CN109573797A - A kind of each floor shutdown curve self-adapting method of elevator door-motor - Google Patents
A kind of each floor shutdown curve self-adapting method of elevator door-motor Download PDFInfo
- Publication number
- CN109573797A CN109573797A CN201811468529.0A CN201811468529A CN109573797A CN 109573797 A CN109573797 A CN 109573797A CN 201811468529 A CN201811468529 A CN 201811468529A CN 109573797 A CN109573797 A CN 109573797A
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- Prior art keywords
- door
- floor
- shutdown
- elevator
- machine controller
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Classifications
-
- 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
- B66B13/16—Door or gate locking devices controlled or primarily controlled by condition of cage, e.g. movement or position
- B66B13/18—Door or gate locking devices controlled or primarily controlled by condition of cage, e.g. movement or position without manually-operable devices for completing locking or unlocking of doors
- B66B13/185—Door or gate locking devices controlled or primarily controlled by condition of cage, e.g. movement or position without manually-operable devices for completing locking or unlocking of doors electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Elevator Door Apparatuses (AREA)
- Elevator Control (AREA)
Abstract
The present invention provides a kind of each floor shutdown curve self-adapting methods of elevator door-motor, it runs including electric life controller control elevator to ground floor, and instruction and current floor information are sent by CAN bus and give door machine controller, door machine controller enters each floor shutdown frictional force mode of learning of elevator；It controls door machine controller and carries out a switch gate movement；After the completion of the movement of elevator switch door, door machine controller sends the study of current floor shutdown frictional force by CAN bus and completes information to electric life controller, and current floor friction force information peace frictional force is stored in EEPROM.When elevator is run to leveling, door machine controller by current layer frictional force compared with average friction force, according to comparison result, the acceleration time of door machine controller adjust automatically shutdown curve accelerating sections.Present approach reduces the sensibility to each floor frictional force, adjust automatically shutdown parameter of curve makes shutdown curve have more versatility, it is easier to adapt to live complex working condition.
Description
Technical field
The invention belongs to technical field of elevator equipment, certainly in particular to a kind of each floor shutdown curve of elevator door-motor
Adaptive method.
Background technique
Market knife of visiting generally divides synchronous door knife and asynchronous door knife two types.Wherein, asynchronous door knife run when hall door and
Gate is asynchronous, and when door machine is closed the door, gate can be closed first, and hall door lags a distance, and hall door is under the action of self-closing power
Even acceleration always, until hall door is synchronous with gate position.Lead to door because Room gate speed is inconsistent in this synchronization point
There is vibration, to influence shutdown smoothness of curve, influences user's comfort.This patent is just for the door machine system with asynchronous door knife
System.
In elevator door-motor installation and debugging, commissioning staff can modify parameter, and door machine is enable smoothly to close in a certain layer
Door, but if cause different floor shutdown frictional force etc. to change due to installation or other reasons, fixed parameter is difficult to adapt to
The shutdown comfort requirement of all floors.In fact, the hall door installation effect of the every floor of elevator is difficult really in elevator on-site installation
Protect it is consistent, moreover, in running process of elevator, the parameters such as shutdown frictional force of every floor be all it is continually changing, therefore, every floor
The frictional force of hall door can all have some differences, these differences finally will affect the closing effect of door machine.
According to actual test, it is shorter that synchronous point leaves the distance of door in place, shake it is slighter, in asynchronous door knife, hall door
Frictional force is bigger, and synchronous point leaves that the distance of door in place is longer, and the vibration of generation is bigger.Therefore, the feelings big in hall door frictional force
It is appropriate to increase the door machine shutdown accelerating sections time under condition, the hall door distance synchronous with gate can be effectively reduced, can be effectively improved
Shutdown curve.
Summary of the invention
The main purpose of the present invention is to provide a kind of each floor shutdown curve self-adapting method of elevator door-motor, elevator door-motors
According to each floor shutdown frictional force size, the adjust automatically shutdown curve accelerating sections time, this method can be according to different floors
The mechanical parameter of hall door, adjust automatically shutdown parameter of curve make elevator that can swimmingly close the door in each floor.
In order to achieve the above purpose, the present invention provides a kind of each floor shutdown curve self-adapting method of elevator door-motor,
The following steps are included:
Step 1: electric life controller control elevator is run to ground floor, and sends instruction and current floor by CAN bus
Information gives door machine controller, and the door machine controller enters each floor shutdown frictional force mode of learning of elevator；
Step 2: the electric life controller provides switch gate instruction, and it is dynamic to control switch gate of the door machine controller progress
Make；
Step 3: after the completion of the movement of elevator switch door, the door machine controller sends current floor by CAN bus and closes the door
Frictional force study completes information to the electric life controller, and by current floor frictional force information preservation in EEPROM；
Step 4: supreme one layer of operation of the electric life controller control elevator, repeat the above steps 2 and step 3, Zhi Daosuo
There is the study of floor shutdown frictional force to complete；
Step 5: the electric life controller notifies the door machine controller to exit each floor shutdown friction by CAN bus
Power mode of learning；The frictional force of each floor is averaged by the door machine controller, and the average friction force is stored in
In EEPROM.
It further, further include step 6, when elevator is run to leveling, the electric life controller is by CAN to the door machine
Controller sends current floor information, and the door machine controller reads current floor friction force information peace from EEPROM and rubs
Force information, and by current layer frictional force compared with average friction force, when current layer frictional force is greater than all floor average friction forces
When, the acceleration time of shutdown curve accelerating sections described in door machine controller adjust automatically.
Further, in the step 1, shutdown curve at closing time includes shutdown accelerating sections, high speed of closing the door at the uniform velocity section, pass
Door braking section, low speed at the uniform velocity section, knife section and the door-closing in-place maintaining segment of locking a door of closing the door.
Further, in the step 1, when shutdown is run, the door machine controller records the shutdown of the shutdown curve
The motor torque of high speed at the uniform velocity section, the motor torque are equal to frictional force, the motor torque of record are stored in the door machine control
In the EEPROM of device processed.
Further, the motor torque detects the three-phase current of motor by the door machine controller, and passes through carat
Gram transformation and Parker transform obtain ac-dc axis electric current Id and Iq, calculated by torque equation Te=1.5Pn (Ψ dIq- Ψ qId)
Come.
Further, friction of the door machine controller in this shutdown of the high speed at the uniform velocity segment record of the shutdown curve
Power, and the elevator door closing frictional force data of current layer is stored in EEPROM, update current layer frictional force data.
For the door machine control system of the asynchronous door knife of existing band, each floor of the elevator door-motor of the application is closed the door
Curve self-adapting method, the door machine control system with asynchronous door knife at closing time, can be effectively reduced to each floor friction
The sensibility of the parameters such as power can keep shutdown curve more logical according to frictional force adjust automatically shutdown parameter of curve at closing time
With property, it is easier to adapt to live complex working condition.This patent the method increases hardware without additional, does not increase to elevator device
Extra cost, simple changed by method complete adaptation function.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 diagrammatically illustrates door machine controller shutdown curve graph of the invention；
Fig. 2 diagrammatically illustrates door machine controller shutdown frictional force learning process figure of the invention；
Fig. 3 diagrammatically illustrates door machine controller of the invention adaptively shutdown curve shutdown flow chart.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
It is noted that described further below be all exemplary, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
In the shutdown curve self-adapting method of the application, participating in the device that this method is realized includes electric life controller and door
Machine control system, and door machine control system includes door machine controller, permanent magnet synchronous motor and elevator door mechanical structure.Wherein, door
Machine controller and electric life controller pass through CAN bus and carry out data communication according to certain agreement.
Shutdown curve at closing time include shutdown accelerating sections, close the door high speed at the uniform velocity section, shutdown braking section, low speed at the uniform velocity section,
Shutdown is locked a door knife section and door-closing in-place maintaining segment.
Referring to shown in Fig. 1 to Fig. 3, the present invention provides a kind of each floor shutdown curve self-adapting method of elevator door-motor, packets
Include following steps:
Step 1: electric life controller control elevator is run to ground floor, and sends instruction and current floor by CAN bus
Information gives door machine controller, and the door machine controller enters each floor shutdown frictional force mode of learning of elevator；
Step 2: the electric life controller provides switch gate instruction, and it is dynamic to control switch gate of the door machine controller progress
Make；In this course, high speed of closing the door at the uniform velocity section persistently calculates frictional force, and method is the shutdown height for calculating the shutdown curve
The motor torque of speed at the uniform velocity section, in object linear uniform motion, according to mechanics principle, the motive force and resistance of object are in flat
Weighing apparatus.Therefore, in the shutdown high speed at the uniform velocity section, motor traction force is equal to the frictional force of elevator door.The motor torque of record is protected
There are in the EEPROM of the door machine controller, the data power down of record still be can be used, without learning again.
Circular is: the motor torque detects the three-phase current of motor by the door machine controller, and leads to
It crosses Clarke transform and Parker transform obtains ac-dc axis electric current Id and Iq, pass through torque equation Te=1.5Pn (Ψ dIq- Ψ qId)
It calculates.
Step 3: after the completion of the movement of elevator switch door, the door machine controller sends current floor by CAN bus and closes the door
Frictional force study completes information to the electric life controller, and by current floor frictional force information preservation in EEPROM；
Step 4: supreme one layer of operation of the electric life controller control elevator, repeat the above steps 2 and step 3, Zhi Daosuo
There is the study of floor shutdown frictional force to complete；
Step 5: the electric life controller notifies the door machine controller to exit each floor shutdown friction by CAN bus
Power mode of learning；The frictional force of each floor is averaged by the door machine controller, and the average friction force is stored in
In EEPROM.
It further, further include step 6, when elevator is run to leveling, the electric life controller is by CAN to the door machine
Controller sends current floor information, and the door machine controller reads current floor friction force information peace from EEPROM and rubs
Force information, and by current layer frictional force compared with average friction force, particularly carried out by the three-phase current to detection motor
Compare, when current layer frictional force is greater than all floor average friction forces, shutdown curve described in door machine controller adjust automatically adds
The acceleration time of fast section, it is ensured that elevator door is swimmingly closed the door.And when current layer frictional force is less than all floor average friction forces,
Door machine controller then close by control elevator door.
Further, friction of the door machine controller in this shutdown of the high speed at the uniform velocity segment record of the shutdown curve
Power, and the elevator door closing frictional force data of current layer is stored in EEPROM, update current layer frictional force data, it is ensured that current
The timeliness of layer elevator door closing frictional force data.
For the door machine control system of the asynchronous door knife of existing band, each floor of the elevator door-motor of the application is closed the door
Curve self-adapting method, the door machine control system with asynchronous door knife at closing time, can be effectively reduced to each floor friction
The sensibility of the parameters such as power can keep shutdown curve more logical according to frictional force adjust automatically shutdown parameter of curve at closing time
With property, it is easier to adapt to live complex working condition.This patent the method increases hardware without additional, does not increase to elevator device
Extra cost, simple changed by method complete adaptation function.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (6)
1. a kind of each floor shutdown curve self-adapting method of elevator door-motor, which comprises the following steps:
Step 1: electric life controller control elevator is run to ground floor, and sends instruction and current floor information by CAN bus
Door machine controller is given, the door machine controller enters each floor shutdown frictional force mode of learning of elevator；
Step 2: the electric life controller provides switch gate instruction, controls the door machine controller and carries out a switch gate movement；
Step 3: after the completion of the movement of elevator switch door, the door machine controller sends current floor shutdown friction by CAN bus
Mechanics, which is practised, completes information to the electric life controller, and by current floor frictional force information preservation in EEPROM；
Step 4: supreme one layer of operation of the electric life controller control elevator, repeat the above steps 2 and step 3, until all buildings
Layer shutdown frictional force study is completed；
Step 5: the electric life controller notifies the door machine controller to exit each floor shutdown friction mechanics by CAN bus
Habit mode；The frictional force of each floor is averaged by the door machine controller, and the average friction force is stored in EEPROM
In.
2. each floor shutdown curve self-adapting method of elevator door-motor as described in claim 1, which is characterized in that further include step
6, when elevator is run to leveling, the electric life controller sends current floor information to the door machine controller by CAN, described
Door machine controller reads current floor friction force information peace from EEPROM and rubs force information, and by current layer frictional force and flat
Equal frictional force compares, and when current layer frictional force is greater than all floor average friction forces, closes described in door machine controller adjust automatically
The acceleration time of door curve accelerating sections.
3. each floor shutdown curve self-adapting method of elevator door-motor as claimed in claim 2, which is characterized in that the step 1
In, shutdown curve at closing time includes shutdown accelerating sections, high speed of closing the door at the uniform velocity section, shutdown braking section, low speed at the uniform velocity section, spring lock
Door knife section and door-closing in-place maintaining segment.
4. each floor shutdown curve self-adapting method of elevator door-motor as claimed in claim 3, which is characterized in that the step 1
In, when shutdown is run, the door machine controller records the motor torque of the high speed at the uniform velocity section of closing the door of the shutdown curve, the electricity
Machine power square is equal to frictional force, the motor torque of record is stored in the EEPROM of the door machine controller.
5. each floor shutdown curve self-adapting method of elevator door-motor as claimed in claim 4, which is characterized in that the motor force
Square detects the three-phase current of motor by the door machine controller, and obtains ac-dc axis electricity by Clarke transform and Parker transform
Id and Iq is flowed, is calculated by torque equation Te=1.5Pn (Ψ dIq- Ψ qId).
6. each floor shutdown curve self-adapting method of elevator door-motor as claimed in claim 2, which is characterized in that the door machine control
Device processed is in this frictional force for closing the door of the high speed at the uniform velocity segment record of the shutdown curve, and by the elevator door closing friction of current layer
Force data is stored in EEPROM, updates current layer frictional force data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811468529.0A CN109573797B (en) | 2018-12-03 | 2018-12-03 | Self-adaptive method for door closing curve of each floor of elevator door motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811468529.0A CN109573797B (en) | 2018-12-03 | 2018-12-03 | Self-adaptive method for door closing curve of each floor of elevator door motor |
Publications (2)
| Publication Number | Publication Date |
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| CN109573797A true CN109573797A (en) | 2019-04-05 |
| CN109573797B CN109573797B (en) | 2022-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811468529.0A Active CN109573797B (en) | 2018-12-03 | 2018-12-03 | Self-adaptive method for door closing curve of each floor of elevator door motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112723069A (en) * | 2020-12-16 | 2021-04-30 | 长沙慧联智能科技有限公司 | Elevator door running state monitoring method and system based on TOF visual detection |
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| CN105883558A (en) * | 2016-06-27 | 2016-08-24 | 广州广日电梯工业有限公司 | Self-learning system and method for door opening-closing time of elevator |
| CN206720532U (en) * | 2017-05-04 | 2017-12-08 | 上海贝思特门机有限公司 | The Elevator Door Control device of automatic identification door quality |
| CN108382937A (en) * | 2018-02-02 | 2018-08-10 | 杭州句力科技有限公司 | A kind of hoistway door automatic testing method |
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2018
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ATE134593T1 (en) * | 1991-12-24 | 1996-03-15 | Inventio Ag | METHOD AND DEVICE FOR DETERMINING THE DYNAMIC MASS AND THE AVERAGE FRICTION FORCE OF AN ELEVATOR DOOR |
| DE59205488D1 (en) * | 1991-12-24 | 1996-04-04 | Inventio Ag | Method and device for determining the dynamic mass and the average frictional force of an elevator door |
| SG71932A1 (en) * | 1998-07-30 | 2000-04-18 | Inventio Ag | Method of force limitation for automatic elevator doors |
| DE19944125A1 (en) * | 1999-09-15 | 2001-04-12 | Schmitt & Sohn Gmbh & Co Aufzu | Method for automatically determining the speed of impact of an elevator door on an obstacle and drive device for an elevator door |
| CN102070064A (en) * | 2009-11-20 | 2011-05-25 | 苏州默纳克控制技术有限公司 | Elevator door motor control system and method |
| CN103459295A (en) * | 2011-03-22 | 2013-12-18 | 三菱电机株式会社 | Elevator door control device |
| CN104291197A (en) * | 2014-09-28 | 2015-01-21 | 重庆伊士顿电梯有限责任公司 | Backpack elevator door opening and closing control system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112723069A (en) * | 2020-12-16 | 2021-04-30 | 长沙慧联智能科技有限公司 | Elevator door running state monitoring method and system based on TOF visual detection |
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| Publication number | Publication date |
|---|---|
| CN109573797B (en) | 2022-09-06 |
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