JP2502164B2 - Door control device for elevator - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an elevator door control device, and in particular, an inverter control device for a motor for opening and closing an elevator door. In particular, the present invention relates to an elevator door control device capable of reliably preventing danger when a user is caught in the elevator door.

[Prior Art] FIG. 10 is a configuration diagram schematically showing a door opening / closing device portion in a conventional elevator. In FIG. 10, (1) is an elevator door, and (2) is an elevator car doorway. Door hanger (3)
Is fixed to the upper end of the door (1) and is housed in the hanger case (4). The rail (5) is attached to the hanger case (4), and the hanger roller (6) and the up thrust roller (7) are attached to the door hanger (3), respectively. These hanger roller (6) and upthrust roller (7) serve to guide the opening and closing of the door (1) by moving along the rail (5). An engagement device (8) is attached to the door (1) and is engaged within a given door zone with a corresponding device provided on a landing door (not shown) to provide a door for a car in an elevator. It fulfills the function of linking (1) with the landing door. The drive device (9) installed on the hanger case (4) is for driving the door (1),
A motor (10) built in the drive unit (9) is for opening and closing the door (1). The four drive links (11) are for connecting the drive device (9) to the engagement device (8) of the door (1), and by this, the opening and closing drive of the door (1) is performed. The CLT sensor (12) is for indicating that the door (1) is closed,
The safety gate switch (13) is also for indicating that the door (1) is in the closed state. The OLT sensor (14) is for indicating that the door (1) is in the open state. (14A) is a dog for operating the sensor, and (14B) is an inverter control device for driving and controlling the motor (10) of the door (1).

FIG. 11 is a schematic configuration diagram of a conventional vector control type inverter control unit. In FIG. 11, for example, 20
A required DC voltage can be obtained by subjecting 0V or 220V three-phase AC or single-phase AC to an appropriate rectification / smoothing process using the diode bridge (15) and the smoothing capacitor (16). The DC voltage thus obtained is controlled by an inverter control device (17) composed of ordinary switching elements such as transistors and FETs to generate a sinusoidal motor drive current. At this time, the switching element that constitutes the inverter control device (17) is a pulse width modulation (PWM) pulse generator (1
The pulse width is modulated by the PWM pulse from 9). In this way, the motor (10) for opening and closing the door (1)
Will be controlled in its speed and torque.

Here, the speed of the motor (10) for opening and closing the door (1) is determined by the encoder (10) attached to the motor shaft.
Detected by A). The pulse train as the speed ω _r p of the motor (10) detected in this way is applied to the speed detection unit (31) to count the number of pulses per a predetermined unit time, and the result is the speed ω _It is output as _r * and added to the first addition point (23). Then, in this first summing point (23), the rate based on a command issued from the velocity omega _r * and the speed command generating section (22) omega _r
And the velocity deviation Δω _r is obtained. Then, in the speed amplifier section (24) to which the speed deviation Δω _r is input, in order to follow the speed ω _r corresponding to the command, the motor (1) for opening and closing the door (1) is driven.
After the required torque is calculated for 0), a predetermined torque command is issued. Here, when the torque component current iq from the speed amplifier section (24) and the excitation component current id from the outside are added to the slip calculation section (26), a corresponding slip frequency ωs is generated from here. Note that the excitation current id usually has a constant value in a constant torque region.

Then, the speed corresponding to this sliding frequency ωs and the speed ω that can be detected as the number of pulses per unit time as described above.
_r p is added at the second addition point (27). Then, the value ω as the result of this addition is added to the phase counter (28) corresponding to the integrator, where the motor (1
The rotation angle θr of the magnetic field of 0) is calculated as follows.

θr = ∫ (ωr ± ωs) dt Then, the phase angle θi calculated by the phase angle calculation unit (30) based on the rotation angle θr of the magnetic field of the motor (10) and the torque component current iq and the excitation component current id. And are added at the third addition point (29). As a result, the actual current phase angle θ is obtained as follows.

θ = θr + θi This phase angle and the current amplitude from the current amplitude calculator (25)
With | I |, the U-phase current command Iu = | I | · sin θ and the V-phase current command Iv = | I | · sin (θ + 2 / 3π) are obtained in the current command generator (21).

Further, based on these current commands and the real-phase motor currents Iu *, Iv * from the DC CT (18), the deviations ΔIu, ΔIv, and ΔIw = −ΔIu in the current amplifier section (20).
−ΔIv is calculated and pulsed three-phase PWM matching these values
Generate a voltage command from the PWM section (19).

Then, by applying a pulse signal from this PWM section (19), the switching element that constitutes the inverter control device (17) is operated, and based on this operation, the current, voltage and frequency for the motor (10) are And the like are controlled so that the desired values are obtained. That is, the rotation speed and torque of the motor (10) are controlled by such a series of operations.

By the way, according to the above-mentioned conventional inverter control unit, the speed pattern of the driven motor (10) at the time of closing the door (1) is as shown in FIG. And
When a user is pinched during such a closing operation of the door, the door is normally inverted and opened from the viewpoint of ensuring the safety of the user. Note that an appropriate optical sensor or ultrasonic sensor is used to detect such a user being caught in the door. Then, when the door is closed, it is detected that the user is near the door, and the door is inverted to open. Further, as shown in FIG. 12, for example, by restraining the door which the user is trying to close, the speed of the motor is set to a predetermined speed _ω DLD.
When the temperature falls below, the door is turned over and opened.

A control block that controls the reversing operation of the door is shown in FIG. In FIG. 11, the position counter (33) counts the number of pulses of the pulse train output from the encoder (10A), and it is determined that the elevator door is between the detection range A and B in FIG. , It was determined that the motor speed was below the predetermined value _ω DLD. Then, the DLD detection section (32) detects that the door is in some abnormal state during the closing operation, and outputs a reversal command signal for reversing and opening the door.

[Problems to be Solved by the Invention] In a conventional elevator door control device, (A): the presence or absence of a user is checked using an optical sensor, an ultrasonic sensor, or the like, and the door reversing operation is performed accordingly. Is costly because there are various restrictions on the operating range and the provision of these sensors separately; (B): In the method of detecting the speed reduction of the motor, There is a problem that the detection is practically impossible because the actual motor current is small outside the detection range AB.

The present invention has been made to solve the above-mentioned problems, and the torque command value of the motor obtained from the deviation value _Δω r between the speed based on the command and the actual speed is the speed command. When it is determined that the torque limit value, which is a function of the change, is exceeded, it is possible to easily and reliably protect the user by detecting whether or not the user is caught in the elevator door. The purpose is to obtain an elevator door control device.

[Means for Solving the Problems] An elevator door control apparatus according to the present invention includes: a motor for opening and closing an elevator door; a speed detecting means for the motor; and a drive for controlling the motor. An inverter control device; and a deviation between a speed based on a speed command when opening and closing the door and a speed of the motor detected by the speed detecting means, or a main circuit direct current in the inverter control device. The current, or the rectified value of the motor current generated by the inverter control device, is made variable based on the change amount within the predetermined time of the speed command when opening and closing the door over a predetermined time. It is characterized in that the direction of displacement of the door is reversed when a predetermined limit value is exceeded.

[Operation] In the present invention, the closing speed pattern of the elevator door is as shown in FIG. 6 (A), and the torque curve required for it is shown in FIG. 6 (B). To be Therefore, the torque limit value for the reversing operation of the door can be set finely as shown in FIG. 6 (C), and unlike the case of the conventional example, the reversing of the door is detected. The position-based restrictions are lifted. At the same time, since the torque limit value is used as a function of the change amount of the speed command, the pattern data of the torque limit value is changed even when the motor acceleration / deceleration constant when opening / closing the door is made variable. There is no need to do it. In FIG. 6 (B), the portion where the torque curve is negative indicates that the deceleration regeneration mode is in effect.

[Embodiment] FIG. 1 is a block diagram showing a main portion of an elevator door control apparatus according to an embodiment of the present invention. This first
In the figure, except for the control block that controls the reversing operation of the elevator door, since it is the same as that shown in FIG. 11, only this different part will be described functionally, and other parts will be described. Will not be described.

In FIG. 1, the speed of the motor (10) for opening and closing the door (1) is detected by the encoder (10A) attached to the motor shaft. The pulse train as the speed ω _r p of the motor (10) detected in this way is applied to the speed detection unit (31) to count the number of pulses per a predetermined unit time, and the result is the speed ω _r
It is output as * and added to the first addition point (23). Then, at the first addition point (23), the speed ω
_r * and the speed ω _r based on the command issued from the speed command generator (22) are matched, and the speed deviation Δω _r
Will be required.

On the other hand, the speed ω _r based on the command issued from the speed command generator (22) is added to the slip limiter (35) via the speed command increment detector (34). The slip limiter (35) is a kind of function generator, and has a necessary torque limit value set as shown in FIG. 6 (C). The speed limiter (24) is included in the slip limiter (35).
The output from iq * is also added, and the comparison with the above torque limit value is constantly made. Then, when the slip restriction is applied for a predetermined time, it is determined that the user or the like is caught in the elevator door, and the DLD detection unit (32) at the subsequent stage outputs a reversal command.

Hereinafter, with respect to the generation mode of the torque limit value pattern,
Description will be made with reference to FIGS. 2 to 5 as appropriate.

First, in FIG. 2A of FIG. 2, if the speed command changes into a trapezoidal shape as O → A → B → C,
The required torque TM is expressed by the following equations (1), (2) and (3).

O → A: During acceleration: TM = {(GD ² m + GD ² L) ・ N} / (375 ・ ta) + TL
(1) A → B: During constant speed: TM = TL …… (2) B → C: During deceleration: TM = {(GD ² m + GD ² L) ・ N} / (375 ・ tb) −TL ……
(3) In these equations, GD ² m: motor GD ² , GD ² L: motor shaft converted load GD ² , N: constant speed rotation speed, ta: constant speed rotation speed N Acceleration time until, tb: Deceleration time until the number of rotations at a constant speed N is reached, TL: Torque of motor shaft converted load.

Here, when the ratio of load torque TL, load GD ² m, GD ² L change due to position or speed is small, the required motor torque is the first for the trapezoidal speed pattern in FIG. 2 (A). It becomes constant as shown in FIG. That is, O → A: During acceleration: TM = TA (constant) …… (1) ′ A → B: During constant speed: TM = TB (constant) …… (2) ′ B → C: During deceleration: TM = -TC (constant) ... (3) 'In Fig. 2 (C), the speed command is O → A' →
If the trapezoidal shape changes from B ′ to C ′ (that is, if the motor rotates in the reverse direction), the required torque TM
Becomes constant as shown in FIG. 2 (D). That is, O → A ′: During acceleration: TM = −TA (constant) …… (1) ″ A ′ → B ′: During constant speed: TM = −TB (constant) …… (2) ″ B ′ → C ′: During deceleration: TM = TC (constant) (3) ″ Therefore, in the above-mentioned opening / closing drive control of the elevator door, the torque level for detecting that the user is caught in the door ( For TDLD), a certain predetermined value (+ α) is added as the motor torque when the door is opening (motor is rotating normally).
During deceleration, the torque required for the motor becomes negative, and since the torque level (positive direction) that the user is caught in the door and the polarity are different, the positive torque during deceleration The limit is + α. Here, the above description is summarized as follows. That is, door open (motor forward rotation): accelerating: TDLD = TA + α door open (motor forward rotation): constant speed: TDLD = TB + α door open (motor forward rotation): decelerating: TDLD = + α door closed (Motor reverse rotation): Acceleration: TDLD = TA−α Door closed (motor reverse rotation): During constant speed: TDLD = −TB−α Door closed (motor reverse rotation): Deceleration: TDLD = −α Also acceleration The negative torque limit at medium and constant speed is
Even if the maximum torque (-Td) that can be generated by the inverter control device or the motor is the torque in the direction opposite to the current operating direction, no problem occurs.

Next, referring to FIG. 3, FIG. 3 (A) therein.
The acceleration / deceleration time pattern shown in is the first acceleration / deceleration time pattern (31) that changes as O → A → B → C and the relatively slow change as O → D → E → F. Is a second acceleration / deceleration time pattern (32).

The torque pattern corresponding to the first acceleration / deceleration time pattern (31) is as shown in FIG. 3 (B), while the torque pattern corresponding to the second acceleration / deceleration time pattern (32) is It becomes like FIG. 3 (C). The torque limit value in FIG. 3 (C) is as shown by the dotted line. That is, door open (during forward rotation of motor): accelerating: TDLD = TA '+ α door open (during forward rotation of motor): constant speed: TDLD = TB' + α door open (during forward rotation of motor): deceleration: TDLD = + Α Door closed (motor reverse rotation): Acceleration: TDLD = -TA'-α Door closed (motor reverse rotation): At constant speed: TDLD = -TB'-
α Door closed (during motor reverse rotation): During deceleration: TDLD = -α Note that, in order to realize such control, it is generally not possible with an analog control circuit. It is necessary to include a digital control circuit.

As can be seen from the above-mentioned equations, TA and TA ′ and TB and TB ′ are inversely proportional to the acceleration / deceleration time, and as shown in FIG. The change amount of the speed command in a certain predetermined time period when closing is determined as follows. That is, a change ΔV1 with respect to ts between time zones OI, a change ΔV2 with respect to ts between time zones IL, and a change with respect to ts between time zones LP of zero.

Then, as shown in FIG. 5, a table for listing the torque limit values corresponding to the various changes is prepared as a fixed memory in the control device composed of a predetermined microcomputer. Therefore, for example, even when the opening and closing time of the door is made variable according to the specifications, the torque limit value can be made variable according to the corresponding specifications, or a huge amount of data is stored so that all specifications can be selected. There is no need to leave it. In addition, in FIG.
FIG. 5 (A) is a table for storing the positive torque limit value, and FIG. 5 (B) is a table for storing the negative torque limit value.

FIG. 7 is a flow chart for explaining the operation of the above embodiment. As can be seen in FIG. 7, the following operations are performed in sequence.

(A) First, the speed command is read out incrementally.

(B) Next, the slip limit value for the increment of the speed command is read.

(C) Next, it is determined that “current slip ≧ limit value?”.

If the result of the determination in (d) or (c) is YES, "D
LD time measurement counter + 1 ”is performed.

When the result of the judgment in (e) and (c) is NO, "DL
"D time measurement counter reset" is done,
All the work is completed.

After the processes of (f) and (d), the judgment of “counter value ≧ M?” Is made.

When the result of the judgment in (G) and (F) is YES, "D
After the processing of "LD operation reversal command" is performed, all the work is completed.

When the results of the determinations in (h) and (f) are NO, all work is completed without shifting to another work.

FIG. 8 is a block diagram showing a main part of an elevator door control device according to another embodiment of the present invention. In this FIG. 8 as well, except for the control block that controls the reversing operation of the elevator door, only this different part will be described functionally. Descriptions of other parts are omitted.

In FIG. 8, the speed of the motor (10) for opening and closing the door (1) is detected by the encoder (10A) attached to the motor shaft. The pulse train as the speed ω _r p of the motor (10) detected in this way is applied to the speed detection unit (31) to count the number of pulses per a predetermined unit time, and the result is the speed ω _r
It is output as * and added to the first addition point (23). Then, at the first addition point (23), the speed ω
_r * and the speed ω _r based on the command issued from the speed command generator (22) are matched, and the speed deviation Δω _r
Will be required.

On the other hand, the speed ω _r based on the command issued from the speed command generator (22) is applied to the overload limiter (35A) via the speed command increment detector (34). This overload limiter (35A)
DCCT (35 through the appropriate AD converter (35B)
C) is connected. Then, the inverter control device (1
The DC current of 7) is detected by the DCCT (35C) and this
After AD conversion by the AD converter (35B), it is added to the overload limiting unit (35A). By doing so, the torque limiting pattern for the motor (1) can be a current pattern. Then, when a certain predetermined condition is satisfied, it is determined that, for example, the user is caught in the elevator door, and the DLD detection unit (3
The reverse command is output from 2).

FIG. 9 is a block diagram showing a main part of an elevator door control device according to still another embodiment of the present invention. In FIG. 9 as well, except for the control block that controls the reversing operation of the elevator door, only this different part will be described functionally. Descriptions of other parts are omitted.

In FIG. 9, the speed of the motor (10) for opening and closing the door (1) is detected by the encoder (10A) attached to the motor shaft. The pulse train as the speed ω _r p of the motor (10) detected in this way is applied to the speed detection unit (31) to count the number of pulses per a predetermined unit time, and the result is the speed ω _r
It is output as * and added to the first addition point (23). Then, at the first addition point (23), the speed ω
_r * and the speed ω _r based on the command issued from the speed command generator (22) are matched, and the speed deviation Δω _r
Will be required.

On the other hand, the speed ω _r based on the command issued from the speed command generation unit (22) is added to the load detection unit (35D) via the speed command increment detection unit (34). A rectifier circuit (3D) is connected to this load detection unit (35D) via an appropriate AD converter (35B).
5E) is connected. This rectifier circuit (35E)
Has a function of performing three-phase half-wave rectification or three-phase full-wave rectification of the alternating current from the motor (1), depending on its configuration. Then, the current from the motor (1) is appropriately rectified by the rectifier circuit (35E), and this is AD
After the AD conversion by the converter (35B), the load detection unit (3
5D). With such a configuration, it is possible to achieve the same effects as those of the above-described embodiments. Then, when a predetermined condition is satisfied,
For example, it is determined that the user or the like is caught in the door of the elevator, and the inversion command is output from the DLD detection unit (32) at the subsequent stage.

[Effects of the Invention] As described above, the elevator door control device according to the present invention includes: a motor for opening and closing an elevator door; a speed detecting means for the motor; and a drive for controlling the motor. An inverter controller for controlling the speed of the motor, the deviation between the speed based on the speed command when opening and closing the door and the speed of the motor detected by the speed detecting means, or the inverter control. The main circuit DC current in the device, or the rectified value of the motor current generated by the inverter control device is based on the change in the speed command when the door is opened and closed within the predetermined time over a predetermined time. When it exceeds a variable limit value, it is characterized by reversing the moving direction of the door. When the torque command value of the motor calculated from the deviation value delta _omega r and the actual speed and the speed based on the command is determined to have exceeded the torque limit value is a function of the change in the speed command, etc. user elevator By detecting whether or not the user is caught in the door, it is possible to easily and reliably protect the user.

[Brief description of drawings]

FIG. 1 is a block diagram showing a main part of an elevator door control apparatus according to an embodiment of the present invention, and FIGS.
FIG. 5 is a graph for explaining the operation of the above embodiment, FIG. 5 is an illustration of a table used in the above embodiment, and FIG. 6 is another graph for explaining the operation of the above embodiment. FIG. 7 is a flow chart for explaining the operation of the above embodiment, and FIG. 8 is a block diagram showing a main part of an elevator door control device which is another embodiment of the present invention.
FIG. 9 is a block diagram showing a main part of an elevator door control device according to still another embodiment of the present invention, and FIG.
Configuration diagram schematically showing a door opening / closing device portion in a conventional elevator, FIG. 11 is a schematic configuration diagram of a conventional vector control type inverter control unit, and FIG. 12 is an operation of the inverter control unit in the conventional example. It is a graph figure for explaining. (15) is a diode bridge, (16) is a smoothing capacitor, (17) is an inverter controller, (19) is a pulse width modulation (PWM) pulse generator, (20) is a current amplifier section, (2
1) is the current command generator, (22) is the speed command generator, (2
3) is the first addition point, (24) is the speed amplifier section, (25) is the current amplitude calculation section, (27) is the second addition point, (28) is the phase counter section, and (29) is the third addition point. , (30) is the phase angle calculator,
(31) is a speed detecting unit, (32) is a DLD detecting unit, (34) is a speed command increment detecting unit, and (35) is a slip limiting unit. In the drawings, the same reference numerals denote the same or corresponding components.

Front Page Continuation (72) Inventor Toshiyuki Kodera 1 Hishimachi, Inazawa City, Aichi Mitsubishi Electric Co., Ltd. Inazawa Manufacturing Co., Ltd. , B2)

Claims (1)

(57) [Claims] 1. An elevator door control device comprising: a motor for opening and closing an elevator door; a speed detecting means for the motor; and an inverter control device for controlling the drive of the motor. The deviation between the speed based on the speed command when opening and closing the door and the speed of the motor detected by the speed detecting means, or the main circuit direct current in the inverter control device, or the inverter control device. When the rectified value of the generated motor current exceeds a predetermined limit value that is variable based on the change amount of the speed command when opening and closing the door within the predetermined time over a predetermined time. A door control device for an elevator, characterized in that the transition direction of the door is reversed.