JPH05294587A - Door controller for elevator - Google Patents

Abstract

PURPOSE:To detect abnormality in an encoder in an initial stage to prevent the runaway and malfunction of a door before something happens by detecting abnormality in the encoder, which generates pulses corresponding to the revolution of a door opening and closing motor, according to the changing rate of the counted value of the number of pulses. CONSTITUTION:A substance, which opens and closes the door of an elevator through an belt or the like by the rotation of a motor 1, is provided with a position calculating counter 13, which counts the number of the pulses generated by the encoder 2 directly connected to the motor 1, and detects the position of the door 9 based on the number of the pulses counted, serving to control door opening and closing speed through a speed directing circuit 19. At this time, the rate of the change of the pulse counted value is detected by a counted value changing rate checking circuit 17 based on the output of the position calculating counter 13, and the difference between this changing rate and normal changing rate is calculated. When this difference exceeds specified value, abnormality is reported from a failure reporting circuit 27 to a maintenance company, and the door is opened and closed at low speed through a speed direction limiting circuit 25.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevator door control device.

[0002]

2. Description of the Related Art FIG. 4 is a front view of a general elevator door driving device described in, for example, Japanese Patent Laid-Open No. 210310/1990. In the figure, 1 is a door driving motor fixed to the upper part of the elevator car, 2 is a pulse encoder that is directly connected to the motor 1 and generates a pulse proportional to the rotation speed of the motor 1, and 3 is connected to the rotating shaft of the motor 1. It is a pulley. Reference numeral 4 denotes a speed reduction mechanism attached to the top of the car, and the speed reduction mechanism 4 and the pulley 3 are connected by a belt 5. Reference numeral 8 denotes a door opening / closing belt wound between a drive pulley 6 and a driven pulley 7 attached to the output shaft of the speed reduction mechanism 4, and 9 denotes a single-sided elevator door. The door 9 is suspended from and supported by a hanger putt 10 which is horizontally supported by a door hanger case.
Is connected to the belt 8. Reference numerals 11A and 11B are a fully closed switch and a fully opened switch for detecting the fully closed position and the fully opened position of the door 9, respectively.

A general elevator door driving device is constructed as described above, and when the motor 1 rotates in the forward or reverse direction, the rotation thereof is transmitted via the pulley 3 and the belt 5 to the speed reduction mechanism 4.
Is further decelerated by the deceleration mechanism 4 and converted into a horizontal linear motion by the belt 8. When the belt 8 travels in the horizontal direction, the door 9 moves to open or close the door. In FIG. 4, the solid line indicates the state where the door is fully closed,
The broken line shows the door fully opened.

Next, the operation of the conventional elevator control device for controlling the above general elevator drive device will be outlined. The encoder 2 generates a pulse corresponding to the rotation speed of the motor 1, the position and speed of the door 9 are calculated based on this pulse, and the opening / closing speed of the door 9 is controlled based on the calculation result. The calculation result calculated based on the pulse generated by the encoder is the fully closed switch 1
It is reset by 1A and the fully open switch 11B.

[0005]

In the conventional elevator door control apparatus as described above, in the case of a halfway contact state due to an encoder mounting error (a mounting screw is loosened) or an encoder wire breakage, the encoder is Output does not continue and a pulse dropout occurs (see FIG. 3C), but since it does not have a function to check such a state, normal control is performed until the output is not output completely. Is done. The normal control is to detect the door position based on the pulse signal of the encoder, and to pattern and control the opening / closing speed of the door as a function of the door position. Therefore, if you use it in such a halfway state,
For example, if the encoder misses a pulse during the door closing operation, the deceleration pattern does not progress and the door closes without deceleration.
There was a problem that dangerous situations such as hitting the door and hitting people occurred.

The present invention has been made in order to solve such a problem, and provides an elevator door control device capable of detecting an encoder abnormality at an early stage and preventing occurrence of door runaway or malfunction. The purpose is.

[0007]

An elevator door control apparatus according to the present invention counts pulse generation means for generating a pulse corresponding to the number of rotations of a door opening / closing motor and pulses generated by the pulse generation means. Position calculation means for calculating the door position based on this count value, speed reading means for reading the proper speed of the motor corresponding to the door position calculated by the position calculation means, and unit time generated by the pulse generation means. Based on the hit pulse, a speed calculation means for calculating an actual motor speed, a speed difference between the motor speed calculated by the speed calculation means and an appropriate motor speed read by the speed reading means, Motor speed control means for controlling the motor speed on the basis of the speed difference, and the change rate of the pulse count value counted by the position calculation means are calculated, and the change in the normal state is calculated. The difference between those that are provided with a pulse error signal generating means for generating an abnormality signal when it exceeds a specified value.

[0008]

In the present invention, the rate of change of the pulse count value corresponding to the number of rotations of the motor for opening and closing the door is calculated, and when the difference between the calculated rate of change and the normal rate of change exceeds a specified value. Generates an abnormal signal.

[0009]

EXAMPLES Example 1. FIG. 1 is a block diagram showing an embodiment of the present invention, and the same portions as those in FIG. 4 are designated by the same reference numerals. In the figure, reference numeral 13 is a position calculation counter which is connected to the encoder 2 and calculates the position of the door 9. The content of the position calculation counter is reset by the fully closed and fully opened switches 11A and 11B. 1
Reference numeral 5 is a speed calculation counter that is also connected to the encoder 2 and calculates the speed of the motor 1. Reference numeral 17 is a position calculation counter 1.
3 and the speed calculation counter 15 detects the rate of change of the pulse count value, calculates the difference from the specified rate of change, and outputs an abnormal signal when the difference exceeds the specified value. Circuit. 19 is a position calculation counter 13
A speed command circuit that is connected to
Is a speed deviation calculation circuit connected to the speed command circuit 19 and the speed calculation counter 15 to calculate a speed deviation, and 23 is a current amplifier connected to the speed deviation calculation circuit 21 to output a current command value to the motor 1. 25 is connected to the count value change rate check circuit 17, and the count value change rate check circuit 17
When the abnormal signal is transmitted, the speed limit command circuit which receives this signal and outputs a speed limit command to the speed command circuit 19 and the current amplifier 23, 27 is a count value change rate check circuit 17
Is a failure notification circuit that is connected to and notifies the maintenance company of the occurrence of a failure.

Next, the operation of this embodiment will be described with reference to FIGS. When the motor 1 rotates, the encoder 2
Generates a pulse corresponding to the rotation speed of the motor 1. The position calculation counter 13 counts the pulses, detects the moving distance of the door 9, that is, the position of the door 9 based on the counted pulses, and outputs the detection result to the speed command circuit 19. The speed command circuit 19 receives the output of the position calculation counter 13, reads the appropriate speed of the motor 1 corresponding to the position of the door 9, and outputs the speed command to the speed deviation calculation circuit 21. On the other hand, the speed calculation counter 15 counts the pulses generated by the encoder, calculates the actual speed of the motor 1, and outputs it to the speed deviation calculation circuit 21. The speed deviation calculation circuit 21 receives the outputs of the speed command circuit 19 and the speed calculation counter 15, calculates the deviation between the value of the speed command and the actual speed of the motor 1, and outputs it to the current amplifier 23. The current amplifier 23 supplies to the motor 1 a current determined based on the deviation input from the speed deviation calculation circuit 21. That is, the motor 1 has the speed command circuit 19
According to the speed command of, the control is performed with high accuracy. The above is a normal operation.

Next, the operation when an abnormality occurs in the encoder 2 will be described with reference to the output waveform diagram of FIG. 2 and the pulse count value change characteristic graph of FIG. When the motor 1 rotates, the encoder 2 generates a pulse corresponding to the rotation speed of the motor 1. At this time, the pulse waveform in the normal case is as shown in FIG. However, for example, when the encoder mounting screw loosens and the rotation is not transmitted due to an encoder mounting error or changes over time, or when the encoder output line is disconnected and does not make contact. In the case of, the output is not continuous and the pulse waveform is as shown in FIG. Further, when the door is locked by the movement of a person or dust during the opening / closing operation and the door is locked, the period of the output waveform becomes long at the same time as the lock and the pulse waveform becomes as shown in FIG. 2B.

FIG. 3 shows the pulse count value on the vertical axis and the time on the horizontal axis for the above three cases. In FIG. 3, what corresponds to the pulse waveform at the time of normal operation of FIG. 2A is a solid line, what corresponds to the pulse waveform at the time of door lock of FIG. 2B is a dashed line, and FIG. The broken line shows what corresponds to the pulse waveform in the unstable state. As can be seen from FIG. 3, since the rate of change of the pulse count value is different in the above three cases, by checking the rate of change, the abnormal state of the unstable state as shown in FIG. Can be detected. Therefore, the count value change rate check circuit 17 detects the change rate of the pulse count value input from the position operation counter 13 and calculates the difference from the change rate under normal conditions. If this difference exceeds a specified value, an error occurs. A signal is generated and output to the failure notification circuit 27 and the speed command limiting circuit 25. The failure notification circuit 27 notifies the maintenance company that a failure has occurred when an abnormal signal is input from the count value change rate check circuit 17. The speed command limiting circuit 25
When an abnormal signal is input from the count value change rate check circuit 17, the motor 1 is sent to the speed command circuit 19 and the current amplifier 23.
The command to reduce the speed and torque of is sent. When this command is given, the door is opened and closed at a low speed thereafter based on this command to prevent malfunction of the door. In this way, when an abnormality occurs in the encoder, the elevator is operated at a low speed without stopping, so that the user is less inconvenient and the user can be expected to report a failure.

The count value change rate check circuit 17 receives the speed signal of the motor 1 from the speed calculation counter 15 and operates only when the motor is rotating at a constant speed or higher. The reason for this is that when the door locks in a zone where the motor speed is slow, such as when the door starts moving, the torque is too small to stop the door instantaneously, and at the same time the encoder output disappears. This is because the same pulse waveform is used and it is not possible to distinguish between an encoder error and a door lock.

When a failure progresses and the encoder is completely disengaged or completely broken, the output of the encoder is completely lost. Therefore, a safety circuit (not shown) is checked to generate an abnormal signal and report the failure.

[0015]

As described above, according to the present invention, the means for detecting the abnormality of the encoder on the basis of the change rate of the pulse count value is provided. Therefore, the abnormality of the encoder is detected at the initial stage, and the door is out of control. It is possible to prevent the occurrence of malfunctions.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention.

FIG. 2 is an encoder output waveform for explaining the present invention.

FIG. 3 is a change characteristic of a pulse count value for explaining the present invention.

FIG. 4 is a front view showing a door drive device for a general elevator.

[Description of Reference Signs] 1 motor 2 pulse encoder (pulse generation means) 13 position calculation counter (position calculation means) 15 speed calculation counter (speed calculation means) 17 count value change rate check circuit (abnormal signal generation means) 19 speed command circuit (Speed reading means) 21 Speed deviation calculating circuit (motor speed control means) 23 Current amplifier (motor speed control means)

Claims (1)

[Claims] 1. A pulse generating means for generating a pulse corresponding to the number of rotations of a motor for opening and closing a door, a pulse calculating means for counting the pulses generated by the pulse generating means, and a position calculation for calculating a door position based on the counted value. Means, speed reading means for reading the motor proper speed corresponding to the door position calculated by the position calculating means, and speed calculation for calculating the actual motor speed based on the pulses per unit time generated by the pulse generating means. Means for obtaining a deviation between the motor speed calculated by the speed calculating means and the motor proper speed read by the speed reading means, and controlling the motor speed based on the deviation, A pulse abnormality signal that calculates the change rate of the pulse count value counted by the position calculation means and generates an abnormal signal when the difference from the normal change rate exceeds a specified value. Elevator door control device that includes a generating unit.