JP4794252B2 - Elevator door control device - Google Patents

Description

  The present invention relates to a door control device for controlling opening and closing of a car door of an elevator.

  Usually, an electric motor is used to drive an elevator car door, and the car door is opened and closed at a predetermined speed by detecting the rotational speed of the electric motor through a speed detector (see, for example, Patent Document 1). ).

  However, in such a speed control system, it is necessary to install a speed detector such as an encoder in order to detect the rotation speed of the electric motor. For this reason, for example, when the elevator equipment is renewed, there is a problem that an operation of attaching a speed detector to the electric motor is required. Therefore, a voltage control method that does not require a rotational speed detector is often used.

  FIG. 10 is a diagram showing a configuration of a conventional elevator door control device, in which a configuration using a voltage control system is shown.

  The pair of car doors 1 a and 1 b are supported by a centrally open center through a belt 2 so as to be able to open and close in the left-right direction. In order to perform voltage feedback control of the electric motor 4, a voltage detector 11 is provided at the output portion of the power converter 9, and a current detector 10 is provided in order to perform current feedback control.

  The voltage command setting unit 30 receives operation signals of the fully closed switch 5, the fully opened switch 6, the first switch 7a, the second switch 7b, and the third switch 7c.

  The fully closed switch 5 is turned on when the car doors 1a and 1b are fully closed (fully closed), and the fully open switch 6 is when the car doors 1a and 1b are fully opened (fully opened). Operates on. As shown in FIG. 11, the first switch 7a, the second switch 7b, and the third switch 7c are switches that are turned on / off at predetermined timings as the car doors 1a and 1b move. Used to create an opening / closing pattern for the doors 1a, 1b.

  The voltage command setting unit 30 generates a voltage command Vref based on the operating state of these switches. The voltage controller 31 generates the current command Iref based on the difference value between the voltage command Vref and the voltage value Vfb output from the differentiator D1. The current controller 14 generates a voltage command Vcon for the power converter 9 based on the difference value between the current command Iref and the current value Ifb output from the difference unit D2. The power converter 9 applies a required voltage to the electric motor 4 in accordance with the voltage command Vcon.

  The reason why the current control is performed by changing the voltage command to the current command is to improve the response characteristics of the electric motor 4. That is, although the electric motor 4 can be driven only by the voltage control, if the current control is not performed at the same time, the response characteristic is deteriorated when the electric motor 4 is reversed.

  FIG. 11 is a diagram showing a voltage command pattern of a conventional method. FIG. 11A shows a pattern of the voltage command Vref when the door is opened, and FIG. 11B shows a pattern of the voltage command Vref when the door is closed. FIGS. 7C to 7E show the ON / OFF timing of the switches 7a to 7c.

  When the car doors 1a and 1b are opened, the voltage pattern is determined by a predetermined jerk, acceleration, and constant speed, and when decelerating, the car is decelerated in two stages according to the timing of the second switch 7b and the third switch 7c. That is, the switches 7a to 7c are arranged so as to be turned on sequentially with a predetermined overlapping period as the car doors 1a and 1b move in the opening direction. Therefore, as shown in FIGS. 11D and 11E, the first switch is decelerated at the timing when the second switch 7b is turned on and the third switch 7c is turned on, and then the second switch 7b. The second deceleration is performed at the timing when is turned off.

  Similarly, when the car doors 1a and 1b are closed, the voltage pattern is determined by a predetermined jerk, acceleration, and constant speed. As shown in FIGS. 11 (c) and 11 (d), the first switch 7a and the second switch are used during deceleration. Decelerate in two steps at the timing of 7b.

Jerk is the stage before acceleration. Further, as shown in FIGS. 11 (a) and 11 (b), the car doors 1a and 1b are in a state where a predetermined voltage is applied to lock the doors when the car doors 1a and 1b are fully opened and fully closed.
JP-A-2-286588

  However, since the voltage control method described above controls the voltage of the motor at the timing of the switch, it is difficult to adjust the voltage pattern, and the adjustment work takes time. In addition, for example, when the car door friction or the door weight changes, the voltage control method has a problem that the opening / closing operation is not uniform. Moreover, the opening / closing time may not be constant at a plurality of doors due to differences in adjustment values depending on the operator.

  The present invention has been made in view of the above points, and provides an elevator door control device that opens and closes a car door by controlling the speed of an electric motor with high accuracy without requiring a speed detector such as an encoder. For the purpose.

The elevator door control device according to the present invention includes an electric motor for driving a car door, a voltage and a current of the electric motor , and further, a resistance value, an inductance value, and an induced voltage constant of the electric motor. Speed estimation means for estimating the speed of the electric motor on the basis of circuit constant information indicating, a movement distance calculation means for calculating the movement distance of the car door by integrating the speed estimated by the speed estimation means, and the movement Speed command setting means for setting a speed command according to the moving distance of the car door calculated by the distance calculation means, and the speed of the electric motor based on the speed command set by the speed command setting means and the estimated speed a speed control means for controlling a first position detecting means for detecting a fully opened position of the car door, a second for detecting the fully closed position of the car door Forced change for forcibly changing the current value or voltage value of the motor at the fully open position detected by the position detection means and the first position detection means or at the fully closed position detected by the second position detection means And a first correction for correcting the resistance value and the inductance value of the electric motor based on the change amount of the voltage value with respect to the change amount of the current value or the change amount of the current value with respect to the change amount of the voltage value. Means .

  According to such a configuration, the speed of the motor is estimated based on the voltage and current of the motor and the circuit constant information indicating the circuit characteristics of the motor. Therefore, it is possible to open and close the car door by controlling the speed of the electric motor with high accuracy without requiring a speed detector such as an encoder.

Further, the circuit constant information includes a resistance value, an inductance value, and an induced voltage constant of the electric motor. By estimating the speed of the motor using such circuit constant information, it is possible to calculate a speed that is more accurate than that estimated using only the voltage and current, and to realize a more accurate speed control.
Furthermore, by appropriately correcting the resistance value and inductance value of the electric motor that are affected by environmental changes such as temperature, the accuracy of speed estimation can be increased, and more accurate speed control can be realized.

  According to the present invention, the speed of the motor is estimated using circuit constant information indicating the circuit characteristics of the motor in addition to the voltage and current of the motor, thereby eliminating the need for a speed detector such as an encoder. The car door can be opened and closed by controlling the speed of the electric motor with high accuracy.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
First, the structure of the car door used for the elevator car door control apparatus of this invention is demonstrated.

  FIG. 1 is a diagram showing the configuration of the car door, and shows the configuration of a left and right middle opening type car door having two door panels.

  A pair of car doors (door panels) 1 a and 1 b are supported via a belt 2 so as to be openable in the left-right direction with a central opening. The belt 2 is wound around a pair of pulleys 3a and 3b, and an electric motor 4 is connected to the shaft of one pulley 3b. The car doors 1 a and 1 b are respectively coupled to the upper side and the lower side of the belt 2, and move in the door opening direction or the door closing direction according to the rotation direction of the electric motor 4.

  Further, a full-close switch 5, a full-open switch 6, and switches 7a to 7c that are turned on / off in accordance with the movement of the car doors 1a and 1b are provided. The fully closed switch 5 is a switch that is turned on when the car doors 1a and 1b are fully closed. The fully open switch 6 is a switch that is turned on when the car doors 1a and 1b are fully opened.

  The first switch 7a, the second switch 7b, and the third switch 7c are turned on when covered by the first detection plate 8a, the second detection plate 8b, and the third detection plate 8c connected to the car door 1a, respectively. This switch is used to create an opening / closing pattern for the car doors 1a, 1b. The operation timing of these switches 7a to 7c is set to ON for a predetermined period in the order of the first switch 7a → the second switch 7b → the third switch 7c as the car doors 1a and 1b move to the fully opened position when the door is opened. When the door is closed, as the car doors 1a and 1b are moved to the fully closed position, they are turned on for a predetermined period in the order of the third switch 7c → the second switch 7b → the first switch 7a (FIG. 11 (c)). ) To (d)). Each of the switches 7a to 7c is configured to be turned on with a predetermined overlap period.

  Next, the structure of the door control device for opening and closing the car doors 1a and 1b will be described.

  FIG. 2 is a block diagram showing the configuration of the elevator door control apparatus according to the first embodiment of the present invention. This door control device is different from the conventional voltage control method shown in FIG. 10 in that it is a speed control method. The same parts as those in FIG. 10 are denoted by the same reference numerals.

  As shown in FIG. 2, the door control device in the first embodiment includes a speed command setting unit 12, a speed controller 13, a current controller 14, a speed estimation unit 15, an electric motor constant setting unit 16, and an integration calculator 17. Prepare.

  D3 and D4 indicate differentiators. The differentiator D3 subtracts the output value (Nest) of the speed estimation unit 15 from the output value (Nref) of the speed command setting unit 12. The difference unit D4 subtracts the output value (Ifb) of the current detector 10 from the output value (Iref) of the speed controller 13.

  The speed command setting unit 12 sets a speed command Nref for driving and controlling the electric motor 4 according to the positions of the car doors 1a and 1b. The speed command setting unit 12 is connected to the full-close switch 5 and the full-open switch 6 and to an integral calculator 17.

  The speed controller 13 generates a current command Iref based on the difference value between the speed command Nref output from the speed command setting unit 12 and the estimated speed Nest estimated by the speed estimation unit 15.

  The current controller 14 generates a voltage command Vcon based on the difference value between the current command Iref and the current value Ifb output from the difference unit D4, and outputs the voltage command Vcon to the power converter 9.

  The power converter 9 applies a required voltage to the electric motor 4 in accordance with the voltage command Vcon. The output portion of the power converter 9 is provided with a current detector 10 and a voltage detector 11, and the current value Ifb detected by the current detector 10 is fed back to the differential unit D4 and a speed estimation unit. 15 is given. The voltage value Vfb detected by the voltage detector 11 is given to the speed estimation unit 15.

  The motor constant setting unit 16 sets circuit constant information indicating the circuit characteristics of the motor 4 and outputs the circuit constant information to the speed estimation unit 15. The circuit constant information includes the resistance value R, the inductance value L, and the induced voltage constant K of the electric motor 4.

  The speed estimation unit 15 is a part that estimates the rotation speed of the electric motor 4. This speed estimation unit 15 is based on the voltage value Vfb and current value Ifb of the motor 4 and the resistance value R, inductance value L, and induced voltage constant K of the motor 4 set by the motor constant setting unit 16. The estimated speed Nest is calculated by the following equation. Eemf is an induced voltage value, and is obtained by multiplying the estimated speed Nest by a proportional multiplier K.

Emf = K × Nest
Nest = (Vfb−R × Ifb−L × dIfdb / dt) / K
Here, the voltage command Vcon to the power converter 9 can be used instead of Vfb.

  The integral computing unit 17 integrates the estimated speed Nest obtained by the speed estimating unit 15 to calculate the car door moving distance Xest. The car door movement distance Xest is output to the speed command setting unit 12.

  In such a configuration, the rotational speed of the electric motor 4 is estimated by the speed estimation unit 15 when the car doors 1a and 1b are opened and closed. The estimated speed Nest obtained by the speed estimator 15 is integrated by the integration calculator 17 and is given to the speed command setting unit 12 as the car movement distance Xest. Accordingly, the speed command setting unit 12 calculates the door position Xt based on the car door movement distance Xest, the operation signal of the fully closed switch 5 and the operation signal of the fully open switch 6, and determines the speed command Nref based on the calculated position.

  FIG. 3 shows the relationship between the pattern of the speed command Nref and the door position. As the door position Xt transitions, the speed command Nref also changes to a predetermined jerk, acceleration, constant speed, and deceleration. Switch. A difference value between the speed command Nref and the estimated speed Nest is given to the speed controller 13 to control the rotation of the electric motor 4, and the car doors 1a and 1b are opened and closed at a predetermined speed.

  As described above, the speed feed control is performed by estimating the speed of the motor 4 from the voltage and current of the motor 4 and the circuit constant information, so that, for example, when the elevator equipment is renewed, the speed detection of the encoder or the like is performed. It is possible to flexibly cope with only software changes without the need for a device.

  Further, the circuit constant information includes a resistance value, an inductance value, and an induced voltage constant of the electric motor. By estimating the speed of the electric motor 4 using such circuit constant information, it is possible to calculate a more accurate speed than that estimated only by the voltage and current, and to realize a more accurate speed control. .

  Further, since the speed control method is adopted, the opening / closing adjustment can be simplified, and the opening / closing operation can be made uniform.

(Second Embodiment)
Next, a second embodiment of the present invention will be described.
In the second embodiment, in addition to the configuration of the first embodiment, a correction function for the resistance value R and the inductance value L of the electric motor 4 is further provided.

  FIG. 4 is a block diagram showing a configuration of an elevator door control apparatus according to the second embodiment of the present invention. In FIG. 4, the same components as those in FIG. 2 in the first embodiment are denoted by the same reference numerals, and description thereof is omitted here.

  4 is different from the configuration of FIG. 2 in that a torque control unit 18, a control mode changeover switch 19, and a circuit constant correction unit 20 are added.

  The torque control unit 18 outputs a torque control switching signal Tmode and a torque command Thold to the control mode switching switch 19. The torque control switching signal Tmode is a signal for switching between the normal speed control mode and the torque control mode. Here, the torque control mode refers to a correction mode for forcibly changing the torque for constant correction.

  The torque command Told is a command for forcibly changing the torque (current in this case) of the electric motor 4 at the fully closed position and the fully open position of the car doors 1a and 1b, and has a predetermined pattern (see FIG. 5). reference).

  The control mode changeover switch 19 is provided between the speed controller 13 and the difference unit D4. The control mode changeover switch 19 selects a current command Iref that is an output signal of the speed controller 13 or a torque command Told that is an output signal of the torque control unit 18 based on the torque control change signal Tmode.

  The circuit constant correction unit 20 corrects the resistance value R and the inductance value L included in the circuit constant information of the electric motor 4. Specifically, the circuit constant correction unit 20 is detected by the voltage detector 11 when the torque control switching signal Tmode output from the torque control unit 18 is in the torque control mode (that is, the correction mode). A resistance value R ′ and an inductance value L ′ are calculated based on the voltage value Vfb of the motor 4 and the current value Ifb detected by the current detector 10, and the resistance value R set in the motor constant setting unit 16 is calculated. The inductance value L is corrected.

  In such a configuration, the torque control switching signal Tmode output from the torque control unit 18 is normally switched to the speed control mode, and the control mode switching switch 19 receives the current command Iref output from the speed controller 13. Selected. Accordingly, similarly to the first embodiment, the speed of the electric motor 4 is controlled using the speed Nest estimated by the speed estimation unit 15, and accordingly, the car doors 1a and 1b are opened and closed at a predetermined speed. Become.

  On the other hand, when the torque control switching signal Tmode is in the torque control mode, the control mode switching switch 19 selects the torque command Told output from the torque control unit 18. As a result, the motor 4 is driven and controlled in accordance with the torque command Thold, and the current value Ifb detected by the current detector 10 and the voltage value Vfb detected by the voltage detector 11 when fully opened and fully closed are respectively set to circuit constant correction units. 20 is given.

  The circuit constant correction unit 20 obtains the resistance value R ′ and the inductance value L ′ of the electric motor 4 based on the current value Ifb and the voltage value Vfb. The state at this time is shown in FIG.

  FIG. 5 is a diagram for explaining the operation of the second embodiment. FIGS. 5A and 5C are diagrams of torque commands Told when the car door is fully opened and when the car door is fully closed. ), (D) show changes in the current value Ifb of the electric motor 4 in response thereto.

  The pattern of the torque command Told is divided into a resistance value calculation area and an inductance value calculation area. In the resistance value calculation area, it changes stepwise at a constant rate, and in the inductance value calculation area, it becomes the minimum value (nearly zero).

  First, in the resistance value calculation region, the current value If of the motor 4 is gradually changed, for example, by 1 ampere by using a torque command Thold that increases stepwise at a constant rate. Then, by measuring the change amount of the voltage value Vfb with respect to the change amount of the current value Ifb, the resistance value R ′ included in the electric motor 4 is calculated from the relationship between the voltage and the current.

  On the other hand, in the inductance value calculation region, the time constant τ of the decrease and increase of the current value Ifb is calculated with respect to the torque command Thold, and the inductance value L ′ is calculated from the relationship of τ = L / R. In this case, since R is already calculated as the resistance value R ′, the inductance value L ′ can be obtained by obtaining the time constant τ.

  The resistance value R ′ and the inductance value L ′ are respectively calculated by the method described above at the fully open position and the fully closed position of the car doors 1a and 1b. Then, both the calculation results are averaged and determined as a final value.

  In this way, the finally obtained resistance value R ′ and inductance value L ′ are given to the motor constant setting unit 16. Thereby, in the subsequent speed control, the resistance value R ′ and the inductance value L ′ are applied to the speed estimation unit 15 as R and L of new circuit constant information.

  Thus, by appropriately correcting the resistance value R and the inductance value L of the electric motor 4 that is affected by environmental changes such as temperature, the accuracy of speed estimation by the speed estimation unit 15 can be increased, and a more accurate speed can be achieved. Control can be realized.

  In the above-described embodiment, the resistance value R ′ and the inductance value L ′ are calculated at both the fully open position and the fully closed position of the car doors 1a and 1b. It may be used as a correction value.

  In addition, when the resistance value R ′ and the inductance value L ′ are calculated in both the fully open position and the fully closed position, the calculation results of both are not averaged and used, but these values are used when the motor 4 is rotated forward. (For example, rotation in the door opening direction) and reverse rotation (for example, rotation in the door closing direction) may be used individually. In this way, more accurate speed control can be realized.

  In the above embodiment, as shown in FIG. 5, the current value Ifb of the electric motor 4 is forcibly changed, and the resistance value R ′ and the inductance value L ′ are calculated from the change amount of the voltage value Vfb corresponding thereto. But the reverse is also possible. That is, the resistance value R ′ and the inductance value L ′ can be obtained in the same manner as described above by forcibly changing the voltage value Vfb of the electric motor 4 and obtaining the amount of change in the current value Ifb.

(Third embodiment)
Next, a third embodiment of the present invention will be described.
The third embodiment is characterized in that in addition to the configuration of the first embodiment, a function for correcting the induced voltage constant K is further provided.

  FIG. 6 is a block diagram showing the configuration of an elevator door control apparatus according to the third embodiment of the present invention. In FIG. 6, the same components as those in FIG. 2 in the first embodiment are denoted by the same reference numerals, and description thereof is omitted here.

  6 is different from the configuration of FIG. 2 in that an intermediate position detection switch 21, a car door speed calculation unit 22, and an induced voltage correction unit 23 are added.

  The intermediate position detection switch 21 is a switch that is turned on when the car doors 1a and 1b come to an intermediate position between fully open and fully closed when the door is opened or closed. Specifically, the second switch 7b shown in FIG. 1 is used as the intermediate position detection switch 21.

  The car door speed calculation unit 22 obtains the speed Vx when the car doors 1a and 1b are moving in the intermediate position from the relationship between the movement distance and time based on the operation signal of the intermediate position detection switch 21.

  The induced voltage correction unit 23 corrects the induced voltage constant K included in the circuit constant information of the electric motor 4. Specifically, the induced voltage correction unit 23 compares the door movement speed Vx during the intermediate position movement calculated by the car door speed calculation unit 22 with the estimated speed Nest of the electric motor 4 obtained by the speed estimation unit 15. Thus, the difference is corrected by the induced voltage constant K.

Here, the correction processing of the induced voltage constant K will be described with reference to FIG.
FIG. 7 is a diagram for explaining the operation of the third embodiment, and shows the relationship between the speed command Nref for the motor 4 and the operation timing of the intermediate position detection switch 21.

  The intermediate position detection switch 21 includes a second switch 7b, and the distance X at which the second switch 7b is turned on is determined by the length of the second detection plate 8b shown in FIG. 1 (see FIG. 11D).

  Here, assuming that the time during which the intermediate position detection switch 21 is on when the door is open is top, the moving speed Vx of the car doors 1a and 1b at that time is obtained as X / top. If the time during which the intermediate position detection switch 21 is on when the door is closed is tcl, the moving speed Vx of the car doors 1a and 1b at that time is obtained as X / tcl.

  On the other hand, the speed of the electric motor 4 during the intermediate position movement is obtained by the speed estimation unit 15. The estimated speed Nest obtained by the speed estimator 15 is obtained using circuit constant information including the induced voltage constant K and is different from the actual speed. Therefore, by comparing the estimated speed Nest and the moving speed Vx, the difference is calculated as an error of the induced voltage constant K.

  Specifically, when the estimated speed Nest and the moving speed Vx are in a proportionality constant M, the following formula is established. X / t represents the car door moving speed (Vx) when the door is opened or closed.

(X / t) / M × K ′ = (Vfb−R × Ifb−L × dIfb / dt)
The induced voltage constant K ′ is calculated from this equation. When the estimated speed Nest and the moving speed Vx are not in a proportional relationship as in a link door, the relationship between the two may be replaced with a function f. The induced voltage constant K ′ is calculated when the door is opened and when the door is closed, and the final value is determined by averaging the calculation results of both.

  In this way, by correcting the induced voltage constant K of the electric motor 4, the accuracy of speed estimation by the speed estimation unit 15 can be increased, and more accurate speed control can be realized.

  In the above embodiment, the induced voltage constant K ′ is calculated both when the door is opened and when the door is closed. However, the result calculated on at least one of the doors may be used as a final correction value.

  In addition, the induced voltage constant K ′ calculated both when the door is opened and when the door is closed is not averaged and used, but these values are used when the motor 4 rotates forward (for example, rotation in the door opening direction) and when the motor rotates in reverse. It may be used individually for each (for example, rotation in the door closing direction). In this way, more accurate speed control can be realized.

(Fourth embodiment)
Next, a fourth embodiment of the present invention will be described.
In the fourth embodiment, in addition to the configuration of the first embodiment, a car door speed abnormality detection function is further provided.

  FIG. 8 is a block diagram showing a configuration of an elevator door control apparatus according to the fourth embodiment of the present invention. In FIG. 8, the same components as those in FIG. 2 in the first embodiment are denoted by the same reference numerals, and description thereof is omitted here.

  8 is different from the configuration of FIG. 2 in that an open side deceleration position detection switch 24, a closed side deceleration position detection switch 25, a deceleration position speed calculation unit 26, and a speed abnormality detection unit 27 are added.

  The open side deceleration position detection switch 24 is a switch that is turned on in the vicinity of the deceleration region when the door is opened. The closed-side deceleration position detection switch 25 is a switch that is turned on in the vicinity of the deceleration region when the door is closed. Specifically, as the open side deceleration position detection switch 24, the second switch 7b and the third switch 7c shown in FIG. 1 shown in FIG. 1 are used. Further, as the closed-side deceleration position detection switch 25, the first switch 7a and the second switch 7b shown in FIG. 1 are used.

  The deceleration position speed calculation unit 26 calculates the car door speed Vy at the deceleration position from the operation timing of the open side deceleration position detection switch 24 and the close side deceleration position detection switch 25.

  The speed abnormality detection unit 27 compares the car door speed Vy calculated by the deceleration position speed calculation unit 26 with a preset abnormality detection speed Nerr so that the car doors 1a and 1b move at an abnormal speed. Determine whether or not. When it is determined that the speed is abnormal, the speed abnormality detecting unit 27 forcibly sets the speed command Nref output from the speed command setting unit 12 to zero or a negative value.

Here, speed abnormality detection processing will be described with reference to FIG.
FIG. 9 is a diagram for explaining the operation of the fourth embodiment. The relationship between the speed command Nref when the door is opened and the operation timing of the open side deceleration position detection switch 24, the speed command Nref when the door is closed and the closing time. The relationship with the operation timing of the side deceleration position detection switch 25 is shown.

  The open-side deceleration position detection switch 24 includes a second switch 7b and a third switch 7c. When the second switch 7b is switched from on to off and the third switch 7c is on, the door is opened. (See FIGS. 11 (d) and 11 (e)). The closed-side deceleration position detection switch 25 is composed of a first switch 7a and a second switch 7b, and is used when the second switch 7b is switched from on to off and the first switch 7a is in an on state. It is detected as a deceleration position when closed (see FIGS. 11C and 11D).

  Here, assuming that the distance at which the open side deceleration position detection switch 24 is turned on is Xlop and the time for which it is turned on is tlop, the car door speed Vy at that time is obtained as Xlop / trop. Further, assuming that the distance at which the closing side deceleration position detection switch 25 is turned on is Xlcl, and the time for which the closing side deceleration position detection switch 25 is turned on is tlcl, the car door speed Vy at that time is obtained as Xlocl / tlcl.

  When this Xlop / ttrop or Xlocl / tlcl exceeds a preset abnormality detection speed Nerr, an abnormality detection signal is output from the speed abnormality detection unit 27 to the speed command setting unit 12, and the speed command Nref is forcibly Controlled to zero or negative value.

  In this way, when the door is opened or closed, an abnormal speed condition is detected for some reason, thereby causing an abnormality in the speed control of the electric motor 4, and the passengers are harmed by the abnormal operation of the car doors 1a and 1b. Can be prevented.

  In each of the above embodiments, the structure of the car door has been described by taking an example of a two-panel left and right middle opening type as an example, but the present invention is not particularly limited with respect to the door structure, and is driven by an electric motor. Any door that opens and closes can be applied.

  In short, the present invention is not limited to the above-described embodiments as they are, and can be embodied by modifying the components without departing from the scope of the invention in the implementation stage. In addition, various forms can be formed by appropriately combining a plurality of constituent elements disclosed in the above embodiments. For example, some components may be omitted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.

FIG. 1 is a diagram showing a configuration of a car door to which an elevator door control device of the present invention is applied. FIG. 2 is a block diagram showing the configuration of the elevator door control apparatus according to the first embodiment of the present invention. FIG. 3 is a diagram showing the relationship between the pattern of the speed command Nref and the door position Xt in the first embodiment. FIG. 4 is a block diagram showing a configuration of an elevator door control apparatus according to the second embodiment of the present invention. FIG. 5 is a diagram for explaining the operation of the second embodiment, and shows the pattern of the torque command Told when the car door is fully opened and when the car door is fully closed, and the change in the current value Ifb. FIG. 6 is a block diagram showing the configuration of an elevator door control apparatus according to the third embodiment of the present invention. FIG. 7 is a diagram for explaining the operation of the third embodiment, and shows the relationship between the speed command Nref and the operation timing of the intermediate position detection switch. FIG. 8 is a block diagram showing a configuration of an elevator door control apparatus according to the fourth embodiment of the present invention. FIG. 9 is a diagram for explaining the operation of the fourth embodiment. The relationship between the speed command Nref when the door is opened and the operation timing of the opening side deceleration position detection switch, the speed command Nref when the door is closed and the closing side. The relationship with the operation timing of the deceleration position detection switch is shown. FIG. 10 is a diagram showing a configuration of a conventional elevator door control device. FIG. 11 is a diagram showing a voltage command pattern of a conventional method.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1a, 1b ... Car door, 2 ... Belt, 3a, 3b ... Pulley, 4 ... Electric motor, 5 ... Full close switch, 6 ... Full open switch, 7a ... 1st switch, 7b ... 2nd switch, 7c ... 3rd switch, 8a ... 1st detection board, 8b ... 2nd detection board, 8c ... 3rd detection board, 9 ... Power converter, 10 ... Current detector, 11 ... Voltage detector, 12 ... Speed command setting part, 13 ... Speed control , 14 ... current controller, 15 ... speed estimation unit, 16 ... motor constant setting unit, 17 ... integration computing unit, 18 ... torque control unit, 19 ... control mode selector switch, 20 ... circuit constant correction unit, 21 ... intermediate Position detection switch, 22 ... Car door speed calculation unit, 23 ... Induced voltage correction unit, 24 ... Open side deceleration position detection switch, 25 ... Closed side deceleration position detection switch, 26 ... Deceleration position speed calculation unit, 27 ... Speed abnormality detection Part, 30 ... voltage command setting part 31 ... voltage controller, D1~D4 ... the difference unit.

Claims (3)

An electric motor for driving the car door;
Speed estimation means for estimating the speed of the motor based on circuit constant information indicating the circuit characteristics of the motor , including the voltage and current of the motor , and further the resistance value, inductance value, and induced voltage constant of the motor;
A moving distance calculating means for calculating the moving distance of the car door by integrating the speed estimated by the speed estimating means;
Speed command setting means for setting a speed command in accordance with the moving distance of the car door calculated by the moving distance calculating means;
Speed control means for controlling the speed of the motor based on the speed command set by the speed command setting means and the estimated speed ;
First position detecting means for detecting the fully open position of the car door;
Second position detecting means for detecting the fully closed position of the car door;
Forcibly changing means for forcibly changing the current value or voltage value of the motor at the fully open position detected by the first position detecting means or the fully closed position detected by the second position detecting means;
First correction means for correcting the resistance value and the inductance value of the motor based on the change amount of the voltage value with respect to the change amount of the current value by the forced change means or the change amount of the current value with respect to the change amount of the voltage value. An elevator door control device comprising the elevator door control device. Third position detecting means for detecting that the car door is moving in a predetermined section;
Door speed calculating means for calculating the moving speed of the car door in the predetermined section detected by the third position detecting means;
And a second correcting means for correcting an induced voltage constant of the electric motor by comparing a moving speed of the car door obtained by the door speed calculating means with an estimated speed of the electric motor. Item 2. The elevator door control device according to Item 1 . Fourth position detecting means for detecting that the car door has reached a deceleration position before being fully opened or fully closed;
Door speed calculating means for calculating the speed of the car door at the deceleration position detected by the fourth position detecting means;
The elevator according to claim 1, further comprising: a speed abnormality detecting means for detecting a speed abnormality by comparing the speed of the car door obtained by the door speed calculating means with a preset abnormal speed. Door control device.

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