| 摘要 |
PROBLEM TO BE SOLVED: To remove vibration of a cage and improve riding comfortableness of a passenger who rides in the cage when an elevator runs by obtaining a compensation value for vibration of the cage in compensation current mode by a vibration compensation part and adding and subtracting compensation current from original current command. SOLUTION: A current command i* is output to a current control part 114 due to proportional and integration control in a speed control part 113 in accordance with an error e between an output pulse p2 and a speed command u*. At this time, a torque calculation part 311 of a vibration compensation part 300 calculates torque Te. An acceleration assuming part 312 calculates speed of a cage and acceleration Acar based on speed p2 of a winch 118 and output torque Te of an electricity conducting machine. A compensation current generation part 313 calculates compensation current ic by multiplying acceleration Acar and compensation gain Kc, and the compensation current ic is subtracted from the current command i* output from the speed control part 113 in a second subtractor 314 and is input in the current control part 114 as a new current command i*. |
