CN206720532U - The Elevator Door Control device of automatic identification door quality - Google Patents
The Elevator Door Control device of automatic identification door quality Download PDFInfo
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- CN206720532U CN206720532U CN201720485359.1U CN201720485359U CN206720532U CN 206720532 U CN206720532 U CN 206720532U CN 201720485359 U CN201720485359 U CN 201720485359U CN 206720532 U CN206720532 U CN 206720532U
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Abstract
The utility model is a kind of Elevator Door Control device of automatic identification door quality.Door machine controller, motor, transmission mechanism and the load of door machine, the door machine controller that it includes being sequentially connected include motor control unit, motor signal collecting unit, acceleration generation unit, quality identification unit；The motor control unit, motor signal collecting unit are connected with the motor respectively, and the quality identification unit is connected with the motor signal collecting unit, motor control unit, acceleration generation unit respectively；The acceleration generation unit is also connected with the motor control unit.The utility model passes through motor control unit, motor signal collecting unit, acceleration generation unit, quality identification unit, after the electric parameter of collection motor obtains a quality, speed control and Self Adaptive Control can be carried out to motor according to door quality, the good speed responsive of motor speed regulation system and torque response are realized, while realizes the Self Adaptive Control of machine on the door.
Description
Technical field
A kind of elevator door motor controller is the utility model is related to, particularly discloses a kind of elevator door of automatic identification door quality
Machine control device.
Background technology
The comfortableness and security of current elevator door door machine are more and more important, and the variation of elevator door is also more and more obvious,
Such as there is the layer door of different outward appearances or decoration in same portion's elevator, i.e., same portion's elevator has different layer door quality, or even different layers
The mechanical structure of door also differs greatly.
There are strict requirements to elevator door closing power in elevator national standard, to prevent from crushing people's event in door closing procedure.
It is but required if door quality differs to the layer door of different layers because the door drive system in elevator is existed only on gate machine
The door closing force protection given threshold wanted is different.The door machine matter of different floor door systems how is recognized as door machine controller
Amount, the door machine quality of ONLINE RECOGNITION door system is the frontier of current research.
In elevator door drives system, door machine switch gate will follow certain switch gate track, therefore can utilize this
Characteristic recognizes the door machine quality of door system.
Existing controller acceleration generation unit, typically it is being applied to using equal acceleration generation unit, this accelerated method
Quality Identification, then different acceleration is needed to observe examination, such as the method in similar patent 200910195507.6, different adds
Speed can cause the windage jump of curve, and this curve is not applicable in switch gate curve, so being generally used for offline side
The identification of formula.Outer existing discrimination method is added to need negligible friction to influence, it is otherwise very big with regard to identification result deviation.
The content of the invention
The purpose of this utility model is to overcome defect present in prior art, there is provided a kind of amount of calculation is small, Men Jizhi
Measure the Elevator Door Control device of the good automatic identification door quality of identification.
What the utility model was realized in：A kind of Elevator Door Control device of automatic identification door quality, including successively
Connected door machine controller, motor, transmission mechanism and the load of door machine, it is characterised in that：The door machine controller includes motor control
Unit processed, motor signal collecting unit, acceleration generation unit, quality identification unit；The motor control unit, motor signal
Collecting unit is connected with the motor respectively, the quality identification unit respectively with the motor signal collecting unit, motor control
Unit processed, acceleration generation unit are connected；The acceleration generation unit is also connected with the motor control unit；
In the accelerating sections of the constant jerk of the movement locus of door-opened elevator, the door machine controller passes through the electricity
Machine signal gathering unit gathers motor electric parameter corresponding in the equal distance interval of at least three, and is recognized by quality
Torque and angular speed of the unit according to the motor electrical parameter calculation motor, obtain respectively corresponding to each distance interval
Door quality；Wherein, the distance at intervals of：Distance of the elevator in even acceleration door opening process between two fan elevator doors.
The motor signal collecting unit includes current detecting unit, rotation speed detection unit, the current detecting unit point
Be not connected with the motor, quality identification unit, the rotation speed detection unit respectively with the motor, quality identification unit phase
Even.
The electric parameter is included the torque of motor corresponding to each distance interval, started with acceleration as starting point
One is completed apart from the required time at interval, motor operation frequency, motor speed, motor number of pole-pairs, current of electric, motor driving
Wheel diameter, layer door self-closing device spring elongation, layer door self-closing device spring rigidity in any one or a few.
Will be multiple described apart from door quality corresponding to interval, with 3 for one group of mass average value M for trying to achieve a quality：
,
Wherein, Te1、Te2、Te3Motor torque corresponding to the respectively 3 distance intervals；Ld is that motor driving wheel is straight
Footpath；J is jerk value when the even acceleration of elevator is opened the door；t1、t2、t3It is to be opened corresponding to the distance interval with acceleration respectively
Begin to complete a required time apart from interval for starting point.
The door machine controller is gathered corresponding in 3 ~ 9 equal distance intervals by the motor signal collecting unit
Motor electric parameter.
The beneficial effects of the utility model are：It is single by motor control unit, motor signal collecting unit, acceleration generation
Member, quality identification unit, gather motor electric parameter obtain a quality after, can according to door quality to motor carry out speed control
With Self Adaptive Control, the good speed responsive of motor speed regulation system and torque response are realized, while realize the adaptive of machine on the door
Control；Acceleration is the guiding curve of constant jerk, can generate soft switch gate curve, while can also be generated full
The requirement of constant jerk required for sufficient the utility model quality identification；Quality identification based on acceleration generation unit is single
It is spring that member, which can not only be useful in the door machine that layer door self-closing device is heavy hammer structure can also be applicable layer door self-closing device,
Door machine；The utility model is applicable to thanks for your hospitality emotionally condition in the external world, is not influenceed by the change in friction force of door machine in operation.
Brief description of the drawings
Fig. 1 is the utility model frame structure schematic diagram.
Embodiment
According to Fig. 1, the utility model includes door machine controller, motor, transmission mechanism and the load of door machine being sequentially connected, institute
Stating a machine controller includes motor control unit, motor signal collecting unit, acceleration generation unit, quality identification unit；Institute
State motor control unit, motor signal collecting unit is connected with the motor respectively, the quality identification unit respectively with it is described
Motor signal collecting unit, motor control unit, acceleration generation unit are connected；The acceleration generation unit also with the electricity
Machine control unit is connected；The motor signal collecting unit includes current detecting unit, rotation speed detection unit, the current detecting
Unit is connected with the motor, quality identification unit respectively, and the rotation speed detection unit is single with the motor, quality identification respectively
Member is connected.
In the accelerating sections of the constant jerk of the movement locus of door-opened elevator, the door machine controller passes through the electricity
Machine signal gathering unit gathers at least three, motor electric parameter corresponding in preferably 3 ~ 12 equal distance intervals, and leads to
Torque and angular speed of the quality identification unit according to the motor electrical parameter calculation motor are crossed, obtains each distance respectively
Door quality corresponding to interval；Wherein, the distance at intervals of：Elevator it is even acceleration door opening process in two fan elevator doors between away from
From.
The electric parameter is included the torque of motor corresponding to each distance interval, started with acceleration as starting point
One is completed apart from the required time at interval, motor operation frequency, motor speed, motor number of pole-pairs, current of electric, motor driving
Wheel diameter, layer door self-closing device spring elongation, layer door self-closing device spring rigidity in any one or a few.
Will be multiple described apart from door quality corresponding to interval, with 3 for one group of mass average value M for trying to achieve a quality：
,
Wherein, Te1、Te2、Te3Corresponding motor torque in the respectively 3 distance intervals；Ld is that motor driving wheel is straight
Footpath；J is jerk value when the even acceleration of elevator is opened the door；t1、t2、t3It is to be opened corresponding to the distance interval with acceleration respectively
Begin to complete a required time apart from interval for starting point.
Current detecting unit described in the utility model is used to the electric current in motor triple line being converted into voltage signal, sends out
Give quality identification unit；Described rotation speed detection unit can use the model BQ201's of upper sea cowry Si Temen machines company life
Magnetic coder.
Mass average value M formula is further elaborated below.
In elevator door-motor system, especially high performance elevator door-motor system, fast speed responsive and torque are produced
Response and good live adaptive ability, quality must just be recognized, door quality is motor speed regulation system middling speed on the door
The problem of having to consider when degree controller, the design of torque feedforward compensation, motor speed regulation system is adjusted according to door quality adaptation
Speed control and feedforward compensation, system is allowed to obtain good speed control and field working conditions adaptive ability.
In the utility model, in motor bringing onto load（I.e. motor belt motor carries）In the course of work, door machine controller is to whole elevator
The enabling course of work is detected, and chooses the equidistant distance interval of at least three, to the electric parameter of motor in each distance interval
It is acquired.
The electric parameter is extracted and gathered by the motor signal collecting unit of door machine controller, is distinguished by quality
Know the torque T that unit calculates motor according to the electric parametertAnd angular velocity omega.
For the angle rotational speed omega of motor, below equation can be passed through（1）To calculate：
（1）,
Wherein, ω is motor angular velocity, and f is motor operation frequency, and n is motor speed, and P is motor number of pole-pairs.
Torque T for motorr, below equation can be passed through（2）To calculate：
（2）,
Wherein, TtFor the current rotating speed of motor, TrFor the nominal torque of motor, IrFor the rated current of motor, itFor motor
Current flow.
Distance interval described at least three is intercepted in the accelerating sections of the constant jerk of the movement locus of door-opened elevator
, it is a steady state value that motor acceleration is calculated in distance interval described at least three.Wherein, distance interval described at least three
It can be chosen, can also be chosen in the rotating course of work of motor in motor rotates in same direction the course of work,
It is not limited herein.Control to motor speed can be completed by the motor control unit of the door machine controller, also can be by electricity
Controller in machine governing system is completed, or realizes the control to motor speed by other means, is not also limited herein.
The torque of motor of the quality identification unit of the door machine controller according at least three in distance interval and angle
The door quality is calculated in speed.
Due to the mass of system of whole mechanical device of the door quality including layer door quality and gate quality, its machine
The tool equation of motion is：
（3）,
Or
（4）,
Wherein, Te is motor torque, and M is door quality, and μ is the coefficient of friction of door mechanism system, and Ld is that motor driving wheel is straight
Footpath,Motor angular acceleration, k are the rigidity of the self-closing spring spring of layer door, and Δ l is the self-closing spring spring elongation of layer door；
Tk is the converted next equivalent moment of layer door self-closing device weight.
It is above-mentioned（3）、（4）Two formula differences, it is because layer door has used different self-closing power apparatus：Spring or weight.
In practical engineering application, because 3 are very small apart from spacing distance, it is believed that, Tk is in whole work
It is constant during work, then the electric parameter at least three distance interval can be substituted into formula（4）Multiple formula are drawn, such as：
（5）,
（6）,
（7）,
（a）,
（b）,
（c）,
Wherein, d ω 1, d ω 2, d ω 3 are the changing value of the motor angular velocity in each distance interval, and T e1, Te2, T e3 are
Last moment motor torque value in each distance interval, Δ l1、Δl2、Δl3For each distance interval inner layer door self-closing device spring
Elongation, J is angle acceleration, and t1, t2, t3 are respectively that acceleration figure is changed into d ω 1, d ω 2, time corresponding to d ω 3, t1,
T2, t3 are to start the time for starting point with acceleration.By formula（a）, formula（b）, formula（c）Bring formula into respectively（5）, formula
（6）, formula（7）, formula（5）, formula（6）, formula（7）In any two equation both sides are subtracted each other, can obtain with
Lower formula：
+,
+ ,
（8）With（9）In formula,WithIt is equal.Then two formulas are subtracted each other, and can obtain this reality
With new mass average value M formula：
。
If take multigroup such mass average value M to sum up to average finally to obtain the door machine matter
Amount, if described at least three distance interval is only 3 distance intervals, it need not sum up and average.
The utility model by least three distance interval in collection motor electrical parameter calculation motor angular speed and
Torque, recycles the angular speed of motor and torque must go out quality, realizes the identification door machine quality under less operand, solves
The problem of door machine quality identification difficulty.
Claims (5)
1. a kind of Elevator Door Control device of automatic identification door quality, including be sequentially connected door machine controller, motor, transmission
Mechanism and the load of door machine, it is characterised in that：The door machine controller includes motor control unit, motor signal collecting unit, added
Speed generation unit, quality identification unit；The motor control unit, motor signal collecting unit respectively with the motor phase
Even, the quality identification unit respectively with the motor signal collecting unit, motor control unit, acceleration generation unit phase
Even；The acceleration generation unit is also connected with the motor control unit；
In the accelerating sections of the constant jerk of the movement locus of door-opened elevator, the door machine controller is believed by the motor
Number collecting unit gathers motor electric parameter corresponding in the equal distance interval of at least three, and passes through quality identification unit
According to the torque of the motor electrical parameter calculation motor and angular speed, door matter corresponding to each distance interval is obtained respectively
Amount；Wherein, the distance at intervals of：Distance of the elevator in even acceleration door opening process between two fan elevator doors.
2. the Elevator Door Control device of the automatic identification door quality according to claim 1, it is characterised in that：The electricity
Machine signal gathering unit include current detecting unit, rotation speed detection unit, the current detecting unit respectively with the motor, matter
Amount identification unit is connected, and the rotation speed detection unit is connected with the motor, quality identification unit respectively.
3. the Elevator Door Control device of the automatic identification door quality according to claim 1, it is characterised in that：The electricity
Gas parameter includes the torque of motor corresponding to each distance interval, start one distance of completion for starting point with acceleration between
Every required time, motor operation frequency, motor speed, motor number of pole-pairs, current of electric, motor driving wheel diameter, layer door from
Close any one or a few in the rigidity of device spring elongation, layer door self-closing device spring.
4. the Elevator Door Control device of the automatic identification door quality according to claim 1, it is characterised in that：Will be multiple
Door quality corresponding to the distance interval, with 3 for one group of mass average value M for trying to achieve a quality：
,
Wherein, Te1、Te2、Te3Corresponding motor torque in the respectively 3 distance intervals；Ld is motor driving wheel diameter；J
Jerk value when accelerating to open the door for elevator is even；t1、t2、t3Be respectively it is described distance interval corresponding to acceleration start for
Starting point completes the required time at a distance interval.
5. the Elevator Door Control device of the automatic identification door quality according to claim 1, it is characterised in that：The door
Machine controller gathers motor corresponding in 3 ~ 9 equal distance intervals by the motor signal collecting unit electrically joins
Number.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106946132A (en) * | 2017-05-04 | 2017-07-14 | 上海贝思特门机有限公司 | The Elevator Door Control device of automatic identification door quality |
| CN109179171A (en) * | 2018-10-31 | 2019-01-11 | 苏州汇川技术有限公司 | Elevator door mechanical system self-learning method, equipment and storage medium |
| CN109573797A (en) * | 2018-12-03 | 2019-04-05 | 天津康途科技有限公司 | A kind of each floor shutdown curve self-adapting method of elevator door-motor |
| CN110642110A (en) * | 2019-09-23 | 2020-01-03 | 猫岐智能科技（上海）有限公司 | Method for accurately acquiring door opening and closing time of elevator |
-
2017
- 2017-05-04 CN CN201720485359.1U patent/CN206720532U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106946132A (en) * | 2017-05-04 | 2017-07-14 | 上海贝思特门机有限公司 | The Elevator Door Control device of automatic identification door quality |
| CN109179171A (en) * | 2018-10-31 | 2019-01-11 | 苏州汇川技术有限公司 | Elevator door mechanical system self-learning method, equipment and storage medium |
| CN109573797A (en) * | 2018-12-03 | 2019-04-05 | 天津康途科技有限公司 | A kind of each floor shutdown curve self-adapting method of elevator door-motor |
| CN109573797B (en) * | 2018-12-03 | 2022-09-06 | 天津康途科技有限公司 | Self-adaptive method for door closing curve of each floor of elevator door motor |
| CN110642110A (en) * | 2019-09-23 | 2020-01-03 | 猫岐智能科技（上海）有限公司 | Method for accurately acquiring door opening and closing time of elevator |
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