JPH089465B2 - Elevator door controls - Google Patents

Description

The present invention relates to a control device for an elevator door, and
In particular, the present invention relates to an elevator door control device that drives and controls an electric motor that opens and closes an elevator door.

[Prior Art] FIG. 3 is an example of a front view showing a mechanical configuration of an elevator door to which the control device for an elevator door according to the related art and the present invention is applied.

In the figure, (1) is an elevator door, (2) is an entrance / exit of an elevator car, (3) is a door hanger fixed to the upper part of the elevator door (1), and (4) is a door hanger (3) installed. Hanger case, (5) is a door rail attached to the hanger case (4), (6) is the upper part of the door rail (5) and is rotated to lift the elevator door (1).
The hanger roller (7) that guides the opening and closing of the elevator rail (7) is an up-thrust roller that rotates the lower part of the door rail (5) and guides the opening and closing of the elevator door (1). ) Are both rotatably attached to the door hanger (3). (8) is an engagement device attached to the elevator door (1),
By engaging with a device (not shown) provided in the landing door in the door zone, the elevator door (1) on the elevator car side and the landing door are interlocked to perform the opening / closing operation. (9) is a drive device installed on the upper part of the hanger case (4), and this drive device (9) drives the elevator door (1). (10) is a door driving electric motor built in the driving device (9), and (11) is a four-link system for transmitting the driving force of the driving device (9) to the elevator door (1). 11) Via elevator doors (1)
Opens and closes. (12) is a closed state (CLT) sensor that indicates a door closed state, and (13) is an open state (OL) that indicates a door opened state.
T) Sensors, (14a) and (14b) are door-closed and door-opened stoppers made of an elastic body. (15) is a door control device composed of an inverter or the like for driving the electric motor (10), and (16) is stoppers (14a), (14).
The door stop metal fitting that corresponds to b), (17) is the closed state sensor (1
2) and sensor fittings for actuating the open state sensor (13).

In the elevator door having the above configuration, the door control device (15) appropriately controls the drive of the electric motor (10) of the drive device (9) to open and close the elevator door (1) via the link (11). To do.

Next, a vector control inverter circuit for driving the elevator door having the above configuration will be described.

FIG. 4 is a block diagram showing a control circuit of an inverter by vector control. The power supply of this circuit is, for example, 200V or 220V three-phase AC or single-phase AC.

In the figure, (18) is a diode bridge that rectifies the alternating current, (19) is a smoothing capacitor that smoothes the direct current rectified by the diode bridge (18), and (20) is a switching element such as a transistor or FET. The inverter (21) is a PWM unit that generates pulse width modulation (PWM) pulses. Each switching element of the inverter (20) is appropriately driven by the PWM pulse from the PWM section (21), and the pulse width is modulated, so that the diode bridge (1
The DC voltage rectified by 8) and the smoothing capacitor (19) is exchanged for a control current of the sinusoidal electric motor (10). In this way, the speed and torque of the electric motor (10) are appropriately controlled by the inverter (20). (10a) is an encoder mounted on the motor shaft. This encoder (10a)
The actual speed of the electric motor (10) is detected by. (twenty two)
Is a speed command generator that generates a speed command ωr, and (23) is an adder. The speed command ωr is added by the adder (23).
And the actual speed ωr ^* of the electric motor (10) detected by the encoder (10a) are compared to obtain the speed deviation Δωr. (24) is a motor (1
0) is a speed amplifier that calculates the required torque and outputs a torque command iq, and (25) is a slip calculation unit that generates a slip frequency ωs. This slip frequency ωs is, for example, the torque current iq and the constant torque. In the region, it is obtained by inputting the excitation component current command id which is usually a constant value.
(26) is an adder that adds the slip frequency ωs and the velocity ωr ^* detected by the encoder (10a), and (27) is a phase counter that functions as an integrator, and the motor (10)
The rotation angle θr = ∫ (ωr ^* ± ωs) dt of the magnetic field of is calculated. (28) is a phase angle calculator for calculating the phase angle θi from the torque component current iq and the excitation component current command id, (29)
Is an adder for adding the phase angle θi and the rotation angle θr of the magnetic field to calculate the actual current phase angle θ = θr + θi, and (30) is the current amplitude | I from the torque component current iq and the excitation component current command id.
A current amplitude calculation unit that calculates |, and (31) is a current command generation unit that generates U-phase and V-phase current commands from the actual current phase angle θ and the current amplitude | I |. The U-phase current command Iu is obtained as Iu = | I | · sin θ, and the V-phase current command Iv is obtained as Iv = | I | · sin (θ + 2π / 3). (32) is a DC CT for detecting the U-phase current Iu ^* and V-phase current Iv ^* of the electric motor (10), (33) is the U-phase and V-phase current command Iu from the current command generator (31), This is a current amplifier section for obtaining the current deviations ΔIu, ΔIv, ΔIw = −ΔIu−ΔIv of each phase from Iv and the control currents Iu ^* , Iv ^{* of the} U-phase and V-phase actual electric motors (10). Then, a three-phase PWM voltage command corresponding to the current deviations ΔIu, ΔIv, and ΔIw of these phases is output from the PWM section (21) as a switching signal C to the inverter (2
It is output to 0). Each component of the speed command generating section (22) to the current command generating section (31) of the control circuit of the inverter is composed of a microcomputer (40) as an arithmetic control means.

The inverter (20) is appropriately controlled through the control circuit of the inverter having the above configuration, and the speed and torque of the electric motor (10) are feedback-controlled.

Here, the principle of generation of the three-phase PWM voltage command by the PWM section (21) will be described. FIG. 5 is a waveform diagram showing the principle of generation of U-, V-, and W-phase PWM signals of a three-phase motor.

In the figure, as shown in (a), the three-phase current reference IU, IV and the IW phase generated from the IU, IV phase output from the microcomputer as the arithmetic control means of the electric motor (10) and the triangular wave carrier frequency fc are shown. The three-phase PWM as shown in (b) to (d)
Generates voltage commands UP, VP, and WP, respectively.

FIG. 6 is a time chart showing the operating principle of a vertical short-circuit prevention circuit in a base breaking circuit of a conventional elevator door controller, and FIG. 7 is a circuit diagram showing a base breaking circuit of a conventional elevator door controller. .

In the figure, (60) to (62) are vertical short-circuit prevention circuits for generating ON / OFF signals of the switching elements in the upper and lower stages of the inverter (20), and the UP, VP and WP signals of FIG. 4 are input. As a result, ON signals U1, V1, W1 of each phase and OFF signals ▲ ▼, ▲ ▼, ▲ ▼ are output. The temporal relationship between these signals is as shown in FIG. (64) is a gate circuit for driving the inverter (20), (65) is a photocoupler operated by the gate signal output from the gate circuit (64), and (66) is a base driven through the photocoupler (65). This is an amplifier circuit, and the switching element of the inverter (20) is driven by this base amplifier circuit (66). (67) to (71) are drive circuits each including a photocoupler (65) and a base amplifier circuit (66) similar to the above, and (72), (74), (7).
6) are upper arm transistors, (73), (75), (7)
7) are lower arm transistors. The upper arm transistors (72), (74), (76) and the lower arm transistors (73), (75), (77) are turned on and off so that they do not overlap by ta as shown in FIG. It is controlled by the short circuit prevention circuits (60), (61), (62). The upper and lower transistors (72) to (77) are prevented from being short-circuited.

In the control circuit of the inverter having such a configuration, the rotation speed and the driving torque of the electric motor (10) are controlled by appropriately controlling the current, voltage, frequency, etc. of the electric motor (10). There is. Further, such a vector control inverter is usually composed of a microcomputer (40) as an arithmetic control means shown by a dashed line in FIG.

Next, the hardware configuration of the microcomputer (40) as the arithmetic control means will be described.

FIG. 8 is a circuit diagram showing a circuit in which an arithmetic control circuit of a conventional elevator door controller is configured by a microcomputer.

In the figure, (41) is a CPU which is a central processing unit, and (4
2) is a ROM that stores the specified processing programs,
(43) is a RAM that stores data and the like. (44)
Is an interrupt control unit that performs interrupt processing at the sampling frequency f, and (45) is each of the U-phase and V-phase current commands Iu, Iv
A DA converter that outputs the signal, (46) an input interface for inputting each control input signal into a microcomputer (40) as an arithmetic control unit, (47) an output interface that outputs the result of the program processing, (48 ) Is an anomaly indicator consisting of a seven-segment LED indicator that displays the anomaly content by code number, (49) is a reversible counter for detecting the speed of (10) by the pulse train from the encoder (10a), (50) Is a watchdog counter that monitors the processing time of the program. When the program does not pass the specified routine within the specified time, WDOU
Output T signal. (51) is a bus which is a passage for each data.

In the elevator door control device having such a configuration, the elevator car is provided with a door cut switch (not shown) for cutting off the electric current of the electric motor (10) for driving the elevator door. Then, the door cut switch is operated to perform maintenance, inspection, adjustment, etc. of each device of the elevator door. That is, a signal from the door cut switch (hereinafter referred to as a door cut signal) is input as a door cut input I0-X to the input interface (46) of the microcomputer (40), and the microcomputer (40) serving as a calculation means outputs the first signal. The program shown in FIG. 9 is executed. FIG. 9 is a flowchart showing a processing program executed by the microcomputer when the door is cut.

In the figure, first, in step S1, the door cut input I0-
The presence or absence of X is determined. Door cut input I0-X is "Yes"
In this case, the base cutoff signal BCUT1 is output from the output interface (47) in step S2, and the inverter (20) is cut off via the gate circuit (64) in step S3. Also, in step S1, the door cut input I0-X is “none”.
In the case of, the velocity loop calculation as shown in FIG. 4 is performed in step S4, and the vector calculation is performed in step S5. After executing the series of program processes described above, the process returns to the main routine again.

By the series of program processing as described above, the drive of the inverter (20) is stopped, the opening / closing operation of the elevator door is completely stopped, and the maintenance of each device of the elevator door,
Inspections and adjustments are being made.

Note that the programs for the velocity loop calculation and the vector control calculation are not directly related here, so the description thereof will be omitted. Also, as another conventional elevator door control device,
There is also a technique disclosed in Japanese Patent Application Laid-Open No. 1-92191, which increases the drive torque of the door motor in response to an increase in the drive load of the elevator door to reliably open and close the elevator door. Since this technique is also not directly related to the above technique, its explanation is omitted here.

[Problems to be Solved by the Invention] In the conventional elevator door control device as described above,
When performing maintenance, inspection, adjustment, etc. of each device of the elevator door, from the viewpoint of ensuring safety, the door cut switch is actuated as described above, the base of the inverter (20) is shut off, and the electric motor ( The control current of 10) was cut off. Then, the electric motor (10) is forcibly stopped, the opening / closing operation of the elevator door (1) is stopped, and then maintenance and inspection are performed.

However, in the elevator door control device of this type, the door cut input I0-X is input to the input interface (46) of the microcomputer (40) as an arithmetic control unit, so that the I0-X of the microcomputer (40) is input. If the circuit is damaged, do not accept the door cut signal,
The base of the inverter (20) could not be shut off. In such a case, even if the door cut signal is issued by the door cut switch, if the elevator door (1) is erroneously output from the elevator control panel in the machine room, the elevator door (1) is output. Could open and close. For this reason, maintenance, inspection, adjustment, and the like of each device of the elevator door cannot be performed with confidence, and a more safe elevator door control device has been desired.

Then, this invention makes it a subject to provide the control apparatus of the elevator door which can cut off the control current of an electric motor reliably at the time of a door cut.

[Means for Solving the Problems] A control device for an elevator door according to the present invention is a micro controller as an arithmetic control unit for controlling an inverter (20) for controlling the drive of an electric motor (10) for opening and closing the elevator door (1). Computer (40) and the inverter (20)
A door cut input means for inputting a signal for shutting off a control current of the electric motor (10) by two systems, and an electric motor (10) directly driven by the inverter (20) according to one input signal from the door cut input means. To cut off the control current of the first
Of the current cutoff means and the other input signal from the door cut input means to the microcomputer (40) as the arithmetic control means, and through a predetermined program processing by the microcomputer (40) as the arithmetic control means. And a second current interrupting means composed of an element different from the first current interrupting means for interrupting the control current of the electric motor (10) by the inverter (20).

[Operation] In the present invention, a signal for cutting off the control current of the electric motor (10) by the inverter (20) is input from the door cut input means in two systems, and in response to one input signal from the door cut input means. The first current cutoff means directly cuts off the control current of the electric motor (10) by the inverter (20), and the second current cutoff means is responsive to the other input signal from the door cut input means. Is used to cut off the control current of the electric motor (10) by the inverter (20) through a predetermined program process by a microcomputer (40) as an arithmetic control means for controlling the inverter (20). Even if the system that cuts off the control current of one of the electric motors (10) fails, the system that cuts off the control current of the other electric motor (10) becomes Always operating, the control current of the motor (10) can be reliably cut off, thereby preventing a malfunction of the electric motor (10).

[Examples] Examples of the present invention will be described below.

FIG. 1 is a circuit diagram showing a base cutoff circuit which is a main part of an elevator door control apparatus according to an embodiment of the present invention, and FIG. 2 is a door cut of an elevator door control apparatus according to an embodiment of the present invention. It is a block circuit diagram which shows an input interface. Further, FIGS. 3 to 6, 8 and 9 are common to the embodiment of the present invention. 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. The operating principle of the inverter (20) and the inverter (20) of this embodiment
Since the control circuit and the like have been described in detail in the above-mentioned conventional example, description thereof will be omitted here.

1 and 2, (80) is a second gate circuit inserted between the conventional gate circuit (64) and the inverter (20). In this embodiment, the gate of the inverter (20) is The circuit is duplicated to form a buffer gate. These gate circuits (64) and (80) include, for example,
Texas Instruments IC SN74LS240N, SN74LS2
41N etc. are used. (80a) to (80f) are pull-up resistors. (81) is a door cut switch for cutting off the electric current of the electric motor (10) for driving the elevator door, (82)
Is an interface for transmitting a signal from the door cut switch (81). This interface (82) is the operating voltage of the microcomputer (40) that uses the contact input signal of the door cut switch (81) as arithmetic and control means.
Convert to 5V. In this embodiment, the signal from the door cut switch (81) is output via the interface (82) in two systems, the BCUT2 signal and the I0-X signal.

The second gate circuit (80) performs interruption by the BCUT2 signal shown in FIG. That is, the second gate circuit (8
In 0), U2, V2, W2 signals and ▲ ▼, ▲ ▼, ▲ ▼ signals output from the gate circuit (64) and BC from the door cut switch (81) and interface (82).
U3, V3, W3 signals and ▲ ▼, ▲ depending on UT2 signal
Output ▼ and ▲ ▼ signals to the inverter (20). The gate circuit (64) outputs the base cutoff output which is output by software processing of the microcomputer (40) when the door cut input I0-X is taken into the microcomputer (40) via the input interface (46). Shut off by BCUT1 output. That is,
The gate circuit (64) has U1, V1, W1 signals output from the upper and lower short-circuit prevention circuits (60) to (62) and ▲ ▼, ▲ ▼, ▲
▼ U2, V depending on the signal and BCUT1 signal from the output interface (47) of the microcomputer (40)
2nd W2 signal and ▲ ▼, ▲ ▼, ▲ ▼ signal
Output to the gate circuit (80).

By adopting the base cutoff circuit having the above-mentioned configuration in the elevator door control device of this embodiment, when performing maintenance, inspection, adjustment, etc. of each device of the elevator door, first, an electric motor for driving the elevator door The door cut switch (81) for shutting off the current of (10) is operated. Then, the base cutoff signal BCUT2 is output to the second gate circuit (80) through the interface (82) to directly cut off the control current of the electric motor (10) by the inverter (20). At the same time, the I0-X signal, which is a door cut signal, is taken into the microcomputer (40) through the interface (82), and the interrupt processing as shown in FIG. 9 is performed by the microcomputer (40). Then, the base cutoff output BCUT1 output is output to the gate circuit (64), and the control current of the electric motor (10) by the inverter (20) is cut off via the gate circuit (64).

As described above, the control device for the elevator door according to the present embodiment serves as an inverter (20) that controls the drive of the electric motor (10) that opens and closes the elevator door (1) and an arithmetic control unit that controls the inverter (20). And a door cut switch (81) and an interface (82) shown in FIG. 2 for inputting a signal for cutting off the control current of the electric motor (10) by the inverter (20) in two systems. The control current of the electric motor (10) by the inverter (20) is cut off via the second gate circuit (80) according to the door cut input means and the BCUT2 signal which is one input signal from the door cut input means. First to do
Current cut-off means and the other input signal I0-X from the door cut input means are fetched into the microcomputer (40), and the BCUT1 signal is gated through a program processing by the microcomputer (40). 6
4), and a second current interruption means for interrupting the control current of the electric motor (10) by the inverter (20) through the gate circuit (64).

That is, in this embodiment, by adopting the base cutoff circuit of FIG. 1 and having the door cut input means of FIG. 2, the gate circuit (64) of the base cutoff circuit,
(80) is duplicated and the door cut input means is made into two systems.

Therefore, the door cut input I0-
X is not only input to the input interface (46) of the microcomputer (40), but also when the I0-X circuit of the microcomputer (40) is damaged, the other base cutoff signal BCUT2 changes to the base cutoff circuit. Since the signal is output to the second gate circuit (80), the base of the inverter (20) cannot be shut off, and the possibility of malfunction of the electric motor (10) is eliminated. Therefore, when performing maintenance, inspection, adjustment, etc. of each device of the elevator door,
The first current cutoff means cuts off the control current of the electric motor (10) through the door cut input means, and the second current cutoff means cuts off the control current.
The control current of the electric motor (10) is interrupted through the microcomputer (40) which controls the inverter (20) by the function of the current interruption means.

Therefore, even when the system that cuts off the control current of the electric motor (10) related to either the first electric current interruption means or the second electric current interruption means fails, the other electric motor (1
Since the system that cuts off the control current of 0) operates normally,
The control current of the electric motor (10) can be cut off surely, the malfunction of the electric motor (10) can be prevented, and as a result, it becomes a highly safe elevator door control device, so maintenance and inspection of each equipment of the elevator door , And adjustments can be performed with confidence.

By the way, in the above embodiment, the door cut input means in which the output from the interface (82) becomes the BCUT2 signal and the I0-X signal has been described, but the same output signal from the interface (82) is simply used for two systems. It may be one. In short, the first current interruption means is activated by one input signal from the door cut input means,
If the second current interruption means is activated by the other input signal, the same effect as the above is obtained.

[Advantages of the Invention] As described above, the elevator door control device according to the present invention includes an inverter, an arithmetic control unit, a door cut input unit,
A first and a second current cutoff means are provided, and a signal for cutting off the control current of the electric motor by the inverter is inputted from the door cut input means in two systems, and one signal from the door cut input means is inputted. The first current cut-off means directly cuts off the motor control current by the inverter, and the second current cut-off means controls the inverter according to the other input signal from the door cut input means. The operation control means for interrupting the control current of the electric motor by the inverter, and by duplicating the current interruption means, even if the system for interrupting the control current of one electric motor fails, the other electric motor The system that cuts off the control current operates normally, the control current of the electric motor can be cut off, and the malfunction of the electric motor can be prevented. Maintenance of the devices of Tadoa, can be performed with confidence inspection and adjustment.

[Brief description of drawings]

FIG. 1 is a circuit diagram showing a base cutoff circuit which is a main part of an elevator door control apparatus according to an embodiment of the present invention.
FIG. 3 is a block circuit diagram showing a door cut input interface of an elevator door controller according to an embodiment of the present invention, and FIG. 3 is an elevator door to which the embodiment of the present invention and a conventional elevator door controller are applied. FIG. 4 is a front view showing the mechanical configuration of FIG. 4, FIG. 4 is a block configuration diagram showing a control circuit of an inverter by vector control, FIG. 5 is a waveform diagram showing the principle of generating a PWM signal of each phase of a three-phase motor, FIG. FIG. 7 is a time chart showing the operation principle of the vertical short-circuit prevention circuit in the base shutoff circuit of the embodiment of the present invention and the conventional elevator door control device, and FIG. 7 shows the base shutoff circuit of the conventional elevator door control device. A circuit diagram, FIG. 8 is a circuit diagram in which an inverter control of an embodiment of the present invention and a conventional elevator door control device is performed by a microcomputer, and FIG. 9 is a door cover. It is a flowchart illustrating a processing program executed by the microcomputer during slot. In the figure, 1: Elevator door 10: Electric motor 20: Inverter 40: Microcomputer 46: Input interface 47: Output interface 60 to 62: Vertical short circuit prevention circuit 64: Gate circuit 80: Second gate circuit 81: Door cut switch 82 : Interface. In the drawings, the same reference numerals and symbols indicate the same or corresponding parts.

Claims (1)

[Claims] 1. An inverter for controlling drive of an electric motor for opening and closing an elevator door, an arithmetic control unit for controlling the inverter, and a door cut input unit for inputting a signal for cutting off a control current of the electric motor by the inverter in two systems. A first current interruption means for interrupting a motor control current by the inverter in accordance with one input signal from the door cut input means, and the other input signal from the door cut input means for the arithmetic control. Second current cut-off means for cutting off the control current of the electric motor by the inverter by the calculation control means.