CN103459295B - Elevator door control device - Google Patents
Elevator door control device Download PDFInfo
- Publication number
- CN103459295B CN103459295B CN201180069436.0A CN201180069436A CN103459295B CN 103459295 B CN103459295 B CN 103459295B CN 201180069436 A CN201180069436 A CN 201180069436A CN 103459295 B CN103459295 B CN 103459295B
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- Prior art keywords
- door
- speed
- elevator door
- elevator
- stop
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/02—Door or gate operation
- B66B13/14—Control systems or devices
- B66B13/143—Control systems or devices electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/02—Door or gate operation
- B66B13/14—Control systems or devices
Abstract
Provided is an elevator door control device capable of increasing the capability of following of a speed command value for an elevator door by the actual speed of the elevator door even when the speed of a car door and the speed of a landing door are different. To this end, an elevator door control device is provided with: a generation unit which generates a speed command value for an elevator door configured by engaging and integrating a car door and a landing door; a speed control unit which finds a motor command value for a motor for driving the elevator door using the mass of the elevator door such that the speed of the elevator door matches the speed command value; and an identification unit which, on the basis of the speed of the car door and the speed of the landing door, identifies the mass of the elevator door when the motor command value is found at each opening/closing position of the elevator door.
Description
Technical field
The present invention relates to the controlling device for doors of elevator.
Background technology
Elevator door is made up of car door and stop door.Clamping close device is respectively equipped with at car door and stop door.At car door, motor is installed.When this motor drives, car door starts to open.Then, the clamping close device of car door carries out relative movement relative to car door.Moved by this, the clamping close device of car door engages with the clamping close device of stop door.By this engaging, car door becomes to be integrated with stop door.In this condition, car door and stop door are opened.
As the device of such control elevator door action, propose the controlling device for doors (for example, referring to patent documentation 1 and 2) premised on the speed of car door is consistent with the speed of stop door.
At first technical literature
Patent documentation
Patent documentation 1: Japanese Patent No. 3540509 publication
Patent documentation 2: Japanese Unexamined Patent Publication 2009-155086 publication
Summary of the invention
The problem that invention will solve
But in elevator door, after the clamping close device of car door engages with the clamping close device of stop door, the clamping close device that there is car door carries out the situation of relative movement relative to car door.In this case, the speed of car door and the speed of stop door produce difference.In this condition, if the controlling device for doors utilizing patent documentation 1 and 2 to record controls the action of elevator door, then the quality of stop door is larger, and external disturbance is larger.Consequently, the actual speed of elevator door declines to the tracing ability of the speed value of elevator door.
The present invention proposes to solve the problem just, its object is to, a kind of controlling device for doors of elevator is provided, even when the speed of car door is different with the speed of stop door, also can improves the actual speed of elevator door to the tracing ability of the speed value of elevator door.
The controlling device for doors of elevator of the present invention has: generating unit, and it generates car door and stop badge closes the speed value forming the elevator door be integrated; Speed controlling portion, it uses the quality of described elevator door to obtain the motor command value of the motor for the described elevator door of driving, to make the speed of described elevator door consistent with described speed value; And Identification Division, it is according to each opened and closed positions of described elevator door, according to the speed of described car door and the speed of described stop door, carries out identification to the quality of described elevator door when obtaining described motor command value.
Invention effect
According to the present invention, even when the speed of car door is different with the speed of stop door, the actual speed of elevator door also can be improved to the tracing ability of the speed value of elevator door.
Accompanying drawing explanation
Fig. 1 is the front view of elevator door, and this elevator door employs the controlling device for doors of the elevator of embodiments of the present invention 1.
Fig. 2 is the block diagram of the controlling device for doors of the elevator of embodiments of the present invention 1.
Fig. 3 represents the figure of the actual speed of elevator door to the tracing ability of speed value, and this speed value refers to value when not carrying out identification according to each opened and closed positions of elevator door to the quality of elevator door.
Fig. 4 represents the figure of the actual speed of elevator door to the tracing ability of speed value, and this speed value refers to value when having carried out identification according to each opened and closed positions of elevator door to the quality of elevator door.
Fig. 5 is the block diagram of the controlling device for doors of the elevator of embodiments of the present invention 2.
Detailed description of the invention
Below, illustrate for implementing mode of the present invention with reference to accompanying drawing.In addition, in various figures identical label is marked to identical or suitable part, and suitably simplify and even omit its repeat specification.
Embodiment 1
Fig. 1 is the front view of elevator door, and this elevator door employs the controlling device for doors of the elevator of embodiments of the present invention 1.
Elevator door in Fig. 1 is such as the elevator door identical with the elevator door that Japanese Unexamined Patent Publication 2006-103882 publication is recorded.In FIG, door face board 1 is configured with as car door in the gangway (not shown) of the car (not shown) of elevator.In FIG, door face board 1 is configured in full close position.Suspension bracket 2 is provided with in the upper end of door face board 1.
Crossbeam 3 is provided with at the rising wood of car gangway.Crossbeam 3 is configured to its long limit and is positioned at horizontal direction.Guiding rail 4 is provided with at crossbeam 3.Guiding rail 4 is configured to its long limit and is positioned at horizontal direction.Mobile hanging wheel 5 freely is in the horizontal direction provided with at guiding rail 4.Suspension bracket 2 is installed on hanging wheel 5.
Pivotal mounting in the both sides of crossbeam 3 have reel 6.Motor 7 is connected with a reel 6.Transmission bar body 8 is wound on these reels 6 under the state being subject to tension force ring-type non junction.The upper end of a link 9 is connected with the downside of transmission bar body 8.The lower end of this link 9 is connected with a suspension bracket 2.The upper end of another link 9 is connected with the upside of transmission bar body 8.The lower end of this another link 9 is connected with another suspension bracket 2.
Link rod 10 is provided with in the side of crossbeam 3.One end of link rod 10 is connected with a side end of crossbeam 3.The other end of link rod 10 is configured in the center side of car gangway.Cam 11 is provided with at the other end of link rod 10.Cam path 12 is provided with at cam 11.
Clamping close device 13 is provided with at door face board 1.Clamping close device 13 has a pair blade 14, pair of parallel link rod 15 and cam-follower mechanism 16.A pair blade 14 is configured to its long edge position in vertical direction.A parallel linkage 15 is connected between the top of a pair blade 14.Another parallel linkage 15 is connected between the bottom of a pair blade 14.Cam-follower mechanism 16 is located at the central authorities of the blade 14 of door shield side.Cam-follower mechanism 16 is guided by cam path 12.
Door face board is configured with as stop door in the gangway (not shown) of elevator floor stops (not shown).Clamping close device (not shown) is provided with at the door face board of stop door.The clamping close device of stop door is such as made up of stop side wheel.
17 represent controlling device for doors.Controlling device for doors 17 is located at the top of car.Controlling device for doors 17 is connected with motor 7.Controlling device for doors 17 has the function controlling the electric current of drive motor 7 according to the speed value of elevator.
When elevator door full cut-off, the clamping close device 13 of car door and the clamping close device of stop door keep predetermined interval, to make not contact each other.Thus, when car is elevated in hoistway, avoid the contact between the clamping close device 13 of car door and the clamping close device of stop door.
When being opened by elevator door under the state that car is relative with stop, by the control of controlling device for doors 17, motor 7 works.By this work, a reel 6 rotates.Transmission bar body 8 is followed this rotation and moves.Link 9 is followed this and is moved to door pocket direction and move.Hanging wheel 5 is followed this and is moved to door pocket direction and move.Door face board 1 is followed this and is moved and move in mode away from each other towards door pocket side.
The action that moves forward into that link rod 10 follows door face board 1 is done.Cam 11 rotates along with this action.Cam-follower mechanism 16 also moves along with this rotation.Blade 14 moves along with this moves to approximating direction.Moved by this, the clamping close device of stop door is clipped in the middle by a pair blade 14.Consequently car door becomes to be integrated with stop door.
Car door and stop door accelerate after just starting enabling.Now, the clamping close device of stop door is subject to the load from the blade 14 of door shield side towards door pocket direction.Consequently maintain the state that car door becomes to be integrated with stop door.Car door and stop door slowed down before by standard-sized sheet.Now, the clamping close device of stop door is subject to the load from the blade 14 of door pocket side towards enabling direction.Consequently maintain the state that car door becomes to be integrated with stop door.Then, car door and stop door are all opened.
When being closed by elevator door, by the control of controlling device for doors 17, motor 7 works.By this work, a reel 6 rotates.Transmission bar body 8 is followed this rotation and moves.Link 9 is followed this and is moved to door shield direction and move.Hanging wheel 5 is followed this and is moved to door shield direction and move.Door face board 1 is followed this and is moved and move close to each other towards door shield side.
Car door and stop door accelerate after just starting to close the door.Now, the clamping close device of stop door is subject to the load from the blade 14 of door pocket side towards door shield direction.Consequently maintain the state that car door becomes to be integrated with stop door.Car door and stop door slowed down before by full cut-off.Now, the clamping close device of stop door is subject to the load from the blade 14 of door shield side towards door pocket direction.Consequently maintain the state that car door becomes to be integrated with stop door.Then, car door and stop door Close All.
At this, blade 14 depends on the shape of cam 11 and the shape of cam path 12 relative to the relative position of car door.Be formed with cam 11 and cam path 12 in FIG, so that when car door opens the door from full-shut position, before any one blade 14 contacts with the clamping close device of stop door, make blade 14 execution.
In this case, before the clamping close device 13 of car door engages with the clamping close device of stop door, controlling device for doors 17, according to the enough little quality of blade 14 of the quality relative to stop door and the quality of car door, controls the electric current of motor 7.Then, after car door and stop badge close, controlling device for doors 17 carries out according to identical speed the electric current controlling motor 7 premised on opening and closing with stop door by car door.Therefore, the mass parameter during electric current of intricately Variation control motor 7 is not needed.
But, in elevator, restricted to the power that opens Door by Hand from stop for the purpose of the passenger rescued in car.Such as, according to EN regulation (8.11 of EN81-1), when not carrying out at motor 7 that under the state driven, elevator door is not locked, needs can with 300(N) the following power that opens Door by Hand opens in whole or in part from stop goalkeeper car door.
In this case, consider the impact of the loss that the friction based on cam-follower mechanism 16 and cam path 12 causes etc., demand fulfillment is from the condition that opens Door by Hand of stop.Therefore, be not limited to design the shape of cam 11 and the shape of cam path 12 as follows: namely, the movement of blade 14 is completed before the clamping close device 13 of car door engages with the clamping close device of stop door.
That is, according to the shape of cam 11 and the shape of cam path 12, there is blade 14 carries out relative movement after the clamping close device 13 of car door engages with the clamping close device of stop door situation relative to car door.In this case, the speed of car door and the speed of stop door produce difference.Now, the actual speed of elevator is delayed relative to the speed value of controlling device for doors 17.Consequently the opening/closing time of elevator extends.
Therefore, in the present embodiment, according to each opened and closed positions of elevator, according to the speed of car door and the speed of stop door, identification is carried out to the quality of elevator door.Thus, even when the speed of car door is different with the speed of stop door, the tracing ability of actual speed to speed value of elevator door can also be improved.
Below, illustrate that the quality to elevator door carries out the overview of the method for identification.
When the speed of car door is different from the speed of stop door, the propulsive effort Fm of the transmission bar body 8 produced by the rotary actuation of motor 7 is represented by formula (1) below.
Wherein, M
1represent the total mass comprising the hanging wheel 5 of cage side and the door face board 1 of suspension bracket 2.M
2represent the total mass comprising the hanging wheel of stop side and the door face board of suspension bracket.V
1represent the speed of car door.V
2represent the speed of stop door.P represents the relative velocity ratio (v of stop door relative to car door
2/ v
1)." ' " represent the operational symbol of time diffusion.
Therefore, according to formula (1), the equivalent mass of elevator door is recognized as M(=M
1+ M
2(p'v
1/ v
1'+p)).
Now, relative velocity ratio p calculates according to the amount of movement of blade 14 relative to the position of car door.That is, relative velocity ratio p presets according to the shape of cam 11 and the shape of cam path 12.Therefore, relative velocity ratio p utilizes to depend on that the function of the opened and closed positions of elevator door is obtained.That is, relative velocity ratio p also can be the common parameters irrelevant with floor.
At this, rotating angular acceleration a(=v1' × the r of motor 7, r: the wheel footpath of reel 6), motor shaft conversion inertia J, the running resistance loss b of elevator door, the generation torque tau (i0 × Kt of motor 7 of the total mass of elevator door, Kt: torque constant) between relation, represent by formula (2) below.
Ja+b=τ （2）
Wherein, formula (2) is set up when car door and stop door are identical speed.When the speed of car door and the speed of stop door produce difference, represent with formula (3) ~ (5) below.
J
1a
α+J2p
αa
α+b=τ
α（3）
J
1a
β+J
2p
βa
β+b=τ
β（4）
J
2=（τ
α-τ
β-J
1a
α+J
1a
β）/（p
αa
α-p
βa
β） （5）
Wherein, Ji represents motor shaft conversion inertia=(Mr2).I=1 corresponds to car door.I=2 corresponds to stop door.Aj represents the angular acceleration of motor shaft.τ j represents the generation torque of motor 7.Pj represents the relative velocity ratio of stop door relative to car door.J=α corresponds to the position of the 1st selected from the opened and closed positions of elevator.J=β corresponds to the position of the 2nd selected from the opened and closed positions of elevator.In addition, in order to simplify, in formula (1), suppose (p'v
1/ v
1') <<p establishment.
When elevator door moves to equidirectional, running resistance loss b changes little.Therefore, also can by getting a series of door opening action like that or the difference of the data of the multiple points in action of closing the door according to formula (3), formula (4), by the entry deletion of running resistance loss b.Now, if select the angular acceleration of motor 7 or torque to be the position of the elevator door near the peak value of positive negative direction, then the impact of noise reduces relatively.Therefore, the identification precision of the total mass of elevator door improves.
In order to carry out identification to the total mass of elevator door accurately, can by the mass M of car door
1with the mass M of stop door
2separately.In order to the mass M to car door
1carry out identification, under the state except during flat bed of elevator, can only make car door carry out opening and closing.When common running when performance difficulty, the quality of car door can be estimated according to the information of the size of car door and material.If calculate the mass M of car door
1with relative velocity ratio p, then use formula (5) to the mass M of stop door
2carry out identification.
Below, use Fig. 2 that the controlling device for doors 17 adopting said method when carrying out identification to the total mass of elevator door is described.
Fig. 2 is the block diagram of the controlling device for doors of the elevator of embodiments of the present invention 1.
In fig. 2,18 represent current probe.Current probe 18 has the function of the electric current detecting supply motor 7.19 represent sensor.Sensor 19 has the function of the position of rotation of output motor 7.20 represent speed value generating unit.Speed value generating unit 20 has the function of the speed value V* that output is target with the on-off action of door face board 1, to make elevator door carry out opening and closing in predetermined opening/closing time.21 represent velocity arithmetic portion.Velocity arithmetic portion 21 has the function of the rotative speed of the Output rusults computing motor 7 according to sensor 19.Also there is velocity arithmetic portion 21 estimates the rotative speed of motor 7 situation according to the testing result of current probe 18.
22 represent speed controlling portion.Speed controlling portion 22 has T output motor current instruction value I at a certain time interval
q* function, to correct the error between the actual speed V of elevator door and speed value V*.Thus, the frictional loss eliminating the running resistances such as dust accumulation and/or cause due to the distortion of door face board 1, drive in elevator door and object between the impact of the such external disturbance of contact.
Specifically, speed controlling portion 22 has the 1st feedforward controller (not shown), the 2nd feedforward controller (not shown) and feedback controller (not shown).Feedforward controller has specifies actual speed V to the function of the tracing ability of speed value V*.Feedback controller has the function correcting rotation error.Thus, speed controlling portion 22 sets the correcting feature of following performance and rotation error of actual speed V to speed value V* independently.
1st feedforward controller using speed value V* as input.1st feedforward controller transfer function C
f(s)=ω
f/ (s+ ω
f) represent.Wherein, ω
frepresent the frequency being used to specify and exporting for the response characteristic of expected value.This is output into the input of feedback controller.
2nd feedforward controller using speed value V* as input.2nd feedforward controller transfer function Pm(s)
-1× C
fs () represents.Wherein, Pm(s) represent the control model of door equipment.Specifically, with Pm(s)=1/Js represents.Wherein, J represents the motor shaft conversion inertia of the total mass of elevator door.That is, the motor current command value J × V*s × C when output of the 2nd feedforward controller represents the perfect condition being assumed to and not having external disturbance
f(s).
Feedback controller such as uses transfer function C
b(s)=K
sp+ K
si/ s represents.Proportional gain K
spfor K
sp=J × ω
c/ K
t.K
trepresent the torque characteristics of motor 7.ω
crepresent the control crossover frequency being used to specify and exporting relative to the performance of the error correcting of expected value.Storage gain K
sifor setting the correcting feature of rotation error, to be set as K by selection
si≤ K
sp× ω
cthe motor shaft conversion inertia J of/5 and suitable control exchange frequency ω
c, suppress the vibration of door face board 1.
This speed controlling portion 22 using the summation of the output of the 2nd feedforward controller and the output of feedback controller as motor current command value I
q* export.
23 represent current control division.Current control division 23 has according to motor current command value I
q* the function detection current value of current probe 18 feedback being supplied to the current value of motor 7 is controlled.The output of current control division 23 is transfused to motor 7 by PWM inverter.Motor 7 drives according to this input.By this driving, elevator door carries out opening and closing.
24 represent data store.Data store 24 stores relative velocity ratio p according to each opened and closed positions of elevator door.Data store 24, according to each floor, is converted to the parameter that inertia J 0 obtains stores as initial value being converted by motor shaft by the total mass based on equipment size had an impact to the load of motor 7.The equipment had an impact to the load of motor 7 is the door equipment etc. of the rotary system such as various sensors, retarder, reel 6 comprising car door, stop door, door face board 1.
25 represent Identification Division.Identification Division 25 in the future the speed of the elevator door of sensor 19 or location information as an input, by the output of speed controlling portion 22 and motor current command value I
q* as another input.Also exist and adopt the current detection value of current probe 18 to replace motor current command value I
q* situation.Identification Division 25 has following function: namely according to the speed of elevator door or location information and motor current command value I
q*, above-mentioned method is used to carry out identification according to each opened and closed positions of elevator to the total mass of elevator door.
In this controlling device for doors 17, data store 24 stores the equivalent mass corresponding with the total mass being carried out the elevator door after identification by Identification Division 25.Such as, the total mass of the elevator door reflecting relative velocity ratio p itself is stored as equivalent mass by data store 24, and equivalent mass during relative velocity ratio p=1 is stored as benchmark.Speed controlling portion 22 according to this equivalent mass, according to each opened and closed positions output motor current instruction value I of elevator door
q*.
Such as, for feedback controller, be used in the total mass number certificate of the elevator door stored in data store 24, select motor shaft conversion inertia J according to each floor.In addition, also there is use relative velocity ratio p and set proportional gain K
spsituation.
But the major cause likely becoming the instability that model errors etc. causes is changed in the gain of feedback controller.Therefore, preferably by the gain Variation control of feedback controller within the specific limits.
In addition, when the difference of the total mass of the elevator door of each floor and the variation of relative velocity ratio p less, even if proportional gain K
spuse fixed value, also can guarantee certain performance.
The gain of feedforward controller is changed and is not affected stability.Therefore, for feedforward controller, also can be used in the total mass number certificate of the elevator door stored in data store 24, select motor shaft conversion inertia J according to each floor.
In addition, when the difference of the total mass of the elevator door of each floor and the variation of relative velocity ratio p less, even if gain use fixed value, also can guarantee certain performance.
If the gain especially not carrying out feedback controller is changed, and the gain only carrying out feedforward controller is changed, then can guarantee stability, and the actual speed of elevator door improves to the tracing ability of speed value V*.
Below, use Fig. 3 and Fig. 4 that the tracing ability of the actual speed of elevator door to speed value V* is described.
Fig. 3 represents the figure of the actual speed of elevator door to the tracing ability of speed value, and this speed value refers to value when not carrying out identification according to each opened and closed positions of elevator door to the quality of elevator door.Fig. 4 represents the figure of the actual speed of elevator door to the tracing ability of speed value, and this speed value refers to value when having carried out identification according to each opened and closed positions of elevator door to the quality of elevator door.Transverse axis in Fig. 3 and Fig. 4 is the time.The longitudinal axis in Fig. 3 and Fig. 4 is the speed of elevator door.
As shown in Figure 3, when each opened and closed positions not in accordance with elevator door carries out identification to the quality of elevator door, be in after just starting enabling between engaging low regime.Speed value V* between engaging low regime maintains smaller value.Midway between engaging low regime, the clamping close device 13 of car door engages with the clamping close device of stop door.
After between engaging low regime, speed value V* increases gradually.Car door moves together with stop door is by the propulsive effort of motor 7.Now, the speed of car door does not follow speed value V*.Then, when speed value V* reaches maximum, the speed of car door is consistent with speed value V*.Then, the speed of car door maintains the state consistent with speed value V*.
As shown in Figure 4, when each opened and closed positions according to elevator door has carried out identification to the quality of elevator door, be in after just starting enabling between engaging low regime.Speed value V* between engaging low regime maintains smaller value.Midway between engaging low regime, the clamping close device 13 of car door engages with the clamping close device of stop door.
After between engaging low regime, speed value V* increases gradually.Car door moves together with stop door is by the propulsive effort of motor 7.Now, the speed of car door follows speed value V*.Then, the speed of car door maintains the state consistent with speed value V*.
Like this, if carry out identification according to each opened and closed positions of elevator door to the quality of elevator door, then the moment that the speed of car door is consistent with speed value V* in advance.Therefore, shorten the opening time of elevator.
According to embodiment 1 described above, according to each opened and closed positions of elevator door, to obtaining motor current command value I
qthe quality of elevator door time * carries out identification.Specifically, according to each opened and closed positions of elevator door, according to relative velocity ratio p, identification is carried out to the quality of elevator door.Therefore, even when the speed of car door is different with the speed of stop door, the actual speed of elevator door also can be improved to the tracing ability of the speed value V* of elevator door.Even when the quality of stop door is different because of each floor, also this tracing ability can be maintained.
In addition, about the shape of the clamping close device 13 of car door and the clamping close device of stop door, the shape being defined in embodiment 1 is not needed.Such as, also can be, by making blade 14 move to the direction that the distance made each other is elongated, make blade 14 contact with the clamping close device of stop the clamping close device fixing stop door.
Embodiment 2
Fig. 5 is the block diagram of the controlling device for doors of the elevator of embodiments of the present invention 2.In addition, identical label is marked to the part identical or suitable with embodiment 1, and omits the description.
The opening and closing of elevator door between acceleration with deceleration repeatedly.When acceleration and deceleration value is identical, the total mass M of door is larger, and the propulsive effort of motor 7 is larger.The size of the propulsive effort of motor 7 has influence on size and the cost of motor 7.Therefore, the performance of motor 7 is restricted.
When the speed of car door is different with the speed of stop door, relative velocity ratio p has influence on the equivalent total mass M of elevator door.Therefore, in the region that relative velocity ratio p is larger, when the acceleration/accel under speed value V* reaches maximum, motor 7 is required than usually large torque.
Therefore, in embodiment 2, in the region that relative velocity ratio p is larger, from data store 24 to speed value generating unit 20 input speed command value V*, to make the acceleration/accel of car door become maxim.Speed value generating unit 20 according to relative velocity ratio p governing speed command value V*, to make motor current command value I
q* the allowed value of motor 7 is no more than.Consequently the increase of the necessary torque of motor 7 is suppressed.
At this, in elevator door closing limit energy and power, to prevent from being pressed from both sides.On the other hand, when elevator door opens the door, the velocity ratio of elevator door is very fast.Thus, the opening/closing time of elevator door shortens.Therefore, when elevator door opens the door, there is the tendency that the acceleration-deceleration of elevator door is larger.Therefore, the estimation of the necessary torque of the motor 7 when opening the door to elevator door is also important.
According to embodiment 2 described above, according to relative velocity ratio p governing speed command value V*, to make motor current command value I
q* the allowed value of motor 7 is no more than.By this adjustment, the opened and closed positions that the acceleration-deceleration of elevator door reaches maximum elevator door is adjusted.Therefore, it is possible to use the motor 7 that Driving Torque is less.
Utilizability in industry
As mentioned above, the controlling device for doors of elevator of the present invention can be used in such elevator: even when the speed of car door is different with the speed of stop door, also can improve the actual speed of elevator door to the tracing ability of the speed value of elevator door.
Label declaration
1 door face board; 2 suspension brackets; 3 crossbeams; 4 guiding rails; 5 hanging wheels; 6 reels; 7 motors; 8 transmission bar bodies; 9 links; 10 link rods; 11 cams; 12 cam paths; 13 clamping close devices; 14 blades; 15 parallel linkages; 16 cam-follower mechanism; 17 controlling device for doors; 18 current probes; 19 sensors; 20 speed value generating units; 21 velocity arithmetic portions; 22 speed controlling portions; 23 current control divisions; 24 data store; 25 Identification Divisions.
Claims (3)
1. a controlling device for doors for elevator, this controlling device for doors has:
Generating unit, it generates car door and stop badge closes the speed value forming the elevator door be integrated;
Speed controlling portion, it utilizes the quality of described elevator door to obtain the motor command value of the motor for the described elevator door of driving, to make the speed of described elevator door consistent with described speed value;
It is characterized in that, this controlling device for doors also has:
Storage part, this storage part stores the velocity rate between the described car door of each opened and closed positions of described elevator door and described stop door, and
Identification Division, it, according to each opened and closed positions of described elevator door, uses described velocity rate, carries out identification to the quality of described elevator door when obtaining described motor command value.
2. the controlling device for doors of elevator according to claim 1, it is characterized in that, described generating unit regulates described speed value according to described velocity rate, to make described motor command value be no more than the allowed value of described motor, the acceleration-deceleration of described elevator door is regulated to reach the opened and closed positions of maximum described elevator door thus.
3. the controlling device for doors of elevator according to claim 1 and 2, is characterized in that,
Described speed controlling portion is configured to set feed forward function and feedback function independently of one another, described feed forward function is the performance that the actual speed of elevator door according to the quality settings of described elevator door follows described speed value, described feedback function is the performance of the vibration suppressing described elevator door according to the quality settings of described elevator door
Described Identification Division is for described feedback function, do not perform the identification quality of described elevator door carried out according to the speed of described car door and the speed of described stop door, described Identification Division, for described feed forward function, performs the identification carried out the quality of described elevator door according to the speed of described car door and the speed of described stop door.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2011/056788 WO2012127607A1 (en) | 2011-03-22 | 2011-03-22 | Elevator door control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103459295A CN103459295A (en) | 2013-12-18 |
| CN103459295B true CN103459295B (en) | 2015-06-17 |
Family
ID=46878803
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201180069436.0A Active CN103459295B (en) | 2011-03-22 | 2011-03-22 | Elevator door control device |
Country Status (5)
| Country | Link |
|---|---|
| EP (1) | EP2690051B1 (en) |
| JP (1) | JP5630567B2 (en) |
| KR (1) | KR101518659B1 (en) |
| CN (1) | CN103459295B (en) |
| WO (1) | WO2012127607A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017145501A1 (en) * | 2016-02-26 | 2017-08-31 | 三菱電機株式会社 | Door device for elevator |
| CN105858388A (en) * | 2016-05-25 | 2016-08-17 | 广州市蓝菱机电工程技术有限公司 | Novel elevator safety device |
| CN109573797B (en) * | 2018-12-03 | 2022-09-06 | 天津康途科技有限公司 | Self-adaptive method for door closing curve of each floor of elevator door motor |
| JP6818813B2 (en) * | 2019-06-25 | 2021-01-20 | 東芝エレベータ株式会社 | Elevator door control |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1255456A (en) * | 1998-11-30 | 2000-06-07 | 三菱电机株式会社 | Control device for elevator door |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3430190B2 (en) * | 1996-04-01 | 2003-07-28 | 株式会社日立製作所 | Door device for elevator |
| JP4731711B2 (en) * | 2001-04-04 | 2011-07-27 | 三菱電機株式会社 | Elevator door control device and its repair method |
| EP1544152B1 (en) * | 2002-09-27 | 2012-02-08 | Mitsubishi Denki Kabushiki Kaisha | Elevator door controller |
| JP4839593B2 (en) | 2004-10-05 | 2011-12-21 | 三菱電機株式会社 | Elevator door equipment |
| JP2009096563A (en) * | 2007-10-12 | 2009-05-07 | Mitsubishi Electric Corp | Elevator door controller |
| CN101687614B (en) * | 2007-11-07 | 2012-12-05 | 三菱电机株式会社 | Door controller of elevator |
| JP2009155086A (en) * | 2007-12-27 | 2009-07-16 | Toshiba Elevator Co Ltd | Door controller of elevator |
| JP5182694B2 (en) * | 2008-03-18 | 2013-04-17 | 東芝エレベータ株式会社 | Elevator door control device |
| JP5328892B2 (en) * | 2009-03-18 | 2013-10-30 | 三菱電機株式会社 | Elevator door control device |
| DE112009005200B4 (en) * | 2009-09-03 | 2013-12-12 | Mitsubishi Electric Corp. | Door device of an elevator |
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2011
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- 2011-03-22 CN CN201180069436.0A patent/CN103459295B/en active Active
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|---|---|---|---|---|
| CN1255456A (en) * | 1998-11-30 | 2000-06-07 | 三菱电机株式会社 | Control device for elevator door |
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| KR101518659B1 (en) | 2015-05-07 |
| EP2690051A4 (en) | 2014-11-12 |
| EP2690051A1 (en) | 2014-01-29 |
| EP2690051B1 (en) | 2016-02-03 |
| CN103459295A (en) | 2013-12-18 |
| JPWO2012127607A1 (en) | 2014-07-24 |
| KR20140000333A (en) | 2014-01-02 |
| JP5630567B2 (en) | 2014-11-26 |
| WO2012127607A1 (en) | 2012-09-27 |
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