CN105645238A - Method and system for processing door closing interruption of elevator door-motor system - Google Patents
Method and system for processing door closing interruption of elevator door-motor system Download PDFInfo
- Publication number
- CN105645238A CN105645238A CN201610167609.7A CN201610167609A CN105645238A CN 105645238 A CN105645238 A CN 105645238A CN 201610167609 A CN201610167609 A CN 201610167609A CN 105645238 A CN105645238 A CN 105645238A
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- door
- speed
- motor
- elevator
- control
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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
- B66B13/146—Control systems or devices electrical method or algorithm for controlling doors
Abstract
The invention relates to a method and a system for processing door closing interruption of an elevator door-motor system. The method comprises the following steps: detecting whether the door-motor system is interrupted or not, and controlling the door-motor system to switch into torque control if the door-motor system is interrupted, wherein a torque direction is a door opening direction; detecting motor rotation speed information, and calculating the maximum speed according to the motor rotation speed information; if the door-motor system is always in torque control, detecting the motor rotation speed information; if the detected motor rotation speed reaches the calculated maximum speed, controlling the door-motor system to switch into speed control; when the detected motor rotation speed is zero which lasts for rated time, controlling the door-motor system to switch into speed control; and when a door opening position signal is detected, controlling the door-motor system to switch into speed control. Therefore, the door-motor system can be timely switched into torque control, so that the force moment direction is converted into the door opening direction during door closing interruption, and the risk as a result of clamping injuries on people can be avoided.
Description
Technical field
The present invention relates to field of electrical control, particularly relate to a kind of elevator door-motor system reopening door immediately of being obstructed when closing the door at a high speed and close hindered lift-cabin door treatment process and system.
Background technology
Current elevator door-motor generally is variable frequency door machine, in door office door process, general requirement moment of closing the door can not be greater than 150N, for being configured with light curtain and the elevator of tactile plate, when obstacle having been detected, apparatus for controlling elevator can send at once door machine controller and reopen door order. In this case, substantially there will not be the situation that moment of closing the door is greater than 150N. If but when above-mentioned detection device light curtain or tactile plate lost efficacy, especially for the goods elevator door of Great inertia, when door closing speed is higher, being obstructed when closing the door at a high speed and can not reopen door at once, then easily cause danger.
Summary of the invention
Based on this, it is necessary to provide a kind of elevator door-motor system reopening door immediately of being obstructed when closing the door at a high speed to close hindered lift-cabin door treatment process.
A kind of elevator door-motor system closes hindered lift-cabin door treatment process, comprises the following steps:
Whether detection door mechanism system is closed the door is obstructed, if then controlling door mechanism system incision direct torque, and moment direction is enabling direction;
Detection motor rotary speed information, and calculate top speed according to described motor transfering the letter breath;
If door mechanism system is in direct torque always, then detect motor rotary speed information;
When the motor rotating speed detected reach calculate top speed time, then control gate machine systematic evaluation is speed control;
When detecting that motor rotating speed is zero and lasting time rating, then control gate machine systematic evaluation is speed control;
When detecting that enabling puts in place signal, then control gate machine systematic evaluation is speed control.
Wherein in an embodiment, the described detection door mechanism system step whether being obstructed of closing the door comprises:
The torque current that is obstructed that the given Iq of current torque current is greater than setting continues to be judged as after time rating closing hindered lift-cabin door.
Wherein in an embodiment, described detection motor rotary speed information, and cease, according to described motor transfering the letter, the step calculating top speed and comprise:
Detection motor rotary speed direction, if when motor rotating speed turns into enabling direction from direction of closing the door, record elevator location information, goes out top speed according to the position calculation that elevator current position and the enabling of door machine put in place.
Wherein in an embodiment, when described door mechanism system is direct torque, the given electric current of torque is Iq*, and moment direction is enabling direction.
Wherein in an embodiment, when described door mechanism system is speed control, the original speed of described door mechanism system terminates low speed jerking motion speed for opening the door, and after experience original speed, reopens door mechanism system described in door travelling speed curve controlled by normal.
In addition, a kind of elevator door-motor system reopening door immediately of being obstructed when closing the door at a high speed is also provided to close hindered lift-cabin door treatment system.
A kind of elevator door-motor system closes hindered lift-cabin door treatment system, comprises detection module, calculates module and control module;
Whether described detection module is closed the door be obstructed for being detected door mechanism system, if then described control module is for controlling door mechanism system incision direct torque, and moment direction is enabling direction;
Described detection module is for detecting motor rotary speed information, and described calculating module is used for calculating top speed according to described motor transfering the letter breath;
If door mechanism system is in direct torque always, then described detection module is for detecting motor rotary speed information;
When the motor rotating speed that described detection module detects reach calculate top speed time, then described control module control gate machine systematic evaluation is speed control;
When described detection module detects that motor rotating speed is zero and lasting time rating, then described control module control gate machine systematic evaluation is speed control;
When described detection module detects that enabling puts in place signal, then described control module control gate machine systematic evaluation is speed control.
Wherein in an embodiment, the torque current that is obstructed that described control module is also greater than setting for the given Iq of current torque current continues to be judged as after time rating closing hindered lift-cabin door.
Wherein in an embodiment, described detection module is for detecting motor rotary speed direction, if when motor rotating speed turns into enabling direction from direction of closing the door, record elevator location information, described calculating module is used for the position calculation according to elevator current position and the enabling of door machine put in place and goes out top speed.
Wherein in an embodiment, when described door mechanism system is direct torque, the given electric current of torque is Iq*, and moment direction is enabling direction.
Wherein in an embodiment, when described door mechanism system is speed control, the original speed of described door mechanism system terminates low speed jerking motion speed for opening the door, and after experience original speed, reopens door mechanism system described in door travelling speed curve controlled by normal.
Above-mentioned elevator door-motor pass hindered lift-cabin door treatment process and system are by whether detection door mechanism system is obstructed, if then controlling door mechanism system incision direct torque, and moment direction is enabling direction; Detection motor rotary speed information, and calculate top speed according to described motor transfering the letter breath; If door mechanism system is in direct torque always, then detect motor rotary speed information; When the motor rotating speed detected reach calculate top speed time, then control gate machine systematic evaluation is speed control; When detecting that motor rotating speed is zero and lasting time rating, then control gate machine systematic evaluation is speed control; When detecting that enabling puts in place signal, then control gate machine systematic evaluation is speed control. Accordingly, it may be possible to be switched to direct torque in time when door mechanism system so that moment direction when closing hindered lift-cabin door is converted to enabling direction, thus can avoid crushing people and causing danger.
Accompanying drawing explanation
Fig. 1 is the schema that elevator door-motor closes hindered lift-cabin door treatment process;
Fig. 2 is the module map that elevator door-motor closes hindered lift-cabin door treatment system.
Embodiment
For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully. Accompanying drawing gives the preferred embodiment of the present invention. But, the present invention can realize in many different forms, is not limited to embodiment described herein. On the contrary, it is provided that the object of these embodiments makes the understanding of the disclosure to the present invention more comprehensively thorough.
It should be noted that, when element is called as " being fixed on " another element, it can directly on another element or can also there is element placed in the middle. When an element is considered as " connection " another element, it can be directly connected to another element or may there is element placed in the middle simultaneously. Term as used herein " vertical ", " level ", "left", "right" and similar statement are just for illustrative purposes.
Unless otherwise defined, all technology used herein are identical with the implication that the those skilled in the art belonging to the present invention understand usually with scientific terminology. The term used in the description of the invention herein is the object in order to describe specific embodiment, is not intended to be restriction the present invention. Term as used herein " and/or " comprise arbitrary and all combinations of one or more relevant Listed Items.
In the present invention, adopting conventional two close cycles vector controlled when normal elevator is closed the door, Elevator Door Control System adopts closed-loop vector control strategy, during speed control, exporting given speed V*, the difference of given speed V* and feedback speed Vr forms speed ring and inputs using the input as speed regulator. It exports as the given Iq* of torque current.
The difference of the given Iq* of torque current and torque current feedback Iqr forms the input of torque current regulator, and the output of torque current regulator is q axle voltage U q. Given speed V*, as the input of weak magnetics detect device, exports as the given Id* of magnetizing current, and the difference of the given Id* of magnetizing current and exciting current feedback Idr forms the input of exciting current controller, and the output of exciting current controller is d axle voltage U d. D axle refers to magnetic flux axle, and q axle refers to the torque shaft of 90 ��, advanced d axle. D axle voltage U d and q axle voltage U q carries out PARK inverse transformation through PARK inverse transform block and obtains the voltage in two-phase static coordinate system. Ualpha and Ubeta carries out space vector pulse width modulation (SVPWM) through space vector pulse width modulation module and obtains 6 tunnel pulse-width modulation (PWM) actuate signals, then obtains motor drive current and export to motor after intelligent power module (IPM) processes. 2 phase currents in the motor drive current export intelligent power module are sampled, and the electric current I u sampled and Iv carries out, through PARK conversion module 570, torque current feedback Iqr and the exciting current feedback Idr that PARK conversion obtains under rotating frame.
As previously, the difference of the given Id* of magnetizing current and exciting current feedback Idr forms the input of exciting current controller, the difference of the given Iq* of torque current and torque current feedback Iqr forms the input of torque current regulator, encoder is connected with motor, gathers elevator door position and motor speed, magnetic pole angle coherent signal. Calculate module and obtain elevator door position and motor speed, the magnetic pole angle coherent signal that encoder collects, calculate elevator door position, motor speed (i.e. feedback speed Vr) and coordinate transform angle.
As shown in Figure 1, for elevator door-motor closes the schema of hindered lift-cabin door treatment process.
A kind of elevator door-motor system closes hindered lift-cabin door treatment process, comprises the following steps:
Step S110, whether detection door mechanism system is closed the door is obstructed, if then controlling door mechanism system incision direct torque, and moment direction is enabling direction.
The described detection door mechanism system step whether being obstructed of closing the door comprises:
The torque current that is obstructed that the given Iq of current torque current is greater than setting continues to be judged as after time rating closing hindered lift-cabin door.
When the given electric current of torque is Iq*, speed ring does not work, and moment direction is to enabling direction. The power being applied to hamper on by processing above subtracts motor enabling direction moment for mass force of closing the door, and this plays bigger provide protection by the folder people that closes the door.
Step S120, detection motor rotary speed information, and calculate top speed according to described motor transfering the letter breath.
Described detection motor rotary speed information, and cease, according to described motor transfering the letter, the step calculating top speed and comprise:
Detection motor rotary speed direction, if when motor rotating speed turns into enabling direction from direction of closing the door, record elevator location information, goes out top speed according to the position calculation that elevator current position and the enabling of door machine put in place.
Detection motor rotary speed information in real time, when detecting that motor rotating speed turns into enabling direction from direction of closing the door, record elevator location information, goes out a top speed run at a high speed according to the position calculation that elevator current position and the enabling of door machine put in place, and its calculation formula is:
V*=Vmax*L/Lmax; Wherein Lmax to be whole family width, L be current position with open the door put in place distance, Vmax be the whole family width time maximum enabling speed.
Step S130, if door mechanism system is in direct torque always, then detects motor rotary speed information.
If there is direct torque always, then there will be the situation that elevator door-motor speed goes is fast, this obviously can cause elevator door-motor speed step-out, is necessary direct torque is switched to speed control for this reason, when meet below any one condition time. Door machine controller switches to speed control from direct torque automatically.
Step S140, when the motor rotating speed detected reach calculate top speed time, then control gate machine systematic evaluation is speed control.
Concrete, door machine controller detects motor actual speed in real time, when detecting that motor rotating speed reaches the above-mentioned top speed V* calculated, switches to normal speed control from direct torque. Using now present speed as current given speed. Then process according to normal door run curve of reopening.
Step S150, when detecting that motor rotating speed is zero and lasting time rating, then control gate machine systematic evaluation is speed control.
If detecting that motor rotating speed is zero and certain time, then automatically switching to speed control, original speed terminates low speed jerking motion speed for opening the door. Then process according to normal door run curve of reopening. This kind of situation is that elevator door-motor system has just been closed the door and just met resistance and arrive electric machine spacing position soon when opposing torque controls.
Step S160, when detecting that enabling puts in place signal, then control gate machine systematic evaluation is speed control.
If detecting that enabling puts in place signal, then now automatically switch to speed control, original speed terminates low speed jerking motion speed for opening the door. Then process according to normal door run curve of reopening.
When described door mechanism system is direct torque, the given electric current of torque is Iq*, and moment direction is enabling direction.
When described door mechanism system is speed control, the original speed of described door mechanism system terminates low speed jerking motion speed for opening the door, and after experience original speed, reopens door mechanism system described in door travelling speed curve controlled by normal.
As shown in Figure 2, for elevator door-motor system closes the module map of hindered lift-cabin door treatment system.
A kind of elevator door-motor system closes hindered lift-cabin door treatment system, comprises detection module 201, calculates module 202 and control module 203.
Whether described detection module 201 is closed the door be obstructed for being detected door mechanism system, if then described control module 203 is for controlling door mechanism system incision direct torque, and moment direction is enabling direction.
Described detection module 201 is for detecting motor rotary speed information, and described calculating module 202 is for calculating top speed according to described motor transfering the letter breath.
If door mechanism system is in direct torque always, then described detection module 201 is for detecting motor rotary speed information.
When the motor rotating speed that described detection module 201 detects reach calculate top speed time, then described control module 203 control gate machine systematic evaluation is speed control.
When described detection module 201 detects that motor rotating speed is zero and lasting time rating, then described control module 203 control gate machine systematic evaluation is speed control.
When described detection module 201 detects that enabling puts in place signal, then described control module 203 control gate machine systematic evaluation is speed control.
The torque current that is obstructed that described control module 203 is also greater than setting for the given Iq of current torque current continues to be judged as after time rating closing hindered lift-cabin door.
Described detection module 201 is for detecting motor rotary speed direction, if when motor rotating speed turns into enabling direction from direction of closing the door, record elevator location information, described calculating module 202 goes out top speed for the position calculation put in place according to elevator current position and the enabling of door machine.
When described door mechanism system is direct torque, the given electric current of torque is Iq*, and moment direction is enabling direction.
When described door mechanism system is speed control, the original speed of described door mechanism system terminates low speed jerking motion speed for opening the door, and after experience original speed, reopens door mechanism system described in door travelling speed curve controlled by normal.
Above-mentioned elevator door-motor pass hindered lift-cabin door treatment process and system are by whether detection door mechanism system is obstructed, if then controlling door mechanism system incision direct torque, and moment direction is enabling direction; Detection motor rotary speed information, and calculate top speed according to described motor transfering the letter breath; If door mechanism system is in direct torque always, then detect motor rotary speed information; When the motor rotating speed detected reach calculate top speed time, then control gate machine systematic evaluation is speed control; When detecting that motor rotating speed is zero and lasting time rating, then control gate machine systematic evaluation is speed control; When detecting that enabling puts in place signal, then control gate machine systematic evaluation is speed control. Accordingly, it may be possible to be switched to direct torque in time when door mechanism system so that moment direction when closing hindered lift-cabin door is converted to enabling direction, thus can avoid crushing people and causing danger.
Each technology feature of the above embodiment can combine arbitrarily, for making description succinct, each all possible combination of technology feature in above-described embodiment is not all described, but, as long as the combination of these technology features does not exist contradiction, all it is considered to be the scope that this specification sheets is recorded.
The above embodiment only have expressed several enforcement modes of the present invention, and it describes comparatively concrete and detailed, but can not therefore be construed as limiting the scope of the patent. , it is also possible to make some distortion and improvement, it should be appreciated that for the person of ordinary skill of the art, without departing from the inventive concept of the premise these all belong to protection scope of the present invention. Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. an elevator door-motor system closes hindered lift-cabin door treatment process, it is characterised in that, comprise the following steps:
Whether detection door mechanism system is closed the door is obstructed, if then controlling door mechanism system incision direct torque, and moment direction is enabling direction;
Detection motor rotary speed information, and calculate top speed according to described motor transfering the letter breath;
If door mechanism system is in direct torque always, then detect motor rotary speed information;
When the motor rotating speed detected reach calculate top speed time, then control gate machine systematic evaluation is speed control;
When detecting that motor rotating speed is zero and lasting time rating, then control gate machine systematic evaluation is speed control;
When detecting that enabling puts in place signal, then control gate machine systematic evaluation is speed control.
2. elevator door-motor system according to claim 1 closes hindered lift-cabin door treatment process, it is characterised in that, the described detection door mechanism system step whether being obstructed of closing the door comprises:
The torque current that is obstructed that the given Iq of current torque current is greater than setting continues to be judged as after time rating closing hindered lift-cabin door.
3. elevator door-motor system according to claim 1 closes hindered lift-cabin door treatment process, it is characterised in that, described detection motor rotary speed information, and cease, according to described motor transfering the letter, the step calculating top speed and comprise:
Detection motor rotary speed direction, if when motor rotating speed turns into enabling direction from direction of closing the door, record elevator location information, goes out top speed according to the position calculation that elevator current position and the enabling of door machine put in place.
4. elevator door-motor system according to claim 1 closes hindered lift-cabin door treatment process, it is characterised in that, when described door mechanism system is direct torque, the given electric current of torque is Iq*, and moment direction is enabling direction.
5. elevator door-motor system according to claim 1 closes hindered lift-cabin door treatment process, it is characterized in that, when described door mechanism system is speed control, the original speed of described door mechanism system terminates low speed jerking motion speed for opening the door, after experience original speed, reopen door mechanism system described in door travelling speed curve controlled by normal.
6. an elevator door-motor system closes hindered lift-cabin door treatment system, it is characterised in that, comprise detection module, calculate module and control module;
Whether described detection module is closed the door be obstructed for being detected door mechanism system, if then described control module is for controlling door mechanism system incision direct torque, and moment direction is enabling direction;
Described detection module is for detecting motor rotary speed information, and described calculating module is used for calculating top speed according to described motor transfering the letter breath;
If door mechanism system is in direct torque always, then described detection module is for detecting motor rotary speed information;
When the motor rotating speed that described detection module detects reach calculate top speed time, then described control module control gate machine systematic evaluation is speed control;
When described detection module detects that motor rotating speed is zero and lasting time rating, then described control module control gate machine systematic evaluation is speed control;
When described detection module detects that enabling puts in place signal, then described control module control gate machine systematic evaluation is speed control.
7. elevator door-motor system according to claim 6 closes hindered lift-cabin door treatment system, it is characterised in that, the torque current that is obstructed that described control module is also greater than setting for the given Iq of current torque current continues to be judged as after time rating closing hindered lift-cabin door.
8. elevator door-motor system according to claim 6 closes hindered lift-cabin door treatment system, it is characterized in that, described detection module is for detecting motor rotary speed direction, if when motor rotating speed turns into enabling direction from direction of closing the door, record elevator location information, described calculating module is used for the position calculation according to elevator current position and the enabling of door machine put in place and goes out top speed.
9. elevator door-motor system according to claim 6 closes hindered lift-cabin door treatment system, it is characterised in that, when described door mechanism system is direct torque, the given electric current of torque is Iq*, and moment direction is enabling direction.
10. elevator door-motor system according to claim 6 closes hindered lift-cabin door treatment system, it is characterized in that, when described door mechanism system is speed control, the original speed of described door mechanism system terminates low speed jerking motion speed for opening the door, after experience original speed, reopen door mechanism system described in door travelling speed curve controlled by normal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610167609.7A CN105645238B (en) | 2016-03-23 | 2016-03-23 | Elevator door-motor system is closed the door and is obstructed processing method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610167609.7A CN105645238B (en) | 2016-03-23 | 2016-03-23 | Elevator door-motor system is closed the door and is obstructed processing method and system |
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| CN105645238A true CN105645238A (en) | 2016-06-08 |
| CN105645238B CN105645238B (en) | 2018-01-02 |
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| CN201610167609.7A Active CN105645238B (en) | 2016-03-23 | 2016-03-23 | Elevator door-motor system is closed the door and is obstructed processing method and system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107352342A (en) * | 2017-07-17 | 2017-11-17 | 宁波欣达电梯配件厂 | A kind of elevator door-motor is closed the door detecting system and the detection method of being hampered |
| CN111731974A (en) * | 2019-12-19 | 2020-10-02 | 上海长江斯迈普电梯有限公司 | Novel early warning type intelligent complementary gantry crane dual-drive system and method |
| CN111962999A (en) * | 2020-08-26 | 2020-11-20 | 南京工程学院 | Rail transit sliding plug door control method and system based on compliance control |
| CN115123901A (en) * | 2022-07-15 | 2022-09-30 | 菱王电梯有限公司 | Door closing control method and device, storage medium and elevator door system |
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| JP2013035625A (en) * | 2011-08-04 | 2013-02-21 | Hitachi Ltd | Device and method for controlling elevator door |
| CN103274280A (en) * | 2013-04-10 | 2013-09-04 | 深圳市海浦蒙特科技有限公司 | Elevator device and elevator driving method |
| CN103922214A (en) * | 2014-03-11 | 2014-07-16 | 深圳市海浦蒙特科技有限公司 | Elevator door motor control method |
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| JP2013035625A (en) * | 2011-08-04 | 2013-02-21 | Hitachi Ltd | Device and method for controlling elevator door |
| CN102431870A (en) * | 2011-09-16 | 2012-05-02 | 深圳市海浦蒙特科技有限公司 | Torque adaptive method and device for door opening and closing in place of elevator door motor and elevator door motor control system |
| CN103274280A (en) * | 2013-04-10 | 2013-09-04 | 深圳市海浦蒙特科技有限公司 | Elevator device and elevator driving method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107352342A (en) * | 2017-07-17 | 2017-11-17 | 宁波欣达电梯配件厂 | A kind of elevator door-motor is closed the door detecting system and the detection method of being hampered |
| CN111731974A (en) * | 2019-12-19 | 2020-10-02 | 上海长江斯迈普电梯有限公司 | Novel early warning type intelligent complementary gantry crane dual-drive system and method |
| CN111731974B (en) * | 2019-12-19 | 2024-04-26 | 斯迈普电梯(中国)有限公司 | Early warning type intelligent complementary door machine double-driving system and method |
| CN111962999A (en) * | 2020-08-26 | 2020-11-20 | 南京工程学院 | Rail transit sliding plug door control method and system based on compliance control |
| CN115123901A (en) * | 2022-07-15 | 2022-09-30 | 菱王电梯有限公司 | Door closing control method and device, storage medium and elevator door system |
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| CN105645238B (en) | 2018-01-02 |
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