JP2011057388A - Elevator door control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce a contact force of the door panel of an elevator when contacting a human body. <P>SOLUTION: The elevator door control device includes a contact force estimating means for estimating contact force to be given to the door panel from a current command value for a motor, the rotating angle acceleration of the motor and the characteristic parameters of a door device, and a means for changing over normal speed control into force control when the estimated contact force is a specified value or higher. The rotating speed of the motor during the force control is used as a determining criterion when reversing a door. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a control device that controls opening and closing of an elevator door.

FIG. 1 shows a front view of an elevator door device.
A hanging hand 2 is provided at the upper end of the door panel 1. A girder 3 whose length is arranged in the horizontal direction is provided at the upper edge of the doorway (not shown). A guide rail 4 is provided on the beam 3 so as to be disposed in the horizontal direction in the longitudinal direction, and guides the horizontal movement of the suspension 2, that is, the opening and closing movement of the door panel 1. In addition, two girders 5 are pivoted apart from each other, and an endless belt 6 is stretched around the two girders 5.
One end of the connector 7 is connected to the suspension 2 and the other end is connected to the belt 6, and an electric motor 9, which is an example of a drive device, 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 wheel 5 rotates and the belt 6 is driven, and the suspension hand 2 and the door panel 1 connected to the belt 6 by the connector 7 are moved in opposite directions by the movement of the belt 6. Open and close the doorway.
For example, when the electric motor 9 rotates in the clockwise direction as indicated by an arrow in FIG. 1, the door panel 1 moves horizontally in the closing direction.

A safety shoe 10 is installed on the door panel 1. For example, when the safety shoe 10 is pushed into the door panel 1 by human contact when the door panel 1 is driven in the closing direction, the door controller 8 is moved to the electric motor 9. An inversion command is sent to invert the door panel 1 in the opening direction, and the load on an object that obstructs the opening and closing of the door (hereinafter referred to as “human body etc.”) is reduced.
However, the safety shoe 10 does not always operate before contact with the door panel 1, and it may be possible to contact the door panel 1 before the safety shoe 10 operates. In this case, a large contact force acts on the human body or the like.
In addition, there is a technique for judging the presence or absence of an obstacle in the traveling direction of the door panel 1 by using a non-contact sensor (not shown) and inverting the door panel 1, but it is impossible to completely eliminate the blind spot in the detection region of the non-contact sensor. It is difficult, and there is a problem that a large contact force may act on the human body or the like, and there is a problem that the cost increases by adding a non-contact type sensor.

  As a prior art for reducing the contact force when such a safety shoe 10 or a non-contact sensor (not shown) does not operate, the motor torque command value is monitored and a torque command value equal to or greater than a predetermined limit value continues for a predetermined time. Then, there exists what reverses a door panel (for example, refer patent document 1).

Further, as a technique for inverting the door panel, there is a technique that includes a torque estimator that estimates the motor torque from the opening / closing pattern, and detects an overload when the difference between the torque command value and the estimated value exceeds a threshold value (for example, Patent Document 2).

In addition to the above, as a technique for reversing the door panel, there is disclosed a technique that detects an overload of the motor in two stages and alerts it by means of a light overload and reverses it by an excessive overload. (For example, refer to Patent Document 3).

JP-A-3-238286 (page 3) Japanese Patent Laying-Open No. 2006-182477 (page 4, FIG. 1) JP 2007-254070 A (pages 2 and 3, FIG. 3)

  The techniques shown in Patent Document 1 and Patent Document 2 are techniques that pay attention to an increase in torque of the electric motor 9 at the time of contact with a human body or the like. However, the torque of the motor 9 not only depends on parameters that can be known to some extent in advance, such as the weight of the door panel 1 and the opening / closing speed pattern, but also predicts in advance such as frictional resistance and various losses associated with the opening and closing of the door panel 1. This is also affected by parameters that are difficult and change over time and over time.

  Therefore, if the torque abnormality determination value with respect to the predetermined normal torque value is set to a small value, even when the door panel 1 is not in contact with the human body or the like, it reverses due to an increase in friction, etc. Deteriorating and serviceability such as improvement of operation efficiency for passengers will deteriorate significantly. In order to prevent such deterioration of serviceability, it is necessary to set the abnormality determination threshold value to be large to some extent, and there is a problem that it is difficult to sufficiently reduce the contact force when the door panel 1 collides.

  The technique shown in Patent Document 3 is based on wasteful reversal by dividing the overload detection threshold into two stages and alerting the alarm means with a slight overload for the problem that such a determination threshold cannot be reduced. It is intended to prevent degradation of serviceability, but when the door panel 1 comes into contact with the human body, the time until it rises from a slight overload to an excessive overload is instantaneous, and the human body before reacting to the alarm As a result, there is a problem that the contact force to the human body or the like cannot be reduced.

  The present invention has been made in order to solve the above-described problems, and is an elevator door that reduces the contact force of the door panel 1 to the human body and the like without causing deterioration of serviceability due to unnecessary door panel reversal. The purpose is to obtain a control device.

An elevator door control device according to the present invention includes a door panel for opening and closing a landing,
A driving device for opening and closing the door panel;
A movement amount detecting means for detecting a rotation amount or a movement amount of the driving device;
Memory for storing door device characteristics and allowable contact force;
A speed controller that calculates a current command value from a difference between a speed command value and an actual speed calculated from an output signal of the movement amount detection means;
A contact force estimator for estimating a contact force to the door panel from the output signal of the movement amount detection means, the current command value, and the door device characteristics;
A switching determinator for comparing the allowable contact force and the magnitude of the estimated contact force calculated by the contact force estimator;
A first speed pattern output unit that calculates and outputs a speed command value that makes the contact force constant from the difference between the allowable contact force and the estimated contact force;
A second speed pattern output unit that outputs a normal speed command value when no contact is detected;
The first input unit receives a signal from the first speed pattern output unit, the second input unit receives a signal from the second speed pattern output unit, and the output of the switching determination unit outputs the first input. And switching means for switching the second input and outputting it as a speed command value.

The contact force is estimated, and in the case of a light overload, it shifts to force control first without reversing immediately. With this operation, in the case of an increase in load due to a change in friction over time, the speed does not extremely decrease, so that the door can be continuously opened and closed, and the operation efficiency is not deteriorated. On the other hand, when actually touching the human body (contact with the human body, etc.), it moves to reversal operation due to the speed reduction, but at this time, it is slightly overloaded until it reverts to reversal operation. Since the contact force is maintained in the state, the load on the human body or the like can be reduced.

It is a front view which shows the door apparatus of an elevator. It is a control block diagram by Embodiment 1 and 2 of this invention. It is a block diagram which shows the contact force estimator by Embodiment 1 of this invention. It is a block diagram which shows the contact force estimator by Embodiment 2 of this invention. It is a graph which shows the effect by Embodiment 2 of this invention. It is a graph which shows the control switching method by Embodiment 3 of this invention. It is a control block diagram by Embodiment 4 of this invention. It is a door device front view of the elevator in Embodiment 5 of this invention. It is a control block diagram by Embodiment 5 of this invention.

Embodiment 1 FIG.
Embodiment 1 of the present invention will be described below with reference to FIG.
Since the configuration of the elevator door device shown in FIG. 1 is the same as the description of the background art, the description thereof is omitted. FIG. 2 is a control block diagram according to the first embodiment. An electric motor 9, which is an example of a drive device installed in the door device 101, includes an electric current sensor 11 that detects a current supplied to the electric motor 9 and a rotation sensor 16 that detects the rotation of the electric motor 9. It is installed as.
In the door controller 8, the normal speed command value of the electric motor 9 is output by the normal speed output device 801 which is the second speed pattern output unit. The switching unit 808 selects an input signal from a first input signal and a second input signal based on a signal from a switching determination unit 813 described later. During normal times when contact or the like is not detected, the switching unit 808 selects the second input signal from the normal speed output device 801 as an input.

The output signal from the switching unit 808 is compared with the rotation speed of the electric motor 9 detected by the rotation sensor 16 by the subtractor 802, and the difference is input to the speed controller 803. The speed controller 803 calculates and outputs a current command value so that the speed difference that is the output of the subtracter 802 is reduced. It should be noted that the contents of the speed controller 803 may be a PI controller well known to those skilled in the art, and are omitted because they are not the gist of the present invention.

The current command value output from the speed controller 803 is compared with the current value of the electric motor 9 detected by the current sensor 11 by the subtractor 804, and the difference is input to the current controller 805. The current controller 805 calculates the voltage command value so as to reduce the current difference that is the output of the subtractor 804 and outputs it to the electric motor 9. The contents of the current controller 805 may be a P controller that is well known to those skilled in the art, and are omitted because they are not the gist of the present invention.

Hereinafter, the operation of the contact force estimator 809 will be described. The torque τ of the electric motor 9 is expressed as follows, where the rotational acceleration of the electric motor 9 is α, the total inertia driven by the electric motor 9 is J, the disturbance force such as friction is F _f , and the disturbance force generated by contact with the human body is F _t It can be expressed as 1).

式（１）をFtについて整理すると式（２）が得られる。

When formula (1) is rearranged for Ft, formula (2) is obtained.

FIG. 3 is a block diagram showing the operation of the contact force estimator 809. Current command value I _c outputted from the speed controller 803 is multiplied by a constant K _e / r _p associated with torque constant K _e and wrapping wheel radius r _p at gain block 8091.
The rotational angular velocity ω (t) detected by the rotation sensor 16 is subtracted by the subtractor 8093 from the rotational angular velocity ω (t−Δt) stored in the memory block 8092 before the predetermined time Δt, and 1 / Δtr in the gain block 8094. _p is multiplied. The output signal of the gain block 8094 is further multiplied by the inertia parameter J stored in the memory 814 by the multiplier 8095.
In the subtractor 8096, the output of the multiplier 8095 and the friction disturbance force F _f stored in the memory 814 are subtracted from the output signal of the gain block 8091.

F _t shown in equation (2) is obtained as the output of the subtractor 8096 in this way. Further, this signal is subjected to high-frequency noise processing by a low-pass filter 8097 and output as a contact force estimated value Ft.

The switching determination unit 813, the allowable contact force F _max and is sometimes larger compared F _max is the second output from the contact force estimator contact force estimated value output from 809 Ft and a constant block 810 A command is sent to the switching means 808 so as to select an input signal, and when the contact force Ft becomes F _max or more, a command is sent to the input switching means 808 so as to select the first input signal.
The subtractor 811 subtracts the estimated contact force value Ft output from the contact force estimator 809 from the allowable contact force F _max output from the constant block 810. A speed command value is calculated and output in the force controller 812 which is the first speed pattern output unit so that the contact force error value which is the output of the subtractor 811 becomes small. The contents of the force controller 812 may be a PI controller that is well known to those skilled in the art, similar to the speed controller 803.

By controlling in this way, when the contact force estimated value Ft calculated by the contact force estimator 809 is smaller than the allowable contact force F _max, normal speed tracking control is performed, and contact with the door panel 1 such as a human body is performed. Thus, when the estimated contact value Ft becomes equal to or greater than F _max , the control shifts to such that the contact force becomes constant. As a result, an increase in contact force due to continuing speed following control can be prevented.

In this way, while the contact force constant control is performed while preventing the contact force of the door panel 1 from becoming excessive, the reversal command means 807 controls the normal speed command value and the speed command that is the output of the switching means 808. The value is compared. If the speed command value, which is the output of the switching means 808, is smaller than the normal speed command value by a predetermined threshold or more, it is determined that contact has occurred and an inversion command is issued.
If the speed command value does not extremely lag behind the normal speed pattern even after shifting to constant contact force control, it is determined that the frictional force has temporarily increased due to dust insertion, etc. Keeping the door open and close while keeping _Fmax below _Fmax .

As described above, even when the frictional force temporarily increases due to the insertion of dust or the like, the useless reversing operation is not performed, so that the operation efficiency does not deteriorate. Moreover, since the contact force is controlled so as not to exceed the allowable value F _max at the time of contact, the load on the human body or the like can be reduced more than before.

Embodiment 2. FIG.
Next, a second embodiment of the present invention will be described below with reference to FIG. Since the configuration of the elevator door device shown in FIG. 1 and the basic control block diagram shown in FIG. 2 are the same as those in the first embodiment, the description thereof will be omitted. The second embodiment is different from the first embodiment only in the contents of the contact force estimator 809.
In the first embodiment, the door device 101 is a rigid body of the total inertia J for simplification in estimating the contact force. Although this method is very simple and suitable for mounting, the actual door device 101 has a characteristic vibration characteristic, and the contact force can be estimated more accurately by considering the characteristic. Hereinafter, the case where this characteristic is considered will be described.

Assuming that the door device 101 is a two-inertia system in which the inertia Jm on the electric motor 9 side and the inertia Jd on the door panel 1 side are connected by a spring of rigidity k, the equation for obtaining the contact force Ft is replaced by equation (2) ( It is required as in 3).

ただしω_p ²=k/J_dで、ｓはラプラス演算子である。式（３）でばね剛性kを∞としドア機器１０１がイナーシャJ=J_m+J_dの剛体であると仮定すると式（２）に一致することは明らかである。

Where ω _p ² = k / J _d and s is a Laplace operator. Assuming that the spring stiffness k is ∞ in equation (3) and the door device 101 is a rigid body of inertia J = J _m + J _d , it is clear that the equation agrees with equation (2).

Here, J _m J _d s ² / k × α indicates that the rotational angular acceleration α obtained by second-order differentiation of the rotation angle θ of the electric motor 9 is further second-order differentiated, and there is no problem in theory. In implementation, it becomes a factor that causes a large calculation error. Therefore, this item is ignored and the estimation equation shown in Equation (4) is used.

FIG. 4 is a block diagram showing the operation of the contact estimator 809 in the second embodiment. The operation of FIG. 4 is obtained by adding an additional operation to FIG. 3 as can be seen from the fact that the equations (2) and (4) are similar. Since the common parts are the same as those in FIG. 3 shown in the first embodiment, the additional parts will be described.

In the second-order differentiation block 8098, the output from the gain block 8091 is input, and second-order differentiation is performed. Actually, the differentiation operation is performed twice by blocks such as the memory block 8092 and the subtractor 8093 described with reference to FIG. 3. Here, the second-order differentiation block 8098 is simply shown.
The memory 814 stores 1 / ω _p ² in addition to the total inertia J and the frictional disturbance Ff shown in FIG. Here, since ω _p is the primary natural frequency of the door device 101, it may be stored in advance as a constant, or may be obtained by learning.
Multiplication block 8099 multiplies the output of second-order differentiation block 8098 and 1 / ω _p ^2, and the output is added to the output of subtractor 8096 by adder 8090. By doing in this way, the contact force estimated value shown in Formula (4) is obtained.

  FIG. 5 is a graph showing a result of verifying the effect of the second embodiment by a simple simulation. When a step disturbance indicated by a broken line in FIG. 5 is applied as the contact force, when the contact force estimator 809 uses the equation (2) shown in the first embodiment, the estimated contact force is as shown by a one-dot chain line in FIG. become. When Expression (4) in Embodiment 2 is used, the estimated contact force value is as shown by a solid line in FIG.

As is clear from FIG. 5, it can be confirmed that the contact force can be estimated more accurately when the equation (4) is used as the estimation equation. Thus, when the technique shown in the second embodiment is used, more parameters are required than in the first embodiment, but the contact force can be estimated more accurately, so that the contact force is controlled with high accuracy. As a result, the load on the human body or the like can be reduced.

Embodiment 3 FIG.
Next, Embodiment 3 of the present invention will be described below with reference to FIG.
In the case of contact with a human body or the like during high-speed traveling, the contact force fluctuates abruptly. Therefore, when the contact force constant control technique shown in the first and second embodiments is applied, the motor 9 has a high torque and a high response. There is a possibility of requiring the characteristics.

Therefore, as shown in FIG. 6, a technique for switching the contact force reduction control method at a speed is effective. That is, when the absolute value of the speed is equal to or less than the predetermined value Vc, the contact force reduction control I is performed by the contact force constant control technique shown in the first and second embodiments. When it is Vc or higher, another contact force reduction control II is performed. By doing in this way, the more reliable contact force reduction effect can be acquired.

Embodiment 4 FIG.
Furthermore, Embodiment 4 of the present invention will be described below with reference to FIG. In this embodiment, the configuration of the elevator door device is the same as that in FIG. FIG. 7 is a control block diagram according to the fourth embodiment. 7, description of 11, 81, 101, and 801 to 814 is the same as in FIG. 2, and therefore, the same reference numerals are given and description thereof is omitted here. The difference between the configurations of FIG. 2 and FIG. 7 is that, in FIG. 7, a speed estimator 815 is provided instead of the rotation sensor 16 as the movement amount detecting means.

In recent years, a sensorless driving technique without a rotation sensor has been actively studied. For example, Japanese Patent Laid-Open No. 2000-78878 discloses a technique for estimating the rotational position of the electric motor 9 from the position dependency of the induced voltage. Japanese Patent Application Laid-Open No. 2004-514392 discloses a technique for estimating the rotational position of the electric motor 9 using the saliency of the inductance of the electric motor 9.

The present invention is also applicable to an elevator door control device using such a sensorless driving technique. That is, the rotational speed of the electric motor 9 is estimated by the speed estimator 815 using the voltage command value output from the current controller 805 and the measured current value output from the current sensor 11. Details of the speed estimator 815 are omitted because they are not the essence of the present invention. Thus, instead of the output signal of the rotation sensor 16, the estimated rotation speed estimated by the speed estimator 815 may be used.
By configuring in this way, even when there is no rotation sensor 16, it is possible to obtain substantially the same effect as in the first embodiment.

Embodiment 5 FIG.
Finally, a fifth embodiment of the present invention will be described below with reference to FIGS. FIG. 8 is a diagram illustrating a configuration of an elevator door device according to the fifth embodiment. 1 to 8 in FIG. 8 are the same as those in FIG. 1 and therefore the same reference numerals are given, and the description thereof is omitted here. 1 and FIG. 8, a linear motor 20 including a movable coil 18 and a permanent magnet 17 is used instead of the electric motor 9 as a driving device for the car-side door 1 in FIG. 8. The position sensor 19 is used instead of the rotation sensor as the movement amount detecting means.

The present invention is also applicable to an elevator door control device using such a linear motor 20. In the linear motor 20, a driving force acts on the permanent magnet 17 in the left-right direction with respect to the paper surface of FIG. The position sensor 19 detects the position of the car side door 1 at this time.

FIG. 9 is a control block diagram according to the fifth embodiment. 9, descriptions of 11, 101, and 801 to 814 are the same as those of FIG. 2, and therefore, are denoted by the same reference numerals and description thereof is omitted here. 2 and 9 is that a linear motor 20 is provided instead of the electric motor 9 and a position sensor 19 is provided instead of the rotation sensor 16 in FIG. The speed is calculated by differentiating the output of the position sensor 19 by the differentiation block 816, and the other is the same as in the first embodiment.
Therefore, even when the linear motor 20 is used as in the fifth embodiment, the same control as that in the first embodiment can be performed, and the load on the human body or the like can be reduced.

1 door panel, 9, 20 drive device, 16, 19, 815 movement amount detection means,
801 Second speed pattern output unit, 803 speed controller, 807 reverse command means,
808 switching means, 809 contact force estimator, 812 first speed pattern output unit,
813 switching determination unit, 814 memory.

Claims (5)

A door panel that opens and closes the landing,
A driving device for opening and closing the door panel;
A movement amount detecting means for detecting a rotation amount or a movement amount of the driving device;
Memory for storing door device characteristics and allowable contact force;
A speed controller that calculates a current command value from a difference between a speed command value and an actual speed calculated from an output signal of the movement amount detection means;
A contact force estimator for estimating a contact force to the door panel from the output signal of the movement amount detection means, the current command value, and the door device characteristics;
A switching determinator for comparing the allowable contact force and the magnitude of the estimated contact force calculated by the contact force estimator;
A first speed pattern output unit that calculates and outputs a speed command value that makes the contact force constant from the difference between the allowable contact force and the estimated contact force;
A second speed pattern output unit that outputs a normal speed command value when no contact is detected;
The first input unit receives a signal from the first speed pattern output unit, the second input unit receives a signal from the second speed pattern output unit, and the output of the switching determination unit outputs the first input. Switching means for switching the second input and outputting as a speed command value;
An elevator door control apparatus comprising: When the output signal from the switching unit is compared with the output signal from the second speed pattern output unit, and the output signal from the switching unit is delayed by a predetermined threshold or more with respect to the second speed pattern output unit. The elevator door control device according to claim 1, further comprising a reversal command means for stopping or reversing the door panel in the previous period. 2. The elevator door control device according to claim 1, wherein the door device characteristic is total inertia and frictional force for each floor of the door. 2. The control device for an elevator door according to claim 1, wherein the door device characteristics are total inertia, frictional force, and natural frequency of the door for each floor of the door. The elevator door control device according to any one of claims 1 to 4, wherein the control device is used when an opening / closing speed of the door panel is a predetermined value or less.

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