JPH05286674A - Elevator door control device - Google Patents

Abstract

PURPOSE:To secure the safety of elevator passengers through adjusting of the sensitivity in sensing over-loading and enhance the operating efficiency of the elevator. CONSTITUTION:A motor torque command 30 is issued so that a motor speed command 10 works in pursuit of the actual motor speed 20 and compared with a specified motor torque limit value 42 to serve sensing a failure as over-load while the elevator door is opened and closed, and thereby it is inverted or stopped, and at the same time, the motor torque limit value 42 is made smaller than the specified value when any person is approaching the door so as to raise the sensitivity for the over-loading.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an elevator door, and more particularly, to quickly stop or reverse the elevator door when a human body is caught in the door or is clogged with dust during the opening / closing operation of the elevator door. The present invention relates to an elevator door control device.

[0002]

2. Description of the Related Art FIG. 3 is a block diagram showing a conventional elevator door controller. In the figure, 1 is a door motor that is a drive source for opening and closing the elevator door, 2 is a power source for driving the elevator door, and 3 is a door motor 1
The drive power circuits 4 are pulse encoders for detecting the speed of the door motor 1. The pulse encoder 4 is directly connected to the rotary shaft of the door motor 1 and generates a pulse signal according to the rotation of the door motor 1. Reference numeral 5 is a control circuit in which a microcomputer is incorporated to control the overall drive operation of the elevator door, 5a is a pulse counting unit for counting the number of pulses by the signal from the pulse encoder 4, and 5b is a program for program-controlling the control circuit 5. And a ROM storing various data and the like, 5c is an input / output port for exchanging signals with the outside, 5d is a CPU functioning as a central processing unit, 5e is a RAM in which data is written by the CPU 5d, and various operations are performed. The measured value of the characteristic and a predetermined constant are stored. A PWM (pulse width modulation) unit 5f is a pulse width modulation signal generation circuit for generating a motor drive signal. 6 is a door safety device that detects the proximity of passengers to the elevator door, 7 is a gate signal generation circuit that generates a drive gate signal for driving the power transistor of the power circuit 3 by a PWM signal, and 8 is an elevator It is an elevator control panel that controls various operations.

FIG. 4 is a waveform diagram showing respective waveforms in a normal state at the time of a door closing operation by a conventional elevator door control device, (a) is a speed command pattern of a door motor, and (b) is an actual speed pattern of the door motor. , (C) respectively show the relationship between the torque command of the door motor and the torque limit value.

In the figure, 10 is a motor speed command which is the speed of the door motor according to the door position, and 20 is the control circuit 5.
The actual motor speed, which is the actual speed of the door motor 1 measured in step 3, 30 is a motor torque command issued from the control circuit 5 to cause the actual motor speed 20 to follow the speed command, 4
0 is a motor torque limit value, and the magnitude of the motor torque command 30 is regulated so as not to exceed the motor torque limit value 40.

Next, the door drive control operation by the elevator door control device having this structure will be described with reference to FIGS. 3 and 4. Here, the door closing operation will be described as an example.

When a door closing command is issued from the elevator control panel 8, it is read into the input / output port 5c, and the speed pattern shown in FIG.
Read to PU5d. In this speed pattern, the output pulse from the pulse encoder 4 attached to the door motor 1 is counted by the pulse counting unit 5a, and the count value is sent to the CPU 5d, and the CPU 5d
Is read from the ROM 5b by calculating the door position point from this pulse count value. Similarly, the motor torque limit value shown in (c) of FIG. 4 is also read and the torque limit is performed so that an unnecessary motor torque command is not generated. The output from the pulse encoder 4 is used not only to find the position point of the door, but also to calculate the rotational speed of the door motor 1 based on the count value. The position of the elevator door, the rotation speed of the door motor 1 and the like are stored in the ROM 5b. From the read speed pattern and the rotation speed of the door motor 1, the CPU 5d outputs a torque command that causes the speed pattern to follow the PWM unit 5f.
Send to. Then, the PWM unit 5f converts the signal into a PWM signal, and the output thereof causes the gate signal generation circuit 7 to generate a gate signal, which drives the power circuit 3 to rotate the door motor 1. In this way, the opening / closing control of the elevator door is performed.

When a force that interferes with the opening / closing operation of the elevator door acts, the actual motor rotation cannot follow the speed command, so the torque command is gradually increased until the torque limit value is reached. The opening / closing operation is performed with a torque larger than that in the normal opening / closing operation.

The door safety device 6 is provided on the upper part of the car at the entrance of the elevator, detects the user in a non-contact manner, and prevents the user from touching the door trying to close the door and injuring himself or herself. Invert. That is, the operation signal of the door safety device 6 is sent to the elevator control panel 8 through the input / output port 5c, and the elevator control panel 8 switches the open / close command from the door closed to the door open, whereby the elevator door performs the door reversing operation. ..

In opening and closing the elevator door, if the door traveling rail is clogged with dust or the hands of passengers are drawn into the gap between the wall and the door, the normal opening and closing operation may not be possible. In such a case, there is no danger to passengers, and in the case of dust clogging, the door becomes in a restrained state and the elevator becomes unusable. For this reason, Japanese Patent Laid-Open No. 2-1100
As disclosed in Japanese Unexamined Patent Application Publication No. 96-96238 and Japanese Patent Laid-Open No. 3-238286, door control is performed to detect an overload and perform a door reversing operation based on the state of a torque command and a current supplied to a door motor. Further, as a related one to a conventional elevator door control device of this type, Japanese Unexamined Patent Publication No. Hei 2-163.
The technology disclosed in Japanese Patent No. 282 can be mentioned.

[0010]

However, in the conventional elevator door control device as described above, when detecting an overload due to the passenger's hand being pulled into the gap between the wall and the door, It was necessary to lower the detection level and increase the sensitivity of overload detection because it was necessary to attach great importance to safety.
On the other hand, when detecting an overload due to clogging of dust, if the sensitivity of overload detection is too high, overload is detected even with some dust, and the door reversing operation is performed, so the frequency of elevator startup decreases, and elevator operation decreases. The efficiency was getting worse.
For this reason, it is necessary to raise the detection level to reduce the sensitivity of overload detection.

In addition, in the case of overload detection due to retracting, most people are retracted, and normally, the force to pull out from the retract works, so once the door reversing operation is performed, , The same overload abnormality was not repeated. On the other hand, in the case of overload detection due to dust clogging, if the dust is small, the dust will move gradually by repeating the door reversing operation several times, so overload will not be detected, but if the large dust is clogged Unless the detection level is changed, the same overload is repeatedly detected at the place, and the door reversing operation is repeated, so that the elevator is disabled.

[0012] Therefore, an object of the present invention is to provide an elevator door control device capable of appropriately adjusting the sensitivity of overload detection to ensure the safety of passengers and enhance the operation efficiency of the elevator. Is.

[0013]

According to a first aspect of the present invention, there is provided an elevator door control device which generates a torque command so that a speed command of a door motor for driving the opening and closing of the elevator door follows an actual rotation speed of the motor. Torque command generation means, load abnormality detection means for comparing the torque command with a predetermined torque limit value to detect an overload abnormality during door opening and closing, and a door for reversing or stopping the elevator door in response to the abnormality detection. A control means, a door safety means for detecting that a passenger is close to the elevator door, and a torque limit value for detecting an overload abnormality from a predetermined value when the door safety means is operating. And a torque limit value changing means for reducing the above.

According to a second aspect of the present invention, there is provided an elevator door control device, and torque command generating means for generating a torque command so that a speed command of a door motor for driving the opening and closing of the elevator door follows an actual rotation speed of the motor. Load abnormality detecting means for comparing the torque command with a predetermined torque limit value to detect an overload abnormality during door opening and closing, door control means for reversing or stopping the elevator door according to the abnormality detection, and the elevator A door safety means for detecting that a passenger is close to the door, and a load abnormality detection time changing means for shortening the overload abnormality detection time by the load abnormality detection means when the door safety means is operating. It is equipped with.

According to a third aspect of the present invention, there is provided an elevator door control device, and torque command generating means for generating a torque command so that a speed command of a door motor for opening and closing the elevator door follows the actual rotation speed of the motor. Load abnormality detecting means for comparing the torque command with a predetermined torque limit value to detect an overload abnormality during door opening and closing, door control means for reversing the elevator door according to the abnormality detection, and on the same floor. When the overload abnormality is continuously detected and the door reversing operation is repeated, the torque limiting value changing means is provided to gradually increase the torque restriction value each time the door reversing operation is repeated.

[0016]

In the elevator door control apparatus according to the present invention, a torque command is generated such that the speed command of the door motor follows the actual rotation speed of the motor, and this torque command is compared with a predetermined torque limit value. Then, the elevator door is reversed or stopped by detecting an overload abnormality during door opening and closing, and when the passenger is close to the elevator door, the torque limit value is made smaller than a predetermined value. When there is a high possibility that passengers will be drawn in, the torque limit value can be lowered and the detection level can be lowered to increase the sensitivity of overload detection.

In the elevator door controller according to the second aspect of the present invention, a torque command is generated so that the speed command of the door motor follows the actual rotation speed of the motor, and this torque command is compared with a predetermined torque limit value. The elevator door is turned over or stopped by detecting an overload abnormality during door opening and closing, and when the passenger is close to the elevator door, the overload abnormality detection time is shortened. If there is a high possibility of being caught, the overload is detected early and the door reversing operation is performed.

In the elevator door controller according to the third aspect of the present invention, a torque command is generated so that the speed command of the door motor follows the actual rotation speed of the motor, and this torque command is compared with a predetermined torque limit value. The elevator door is turned over by detecting an overload abnormality during door opening and closing, and when the overload abnormality is continuously detected on the same floor and the door reversing operation is repeated, the torque is limited every time the door reversing operation is repeated. Since the value is gradually increased, it is possible to prevent the same overload from being repeatedly detected due to clogging of dust and repeating the door reversing operation.

[0019]

Embodiments of the present invention will be described below. <First Embodiment> FIG. 1 is a waveform diagram showing respective waveforms of load abnormal states during a door closing operation by an elevator door control apparatus according to an embodiment of the present invention, and FIG. 2 is an embodiment of the present invention. It is a waveform diagram which shows each waveform of the load abnormal state at the time of another door closing operation by the control apparatus of an elevator door, (a) is a speed command pattern of a door motor, (b) is an actual speed pattern of a door motor, (c) is. The relationship between the torque command of the door motor and the torque limit value is shown. FIG. 3 is a block diagram showing a hardware configuration of a control device for an elevator door according to an embodiment of the present invention, and FIG. 3 is common to a conventional example. In the figure, the same reference numerals and symbols as those of the above-mentioned conventional example indicate the same or corresponding components as those of the above-mentioned conventional example.

In the figure, 11a to 11d and 12a to 1
2d is a motor speed command that is the speed of the door motor according to the door position, 21a to 21d and 22a to 22d are motor actual speeds that are the actual speeds of the door motor 1 measured by the control circuit 5, and 31a to 31d and 32a to 32d. Is a motor torque command issued from the control circuit 5 to cause the actual motor speeds 21a to 21d and 22a to 22d to follow the speed command, 41a to 41d and 42 are motor torque limit values, and the motor torque limit values 41a to 41d. , 42 so that the motor torque commands 31a to 31d, 32a are not exceeded.
The size of 32d is regulated.

Here, the door closing operation by the elevator door control device will be described with reference to the above drawings. First, the operation from detecting an overload to performing the door reversing operation will be described assuming an overload while the door is closed. This operation is the same as the conventional example. When a door closing command is issued from the elevator control panel 8, a predetermined motor torque limit value 41 is read so that the motor speed command 10 corresponding to the door position point and the door opening / closing force are not read more than necessary.
a is read from the ROM 5b. Further, the output pulse from the pulse encoder 4 mounted on the door motor 1 is counted by the pulse counting unit 5a, and the rotation speed based on the counted value is also sent to the CPU 5d. And
Based on these results, the CPU 5d outputs the motor torque command 30 to the PWM unit 5f. The gate signal generation circuit 7 generates a gate signal by the PWM signal output from the PWM unit 5f, and the power circuit 3 is driven, whereby the door motor 1 rotates like the actual motor speed 20, and the elevator door (not shown). Starts closing the door.

When the passenger's hands are pulled in while the door is being closed or a load that obstructs the opening and closing of the elevator door is generated due to dust clogging, the actual motor speed 20 is generated despite the speed command being generated. Begins to slow down. Therefore, the followability of the actual speed with respect to the speed command is deteriorated, so that the torque command gradually increases in order to improve the followability with respect to the speed command and becomes the motor torque command 31a (see FIG. 1).

When this overload condition continues, the motor torque command 31a reaches the motor torque limit value 41a (see FIG. 1), the torque command is output more than necessary, and it is determined that there is an overload, and this overload abnormality is detected. Input from the CPU 5d to the elevator control panel 8 through the input / output port 5c. As a result, the door closing command is switched to the door opening command, the motor speed command 11a is reversed, and the door motor 1 is driven by the actual motor speed 21a.
It rotates in the door opening direction as indicated by a, and the elevator door starts to open.

However, in this embodiment, the operating condition of the door safety device 6 is confirmed before the overload condition is detected. The door safety device 6 is attached near the door entrance of the elevator, and operates when it detects that a passenger approaches the elevator door, and outputs a predetermined output. Door safety device 6
If there is no output, the overload detection similar to the conventional one is performed as described above. On the other hand, if there is an output from the door safety device 6, it means that there is a passenger around the elevator door,
Since it can be sufficiently assumed that the elevator door is pulled in or pinched during the door opening / closing operation, opening / closing the elevator door with a large torque is extremely dangerous for passengers. Therefore, in order to increase the sensitivity of overload detection, the normal motor torque limit value 41a is changed to the motor torque limit value 41b to which the torque is further limited (see FIG. 1), and the door closing operation is performed.

That is, when the passenger is drawn in during the door closing operation and the overload is detected, the motor torque command 30 is compared with the motor torque limit value 41b, and the overload is performed at the motor torque limit value 41b lower than the conventional one. To be detected. Therefore, from the conventional motor speed command 11a to the motor speed command 1
The speed is switched to 1b, the actual motor speed 21a also changes to the actual motor speed 21b, and the elevator door performs the reversing operation quickly, so that the injury or the like due to the passenger being drawn in can be prevented and the safety is improved.

As described above, in the elevator door control apparatus according to this embodiment, the motor speed command 10 of the door motor 1 for opening and closing the elevator door follows the motor actual speed 20 which is the actual rotation speed of the door motor 1. A torque command generating means for generating a motor torque command 30, a load abnormality detecting means for comparing the motor torque command 30 with a predetermined motor torque limit value 40 to detect an overload abnormality during door opening and closing, and for detecting the abnormality. In response, the control circuit 5 and the elevator control panel 8 for reversing or stopping the elevator doors.
And a door safety device 6 which is a door safety device for detecting the proximity of a passenger to the elevator door, and the door safety device 6 (door safety device) is operating. And a torque limit value changing means for making the motor torque limit value 40 for detecting a load abnormality smaller than a predetermined value.

That is, the elevator door control apparatus according to the present embodiment generates a motor torque command 30 such that the motor speed command 10 follows the actual motor speed 20, and the motor torque command 30 is set to a predetermined motor torque limit value. Compared with 40, the elevator door is turned over or stopped by detecting an overload abnormality during door opening and closing, and when the passenger is close to the elevator door, the motor torque limit value 4
0 is made smaller than a predetermined value.

Therefore, when there is a high possibility that passengers will be drawn in, the motor torque limit value 40 can be lowered to lower the detection level to increase the sensitivity of overload detection.
Injury and the like due to passengers being drawn in can be prevented and safety is improved.

Thus, in order to give importance to passenger safety, the motor torque limit value 40 is lowered to weaken the motor torque command 30 even if the passenger is drawn in during the door closing operation.
A method to reduce the burden at that time and prevent injury is being considered. However, conversely, since the motor torque command 30 is made small, even a slight amount of dust clogging is judged to be an overload, and there is also an adverse effect that malfunctions increase. Therefore, the motor torque command 30 and the motor torque limit value 4
It has been considered to deal with the problem by increasing the detection time t1 by comparing with 2, but in this case, there is a possibility that the time when the passenger is drawn into the elevator door may be long, and the detection sensitivity is not always good. Not really.

Therefore, in this embodiment, as described above, the operating state of the door safety device 6 is confirmed before the overload state is detected. Then, if there is an output from the door safety device 6, it means that there is a passenger around the elevator door,
Since it can be fully assumed that the elevator door will be pulled in or pinched during the door opening / closing operation, the overload detection time is changed from the normal detection time t1 to a shorter detection time t2 (see FIG. 2) to perform the door closing operation. To do so.

As a result, when an overload due to the passenger being pulled in is detected during the door closing operation, the overload detection time changes from the conventional detection time t1 to the detection time t2, and the motor torque command 32a also changes. Since the motor torque command 32b is given, overload can be detected quickly (see FIG. 2). For this reason,
From the conventional motor speed command 12a to the motor speed command 12b
, The actual motor speed 21a also changes to the actual motor speed 21b, and the elevator door performs the reversing operation quickly, so that the injury or the like due to the passenger being drawn in can be prevented and the safety is improved.

As described above, the above-described torque command generating means, load abnormality detecting means, door control means, and door safety means are provided, and when the door safety means is operating, the load abnormality detecting means operates. If the load abnormality detection time changing means for shortening the overload abnormality detection time is provided, a motor torque command 30 that causes the motor speed command 10 to follow the actual motor actual speed 20 is generated, and this motor torque command 30 is specified. The motor door torque limit value 40 is compared to detect an overload abnormality during door opening / closing to reverse or stop the elevator door, and when the passenger is close to the elevator door, the overload abnormality detection time is shortened. be able to. Therefore, when there is a high possibility that a passenger will be drawn in, the overload is detected early and the door reversing operation is performed, so injuries and the like due to the passenger being drawn in can be prevented, and safety is improved.

<Second Embodiment> Next, a second embodiment of the present invention will be described with reference to FIGS. 1 and 2 similarly to the first embodiment. The door safety device 6 is not always necessary in this embodiment.

When dust is jammed or a passenger is drawn in during the door closing operation, the overload is detected and the door reversing operation is performed, as described in the conventional example and the first embodiment. In particular, when passengers are drawn in, the force to pull them out will be exerted,
Once the door inversion operation is performed, the retracted state can be released, and the original purpose can be achieved.

However, in the case of dust clogging, the door reversing operation is repeated. That is, if the dust is small, the dust is gradually moved by repeating the door reversing operation several times, but in the case of a large dust, the dust cannot be closed beyond a certain position (dust as a load). Repeat the door inversion operation many times in the place. By inputting the position information of the elevator door and the door opening / closing command to the CPU 5d, it can be determined that the door reversing operation is repeated due to an overload caused by dust. Therefore, in the case of such dust clogging, it is necessary to remove it and accelerate the door closing operation so that normal opening and closing can be performed.Therefore, perform a door closing operation with a motor torque command larger than usual to remove dust. Remove.

However, even if the door closing operation is performed with a large motor torque command, it is not clear how much dust is present, and it is not possible to determine in advance how much torque is required. Further, even if the door opening / closing operation is repeated due to an overload, there is a possibility that the passenger is operating due to mischief, and it cannot be concluded that it is due to dust clogging.

Therefore, when the overload abnormality is continuously detected on the same floor and the door reversing operation is repeated, the motor torque limit value 41a, which is a large value from the normal motor torque limit value 41a.
The limit value is increased and the overload is detected with a torque larger than usual (see FIG. 1). As a result, the normal motor torque command 31a is changed to a large motor torque command 31c and an overload is detected. Therefore, the motor speed command 11a is switched to the motor speed command 11c with a slight delay, and the actual motor speed of the door motor 1 is changed. The actual speed 21a is changed to the actual motor speed 21c.

Further, when the overload is still detected despite the motor torque command 31c being slightly increased, the motor torque limit value 41c at the next door closing operation is set to a larger motor torque limit value 41d. , Overload is detected with a larger torque (see FIG. 1). As a result, similarly to the above, the motor torque command 31c is changed to a larger motor torque command 31d, and the motor speed command 11c is switched to the motor speed command 11d. Therefore, the actual motor speed 21c that is the actual rotation speed of the door motor 1 is also changed to the motor speed command 11d. Actual speed 21d
become. In this way, the motor torque limit value 40 is gradually increased each time overload detection is repeated.

By repeating this door opening / closing operation, regardless of the size of the dust, the dust can be removed in due time, the door opening / closing operation is not repeated many times on the same floor, and the frequency of use of the elevator increases. .. Further, by gradually increasing the motor torque limit value 40, it is possible to take measures while considering the safety in the case where the door inversion is repeated due to a passenger's mischief or the like.

As described above, in the elevator door control apparatus according to the present embodiment, the motor speed command 10 of the door motor 1 for opening and closing the elevator door follows the actual motor speed 20 which is the actual rotation speed of the door motor 1. A torque command generating means for generating a motor torque command 30, a load abnormality detecting means for comparing the motor torque command 30 with a predetermined motor torque limit value 40 to detect an overload abnormality during door opening and closing, and for detecting the abnormality. In response, the control circuit 5 and the elevator control panel 8 for reversing or stopping the elevator doors.
And a torque limit value changing means for gradually increasing the motor torque limit value 40 each time the door reversing operation is repeated when an overload abnormality is continuously detected and the door reversing operation is repeated on the same floor. Is equipped with.

That is, the elevator door control apparatus according to the present embodiment generates the motor torque command 30 such that the motor speed command 10 follows the actual motor speed 20, and the motor torque command 30 is set to a predetermined motor torque limit value. Compared with 40, the elevator door is reversed by detecting an overload abnormality during door opening and closing, and when the overload abnormality is continuously detected on the same floor and the door reversing operation is repeated, every time the door reversing operation is repeated. Further, the motor torque limit value 40 is gradually increased.

Therefore, regardless of the size of the dust, the dust can be removed in due time, and it is possible to prevent the same overload from being repeatedly detected due to the dust clogging and prevent the door reversing operation from being repeated. As a result, the frequency of use of the elevator is increased and the operating efficiency is improved. In addition, by gradually increasing the motor torque limit value 40, it is possible to consider the safety when the door is repeatedly turned over due to a passenger's mischief or the like.

Further, as described in the first embodiment, in order to place importance on the safety of passengers, the motor torque limit value is lowered so that the motor torque command is weakened even if the passengers are pulled in during the door closing operation. , A method to reduce the burden at that time and prevent injury is being considered. However, on the contrary, since the motor torque command is made small, there is also a problem that malfunctions increase. For this reason, the detection time t1 by comparing the motor torque command and the motor torque limit value is lengthened to deal with it. However, in the case of dust clogging, the same overload is detected repeatedly unless the motor torque limit value is changed. Then, the door inversion operation is repeated.

Therefore, in this embodiment, when the overload abnormality is continuously detected on the same floor and the door reversing operation is repeated as described above, it is an overload due to dust clogging, and the overload detection time is increased. A longer detection time t than the normal detection time t1
3 and torque the load for a slightly longer time than usual,
Overload is detected (see FIG. 2). In this case, the motor torque command 32a is detected by the motor torque command 32c when the detection time becomes long, and the motor speed command 1 is detected.
2a is switched to the motor speed command 12c with a slight delay, and the actual motor speed 22a also becomes the actual motor speed 22c.

In this way, when the overload is still detected despite the torque being applied to the load for a relatively long time, the detection time t3 at the next door closing operation is set to a longer detection time t4,
Torque is applied to the load for a longer time to detect overload (see FIG. 2). As a result, similarly to the above, the motor torque command 32c is changed to a larger motor torque command 32d, and the motor speed command 12c is switched to the motor speed command 12d. Therefore, the actual rotation speed of the door motor 1 is also changed from the motor actual speed 22c to the motor actual speed 22c. The speed becomes 22d. Thus
Each time the overload detection is repeated, the comparison time with the motor torque limit value 42 during the door closing operation is gradually lengthened.

By repeating this door opening / closing operation, regardless of the size of the dust, the dust can be removed in due time, the door opening / closing operation is not repeated many times on the same floor, and the frequency of use of the elevator increases. .. Further, by gradually increasing the comparison time with the motor torque limit value 42, it is possible to secure the safety when the door is repeatedly turned over due to passenger mischief or the like.

[0047]

As described above, the elevator door control apparatus according to the first aspect of the invention includes the torque command generating means,
The load abnormality detecting means, the door control means, the door safety means, and the torque limit value changing means are provided, and a torque command is generated so that the speed command of the door motor follows the actual rotation speed of the motor. Is compared with a predetermined torque limit value and the elevator door is turned over or stopped by detecting an overload abnormality during opening and closing of the door, and when the passenger is close to the elevator door, the torque limit value is set to a value smaller than the predetermined value. If the possibility of passengers being drawn in is high, the torque limit value can be lowered and the detection level can be lowered to increase the sensitivity of overload detection, thus preventing injuries due to passengers being drawn in. The safety is improved.

An elevator door control device according to a second aspect of the present invention comprises a torque command generating means, a load abnormality detecting means, a door control means, a door safety means, and a load abnormality detecting time changing means, and a door motor A torque command is generated so that the speed command follows the actual rotation speed of the motor.The torque command is compared with a specified torque limit value to detect an overload abnormality during door opening or closing, and When there is a high possibility that the passenger will be drawn in, the overload will be detected early and the door reversing operation will be performed by stopping the operation and shortening the overload abnormality detection time when the passenger is close to the elevator door. Therefore, it is possible to prevent an injury or the like due to the passenger being drawn in, and safety is improved.

An elevator door control device according to a third aspect of the present invention comprises a torque command generating means, a load abnormality detecting means, a door control means, and a torque limit value changing means, and the speed command of the door motor is an actual motor. Generates a torque command that follows the rotation speed of the elevator, compares the torque command with a predetermined torque limit value, and detects an overload abnormality during door opening / closing to reverse the elevator door and When an overload abnormality is continuously detected and the door inversion operation is repeated, the torque limit value is gradually increased each time the door inversion operation is repeated, so that the same overload is detected many times due to dust clogging, and the door inversion operation is performed. Since the repetition can be prevented, the elevator is not disabled, the frequency of use of the elevator is increased, and the operation efficiency is improved. Further, it is possible to secure the safety when the door is repeatedly turned over due to a passenger's mischief or the like.

[Brief description of drawings]

FIG. 1 is a waveform diagram showing respective waveforms of a load abnormal state during a door closing operation by an elevator door control apparatus according to an embodiment of the present invention.

FIG. 2 is a waveform diagram showing respective waveforms of an abnormal load condition at the time of another door closing operation by the elevator door control apparatus according to the embodiment of the present invention.

FIG. 3 is a block configuration diagram showing a conventional controller for an elevator door and an embodiment of the present invention.

FIG. 4 is a waveform diagram showing each waveform in a normal state at the time of a door closing operation by a conventional controller for elevator doors and an embodiment of the present invention.

[Explanation of symbols]

1 Door Motor 2 Power Supply 3 Power Circuit 4 Pulse Encoder 5 Control Circuit 6 Door Safety Device 7 Gate Signal Generation Circuit 8 Elevator Control Panel 10, 11a-11d, 12a-12d Motor Speed Command 20, 21a-21d, 22a-22d Motor Actual Speed 30, 31a to 31d, 32a to 32d Motor torque command 40, 41a to 41d, 42 Motor torque limit value

[Procedure amendment]

[Submission date] August 28, 1992

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] Full text

[Correction method] Change

[Correction content]

[Document name] Statement

Title: Elevator door control device

[Claims]

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an elevator door, and more particularly, to quickly stop or reverse the elevator door when a human body is caught in the door or is clogged with dust during the opening / closing operation of the elevator door. The present invention relates to an elevator door control device.

[0002]

2. Description of the Related Art FIG. 3 is a block diagram showing a conventional elevator door controller. In the figure, 1 is a door motor that is a drive source for opening and closing the elevator door, 2 is a power source for driving the elevator door, and 3 is a door motor 1
The drive power circuits 4 are pulse encoders for detecting the speed of the door motor 1. The pulse encoder 4 is directly connected to the rotary shaft of the door motor 1 and generates a pulse signal according to the rotation of the door motor 1. Reference numeral 5 is a control circuit in which a microcomputer is incorporated to control the overall drive operation of the elevator door, 5a is a pulse counting unit for counting the number of pulses by the signal from the pulse encoder 4, and 5b is a program for program-controlling the control circuit 5. And a ROM storing various data and the like, 5c is an input / output port for exchanging signals with the outside, 5d is a CPU functioning as a central processing unit, 5e is a RAM in which data is written by the CPU 5d, and various operations are performed. The measured value of the characteristic and a predetermined constant are stored. A PWM (pulse width modulation) unit 5f is a pulse width modulation signal generation circuit for generating a motor drive signal. 6 is a door safety device that detects the proximity of passengers to the elevator door, 7 is a gate signal generation circuit that generates a drive gate signal for driving the power transistor of the power circuit 3 by a PWM signal, and 8 is an elevator It is an elevator control panel that controls various operations.

FIG. 4 is a waveform diagram showing respective waveforms in a normal state at the time of a door closing operation by a conventional elevator door control device, (a) is a speed command pattern of a door motor, and (b) is an actual speed pattern of the door motor. , (C) respectively show the relationship between the torque command of the door motor and the torque limit value.

In the figure, 10 is a motor speed command which is the speed of the door motor according to the door position, and 20 is the control circuit 5.
The actual motor speed, which is the actual speed of the door motor 1 measured in step 3, 30 is a motor torque command issued from the control circuit 5 to cause the actual motor speed 20 to follow the speed command, 4
0 is a motor torque limit value, and the magnitude of the motor torque command 30 is regulated so as not to exceed the motor torque limit value 40.

Next, the door drive control operation by the elevator door control device having this structure will be described with reference to FIGS. 3 and 4. Here, the door closing operation will be described as an example.

When a door closing command is issued from the elevator control panel 8, it is read into the input / output port 5c, and the speed pattern shown in FIG.
Read to PU5d. In this speed pattern, the output pulse from the pulse encoder 4 attached to the door motor 1 is counted by the pulse counting unit 5a, and the count value is sent to the CPU 5d, and the CPU 5d
Is read from the ROM 5b by calculating the door position point from this pulse count value. Similarly, the motor torque limit value shown in (c) of FIG. 4 is also read and the torque limit is performed so that an unnecessary motor torque command is not generated. The output from the pulse encoder 4 is used not only to find the position point of the door, but also to calculate the rotational speed of the door motor 1 based on the count value. The position of the elevator door, the rotation speed of the door motor 1 and the like are stored in the RAM 5e. From the read speed pattern and the rotation speed of the door motor 1, the CPU 5d outputs a torque command that causes the speed pattern to follow the PWM unit 5f.
Send to. Then, the PWM unit 5f converts the signal into a PWM signal, and the output thereof causes the gate signal generation circuit 7 to generate a gate signal, which drives the power circuit 3 to rotate the door motor 1. In this way, the opening / closing control of the elevator door is performed.

When a force that interferes with the opening / closing operation of the elevator door acts, the actual motor rotation cannot follow the speed command, so the torque command is gradually increased until the torque limit value is reached. The opening / closing operation is performed with a torque larger than that in the normal opening / closing operation.

The door safety device 6 is provided on the upper part of the car at the entrance of the elevator, detects the user in a non-contact manner, and prevents the user from touching the door trying to close the door and injuring himself or herself. Invert. That is, the operation signal of the door safety device 6 is sent to the elevator control panel 8 through the input / output port 5c, and the elevator control panel 8 switches the open / close command from the door closed to the door open, whereby the elevator door performs the door reversing operation. ..

In opening and closing the elevator door, if the door traveling rail is clogged with dust or the hands of passengers are drawn into the gap between the wall and the door, the normal opening and closing operation may not be possible. In such a case, there is no danger to passengers, and in the case of dust clogging, the door becomes in a restrained state and the elevator becomes unusable. For this reason, Japanese Patent Laid-Open No. 2-1100
As disclosed in Japanese Unexamined Patent Application Publication No. 96-96238 and Japanese Patent Laid-Open No. 3-238286, door control is performed to detect an overload and perform a door reversing operation based on the state of a torque command and a current supplied to a door motor. Further, as a related one to a conventional elevator door control device of this type, Japanese Unexamined Patent Publication No. Hei 2-163.
The technology disclosed in Japanese Patent No. 282 can be mentioned.

[0010]

However, in the conventional elevator door control device as described above, when detecting an overload due to the passenger's hand being pulled into the gap between the wall and the door, It was necessary to lower the detection level and increase the sensitivity of overload detection because it was necessary to attach great importance to safety.
On the other hand, when detecting an overload due to clogging of dust, if the sensitivity of overload detection is too high, overload is detected even with some dust, and the door reversing operation is performed, so the frequency of elevator startup decreases, and elevator operation decreases. The efficiency was getting worse.
For this reason, it is necessary to raise the detection level to reduce the sensitivity of overload detection.

In addition, in the case of overload detection due to retracting, most people are retracted, and normally, the force to pull out from the retract works, so once the door reversing operation is performed, , The same overload abnormality was not repeated. On the other hand, in the case of overload detection due to dust clogging, if the dust is small, the dust will move gradually by repeating the door reversing operation several times, so overload will not be detected, but if the large dust is clogged Unless the detection level is changed, the same overload is repeatedly detected at the place, and the door reversing operation is repeated, so that the elevator is disabled.

[0012] Therefore, an object of the present invention is to provide an elevator door control device capable of appropriately adjusting the sensitivity of overload detection to ensure the safety of passengers and enhance the operation efficiency of the elevator. Is.

[0013]

According to a first aspect of the present invention, there is provided an elevator door control device which generates a torque command so that a speed command of a door motor for driving the opening and closing of the elevator door follows an actual rotation speed of the motor. Torque command generation means, load abnormality detection means for comparing the torque command with a predetermined torque limit value to detect an overload abnormality during door opening and closing, and a door for reversing or stopping the elevator door in response to the abnormality detection. A control means, a door safety means for detecting that a passenger is close to the elevator door, and a torque limit value for detecting an overload abnormality from a predetermined value when the door safety means is operating. And a torque limit value changing means for reducing the above.

According to a second aspect of the present invention, there is provided an elevator door control device, and torque command generating means for generating a torque command so that a speed command of a door motor for driving the opening and closing of the elevator door follows an actual rotation speed of the motor. Load abnormality detecting means for comparing the torque command with a predetermined torque limit value to detect an overload abnormality during door opening and closing, door control means for reversing or stopping the elevator door according to the abnormality detection, and the elevator A door safety means for detecting that a passenger is close to the door, and a load abnormality detection time changing means for shortening the overload abnormality detection time by the load abnormality detection means when the door safety means is operating. It is equipped with.

According to a third aspect of the present invention, there is provided an elevator door control device, and torque command generating means for generating a torque command so that a speed command of a door motor for opening and closing the elevator door follows the actual rotation speed of the motor. Load abnormality detecting means for comparing the torque command with a predetermined torque limit value to detect an overload abnormality during door opening and closing, door control means for reversing the elevator door according to the abnormality detection, and on the same floor. When the overload abnormality is continuously detected and the door reversing operation is repeated, the torque limiting value changing means is provided to gradually increase the torque restriction value each time the door reversing operation is repeated.

According to a fourth aspect of the present invention, there is provided an elevator door control device, and torque command generating means for generating a torque command so that a speed command of a door motor for opening and closing the elevator door follows the actual rotation speed of the motor. Load abnormality detecting means for comparing the torque command with a predetermined torque limit value to detect an overload abnormality during door opening and closing, door control means for reversing the elevator door according to the abnormality detection, and on the same floor. When the overload abnormality is continuously detected and the door inversion operation is repeated, the load abnormality detection time changing means for gradually extending the overload abnormality detection time each time the door inversion operation is repeated.

[0017]

In the elevator door control apparatus according to the present invention, a torque command is generated such that the speed command of the door motor follows the actual rotation speed of the motor, and this torque command is compared with a predetermined torque limit value. Then, the elevator door is reversed or stopped by detecting an overload abnormality during door opening and closing, and when the passenger is close to the elevator door, the torque limit value is made smaller than a predetermined value. When there is a high possibility that passengers will be drawn in, the torque limit value can be lowered and the detection level can be lowered to increase the sensitivity of overload detection.

In the elevator door controller according to the second aspect of the present invention, a torque command is generated such that the speed command of the door motor follows the actual rotation speed of the motor, and this torque command is compared with a predetermined torque limit value. The elevator door is turned over or stopped by detecting an overload abnormality during door opening and closing, and when the passenger is close to the elevator door, the overload abnormality detection time is shortened. If there is a high possibility of being caught, the overload is detected early and the door reversing operation is performed.

In the elevator door control apparatus according to the third aspect of the present invention, a torque command is generated such that the speed command of the door motor follows the actual rotation speed of the motor, and this torque command is compared with a predetermined torque limit value. The elevator door is turned over by detecting an overload abnormality during door opening and closing, and when the overload abnormality is continuously detected on the same floor and the door reversing operation is repeated, the torque is limited every time the door reversing operation is repeated. Since the value is gradually increased, it is possible to prevent the same overload from being repeatedly detected due to clogging of dust and repeating the door reversing operation.

In the elevator door control device according to the present invention, a torque command is generated so that the speed command of the door motor follows the actual rotation speed of the motor, and this torque command is compared with a predetermined torque limit value. The elevator door is turned over by detecting an overload abnormality during door opening and closing, and when an overload abnormality is continuously detected on the same floor and the door reversing operation is repeated, an overload occurs each time the door reversing operation is repeated. Since the abnormality detection time is gradually extended, it is possible to prevent the door reversing operation from being repeated by repeatedly detecting the same overload due to clogging of dust.

[0021]

Embodiments of the present invention will be described below. <First Embodiment> FIG. 1 is a waveform diagram showing respective waveforms of load abnormal states during a door closing operation by an elevator door control apparatus according to an embodiment of the present invention, and FIG. 2 is an embodiment of the present invention. It is a waveform diagram which shows each waveform of the load abnormal state at the time of another door closing operation by the control apparatus of an elevator door, (a) is a speed command pattern of a door motor, (b) is an actual speed pattern of a door motor, (c) is. The relationship between the torque command of the door motor and the torque limit value is shown. FIG. 3 is a block diagram showing a hardware configuration of a control device for an elevator door according to an embodiment of the present invention, and FIG. 3 is common to a conventional example. In the figure, the same reference numerals and symbols as those of the above-mentioned conventional example indicate the same or corresponding components as those of the above-mentioned conventional example.

In the figure, 11a to 11d and 12a to 1
2d is a motor speed command that is the speed of the door motor according to the door position, 21a to 21d and 22a to 22d are motor actual speeds that are the actual speeds of the door motor 1 measured by the control circuit 5, and 31a to 31d and 32a to 32d. Is a motor torque command issued from the control circuit 5 to cause the actual motor speeds 21a to 21d and 22a to 22d to follow the speed command, 41a to 41d and 42 are motor torque limit values, and the motor torque limit values 41a to 41d. , 42 so that the motor torque commands 31a to 31d, 32a are not exceeded.
The size of 32d is regulated.

Here, the door closing operation by the elevator door control device will be described with reference to the drawings. First, the operation from detecting an overload to performing the door reversing operation will be described assuming an overload while the door is closed. This operation is the same as the conventional example. When a door closing command is issued from the elevator control panel 8, a predetermined motor torque limit value 41 is read so that the motor speed command 10 corresponding to the door position point and the door opening / closing force are not read more than necessary.
a is read from the ROM 5b. Further, the output pulse from the pulse encoder 4 mounted on the door motor 1 is counted by the pulse counting unit 5a, and the rotation speed based on the counted value is also sent to the CPU 5d. And
Based on these results, the CPU 5d outputs the motor torque command 30 to the PWM unit 5f. The gate signal generation circuit 7 generates a gate signal by the PWM signal output from the PWM unit 5f, and the power circuit 3 is driven, whereby the door motor 1 rotates like the actual motor speed 20, and the elevator door (not shown). Starts closing the door.

When the passenger's hand is pulled in while the door is being closed or a load that obstructs the opening and closing of the elevator door is generated due to dust clogging, the actual motor speed 20 is generated despite the speed command being generated. Begins to slow down. Therefore, the followability of the actual speed with respect to the speed command is deteriorated, so that the torque command gradually increases in order to improve the followability with respect to the speed command and becomes the motor torque command 31a (see FIG. 1).

When this overload state continues, the motor torque command 31a reaches the motor torque limit value 41a (see FIG. 1), the torque command is output more than necessary, and it is determined that there is an overload. Input from the CPU 5d to the elevator control panel 8 through the input / output port 5c. As a result, the door closing command is switched to the door opening command, the motor speed command 11a is reversed, and the door motor 1 is driven by the actual motor speed 21a.
It rotates in the door opening direction as indicated by a, and the elevator door starts to open.

However, in this embodiment, the operating state of the door safety device 6 is confirmed before the overload state is detected. The door safety device 6 is attached near the door entrance of the elevator, and operates when it detects that a passenger approaches the elevator door, and outputs a predetermined output. Door safety device 6
If there is no output, the overload detection similar to the conventional one is performed as described above. On the other hand, if there is an output from the door safety device 6, it means that there is a passenger around the elevator door,
Since it can be sufficiently assumed that the elevator door is pulled in or pinched during the door opening / closing operation, opening / closing the elevator door with a large torque is extremely dangerous for passengers. Therefore, in order to increase the sensitivity of overload detection, the normal motor torque limit value 41a is changed to the motor torque limit value 41b to which the torque is further limited (see FIG. 1), and the door closing operation is performed.

That is, when the passenger is drawn in during the door closing operation and the overload is detected, the motor torque command 30 is compared with the motor torque limit value 41b, and the overload is performed at the motor torque limit value 41b lower than the conventional one. To be detected. Therefore, from the conventional motor speed command 11a to the motor speed command 1
The speed is switched to 1b, the actual motor speed 21a also changes to the actual motor speed 21b, and the elevator door performs the reversing operation quickly, so that the injury or the like due to the passenger being drawn in can be prevented and the safety is improved.

As described above, in the elevator door control apparatus according to this embodiment, the motor speed command 10 of the door motor 1 for opening and closing the elevator door follows the actual motor speed 20 which is the actual rotation speed of the door motor 1. A torque command generating means for generating a motor torque command 30, a load abnormality detecting means for comparing the motor torque command 30 with a predetermined motor torque limit value 40 to detect an overload abnormality during door opening and closing, and for detecting the abnormality. In response, the control circuit 5 and the elevator control panel 8 for reversing or stopping the elevator doors.
And a door safety device 6 which is a door safety device for detecting the proximity of a passenger to the elevator door, and the door safety device 6 (door safety device) is operating. And a torque limit value changing means for making the motor torque limit value 40 for detecting a load abnormality smaller than a predetermined value.

That is, the elevator door control apparatus according to the present embodiment generates a motor torque command 30 such that the motor speed command 10 follows the actual motor speed 20, and the motor torque command 30 is set to a predetermined motor torque limit value. Compared with 40, the elevator door is turned over or stopped by detecting an overload abnormality during door opening and closing, and when the passenger is close to the elevator door, the motor torque limit value 4
0 is made smaller than a predetermined value.

Therefore, when there is a high possibility that passengers will be pulled in, the motor torque limit value 40 can be lowered to lower the detection level to increase the sensitivity of overload detection.
Injury and the like due to passengers being drawn in can be prevented and safety is improved.

Thus, in order to give importance to the safety of passengers, the motor torque limit value 40 is lowered to weaken the motor torque command 30 even if the passengers are drawn in during the door closing operation.
A method to reduce the burden at that time and prevent injury is being considered. However, conversely, since the motor torque command 30 is made small, even a slight amount of dust clogging is judged to be an overload, and there is also an adverse effect that malfunctions increase. Therefore, the motor torque command 30 and the motor torque limit value 4
It has been considered to deal with the problem by increasing the detection time t1 by comparing with 2, but in this case, there is a possibility that the time when the passenger is drawn into the elevator door may be long, and the detection sensitivity is not always good. Not really.

Therefore, in this embodiment, as described above, the operating state of the door safety device 6 is confirmed before the overload state is detected. Then, if there is an output from the door safety device 6, it means that there is a passenger around the elevator door,
Since it can be fully assumed that the elevator door will be pulled in or pinched during the door opening / closing operation, the overload detection time is changed from the normal detection time t1 to a shorter detection time t2 (see FIG. 2) to perform the door closing operation. To do so.

As a result, when an overload due to the passenger being pulled in is detected during the door closing operation, the overload detection time changes from the conventional detection time t1 to the detection time t2, and the motor torque command 32a also changes. Since the motor torque command 32b is given, overload can be detected quickly (see FIG. 2). For this reason,
From the conventional motor speed command 12a to the motor speed command 12b
, The actual motor speed 21a also changes to the actual motor speed 21b, and the elevator door performs the reversing operation quickly, so that the injury or the like due to the passenger being drawn in can be prevented and the safety is improved.

As described above, the above-described torque command generating means, load abnormality detecting means, door control means, and door safety means are provided, and when the door safety means is operating, the load abnormality detecting means operates. If the load abnormality detection time changing means for shortening the overload abnormality detection time is provided, a motor torque command 30 that causes the motor speed command 10 to follow the actual motor actual speed 20 is generated, and this motor torque command 30 is specified. The motor door torque limit value 40 is compared to detect an overload abnormality during door opening / closing to reverse or stop the elevator door, and when the passenger is close to the elevator door, the overload abnormality detection time is shortened. be able to. Therefore, when there is a high possibility that a passenger will be drawn in, the overload is detected early and the door reversing operation is performed, so injuries and the like due to the passenger being drawn in can be prevented, and safety is improved.

<Second Embodiment> Next, a second embodiment of the present invention will be described with reference to FIGS. 1 and 2 similarly to the first embodiment. The door safety device 6 is not always necessary in this embodiment.

When dust is jammed or a passenger is drawn in during the door closing operation, the overload is detected and the door reversing operation is performed, as described in the conventional example and the first embodiment. In particular, when passengers are drawn in, the force to pull them out will be exerted,
Once the door inversion operation is performed, the retracted state can be released, and the original purpose can be achieved.

However, in the case of dust clogging, the door reversing operation is repeated. That is, if the dust is small, the dust is gradually moved by repeating the door reversing operation several times, but in the case of a large dust, the dust cannot be closed beyond a certain position (dust as a load). Repeat the door inversion operation many times in the place. By inputting the position information of the elevator door and the door opening / closing command to the CPU 5d, it can be determined that the door reversing operation is repeated due to an overload caused by dust. Therefore, in the case of such dust clogging, it is necessary to remove it and accelerate the door closing operation so that normal opening and closing can be performed.Therefore, perform a door closing operation with a motor torque command larger than usual to remove dust. Remove.

However, even if the door closing operation is performed with a large motor torque command, it is not clear how much dust is present, and it is not possible to determine in advance how much torque is required. Further, even if the door opening / closing operation is repeated due to an overload, there is a possibility that the passenger is operating due to mischief, and it cannot be concluded that it is due to dust clogging.

Therefore, when the overload abnormality is continuously detected on the same floor and the door reversing operation is repeated, the motor torque limit value 41a, which is a large value from the normal motor torque limit value 41a, is increased.
The limit value is increased and the overload is detected with a torque larger than usual (see FIG. 1). As a result, the normal motor torque command 31a is changed to a large motor torque command 31c and an overload is detected. Therefore, the motor speed command 11a is switched to the motor speed command 11c with a slight delay, and the actual motor speed of the door motor 1 is changed. The actual speed 21a is changed to the actual motor speed 21c.

Further, when the overload is still detected despite the motor torque command 31c being slightly increased, the motor torque limit value 41c at the next door closing operation is set to a larger motor torque limit value 41d. , Overload is detected with a larger torque (see FIG. 1). As a result, similarly to the above, the motor torque command 31c is changed to a larger motor torque command 31d, and the motor speed command 11c is switched to the motor speed command 11d. Therefore, the actual motor speed 21c that is the actual rotation speed of the door motor 1 is also changed to the motor speed command 11d. Actual speed 21d
become. In this way, the motor torque limit value 40 is gradually increased each time overload detection is repeated.

By repeating this door opening / closing operation, it is possible to remove dust irrespective of the size of the dust, and the door opening / closing operation is not repeated many times on the same floor, increasing the frequency of use of the elevator. .. Further, by gradually increasing the motor torque limit value 40, it is possible to take measures while considering the safety in the case where the door inversion is repeated due to a passenger's mischief or the like.

As described above, in the elevator door control apparatus according to the present embodiment, the motor speed command 10 of the door motor 1 for opening and closing the elevator door follows the motor actual speed 20 which is the actual rotation speed of the door motor 1. A torque command generating means for generating a motor torque command 30, a load abnormality detecting means for comparing the motor torque command 30 with a predetermined motor torque limit value 40 to detect an overload abnormality during door opening and closing, and for detecting the abnormality. In response, the control circuit 5 and the elevator control panel 8 for reversing or stopping the elevator doors.
And a torque limit value changing means for gradually increasing the motor torque limit value 40 each time the door reversing operation is repeated when an overload abnormality is continuously detected and the door reversing operation is repeated on the same floor. Is equipped with.

That is, the elevator door control apparatus according to the present embodiment generates a motor torque command 30 such that the motor speed command 10 follows the actual motor speed 20, and the motor torque command 30 is set to a predetermined motor torque limit value. Compared with 40, the elevator door is reversed by detecting an overload abnormality during door opening and closing, and when the overload abnormality is continuously detected on the same floor and the door reversing operation is repeated, every time the door reversing operation is repeated. Further, the motor torque limit value 40 is gradually increased.

Therefore, regardless of the size of the dust, the dust can be removed soon, and it is possible to prevent the same overload from being repeatedly detected due to clogging of dust and to repeat the door reversing operation, so that the elevator cannot be used. As a result, the frequency of use of the elevator is increased and the operating efficiency is improved. In addition, by gradually increasing the motor torque limit value 40, it is possible to consider the safety when the door is repeatedly turned over due to a passenger's mischief or the like.

Further, as explained in the first embodiment, in order to place importance on the safety of passengers, the motor torque limit value is lowered so that the motor torque command is weakened even if the passengers are pulled in during the door closing operation. , A method to reduce the burden at that time and prevent injury is being considered. However, on the contrary, since the motor torque command is made small, there is also a problem that malfunctions increase. For this reason, the detection time t1 by comparing the motor torque command and the motor torque limit value is lengthened to deal with it. However, in the case of dust clogging, the same overload is detected repeatedly unless the motor torque limit value is changed. Then, the door inversion operation is repeated.

Therefore, in this embodiment, when the overload abnormality is continuously detected on the same floor and the door reversing operation is repeated as described above, it is an overload due to dust clogging, and the overload detection time is increased. A longer detection time t than the normal detection time t1
3 and torque the load for a slightly longer time than usual,
Overload is detected (see FIG. 2). In this case, the motor torque command 32a is detected by the motor torque command 32c when the detection time becomes long, and the motor speed command 1 is detected.
2a is switched to the motor speed command 12c with a slight delay, and the actual motor speed 22a also becomes the actual motor speed 22c.

In this way, when the overload is still detected even though the torque is applied to the load for a slightly long time, the detection time t3 at the next door closing operation is set to a longer detection time t4.
Torque is applied to the load for a longer time to detect overload (see FIG. 2). As a result, similarly to the above, the motor torque command 32c is changed to a larger motor torque command 32d, and the motor speed command 12c is switched to the motor speed command 12d. Therefore, the actual rotation speed of the door motor 1 is also changed from the motor actual speed 22c to the motor actual speed 22c. The speed becomes 22d. Thus
Each time the overload detection is repeated, the comparison time with the motor torque limit value 42 during the door closing operation is gradually lengthened.

By repeating this door opening / closing operation, it is possible to remove dust irrespective of the size of the dust, and the door opening / closing operation is not repeated many times on the same floor, and the frequency of use of the elevator is increased. .. Further, by gradually increasing the comparison time with the motor torque limit value 42, it is possible to secure the safety when the door is repeatedly turned over due to passenger mischief or the like.

[0049]

As described above, the elevator door control apparatus according to the first aspect of the invention includes the torque command generating means,
The load abnormality detecting means, the door control means, the door safety means, and the torque limit value changing means are provided, and a torque command is generated so that the speed command of the door motor follows the actual rotation speed of the motor. Is compared with a predetermined torque limit value and the elevator door is turned over or stopped by detecting an overload abnormality during opening and closing of the door, and when the passenger is close to the elevator door, the torque limit value is set to a predetermined value If the possibility of passengers being drawn in is high, the torque limit value can be lowered and the detection level can be lowered to increase the sensitivity of overload detection, thus preventing injuries due to passengers being drawn in. The safety is improved.

An elevator door control apparatus according to a second aspect of the present invention comprises a torque command generating means, a load abnormality detecting means, a door control means, a door safety means, and a load abnormality detecting time changing means, and a door motor A torque command is generated so that the speed command follows the actual rotation speed of the motor.The torque command is compared with a specified torque limit value to detect an overload abnormality during door opening or closing, and When there is a high possibility that the passenger will be drawn in, the overload will be detected early and the door reversing operation will be performed by stopping the operation and shortening the overload abnormality detection time when the passenger is close to the elevator door Therefore, it is possible to prevent an injury or the like due to the passenger being drawn in, and safety is improved.

An elevator door control apparatus according to a third aspect of the present invention includes a torque command generating unit, a load abnormality detecting unit, a door control unit, and a torque limit value changing unit, and the speed command of the door motor is an actual motor. Generates a torque command that follows the rotation speed of the elevator, compares the torque command with a predetermined torque limit value, and detects an overload abnormality during door opening / closing to reverse the elevator door and When an overload abnormality is continuously detected and the door inversion operation is repeated, the torque limit value is gradually increased each time the door inversion operation is repeated, so that the same overload is detected many times due to dust clogging, and the door inversion operation is performed. Since the repetition can be prevented, the elevator is not disabled, the frequency of use of the elevator is increased, and the operation efficiency is improved. Further, it is possible to secure the safety when the door is repeatedly turned over due to a passenger's mischief or the like.

An elevator door control apparatus according to a fourth aspect of the present invention includes a torque command generation unit, a load abnormality detection unit, a door control unit, and a load abnormality detection time changing unit, and the speed command of the door motor is actually calculated. A torque command that follows the rotation speed of the motor is generated, and the elevator door is reversed by detecting an overload abnormality during door opening / closing by comparing this torque command with a predetermined torque limit value,
When an overload abnormality is continuously detected on the same floor and the door reversing operation is repeated, the overload abnormality detection time is gradually extended each time the door reversing operation is repeated, so that the same overload is repeatedly detected due to dust clogging. Since it is possible to prevent the door from being repeatedly turned over, the elevator is not disabled, the frequency of use of the elevator is increased, and the operation efficiency is improved. In addition, it is possible to ensure safety when the door reversing operation is repeated due to bad passengers.

[Brief description of drawings]

FIG. 1 is a waveform diagram showing respective waveforms of a load abnormal state during a door closing operation by an elevator door control apparatus according to an embodiment of the present invention.

FIG. 2 is a waveform diagram showing respective waveforms of an abnormal load condition at the time of another door closing operation by the elevator door control apparatus according to the embodiment of the present invention.

FIG. 3 is a block configuration diagram showing a conventional controller for an elevator door and an embodiment of the present invention.

FIG. 4 is a waveform diagram showing each waveform in a normal state at the time of a door closing operation by a conventional controller for elevator doors and an embodiment of the present invention.

[Explanation of reference signs] 1 door motor 2 power supply 3 power circuit 4 pulse encoder 5 control circuit 6 door safety device 7 gate signal generation circuit 8 elevator control panel 10, 11a to 11d, 12a to 12d motor speed command 20, 21a to 21d, 22a 22d Motor actual speed 30, 31a to 31d, 32a to 32d Motor torque command 40, 41a to 41d, 42 Motor torque limit value

Claims (3)

[Claims] 1. A torque command generating means for generating a torque command so that a speed command of a door motor for opening / closing an elevator door follows an actual motor rotation speed, and the torque command is compared with a predetermined torque limit value. Load abnormality detection means for detecting an overload abnormality during door opening and closing, door control means for reversing or stopping the elevator door according to the abnormality detection, and detecting that a passenger is close to the elevator door An elevator comprising: a door safety means; and a torque limit value changing means for making a torque limit value for detecting an overload abnormality smaller than a predetermined value when the door safety means is operating. Door control device. 2. A torque command generating means for generating a torque command so that a speed command of a door motor for opening and closing an elevator door follows the actual rotation speed of the motor, and the torque command is compared with a predetermined torque limit value. Load abnormality detection means for detecting an overload abnormality during door opening and closing, door control means for reversing or stopping the elevator door according to the abnormality detection, and detecting that a passenger is close to the elevator door An elevator door control device comprising: door safety means; and load abnormality detection time changing means for shortening the overload abnormality detection time by the load abnormality detection means when the door safety means is operating. .. 3. A torque command generating means for generating a torque command so that a speed command of a door motor for opening and closing an elevator door follows the actual rotation speed of the motor, and the torque command is compared with a predetermined torque limit value. Abnormality detection means for detecting an overload abnormality during door opening and closing, a door control means for reversing the elevator door according to the abnormality detection, and an overturning operation for continuously detecting an overload abnormality on the same floor. And a torque limit value changing means for gradually increasing the torque limit value each time the door reversing operation is repeated.