JP3294403B2 - 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 for controlling opening and closing of an elevator door driven by a motor.

[0002]

2. Description of the Related Art FIG. 7 is a block diagram showing a conventional elevator door control device disclosed in Japanese Patent Laid-Open No. 5-124785. In FIG. 7, 1 is an AC power supply, 2 is a converter connected to the AC power supply 1 and converting AC to DC, 3
Is a smoothing capacitor connected to the DC side of the converter 2,
4 is an inverter connected to the smoothing capacitor 3 and configured with a transistor for converting DC to AC, 40 is a connector connected to the AC side of the inverter 4, and 6 is a connector 40
Is a motor for driving a door (not shown), 7 is a pulse encoder coupled to the motor 6 for generating a pulse proportional to the speed of the motor 6, and 8 is a base drive circuit for driving the inverter 4.

An elevator control panel 10 outputs a door opening command signal 10a and a door closing command signal 10b, and a door type 11 sets a door opening type as to whether to open to the left or right as viewed from the landing side. Setting switch, 12 is CPU, 13
Is an RO that stores processing programs and fixed data
M and 14 are RAMs for temporarily storing processing data and input data, etc., 15 is a pulse counting unit for counting the pulses of the encoder 7, 16 is a door opening command signal 10a, a door closing command signal 10b, and a signal from the door type setting switch 11. An input / output port 17 for inputting / outputting a signal, etc., is a PWM signal generating means for outputting a pulse width modulation (PWM) signal to the base drive circuit 8.

The conventional elevator door control device is constructed as described above, and calculates the door opening / closing command signals 10a and 10b received through the input / output port 16 and the position and speed of the door calculated by the pulse count unit 15. , ROM1
The PWM signal is transmitted from the PWM signal generation means 17 to the base drive circuit 8 by the transmission and reception of data from the RAM 3 and the RAM 14, the output of the inverter 4 is adjusted, and the motor 6 is controlled.

In the case of an elevator door, it is necessary to change the rotation direction of the motor 6 depending on the type of the door, even if the door opening / closing command signals 10a and 10b are the same. For example,
The direction of rotation of the motor 6 is different between the case where the door is opened on the left side and the case where the door is opened on the right side when viewed from the landing side.
Even if a and 10b are the same, it is necessary to change the rotation direction of the motor 6 by switching the phase connection of the motor 6 depending on the type of door.

FIG. 8 is a block diagram showing a processing program stored in the ROM 13 and showing correction means for correcting an erroneous connection of the motor 6 in accordance with the type of door based on the control of the CPU 12. According to FIG. 8, when the power is turned on, the pulse of the encoder 7, the output of the door type setting switch 11, and the door opening / closing command signals 10 a and 10 b are input to the erroneous rotation detecting means 41 and are set by the door type setting switch 11. Door format,
The direction of the pulse count is confirmed from the door opening / closing command signals 10a and 10b, and the result is held, thereby enabling the motor 6 to operate.
In the case of a certain type of door, the pulse count is determined to increase when the door is opened, and to be decreased when the door is closed, and by confirming the counting direction, the motor 6 operates normally. In this case, the incorrect connection direction of the motor 6 can be detected, and if an incorrect connection occurs during the connection work of the motor 6, the connection correction means 42 controls the PWM signal generation circuit to output the output of the inverter 4. Of the motor 6 is automatically corrected.

[0007]

In the conventional elevator door control device described above, although the erroneous connection of the motor 6 can be corrected according to the type of the door, the door type switch 11 and the door open / close command signal 10a are provided. , Since only the pulse counting direction of the encoder 7 for 10b is detected,
A malfunction may occur at the time of the door reversing operation, the mischievous operation, and the erroneous connection of the encoder 7. In particular, in the case of an erroneous connection of the encoder 7, the relation between the erroneous connection of the motor 6, the door opening / closing command signals 10a and 10b, and the actual speed is exactly the same, and the conventional device surely malfunctions.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems of the prior art, and ensures that the motor or the motor can be reliably operated without malfunctioning at the time of door reversing or mischief depending on the type of elevator door. To obtain an elevator door control device capable of detecting a wrong connection of an encoder, preventing runaway of a door, and determining and correcting a wrong connection of a motor or an encoder. It is an object.

[0009]

According to a first aspect of the present invention, there is provided an elevator door control device comprising: a motor for driving an elevator door; an encoder for generating a pulse corresponding to the rotation of the motor; A control means for controlling the motor based on the signal and the actual speed of the door according to the output of the encoder, and controlling the opening and closing of the door. The rotation direction of the motor indicated by the actual speed is the reverse direction, the actual speed is accelerated, and the door is open from the fully closed position to the current position if the door is open or from the fully open position to the current position if the door is closed. When the actual speed never shows 0, and when these conditions continue for a certain period of time or more, there is provided an incorrect connection detecting means for detecting that the motor or the encoder is incorrectly connected. It is an feature.

According to a second aspect of the present invention, there is provided an elevator door control device comprising: a motor for driving an elevator door; an encoder for generating a pulse corresponding to the rotation of the motor; a speed command signal and an output of the encoder. A control means for controlling the motor based on the actual speed of the corresponding door to control the opening and closing of the door, wherein the motor indicated by the actual speed in response to the speed command signal is provided. The actual speed is accelerated in the reverse direction, and the actual speed is accelerated from the fully closed position to the current position if the door is open or from the fully open position to the current position if the door is closed. Erroneous connection detection means for detecting that the motor or the encoder is erroneously connected when these conditions continue for a predetermined time or more, and the erroneous connection detection means There is characterized in that a speed command means for sending a speed command to the low-speed running based on the door opening and closing command when it is detected.

Further, the elevator door control device according to claim 3 comprises a motor for driving the elevator door, an encoder for generating a pulse corresponding to the rotation of the motor,
A control means for controlling the motor based on a speed command signal and the actual speed of the door according to the output of the encoder to control opening and closing of the door, wherein the door is fully closed. A fully-closed position detection switch for detecting that the door is at the full-open position and a fully-open position detection switch for detecting that the door is at the fully-open position; A misconnection determination means for discriminating a misconnection of the motor and a misconnection of the encoder based on the actual speed, and replaces the door opening / closing command when the misconnection of the motor is detected,
And a compensating means for exchanging a phase signal when the misconnection of the encoder is detected and outputting the same to the control means.

[0012]

In the elevator door control device according to the first aspect of the present invention, the rotation direction of the motor indicated by the actual speed with respect to the speed command signal is reversed by the incorrect connection detection means.
The actual speed is accelerated, and if the door is open, the actual speed never shows 0 from the fully closed position to the current position from the fully closed position to the current position, or if the door is closed, from the fully open position to the current position, and these conditions When the signal continues for a certain period of time or more, a motor or encoder misconnection detection signal is output to prevent malfunction during door reversal or mischief, and to ensure malfunction of the motor or encoder misconnection. Without detection.

Further, in the elevator door control device according to the second aspect, the speed command means issues a speed command for causing the vehicle to travel at a low speed based on the door opening / closing command when the erroneous connection is detected by the erroneous connection detection means. By sending
Run the door at low speed to prevent the door from running away.

Further, in the elevator door control device according to the third aspect of the present invention, the erroneous connection discriminating means reduces the door opening / closing command when the door is in the fully closed or fully open position and the actual speed accompanying the door opening / closing command. Based on the misconnection of the motor and the misconnection of the encoder based on, based on the correction means, if the misconnection of the motor is detected, replace the door opening and closing command,
When an erroneous connection of the encoder is detected, the phase signal is exchanged and output to the control means, thereby making it unnecessary to check and correct the connection.

[0015]

【Example】

Embodiment 1 FIG. Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 relates to the first embodiment and corresponds to the conventional example shown in FIG. 8, and is a processing program stored in the ROM 13 of the circuit diagram shown in FIG. 6 is a configuration diagram illustrating a correction unit that discriminates and detects and corrects an incorrect connection of the encoder 6 or the encoder 7. FIG. In addition,
The first embodiment also has the same circuit as the circuit diagram shown in FIG.

In FIG. 1, the same reference numerals as those in the conventional example shown in FIG. 8 indicate the same parts, and a description thereof will be omitted. As a new code, 18 is the output of the pulse count unit 15 and the door type setting switch 11, and the door opening / closing commands 10a, 10
a speed command from the speed command means 37 according to b, and a faulty connection detecting means for detecting faulty connection of the motor 6 and the encoder 7; 19 determines whether the faulty connection of the motor 6 or the faulty connection of the encoder 7 In the case of a wrong connection of the motor 6, the wrong connection determination means 20 exchanges the door opening / closing commands 10 a and 10 b and outputs the same, and in the case of a wrong connection of the encoder 7, reverses the phase sequence of the output signal. This is input connection correction means.

Here, the erroneous connection detection signal from the erroneous connection detection means 18 is also output to the speed command means 37, and the speed command means 37 prevents runaway of the door when the erroneous connection detection signal is input. In order to provide a low-speed traveling command, the incorrect connection detection means 18, the incorrect connection determination means 19, and the connection correction means 2
The signal is output to the PWM signal generating circuit 17 through the signal 0. When determining whether the motor 6 is erroneously connected or the encoder 7 is erroneously connected, the erroneous connection determination means 19 detects that the door is at the fully closed position and that the door is at the fully open position. The detection signal from the fully open position detection switch that detects the door open / close command when the door is in the fully closed or fully open position and the actual speed associated with the door open / close command and the motor misconnection and encoder error The connection is determined.

Next, the operation of the first embodiment will be described with reference to FIG. FIG. 2 is a flowchart illustrating the erroneous connection detection unit 18 of FIG. This operation is performed not only at the time of turning on the power but also at all times to detect an incorrect connection. First, in step S21, a door type is read based on an input from the door type setting switch 11. Then, step S2
In step 2, the rotation direction of the motor 6 is determined from the speed command 37 and the actual speed determined by the pulse count unit 15. In this case, the reference direction is determined based on the input from the door type setting switch 11, and it is determined whether or not the actual speed (the rotation direction of the motor 6) is the same direction as the speed command 37 based on the speed command 37 and the polarity of the actual speed. I do. Actual speed (rotation direction of motor 6)
Is the same direction as the speed command 37, it is determined that it is normal. If it is in the opposite direction, it is determined as abnormal and the next step S
Proceed to 23.

Next, in step S23, it is determined whether or not the actual speed is accelerating. This is determined in step S22 in order to prevent a malfunction in the case where the speed command 37 and the rotation direction of the actual speed do not match when the door is reversed. For example, when the hand touches the door in the closed state, the door moves in the door opening direction by a safety device (not shown). At this time, the speed command is reduced to 0, and when the door is reversed (door opening direction). The actual speed following the speed command is not synchronized with the speed command, and the speed command 37 when the door is reversed is not synchronized with the speed command.
And the rotation direction does not match, and the vehicle is decelerating. In this case, determination is made to prevent malfunction. In other words, if the actual speed is not accelerating (if decelerating), it is determined that the door is in the normal state with the door turned over, and if the actual speed is accelerating (if it is not decelerating), it is abnormal. And proceed to the next step S24.

Next, in step S24, it is determined whether the actual speed has shown 0 at least once from the fully closed position to the current position if the door is closed, and from the fully open position if the door is closed. This is the step S
At 22, the force may be applied in a direction where the speed command 37 and the rotation direction of the actual speed do not match due to mischief to the door. In this case, the actual speed indicates 0, and in order to prevent the malfunction, to decide. That is, the actual speed is 0
Indicates that it is mischief and is considered normal.
Conversely, if the actual speed does not indicate 0, it is determined that there is an abnormality. It should be noted that in all of the above steps S22 to S24, YE
In the case of S, the detection timer is reset and does not operate in step S26 because it is normal.

If NO in steps S22 to S24, it is determined that an abnormality has occurred, and the detection timer is counted. If the determination in steps S22 to S24 is NO for a predetermined period of time, it is determined that the motor 6 or the encoder 7 is incorrectly connected. At this time, it is not possible to determine whether the erroneous connection is the motor 6 or the encoder 7, and therefore, a fully closed position detection switch for detecting that the door is at the fully closed position or a fully open position detection switch for detecting that the door is at the fully open position. When the position of the door is other than the fully opened or fully closed position by the position detection switch (not shown), the vehicle is caused to travel at an emergency low speed based on the door opening / closing commands 10a and 10b via steps S29 and S30 so that the door does not run away. . The emergency low-speed running in this case is to run at a certain fixed torque.

Next, when the position of the door is in the fully closed or fully opened position by the position detecting switch (not shown) in the above steps S29 and S30, the process proceeds to another subroutine. That is, when it is determined in step S29 that the door position is the fully closed position by the fully closed position detection switch (not shown), the process proceeds to subroutine A shown in FIG.
It is determined whether the connection is wrong or the connection of the encoder 7 is wrong. When it is determined in step S30 that the door position is the fully open position by the fully open position detection switch (not shown), the process proceeds to subroutine B shown in FIG.
It is determined whether the motor 6 is connected incorrectly or the encoder 7 is connected incorrectly.

The criterion for determining whether the motor 6 is erroneously connected or the encoder 7 is erroneously connected is as follows.
This will be described with reference to FIG. 5, which shows the relationship between the speeds when the motor 6 is incorrectly connected and when the encoder 7 is incorrectly connected. FIG. 5 shows a speed command 37, an actual speed 39 based on a pulse output of the encoder 7 with respect to the speed command 37, and a door speed 3
8 (the actual speed of the elevator door). As shown in FIG. 7A, when the motor 6 is connected normally and the encoder 7 is connected incorrectly, the speed command 3
7 and the actual speed 39 increase in the opposite direction, but the motor 6 is normally connected. In this case, the door speed 38 of the elevator door is in the same direction as the speed command 37 according to the deviation. To accelerate.

On the other hand, as shown in FIG. 2B, when the encoder 7 is normally connected and the motor 6 is erroneously connected, the speed command 37 and the actual speed 39 deviate from each other in the opposite direction. However, since the motor 6 is erroneously connected, the door speed 38 of the elevator door is accelerated in a direction opposite to the speed command 37 according to the deviation.

In step S32 shown in FIG. 3, when the door opening command signal 10a is output when the elevator door is in the fully closed position, the actual speed based on the output pulse of the encoder 7 is determined in step S33. When the actual speed is 0, the door opening command signal 10 is output even though the door is in the fully closed position.
This indicates that the door is about to move in the direction of closing the door, which is opposite to the direction a, which corresponds to the speed command 37 and the door speed 38 shown in FIG.
Indicates that the motor 6 is in the wrong connection, and conversely, if the actual speed is not 0, the door opening direction is the same as the door opening command signal 10a. 5A indicates that the door is about to move, which indicates a relationship between the speed command 37 and the door speed 38 shown in FIG.
In this case, the encoder 7 determines that the connection is incorrect (steps S34 and S35).

The same decision is made also when the door closing command signal 10b is output when the elevator door is in the fully closed position (steps S36 to S39). Further, in step S30 shown in FIG. 2, when the door of the elevator is in the fully open position, the process proceeds to subroutine B shown in FIG. 4, and the same judgment is made as in subroutine A shown in FIG. 3 described above (steps S40 to S47). . In this case, since the direction of the door speed is determined from the state where the elevator door is at the fully open position, the detection form of the incorrect connection between the motor 6 and the encoder 7 has a relationship opposite to that of the subroutine A shown in FIG. .

In this way, when it is determined that the encoder 7 is incorrectly connected, the phase signal of the encoder 7 is reversed and input to the RAM 14. If it is determined that the motor 6 is connected incorrectly, the door opening / closing commands 10a and 10b are interchanged and output. At this time, at the time of the internal processing of the CPU 12, the door opening / closing commands 10a and 10b are not replaced but are replaced at the time of output. By reversing the door opening / closing commands 10a and 10b, the ON transistor in the inverter 4 is reversed and the motor 6
The current flowing through is also reversed.

As described above, according to the first embodiment, if the rotation speed of the motor indicated by the actual speed is opposite to the speed command signal, the actual speed is accelerated, and if the door is open, all If the actual speed never shows 0 from the closed position to the current position or from the fully opened position to the current position if the door is closed, and if these conditions continue for a certain period of time, the motor 6 or the encoder 7 By providing a wrong connection detecting means 18 for outputting a wrong connection detection signal, it is possible to prevent a wrong operation at the time of a door reversing operation or a mischief, and to reliably detect a wrong connection of the motor 6 or the encoder 7 without causing a wrong operation. And a speed command means 37 for sending a speed command for causing the vehicle to run at a low speed based on the door opening / closing command when the erroneous connection is detected by the erroneous connection detection means 18. It is possible to prevent the runaway of the door by line. A misconnection determination means for discriminating between a misconnection of the motor and a misconnection of the encoder based on a door opening / closing command in a state where the door is in the fully closed or fully open position and an actual speed accompanying the door opening / closing command; When the connection error is detected, the door opening / closing command is exchanged. When the connection error of the encoder is detected, the phase signal is exchanged and output to the control unit. There is an effect that it can be unnecessary.

Embodiment 2 FIG. FIG. 6 relates to the second embodiment,
The second embodiment is applied to a two-phase motor drive circuit 4A instead of the inverter 4 having a three-phase bridge in the first embodiment. Also in the second embodiment, similarly to the first embodiment, the door opening / closing commands 10a and 10b are exchanged when the motor 6 is erroneously connected, and the A-phase and B-phase signals are replaced when the encoder 7 is erroneously connected. Swapping can be performed.

[0030]

According to the first aspect of the present invention, the rotation speed of the motor indicated by the actual speed is opposite to the speed command signal, the actual speed is accelerated, and the door is fully closed if the door is open. If the actual speed has never shown 0 from the position to the current position or from the fully open position to the current position if the door is closed, and if these conditions have continued for a certain period of time or more, the incorrect connection of the motor or encoder is detected. Since the erroneous connection detecting means for outputting a signal is provided, it is possible to prevent erroneous operation at the time of door reversing operation or mischief and to reliably detect erroneous connection of the motor or the encoder without erroneous operation. .

According to the second aspect of the present invention, when the erroneous connection is detected by the erroneous connection detection means, the speed command means for sending a speed command for running at a low speed based on the door opening / closing command is provided. It is possible to prevent the door from running away by running at a low speed.

Further, according to the third aspect, the erroneous connection of the motor and the erroneous connection of the encoder are determined based on the door opening / closing command when the door is in the fully closed or fully open position and the actual speed accompanying the door opening / closing command. Since it is provided with misconnection determination means for discriminating, and correction means for exchanging a door opening / closing command when a misconnection of a motor is detected, and exchanging a phase signal when detecting misconnection of an encoder, and outputting the same to a control means. In addition, it is possible to eliminate the necessity of checking and correcting the connection.

[Brief description of the drawings]

FIG. 1 is a specific configuration diagram of control means by a CPU according to a first embodiment of the present invention.

FIG. 2 is an operation flowchart according to the first embodiment of the present invention.

FIG. 3 is an operation flowchart showing a subroutine of FIG. 2;

FIG. 4 is an operation flowchart showing a subroutine of FIG. 2;

FIG. 5 is an explanatory diagram showing a relationship among a speed command, an actual speed indicated by the encoder, and a door speed as a reference for determining an erroneous connection between an encoder and a motor according to the present invention.

FIG. 6 is a circuit diagram showing an elevator door control device according to a second embodiment of the present invention.

FIG. 7 is a circuit diagram showing an elevator door control device according to the first embodiment of the present invention and a conventional example.

FIG. 8 is an overall configuration diagram showing a conventional control device.

[Explanation of symbols]

 Reference Signs List 4 Inverter 6 Motor 7 Encoder 10 Elevator control panel 11 Unit type setting switch 18 Misconnection detection means 19 Misconnection determination means 20 Connection correction means 37 Speed command means

Claims (3)

(57) [Claims] A motor for driving an elevator door, an encoder for generating a pulse corresponding to the rotation of the motor, and a motor for controlling the motor based on a speed command signal and an actual speed of the door according to an output of the encoder. A control means for controlling opening and closing of the door, wherein the rotation direction of the motor indicated by the actual speed is opposite to the speed command signal, and the actual speed is accelerated. If the door is open, the actual speed never shows 0 from the fully closed position to the current position from the fully closed position to the current position, or from the fully open position to the current position if the door is closed, and these conditions are longer than a certain time. An elevator door control device, comprising: an erroneous connection detecting means for detecting that the motor or the encoder is erroneously connected when the continuation is continued. 2. A motor for driving an elevator door, an encoder for generating a pulse corresponding to the rotation of the motor, and a motor for controlling the motor based on a speed command signal and an actual speed of the door according to an output of the encoder. A control means for controlling opening and closing of the door, wherein the rotation direction of the motor indicated by the actual speed is opposite to the speed command signal, and the actual speed is accelerated. If the door is open, the actual speed never shows 0 from the fully closed position to the current position from the fully closed position to the current position, or from the fully open position to the current position if the door is closed, and these conditions are longer than a certain time. An erroneous connection detecting means for detecting that the motor or the encoder is erroneously connected when the continuation is continued, and a low-speed running based on a door opening / closing command when the erroneous connection is detected by the erroneous connection detection means. And a speed command means for sending a speed command to be controlled. 3. A motor for driving an elevator door, an encoder for generating a pulse corresponding to the rotation of the motor, and a motor for controlling the motor based on a speed command signal and an actual speed of the door according to an output of the encoder. And a control means for controlling the opening and closing of the door, wherein the fully closed position detection switch for detecting that the door is in the fully closed position and the fully open position for detecting that the door is in the fully open position. A position detection switch and a misconnection that discriminates a misconnection of the motor and a misconnection of the encoder based on a door opening / closing command in a state where the door is in a fully closed or fully open position and the actual speed accompanying the door opening / closing command. When the erroneous connection of the motor is detected, the door opening / closing command is exchanged. When the erroneous connection of the encoder is detected, the phase signal is exchanged. A control device for an elevator door, comprising: a correcting means for outputting to a stage.