JPH0825709B2 - Elevator door control device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an elevator door control device, and is particularly suitable for obtaining stable opening / closing performance against fluctuations in power supply voltage supplied to an electric motor and fluctuations in the electric motor. The present invention relates to an elevator door control device.

[Conventional technology]

As a conventional elevator door control device, for example,
As described in JP-A-59-28891, a speed generator directly connected to the electric motor, a circuit for detecting the position and speed of the door by the voltage generated by the speed generator, a speed command for the electric motor, and a rotation direction command. There is a system in which a speed command and an actual speed and position of a door are calculated by using an arithmetic circuit, and the feedback control is performed.

[Problems to be solved by the invention]

Since the above-mentioned conventional technology relies on a speed generator that directly connects the door speed and position detection to a motor, when the speed generator fails, door open / close control such as runaway of the door becomes impossible,
In addition, the ratio of the speed generator for smoothly controlling the opening and closing of the door and the circuit for the feed back that accompanies it occupies a large weight in the door control device, and moreover, the power supply voltage and the temperature fluctuation of the motor In order to ensure smooth door opening / closing performance against such external fluctuation factors, feed back control by speed is a necessary condition, and these are major problems that must be solved in opening / closing control.

An object of the present invention is to control an elevator door that can obtain stable and smooth opening / closing performance against external fluctuation factors such as fluctuations in the power supply voltage and temperature of the motor, and can eliminate the circuit required for speed feedback control. To provide a device.

[Means for solving problems]

The above object is to provide an elevator door control device including an electric motor, an electric motor drive element, a microcomputer, and door open / closed end detecting means, and an open loop speed control system and a door open / closed end (or closed end). ) To a closed end (or an open end), a door opening / closing time measuring means for measuring a door opening / closing time, and a storage means for storing a plurality of door opening / closing speed patterns, and a measurement result of the door opening / closing time measuring means, Compared with a predetermined time set in advance, a speed pattern in a direction that eliminates the difference from the predetermined time is selected from the plurality of door opening / closing speed patterns, and the selected speed pattern is directly set in the open loop speed. This is achieved by adopting a configuration of inputting as a speed command for the control system.

[Action]

The running time of the door is determined by using the open end and closed end detecting means provided in advance to detect the open and closed states of the door.
It can be measured by counting the time to the closed end (or the open end) with the open end (or the closed end) as a reference point.

Next, regarding the power supply voltage fluctuation, which is one of the external fluctuation factors, the torque of the electric motor greatly changes with the voltage fluctuation and the traveling time of the door fluctuates. Therefore, it is equivalently measured by measuring the traveling time of the door. Power supply voltage fluctuations can be captured.

In addition, regarding the temperature fluctuation of the motor, which is one of the other external fluctuation factors, it is well known that the resistance of the motor winding (copper wire) fluctuates by 0.4% per 1 ° C. In and, since the torque of the electric motor changes by about 40% or more and the traveling time of the door fluctuates, the temperature fluctuation of the electric motor can be equivalently grasped by measuring the traveling time of the door.

Then, according to the present invention, the measurement result of the door opening / closing time measuring means is compared with a predetermined time set in advance, and the speed pattern in the direction of eliminating the difference from the predetermined time is set among the plurality of door opening / closing speed patterns. By inputting this selected speed pattern directly as the speed command of the open loop speed control system, smooth door opening / closing performance can be obtained without providing external parts and circuits required for feedback control. it can.

〔Example〕

The present invention will now be described with reference to the embodiment and second embodiment shown in FIGS.
This will be described in detail with reference to the drawings.

FIG. 1 is a block diagram showing an embodiment of the entire configuration of an elevator door control device of the present invention. In FIG. 1, 1 is a microprocessor, 2 is a read-only memory, 3 is a writable memory, and 4 is a programmable memory.
A timer, 5 is an input / output interface, 6 is a parallel input / output interface adapter, 7 is a power supply synchronous pulse generation circuit, 8 is a motor open door side drive element, and 9 is a motor close door side drive element. Make up ten. 11
Is an elevator control panel, 12 is door open / closed end detection means, 13 is an AC power supply, 14 is a single-phase capacitor motor, and 15 is a capacitor.

FIG. 2 is a diagram showing an example of the measurement result of the door opening time with respect to the fluctuation of the power supply voltage of the electric motor with the winding temperature T _{0 to} T ₂ of the electric motor as a parameter.

Next, the operation of the embodiment of the present invention will be described with reference to FIG. First, in step S1, the speed pattern of the door is initialized to the B pattern in advance. Next, at step S2, control panel
Whether or not there is an open or close command from 11 is determined, and if there is no open or close command, the door stop state is maintained in step S3. If there is an open or close command in step S2, in step S4 the open end or closed end detection means 12 determines whether the door is located at the open end or the closed end, and the door is opened or closed. If it is not located at either end, in step S5, the speed pattern B set in step S1 according to the open command or the close command is sent.
If the door is located at the open end or the closed end at the set speed in step S6, open or close the door at the set speed in speed pattern B according to the open or close command in step S6. Then, in step S7, it is determined whether the door opening or closing operation has been repeated a predetermined number of times, and if it is repeated, the average value of the opening and closing times within a predetermined number of times is calculated in step S8. Then, based on the calculation result obtained in step S8, it is compared with the predetermined door opening and closing time determined in step S9. When the calculation result is smaller than the predetermined time, the speed pattern B is changed from the speed pattern B in step S11. If the calculation result is equivalent to the predetermined time, the speed pattern is changed to the initial setting state in step S10, and if the calculation result is longer than the predetermined time, the speed pattern is changed in step S12. The speed pattern is changed from B to the low speed pattern C and resetting is performed.
4 → S6 → S7 → S8 are performed, and when the calculation result obtained in step S14 is longer than the predetermined time, the speed pattern C is further changed to the lower speed pattern D in step S16, and resetting is performed. If the calculation result is equal to the predetermined time,
At step S15, the speed pattern C is set.

Table 1 shows an example of the speed pattern set corresponding to the fluctuation of the source voltage of the electric motor and the temperature.

In the embodiment of the present invention described with reference to FIG. 3, a case has been described in which the operation toward the door opening side and the operation toward the door closing side are performed with the same speed pattern. However, the door of the elevator is different from general automatic doors of department stores, supermarkets, etc. in terms of safety and is configured to give a predetermined mechanical force to the closing side by spring force or the like. Therefore, since the required torque of the electric motor is different between the door opening direction and the door closing direction, different speed patterns are set for the door opening direction and the door closing direction, and a predetermined time for opening and closing the door is set, and the required speed pattern is selected. To do.

As described above, according to the embodiment shown in FIG. 3, a plurality of speed patterns for the power supply voltage fluctuation and the temperature fluctuation of the electric motor are prepared in advance, and a predetermined speed pattern is selected from the plurality of speed patterns according to the opening / closing time of the door. However, since it can be set, smooth door opening / closing performance can be obtained, and parts and circuits necessary for speed feedback control are not required, and a simple door control device can be obtained.

Incidentally, JP-A-61-55 entitled "Elevator Door Control Device"
Japanese Patent No. 081 discloses a technique of automating the door adjustment to reduce the time required for the door adjustment.

However, in the technique disclosed in Japanese Patent Laid-Open No. 61-55081, an initial (one) value is set in order to keep the difference between the actual door opening / closing time determined by the output of the time detecting means and the target door opening / closing time within a predetermined range. Changing the door motor drive pattern, that is, rewriting the door motor drive pattern data by itself until the door can be opened / closed within the target door open / close time from the given door motor drive pattern data and the target door open / close time. According to the measurement result of the door opening / closing time measuring means, a predetermined speed pattern is selected from a plurality of door opening / closing speed patterns, and the predetermined speed pattern is directly input as a speed command of an open loop speed control system. It is different from the present invention adopted.

In addition, like the elevator door control device described in Japanese Patent Laid-Open No. 61-55081, the elevator door control device has speed patterns of acceleration → constant speed running → deceleration, and the door speed pattern data is sequentially accelerated / decelerated for each running. In order to add / subtract, at least the opening operation is performed, the acceleration start point (point A), the acceleration end point (point B), the deceleration start point (point C), and the deceleration end are added, at least by performing the opening operation. A total of 6 points (D points) are required for the door position detection means, and further considering the closing operation, even if the door open end and closed end detection means are shared, a total of 10 door positions are detected. The detection means is always required, the configuration including the door mechanism is complicated, and the reliability of the device is inevitably reduced accordingly, but on the other hand, it is expensive in terms of price.

On the other hand, according to the present invention, since the method does not calculate speed pattern data such as acceleration / deceleration while the door is traveling,
No door position detection means other than the door open / closed end detection means is required, the structure including the door mechanism is simple, the reliability of the equipment can be improved accordingly, and the door control device should be inexpensive. The advantage is that you can

On the other hand, JP-A-61-18 entitled "Elevator Door Control Device"
No. 690 gazette discloses that if the weight of a hold door varies depending on the floor where elevators are stopped or the torque required to open and close the doors changes due to wind pressure, etc. A technique of selecting a specific door control pattern from a plurality of door control patterns according to a floor signal indicating a floor is disclosed.

However, the technique described in Japanese Patent Laid-Open No. 61-18690 is to select a specific door control pattern from a plurality of door control patterns in response to a floor signal indicating an elevator stop floor until tired of it. There is no configuration corresponding to the door opening / closing time measuring means, and a predetermined speed pattern is selected from a plurality of door opening / closing speed patterns based on the measurement result of the door opening / closing time measuring means, and this predetermined speed pattern is directly opened looped. This is essentially different from the present invention that employs the configuration of inputting as a speed command of the speed control system, and it is not possible to find a contact point common to the present invention.

As described above, according to the present invention, the measurement result of the door opening / closing time measuring means is compared with a predetermined time, and a speed pattern in a direction that eliminates the difference from the predetermined time is determined by a plurality of door opening / closing speeds. By selecting from the patterns and directly inputting this selected speed pattern as the speed command of the open loop speed control system, it is stable and smooth against external fluctuation factors such as power supply voltage fluctuations and temperature fluctuations of the motor. It is possible to obtain excellent switching performance, eliminates the need for parts and circuits required for speed feedback control, is simple, and is inexpensive and highly reliable due to a reduction in the number of parts. It is especially suitable for small-scale or household elevators.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an embodiment of the entire configuration of an elevator door control device of the present invention, and FIG. 2 is a diagram showing a variation in power supply voltage of a motor with a winding temperature of the motor as a parameter. FIG. 3 is a diagram showing an example of the measurement result of the door opening time, and FIG. 3 is a flow chart showing the operation of one embodiment of the present invention. 1 ... Microprocessor, 2,3 ... Memory, 4 ... Programmable timer, 5 ... Input / output interface, 6 ... Parallel input / output interface, 7 ... Power supply pulse generator, 8 ... Electric motor Door-side drive element, 9 ...
… Motor closing door side drive element, 11 …… Elevator control panel,
12 …… Door open / closed end detection means, 14 …… Single-phase capacitor motor.

Claims (3)

[Claims] 1. An elevator door control device comprising an electric motor, an electric motor drive element, a microcomputer, and door open / closed end detecting means, wherein an open loop speed control system and a door open / closed end are provided. Door opening and closing time measuring means for measuring the opening and closing time of the door from the closed end to the open end,
A storage means for storing a plurality of door opening / closing speed patterns, comparing the measurement result of the door opening / closing time measuring means with a predetermined time set in advance, and determining a speed pattern in a direction to eliminate the difference from the predetermined time. An elevator door control device, characterized in that it is configured to select from among the plurality of door opening / closing speed patterns and directly input the selected speed pattern as a speed command of the open loop speed control system. 2. The elevator door control device according to claim 1, wherein said door opening / closing time measuring means counts a plurality of times and calculates a counting result to obtain a measurement result. 3. The elevator door control device according to claim 1, wherein the electric motor is a single-phase capacitor motor.