JPH08259154A - Control device for elevator door - Google Patents

Abstract

PURPOSE: To carry out optimum torque restriction so as to eliminate a problem for safety even in the case that torque increases as well as to give required torque on a control device for an elevator door. CONSTITUTION: When a speed command 11 in accordance with a prescribed speed pattern is generated, a finite difference with return speed 19 is taken, it is input to a speed regulator 12 and a torque command is generated. This torque command is inputted to a torque restriction means 13 having a continuous torque restriction value slightly exceeding a required torque pattern and a signal of either smaller value of the torque command and the torque restriction value is inputted to an electric current regulator 14. The electric current regulator 14 generates a signal to a power converter 15, drives a door motor 16 and actuates a door opening and closing mechanism 7.

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 a control device for an elevator door capable of limiting torque during opening / closing operation of the elevator door.

[0002]

2. Description of the Related Art FIG. 3 is a block diagram showing a conventional elevator door controller. In the figure, 8 is a speed command for instructing the rotational speed of the door motor, 9 is a feedback speed proportional to the rotational speed of the door motor, 1 is a difference between the speed command 8 and the feedback speed 9, and a torque command is generated. For speed control, 3a, 3b, 3c are torque limiter patterns with different constant torque limit values, and 4 is the door motor current to the current command generated from the torque limiter patterns 3a, 3b, 3c. Current controller 5 for following the current controller 4
Power converter for converting the output of the door into the current of the door motor 6, 6 is a door motor, 7 is a door opening / closing mechanism of an elevator driven by the door motor 6, and 10 is a door opening / closing mechanism 7
The position signal 2 is a signal from the position signal 10 in which the output is switched step by step in accordance with the door position of No. 1, and indicates a selector for selecting the torque limiter patterns 3a, 3b, 3c.

FIG. 4 is a torque curve diagram during a door opening / closing operation by a conventional elevator door controller. In the figure,
31 is a torque pattern for controlling the door motor when the door is open.
No. 32, 32 are torque patterns for controlling the door motor when the door is closed, 41 are torque limiter patterns for limiting the door motor torque when the door is open, and 42 are for limiting the door motor torque when the door is closed. The torque limiter pattern of is shown.

Next, the door drive control operation by the elevator door control device of this construction will be described with reference to FIGS. Here, the door closing operation will be described as an example.

When the speed command 8 according to the speed pattern is issued, the difference from the feedback speed 9 is calculated and input to the speed controller 1 to generate the torque command. This torque command is the position signal 1
0 is input to any of the torque limiter patterns 3a, 3b, 3c having a constant torque limit value selected by the selector 2, and a signal having a smaller value of the torque command and the torque limit value is inputted to the current regulator. 4 is input. The current controller 4 sends a signal to the power converter 5 to drive the door motor 6 and operate the door opening / closing mechanism 7.

Here, the torque limiter patterns 3a, 3
b and 3c respectively have constant torque limit values L1, L4 and L5 for limiting the door motor torque, and the selector 2 causes the torque limiter pattern 3a and 3d to be driven by the door position signal 10.
When 3b and 3c are selected, a constant torque limit value L
1, L4, L5 are also selected and the stepwise torque limiter pattern
42 is formed. As a result, when an excessive torque is output at each position of the door, the torque is limited to a predetermined value or less.

[0007]

However, in the conventional elevator door control device as described above, when the door weight at the landing differs depending on the floor, the torque limit value is set to a large value in accordance with the heavy door. Therefore, the torque limit value is unnecessarily large for a light door.

If the required torque fluctuates due to aging of the door sill due to clogging of the sill and wear of the door opening / closing mechanism, opening / closing failure will occur. If this is attempted to be avoided, the torque limit value will be increased, and the risk of an accident due to excessive torque will increase.

Further, in order to prevent the door from being completely closed due to the influence of strong wind at the end of closing the door, it is necessary to increase the torque limit value at the end position. There are some floors that do not have a torque limit value, and on such floors there is an excessive torque limit value, which is dangerous. There is a possibility that inconvenience may occur.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an elevator door control device which can set an optimum torque limit value for each door to ensure passenger safety.

[0011]

SUMMARY OF THE INVENTION The present invention is a controller for an elevator door, which controls the opening and closing of a door by generating a torque command according to a deviation between a speed command according to a predetermined speed pattern and a return speed. In the above, the torque limiter pattern preset to a continuous value slightly exceeding the required torque pattern of the door is stored for each floor, and the torque command limits the torque command so as not to exceed the torque limiter pattern. This is achieved by including limiting means and learning means for learning the required torque pattern of the door for each operation of the elevator and updating the torque limiter pattern accordingly.

[0012]

In the present invention, since the above-mentioned means is taken, a continuous torque limiter pattern can be stored for each floor, and further,
The torque pattern can be learned and the torque limiter pattern can be updated accordingly.

[0013]

EXAMPLES Examples of the present invention will be described below.
FIG. 1 is a block diagram showing a controller for an elevator door which is an embodiment of the present invention. In the figure, 11 is a speed command for instructing the rotation speed of the door motor, and 19 is a door motor.
Feedback speed proportional to the rotation speed of the motor, 12 is the speed command 11
A speed controller for amplifying the difference between the feedback speed 19 and the feedback speed 19, and 13 a torque limiting means for continuously limiting the torque command output from the speed controller 12, 1
3a is a floor information generator for outputting floor information, 13b is a selector for selecting a torque limiter pattern 13c according to floor information output from the floor information generator 13a, 13c
Is a torque limiter pattern TPm (m = 1,2, m) preset to have a continuous torque limit value slightly exceeding the required torque pattern for the door position of each floor.
3, ... n),

A reference numeral 21 indicates a torque pattern for each floor at the time of installation, and generates a torque limiter pattern for each floor from the torque pattern, and at the time of operation, once for each floor. Learning means for learning each torque pattern and updating the torque limiter pattern for each floor from the torque pattern to the optimum torque limiter pattern, 14 is a door motor current generated from the torque limiting means 13. 15 is a current controller for making the current command follow up.
A power converter for converting the output of the door into a current of the door motor 16, 16 a door motor, 7 a door opening / closing mechanism of an elevator driven by the door motor 16, and 17 directly connected to the door motor 16. The pulse generator 20 generates a pulse in accordance with the door position, 20 is a position information signal output from the pulse generator 17, and 18 is a differentiator for converting the position information signal 20 into a feedback speed 19.

FIG. 2 is a torque curve diagram during door opening / closing operation by the elevator door control apparatus according to the embodiment of the present invention. In the figure, 33 is a torque pattern for controlling the door motor when the door is open, 34 is a torque pattern for controlling the door motor when the door is open, and 43 is a torque pattern for limiting the door motor torque when the door is open. A torque limiter pattern, 44 is a torque limiter pattern for limiting the door motor torque when the door is closed.

Next, the door drive control operation by the elevator door control device of this construction will be described with reference to FIGS. Here, the door closing operation will be described as an example.

When the speed command 11 according to the speed pattern is issued, the difference with the feedback speed 19 is calculated and input to the speed controller 12 to generate the torque command. This torque command is input to the torque limiter 13, and a signal having the smaller value of the torque command and the torque limit value is input to the current regulator 14. The current controller 14 sends a signal to the power converter 15 to drive the door motor 16 to operate the door opening / closing mechanism 7.

The pulse generator 17 is a door motor 16.
And outputs a position information signal 20 according to the door position. The position information signal 20 is input to the torque limiting means 13, the learning means 21, and the differentiator 18. The differentiator 18 inputs the position information signal 20 and outputs the feedback speed 19.

Inside the torque limiting means 13, when the car that responded to the call stops at the floor where the car is, the floor information generator 13a.
The floor information is output from and the selector 1 is used according to this floor information.
3b selects one torque limiter pattern TPm for the stop floor from the torque limiter pattern 13c. The torque limiter pattern TPm operates according to the position information signal 20 so that the torque command output from the speed adjuster 12 becomes equal to or smaller than the continuous torque limit value, and the torque command or the torque limit value, whichever is smaller. Is input to the current regulator 14.

The learning means 21 is installed in each floor at the time of installation.
The torque pattern for each floor and each time is learned according to the position information signal 20 by the door operation for each time. Then, the torque limiter pattern 13c for each floor is calculated and stored from the torque pattern.

Further, the learning means 21 learns the torque pattern for each floor and once according to the position information signal 20 by operating the door for each floor and once during operation. Then, the torque limiter pattern for each floor is calculated from the torque pattern, and the stored torque limiter pattern 13c for each floor is updated.

In the learning means 21, when the torque limiter pattern becomes a certain value or more as a result of the calculation, or the difference between the original torque limiter pattern and the newly calculated torque limiter pattern is a certain value. In case of the above, do not renew for the protection of equipment and safety of human body.

As described above, by the torque limiting means 13,
The torque limit of the door torque limiter pattern 44 works against the torque pattern of the door close 34, which is an optimum elevator.
Since the door door operation can be realized and the torque management at the time of opening and closing the elevator door can be performed, the generation of excessive torque can be prevented, so that the danger can be avoided, the safety can be improved, and the door opening / closing failure can be prevented.

[0024]

As described above, according to the present invention, by having a continuous torque limiter pattern slightly exceeding the required torque pattern, the possibility of excessive torque generation is eliminated, and the elevator door is constantly operated. Appropriate torque management can be performed, and improvement in safety can be expected.

Further, by having a torque limiter pattern for each floor, it is possible to cope with a change in the weight of the elevator doors on each floor, a door closing failure due to strong wind, etc., and an appropriate continuous torque corresponding to the required torque. A limit value can be set, the risk of excessive torque is avoided, and safety is improved.

Further, in each operation of the elevator door, the torque pattern is learned from the required torque, the torque limiter pattern is updated accordingly, and the continuous torque limit value is changed, thereby It is possible to manage the torque with an appropriate continuous torque limit value even if the required torque fluctuates due to familiarity, deterioration, or clogging of landing sill, etc., improving safety and preventing door opening and closing defects. And so on.

[Brief description of drawings]

FIG. 1 is a block configuration diagram showing a controller for an elevator door which is an embodiment of the present invention.

FIG. 2 is a torque curve diagram during door opening / closing operation by the elevator door control apparatus according to an embodiment of the present invention.

FIG. 3 is a block diagram showing a conventional elevator door control device.

FIG. 4 is a torque curve diagram during a door opening / closing operation by the elevator door control device in the prior art.

[Explanation of symbols]

 7 Door Opening / Closing Mechanism 11 Speed Command 12 Speed Controller 13 Torque Limiting Means 13a Floor Information Generator 13b Selector 13c Torque Limiter Pattern 14 Current Controller 15 Power Converter 16 Door Motor 17 Pulse Generator 18 Differentiator 19 Return speed 20 Position information signal 21 Learning means

Claims (2)

[Claims] 1. An elevator door control device for controlling the opening and closing of a door by generating a torque command according to a deviation between a speed command according to a predetermined speed pattern and a feedback speed, and a door required torque pattern. The torque limiter pattern preset to a continuous value slightly exceeding the torque is stored for each floor, and a torque limiting means for limiting the torque command so as not to exceed the torque limiter pattern is provided. Characteristic elevator door control device. 2. A controller for an elevator door that controls the opening and closing of a door by generating a torque command according to a deviation between a speed command according to a predetermined speed pattern and a feedback speed, and a required torque pattern for the door. Torque limiter pattern preset to a continuous value slightly higher than the torque limit for each floor, and torque limiter for limiting the torque command so as not to exceed the torque limiter pattern, and an elevator. And a learning means for learning the required torque pattern of the door for each operation and updating the torque limiter pattern in response to the required torque pattern, the control device for the elevator door.