JP2010208776A - Door control device of elevator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform feedback control on a speed of a car door by diverting an existing position sensor, without arranging a speed detector such as a pulse encoder in a motor. <P>SOLUTION: A detecting plate 21 for continuously operating a decelerating position detecting sensor 5 for ON/Off in response to the movement in the opening-closing direction of the car door, is arranged in one of door panels 1a and 1b for constituting the car door. Speed feedback control is performed by detecting an actual speed of the car door based on a pulse signal outputted from the sensor 5 via this detecting plate 21. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a door control device for controlling opening and closing of a car door of an elevator.

  FIG. 13 is a diagram showing the configuration of a conventional elevator car door, and shows the configuration of a left and right middle opening type car door having two door panels.

  The pair of door panels 1a and 1b are supported by a centrally open center via a belt 2 so as to be freely opened and closed in the left-right direction. The belt 2 is wound around a pair of pulleys 3a and 3b, and a door drive motor 4 is connected to the shaft of one pulley 3b. The car doors 1 a and 1 b are respectively coupled to the upper side and the lower side of the belt 2, and move in the door opening direction or the door closing direction depending on the rotation direction of the door drive motor 4. The pulleys 3a, 3b and the door drive motor 4 are fixed to a base panel of a car (not shown).

  Here, as a mechanism for detecting the position of the car door at the time of door opening and closing (in the example of FIG. 13, the position of the door panel 1b), as shown in FIG. 14, five position sensors 5, 7, 9, 11 and 15 are arranged along the opening / closing direction of the car door. Detection plates 6, 8, 10, 12, and 14 corresponding to these position sensors 5, 7, 9, 11, and 15 are attached to the door panel 1b.

  The position sensors 5, 7, 9, 11, and 15 are optical sensors that are turned on upon receiving reflection of light output toward the detection plates 6, 8, 10, 12, and 14 made of a light reflector such as metal To do.

  In FIG. 13, only the position sensor 5 and the detection plate 6 are shown for convenience. Actually, the position sensors 5, 7, 9, 11, and 15 are fixed to the base panel near the upper end of the door panel 1b at a predetermined interval, and the positions of these position sensors 5, 7, 9, 11, and 15 are arranged. The detection plates 6, 8, 10, 12, and 14 are attached to the upper end of the door panel 1b.

  Each of the position sensors 5, 7, and 9 has a predetermined length and is disposed between the door open end and the door close end.

  The “door open end” corresponds to a position where the door opening side end of the door panel to be detected (the right end of the door panel 1b in the example of FIG. 1) stops when the car door is fully opened. The “door closed end” corresponds to a position where the door closing end (the left end of the door panel 1b in the example of FIG. 1) of the door panel to be detected stops when the car door is fully closed.

The position sensor 5 is a sensor for detecting a deceleration position when the door is opened, and is disposed slightly in front of the door opening end and is turned on when the detection plate 6 is opposed.
The position sensor 7 is a sensor for detecting a deceleration position when the door is closed. The position sensor 7 is disposed slightly before the door closing end and is turned on when the detection plate 8 faces the door.
The position sensor 9 is a sensor used for decelerating in two stages when the door is opened and closed. The position sensor 9 is arranged between the position sensor 5 and the position sensor 7 and is turned on when the detection plate 10 is opposed.

  Further, the position sensor 11 is a sensor for detecting the fully open state, and is installed at the door open end and is turned on when the detection plate 11 faces. The position sensor 13 is a sensor for detecting the fully closed state, is installed at the door closed end, and is turned on when the detection plate 13 faces.

  Here, when the doors are opened, the position sensors 5, 7, and 9 are turned on for a predetermined period in the order of the position sensor 7 → the position sensor 9 → the position sensor 5 in accordance with the movement of the door panel 1b in the door opening direction. When the door is closed, the ON operation is performed for a predetermined period in the order of the position sensor 5 → the position sensor 9 → the position sensor 7 in accordance with the movement of the door panel 1b in the door closing direction.

  Further, the lengths of the detection plates 6, 8, and 10 are defined so that the position sensor 5 and the position sensor 9, and the position sensor 7 and the position sensor 9 are turned on with a predetermined overlapping period.

  FIG. 15 is a diagram showing the relationship between a conventional car door opening / closing pattern and each signal, and here shows a state when the door is opened.

  In the figure, DOC is a signal output from the position sensor 13 for detecting the fully closed position, and DOP is a signal output from the position sensor 11 for detecting the fully open position. CLD0 is an output signal of the position sensor 7 for detecting the door closing deceleration position, DEC0 is an output signal of the position sensor 9 for detecting the door opening / closing deceleration position, and OPD is an output signal of the position sensor 5 for detecting the opening / closing deceleration position. is there.

  In response to the door opening request, the car door accelerates and then reaches a constant speed. Here, the first stage of deceleration is started at the timing when the output signal DEC0 of the position sensor 9 is turned on and then the output signal OPD0 of the position sensor 5 is turned on. Then, the second stage of deceleration is started at the timing when the output signal DEC0 of the position sensor 9 is turned off.

  If there is no position sensor 9, the output signal OPD0 from the position sensor 5 is used to decelerate in one step. When the door is closed, the output signal CLD0 from the position sensor 7 decelerates.

  By the way, when controlling the speed of the car door during the opening / closing operation, a speed detector such as a pulse encoder is installed in the door drive motor, and the speed detected by the speed detector is fed back to the speed control system. (For example, refer to Patent Document 1). This is called a “speed feedback control method”, and the actual speed during the opening / closing operation is detected, so that highly accurate opening / closing control can be performed.

  In addition, when such a speed detector cannot be installed, there is a method of estimating the rotational speed of the motor by calculation and performing speed control (see, for example, Patent Document 2).

JP-A-2-286588 JP 2002-302367 A

  When highly precise door control is required due to renewal of the elevator facility, it may be necessary to change to the speed feedback control method. However, the speed feedback control method requires a speed detector such as a pulse encoder in order to detect the actual speed. For this reason, installation work of the speed detector is necessary at the time of renewal, and the position sensor used in the existing door control device becomes unnecessary, and it is necessary to remove it.

  Although there is a method of estimating the motor speed as in Patent Document 2, it is easily affected by the internal constant of the motor used for the estimation. For this reason, an error from the actual speed becomes large, and there is a problem of accuracy.

  The present invention has been made in view of the above points, and an elevator door that can open and close a car door with high speed by a speed feedback control system without installing a speed detector such as a pulse encoder in the motor. An object is to provide a control device.

  An elevator door control device according to the present invention includes a motor that drives a car door to open and close, a deceleration position detector that is disposed in the opening and closing direction of the car door and detects a deceleration position when the door is open or closed, and the motor When the car door is moved in the opening / closing direction of the car, the deceleration position detection means is continuously turned on / off according to the moving speed at that time, and a pulse signal is output from the deceleration position detection means A signal adjusting means for causing the car door to calculate an actual speed of the car door based on a pulse signal output from the deceleration position detecting means via the signal adjusting means, and a speed calculating means Speed control means for feedback-controlling the speed of the car door based on an error between the actual speed of the car door and a speed command designated in advance is provided.

  According to the present invention, the car door can be opened and closed with high accuracy by the speed feedback control method without installing a speed detector such as a pulse encoder in the motor.

FIG. 1 is a diagram showing a configuration of an elevator car door according to a first embodiment of the present invention. FIG. 2 is a diagram showing a configuration of a detection plate provided in the car tore in the same embodiment. FIG. 3 is a diagram showing a relationship between an output signal of a position sensor provided on the car door and the opening / closing direction in the same embodiment. FIG. 4 is a block diagram showing a configuration of a door control device provided in the elevator car in the same embodiment. FIG. 5 is a diagram showing a relationship between a position sensor and a detection plate used in an elevator door control apparatus according to the second embodiment of the present invention. FIG. 6 is a diagram showing an output signal of a position sensor provided on the car door in the same embodiment. FIG. 7 is a block diagram showing a configuration of a door control device provided in an elevator car according to the third embodiment of the present invention. FIG. 8 is a diagram showing an example of output abnormality of the position sensor provided on the car door in the embodiment. FIG. 9 is a block diagram showing a configuration of a door control device provided in an elevator car according to the fourth embodiment of the present invention. FIG. 10 is a diagram showing the relationship between the speed command and the opening / closing direction in the same embodiment. FIG. 11 is a block diagram showing a configuration of a door control device provided in an elevator car according to the fifth embodiment of the present invention. FIG. 12 is a diagram showing the relationship between the car door opening / closing pattern and each signal in the embodiment. FIG. 13 is a diagram showing a configuration of a conventional elevator car door. FIG. 14 is a diagram showing a relationship between a position sensor and a detection plate provided in a car door of a conventional elevator. FIG. 15 is a diagram showing the relationship between the opening / closing pattern of a car door of a conventional elevator and each signal.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
FIG. 1 is a diagram showing a configuration of an elevator car door according to a first embodiment of the present invention, and shows a configuration of a left / right middle opening type car door having two door panels. It should be noted that the same parts as those in FIG. FIG. 2 is a diagram showing a configuration of a detection plate provided in the car tore in the same embodiment.

  As shown in FIG. 1, the pair of door panels 1 a and 1 b are supported via a belt 2 so as to be openable in the left-right direction with a central opening. The belt 2 is wound around a pair of pulleys 3a and 3b, and a door drive motor 4 is connected to the shaft of one pulley 3b. The car doors 1a and 1b are coupled to the upper side and the lower side of the belt 2, respectively. When the door drive motor 4 rotates, the car doors 1a and 1b move in the door opening direction or the door closing direction via the belt 2 in accordance with the rotation direction.

  Here, in the present embodiment, as a mechanism for detecting the actual speed of the car doors 1a and 1b, as shown in FIG. 2, at least a strip-shaped detection plate 21 having a length from the door closed end to the door open end, 22 is attached to the upper end of the door panel 1b.

  As the car door (door panel 1b) moves, the detection plates 21 and 22 continuously turn on / off the position sensors 5 and 7 in accordance with the moving speed at that time. Output a pulse signal.

  That is, the position sensors 5 and 7 are sensors used in the existing door control device as described with reference to FIG. 14, the position sensor 5 is the deceleration position when the door is opened, and the position sensor 7 is the deceleration position when the door is closed. Are respectively detected optically.

  The detection plates 21 and 22 are made of a light reflecting member such as metal. Among these, the 1st detection board 21 is arrange | positioned facing the position sensor 5, and the several slit 21a for allowing the light of the position sensor 5 to pass in the longitudinal direction (door opening / closing direction) is formed in the fixed space | interval. .

  The second detection plate 22 is disposed to face the position sensor 7. Similar to the first detection plate 21, a plurality of slits 22 a for allowing light from the position sensor 7 to pass therethrough are formed at regular intervals in the longitudinal direction (door opening / closing direction) of the second detection plate 22. However, as will be described later, in order to detect the opening / closing direction of the car door from the output signals of the position sensors 5 and 7, the slit position is set to a pulse period of 90 between the first detection plate 21 and the second detection plate 22. It's staggered.

  In FIG. 1, only the position sensor 5 and the first detection plate 21 provided to face the position sensor 5 are shown for the sake of convenience. However, in actuality, the position sensor 7 and the second detection plate 22 are also predetermined. It is installed at the place.

  In such a configuration, the detection plates 21 and 22 are used as signal adjusting means for outputting pulse signals from the position sensors 5 and 7. That is, when there is a door opening request, the door panels 1 a and 1 b move in the door opening direction via the belt 2 by the rotation of the door drive motor 4. At that time, the detection plates 21 and 22 attached to the upper end of the door panel 1b pass in front of the position sensors 5 and 7, respectively.

  As shown in FIG. 2, since a plurality of slits 21a and 22a are formed in the longitudinal direction of the detection plates 21 and 22, each time these pass in front of the position sensors 5 and 7, the position sensor 5 7 is turned on / off to output a pulse signal.

  The same applies when the door is closed. When the door panels 1a and 1b are moved in the door closing direction by driving the door drive motor 4, the detection plates 21 and 22 attached to the upper end of the door panel 1b are moved to the position sensors 5 and 7, respectively. Pass in front. At that time, each time the plurality of slits 21a and 22a formed in the longitudinal direction of the detection plates 21 and 22 pass in front of the position sensors 5 and 7, the position sensors 5 and 7 are turned on / off to generate a pulse signal. Output.

  FIG. 3 is a diagram showing the relationship between the output signals of the position sensors 5 and 7 provided on the car door and the opening / closing direction. In the figure, CLD represents a pulse signal output from the position sensor 7 for detecting the door-opening deceleration position, and OPD represents a pulse signal output from the position sensor 5 for detecting the door-opening deceleration position.

  As shown in FIG. 3A, when the detection plates 21 and 22 pass in front of the position sensors 5 and 7 when the door is opened or closed, a pulse signal OPD is output from the position sensor 5, A pulse signal CLD is output from the sensor 7. In this case, since the positions of the slits 21a of the first detection plate 21 and the slits 22a of the second detection plate 22 are shifted, the opening / closing direction of the car door, that is, when the door is open, due to the difference in the output timing of the pulse signal. It is possible to determine whether there is a door closed. FIG. 3B shows a signal when the door is open, and FIG. 3C shows a signal when the door is closed.

  FIG. 4 is a block diagram showing a configuration of a door control device provided in the elevator car.

  In the present embodiment, the door control device 30 includes a speed calculator 31 and a speed controller 32. The speed calculator 31 receives a pulse signal OPD output from the position sensor 5 via the first detection plate 21 and a pulse signal CLD output from the position sensor 7 via the second detection plate 22. The actual speed of the car door (door panel 1b) is calculated by counting the number of pulses of both signals at a constant period.

  The speed controller 32 drives the door drive motor 4 based on the error between the actual speed of the car door calculated by the speed calculator 31 and a speed command designated in advance, and feedback-controls the speed of the car door.

  Here, as shown in FIGS. 3B and 3C, the ODS and CLD pulse signals are input with their phases shifted by 90 degrees with respect to one pulse period. Accordingly, the actual speed of the car door can be detected from the pulse signals of the ODS and CLD, and the opening / closing direction of the car door can also be detected.

  In this way, even if a rotation detector such as a pulse encoder is not installed in the door drive motor, the position sensor used in the existing car door control device can be used as it is simply by exchanging the detection plate and speed feedback. A control method can be realized.

(Second Embodiment)
Next, a second embodiment of the present invention will be described.

  In the first embodiment, a detection plate with a slit is newly installed to obtain a pulse signal. In the second embodiment, an existing detection plate is used to obtain a pulse signal. is there.

  FIG. 5 is a diagram showing a relationship between a position sensor and a detection plate used in an elevator door control apparatus according to the second embodiment of the present invention. In addition, the same part as FIG. 14 is attached | subjected and demonstrated. The position sensor 11 for detecting the fully open position and the position sensor 13 for detecting the fully closed position are omitted.

  The position sensors 5, 7, and 9 have a predetermined length with respect to the respective deceleration positions, and are disposed between the door open end and the door close end. Further, detection plates 6, 8, and 10 are attached to the upper end portion of the door panel 1b in accordance with the arrangement of the position sensors 5, 7, and 9.

  The position sensor 5 is disposed slightly before the door opening end and is turned on when the detection plate 6 for detecting the door opening deceleration position is opposed. The position sensor 7 is disposed slightly before the door closing end and is turned on when the detection plate 8 for detecting the door closing deceleration position is opposed. The position sensor 9 is used to decelerate in two stages when the door is opened and closed. The position sensor 9 is disposed between the position sensor 5 and the position sensor 7 and is turned on when the detection plate 10 for detecting the door opening / closing deceleration position is opposed. To do.

  Here, in the second embodiment, the light shielding members 23, 24, and 25 are attached to the detection plates 6, 8, and 10 at equal intervals in the longitudinal direction. Thereby, when the detection plate 6 passes in front of the position sensor 5, the position sensor 5 is intermittently turned off at the portion of the light shielding material 23 and a pulse signal is output. Similarly, when the detection plate 8 passes in front of the position sensor 7, the position sensor 7 is intermittently turned off at the portion of the light shielding material 24 and a pulse signal is output, and the detection plate 10 passes in front of the position sensor 9. When passing, the position sensor 9 is intermittently turned off at the portion of the light shielding material 25 and a pulse signal is output.

  FIG. 6 is a diagram showing output signals from the position sensors 5, 7 and 9 provided on the car door. In the figure, CLD is a signal output from the position sensor 7 for detecting the door closing deceleration position, DEC is a signal output from the position sensor 9 for detecting the door opening / closing deceleration position, and OPD is a position sensor for detecting the door opening deceleration position. 5 represents a signal output from 5.

  When the doors are opened, the position sensors 5, 7, and 9 are turned on / off for a predetermined period in the order of the position sensor 7 → the position sensor 9 → the position sensor 5 as the door panel 1b moves in the door opening direction. When the door is closed, as the door panel 1b moves in the door closing direction, the position sensor 5 → the position sensor 9 → the position sensor 7 are turned on / off for a predetermined period. Further, the position sensors 5 and 7 and the phase sensors 9 and 7 are configured to be turned on / off with a predetermined overlap period.

  By inputting the pulse signals output from these position sensors 5, 7, and 9 to the speed calculator 31 shown in FIG. 4, the actual speed of the car door can be calculated to perform speed feedback control. In this case, the opening / closing direction can be determined based on which signal is input first in a period in which the pulse signal CLD and the pulse signal DEC or the pulse signal OPD and the pulse signal DEC are simultaneously turned on.

  In the second embodiment, in addition to the position sensor 5 and the position sensor 7, the position sensor 9 for detecting the door opening / closing deceleration position is used because the length of the detection plate 8 and the detection plate 6 is short. This is because the entire range from the open end to the door closed end cannot be covered. When the detection plate 8 and the detection plate 6 have a length that can cover the entire range from the door open end to the door close end, the position sensor 9 and the detection plate 10 are not necessarily required.

  Thus, not only the position sensor but also an existing detection plate used in the conventional method can be used to realize the speed feedback control method. Therefore, in the case where the belt-like detection plate as in the first embodiment cannot be attached due to space restrictions or the like, it is possible to cope with the simple operation of simply attaching the shielding material to the existing detection plate.

(Third embodiment)
Next, a third embodiment of the present invention will be described.

  In the third embodiment, a function for detecting an output abnormality of the pulse signal of the position sensor is provided.

  FIG. 7 is a block diagram showing a configuration of a door control device provided in an elevator car according to the third embodiment of the present invention. Here, the description will be made on the premise of the configuration of the first embodiment (see FIGS. 1 and 2).

  The door control device 30 includes a speed calculator 31 and a speed controller 32. The speed calculator 31 receives the pulse signal OPD output from the position sensor 5 via the first detection plate 21 and the pulse signal CLD output from the position sensor 7 via the second detection plate 22. The actual speed of the car door (door panel 1b) is calculated by counting the number of pulses of the signal at a constant period.

  The speed controller 32 drives the door drive motor 4 based on the error between the actual speed of the car door calculated by the speed calculator 31 and a speed command designated in advance, and feedback-controls the speed of the car door.

  Here, in the third embodiment, the door control device 30 further includes an abnormality detector 33. This abnormality detector 33 monitors the pulse signal OPD output from the position sensor 5 and the pulse signal CLD output from the position sensor 7, and if there is an abnormality in at least one of them, the main control (not shown) Report to the device.

  FIG. 8 is a diagram showing an example of output abnormality of the position sensors 5 and 7 provided in the car door.

  When there is a problem in the attachment of the first detection plate 21 and the second detection plate 22, as shown in FIG. 8A, for example, although there is an OPD pulse output, the pulse signal of the CLD is It may be partially turned off, or the pulse signal of the CLD is always turned off as shown in FIG.

  In such a case, the abnormality detector 33 determines that the output of the position sensor signal is abnormal. Specifically, the number of pulses obtained from the position sensors 5 and 7 in the normal state is set, and if it is smaller than the set number of pulses by a predetermined number or more, it is determined that there is an abnormality and an abnormality is issued. This abnormality is issued to a main controller (not shown). As a result, the main control device determines that some abnormality has occurred and switches the speed of the car door to a low speed or stops the opening / closing operation through the speed controller 32.

  In this way, by monitoring the output signal of the position sensor, it is possible to detect an abnormality in the output of the pulse signal due to a mounting failure of the detection plate and to deal with it quickly.

  Here, the configuration of the first embodiment has been described as an example, but the configuration of the second embodiment, that is, as described with reference to FIGS. 5 and 6, the existing detection plates 6, 8, The present invention can also be applied to a configuration in which the light shielding members 23, 24, and 25 are provided in each of the ten and a pulse signal is generated.

(Fourth embodiment)
Next, a fourth embodiment of the present invention will be described.

  In the first embodiment, the opening / closing direction of the car door is determined from the difference in timing between the pulse signals output from the two position sensors. On the other hand, in the fourth embodiment, the opening / closing direction of the car door is calculated from the motor constant and the motor control amount without using the signal of the position sensor.

  FIG. 9 is a block diagram showing a configuration of a door control device provided in an elevator car according to the fourth embodiment of the present invention. Here, the description will be made on the premise of the configuration of the first embodiment (see FIGS. 1 and 2).

  The door control device 30 includes a speed calculator 31 and a speed controller 32. The speed calculator 31 receives the pulse signal OPD output from the position sensor 5 via the first detection plate 21 and the pulse signal CLD output from the position sensor 7 via the second detection plate 22. The actual speed of the car door (door panel 1b) is calculated by counting the number of pulses of the signal at a constant period.

  The speed controller 32 drives the door drive motor 4 based on the error between the actual speed of the car door calculated by the speed calculator 31 and a speed command designated in advance, and feedback-controls the speed of the car door.

  Here, in the third embodiment, the door control device 30 further includes an opening / closing direction calculator 34. The opening / closing direction calculator 34 has a function of calculating the opening / closing direction from a motor constant such as an internal resistance value of the door drive motor 4 and a motor control amount.

  For example, if the door drive motor 4 is a direct current motor, the voltage applied to the motor is V, the current flowing through the motor is I, the internal resistance of the motor is R, and the motor induced voltage is VE as follows. The following relational expression holds.

V = VE + R × I (1)
Therefore, the motor voltage V and the motor current I are measured, and these values are input to the opening / closing direction calculator 34 as motor control amounts. The internal resistance R is determined in advance by the characteristics of the door drive motor 4 and is input to the opening / closing direction calculator 34 as a motor constant. Thus, the motor induced voltage VE (= V−R × I) is obtained from the above equation (1).

  The motor induced voltage VE is proportional to the rotation speed of the door drive motor 4 and is determined to be positive or negative depending on the positive or negative direction of rotation. That is, if the value of the motor induced voltage VE is positive, the car door (door panel 1b) is moving in the door opening direction, and if negative, the car door (door panel 1b) is moving in the door closing direction. Can be determined.

  FIG. 10 is a diagram showing the relationship between the speed command and the opening / closing direction. DE in the figure indicates an opening / closing direction signal output from the opening / closing direction calculator 34.

  When the door opening, that is, the speed command and the actual speed are positive, the value of the motor induced voltage VE described above becomes positive. As a result, a signal DE indicating the door opening direction is given from the opening / closing direction calculator 34 to the speed calculator 31. Further, when the door is closed, the value of the motor induced voltage VE described above becomes negative. As a result, a signal DE indicating the door closing direction is given from the opening / closing direction calculator 34 to the speed calculator 31.

  The speed calculator 31 calculates the actual speed of the door drive motor 4 using the door opening / closing direction signal DE given from the opening / closing direction calculator 34 and at least one of the position sensor 5 and the position sensor 7.

  As described above, since the opening / closing direction of the car door can be calculated from the motor constant and the motor control amount, even when only one detection plate with a slit can be used due to a space problem, it can be dealt with. .

  In the configuration of the second embodiment (see FIGS. 5 and 6), the opening / closing direction of the car door can be calculated from the motor constant and the motor control amount in the same manner as described above. However, since the existing short detection plates 6, 8, and 10 are used, when the actual speed of the car door is calculated, the three position sensors 5, 7, and 9 corresponding to these detection plates 6, 8, and 10 are used. Signal is required.

(Fifth embodiment)
Next, a fifth embodiment of the present invention will be described.

  In the fifth embodiment, the speed of the car door can be controlled with the same opening / closing pattern as that of the existing door control device.

  FIG. 11 is a block diagram showing a configuration of a door control device provided in an elevator car according to the fifth embodiment of the present invention. Here, the description will be made on the premise of the configuration of the first embodiment (see FIGS. 1 and 2).

  The door control device 30 is provided with a position generator 35, an opening / closing pattern generator 36, and an opening / closing pattern storage 37 as components for generating the same opening / closing pattern as the existing door control device 40.

  The position generator 35 inputs a pulse signal OPD output from the position sensor 5 via the first detection plate 21 or a pulse signal CLD output from the position sensor 7 via the second detection plate 22, Based on the pulse signal, a door opening deceleration position signal, an opening / closing deceleration position signal, and a door closing deceleration position signal are generated and given to the existing door control device 40.

  These position signals correspond to OPD0 (door opening deceleration position signal), DEC0 (opening / closing deceleration position signal), and CLD0 (door closing deceleration position signal) in FIG. 15, and are used in the existing door control device 40. is there.

  The open / close pattern generator 36 is based on the pulse signal OPD output from the position sensor 5 via the first detection plate 21 or the pulse signal CLD output from the position sensor 7 via the second detection plate 22. The same opening / closing pattern as that of the existing door control device 40 is generated. The open / close pattern memory 37 stores the open / close pattern generated by the open / close pattern generator 36 as a speed command after renewal.

  FIG. 12 is a diagram showing the relationship between the car door opening / closing pattern and each signal. The "open / close pattern" in the figure is the speed pattern when opening and closing the car door of the conventional method, the "actual speed" is the speed pattern when actually opening and closing the car door, and the "generation pattern" is the speed pattern when opening and closing generated from the actual speed. Represents a speed pattern.

  “OPD / CLD” is a pulse signal obtained from the position sensors 5 and 7 via the detection plates 21 and 22 with slits, and “each position signal” is generated and output by the position generator 35 for the conventional method. It represents a position signal.

  First, the door drive motor 4 is driven using the existing door control device 40 to open and close the car door. In this case, the car door (door panel 1b) is provided with detection plates 21 and 22 with slits. Accordingly, the pulse signals OPD and CLD are output from the position sensors 5 and 7 through the detection plates 21 and 22 as the car door moves.

  The pulse signals OPD and CLD are input to the position generator 35 and the open / close pattern generator 36. The position generator 35 counts the number of pulses of OPD or CLD to generate a door opening deceleration position signal, an opening / closing deceleration position signal, and a door closing deceleration position signal that are turned on / off at a predetermined timing, respectively, to thereby provide an existing door. Output to the control device 40. The existing door control device 40 uses these position signals to control the speed of the car door by the method described with reference to FIG.

  On the other hand, the opening / closing pattern generator 36 detects the actual speed of the car door using the OPD and CLD pulse signals, thereby generating a speed pattern for opening and closing (this is simply referred to as an opening / closing pattern). This opening / closing pattern is substantially the same as the opening / closing pattern used in the existing door control device 40.

  In FIG. 12, the “open / close pattern” of the conventional method is decelerated in two stages, but since this method is a speed feedback control method, the pattern becomes a smooth pattern corresponding to the actual speed.

  The opening / closing pattern generated by the opening / closing pattern generator 36 is stored in the opening / closing pattern storage 37. Thereafter, if the existing door control device 40 is disconnected and the opening / closing pattern stored in the opening / closing pattern storage unit 37 is given as a speed command to the speed controller 32 shown in FIG. The speed of the door can be controlled.

  Thus, when the door control device is renewed, the opening / closing pattern used in the existing door control device can be acquired by performing the door opening / closing operation only once by the existing door control device. Thereby, even after the renewal, the car door can be controlled and controlled with an opening / closing pattern that is the same as that before the renewal.

  As described above, according to the present invention, when the door control device for an elevator is renewed with the door mechanism portion remaining, the detection plate can be changed without performing a large-scale construction such as replacement of the mechanism portion. Speed feedback control can be realized only with this.

  Further, when there is no space for attaching a new detection plate, speed feedback control can be realized by processing an existing detection plate.

  Further, by detecting an abnormality in the output of the pulse signal due to a failure in mounting the detection plate, an abnormality in the door speed can be avoided.

  In addition, the speed of the car door is controlled before and after the renewal by opening and closing the door with the existing door control device only once, and detecting the actual speed of the car door at that time and generating the opening and closing pattern. be able to.

  Thus, speed feedback control can be realized without significantly changing the door mechanism. As a result, it is possible to control the opening / closing of the car door with high accuracy by suppressing variations in the opening / closing time due to external forces such as changes in the friction of the mechanism and wind pressure applied to the door panel.

  In each of the above embodiments, the description has been given by taking a double door double door type car door as an example. However, the present invention is not limited to this, and various types of car doors such as a double door single door type are used. Applicable.

  In short, the present invention is not limited to the above-described embodiments as they are, and can be embodied by modifying the components without departing from the scope of the invention in the implementation stage. Moreover, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the above embodiments. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.

  DESCRIPTION OF SYMBOLS 1a, 1b ... Door panel, 2 ... Belt, 3a, 3b ... Pulley, 4 ... Door drive motor, 5 ... Position sensor for detecting a door opening deceleration position, 6 ... Detection plate for detecting a door opening deceleration position, 7 ... Door closing Position sensor for detecting the deceleration position, 8... Detection plate for detecting the door closing deceleration position, 9. Position sensor for detecting the door opening and closing deceleration position, 10... Detection plate for detecting the door opening and closing deceleration position, 11. 13 ... Position sensor for detecting the fully closed position, 21 ... First detection plate, 21a ... Slit, 22 ... Second detection plate, 22a ... Slit, 23, 24, 25 ... Shading material, 30 ... Door control device, 31 ... speed calculator, 32 ... speed controller, 33 ... abnormality detector, 34 ... opening / closing direction calculator, 35 ... position signal generator, 36 ... opening / closing pattern generator, 37 ... opening / closing pattern memory.

Claims (6)

A motor that opens and closes the car door;
A deceleration position detecting means arranged in the opening / closing direction of the car door and detecting a deceleration position when the door is opened or closed;
When the car is moved in the opening / closing direction of the car door by driving the motor, the deceleration position detection means is continuously turned on / off according to the moving speed at that time, and a pulse signal is output from the deceleration position detection means. Signal adjusting means for outputting
Speed calculating means for calculating the actual speed of the car door based on the pulse signal output from the deceleration position detecting means via the signal adjusting means;
An elevator control system comprising: speed control means for feedback-controlling the speed of the car door based on an error between the actual speed of the car door calculated by the speed calculation means and a speed command specified in advance. Door control device. The deceleration position detection means includes
1st position sensor which is arranged in the door opening deceleration position of the above-mentioned car door, receives the reflection of the light outputted towards the detection object, and is turned on, and is arranged in the door closing deceleration position of the above-mentioned car door, A second position sensor that is turned on in response to reflection of light output toward
The signal adjusting means is
Comprising at least a strip-shaped first and second detection plate having a length from the door closing end to the door opening end, the first detection plate being attached to the car door so as to face the first position sensor; First slits through which light output from the first position sensor passes are formed at predetermined intervals in the opening and closing direction of the car door, and the second detection plate is opposed to the second position sensor. A first slit that is attached to the door and transmits light output from the second position sensor is formed at predetermined intervals in the opening / closing direction of the car door, shifted from the position of the second slit,
The speed calculation means is
The pulse signal output from the first position sensor through the first slit formed in the first detection plate and the second slit formed in the second detection plate 2. The elevator door control apparatus according to claim 1, wherein an opening / closing direction of the car door is determined from a difference in output timing of the second pulse signal output from the second position sensor. The deceleration position detection means includes
1st position sensor which is arranged in the door opening deceleration position of the above-mentioned car door, receives the reflection of the light outputted towards the detection object, and is turned on, and is arranged in the door closing deceleration position of the above-mentioned car door, A second position sensor that is turned on in response to reflection of light output toward
The signal adjusting means is
A first detection plate having a predetermined length with respect to the door opening deceleration position and a second detection plate having a predetermined length with reference to the door closing deceleration position, the first detection A plate is attached to the car door so as to face the first position sensor, and a first light shielding material for shielding light output from the first position sensor is provided at a predetermined interval in the opening / closing direction of the car door. The second detection plate is attached to the car door so as to face the second position sensor, and a second light shielding material for shielding light output from the second position sensor is provided. Formed at predetermined intervals in the opening and closing direction of the car door,
The speed calculation means is
Via the pulse signal output from the first position sensor via the first light shielding material formed on the first detection plate and the second light shielding material formed on the second detection plate. 2. The elevator door control apparatus according to claim 1, wherein the opening / closing direction of the car door is determined from a difference in output timing of the second pulse signal output from the second position sensor. An abnormality detection means for detecting an abnormality of the pulse signal output from the deceleration position detection means,
2. The elevator door control device according to claim 1, wherein the speed control means controls the car door at a low speed or stops when an abnormality in the output of the pulse signal is detected by the abnormality detection means. An opening / closing direction calculating means for calculating an opening / closing direction of the car door based on a constant determined by the characteristics of the motor and a control amount when driving the motor;
2. The elevator door control apparatus according to claim 1, wherein the speed calculating means acquires the opening / closing direction of the car door from the opening / closing direction calculating means and calculates an actual speed with respect to the opening / closing direction. Position signal generation means for generating a position signal indicating that the car door has reached the deceleration position based on the pulse signal output from the deceleration position detection means;
Opening / closing which gives the position signal generated by the position signal generating means to the existing control device before renewal and detects the actual speed when the car door is opened / closed from the pulse signal, and generates an opening / closing pattern of the actual speed Pattern generation means;
Storage means for storing the open / close pattern generated by the open / close pattern generating means,
2. The elevator door control apparatus according to claim 1, wherein after the renewal, the opening / closing pattern stored in the storage means is given to the speed control means as a speed command value to feedback control the speed of the car door.

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