JP3018937B2 - Elevator door control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an elevator door, and more particularly to a control device for an elevator door capable of limiting a torque during opening and closing operations of the elevator door.

[0002]

2. Description of the Related Art FIG. 3 is a block diagram showing a conventional elevator door control device. In the figure, 8 is a speed command for commanding the rotation speed of the door motor, 9 is a feedback speed proportional to the rotation speed of the door motor, and 1 is a torque command by amplifying the difference between the speed command 8 and the feedback speed 9. The speed controllers 3a, 3b and 3c have different fixed torque limit values and the torque limiter pattern 4 has the door motor current as a current command generated from the torque limiter patterns 3a, 3b and 3c. 5 is a current controller for following the current controller.
A power converter for converting the output of the door motor into a current of the door motor 6, 6 is a door motor, 7 is a door opening / closing mechanism of an elevator driven by the door motor 6, and 10 is a door opening / closing mechanism 7.
2 indicates a selector for selecting the torque limiter patterns 3a, 3b, 3c based on the signal from the position signal 10 in which the output is switched stepwise according to the door position.

FIG. 4 is a torque curve diagram when a door is opened and closed by a conventional elevator door control device. In the figure,
31 is a torque pattern for controlling the door motor when the door is opened.
32, a torque pattern for controlling the door motor when the door is closed, 41, a torque limiter pattern for limiting the door motor torque when the door is opened, and 42, for limiting the door motor torque when the door is closed. 5 shows the torque limiter pattern.

Next, a door drive control operation of the elevator door control device having this structure will be described with reference to FIGS. 3 and 4. FIG. Here, a door closing operation will be described as an example.

When a speed command 8 according to the speed pattern is issued, a difference from the feedback speed 9 is calculated and input to the speed controller 1 to generate a torque command. This torque command is a position signal 1
0 is input to any one of the torque limiter patterns 3a, 3b and 3c having a constant torque limit value selected by the selector 2, and a signal of a smaller value of the torque command or the torque limit value is supplied to the current controller. 4 is input. The current controller 4 sends a signal to the power converter 5 to drive the door motor 6 to operate the door opening / closing mechanism 7.

Here, the torque limiter patterns 3a, 3
Reference numerals b and 3c denote constant torque limiting values L1, L4 and L5 for limiting the door motor torque, respectively.
3b and 3c are selected and at the same time a constant torque limit value L
1, L4, L5 are also selected and step-like torque limiter pattern
, Is formed. Accordingly, when an excessive torque is output at each position of the door, the torque is limited to a predetermined value or less.

[0007]

However, in the conventional elevator door control device as described above, when the landing door weight varies depending on the floor, the torque limit value is set to a large value in accordance with the heavy door. For light doors, the torque limit becomes more than necessary.

Further, if the required torque fluctuates due to aging due to clogging of the sill and abrasion of the door opening / closing mechanism, poor opening / closing occurs. To avoid this, the torque limit value is increased, and the risk of an accident due to excessive torque is increased.

Further, in order to prevent the door from closing due to the strong wind at the end of closing the door, it is necessary to increase the torque limit value at the end position. Some floors have no torque limit, and at such floors, the torque limit becomes unnecessarily high, which is dangerous. There was a possibility that inconvenience would occur.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an elevator door control device which can set an optimum torque limit value for each door to ensure passenger safety.

[0011]

SUMMARY OF THE INVENTION The present invention provides an elevator door control device for controlling the opening and closing of a door by generating a torque command according to a deviation between a speed command according to a predetermined speed pattern and a feedback speed. , A preset torque limiter pattern is stored for each floor at a continuous value slightly exceeding the required torque pattern of the door, and the torque is limited so that the torque command does not exceed the torque limiter pattern. This is achieved by providing a limiting means, and learning means for learning the required torque pattern of the door for each operation of the elevator and updating the torque limiter pattern accordingly.

[0012]

According to the present invention, since the above means is taken, a continuous torque limiter pattern can be stored for each floor.
The torque pattern can be learned and the torque limiter pattern can be updated accordingly.

[0013]

Embodiments of the present invention will be described below.
FIG. 1 is a block diagram showing an elevator door control device according to an embodiment of the present invention. In the figure, reference numeral 11 denotes a speed command for instructing a rotation speed of a door motor, and 19 denotes a door motor.
Feedback speed proportional to the rotation speed of the motor, 12 is the speed command 11
A speed regulator for amplifying the difference between the feedback speed 19 and the feedback speed 19 to generate a torque command; 13 is a torque limiting means for continuously limiting the torque command output from the speed regulator 12;
3a is a floor information generator that outputs floor information, 13b is a selector that selects a torque limiter pattern 13c based on floor information output from the floor information generator 13a, 13c.
Is a torque limiter pattern TPm (m = 1,2,2,3) set in advance to have a continuous torque limit slightly exceeding the required torque pattern for the door position of each floor.
3, ... n),

Numeral 21 learns the torque pattern for each floor at each installation and once, generates a torque limiter pattern for each floor from the torque pattern, and once for each floor at the time of operation. Learning means for learning the torque pattern for each floor and updating the torque limiter pattern for each floor to the optimum torque limiter pattern from the torque pattern; A current controller 15 for following the current command that has been set;
A power converter for converting the output of the door motor into a current of the door motor 16, 16 is a door motor, 7 is a door opening / closing mechanism of an elevator driven by the door motor 16, and 17 is directly connected to the door motor 16. Reference numeral 20 denotes a pulse generator which generates a pulse in accordance with the door position, reference numeral 20 denotes a position information signal output from the pulse generator 17, and reference numeral 18 denotes a differentiator which converts the position information signal 20 into a feedback speed 19.

FIG. 2 is a torque curve diagram when the door is opened and closed by the elevator door control device according to the embodiment of the present invention. In the drawing, reference numeral 33 denotes a torque pattern for controlling the door motor when the door is opened, 34 denotes a torque pattern for controlling the door motor when the door is closed, and 43 denotes a torque for limiting the door motor torque when the door is opened. A torque limiter pattern 44 indicates a torque limiter pattern for limiting the door motor torque when the door is closed.

Next, a door drive control operation of the elevator door control device having the above configuration will be described with reference to FIGS. Here, a door closing operation will be described as an example.

When a speed command 11 according to the speed pattern is issued, a difference from the feedback speed 19 is calculated and input to the speed controller 12 to generate a torque command. This torque command is input to the torque limiter 13, and a signal having a smaller value of the torque command and the torque limit value is input to the current regulator 14. The current controller 14 sends a signal to the power converter 15 to drive the door motor 16 to operate the door opening / closing mechanism 7.

The pulse generator 17 is a door motor 16
And emits a position information signal 20 in accordance with the door position. The position information signal 20 is input to the torque limiting unit 13, the learning unit 21, and the differentiator 18. The differentiator 18 receives the position information signal 20 and outputs a feedback speed 19.

Inside the torque limiting means 13, when the car responding to the call stops at a certain floor, the floor information generator 13a
From the floor information, and the selector 1
3b selects one of the torque limiter patterns TPm for the stop floor from the torque limiter patterns 13c. The torque limiter pattern TPm operates in accordance with the position information signal 20 so that the torque command output from the speed controller 12 is equal to or less than the continuous torque limit value, and the torque command or the torque limit value is a smaller value signal. Is input to the current controller 14.

At the time of installation, the learning means 21 is provided for each floor.
Each time the door is operated, the torque pattern for each floor and each time is learned in accordance with the position information signal 20. Then, a torque limiter pattern 13c for each floor is calculated from the torque pattern and stored.

Further, the learning means 21 learns the torque pattern for each floor and once for each floor according to the position information signal 20 by operating the door for each floor and once for each operation. Then, a torque limiter pattern for each floor is calculated from the torque pattern by calculation, and the stored torque limiter pattern 13c for each floor is updated.

If the torque limiter pattern in the learning means 21 is equal to or greater than a certain value as a result of the calculation, or the difference between the original torque limiter pattern and the newly calculated torque limiter pattern is a certain value. In such cases, do not renew for equipment protection and human safety.

As described above, the torque limiting means 13
The torque limit of the door-closed torque limiter pattern 44 acts on the door-closed torque pattern 34 to provide an optimum elevator.
Since the door operation can be realized and the torque can be controlled when the elevator door is opened and closed, the occurrence of excessive torque can be prevented. Therefore, danger can be avoided, safety can be improved, and door opening / closing failure can be prevented.

[0024]

As described above, according to the present invention, the possibility of generating excessive torque is eliminated by having a continuous torque limiter pattern slightly exceeding the required torque pattern. Appropriate torque management can be performed, and improvement in safety can be expected.

Further, by having a torque limiter pattern for each floor, it is possible to cope with a change in weight of an elevator door on each floor, a door closing failure due to a strong wind, etc., and an appropriate continuous torque according to a required torque. Limit values can be set, avoiding the danger of generating excessive torque and improving safety.

Further, in each operation of the elevator door, the torque pattern is learned from the required torque, and the torque limiter pattern is updated and the continuous torque limit value is changed in accordance with the learned torque pattern. It is possible to manage torque with an appropriate continuous torque limit value even for fluctuations in required torque due to break-in, deterioration, or clogging of the landing threshold, etc., improving safety and preventing door opening and closing failures Etc.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an elevator door control device according to an embodiment of the present invention.

FIG. 2 is a torque curve diagram when the door is opened and closed by the elevator door control device according to one embodiment of the present invention.

FIG. 3 is a block diagram showing a conventional elevator door control device.

FIG. 4 is a torque curve diagram when a door is opened and closed by a conventional elevator door control device.

[Explanation of symbols]

 7 Door opening and closing mechanism 11 Speed command 12 Speed controller 13 Torque limiting means 13a Floor information generator 13b Selector 13c Torque limiter pattern 14 Current controller 15 Power converter 16 Door motor 17 Pulse generator 18 Differentiator 19 Return speed 20 Position information signal 21 Learning means

Claims (2)

(57) [Claims] An elevator door control device for generating a torque command according to a deviation between a speed command according to a predetermined speed pattern and a feedback speed and controlling opening and closing of a door, wherein a required torque pattern of the door is provided. And a torque limiting means for storing a torque limiter pattern set in advance to a continuous value slightly exceeding the torque limit for each floor, and limiting the torque command so as not to exceed the torque limiter pattern. Elevator door control device. 2. An elevator door control device for generating a torque command according to a deviation between a speed command according to a predetermined speed pattern and a feedback speed and controlling the opening and closing of the door, the required torque pattern of the door. Torque limiter means for storing a preset torque limiter pattern for each floor to a continuous value slightly exceeding the torque limiter so as to limit the torque command so as not to exceed the torque limiter pattern, and an elevator. And a learning means for learning the required torque pattern of the door for each operation and updating the torque limiter pattern accordingly.