JPH03111393A - Elevator door control device - Google Patents

Abstract

PURPOSE:To provide door control of good performance by calculating the ratio of the door speed to the speed of door motor depending upon the link mechanism in the form of a time-dependent function, and converting the door speed command value into a door motor speed command value on the basis of this speed ratio obtained. CONSTITUTION:The ratio of the door speed to the speed of door motor 8 depending upon the link mechanism is calculated by a calculating means 231 as a time-dependent function. On the basis of this speed ratio obtained, the door speed command value is converted into the door motor speed command value by motor speed command value converting means 231. This eliminates necessity for storing the motor speed command value in a memory 233, and one converting means 231 provides good response to the varying link dimensions. Accordingly the memory 233 can be accomplished in a minor capacity and at a low cost.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an elevator door control device.

[Prior Art] First, the general configuration of an elevator door device will be described with reference to FIG.

Figure 9 shows an elevator car door device, l
a, lb are cage doors that open on both sides; 2a;

2b is a hanger attached to the upper end of the car door 1a, lb, and the hanger 2a, 2b is engaged with a door rail 3 provided horizontally above the doorway of the car, thereby enabling the car door 1a, lb to be opened and closed. It's hanging. Also, 4
A sill 5 is a safety sheath attached to the edge of the car door 1a, which guides the lower end of the car door 1a, lb.

Reference numeral 6 denotes a hanger case provided horizontally above the entrance/exit of the car, and a door driving device 7 is installed on this hanger case 6.

The door drive device 7 includes a door motor 8, a deceleration intermediate pulley 10 connected to the door motor 8 via a belt 9,
It consists of a crank disk 13 connected via a chain 12 to a sprocket 11 provided coaxially with an intermediate pulley 10. A main link 14a constituting a double link 14 is fixed to the rotation center of the crank disk 13, and subordinate links 14b, 14 connected to both ends of the main link 14a
c is connected to connecting members 15a and 15b fixed to the hangers 2a and 2b of the car doors 1a and lb.

In the elevator door device configured in this way,
When the door motor 8 is started in the door opening direction by a door opening command issued from a control circuit (not shown), its rotation is decelerated by being transmitted to the intermediate pulley 10 via the belt 9, and further, this decelerated rotation is Sprocket 11. It is transmitted to the crank disk 13 via the chain 12. As a result, when the crank disk 13 is rotated in the direction of the arrow, the main link 14a integrated therewith is also rotated in the same direction.
Car door 1a connected via subordinate links 14b and 14c
, lb are moved along the door rail 3 in the direction of arrows X, , X, and the door is opened.

Further, when closing the door, a door closing command is given to the door motor 8 from a control circuit (not shown), contrary to the above-mentioned closing operation.

[Problems to be Solved by the Invention] By the way, in an elevator door that is driven to open and close by a double link mechanism 14 as shown in FIG. 9, the speed of the door and the speed of the door motor are not proportional, and the door speed is is a function of the position of the door due to the link.

Therefore, in order to open (or close) a door with a speed pattern as shown in FIG. 5, the door motor must be controlled in a speed pattern as shown in FIG.

Additionally, if the width of the car entrance/exit changes, the time t of the maximum constant speed (■) shown in Figure 5 will also change, but at the same time, the link dimensions will also change, so the speed of the door motor relative to the door speed will also change. Put it away.

In this way, when attempting to control the speed of the door motor using the door speed patterns shown in FIG. 5, which vary in time for the maximum constant speed V depending on changes in the doorway dimensions, each door speed pattern is controlled by the motor as shown in FIG. The speed command data converted into speed must be stored in a memory such as a ROM, which increases the capacity of the memory and increases the memory cost.

On the other hand, it is preferable that the door opening/closing force be constant at any position of the door, but in the case of elevator doors that are driven to open/close by a link mechanism, the door opening/closing force varies depending on the door position even if the door motor outputs a constant torque. Resulting in.

For example, even if the torque of the door motor is constant as shown in Figure 7, when it is transmitted to the door via the link mechanism, the door opening/closing force changes depending on the position of the door as shown in Figure 8, and the door closing force is transmitted to the door via the link mechanism. If a passenger were to come into contact with the door at a high point, there would be safety issues such as injury.

This invention was made in view of the above points, and aims to reduce the memory capacity and cost by calculating the motor speed pattern from the door speed command pattern, and to calculate the motor speed from the door position. The aim is to obtain a safer and better-performing elevator door control device by changing the torque.

[Means for Solving the Problems] An elevator door control device according to the present invention includes a calculation means for calculating the ratio of the speed of the door determined by the link mechanism and the speed of the door motor as a function of time; and means for calculating and converting the door speed command value into the door motor speed command value based on the speed ratio.

Further, the present invention includes means for applying a torque limit to the output torque of the door motor at the door position so that the door opening/closing force is constant based on the speed ratio determined by the calculating means.

[Function] In the first aspect of the present invention, the motor speed command value conversion means converts the door speed command value into the door motor speed command value by calculation based on the speed ratio obtained by the calculation means. There is no need to store the speed command value in the memory, and even if the link dimensions change, the same conversion means can be used. Therefore, it is possible to reduce memory capacity and cost.

Further, in the second aspect of the present invention, a torque limit is applied to the output torque of the door motor according to the door position based on the speed ratio obtained by the calculation means, so that the door opening/closing force is kept constant. Since the output torque of the door motor is controlled, the door opening/closing force can be kept constant regardless of the position of the door, ensuring safety for passengers when opening/closing the door.

[Example code] Embodiments of the present invention will be described below based on the drawings.

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

In FIG. 1, a door motor 8 that opens and closes an elevator door is connected to a DC power source 21 via a power circuit (consisting of a transistor inverter) 20 that controls the power supplied to the door motor 8. A pulse encoder 22 that generates pulses according to the rotation of the door motor 8 is directly connected to the door motor 8.

The door control unit 23 calculates the speed ratio between the door speed ■ determined by the door opening/closing link mechanism 14 (see FIG. 9) and the motor speed V■, and based on this speed ratio, issues a speed command for the door ■. It converts into a speed command value for the door motor 8, and the central processing unit (hereinafter referred to as C) manages and controls the entire system.
A ROM 232 that stores a speed ratio calculation program, a motor speed command calculation program, door speed command data, etc., a RAM 233 that stores calculation results of the CPU 231, input data, etc. It includes an input/output port 234 for transmitting and receiving data, and a pulse counter unit 235 for counting pulses from the pulse encoder 22, and these are connected to the CPU 23L via a bus 236.

The input/output port 234 includes a position switch 24. which detects the fully closed and fully open positions of the door. and elevator control panel 2
5 is connected, and input/output port 2 is connected from the position switch 24.
34, the fully closed position signal 24a and the fully open position signal 24b
At the same time, the door open signal 25a1 and the door close signal 25b are input to the elevator control panel 25, and the input/output port 234 is fully open to the elevator control panel 25. A position signal 26 is output. Further, a PWM (pulse width modulation) unit 26 is connected to the bus 236 via an interface 237.

The PWM unit 26 generates a pulse signal that is pulse width modulated based on the motor speed command value calculated by the CPU 231, and the pulse signal sent from the PWM unit 26 is converted into a gate signal by the gate signal generation circuit 27. and is supplied to the transistors of the power circuit 20.

Next, the operation of this embodiment configured as described above will be explained with reference to the flowchart shown in FIG. 2(a), (2).

When the main routine for driving the door starts, first,
In step S1, the door open signal 25a or the door close signal 25b sent from the elevator control panel 25 is read into the CPU 231 through the input/output port 234. Then, in the next step S2, it is determined from the read signal whether the door is open or closed.

Here, when it is determined that the door is open, the process proceeds to a door-opening command generation routine, and when it is determined that the door is closed, the process proceeds to a door-closing command generation routine.

If it is determined that the door is open, the process proceeds to step S3, where the pulse encoder 22 operating as the door motor 8 rotates
A pulse counter unit 235 that counts pulses from
The CPU 231 reads the counted value, calculates the position of the door from the fully closed direction to the open direction from the read counted value (step S4), and further calculates the speed 7 of the door motor 8 (step S5). Then, in the next step S6, a calculation is performed to obtain a speed command pattern (r) of the door motor 8 from the ratio of the door speed to the motor speed and the door speed command pattern shown in FIG.

FIG. 2(b) is a flowchart showing details of the speed command pattern vP calculation routine.

First, in step 5611, elapsed time ti (t1 in FIG.
~t4) is counted by a counter configured by software by the CPU 231 and RAM 233, and in the next step 5612, the elapsed time 1. Determine whether ti <t. Here, hmm.

<1. When it is determined that
) Perform the second calculation.

Also, 1. <1. If it is determined that the elapsed time is not 1. is 1. Determine whether <t++tz. Here, when it is determined that rYEs J, the process proceeds to step 5615, and the calculation of equation (2) shown below is executed.

Further, if it is determined in step 5614 that rNOJ is determined, the process moves to step 5616 and the elapsed time is 1. is Li
It is determined whether <Lr +t, z +jz, and when the determination result is r YES J, the process moves to step 5617, and the door speed V is determined as shown in the following equation (3).

Set to V2 (constant maximum speed).

■E=v2 (3) Furthermore, when the determination in step 5616 is "NO", the process proceeds to step 3618, and the calculation of equation (4) shown below is executed.

Steps 5619 to 5623 shown in FIG. 2 (b) are processes for determining the motor speed command value vP from the ratio V/v of the door speed V and motor speed V, see FIGS. 3 to 8 below. and explain.

FIG. 3 shows an explanatory diagram of the door drive link in FIG. 9, where the length between C and B of the link 14a is R1, and the length between A and B of the link 14b is R2°, which is parallel to the link 14a. If the angle with the axis is θ and the amount of movement of point A (door) is X, then when θ<90', x = R2"-Rl"sin"θ
−R1・cosθ−LO, and when θ≧906, x= R2”−R1”cos”(θ−90°)+R1
5in(θ-90')-LO..-(6).(5).

However, Lo = R2"-R1"sin"θθO = value of θ when the door is fully closed. Also, if the speed of point B (motor) is v and the speed of point A (door) is V, then the speed ratio V/ v has the characteristics shown in FIG.

On the other hand, the door speed ■ is expressed as V=dx/dt, and B
The speed V of a point is expressed as v=(R1·dθ)/dt.

Therefore, V = 1, dx VR1d# (7).

From the above, in order to achieve the door speed shown in Figure 5, the reciprocal of the function of the characteristics shown in Figure 4 should be calculated using the equation (2) above.
Multiplying this into the equation yields the desired motor speed command.

FIG. 6 shows the motor speed corresponding to FIG.

Therefore, if the current angle of point B obtained by counting the pulses from the pulse encoder 22 is θi, and Δθ=1, then the door position at θi is Xi, and the door position x5 at θ, +Δθ. , △ is calculated from the above equation (5) or (6) (steps 3620 and 3621 in Fig. 2 (b))
. As a result, the position ΔX of the door from fully closed is determined by the following equation (step 5622).

ΔX ”X 1 *Δ−Xi ・・・・・・・・・
(8) Then, substitute the values of Δθ and ΔX into the above equation (7), and find ■(t) for v(t) in the above equations (1) to (4) using the following equation.

V(t) ”=-XV(t) X t =R1°ΔθV
(t) ... (9) V ΔX Therefore, the motor speed command pattern V P i is: ■, 1-D-R, where D is the reduction ratio from point C to the motor shaft
1・−・Vi ・ ・ ・ ・ ・Oo) ΔX.

In this way, the motor speed command pattern VP changes the time of the V2 zone in FIG. 5 even if the width of the door entrance changes.
All you need to do is change the value of , and then just do the calculation, and even if the link dimensions change depending on the width of the entrance/exit, you can generate the ideal motor speed command value.

When the calculation routine for the speed command pattern (■) is completed, the process returns to the main routine shown in FIG.
8, phase compensation calculation is performed, and further step S9
Feedback control is performed in which the gain K is multiplied by . Then, in the next step S10, a torque limiter is applied depending on the position of the door.

Here, the limiter value Lx is obtained from the following equation: L (x) = -X K. However, K is a coefficient determined by the door to a constant force.

In other words, when the force generated by the motor is f, and the force transmitted to the door is F, the function is F/fco y from the above-mentioned V/v.
/ V, so the V / shown in Figure 4 at the door position.
By applying a v-characteristic torque limiter to the output torque of the motor, the door opening/closing force can be made constant regardless of the position of the door.

Note that when the output torque of the motor is set to a constant value as shown in Figure 7, the door opening/closing force transmitted to the door has the characteristics as shown in Figure 8. In order to achieve this, it is sufficient to apply a torque limiter having the characteristics shown in FIG. 4 to the output torque of the motor.

After that, in step Sll, motor speed command value V
, and the limiter value L (x), PWM unit 2
6 and outputs this setting signal to the PWM unit 26. As a result, the PWM unit 26 sends a pulse-width modulated signal to the gate signal generation circuit 27, and supplies the gate signal output from the gate signal generation circuit 27 to the power circuit 20.
The door is opened (or closed) using the speed pattern shown in FIG. 5 and a constant door opening/closing force.

In this embodiment, the door speed command value is converted into a door motor speed command value based on the speed ratio V/v determined by the link mechanism, and the door is opened and closed according to this speed command value. In addition to enabling high-performance door opening/closing control, motor speed command values can be stored in ROM as before.
Since it is not necessary to store data in the memory, it is possible to reduce the memory capacity and reduce memory costs, and even if the link dimensions change due to changes in the width of the door entrance, the V! Zone's too.

An ideal speed command value can be generated by simply changing the value of .

In addition, the torque limiter value obtained based on the speed ratio V/V determined by the link mechanism is applied to the motor output torque depending on the door position, so the door opening/closing force can be applied regardless of the door position. It can be kept constant and safety for passengers can be ensured.

In the above embodiment, the door opening control was mainly described, but it goes without saying that the door opening control is similarly performed.

[Effects of the Invention] As described above, according to the present invention, in an elevator door device in which the torque of the motor is transmitted to the door by a link, the ratio between the door speed determined by the link and the motor speed is determined, and this speed ratio is Since the door speed command value is converted into a door motor speed command value based on the speed command value, and the door is opened and closed according to this speed command value, high-performance door control is possible, and the motor speed command value is stored in the memory. This eliminates the need to store memory, making it possible to reduce memory capacity and cost.

In addition, we determined the ratio between the door speed determined by the link and the motor speed, and based on this speed ratio, we changed the output torque of the door motor depending on the door position to keep the door opening/closing force constant. Safety for passengers can be ensured.

[Brief explanation of drawings]

FIG. 1 is an overall configuration diagram showing an embodiment of an elevator door control device according to the present invention, FIG. ) is a flowchart showing the speed command pattern calculation routine in the main routine, Fig. 3 is an explanatory diagram of the door drive link, Fig. 4 is a characteristic diagram showing the speed ratio of door speed and motor speed, and Fig. 5 is when the door is opened. An explanatory diagram showing an example of the door speed command pattern, Fig. 6 is a characteristic diagram showing the B point (motor) speed V when the door is opened, Fig. 7 is a diagram showing the motor output torque, and Fig. 8 is a diagram showing the speed V at point B (motor) when the door is opened. FIG. 9 is a front view showing the elevator car door device. la, lb...car door, 8...door motor 14
...Link mechanism, 20...Power corridor, 21...
Power supply, 22...Pulse encoder, 23...Door system? i1 part, 24... position switch, 25... elevator control panel, 26... PWM unit, 27... gate signal generation circuit. In addition, in the figures, the same reference numerals indicate the same or corresponding parts.

Claims (2)

[Claims] (1) In an elevator door device that controls a door motor by feeding back a deviation between a motor speed command value and a motor speed detected by a speed detection means, and transmits the torque of the door motor to the door via a link mechanism, the link Calculating means for calculating a ratio between the speed of the door determined by a mechanism and the speed of the door motor as a function of time; and a calculation means for calculating a speed command value of the door to a speed command value of the door motor based on the calculated speed ratio. An elevator door control device comprising: means for converting. (2) The elevator according to claim 1, further comprising means for applying a torque limit to the output torque of the door motor at the door position so that the door opening/closing force is constant based on the speed ratio determined by the calculation means. door control device.