JP3158306B2 - Elevator door control - 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 device.

[0002]

2. Description of the Related Art FIG. 4 is a front view of a general elevator door driving apparatus described in, for example, Japanese Patent Application Laid-Open No. 2-310284. In the figure, 1 is a door driving motor fixed to the upper part of the elevator car, 2 is a pulse encoder which is directly connected to the motor 1 and generates a pulse proportional to the rotation speed of the motor 1, and 3 is connected to the rotating shaft of the motor 1 Pulley. Reference numeral 4 denotes a speed reduction mechanism attached to the upper part of the car, and the speed reduction mechanism 4 and the pulley 3 are connected by a belt 5. Reference numeral 8 denotes a door opening / closing belt wound between a driving pulley 6 and a driven pulley 7 attached to an output shaft of the reduction mechanism 4, and reference numeral 9 denotes a single-opening elevator door. The door 9 is suspended from and supported by a hanger putter 10 supported on a door hanger case so as to be movable horizontally.
Is connected to the belt 8. Reference numerals 11A and 11B denote a fully closed switch and a fully open switch for detecting the fully closed position and the fully open position of the door 9, respectively.

A general elevator door drive device is constructed as described above. When the motor 1 rotates forward or backward, the rotation is reduced via a pulley 3 and a belt 5 to a speed reduction mechanism 4.
Is further decelerated by the speed reduction mechanism 4 and converted into a horizontal linear motion by the belt 8. When the belt 8 travels in the horizontal direction, the door 9 moves, and the door opens or closes. In FIG. 4, the solid line indicates a state in which the door is fully closed,
The broken line indicates a state where the door is fully opened.

[0004] Next, the operation of a conventional elevator control device for controlling the above-described general elevator drive device will be outlined. The encoder 2 generates a pulse corresponding to the number of rotations of the motor 1, and the position and speed of the door 9 are calculated based on the pulse, and the opening / closing speed of the door 9 is controlled based on the calculation result. The operation result calculated based on the pulse generated by the encoder is a fully closed switch 1
It is reset by 1A and the full open switch 11B.

[0005]

In the conventional elevator door control device as described above, in the case where the mounting error of the encoder (loosening of the mounting screw, etc.) or the halfway contact state due to the disconnection of the encoder occurs, the encoder is not used. (See FIG. 3 (C)). However, since there is no function to check such a state, normal control is performed until output is completely stopped. Is performed. The normal control is to detect a door position based on a pulse signal of an encoder, and to control the door opening / closing speed in a pattern as a function of the door position. Therefore, if you use it in such a halfway state,
For example, if a pulse dropout of the encoder occurs during the door closing operation, the deceleration pattern does not advance and the door closes without decelerating,
There has been a problem that dangerous situations such as a door stop or a collision with a person may occur.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problem, and an object of the present invention is to provide an elevator door control device capable of detecting an abnormality of an encoder at an early stage and preventing runaway or malfunction of a door. It is intended for.

[0007]

According to the present invention, there is provided an elevator door control apparatus comprising: pulse generating means for generating a pulse corresponding to the number of rotations of a door opening / closing motor; and counting of the pulse generated by the pulse generating means. Position calculating means for calculating a door position based on the counted value; speed reading means for reading an appropriate speed of a motor corresponding to the door position calculated by the position calculating means; and a unit time generated by the pulse generating means. Speed calculation means for calculating the actual motor speed based on the hit pulse, and a speed difference between the motor speed calculated by the speed calculation means and the appropriate motor speed read by the speed reading means, A motor speed control means for controlling a motor speed based on the speed difference; and a change rate of a pulse count value counted by the position calculation means, and a change in a normal state is calculated. The difference between those that are provided with a pulse error signal generating means for generating an abnormality signal when it exceeds a specified value.

[0008]

In the present invention, the change rate of the pulse count value corresponding to the rotation speed of the door opening / closing motor is calculated, and when the difference between the calculated change rate and the normal change rate exceeds a specified value. Generates an abnormal signal.

[0009]

【Example】

Embodiment 1 FIG. FIG. 1 is a block diagram showing one embodiment of the present invention, and the same parts as those in FIG. 4 are denoted by the same reference numerals. In the figure, reference numeral 13 denotes a position calculation counter which is connected to the encoder 2 and calculates the position of the door 9, and its contents are reset by the fully closed / fully opened switches 11A and 11B. 1
5 is a speed calculation counter which is also connected to the encoder 2 and calculates the speed of the motor 1; 17 is a position calculation counter 1
3 and connected to the speed calculation counter 15, which detects the rate of change of the pulse count value, calculates the difference from the specified rate of change, and sends an abnormal signal when the difference exceeds the specified value. Circuit. 19 is a position calculation counter 13
Speed command circuit, which is connected to and generates a speed command value, 21
Is a speed deviation calculation circuit connected to the speed command circuit 19 and the speed calculation counter 15 to calculate a speed deviation, and 23 is a current amplifier connected to the speed deviation calculation circuit 21 to output a current command value to the motor 1. 25 is connected to the count value change rate check circuit 17
Sends a speed limit command to the speed command circuit 19 and the current amplifier 23 in response to this signal.
Is a failure reporting circuit that is connected to the maintenance server and reports the occurrence of a failure to a maintenance company.

Next, the operation of this embodiment will be described with reference to FIGS. When the motor 1 rotates, the encoder 2
Generates a pulse corresponding to the rotation speed of the motor 1. The position calculation counter 13 counts the above pulses, detects the moving distance of the door 9, that is, the position of the door 9 based on the counted pulses, and outputs a detection result to the speed command circuit 19. The speed command circuit 19 receives the output of the position calculation counter 13, reads an appropriate speed of the motor 1 corresponding to the position of the door 9, and outputs a speed command to the speed deviation calculation circuit 21. On the other hand, the speed calculation counter 15 counts the pulses generated by the encoder, calculates the actual speed of the motor 1, and outputs it to the speed deviation calculation circuit 21. The speed deviation calculation circuit 21 receives the outputs of the speed command circuit 19 and the speed calculation counter 15, calculates the difference between the value of the speed command and the actual speed of the motor 1, and outputs the result to the current amplifier 23. The current amplifier 23 supplies a current determined based on the deviation input from the speed deviation calculation circuit 21 to the motor 1. That is, the motor 1 is controlled by the speed command circuit 19.
Is controlled with high accuracy in accordance with the speed command. The above is the normal operation.

Next, the operation when an abnormality occurs in the encoder 2 will be described with reference to the output waveform diagram of FIG. 2 and the change characteristic graph of the pulse count value of FIG. When the motor 1 rotates, the encoder 2 generates a pulse corresponding to the rotation speed of the motor 1. At this time, the pulse waveform in the normal case is as shown in FIG. However, for example, due to an encoder installation error or a change over time, the encoder mounting screws are loosened, the rotation is not transmitted, or the encoder output line is disconnected and does not touch. In this case, the output is not continuous and the pulse waveform is as shown in FIG. In addition, when the door is locked by the movement of the door due to a person or dust during the opening / closing operation and the door is locked, the period of the output waveform is elongated at the same time as the locking, and a pulse waveform as shown in FIG. 2B is obtained.

FIG. 3 shows the pulse count value on the vertical axis and the time on the horizontal axis in the above three cases. In FIG. 3, those corresponding to the pulse waveform at the time of normal operation in FIG. 2A are shown by solid lines, those corresponding to the pulse waveform at the time of door lock shown in FIG. The waveform corresponding to the pulse waveform in the unstable state is shown by a broken line. As can be seen from FIG. 3, since the rate of change of the pulse count value is different in the above three cases, by checking this rate of change, the abnormal state of the unstable state shown in FIG. Can be detected. Therefore, the count value change rate check circuit 17 detects the change rate of the pulse count value input from the position calculation counter 13 and calculates the difference from the normal change rate. A signal is generated and output to the failure notification circuit 27 and the speed command limiting circuit 25. When receiving an abnormal signal from the count value change rate check circuit 17, the failure notification circuit 27 notifies the maintenance company of the occurrence of the failure. The speed command limiting circuit 25
When an abnormal signal is input from the count value change rate check circuit 17, the motor 1 is sent to the speed command circuit 19 and the current amplifier 23.
Command to reduce the speed and torque of the motor. When this command is issued, the door is opened and closed at a low speed based on this command, thereby preventing malfunction of the door. In this way, when an abnormality occurs in the encoder, the elevator is operated at a low speed without stopping, so that the user is less likely to be inconvenienced, and the user can be expected to report a failure.

The count value change rate check circuit 17 receives a speed signal of the motor 1 from the speed calculation counter 15 and functions only when the motor is rotating at a certain speed or more. The reason for this is that if the door is locked in a zone where the motor speed is slow, such as when the door starts to move, the door is stopped instantly due to the small torque, and the output of the encoder is also lost at the same time. This is because the pulse waveform becomes the same as that described above, and it is impossible to distinguish between the encoder abnormality and the door lock.

If a failure progresses and the encoder is completely detached or completely disconnected, the output of the encoder is completely lost. Therefore, a safety circuit (not shown) checks and generates an abnormal signal to notify the failure.

[0015]

As described above, according to the present invention, since the means for detecting the abnormality of the encoder based on the rate of change of the pulse count value is provided, the abnormality of the encoder is detected at an early stage, and the door runs away. And malfunctions can be prevented from occurring.

[Brief description of the drawings]

FIG. 1 is a block diagram showing one embodiment of the present invention.

FIG. 2 is an encoder output waveform for describing the present invention.

FIG. 3 is a change characteristic of a pulse count value for explaining the present invention.

FIG. 4 is a front view showing a general elevator door driving device.

[Explanation of symbols]

 Reference Signs List 1 motor 2 pulse encoder (pulse generating means) 13 position calculating counter (position calculating means) 15 speed calculating counter (speed calculating means) 17 count value change rate check circuit (abnormal signal generating means) 19 speed command circuit (speed reading means) 21 Speed deviation calculation circuit (motor speed control means) 23 Current amplifier (motor speed control means)

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-2-310284 (JP, A) JP-A-2-293284 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) B66B 5/00-13/30

Claims (1)

(57) [Claims] 1. A pulse generating means for generating a pulse corresponding to the number of rotations of a motor for opening and closing a door, and a position calculation for counting pulses generated by the pulse generating means and calculating a door position based on the counted value. Means, speed reading means for reading a motor appropriate speed corresponding to the door position calculated by the position calculating means, and speed calculation for calculating an actual motor speed based on a pulse per unit time generated by the pulse generating means. Means, a motor speed control means for determining a deviation between the motor speed calculated by the speed calculation means and the motor proper speed read by the speed reading means, and controlling the motor speed based on the difference; A pulse abnormal signal that calculates the rate of change of the pulse count value counted by the position calculating means and generates an abnormal signal when the difference from the normal rate of change exceeds a specified value. Elevator door control device that includes a generating unit.