CN106163964B - The controlling device for doors and door control method of elevator - Google Patents
The controlling device for doors and door control method of elevator Download PDFInfo
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- CN106163964B CN106163964B CN201580019584.XA CN201580019584A CN106163964B CN 106163964 B CN106163964 B CN 106163964B CN 201580019584 A CN201580019584 A CN 201580019584A CN 106163964 B CN106163964 B CN 106163964B
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- door
- vibration
- speed
- band
- motor
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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
Abstract
With band vibration detecting part, the actual speed with vibration detecting part according to motor, detect the presence of the exception with vibration, vibration component with the actual speed in the section including vibration detecting part time of the extraction comprising peak acceleration or maximum deceleration, in the case where the vibration component extracted has exceeded a reference value, it is judged as band abnormal vibrations.
Description
Technical field
The controlling device for doors and door control method for the elevator being opened and closed the present invention relates to the door-plate to elevator.
Background technology
In the door gear of elevator, typically with following structure：When motor is to being arranged at 2 belt wheels on door-plate top
One side is driven when making its rotation, and motor torque is converted into level by the band of the ring-type that is winded on 2 belt wheels for no reason
The driving force in direction, thus makes to be installed in the door-plate taken and is opened and closed.
In the door gear of such elevator, the characteristic variations or fixed appliance of band caused by environment/timeliness change
Loosening and cause the warp tension ratio initial tension hour of band, can occur when motor drives band climbing tooth, band skid or with vibration.But
Be, in order to detect such exception in usual opening and closing, only tension force fully reduce and as abnormality in the case of
It can be estimated.Therefore, in the past, it is known to a kind of tension force reduction for detection band, and is used for band climbing tooth, band
Skid or with the solid controlled controlling device for doors detected extremely as vibration (for example, referring to patent document 1 and patent
Document 2).
In the controlling device for doors disclosed in patent document 1, driving torque during by being opened and closed to common door with to driving
It is dynamic to be compared to extract torque oscillation composition with the desired torque for the motor being opened and closed on the door with offer power.Then, lead to
Cross to the torque oscillation composition that extracts and the tension force that is compared to detection band for the threshold value for judging exception and prestoring
It is abnormal.Caused vibration is detected to detect exception in torque when i.e., by being opened and closed to common door.
In addition, in the elevator door opening-closing control device disclosed in patent document 2, there is provided following such experiment moulds
Formula：The driving of controlled motor in a manner of elevator door to be opened and closed using acceleration gentle when being opened and closed than common door.And
And the aging of motor bearings and belt tension is detected according to the motor torque during test model and elevator door opening-closing speed.
That is, for when the door under than generally gentle acceleration is opened and closed, the torque of motor that is applied intermittently, in the response ratio of speed
In the case of predetermined range differences, the deterioration of switching mechanism is prejudged.
Prior art literature
Patent document
Patent document 1:Japanese Unexamined Patent Publication 2011-63405 publications
Patent document 2:Japanese Unexamined Patent Publication 2012-197144 publications
The content of the invention
The invention problem to be solved
But in the prior art in the presence of following problem.
Controlling device for doors shown in patent document 1 is produced using bending during belt sag come torque when detecting door opening and closing
Raw vibration.But in order to detect vibration, it is necessary to the data of desired torque.Moreover, on vibration, due to band length with
Change and cause band characteristic to change to door position correspondence, therefore, according to the difference of door position, existing might not energy
Detect abnormal worry.In addition, the controlling device for doors shown in patent document 1 is to abnormal progress all the time in usual opening and closing
Detection, therefore, it is impossible to detect exception in advance.
In addition, in the elevator door opening-closing control device disclosed in patent document 2, it is different from patent document 1 above,
Be typically different test model when door opening and closing in, exception can be diagnosed in advance.But the length due to band and door position pair
Change and cause the variation with characteristic with answering, additionally due to the interference of door mechanical system, such as car door and stop door
Engage (connection) when collision and cause the response of speed to change, accordingly, there exist the load that can not be judged soundly
Sorrow.
The present invention completes to solve problem as described above, and its object is to obtain one kind to consider
Due to band length and door position correspondence change and cause on the basis of band characteristic changes, on desired opportunity to band
The controlling device for doors and door control method for the elevator that exception is diagnosed.
Means for solving the problems
The controlling device for doors of the elevator of the present invention has following function：It is configured by motor driven belts in gateway
Door open and close controlling, and door be opened and closed action in a period of detect the presence of band vibrate exception, wherein, the door of elevator
Control device has：Speed command generating unit, it generates the speed value for being opened and closed the door；Velocity arithmetic portion, it calculates electricity
The actual speed of machine；Speed controlling portion, it is according to the speed value from the output of speed command generation unit and by velocity arithmetic portion
Deviation between the actual speed calculated carrys out controlled motor, and control is thus opened and closed；And with vibration detecting part, its basis
The actual speed calculated by velocity arithmetic portion, the exception with vibration is detected the presence of, band vibration detecting part extraction is comprising most greatly
The vibration component of the actual speed in section including the time of speed or maximum deceleration, exceedes in the vibration component extracted
In the case of a reference value, it is judged as band abnormal vibrations.
The door control method of the present invention is performed by the controlling device for doors of elevator, and the controlling device for doors of elevator is used to pass through motor
Drive belt come be configured in the door of gateway open and close controlling and door be opened and closed action during in detect the presence of band
The exception of vibration, wherein, door control method includes：Speed command generation step, in this step, the speed for generating shutter door refer to
Make value；Velocity arithmetic step, in this step, calculate the actual speed of motor；Rate controlling step, in this step, according to
It is inclined between the speed value exported from speed command generation step and the actual speed calculated in velocity arithmetic step
Difference carrys out controlled motor, and control is thus opened and closed；And with vibration detection step, in this step, walked according in velocity arithmetic
The actual speed calculated in rapid, the exception with vibration is detected the presence of, in band vibration detection step, extraction accelerates comprising maximum
The vibration component of the actual speed in section including the time of degree or maximum deceleration, exceedes in the vibration component extracted
In the case of a reference value, it is judged as band abnormal vibrations.
Invention effect
According to the controlling device for doors of the elevator of the present invention, speed command generating unit has following such functions：Carry out
During door on-off action, the maximum band accelerated under (deceleration) time that can be diagnosed to be door-plate opening and closing of the easily generation with vibration shakes
It is dynamic.Thus, it is possible to obtain a kind of to change with door position correspondence considering the length due to band and causing band special
Property change on the basis of, in the controlling device for doors and door control method of the elevator that desired opportunity is diagnosed to the exception of band.
Brief description of the drawings
Fig. 1 is the overall synoptic diagram for the car side door device for showing embodiments of the present invention 1.
Fig. 2 is the control block diagram for the controlling device for doors for showing embodiments of the present invention 1.
Fig. 3 A are the figures of one for showing to cause the time change of the motor speed with vibration.
Fig. 3 B are the figures of one for showing to cause the time change of the door position with vibration.
Fig. 3 C are the figures of one for showing to cause the time change of the motor torque with vibration.
Fig. 3 D are the figures of one for showing to cause the time change of the belt tension with vibration.
Fig. 4 is the flow chart of a series of actions for the controlling device for doors for showing embodiments of the present invention 1.
Fig. 5 is the control block diagram for the controlling device for doors for showing embodiments of the present invention 2.
Fig. 6 A are the figures of one for showing to cause the time change of the motor speed with vibration.
Fig. 6 B are the figures of one for showing to cause the time change of the door position with vibration.
Fig. 6 C are the figures of one for showing to cause the time change of the motor torque with vibration.
Fig. 6 D are the figures of one for showing to cause the time change of the belt tension with vibration.
Fig. 7 A are the figures of one for showing to cause the time change of the motor speed with vibration.
Fig. 7 B are the figures of one for showing to cause the time change of the door position with vibration.
Fig. 7 C are the figures of one for showing to cause the time change of the motor torque with vibration.
Fig. 7 D are the figures of one for showing to cause the time change of the belt tension with vibration.
Fig. 8 is the control block diagram for the controlling device for doors for showing embodiments of the present invention 3.
Embodiment
Embodiment 1.
Fig. 1 is the overall synoptic diagram of the door gear (door drive) for the cage side for showing embodiments of the present invention 1.Such as
Shown in Fig. 1, door-plate 1A, 1B for being opened and closed in the gateway to cage side (not shown) upper end are provided with arm 2.This
Outside, the rising wood in gateway is provided with crossbeam 3, and the long side of the crossbeam 3 (is Fig. 1 arrow A directions, gone out along horizontal direction
The frontal width direction of entrance) configured.The long side of guide rail 4 is configured to configure in crossbeam in a manner of along horizontal direction
3.The arm roller 5 set on arm 2 moves along guide rail 4, and thus arm 2 moves to horizontal direction.Therewith together, in opening and closing side
Boot up door-plate 1A, 1B.
In addition, belt wheel 6A, 6B are separated from each other desired distance and are rotatably arranged on crossbeam 3.On belt wheel 6A, 6B
The corresponding groove of the shape of the band 7 of ring-type for no reason being machined between the belt wheel for hanging around belt wheel 6A, 6B.Be formed as ring-type for no reason
Band 7 hung around with the state of stretching, extension between belt wheel 6A, 6B belt wheel.The distance between belt wheel by changing belt wheel 6A, 6B,
The initial tension T0 of the band 7 of ring-type for no reason can be adjusted.
Using connection member 8A, 8B by door-plate 1A, 1B and band connection.The respective one end of connection member 8A, 8B is arranged at one
Door-plate 1A, 1B of side, the other end are arranged at band 7.
Band 7 herein is the conduction band that the driving force from motor 9 can be transferred to door-plate 1A, 1B.Band 7 for example has band
Cingulum or V-type band.
Belt wheel 6A, 6B any one party (being in this example belt wheel 6A) are connected with motor 9.Utilize controlling device for doors 10
Instruction carrys out the action of controlled motor 9.Using controlling device for doors 10 make motor 9 act when, corresponding belt wheel 6A rotated and
Drive belt 7.Door-plate 1A, 1B of both sides are connected by connection member 8A, 8B and band 7, therefore, the door by the movement of band 7
Plate 1A, 1B are acted in the opposite directions to each other, and gateway is opened and closed.
Although this is the door gear of double-open type, by connector 8 is arranged at band 7 top or bottom it is any one
Side so that door-plate 1A, 1B are only to a direction action and as the single open-type that gateway is opened and closed.
In addition, though illustrated in Fig. 1 form elevator door gear car side door plate 1A, 1B, but in fact, with it is above-mentioned
Car side door plate 1A, 1B accordingly, identical door-plate 1A, 1B are also equipped with stop side.In addition, in stop side, it is also equipped with
With structure identical arm 2, crossbeam 3, guide rail 4, arm roller 5, belt wheel 6A, 6B, band 7 and connection member 8A, 8B shown in Fig. 1.
But it is not provided with motor 9 in stop side.
Clamping close device (not shown) is respectively arranged with stop side door plate 1A, 1B and car side door plate 1A, 1B.By making phase
Mutual clamping close device engaging, so as to which the driving force on opening and closing direction for the motor 9 for being arranged at cage side is also transmitted into stop
Side door plate 1A, 1B.Thus, be not provided with stop side door plate 1A, 1B of motor 9 also with car side door plate 1A, 1B opening and closing simultaneously
It is opened and closed.
Fig. 2 is the control block diagram for the controlling device for doors 10 for showing embodiments of the present invention 1.As shown in Fig. 2 gate control fills
Put 10 have speed command generating unit 11, speed controlling portion 12, current control division 13, current detector 14, rotation detector 15,
Velocity arithmetic portion 16, low pass filtering section 17 (hereinafter referred to as LPF portions 17), band vibration detecting part 18, abnormal distribution unit 19, machinery
Systematic parameter storage part 20 and with vibration detection parameter storage part 21.On LPF portions 17, simply referred to as LPF in the accompanying drawings.
Speed command portion 11 is according to being stored in Mechanic system parameter storage part 20 and with vibration detection parameter storage part 21
In parameter value, generation door-plate 1A, 1B opening and closing speed command value V* (hereinafter referred to as speed value V*.).Speed command is given birth to
Receiving what is sent on desired opportunity from the elevator control gear (not shown) (outside) of the whole elevator of control into portion 11
In the case that diagnosis is with door opening and closing instruction, generate that (diagnosis is referred to speed for the diagnosis speed value V* that checks belt tension
Make value), detected extremely with the tension force (hereinafter referred to as belt tension) to band 7.
Elevator control gear sends diagnosis to speed command generating unit 11 and for example led to the desired opportunity of door opening and closing instruction
Cross from the door on-off action of last time and confirm whether count value obtained from starting counting up day has exceeded date-time set in advance
Condition judges.
Speed command generating unit 11 obtains the Mechanic system parameter related to door gear from Mechanic system parameter storage part 20
Value, to generate diagnosis speed value V*.In addition, speed command generating unit 11 is also from band vibration detection parameter storage part 21
Obtain parameter value (the vibration inspection for causing with vibration, related to door-plate 1A, 1B and motor 9 location/velocity/acceleration/time
Survey parameter value).For Mechanic system parameter storage part 20 and with vibration detection parameter storage part 21, will be chatted below
State.
Here, door-plate 1A, 1B position (hereinafter referred to as door position) and the rotation position of motor 9 are located at from band vibration inspection
Survey the position shown in the parameter value obtained with parameter storage part 21.Position when door positional representation door-plate 1A, 1B on-off action.
For example, divided in a manner of between fully open position, full close position and fully open position and full close position.In addition, may be used also
With further to being finely divided " between fully open position and full close position ", on the division methods, can in certain intervals,
It can be set to variable.In addition, the length on interval, as long as also appropriate determine.
In addition, when the amount of tension of band 7 can be ignored less than set desired value, rotation position and the electricity of motor 9
The variation of the rotation detected value of the rotation detector 15 of machine 9 is equal.On the other hand, the rotation position on motor 9, when band 7
Amount of tension when being more than set desired value, estimate the amount of tension of band 7 according to the torque of motor 9, and by the amount of tension with
Rotate detected value phase Calais and calculate door position.Set desired value refers to, the design load that the length on band 7 determines.
Speed command portion 11 according to for example since door-plate 1A, 1B opening and closing elapsed time or motor 9 rotation
Position, diagnosis is gradually generated with speed value V* or the diagnosis speed value based on velocity mode set in advance
V*.Now, the speed value that speed command generating unit 11 generates might not only be diagnosis speed value V*, can also
Generation assume elevator user it is usual by the use of speed value (generally by the use of speed value) V* referred to as diagnosis with speed
Make value V*.
It is fixed to instantaneous energy/average energy at closing time in door-plate 1A, 1B opening and closing limited in the regulation in Europe
System.It is fixed restricted to maximum speed, average speed according to door-plate 1A, 1B quality therefrom.Therefore, to meet the side of the limitation
Formula determines speed value V* and diagnosis speed value V* generally.
In the opening and closing based on speed value V* generally and based on diagnosis with speed value V* door-plate 1A, 1B
In, difference is opening/closing time.In usual opening and closing, from taking based on passenger or the fortune of descending stair and lift car lifting
From the viewpoint of line efficiency, it is desirable to be opened and closed in a short time.
On the other hand, when diagnosis is opened and closed, then it is not necessarily to be opened and closed in a short time.But Fig. 1's
In door gear, in the case where motor 9 discontinuously produces torque, or in the feelings for making opening and closing speed discontinuously change
Under condition, band 7 and/or door-plate 1A, 1B motion and sound become noise, even in passenger not in case, at infringement
The worry of the comfortableness of people near hoistway.Therefore, when diagnosis is opened and closed, it is also critically important to smoothly carry out opening and closing
's.
By the diagnosis that speed command generating unit 11 generates speed controlling portion 12 is sent to speed value V*.Speed control
Portion 12 processed using the actual speed V based on motor 9 and diagnosis with the feedback control of the velocity error between speed value V* come
Current instruction value is corrected.Because in the door gear of reality, the running resistances such as rubbish blocking can be produced, by door
Plate 1A, 1B deformation and caused frictional dissipation and the external disturbance such as contact with the object in driving, therefore, it is necessary to pair with it is real
Velocity error between the speed V of border is corrected.
From the diagnosis that speed command generation unit 11 exports speed value V* and the reality of the motor 9 exported from LPF portions 17
Deviation between the speed V of border is transfused to speed controlling portion 12.Therefore, speed controlling portion 12 according to the actual speed V that is inputted with
Deviation of the diagnosis between speed value V*, carrys out control electric current command value according to set specific time interval, so that real
Border speed V follows the diagnosis speed value V* as target.
The feedback controller that speed controlling portion 12 is for example represented by the transmission function with following formula (1) is formed.Following formula (1)
Ksp is proportional gain, and Ksi is storage gain, and s is Laplace operator.
[formula 1]
Cb (s)=Ksp+Ksi/s ... (1)
In general, (2A) is designed proportional gain Ksp as the following formula.In addition, (2B) is carried out storage gain Ksi as the following formula
Design.J in following formula (2A) and (2B) is comparable to door-plate 1A, 1B of the driving load of motor 9 motor shaft conversion inertia value,
KT is the torque constant of motor 9, and ω C are to specify the control crossover frequency that performance is corrected on the output error of desired value.
[formula 2]
Ksp=J × ω C/KT ... (2A)
Ksi≤Ksp×ωC/5 …(2A)
Current control division 13 is electric according to the detection of the current instruction value exported from speed controlling portion 12 and current detector 14
Deviation between flow valuve is supplied to the current value of motor 9 to control.The current control value exported from current control division 13 is via PWM
Inverter input (not shown) to motor 9, motor 9 produces the opening and closing for carrying out door-plate 1A, 1B according to the current control value
Driving force.
Rotation detector 15 is arranged at motor 9, for detecting the rotation of motor 9, the rotation position of output motor 9.Rotation
Detector 15 is for example using the sensor being made up of encoder, resolver (resolver).In addition, the rotation position of motor 9
Detection be not limited to the situation, can also using the detection current value of current detector 14 come estimate the rotation position of motor 9 or
Rotating speed.
Velocity arithmetic portion 16 obtains the rotation position detected by rotation detector 15 every the stipulated time set in advance,
So as to calculate the rotating speed of motor 9.The rotating speed calculated by velocity arithmetic portion 16 is sent to LPF portions 17 and with vibration detecting part
18。
Implement to remove the vibration component of the high-frequency region of the rotating speed inputted from speed operational part 16 and extract speed in LPF portions 17
The low-pass filtering treatment of low frequency region needed for degree control.Actual speed of the LPF portions 17 using the rotating speed after filtering process as motor 9
Spend V outputs.
Band vibration is detected the presence of according to the rotating speed inputted from speed operational part 16 with vibration detecting part 18.Band vibration detection
Portion 18 using the reasons why rotating speed from velocity arithmetic portion 16 be because, be by using the velocity arithmetic before filtering process
The initial data that portion 16 directly exports carries out high-precision detection.But, however it is not limited to this, is according to the cutoff frequency in LPF portions 17
The setting situation of rate, it is also possible to there is a situation where not remove band vibration, accordingly it is also possible to which the output in LPF portions 17 is shaken for band
Dynamic test section 18.
With vibration detecting part 18 extract assigned frequency region more than vibration component or specific frequency field vibration into
Point, in the case where the vibration component extracted exceedes a reference value set in advance, band vibration detecting part 18 is judged as having detected
Go out band vibration, exported to abnormal distribution unit 19.On the other hand, in the vibration component extracted not less than base set in advance
In the case of quasi- value, band vibration detecting part 18 is judged as that band vibration is not present.
Here, more than assigned frequency region frequency field and specific frequency field be present is by band 7 and belt wheel 6A, 6B
Engagement deviate caused by situation.In such a case it is possible to the engagement number computational rules frequency field according to time per unit
More than frequency field and specific frequency field, rotating speed (the i.e. band 7 of the engagement number of the time per unit based on motor 9
Speed) and belt wheel 6A, 6B interdental space and obtain.
In addition, a reference value of vibration component can also be set according to the parameter stored with vibration detection parameter storage part 21
The frequency for the band vibration that value is obtained.As produce band vibrate factor, in the case where for example assigning appropriate tension force to band 7,
Band 7 contacts with belt wheel 6A, the amount of 180 degree of the angle equivalent to belt wheel 6A of contact site, and the groove of the tooth and belt wheel 6A of band 7 is mutual
Engagement.
On the other hand, in the case where belt tension is zero, band 7 is less than 180 degree with the angle at the belt wheel 6A positions contacted.Cause
This, because band 7 deviates with engaging for belt wheel 6A, so as to cause to produce band vibration.
In addition, also there is a situation where to produce depending on strip length and tape unit quality Chord vibration, and/or produce due to by
The feelings vibrated caused by the inertia parameter for changing caused vibration and motor 9 caused by variation with 7 tension force with characteristic
Condition.In this case, the length for the band 7 obtained according to the distance between door-plate 1A, 1B position and belt wheel 6A, 6B, based on band 7
The stiffness parameters of raw material, the inertia parameter of motor 9 and belt wheel 6A, 6B inertia parameter can calculate assigned frequency region
Frequency field above and specific frequency field.
Further, since the inertia parameter of above-mentioned belt wheel 6A, 6B interdental space, motor 9 and belt wheel 6A, 6B inertia ginseng
Number is the constant that will not be changed in opening and closing, therefore, can be as the coefficient of formula.In addition, in above-mentioned belt wheel 6A, 6B
Interdental space, the inertia parameter of motor 9 and belt wheel 6A, 6B inertia parameter be the parameter changed according to the species of door feelings
Under condition, Mechanic system parameter storage part 20 can also be prestored to and with vibration detection parameter storage part 21.
Moreover it is preferred that by the reference value of vibration component into being identified in the time zone for generating vibration
Earliest time at vibration values.Here, it is being value close to the grade of noise contribution by the reference value of vibration component
In the case of, the worry that error detection occurs be present.And reference value must be higher than noise contribution to avoid the mistake of vibration component
In the case of detection, there is a situation where to delay identification in the time zone of vibration in time being identified as generating.Now,
It can also predict that vibration produces start time by the amount of the time delay of Forecasting recognition.
Abnormal distribution unit 19 detects the information (band abnormal vibrations information) with vibration from being received with vibration detecting part 18
When, to outside (for example, management company) issue abnormal signal.Can also be different by being exported from controlling device for doors 10 to external equipment
Regular signal is using the abnormal signal as being carried out checking required information or the long-range maintenance for carrying out at a distance by maintenance person
Abnormal information use.
Mechanic system parameter storage part 20 is stored with needed for controlling device for doors 10, related to door gear mechanical aspects
Design load or measured value.For example, the length L of the band 7 of distance between belt wheel 6A, 6B is stored with Mechanic system parameter storage part 20
OR gate plate 1A, 1B mass M, speed command generating unit 11 and can read these parameter values with vibration detecting part 18.In machinery
Systematic parameter storage part 20 be stored with according to gateway width and value set in advance or the value that deduces in advance as belt wheel 6A,
The length L of the band 7 of distance between 6B.In addition, it is every to be also stored with being supported on for door-plate 1A, 1B in Mechanic system parameter storage part 20
Equipment quality, the i.e. respective quality of door-plate 1A, 1B or the gross mass that load of the individual floor to motor 9 has an impact is as door-plate
1A, 1B mass M.
In addition, in elevator, stop side door plate 1A, 1B of each layer quality are different., can also be by order to tackle the situation
Each layer come store the quality of this both sides of car side door plate 1A, 1B and stop side door plate 1A, 1B, installed on door-plate 1A, 1B it is each
The quality of the weight of kind sensor and the door equipment including the rotary system such as decelerator or belt wheel 6A, 6B.
These mass parameters can be according to the identifier obtained using the means for recognizing gross mass or the door according to elevator
The equipment size initial value set in advance of device.
Causing in diagnosis door opening action shown in Fig. 3 A~Fig. 3 D is stored with vibration detection parameter storage part 21
Velocity wave form with vibration.Fig. 3 A are the figures of one for showing to cause the time change of the motor speed with vibration.In addition, Fig. 3 B
It is the figure of one for showing to cause the time change of the door position with vibration.Moreover, Fig. 3 C are to show to cause the motor with vibration
The figure of one of the time change of torque.In addition, Fig. 3 D are show to cause the time change of the belt tension with vibration one
Figure.
In diagnosis door opening action, speed command generating unit 11 is from band vibration detection with parameter storage part 21 according to Fig. 3 A
~Fig. 3 D waveform read in door-plate 1A, 1B door position Lb started after elapsed time t0, maximum acceleration time t1op,
Time t1op door position L1 and the size of the acceleration under time t1op or motor speed V1.During alternatively, it is also possible to not be
Between t1op, but make the door position that maximum deceleration time t2op, time t2op are prestored with vibration detection parameter storage part 21
Put L2 and the deceleration under time t2op size or motor speed V2.That is, speed command generating unit 11 is stored with for producing
The vibration detection parameter of the raw velocity wave form for causing band to vibrate when maximum accelerates or during maximum deceleration.
Acceleration or deceleration, which turn into maximum, means that motor torque τ 1 or τ 2 turn into maximum in positive side or minus side.Cause
This, if being stored with the quality of door, mechanical door closing force in Mechanic system parameter storage part 20, can also specify motor
The size τ 1 or τ 2 of torque tau.
Cause the velocity wave form with vibration detailed with what vibration detection parameter storage part 21 was stored Fig. 3 A~Fig. 3 D
Carefully illustrate.
In Fig. 3 A~Fig. 3 C, door-plate 1A, 1B diagnosis with door opening action by it is following it is such in a manner of generate：Door-plate
1A, 1B are moved to distance Lb door position untill time tb from initial position, then, since time t0 on enabling direction
Accelerate, turn into peak acceleration under time t1op.It is zero in time tb to time t0 speed value V*, door-plate 1A, 1B exist
State at door position Lb to stop.This is the situation of the on-off action diagnosis for door-plate 1A, 1B.
Door-plate 1A, 1B are moved to distance Lb door position and untill in time t0 untill time tb from initial position
Stopping at has the following meaning on a position Lb.In general, in the door opening action of elevator, the car side door plate of prior figures 1
1A, 1B are integrated in a manner of engaging with stop side door plate 1A, 1B (not shown).Thus, in car side door plate 1A, 1B and layer
Stand and defined interval (gap) is set between side door plate 1A, 1B.
Therefore, following such structures are formd：After just door opening action having been carried out in car stop layers, only cage side
Door-plate 1A, 1B open the door, and then, stop side door plate 1A, 1B engages with car side door plate 1A, 1B, so as to cage side and stop side door
Plate 1A, 1B are together opened and closed.Now, exist due to the impact of cage side and stop side door plate 1A, 1B engaging and cause motor
The situation that torque tau and/or motor speed change.The variation depends on the size of the gain of speed controlling portion 12, car
Side door plate 1A, 1B speed and cage side or stop side door plate 1A, 1B quality.
In Fig. 3 A~Fig. 3 C, following such phenomenons are shown：At the La of door position, cage side and stop side door plate
1A, 1B are connected, and relative to time ta speed command V0, actual speed V is reduced between time ta and time tb, motor torque
τ also generates vibration.
In addition, following situations also be present：Door-plate 1A, 1B it is fully closed near, the door closing force of mechanical system work so that
Enabling can not be taken off by obtaining the passenger when having a power failure in car.The size of the door closing force changes with door position correspondence.On the contrary,
Following situations be present：Near door-plate 1A, 1B standard-sized sheet, the enabling power of mechanical system works to produce enabling confining force.It is above-mentioned
Situation can bring influence to motor torque τ.
On the basis of the door position Lb (>=La) that can exclude above-mentioned influence is moved to, acceleration/deceleration is smoothly carried out,
Maximum acceleration is carried out at door position L1 under time t1op so that produce torque capacity τ 1, and to produce band vibration.
In Fig. 3 C~Fig. 3 D, show the belt tension between belt wheel 6A and connection member 8A by motor 9 be set as T1,
And the variation of each belt tension when the belt tension between the belt wheel 6A and connection member 8B of motor 9 to be set as to T2.Now, motor
Torque tau is equal to belt tension T1 and belt tension T2 difference.In time t1op, when motor torque τ positive side for it is maximum when, due to band
Power T1 causes belt tension to turn into zero relative to the variation with initial tension T0.Now, engaging due to band 7 and belt wheel 6A
Deviation or the variation with characteristic, cause to produce band vibration in the actual speed V of motor 9.
Not when belt tension is zero, when belt tension turns near zero, band vibration can be also produced.As a result, engaging
Deviation for vibration the main reason in the case of, the actual speed V of motor 9 can produce the tooth depending on motor speed and belt wheel
Between distance frequency under band vibration.For example, in the case where only connection member 8A is without connection member 8B, relative to base
In motor torque τ door driving force F, belt tension T1 is shown with following formula (3).
[formula 3]
The X of above formula (3) is the strip length (can be come out according to door position estimating) between belt wheel 6A and connection member 8A, and L is
Band tyre tread between belt wheel 6A and belt wheel 6B.If Mechanic system parameter storage part 20 is stored with strip length X, distance L
For fixed value.Thus, by applying relative to torque tau sufficiently large initial tension T0, can producing in belt tension T1 or
Tension force turns into zero situation under belt tension T2.
Now, it is not absolutely required to specify motor torque τ size, as long as have most in a series of on-off action
The motor torque τ of big size.
Such velocity wave form diagnosis with door on-off action, if it is not detected that with vibration, then may determine that
To possess enough initial tension T0.
In addition, the feature as door gear, can include each strip length hair between motor 9 and connection member 8A, 8B
Change dynamic situation.Tension force T1 is shown as following formula (4).The K (L) of following formula (4) is the band rigidity of the length based on band 7, and d is band
Amount of tension.
[formula 4]
T1=K (L) × d ... (4)
Therefore, changed by considering that strip length parameter copes with rigidity.It is by identical former material in the band 7 of ring-type for no reason
In the case that material is formed, the length of each interband is only considered.In addition, the situation that the raw material of the band 7 in ring-type for no reason are different
Down, it is necessary to the rigidity value of strip length and each raw material.
Under the time t1op stored with vibration detection parameter storage part 21, motor torque τ 1 is motor torque τ's
Positive maximum, if door-plate 1A, 1B quality are fixed, peak acceleration can be referred to as in other words.On the other hand,
If negative maximum, then be maximum deceleration.Relative to the door driving force F1 based on motor torque τ 1, above-mentioned machinery side
In the case that the door opening and closing power of formula acts on elevator, both are not necessarily consistent.
In Fig. 3 A~Fig. 3 D door opening action, acted in the door opening and closing power of car side door plate 1A, 1B mechanical system
Near door position 0 when between fully closed in the case of (＜ Lb), the influence can be excluded.Accordingly, with respect to motor torque τ 1, such as
Fruit is stored with a mass M in Mechanic system parameter storage part 20, then can calculate the acceleration a that gos out according to following formula (5).
[formula 5]
F1=Ma ... (5)
In addition, between time tb and time t0, door stops.Now, according to actual speed V and motor torque τ size,
Whether car side door plate 1A, 1B and stop side door plate 1A, 1B connection can be completed and the enabling power of mechanical system is
It is no to be differentiated in effect.
In general, it is necessary to make stop side door plate 1A, 1B reliably turn into fully closed shape in the state of the non-stop layers of car
State.Therefore, it is designed to, even if just in case opening stop side door plate 1A, 1B, can also utilizes shut-off block (for example, hammer) to make machinery
The door closing force effect of mode.
During stopping between time tb and time t0, if without being zero corresponding speed control with speed value V*
System, then need to make speed controlling portion 12 produce with the motor torque τ for resisting weighing apparatus strenuously of mechanical system to maintain halted state.Motor turns
As long as square τ only produces the equal motor torque τ of door closing force of the mechanical system with being formed by shut-off block.Thus, it is possible to
It is judged as that car side door plate 1A, 1B and stop side door plate 1A, 1B have completed connection.
On the other hand, if not the equal motor torque τ of the door closing force of the mechanical system with being formed by shut-off block, then
It may determine that the connection for car side door plate 1A, 1B and stop side door plate 1A, 1B does not complete, or even if completed but cage side
The influence of the door closing force of door-plate 1A, 1B mechanical system is also larger.Thus, as long as halted state of the change equivalent to door position Lb
Door position.
As long as door is full-shut position in the time 0, then started by the opening position for the amount for making Men Congmen positions Lb, it becomes possible to
Exclude above-mentioned influence.Thus, in the case of being not full-shut position, the door opening action of the amount by least carrying out Lb, energy
It is enough reliably to exclude to influence.These are also identical in shutdown action not only in door opening action.
By so being acted, in the region for the action opened the door or closed the door, the exception of belt tension is capable of detecting when.
Further, it is contemplated that when controlling device for doors 10 receives the opening and closing instruction of diagnosis door (when the power supply of controlling device for doors 10
When being switched on) door-plate 1A, 1B be not necessarily fully closed or standard-sized sheet situation.Additionally, it is contemplated that following situations：With than usual
Low speed carries out the opening and closing of door, can not only reduce touching when car side door plate 1A, 1B engages with stop side door plate 1A, 1B
Hit sound, additionally it is possible to reduce door shield sound.Additionally, it is contemplated that following situations：When power supply is switched on, even in certain
In the case of positional information, in the case of the range information in door-plate 1A, 1B opening and closing region is indefinite, also with same low speed
To carry out the opening and closing of door.
Now, if eigentone i.e. n/ (the 2n) × sqrt for the band 7 that above-mentioned belt tension T1, T2 is acted on can be produced
(T/ ρ) and the actual speed V for detecting motor 9, then can detection band vibration, a position counter can be released according to strip length.Herein
N be vibration number, L is strip length, and T is belt tension, and ρ is the line density of band 7.
Illustrated next, detecting the abnormal a series of actions of belt tension to the controlling device for doors 1 using the present invention.Figure
4 be the flow chart of a series of actions for the controlling device for doors for showing embodiments of the present invention 1.As shown in figure 4, first, control
The overall elevator control gear (not shown) of elevator is judged the opportunity for carrying out door on-off action and generated to speed command
Portion 11 sends door opening and closing instruction (step S101).
A speed command generating unit 11 for opening and closing instruction is connected to obtain and door-plate 1A, 1B from Mechanic system parameter storage part 20
Related parameter value, and from obtained with vibration detection parameter storage part 21 door location/velocity/acceleration for causing band to vibrate/
The parameter value (step S102) of time.Speed command generating unit 11 is generated for confirming that door opening and closing is dynamic according to acquired parameter value
The speed value V* of work, and it is sent to speed controlling portion 12 (step S103).
Speed controlling portion 12 is according to the speed value V* received from speed command generation unit 11 with being carried out by LPF portions 17
Velocity error between the actual speed V of motor 9 after low-pass filtering treatment, is corrected, and send to current instruction value
To current control division 13 (step S104).
The detection current value of the feedback current detector 14 of current control division 13, control are supplied to the current value of motor 9, concurrently
Give motor 9 (step S105).Motor 9 produces opening and closing for carrying out door-plate 1A, 1B according to the current instruction value inputted
Driving force.Thus action is opened and closed in door-plate 1A, 1B.
Now, velocity arithmetic portion 16 obtains the rotation position of the motor 9 detected by rotation detector 15 at intervals of set time
Put, so as to calculate the rotating speed of motor 9.The rotary speed information calculated is sent to LPF portions 17 and with vibration by velocity arithmetic portion 16
Test section 18 (step S106).
With vibration detecting part 18 according to the rotating speed inputted from speed operational part 16 come the presence or absence of detection band vibration (step
S107).When being judged as having the abnormal vibrations of band 7 with vibration detecting part 18, abnormal distribution unit will be sent to abnormal vibrations information
19.Abnormal distribution unit 19 is when receiving abnormal vibrations information, to outside issue abnormal signal (step S108).
As described above, according to embodiment 1, opened when the speed command generating unit generation of controlling device for doors carries out diagnosis with door
During speed value when closing action, from vibration detection with parameter storage part obtain that door-plate is opened and closed it is maximum accelerate (deceleration) when
Between, the maximum door position accelerated under (decelerations) time and the acceleration (deceleration) under maximum acceleration (deceleration) time.Now
Cause in door on-off action what band vibrated equivalent to for generating with the information that vibration detection parameter storage part is stored
The data of velocity wave form.By having a structure in which, controlling device for doors can be diagnosed to be easily to produce and be opened with the door-plate vibrated
The maximum band vibration accelerated under (deceleration) time closed.
In addition, the maximum of door-plate opening and closing has been previously determined in usual door on-off action accelerates (deceleration) time, maximum
Accelerate the door position under (deceleration) time and the maximum acceleration (deceleration) accelerated under (deceleration) time and generate speed
In the case of command value, it is diagnosis door on-off action that usual door on-off action, which can double as,.At this time it is also possible to be not will be above-mentioned
Parameter is used as constant storage to band vibration detection with parameter storage part as variable.Band vibration detecting part at least extracts
The vibration component of actual speed in the section of time comprising peak acceleration or maximum deceleration and according to from velocity arithmetic
The rotating speed of portion's input carrys out the presence or absence of detection band vibration.
In addition, speed command generating unit is in the life of desired opportunity sent from the overall elevator control gear of control elevator
Into speed value, therefore, it is not in usual opening and closing, but the exception that band vibrates can be diagnosed to be on desired opportunity.That is,
Controlling device for doors can carry out the detection with vibration on following such opportunitys：The opportunity is eliminated in diagnosis door opening action
Actual speed of cage side when being connected with stop side door plate reduced relative to speed value and motor torque is produced vibration
Interference and door it is fully open/closed nearby caused by mechanical system door opening and closing power interference influence opportunity.
As a result, controlling device for doors can draw being changed in view of the length due to band with door position correspondence
On the basis of the band characteristic risen changes, in the exception of diagnosis of desired opportunity band.
Embodiment 2.
In present embodiment 2, in addition to the structure of embodiment 1 above, also to have and will appreciate that controlling device for doors
10 door-plate 1A, 1B be fully closed or fully open position situation fully open/closed position sensor 30 exemplified by illustrate.
Fig. 5 is the control block diagram for the controlling device for doors 10 for showing embodiments of the present invention 2.As shown in figure 5, standard-sized sheet/complete
Closed position sensor 30 is connected with speed command generating unit 11.Speed command generating unit 11 receives diagnosis from elevator control gear
When being opened and closed instruction with door, from Mechanic system parameter storage part 20, band vibration detection parameter storage part 21 and fully open/closed position
Sensor 30 obtains information.
Whether position is that fully closed or full-gear position is detected to fully open/closed position sensor 30 on the door.Speed
Command generation unit 11 is receiving the opportunity of usual or diagnosis door opening and closing instruction from elevator control gear, from fully open/closed position
The initial position for putting the diagnosis beginning that sensor 30 obtains door-plate 1A, 1B is standard-sized sheet or fully closed information.Now, in door-plate
In the case that 1A, 1B initial position are not fully open/closed position, controlling device for doors 10 according to embodiment 1 above, according to
Diagnosis carries out the abnormality detection of band 7 with speed value V*.
On the other hand, in the case where door-plate 1A, 1B initial position are fully closed or standard-sized sheet, controlling device for doors 10 can make
Door-plate 1A, 1B are carried out based on generally being acted with speed value V* enabling or shutdown, to carry out the abnormality detection of band 7.
Preferably, in order to be diagnosed in common on-off action, for car side door plate 1A, 1B and stop side door
The interference such as collision when plate 1A, 1B engage, the gain to speed controlling portion 12 is adjusted, to cause actual speed V or torque
Vibration will not be produced.
For example, the vibration of the band 7 as caused by the deviation engaged can be produced near zero due to turning into belt tension, accordingly, it is capable to
It is enough be zero due to belt tension, produce bigger driving force in this condition and caused climbing tooth become to be opened and closed it is bad before just
Detect.
In present embodiment 2, leading to shown in Fig. 6 A~Fig. 6 D is also stored with parameter storage part 21 with vibration detection
Cause the velocity wave form with vibration in hold-open door action.Here, generally opening the door it is meant that since just after enabling, it is expected
Time t3op under standard-sized sheet, will not stop during this period, but opened the door all the time with smooth speed.
Fig. 6 A are the figures of one for showing to cause the time change of the motor speed with vibration.In addition, Fig. 6 B are to show to draw
Play the figure of one of the time change of the door position with vibration.Moreover, Fig. 6 C be show to cause the motor torque with vibration when
Between the figure of one that changes.In addition, Fig. 6 D are the figures of one for showing to cause the time change of the belt tension with vibration.
In usual door opening action, as shown by the waveform as Fig. 6 A~Fig. 6 D, speed command generating unit 11
The door position after maximum acceleration time t1op, time t1op since being opened the door being read with vibration detection parameter storage part 21
L1, acceleration under time t1op size or motor speed V1.Alternatively, it is also possible to not be time t1op, band vibration detection is used
Parameter storage part 21 can also store the deceleration under maximum deceleration time t2op, time t2op door position L2 and time t2op
The size or motor speed V2 of degree.
In addition, fully closed just start enabling after, due to car side door plate 1A, 1B to be suppressed grasp stop side door plate
Impact when 1A, 1B, therefore, turn into low speed speed command V0.But require promptly to accelerate in common door opening action,
It is preferred that the time t3op untill shortening to standard-sized sheet.
In the time t1op stored with vibration detection parameter storage part 21, motor torque τ 1 be motor torque τ just
Maximum, can in other words be referred to as peak acceleration.On the other hand, if negative maximum, then be maximum deceleration.
In the case where acting on elevator relative to the door of the door driving force F1 based on motor torque τ 1, mechanical system opening and closing power, both
It is not necessarily consistent.But if Mechanic system parameter storage part 20 is stored with the door with the mechanical system of position correspondence
Power F0 is opened and closed, then can be converted the driving force F1 that gos out according to following formula (6).The M of following formula (6) is a quality, and a is an acceleration.
[formula 6]
F1=Ma+F0 ... (6)
Now, car side door plate 1A, 1B are acted not only in the enabling power of mechanical system, also acts on stop side door plate
In the case of 1A, 1B, also comprising such enabling power in door opening and closing power F0.
, can be easy by the time t1op and door position L1 for specifying motor torque τ to turn into maximum in Fig. 6 A~Fig. 6 D
Ground detects the exception of band 7.In addition, it is stored in the motor torque with vibration detection parameter storage part 21 by optionally applying
τ 1, tension force T1 variation can be calculated and estimate the initial tension T0 of band 7.
Moreover, disturbed in the presence of the error due to mechanical system enabling power F0 or running losses etc. and cause motor torque τ's
The different situation of motor torque τ 1 of the actual value from being stored with vibration detection parameter storage part 21 value.In this case,
The actual value of the motor torque τ with vibration detection moment t1op can also be used.
In addition, present embodiment 2 with vibration detection with parameter storage part 21 be also stored with shown in Fig. 7 A~Fig. 7 D
Cause the velocity wave form with vibration in usual shutdown action.Here, generally close the door it is meant that since just after shutdown, in the phase
The time t3cl of prestige is fully closed, will not stop during this period, but is closed the door all the time with smooth speed.
Fig. 7 A are the figures of one for showing to cause the time change of the motor speed with vibration.In addition, Fig. 7 B are to show to draw
Play the figure of one of the time change of the door position with vibration.Moreover, Fig. 7 C be show to cause the motor torque with vibration when
Between the figure of one that changes.In addition, Fig. 7 D are the figures of one for showing to cause the time change of the belt tension with vibration.
The maximum acceleration time started being stored with vibration detection parameter storage part 21 in Fig. 7 A~Fig. 7 D
The motor torque τ 1 or motor speed V1 under door position L1 and time t1cl after t1cl, time t1cl.Alternatively, it is also possible to not
It is time t1cl, maximum deceleration time t2cl, time t2cl can also be prestored with vibration detection parameter storage part 21
Door position L2 and motor torque τ 2 or motor speed V2.
In addition, standard-sized sheet rise just start shutdown after, car side door plate 1A, 1B and stop side door plate 1A, 1B have located
In integration state, therefore, common shutdown action in require rapidly to accelerate, preferably shorten to it is fully closed untill time
t3cl。
In the time t1cl stored with vibration detection parameter storage part 21, motor torque τ 2 is motor torque τ's
Positive maximum, peak acceleration can be referred to as in other words.On the other hand, if negative maximum, then accelerate for minimum
Degree.The situation of elevator is acted in the door opening and closing power relative to the door driving force F2 based on motor torque τ 2, above-mentioned mechanical system
Under, both are not necessarily consistent.But if Mechanic system parameter storage part 20 is stored with the machinery side with position correspondence
The door opening and closing power F0 of formula, then can be converted according to following formula (7).The M of formula (7) is a quality, and a is an acceleration.
[formula 7]
F2=Ma+F0 ... (7)
Now, car side door plate 1A, 1B are acted not only in the enabling power of mechanical system, also acts on stop side door plate
In the case of 1A, 1B, also comprising such enabling power in door opening and closing power F0.
In Fig. 7 A~Fig. 7 D, by the time t2cl and door position L2 for specifying motor torque τ to turn into maximum, it can detect
With 7 exception.In addition, the motor torque τ 1 with vibration detection parameter storage part 21 is stored in by optionally applying, can
Calculate tension force T1 variation and estimate the initial tension T0 of band 7.
Moreover, disturbed in the presence of the error due to mechanical system enabling power F0 or running losses etc. and cause motor torque τ's
The different situation of motor torque τ 1 of the actual value from being stored with vibration detection parameter storage part 21 value.In this case,
The actual value of the motor torque τ with vibration detection moment t2cl can be used.
Detected when abnormal distribution unit 19 is according to the action for allowing to carry out any one party in door opening action or shutdown action
Band vibration, and issue abnormal signal to outside.It additionally, there are the noise in the signal wire due to the electric signal of motor 9 and/or control
The circuit abnormality of substrate processed and cause to vibration carry out error detection possibility.Therefore, it is different in order to prevent such error detection
In the case that normal distribution unit 19 can also detect band vibration in both door opening action and shutdown action, it is judged as band
Power has exception, and issues abnormal signal to outside.In addition, abnormal distribution unit 19 can also be only in door opening action and shutdown action
Any one party do not detect band vibration in the case of, there is the circuit abnormality of control base board to outside issue
Situation.Other structures are identical with embodiment 1 above.In addition, on a series of actions detected extremely to belt tension,
For both door opening action or shutdown action, also carried out in the same manner as embodiment 1 above.
As described above, according to embodiment 2, fully open/closed position sensor is connected with speed command generating unit.Pass through tool
There is such structure so that fully open/closed position sensor detects that door-plate is located at fully open position when band abnormity diagnosis starts
Or during full close position, the abnormality detection that belt tension is generally carried out with speed value can be utilized.Even as a result, multiply
The period that visitor is being used, the exception of belt tension can also be examined in the case where not damaging the comfortableness of passenger
It is disconnected.
In addition, according to embodiment 2, band vibration detection is stored with usual door opening action and usual pass with parameter storage part
Cause the velocity wave form with vibration in door action.By having a structure in which, door opening action can be carried out and shutdown acts this
The diagnosis of both sides.In addition, abnormal distribution unit from door opening action and shutdown according to acting diagnosis that this both sides receives to judge band
The exception of tension force, thus, it is possible to prevent error detection.Furthermore it is possible to mitigate the burden of time-based maintenance inspection.
Embodiment 3.
In present embodiment 3, to controlling device for doors 10 in addition to the structure of embodiment 1 above, also having can be
The example of the belt tension determination part 40 of the abnormal detection opportunity measurement belt tension of belt tension illustrates.
Fig. 8 is the control block diagram for the controlling device for doors 10 for showing embodiments of the present invention 3.As shown in figure 8, examined with vibration
Belt tension measure occasion information is sent to belt tension determination part 40 by survey portion 18 on belt tension abnormal detection opportunity.
Belt tension determination part 40 from band vibration detecting part 18 at the time of belt tension measure occasion information is received (that is, when
Between t1op), obtain outputs of the motor torque τ as speed controlling portion 12 as current instruction value, thus determine belt tension.
As belt tension assay method, for example, in the case where only connection member 8A is without connection member 8B, as before
Shown in Fig. 3, Fig. 5, the Fig. 6 in face, relative to the door driving force F based on motor torque τ, band can be obtained using following formula (8)
Power T1.The X of following formula (8) is the strip length (can be come out according to door position estimating) between belt wheel 6A and connection member 8A, and L is belt wheel
Band tyre tread between 6A and belt wheel 6B.
[formula 8]
The belt tension T1 determined is returned to band vibration detecting part 18 by belt tension determination part 40.
Detect that tension force T1 at the time of belt tension exception turns into band initial tension T0.With feelings relatively low initial tension T0
Under condition, according to the strip length X, belt tension T1 between motor torque τ size and the belt wheel 6A and connection member 8A of above formula (8)
Or T2 is zero.Therewith, with it is under the opportunity abnormal always according to belt tension is detected of vibration detecting part 18, by belt tension determination part 40
The belt tension T1 determined, to being detected with the presence or absence of band abnormal vibration.
With vibration detecting part 18 band abnormal vibration is also detected in the belt tension T1 determined according to belt tension determination part 40
In the case of, by abnormal distribution unit 19, to outside issue, there occurs the abnormal signal with abnormal vibration.So, band vibration inspection
Survey portion 18 further contemplates the measured value of belt tension determination part 40 to judge the exception of belt tension, and thereby, it is possible to prevent error detection.Other
Structure is identical with embodiment 1 above.
In addition, when diagnosis is opened and closed with door, if being intended to detect relative to the appropriate adjusted value setting with initial tension T0
Go out the value with abnormal vibration, then can determine the motor torque τ 1 and door position L1 of belt tension detection parameter storage part 21.
In addition, in speed command generating unit 11 from acceleration of the vibration detection under parameter storage part 21 readout time t1op
In the case of spending size, the rotating speed of the motor 9 under the time t1op with vibration is caused to be determined in advance.Accordingly it is also possible to it is speed
Command generation unit 11 is spent according to the motor speed under time t1op, the interdental space of belt wheel and with eigentone, should be examined
Go out the specific frequency field with vibration to export to band vibration detecting part 18, inputted frequency zones are carried out with vibration detecting part 18
Band vibration detection in domain.
In addition, in the case of existing concurrently with connection member 8A and connection member 8B, as long as can recognize and connect in advance
The mass M or its quality ratio for the door that part 8A and connection member 8B are connected respectively, it becomes possible to carry out identical measurement.Moreover,
In the case where multiple (more than 2) connection members be present, strip length that substantially can be according to each connection member, door quality
Or its ratio is measured.
As described above, according to embodiment 3, band vibration detecting part obtains from belt tension determination part detects belt tension exception
Opportunity under belt tension, on the basis of the measurement result of belt tension is further contemplated, to being examined extremely with the presence or absence of belt tension
Survey.By having a structure in which, noise in the signal wire due to the electric signal of motor and/or control base board can be prevented
Error detection caused by circuit abnormality.The result is that, it is possible to increase the abnormal accuracy of detection of belt tension, and operator can be saved
Carry out the time of useless inspection.
Alternatively, it is also possible to which the structure of present embodiment 3 to be applied to the structure of embodiment 2 above.
In addition, in each above-mentioned embodiment, the door gear as elevator is said to embodiments of the present invention
It is bright, but be not limited to this, applied to as shown in Figure 1, driven object be installed in the device of band 7, such as automatically-controlled door, certainly
Also identical effect can be obtained.
Claims (5)
1. a kind of controlling device for doors of elevator, it has following function：It is configured by motor driven belts in gateway
The open and close controlling of door, and the exception with vibration is detected the presence of in a period of action is opened and closed in the door, wherein, the electricity
The controlling device for doors of ladder has：
Band vibration detection parameter storage part, it is stored with vibration detection parameter, and the vibration detection parameter is used to produce
When accelerating or the when of deceleration, causes the velocity wave form of the band vibration；
Speed command generating unit, it generates the speed value for being opened and closed the door；
Velocity arithmetic portion, it calculates the actual speed of the motor；
Speed controlling portion, it is according to the speed value from speed command generating unit output and by the velocity arithmetic
Deviation between the actual speed that portion calculates controls the motor, thus carries out the open and close controlling；And
Band vibration detecting part, it is detected the presence of with vibration according to the actual speed calculated by the velocity arithmetic portion
It is abnormal,
It is described with vibration detection parameter storage part in order to determine the on-off action when the velocity wave form, will be in the speed
Spending in waveform turns into peak acceleration or the time of maximum deceleration and the peak acceleration or the maximum deceleration
The position of door-plate under time is stored as the vibration detection with parameter,
The speed command generating unit is according to the vibration detection parameter, with the peak acceleration or the maximum deceleration
Cause the mode that the band vibrates under the time of degree to generate the speed value,
In section including the time of the extraction comprising the peak acceleration or the maximum deceleration with vibration detecting part
The actual speed vibration component, in the case where the vibration component extracted has exceeded a reference value, be judged as the band
Abnormal vibrations.
2. the controlling device for doors of elevator according to claim 1, wherein,
The controlling device for doors of the elevator also has a fully open/closed position sensor, the fully open/closed position sensor with it is described
Speed command generating unit connect, on the door position whether be standard-sized sheet or it is fully closed detected,
The speed command generating unit is standard-sized sheet or fully closed receiving the door position from the fully open/closed position sensor
Information in the case of, the door position is moved to full close position from fully open position or is moved to standard-sized sheet position from full close position
Put and be used as the velocity wave form, thus generate the speed value.
3. the controlling device for doors of elevator according to claim 1 or 2, wherein,
The controlling device for doors of the elevator also has belt tension determination part, and the belt tension determination part is according to the band vibration detection
Portion be judged as it is described with abnormal vibrations at the time of the output from the speed controlling portion, belt tension value is detected,
It is described with vibration detecting part by the belt tension value that the belt tension determination part detects departing from permissible range and
In the case of being judged as the band abnormal vibrations according to the actual speed, finally it is judged as the band abnormal vibrations.
4. a kind of controlling device for doors of elevator, it has following function：It is configured by motor driven belts in gateway
The open and close controlling of door, and the exception with vibration is detected the presence of in a period of action is opened and closed in the door, wherein, the electricity
The controlling device for doors of ladder has：
Speed command generating unit, it generates the speed value for being opened and closed the door；
Velocity arithmetic portion, it calculates the actual speed of the motor；
Speed controlling portion, it is according to the speed value from speed command generating unit output and by the velocity arithmetic
Deviation between the actual speed that portion calculates controls the motor, thus carries out the open and close controlling；And
Band vibration detecting part, it is detected the presence of with vibration according to the actual speed calculated by the velocity arithmetic portion
It is abnormal,
The reality in section including the time of the extraction comprising peak acceleration or maximum deceleration with vibration detecting part
The vibration component of border rotating speed, in the case where the vibration component extracted has exceeded a reference value, it is judged as the band abnormal vibrations,
The controlling device for doors of the elevator also has belt tension determination part, and the belt tension determination part is according to the band vibration detection
Portion be judged as it is described with abnormal vibrations at the time of the output from the speed controlling portion, belt tension value is detected,
It is described with vibration detecting part by the belt tension value that the belt tension determination part detects departing from permissible range and
In the case of being judged as the band abnormal vibrations according to the actual speed, finally it is judged as the band abnormal vibrations.
5. a kind of door control method, it is performed by the controlling device for doors of elevator, and the controlling device for doors of the elevator is used to pass through electricity
Machine drive belt come be configured in the door of gateway open and close controlling and the door be opened and closed action during middle detection
The exception with vibration is whether there is, wherein, the door control method includes：
Storing step, vibration detection is stored in band vibration detection parameter storage part with parameter in advance in this step, institute
State vibration detection parameter be used for produce when accelerating or velocity wave form that the when of deceleration causes the band to vibrate；
Speed command generation step, in this step, generation are opened and closed the speed value of the door；
Velocity arithmetic step, in this step, calculate the actual speed of the motor；
Rate controlling step, in this step, according to the speed value that is exported from the speed command generation step with
Deviation between the actual speed calculated in the velocity arithmetic step controls the motor, thus carry out described in
Open and close controlling；And
Band vibration detection step, in this step, according to the actual speed calculated in the velocity arithmetic step, inspection
Survey and whether there is the exception with vibration,
Velocity wave form when in the storing step in order to determine the on-off action, will in the velocity wave form into
For the door under the time and the time of the peak acceleration or the maximum deceleration of peak acceleration or maximum deceleration
The position of plate is stored in the band vibration detection parameter storage part as the vibration detection with parameter, is referred in the speed
Make in generation step, according to the vibration detection parameter, with the time of the peak acceleration or the maximum deceleration
Under cause the mode of band vibration to generate the speed value,
In the band vibration detection step, including time of the extraction comprising the peak acceleration or the maximum deceleration
The vibration component of the actual speed in section, in the case where the vibration component extracted has exceeded a reference value, is judged as
The band abnormal vibrations.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014-084489 | 2014-04-16 | ||
| JP2014084489 | 2014-04-16 | ||
| PCT/JP2015/055790 WO2015159597A1 (en) | 2014-04-16 | 2015-02-27 | Elevator door control device and door control method |
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| CN106163964A CN106163964A (en) | 2016-11-23 |
| CN106163964B true CN106163964B (en) | 2018-01-02 |
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| CN201580019584.XA Active CN106163964B (en) | 2014-04-16 | 2015-02-27 | The controlling device for doors and door control method of elevator |
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| JP (1) | JP6279072B2 (en) |
| CN (1) | CN106163964B (en) |
| WO (1) | WO2015159597A1 (en) |
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| JP6597426B2 (en) * | 2015-08-19 | 2019-10-30 | 三菱電機株式会社 | Door control device and elevator device |
| CN108529366A (en) * | 2017-11-21 | 2018-09-14 | 江苏鸿山鸿锦物联技术有限公司 | A method of foreign matter on compartment gate sill and hall door track is detected by elevator door-motor vibration |
| CN115605422A (en) * | 2020-05-19 | 2023-01-13 | 通力股份公司（Fi） | Method for limiting the tension of a belt of an automatic door and door drive unit |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1091422C (en) * | 1997-05-19 | 2002-09-25 | 株式会社日立制作所 | Elevator door control apparatus |
| JP2004067259A (en) * | 2002-08-01 | 2004-03-04 | Mitsubishi Electric Building Techno Service Co Ltd | Elevator door controlling device |
| JP2007290834A (en) * | 2006-04-26 | 2007-11-08 | Mitsubishi Electric Corp | Elevator door control device |
| JP2010074887A (en) * | 2008-09-16 | 2010-04-02 | Ricoh Co Ltd | Motor driving device, image forming apparatus, motor driving method, and computer program |
| JP2011063405A (en) * | 2009-09-18 | 2011-03-31 | Toshiba Elevator Co Ltd | Door control device of elevator |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008222353A (en) * | 2007-03-12 | 2008-09-25 | Mitsubishi Electric Corp | Safety device for elevator door |
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- 2015-02-27 WO PCT/JP2015/055790 patent/WO2015159597A1/en active Application Filing
- 2015-02-27 JP JP2016513664A patent/JP6279072B2/en active Active
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1091422C (en) * | 1997-05-19 | 2002-09-25 | 株式会社日立制作所 | Elevator door control apparatus |
| JP2004067259A (en) * | 2002-08-01 | 2004-03-04 | Mitsubishi Electric Building Techno Service Co Ltd | Elevator door controlling device |
| JP2007290834A (en) * | 2006-04-26 | 2007-11-08 | Mitsubishi Electric Corp | Elevator door control device |
| JP2010074887A (en) * | 2008-09-16 | 2010-04-02 | Ricoh Co Ltd | Motor driving device, image forming apparatus, motor driving method, and computer program |
| JP2011063405A (en) * | 2009-09-18 | 2011-03-31 | Toshiba Elevator Co Ltd | Door control device of elevator |
Also Published As
| Publication number | Publication date |
|---|---|
| JPWO2015159597A1 (en) | 2017-04-13 |
| CN106163964A (en) | 2016-11-23 |
| WO2015159597A1 (en) | 2015-10-22 |
| JP6279072B2 (en) | 2018-02-14 |
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