JPH0485282A - Control device for elevator door - Google Patents

Abstract

PURPOSE:To improve safety by cutting off a control current of an electric motor by an inverter and also cutting off the control current through a predetermined program process by a microcomputer, in the case of detecting abnormality in a control circuit of the inverter. CONSTITUTION:In the case of generating abnormality in a control circuit of an inverter 20 for driving an electric motor 10, this abnormality is detected by an abnormality detection holding circuit, and a buffer gate circuit 80 is actuated by an SIGMAALARM signal from this abnormality detection holding circuit to directly cut off a control current of the electric motor 10 by the inverter 20. Simultaneously with the above, the SIGMAALARM signal from the abnormality detection holding circuit is fetched to a microcomputer, and a BCUT1 output, which is a base cut off output, is output to a gate circuit 64 via an interruption process by the microcomputer to cut off the control current of the electric motor 10 by the inverter 20 through this gate circuit 64. In this way, misoperation of the electric motor 10 can be prevented to improve safety.

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. 2 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) is the hanger roller that rotates on the top of the door rail (5) to guide the opening and closing of the elevator door (1). , (7) is the door rail (5
This hanger roller (
6) and the up thrust roller (7) are both rotatably attached to the door hanger (3). (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) drives the elevator door (1). (10) is a door drive electric motor built into the drive device (9), (11) is a four-link link that transmits the driving force of the drive device (9) to the elevator door (1),
The elevator door (1) is driven to open and close via this link (11). (12) is the closed state (C
LT) sensor, (13) is the open state (O
LT) Sensors (14a) and (14b) are stoppers on the door closing side and the door opening side, which are made of elastic bodies.

(15) is a door control device composed of an inverter etc. that drives the electric motor (10), (16) is a door stop fitting corresponding to the stoppers (14a) and (14b), (17)
are the closed state sensor (12) and the open state sensor (13).
) is a sensor fitting that operates the sensor.

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 circuit for driving the elevator door having the above configuration will be described.

FIG. 3 is a block diagram showing an inverter control circuit using vector control. Note that the power supply for this circuit is
For example, 200V or 220V three-phase or single-phase AC is used.

In the figure, (18) is a diode bridge that rectifies the AC, (19) is a smoothing capacitor that smoothes the DC 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 modulation (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 (
The DC voltage rectified by the sine wave motor (10)
) into a control current. In this way, the inverter (2
0), the speed and torque of the electric motor (10) are appropriately controlled.

(10a) 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 generator that generates the speed command ωr, and (23) is an adder.
) is compared with the actual speed ω of the electric motor (10) detected in step 2 to determine the speed deviation Δωr. (24) is a speed amplifier that calculates the torque required for the electric motor (10) to follow the speed command ωr and outputs the torque command iq;
25) is a slip calculation unit that generates a slip frequency ωS, and this slip frequency ωS is, for example, a torque component current i.
q and in the constant torque region, it is determined by inputting the excitation component current command id, which is usually a constant value. (26) is an adder that adds the slip frequency ωS and the speed ωr8 detected by the encoder (10a), and (27) is a phase counter that functions as an integrator, which is the rotation angle θr of the magnetic field of the electric motor (10). =J (ωr″±ω5)dt is calculated. (28) is the torque component current iq and the excitation component current command i
(29) a phase angle calculation unit that calculates the phase angle θi from d;
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, (30)
(3) is a current amplitude calculation unit that calculates the current amplitude It from the torque component current iq and the excitation component current command id, and (3]) calculates the U-phase and V-phase current commands from the actual current phase angle θ and the current amplitude II+. This is the current command generation unit that generates the current command. Note that the U-phase current command 1u is determined as Iu=I*sinθ, and the V-phase current command 1v is determined as Iv=lIl·5in(θ+2π/3).

(32) is a DC CT that detects the U-phase current Iu" and V-phase current Iv" of the motor (10); (33) is the U-phase and V-phase current command 1u from the current command generation section (31); I
v and the control current I u of the U-phase and V-phase electric motors (10)
This is a current amplifier section that calculates the current deviations of each phase ΔIu, ΔIv, Δ1w = -ΔIu - ΔIv from the current deviations of each phase ΔIu, ΔIv, ΔIw. The voltage command is output from the PWM section (21) to the inverter (20) as a switching signal C. Note that the current command generation section (31) is output from the speed command generation section (22) of the control circuit of this inverter.
) is constituted by a microcomputer (40) as an arithmetic control means.

The inverter (20) is appropriately controlled via the inverter control circuit configured as described above, and the speed and torque of the electric motor (10) are feedback-controlled.

Here, the principle of generation of the three-phase PWM voltage command by this PWM section (21) will be described.

FIG. 4 is a waveform diagram showing the principle of generation of PWM signals of U, V, and W phases of a three-phase motor.

In the figure, as shown in (a), three-phase current references IU, IV, and IU are output from a microcomputer as arithmetic control means for the electric motor (10).

IW phase and triangular wave carrier frequency f generated from IV phase
By comparing with c using a comparator (not shown), three-phase PWM voltage commands UP and UP as shown in (b) to (d) are obtained.
Generate VP and WP respectively.

Fig. 5 is a time chart showing the operating principle of the upper and lower short circuit prevention circuit in the base cutoff circuit of the conventional elevator door control device, and Fig. 6 is a circuit diagram showing the base cutoff circuit of the conventional elevator door control device. .

In the figure, (60) to (62) are inverters (20
) is an upper and lower short-circuit prevention circuit that generates on/off signals for each switching element in the upper and lower stages of the UP and V in FIG.
The on signal U of each phase is multiplied by the P and WP signals.
l, Vl, Wl and off signal U1. Outputs Vl and Wl. Incidentally, the temporal relationship between these signals is as shown in FIG. (63) is an OR gate that calculates the logical sum of BCUTI for cutting off the base of the inverter (20) and ΣALARM, which is an abnormality detection signal for the control circuit of the inverter (20), and (64) is for driving the inverter (20). This is a gate circuit.

(65) is a photocoupler operated by the gate signal output from the gate circuit (64), (66) is a base amplifier circuit driven via the photocoupler (65),
This base amplifier circuit (66) causes an inverter (20
) is driven. (67) to (7
1) is a drive circuit (72) each consisting of a photocoupler (65) and a base amplifier circuit (66) similar to the above;
.

(74) and (76) are upper arm transistors, respectively;
(73), (75), and (77) are lower arm transistors, respectively. These upper arm transistors (
72), (74), (76) and the lower arm transistor (
73), (75), and (77) are arranged so that the ON times of the upper and lower short circuit prevention circuits (60) and (61) do not overlap by ta as shown in FIG.

(62). This prevents the upper and lower transistors (72) to (77) from becoming short-circuited.

In the control circuit of an inverter with such a configuration, the electric motor (
The rotational speed and drive torque of the electric motor (10) are controlled by appropriately controlling the current, voltage, frequency, etc. of 10) to predetermined values. Further, such a vector control inverter is usually configured with a microcomputer (40) as an arithmetic control means shown by the 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 calculation control means for controlling an inverter of a conventional elevator door control device.

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 using the ΣALARM signal, and (45) is each current command 1u for the U phase and ■ phase.

A DA converter that outputs Iv, (46) is a manual interface for inputting control input signals to the microcomputer (40), (47) is an output interface that outputs the results of program processing, (48) is the abnormality content (49) is a reversible counter, (50) is a watchdog counter that monitors the program processing time, and (51) is a path for each data. It's a bus.

Furthermore, the conventional elevator door control device includes an abnormality detection and holding circuit that detects and holds abnormalities in the control circuit of the inverter (20). FIG. 8 is a circuit diagram showing an abnormality detection and holding circuit used in a conventional elevator door control device. Note that this abnormality detection and holding circuit is composed of a functional circuit.

In the figure, (52) is a three-phase aftereffect rectifier circuit that obtains a DC signal from the feedback signal of the control current of the two-phase AC motor (10), (53) is a comparator, and (54) is a reference power source for the comparator (53). It is. (55) indicates that the control currents Iu, Iv, and Iw of the electric motor (10) are set to predetermined values Vre.
(56) is an OR gate; (57) is for differentiating the watchdog alarm signal WD OUT from the watchdog counter (50) in FIG. 7 above; One-shot circuit (58) is watchdog alarm signal WD
This is a flip-flop that enters a holding state when OUT is output. Each of the above flip-flops (55), (
58) is reset by a RESET pulse (not shown) at power up.

In the abnormality detection and holding circuit having such a configuration, for example, when an overcurrent abnormality is held in the flip-flop (55), the signal is transmitted to the inverter (2) through the OR gate (56).
0) is output.

This ΣALARM signal is transmitted to the interrupt control unit (4
4), the program shown in FIG. 9 is executed by the microcomputer (40). FIG. 9 is a flowchart showing an interrupt program executed by the microcomputer when an abnormality occurs.

In the figure, first, in step S1, the presence or absence of an alarm signal is determined. If the alarm signal is "present", an abnormality code is displayed in step S2, and a BCUTI output for cutting off the base of the inverter (20) is output from the output interface (47) in step S3. Then, in step S4, the OR gate (63)
The TI output and the ΣALARM signal are logically summed, and the inverter (20) is turned off via the gate circuit (64). Further, if the alarm signal is "absent" in step S1, the interrupt processing is deemed to be completed in step S5, the above-mentioned interrupt processing is not executed, and the process returns to the main routine.

The series of interrupt processing described above causes the inverter (2
If an abnormality occurs in the control circuit (20), the drive of the inverter (20) is immediately stopped to prevent the elevator door from malfunctioning.

Note that the programs for speed loop calculation and vector control calculation are not directly related to each other, so their explanation will be omitted. In addition, as another conventional elevator door control device, there is also a technology published in Japanese Patent Application Laid-open No. 1-92191.
This technology increases the drive torque of the door motor in response to an increase in the driving load of the elevator door, thereby ensuring reliable opening/closing of the elevator door.This technology is not directly related to the above technology, so it will not be explained here. omitted.

[Problems to be Solved by the Invention] In the conventional elevator door control device as described above, if a malfunction or damage occurs in the control circuit of the inverter (20), the above-mentioned In this way, the base of the inverter (20) is cut off to cut off the control current of the electric motor (10), and the electric motor (10) is forcibly stopped.
The opening/closing operation of the elevator door (1) had been stopped.

However, in this type of elevator door control device, the sixth
Since it uses a base cutoff circuit as shown in the figure,
If the OR gate (63) fails, the inverter (
20) could no longer be shut off, and there was a risk that the electric motor (10) would malfunction and continue to be driven. For this reason, an elevator door control device with higher safety has been desired.

SUMMARY OF THE INVENTION An object of the present invention is to provide an elevator door control device that can reliably cut off the inverter base and cut off the control current of the motor when an abnormality occurs in the inverter control.

[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 inverter (20). A microcomputer (
40), an abnormality detection and holding means for detecting and holding an abnormality in the control circuit of the inverter (20), and an electric motor directly controlled by the inverter (20) in response to an abnormality detection signal from the abnormality detection and holding means. (10) The first current interrupting means for interrupting the control current and the abnormality detection signal from the abnormality detection and holding means are taken into the microcomputer (40) as the calculation control means, and the microcomputer (40) The present invention is provided with a second current interrupting means formed of a different element from the first current interrupting means, which interrupts the control current of the electric motor (10) by the inverter (20) through program processing.

[Function] In the present invention, when an abnormality occurs in the control circuit of the inverter (20) that drives the electric motor (10), the abnormality detection and holding means detects the abnormality, and the first current interrupting means operates to detect the abnormality. A predetermined program by a microcomputer (40) as an arithmetic control means for directly interrupting the control current of the electric motor (10) by the inverter (20) and controlling the inverter (20) by the function of a second current interrupting means. Through processing, the control current of the motor (10) by the inverter (20) is cut off, and by doubling the current cutoff means, the negative motor (10)
Even if the system that cuts off the control current of the other motor (10) malfunctions, the system that cuts off the control current of the other motor (10) operates normally and cuts off the control current of the motor (10).
) can prevent malfunctions.

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

FIG. 1 is a circuit diagram showing a base cutoff circuit which is a main part of an elevator door control device according to an embodiment of the present invention. Further, FIGS. 2 to 5 and FIGS. 7 to 9 are common to the embodiments of the present 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. The operating principle of the inverter (20) of this embodiment, the control circuit of the inverter (20), etc. have been described in detail in the above-mentioned conventional example, so their explanation will be omitted here.

In FIG. 1, (80) is a conventional gate circuit (64)
and the inverter (20), and in this embodiment, unlike the conventional OR gate (
63), the buffer gate is constructed by duplicating the gate circuit of the inverter (20). These gate circuits (64) and (80) include, for example, 5N74LS24ON IC manufactured by Texas Instruments.
.

5N74LS241N etc. are used. (80a) to (80f) are pull-up resistors, respectively.

Then, the second gate circuit (80) is shut off by the ΣALARM signal of the abnormality detection and holding circuit shown in FIG. That is, the second gate circuit (80) uses U2. output from the gate circuit (64). V2. W2fg9 and U1, V1, WIIB, and the ΣALARM signal from the abnormality detection and holding circuit, U3. V3. W
3 signal and U3. V3゜W3 signal is inverter (20
). In addition, the gate circuit (64) is ΣALAR
The M signal is taken into the microcomputer (40) as an arithmetic control means via the interrupt control unit (44), and the B signal is the base cutoff output outputted by the software processing of the microcomputer (40).
Shut off by CUTI output. That is, the gate circuit (64
) are the Ul, Vl, Wl signals output from the upper and lower short circuit prevention circuits (60) to (62) and the Ul, Vl, Wl signals,
BCUT1 signal from the output interface (47) of the microcomputer (40);
W2 signal and U2. V2. The W2 signal is output to the second gate circuit (80).

By employing the base cutoff circuit having the above configuration in the elevator door control device of this embodiment, the electric motor (10)
If an abnormality occurs in the control circuit of the inverter (20) that drives the inverter (20), the abnormality detection and holding circuit shown in FIG. It is activated to directly cut off the control current of the electric motor (10) by the inverter (20). At the same time, the ΣALARM signal from the abnormality detection and holding circuit shown in FIG. 8 is taken into the microcomputer (40) as an arithmetic control means, and the microcomputer (40) performs the interrupt processing as shown in FIG. After passing through, the BCUTI output, which is the base cutoff output, is connected to the gate circuit (
64), and via this gate circuit (64),
The control current of the electric motor (10) by the inverter (20) is cut off.

As described above, the elevator door control device of this embodiment includes an inverter (20) that controls the drive of the electric motor (10) that opens and closes the elevator door (1), and an arithmetic control means that controls the inverter (20). an abnormality detection and holding means consisting of a microcomputer (40), an abnormality detection and holding circuit shown in FIG. Depending on the barrel ΣALARM signal,
A first current interrupting means for directly interrupting the control current of the motor (10) by the inverter (20) via a second gate circuit (80), and a ΣALARM signal which is an abnormality detection signal from the abnormality detection and holding means. The BCUTI signal is input to the microcomputer (40) serving as the arithmetic control means, and is subjected to program processing as shown in FIG. 9 by the microcomputer (40).
4) and a second current interrupting means for interrupting the control current of the motor (10) by the inverter (20) via the gate circuit (64).

That is, in this embodiment, the base cutoff circuit shown in FIG. 1 is used instead of the base cutoff circuit shown in FIG. 6 of the conventional example, and the gate circuits (64) and (80) of the base cutoff circuit are duplicated, and the (10) The current interrupting means for interrupting the control current is provided in two systems.

Therefore, since the OR gate (63) is not used as in the conventional example, there is no possibility that the base of the inverter (20) cannot be shut off due to a failure of the OR gate (63), and the motor (10) is driven while malfunctioning. There is no danger of it happening. Then, an inverter (
If an abnormality occurs in the control circuit 20), the abnormality detection and holding means detects this, and the first current cutoff means cuts off the control current of the motor (10), and the second current cutoff an electric motor (10) through a microcomputer (40) controlling said inverter (20) by the action of means;
The control current is cut off.

Therefore, even if the system for interrupting the control current of the motor (10) related to either the first current interrupting means or the second current interrupting means fails, the other motor (10)
Since the system that interrupts the control current of 0) operates normally,
When the control circuit of the inverter (20) fails, the electric motor (
It is possible to cut off the control current of the motor (10).
) can be prevented, resulting in a highly safe elevator door control device and highly reliable elevator door opening/closing control.

[Effects of the Invention] As described above, the elevator door control device of the present invention has the following effects:
an inverter, an arithmetic control means, an abnormality detection and holding means,
If an abnormality occurs in the inverter control that drives the electric motor, the abnormality detection and holding means detects the abnormality, and the first current interruption means directly controls the inverter. and interrupts the control current of the electric motor by the inverter through predetermined program processing by an arithmetic control means that controls the inverter by the function of a second current interruption means, By duplicating the current interrupting means,
Even if the system that cuts off the control current of one motor fails, the system that cuts off the control current of the other motor will operate normally, cutting off the motor's control current and reliably preventing motor malfunction. , safety is improved and highly reliable elevator door opening/closing control can be achieved.

[Brief explanation of drawings]

Fig. 1 is a circuit diagram showing a base cutoff circuit which is a main part of an elevator door control device according to an embodiment of the present invention;
The figures are 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; FIG. 3 is a block configuration diagram showing an inverter control circuit using vector control; The figure is a waveform diagram showing the generation principle of PWM signals of each phase of a three-phase motor, and Figure 5 is an embodiment of the present invention and the operating principle of the upper and lower short circuit prevention circuit in the base cutoff circuit of the conventional elevator door control device. 6 is a circuit diagram showing a base cutoff circuit of a conventional elevator door control device, and FIG. 7 is an embodiment of the present invention and an inverter control of a conventional elevator door control device using a microcomputer. 8 is a circuit diagram showing an embodiment of the present invention and an abnormality detection/holding circuit used in a conventional elevator door control device. FIG. 9 is a circuit diagram showing a circuit that is executed by a microcomputer when an abnormality occurs. 3 is a flowchart showing an interrupt program. In the figure, 1: Elevator door 10: Electric motor 20: Inverter 40: Microcomputer 64: Gate circuit 80: Second gate circuit Note that in the figure, the same reference numerals and the same symbols indicate the same or corresponding parts. Figure 2 Elevator door agent Patent attorney Daikichi Masuo and two others Figure 4 + c Figure 5 a a a Written amendment (voluntary) November 29, 1990 5. Subject of amendment

Claims (1)

[Scope of Claims] An inverter that performs drive control of an electric motor that opens and closes elevator doors; an arithmetic control means that controls the inverter; an abnormality detection and holding means that detects and holds an abnormality in the inverter control; a first current interrupting means for interrupting the control current of the motor by the inverter in response to an abnormality detection signal from the abnormality detection and holding means; A control device for an elevator door, comprising: second current cutoff means for cutting off the control current of the electric motor by the inverter by means of arithmetic control means.