JPH06286967A - Opening and closing control device for elevator door - Google Patents

Abstract

PURPOSE:To suppress an amount of movement of a door in a closing direction when a reversing direction is outputted during closing operation of the door of an elevator, to ensure safety, and to suppress the generation of a device shock. CONSTITUTION:When a door is driven with the aid of a motor 5, a pulse responding to a rotation speed is generated from a pulse encoder 6. A CPU 9 is operated to compute the position point of a door from a pulse count value and read a speed command value, matching with the door position point, from an ROM 10 to control a gate signal generating circuit 15. When a reversing demand is outputted from a reversing demand safety device 2, a current speed command value is detected. In a case of a high speed, inclination of a deceleration command value is increased according to the detected value and in a case of a low speed, it is decreased.

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, and more particularly to a device for controlling the opening / closing of a door during a reversing operation.

[0002]

2. Description of the Related Art Generally, at the front edge of an elevator door,
For example, as disclosed in Japanese Patent Application Laid-Open No. 2-225287, a contact rod is provided, and when a force in the door opening direction acts on a door that is moving in the door closing direction, a reversal request for reversing the door in the door opening direction is made. Safety devices are provided. This is to prevent the user from being injured by colliding with the door that is about to be closed.

1, 10 and 11 are views showing a conventional elevator door opening / closing control device. FIG. 1 is a block diagram, FIG. 10 is a door opening / closing operation waveform diagram, and FIG. 11 is a door inversion speed command value. It is a waveform diagram.

In FIG. 1, (1) is an elevator control panel, (2) is the above-mentioned reversal request safety device, (3) is a power source, (4) is a power circuit connected to the power source (3), (5) Power circuit (4)
A motor (6) connected to the motor for driving the door of the elevator is coupled to the motor (5) and is a pulse encoder for generating a pulse corresponding to the rotation speed of the motor (5).

(7) is a door control device, (8) is a pulse counting unit for counting the pulses from the pulse encoder (6), (9) is a CPU, (10) is a ROM, and (11) is an RA.
M, (12) are input / output ports connected to the control panel (1) and the safety device (2), (13) are connected to the input / output port (12), and ROM
Setting pin for speed adjustment that switches the speed command value stored in (10), (14) is a PWM unit that outputs a pulse width modulation (PWM) signal, (15) is connected to the PWM unit (14), and a gate signal Is a gate signal generation circuit for transmitting the signal to the power circuit (4).

A conventional elevator door opening / closing control device is constructed as described above, and its operation will be described with reference to FIGS.
This will be described with reference to FIG. When a door open command or a door close command is issued from the control panel (1), this is read into the input / output port (12), and the speed command value X shown in FIG. It is read in 9). The speed command value X is the pulse encoder connected to the motor (5).
The pulse output of (6) is counted by the pulse count unit (8), and the count value is sent to the CPU (9), and the CPU (9)
Is set by calculating the door position point from the pulse count value and reading the speed command value X that matches the position point from the ROM (10).

Further, the speed command value X is a setting pin for speed adjustment.
The value read from the ROM (10) is switched by (13). The CPU (9) sends a PWM command necessary for rotation of the motor (5) to the PWM unit (14) based on the read speed command value X, and the PWM signal is converted into a PWM signal there, and the gate signal generation circuit (15) ) To a gate signal. This gate signal drives the power circuit (4),
(5) rotates. When the motor (5) rotates, the encoder
(6) outputs a pulse and CP based on the count value
U (9) calculates the position of the door and the actual rotation speed Y of the motor (5) shown in FIG.

Thus, the rotation speed Y of the motor (5) is collated with the speed command value X, and the speed is controlled so that the rotation speed Y of the motor (5) follows the speed command value X. Also the motor
When the rotation speed of (5) reaches the count value indicating the fully open position and the fully closed position of the door, the motor (5) is controlled to stop at that position.

Next, the reversing operation by the safety device (2) will be described. While the door is moving in the door closing direction in accordance with the normal door closing command (hereinafter referred to as the door closing operation), the user operates the safety device (2).
If the safety device (2) operates at time A in FIG. 11, the reversal request signal from the safety device (2) is sent to the control panel (1) via the input / output port (12). As a result, the control panel (1) switches the door closing command to the door opening command in order to perform the reversing operation. The door control device (7) indicates that the door open / close command has been switched before the door is fully closed.
2), deceleration command value X1 that commands a predetermined deceleration in order to switch the speed command value X from door closed to door open
Is read and the door closing operation is reversed to the door opening operation.

Here, the smaller the amount of movement of the door in the door closing direction (hereinafter referred to as the amount of reversal flow) from the output of the reversal request signal until the actual movement of the door switches to the door opening operation, the smaller the user. Is safe. Therefore, in order to suppress the reversal flow amount to be small, it has been proposed to forcibly increase the deceleration at the time of reversal, as disclosed in, for example, Japanese Patent Laid-Open No. 61-203087. However, the larger the deceleration is, the smaller the reversing flow amount becomes, and the reversing operation is performed in a short time. However, the device and the impact in that case are large, and the user is uncomfortable.

On the contrary, when the deceleration is small, the reversing flow amount becomes large and the reversing operation becomes gentle, so that the device and the shock are reduced, but the probability that the user collides with the door becomes high and there is a risk of injury. Occurs. Therefore, for example, Japanese Patent Laid-Open No. 4-
As shown in Japanese Patent No. 32488, a speed command value is prepared for each position of a door, and by selectively using the speed command value, it is possible to reverse at an appropriate speed to ensure safety and reduce the device and shock. Proposed.

[0012]

In the conventional elevator door opening / closing control device as described above, since the speed command value is prepared for each door position, the speed command value is set to a high speed by speed adjustment. In this case, there is a problem that the amount of reversal flow increases. That is, when the time point corresponding to the position point where the reversing command is issued during the door closing with the standard door closing command value X1 is A, the door is reversing at the same position point during the door closing with the high speed door closing command value X2. If a command is issued, the time is B.

At this time, if the decelerations of the door closing command values X1 and X2 are equal, from the time T ₁ until the door closing speed becomes zero from the time A to the door closing speed becoming zero from the time B. The time T ₂ becomes longer and the amount of reversal flow increases at higher speeds.

The present invention has been made in order to solve the above problems, and provides an elevator door opening / closing control device capable of ensuring safety by performing a reversing operation so that the reversing flow amount is always within a predetermined value. The purpose is to provide.

[0015]

According to a first aspect of the present invention, an elevator door opening / closing control apparatus decelerates and inverts a door according to a predetermined deceleration instruction value when an inversion instruction is issued during a door closing operation. When operating, it is provided with reversing speed command value detecting means for detecting the speed command value at the time of reversing command, and deceleration command value changing means for changing the deceleration command value according to the detected speed command value. It is a thing.

Further, in the elevator door opening / closing control device according to the second aspect of the invention, when the reversing command is issued during the door closing operation, when the door is decelerated according to a predetermined deceleration command value and the reversing operation is performed, the speed of the door is changed. Equipped with a speed command value setter for setting different speed command values corresponding to the above, and a deceleration command value changing means for changing the deceleration command value according to the speed command value set above when a reversal command is issued. Is.

Further, the elevator door opening / closing control device according to the third aspect of the present invention, when the reversing command is issued during the door closing operation, decelerates the door in accordance with a predetermined deceleration command value and performs the reversing operation. The reverse rotation speed detecting means for detecting the rotation speed of the motor, and the deceleration command value changing means for changing the deceleration command value according to the detected rotation speed.

Further, the elevator door opening / closing control device according to the fourth aspect of the present invention, when the reversing command is issued during the door closing operation, when decelerating the door according to a predetermined deceleration command value to perform the reversing operation, the reversing command is issued. And a deceleration command value changing means for changing the deceleration command value according to the detected speed deviation. It is a thing.

[0019]

In the first aspect of the present invention, the speed command value at the time of the inversion command of the elevator door is detected, and the deceleration command value is changed according to the detected value. Since the speed command value corresponding to the speed of the door is set, and the deceleration command value is changed according to the speed command value set above at the time of the reversal command, the deceleration is large at high speed and at low speed. Makes it possible to reduce the deceleration.

Further, according to the third aspect of the present invention, the rotation speed of the motor is detected when the inversion command of the elevator door is detected, and the deceleration command value is changed according to the detected value. As a result, even if the force that hinders the opening / closing operation acts and the followability to the speed command value is poor, stable control can always be performed.

Further, in the fourth aspect of the invention, the speed deviation between the speed command value at the time of the inversion command of the elevator door and the rotation speed of the motor is detected, and the deceleration command value is changed according to the value. Therefore, even if the weight of the door is large and excessive movement due to inertia occurs and the followability to the speed command value is poor, stable control can always be performed.

[0022]

【Example】

Example 1. 1, 2 and 4 are views showing an embodiment of the first invention of the present invention, FIG. 1 is a block diagram, FIG. 2 is a main part configuration diagram, and FIG. 4 is a door reversal speed command value waveform diagram. The same parts as those of the conventional device are indicated by the same reference numerals (the same applies to other embodiments).

In the figure, (21) is a pulse encoder (6)
And a speed command value calculating means for calculating a speed command value, which constitutes a part of the door control device (7). (22) is connected to the reversal request safety device (2) and detects the speed command value at the time of reversal command to detect the speed command value at reversal, and (23) decelerates according to the detected speed command value. Deceleration command value changing means for changing the command value, and (24) is door control means for controlling the door in accordance with the inputted speed command value.

Next, the operation of this embodiment will be described. The basic reversing operation is similar to that of the conventional device. When the user contacts the safety device (2) during the door closing operation and outputs a reversal request, the door closing command from the control panel (1) is switched to the door opening command. Here, when the command is switched, that is, when the reversal command is output, the speed command value for closing the door is confirmed. Then, RO is set in advance for each magnitude of the speed command value.
From the deceleration command value stored in M (10), the deceleration command value at the time of reversal corresponding to the magnitude of the speed command value at that time is read and the motor (5) is decelerated.

As a standard reversing operation, when a reversing command is output at the time point A in FIG. 4, a deceleration command value X1 having a deceleration command value corresponding to the speed command value at the time point A.
Is read out, and the rotation speed of the motor (5), in other words, the speed of the door is controlled.

Next, if the inversion command is output at the same position point as described above when the door closing speed command value is adjusted at a high speed, the speed command value is switched at the time point B as described with reference to FIG. It will be. Then, the reverse speed command value X3 corresponding to the speed command value at this time is read. The speed command value X3 is higher than the door closing speed command value, and the deceleration command value has a larger inclination than the deceleration command value of the normal deceleration command value X1, that is, the deceleration becomes larger. There is. As a result, the amount of reversal flow can be suppressed to the same level as in normal times.

Similarly, if the reversing command is output at the same position point as above when the door closing speed command value is adjusted to a low speed, the door closing speed is slow, so the speed command value is switched at time C. It will be. Then, the reverse speed command value X4 corresponding to the speed command value at this time is read. The deceleration command value of the speed command value X4 has a smaller inclination than the normal speed command value.

This is because at the same deceleration as usual, the amount of reversal flow can be made small, but it becomes smaller than necessary, and as a side effect, noise and vibration at the time of reversal become large. Therefore, as the door closing speed command value becomes slower, the deceleration command value is made gentle and the reversing flow amount becomes the same as in the normal time.
It is designed to minimize noise and vibration when turning over.

Example 2. FIGS. 1 and 3 to 5 are views showing an embodiment of the second invention of the present invention, and FIG.
FIG. 5 is a waveform diagram of the door closing speed command value. In FIG. 3, (2
3) is deceleration command value changing means for changing the deceleration command value according to the speed command value set by the speed adjustment setting pin (13).

Next, the operation of this embodiment will be described. In the first embodiment, the deceleration command value at the time of reversal is selected by the speed command value at the time of reversal command. However, in the second embodiment, the speed command value at the time of reversal command is not read, but the speed command value is read. The speed command setting pin (13) used when setting the speed to high speed or low speed
It is stored in the OM (10) and the door closing deceleration command value is changed in accordance with the speed adjustment at the time of reversal command.

Now, the standard door closing speed command value is X5 in FIG.
In such a case, when the reversal command is output at time A, the deceleration command value X1 shown in FIG. 4 is read as the reversal speed command value corresponding to the maximum door closing speed shown at time A in FIG. Control.

Next, when the door closing speed command value is adjusted to the high speed indicated by the deceleration command value X6 in FIG. 5, as a reversing speed command value corresponding to the maximum door closing speed shown at time B in FIG. Four
The speed command value X3 shown in is read to control the reversing speed. As described in the first embodiment, the speed command value X3 is higher than the door closing speed command value X3, and the deceleration command value is higher than the normal deceleration command value X1. The inclination is large and the amount of reversal flow is suppressed.

Similarly, when the door closing speed command value is adjusted to the speed command value X7 shown in FIG. 5, it is shown in FIG. 4 as a reversing speed command value corresponding to the maximum door closing speed shown at time C in FIG. The speed command value X4 is read to control the reversal speed. Also in this case, as described in the first embodiment, the deceleration command value is made gentle as the door closing speed command value X4 is low.

Example 3. 1, 6 and 8 are views showing an embodiment of a third invention of the present invention, FIG. 6 is a configuration diagram of a main part, and FIG. 8 is a door inversion operation waveform diagram. In FIG. 6, (2
Reference numeral 8) is a reversal speed detecting means which is connected to the encoder (6) and the reversal request safety device (2) and detects the rotation speed of the motor (5) when a reversal command is issued.

Next, the operation of this embodiment will be described. In the first and second embodiments, the deceleration command value at the time of reversal is selected by the speed command value at the time of the reversal command, but the speed command value is different from the actual rotation speed of the motor (5). The third embodiment does not check the speed command value at the time of the reverse command, but
The actual rotation speed of the motor (5) is confirmed.
For example, when a force that hinders the opening / closing operation is acting due to clogging of the threshold with dust, etc., due to traveling resistance (door opening / closing load), tracking is poor even if the speed command value is high, and the motor ( 5) cannot rotate at high speed.

Further, in the deceleration operation, since the mechanical load is large due to the running resistance and the electric braking force is not required so much, the deceleration is not delayed after the speed command value. Therefore, normally, various speed command values are prepared in consideration of the followability to the speed command value, including the deceleration command value in the reversing operation. However, as described above, when the running resistance is large and the door is opened and closed without following the speed command value, the deceleration command value may be a gentler command value than during normal reversal even during the door reversing operation. There is no.

Therefore, instead of reading the door closing deceleration command value corresponding to the magnitude of the speed command value at the time of the inversion command, the speed command value corresponding to the actual rotation speed of the motor (5) is RO
It is stored in M (10) and the door closing deceleration command value is changed according to the actual speed. This makes it possible to avoid excessive deceleration.

Now, the standard door closing speed command value is X8 in FIG.
In this case, when the reverse command is output at time D1, the speed command value X9 is set as the reverse deceleration command value corresponding to time A.
Is read and controlled. At this time, the actual speed is indicated by Y9.

Next, when the reversal command is output without reaching the normal door closing speed command value even once as controlled by the speed command value X8, as shown by the actual speed Y10 in the door closing operation, the time point B. In the case of the actual speed indicated by, the running resistance is large, the followability to the speed command value is poor, and it can be determined that the actual speed is low. Therefore, the deceleration command value may be a gentle slope for the above reason and is controlled by reading the speed command value X10. At this time, the actual speed is indicated by Y10. As a result, the amount of reversal flow becomes the same as in normal times, and noise and vibration during reversal can be minimized.

Example 4. 1, 7 and 9 are views showing an embodiment of the fourth invention of the present invention, FIG. 7 is a main part configuration diagram, and FIG. 9 is a door inversion speed command value waveform diagram. In FIG. 7, reference numeral (30) is connected to an encoder (6), a speed command value calculating means (21) and a reversal request safety device (2), and a speed command value at the time of a reversal command and a rotation speed of a motor (5) It is a speed deviation detecting means at the time of reversal for detecting the deviation.

As the weight of the door increases, naturally the ability to follow the speed command value deteriorates. Also, in the door reversing operation,
It is necessary to make the slope of the door closing deceleration command value larger than in the normal case. In such a case, when selecting the deceleration command value when reversing the door, simply checking the speed command value and the actual speed of the motor (5) will increase the deceleration command value because the weight of the door is increasing. It cannot be determined that it needs to be increased. However, in the case of a door with a large weight, the followability to the speed command value is not only delayed, but also follows the speed command value too much, or on the contrary, drops too much. It becomes very unstable.

Therefore, the unstable condition can be confirmed by monitoring the speed deviation, and it can be determined that the door is heavy. Therefore, the speed command value corresponding to the speed deviation when the inversion command is output is stored in the ROM (10), and the door closing deceleration command value is changed according to the speed deviation at that time. . As a result, even if the weight of the door becomes heavier, the reversal flow amount can be suppressed to the same level as in the normal state.

When the standard door closing speed command value is X11, the actual speed is shown by Y12 and the speed deviation is shown by Z12. When the inversion command is output at time D2, time A
As the reverse deceleration command value corresponding to the speed deviation Z12 of
The speed command value X12 is read and controlled. At this time,
The actual speed is indicated by Y12.

Next, it is controlled by the door closing speed command value X11,
As shown by the actual speed Y13, when the door is being closed, the speed deviation is indicated by Z13. When the reversal command is output at time D2, the speed deviation Z13 at time B is larger than the standard speed deviation Z12, and it can be determined that the door is heavy. Therefore, the speed command value X13 is read and the actual speed Y
It is controlled to decelerate at 13. By adjusting the deceleration in this way, the reversal flow amount can be suppressed to be equal to that in the normal time.

[0045]

As described above, in the first invention of the present invention, the speed command value at the time of the inversion command of the elevator door is detected, and the deceleration command value is changed according to the detected speed command value. Then, since the speed command value corresponding to the speed of the door is artificially set, and the deceleration command value is changed according to the speed command value set above at the time of the reversal command, the deceleration is set in the case of high speed. When the speed is large and the speed is low, the deceleration can be reduced, the reversal flow amount can be reduced, the safety can be improved, and the noise and the impact can be suppressed to a necessary limit.

Further, in the third aspect of the invention, the rotation speed of the motor at the time of the inversion command of the elevator door is detected, and the deceleration command value is changed according to the detected value. Therefore, the threshold is clogged with dust, etc. Even if the force that hinders the opening and closing action acts and the followability to the speed command value is poor, stable control can always be performed, the reversing flow amount can be suppressed as in normal times, and noise and vibration during reversing can be suppressed. There is an effect that can be minimized.

Further, in the fourth aspect of the invention, the speed deviation between the speed command value at the time of the inversion command of the elevator door and the rotation speed of the motor is detected, and the deceleration command value is changed according to the value. Therefore, even if the weight of the door is large and the inertia causes overshooting and the followability to the speed command value is poor, stable control can always be performed, and the reversal flow amount can be suppressed to the same level as in the normal state.

[Brief description of drawings]

FIG. 1 is a block diagram showing Embodiments 1 to 4 of the present invention and a conventional elevator door opening / closing control device.

FIG. 2 is a main part configuration diagram showing a first embodiment of the present invention.

FIG. 3 is a main part configuration diagram showing a second embodiment of the present invention.

FIG. 4 is a waveform diagram of a door inversion speed command value showing the first and second embodiments of the present invention.

FIG. 5 is a waveform diagram of a door closing speed command value showing a second embodiment of the present invention.

FIG. 6 is a configuration diagram of a main part showing a third embodiment of the present invention.

FIG. 7 is a main part configuration diagram showing a fourth embodiment of the present invention.

FIG. 8 is a door inversion operation waveform diagram showing the third embodiment of the present invention.

FIG. 9 is a door inversion operation waveform diagram showing the fourth embodiment of the present invention.

FIG. 10 is a waveform diagram of a door opening / closing operation performed by a conventional elevator door opening / closing control device.

FIG. 11 is a waveform diagram of a door reversal speed command value by a conventional elevator door opening / closing control device.

[Explanation of symbols]

 2 Inversion request safety device 5 Motor 6 Pulse encoder 13 Speed command value setter (speed adjustment setting pin) 15 Gate signal generation circuit 21 Speed command value calculation means 22 Reversal speed command value detection means 23 Deceleration command value change means 24 Door control means 28 Reversal speed detection means 30 Reversal speed deviation detection means

─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] August 12, 1993

[Procedure Amendment 1]

[Document name to be corrected] Drawing

[Name of item to be corrected] Figure 3

[Correction method] Change

[Correction content]

[Figure 3]

Claims (4)

[Claims] 1. A motor which drives an elevator door detects an output of an encoder connected to a motor, detects a position point of the door and a rotation speed of the motor, and generates a speed command value corresponding to the position point to generate a speed command value. In a device for controlling the rotational speed of the door so as to follow the speed command value, and decelerating the door according to a predetermined deceleration command value when a reversing command is issued during the door closing operation of the door to open the reversing door. ,
A reverse speed command value detecting means for detecting the speed command value at the time of the reverse command; and a deceleration command value changing means for changing the deceleration command value according to the detected speed command value. An elevator door opening / closing control device. 2. A motor which drives an elevator door detects the position of the door and the rotation speed of the motor from the output of an encoder connected to the motor, and generates a speed command value corresponding to the position of the motor. In a device for controlling the rotational speed of the door so as to follow the speed command value and decelerating the door according to a predetermined deceleration command value when a reversing command is issued during the door closing operation of the door and opening the reversing door. ,
Speed command value setter that sets different speed command values corresponding to the speed of the door, and deceleration command value change that changes the deceleration command value according to the speed command value that was set when the reversing command was issued. An opening / closing control device for an elevator door, comprising: 3. The motor detects the position of the door and the rotation speed of the motor from the output of an encoder coupled to a motor for driving the door of the elevator, and generates a speed command value corresponding to the position of the motor. In a device for controlling the rotational speed of the door so as to follow the speed command value and decelerating the door according to a predetermined deceleration command value when a reversing command is issued during the door closing operation of the door and opening the reversing door. ,
A reverse rotation speed detecting means for detecting the rotation speed of the motor at the time of the reverse rotation command, and a deceleration command value changing means for changing the deceleration command value according to the detected rotation speed are provided. Elevator door opening and closing control device. 4. A motor which drives an elevator door detects the position of the door and the rotation speed of the motor from the output of an encoder coupled to the motor, generates a speed command value corresponding to the position, and outputs the motor. In a device for controlling the rotational speed of the door so as to follow the speed command value and decelerating the door according to a predetermined deceleration command value when a reversing command is issued during the door closing operation of the door and opening the reversing door. ,
Reversing speed deviation detecting means for detecting a speed deviation between the speed command value at the time of the reversing command and the rotation speed of the motor,
An elevator door opening / closing control device, comprising: deceleration command value changing means for changing the deceleration command value according to the detected speed deviation.