CN1617825A - Elevator door control device - Google Patents
Elevator door control device Download PDFInfo
- Publication number
- CN1617825A CN1617825A CNA03802389XA CN03802389A CN1617825A CN 1617825 A CN1617825 A CN 1617825A CN A03802389X A CNA03802389X A CN A03802389XA CN 03802389 A CN03802389 A CN 03802389A CN 1617825 A CN1617825 A CN 1617825A
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- China
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- torque
- torque instruction
- abnormality detection
- elevator door
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/02—Door or gate operation
- B66B13/14—Control systems or devices
- B66B13/143—Control systems or devices electrical
- B66B13/146—Control systems or devices electrical method or algorithm for controlling doors
Abstract
An elevator door control device is provided in which the precision of abnormality detection in door opening and closing operations is increased by appropriately detecting abnormalities in torque commands, so that there is little erroneous detection of abnormalities in door opening and closing operations. The elevator door control device has: a speed command portion that outputs a speed command; a speed control portion that outputs a torque command corresponding to a deviation between the speed command and a feedback speed; a reference torque command pattern storage portion that stores a plurality of torque command patterns that are formed by a plurality of the torque commands sampled according to door opening and closing operations, and stores a reference torque command pattern that is obtained based on the torque commands at each common sampling of the plurality of torque commands; an abnormality detection torque pattern generator portion that generates an abnormality detection torque pattern from the reference torque command pattern; and an abnormality avoiding unit that outputs an abnormality avoiding command to the speed command portion when the torque command exceeds the abnormality detection torque pattern.
Description
Technical field
The present invention relates to the control setup of elevator door, more particularly, relate to the error state when detecting the elevator door opening-closing action accurately, avoid the control setup of the elevator door of error state simultaneously.
Background technology
The control setup of elevator door in the past is in the door on-off action process of elevator, error state for elevator on-off actions such as the health of clamping or draw in the elevator user at door section or fingers, supervision is accompanied by the part that the error state current of electric of on-off action of door is increased, detect simultaneously and in the on-off action of door, whether exist unusually, when unusual, make a counter-rotating.
Specifically, be conceived to produce difference when unusual just often with the current of electric that changes simultaneously of course of action of door, the current of electric of course of action when the normal door of each layer sequence detection moves according to door, do not carry out calculation process and just store in advance, according to motor current value in the sequentially relatively actual door switching process of course of action and the motor current value (storage data) of this layer, in both, produced to detect under the situation of the difference more than the specified value and be door unusual (for example, with reference to a patent documentation 1).
In addition, the control setup of above-mentioned elevator door in the past according to known in action the current of electric during with the normal door action that surpasses each layer according to the motor current value in the door switching process of reality at this be scheduled to the value that surplus torque (specified value) obtains through adding on the value, thereby the error state of detecting gate, this time is equal with making the door action of reversing.
In addition, from the viewpoint of electric-engineering, the current of electric here can be replaced into motor torque as can be known.And then, from the viewpoint that control is learned, in the system that has constituted controlled reset, can think that usually instruction and controlling quantity numerically not have very big difference, therefore motor torque and motor torque command also can be treated on using and be equal to as can be known.Therefore, in this manual, these current of electric, motor torque, motor torque command are treated to has equal meaning.
[patent documentation 1]: the spy opens clear 54-120157 communique (the 4th, 5 page)
As previously discussed, the control setup of elevator door in the past is by torque waveform (motor current waveform) or torque instruction waveform for the motor of the on-off action that is accompanied by the actual door that does not carry out calculation process and just stored, add predetermined surplus torque, use to being used for the abnormality detection torque figure that unusual torque detects, carry out abnormality detection, but in fact owing to a near rubbish that is accompanied by a switching, friction etc. are the external disturbance of reason to wear out, the change when each on-off action of actual torque waveform or torque instruction waveform.Therefore, too small in the surplus torque that is added, perhaps become under the torque waveform or the unfavorable situation of torque instruction waveform of original waveform of abnormality detection torque, have and can not carry out normal abnormality detection and carry out the problem points that flase drop is surveyed.
Promptly, if the surplus torque that adds on the torque instruction figure of the real electrical machinery that just stores not carrying out calculation process is taken as less value, then the unusual detection sensitivity of torque raises, but the situation that has increased torque instruction in the cogging owing near the rubbish the door that is accompanied by a switching, friction etc. judges to unusually, carries out unnecessary door counter-rotating action repeatedly.In addition, otherwise, if increase the surplus torque then reduce misoperation, but its opposite one side, because the result who increases as abnormality detection torque figure, the permissible value of torque instruction increases, and therefore has the dangerous such problem points that increases the elevator user.
Be in the cogging of reason with these problem points, removing beyond near the cogging of the short-terms such as rubbish, friction the door, also existing the aging long-term cogging that causes of the distortion etc. of gate pulse.
Summary of the invention
The present invention produces for solving above problem points, purpose is to consider the torque waveform (motor current waveform) of real electrical machinery and the long-term change or the short-period fluctuation of torque instruction waveform, when improving the abnormality detection precision, reduce the control setup of the elevator door of the unusual flase drop survey of door on-off action by generating the abnormality detection torque figure that detects unusual torque aptly.
In addition, in the present invention, so-called abnormality detection, mean in the door on-off action process of elevator, error state for door on-off actions such as the health of in door section, clamping or draw in the elevator user or fingers, supervision is accompanied by the current of electric of error state of an on-off action or the increase part of motor torque command or motor instruction, detect in the door on-off action, whether have unusual.That is, mean by detecting the unusual of current of electric or motor torque command or motor torque, the error state of detecting gate on-off action.
The driver element that the control setup of elevator door of the present invention outputs to elevator door to torque instruction according to speed command carries out the open and close controlling of above-mentioned elevator door, and the figure that possesses the above-mentioned torque instruction of the degree of collecting repeatedly carries out the reference torque Instruction Graphics generation unit that calculation process is obtained the reference torque Instruction Graphics; Unusual torque abnormality detection unit according to the above-mentioned torque instruction of said reference torque instruction test pattern.
Description of drawings
Fig. 1 is the constructional drawing of an example of control setup that the elevator door of the invention process form 1 is shown.
Fig. 2 is the graph of a relation that torque instruction (reference torque instruction) and abnormality detection torque figure in the control setup of elevator door of the invention process form 1 are shown.
Action specification figure when Fig. 3 is a torque abnormality detection in the control setup of elevator door of the invention process form 1.
The door that carries out repeatedly that Fig. 4 illustrates in the control setup of elevator door of the invention process form 1 is opened/torque instruction when door closes action.
Fig. 5 sampling in the control setup of elevator door of the invention process form 1 is shown the time series data of torque instruction and the example that is used for the calculation of mean value method that the reference torque Instruction Graphics generates.
Fig. 6 illustrates the time series data of the torque instruction of 5 trail run directions in the control setup of elevator door of the invention process form 1.
Fig. 7 is the instruction diagram that the calculating formulas that the middle number for the time series data of the torque instruction of 5 trail run directions in the control setup of elevator door of the invention process form 1 handles are shown.
Fig. 8 is the diagram of circuit that the action of the reference torque Instruction Graphics generation unit in the control setup of elevator door of the invention process form 1 is shown.
Fig. 9 is abnormality detection torque figure generation unit in the control setup of elevator door of the invention process form 1 and the diagram of circuit of avoiding the action of unit unusually.
Figure 10 is the constructional drawing of an example of control setup that the elevator door of the invention process form 2 is shown.
Figure 11 is the instruction diagram of the action when the torque abnormality detection of control setup of elevator door of the invention process form 2 is shown.
The specific embodiment
Example 1
Fig. 1 is the constructional drawing of an example of control setup that the elevator door of the invention process form 1 is shown.As shown in Figure 1, comprise the door driving of the elevator door mechanism part of elevator door connection impulse deviser 2 on the motor shaft of motor 1 in driving, the pulse information that show gate drives the position of using motor 1 takes place in this impulse deviser 2.In addition, current probe 3 detecting gates drive the load current with motor 1.In addition, drive with motor 1, for example suppose vector controlled induction motor or brushless DC motor etc. as door.
The speed command of predetermined speed pattern is deferred in 4 outputs of speed command unit, and adder unit 5 outputs are from the speed command of these speed command unit 4 outputs and the velocity contrast of the actual motor speed (feedback speed) that obtains from impulse deviser 2 process speed transformation unit.Speed control unit 6 conducts and the cooresponding torque instruction of the velocity contrast of this output are carried out speed control outputing to a driving with the corresponding current of electric instruction of this torque instruction with motor 1.
More precisely, adder unit 7, obtain and difference between current from the current of electric instruction (torque instruction) of speed control unit 6 output, for current control unit 8 outputs by current probe 3 detected load currents.Current control unit 8 drives the load current of using motor 1 according to the difference between current generation driving gate of being imported, and carries out the speed control of a driving with motor 1.During this speed control, current control unit 8 is realized vector controlled according to the phase information from impulse deviser 2.
In addition, reference torque Instruction Graphics generation unit 9 comprises torque instruction figure array storage unit 9A and reference torque Instruction Graphics output unit 9B.Torque instruction figure array storage unit 9A is according to the layer information from outside input, and is corresponding with a door cooresponding elapsed time of on-off action of each layer or a position etc., stores a plurality of torque instruction figures that formed by a plurality of torque instructions in each layer sampling.
In addition, reference torque Instruction Graphics output unit 9B generates and the reference torque Instruction Graphics of each layer that computing obtains is carried out in output according to torque instruction of each common sampling in by the torque instruction figure of a plurality of each that constitute layer in a plurality of torque instruction figures of torque instruction figure array storage unit 9A stored.
Be input to abnormality detection torque figure generation unit 10 from the reference torque Instruction Graphics of each layer of reference torque Instruction Graphics output unit 9B output.Whether unusual abnormality detection torque figure generation unit 10 adds predetermined surplus torque for the reference torque Instruction Graphics imported, generate as the abnormality detection torque figure that detects by the torque instruction of speed control unit 6 outputs benchmark.
In addition, avoid unit 11 to comprise torque abnormality detection unit 12 in inside unusually.When this torque abnormality detection unit 12 is imported from the torque instruction of speed control unit 6 outputs, read the abnormality detection torque figure that is generated by abnormality detection torque figure generation unit 10, detecting when torque instruction has surpassed abnormality detection torque figure is that the door on-off action is unusual.Monitored out the unusual torque abnormality detection unit 12 of door switching and avoided instruction for speed command unit 4 output abnormalities, receive this speed command unit 4 of avoiding unusually instructing the speed command of output is slowed down, and then as new speed command (speed reversal instruction) output that makes elevator door counter-rotating action.
That is, avoid unit 11 to surpass unusually speed command is slowed down avoiding error state at torque instruction.In addition, after speed command has been slowed down, and then make elevator door counter-rotating action avoid error state.
Secondly, the abnormality detection torque figure generation unit 10 of control setup of elevator door of this example 1 and the action of torque abnormality detection unit 12 are described.Fig. 2 illustrates the reference torque Instruction Graphics of door when opening and the instruction diagram of the relation of abnormality detection torque figure, and Fig. 3 is the instruction diagram that the action of torque abnormality detection unit 12 is shown.
The torque instruction that reference torque Instruction Graphics generation unit 9 is exported when the each shutter door of each layer according to speed control unit 6 generates the reference torque Instruction Graphics among Fig. 2.Here, for example the torque instruction data when having carried out opening and closing for 5 times are handled simple average treatment band by number in described later and are forgotten that the calculation process such as addition process of coefficient generate the reference torque Instruction Graphics.Abnormality detection torque figure generation unit 10 adds predetermined surplus torque and generates abnormality detection torque figure shown in Figure 2 on the reference torque Instruction Graphics that is generated.
In addition, example as shown in Figure 3, if open and close unusual result according to door, torque instruction rises and surpasses abnormality detection torque figure, it is unusual that then torque abnormality detection unit 12 detects, for the counter-rotating action of speed command unit 4 indication doors.
In addition, in Fig. 2 and Fig. 3, under the meaning that an example is shown, the door action of supposing when door is opened is shown, and the present invention is not limited to the door action of door when opening, and the door action when closing for door also can realize the structure of same reference torque Instruction Graphics generation unit 10 and torque abnormality detection unit 12.
In the control setup of the elevator door in this example 1, as described later, open and close trail run (opening and closing repeatedly) input torque Instruction Graphics by door repeatedly, by the torque instruction of being imported is carried out calculation process, obtain for a long time or the reference torque Instruction Graphics of the disturbing influence that short-term is not exceedingly happened suddenly.In addition, so-called optimum reference torque Instruction Graphics can be described as the typical value of torque instruction figure just often, is to make the abnormality detection sensitivity not have out-of-position torque instruction figure.Thereby can know, for being accompanied by the cogging that near an above-mentioned rubbish that the door that opens and closes is, friction etc. cause, in order not make the abnormality detection sensitivity offset, use the central value of the change of the torque instruction figure when repeatedly door opens and closes trail run, promptly aviation value is suitable.
But, about the torque instruction graphics calculations during, it should be noted that removing the influence that the burst disturbance in the such number of occurrence of aftermentioned causes also is important problem for the aviation value of direction repeatedly.
Fig. 4 illustrates to carry out the instruction diagram that door is opened, door closes the torque instruction when moving repeatedly.Among Fig. 4, the output pulse that transverse axis indicating impulse detector 2 detects (i.e. door position), the longitudinal axis is represented torque instruction, carries out door repeatedly by diel and opens, closes action and map two-dimensionally.In addition, this figure becomes having carried out repeatedly that the diel door is opened, door closes when action, comprises that the operator has contacted the waveform of the mistake of door (waveform distortion that is caused by the disturbance of burst) mistakenly.
From its result as can be known, make the abnormality detection sensitivity not have out-of-position reference torque Instruction Graphics, not only will consider the change of waveform, also will further contemplate the influence of burst disturbance, the aviation value of calculating torque instruction in order to generate.For calculating mean value, need to adopt the time series data of a plurality of waveforms repeatedly as torque instruction.
Below, the action of the reference torque Instruction Graphics generation unit 9 that generates and stores the reference torque Instruction Graphics is described.
Here, as shown in Figure 5, remove beyond the time orientation when opening and closing, the direction of the number of times that door is opened, door closes is defined as the trail run direction describes.As the calculation of mean value method that is used to generate suitable reference torque Instruction Graphics, two kinds of methods of calculating shown in Figure 5 are arranged, that is, the simple average treatment of (1) trail run direction and (2) trail run direction band are forgotten the summation averaging processing of coefficient.Wherein, handle and trail run direction band is forgotten in the calculating of summation averaging processing of coefficient in that the trail run direction is flat merely, because the both carries out the average computation of being implemented by linear filter for the trail run direction clearly, therefore has the character of the influence of the disturbance that is easy to exceedingly to be subjected to happen suddenly.Therefore, the influence for the disturbance that reduces to happen suddenly needs to take the frequency number of times respectively quite a lot ofly, perhaps extremely reduces to forget coefficient.But, in these calculate, can not remove the influence of burst disturbance at an easy rate.
Therefore, in the control setup of the elevator door of this example 1, used the middle number of the nonlinear filter that is called medial filter of output median (intermediate value) to handle.So-called medial filter, be in image processing, use as one of majority decision filter known to the denoising method, have the feature of the influence that can easily remove the burst disturbance.
Here, explain the action of medial filter.As shown in Figure 6, establish torque instruction A, B, C, D, the E that has with the time series data performance of 5 trail run directions.For example, in first time time series data A, suppose sequential ground array data as a (1), a (2), a (3), a (4), a (5), a (6), a (7) etc.That is, the numeral in the bracket is the numeral that means sampling number.
Middle number during the time series data of torque instruction that has 5 trail run directions is like this handled according to formula shown in Figure 7 and is calculated.Here, the numeral in the bracket means sampling number, so-called median[] mean the data (according to rising serial arrangement) that search [] is interior, take out the operational symbol of computing of the numerical value (intermediate value) of the midway location that is arranged in its Search Results.
By this computing, can remove simply and originally can not be considered as opening and closing a unusual burst disturbance, for example the operator contacts the influence of the burst disturbance that Men Shi etc. causes.This be because the influence of disturbance because with maxim or hour performance, therefore as the result of calculation of the average computation method of the torque instruction that is used to generate suitable reference torque Instruction Graphics by using intermediate value, in its result of calculation, can remove by being considered as an influence that opens and closes unusual burst disturbance.As described above, in reference torque Instruction Graphics generation unit 9, use above-mentioned medial filter, the central value of the change by the calculating torque Instruction Graphics, can remove and to be considered as an influence that opens and closes unusual burst disturbance, therefore can generate the reference torque Instruction Graphics that makes the abnormality detection sensitivity not have out-of-position to suit.
That is, the reference torque Instruction Graphics generation unit 9 in the control setup of the elevator door of this example 1 is handled by number during the torque instruction of each common sampling of the torque instruction figure of the repeatedly degree of storage is carried out, and obtains the reference torque Instruction Graphics.
In addition, number is handled in the replacement, can also forget that the summation averaging of coefficient is handled by simple average treatment or band and obtain the reference torque Instruction Graphics.But, at this moment in each average treatment, need to adopt average time morely or extremely reduce to forget coefficient.
Secondly, the concrete action specification one example when in reference torque Instruction Graphics generation unit 9, having used middle number to handle.Fig. 8 is the diagram of circuit that the action of reference torque Instruction Graphics generation unit 9 is shown.Reference torque Instruction Graphics generation unit 9 carries out the identification (step S1) of layer, carry out Filtering Processing by the torque instruction that is used for a switching by common handles such as linear filter and make torque instruction waveform level and smooth (step S2), the position of for example cutting apart standard-sized sheet～full cut-off by motor angle 32, the torque instruction of each point of buffer memory (a (1), a (2)～a (32)) (step S3).
Then, be identified in the trail run direction (Men Kai closes independent respectively with door) and whether taked 5 times data (step S4), if take 5 times data shown in Figure 6, then obtain the intermediate value (middle number) (step S5) of 5 times * 32 data, the reference torque Instruction Graphics that constitutes by 32 is kept among the EEPROM (electric erasable/write ROM) (step S6) by middle several processing shown in Figure 7.
Here, the torque instruction graph data of taking 5 trail run directions (Men Kai closes independent respectively with door) has been described, generate the action of the reference torque Instruction Graphics generation unit of reference torque Instruction Graphics, and say closely, should be noted that when being the elevator operation to be useful in the action of narration here independently at each layer.
And then, as moving average filter calculates, number is handled and is made and comprise latest data at any time in carrying out when the time series data of trail run direction 5 times is carried out Data Update at every turn, the reference torque Instruction Graphics that suits that the change of generation and short-term and long-term torque instruction matches.Its result can be thought of as for the change of the torque instruction of short-term and remove its change by the central value of taking to change, and the change for long-term torque instruction also is taken into its change by the central value of taking to change in addition.In addition, it also can not be at every turn new data more that middle number is handled, but takes 5 times data to carry out the renewal of data (as 5 times, 10 times, 15 upgrade once for inferior per like that 5 times) termly.
Secondly, specification exception detects the action of torque figure generation unit 10.In addition, here, as the surplus torque that adds on the reference torque Instruction Graphics when obtaining abnormality detection torque figure, using at each door opened and closed positions Men Duan becomes the value that constant power is calculated like that.
Fig. 9 is for abnormality detection torque figure generation unit 10 and avoids the action of unit 11 that the diagram of circuit of one example is shown unusually.Abnormality detection torque figure generation unit 10 reads in 32 the reference torque Instruction Graphics (step S10) that is kept among the step S6 of Fig. 8 among the EEPROM, each point at the reference torque Instruction Graphics, for example add and be equivalent to a surplus (surplus torque) (step S11) of the torque of end 10kgf part, carry out the processing (step S12) of The data maximum in adjacent 3 points of 32 point data that added, with carrying out interpolation decision abnormality detection torque figure (step S13) between the bundle of lines point for the data in its position.
Then, unusually avoid the torque abnormality detection unit 12 of unit 11 that torque instruction and abnormality detection torque figure are compared (step S14), when torque instruction exceeds the abnormality detection figure or when equal, it is unusual to be judged as an on-off action, carry out counter-rotating action (step S15), the situation that is lower than the abnormality detection figure at torque instruction judges and normally proceeds on-off action for the door action.
As previously discussed, if control setup according to the elevator door of this example 1, then according to the torque instruction figure of real electrical machinery, in the change of considering short-term and long-term torque instruction, and then can get rid of an influence that is not considered as opening and closing unusual burst disturbance, generate abnormality detection torque figure, therefore make the not skew of abnormality detection sensitivity, perhaps do not need vainly to increase the predetermined surplus torque when generating abnormality detection torque figure, its result can improve the abnormality detection precision of door, and safe elevator door can be provided.
Example 2
Figure 10 is the constructional drawing of an example of control setup that the elevator door of the invention process form 2 is shown.Among Figure 10, be as avoiding unit 11A unusually, the new unusual torque instruction amending unit 13 that adds as the device relevant with the corrected Calculation of torque instruction with the difference of example 1 shown in Figure 1.Other parts since be with above-mentioned example 1 in the structure structure identical or of equal value of control setup of elevator door, therefore omit explanation.
In the control device for elevator door of this example 2, identical with above-mentioned example 1, in torque abnormality detection unit 12, torque instruction and abnormality detection Instruction Graphics compared to detect torque unusual, when having detected torque instruction unusual, unusually avoid unit 11 to be used to avoid unusual avoiding unusually to instruct to 4 outputs of speed command unit, speed command unit 4 slows down speed command, and then exports as the new speed command of the driver element counter-rotating action that makes elevator door.
Yet, though the operating lag of the change of the above-mentioned speed command of controlling device for doors real response seldom still can take place.In addition, be superimposed upon when existence under the situation of the pulse form noise on the torque instruction, have torque instruction and surpass the problem points that abnormality detection torque figure can not carry out correct abnormality detection accidentally.The control setup of the elevator door in this example 2 is an example of having considered this problem points.
Unusual torque instruction amending unit 13 comprises according to the deviation of the torque instruction of being exported by speed control unit 6 with the abnormality detection torque figure that is generated by abnormality detection torque figure generation unit 10, calculate the correction torque instruction calculating unit 13A that revises torque instruction according to correction formula described later, and when torque instruction during greater than abnormality detection torque figure, switch to after revising the correction torque instruction that torque instruction calculating unit 13A calculates from torque instruction and to export by speed control unit 6 output, on the other hand, when torque instruction during less than abnormality detection torque figure, output is by the output torque instruction switch unit 13B of the torque instruction of speed control unit 6 outputs.
Promptly, unusually avoiding 11A inside, unit, specifically, according to following correction formula, according to the magnitude relationship of abnormality detection torque figure and torque instruction take place to revise torque instruction or from the torque instruction of the output of speed command unit 6 as new torque instruction.
When (1) unusual when torque instruction (abnormality detection torque figure＜)
Revise torque instruction=abnormality detection torque figure+(torque instruction-abnormality detection torque figure) * coefficient (ε)
Here, torque instruction is the torque instruction before revising, and revising torque instruction is revised torque instruction, and coefficient ε is 0≤ε＜1.
(2) just often when torque instruction (abnormality detection torque figure＞)
New torque instruction=torque instruction
That is, coefficient ε has at torque instruction (revise before torque instruction) during above abnormality detection torque figure, for the meaning of the bulk compressibility of the amount that surpasses.According to coefficient ε, do not change the unusual judgement in the abnormality detection, be implemented in the time that has preestablished according to abnormality detection acknowledging time or the corresponding time of operating lag relevant inhibition torque instruction when keeping the magnitude relationship of abnormality detection torque figure and torque instruction (torque instruction before revising) with elevator door counter-rotating action etc.In addition, need to consider maximum occurrence of allowing coefficient of determination ε when each of torque and cogging is big or small.
In addition, also can be restricted to for the abnormality detection torque figure in the time that has for example preestablished according to abnormality detection acknowledging time or the corresponding time of operating lag relevant and make and abide by torque instruction with the counter-rotating action of elevator door etc.In this case, be equivalent to the situation that above-mentioned coefficient is ε=0.
Secondly, Figure 11 is the action specification figure of the control setup of the elevator door in this example 2.This Figure 11 illustrates by possessing said structure, in abnormality detection acknowledging time (perhaps as with relevant predefined times of corresponding time of operating lag such as counter-rotating action of the elevator door) T, the command torque figure when taking place unusually forms the correction torque instruction that has compressed by the corrected Calculation of hiding the torque instruction value in the device 11A inside unusually.
In addition, Figure 11 is illustrated in the abnormality detection acknowledging time as certain schedule time, torque instruction is unusual above just being judged as under the situation of abnormality detection torque figure constantly before correction, and then, the door action is transferred to as the counter-rotating of hiding action unusually and moved.
Promptly, the unit 11 of hiding unusually in the control setup of the elevator door of this example 2 has surpassed under the situation of abnormality detection torque figure at torque instruction, by in certain schedule time, torque instruction being suppressed for exceeding the degree of abnormality detection torque figure slightly, can prevent that flase drop that influence such as noise produces from surveying cause casual and hiding action unusually, in addition, can prevent that torque instruction is excessive.
As mentioned above, if control setup according to the elevator door of this example 2, then by correction torque instruction as described above takes place, in hiding unit 11A unusually, surpassed at torque instruction under the situation of abnormality detection torque figure, can suppress torque instruction for exceeding the degree of abnormality detection torque figure slightly, can suppress violent the on-off action that causes by excessive torque.
In addition, when existence is superimposed on pulse form noise on the torque instruction, have torque instruction and inadvertently surpass abnormality detection torque figure, can not carry out the problem of normal abnormality detection, and in the control setup of the elevator door of this example 2, even suppose to exist the pulse form noise that is superimposed upon on the torque instruction, but be the unusual such abnormality detection acknowledging time of door on-off action by setting for example when torque instruction has surpassed abnormality detection torque figure during certain preset time (abnormality detection acknowledging time), just to detect, when the failure-free abnormality detection can be carried out, before hiding unit 11A action unusually, can be suppressed at the excessive torque of generation in the abnormality detection acknowledging time.According to the above, can realize accurately unusual when detecting gate reliably opens and closes, and can hide unusual high security.
As previously discussed, if according to the present invention, then in abnormality detection torque figure, there is not dispersiveness, when setting the reference torque Instruction Graphics, owing to do not need vainly to strengthen the predetermined surplus torque of carrying out additional calculation, therefore can improve the abnormality detection precision of door as its result, can provide the unusual flase drop of an on-off action to survey less and the control setup of the elevator door that reliability is high.
Claims (8)
1. the control setup of an elevator door, the control setup of this elevator door carry out the open and close controlling of above-mentioned elevator door to the driver element output and the corresponding torque instruction of speed command of elevator door, it is characterized in that:
Possess
Repeatedly the figure of the above-mentioned torque instruction of degree ground collection carries out calculation process, generates the reference torque Instruction Graphics generation unit of reference torque Instruction Graphics;
Unusual torque abnormality detection unit according to the above-mentioned torque instruction of said reference torque instruction test pattern.
2. the control setup of elevator door according to claim 1 is characterized in that:
The elevator door of said reference torque instruction figure generation unit and each layer generates said reference torque instruction figure accordingly respectively,
Above-mentioned torque abnormality detection unit detects the unusual of above-mentioned torque instruction according to the reference instruction torque instruction figure of above-mentioned each layer at the elevator door by each layer.
3. the control setup of elevator door according to claim 1 is characterized in that:
Also possess on said reference torque instruction figure and to add predetermined surplus torque, generate the abnormality detection torque figure generation unit of the unusual abnormality detection torque figure that is used to detect above-mentioned torque instruction,
Above-mentioned torque abnormality detection unit detects to unusual when above-mentioned torque instruction has surpassed above-mentioned abnormality detection torque figure.
4. the control setup of elevator door according to claim 1 is characterized in that:
The torque instruction figure of the above-mentioned repeatedly degree that said reference torque instruction figure generation unit storage has been sampled according to the on-off action of above-mentioned elevator door, torque instruction according to each common sampling of the torque instruction figure of this repeatedly degree of having stored carries out calculation process, generates said reference torque instruction figure.
5. the control setup of elevator door according to claim 4 is characterized in that:
Number was handled and is generated said reference torque instruction figure during said reference torque instruction figure generation unit was undertaken by the torque instruction to each common sampling of the torque instruction figure of the repeatedly degree of being stored.
6. the control setup of elevator door according to claim 1 is characterized in that:
What possess that abnormality detection according to above-mentioned torque abnormality detection unit makes that above-mentioned speed command slows down hides the unit unusually.
7. the control setup of elevator door according to claim 6 is characterized in that:
Above-mentionedly hide the unit unusually after above-mentioned speed command has been slowed down, and then above-mentioned speed command is changed into the speed reversal instruction that makes above-mentioned elevator door counter-rotating action.
8. according to the control setup of each described elevator door of claim 3 to 7, it is characterized in that:
Also possess detect by above-mentioned torque abnormality detection unit unusual during, revise the unusual torque instruction amending unit of above-mentioned torque instruction according to above-mentioned abnormality detection torque figure.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP283691/2002 | 2002-09-27 | ||
| JP2002283691 | 2002-09-27 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1617825A true CN1617825A (en) | 2005-05-18 |
| CN100355642C CN100355642C (en) | 2007-12-19 |
Family
ID=32040566
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB03802389XA Expired - Lifetime CN100355642C (en) | 2002-09-27 | 2003-09-24 | Elevator door control device |
Country Status (6)
| Country | Link |
|---|---|
| EP (1) | EP1544151B1 (en) |
| JP (1) | JP4443411B2 (en) |
| KR (2) | KR20050044650A (en) |
| CN (1) | CN100355642C (en) |
| TW (1) | TWI231802B (en) |
| WO (1) | WO2004028950A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102264625A (en) * | 2009-04-08 | 2011-11-30 | 三菱电机株式会社 | Door controlling device for elevator |
| CN102398812A (en) * | 2010-09-08 | 2012-04-04 | 东芝电梯株式会社 | Elevator device |
| CN103079978A (en) * | 2010-09-06 | 2013-05-01 | 三菱电机株式会社 | Control device for elevator |
| CN104291174A (en) * | 2013-07-19 | 2015-01-21 | 三菱电机株式会社 | Elevator door diagnostic device and elevator door diagnostic method |
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| JP2006182477A (en) * | 2004-12-27 | 2006-07-13 | Toshiba Elevator Co Ltd | Door controller of elevator |
| JP5058310B2 (en) * | 2010-08-12 | 2012-10-24 | 株式会社日立ビルシステム | Elevator control device |
| JP2015044644A (en) * | 2013-08-27 | 2015-03-12 | 株式会社日立ビルシステム | Elevator door inspection device |
| JP6482988B2 (en) * | 2015-08-27 | 2019-03-13 | 株式会社日立ビルシステム | Elevator door open / close abnormality judgment device |
| US10280042B2 (en) | 2017-04-04 | 2019-05-07 | Otis Elevator Company | Method and apparatus for stall control of elevator door |
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| KR102054771B1 (en) * | 2018-06-15 | 2019-12-11 | 두림야스카와(주) | Method For predicting Breakdown Using Torque load factor of Robot |
| WO2020053959A1 (en) * | 2018-09-11 | 2020-03-19 | 三菱電機株式会社 | Elevator door control device |
| JP7033276B2 (en) * | 2019-02-13 | 2022-03-10 | フジテック株式会社 | elevator |
| CN111924688B (en) * | 2020-08-21 | 2022-08-19 | 巨人通力电梯有限公司 | Communication type gantry crane torque control method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS54120157A (en) * | 1978-03-08 | 1979-09-18 | Hitachi Ltd | Method of detection trouble of elavator door |
| JP2583642B2 (en) * | 1990-05-25 | 1997-02-19 | 三菱電機株式会社 | Elevator door control device |
| JPH07132440A (en) * | 1993-11-02 | 1995-05-23 | Fanuc Ltd | Machining load monitoring system |
| JP3018937B2 (en) * | 1995-03-17 | 2000-03-13 | フジテック株式会社 | Elevator door control device |
| JP3540509B2 (en) * | 1996-06-07 | 2004-07-07 | 三菱電機株式会社 | Elevator door control device |
| SG71932A1 (en) * | 1998-07-30 | 2000-04-18 | Inventio Ag | Method of force limitation for automatic elevator doors |
| JP4289570B2 (en) * | 1998-11-30 | 2009-07-01 | 三菱電機株式会社 | Elevator door control device |
-
2003
- 2003-09-24 KR KR1020047008462A patent/KR20050044650A/en not_active Application Discontinuation
- 2003-09-24 EP EP03798458.0A patent/EP1544151B1/en not_active Expired - Lifetime
- 2003-09-24 CN CNB03802389XA patent/CN100355642C/en not_active Expired - Lifetime
- 2003-09-24 KR KR1020077005282A patent/KR100930774B1/en active IP Right Grant
- 2003-09-24 JP JP2004539502A patent/JP4443411B2/en not_active Expired - Fee Related
- 2003-09-24 WO PCT/JP2003/012155 patent/WO2004028950A1/en active Application Filing
- 2003-09-25 TW TW092126435A patent/TWI231802B/en not_active IP Right Cessation
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102264625A (en) * | 2009-04-08 | 2011-11-30 | 三菱电机株式会社 | Door controlling device for elevator |
| CN102264625B (en) * | 2009-04-08 | 2015-01-07 | 三菱电机株式会社 | Door controlling device for elevator |
| 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 |
| CN103079978A (en) * | 2010-09-06 | 2013-05-01 | 三菱电机株式会社 | Control device for elevator |
| CN102398812A (en) * | 2010-09-08 | 2012-04-04 | 东芝电梯株式会社 | Elevator device |
| CN102398812B (en) * | 2010-09-08 | 2014-10-08 | 东芝电梯株式会社 | Elevator device |
| CN104291174A (en) * | 2013-07-19 | 2015-01-21 | 三菱电机株式会社 | Elevator door diagnostic device and elevator door diagnostic method |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2004028950A1 (en) | 2004-04-08 |
| EP1544151A4 (en) | 2007-11-28 |
| KR20070045314A (en) | 2007-05-02 |
| JPWO2004028950A1 (en) | 2006-01-19 |
| EP1544151B1 (en) | 2016-02-03 |
| CN100355642C (en) | 2007-12-19 |
| EP1544151A1 (en) | 2005-06-22 |
| JP4443411B2 (en) | 2010-03-31 |
| TWI231802B (en) | 2005-05-01 |
| KR20050044650A (en) | 2005-05-12 |
| KR100930774B1 (en) | 2009-12-09 |
| TW200408603A (en) | 2004-06-01 |
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