electromagnetic brake 9
The brake is applied, and a command is output to the electromagnetic brake 9 by the arithmetic processing unit 1 to turn on and off the brake.

In the present invention, the arithmetic processing unit 1 uses the car position signal from the car position sensor 13, the magnetic pole position from the rotation sensor 7, the phase current from the phase current sensor 8 of the permanent magnet rotor synchronous motor. If the rotation sensor 7 fails during the elevator control of the car 5 based on the above, the arithmetic processing unit outputs a voltage command value Vθ1 * for magnetic pole position estimation to the electric motor driving device 2, and the permanent magnet rotor The armature inductance L of the synchronous motor 4 is identified to estimate the magnetic pole position. The rescue operation is performed based on the magnetic pole position. At this time, if the speed of the car 5 is smaller than a predetermined maximum speed reference value, landing control is performed, and the speed of the car 5 becomes the predetermined maximum speed. If the speed is higher than the reference value, the elevator is stopped. This prevents the car 5 from being suspended when torque control fails due to an error in the estimated magnetic pole position.

Next, the operation will be described. FIG. 8 shows the second
It is a flow chart which shows the procedure of rescue operation at the time of a rotation sensor failure in an embodiment. Assuming that the elevator stops due to the failure of the rotation sensor 7, the armature current is measured in S101. That is, the U-phase current iuθ1 and the W-phase current iwθ1 are detected. In this case, the main sheave 4 is fixed by the electromagnetic brake 9 and the shaft of the permanent magnet rotor synchronous motor 3 is fixed. The magnetic pole position fixes the armature current vector in a certain direction and measures the armature current value of the motor.

As shown in FIG. 5, the arithmetic processing unit 1 sends a voltage command value Vθ1 * (V) to the motor drive unit 2 so that a step-like current command value i * as shown in FIG.
uθ1 *, Vvθ1 *, Vwθ1 *). The motor drive device 2 supplies a current to the permanent magnet rotor synchronous motor 3, and outputs the respective phase currents iuθ1 and iwθ1 by the U-phase current sensor 8u and the W-phase current sensor 8w.
Are detected at time intervals of Δt, and a voltage command value Vθ1 * (Vuθ1 *, Vvθ1 *, Vwθ1 *) at each time and a phase current iθ1 (iuθ1, ivθ1, iw) corresponding thereto are detected.
θ1) is recorded in the memory 11.

Next, the process proceeds to S102, where the armature inductance L is identified from the armature current and the voltage value, and the relative angle of the magnetic pole with respect to the armature current vector is estimated. From the recorded time-series data, the armature inductance Lθ1 is identified by, for example, the least squares method. Then, proceed to S103,
From the identified armature inductance Lθ1, the magnetic pole position of the permanent magnet rotor synchronous motor 3 becomes γ = γ as shown in FIG.
1 or γ1 '. Here, γ represents the relative angle of the current vector with respect to the axis of the unknown magnetic pole as shown in FIG.

Then, the program proceeds to S104, in which the armature current is measured while changing the direction of the current vector. That is, the arithmetic processing unit 1 calculates a direction θ1 + Δ obtained by adding △ θ to a certain direction θ1.
With respect to θ, a voltage command value Vθ1 + △ θ is supplied to the motor drive device 2 so that a step-like current command i * as shown in FIG.
* (Vuθ1 + △ θ *, Vvθ1 + △ θ *, Vwθ1 +
Δθ *). The motor driving device 2 supplies a current to the permanent magnet rotor synchronous motor 3 and causes the U-phase current sensor 8u and the W-phase current sensor 8w to change the respective phase currents iuθ1 + お よ び θ and iWθ1 + △ θ for Δt. Detected at intervals, and the voltage command value Vθ1 + △ θ at each time
* (Vuθ1 + △ θ *, Vvθ1 + △ θ *, Vwθ1 +
Δθ *) and the corresponding phase current iθ1 + Δθ (iuθ1)
+ △ θ, ivθ1 + △ θ, iwθ1 + △ θ) in memory 1
Record in 1.

Next, the routine proceeds to S105, where the armature inductance is identified. From the recorded time-series data, the armature inductance Lθ1 + △ θ can be identified by, for example, the least squares method. Next, the process proceeds to S106, in which the identified armature inductance values are compared. As a result of the comparison, Lθ1> Lθ1 +
If Δθ, the process proceeds to S107a, and it is estimated that the magnetic pole position γ = γ1. On the other hand, if Lθ1 <Lθ1 + △ θ, S107b
And it is estimated that γ = γ1 ′.

Next, the program proceeds to S108, where rescue operation is started. In this rescue operation, the armature current vector is controlled to advance by 90 ° from the magnetic pole position and rotate using the estimated magnetic pole position γ. The arithmetic processing unit 1 releases the electromagnetic brake 9 and starts the elevator. The arithmetic processing unit 1 rotates the permanent magnet rotor synchronous motor 3 by open loop control so that the car 5 descends.

Next, the routine proceeds to S111, where the car speed sensor 14
, The car speed Vc is detected, and in step S112, the car speed Vc is compared with the maximum car speed reference value VLM.
If c is smaller than the maximum car speed reference VLM, S109
Proceed to. For example, if there is an error in the estimated magnetic pole position and the car speed Vc is higher than the maximum car speed reference VLM, such as when the car is suspended without producing the required torque, the process proceeds to S110, and the processing unit 1 controls the electromagnetic brake 9 to operate. Activate and apply braking to stop car 5.

In the normal state, it is determined in step S109 whether the car 5 has landed. The position of the car 5 is detected by the car position sensor 13, and if the car 5 has not landed, S10
Return to step 8 and continue the operation. When the car 5 arrives at the floor 12, the process proceeds to S110 and stops the elevator. The permanent magnet rotor synchronous motor 3 is stopped, and the electromagnetic brake 9 is operated to fix the main sheave 4. The car 5 opens the door, drops the passenger, and ends the rescue operation.

As described above, in the second embodiment, even if an error occurs in the estimation of the magnetic pole position of the permanent magnet rotor synchronous motor 3 and sufficient torque cannot be output, the abnormal speed of the car is reduced. Since the detection is performed and the brake is applied, it is possible to prevent the car 5 from hanging down.

Next, a third embodiment of the present invention will be described. FIG. 9 is a configuration diagram of an elevator control device according to the third embodiment of the present invention. This third embodiment is different from the first embodiment shown in FIG.
The traveling direction sensor 15 for detecting the traveling direction of the motor is provided, and the arithmetic processing unit 1 stops the elevator when detecting that the rotation direction of the permanent magnet rotor synchronous motor 3 has rotated in the opposite direction to the rotation command direction. It was made.

That is, when performing the rescue operation of the elevator based on the estimated magnetic pole position, the traveling direction of the car 5 is detected from the signal from the traveling direction sensor 15 of the car 5 to estimate the magnetic pole. If the permanent magnet rotor synchronous motor 3 rotates in the opposite direction to the rotation command direction of the arithmetic processing unit 1 at startup due to a position error, the elevator is stopped.

In FIG. 9, the elevator car 5 and the counterweight 6 are connected by a main rope 10 and suspended in a hanging manner from a main sheave 4, and the main sheave 4 is connected to the permanent magnet rotor synchronous motor 3. It is driven by power. Thereby, the car 5 is raised and lowered, and the car 5 is stopped on the predetermined floor 12 so that the passenger can get on and off.

The permanent magnet rotor synchronous motor 3 is driven by the motor drive unit 2 based on a voltage command from the processing unit 1. That is, the arithmetic processing unit 1 includes a car position signal from the car position sensor 13, a signal direction signal of the car 5 from the traveling direction sensor 15, a magnetic pole position from the rotation sensor 7, and a phase current of the permanent magnet rotor synchronous motor. The phase current from the sensor 8 is input, these data are stored in the memory 11, and a voltage command for controlling the elevation of the car 5 to a predetermined floor 12 is output to the motor driving device 2.
The arithmetic processing unit 1 also controls the electromagnetic brake 9 in an emergency.
, And the elevator can be braked.

That is, the arithmetic processing unit 1 includes the car 5
A voltage command value for raising and lowering is given to the motor driving device 2. The motor driving device 2 drives the permanent magnet rotor synchronous motor 3 based on the voltage command value. The rotating shaft of the permanent magnet rotor synchronous motor 3 is connected to the main sheave 4 and driven by the permanent magnet rotor synchronous motor 3.

A current sensor 8 u is attached to the U-phase of the permanent magnet rotor synchronous motor 3, and a U-phase current iu detected by the current sensor 8 u is input to the arithmetic processing unit 1. A current sensor 8w is attached to the W-phase of the synchronous motor 3, and a W-phase current iw detected by the current sensor 8w is input to the processing unit 1. Further, the traveling direction sensor 15 determines the polarity of the output of the car position sensor 13 to detect the traveling direction of the car 5 and inputs the detected traveling direction to the arithmetic processing device 1.

The main sheave 4 is provided with an electromagnetic brake 9
The brake is applied, and a command is output to the electromagnetic brake 9 by the arithmetic processing unit 1 to turn on and off the brake.

In the present invention, the arithmetic processing unit 1 uses the car position signal from the car position sensor 13, the magnetic pole position from the rotation sensor 7, the phase current from the phase current sensor 8 of the permanent magnet rotor synchronous motor. If the rotation sensor 7 fails during the elevator control of the car 5 based on the above, the arithmetic processing unit outputs a voltage command value Vθ1 * for magnetic pole position estimation to the electric motor driving device 2, and the permanent magnet rotor The armature inductance L of the synchronous motor 4 is identified to estimate the magnetic pole position.

The rescue operation is performed based on the magnetic pole position. If the traveling direction of the car 5 is the same forward direction as the rotation command direction at that time, the rescue operation is performed to perform landing control. . On the other hand, when the traveling direction of the car 5 is a reverse rotation direction different from the rotation command direction, the elevator is stopped.

Next, the operation will be described. FIG. 10 is a flowchart illustrating a procedure of a rescue operation when a rotation sensor fails according to the third embodiment. Assuming that the elevator stops due to the failure of the rotation sensor 7, the armature current is measured in S101. That is, the U-phase current iuθ1 and the W-phase current iwθ1 are detected. In this case, the main sheave 4 is fixed by the electromagnetic brake 9 and the shaft of the permanent magnet rotor synchronous motor 3 is fixed. For the magnetic pole position, the armature current value of the permanent magnet rotor synchronous motor 3 is measured while fixing the armature current vector in a certain direction.

As shown in FIG. 5, the arithmetic processing unit 1 sends a voltage command value Vθ1 * (V) to the motor drive unit 2 so that a step-like current command value i * as shown in FIG.
uθ1 *, Vvθ1 *, Vwθ1 *). The motor drive device 2 supplies a current to the permanent magnet rotor synchronous motor 3, and outputs the respective phase currents iuθ1 and iwθ1 by the U-phase current sensor 8u and the W-phase current sensor 8w.
Are detected at time intervals of Δt, and a voltage command value Vθ1 * (Vuθ1 *, Vvθ1 *, Vwθ1 *) at each time and a phase current iθ1 (iuθ1, ivθ1, iw) corresponding thereto are detected.
θ1) is recorded in the memory 11.

Then, the process proceeds to S102, where the armature inductance L is identified from the armature current and the voltage value, and the relative angle of the magnetic pole with respect to the armature current vector is estimated. From the recorded time-series data, the armature inductance Lθ1 is identified by, for example, the least squares method. Then, proceed to S103,
From the identified armature inductance Lθ1, the magnetic pole position of the permanent magnet rotor synchronous motor 3 becomes γ = γ as shown in FIG.
1 or γ1 '. Here, γ represents the relative angle of the current vector with respect to the axis of the unknown magnetic pole as shown in FIG.

Then, the program proceeds to S104, in which the armature current is measured while changing the direction of the current vector. That is, the arithmetic processing unit 1 calculates a direction θ1 + Δ obtained by adding △ θ to a certain direction θ1.
With respect to θ, a voltage command value Vθ1 + △ θ is supplied to the motor drive device 2 so that a step-like current command i * as shown in FIG.
* (Vuθ1 + △ θ *, Vvθ1 + △ θ *, Vwθ1 +
Δθ *). The motor driving device 2 supplies a current to the permanent magnet rotor synchronous motor 3 and causes the U-phase current sensor 8u and the W-phase current sensor 8w to change the respective phase currents iuθ1 + お よ び θ and iWθ1 + △ θ for Δt. Detected at intervals, and the voltage command value Vθ1 + △ θ at each time
* (Vuθ1 + △ θ *, Vvθ1 + △ θ *, Vwθ1 +
Δθ *) and the corresponding phase current iθ1 + Δθ (iuθ1)
+ △ θ, ivθ1 + △ θ, iwθ1 + △ θ) in memory 1
Record in 1.

Next, the routine proceeds to S105, where the armature inductance is identified. From the recorded time-series data, the armature inductance Lθ1 + △ θ can be identified by, for example, the least squares method. Next, the process proceeds to S106, in which the identified armature inductance values are compared. As a result of the comparison, Lθ1> Lθ1 +
If Δθ, the process proceeds to S107a, and it is estimated that the magnetic pole position γ = γ1. On the other hand, if Lθ1 <Lθ1 + △ θ, S107b
And it is estimated that γ = γ1 ′.

Next, when the magnetic pole position γ is estimated, S113
Then, using the estimated magnetic pole position γ, the armature current vector is controlled to advance by 90 ° from the magnetic pole position γ and rotated, and the stationary control for stopping the rotor of the permanent magnet rotor synchronous motor 3 is performed. Then, the process proceeds to S114, where the electromagnetic brake 9 is released. The electromagnetic brake 9 is released by releasing the permanent magnet rotor synchronous motor 3 when the electromagnetic brake 9 is released.
Is to determine in which direction the motor rotates in the forward or reverse direction. For example, when there is an error in the estimated magnetic pole position γ, when the control is performed using the magnetic pole position γ, the permanent magnet rotor synchronous motor 3 may reverse.

That is, in S115, the traveling direction of the car 5 from the traveling direction sensor 15 is detected, and in S116, the traveling direction of the car is the same forward direction as the rotation command direction issued by the arithmetic processing unit 1. It is determined whether or not there is. And
If the direction is reverse (opposite) to the rotation command direction, S110
The arithmetic processing unit 1 operates the electromagnetic brake 9 to stop the car 5.

On the other hand, if it is determined in step S116 that the vehicle is in the normal rotation (identical) direction, the flow proceeds to step S108 to start rescue operation. The arithmetic processing unit 1 rotates the permanent magnet rotor synchronous motor 3 by open loop control so that the car 5 descends. Next, the process proceeds to S109 to determine whether the car 5 has landed. The position of the car 5 is detected by the car position sensor 13. If the car 5 has not landed, the process returns to S108 to continue the operation. When the car 5 arrives at the floor 12, the process goes to S110 to stop the elevator. The permanent magnet rotor synchronous motor 3 is stopped, and the electromagnetic brake 9 is operated to fix the main sheave 4. The car 5 opens the door to drop the passenger, and ends the rescue operation.

As described above, in the third embodiment, when an error occurs in the estimation of the magnetic pole position of the permanent magnet rotor synchronous motor 3 and the permanent magnet rotor synchronous motor 3 starts to reverse, the car advances. By detecting the direction and applying the electromagnetic brake 9, reverse rotation can be prevented.

Next, a fourth embodiment of the present invention will be described. FIG. 11 is a configuration diagram of an elevator control device according to a fourth embodiment of the present invention. The fourth embodiment is different from the first embodiment shown in FIG. 1 in that a car load sensor 16 for detecting the load of the car 5 of the elevator is provided. When the value is smaller than the predetermined value, the operation is performed in the ascending direction, and when the car load is larger than the predetermined value, the operation is performed in the descending direction.

That is, based on the signal from the car load sensor 16 for detecting the load on the car 5 of the elevator,
In the rescue operation, the traveling direction is determined in a direction in which the torque required for the permanent magnet rotor synchronous motor 3 is small, and the rescue operation of the elevator is performed.

In FIG. 11, the elevator car 5
The counter weight 6 is connected to the main sheave 4 by a main rope 10 and is hung in a hanging manner. The main sheave 4 is driven by power from the permanent magnet rotor synchronous motor 3. Thereby, the car 5 is raised and lowered, and the car 5 is stopped on the predetermined floor 12 so that the passenger can get on and off.

The permanent magnet rotor synchronous motor 3 is driven by the motor drive unit 2 based on a voltage command from the processing unit 1. That is, the arithmetic processing unit 1 includes a car position signal from the car position sensor 13, a car load signal of the car 5 from the car load sensor 16, a magnetic pole position from the rotation sensor 7, a phase current of the permanent magnet rotor synchronous motor. The phase current from the sensor 8 is input, these data are stored in the memory 11, and a voltage command for controlling the elevation of the car 5 to a predetermined floor 12 is output to the motor driving device 2.
The arithmetic processing unit 1 also controls the electromagnetic brake 9 in an emergency.
, And the elevator can be braked.

That is, the arithmetic processing unit 1 includes the car 5
A voltage command value for raising and lowering is given to the motor driving device 2. The motor driving device 2 drives the permanent magnet rotor synchronous motor 3 based on the voltage command value. The rotating shaft of the permanent magnet rotor synchronous motor 3 is connected to the main sheave 4 and driven by the permanent magnet rotor synchronous motor 3.

A current sensor 8 u is attached to the U-phase of the permanent magnet rotor synchronous motor 3, and a U-phase current iu detected by the current sensor 8 u is input to the processing unit 1. A current sensor 8w is attached to the W-phase of the synchronous motor 3, and a W-phase current iw detected by the current sensor 8w is input to the processing unit 1. Further, the car load sensor 16 detects the load of the car 5 and inputs the detected load to the arithmetic processing device 1.

The main sheave 4 is an electromagnetic brake 9
The brake is applied, and a command is output to the electromagnetic brake 9 by the arithmetic processing unit 1 to turn on and off the brake.

Here, in the present invention, the arithmetic processing unit 1 uses the car position signal from the car position sensor 13, the magnetic pole position from the rotation sensor 7, the phase current from the phase current sensor 8 of the permanent magnet rotor synchronous motor. If the rotation sensor 7 fails during the elevator control of the car 5 based on the above, the arithmetic processing unit outputs a voltage command value Vθ1 * for magnetic pole position estimation to the electric motor driving device 2, and the permanent magnet rotor The armature inductance L of the synchronous motor 4 is identified to estimate the magnetic pole position.

The rescue operation is performed based on the magnetic pole position. When the load of the car 5 is smaller than a predetermined value, the operation is performed in the ascending direction. When the car load is larger than the predetermined value, the operation is performed in the descending direction. Driving. As a result, in the rescue operation, the traveling direction is determined in a direction in which the torque required for the permanent magnet rotor synchronous motor 3 is small, and the rescue operation of the elevator is performed.

Next, the operation will be described. FIG. 12 is a flowchart illustrating a procedure of a rescue operation when a rotation sensor fails according to the fourth embodiment. Assuming that the elevator stops due to the failure of the rotation sensor 7, the armature current is measured in S101. That is, the U-phase current iuθ1 and the W-phase current iwθ1 are detected. In this case, the main sheave 4 is fixed by the electromagnetic brake 9 and the shaft of the permanent magnet rotor synchronous motor 3 is fixed. For the magnetic pole position, the armature current value of the permanent magnet rotor synchronous motor 3 is measured while fixing the armature current vector in a certain direction.

As shown in FIG. 5, the arithmetic processing unit 1 sends a voltage command value Vθ1 * (V) to the motor driving device 2 so that a step-like current command value i * as shown in FIG.
uθ1 *, Vvθ1 *, Vwθ1 *). The motor drive device 2 supplies a current to the permanent magnet rotor synchronous motor 3, and outputs the respective phase currents iuθ1 and iwθ1 by the U-phase current sensor 8u and the W-phase current sensor 8w.
Are detected at time intervals of Δt, and a voltage command value Vθ1 * (Vuθ1 *, Vvθ1 *, Vwθ1 *) at each time and a phase current iθ1 (iuθ1, ivθ1, iw) corresponding thereto are detected.
θ1) is recorded in the memory 11.

Then, the process proceeds to S102, where the armature inductance L is identified from the armature current and the voltage value, and the relative angle of the magnetic pole with respect to the armature current vector is estimated. From the recorded time-series data, the armature inductance Lθ1 is identified by, for example, the least squares method. Then, proceed to S103,
From the identified armature inductance Lθ1, the magnetic pole position of the permanent magnet rotor synchronous motor 3 becomes γ = γ as shown in FIG.
1 or γ1 '. Here, γ represents the relative angle of the current vector with respect to the axis of the unknown magnetic pole as shown in FIG.

Next, the process proceeds to S104, and the armature current is measured while changing the direction of the current vector. That is, the arithmetic processing unit 1 calculates a direction θ1 + Δ obtained by adding △ θ to a certain direction θ1.
With respect to θ, a voltage command value Vθ1 + △ θ is supplied to the motor drive device 2 so that a step-like current command i * as shown in FIG.
* (Vuθ1 + △ θ *, Vvθ1 + △ θ *, Vwθ1 +
Δθ *). The motor driving device 2 supplies a current to the permanent magnet rotor synchronous motor 3 and causes the U-phase current sensor 8u and the W-phase current sensor 8w to change the respective phase currents iuθ1 + お よ び θ and iWθ1 + △ θ for Δt. Detected at intervals, and the voltage command value Vθ1 + △ θ at each time
* (Vuθ1 + △ θ *, Vvθ1 + △ θ *, Vwθ1 +
Δθ *) and the corresponding phase current iθ1 + Δθ (iuθ1)
+ △ θ, ivθ1 + △ θ, iwθ1 + △ θ) in memory 1
Record in 1.

Next, the routine proceeds to S105, where the armature inductance is identified. From the recorded time-series data, the armature inductance Lθ1 + △ θ can be identified by, for example, the least squares method. Next, the process proceeds to S106, in which the identified armature inductance values are compared. As a result of the comparison, Lθ1> Lθ1 +
If Δθ, the process proceeds to S107a, and it is estimated that the magnetic pole position γ = γ1. On the other hand, if Lθ1 <Lθ1 + △ θ, S107b
And it is estimated that γ = γ1 ′.

When the magnetic pole position is estimated, the process proceeds to S117,
The car load Wc of the car 5 is detected by the car load sensor 16, and in S118, the detected value Wc from the car load sensor 16 is compared with a reference value WBL for raising or lowering the elevator. Here, the reference value WBL is, for example, a balance load. If the car load Wc is smaller than the reference value WBL, the process proceeds to S119a, and the traveling direction is set to increase. On the other hand, if the car load Wc is larger than the reference value WBL,
The process proceeds to 119b and the traveling direction is set to descend.

Then, the program proceeds to S108, where rescue operation is started.
In the rescue operation, control is performed such that the armature current vector is advanced by 90 ° from the magnetic pole position and rotated using the estimated magnetic pole position γ. The arithmetic processing unit 1 releases the electromagnetic brake 9 and starts the elevator. The arithmetic processing device 1 rotates the permanent magnet rotor synchronous motor 3 by open loop control so that the car 5 descends. Thereafter, the process proceeds to S109, where it is determined whether or not the vehicle has landed. The position of the car 5 is detected by the car position sensor 13, and if the car 5 has not landed, S10
Return to step 8 and continue the operation. When the car 5 arrives at the floor 12, the process proceeds to S110 and stops the elevator. As a result, the permanent magnet rotor synchronous motor 3 is stopped, the electromagnetic brake 9 is operated, and the main sheave 4 is fixed. The car 5 opens the door, drops the passenger, and ends the rescue operation.

As described above, in the fourth embodiment, even if the magnetic pole position of the permanent magnet rotor synchronous motor 3 cannot be accurately estimated, the load in the car is detected to detect the permanent magnet rotor synchronous motor 3. Since the rescue operation is performed in a direction in which the required torque is small, the hanging of the car 5 can be prevented.

Next, a fifth embodiment of the present invention will be described. FIG. 13 is a configuration diagram of an elevator control device according to a fifth embodiment of the present invention. In the fifth embodiment, a current change sensor 17 for detecting a rise of an armature current of the permanent magnet rotor synchronous motor 3 is provided, and the arithmetic processing device 1 includes an armature inductance L of the permanent magnet rotor synchronous motor 3. Are identified from the rising speed of the current flowing through the armature.

That is, the degree of rise of the armature current of the permanent magnet rotor synchronous motor 3 is detected, the armature inductance L of the permanent magnet rotor synchronous motor 3 is identified from the degree of rise, and the obtained armature inductance is obtained. The magnetic pole position is estimated from this. Then, vector control is performed based on the magnetic pole positions obtained by the estimation to perform the rescue operation of the elevator.

In FIG. 13, an arithmetic processing unit 1 is connected to a motor drive unit 2 and outputs a voltage command value to the motor drive unit 2.
Give to. The motor driving device 2 is connected to the permanent magnet rotor synchronous motor 3 and drives the permanent magnet rotor synchronous motor 3. The rotating shaft of the permanent magnet rotor synchronous motor 3 is connected to the main sheave 4 and drives the main sheave 4. The processing unit 1 is connected to the electromagnetic brake 9 so that the electromagnetic brake 9 can be turned on and off. This allows
The main sheave 4 is braked by an electromagnetic brake 9.

A current sensor 8 u is attached to the U-phase of the permanent magnet rotor synchronous motor 3, and the U-phase current detected by the current sensor 8 u is input to the arithmetic processing unit 1. A current sensor 8w is attached to the W-phase of the permanent magnet rotor synchronous motor 3, and the W-phase current i detected by the current sensor 8w.
w is input to the arithmetic processing unit 1. Further, a U-phase current change sensor 17u for detecting the current change rate of the U-phase current is provided, and a W-phase current change sensor 17w for detecting the current change rate of the W-phase current is provided. Input to the device 1. Further, a rotation sensor 7 is attached to the permanent magnet rotor synchronous motor 3, and the magnetic pole position of the permanent magnet rotor synchronous motor 3 is calculated by the arithmetic processing unit 1.
Is input to The arithmetic processing device 1 has a memory 11
Are connected so that these data can be read and written.

On the other hand, the elevator car 5 and the counterweight 6 are connected by a main rope 10 and are suspended from the main sheave 4 in a slippery manner. The car 5 is connected to the car position sensor 13, and the output of the car position sensor 13 is input to the arithmetic processing device 1 so that the position of the car 5 can be detected. The floor 12 is designed so that the elevator stops and passengers can get on and off.

Next, the operation will be described. FIG. 14 is a flowchart illustrating a rescue operation procedure when a rotation sensor fails according to the fifth embodiment of the present invention. Assuming that the elevator stops due to the failure of the rotation sensor 7, S30
Proceed to 1 to measure the change rate of the armature current.

That is, the main sheave 4 is fixed by the electromagnetic brake 9 and the shaft of the permanent magnet rotor synchronous motor 3 is fixed. Then, the armature current vector is fixed in a certain direction, and the rate of change of the armature current value of the permanent magnet rotor synchronous motor 3 is measured. As shown in FIG. 5, the arithmetic processing unit 1 sends a voltage command value Vθ1 * (Vuθ) to the motor drive unit 2 so as to flow a step-like current i * as shown in FIG.
1 *, Vvθ1 *, Vwθ1 *). The motor drive device 2 supplies a current to the permanent magnet rotor synchronous motor 3 to generate a U-phase current sensor 8u and a W-phase current sensor 8w.
Are supplied to the U-phase current change sensor 17u and the W-phase current change sensor 17w. Then, the rising degrees diuθ1 / dt and diwθ1 / dt of the respective phase currents are detected by the U-phase current change sensor 17u and the W-phase current change sensor 17w, respectively, and written into the memory 11.

Next, the routine proceeds to S102, where the motor inductance is identified. FIG. 15 shows a method of identifying the armature inductance L. For example, the rising degree of the reference current is divided into six from the minimum value to the maximum value, and the reference values are set to Di1 to Di.
Provide up to 6. The armature inductance L is also divided into six from the minimum value to the maximum value, and the minimum value is L1 and the maximum value is L6.
And

First, in step S201, the current rising degree diuθ1 / dt is loaded from the memory 11. Then S
At 202, diuθ1 / dt is compared with Di1, and di
If uθ1 / dt is smaller than Di1, proceed to S208,
Assuming that Lθ1 = L1, the identification of the armature inductance ends. On the other hand, if diuθ1 / dt is larger than Di1, S
Go to 203. diuθ1 / dt is compared with Di2, and d
If iuθ1 / dt is smaller than Di2, the process proceeds to S209, where Lθ1 = L2, and the identification of the armature inductance ends.

Similarly, if diuθ1 / dt is larger than Di2, the process proceeds to S204, where diuθ1 / dt is set to Di.
3, if diuθ1 / dt is smaller than Di3, the process proceeds to S210, where Lθ1 = L3, and the identification of the armature inductance ends. If diuθ1 / dt is larger than Di3, the process proceeds to S205, where diuθ1 / dt is compared with Di4, and if diuθ1 / dt is smaller than Di4, S2
Proceeding to 11, the identification of the armature inductance is completed with Lθ1 = L4. If diuθ1 / dt is larger than Di4, the process proceeds to S206, where diuθ1 / dt is compared with Di5, and if diuθ1 / dt is smaller than Di5, S212.
Then, the identification of the armature inductance is completed by setting Lθ1 = L5. If diuθ1 / dt is larger than Di5, the process proceeds to S207, and Lθ1 = L6, and the identification of the armature inductance ends.

After the identification of the armature inductance,
Next, the process proceeds to S103, where the identified armature inductance L
The magnetic pole position of the permanent magnet rotor synchronous motor 3 is shown in FIG.
, It is estimated that either γ = γ1 or γ1 ′. Here, γ represents the relative angle of the current vector with respect to the axis of the unknown magnetic pole as shown in FIG.

Next, the flow proceeds to S302, in which the direction of the current vector is changed to measure the armature current. The arithmetic processing unit 1 sends a voltage command value Vθ1 + △ θ * to the motor drive unit 2 so that a step-like current i * as shown in FIG. 3 flows in a certain direction θ1 + △ θ.
(Vuθ1 + △ θ *, Vvθ1 + △ θ *, Vwθ1 + △
θ *). The motor driving device 2 supplies a current to the permanent magnet rotor motor 3 to generate a U-phase current sensor 8u,
Each phase current iuθ1 + is detected by the W-phase current sensor 8w.
Δθ, iwθ1 + Δθ are converted to U-phase current change sensor 17u, W
Via the phase current change sensor 17w, the rising degree of each phase current diuθ1 + △ θ / dt, diwθ1 + △ θ / dt
Is detected and written to the memory 11.

Next, the routine proceeds to S105, where the armature inductance Lθ1 + Δθ in the direction θ1 + △ θ is identified. Also in this case, the armature inductance is identified in the same manner as shown in FIG. That is, in step S201, the current rising degree diuθ1 + △ θ / dt is loaded from the memory 11. Next, in S202, diuθ1 + △ θ / dt is compared with Di1, and if diuθ1 + △ θ / dt is smaller than Di1, the process proceeds to S208, and Lθ1 + △ θ = L1 to end the identification of the armature inductance.

On the other hand, if diuθ1 + △ θ / dt is larger than Di1, the process proceeds to S203, where diuθ1 + △ θ / dt.
Is compared with Di2, and if diuθ1 + △ θ / dt is smaller than Di2, the process proceeds to S209, where Lθ1 + △ θ = L2, and the identification of the armature inductance ends.

Similarly, diu θ1 + △ θ / dt is D
If it is larger than i2, the process proceeds to S204, where diuθ1 + △ θ
/ Dt is compared with Di3, and diuθ1 + △ θ / dt is D
If it is smaller than i3, the process proceeds to S210, where Lθ1 + △ θ = L
As 3, the identification of the armature inductance is completed. diu
If θ1 + △ θ / dt is larger than Di3, the process proceeds to S205, where diuθ1 + △ θ / dt is compared with Di4, and diu
If θ1 + △ θ / dt is smaller than Di4, the process proceeds to S211 and Lθ1 + △ θ = L4, and the identification of the armature inductance ends. If diuθ1 + △ θ / dt is greater than Di4, the process proceeds to S206, where diuθ1 + △ θ / dt is set to D
Compared to i5, if diuθ1 + △ θ / dt is smaller than Di5, the process proceeds to S212, and Lθ1 + △ θ = L5, and the identification of the armature inductance ends. diuθ1 + △ θ
If / dt is larger than Di5, the process proceeds to S207, where Lθ1
+ △ θ = L6 and the identification of the armature inductance ends.

After the identification of the armature inductance Lθ1 + Δθ in the direction θ1 + △ θ is completed, the process proceeds to S106.
Compare the identified armature inductance values. Lθ1
> Lθ1 + △ θ, the process proceeds to S107a, and the magnetic pole position γ =
It is determined as γ1. On the other hand, if Lθ1 <Lθ1 + △ θ, the process proceeds to S107b, and it is estimated that γ = γ1 ′.

Next, the routine proceeds to S108, where rescue operation is started. Using the estimated magnetic pole position γ, the armature current vector is controlled to rotate by 90 ° from the magnetic pole position. The arithmetic processing unit 1 releases the electromagnetic brake 9 and starts the elevator. The arithmetic processing unit 1 rotates the permanent magnet rotor synchronous motor 3 by open loop control so that the car 5 descends. Thereafter, the process proceeds to S109, where it is determined whether or not the vehicle has landed. That is, the position of the car 5 is detected by the car position sensor 13, and if the car has not landed, the process returns to S <b> 108 and continues driving.

When the car 5 arrives at the floor 12, S
Proceed to 110 to stop the elevator. That is, the permanent magnet rotor synchronous motor 3 is stopped, the electromagnetic brake 9 is operated, and the main sheave 4 is fixed. The car 5 opens the door, drops the passenger, and ends the rescue operation.

As described above, in the fifth embodiment, the change in the armature inductance of the permanent magnet rotor synchronous motor 3 is determined from the change in the degree of rise of the armature current. Estimate the magnetic pole position. This enables vector control of the permanent magnet rotor synchronous motor 3 when the position sensor has failed, and can perform rescue operation.

[0106]

As described above, according to the present invention, when the rotation sensor of the permanent magnet rotor synchronous motor stops due to failure, the position of the magnetic pole of the motor is estimated and the permanent magnet rotor synchronous motor is estimated. , The rescue operation can be performed even if the rotation sensor fails.

That is, according to the first aspect of the present invention, the magnetic pole position is estimated from the change in the armature inductance of the permanent magnet rotor synchronous motor, and the vector control of the permanent magnet rotor synchronous motor when the position sensor fails. Since it is possible, rescue operation can be performed.

According to the second aspect of the present invention, even if an error occurs in estimating the magnetic pole position of the permanent magnet rotor synchronous motor and sufficient torque cannot be output, the abnormal speed of the car is detected and the brake is applied. The hanging of the car can be prevented.

According to the third aspect of the present invention, when an error occurs in the estimation of the magnetic pole position of the permanent magnet rotor synchronous motor and the motor starts to reverse, the moving direction of the car is detected and the brake is applied. The reverse rotation of the permanent magnet rotor synchronous motor can be prevented.

According to the fourth aspect of the present invention, even if the magnetic pole position of the permanent magnet rotor synchronous motor cannot be accurately estimated,
Since the rescue operation is performed in a direction in which the torque required for the permanent magnet rotor synchronous motor is small by detecting the load in the car, it is possible to prevent the car from hanging.

According to the fifth aspect of the invention, the change in the degree of rise of the armature current of the permanent magnet rotor synchronous motor causes
Since the magnetic pole position is estimated from the change in the armature inductance of the permanent magnet rotor synchronous motor, the rescue operation can be performed by enabling the vector control of the permanent magnet rotor synchronous motor when the rotation sensor fails.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of an elevator control device according to a first embodiment of the present invention.

FIG. 2 is a system model diagram of a permanent magnet rotor synchronous motor according to the first embodiment of the present invention.

FIG. 3 is a waveform diagram of a current command for magnetic pole estimation according to the first embodiment of the present invention.

FIG. 4 is a flowchart illustrating a procedure of a rescue operation when a rotation sensor fails according to the first embodiment of the present invention.

FIG. 5 is a diagram showing a relationship between a magnetic pole and a current vector when a current command for magnetic pole position estimation is given in the first embodiment of the present invention.

FIG. 6 is an explanatory diagram in a case where a magnetic pole position is estimated from a relationship between an armature inductance and a magnetic pole position in the first embodiment of the present invention.

FIG. 7 is a configuration diagram of an elevator control device according to a second embodiment of the present invention.

FIG. 8 is a flowchart illustrating a procedure of a rescue operation when a rotation sensor fails according to the second embodiment of the present invention.

FIG. 9 is a configuration diagram of an elevator control device according to a third embodiment of the present invention.

FIG. 10 is a flowchart illustrating a procedure of a rescue operation when a rotation sensor fails according to the third embodiment of the present invention.

FIG. 11 is a configuration diagram of an elevator control device according to a fourth embodiment of the present invention.

FIG. 12 is a flowchart illustrating a procedure of a rescue operation when a rotation sensor fails according to a fourth embodiment of the present invention.

FIG. 13 is a configuration diagram of an elevator control device according to a fifth embodiment of the present invention.

FIG. 14 is a flowchart showing a rescue operation procedure when a rotation sensor fails according to a fifth embodiment of the present invention.

FIG. 15 is a flowchart showing a procedure for identifying an armature inductance when a rotation sensor fails according to the fifth embodiment of the present invention.

FIG. 16 is an explanatory diagram of characteristics of a permanent magnet rotor synchronous motor.

FIG. 17 is a relationship diagram between a magnetic pole position, a total magnetic flux, and an armature inductance.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 arithmetic processing unit 2 motor driving device 3 permanent magnet rotor synchronous motor 4 main sheave 5 car 6 counter weight 7 rotation sensor 8 u U-phase current sensor 8 w W-phase current sensor 9 electromagnetic brake 10 main rope 11 memory 12 floor 13 car position Sensor 14 Car speed sensor 15 Progress direction sensor 16 Car load sensor 17u U-phase current change sensor 17w W-phase current change sensor

Claims (5)

[Claims] A rotation sensor for detecting a magnetic pole position of a permanent magnet rotor synchronous motor that drives a hoist of a car; a phase current sensor for detecting a phase current of the permanent magnet rotor synchronous motor; A car position sensor for detecting the position of the car; and a calculation process for calculating a voltage command to the permanent magnet rotor synchronous motor for elevating the car based on the magnetic pole position, the phase current, and the car position. A motor drive control device that drives the permanent magnet rotor synchronous motor based on a voltage command from the arithmetic processing device, wherein the arithmetic processing device includes a magnetic pole from the rotation sensor. When the position cannot be detected, the magnetic pole position is estimated from the armature inductance of the permanent magnet rotor synchronous motor, and rescued based on the magnetic pole position. An elevator control device characterized in that it is operated. 2. The elevator control apparatus according to claim 1, further comprising a car speed sensor for detecting a moving speed of the car, wherein the arithmetic processing device includes a car speed sensor detected by the car speed sensor. An elevator control device, wherein a rescue operation is performed when the moving speed is lower than a predetermined value, and the elevator is stopped when the moving speed is higher than the predetermined value. 3. The elevator control apparatus according to claim 1, further comprising: a traveling direction sensor for detecting a traveling direction of the car, wherein the arithmetic processing unit is configured to control a rotation direction of the permanent magnet rotor synchronous motor. An elevator control device, wherein an elevator is stopped when it is detected that it has rotated in a direction opposite to the rotation command direction. 4. The elevator control apparatus according to claim 1, further comprising a car load sensor for detecting a load of a car of the elevator, wherein the arithmetic processing unit is configured to detect a load in a rising direction when the car load is smaller than a predetermined value. An elevator control device, wherein the operation is performed, and when the car load is larger than a predetermined value, the operation is performed in a descending direction. 5. The elevator control device according to claim 1, further comprising a current change sensor for detecting a rise of an armature current of the permanent magnet rotor synchronous motor,
The control device for an elevator, wherein the arithmetic processing unit identifies the armature inductance of the permanent magnet rotor synchronous motor from a rising speed of a current flowing through the armature.