Self commissioning controller for field-oriented elevator motor/drive system

A method of self-commissioning a field-oriented elevator motor controller while a corresponding elevator motor is connected through roping to an elevator which is to be driven by said motor, comprising the steps of:

• a) with said motor connected to said elevator by roping, locking the rotor of said motor so that it cannot turn, applying a drive current to said motor and determining values of Id, Iq, Vd, and Vq resulting from application of said drive current, and calculating from said values an integral gain K.sub.l and a proportional gain K.sub.p for the motor controller;
• b) with said motor still roped to said elevator and said rotor locked so it cannot turn and with the values of K.sub.l and K.sub.p calculated in step a) operative as parameters within said motor controller, applying a drive current to said motor and determining additional values of Id, Iq, Vd and Vq, and calculating from said additional values, initial values of a rotor time constant .tau..sub.R, magnetizing current Id, and motor torque constant K.sub.T * for the motor controller, and a value of a motor transient inductance L.sigma.;
• c) unlocking said rotor, and with the values of K.sub.l and K.sub.p provided in step a) and values of .tau..sub.R, Id, K.sub.T * and L.sigma. provided in step b) operative as parameters within said motor controller, moving said elevator and calculating final values for said rotor time constant .tau..sub.R and magnetizing current Id;
• and
• d) with the values of K.sub.l and K.sub.p provided in step a), the values of K.sub.T * and L.sigma. provided in step b), and the values of .tau..sub.R and Id provided in step c) operative as parameters within said controller, moving said elevator and calculating a system inertia J* for the motor controller.