JPH0485280A - Control device for elevator door - Google Patents

Abstract

PURPOSE:To surely detect a speed abnormality in an elevator door or an electric motor by converting electric motor speed information from a speed detecting means into an analog value to be compared with a predetermined value, and detecting the speed abnormality of the elevator door to perform a predetermined abnormality process. CONSTITUTION:Speed abnormality of an elevator door 1 is detected to perform a predetermined abnormality process by converting speed information from a speed detecting means 10a, which detects a speed of an electric motor 10 for opening/closing the elevator door 1, into an analog value to be compared with a predetermined value. In this way, even in the case of misoperation in an arithmetic control means 40, generation of the speed abnormality in the elevator door 1 or the electric motor 10 can be surely detected to enable a device to properly cope with this abnormal condition.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an elevator door control device, and more particularly to an elevator door control device that uses an inverter to drive and control an electric motor for opening and closing the elevator door.

[Prior Art] FIG. 5 is a front view showing the mechanical configuration of an elevator door to which a conventional elevator door control device is applied.

In the figure, (1) is the elevator door, (2) is the entrance/exit of the elevator car, and (3) is the door hanger (4) fixed to the top of the elevator door (1).
) is attached to the hanger case, (5) is the door rail attached to the hanger case (4), and (6) rotates on the top of the door rail (5) to guide the opening and closing of the elevator door (1). The hanger roller (7) is the door rail (
5) is an up-thrust roller that rotates at the bottom of the elevator door (1) to guide the opening and closing of the elevator door (1), and both the hanger roller (6) and up-thrust roller (7) are rotatably attached to the door hanger (3). It is being (8) is an engagement device attached to the elevator door (1), which engages with a device (not shown) provided on the hall door within the door zone, thereby causing the elevator door (1) on the elevator car side to The opening and closing operations are performed in conjunction with the landing door. (
9) is a drive device installed on the top of the hanger case (4), and this drive device (9) is connected to the elevator door (1).
to drive. (10) is an electric motor for driving the door built into the drive device (9), and (11) is a set of four links that transmits the driving force of the drive device (9) to the elevator door (1). 11), the elevator door (1) is driven to open and close. (12) is the closed state (
CL T) sensor, (13) is an open state (OLT) sensor that indicates the door open state, and (14a) and (14b) are stoppers on the door closing side and the door opening side made of elastic bodies. (15) is a door control device composed of an inverter etc. that drives the electric motor (10), and (16) is a stopper (
14a) and (14b) are door stop metal fittings; (17) is a sensor metal fitting that operates the closed state sensor (12) and open state sensor (13).

In the elevator door with the above configuration, the door control device (
15), the electric motor (10) of the drive device (9) is appropriately driven and controlled, thereby opening and closing the elevator door (1) via the link (11).

Next, a vector control inverter control circuit for driving the elevator door having the above configuration will be described.

FIG. 6 is a block diagram showing an inverter control circuit using vector control. Note that for the power supply of this circuit, for example, a 200v or 220v three-phase alternating current or single-phase alternating current is used.

In the figure, (18) is a diode bridge that rectifies the alternating current, (19) is a smoothing capacitor that smoothes the direct current rectified by the diode bridge (18), and (20)
is an inverter composed of switching elements such as transistors and FETs, and (21) is a pulse width variable g (PWM).
This is a PWM section that generates pulses. This PWM section (21
), each switching element of the inverter (20) is appropriately driven by the PWM pulse, and the pulse width is modulated.
The diode bridge (18) and the smoothing capacitor (
19) converts the rectified DC voltage into a sinusoidal motor current. In this way, the speed and torque of the electric motor (10) are appropriately controlled by the inverter (20). (1
0a) is an encoder attached to the motor shaft, and the actual speed of the motor (10) is detected by this encoder (10a). (22) is a speed command generation unit that generates the speed command ωr, and (23) is an adder.
) is compared with the actual speed ωr''' of the electric motor (10) detected to determine the speed deviation Δωr. (24) calculates the torque required for the electric motor (10) to follow the speed command ωr. a speed amplifier that outputs a torque command iq,
(25) is a slip calculation unit that generates a slip frequency ωS, and this slip frequency ωS is obtained by inputting, for example, a torque component current iq and an excitation component current command id, which is normally a constant value in a constant torque region. It will be done. (26)
is an adder that adds the slip frequency ωS and the speed ωr1 detected by the encoder (10a), and (27) is a phase counter that functions as an integrator.
The rotation angle θr=J' (ωr8±ω5)dt of the magnetic field is calculated.

(28) is the torque component current iq and the excitation component current command id
(29) is an adder that adds this phase angle θi and the rotation angle θr of the magnetic field to calculate the actual current phase angle θ=θr+θi, and (30) is a torque A current amplitude calculation unit that calculates the current amplitude II+ from the branch current iq and the excitation branch current command id; (31) is a current that generates the U-phase and V-phase current commands from the actual current phase angle θ and the current amplitude III; This is the command generation section. In addition, the U-phase current command 1u is set as Iu=I*sinθ, and the V-phase current command Iv is set as Iv=l I l ·sin (θ+2 yr / 3
). (32) is a DC CT that detects the U-phase current Iu'' and V-phase current 1v' of the motor (10), (3
3) is the current commands Iu and Iv of the U phase and V phase from the current command generation unit (31) and the actual motor current 1 of the U phase and V phase.
This is a current amplifier section that calculates current deviations of each phase ΔIu, JIv, ΔIw=−ΔIu−ΔIv from u'', Iv''. Then, a three-phase PWM voltage command corresponding to the current deviations ΔIu, ΔIv, and ΔIw of each phase is outputted from the PWM section (21) as a switching signal C to the inverter (20). Note that the speed command generation section (22) to the current command generation section (31) of this inverter control circuit
Each component is constituted by a microcomputer (40) as arithmetic control means.

The inverter (
20) is appropriately controlled, and the speed and torque of the electric motor (10) are feedback-controlled.

That is, by appropriately controlling the current, voltage, frequency, etc. of the electric motor (10) to predetermined values, the electric motor (10)
) and controls the rotational speed and driving torque of the Further, such a vector control inverter is usually configured with a microcomputer (40) as an arithmetic control means shown by a dashed line in FIG.

Next, the hardware configuration of the microcomputer (40) as this arithmetic control means will be explained.

FIG. 7 is a circuit diagram showing a circuit in which an inverter control circuit of a conventional elevator door control device is constructed using a microcomputer as an arithmetic control means.

In the figure, (41) is the central processing unit CPU, (
42) is an RO in which predetermined processing programs, etc. are stored.
M, (43) is a RAM in which data etc. are stored. (44) is an interrupt control unit that performs interrupt processing based on the SAMP-IT multiplied signal, and (45) is each current command Iu for the U phase and ■ phase.

DA converter that outputs Iv, (46) is a manual interface for inputting the control input signal into the microcomputer (40), (47) is an output interface that outputs the result of program processing, and (49) is an encoder ( 10a) is a reversible counter for detecting the speed of the electric motor (10) by the pulse train, and (50) is a sampling timer. every)C
SAMP-IT for interrupting the PU (41) and starting the inverter control program shown in FIG. 8, which will be described later.
Generate a double signal. (51) is a bus which is a path for each data.

In an elevator door control device having such a configuration, a microcomputer (40) is used as an arithmetic control means.
A predetermined inverter control program is executed. 8th
The figure is a flowchart showing an inverter control program in a conventional elevator door control device. Note that this program uses the sampling timer (5) shown in Figure 7.
The SAMP-IT signal interrupt control unit (44) generates the SAMP-IT multiplication signal from 0) at predetermined time intervals manually.

In the figure, step S1 is a speed command calculation routine that calculates a shorthand command for the electric motor (10) based on a predetermined opening/closing speed pattern of the elevator door (1), and step S2
is a current speed calculation routine that calculates the current speed of the electric motor (10) from the amount of change in the value of the reversible counter (49) over a predetermined period of time.

Then, in step S3, it is checked whether the speed calculated in step S2 is less than or equal to a predetermined speed, and it is determined whether or not there is a speed abnormality. If it is determined that there is no speed abnormality, the process proceeds to step S4. Step S4 is a speed loop calculation routine that calculates a speed deviation using a feedback loop from the speed command value obtained in steps S1 and S2 and the current speed.
This is a vector calculation routine that performs calculations for vector control, and calculates the seventh vector from the speed deviation calculated in step S4.
Vector calculations are performed in the slip calculation section (25), phase angle calculation section (28), and current amplitude calculation section (30) in the block diagram of the figure. In step S6, the adder (26), phase counter (27), adder (29) in the block diagram of FIG.
) and the current command generation unit (31) to calculate and output the U-phase current command Iu and the V-phase current command. After executing each of these routines, the program returns to the main routine again. On the other hand, if it is determined in step S3 that there is a speed abnormality, the process proceeds to step S7, where the BCUTI output, which is a base cutoff signal for cutting off the inverter (20), is output from the output interface (47), and the gate circuit ( (not shown) via an inverter (
20), the motor current is cut off. Then, in step S8, the abnormality code and the like are stored, and the microcomputer (40) performs processing after the abnormality.

By executing a series of inverter control programs as described above, the elevator door (1) is properly controlled, and when an abnormal speed of the elevator door (1) occurs, the inverter (20) is driven. to prevent the elevator doors from malfunctioning.

In addition, as another conventional elevator door control device, there is also a technology published in Japanese Patent Application Laid-Open No. 1-92191, but this is a technique that can be used in response to an increase in the drive load of the elevator door.
This technology increases the drive torque of the door motor to ensure the opening and closing operations of the elevator door.Since this technology is not directly related to the above technology, its explanation will be omitted here.

[Problems to be Solved by the Invention] In the conventional elevator door control device as described above, the drive of the electric motor (10) and the operation of the elevator door (1) are appropriately controlled via the microcomputer (40). . Then, the elevator door (1) or the electric motor (10
) when an abnormal condition occurs, such as the speed of the elevator door exceeding a predetermined value, a base cutoff signal is output from the microcomputer (40) serving as the arithmetic control means and the elevator door is shut off, as shown in the flowchart of FIG. (1) was stopped.

However, normally, the elevator door (1) or the electric motor (1) may malfunction due to a malfunction of the microcomputer (40).
0) is detected, so in such a case, an abnormal state that should not have occurred under normal control will occur, and moreover, the microcomputer (40) that is not operating normally will Therefore, it cannot necessarily be said that abnormality detection is performed accurately.

Therefore, it has been desired to provide an elevator door control device that can reliably detect a speed abnormality even if the microcomputer (40) serving as the arithmetic control means malfunctions, and has a high probability of abnormality detection.

SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a highly reliable elevator door control device that can reliably detect abnormal speeds of the elevator door or electric motor even if the arithmetic control means malfunctions.

[Means for Solving the Problems] An elevator door control device according to the present invention includes an inverter (20) that controls the drive of an electric motor (10) that opens and closes an elevator door (1), and an inverter (20) that controls the speed of the electric motor (10). a calculation control means such as a microcomputer (40) that takes in the speed information from the speed detection means and controls the inverter (20), and converts the speed information from the speed detection means into an analog value. The speed abnormality detection processing means detects speed abnormality of the elevator door (1) by comparing the detected speed with a predetermined value, and performs predetermined abnormality processing.

[Function] In the present invention, speed information from the speed detection means for detecting the speed of the electric motor (10) that opens and closes the elevator door (1) is taken into the arithmetic control means such as the microcomputer (40), and the inverter (20) At the same time, the speed abnormality detection processing means provided outside the calculation control means converts the speed information from the speed detection means into an analog value and compares it with a predetermined value. Since speed abnormality is detected and predetermined abnormality processing is performed, even if the calculation control means malfunctions, the occurrence of speed abnormality in the elevator door (1) or electric motor (10) can be detected, and this abnormal state can be detected. can be dealt with appropriately.

[Example] Examples of the present invention will be described below.

FIG. 1 is an overall circuit diagram showing an elevator door control device according to an embodiment of the present invention. Further, FIGS. 5 and 6 are common to the embodiments of this invention. In the drawings, the same reference numerals and symbols as those in the above conventional example indicate constituent parts that are the same as or correspond to those in the above conventional example. In addition, the operating principle of the inverter (20) and the inverter (
Since the control circuit 20) and the like have been described in detail in the above conventional example, their explanation will be omitted here.

In FIG. 1, (81) is an F-V converter that outputs an analog voltage fv proportional to the frequency of the feedback pulse train ωr8 from the encoder (10a), (82)
is an analog comparator circuit, (83) is a reference power supply for the analog comparator circuit (82), and (84) is a flip-flop that holds an overspeed abnormality. In other words, the elevator door control device of this embodiment has the configuration of the conventional example added with the elements from the F-V converter (81) to the flip-flop (84) surrounded by dotted lines.

In the elevator door control device with this configuration, if the microcomputer (40) as the arithmetic control means malfunctions and the speeds of the elevator door (1) and electric motor (10) exceed a predetermined speed, The analog output voltage fv of the F-V converter (81) is the overspeed reference voltage Vr.
ef or more, the analog comparator circuit (82) is activated and the flip-flop (84) for holding overspeed abnormality is activated.
is held. And this flip-flop (8
Based on the EM-IT multiplied signal output from 4), the base of the inverter (20) is shut off, and an interrupt is applied to the microcomputer (40) as an arithmetic control means to stop the electric motor (10). Microcomputer (
40) holds the contents of the abnormality or initializes the program by inputting the EM-IT multiplication signal which is the interrupt signal.

The hardware of the microcomputer (40) of this embodiment is basically the same as that of the conventional example, but the interrupt control unit (44) is connected to an EM-IT from a flip-flop (84). The difference is that a double signal is input and interrupt processing is performed. The inverter control program executed by the microcomputer (40) serving as this arithmetic control means is substantially the same as that of the conventional example, and its explanation will be omitted here.

Therefore, in the elevator door control device of this embodiment, the speed signal ωr8 from the encoder (10a) is taken into the microcomputer (40) as arithmetic control means, so that the elevator door (1) can be properly controlled. At the same time, the speed signal ωr8 from the encoder (10a) is converted into an analog voltage value f by the F-■ converter (81).
When a speed abnormality of the elevator door (1) occurs, the gate of the inverter (20) is shut off by the EM-IT double signal. etc., and stop the elevator door.

As described above, the elevator door control device of this embodiment includes an inverter (20) that performs drive control of the electric motor (10) that opens and closes the elevator door (1), and an inverter (20) that performs drive control of the electric motor (10) that opens and closes the elevator door (1).
0), and speed information ωr1 from the speed detection means.
EM-IT The speed abnormality detection processing means outputs a multiplied signal and performs predetermined abnormality processing such as shutting off the base of the inverter (20).

That is, in this embodiment, a speed abnormality detection processing means separate from the microcomputer (40) as the arithmetic control means is added to the conventional elevator door control device, and the speed of the electric motor (10) is controlled. The speed information from the speed detecting means to be detected is taken into the microcomputer (40) as the arithmetic control means, and is also taken into the speed abnormality detection processing means at the same time. A microcomputer (40) serving as an arithmetic control means controls an inverter (20) that controls the drive of the electric motor (10), and a speed abnormality detection processing means detects when the speed of the elevator door (1) is abnormal. Then, the microcomputer (40) serving as the calculation control means is initialized and outputs a base cutoff signal for the inverter (20).

Therefore, unlike the conventional example in which speed abnormality detection and abnormality processing are performed solely by the microcomputer (40) as an arithmetic control means, when a speed abnormality occurs in the elevator door (1) or electric motor (10), In this case, the speed abnormality detection processing means reliably detects this abnormal state, prevents erroneous detection by the microcomputer (40) serving as the arithmetic and control means, and can appropriately deal with this abnormal state. Therefore, it is possible to reliably detect abnormalities, resulting in a highly reliable elevator door control device, and as a result,
Improves safety.

Next, other embodiments will be explained.

Fig. 2 is an overall circuit configuration diagram showing an elevator door control device according to another embodiment of the present invention, and Fig. 3 shows a circuit in which the inverter control circuit of the elevator door control device of Fig. 2 is constructed using a microcomputer. FIG.

In the figure, (85) is a DA converter connected to a microcomputer (40) as an arithmetic control means, and the microcomputer (40) as an arithmetic control means and an analog comparator circuit (82) ) are connected. That is, the elevator door control device of this embodiment has the configuration of the above embodiment with the addition of a DA converter (85).

In the elevator door control device having this configuration, from the microcomputer (40) as the arithmetic control means to the
The speed reference voltage Vval corresponding to the door position during door opening operation, etc. inputted through the A converter (85) is inputted to the F-V converter (81) by the analog comparator circuit (82).
When the analog output voltage Vcom becomes equal to or higher than the speed reference voltage Vva1, the analog comparator circuit (82) is activated and the overspeed abnormality holding flip-flop (84) is activated. It will be in a holding state. And this flip-flop (84
), the inverter (
20), and interrupts the microcomputer (40) as arithmetic control means to stop the electric motor (10). A microcomputer (40) serving as an arithmetic control means receives the interrupt signal EM-
By inputting the IT double signal, the abnormality contents are held or the program is initialized.

In particular, in this embodiment, by comparing the speed reference voltage Vval from the DA converter (85) according to the door position with the analog output voltage Vcom from the F-■ converter (81), It becomes possible to detect an overspeed abnormality by an overvalue of the same speed with respect to the speed command over a period of time. This is shown in FIG.

FIG. 4 is a characteristic diagram showing the speed command pattern and overspeed abnormality detection level during the elevator door opening operation.

In the figure, Vmax is the maximum output voltage of the DA converter (85), and the analog comparator circuit (
82) corresponds to the voltage Vref of the reference power supply (83).

Vcom is an analog voltage proportional to the frequency of the feedback pulse train ωr8 from the encoder (10a). Therefore, if the maximum output voltage of the DA converter (85) is fixed to the Vmax value shown in FIG.
When cOm exceeds the maximum value Vmax, an abnormality in the microcomputer (40) serving as the arithmetic control means can be easily detected.

In this way, this embodiment uses an inverter (20) similar to the elevator door control device of the above embodiment, a speed detection means, and a microcomputer (as an arithmetic control means).
40), and by converting the speed information ωr8 from the speed detecting means into an analog value Vcom and comparing it with the speed command value Vval by the microcomputer (40) as an arithmetic control means, an EM-IT multiplied signal is obtained. It is equipped with speed abnormality detection processing means for outputting the output and performing predetermined abnormality processing such as cutting off the base of the inverter (20).

That is, in this embodiment, similar to the above embodiment, a speed abnormality detection processing means separate from the microcomputer (40) as the calculation control means is added to the elevator door control device of the conventional example. Speed information from a speed detection means for detecting the speed of the electric motor (10) is taken into a microcomputer (40) serving as an arithmetic control means, and is also taken into a speed abnormality detection processing means. And a microcomputer (40) as an arithmetic control means
is an inverter (
20), and the speed abnormality detection processing means initializes the microcomputer (40) as the arithmetic control means and outputs a base cutoff signal of the inverter (20) when the speed of the elevator door (1) is abnormal. Output.

Therefore, the same effect as in the above embodiment is achieved, and in addition, overspeed abnormality can be detected at the same speed over value with respect to the speed command over the entire range of door opening/closing operations, and the elevator door (1) It is possible to reliably detect speed abnormalities, resulting in a highly reliable elevator door control device, and as a result, safety is improved.

Incidentally, in the above embodiment, in order to detect the speed of the elevator door (1), a speed detection means for detecting the speed of the electric motor (10) using the encoder (10a) is adopted, but it is not necessary to use a device other than the encoder (10a). You may use
The speed of the elevator door (1) may be directly detected.

In addition, although the explanation has been made regarding the case where the inverter (20) is shut off by the base shut-off signal in the case of an abnormal speed of the elevator door (1), other abnormality processing may be performed. It is only necessary to be able to stop the operation of the elevator door (1) in the case of speed abnormality in 1).

[Effects of the Invention As described above, the elevator door control device of the present invention has the following advantages:
It includes an inverter, a speed detection means, an arithmetic control means for controlling the inverter, and a speed abnormality detection processing means separate from the arithmetic and control means, and the speed information from the speed detection means detects the speed of the electric motor that opens and closes the elevator door. , the speed information is input to the calculation control means and the speed abnormality detection processing means, the calculation control means controls the inverter, and the speed abnormality detection processing means converts the speed information from the speed detection means into an analog value and compares it with a predetermined value. This system detects speed abnormalities in elevator doors and performs predetermined abnormality processing, and even if the calculation control means malfunctions, it is possible to detect the occurrence of speed abnormalities in elevator doors or electric motors, and to take corrective action in response to this abnormal condition. Since appropriate measures can be taken, abnormalities can be detected reliably, resulting in a highly reliable elevator door control device and improved safety.

[Brief explanation of drawings]

FIG. 1 is an overall circuit configuration diagram showing an elevator door control device which is an embodiment of the present invention, and FIG. 2 is an overall circuit configuration diagram showing an elevator door control device which is another embodiment of the invention. Figure 3 is a circuit diagram showing a circuit in which the inverter control circuit of the elevator door control device shown in Figure 2 is configured with arithmetic control means, and Figure 4 shows the speed command pattern and overspeed abnormality detection level during the elevator door opening operation. FIG. 5 is a front view showing the mechanical configuration of an elevator door to which an embodiment of the present invention and a conventional elevator door control device are applied, and FIG. 6 shows an inverter control circuit using vector control. FIG. 7 is a circuit diagram showing a circuit in which the inverter control circuit of a conventional elevator door control device is configured with arithmetic control means, and FIG. 8 is a flowchart showing an inverter control program in the conventional elevator door control device. It is. In the figure, 1: elevator door lO: electric motor 10a: encoder 20: inverter 40: microcomputer 82: analog comparator circuit 83; 2 reference power supply 84: flip-flop 85: DA converter. In the drawings, the same reference numerals and the same symbols indicate the same or equivalent parts. Agent Patent attorney Masuo Daikichi and two others Figure 5 1: Elevator door (spontaneous) November 29, 1990 5. Subject of amendment (1) Detailed description of the invention in the specification column 2, Name of the invention 3, Person making the amendment Elevator door control device 6, Contents of the amendment (1) Amended "Fig. 5 is conventional" in the 5th line of page 2 of the specification to "Fig. 5 is conventional and of the present invention." do. (2) "Front view" in lines 6-7 of page 2 of the specification is corrected to "an example of a front view." (601) Mamoru Shiki, Representative of Mitsubishi Electric Corporation

Claims (1)

[Scope of Claims] An inverter that controls an electric motor that opens and closes elevator doors, a speed detection means that detects the speed of the electric motor, and an arithmetic control means that takes in speed information from the speed detection means and controls the inverter. and a speed abnormality detection processing means for detecting speed abnormality of the elevator door by converting the speed information from the speed detection means into an analog value and comparing it with a predetermined value, and performing predetermined abnormality processing. Features: Elevator door control device.