JP2012116653A - Elevator door control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an elevator door control device that is capable of setting a proper torque threshold for each floor even when the memory capacity is small.SOLUTION: The elevator door control device includes: a drive control means which outputs a torque command value to a motor so that rotation speed of the motor for driving the door of the elevator follows a speed command value corresponding to a position in the opening and closing direction of the door; a memory means which stores a plurality of reference torque thresholds corresponding to respective positions in the opening and closing directions of the door as the reference when determining torque threshold obtained by adding an offset value to the torque command value in order to determine that torque of the motor is excessive; a calculation means which calculates a value corresponding to the ratio of the torque command value to a reference torque command value corresponding to the reference torque threshold with respect to the respective positions in the opening and closing direction of the door for each floor; and a torque threshold calculation means which determines a difference obtained by subtracting the offset value from the reference torque threshold corresponding to positions in the opening and closing directions of the door, and defines a value obtained by adding the offset value to a value obtained by multiplying the ratio by the difference as the torque threshold corresponding to the positions in the opening and closing directions of the door for each floor.

Description

  The present invention relates to an elevator door control device.

  The elevator door control device compares the torque command value of the door motor with a predetermined torque threshold to determine an overload on the motor. Thereby, it is possible to detect whether a person or an object is caught or pulled into the door. In order to improve the detection accuracy of a person or an object being pinched or pulled in, a method has been proposed in which the torque threshold value is finely divided and set for each floor on the condition of the door position and the like.

Japanese Patent Laid-Open No. 2-110096

  However, the elevator changes the speed at the time of opening and closing the door and the load on the door for each floor. For this reason, the thing of patent document 1 needs to memorize | store several torque threshold values for every floor. That is, a large memory capacity is required to set the torque threshold.

  The present invention has been made to solve the above-described problems, and an object thereof is to provide an elevator door control device that can set an appropriate torque threshold for each floor even with a small memory capacity. That is.

  The elevator door control device according to the present invention outputs a torque command value to the motor so that the rotational speed of the motor that drives the elevator door follows the speed command value corresponding to the position of the door in the opening and closing direction. Corresponding to each position in the opening and closing direction of the door as a reference when obtaining a torque threshold value obtained by adding an offset value to the torque command value to determine that the torque of the motor is excessive A storage unit storing a plurality of reference torque threshold values, and a value corresponding to a ratio of a torque command value to a reference torque command value corresponding to the reference torque threshold value for each position in the door opening / closing direction for each floor. Calculating a difference obtained by subtracting the offset value from a reference torque threshold value corresponding to a position in the opening / closing direction of the door, and calculating the ratio to the difference Flip and the value obtained by adding the offset value to what a torque threshold value calculating means for the torque threshold value corresponding to the closing position of the door of the floor each floor, but with the.

  According to the present invention, an appropriate torque threshold can be set for each floor even with a small memory capacity.

1 is a front view of an elevator door control device according to Embodiment 1 of the present invention. FIG. 1 is a block diagram of an elevator door control device according to Embodiment 1 of the present invention. FIG. It is a figure for demonstrating the speed pattern and torque pattern at the time of the normal operation of the door of the elevator in which the elevator door control apparatus in Embodiment 1 of this invention is utilized. It is a figure for demonstrating the speed pattern and torque pattern when the speed command value of the door of the elevator in which the elevator door control apparatus in Embodiment 1 of this invention is utilized changes. It is a figure for demonstrating operation | movement of the door control apparatus of the elevator in Embodiment 1 of this invention. It is a block diagram of the door control apparatus of the elevator in Embodiment 2 of this invention. It is a figure for demonstrating the torque pattern in case the mass of the door of an elevator in which the elevator door control apparatus in Embodiment 2 of this invention is utilized differs for every floor. It is a figure for demonstrating operation | movement of the door control apparatus of the elevator in Embodiment 2 of this invention. It is a block diagram of the door control apparatus of the elevator in Embodiment 3 of this invention. It is a figure for demonstrating the torque pattern in case the speed command value and mass of the elevator door in which the elevator door control apparatus in Embodiment 3 of this invention is utilized differ for every floor. It is a figure for demonstrating operation | movement of the door control apparatus of the elevator in Embodiment 3 of this invention. It is a block diagram of the door control apparatus of the elevator in Embodiment 4 of this invention. It is a figure for demonstrating the torque pattern in case the mass of the door of the elevator in which the elevator door control apparatus in Embodiment 4 of this invention is utilized differs for every floor. It is a figure for demonstrating operation | movement of the door control apparatus of the elevator in Embodiment 4 of this invention.

  A mode for carrying out the invention will be described with reference to the accompanying drawings. In addition, in each figure, the same code | symbol is attached | subjected to the part which is the same or it corresponds, The duplication description is simplified or abbreviate | omitted suitably.

Embodiment 1 FIG.
1 is a front view of an elevator door control apparatus according to Embodiment 1 of the present invention.
An elevator hoistway (not shown) is formed so as to penetrate each floor of the building. On each floor, a landing (not shown) is formed in the vicinity of the hoistway. A passenger basket (not shown) is provided in the hoistway. The control device 1 is connected to the passenger car via a control cable (not shown). By the control by the control device 1, the passenger basket moves between the floors.

  A landing entrance (not shown) is formed between each landing and the hoistway. A landing door (not shown) is provided at the landing doorway. A car doorway (not shown) is formed at the landing side of the passenger car. A door control device 2 is provided at the car doorway. The door control device 2 includes a cage door 3, a door opening / closing mechanism 4, and a door driving mechanism 5.

  The cage door 3 is provided so as to open and close the cage doorway. Specifically, the basket doors 3 are provided in pairs so as to be open at the center. A door opening / closing mechanism 4 is provided above the basket door 3.

  The door opening / closing mechanism 4 includes a suspension member 6, a hanger roller 7, a rail 8, a pulley 9, a belt 10, and a connecting member 11. The suspension member 6 is fixed to the upper part of the cage door 3. The hanger roller 7 is disposed on the upper part of the suspension member 6. The rail 8 is disposed above the cage door 3. The pulleys 9 are arranged above the rails 8 at a predetermined interval in the horizontal direction. The belt 10 is disposed so as to go around the pulley 9.

  One end of the connecting member 11 is fixed to a predetermined position of the belt 10 above the pulley 9. One other end of the connecting member 11 is fixed to one of the suspension members 6. The other end of the connecting member 11 is fixed to a predetermined position of the belt 10 below the pulley 9. Both other ends of the connecting member 11 are fixed to the other of the suspension member 6.

  The door drive mechanism 5 includes a motor 12, a pulse encoder 13, and a control unit 14. The motor 12 has a function of rotationally driving the pulley 9 via a rotation shaft. The pulse encoder 13 has a function of converting the rotation of the motor 12 into a pulse.

  The control unit 14 has a function of calculating the speed command value corresponding to the position of the cage door 3 and the door speed based on the pulse output from the pulse encoder 13. The control unit 14 has a function of calculating a torque command value for the motor 12 based on the calculation processing result. The control unit 14 has a function of outputting a control signal for controlling the motor 12 based on the torque command value.

  In such an elevator, when the passenger car is disposed adjacent to the landing, a part of the cage door 3 and a part of the landing door are engaged with each other. In this state, the motor 12 is driven by the control unit 14. By this driving, the pulley 9 rotates. By this rotation, the belt 10 moves. At this time, on the upper side of the pulley 9, the belt 10 moves to one of the left and right. On the other hand, below the pulley 9, the belt 10 moves to the other of the left and right.

  Along with this movement, the connecting members 11 move in directions opposite to each other. Along with this movement, the suspension member 6 moves in directions opposite to each other. Along with this movement, the basket door 3 moves in directions opposite to each other. At this time, the hanger roller 7 travels on the rail 8. For this reason, the cage door 3 smoothly opens and closes the cage doorway. With this opening and closing, the pair of landing doors move in opposite directions. With this movement, the landing door opens and closes the landing doorway. In this way, the cage door 3 and the landing door work together to function as an elevator door.

Next, the control unit 14 will be specifically described with reference to FIG.
FIG. 2 is a block diagram of the elevator door control apparatus according to Embodiment 1 of the present invention.

  As shown in FIG. 2, the control unit 14 includes an input / output port 15, a pulse count unit 16, a ROM 17, a door position detector 18, a door speed detector 19, a motor load detector 20, a door drive controller 21, a torque command. A value limiting unit 22, a RAM 23, a speed command value change rate determination unit 24, and a torque threshold value calculation unit 25 are provided.

  The input / output port 15 has a function of transmitting / receiving information to / from the control device 1. The pulse count unit 16 has a function of counting pulses input from the pulse encoder 13. The ROM 17 functions as a storage unit that stores a predetermined reference speed command value pattern.

  The door position detection unit 18 has a function of obtaining the door position from the pulse count obtained by the pulse count unit 16. The door speed detector 19 has a function of obtaining the door speed from the pulse count obtained by the pulse count unit 16. The motor load detection unit 20 reads a speed command value stored in the ROM 17 based on the door position, and calculates a torque command value from a deviation between the speed command value and the door speed obtained by the door speed detection unit 19. Prepare.

  The door drive control unit 21 has a function of controlling an opening / closing drive command to the motor 12 based on a command from the control device 1 and a torque command value. The torque command value limiting unit 22 is configured to drive the door based on a torque threshold value having a certain excess width in the torque command value to prevent the torque command value from becoming excessively large and an excessive force acting on the door. A function for limiting the operation of the control unit 21 is provided.

  The RAM 23 has a function of temporarily storing calculation data in the control unit 14, a door speed at a normal load, and a reference torque command value. The RAM 23 functions as storage means for storing a value obtained by adding a predetermined offset value to the reference torque command value as a reference torque threshold pattern. The pattern of this reference torque command value is set finely. For example, the pattern of the reference torque command value includes 50 data corresponding to each position of the door.

  The speed command value change rate determination unit 24 calculates a ratio corresponding to the ratio of the torque command value to the reference torque command value corresponding to the reference torque threshold for each position in the door opening / closing direction for each floor. Functions as a means. Specifically, a function for obtaining a rate of change from a reference speed command value serving as a reference of acceleration / deceleration at each position in the speed command value for the motor 12 for each position of the acceleration unit, the highest speed unit, and the deceleration unit is provided. . That is, the speed command value change rate determination unit 24 calculates the ratio of the acceleration / deceleration obtained from the speed command value of the position in the door opening / closing direction for each floor to the acceleration / deceleration obtained from the reference speed command value.

  The torque threshold value calculation unit 25 has a function of obtaining the torque threshold value of the target floor by multiplying the speed command value change rate obtained by the speed command value change rate determination unit 24 by multiplying the reference torque threshold value around the offset value. Prepare. Specifically, the torque threshold value of the target floor is obtained as follows.

  First, the torque threshold calculation unit 25 obtains a difference obtained by subtracting the offset value from the reference torque threshold. Thereafter, the torque threshold calculation unit 25 adds an offset value to the product of the difference and the ratio, and calculates a plurality of torque thresholds corresponding to the position in the door opening / closing direction for each floor.

Next, the reference torque threshold will be described with reference to FIG.
FIG. 3 is a diagram for explaining a speed pattern and a torque pattern when an elevator door using the elevator door control device according to Embodiment 1 of the present invention normally operates. The horizontal axis in FIG. 3 is time. The vertical axis in the upper part of FIG. 3 is the door speed. The lower vertical axis in FIG. 3 represents the torque of the motor 12.

  In the upper part of FIG. 3, W01 is a reference speed command value pattern. In the reference speed command value pattern W01, the time from “fully closed” to “P11” is the acceleration unit. In the acceleration unit, the acceleration of the door is constant. From time “P11” to “P21” is the fastest part. In the maximum speed section, the door speed is constant at the maximum speed. From the time “P21” to “fully open”, the speed reduction unit. In the deceleration part, the deceleration of the door is constant.

  W04 is the actual speed pattern of the door. A torque command value W00 is calculated based on a deviation between the actual door speed pattern and the reference speed command value pattern. Specifically, in the acceleration unit, the pattern of the torque command value W00 is convex upward and becomes a positive value. In the maximum speed portion, the pattern of the torque command value W00 is almost zero. In the deceleration unit, the pattern of the torque command value W00 is convex downward and becomes a negative value.

  W02 is a reference torque threshold pattern. The reference torque threshold pattern W02 is obtained by adding an offset value to the torque command value pattern W00. The offset value is a value common to all of the acceleration unit, the highest speed unit, and the deceleration unit.

Next, a method for calculating the torque threshold when the speed command value changes for each floor will be described with reference to FIG.
FIG. 4 is a diagram for explaining a speed pattern and a torque pattern when the elevator door speed command value used in the elevator door control apparatus according to Embodiment 1 of the present invention changes. The horizontal and vertical axes in FIG. 4 are the same as those in FIG.

  B03 is the offset value described in FIG. W11 is a speed command value pattern at a certain floor. In the speed command value pattern W11, the time from “fully closed” to “P12” is the acceleration unit. From time “P12” to “P22” is the fastest part. From time “P22” to “fully open”, the speed reduction unit.

  Here, the acceleration / deceleration of the door is proportional to the angular acceleration / deceleration of the motor 12. The angular acceleration / deceleration of the motor 12 is proportional to the torque of the motor 12. That is, the acceleration / deceleration speed of the door is proportional to the torque of the motor 12. Therefore, in the acceleration unit, the maximum speed unit, and the deceleration unit, the reference torque command value pattern W00 is multiplied by the ratio of the acceleration / deceleration determined from the speed command value pattern W11 to the acceleration / deceleration determined from the speed command value pattern W01. This corresponds to the torque of the motor 12 on the main floor.

  The reference torque command value pattern W00 is a difference obtained by subtracting the offset value B03 from the reference torque threshold value pattern W02. That is, the product of the difference and the ratio corresponds to the torque of the motor 12 on the main floor. Therefore, if the offset value B03 is added to the torque corresponding to the torque of the motor 12 on the main floor, a torque threshold pattern W12 that appropriately corresponds to the torque of the motor 12 on the main floor can be obtained.

Next, a torque threshold calculation procedure corresponding to each floor will be described with reference to FIG.
FIG. 5 is a diagram for explaining the operation of the elevator door control apparatus according to Embodiment 1 of the present invention.

  First, in step S1, it is determined whether the door is being opened or closed. If the door is not open / closed, the determination is repeated. On the other hand, when the door is being opened and closed, the process proceeds to step S2. In step S2, the rate of change from the reference speed command value of the acceleration / deceleration at each position in the speed command value for the motor 12 is obtained for each position of the acceleration unit, the highest speed unit, and the deceleration unit.

  Then, it progresses to step S3 and the torque threshold value of an object floor is calculated | required. Specifically, the difference obtained by subtracting the offset value from the reference torque threshold is multiplied by the rate of change from the reference speed command value. The offset value is added to this value, and the torque threshold value of the target floor is obtained. Then, it progresses to step S4, a torque threshold value is used for a comparison with a torque command value, and returns to step S1.

  According to the first embodiment described above, the difference obtained by subtracting the offset value from the reference torque threshold corresponding to the position of the door in the opening / closing direction is obtained. This difference is multiplied by a value corresponding to the ratio of the torque command value to the reference torque command value corresponding to the reference torque threshold. A value obtained by adding an offset value to this value is a torque threshold value corresponding to the position in the door opening / closing direction for each floor. Therefore, an appropriate torque threshold can be set for each floor even with a small memory capacity.

  Further, the ratio used when obtaining the torque threshold value in the present embodiment is the position in the door opening / closing direction for each floor relative to the acceleration / deceleration determined from the speed command value of the door opening / closing direction position corresponding to the reference torque command. This is the acceleration / deceleration ratio obtained from the speed command value. In this case, the only data that needs to be stored for obtaining the torque threshold value for each floor is the reference torque threshold value data, the reference speed command value data, and the offset value. For this reason, even when the speed command value is different for each floor, a torque threshold value very similar to the pattern of the torque command value for each floor can be obtained without saving in the RAM 23 or the like.

Embodiment 2. FIG.
6 is a block diagram of an elevator door control apparatus according to Embodiment 2 of the present invention. In addition, the same code | symbol is attached | subjected to Embodiment 1 and an equivalent part, and description is abbreviate | omitted.

  In the first embodiment, the speed command value change rate determination unit 24 is provided. On the other hand, in the second embodiment, a door mass change rate determination unit 26 is provided. The ROM 17 stores the mass data of the cage door 3 and the mass data of the landing door for each floor.

Next, a torque threshold calculation method when the door is heavy will be described as an example of the case where the weight of the door varies from floor to floor using FIG.
FIG. 7 is a diagram for explaining a torque pattern in a case where the mass of elevator doors for which the elevator door control device according to Embodiment 2 of the present invention is used is different for each floor. The horizontal and vertical axes in FIG. 7 are the same as the horizontal and vertical axes in the lower part of FIG.

  The torque of the motor 12 is proportional to the total value of the mass of the cage door 3 and the mass of the landing door. Accordingly, if the acceleration part, the highest speed part, and the deceleration part multiply the reference torque command value pattern W00 by the ratio (change rate) of the main floor door mass to the reference door mass, the main floor This corresponds to the torque command value pattern W20.

  The reference torque command value pattern W00 is a difference obtained by subtracting the offset value B03 from the reference torque threshold value pattern W02. That is, the product of the difference and the ratio corresponds to the torque command value pattern W20 on the main floor. Therefore, when the offset value B03 is added to the torque command value pattern W20 on the main floor, a torque threshold pattern W22 that appropriately corresponds to the torque of the motor 12 on the main floor is obtained.

Next, a torque threshold calculation procedure corresponding to each floor will be described with reference to FIG.
FIG. 8 is a diagram for explaining the operation of the elevator door control apparatus according to Embodiment 2 of the present invention.

  First, in step S11, it is determined whether the door is being opened or closed. If the door is not open / closed, the determination is repeated. On the other hand, when the door is being opened and closed, the process proceeds to step S12. In step S12, the rate of change of the door mass data of the target floor with respect to the reference door mass data is obtained.

  Then, it progresses to step S13 and the torque threshold value of an object floor is calculated | required. Specifically, the difference obtained by subtracting the offset value from the reference torque threshold is multiplied by the rate of change from the reference door mass data. The offset value is added to this value, and the torque threshold value of the target floor is obtained. Then, it progresses to step S14, a torque threshold value is used for a comparison with a torque command value, and returns to step S11.

  According to Embodiment 2 demonstrated above, the ratio utilized when calculating | requiring a torque threshold value is a ratio of the door mass for every floor with respect to the mass of the door corresponding to a reference | standard torque threshold value. In this case, the only data that needs to be stored to determine the torque threshold for each floor is the reference torque threshold data, the reference door mass data, the door mass data for each floor, and the offset value. For this reason, even when the landing doors have different masses for each floor, it is possible to obtain a torque threshold that is very similar to the torque command value pattern for each floor without being stored in the RAM 23 or the like.

Embodiment 3 FIG.
FIG. 9 is a block diagram of an elevator door control apparatus according to Embodiment 3 of the present invention. In addition, the same code | symbol is attached | subjected to Embodiment 1 and an equivalent part, and description is abbreviate | omitted.

  As shown in FIG. 9, the third embodiment is provided with both the speed command value change rate determination unit 24 of the first embodiment and the door mass change rate determination unit 26 of the second embodiment.

Next, a method for calculating the torque threshold when the speed command value and the door mass change for each floor will be described with reference to FIG.
FIG. 10 is a diagram for explaining a torque pattern in a case where the speed command value and mass of an elevator door for which the elevator door control device according to Embodiment 3 of the present invention is used are different for each floor. The horizontal and vertical axes in FIG. 9 are the same as the horizontal and vertical axes in the lower part of FIG.

  In the third embodiment, a torque command value pattern W30 can be obtained by combining the torque command value pattern W02 of FIG. 4 and the torque command value pattern W20 of FIG. If the offset value B03 is added to the torque command value pattern W30, a torque threshold pattern W32 that appropriately corresponds to the torque of the motor 12 on the main floor is obtained.

Next, a torque threshold calculation procedure corresponding to each floor will be described with reference to FIG.
FIG. 11 is a diagram for explaining the operation of the elevator door control apparatus according to Embodiment 3 of the present invention.

  First, in step S21, it is determined whether the door is being opened or closed. If the door is not open / closed, the determination is repeated. On the other hand, when the door is being opened and closed, the process proceeds to step S22. In step S22, the rate of change from the reference speed command value of the acceleration / deceleration at each position in the speed command value for the motor 12 is obtained for each position of the acceleration unit, the highest speed unit, and the deceleration unit. Then, it progresses to step S23 and the change rate of the door mass data of the object floor with respect to reference | standard door mass data is calculated | required.

  Then, it progresses to step S24 and the torque threshold value of an object floor is calculated | required. Specifically, the difference obtained by subtracting the offset value from the reference torque threshold is multiplied by the change rate from the reference speed command value and the change rate from the reference door mass data. The offset value is added to this value, and the torque threshold value of the target floor is obtained. Then, it progresses to step S25, a torque threshold value is used for a comparison with a torque command value, and returns to step S21.

  According to the third embodiment described above, the torque threshold corresponding to each floor is set in consideration of both the acceleration / deceleration of the door and the mass of the door. For this reason, even when the speed command value and the door mass are different for each floor, a torque threshold that is very similar to the pattern of the torque command value for each floor can be obtained without being stored in the RAM 23 or the like.

Embodiment 4 FIG.
FIG. 12 is a block diagram of an elevator door control apparatus according to Embodiment 4 of the present invention. In addition, the same code | symbol is attached | subjected to Embodiment 1 and an equivalent part, and description is abbreviate | omitted.

  In FIG. 12, reference numeral 27 denotes a torque command value learning unit. The torque command value learning unit 27 functions as a learning unit that learns a fine torque command value pattern that serves as a reference for only the acceleration unit of each floor. For example, the number of torque command value pattern data serving as a reference for only the acceleration part of each floor is about 1/3 of the number of divisions at each position of the door. Reference numeral 28 denotes a torque command value change rate determination unit. The torque command value change rate determination unit 28 has a function of obtaining a ratio of the maximum value of the torque threshold value of the acceleration unit to the reference torque threshold value other than the acceleration unit.

Next, a method for calculating a torque threshold when the door is heavy will be described as an example of the case where the weight of the door changes for each floor using FIG.
FIG. 13 is a diagram for illustrating a torque pattern in the case where the mass of elevator doors that use the elevator door control device according to Embodiment 4 of the present invention differs from floor to floor. The horizontal and vertical axes in FIG. 13 are the same as the horizontal and vertical axes in the lower part of FIG.

  In the acceleration portion from the fully closed position to the acceleration end position, the torque command value is likely to change for each floor depending on the load state of the door. On the other hand, in the acceleration unit of the present embodiment, the torque command value learning unit 27 learns the torque command value pattern W43 during actual operation as data for each position point of a predetermined width. The learning result is stored in the RAM 23. The offset value B03 is added to these data, and a plurality of torque threshold values corresponding to the position in the door opening / closing direction for each floor are obtained.

  On the other hand, except for the acceleration unit, a difference obtained by subtracting the offset value B03 from the reference torque threshold pattern W02 is obtained. This difference corresponds to the reference torque command value pattern W00. The ratio corresponding to the reference torque command value pattern W02 is multiplied by the ratio obtained by the torque command value change rate determination unit 28. A value obtained by adding the offset value B03 to this value is a torque threshold value corresponding to the position in the door opening / closing direction for each floor.

Next, a torque threshold calculation procedure corresponding to each floor will be described with reference to FIG.
FIG. 14 is a diagram for explaining the operation of the elevator door control apparatus according to Embodiment 4 of the present invention.

  First, in step S31, it is determined whether the door is being opened or closed. If the door is not open / closed, the determination is repeated. On the other hand, when the door is being opened and closed, the process proceeds to step S32. In step S32, it is determined whether or not the torque command value in the acceleration unit has been learned. If learning of the torque command value in the acceleration unit has not been completed, the process proceeds to step S33. In step S33, the torque command value in the acceleration unit is learned, and the process returns to step S31.

  On the other hand, if learning of the torque command value in the acceleration unit has been completed in step S32, the process proceeds to step S34. In step S34, it is determined whether or not the current position of the door is the acceleration unit. When the current position of the door is the acceleration unit, the process proceeds to step S35, and the torque threshold value is obtained from the learned torque command value of the acceleration unit. Then, it progresses to step S36, a torque threshold value is used for a comparison with a torque command value, and returns to step S31.

  On the other hand, if the current position of the door is other than the acceleration unit in step S34, the process proceeds to step S37. In step S37, the ratio of the maximum value of the torque threshold value in the acceleration unit to the reference torque threshold value is obtained, and the process proceeds to step S38.

  In step S38, a torque threshold value other than in the acceleration unit is obtained. Specifically, the difference obtained by subtracting the offset value from the reference torque threshold is multiplied by the ratio of the maximum value of the torque threshold in the acceleration unit to the reference torque threshold. The offset value is added to this value, and the torque threshold value of the target floor is obtained. Then, it progresses to step S36, a torque threshold value is used for a comparison with a torque command value, and returns to step S31.

  According to the fourth embodiment described above, fine torque command values are learned in the acceleration unit of each floor. In this case, the only data that needs to be stored in order to determine the torque threshold value for each floor is the reference torque threshold data, the torque command value in the acceleration unit for each floor, and the offset value. For this reason, even if the masses of the landing doors differ from floor to floor, the torque threshold is accurately set in the acceleration section that is easily affected by the mechanical system. On the other hand, except for the acceleration part of each floor, a torque threshold value very similar to the torque command value pattern for each floor can be obtained with moderate accuracy without storing it in the RAM 23 or the like.

  In addition, it is not necessary to limit the control by the door control device 2 of the first to third embodiments when the door is opened. That is, the door closing device 2 may control the door closing operation.

DESCRIPTION OF SYMBOLS 1 Control apparatus 2 Door control apparatus 3 Basket door 4 Door opening / closing mechanism 5 Door drive mechanism 6 Suspension member 7 Hanger roller 8 Rail 9 Pulley 10 Belt 11 Connecting member 12 Motor 13 Pulse encoder 14 Control unit 15 Input / output port 16 Pulse count unit 17 ROM
18 door position detector 19 door speed detector 20 motor load detector 21 door drive controller 22 torque command value limiter 23 RAM
24 Speed command value change rate determination unit 25 Torque threshold value calculation unit 26 Door mass change rate determination unit 27 Torque command value learning unit 28 Torque command value change rate determination unit

Claims (5)

Drive control means for outputting a torque command value to the motor so that the rotational speed of the motor driving the door of the elevator follows a speed command value corresponding to the position in the opening and closing direction of the door;
A plurality of reference torque threshold values corresponding to each position in the door opening / closing direction are used as a reference for obtaining a torque threshold value obtained by adding an offset value to the torque command value in order to determine that the torque of the motor is excessive. Memorized storage means;
Ratio calculation means for calculating a value corresponding to a ratio of a torque command value to a reference torque command value corresponding to the reference torque threshold for each position in the opening and closing direction of the door for each floor.
The difference obtained by subtracting the offset value from the reference torque threshold corresponding to the position in the door opening / closing direction is obtained, and the value obtained by multiplying the difference by the ratio is added to the offset value. Torque threshold value calculation means for setting a torque threshold value corresponding to the position in the opening and closing direction;
An elevator door control device comprising:   The ratio calculation means, as a value corresponding to the ratio, the speed of the position in the door opening / closing direction for each floor relative to the acceleration / deceleration determined from the speed command value of the position in the door opening / closing direction corresponding to the reference torque threshold. 2. The elevator door control apparatus according to claim 1, wherein a ratio of acceleration / deceleration obtained from the command value is calculated.   2. The elevator according to claim 1, wherein the ratio calculating unit calculates a ratio of a door mass for each floor to a door mass corresponding to the reference torque threshold as a value corresponding to the ratio. Door control device.   The ratio calculation means, as a value corresponding to the ratio, the speed of the position in the door opening / closing direction for each floor relative to the acceleration / deceleration determined from the speed command value of the position in the door opening / closing direction corresponding to the reference torque threshold. 2. The elevator according to claim 1, wherein a value obtained by multiplying a ratio of acceleration / deceleration obtained from a command value by a ratio of a door mass for each floor to a door mass corresponding to the reference torque threshold is calculated. Door control device. Learning means for learning a plurality of torque command values corresponding to positions in the opening and closing direction of the door when accelerating the door from one of the closed state and the open state for each floor;
With
The ratio calculating means calculates a ratio of a torque threshold corresponding to the maximum value of the torque command value learned for each floor by the learning means to the reference torque threshold as a value corresponding to the ratio,
The torque threshold calculation means adds the offset value to the torque command value for each floor learned by the learning means when accelerating the door from one of the closed state and the open state. A torque threshold corresponding to the position of the door in the opening / closing direction for each floor is obtained, and the difference obtained by subtracting the offset value from the reference torque threshold is obtained except when the door is accelerated from one of the closed state and the open state. 2. The elevator door control device according to claim 1, wherein a value obtained by multiplying the ratio by the offset value is used as a torque threshold value corresponding to a position in the door opening / closing direction for each floor. .

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