CN1617826A - Elevator door controller - Google Patents
Elevator door controller Download PDFInfo
- Publication number
- CN1617826A CN1617826A CNA038023903A CN03802390A CN1617826A CN 1617826 A CN1617826 A CN 1617826A CN A038023903 A CNA038023903 A CN A038023903A CN 03802390 A CN03802390 A CN 03802390A CN 1617826 A CN1617826 A CN 1617826A
- Authority
- CN
- China
- Prior art keywords
- door
- speed
- mentioned
- motor speed
- elevator door
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
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
- B66B13/143—Control systems or devices electrical
- B66B13/146—Control systems or devices electrical method or algorithm for controlling doors
-
- 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
An elevator door control device capable of setting an appropriate door velocity, where the door velocity is made faster, or the door opening and closing time is made shorter, in a range that can comply with kinetic energy restrictions is achieved. The elevator door control device performs elevator door opening and closing control by outputting a torque command to an elevator door driving unit, the torque command corresponding to a motor speed pattern selected from a plurality of motor speed patterns. The kinetic energy of the door is computed at each floor based on the mass of the elevator door at each floor and based on door velocity information during door opening and closing operations. One out of the plurality of motor speed patterns is selected as the motor speed pattern at each floor based on the computational results.
Description
Technical field
The present invention relates to the control setup of elevator door, particularly relate to the elevator door of high security and traveling comfort of control setup take into account to(for) elevator user realization.
Background technology
Therefore elevator door requires to take into account safety and traveling comfort for the user owing to be in elevator and user's connecting bridge.
The problem of so-called safety is how to reduce the problem of the disasters such as accident that the user clamped or draw in by elevator door.For this problem, reducing door speed is that an actv. solves countermeasure.
On the other hand, the problem of so-called traveling comfort is the wait time of the user how can suppress to utilize elevator the time.For this problem, owing to effectively promptly the user is transported to the layer that will arrive, therefore adding shutter speed or shortening the door switching time is that an actv. solves countermeasure.
As mentioned above, in the control setup of elevator door, the problem of taking into account safety and traveling comfort is important problem, for this problem, control setup as in the past elevator door, information with torque instruction (current of electric instruction) of the motor that uses the driven for opening and closing of carrying out door seeks to take into account the method (for example, with reference to patent documentation 1) of safety and traveling comfort.
For safety, use door as the controlling and driving elevator door to drive information realization with the torque instruction of the output of the speed control unit of the door speed of motor.Specifically, torque instruction and the figure used of door abnormality juding that calls the overload test pattern are compared, it is unusual to be judged to be an on-off action when torque instruction has surpassed the overload test pattern.In addition, in order to improve an on-off action abnormality detection sensitivity, improve safety, utilize torque instruction increase when the door quality is big, when door quality hour torque instruction reduces such relation, from a plurality of overload test pattern, select the overload test pattern here.Specifically, when the door quality is big, select the big overload test pattern of size, when the door quality hour little overload test pattern of selection size.
On the other hand, for traveling comfort, realize by from a plurality of motor speed figures, selecting a suitable motor speed figure of having considered the size of torque instruction (current of electric instruction).Specifically according to the door quality of each layer and the size of torque instruction, torque instruction increases when utilizing the door quality big, the relation that door quality hour torque instruction reduces, from a plurality of motor speed figures, select suitable motor speed figure make each layer torque instruction size much at one.
[patent documentation 1]: the spy opens the 2000-159461 communique
That is, in the control setup of in the past elevator door, consider the size of torque instruction, select the cooresponding motor speed figure of door quality with each layer, make a speed that when a quality is big, slows down, when the door quality hour adds shutter speed.But,, have the problem points of the optimization that can not realize taking into account the such door speed of safety and traveling comfort according to following reason.
In order to understand this point, need be from the ABC about safety and traveling comfort of the viewpoint of the kinergety of door.
About elevator door, from the viewpoint of safety and traveling comfort, in the rules (for example, ASME Rule 112.4), particularly close action in overseas about door, stipulated the kinergety of door.As the kinergety of door, specifically, shown in (1), obtain with door speed according to door quality (correctly saying the quality of door monomer and the summation that is mechanically connected to each component quality on the door).
Kinergety=(1/2) * (door quality) * (door speed)
2(1)
Here, in order to satisfy a reference value of above-mentioned overseas rule, need be corresponding with the door quality, change door speed is motor speed.
And then as the supplemental instruction about this kinergety, door speed illustrates average velociity, for this point also clear and definite record in above-mentioned overseas rule etc.Specifically, obtain according to following formula (2).
Average closing speed=(from being opened to the door miles of relative movement of contract fully entirely)/(travel time) (2)
In addition, for the travel time here regulation is arranged also, for example, under the situation of central clamshell doors, each that is decided to be that walking closes from Men Kai and door deducts 25[mm] the needed time of part.
In addition, the value as the kinergety restriction of having used this average velociity is decided to be 10[Joules specifically] below.
In above-mentioned, usually only pointed out the kinergety restriction when closing, and when being not only door and closing, when opening for door, value also can be different about door, think actv. but manage at the secure context of elevator door with identical kinergety.Therefore, being treated in kinergety each when Men Kaimen closes in aftermentioned can enough identical formal definition.
In addition, the door speed during as the evaluation kinergety in above-mentioned, illustrated the situation of using average velociity, and in order to satisfy the safety of having considered the impact fault, has thought that using momentary velocity is that maximum speed suits.For this reason, in aftermentioned, the door speed as the kinergety of representing with following formula (1) is treated to and can uses average velociity or maximum speed.Wherein, according to employed speed, the limits value difference of kinergety.
Secondly, clearly this kinergety and safety and relationship with comfort.In the problem of safety, because therefore being in proportion of the kinergety of the extent of injury that human body is subjected to can understand the user easily and clamped or draw in by door time the and door can reduce the kinergety of door as can be known as far as possible.
On the other hand, in the problem of traveling comfort,, therefore can add the kinergety at gate as far as possible owing to, wish to add shutter speed (shortening the door switching time) in order to shorten the elevator door wait time and promptly to move to bed of interest.
Here, safety and traveling comfort all are to stipulate according to the kinergety of door as can be known, simultaneously as can be known in the scope of the kinergety restriction that can observe the door here, add shutter speed as far as possible or shorten the door switching time and be associated with suitableization of safety and traveling comfort.
According to the above, in the control setup of in the past elevator door, owing to only consider the size of torque instruction, do not calculate, estimate the unit of the kinergety etc. of door as inscape, therefore can not be implemented in and to observe in the scope of kinergety restriction, promptly, to have maximally utilised the form of kinergety restriction, quicken door speed or shorten the appropriateness of such door speed of door switching time, on this meaning, have inadequate problem points aspect suitableization of safety and traveling comfort.
Summary of the invention
The present invention produces in order to solve above problem points, and purpose is to be implemented in and adds shutter speed in the scope that can observe the kinergety restriction or shorten the control setup of the elevator door of suitableization of speed of seeking that door opens and closes the time.
The control setup of elevator door of the present invention go out from a plurality of motor speed figure selecting to the output of the driver element of elevator door with the corresponding torque instruction of motor speed figure, carry out the open and close controlling of above-mentioned elevator door, possess door parameter calculation unit according to the door parameter of each layer of Mass Calculation of the elevator door of each layer; The result of each layer door parameter that calculates according to above-mentioned door parameter calculation unit selects some speed pattern selected cells of above-mentioned a plurality of motor speed figures respectively at each layer as the motor speed figure that opens and closes each layer elevator door.
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 action specification figure of the speed pattern selected cell in the control setup of elevator door of the invention process form 1.
Fig. 3 is the constructional drawing of control setup one example that the elevator door of the invention process form 2 is shown.
Fig. 4 is the constructional drawing of control setup one example that the elevator door of the invention process form 3 is shown.
Fig. 5 is the bitmap memory cell in the control device for elevator door of the invention process form 4
Description of contents figure.
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, drive with connecting impulse deviser 2 on the motor shaft of motor 1 at the elevator door mechanism that drives elevator door door partly, these impulse deviser 2 generation show gates drive the pulse information with the position of motor 1.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 a plurality of predetermined motor speed figures of storage in speed command unit 4, the corresponding speed command of a plurality of motor speed figures of output and this storage.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 corresponding torque instruction of exporting from adder unit 5 of velocity contrast are carried out speed control outputing to a driving with the corresponding current of electric instruction of this torque instruction with motor 1.
More correctly say, adder unit, obtain and difference between current from the current of electric instruction of speed control unit 6 output, for current control unit 10 outputs by current probe 3 detected load currents.Current control unit 10 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 10 is realized vector controlled according to the phase information from impulse deviser 2.
In addition, in door quality memory cell 7, store the door quality of each layer in advance, kinergety calculating unit 9 constitutes the door parameter calculation unit according to the door parameter of each layer of Mass Calculation of each layer of elevator door, according to the door quality of each layer in the door quality memory cell 7 and average velociity or speed through value wait a door velocity informations calculating conduct parameter kinergety.
Speed pattern selected cell 10 instructs from speed command unit 4 output speeds according to the motor speed figure of selecting in a plurality of motor speed figures that use from the result of calculation of kinergety calculating unit 9 from be stored in speed command unit 4.In addition, the dotted portion inside of Fig. 1 illustrates and the identical or cooresponding part of the control setup of common elevator door.
Below, the relevant action of the selection with the motor speed figure of feature of the control setup of the elevator door that becomes this example 1 is described.Because door starts and does and door closes action and carries out same action fully, therefore here only the explanation door close the situation of action.
At first, the fundamental operation relevant with the motor speed figure selecting is described, then,, introduces an object lesson of the action relevant with the motor speed figure selecting for easy to understand.As the fundamental operation relevant with the motor speed figure selecting, carried out according to certain motor speed figure the door close driving after, in kinergety calculating unit 9, according to layer information, according to the door quality that obtains from door quality memory cell 7 and average velociity or speed through velocity informations such as values in each layer calculating kinergety.
In each layer arrangement about kinergety result of calculation for each motor speed figure by a plurality of motor speed figures are calculated repeatedly.Specifically, in each motor speed figure that satisfies the door kinergety restriction of wishing, in speed pattern selected cell 10, be chosen in the door the shortest motor speed figure of switching time of each layer as the motor speed figure of each layer.
In addition, in above-mentioned, in speed pattern selected cell 10, as the motor speed figure of each layer, select door the shortest motor speed figure of switching time at each, but be not limited to this selection, motor speed figure as each layer, for example, also can in each motor speed figure that satisfies the restriction of desirable door kinergety, select to obtain the motor speed figure of maximum door kinergety.
Thus, realize high security at each layer by selecting to satisfy desirable door kinergety restriction motor speed figure, and then, in the scope that satisfies the restriction of desirable door kinergety, select the big motor speed figure of door kinergety, can realize outstanding traveling comfort.
In addition, as above-mentioned door kinergety restriction, not necessarily only be the upper limit, also can adopt the condition that comprises lower limit, promptly have the alternative condition of the door kinergety of scope.
And then, the average velociity of the conduct door velocity information of using in kinergety is calculated removes and uses beyond the formula (2) of deferring to above-mentioned rules obtains, and can also use the numerical result (approximate value) of the value of having removed door speed (speed is through value) time integral with the door switching time.Therefore, among Fig. 1, in calculating the kinergety calculating unit 9 of kinergety, as one of input of door velocity information, this velocity information adopts average velociity or speed through value.
In speed pattern selected cell 10, in the motor speed figure that satisfies the restriction of desirable door kinergety, exist at each layer under the situation of the shortest motor speed figure of a plurality of switching time, select speed also minimum motor speed figure in gate as speed command.
Secondly, use action specification figure shown in Figure 2, an example of the action relevant with the motor speed figure selecting is described.Here, for comprise with from the door switching time a short side towards side's serial arrangement of growing the form that defines like this of a plurality of motor speed figures stored the situation of speed command unit 4 of the speed pattern memory cell of a plurality of motor speed figures, the action relevant with its motor speed figure selecting is described.Wherein, establishing all motor speed figures here is the identical motor speed figure of door miles of relative movement from the standard-sized sheet to the full cut-off.
At first, as shown in Figure 2, the motor speed figure of initial value for example is set at speed pattern B, carries out door and close action drives, calculate kinergety at this moment, confirm whether to satisfy the kinergety restriction.When not satisfying the kinergety restriction,, when satisfying the kinergety restriction,, therefore speed pattern rising one-level is arrived speed pattern A (1 grade) because energy is little because energy is big, so arrives speed pattern C (1 grade) to speed pattern decline one-level.
By carrying out said process repeatedly, determine the motor speed figure in the moment of satisfying the kinergety restriction.By implementing to determine action, can realize the control setup of the elevator door of this example 1 at each layer.
In the example here, in the speed pattern memory cell in speed command unit 4, because a plurality of motor speed figures of storage (door closes speed pattern) have become a switching time from the side serial arrangement of a short side towards length, therefore can realize suitableization of speed easily.
In addition, close action for door in above-mentioned and be illustrated, do equally also can to realize suitableization of speed certainly and start for door.
As previously discussed, if control setup according to the elevator door of this example 1, then because at each layer, in the scope that can observe the kinergety restriction, realize suitableization that add shutter speed to greatest extent or shorten such door speed of door switching time therefore can providing the elevator door of safety and traveling comfort of control setup take into account to(for) elevator user realization as its result.
In addition, in the above-mentioned a plurality of motor speed figures that satisfy the restriction of desirable door kinergety, each layer as the motor speed figure selecting of each layer under the situation of the shortest motor speed figure of door switching time, can be implemented in and add shutter speed in the scope that can observe the kinergety restriction or shorten suitableization that door opens and closes the door speed of time.
And then, in the motor speed figure that satisfies the restriction of desirable door kinergety, each layer all exists under the situation of the shortest motor speed figure of a plurality of switching time at it, add shutter speed in the scope that can observe the kinergety restriction to greatest extent or shorten the separating of suitableization that door opens and closes the door speed of time by selecting the also minimum motor speed figure of gate speed, can find to be implemented in uniquely.
Example 2
Fig. 3 is the constructional drawing of control setup one example that the elevator door of the invention process form 2 is shown.Among Fig. 3, because therefore the symbolic representation identical or equal structure identical with example shown in Figure 11 omit its explanation.As new structure, door/motor speed converter unit 8 detects the actual motor speed of conduct from the output of speed transformation unit, and actual motor speed is transformed to a speed.In addition, door quality calculation unit 11 according to by door/motor speed converter unit 8 conversion door speed calculate a quality with torque instruction as the output of speed control unit 6.
Promptly, though the structure of the structure of the control setup of the elevator door of this example 2 and the control setup of the elevator door of example shown in Figure 11 much at one, but be transformed to the door/motor speed converter unit 8 of a speed from motor speed, by using the door speed that obtains from door/motor speed converter unit 8 and carrying out computing, calculate the part difference of the door quality calculation unit 11 of a quality as the torque instruction of the output of speed control unit 6.
Therefore, be that the center describes with this different part below.In the door quality memory cell 7 of the control setup of the elevator door of example shown in Figure 11, suppose storing in advance the door quality of each layer.Different therewith, in the door quality memory cell 7 in the control setup of the elevator door of this example shown in Figure 32, storing according to the door speed that obtains from door/motor speed converter unit 8 with as the torque instruction of the output of speed control unit 6 the door quality that calculates by door quality calculation unit 11.
Secondly, the method for calculating of the door quality of each layer that above-mentioned door quality calculation unit 11 is carried out is described.Here, in order to describe simply, as door type, door is driven torque with motor 1 is not to be object by link structure but by the door type that belt is directly delivered to a mechanism of door section to have, as the constructional feature of this mechanism, if when power cut-off, it is such to make that the door that machinery takes place in door closes confining force, has and has utilized the non-linear of gravity to link.
The door type here has a speed and motor speed, and door acceleration/accel and motor acceleration are respectively linear relationship, i.e. the feature of the relation of constant magnification factor.Therefore, in the explanation afterwards, can easily be replaced into a speed to motor angular velocity, the motor angular acceleration is replaced into an acceleration/accel, this point is very clear and definite.In addition, among Fig. 3, show the constructional drawing that has used door speed as the input of door quality calculation unit 11.
As kinematic model for the door type here, when the total torque that works in door motor is designated as T, motor torque command is designated as Tm, the torque of non-linear generation link is designated as T1, constant door is closed torque be designated as T2, (remove beyond the monomer drive the inertia watched with motor 1 from door, comprise belt pulley, door drives the inertia with the moving part of motor 1 self inertia such as grade) be designated as J, the motor angular acceleration is designated as a, when the torque that the walking resistance (friction force) during the door walking produces is designated as b, can suppose the approximate formula of having ignored the speed viscosity term shown in the following formula.
T＝J·a+b (3)
Wherein
T＝Tm+T1+T2 (4)
Here, when an inertia J is asked in use formula (3), (4), by measuring the data that can access are the motor acceleration a and the motor torque command Tm that can obtain by the Difference Calculation of motor angular velocity (corresponding with door speed), and the torque T1 that non-linear generation link causes and constant close torque T2 and can not directly measure.
But utilizing non-linear generation link quality or shape is known this point, by the opened and closed positions information of door is provided, can close torque T2 in advance obtaining the torque T1 and the constant door that are caused by non-linear generation link by calculating.Therefore, torque T1 that the non-linear generation link of obtaining is in advance caused and constant door close torque T2 and join motor torque command Tm and go up as a total torque T, ask the door inertia J of each layer for door total torque T and motor angular acceleration a by being suitable for method of least square, and then can calculate the door quality from this inertia J.
And, in the control setup of the elevator door of this example 2, identical with the control setup of the elevator door of above-mentioned example 1, the door Mass Calculation kinergety that use is calculated by this quality calculation unit 11, according to its result of calculation, select to realize the motor speed figure of suitableization of speed by speed pattern selected cell 10.
As mentioned above, if control setup according to the elevator door of this example 2, then by handle the door quality that can automatically calculate according to the numerical operation of formula (3) at needed each layer aspect the calculating kinergety, for example, owing to do not need to inquire into such a large amount of labour powers from multiple information such as size, materials, therefore can prevent under artificial mistake, calculate wrong door quality, the high door quality of precision can be accessed, therefore the high kinergety result of calculation of precision can be accessed.
Thereby, can realize accurately that each layer adds suitableization of the door speed of shutter speed (shortening the door switching time) to greatest extent in the scope that can observe the kinergety restriction, its result can provide the control setup of having realized taking into account for the elevator user elevator door of high security and traveling comfort.
Example 3
Fig. 4 is the constructional drawing of an example of control setup that the elevator door of the invention process form 3 is shown.Among Fig. 4, because therefore the symbolic representation identical or equal structure identical with example shown in Figure 11 omit its explanation.As new structure, replace the kinergety calculating unit 9 among Fig. 1 that speed limit calculating unit 9a is set, this speed limit calculating unit 9a constitutes the door parameter calculation unit according to the door parameter of each layer of Mass Calculation of each layer of elevator door, according to from the quality of the door elevator door of each layer of door quality memory cell 7 with based on the predetermined door kinergety limits value of formula (1), calculate the limits value of average the speed of each layer.
In the control setup of the elevator door of this example 3, in speed limit calculating unit 9a, defer to by use layer each of information layer elevator door quality and based on the predetermined door kinergety limits value of formula (1), the limits value of average the speed of each layer of preliminary evaluation.In addition, the limits value of this average door speed means the condition that satisfies the needed average velociity in door kinergety limits value aspect.In addition, as this kinergety limits value, be the upper limit not necessarily, also can be used as the condition that comprises lower limit, promptly have the alternative condition of the door kinergety of preset range.
In speed pattern selected cell 10, use becomes the limits value from the condition of the average door speed of speed limit calculating unit 9a, in each motor speed figure that satisfies the restriction of desirable door kinergety, identical with the front, motor speed figure selecting as each layer opens and closes the shortest motor speed figure of time at each layer door, instructs from speed command unit 4 output speeds.
And then, in speed pattern selected cell 10,, also can in these motor speed figures, select gate speed to be minimum motor speed figure, the output speed instruction when existing a plurality of above-mentioned door switching times during the shortest motor speed figure.
In addition, in speed pattern selected cell 10, motor speed figure selecting as each layer opens and closes the shortest motor speed figure of time at each layer door, but be not limited to this selection, for example, also can in each motor speed figure of the limits value that satisfies average door speed, select to obtain the motor speed figure of maximum average door speed.
As mentioned above, even also can play the effect identical with above-mentioned example 1 according to the control setup of the elevator door of this example 3.
Example 4
In addition, if the control setup of the elevator door of the above-mentioned example 1 to 3 of foundation, be to have calculated the door parameter then with kinergety calculating unit 9 or speed limit calculating unit 9a as the door parameter calculation unit, and replace these structures, also can consider to possess the structure of having stored in advance with the reflection memory cell of the corresponding reflection of the quality of a plurality of speed patterns and elevator door (table).
Fig. 5 illustrates an example of above-mentioned reflection memory cell.In the figure, be example when having prepared 4 motor speed figure V1, V2, V3, V4.Average velociity among the figure is the value that the experiment when having used these 4 motor speed figures calculates to the door velocity wave form that obtains with Computer Simulation.In addition, the unit among the figure is average velociity [m/sec], door kinergety [J], door quality [kg].
Each the motor speed figure when having specified the restriction of door kinergety as can be seen from Figure 5 and the mass range of elevator door are set up corresponding relation.If it is 8[J that Fig. 5 for example illustrates with the limits value of specifying the door kinergety] time situation (with corresponding) with the part of 4 jiaos of frames encirclements describe, then the door quality if 370kg with next use motor speed figure V1, if the scope of 370～462kg is then used motor speed figure V2, if the scope of 462～649kg is then used motor speed figure V3, if the scope of 649～665kg is then used motor speed figure V4, door kinergety at this moment necessarily becomes 8[J] below.
Speed pattern selected cell 10 is according to the quality of the elevator door of each layer, read corresponding motor speed figure by the reflection from be stored in above-mentioned reflection memory cell in advance and select, speed command unit 4 carries out the open and close controlling of elevator door according to this motor speed figure that reads.Even like this by using reflection or table, the actual computation that also can replace a kinergety calculating unit 9 or speed limit calculating unit 9a etc. to carry out.
In addition, at above-mentioned example 1 in the control setup of the elevator door of example 4, as the door speed of calculating kinergety, under the situation of using average velociity, be illustrated, even and also can play identical effect under the situation of maximum speed using in addition, this point is very clear and definite.
As mentioned above,, then can realize having considered to limit suitableization of the door speed of relevant door parameter,, can provide realization to take into account the control setup of the elevator door of safety and traveling comfort for the elevator user as its result with kinergety if according to the present invention.
Claims (10)
1. the control setup of an elevator door, this control setup carry out the open and close controlling of above-mentioned elevator door to the driver element output and the corresponding torque instruction of selecting of motor speed figure of elevator door from a plurality of motor speed figures, it is characterized in that:
Possess
Calculate the door parameter calculation unit of the door parameter of each layer according to the quality of the elevator door of each layer;
According to the result of calculation that obtains by above-mentioned door parameter calculation unit, select some speed pattern selected cells of above-mentioned a plurality of motor speed figures respectively at each layer as the motor speed figure of the elevator door of each layer of open and close controlling.
2. the control setup of elevator door according to claim 1 is characterized in that:
Above-mentioned door parameter calculation unit is the door velocity information during according to the quality of the elevator door of each layer and door on-off action, calculates the kinergety calculating unit of the door kinergety of each layer,
Above-mentioned speed pattern selected cell is according to the result of calculation of the door kinergety of each layer that is obtained by above-mentioned kinergety calculating unit, selects the some of above-mentioned a plurality of motor speed figures as the motor speed figure of the elevator door of each layer of open and close controlling respectively at each layer.
3. the control setup of elevator door according to claim 2 is characterized in that:
Above-mentioned speed pattern selected cell satisfies the motor speed figure of predetermined door kinergety restriction from a plurality of kinergeties that calculated by above-mentioned kinergety calculating unit, select the switching time of above-mentioned elevator door to be the shortest motor speed figure.
4. the control setup of elevator door according to claim 3 is characterized in that:
Above-mentioned speed pattern selected cell is when switching time that has a plurality of above-mentioned elevator doors during for the shortest motor speed figure, selects in these the shortest a plurality of motor speed figures gate speed to be minimum motor speed figure.
5. the control setup of elevator door according to claim 2 is characterized in that:
Above-mentioned speed pattern selected cell selection obtains the motor speed figure as the Xiamen kinergety, and promptly this kinergety is to satisfy the door kinergety of the maximum of predetermined door kinergety restriction in a plurality of kinergeties that calculated by above-mentioned kinergety calculating unit.
6. the control setup of elevator door according to claim 1 is characterized in that:
Above-mentioned door parameter calculation unit is according to the quality of the elevator door of each layer and predetermined door kinergety restriction, calculates the speed limit calculating unit of the limits value of average speed of each layer and even gate speed,
Above-mentioned speed pattern selected cell is according to the average door speed of each layer that is calculated by the above-mentioned speed limit calculating unit result of calculation to the limits value of gate speed, selects the some of above-mentioned a plurality of motor speed figures as the motor speed figure of the elevator door of each layer of open and close controlling respectively at each layer.
7. the control setup of elevator door according to claim 6 is characterized in that:
Above-mentioned speed pattern selected cell is selected the shortest motor speed figure of switching time of above-mentioned elevator door from the motor speed figure of the limits value that satisfies the average door speed calculate and even gate speed.
8. the control setup of elevator door according to claim 7 is characterized in that:
Above-mentioned speed pattern selected cell is when switching time that has a plurality of above-mentioned elevator doors during for the shortest motor speed figure, selects in these the shortest a plurality of motor speed figures gate speed to be minimum motor speed figure.
9. the control setup of elevator door according to claim 1 is characterized in that:
Replace above-mentioned door parameter calculation unit, have the reflection memory cell of having stored the reflection that the quality that makes above-mentioned a plurality of motor speed figures and above-mentioned elevator door sets up corresponding relation in advance,
Above-mentioned speed pattern selected cell is according to the quality of the above-mentioned elevator door of each layer, thereby read corresponding motor speed figure by the reflection from be stored in above-mentioned reflection memory cell in advance and select the motor speed figure, carry out the open and close controlling of elevator door according to this motor speed figure that reads.
10. according to the control setup of each described elevator door of claim 1 to 9, it is characterized in that:
Also possess according to the motor speed of the above-mentioned driver element of door during on-off action of above-mentioned elevator door and the door quality calculation unit of the quality that above-mentioned torque instruction calculates above-mentioned elevator door.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002283701 | 2002-09-27 | ||
| JP283701/2002 | 2002-09-27 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1617826A true CN1617826A (en) | 2005-05-18 |
| CN100390042C CN100390042C (en) | 2008-05-28 |
Family
ID=32040567
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB038023903A Expired - Lifetime CN100390042C (en) | 2002-09-27 | 2003-09-24 | Elevator door controller |
Country Status (6)
| Country | Link |
|---|---|
| EP (1) | EP1544152B1 (en) |
| JP (1) | JP4488210B2 (en) |
| KR (1) | KR20050044626A (en) |
| CN (1) | CN100390042C (en) |
| TW (1) | TWI231289B (en) |
| WO (1) | WO2004028951A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101258087B (en) * | 2005-09-05 | 2010-06-16 | 通力股份公司 | Method and system for improving performance of elevator system |
| CN105347130A (en) * | 2015-12-04 | 2016-02-24 | 安徽省特种设备检测院 | Door-closing kinetic energy detection method and device for automatic elevator doors at average door-closing speed |
| CN106256748A (en) * | 2015-06-17 | 2016-12-28 | 三菱电机株式会社 | For controlling method and the elevator car door system of the operation of the door system of elevator device |
| CN110914185A (en) * | 2017-09-11 | 2020-03-24 | 株式会社日立制作所 | Door control device for elevator and door drive system for elevator |
| CN114890259A (en) * | 2022-07-12 | 2022-08-12 | 菱王电梯有限公司 | Elevator control method, elevator control device, elevator and computer readable storage medium |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2394323T3 (en) | 2005-09-05 | 2013-01-30 | Kone Corporation | Elevator layout |
| WO2009060519A1 (en) | 2007-11-07 | 2009-05-14 | Mitsubishi Electric Corporation | Door controller of elevator |
| JP5182694B2 (en) * | 2008-03-18 | 2013-04-17 | 東芝エレベータ株式会社 | Elevator door control device |
| US8746412B2 (en) | 2008-12-19 | 2014-06-10 | Otis Elevator Company | Elevator door frame with electronics housing |
| DE112010002617T8 (en) * | 2009-03-18 | 2012-12-13 | Mitsubishi Electric Corporation | Door control device for elevators |
| DE102009021250B3 (en) * | 2009-05-14 | 2010-10-21 | Aufzugswerke M. Schmitt & Sohn Gmbh & Co. | Control method for use during installation of lift, involves locating landing doors and cabin doors in end position to provide landing doors and cabin doors in normal operation unit, and providing safety switch on landing doors |
| KR101518659B1 (en) * | 2011-03-22 | 2015-05-07 | 미쓰비시덴키 가부시키가이샤 | Elevator door control device |
| JP2013040006A (en) * | 2011-08-15 | 2013-02-28 | Mitsubishi Electric Building Techno Service Co Ltd | Apparatus and method for monitoring elevator door |
| DE102013204925B4 (en) | 2013-03-20 | 2018-03-01 | Siemens Aktiengesellschaft | Control of a drive for a movable object |
| CN108217398B (en) * | 2016-12-21 | 2020-09-22 | 上海三菱电梯有限公司 | Method for controlling car door driving motor by door machine controller |
| JP7014250B2 (en) * | 2020-03-27 | 2022-02-01 | フジテック株式会社 | An operation setting device for an elevator door device, and a method for setting an opening / closing operation of a door device using the operation setting device. |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4776433A (en) * | 1988-01-25 | 1988-10-11 | Westinghouse Electric Corp. | Elevator door control system |
| ES2133424T3 (en) * | 1994-01-28 | 1999-09-16 | Inventio Ag | PROCEDURE TO CONTROL THE MOVEMENT OF DOORS. |
| US5503248A (en) * | 1994-04-06 | 1996-04-02 | Otis Elevator Company | Maintaining open loop current drive to linear induction motor |
| US5584365A (en) * | 1994-09-16 | 1996-12-17 | Otis Elevator Company | Telescoping elevator door system |
| JP3540509B2 (en) * | 1996-06-07 | 2004-07-07 | 三菱電機株式会社 | Elevator door control device |
| JP3883611B2 (en) * | 1996-07-03 | 2007-02-21 | 三菱電機株式会社 | Elevator door control device |
| JP4289570B2 (en) * | 1998-11-30 | 2009-07-01 | 三菱電機株式会社 | Elevator door control device |
| DE10236938A1 (en) * | 2002-08-12 | 2004-03-11 | Siemens Ag | Mass determination with automatic sliding and elevator door controls |
-
2003
- 2003-09-24 KR KR1020047008337A patent/KR20050044626A/en not_active Application Discontinuation
- 2003-09-24 EP EP03798459A patent/EP1544152B1/en not_active Expired - Lifetime
- 2003-09-24 JP JP2004539503A patent/JP4488210B2/en not_active Expired - Fee Related
- 2003-09-24 WO PCT/JP2003/012156 patent/WO2004028951A1/en active Application Filing
- 2003-09-24 CN CNB038023903A patent/CN100390042C/en not_active Expired - Lifetime
- 2003-09-25 TW TW092126441A patent/TWI231289B/en not_active IP Right Cessation
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101258087B (en) * | 2005-09-05 | 2010-06-16 | 通力股份公司 | Method and system for improving performance of elevator system |
| CN106256748A (en) * | 2015-06-17 | 2016-12-28 | 三菱电机株式会社 | For controlling method and the elevator car door system of the operation of the door system of elevator device |
| CN106256748B (en) * | 2015-06-17 | 2018-07-24 | 三菱电机株式会社 | The method and elevator car door system of the operation of door system for controlling elevator device |
| CN105347130A (en) * | 2015-12-04 | 2016-02-24 | 安徽省特种设备检测院 | Door-closing kinetic energy detection method and device for automatic elevator doors at average door-closing speed |
| CN110914185A (en) * | 2017-09-11 | 2020-03-24 | 株式会社日立制作所 | Door control device for elevator and door drive system for elevator |
| CN114890259A (en) * | 2022-07-12 | 2022-08-12 | 菱王电梯有限公司 | Elevator control method, elevator control device, elevator and computer readable storage medium |
| CN114890259B (en) * | 2022-07-12 | 2022-09-30 | 菱王电梯有限公司 | Elevator control method, device, elevator and computer readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI231289B (en) | 2005-04-21 |
| TW200410891A (en) | 2004-07-01 |
| JPWO2004028951A1 (en) | 2006-01-19 |
| EP1544152B1 (en) | 2012-02-08 |
| JP4488210B2 (en) | 2010-06-23 |
| EP1544152A4 (en) | 2007-11-28 |
| EP1544152A1 (en) | 2005-06-22 |
| CN100390042C (en) | 2008-05-28 |
| KR20050044626A (en) | 2005-05-12 |
| WO2004028951A1 (en) | 2004-04-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN1617826A (en) | Elevator door controller | |
| CN1302975C (en) | Elevator control apparatus | |
| CN1056355C (en) | Controller for elevator | |
| CN104395847B (en) | The optimal action pattern method for selecting of motor and motor selecting apparatus | |
| CN1101778C (en) | Control device for elevator door | |
| CN105591586B (en) | Control device of electric motor | |
| JP2003238037A5 (en) | ||
| CN1929289A (en) | Motor control apparatus | |
| CN1653680A (en) | Rotatingly driving device of construction machinery | |
| CN106429995B (en) | The pallet fork descending method of the pallet fork lowering means of electri forklift | |
| CN105350590A (en) | System for limiting contact between a dipper and a shovel boom | |
| US10822197B2 (en) | Elevator run profile modification for smooth rescue | |
| EP1505463A3 (en) | Position control device and position control method for machine tools | |
| CN1839084A (en) | Elevator control device | |
| CN1666946A (en) | Elevator control device | |
| CN1846348A (en) | Motor controller | |
| JP2008162563A5 (en) | ||
| EP1445855A3 (en) | Drive apparatus and method for improving the efficiency | |
| CN1244492A (en) | Method for limiting force of automatic lift door | |
| CN1827512A (en) | Elevator control apparatus | |
| CN206318670U (en) | The pallet fork lowering means of electri forklift | |
| JP2007290834A (en) | Elevator door control device | |
| Mora et al. | Modeling torque versus speed, shot noise, and rotational diffusion of the bacterial flagellar motor | |
| CN1043334C (en) | A swaying hoisted load-piece damping control apparatus | |
| CN101064492A (en) | Speed control method for asynchronous motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20080528 |
|
| CX01 | Expiry of patent term |