EP0976675B1 - Méthode de limitation des efforts pour portes automatiques d'ascenseur - Google Patents

Méthode de limitation des efforts pour portes automatiques d'ascenseur Download PDF

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Publication number
EP0976675B1
EP0976675B1 EP99114061A EP99114061A EP0976675B1 EP 0976675 B1 EP0976675 B1 EP 0976675B1 EP 99114061 A EP99114061 A EP 99114061A EP 99114061 A EP99114061 A EP 99114061A EP 0976675 B1 EP0976675 B1 EP 0976675B1
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EP
European Patent Office
Prior art keywords
force
door
pattern
model
driving force
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Expired - Lifetime
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EP99114061A
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German (de)
English (en)
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EP0976675B2 (fr
EP0976675A1 (fr
Inventor
Steffen Dr.-Ing. Grundmann
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Inventio AG
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Inventio AG
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Priority to EP99114061A priority Critical patent/EP0976675B2/fr
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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
    • B66B13/143—Control systems or devices electrical

Definitions

  • the invention relates to a method for limiting the force for automatic elevator doors with a door operator consisting of control, motor and drive mechanism for Movement of a cabin door and a landing door according to one the speed profile corresponding to the door position and force course from an open position to a Closed position or vice versa, the course of force door parameters that change over time is customizable and the doors during the movement process in the event of interference caused by an obstacle are stopable and / or reversible.
  • a disadvantage of the known device is that complex and extensive storage of the for Average necessary position-dependent Current curves for the entire driving range of the door.
  • JP 09323877 describes a method for Limitation of the closing force for automatic elevator doors known.
  • a door model calculator determines from the Door position / door speed and parameters one theoretical torque specification with a Torque setpoint is compared. If torque specification and torque setpoint deviate too much from each other a reverse command triggered.
  • the disadvantage of this method is that by comparison of the model value with the torque setpoint deviations the effective assets arise.
  • the effective one Closing force does not meet the requirements.
  • the invention seeks to remedy this.
  • the invention as characterized in claim 1 solves the problem to avoid the disadvantages of the known device and a method for driving force limitation with a optimized signal-to-noise ratio and increased safety for elevator users.
  • the advantages achieved by the invention are in essential to see that a compact form of Description of the interference-free driving force curve is possible. This can be an automatic, optimal Setting of the driving force limit reached and the Commissioning effort can be reduced. Further advantageous is that a force limit is not just for a particular one Target speed function of the door is available, but also for deviating courses, for example at reduced speed or increased acceleration can be provided without having to start a new learning trip perform.
  • the method according to the invention relates to the Door closing process as well as the door opening process.
  • Force limitation means a when closing the door Limiting the closing force or limiting the Opening force during the opening process.
  • Force curve relates the force curve during the door closing process or during the door opening process.
  • Fig. 1 shows a system for the operation of an automatic Elevator door consisting of a setpoint generator 1 for the Speed, an actual value recorder 2 the Speed / door position, a motion controller 3, one Speed generator 4 in the form of a door drive consisting of control, motor and drive mechanics as well an actual value detector 5 for the generated or applied Driving force.
  • the drive or motor power is the applied by the engine, taking into account the realized gear ratios converted to the door Force designated.
  • the closing force or opening force is the force that is exerted during a closing process or Opening process from the door edge or door on Obstacle is exercised.
  • a driving force model 6 for that Driving force calculated on the basis of a mathematical Model and the determined door parameters which in the drive power to be applied without interference.
  • On Limit value generator 7 calculated from the Upload model value and a permissible interference force a force limit value, which by means of a comparator 8 Actual value of the driving force or the applied Driving force is compared.
  • a force limit value which by means of a comparator 8 Actual value of the driving force or the applied Driving force is compared.
  • the driving force model 6 the driving force to be used.
  • This mathematical model determined using Equations of motion and the previously determined door parameters that at a certain acceleration and at a certain speed under normal, undisturbed Driving force to be applied.
  • the force limit is determined from the driving force to be applied and the maximum permissible interference force. Meets the Door on an obstacle while moving, so when Exceeding the force limit by the applied Driving force a stopping and / or reversing the Elevator door raised to the safety of elevator users to ensure.
  • the mathematical model can be fixed or designed adaptively in a further embodiment be, being an adaptation to that during operation occurring parameter changes takes place.
  • the model can be based on differential equations can be (explicitly) realized.
  • the explicit mathematical Model is based on Newton's equations of motion for the door mechanism. These are here for a simplified one Model of the door mechanism specified.
  • FMT v T ⁇ m GT + F R * Sign (v T ) + g ⁇ m G v T ⁇ v T (t) - v T (Tt) T
  • the driving force to be applied at any time can be calculated as a function of the parameters and the acceleration v ⁇ T.
  • the acceleration is approximately calculated from the speed values, as shown in equation [3], where T is a suitably selected sampling time.
  • Equations [2], [3] can be easily programmed and provide the driving force model value for force monitoring. If the parameters F R , m G and m GT are set once, for example when the door is being manufactured or commissioned, then it is a permanently set model. If the parameters of the model are automatically adapted to the actual parameters of the door mechanics during operation of the door, this is called an adaptive model.
  • the setpoint generator 1 generates one Speed setpoint as a function of time or Way or the door position.
  • the motion controller 3 can for example a speed / position controller, based on measured speed / position information generates a speed specification.
  • the mathematical model represents the dependency of the respective generated driving force from the acceleration, the speed setting and the door position. From mathematical model, the motor force is calculated the without obstacle the predetermined speed curve generated. This normal course depends, for example, on the given acceleration, the characteristic of the Speed generation, the friction forces, the mass of the moving parts and the parameters of the mechanics and the Friction in mechanics.
  • the one generated by the driving force model 6 to be used The driving force is during the operation of the door Changes due to wear and aging exposed. Therefore, the driving force model 6 can be designed that a slow adaptation of the to be applied Driving force in the course of changes he follows.
  • the actual value of the driving force or the applied driving force can be in connection with the target / actual speed be evaluated to determine the effective moving mass, the closing weight of the door and the One-time or ongoing frictional force during operation determine.
  • test drives are carried out, in which the measured values for the motor force converted to the door edge / door and the speed of the door edge / door are periodically recorded and stored.
  • the acceleration depends on the engine force.
  • the right side of the equation [1] contains a component that is linear to the force and a constant component.
  • the coefficients a and b of the linear equation [4] can easily be determined, for example by means of linear regression.
  • the values determined for a closing process are denoted as a s and b s , those for an opening process as a 0 and b 0 .
  • the mathematical model can also be used as an implicit model will be realized.
  • An implicit mathematical model also generated for a given acceleration curve a reference value of the engine power, but without doing so on the vivid physical parameters to have to resort.
  • An implicit mathematical Model can be made through an artificial neural network being represented.
  • An implicit model is through a training phase prepared, in which the behavior of the model by a Larger number of examples for the input / output behavior is specified.
  • This sample data are generated by a real system whose behavior to be mimicked by the model, with different Input data is stimulated and at the same time the Input signal and the output signals representing the response of the system show be recorded. In the specific case you become a number of opening and closing movements the door and the ones that occur Record measured value curves.
  • the internal parameters of the implicit models are optimized until the Model for all input data similar output data generated like the real model system until model and Reality sufficiently similar.
  • an asynchronous motor can be used as the speed generator 4 in conjunction with a frequency converter with a rotor flux-oriented current control and superimposed speed control implemented thereon, the torque-forming current component i sq that is orthogonal to the rotor flux being usable as an internal variable.
  • the coordinate transformation consists in choosing not the position of the first winding axis as the reference point, but the current magnetic flux in the rotor of the machine.
  • the current in the stator i s can then be broken down into a component i sd parallel to the rotor flux and a component i sq perpendicular to it.
  • the magnitude of the rotor flux can be kept constant by the suitably controlled current component i sd .
  • the proportionality between i sq and the applied engine torque then applies, so that i sq is a measure of the driving force acting on the door edge / door.
  • Asynchronous motor in connection with one on it implemented U / f control are used, the detected slip as a measure of the applied Driving force serves.
  • Synchronous motor can be used.
  • the limit value generator 7 calculates from that by means of mathematical model determined driving model value and a permissible interference force a force limit. in the In the simplest case, this is done by adding the per Regulation stipulated maximum permissible interference of for example 120 N.
  • the Force limit can be a statistical evaluation process for example according to a Gaussian normal distribution be used.
  • the Gaussian normal distribution is only one of many possible distribution functions. Exponential, Weibull or equal distribution are also used. All of these functions have a density function and a distribution function, the calculated ones Numerical values can of course be different.
  • the statistical evaluation of the difference between the actual value the driving force and that of the mathematical model delivered value of the driving force can be determined how good the measured values with the theoretical values. Under the assumption a Gaussian normal distribution of the difference values itself, as shown in FIG.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Door Apparatuses (AREA)
  • Power-Operated Mechanisms For Wings (AREA)
  • Control Of Electric Motors In General (AREA)

Claims (10)

  1. Procédé de limitation de force pour des portes d'ascenseur automatiques avec un entraínement de porte comprenant commande, moteur et mécanique d'entraínement pour le mouvement d'une porte de cabine et d'une porte palière suivant une courbe de vitesse et une courbe de force correspondant à la position de la porte à partir d'une position ouverte vers une position fermée ou inversement, la courbe de force pouvant être adaptée à des paramètres de porte variant au cours du temps et les portes pouvant être arrêtées et/ou leur mouvement être inversé pendant le processus de mouvement en cas de force perturbatrice déclenchée par un obstacle, caractérisé en ce que la courbe de force d'entraínement à fournir pendant le fonctionnement exempt de force perturbatrice est déterminée au moyen d'un modèle mathématique pour l'entraínement de porte et est comparée avec la valeur réelle de la courbe de force d'entraínement et que les écarts de grandeur déterminée déclenchés par la force perturbatrice entre la courbe de la force à fournir et la valeur réelle de la courbe de force arrêtent les portes et/ou inversent leur mouvement.
  2. Procédé selon la revendication 1, caractérisé en ce que le modèle mathématique est basé sur des équations de déplacement de Newton pour la mécanique de porte.
  3. Procédé selon la revendication 2, caractérisé en ce que le modèle mathématique est un modèle adaptatif, dans lequel les paramètres sont adaptés automatiquement aux paramètres réels de la mécanique de porte au cours du fonctionnement de la porte.
  4. Procédé selon la revendication 1, caractérisé en ce que le modèle mathématique peut être représenté par un réseau neuronal artificiel, le modèle étant préparé par une phase d'entraínement pendant laquelle le modèle imite un système réel.
  5. Procédé selon la revendication 1, caractérisé en ce que, pour produire la courbe de force, il est prévu un moteur asynchrone commandé en tension et fréquence, le glissement de moteur saisi servant de mesure pour la force d'entraínement.
  6. Procédé selon la revendication 1, caractérisé en ce que, pour produire la courbe de force, il est prévu un moteur asynchrone commandé en tension et fréquence, la grandeur de courant du stator déterminée servant de mesure pour la force d'entraínement.
  7. Procédé selon la revendication 1, caractérisé en ce que, pour produire la courbe de force, il est prévu un moteur asynchrone alimenté par un convertisseur de fréquence, la composante de courant isq orthogonale au flux du rotor servant de mesure pour la force d'entraínement.
  8. Procédé selon la revendication 1, caractérisé en ce que, pour produire la courbe de force, il est prévu un moteur synchrone.
  9. Procédé selon la revendication 1, caractérisé en ce que, à partir de la valeur de modèle de force d'entraínement déterminée au moyen du modèle mathématique et d'une force perturbatrice admissible, on détermine une valeur limite de force, les portes étant arrêtées et/ou leur mouvement inversé en cas de dépassement de la valeur limite de force.
  10. Procédé selon la revendication 9, caractérisé en ce que la valeur limite de force est déterminée au moyen d'un procédé d'évaluation statistique suivant une fonction de densité et de distribution.
EP99114061A 1998-07-30 1999-07-20 Méthode de limitation des efforts pour portes automatiques d'ascenseur Expired - Lifetime EP0976675B2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP99114061A EP0976675B2 (fr) 1998-07-30 1999-07-20 Méthode de limitation des efforts pour portes automatiques d'ascenseur

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP98810733 1998-07-30
EP98810733 1998-07-30
EP99114061A EP0976675B2 (fr) 1998-07-30 1999-07-20 Méthode de limitation des efforts pour portes automatiques d'ascenseur

Publications (3)

Publication Number Publication Date
EP0976675A1 EP0976675A1 (fr) 2000-02-02
EP0976675B1 true EP0976675B1 (fr) 2003-10-15
EP0976675B2 EP0976675B2 (fr) 2008-08-13

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EP99114061A Expired - Lifetime EP0976675B2 (fr) 1998-07-30 1999-07-20 Méthode de limitation des efforts pour portes automatiques d'ascenseur

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EP (1) EP0976675B2 (fr)
CN (1) CN1102529C (fr)
AT (1) ATE252049T1 (fr)
DE (1) DE59907349D1 (fr)
HK (1) HK1026187A1 (fr)
MY (1) MY120366A (fr)
SG (1) SG71932A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010064217B3 (de) * 2010-12-27 2012-04-26 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur Ermittlung einer Kraft
US10103669B2 (en) 2016-01-26 2018-10-16 Andras Lelkes Control method for an electrically excited motor and inverter

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20050044650A (ko) * 2002-09-27 2005-05-12 미쓰비시덴키 가부시키가이샤 엘리베이터 도어의 제어 장치
JP4792307B2 (ja) * 2006-03-22 2011-10-12 株式会社日立製作所 エレベータのドア安全制御装置
EP2298683A1 (fr) 2009-09-18 2011-03-23 Inventio AG Opérateur pour porte
JP5568633B2 (ja) * 2010-04-30 2014-08-06 三菱電機株式会社 エレベータのドア制御装置
DE112012002180B4 (de) * 2011-05-20 2018-05-03 Mitsubishi Electric Corporation Aufzuganlage
CN102324890B (zh) * 2011-09-07 2013-08-28 深圳市海浦蒙特科技有限公司 电梯门机开关门到位转矩控制方法及电梯门机装置
CN102431870B (zh) * 2011-09-16 2013-12-25 深圳市海浦蒙特科技有限公司 电梯门机开门关门到位转矩自适应方法和装置及控制系统
US9834414B2 (en) * 2015-06-17 2017-12-05 Mitsubishi Electric Research Laboratories, Inc. System and method for controlling elevator door systems
EP3853164B1 (fr) 2018-09-21 2023-12-20 Inventio Ag Cabine d'ascenseur, installation d'ascenseur et procédé de fonctionnement d'une installation d'ascenseur
CN109573797B (zh) * 2018-12-03 2022-09-06 天津康途科技有限公司 一种电梯门机各楼层关门曲线自适应方法
DE102019211611A1 (de) * 2019-08-01 2021-02-04 Conti Temic Microelectronic Gmbh Verfahren zum Durchführen eines Schließvorgangs, Schließvorrichtung, Servereinrichtung und Kommunikationsendgerät zum Durchführen eines derartigen Verfahrens

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08249008A (ja) * 1995-03-09 1996-09-27 Toyota Motor Corp 等価回路参照型制御装置と制御方法
JP3540509B2 (ja) * 1996-06-07 2004-07-07 三菱電機株式会社 エレベータドアの制御装置
US5760350A (en) * 1996-10-25 1998-06-02 Otis Elevator Company Monitoring of elevator door performance

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010064217B3 (de) * 2010-12-27 2012-04-26 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur Ermittlung einer Kraft
US10103669B2 (en) 2016-01-26 2018-10-16 Andras Lelkes Control method for an electrically excited motor and inverter

Also Published As

Publication number Publication date
EP0976675B2 (fr) 2008-08-13
EP0976675A1 (fr) 2000-02-02
ATE252049T1 (de) 2003-11-15
SG71932A1 (en) 2000-04-18
MY120366A (en) 2005-10-31
HK1026187A1 (en) 2000-12-08
DE59907349D1 (de) 2003-11-20
CN1102529C (zh) 2003-03-05
CN1244492A (zh) 2000-02-16

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