JP3156435B2 - Elevator door opening and closing 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 an elevator door control, and more particularly to an apparatus for controlling the opening and closing of a door during reversal operation.

[0002]

2. Description of the Related Art Generally, the front edge of an elevator door is
For example, as shown in JP-A-2-225287, a contact rod is provided, and when a force in the door opening direction acts on the door moving in the door closing direction, a reversal request for reversing the door in the door opening direction. Safety devices are provided. This is to prevent the user from colliding with the door to be closed and causing injury.

FIGS. 1, 10 and 11 show a conventional elevator door opening / closing control device. FIG. 1 is a block diagram, FIG. 10 is a door opening / closing operation waveform diagram, and FIG. 11 is a door reversing speed command value. It is a waveform diagram.

In FIG. 1, (1) is an elevator control panel, (2) is the above-described reversal request safety device, (3) is a power supply, (4) is a power circuit connected to the power supply (3), (5) Is the power circuit (4)
And (6) a pulse encoder coupled to the motor (5) and generating a pulse corresponding to the rotation speed of the motor (5).

[0005] (7) is a door control device, (8) is a pulse counting unit for counting pulses from the pulse encoder (6), (9) is a CPU, (10) is a ROM, (11) is an RA
M and (12) are input / output ports connected to the control panel (1) and the safety device (2), (13) is connected to the input / output port (12), and
(10) a speed adjustment setting pin for switching a speed command value stored in (10), (14) a PWM unit for outputting a pulse width modulation (PWM) signal, (15) a PWM unit (14), and a gate signal To the power circuit (4).

A conventional elevator door opening / closing control device is constructed as described above.
This will be described with reference to FIG. When a door opening command or a door closing command is generated from the control panel (1), the command is read into the input / output port (12), and the speed command value X shown in FIG. Read in 9). The speed command value X is a pulse encoder coupled to the motor (5).
The pulse output of (6) is counted by the pulse count unit (8), and the count value is sent to the CPU (9).
Is calculated by calculating a position point of the door from the pulse count value and reading out a speed command value X corresponding to the position point from the ROM (10).

The speed command value X is a speed adjustment setting pin.
By (13), the value read from the ROM (10) is switched. The CPU (9) sends a PWM command necessary for the rotation of the motor (5) to the PWM unit (14) based on the read speed command value X, where it is converted into a PWM signal, and the gate signal generation circuit (15) ) Is converted into a gate signal. The power circuit (4) is driven by this gate signal, and the motor
(5) rotates. When the motor (5) rotates, the encoder
(6) outputs a pulse, and based on the count value, CP
U (9) calculates the position of the door and the actual rotational speed Y of the motor (5) shown in FIG.

The rotation speed Y of the motor (5) is compared with the speed command value X, and the speed is controlled so that the rotation speed Y of the motor (5) follows the speed command value X. Also, the motor
When the rotation speed of (5) reaches the count value indicating the fully open position and the fully closed position of the door, the motor (5) is controlled to stop at that position.

Next, the reversing operation by the safety device (2) will be described. While the door is moving in the door closing direction in accordance with the normal door closing command (hereinafter referred to as door closing operation), the user operates the safety device (2).
If the safety device (2) operates at time A in FIG. 11, a reversal request signal from the safety device (2) is sent to the control panel (1) via the input / output port (12). As a result, the control panel (1) switches from the door close command to the door open command to perform the reversing operation. The door control device (7) notifies the input / output port (1) that the door opening / closing command has been switched before the door is fully closed.
2), a deceleration command value X1 for instructing a predetermined deceleration to switch the speed command value X from the door closing to the door opening.
Is read out, and the operation is reversed from the door closing operation to the door opening operation.

Here, the smaller the amount of movement of the door in the door closing direction from when the inversion request signal is output to when the actual door movement is switched to the door opening operation (hereinafter referred to as the inversion flow amount), the smaller the user. Is safe. Therefore, in order to reduce the amount of the reversal flow, it has been proposed to forcibly increase the deceleration at the time of the reversal as disclosed in Japanese Patent Application Laid-Open No. 61-20387. However, the larger the deceleration is, the smaller the amount of reversal flow is, and the reversal operation is performed in a short time. However, in that case, the device and the impact are large, and the user is uncomfortable.

On the other hand, when the deceleration is small, the amount of reversal flow becomes large and a gentle reversal operation is performed, and the apparatus and the impact are reduced. However, the probability that the user collides with the door increases, and the risk of injury is increased. Occurs. Therefore, for example, Japanese Patent Application Laid-Open
As shown in Japanese Patent No. 32488, a speed command value is prepared for each door position, and by selecting and using the speed command value, it is possible to invert at an appropriate speed to ensure safety and reduce the device and impact. Proposed.

[0012]

In the conventional elevator door opening / closing control device as described above, a speed command value is prepared for each door position, so that the speed command value is set to a high speed by speed adjustment. In this case, there is a problem that the amount of reverse flow increases. That is, assuming that a point corresponding to the position point at which the inversion command is issued while the door is being closed with the standard door closing command value X1 is A, the door is being inverted with the same position point as above while the door is being closed with the high speed door closing command value X2. Assuming that a command has been issued, the time is B.

[0013] At this time, if the equal deceleration door close command value X1, X2, than the time T ₁ of the from time A to door closing speed becomes zero, from the time B to the door closing speed is zero it is longer in time T _2, so that the direction of high speed is increased as the inverted flow amount.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problem, and an elevator door opening / closing control device capable of ensuring safety by performing a reversing operation so that a reversing flow amount is always within a predetermined value. The purpose is to provide.

[0015]

According to a first aspect of the present invention, there is provided an elevator door opening / closing control device which, when a reversal command is issued during a door closing operation, decelerates the door in accordance with a predetermined deceleration command value and reverses the door. In the case where the operation is performed, there are provided a reversing speed command value detecting means for detecting a speed command value at the time of the reversing command, and a deceleration command value changing means for changing the deceleration command value according to the detected speed command value. Things.

In the elevator door opening / closing control device according to the second invention, when a reversal command is issued during the door closing operation, the door speed is reduced according to a predetermined deceleration command value to perform the reversing operation. A speed command value setting device for setting different speed command values respectively corresponding to the above, and deceleration command value changing means for changing the deceleration command value according to the set speed command value at the time of the inversion command. It is.

Further, the elevator door opening / closing control device according to the third invention is arranged such that, when an inversion command is issued during the door closing operation, the door is decelerated in accordance with a predetermined deceleration command value to perform the inversion operation. And a deceleration command value changing means for changing a deceleration command value in accordance with the detected rotation speed.

The elevator door opening / closing control device according to a fourth aspect of the present invention is characterized in that when a reversal command is issued during a door closing operation, the door is decelerated according to a predetermined deceleration command value to perform the reversing operation. Speed deviation detecting means for detecting a speed deviation between the speed command value of the motor and the rotation speed of the motor, and deceleration command value changing means for changing a deceleration command value in accordance with the detected speed deviation. Things.

[0019]

According to a first aspect of the present invention, a speed command value at the time of a reversal command of an elevator door is detected, and a deceleration command value is changed in accordance with the detected value. The speed command value corresponding to the speed of the door is set at the time, and the deceleration command value is changed according to the speed command value set above at the time of the reversal command. Can reduce the deceleration.

According to the third aspect of the present invention, the rotation speed of the motor at the time of the command to invert the door of the elevator is detected, and the deceleration command value is changed according to the detected value. Thus, even when a force that hinders the opening / closing operation acts and the ability to follow the speed command value is poor, stable control can always be performed.

Further, in the fourth invention, a speed deviation between a speed command value at the time of a reversal command of the elevator door and a rotation speed of the motor is detected, and the deceleration command value is changed according to the detected value. Therefore, stable control can always be performed even when the weight of the door is large and excessive movement due to inertia occurs and the followability to the speed command value is poor.

[0022]

【Example】

Embodiment 1 FIG. FIGS. 1, 2 and 4 show an embodiment of the first invention of the present invention. FIG. 1 is a block diagram, FIG. 2 is a main part configuration diagram, and FIG. 4 is a door reversing speed command value waveform diagram. The same parts as those of the conventional device are denoted by the same reference numerals (the same applies to other embodiments).

In the figure, (21) is a pulse encoder (6)
And a speed command value calculating means for calculating a speed command value, which constitutes a part of the door control device (7). (22) is connected to the reversal request safety device (2) and detects a reversal speed command value detecting means for detecting a speed command value at the time of the reversal command, and (23) decelerates according to the detected speed command value. The deceleration command value changing means for changing the command value, and (24) is a door control means for controlling the door according to the input speed command value.

Next, the operation of this embodiment will be described. The basic inversion operation is the same as that of the conventional device. When the user contacts the safety device (2) during the door closing operation and a reversal request is output, the door closing command from the control panel (1) is switched to the door opening command. Here, the speed command value for closing the door when the command is switched, that is, when the inversion command is output, is confirmed. Then, the RO is set in advance for each magnitude of the speed command value.
From the deceleration command value stored in M (10), the deceleration command value at the time of inversion corresponding to the magnitude of the speed command value at that time is read, and the motor (5) is decelerated.

As a standard reversal operation, when a reversal command is output at time A in FIG. 4, a deceleration command value X1 having a deceleration command value corresponding to the speed command value at time A is provided.
Is read, and the rotation speed of the motor (5), in other words, the speed of the door, is controlled.

Next, if the door closing speed command value is adjusted at a high speed, if the reversal command is output at the same position point as described above, the speed command value is switched at the time point B as described with reference to FIG. Will be. Then, an inversion speed command value X3 corresponding to the speed command value at this time is read. As for this speed command value X3, as the door closing speed command value becomes faster, the deceleration command value has a larger slope than the deceleration command value of the normal deceleration command value X1, that is, the deceleration becomes larger. I have. As a result, the amount of reverse flow can be suppressed to the same level as in the normal case.

Similarly, if the door closing speed command value is adjusted to a low speed, and if an inversion command is output at the same position point as above, the door closing speed is low, so the speed command value is switched at time C. Will be. Then, an inversion speed command value X4 corresponding to the speed command value at this time is read. The inclination of the deceleration command value of the speed command value X4 is smaller than that of the normal speed command value.

This is because, at the same deceleration as usual, the amount of reversal flow can be reduced, but it becomes smaller than necessary, and as a side effect, noise and vibration at the time of reversal increase. Therefore, as the door closing speed command value is low, the deceleration command value is made gradual, and the reverse flow amount becomes the same as normal,
Noise and vibration at the time of reversal can be minimized.

Embodiment 2 FIG. 1 and 3 to 5 show an embodiment of the second invention of the present invention. FIG.
FIG. 5 is a waveform diagram of the door closing speed command value. In FIG. 3, (2
3) is deceleration command value changing means for changing the deceleration command value according to the speed command value set by the speed adjustment setting pin (13).

Next, the operation of this embodiment will be described. In the first embodiment, the deceleration command value at the time of reversal is selected based on the speed command value at the time of the reversal command. However, in the second embodiment, the speed command value at the time of the reversal command is read instead of being read. The speed command value according to the adjustment content is set to R by the speed adjustment setting pin (13) used when setting the speed to high speed or low speed.
This is stored in the OM (10), and the door closing deceleration command value is changed according to the speed adjustment at the time of the reversal command.

Now, the standard door closing speed command value is X5 in FIG.
When the reversal command is output at time A, the deceleration command value X1 shown in FIG. 4 is read as the reversal speed command value corresponding to the maximum door closing speed shown at time A in FIG. Control.

Next, when the door closing speed command value is adjusted to the high speed indicated by the deceleration command value X6 in FIG. 5, the reversing speed command value corresponding to the maximum door closing speed shown at time B in FIG. 4
Is read to control the reversing speed. As described in the first embodiment, the speed command value X3 is higher than the normal deceleration command value X1 because the door closing speed command value X3 is higher in speed. The slope is large and the amount of reverse flow is suppressed.

Similarly, when the door closing speed command value is adjusted to the speed command value X7 shown in FIG. 5, the reversing speed command value corresponding to the maximum door closing speed shown at time point C in FIG. 5 is shown in FIG. The speed command value X4 is read to control the reversal speed. Also in this case, as described in the first embodiment, the deceleration command value is made gentler as the door closing speed command value X4 is lower.

Embodiment 3 FIG. FIGS. 1, 6, and 8 show an embodiment of the third invention of the present invention. FIG. 6 is a diagram showing a main part configuration, and FIG. In FIG. 6, (2
Reference numeral 8) denotes a reversing speed detecting means connected to the encoder 6 and the reversing request safety device 2 for detecting the rotation speed of the motor 5 at the time of the reversing command.

Next, the operation of this embodiment will be described. In the first and second embodiments, the deceleration command value at the time of inversion is selected based on the speed command value at the time of the inversion command. However, the speed command value is different from the actual rotation speed of the motor (5). Embodiment 3 does not check the speed command value at the time of the reversal command,
This is for confirming the actual rotation speed of the motor (5).
For example, when a force that hinders the opening / closing operation is acting due to clogging of the sill with dust or the like, the tracking resistance is poor even if the speed command value is high due to running resistance (door opening / closing load), and the motor ( 5) cannot rotate at high speed.

In the deceleration operation, since a mechanical load is large due to running resistance and an electric braking force is not required so much, there is no deceleration delayed from the speed command value. Therefore, usually, various speed command values are prepared in consideration of the ability to follow the speed command value, including the deceleration command value in the reversing operation. However, if the running resistance is large and the door is opened and closed without following the speed command value as described above, the deceleration command value may be a slower command value than during normal reversal even in the door reversing operation. There is no.

Therefore, instead of reading the door closing deceleration command value corresponding to the magnitude of the speed command value at the time of the reversing command, the speed command value corresponding to the actual rotation speed of the motor (5) is read out from the RO.
This is stored in M (10), and the door closing deceleration command value is changed according to the actual speed. Thereby, it is possible to avoid an excessively strong deceleration.

Now, the standard door closing speed command value is X8 in FIG.
When the inversion command is output at the time point D1, as the inversion deceleration command value corresponding to the time point A, the speed command value X9
Is read and controlled. At this time, the actual speed is indicated by Y9.

Next, as controlled by the speed command value X8, as shown by the actual speed Y10 in the door closing operation, when the reversal command is output without reaching the normal door closing speed command value even once, the time B In the case of the actual speed indicated by, it can be determined that the running resistance is large, the followability to the speed command value is poor, and the actual speed is low. Therefore, the deceleration command value may have a gentle slope for the above-described reason, and is controlled by reading the speed command value X10. At this time, the actual speed is indicated by Y10. As a result, the amount of reversal flow becomes the same as in normal operation, and noise and vibration during reversal can be minimized.

Embodiment 4 FIG. FIGS. 1, 7, and 9 are views showing an embodiment of the fourth invention of the present invention. FIG. 7 is a configuration diagram of a main part, and FIG. 9 is a waveform diagram of a door reversing speed command value. In FIG. 7, reference numeral (30) is connected to the encoder (6), the speed command value calculating means (21), and the reversal request safety device (2). Inversion speed deviation detecting means for detecting the deviation.

As the weight of the door increases, the ability to follow the speed command value naturally deteriorates. Also, in the door reversing operation,
It is necessary to make the inclination of the door closing deceleration command value larger than in the normal case. In such a case, the selection of the deceleration command value at the time of door reversal can be performed only by checking the speed command value and the actual speed of the motor (5) because the weight of the door is increased. It cannot be determined that it needs to be increased. However, in the case of a door having a large weight, the followability to the speed command value is not only delayed but also follows the speed command value too much, or conversely, falls too much. Very unstable.

Therefore, the unstable state can be confirmed by monitoring the speed deviation, and it can be determined that the door is heavy. Therefore, a speed command value corresponding to the speed deviation when the inversion command is output is stored in the ROM (10), and the door closing deceleration command value is changed according to the speed deviation at that time. . As a result, even if the weight of the door becomes heavy, the amount of reverse flow can be suppressed to the same level as in a normal case.

If the standard door closing speed command value is X11, the actual speed is indicated by Y12, and the speed deviation is indicated by Z12. When the inversion command is output at time D2, time A
As a reversal deceleration command value corresponding to the speed deviation Z12 of
The speed command value X12 is read and controlled. At this time,
The actual speed is indicated by Y12.

Next, it is controlled by the door closing speed command value X11,
As shown by the actual speed Y13, when the door is closed, the speed deviation is indicated by Z13. When the inversion command is output at the time point D2, the speed deviation Z13 at the time point B is larger than the standard speed deviation Z12, and it can be determined that the door is heavy. Therefore, the speed command value X13 is read and the actual speed Y is read.
Control is performed to decelerate at 13. By adjusting the deceleration in this way, the amount of reverse flow can be suppressed to the same level as in normal operation.

[0045]

As described above, in the first invention of the present invention, the speed command value at the time of the inversion command of the door of the elevator is detected, and the deceleration command value is changed according to the detected value. Then, artificially set the speed command value corresponding to the speed of the door, and at the time of the reversal command, the deceleration command value is changed according to the speed command value set above. When the speed is large and the speed is low, the deceleration can be reduced, and the amount of reverse flow can be reduced, the safety can be improved, and noise and impact can be suppressed to the necessary limits.

In the third invention, the rotation speed of the motor at the time of the command to invert the door of the elevator is detected, and the deceleration command value is changed according to the detected value. Even when the force that hinders the opening / closing operation acts and the ability to follow the speed command value is poor, stable control can always be performed, the amount of reversal flow can be suppressed in the same way as normal, and noise and vibration during reversal. Has the effect of minimizing this.

In the fourth invention, a speed deviation between a speed command value at the time of an elevator door reversal command and a motor rotation speed is detected, and the deceleration command value is changed according to the detected value. Therefore, even when the door weight is large and the inertia overshoot occurs and the followability to the speed command value is poor, stable control can always be performed, and the reverse flow amount can be suppressed to the same level as in the normal case.

[Brief description of the drawings]

FIG. 1 is a block diagram showing Embodiments 1 to 4 of the present invention and a conventional elevator door opening / closing control device.

FIG. 2 is a configuration diagram of a main part showing the first embodiment of the present invention.

FIG. 3 is a main part configuration diagram showing a second embodiment of the present invention.

FIG. 4 is a door reversal speed command value waveform diagram showing Embodiment 1 and Embodiment 2 of the present invention.

FIG. 5 is a door closing speed command value waveform diagram showing Embodiment 2 of the present invention.

FIG. 6 is a main part configuration diagram showing a third embodiment of the present invention.

FIG. 7 is a main part configuration diagram showing a fourth embodiment of the present invention.

FIG. 8 is a door reversing operation waveform diagram showing Embodiment 3 of the present invention.

FIG. 9 is a door reversing operation waveform diagram showing Embodiment 4 of the present invention.

FIG. 10 is a door opening / closing operation waveform diagram by a conventional elevator door opening / closing control device.

FIG. 11 is a waveform diagram of a door inversion speed command value by a conventional elevator door opening / closing control device.

[Explanation of symbols]

 2 Reversing request safety device 5 Motor 6 Pulse encoder 13 Speed command value setting device (setting pin for speed adjustment) 15 Gate signal generation circuit 21 Speed command value calculating means 22 Speed command value detecting means at reversal 23 Deceleration command value changing means 24 Door control means 28 Reversing speed detecting means 30 Reversing speed deviation detecting means

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-5-221595 (JP, A) JP 7-80664 (JP, B2) JP 7-106858 (JP, B2) (58) Field (Int. Cl. ⁷ , DB name) B66B 13/00-13/30

Claims (4)

(57) [Claims] An output of an encoder coupled to a motor driving a door of an elevator, detecting a position point of the door and a rotation speed of the motor, generating a speed command value corresponding to the position point, In the device for controlling the rotation speed of the door to follow the speed command value and decelerating the door according to a predetermined deceleration command value and opening the reversing door according to a predetermined deceleration command value when an inversion command is issued during the door closing operation of the door. ,
A reversing speed command value detecting means for detecting the speed command value at the time of the reversing command; and a deceleration command value changing means for changing the deceleration command value according to the detected speed command value. An opening and closing control device for an elevator door. And detecting a position point of the door and a rotation speed of the motor from an output of an encoder coupled to a motor driving the door of the elevator, and generating a speed command value corresponding to the position point. In the device for controlling the rotation speed of the door to follow the speed command value and decelerating the door according to a predetermined deceleration command value and opening the reversing door according to a predetermined deceleration command value when an inversion command is issued during the door closing operation of the door. ,
A speed command value setting device for setting different speed command values corresponding to the speed of the door, and a deceleration command value change for changing the deceleration command value according to the set speed command value at the time of the inversion command. And an opening / closing control device for an elevator door. Detecting a position point of the door and a rotational speed of the motor from an output of an encoder coupled to a motor driving the door of the elevator, generating a speed command value corresponding to the position point, In the device for controlling the rotation speed of the door to follow the speed command value and decelerating the door according to a predetermined deceleration command value and opening the reversing door according to a predetermined deceleration command value when an inversion command is issued during the door closing operation of the door. ,
A reversing speed detecting means for detecting a rotation speed of the motor at the time of the reversing command; and a deceleration command value changing means for changing the deceleration command value according to the detected rotation speed. Opening and closing control device for elevator doors. And detecting a position point of the door and a rotation speed of the motor from an output of an encoder coupled to a motor driving the door of the elevator, and generating a speed command value corresponding to the position point. In the device for controlling the rotation speed of the door to follow the speed command value and decelerating the door according to a predetermined deceleration command value and opening the reversing door according to a predetermined deceleration command value when an inversion command is issued during the door closing operation of the door. ,
Inversion speed deviation detection means for detecting a speed deviation between the speed command value at the time of the inversion command and the rotation speed of the motor,
An opening / closing control device for an elevator door, comprising: deceleration command value changing means for changing the deceleration command value according to the detected speed deviation.