| 摘要 |
The present invention relates to an elevator controlling apparatus which improves control efficiency. The elevator controlling apparatus comprises: a position storing unit which stores the position value of a motor measured in a motor position measuring device at an interval of a first period; a state estimating unit which estimates a rotational speed based on a position stored in the position storing unit and an inputted torque control value at an interval of a second period; a state feedback position controlling unit which generates the torque control value for the motor and outputs a current control value based on the position value measured in the motor position measuring device and the rotational speed estimated in the state estimating unit at an interval of a third period; and a vector controlling unit which outputs a voltage control signal controlling the motor based on the driving current measurement value and current control value of the motor measured in a current sensor. The state feedback position controlling unit: generates a torque control value by subtracting a value of multiplying a first constant by a rotational speed and a value of multiplying a second constant by a position value from a value which proportionally integrates a difference between the position value and an inputted position control value in accordance with a proportional constant; and outputs a current control value corresponding to the torque control value. The proportional constant and the first and second constants are determined by a gain value set in the state feedback position controlling unit and an inertia value of an elevator. |
