Kabushiki Kaisha Toshiba

Toshiba Elevator Kabushiki Kaisha

Kogakuin University

Mimpei Morishita

Teruo Azukizawa

Hiroaki Ito

Daisuke Misu

Toyohiko Yokoyama

Yoshio Yuyama

Takashi Shigemasa

Sueyoshi Mizuno

Yosuke Tonami

Akitaka Noda

Shigeo Takaki

Masakuni Akashi

Noriko Kasahara

Teruo Azukuzawa

A field magnet holder provided at a field portion of an electric motor is formed of a non-magnetic material. An inner wall and outer wall of the field magnet holder are respectively formed in annular shapes. Plural spacers are arranged between the inner wall and outer wall at a predetermined spacing in the circumferential direction. Sockets into which permanent magnets are inserted are formed between the spacers of the field magnet holder, plurally in the circumferential direction. Therefore, the permanent magnets may be easily assembled by being respectively inserted into the sockets. The plural permanent magnets are arrayed with magnetization directions thereof successively changed in steps of an angle that is a full cycle of electrical angles divided by a division number n, which division number n is any one integer that is at least three. Thus, ease of assembly of the permanent magnets is improved.

Magnetic field generating device and rotating electrical machine

In an electric motor, three-phase coils are provided to an armature disposed between an outside field system and an inside field system, and Halbach arrays are employed in the outside field system and the inside field system. Each of the Halbach arrays is divided by a number of divisions that is any number computed by adding two to a multiple of three. Permanent magnets are arrayed such that their magnetization directions are changed in sequence by steps of an angle computed by dividing one cycle's worth of electric angle by the number of divisions. Torque ripple is thereby suppressed in the electric motor.

Electromagnetic device

A magnet unit includes a first magnetic pole (), a second magnetic pole () and a third magnetic pole () at a center between the first magnetic pole () and the second magnetic pole (), providing an E-shaped configuration. In the magnet unit, a first magnet is defined between the first magnetic pole () and the third magnetic pole () by connecting two electromagnets () with each other through a permanent magnet (), while a second magnet is defined between the second magnetic pole () and the third magnetic pole () by connecting two electromagnets () with each other through a permanent magnet (). With this configuration, it is possible to reduce a deviation in the length of respective magnetic paths from the permanent magnets () up to their respective magnetic poles. By controlling exciting currents to the respective electromagnets (), it is also possible to adjust fluxes (or flux density) in respective directions x, y individually.

Magnet unit, elevator guiding apparatus and weighing apparatus

An exciting voltage arithmetic portion calculates an exciting voltage of an electromagnet using a signal of a gap sensor. On the other hand, a sensorless exciting voltage arithmetic portion calculates an exciting voltage of the electromagnet using a signal of the current sensor. The exciting voltage adjusting portion adjusts a mixing ratio between an output value of an exciting voltage arithmetic portion and an output value of the sensorless exciting voltage arithmetic portion corresponding to a gap length. The excitation of the electromagnet is controlled according to an output value of the exciting voltage adjusting portion so as to reduce influences of noises on the gap sensors thereby always achieving a stable levitation control.

Magnetic levitation apparatus

A magnet unit includes a first magnetic pole (), a second magnetic pole () and a third magnetic pole () at a center between the first magnetic pole () and the second magnetic pole (), providing an E-shaped configuration. In the magnet unit, a first magnet is defined between the first magnetic pole () and the third magnetic pole () by connecting two electromagnets () with each other through a permanent magnet (), while a second magnet is defined between the second magnetic pole () and the third magnetic pole () by connecting two electromagnets () with each other through a permanent magnet (). With this configuration, it is possible to reduce a deviation in the length of respective magnetic paths from the permanent magnets () up to their respective magnetic poles. By controlling exciting currents to the respective magnetic poles. By controlling exciting currents to the respective electromagnets (), it is also possible to adjust fluxes (or flux density) in respective directions x, y individually.

An elevator includes guide rails laid in an elevator shaft vertically, an elevator car moving up and down along the guide rails, guiding units provided on the elevator car for guiding it, the guiding unit having a magnet unit including cores and coils forming electromagnets to generate a magnetic force against the guide rail through an air gap and a controller for controlling the magnetic force by maneuvering an exciting current for exciting the electromagnets. The controller controls the magnetic force so as to make the guiding units in non-contact with the guide rails when the elevator car is traveling and brings the guiding units into contact with the guide rails when the elevator car is stopped, so that the guiding units attract and fix the guide rails while the elevator car is stopped.

Elevator

A control device sets parameters 'n', 'ad', &#x201c;pd&#x201d;, &#x201c;aq&#x201d;, &#x201c;pq&#x201d; and the like of a motor parameter setting unit, corrects a d-axis current command value outputted from a d-axis current instructing unit and a q-axis current command value outputted from q-axis current instructing unit based on these parameters of the motor parameter setting unit, on a detection result of a rotation angle detection unit, and makes a (6&#xd7;n)f sine component, (6&#xd7;n)f cosine component, (6&#xd7;(n+1))f sine component, and (6&#xd7;(n+1))f cosine component of torque to zero. In such a way, 6&#xd7;n and 6&#xd7;(n+1) ripple components and the like, which are generated in a motor provided in elevator equipment or the like, are suppressed, and a torque ripple of the motor is reduced to a large extent.

Control device

Torque ripple of a motor due to a rotation detection device is reduced. A periodicity gain multipliermultiplies the rotation angle &#x3b8; of a detection target by a ripple periodic number m per rotation of the detection target. An adderadds a phase adjusting value '&#x3c8;' from a phase adjustorto the value 'm&#x3b8;'. The value &#x201c;sin(m&#x3b8;+&#x3c8;)&#x201d;, which is calculated by a sine calculator, is multiplied by a predetermined gain G by an amplitude adjustorand by the angular velocity &#x3c9; of the detection target by a multiplier. A subtractorsubtracts the output of the multiplierfrom the value &#x201c;&#x3c9;&#x201d; and outputs &#x201c;&#x3c9;(1&#x2212;G sin(m&#x3b8;+&#x3c8;))&#x201d;. The output of the subtractorand the output &#x201c;m&#x3b8;+&#x3c8;&#x201d; of the adderare input to the phase adjustorand amplitude adjustor. The phase adjustorcalculates the phase adjusting value &#x201c;&#x3c8;&#x201d; based on the summation of the derivative values of the outputs from the subtractorsampled for each &#x201c;&#x3c0;/2&#x201d; of the output from the adder. The amplitude adjustorcalculates the gain G based on the summation of the differences between averages of the sampled values at &#x201c;0&#x201d; and &#x201c;&#x3c0;&#x201d; of the output of the adderand averages of the time integration value at the integral interval of &#x201c;0&#x201d; to &#x201c;&#x3c0;&#x201d;.

Rotation detection device

A vibration controller controls vibrations generated in a driven object included in a system subject to vibrations due to the dynamic unbalance or eccentricity of a rotating member driven for rotation by an electric motor. An angular position transforming unit () and an angular velocity transforming unit () transform the output signal of a rotating motion measuring means (C) into an angular position and an angular velocity, respectively. A sine calculating unit () calculates the sine of an angle obtained by adding up the angular position and a predetermined phase angle provided by a phase adjusting unit () by an adder (). A multiplier () calculates the product of the output of a gain adjusting unit () that multiplies the output of the sine calculating unit () by a predetermined gain and the output of a multiplier () that calculates the square of the angular velocity. Again adjusting unit (') multiplies the output of a sine calculating unit (&#x2032;) by a predetermined gain. An adder () adds up the respective outputs of the multiplier () the gain adjusting unit (&#x2032;) and a specified torque calculating unit.

Oscillation adjuster and oscillation adjusting method

The rotary detector according to this invention comprises a rotary detector unit C, Cwhich detects rotary motion of a rotor; and a rotary calculator unit C, C', C&#x2033; comprising a rotation angle detector, which detects the rotation angle of the rotor, and an angle speed detectorwhich detects the angle speed of the rotor, based on the output of the rotary detector unit. The rotary calculator unit comprises a trigonometrical calculator C, C&#x2032;, C&#x2033; which calculates a sine value or a cosine value of the rotation angle detected by the rotary detector; a gain adjuster&#x2033; which multiplies the sine value or the cosine value, calculated by the trigonometrical calculator, by a predetermined gain; a multiplierwhich multiplies the output of the gain adjuster by the output of the angle speed detector; and a subtracterwhich subtracts the output of the multiplier from the output of the angle speed detector.

Rotational speed detector with ripple compensation

A moveable body ( ) is guided in non-contacting fashion by exercising control by a guidance control unit (C ) constituted by zero power-control means (unit) (L ) and stabilization unit (L ) of a magnetic levitation system (C ) comprising guide rails ( ) and ( &prime;) and magnetic units ( ) mounted on the moveable body ( ); also there is provided output limiting unit (C ) whose output value is limited based on the output value of the zero power control means (unit) (L ) itself. Improvement in the comfort of the ride is thereby achieved by expanding the allowed range of external force under which non-contacting guidance can be achieved. Also, increase in size of the magnetic units or reduction in the width of the designed gap length in order to cope with external force is thereby avoided, lowering the costs of the elevator system and enabling reliability to be improved with diminished frequency of contact with the guide rails.

Elevator guidance device

A guide system for an elevator, including a movable unit configured to move, such as,ascend and descend, along a guide rail, a beam projector configured to form an optical path of a light parallel to a moving direction of the movable unit, a position detector disposed on the optical path and configured to detect a position relationship between the optical path and the movable unit, and an actuator coupled to the movable unit and configured to change a position of the movable unit by a reaction force caused by a force operating on the guide rail on the basis of the output of the position detector.

Active guide system for elevator cage

A magnetic guide system for an elevator, including a movable unit configured to move along a guide rail, a magnet unit attached to the movable unit, having a plurality of electromagnets having magnetic poles facing the guide rail with a gap, at least two of the magnetic poles are disposed to operate attractive forces in opposite directions to each other on the guide rail, and a permanent magnet providing a magnetomotive force for guiding the movable unit, and forming a common magnetic circuit with one of the electromagnets at the gap, a sensor configured to detect a condition of the common magnetic circuit formed with the magnet unit and the guide rail, and a guide controller configured to control excitation currents to the electromagnets in response to an output of the sensor so as to stabilize the magnetic circuit.

Active magnetic guide system for elevator cage

An actuator controller using a periodic signal includes: an actuating unit for moving a movable portion with respect to a fixed portion by a predetermined amount; a drive unit for operation the movement; a power supply unit for supplying an electric power to the drive unit; and a periodic signal generating unit, which includes a velocity command signal generating part for generating a velocity command signal on the basis of an output of the movable portion, and a driving frequency calculating part for determining the frequency of the periodic signal in accordance with the velocity command signal. The driving frequency calculating part comprises: a digital control calculating part for deriving a control pulse signal frequency f for moving the movable portion; a stochastic output calculating part for calculating an output by a probability on the basis of the frequency f and a sampling frequency fs, or an error correcting part for correcting an error of the frequency; and a frequency quantizing part for quantizing the frequency, the error of which has been corrected. With this construction, it is possible to smoothly and accurately control the movable portion of the periodic signal drive system even if there is a little memory capacity, and it is possible to achieve a precise movement.

Actuator controller using periodic signal

A ferromagnetic track positioning type magnetic levitation transport system which transports without contact a large variety of ferromagnetic objects without impairing the expandability of the track. The track is composed of support units 3, propulsion units 5 and guidance units 7. In the support units 3, multiple magnetic support units 15 are mounted so that they are vertically moveable. Attraction control device 19 performs levitation control which contributes to the vertical movement of the center of gravity of the part of steel plate X overlapping support unit 3 and levitation control which contributes to the rolling of the same part of steel plate X. The height of steel plate X is maintained at a specified position by controlling height adjustment mechanisms with height control system 53. Stabilization of the pitching of steel plate X accomplished using coil springs 47 and dampers 49 which are provided in support units 3. Movement and at the same time, decrease of yawing of steel plate X is caused by propulsion unit 5. Guidance of steel plate X in the left and right directions is performed by guidance unit 7.

Growing community of inventors

Tokyo, Japan

Mimpei Morishita