JP2005170652A - Controller of elevator door - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent an elevator door from being continuously reversely rotated by the erroneous learning of an overload detection pattern for limiting the torque of a door motor when the door is opened and closed. <P>SOLUTION: As shown in Fig. A, this controller of the elevator door is so formed that first overload detection patterns P1 to P6 are stored for each story before installation and that second overload detection patterns F1 to F6 updated by new learning when the door is opened and closed after the installation are stored for each story (Fig. B indicates the relation of first and second overload detection patterns P3 and F3 (third story portion is shown as an example) to a torque instruction 23). The door selectively opens and closes either of the overload detection patterns P1 to P6 and F1 to F6 for each story. Also, when the torque instruction 23 exceeds, multiple times, the second overload detection pattern at the same door position on the third story, the first overload detection pattern P3 is selected at that position to prevent the reverse rotation from being continued. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a device for controlling opening and closing of an elevator door, and more particularly to a control device having a pattern for detecting an overload applied to the door.

  In a conventional elevator door control device, an elevator door control device that generates a torque command according to a deviation between a speed command according to a predetermined speed pattern and a feedback speed and performs door opening / closing control. A torque limiter pattern that is preset to a continuous value slightly above the floor is stored for each floor, and includes torque limiting means for limiting the torque command so as not to exceed the torque limiter pattern. Learning means for learning a required torque pattern of the door and updating the torque limiter pattern according to the learned torque pattern is configured (see, for example, Patent Document 1).

Japanese Patent No. 3018937 (paragraph 0011, FIG. 1)

  The conventional elevator door control device as described above obtains an overload detection pattern for each floor from a past torque command. However, with these technologies, the overload detection pattern is learned from the torque command when the door is opened and closed after the elevator is installed, so that when the door is manually opened or closed, garbage is temporarily clogged in the sill. In such a case, the overload detection pattern is updated with the torque level at that time (erroneous learning).

  Therefore, when there is no more people after that, or when the trash on the sill is removed, the door only opens and closes normally, but the torque command exceeds the overload detection pattern and repeats reversal. There is a problem that the phenomenon may occur.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide an elevator door control device that can prevent the inversion of the door from being mistakenly learned.

  The control device for an elevator door according to the present invention stores a first overload detection pattern for each floor in advance, stores a second overload detection pattern newly determined by learning when the door is opened and closed for each floor, An optimal pattern is selected from the first and second overload detection patterns for each floor.

  In the present invention, since the optimum pattern is selected from the first overload detection pattern stored in advance and the second overload detection pattern determined by subsequent learning, the inversion of the door continues due to erroneous learning. In such a case, it is possible to prevent the continuation of reversal by judging the situation.

Embodiment 1 FIG.
1 to 4 show one embodiment of the first and second inventions of the present invention. FIG. 1 is a block diagram of a door control device, FIG. 2 is an operation curve diagram, and FIG. Speed curve diagram, (B) is a motor torque curve diagram, FIG. 3 is an explanatory diagram of an overload detection pattern, (A) is an overload detection pattern setting diagram for each floor, (B) is an overload detection pattern curve diagram, 4A and 4B are operation explanatory diagrams, FIG. 4A is an operation flowchart, and FIG. 4B is a detection position setting diagram. In FIG.

  In FIG. 1, a door motor 1 that drives a car door (not shown) is connected to a power source 3 via a power circuit 2. The pulse encoder 4 is coupled to the door motor 1 and generates a pulse output corresponding to the rotation of the door motor 1. The door control device 5 includes a pulse count unit 6, a CPU 7, a ROM (first pattern storage device) 8, a RAM (second pattern storage device) 9, an input / output port 10 and a PWM (pulse width modulation) unit 11. The pulse output of the pulse encoder 4 is input to the count unit 6. The PWM unit 11 is connected to a gate signal generation circuit 12, and the gate signal generation circuit 12 is connected to the power circuit 2.

Next, the operation of this embodiment will be described. First, a general operation will be described.
The door control device 5 takes in an external signal of the car door and takes in an output pulse from the pulse encoder 4 to manage the operation state of the car door and control the door motor 1. The CPU 7 controls the door motor 1 by an external input signal, the ROM 8 stores a door program and data, the RAM 9 stores processing data, learned data, and the like, and the input / output port 10 takes in the signal from the outside or sends it to the outside. To do.

  The PWM unit 11 outputs a PWM signal, and the gate signal generation circuit 12 generates a gate signal based on the input PWM signal and sends it to the power circuit 2. The power circuit 2 is PWM-controlled by the gate signal and supplies the power of the power source 3 to the door motor 1 to control the door motor 1. This controls the opening and closing of the car door, and the landing door (not shown) is also opened and closed in conjunction with this.

  Here, when a car door or landing door (hereinafter simply referred to as a door) is opened or closed, if the passenger's hand is drawn into the door or if the door sill is clogged with garbage, the movement of the door is suppressed and a speed command is generated. However, since the actual speed of the door motor 1 decreases, the deviation between the two increases. For this reason, a function for improving the followability to the speed command occurs, and the torque command gradually increases. However, when the passenger's hand or the like is actually drawn, an increase in the torque command applies an excessive force to the passenger and must be avoided.

Therefore, a torque command overload detection pattern is set, and when the torque command exceeds the detection pattern, the door is reversed. This will be described with reference to FIG.
2A and 2B, 21 indicates a speed command of the door motor 1, 22 indicates an actual speed of the door motor 1, 23 indicates a torque command of the door motor 1, and 24 indicates an overload detection pattern.

Here, when the door is opened or closed, if a passenger or the like is pinched or pulled in at the position p ₁ , the actual speed 21 of the door motor 1 cannot follow the speed command 22, so that the door reaches the position p _1. gradually increases the torque command 23, the torque command 23 when the door comes to a position p ₂ is exceeds the overload detection pattern 24, overload is detected. Thus, a reversing operation of the door is commanded, and the door is reversed in direction to prevent the passenger from being overloaded.

  In this embodiment, in order to obtain an appropriate overload detection pattern, an overload detection pattern for each floor as shown in FIG. FIG. 3A shows the first overload detection patterns P1 to P6 stored in advance and the second overload detection patterns F1 to F6 learned after installation for the floors (1 to 6 floors). Has been. The first overload detection patterns P1 to P6... Stored in advance are values set before shipment of the elevator, outside the torque necessary for normal door opening and closing, the difference in door mass for each floor, Considering the influence of frictional forces as a margin, set the maximum value that does not cause any malfunction on any floor.

  Further, the RAM 9 stores second overload detection patterns F1 to F6... Calculated from information on the torque command 23 and the actual speed 22 after the elevator is installed. FIG. 3B shows an extracted torque waveform at the third floor as an example. These second overload detection patterns F1 to F6 are values that are set after the elevator is installed, and are updated when the normal door is opened and closed. It is a value obtained by learning and updating the difference in frictional force, etc., and is generally smaller than the preset first overload detection patterns P1 to P6.

In this embodiment, the two overload detection patterns P1 to P6... And F1 to F6. Control is executed.
Next, the operation of this embodiment will be described with reference to FIG. Although FIG. 4 shows the door closing operation, the same applies to the door opening operation. Also, as shown in FIG. 4B, from fully opened to fully closed calculated from the output pulse of the pulse encoder 4. It is assumed that the positions a to e have a detection counter 25 for detecting the number of times of overload detection, and when the overload is detected at each position a to e, the detection counter 25 in that area is counted up.

  First, in step S1, it is determined whether the elevator car has moved on the floor. If the floor has been moved, the process proceeds to step S2, and the overload detection counter 25 for that floor is reset. If it is determined in step S1 that the floor is not moved, the process jumps to step S3. In step S3, it is determined whether the detection value of the detection counter 25 exceeds a predetermined number of times (N times). When N times have been reached, there is a possibility of erroneous learning, so the process proceeds to step S4 to select the first overload detection pattern P3 stored in advance, and the process proceeds to step S5 to determine the second overload determined by learning. The detection pattern F3 is cleared.

  If the value of the detection counter 25 is less than N times in step S3, the process proceeds to step S6 to select the second overload detection pattern F3 obtained by learning. Then, it is determined whether an overload is detected in step S7. If the door is closed without detecting an overload when the door is normally closed, the process proceeds to step S8, where the normal door closing operation is performed, and the value of the detection counter 25 is cleared in step S9. However, if an overload is detected when the door is normally closed, the process proceeds to step S10, the door is reversed, the positions a to e where the overload is detected in step S11 are determined, and the value of the detection counter 25 at that position is determined. Count up.

Here, steps S1 to S4 and S6 constitute an overload detection pattern selection means.
In this way, in general, when an elevator opens and closes a door after installation, it has a learning function that newly updates the overload detection pattern for each floor, so that the friction for each floor varies depending on the installation situation, etc. Moreover, since different door masses can be learned for each floor, it is possible to set an overload detection pattern with higher safety.

  However, when learning the overload detection pattern when opening and closing the door after installation, even when the door is pushed artificially, the door opening and closing force and speed change, so the situation is different from normal use , The overload detection pattern is determined (erroneous learning), and then the door may continue to be reversed during normal door opening and closing after the person leaves. Also, determining the overload detection pattern for each floor before installing the elevator is difficult because it is difficult to estimate in advance the different friction and door mass for each floor depending on the installation situation, etc. It is necessary to provide a degree.

  In this embodiment, when the door is normally opened and closed, safety is improved by using the second overload detection pattern that is newly updated by learning when the door is opened and closed after the elevator is installed. If reversal continues at the same position, there is a high possibility of mislearning the second overload detection pattern, so use the first overload detection pattern stored in advance before installation until the floor is moved. By doing so, it is possible to prevent the inversion state from continuing.

Embodiment 2. FIG.
FIG. 5 is an overload detection pattern curve diagram showing an embodiment of the third invention of the present invention. 1, FIG. 3 and FIG. 4 are also used in the second embodiment.
In this embodiment, when overload detection is detected a plurality of times at the same floor and at the same position, the overload detection pattern is changed to a value stored in advance for that position (region). .
FIG. 5 shows an overload detection pattern when overload detection is detected a plurality of times only at the position d during the door closing operation, and the count by the detection counter 25 at the position d exceeds a predetermined number N.

That is, similarly to FIG. 1, the torque command 13, the second overload detection pattern F3 updated by learning after installation, and the first overload detection pattern P3 stored before installation are shown in order from the lower waveform. Yes.
Here, since the overload detection is detected a plurality of times only at the position d, the second overload detection pattern F3 at the position d is set to the level of the first overload detection pattern P3. Eventually, the pattern indicated by the bold line is the overload detection pattern.

  In this way, since the overload detection pattern at a specific position is changed, it is possible to prevent operation stoppage due to continuation of reversal due to mislearning, and even if a passenger collides with the door at another position In this position, since it is the overload detection level learned after installation, it is possible to improve the safety during normal door opening and closing.

Embodiment 3 FIG.
FIG. 6 is an overload detection pattern curve diagram showing an embodiment of the fourth aspect of the invention. 1, 3, and 4 are shared by the third embodiment.
In this embodiment, when the second overload detection pattern F3 updated by learning exceeds the first overload detection pattern P3 stored before installation, the smaller value is selected in the exceeded portion. It is a thing.

6, during the door closing operation, between the between and the position p ₄ from the fully open position to a position p ₃ to the fully closed position, smaller toward the second overload detection pattern F3 as determined by learning, the position p ₃ between the up position p ₄ is towards the first overload detection pattern P3 stored before installation is reduced. In such a case, between the position p ₃ and the position p ₄ from the fully opened position to the fully closed position the second overload detection pattern F3, between the position p ₃ to a position p ₄ is first overload detection The pattern P3 is selected to detect overload. Eventually, the pattern indicated by the bold line is the overload detection pattern.

  In this way, the first overload detection pattern P3 determined in advance is a value set on the assumption of all the conditions of the door in advance, and if the level is exceeded, there is a high possibility of erroneous learning. When the first overload detection pattern P3 stored before the installation is exceeded, the value is set as the upper limit in the exceeded part, so that it is possible to improve passenger safety.

The block diagram of the door control apparatus which shows Embodiment 1 of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is an operation | movement curve diagram which shows Embodiment 1 of this invention, (A) is a motor speed curve figure, (B) is a motor torque curve figure. It is an overload detection pattern explanatory drawing which shows Embodiment 1 of this invention, (A) is an overload detection pattern setting figure for every floor, (B) is an overload detection pattern curve figure. BRIEF DESCRIPTION OF THE DRAWINGS It is operation | movement explanatory drawing which shows Embodiment 1 of this invention, (A) is an operation | movement flowchart, (B) is a detection position setting figure. The overload detection pattern curve figure which shows Embodiment 2 of this invention. The overload detection pattern curve figure which shows Embodiment 3 of this invention.

Explanation of symbols

1 door motor, 4 pulse encoder, 5 door control device, 6 pulse count unit, 7 CPU, 8 ROM (first pattern storage device), 9 RAM (second pattern storage device), 21 door motor speed command, 22 door motor actual Speed, 23 Door motor torque command, 25 Overload detection counter.
S1-S4, S6 overload detection pattern selection means.

Claims (4)

  An elevator that generates a torque command corresponding to the deviation between the speed command and the actual speed, opens and closes the door by controlling the door motor by this torque command, and reverses the door when the torque command exceeds the overload detection pattern 1 in which the first overload detection pattern is stored in advance for each floor, and the second overload detection pattern that is newly updated by learning when the door is opened and closed is stored in the second floor. An elevator door control device comprising: a pattern storage device; and an overload detection pattern selection means for selecting an optimum pattern from the first and second overload detection patterns for each floor.   If the torque command exceeds the second overload detection pattern multiple times at the same position on each floor when the door is opened and closed on each floor, until the elevator moves to another floor The elevator door control device according to claim 1, wherein the first overload detection pattern is selected.   If the torque command exceeds the second overload detection pattern multiple times at the same position on each floor when the door is opened and closed on each floor, until the elevator moves to another floor 2. The second overload detection pattern is changed to a first overload detection pattern at a position of the door where the torque command exceeds the second overload detection pattern. Elevator door control device. The overload detection pattern selection means is characterized in that, when the second overload detection pattern exceeds the first overload detection pattern, the first overload detection pattern is selected within the range exceeding the first overload detection pattern. The elevator door control device according to claim 1.

Images