JPH0432488A - Door control device for elevator - Google Patents

Abstract

PURPOSE:To make reversal of a door, and reduce the striking sound of the door against the opening and closing end parts by selecting one pattern out of plural door speed command patterns preset in accordance with the door- position to control the speed of the door when an operating command of 'open' or 'close' of the door is inputted. CONSTITUTION:A MPU previously stores plural, preset door speed command patterns which correspond to a case where a door is opened or closed from the opening and closing end of the door, a case where the door is opened or closed on the way of closing or opening the door, etc. When the door-opening command signal 101 or a door-closing command signal 102 from a elevator-door control device 10 is inputted the MPU 1, the MPU 1 detects the door position based on a detection signal from a door-position and speed detecting means 11. The MPU selects a previously stored speed command pattern which corresponds to the position of the door to control a motor 12 in conformity to the pattern through a base drive circuit 4, a motor drive element 9.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a door control device for an elevator, and in particular, to an elevator door control device that can quickly reverse the door operation.
The present invention relates to a door control device.

[Prior art] As a conventional technology regarding an elevator door control device,
For example, a technique described in Japanese Unexamined Patent Publication No. 61-203087 is known.

This conventional technology adjusts the increased driving force applied to the door according to the position of the door when the door is reversed, and prevents excessive driving force from being applied to the door near the fully open position when the door is reversed. This is to reduce the sound of the door hitting.

[Problem II to be Solved by the Invention] In the prior art, when the door is opened again immediately after it has started to close, the driving force to the door can be adjusted. It has the advantage that it does not have to be reached by

However, since this conventional technology limits the driving force to the door, there is a problem in that the speed of the door decreases, the sense of speed is lost, and passengers feel irritated.

The object of the present invention is to solve the problems of the prior art, and to reduce the sound of engagement between the car door and the landing door, to achieve quick movement when the door is reversed, and to reduce the sound of the door hitting the opening/closing end. An object of the present invention is to provide an elevator door control device that can achieve the following functions.

Another object of the present invention is to provide an elevator door control device that can reduce overshoot in door response speed with respect to a door speed command and can quickly open and close the door.

Furthermore, another object of the present invention is to provide an elevator door control device that reduces the sound of the door hitting the opening/closing end when the door is reversed.

[Means for Solving the Problems] According to the present invention, the object is to provide in advance a plurality of door speed command patterns corresponding to the door position when a door opening/closing command is input to the door control device, This is accomplished by selectively using patterns to control the door.

Further, the purpose is to separately provide a door acceleration command value according to the door position when a door opening/closing command is input to the door control device, and to selectively use this command value to control the door. This is achieved by

Furthermore, the purpose of the above value is that if the door position when the door opening/closing command is input to the door control device is in the opening deceleration zone when the door opening command is input, or in the closing deceleration zone when the door closing command is input, By adding or subtracting a predetermined value to the position data, a speed command pattern is set based on the increased/decreased door position data, and the overshoot of the response to the speed command is controlled by the speed command pattern based on the increased/decreased door position data. This is achieved by absorbing it.

The present invention includes the following functions and configurations in order to realize the above-mentioned means.

The MPU in the door control device detects the rising edge of the door opening/closing command input (hereinafter referred to as ON edge).

At this time, it is determined whether or not there is a door at the opening/closing end based on the operating state of the closed end detection switch or the open end detection switch, and furthermore, the operating state of the opening deceleration point detection switch when the opening command is input or the closing command is determined. It is determined whether the door is in the deceleration zone or not based on the operating state of the closing deceleration point detection switch at the time of input.

A plurality of speed command patterns depending on the door position are stored in the door control device, a speed pattern corresponding to the door position state determined above is selected, and the drive of the door is controlled based on this pattern.

Furthermore, in order to absorb the overshoot of the speed response to the speed command, the output signal of the door position detection means is
U and selects a speed command pattern based on this position data, so that if the door position is determined to be in the deceleration zone, the door position data is stored in the door control device. The predetermined data value is added or subtracted, and based on the resulting position data, a speed command pattern is selected, and the door drive is controlled using this pattern.

[Function] At the ON edge of the door open/close command, if the closed end detection switch is activated by the door open command ○N, the MPU determines that the door is at the closed end, and selects the pre-stored multiple From among the speed command patterns, select a speed command pattern that outputs a constant low speed command pattern for a predetermined period of time after the door open command turns ON, then outputs a predetermined acceleration command, and when the predetermined speed is reached, outputs a predetermined speed command. do. by this,
To minimize the sound of engagement between a car door and a landing door when the door is opened from the closed end.

Next, when the closed end detection switch is OFF and the opening deceleration point detection switch is OFF, the MPU determines that the door is not at the closed end and is not in the door open deceleration zone, and outputs a predetermined acceleration command to bring the door to a predetermined speed. When the predetermined speed command is reached, a speed command pattern for outputting a predetermined speed command is selected. That is, in this case, a speed command pattern is selected in which the constant low speed command pattern is eliminated for a predetermined period of time immediately after the open command ON edge of the speed command pattern when the door is at the closed end. Thereby, when an opening command is input when the door is not at the closed end, that is, when the door is reversed, the door can be moved quickly without feeling of slow movement.

Next, when the opening deceleration point detection switch is ON, the MPU will:
A speed pattern in which it is determined that the door is in the opening deceleration zone, that is, the door is reversed near the open end, a predetermined acceleration command is output, and the predetermined acceleration command value is a value lower than the predetermined acceleration command of the speed command pattern. select. Then, the vehicle accelerates until it reaches a speed command value of a preset deceleration zone, and after reaching that speed, deceleration is started at the speed command value of the deceleration zone. At this time, by setting the acceleration command value low until the speed command value of the deceleration zone is reached, it is possible to reduce the overshoot of the door speed response to the speed command value of the deceleration zone, so that the door does not fully decelerate toward the open end of the door. collision can be prevented.

In addition, the speed command value of the opening deceleration zone is set based on the position data of the door position detection means, and when the door is in the deceleration zone at the time of the opening command ON edge, a predetermined value is added or subtracted from the door position data. , manipulate the door position data so that the door is closer to the open end than its actual position. By selecting the speed command value of the deceleration zone using this position data, the door speed command can be decelerated faster than the deceleration when the door opens from the closed end.

As a result, even if the response overshoots the speed command value in the deceleration zone when the door is reversed near the open end,
Since the overshoot occurs before the actual position, it is possible to avoid collision with the open end of the door due to the overshoot, absorb the overshoot, and perform the reversing operation.

The same applies to the case of closing the door.

[Embodiment] Hereinafter, one embodiment of the elevator door control device according to the present invention will be described in detail with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of one embodiment of the present invention, FIGS. 2 to 5 are diagrams showing examples of door speed command patterns used in one embodiment of the present invention, and FIG. 6 is a block diagram showing the configuration of an embodiment of the present invention. It is a flowchart explaining the operation of position determination. In Figure 1,
1 is a microprocessor (MPU), 2 is a ROM, 3 is a RAM, 4 is a base drive line, 5 is an output buffer (Ilo), 6 is a power supply, 7 is a diode bridge, 8 is a capacitor, 9 is a motor drive element, 10 is the elevator
Control device, 11 is door position/speed detection means, 12 is a motor, 13 is an open end detection switch (OLS), 14 is an opening deceleration start point detection switch (ODS), 15 is an opening deceleration start point detection switch (CDS) , 16 is a closed end detection switch (
CLS), 17 is a cam for switch operation, 18 is a strip, 1
9.20 is a rotating body, 21 is a door, and 22 is a door rail.

In one embodiment of the invention shown in FIG.
The door 21 is supported by a door rail 22, and a strip 18
It is connected to the strip body 18 at a connecting portion 23 with. striation 18
is wound around a rotating body 20 installed at both ends of the elevator car entrance, and the rotating body 20 is connected to an electric motor (hereinafter referred to as a motor) 12 by a rotating body 19 and a strip.

The rotating bodies 19 and 20 convert the rotational movement of the motor 12 into horizontal movement via the strip 18, and open and close the door 21 horizontally.

At the elevator car entrance, there are an open end detection switch 13 (hereinafter referred to as ○LS) that detects the open end of the door 21, and an open deceleration start point detection switch 14 (hereinafter referred to as ○LS) that detects the deceleration start position of the door when the door is opened. (called ODS) and door 2
A closed end detection switch 16 (hereinafter referred to as CL
A cam 17 is installed on the door 21 to operate each of the switches. is installed.

This cam 17 operates the above-mentioned switch in synchronization with the position of the door 21, so the deceleration start position of the door 21 and
Open end and closed end positions can be detected.

The door control device drives and controls the motor 12 that drives the door, and includes a motor drive element 9, a single-phase AC power supply 6, and a full-wave rectification diode bridge for supplying DC power to the motor drive element 9. 7, smoothing capacitor 8, base drive circuit 4 that performs roll call control of motor drive element 9
, a microcomputer MPU1 that controls the base drive circuit 4, and a ROM2. R.A.
M3, a crowd control buffer l105, and a pulse signal l105 attached to the motor 12 as the motor 12 rotates.
Door position/speed detection means 1 input to MPU 1 via
1.

Further, operation signals of the switches CLS, CDS, OLS, and ODS, and a door open command signal 102 and a door close command signal 101 outputted from the elevator control device 10 are inputted to the MPU 1 via the switch 105.

Next, a speed command pattern used in an embodiment of the present invention will be explained.

Figures 2 (a) and (b) are the speed command patterns used when the door starts from the door opening/closing end, Figure 3 (a),
(b) is a speed command pattern used when opening the door while it is closing, Figures 4 (a) and (b) are speed command patterns used when closing the door while it is opening, and Figure 5.
Figures (a) and (b) show speed command patterns used when opening a door when the door is near its open end immediately after closing.

In the embodiment of the present invention, these speed command patterns are selected depending on the position of the door when the opening/closing command is input, and the door is controlled using the speed command pattern.

A flowchart of door position determination is shown in FIG. 6. First, the door position determination operation will be explained with reference to FIG.

The MPU 1 monitors the signal input to 1105 at regular intervals. In one embodiment of the present invention, this period is 10
m5, the MPU 1 will monitor the signal input to l105 every 10 m5. In this case,
The flowchart shown in FIG. 6 is also activated every 10 m5.

(1) Determine whether the close command 101 is an ○N edge or not. This determination is carried out by l1, which MPU1 monitors at regular intervals.
When the condition is that the close command 101 among the input signals of 05 was OFF last time 10 m5 ago and the current close command l○1 is ON, it is determined that the close command 101 is an ON edge. , it is determined that the door has started closing. Under other conditions, for example, if both the previous and current closing commands 101 are ○N, it is determined that the closing command 101 is not an ON edge but is continuing to close the door (step 61).

(2) In step 61, if the ON edge of the close command 101 is determined, it is determined whether CLS is ON or OFF, and if it is ON, it is determined that the door is at the open end, indicating that the door is at the open end. Set flag NCL and reset other position flags (steps 62, 67).

(3) In step 62, if OLS is OFF, CDS
ON or OFF, and if CDS is ON, it is determined that the door is in the position where it has passed the deceleration start point, that is, in the door deceleration zone when the door is closed, and it indicates that the door is in the closed deceleration zone. Set flag GCL and reset other position flags (steps 63, 68).

(4) If the CDS is OFF in step 63, a flag TCL indicating that the door is located between a position other than the door open end and just before the door closed deceleration zone is set, and other position flags are reset (step 69).

As described above, the door position is determined when the door close command 101 is ON edge.

(5) In step 61, when it is determined that the close command 101 is not an ON edge, the door open command 102 is turned ON.
It is determined whether it is an edge or not (step 64).

(6) In step 64, when the ON edge of the open command 102 is detected, as in the case where the close command 101 is ON edge, check the ON and OFF states of CLS and ODS to indicate that the door is at the closed end. Sets the flag NOP, the flag GOP that indicates that the door is in the open deceleration zone, and the flag TOP that indicates that the door is between the door open deceleration zone and a position other than the closed end, and resets other position flags ( Steps 65.66.70-72).

(7) If neither the close command 101 nor the open command 102 is an ON edge, the door position flag is not set or reset. To set and reset the door position flag,
This is performed only when commands 101 and 102 are ON edges.

As described above, the door position at the time of inputting the commands 101 and 102 is determined, and a speed command pattern is selected according to the door position flag set as a result.

Next, the speed command pattern selected according to the position flag will be explained, including the door opening/closing control operation.

In the case of opening the door, the speed pattern selected by setting the flag NOP indicating that the door is at the closed end at the ON edge of the door opening command]02 is shown in FIG. 2(a).

In this speed pattern, after the door opening command [02] is turned on, a predetermined speed command V1 is set for a predetermined time T1, the door is run at a low speed (Fig. 2 (a)-a), and after the predetermined time T1, By increasing the speed command as a time function of the predetermined acceleration command A1 (Fig. 2 (a, ) B), the door speed is set to the predetermined speed command value V, and when the door reaches this speed, the speed command is increased to V. , and let the door 21 run at a constant speed (see Fig. 2(a)).
)-c), then 1721 opens, and when the switch operation cam 17 attached to the door 21 turns on the ODS,
Thereafter, deceleration control is performed at the deceleration D1 (FIG. 2(a)-2).

In the above description, the speed command during deceleration control is determined by the MPU 1 based on the door position and the output signal of the speed detection means 11.
The door movement position after the switch is turned on is detected, and based on this position data, a value selected from the set speed command values is set. That is, deceleration control until the door reaches the open end is performed using a position function. According to the speed command pattern of the opening deceleration zone, the door 21 decelerates to a predetermined speed V near the open end, reaches the open end, turns CLS ON, and completes the opening operation (FIG. 2(a)-O).

In the above description, the speed command pattern for opening the door from the closed end requires running the vehicle at a low speed for a predetermined period of time immediately after opening the door. Although the reason for this is not shown, the motor 12
This is to reduce the shock when the door 21 driven by the door 21 engages with the landing door driven by the door 21.

In the case of opening the door, the speed command pattern when the flag NCL indicating that the door is at the open end is set at the ○N edge of the door close command 101 is shown in FIG. 2(b).

The door opening/closing control method in this case is the same as the door opening when the NOP flag is set, except that the door driving direction is different.

Next, Figure 3 (a) and (b) show the speed pattern when the door is open and the flag T○P indicating that the door is in front of the door opening deceleration zone from a position other than the closed end is set.
).

FIG. 3(a) shows a speed command pattern when the door opening command 102 does not have a speed command pattern corresponding to the door position at the time of ON edge, that is, in the case of the prior art.

This speed command pattern starts after the door close command 101 is turned on.
The door is moved at a low speed for a predetermined time T2, and then accelerated at an acceleration A2. During this acceleration, the close command 101 is OF
F. When the open command 102 is turned ON and the door reverses, a predetermined time T3 after the open command 102 is turned ON.
During this period, the door travels at a low speed, then accelerates at an acceleration A1, reverses, and opens the door.

In this case, the door operates at a low speed for a predetermined period of time immediately after the door starts reversing, which gives the passengers a slow feeling and makes them feel irritated. In addition, when the switch operation cam attached to the door operates the ODS after a predetermined time after the door starts reversing, the door is accelerated until it reaches the speed command pattern of the deceleration zone indicated by the dotted line OP, and then decelerated. The speed will be decelerated according to the zone speed command pattern ○P, but due to the magnitude of acceleration A1 at this time, the response to the door command shown by the solid line will overshoot as shown by the -dotted chain line P1, and the door will not be fully The vehicle reaches the open end without decelerating, making the collision noise louder and causing passengers to feel uneasy.

FIG. 3(b) shows that the door opening command 102 in the present invention is ○.
This is a speed command pattern having a speed command pattern according to the door position at the N edge.

In this case, the door close command 101 is OFF, and the door open command 10 is OFF.
2 is an ON edge, and a flag TOP is set indicating that the door is at a position other than the closed end and is before the open deceleration zone. As a result, after the door opening command 102 is turned ON, the door is immediately accelerated at a predetermined acceleration A3 without causing the door to travel at a low speed, and the door is opened by decelerating in the deceleration zone (see FIG. 3).
The speed command pattern shown in b) is selected.

As described above, by eliminating the low speed command pattern immediately after the start of reversing, it is possible to eliminate the sluggish feeling of the door given to passengers when the door is reversing.

Furthermore, by setting the value of acceleration A3 to be smaller than A1, the overshoot of the actual door speed response can be reduced as shown by the -dotted chain line P2, and the collision sound against the open end can also be reduced. .

Figures 4 (a) and (b) show the speed command when the door is between a point other than the open end and just before the door close deceleration zone when there is a door close command while the door is open and the door close command 101 is ON edge. It's a pattern. FIG. 4(a) shows a case where the door close command 101 does not have a speed command pattern corresponding to the door position when the door is ON edge, that is, the case of the prior art. Further, FIG. 4(b) shows a speed command pattern in the present invention when the door close command 101 has a speed command pattern according to the door position when the door is ON edge, and shows the slow feeling when the door is reversed, the speed The overshoot for the command can be reduced in the same way as in the case of opening the door in FIG.

Next, in the case of opening the door, the speed pattern when the flag GOP indicating that the door is in the opening deceleration zone is set will be explained with reference to FIGS. 5(a) and 5(b).

FIG. 5(a) shows that when the door opening command 102 does not have a speed command pattern according to the door position when the door opening command 102 is ○N edge,
That is, this is the speed command pattern in the case of the prior art.

When this pattern is used, the door receives the door close command 101
After turning ON, the vehicle is accelerated at an acceleration A2 after running at a low speed for a predetermined time T. During this acceleration, the OD is controlled by the switch operating cam.
When S is ONL, door close command 101 is OFF,
When the door opening command 102 is turned ON, the door is reversed near the open end.

In this case, since the door is in the deceleration zone, it is accelerated until it reaches the speed command value OP of the deceleration zone, and then decelerated by the speed command value ○P of the deceleration zone. At this time, due to the magnitude of the acceleration A1, the response of the door overshoots, as shown by a dashed line P5, and the sound of collision at the open end increases.

Further, the door position determined by the position detection means may be deviated due to the slippage of the strip 18 when the door is reversed, and the speed command value may also be deviated, which may further increase the sound of collision at the open end.

FIG. 5(b) shows a speed command pattern according to the present invention when the door is in the deceleration zone when the door opening command 102 is ON edge.

This pattern indicates that the door close command is 10 when the ODS is ON.
1 is OFF, the door opening command 102 is ON edge, and the flag GOP indicating that the door is in the opening deceleration zone is set.

When this pattern is selected, the MPU 1 adds a predetermined value Q to the current door position data, uses the added data as the current door position data, selects the speed command value of the deceleration zone, and sets this value. After the door is accelerated until it reaches , the door is decelerated according to the speed command value of the deceleration zone and the door opens. As a result, the door starts decelerating at a position corresponding to the data Q before the actual position.

Thereby, even if an overshoot occurs with respect to the speed command, a collision with the open end of the door can be prevented. In this case, the value of the acceleration A4 is calculated separately from the acceleration A1 when the door is opened from the door closed end, and the acceleration A3 when the door is opened from the door opening deceleration zone other than the door open end.
It is also possible to reduce overshoot by setting the value lower than 3.

Furthermore, if the door closing command is ON edge and the door is in the closing deceleration zone, that is, if the closing command is issued immediately after the door starts opening, the flag G CL is set and the closing speed shown in Fig. 5 (b) is set. A pattern in which the operation and opening operations are reversed is selected, and the door is controlled in the same manner as in FIG. 5(b) described above.

In addition, as another method for setting the acceleration when reversing the door,
There is also a means of dividing the door frontage data into a plurality of parts, determining the door position within the range to which the door position data belongs when the door opening/closing command is input, and selecting a preset acceleration for each door position.

FIG. 7 is a diagram showing an example of a door speed command pattern used in another embodiment of the present invention by the means described above.

In this embodiment, the door frontage data stored in the ROM 2 in advance is stored in 2. ．． 2. , z3, and the acceleration at the time of reversal at each position is set to A5, A6, and A7. Although FIG. 7 shows an example in which the door is opened, the same applies to the case in which the door is closed.

In this embodiment, when the door opening command 102 is ON edge,
The door position is 2. ．． 2. , Z3, selects a reversal acceleration according to this door position, and controls the door when the door is reversed based on that pattern.

According to the embodiment of the present invention described above, the door can be operated quickly when the door is reversed, and the acceleration when the door is reversed increases as the door position moves from 73 to 71. This prevents passengers from feeling irritated.

[Effects of the Invention] As explained above, according to the present invention, a plurality of speed command patterns are provided according to the door position when the door opening/closing command is input, and these patterns are selected to control the opening/closing of the door. Therefore, the shock caused by the engagement between the car door and the landing door can be reduced, and the door can be quickly operated when the door is reversed.

Further, according to the present invention, the overshoot of the door speed response to the door speed command is reduced by setting the acceleration according to the door position when the door opening/closing command is input, and the overshoot is reduced by manipulating the door position data. It is possible to prevent the door from colliding with the opening/closing end without being fully decelerated, and it is possible to obtain an inexpensive door control device that does not require a control compensation device for reducing overshoot.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the configuration of one embodiment of the present invention, FIGS. 2 to 5 are diagrams showing examples of door speed command patterns used in one embodiment of the present invention, and FIG. 6 is a block diagram showing the configuration of an embodiment of the present invention. FIG. 7 is a flowchart explaining the position determination operation, and is a diagram showing an example of a door speed command pattern used in another embodiment of the present invention. 1... Microprocessor (MPU), 2...
...ROM, 3...RAM, 4...
・Base drive line, 5... Input/output buffer (Ilo), 6... Power supply, 7... Diode bridge, 8... Capacitor, 9...・
... Motor drive element, 10 ... Elevator -
Control device, 11...Door position/speed detection means,
12...Motor, 13...Open end detection switch (○LS), 14...Open deceleration start point detection switch (○SD), 15...Open Deceleration start point detection switch (CDS), 16...Closed end detection switch, 17...Switch operation cam, 18.
...String body, 19.20...Rotating body, 21
...Door, 22...Door rail. 1112 (b) Figure 4 (b) N FF Figure 3 FF N FF N Figure 5 (Q) tot) Stone [2IOξ] Gogo “7- (b) 102 0F Otsu” Kobar-

Claims (1)

[Claims] 1. An elevator door control device comprising door open end and closed end detecting means, door deceleration start point detecting means for opening and closing, and door position detecting means. An elevator door control device comprising a door speed command pattern and selectively using one of the plurality of door speed command patterns according to the door position when a door open or close command is input. 2. In an elevator door control device comprising door open end and closed end detection means, door deceleration start point detection means for opening and closing, and door position detection means, a door open or close command is input. When the door position is at the door opening/closing end, in the door opening/closing deceleration zone, and in cases other than these, speed command patterns are provided in the door opening direction and door closing direction, and these speed command patterns can be selectively used. Features: Elevator door control device. 3. In an elevator door control device comprising door open end and closed end detection means, door deceleration start point detection means for opening and closing, and door position detection means, a door open or close command is input. If the door position is at the closed end or open end when the door is opened or closed, the speed command pattern is such that the vehicle travels at a low speed for a predetermined period of time after the command is input, and then accelerates at a predetermined acceleration. A door control device for an elevator, characterized in that when the door position is not at the closed end or the open end, the opening/closing control of the door is performed according to a speed command pattern of accelerating at a predetermined acceleration immediately after inputting the command. 4. The predetermined acceleration when the door position is at the open end or the closed end when the door opening/closing command is input, and the predetermined acceleration when the door position is not at the closed end or the open end are set separately. An elevator door control device according to claim 3. 5. In an elevator door control device comprising door open end and closed end detection means, door deceleration start point detection means for opening and closing, and door position detection means, a door open or close command is input. If the door position is at a position that activates the opening deceleration point detection means when a door open command is input or at a position that activates the closing deceleration point detection means when a door close command is input, the door position detection means operates the door position detection means. An elevator door control device that sets a speed command pattern based on door position data obtained by adding or subtracting predetermined value data to position data. 6. The elevator door control device according to claim 5, wherein the acceleration in the speed command pattern is set independently of the acceleration in other speed command patterns. 7. In an elevator door control device comprising door open end and closed end detecting means and door position detecting means, door frontage data is divided into a plurality of ranges and a speed command pattern is set for each range. An elevator door control device, characterized in that a speed pattern corresponding to the distribution range to which door position data belongs when a door open or close command is input is selected and used.