JP2009214952A - Door device of elevator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To accurately detect an engaging position of a door device of an elevator in real time. <P>SOLUTION: This device includes a resolver 17 detecting the rotation of a motor 9 and outputting rotation acceleration, a current sensor 18 detecting a current of the motor 9, a sequential door weight estimation means 31 for using the rotation acceleration of the motor 9, a current flowing in the motor 9, and an estimation door weight feedback value which is its own output as an input, and a speed pattern generator 19 for determining the engagement of the door from the output of the door weight estimation means 31. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an elevator door device, and more particularly to an elevator door device that detects the engagement of a car-side door and a landing-side door and controls the speed of the door according to the timing of the engagement.

  FIG. 4 is a diagram showing an example of a general elevator door opening speed pattern. Generally, an elevator door is composed of a total of four doors, two left and right car doors provided on the car side and two left and right landing doors provided on the landing side. When the door is opened and closed, the car-side door and the landing-side door are engaged to open and close in conjunction. The car side door and the drive belt provided on the upper portion of the door are connected by a connecting tool. The drive belt is endless and has a substantially elliptical shape that is long in the horizontal direction. The drive belt is wound around and stretched around both of two winding wheels provided on the upper portion of the door. . With this configuration, the drive belt is rotated by the rotation of the winding wheel, so that the door is opened and closed. At this time, as shown in FIG. 4, as the door opening speed pattern, since the car side door and the landing side door are not in contact when fully closed, the door opening speed pattern immediately after the start of the door opening operation is engaged. In the meantime, it is necessary to move at low speed. This is because, when moving at high speed, a loud sound or vibration is generated due to a collision during engagement.

  Further, a pair of members (consisting of an engagement vane and an engagement roller, hereinafter referred to as an engagement device) used for the above engagement are provided on the car side door and the landing side door. Since the engaging device made of the above members needs to be installed so as not to contact each other when the elevator car is traveling, they are installed so as to have a gap (hereinafter referred to as an engaging gap). . Here, in the conventional door control device, it is a configuration that cannot detect whether the car side door is engaged with the landing side door during the door opening operation, so even when the engagement gap is the largest, Control is performed so as to shift to the acceleration operation after the car-side door moves to the position where the engagement should have been completed. As a result, as shown in FIG. 4, there is a problem that a low-speed driving time (low-speed section) of a considerably long time occurs, and as a result, the operation efficiency of the elevator is lowered.

  As a conventional technique for this, a technique for reducing a useless low-speed driving time by providing a detector for detecting an engagement gap and controlling a door according to the output of the detector is disclosed (for example, see Patent Document 1). .)

  As another conventional technique, a technique is disclosed in which an engagement position is detected from a deviation between a door speed command value and an actual door speed, and a speed pattern is changed in accordance with the engagement position (for example, Patent Documents). 2).

  As another conventional technique, a technique for detecting an engagement position from a change in torque of an electric motor is disclosed (for example, refer to Patent Documents 3 and 4).

Japanese Patent Laid-Open No. 03-293283 (page 3, upper right column, lines 4-7, FIG. 1) Japanese Patent Laid-Open No. 03-186589 (page 3, lower left column, lines 8 to 18) JP 2002-3116 (paragraphs [0049] to [0050]) JP 2007-15787 A (paragraph [0025])

  If the technique shown in the above-mentioned Patent Document 1 is used, it is possible to surely reduce the useless low-speed driving time and improve the operation efficiency of the elevator. However, since it is necessary to newly provide a sensor for detecting the engagement gap, there is a problem that the apparatus becomes complicated and large. In addition, a sensor for detecting such an engagement gap is generally expensive.

  Further, the technique disclosed in Patent Document 2 determines the engagement of the door by utilizing the characteristic that the actual speed is delayed when engaged with respect to the speed command value given to the electric motor. In Patent Documents 3 to 4, the engagement is determined from the increase in the motor torque at the time of engagement. Each of these technologies is a technology for judging the engagement of a door using information of a speed sensor and a current sensor (control current is approximately proportional to torque) necessary for normal control. Since a simple sensor is not required, there is an advantage that the apparatus can be prevented from becoming complicated, large and expensive. However, speed fluctuations and torque fluctuations are also caused by factors other than the engagement of the doors, such as friction generated in the lower part of the car-side door or the landing-side door, clogging of the door and sill, etc. There was a problem.

  In addition, the degree of change in speed and torque due to engagement also depends on the degree of contact between the engagement devices (engagement vanes and engagement rollers), the spring constant of the drive belt, the friction of the car side door and the landing side door, and the winding car. Since it fluctuates due to various factors such as the control algorithm of the electric motor for driving, there is also a problem that it is unclear how to set the threshold value for determining the engagement.

  Further, since the determination threshold is unclear, it is necessary to evaluate the determination of engagement including not only sensor information at the time of engagement but also sensor information for a predetermined period before and after the engagement. Accordingly, the determination of engagement cannot be performed in real time, and in the above-described patent document, the engagement position is determined after performing the door opening operation, and the engagement position is stored for each floor. Thus, hereinafter, a technique for changing the door speed pattern using the stored engagement position is used. However, since the elevator car is inclined depending on the passenger's boarding position, etc., even on the same floor, the positional relationship between the car side door and the landing side door changes depending on the presence or absence of the passenger and the boarding position, and the engagement position also Change. Therefore, during normal operation, the engagement position obtained during the previous opening / closing operation is not correct, and there is a problem that the operation shifts to the acceleration operation before the engagement or the low speed period continues after the engagement. .

  The present invention has been made to solve the above-described problems, and is capable of detecting engagement with high reliability even when there is a disturbance such as friction or clogging of dust, and further, adjusting and controlling the door. An object of the present invention is to obtain an elevator door device that can detect the engagement of the car-side door and the landing-side door in real time regardless of the variation of the algorithm.

  The present invention includes a car-side door that opens and closes an entrance / exit of a car of an elevator, a landing-side door that opens and closes an entrance / exit of a landing on each floor, an electric motor that opens and closes the car-side door, the car-side door, and the landing-side An elevator door device provided with an engagement device provided between the door and opening and closing the landing side door in conjunction with the opening and closing operation of the car side door by the opening and closing drive of the electric motor, A rotation sensor for detecting the rotation of the motor, a current sensor for detecting the current of the electric motor, sequentially estimating the door weight of the elevator, storing the previous door weight estimated value in the storage means as estimated door weight information, Using as input the angular acceleration information obtained from the output of the rotation sensor, the torque information obtained from the current sensor, and the previous door weight estimated value stored in the storage means, A elevator door device and a door weight estimating means for outputting the Tana door weight estimate.

  The present invention includes a car-side door that opens and closes an entrance / exit of a car of an elevator, a landing-side door that opens and closes an entrance / exit of a landing on each floor, an electric motor that opens and closes the car-side door, the car-side door, and the landing-side An elevator door device provided with an engagement device provided between the door and opening and closing the landing side door in conjunction with the opening and closing operation of the car side door by the opening and closing drive of the electric motor, A rotation sensor for detecting the rotation of the motor, a current sensor for detecting the current of the electric motor, sequentially estimating the door weight of the elevator, storing the previous door weight estimated value in the storage means as estimated door weight information, Using as input the angular acceleration information obtained from the output of the rotation sensor, the torque information obtained from the current sensor, and the previous door weight estimated value stored in the storage means, Because it is an elevator door device equipped with a door weight estimation means that outputs an estimated door weight value, it is possible to detect the engagement with high reliability even if there is a disturbance such as friction or clogging of dust. The engagement between the car-side door and the landing-side door can be detected in real time regardless of adjustments and control algorithm variations.

Embodiment 1 FIG.
1 to 3 show the configuration of an elevator door device according to Embodiment 1 of the present invention. FIG. 1 is a front view showing a car-side door of an elevator, FIG. 2 is a front view showing a landing-side door of the elevator, and FIG. 3 is a top view showing a relationship between the car-side door and the landing-side door. In these drawings, 1 is a car-side door for opening and closing an entrance / exit of a car of an elevator, 2 is a hand hanging a car-side door 1, 3 is a girder provided on the car-side door 1, 4 Is a guide rail provided on the beam 3, 5 is a pair of winding vehicles provided on the beam 3, 6 is a driving belt wound on both of the winding vehicles 5, and 7 is a suspension 2 and a driving belt 6. , 8 is a door controller that controls the opening / closing operation of the door, 9 is an electric motor that rotates the winding wheel 5 to open / close the car-side door 1, and 10 is an entrance / exit of the landing on each floor , 11 is an engagement vane provided on the car side door 1, 12 is an engagement roller provided on the landing side door 10 and engaged with the engagement vane 11, 13 is an interlocking rope, 14 Is the elevator car, 15 is between the engagement vane 11 and the engagement roller 12. Is an engaging gap that is provided.

  The configuration will be described below. As shown in FIGS. 1 to 3, a suspender 2 is provided at the upper end of the car-side door 1. A substantially rectangular girder 3 is arranged at the upper edge of an entrance (not shown) of the elevator car 14 provided with the car-side door 1 so that the longitudinal direction is in the horizontal direction. A guide rail 4 is arranged in the longitudinal direction in the girder 3 and guides the horizontal movement of the hanger 2, that is, the opening and closing movement of the car-side door 1. In addition, two girders 5 are pivoted apart from each other, and an endless driving belt 6 is wound around the two girders 5 and stretched.

  One end of each of the two connecting tools 7 is connected to the car-side door 1 via the suspension 2, and the other end is connected to the drive belt 6. In FIG. 1, a connecting tool 7 provided on the right car-side door 1 via a hanger 2 is connected to one side on the lower side of the drive belt 6 arranged in an elliptical shape, and the left car-side door. 1 is connected to one side on the upper side of the drive belt 6 arranged in an elliptical shape. At this time, when the electric motor 9 drives one of the winding vehicles 5 according to a command from the door controller 8, that is, when the electric motor 9 is driven, the winding vehicle 5 rotates and the drive belt 6 rotates in one direction. Then, the two car-side doors 1 connected to the driving belt 6 by the connecting tool 7 operate in opposite directions as the driving belt 6 moves to open and close the doorway.

  As shown in FIGS. 1 and 3, an engagement vane 11 for engaging the landing-side door 10 is installed on one of the two car-side doors 1. Further, an engagement roller 12 is provided on one of the two landing-side doors 10 so as to correspond thereto. When the elevator car 14 stops on the floor, the engagement vane 11 installed on one of the car-side doors 1 sandwiches and holds the engagement roller 12 installed on one of the landing-side doors 10. The landing door 10 is opened and closed in conjunction with the opening and closing operation of the car side door 1. The engagement vanes 11 and the engagement rollers 12 are collectively referred to as an engagement device.

  The two landing-side doors 10 are connected via an interlocking rope 13. Therefore, when the landing-side door 10 on the side where the engaging roller 12 is installed is operated by the electric motor 9 via the engaging vane 11 and the engaging roller 12, the other landing-side door 10 is also moved by the function of the interlocking rope 13. Operates in the opposite direction to open and close the doorway.

  As described above, the elevator door device has the electric motor 9 installed on the car-side door 1, and has a mechanism for engaging and closing the landing-side door 10 on each floor. On the other hand, the engagement vane 11 and the engagement roller 12 need to be installed so that they do not come into contact with each other when the elevator car 14 is traveling. It is installed to become. Since the elevator car 14 has a structure that moves not only in the vertical (running) direction but also in the left-right longitudinal direction due to uneven load and vibration, the engagement gap 15 needs to be wide to some extent so as to absorb the vibration.

  FIG. 5 is a block diagram showing an internal configuration of the door controller 8 provided in the elevator door device according to Embodiment 1 of the present invention. As shown in FIG. 5, the door controller 8 includes a speed pattern generator 19, a subtractor 20, a speed controller 21, a subtractor 22, a current controller 23, differentiators 24 and 25, gains, and the like. 26, a known torque converter 27, a subtractor 28, high-pass filters 29 and 30, a door weight estimator 31, and a storage means 32 are provided.

  In FIG. 5, reference numeral 16 denotes a door device of the present invention to which a door controller 8 is connected, and an electric motor 9 is provided. Reference numerals 18 and 17 denote a current sensor and a resolver connected to the door device 16, respectively.

  A resolver (rotation sensor) 17 that detects the rotation of the electric motor 9 is connected to the electric motor 9 of the door device 16. Further, a current sensor 18 for detecting a current flowing through the electric motor 9 is connected.

  In the door controller 8, the speed pattern generator 19 outputs a command angular velocity value to the electric motor 9. From the output angular velocity command value, the rotational angular velocity value obtained by differentiating the rotational angle detected by the resolver 17 by the differentiator 24 is subtracted by the subtractor 20 to calculate the angular velocity deviation. Based on this angular velocity deviation, a current command value that causes the actual angular velocity to follow the commanded angular velocity is calculated by the speed controller 21. The calculated current command value is compared with the actual current value detected by the current sensor 18 by the subtractor 22, and the subtractor 22 outputs the deviation. Next, based on the deviation, a drive voltage is determined by the current controller 23, and the motor 9 of the door device 16 is driven by this drive voltage.

  As a preparation before explaining the door weight estimation algorithm which is a feature of the present invention, the relationship among the door weight, the motor torque, and the motor rotation angular velocity will be described.

When the detected torque of the electric motor 9 is τ _o (k) and the detected rotational angular acceleration of the electric motor 9 is a _o (k), Expression (1) is established.

τ _o (k) = Ja _o (k) + T _f + T _w (1)

In the formula (1), J is the door weight fraction inertia of the rotating shaft conversion of the electric motor 9, T _f is the disturbance torque due to friction, T _w is known torque due the closer spindle or vane link (not shown), k is the value detected by the sensor This indicates the kth sampling value.

Here, since the known torque _Tw is known from the door position, it can be removed from the detected torque τ _o (k). Further, the cause of the disturbance torque _Tf is friction or the like, and the value is unknown, but it has been empirically known to be a substantially constant value. Accordingly, by subtracting the known torque T _w from the detected torque τ _{o (k),} a value obtained by removing the low-frequency component corresponding to the disturbance torque T _f and tau (k), low frequency from the detected rotation angular velocity a _{o (k)} When the value from which the component is removed is a (k), Equation (1) is simplified as Equation (2).

      τ (k) ≈Ja (k) (2)

  At this time, when the estimated inertia value J (k) is obtained by the concept of the successive least squares method (for example, system identification for control by MATLAB, see Tokyo Denki University publication), equations (3) and (4) become that way.

  Here, P (k) is a variable called a covariance matrix, and λ is a positive constant of 1 or less called a forgetting element. The door weight estimator 31 shown in FIG. 5 updates the estimated inertia value J (k) by calculating the equations (3) to (4).

  The door weight estimation algorithm unique to the present invention having the configuration shown in the lower part of FIG. 5 is set based on the above theory. That is, the rotational angular velocity is differentiated by the differentiator 25 and converted into rotational angular acceleration. Further, the rotational angular acceleration becomes variable rotational angular acceleration a (k) (angular acceleration information) by the high-pass filter 30 that removes low-frequency components.

On the other hand, the current value detected by the current sensor 18 is multiplied by the torque constant Ke by the gain 26 to calculate the motor torque. Since the torque by the closer weight or vane link (not shown) is a function of the door position, the known torque, which is a position-dependent torque applied to the electric motor 8 based on the rotation angle (position information) detected by the resolver 17. T _w is calculated by the known torque converter 27. Known torque T _w from the value obtained by subtracting the subtractor 28 from (torque information obtained from the current sensor 18) output of the gain 26, by removing the low frequency components by the high-pass filter 29, fluctuation torque tau (k) (torque information ) Is calculated.

  The door weight estimator 31 is a value one step before the variable rotational angular acceleration a (k), the variable torque τ (k), and the estimated inertia value J (k) stored in the storage unit 32. Using (k−1) as an input, a de inertia estimate value J (k) (door weight estimate value) is calculated according to equations (3) to (4) and stored in the storage means 32. At this time, the covariance matrix P (k) is an internal variable of the door weight estimator 31 and is given by an initial value other than zero and updated as needed. The forgetting variable λ is a constant set in the range of about 0.97 to 0.995.

  FIG. 6 shows an example (experimental result) of the door weight estimation result when the present invention is used. The test shown in FIG. 6 shows the results of estimation of several patterns in which the weights of the car-side door 1 and the landing-side door 10 are changed.

  In FIG. 6, graph 33 indicates that the total weight of car-side door 1 is 60 kg and the total weight of landing-side door 10 is 80 kg, and graph 34 indicates that the total weight of car-side door 1 is 60 kg and the total weight of landing-side door 10 is If the total weight of the car door 1 is 110 kg and the total weight of the landing door 10 is 130 kg, the graph 36 indicates that the total weight of the car door 1 is 110 kg and the total weight of the landing door 10 is 130 kg. In the case of 180 kg, graph 37 shows a case where the total weight of the car-side door 1 is 160 kg and the total weight of the landing-side door 10 is 180 kg. As shown in FIG. 6, it can be confirmed that the weight of only the door-side door 1 before the engagement and the total weight of the car-side door 1 and the landing-side door 10 after the engagement can be accurately detected. In the present invention, since the door weight borne by the electric motor 9 can be detected with high accuracy and in real time, the control is determined in detail according to the door weight that is different for each floor, the difference in the engagement timing that is different for each floor and the uneven load of the car, etc. Is possible.

Thus, since the door weight estimator 31 can accurately detect the door weight applied to the electric motor 9 in real time, the speed pattern generator 19 moves the engagement position of the landing-side door 10 to the floor or elevator car 14. It can be detected every time regardless of the passenger's boarding condition.
Depending on the engagement detection position, the remaining door opening distance and speed pattern up to the fully open position are recalculated by the speed pattern generator 19. For example, if the engagement detection position is detected earlier, the acceleration start time is advanced as shown in the speed pattern 38 of FIG. 7, and the drive time at the maximum speed is adjusted slightly longer. On the contrary, if the travel detection position is late, the acceleration start time is delayed accordingly, and the drive time at the maximum speed is also shortened. At this time, since the area of the lower part of the speed pattern corresponds to the travel distance, the maximum speed extension or shortening time is adjusted so that the area under the speed pattern is the same. The speed pattern adjusted in this way is sent to the subtracter 20 as a speed command value.
Thus, in the present invention, the engagement of the car-side door 1 and the landing-side door 10 is determined from the door weight estimator, and the output of the speed pattern generator 19 is appropriately changed according to the engagement position. Can do. As a result, different engagement positions can be determined with high accuracy under the respective conditions and the acceleration operation can be started immediately after the engagement, so that low noise and low vibration performance due to low-speed engagement is maintained. Since unnecessary low-speed driving time can be omitted, the operation efficiency of the elevator is greatly improved.

  By this series of operations, in the present embodiment, as shown in the velocity waveform 38 of FIG. 7, the door can be accelerated immediately after the engagement on each floor, so that a loud noise or vibration is generated during the engagement. In addition, it is possible to save useless low-speed driving time as compared with the conventional speed waveform 39. Therefore, the operation efficiency of the elevator can be greatly improved while maintaining a comfortable door opening and closing.

  In the present embodiment, a resolver is used as a sensor for detecting the rotation of the electric motor 9, but an encoder may be used as long as it can detect the rotation of the electric motor 9. Further, although the current of the electric motor 9 is detected and the torque of the electric motor 9 is obtained, the torque may be directly obtained using a torque sensor.

  As described above, in the present embodiment, the car-side door 1 that opens and closes the entrance / exit of the elevator car 14, the landing-side door 10 that opens and closes the entrance / exit of the landing on each floor, and the car-side door 1 are opened and closed. An electric motor 9 is provided between the car-side door 1 and the landing-side door 10, and has an engagement device that opens and closes the landing-side door 10 in conjunction with the opening / closing operation of the car-side door 1 by opening / closing driving of the electric motor 9. In the elevator door device, the resolver 17 that detects the rotation of the electric motor 9, the current sensor 18 that detects the electric current of the electric motor 9, the angular acceleration information obtained from the output of the resolver 17, the torque information obtained from the current sensor 18, and itself. The door weight estimator 31 for sequentially estimating the door weight with the estimated door weight information as the input is input, so that the door weight borne by the motor 9 is calculated. Can be detected in accuracy and in real time, door weight differ each floor, depending on the differences in different engagement timing each floor and the car unbalanced load, an effect that delicate control decided becomes possible to obtain.

  Further, in the present embodiment, a speed pattern generator 19 that indicates the rotation speed of the electric motor 9 is provided, and the engagement between the car-side door 1 and the landing-side door 10 is determined from the output of the door weight estimator 31. Since the output of the speed pattern generator 19 is changed, different engagement positions can be determined with high accuracy under each condition, and the acceleration operation can be started immediately after the engagement. Since it is possible to save unnecessary low-speed driving time while maintaining low noise and low vibration performance due to the engagement, an effect that the operation efficiency of the elevator is greatly improved can be obtained.

  Further, in the present embodiment, the door weight estimator 31 is input from the angular acceleration information and the torque information obtained by removing the low frequency components by the high-pass filters 30 and 29, respectively. By removing the low-frequency component from each input signal, it is possible to remove the influence of door friction that is different for each floor, so that more accurate estimation is possible.

  Further, in the present embodiment, it has a known torque converter 27 that calculates a position-dependent torque applied to the electric motor 9 based on position information obtained from the output of the resolver 17, and the door weight estimator 31 is a current sensor. Since the information obtained by subtracting the output of the known torque converter 27 from the torque information obtained from No. 18 is used as the input, the known torque determined by the door position can be removed in advance, so that highly accurate estimation is possible. .

Embodiment 2. FIG.
FIG. 8 is a block diagram showing an internal configuration of the door controller 8 provided in the elevator door device according to Embodiment 2 of the present invention. 8, 19 to 20 and 22 to 32 are the same as those in FIG. 5, and thus are denoted by the same reference numerals, and description thereof is omitted here. 5 and FIG. 8 is different from FIG. 8 in that a speed controller 40 is provided in place of the speed controller 21 in FIG. 5 and that the current controller 23 and the door device 16 are different from each other. In the meantime, an overload detector 41 is added.

  In the second embodiment, the output of the speed controller 40 is changed by the output of the door weight estimator 31. Also in this embodiment, a command angular velocity value to the motor 9 is output by the velocity pattern generator 19, and the rotation angle detected by the resolver 17 is differentiated by the differentiator 24 from the output angular velocity command value. The rotational angular velocity obtained in this way is subtracted by the subtractor 20 to calculate an angular velocity deviation, and the speed controller 40 calculates a current command value such that the actual angular velocity follows the commanded angular velocity based on this angular velocity deviation. At this time, in the present embodiment, the current command value is appropriately changed according to the output of the door weight estimator 31. An example of the speed controller 40 is a PI speed controller G (s) as shown in Expression (5). In the present embodiment, the case where the PI speed controller of Formula (5) is used will be described as an example. However, the application of the present invention is not limited to the PI controller, and any equivalent operation can be performed. Other speed controllers may be used.

  In general, the followability to the command value of the current controller 23 is set higher than that of the speed controller 40. Assuming that the speed controller 40 is a PI speed controller as shown in Equation (5) under this condition, the crossing frequency ωc, which is an index indicating the followability of the speed controller 40, becomes as shown in Equation (6). .

If you want to keep the follow-up of the control system from the equation (6) constant, it can be seen it is desirable to change the proportional gain K _sp in accordance with the inertia J. According to the present invention, since the inertia J can be estimated by the door weight estimator 31, the control proportional gain _Ksp can be changed depending on the difference in the door weight of each floor and the presence or absence of the landing side door 10 being engaged. Thereby, the followability of the control system can be kept constant regardless of the difference in the door weight of each floor and the presence or absence of the landing door 10, and finer control is possible.

The integral proportional gain _Ksi is set so as to satisfy the equation (7) according to “the theory and design of AC servo system” (general electronic publisher), for example.

  In the second embodiment, the setting of the overload detector 41 is changed by the output of the door weight estimator 31. The overload detector 41 determines that a human body is in contact with or caught between the car-side door 1 or the landing-side door 10 when the torque exceeds a predetermined abnormality determination threshold, and reverses the movement of the door. Means. Thereby, it can prevent that a big load is applied to a human body. In the present embodiment, the abnormality determination threshold value of the overload detector 41 is changed according to the output of the door weight estimator 31.

  Since the torque of the electric motor 9 varies depending on the weight of the car-side door 1 and the weight of the landing-side door 10, it is desirable to change the abnormality determination threshold for detecting an overload. If the present invention is used, the weight of the door moved by the electric motor 9 can be estimated, so that the overload detection threshold is increased when the estimated door weight is large, and the overload detection threshold is decreased when the estimated door weight is small. Can do. This makes it possible to detect overload with high reliability.

  As described above, in the second embodiment, the same effects as in the first embodiment can be obtained, and the following effects can be further obtained.

  In this embodiment, it has a speed controller 40 for controlling the electric motor 9 based on the difference between the output of the speed pattern generator 19 and the rotational speed obtained from the resolver 17, and the proportional gain of the speed controller 40 is set as the door weight. Since the change is made according to the estimated door weight based on the output of the estimator 31, the speed control system can be optimally changed according to the different door weights at each floor and before and after the engagement. Uniform performance can be obtained.

  Further, in the present embodiment, an overload detector 41 that is determined to be abnormal when the torque of the electric motor 9 is equal to or greater than a predetermined determination threshold is provided, and overload detection is performed from the output of the door weight estimator 31. Since the abnormality determination threshold value of the container 41 is changed, an overload detection threshold value can be set according to different door weights at each floor and before and after the engagement, so that it is possible to detect an overload with high accuracy.

It is a front view of the elevator car side door for showing the structure of the door apparatus of the elevator which concerns on Embodiment 1 and 2 of this invention. It is a front view of the elevator side door of the elevator for showing the structure of the door apparatus of the elevator which concerns on Embodiment 1 and 2 of this invention. It is a top view which shows the relationship between the car side door and the landing side door for showing the structure of the door apparatus of the elevator which concerns on Embodiment 1 and 2 of this invention. It is a figure which shows the opening speed pattern of the door of a common elevator. It is a block diagram which shows the internal structure of the door controller provided in the door apparatus of the elevator which concerns on Embodiment 1 of this invention. It is explanatory drawing which shows the test result of the door weight estimation in the door apparatus of the elevator which concerns on Embodiment 1 of this invention with a bluff. It is explanatory drawing which shows the improvement effect of the door speed pattern by the door apparatus of the elevator which concerns on Embodiment 1 of this invention in a graph. It is a block diagram which shows the internal structure of the door controller provided in the door apparatus of the elevator which concerns on Embodiment 2 of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Car side door, 2 Suspension hand, 3 digits, 4 Guide rail, 5 Winding vehicle, 6 Drive belt, 7 Connection tool, 8 Door controller, 9 Electric motor, 10 Landing side door, 11 Engagement vane, 12 Engagement roller , 13 interlocking rope, 14 elevator car, 15 engagement gap, 16 door device, 17 resolver (rotation sensor), 18 current sensor, 19 speed pattern generator, 20 subtractor, 21 speed controller, 22 subtractor, 23 Current controller, 24, 25 differentiator, 26 gain, 27 known torque converter, 28 subtractor, 29, 30 high pass filter, 31 door weight estimator, 32 storage means, 40 speed controller, 41 overload detector.

Claims (6)

Between the car-side door that opens and closes the elevator car doorway, the landing-side door that opens and closes the doorway of each floor, the motor that drives the car-side door to open and close, and the car-side door and the landing-side door An elevator door device comprising: an engagement device that opens and closes the landing side door in conjunction with the opening and closing operation of the car side door by opening and closing drive of the electric motor,
A rotation sensor for detecting rotation of the electric motor;
A current sensor for detecting the current of the motor;
The elevator door weight is estimated sequentially, the previous door weight estimated value is stored in the storage means as estimated door weight information, and the angular acceleration information obtained from the output of the rotation sensor and the torque information obtained from the current sensor And a door weight estimating means for outputting a new door weight estimated value with the previous door weight estimated value stored in the storage means as an input, and an elevator door device. A speed pattern generating means for generating and outputting a command rotation speed for instructing the electric motor;
The speed pattern generation means determines the engagement between the car side door and the landing side door based on the door gravity estimation value from the door weight estimation means, and determines the value of the command rotational speed based on the determination result. The elevator door device according to claim 1, wherein the elevator door device is changed. Speed control for calculating a current command value such that the actual rotation speed follows the command rotation speed based on the difference between the command rotation speed from the speed pattern generation means and the actual rotation speed obtained from the rotation sensor. Further comprising means,
The elevator door device according to claim 1 or 2, wherein a control law in the speed control means is changed based on an estimated door weight value from the door weight estimation means. An overload detector that determines that the electric motor torque is abnormal when the torque exceeds a predetermined abnormality determination threshold;
The elevator door device according to any one of claims 1 to 3, wherein the overload detector changes the abnormality determination threshold based on a door gravity estimation value from the door weight estimation means. .   The door of the elevator according to any one of claims 1 to 4, wherein the door weight estimating means receives as input the low-frequency component from the angular acceleration information and the torque information. apparatus. Based on position information obtained from the output of the rotation sensor, further comprising known torque conversion means for calculating a position-dependent known torque added to the electric motor;
6. The door weight estimation unit according to claim 1, wherein the door weight estimation unit receives, as input, a torque information obtained from the current sensor minus a known torque obtained from the known torque conversion unit. The elevator door device described.

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