KR20100018607A - Door controller of elevator - Google Patents
Door controller of elevator Download PDFInfo
- Publication number
- KR20100018607A KR20100018607A KR1020107000269A KR20107000269A KR20100018607A KR 20100018607 A KR20100018607 A KR 20100018607A KR 1020107000269 A KR1020107000269 A KR 1020107000269A KR 20107000269 A KR20107000269 A KR 20107000269A KR 20100018607 A KR20100018607 A KR 20100018607A
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- KR
- South Korea
- Prior art keywords
- door
- output
- elevator
- floor
- control unit
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/02—Door or gate operation
- B66B13/14—Control systems or devices
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Elevator Door Apparatuses (AREA)
Abstract
In the elevator door control device, the feedforward control unit generates a first output for designating the tracking performance for the speed command by using the first transfer function, and further designates a tracking performance for the speed command. 2 outputs are generated using a second transfer function and parameters relating to elevator doors per floor. The feedback control unit generates an output for correcting the rotational error of the door motor with respect to the speed command based on the first output, the information on the actual speed of the door motor, and the parameter. The door control device generates a torque command for the door motor from the sum of the second output and the output from the feedback control unit.
Description
The present invention relates to an elevator door control device for controlling the opening and closing of an elevator door provided between a car and a landing.
In the conventional door control apparatus of an elevator, the control constant is changed according to the weight of the landing door previously stored, and the change of the speed characteristic of the door by the weight of a landing door differs for each floor is prevented (for example, refer patent document 1). ).
In addition, in another conventional door control apparatus, control history data at the time of door opening and closing is stored for each floor, and door weight for each floor is identified by door weight identification means based on the control history data. And opening / closing control of a door is performed by the control constant determined according to the identified door weight (for example, refer patent document 2).
Further, in another conventional door control apparatus, by determining the control constant from the integrated value of the deviation of the actual speed with respect to the command speed, even if the door weight is greatly changed, the door is opened and closed without changing the door opening / closing time (for example, , Patent Document 3).
[Patent Document 1] Japanese Unexamined Patent Application Publication No. 4-243791
[Patent Document 2] Japanese Unexamined Patent Publication No. 2000-159461
[Patent Document 3] Japanese Unexamined Patent Publication No. 2006-182479
In the conventional door control apparatus as described above, although the speed following performance to the difference in the door weight can be improved, the vibration of the door is not necessarily reduced by either door control apparatus.
This invention is made | formed in order to solve the above subjects, and an object of this invention is to obtain the door control apparatus of the elevator which can make high vibration suppression performance and speed following performance compatible with each floor.
The elevator door control device according to the present invention is a floor data storage unit for storing parameters relating to elevator doors per floor, a speed command for an elevator door, and a first output for designating a tracking performance for the speed command. Is generated using the first transfer function, and further generates a second output using the second transfer function and the parameter to specify the tracking performance for the speed command, and the first output and the door motor. A feedback control section for generating an output for correcting a rotational error of the door motor with respect to the speed command based on the information about the actual speed of the vehicle and the parameter, and from the sum of the second output and the output from the feedback control section, Generates a torque command for the motor.
1 is a configuration diagram showing a main part of a car door apparatus of an elevator according to a first embodiment of the present invention,
2 is a block diagram showing a door control device of FIG. 1;
3 is a graph showing the frequency response characteristics when the elevator door is modeled as a two-inertia simple model;
4 is a graph showing a relationship between a non-dimensionalized crossover frequency and a damping ratio of a vibration mode to be suppressed;
5 is a graph showing a sweep sine wave torque command of a constant magnitude;
6 is a graph showing an output from the rotation sensor for the torque command of FIG. 5;
7 is a graph showing a time command of the speed command and the lower door speed when the elevator door is opened using the door control device according to the first embodiment;
Fig. 8 is a graph showing the time change of the speed command and the door lower speed when the elevator door is opened using a conventional door control device.
Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
(Example 1)
BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram which shows the principal part of the car door apparatus of the elevator which concerns on Example 1 of this invention. In the figure, a torii (a tree crossing over a column to support a rafter) 1 is fixed to an upper part of a car entrance. On the
In the
The
FIG. 2 is a block diagram illustrating the
In the figure, the
The floor
The speed command value Vr from the
The speed command value Vr is input to both the
The
The
The
In addition, the control crossover frequency ωc is such that the damping ratio of the vibration mode of the door to be suppressed is maximum so that the attenuation is increased in order to increase the vibration suppression performance of the
The
In addition to the above, as the known external force stored in the
The torque for driving the
The
The
After passing through the low pass filter (LPF) 32, the rotation speed calculated by the
Next, the method of determining the control crossover frequency ωc in the
In the vibration of the elevator door, the primary vibration mode is dominant, and in this model of primary vibration mode, the mass of the left and right elevator doors is connected to both ends of the spring element that is equivalent to the stiffness of the
FIG. 3 is a graph showing frequency response characteristics when the elevator door of FIG. 1 is modeled between two inertial systems. FIG. In FIG. 3, for simplicity, only the proportional gain is used for the control system, and the relationship between the frequency and the gain is shown by an approximate broken line. Also shown are the resonance frequency ωp, the anti-resonant frequency ωz, the control crossover frequency ωc, and the frequency ωps at which the gain is equal to the root of the resonance peak in the low frequency band.
At this time, the damping ratio of the vibration mode to be suppressed is increased when there is a control crossover frequency ωc between the frequency ωps and the anti-resonant frequency ωz as shown in FIG. That is, in Fig. 3, when the anti-resonant notch of the anti-resonant frequency ωz and the resonance peak of the resonant frequency ωp are above and below with 0db interposed, a high vibration suppressing effect is obtained.
The control crossover frequency ωc at which the attenuation ratio is maximized can be approximated as ωc ≒ √ (ωpsωz) = ωz√ (ωz / ωp). That is, it is possible to determine based on the anti-resonance frequency ωz and the resonance frequency ωp.
As described above, the control constants such as the proportional gain and the integral gain of the
The anti-resonant frequency ωz and the resonance frequency ωp measure both the torque command value input to the
When a sine wave of a constant magnitude shown in FIG. 5 is applied as an input, the frequency of the input at the time corresponding to the minimum output value among the outputs shown in FIG. It is also possible to set the frequency of the input at the time to be the resonance frequency ωp.
The anti-resonant frequency ωz and the resonance frequency ωp may be measured at the time of normal driving in advance for each floor or by using a motor torque command value generated by a normal door opening and closing operation. The measured anti-resonant frequency ωz and the resonance frequency ωp are stored in the layer
7 is a graph showing the time command when the elevator door is opened using the
As apparent from the comparison of Figs. 7 and 8, by using the
Moreover, the highest vibration suppression effect can be obtained for each floor by raising the damping ratio of the control system with respect to the desired vibration mode generated at the time of opening and closing the door for each floor.
In addition, by vibrating the elevator door without changing the door device, it is possible to measure the anti-resonant frequency ωz and the resonance frequency ωp at the time of installation or normal door opening and closing operation.
Moreover, the speed following performance can be further improved by compensating the influence of the known external force on each floor.
(Example 2)
Next, Example 2 of the present invention will be described. In the second embodiment, the anti-resonant frequency omega z and the resonance frequency omega p for determining the control crossover frequency omega c of the
The vibration of the elevator door, that is, the equivalent rotating spring stiffness of the pendulum motion, depends on the rigidity of the
The anti-resonant frequency ωz is determined by the inertia of the elevator door with respect to the support point of the pendulum motion, the weight of the elevator door, the rigidity of the
The resonance frequency ωp can be approximated from the ratio of the inertia of the left and right elevator doors by adding the necessary parameters to the anti-resonant frequency ωz. Therefore, the weight ratio of the weight of the
The parameters of the door dimensions are given from the general entrance width or entrance height. However, the doorway width may be replaced with the horizontal length of the elevator door, the distance between the
Thus, by determining the control crossover frequency ωc of the
Claims (6)
A speed command for the elevator door is input to generate a first output for designating a tracking performance for the speed command using a first transfer function, and further for designating a tracking performance for the speed command. A feedforward controller configured to generate two outputs using a second transfer function and the parameters;
A feedback control unit for generating an output for correcting a rotational error of the door motor with respect to the speed command based on the first output, information on an actual speed of the door motor, and the parameter;
And
Generating a torque command for the door motor from the sum of the second output and the output from the feedback control unit;
Door control device in the elevator.
In the floor data storage unit, at least one of the resonance frequency and the anti-resonance frequency of the vibration of the elevator door and the data of the weight of the elevator door are stored as the parameters used by the feedback control unit. Door control device.
At least one of the resonant frequency and the anti-resonant frequency is automatically estimated from a value relating to the torque command and information relating to an actual speed of the door motor and stored in the floor data storage.
An elevator door control apparatus in which said floor data storage section stores data relating to dimensions of said elevator door as said parameters used by said feedback control unit.
An elevator door control apparatus in which said floor data storage section stores data relating to the weight of said elevator door as said parameter used by said second controller.
And a torque compensator for generating a signal for correcting the torque command by using the information on the known external force acting on the elevator door and the parameter,
Generating the torque command from the sum of the second output, the output from the feedback control section, and the output from the torque compensating section;
Door control device in the elevator.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2007/071633 WO2009060519A1 (en) | 2007-11-07 | 2007-11-07 | Door controller of elevator |
Publications (2)
Publication Number | Publication Date |
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KR20100018607A true KR20100018607A (en) | 2010-02-17 |
KR101114759B1 KR101114759B1 (en) | 2012-04-17 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020107000269A KR101114759B1 (en) | 2007-11-07 | 2007-11-07 | Door control device for an elevator |
Country Status (5)
Country | Link |
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JP (1) | JP5079013B2 (en) |
KR (1) | KR101114759B1 (en) |
CN (1) | CN101687614B (en) |
DE (1) | DE112007003699B4 (en) |
WO (1) | WO2009060519A1 (en) |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20100302526A1 (en) * | 2008-11-13 | 2010-12-02 | Nikon Corporation | Drive control method for moving body, exposure method, robot control method, drive control apparatus, exposure apparatus and robot apparatus |
JP5544885B2 (en) * | 2010-01-06 | 2014-07-09 | 三菱電機株式会社 | Elevator door device and its control device |
JP5585218B2 (en) * | 2010-06-01 | 2014-09-10 | 三菱電機株式会社 | Elevator door control device |
JP5573456B2 (en) * | 2010-07-23 | 2014-08-20 | 日産自動車株式会社 | Vibration control device for electric vehicle and vibration control method for electric vehicle |
WO2012127607A1 (en) * | 2011-03-22 | 2012-09-27 | 三菱電機株式会社 | Elevator door control device |
JP2012240792A (en) * | 2011-05-19 | 2012-12-10 | Toshiba Elevator Co Ltd | Elevator door control device |
CN102491154B (en) * | 2011-11-30 | 2014-04-16 | 广州日滨科技发展有限公司 | Communicating method of door machine driving system and main microcomputer and door machine driving system |
JP6467372B2 (en) * | 2016-03-22 | 2019-02-13 | 株式会社日立ビルシステム | Elevator control device and elevator control method |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
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JPS6118690A (en) | 1984-07-05 | 1986-01-27 | 株式会社東芝 | Controller for elevator door |
JPH07106860B2 (en) * | 1989-04-26 | 1995-11-15 | 三菱電機株式会社 | Elevator door controls |
JPH04243791A (en) | 1991-01-28 | 1992-08-31 | Hitachi Building Syst Eng & Service Co Ltd | Control device for elevator door |
JP3274070B2 (en) * | 1996-08-08 | 2002-04-15 | 三菱電機株式会社 | Motor control method and motor control device |
JP4243791B2 (en) * | 2000-02-18 | 2009-03-25 | 裕 鈴木 | Anti-contamination cover, anti-contamination kit and anti-contamination catheter kit |
JP4289570B2 (en) | 1998-11-30 | 2009-07-01 | 三菱電機株式会社 | Elevator door control device |
JP4420158B2 (en) * | 2000-07-26 | 2010-02-24 | 三菱電機株式会社 | Motor speed control device |
EP1544152B1 (en) | 2002-09-27 | 2012-02-08 | Mitsubishi Denki Kabushiki Kaisha | Elevator door controller |
JP4245372B2 (en) | 2003-02-24 | 2009-03-25 | 東芝エレベータ株式会社 | Elevator door control device |
JP2006182477A (en) * | 2004-12-27 | 2006-07-13 | Toshiba Elevator Co Ltd | Door controller of elevator |
JP2006182479A (en) * | 2004-12-27 | 2006-07-13 | Mitsubishi Electric Corp | Controller of elevator door |
WO2007028850A1 (en) | 2005-09-05 | 2007-03-15 | Kone Corporation | Elevator arrangement |
-
2007
- 2007-11-07 CN CN200780053602.1A patent/CN101687614B/en active Active
- 2007-11-07 WO PCT/JP2007/071633 patent/WO2009060519A1/en active Application Filing
- 2007-11-07 KR KR1020107000269A patent/KR101114759B1/en active IP Right Grant
- 2007-11-07 JP JP2009539904A patent/JP5079013B2/en active Active
- 2007-11-07 DE DE112007003699.0T patent/DE112007003699B4/en active Active
Also Published As
Publication number | Publication date |
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DE112007003699T5 (en) | 2010-11-25 |
CN101687614A (en) | 2010-03-31 |
JPWO2009060519A1 (en) | 2011-03-17 |
DE112007003699B4 (en) | 2018-08-30 |
JP5079013B2 (en) | 2012-11-21 |
KR101114759B1 (en) | 2012-04-17 |
WO2009060519A1 (en) | 2009-05-14 |
CN101687614B (en) | 2012-12-05 |
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