200410891 玖、發明說明： 【發明所屬之技術領域】 本發明係關於昇降機門之控制裳置，尤指能提供昇降 機使用者兼具較高安全性與舒適性的昇降機門之控制裝 置。 、 【先前技術】 昇降機門係相當於昇降機I 八幵~执與其使用者間的介面部 7刀’ 4求能提供使用者兼|安全拇 /、女王性與舒適性的功能。 戈广”安全性問題」係指如何減輕使用者被昇降機門 或卡住等事故所致災害的問題。針對此問題，將門 速度減慢乃屬有效的解決策略之一。 1 此外，所謂「舒適性問題 〇卩夂她 硬」ί；^日如何控制使用者使用 汁降機之際的等待時間之問 使用 者及早迗往目的樓層乃屬有 更用 縮短門之開關時η乃^ *而加快門速度、或 之開關日守間乃屬有效的解決策略之一。 如上述’在昇降機門之壯 、 適性的問題乃屬重要嗶題 ^ 衣 ，兼具安全性與舒 j蜀里旻。果碭，針對此種 門之控制裝置，係椟田n 白知的昇降機 ’丁、才木用馬達（執行門 (馬達電产浐八、的次、巧關驅動）轉矩指令 迻兒机才日令）的貢料，俾達 (譬如參照專利文獻丨）。 /、王人舒適性之目的 關於安全性方面，乃採用 門的門驅動用馬達之門、亲序、又抆制°卩（控制驅動昇降機 容人 t X輪出的轉矩指今杳1 &、去， 女全之目的。具體而言 扣7貝汛而達到 〇ef| u，, 〇 ^ ^矩指令，與通稱Ag ^ 剃杈式的門異常判斷 、袼為過負載檢 1⑺很八進行比較，去絲 竿乂田轉矩指令超過過 315083 5 負載檢測模式之時，便判 /担山 爿畸為屬於門開關動作里常。另外， 在提南Η開關動作異常檢、、……“ u另外 ^ 則筮敏度俾提昇安全性方而，^ 令即變小的關係，從：:：=:門質… 負載檢測模式。具體而言％ !=，擇該處的過 $ M ^ 'at ^ -V a 貝里車乂大日亇便選擇較大的過 式。“1 ^1#量較小時便選擇較小過負載檢測模 中一擇卜Γ於：適性方面’乃藉由從複數馬達速度模式 中廷擇一個經考慮轉矩指八r民、告帝 ^ 7 (馬達电 指令）大小的適當 馬達速度核式而達到舒杳 ^ ρη m ^ ^ 、之目的。具體而言，根據每個樓 層的門質量與轉矩指令 无 7大小，從禝數馬達速度模式中選擇 適S的馬達速度模式，以利 θ ^ 乂利用門貝置較大時轉矩指令即變 大’門貝置較小時轉矩指令 7丨又〗之關係，使母個樓層轉 矩4曰令大小大致相同。 [專利文獻1]:曰本專利特開2000_159461號公報 即’在習知昇降機門之批法丨| # $ ^ + ^ 千俄门之控制I置中，考慮轉矩指令大 小，而選擇符合各樓層之門暂 所曰 a足n貝里的馬達速度模式，俾使門 貝里車父大日守門速度變^ *降，pq片^·曰> J ^反[又〖又，門質量較小時門速度即變快。 但是’因下述理由，而右|、、也、去 、， 有…、法達到兼具安全性與舒適性之 最佳門速度的問題。 為了解上述問題，必須具備門動能方面之安全性與舒 適性的基本常識。 關於昇降機門之安全性與舒適性方面，在國外規格 (如：美國機械技術協會規格ASME(Amedcan Socieb时 315083 6 200410891200410891 (1) Description of the invention: [Technical field to which the invention belongs] The present invention relates to a control device for an elevator door, and more particularly to an elevator door control device capable of providing a user of the elevator with high safety and comfort. [Prior technology] The lift door is equivalent to the lift I Hachiman ~ the interface between the user and the user. The knife 7 '4 can provide users with functions of safety, queen, and comfort. Ge Guang's "security problem" refers to how to mitigate the disaster caused by accidents such as the elevator door or stuck. In view of this problem, slowing down the door speed is one of the effective solutions. 1 In addition, the so-called "comfort problem 〇 卩 夂 She hard"; How to control the waiting time of the user when using the juicer? The user should go to the destination floor as soon as possible to shorten the door switch. η is ^ *, and speeding up the door speed, or opening and closing the gate is one of the effective solutions. As mentioned above, the question of the strength and suitability of the elevator door is an important question. It has both safety and comfort. As a result, for this kind of door control device, it is Putian n Baizhi's elevator 'Ding, Caimu motors (executive door (motor electric production 浐, times, Qiao close drive) torque instruction (Daily order), and up to the day (for example, refer to Patent Literature 丨). / 、 The purpose of the king's comfort is safety. The door is driven by a door-driven motor door, which is procedural and controlled. (Controlling the torque of the drive lift capacity t X wheel refers to 杳 1 &, Go, the goal of women's all. Specifically, deduct 7 beijing to achieve 〇ef | u ,, 〇 ^ ^ moment command, and commonly known as Ag ^ shaver-type door abnormality judgment, 袼 for overload detection 1⑺ very eight For comparison, when the torque command of the wire rod Putian exceeds 315083 5 load detection mode, it is judged that the load is abnormal in the door switch operation. In addition, in the abnormal detection of the switch operation in Tinamou, ... " u In addition, ^ is more sensitive to improve safety, and ^ is to reduce the relationship from ::: =: door quality ... load detection mode. Specifically,%! =, choose $ M ^ 'at ^ -V a Bailey car 乂 big sundial will choose a larger passing formula. "When the amount of 1 ^ 1 # is small, choose a small overload detection mode. Select from: adaptability' is borrowed By selecting a proper motor speed from the plural motor speed modes, taking into account the torque refers to the size of the motor and the emperor ^ 7 (electric motor command). The core type is used to achieve the goal of 杳 ^ ρη m ^ ^. Specifically, according to the door quality and torque command of each floor, there is no 7 size. From the number of motor speed modes, a motor speed mode suitable for S is selected to The advantage θ ^ 乂 uses the relationship that the torque command becomes larger when the door is set larger, and the torque command 7 when the door is set is smaller, so that the torque of the parent floor 4 is approximately the same. [Patent Literature 1]: Japanese Patent Laid-Open Publication No. 2000_159461 means' in the conventional method of approving elevator doors 丨 | # $ ^ + ^ The control of the Thousand Russian Gate I is set, considering the torque command size, and choosing the door that matches each floor For the time being, the motor speed mode of a foot n berry has caused the speed of the doorkeeper of the door to change. ^ *, Pq piece ^ · said > J ^ Reverse [And again, when the door quality is small The speed becomes faster. However, 'for the following reasons, there is a problem that the right ,,,,,, and to the best door speed that has both safety and comfort. To understand the above problems, you must have a door. Basic knowledge of safety and comfort in terms of kinetic energy. About the safety and comfort of elevator doors Surface, in foreign specifications (such as: ASME (Amedcan Socieb 315083 6 200410891)
Mechamcai Engineers)第112·4條）中，即針對門關閉動作 制定有門動能之相關規範。所謂「門動能」，具體而言，乃 如下述式（1)所示，利用門質量（正確而言為門單位質量、 與以機械式連結於門的各構件之質量總和）及門速度而求 得。 又二 動能=(1/2)χ (門質量）χ (門速度）2 (1) 因此為符合上述國外規格標準值，便必須改變門速度 (即馬達速度）以與門質量相對應。 ^ 此外，補充說明此動能，門速度乃表示平均速度，關 於此點在上述國外規格等之中亦有明確記載。具體而言， 乃利用下式（2)求得。 /、肢· σ 平均關門速度气門從全開至全關的移動距離)/(移動時間）⑺ 央此處的移動時間亦有規範’譬如當屬於中 广兄時，移動時間便設定為在門全開與全關之 :動距封各扣除25[mm]時，門移動於該部分所需的時 採用此平均速度的動能規範值，具體而言係設 為1〇[…、耳](Joules)以下。 M二述中’通常雖僅指關門時的動能規範，但是不僅 射’日”即便開門時’數值雖 營裡 .Θ ^ &〜用相同的動月& 应關門心：門安全上亦屬有㉛。因此在下文中，開η Η寸之動忐皆可依同樣方式加以定義。 速度：ίΓ/說明採用平均速度作為評估動能時的巧 月况，但是在考慮衝擊性損傷的安全性之前提下， 315083 7 200410891 以採用瞬間速度（即最大速度）較為適當。因而，在下文中 上式（1)所示動能的門速度，可採用平均速度或最大速度 然而，動能規範值則依所用的速度而有不同。 其次’將闡明此動能、與安全性及舒適性間之相關 性。在安全性的問題方面，當使用者被昇降機門夾住、或 卡住之際，應可輕易理解到人體所受的災害程度，乃與門 動能的大小成比例關係，因此推知僅要儘可能的減小門動 能即可。Mechamcai Engineers (Article 112 · 4), that is, the relevant specifications for door kinetic energy are formulated for door closing actions. The so-called "door kinetic energy" specifically uses the door mass (the door unit mass, the total mass of each member mechanically connected to the door) and the door speed as shown in the following formula (1). Find it. Another two kinetic energy = (1/2) x (door quality) x (door speed) 2 (1) Therefore, in order to meet the above-mentioned foreign specifications and standards, the door speed (ie motor speed) must be changed to correspond to the door mass. ^ In addition, to explain this kinetic energy, the door speed indicates the average speed, and this point is also clearly recorded in the above-mentioned foreign specifications. Specifically, it is calculated | required by following formula (2). /, Limb · σ Average closing speed The moving distance of the valve from fully open to fully closed) / (moving time) ⑺ There is also a standard movement time here, for example, when it belongs to Zhongguang brother, the movement time is set to be at the door Fully open and fully closed: When the dynamic distance seal is deducted by 25 [mm] each, the standard value of the kinetic energy of the average speed is used when the door moves in that part, specifically set to 10 […, ear] (Joules )the following. In the second description of M, 'usually only refers to the kinetic energy specification when the door is closed, but the value is not only when shooting the' day ', even when the door is opened.' It belongs to ㉛. Therefore, in the following, the movement of opening η Η inch can be defined in the same way. Speed: ΓΓ / Explanation The average speed is used to evaluate the kinetic energy of the moon, but before considering the safety of impact damage As mentioned, 315083 7 200410891 is more appropriate to use the instantaneous speed (that is, the maximum speed). Therefore, in the following, the door speed of kinetic energy shown in the above formula (1) can use the average speed or the maximum speed. However, the standard value of the kinetic energy depends on the used. Speed varies. Secondly, 'the kinetic energy, and the correlation between safety and comfort will be clarified. In terms of safety, when the user is caught or stuck by the elevator door, it should be easy to understand The degree of disaster experienced by the human body is proportional to the magnitude of the kinetic energy of the door, so it is inferred that it is only necessary to reduce the kinetic energy of the door as much as possible.
再者’在舒適性的問題方面，為縮短昇降機等待時 間、並且及早移動至目的樓層，最好加速門速度（縮短門^ 關時間）’因而僅需儘可能增加門動能即可。 在此得知安全性與舒適性均可用門動能加以規範，同 時在可遵守此情況下之門動能規範的範圍内，儘可能加速 門速度，或者縮短門開關時間之動作皆與安全性與舒適= ㈣衣夏甲，因為僅 考慮轉矩指令大小，但是並未具有計算、評估門動 構的構件，目而在可遵守動能規範的範圍下， 厂 極限利用動能規範的形式下’並無法達成所界定之力 速度、或縮短門開關時間的門速度最佳化 ： 有安全性與舒適性之最佳化顯為不足的問題。思味者尚 本發明乃用以解決上述問題者，豆 ^ ^ ^ ^ 八 的乃在於提供一 種在可遵寸動能規範的範圍下，加快門速 杈仏 關時間，俾達門速度最佳化的昇 3、、’佰短門開 汁I牛祛門之控制裝置。 315083 8 【發明内容】 本發明的昇卩备祕日日 度模式中所選出之^之控制裝i ’係將對應複數馬達速 機門之驅動機m ΐ速度模式的轉矩指令，輸出至昇降 呈備有 i執仃上述昇降機門之開關控制；其中 數的Η 樓層的昇降機門質量，計算各樓層之門失 算-果I二: 及根據上述門參數計算機構的計 —^，、°樓層分料擇上述複數馬達速度模式中之任 的速产：t :關控制各樓層之昇降機門的馬達速度模式 白勺連度杈式逛擇機構。 【實施方式】 (第1實施形態） 壯臾’圖所不係本發明第1實施形態的昇降機門之控制 衣且例之構造圖。士D第i圖所示’驅動昇降機門的昇降機 門㈣部之門驅㈣μ 1之馬達轴，直接連接於脈衝產 生-2 —此脈衝產生态2係產生表示門驅動用馬達1位置 的脈衝資tfl。此夕卜，電流檢測器3係檢測出門驅動用馬達 】的負載電流^’驅動用馬心假設為如向量控制感應馬 達、或直流無刷馬達（Brushless DC Motor)等。 在速度指令部4中，儲存有數個預定的馬達速度模 式，並將對應於此存有數個馬達速度模式的速度指令輸 出。加算部5係將此速度指令部4所輸出的速度指令、與 從脈衝產生器2經由速度轉換部所獲得之實際馬達速度 (回授速度）間的速度偏差輸出。速度控制部6係以對應於 加算部5輸出之速度偏差的轉矩指令，將對應於該轉矩指 9 315083 令的馬達電流指令輸出至門驅 # T h · 叱動用馬達Ϊ，而控制速度。 用力嘗A m 5 ’速度控制部6輸出的馬達電流指令，利 用加异部取得與電流檢測哭 之電f # # 、，Μ1 σσ所測出的實際馬達電流間 按照所輸入之電流偏差，而電流控制部10係 m ^4 產生驅動門驅動用馬達丨的負 載“，以控制馬達i的速度。在 控制部係根據來自脈衝產生哭2的仏一 量控制。 Γ產生a 2的相位貧訊，而達成向 =者二門質量記憶部7中’預先記憶著每個樓層的 ，：二動:計算機構9乃根據昇降機門之每個樓層質 樓層之門參數的門參數計算機構，並根據門 内的每個樓層之門質量、與平均速度或速度 ““寻門速度貧訊，計算門動能並當作門參數用。 速f模式選擇機構10係根據動能計算機構9的計算 結果’採用從儲存方\ #人 仔方、違度私令部4之數個馬達速度模式中 所選到的馬達速度模式，並經速度指令部4輸出速度指 令。另外，，第i圖之虛線部内’乃表示與普通昇降機門之 控制t置為相同或相當之部分。 方、下文中，5兒明本第1實施形態昇降機門之控制裝置 選擇馬達速度模式之動作。因為開門動作與關門動作可為 完全相同之動作，因而在此僅說明關門動作。 首先將°兒明述擇馬達速度模式的基本動作，接著為 求合易理％將舉出選擇馬達速度模式動作之具體例。選擇 馬達速度杈式的基本動作，係以某種馬達速度模式驅動門 315083 10 200410891 關閉後’以動能計算機構9 ’根據門質量記 資料之門質量與平均速度或速度過程值等門逆。中樓層 算每個樓層的動能。 、度貝料’計 將藉由反覆計算數種馬達速度模式 所獲各馬達速度模式的動能值，存入各樓層=之動能 而言，乃以速度模式選擇機構1〇’在符合所期望之門 限制的各種馬達速度模式中，選擇 月匕 的馬達速度模式，作為各樓層的馬達速度=關日才間最短 再者’上文中，以速度模式選擇機構1〇，選 門開關時間最短的馬達速度模式，作為 =層 模式，但並不僅限於此，各樓層的馬達速度W =又 可在符合所期望之門動能限制的各個馬達速度模=: 擇可獲得最大門動能的馬達速度模式。 》 ^ 藉此利用每個樓層選擇符合所需門動能限制的 速度核式，俾達較高安全性。此外，藉由在符合所 旎限制的牵巳圍内’選擇門動能較大的馬達速度模式，俾達 優越的舒適性。 而且，亦可將包含上、下限條件，也就是基於 # 圍内門動能之選擇條件，作為上述門動能之限制值。粑 再者，動能計算中採用為門速度資料的平均速度，除 依照上述規格，採用式⑺而獲得之外，其餘尚可採用將門 速度（門過程值）進行時間積分後的值，除以門開關時間後 的二值結果(近似值)。因而在帛〗圖中，言十算動能的動能 计异機構9 ’乃將此門速度資料設定為平均速度或速度過 315083 11 200410891 程值，以作為輸入之門速度資料之一。 速度柄式選擇機構1 〇係在符合所期望門動能限制的 馬達速度模式中，當各樓層門開關時間最短的馬達速度模 式具有複數個時，選擇最大門速度為最小之馬達速度模式 作為速度指令。 其次’採用第2圖所示之動作說明圖，說明選擇馬達 速度杈式動作之例。在此，針對速度指令部4之速度模式 。己L卩的儲存方式，係在數個馬達速度模式中，將門開關 時間從較短時間依序排至較長時間之限制形式之情況，說 月k擇馬達迷度;^式的動作。其中，此處之所有馬達速度 模式係設定為從全開至全關的Η移動距離為相同的馬達速 、：'先“如第2圖所不’將初始值的馬達速度模式設定 為如速度模式Β，益勃；f千鬥μ μ 乂 ^ 卫執订門關閉驅動，計算此時的動能， 確認是否符合動能限制。者 曰 剌田未付合動能限制之時，因為能 虿偏大，而將速声描斗、， 妨八動〜μ, Ή 1段0級)變為速度模式c，當 , 口為此$偏小，而將速度模式升高1 •k (1級）》交為速度模式A。 重複此^作，在符+㈣㈣ 式。將此確定動作依每個樓層 更雀疋馬達速純 ^ H it ic, Ff if n ^更可利用本第1貫施 ❿〜違取汁k钺門之控制裝置。 此處之例中，太、占 在逮度指令部4内的读$ M 4々卜立# 令’因為所記憶的某些'速度杈式s““ 式)’已經將關門時間從較 ：度杈式(關門速度模 依序排至較長時間，因而 315083 12 200410891 可輕易達到門速度之最佳化。 ，另夕卜上文雖僅况明關門動作，但是開門動作亦可同 樣達成門速度之最佳化。 id依…、本第1實施形態的昇降機門之控制裝 置’因每個樓層可在遵守動能規範的範圍…加快門速 ㈣快、或縮短門開關時間至最短之方式，侧速度 的最佳化，而可提供真卩久加^ l 捉1、汁降機使用者兼具安全性與舒適性的 昇降機門之控制裝置。 ^再者在符合所期望門動能限制的上述複數馬達速度 式中田選擇各樓層門開關時間較短之馬達速度模式， 為口樓層之馬達速度模式時，便可在遵守動能規範的範 圍内，以加快門球；^ Π迷度或縮短門開關時間之方式，達成門 速度的最佳化。 再者’ S付合所期望之門動能限制的馬達速度模式 :，樓層η開關時間最短的馬達速度模式具冑數個時， 、擇瑕大門速度為最小的馬達速度模式便能找到可在遵守 :此規靶的牦圍内，以加快門速度至最快、或縮短門開關 吩間至取短之方式而達到門速度最佳化之唯一解。 (弟2貫施形態） ^第3圖所示係本發明第2實施形態的昇降機門之控制 裝f例之架構圖。在第3圖中，與第i圖所示之第！實施 形恶為相同70件符號者乃表示相同或同等構件，因而省略 兒月新。又構件門/馬達速度轉換部8為檢測出速度轉換部 幸別出的貫際馬達速度，而將實際馬達速度轉換為門速度。 13 315083 200410891 此外’門質量計算機構i i係根據門/馬達速度轉換部8所 轉換的門速度、與速度控制部6輸出的轉矩指令，計算門 質量。 "" 換句。舌次本第2貫施形態的昇降機門之控制裝置架 構，雖大致如同第i圖所示第i實施形態的昇降機門之控 制裝置架構，但與將馬達速度轉換為門速度的⑴馬達速度 轉換部8、以及利用門/馬達速度轉換部8所獲得之門速 度、及速度控制部6輸出的轉矩指令，進行演算而計算門 質量的門質量計算機構u之部分，則有所不同。 以下主要係說明該不同之部分。第]圖所示之第！實 施形態的昇降機門之控制步詈由 ^工制衣置中，門質量記憶部7係預先 記憶著每個樓層的門質量。相科 贷 里相对於此’弟3圖所示之本第 2實施形態的昇降機門之控制襄置中，門質量記憶部7係 4者根據H/馬達速度轉換部8所獲得之門速度、與速度 控制部6輸出的轉矩指令，並 〜用門貝里汁异機構1 1進行 計算的門質量。 其-人’說明上述門質晉斗瞀 旦 、 、里°十^枝構11計算各樓層門質 里之方法。在此為簡化說明，# y <丁'採用具有非以聯動機構而 以皮f直接將門驅動馬達1 之轉矩傳遞至門部之門機構的 門i (Door Type)作為對象， 此門枝構之構造上的特徵， 乃在於電源切斷時，因番旦 作用於„ μ 重里所產生的非線性聯動，而形成 乍用方；門上之機械性關門保持力。 此處的門型係具有門速度 读 度每馬達速度、門加速度與馬 建加連度为別形成線性關 你亦即以固定倍數增加之關係 315083 14 200410891 之4寸徵。在下文之說明中，得知可輕易地以門速度代替馬 達角速度，並以門加速度代替馬達角速度。另外，第3圖 所示係以門速度作為門質量計算機構11之輸入的架構 圖0 再者，此時門型之動能模式，當將門馬達動作的總轉 矩設定為T、將馬達轉矩指令設定為Tm、將因產生非線^ 聯動所形成的轉矩設定為T1、將固定之關門轉矩設定為 T2、將從門驅動用馬達1所觀看到的門慣性（除門體之外、 尚包含滑輪、門驅動用馬達1本身等的慣性在内之可動部 慣性）設定為J、將馬達角加速度設定為a、將隨門移動時 的私動阻抗（摩擦力）而產生的轉矩設定為b之時，便可化 設下式所示忽略速度黏性項的近似式。 又 T = J-a + b (3) 其中， T=Tm+Tl+T2 ⑷ 在此採用式（3)、（4)求取門慣性j之時，利用測量便可 取知的貝料，乃利用馬達角速度（對應於門速度）的差分叶 算，便可求得的馬達加速度a與馬達轉矩指令丁爪，利用 產生非線性聯動所形成的轉矩T1、及一定關門轉矩T2二 無法直接測量。 惟，藉由利用產生非線性聯動等之質量或形狀為已知 事項者如供門開關位置之資料，可事先利用函數計算預先 求取產生非線性聯動所形成的轉矩T1及固定之關門轉矩 丁2。在此將事先求得的產生非線性聯動所形成之轉矩η 315083 15 200410891 及固疋之關Η轉矩Τ2，加上馬達轉矩指令Tm之值當作門 總轉矩T，門總轉矩丁與馬達角加速度^可利用最小平 片旦长取各層樓的門慣性J ’並可由該門慣性j算出門 質量。 所以二在本第2實施形態的昇降機門之控制裝置中， :上边第1 Λ施形態的昇降機門之控制裝置，採用此門 I量計算機構U所計算求得之門質量而計算出動能，並根 =速度模式選擇機構1G選擇可達成門速度最佳 達速度模式。 如^，，依照本第2實施形態的昇降機門之控制裝 ^ ’在計算動能上所需要的每個樓層之門質量，利用根據 式（3)的數值演算處理便可自管 ^ 凹" 目動计r出，由於不需要勞師動 、了攸如尺寸、材質等構件資料求出門質量，而可防止人 算出錯誤門質量之現象發生，因此可獲得高精度 貝里’進而獲得高精度動能計算結果。 所：’能以極高之精確度達成在可遵守每個樓層動能 規範的乾圍内，腺門# ^ t度加速至隶快（縮短門開關時間）的 上度取4化，結果便可提供昇降機使用者兼具高安全性 每舒適性的昇降機門之控制裝置。 (第3實施形態） 第4圖所示係本發明第3實施形態的 例架構圖。在第4圖中，與第丨圖所示之第= ，為相同元件符號者乃表示相同或同等構件，因而省略說 月新。又構件速度限制值計算機構9a，係根據各樓層昇降 315083 16 200410891 機=的貝！，算出各樓層門參數的門參數計算機構，以取 代第1 的動能計算機肖9，並根據門質量記憶部7中各 f層之升降機門質量、與根據式⑴的預定門動能限制值， 算出各樓層之平均門速度限制值。 本乐3貫施形態的昇降機門之控制裝置，係在速度限 制：：算機構9a中，採用符合樓層資料中各樓層之昇降機 門貝里、與根據式⑴的預定門動能限制值，預先計算各樓 層之平均門速度限制值。另外 力外，此千均門速度的限制值， 乃指符合門動能限制值上所兩 听而之千均門速度條件。此門動 能限制值未必僅限於上限，介 — κ上丨良，亦涵盍者下限，換句話說，亦 可設定為具有一定範圍之門動能的選擇條件。 速度模式選擇機構1〇，救 係知用作為速度限制值計算機 構9a之平均門速度條件的 …… 又仏件的限制值’在符合所期望門動能限 制的各個馬達速度模式中，盥先 ”无則 樣，選擇各樓層門 關時間最短的馬達速度模式七 ^ ^度杈式，作為各樓層的馬達速度模 式，並從速度指令部4輸出速度指令。、 再者，速度模式選擇機構丨〇 短的W……士當上述門開關時間最 短的馬達速度杈式具有複數個之 丨月/兄吩，亦可於該等馬章 速度模式中，選擇最大門速度A 于3建 輸出速度指令。 又供 士再者’速度模式選擇機構10雖選擇各樓層之門開關 %間瑕短的馬達速度模式，作為每個樓層的 式，但是並不僅限於此，例如亦 值的各個馬達速度模式中，選擇 又限制 禪k仔攻大平均門速度的馬 315083 17 200410891 達速度模式。 如上述，即使根據本第3實施形態的昇降機、„ 城門之控制 裝置，亦可達如同上述第1實施形態相同的致果。 (第4實施形態） 冉者 依肽上述弟1至第3實施形態的昇降機門之押 制裝置的話，雖門參數計算機構係採用動能計算機構^ = 速度限制值計算機構9a計算門參數，但是亦可考庹取代= 等構造，具備預先記憶著與複數馬達速度模式與昇降= 貝$具對應關係的對照表（表）之對照表記憶機構。“In addition, in terms of comfort, in order to shorten the waiting time of the elevator and move to the destination floor early, it is better to accelerate the door speed (to shorten the door closing time). Therefore, it is only necessary to increase the door kinetic energy as much as possible. It is learned here that both safety and comfort can be regulated by door kinetic energy. At the same time, as long as the door kinetic energy specification in this case can be observed, the speed of the door can be accelerated as much as possible, or the action of shortening the door opening and closing time is related to safety and comfort. = ㈣ 衣 Hagar, because only the torque command size is considered, but there is no component to calculate and evaluate the dynamic structure of the door, so within the scope of compliance with the kinetic energy specification, the plant limit use of the kinetic energy specification 'cannot be achieved Optimization of the defined force speed or door speed to shorten the door opening and closing time: There is a problem that the optimization of safety and comfort is insufficient. The inventor of the present invention is to solve the above problems. ^ ^ ^ ^ Eight is to provide a speed within the range of compliance with the kinetic energy specifications, speed up the closing speed of the door speed branch, optimize the door speed The control device of the liter 3, 'bai short door open juice I cattle remove door. 315083 8 [Summary of the invention] The control device ^ selected in the day-to-day mode of the present invention is used to output the torque command corresponding to the driving machine m 复 speed mode of the plurality of motor speed doors to the elevator. Presented i executes the above-mentioned lift door opening and closing control; among them, Η the lift door mass of each floor, calculates the door miscalculation of each floor-Fruit I 2: and according to the calculation of the above-mentioned door parameter calculation mechanism-^ ,, ° floor points It is expected that any one of the above-mentioned multiple motor speed modes is used for rapid production: t: The motor speed mode that controls the elevator doors on each floor is connected with a fork-type selection mechanism. [Embodiment] (First Embodiment) The structure of the elevator door control system according to the first embodiment of the present invention is not shown. The driver shaft of the elevator door of the elevator door driving the elevator door μ1 shown in Figure i. I. Is directly connected to the pulse generator -2-this pulse generator 2 generates pulse data indicating the position of the door drive motor 1 tfl. In addition, the current detector 3 detects the load current of the door driving motor. The driving current is assumed to be, for example, a vector control induction motor or a brushless DC motor. The speed command unit 4 stores a plurality of predetermined motor speed modes, and outputs speed commands corresponding to the plurality of motor speed modes. The adding unit 5 outputs a speed deviation between the speed command output from the speed command unit 4 and the actual motor speed (feedback speed) obtained from the pulse generator 2 via the speed conversion unit. The speed control unit 6 outputs a torque command corresponding to the speed deviation outputted by the adding unit 5 to the motor drive command corresponding to the torque index 9 315083 command to the door drive # T h · The motor for movement Ϊ to control the speed . Try the motor current command output from the speed control unit 6 with A m 5 ', and use the addition and difference unit to obtain the electric current detected by the current detection cry f # # ,, M1 σσ according to the input current deviation, and The current control unit 10 generates m ^ 4 to drive the gate drive motor 丨 to control the speed of the motor i. The control unit controls the amount of pulse 2 generated by the pulse. Γ generates a phase lean of a 2 In order to achieve the goal, the two-door quality memory section 7 'remembers each floor in advance': two moves: the calculation mechanism 9 is a door parameter calculation mechanism based on the door parameters of each floor of the elevator door, and according to the inside of the door The mass of the door on each floor, and the average speed or speed, are poor. The kinetic energy of the door is calculated and used as the parameter of the door. The speed f mode selection mechanism 10 is based on the calculation result of the kinetic energy calculation mechanism 9.方 \ # 人 仔 方, Violation Private Order 4 Motor speed mode selected from the several motor speed modes, and the speed command is output via the speed command section 4. In addition, the “i. The control t of the elevator door is set to be the same or equivalent. In the following, the control device of the elevator door in the first embodiment of the present invention selects the motor speed mode. Because the door opening and closing operations can be exactly the same. Therefore, only the door closing operation will be described here. Firstly, the basic operation of selecting the motor speed mode will be described in °, and then a specific example of the operation of selecting the motor speed mode will be given for the reasoning. Selecting the motor speed fork type The basic action is to drive the door in a certain motor speed mode. 315083 10 200410891 After closing, 'the kinetic energy calculation mechanism 9' is based on the door mass and the door mass and average speed or speed process value of the door. The middle floor counts each floor. Kinetic energy. The meter will calculate the kinetic energy value of each motor speed mode by repeatedly calculating several motor speed modes, and store it in the kinetic energy of each floor =. In terms of kinetic energy, the speed mode selection mechanism 10 ' Among the various motor speed modes limited by the desired gate, select the motor speed mode of the moon dagger as the motor speed of each floor = off day Short again, above, the speed mode selection mechanism 10 is used to select the motor speed mode with the shortest door opening and closing time as the = floor mode, but it is not limited to this. The motor speed W = on each floor can also meet the expectations. Speed mode of each motor for door kinetic energy limitation =: Select the motor speed mode that can obtain the maximum door kinetic energy. ^ ^ By this way, use each floor to select the speed kernel that meets the required door kinetic energy limitation, and achieve higher safety. In addition, By selecting a motor speed mode with a larger door kinetic energy within the pull range that meets the limits, superior comfort is achieved. Moreover, it can also include the upper and lower limit conditions, which is based on # The selection condition is used as the limit value of the above-mentioned door kinetic energy. Furthermore, the average speed of the door speed data is used in the calculation of the kinetic energy. In addition to the above specifications and obtained by using formula ⑺, the remaining door speed (door process value) can also be used. ) The value after time integration is divided by the binary result (approximate value) after the door opening and closing time. Therefore, in the figure 言, the kinetic energy calculation mechanism 9 ′ of the ten-calculated kinetic energy sets this door speed data as the average speed or the speed over 315083 11 200410891 range value as one of the input door speed data. The speed handle type selection mechanism 10 is a motor speed mode that meets the desired kinetic energy limit of the door. When there are multiple motor speed modes with the shortest door opening and closing times on each floor, the motor speed mode with the smallest door speed is selected as the speed command. . Next, the operation explanatory diagram shown in Fig. 2 will be used to explain an example of selecting a motor speed fork type operation. Here, the speed mode of the speed command unit 4 is described. The storage mode of L 卩 is a case where the door opening and closing time is sequentially arranged from a short time to a longer time in a number of motor speed modes, and the month k selects the degree of motor fan; ^ type action. Among them, all the motor speed modes here are set to the same motor speed from the fully open to the fully closed. The moving distance is the same: "First" as shown in Figure 2 "Set the initial motor speed mode as the speed mode Β, Yibo; f Qiandou μ μ 乂 ^ Wei Wei closed the door to drive, calculates the kinetic energy at this time, and confirms whether it meets the kinetic energy limit. When Putian did not pay the combined kinetic energy limit, because energy capacity is too large, and Turn the speed sound trajectory, (may be eight moves ~ μ, Ή 1 level 0 level) into speed mode c, when the mouth is too small, and increase the speed mode by 1 • k (level 1) " Speed mode A. Repeat this ^ action, in the sign + 式 style. This determined action will be more sloppy based on each floor. Motor speed pure ^ H it ic, Ff if n ^ can also use the first implementation of this ❿ ~ violation The control device of the juice door. In the example here, too, the reading $ M 4々 卜 立 in the command instruction section 4 is because of some of the memorized speed branches. 'The closing time has been changed from relatively: degrees (the closing speed mode is sequentially arranged to a longer time, so 315083 12 200410891 can easily reach the door speed In addition, although only the closing operation is described above, the door opening operation can also achieve the optimization of the door speed. The control device of the elevator door according to the first embodiment of this embodiment is due to each floor. In the scope of complying with the kinetic energy specifications ... the method of speeding up the door speed, or shortening the door opening and closing time to the shortest, the side speed is optimized, and it can provide true long time ^ l 1. Lift and door control device for safety and comfort. ^ Furthermore, in the above-mentioned multiple motor speed type that meets the desired door kinetic energy limit, Zhongtian selects the motor speed mode with a shorter door opening and closing time on each floor, and the motor speed mode on the floor. , Within the scope of complying with the kinetic energy specification, to speed up the goal kick; ^ Π fan or shorten the door opening and closing method to achieve the optimization of the door speed. Furthermore, the motor with the desired kinetic energy limit of the gate Speed mode: When there are several motor speed modes with the shortest switching time on the floor η, the motor speed mode with the smallest gate speed can be found. It can be found within the range of the target: The only solution to optimize the door speed is to shorten the door speed to the shortest, or shorten the door opening and closing time. (The second embodiment) ^ Figure 3 shows the elevator of the second embodiment of the present invention. The structural diagram of the example of the control device of the door. In Figure 3, the symbol with the same 70 symbols as the one shown in Figure i means that the same or equivalent components are represented, so the child month is omitted. The / motor speed conversion unit 8 converts the actual motor speed to the door speed in order to detect the inter-motor speed that the speed conversion unit has fortunately detected. 13 315083 200410891 In addition, the door mass calculation mechanism ii is based on the door / motor speed conversion unit 8 The converted door speed and the torque command output from the speed control unit 6 calculate the door mass. " " In other words. The structure of the control device of the elevator door of the second embodiment is basically the same as the structure of the control device of the elevator door of the i-th embodiment shown in Fig. I, but it is converted with the ⑴motor speed which converts the motor speed to the door speed. The part 8 and the part of the door mass calculation mechanism u that calculates the door mass using the door speed obtained by the door / motor speed conversion part 8 and the torque command output from the speed control part 6 are different. The following mainly explains this difference. No.] shown in the picture! The control steps of the lift door of the implementation form are centered by industrial clothes, and the door quality memory 7 stores the door quality of each floor in advance. Relative to this, the elevator door control of the second embodiment shown in Figure 3 is being installed. The door quality memory unit 7 is the door speed obtained by the H / motor speed conversion unit 8. With the torque command output from the speed control section 6, and the door mass calculated by the doorbell juice different mechanism 11. Qi-ren 'illustrates the method of calculating the door quality of each floor. In order to simplify the explanation here, # y < ding 'uses a door type (Door Type) which has a door mechanism that directly transmits the torque of the door drive motor 1 to the door by using a leather instead of a linkage mechanism. The structural feature of the structure is that when the power is cut off, the non-linear interaction caused by the action of Fandan on „μ is formed at the first use; the mechanical closing force on the door. The door type here It has a door speed reading of each motor speed, door acceleration, and Ma Jianjia's degree of linearity, which means that you can increase the relationship by a fixed multiple of 315083 14 200410891. In the following description, you can easily learn that The door speed is used to replace the motor angular speed, and the door acceleration is used to replace the motor angular speed. In addition, Fig. 3 is a structural diagram using the door speed as the input of the door mass calculation mechanism 11. Furthermore, at this time, the kinetic energy mode of the door type, when Set the total torque of the door motor operation to T, set the motor torque command to Tm, set the torque generated by the non-linear ^ linkage to T1, set the fixed door closing torque to T2, and drive from the door With motor 1 The observed inertia of the door (in addition to the door body, the inertia of the movable part including the inertia of the pulley and the door drive motor 1 itself) is set to J, the angular acceleration of the motor is set to a, and the movement with the door When the torque generated by the private impedance (friction) of the motor is set to b, the approximate formula that ignores the viscosity of the velocity can be set as shown in the following formula: T = Ja + b (3) where T = Tm + Tl + T2 ⑷ When using the equations (3) and (4) to find the door inertia j, the shell material that can be obtained by measurement is calculated by using the differential leaf calculation of the angular speed of the motor (corresponding to the door speed). The obtained motor acceleration a and the motor torque command claw cannot be directly measured by using the torque T1 and a certain closing torque T2 generated by the non-linear linkage. However, by using the mass of the non-linear linkage or the like, If the shape is known, if you provide the door switch position information, you can use the function to calculate the torque T1 and fixed door closing torque D2 generated by the non-linear linkage in advance. Here you will find the Torque formed by linear linkage η 315083 15 200410891 The fixed closing torque T2, plus the value of the motor torque command Tm, is used as the total door torque T. The total door torque D and the angular acceleration of the motor ^ can be used to obtain the door inertia of each floor using the minimum flat sheet length. 'And the door mass can be calculated from the door inertia j. Therefore, in the control device of the elevator door of the second embodiment, the control device of the elevator door of the first 1 Λ above adopts this door I amount calculation mechanism U Calculate the obtained door mass and calculate the kinetic energy, and the root = speed mode selection mechanism 1G selects the optimal door speed to achieve the speed mode. For example, according to the control device of the elevator door according to the second embodiment ^ ' The mass of the door on each floor required for kinetic energy can be managed by numerical calculations according to formula (3). ^ Concave " eye movement meter r, because no labor is required, such as size, material and other components Data can be used to find the door quality, which can prevent people from calculating the wrong door quality. Therefore, high-precision Bailey 'can be obtained, and then high-precision kinetic energy calculation results can be obtained. So: 'It can be achieved with a high degree of accuracy. Within the dry fence that can comply with the kinetic energy specifications of each floor, the gland door # ^ t degree is accelerated to the upper limit of the fast speed (reducing the door opening and closing time), and the result can be Provide the lift door control device with high safety and comfort for the lift user. (Third Embodiment) Fig. 4 is a schematic diagram showing an example of a third embodiment of the present invention. In the fourth figure, the same symbol as that of the first = shown in FIG. 丨 indicates the same or equivalent component, so the new moon is omitted. In addition, the component speed limit value calculation mechanism 9a is based on the lift of each floor. 315083 16 200410891 The door parameter calculation mechanism that calculates the door parameters for each floor is used to replace the first kinetic energy computer Shaw 9, and is calculated based on the lift door mass of each f floor in the door mass memory section 7 and the predetermined door kinetic energy limit value according to formula (2). Limit value of average door speed for each floor. The control device of the elevator door in the form of Benle 3 is based on the speed limit: The calculation mechanism 9a uses the elevator door berry that matches each floor in the floor information, and the predetermined door kinetic energy limit value according to the formula, to calculate in advance Limit value of average door speed for each floor. In addition, the limit value of the thousand average door speed refers to the condition of the thousand average door speed that meets the limit of the kinetic energy of the door. The limit of the kinetic energy of the door is not necessarily limited to the upper limit, but also the lower limit, which is also κ. It can also be set as the selection condition of the kinetic energy of the door with a certain range. The speed mode selection mechanism 10, the rescue system knows that it is used as the average door speed condition of the speed limit value calculation mechanism 9a ... and the limit value of the 'in each motor speed mode that meets the desired door kinetic energy limit, take the lead " In all cases, the motor speed mode with the shortest door closing time on each floor is selected as the motor speed mode of each floor, and the speed command is output from the speed command section 4. Furthermore, the speed mode selection mechanism 丨 〇 Short W ... When the above-mentioned motor speed fork type with the shortest door opening and closing time has a plurality of months / brothers, you can also choose the maximum door speed A to output speed commands in 3 of these horse speed modes. Furthermore, the speed mode selection mechanism 10 selects the motor speed mode with short door switch% between each floor as the formula for each floor, but it is not limited to this. For example, in each motor speed mode, Select and limit the speed of the Zen Kazi attacking the large average door speed 315083 17 200410891. As described above, even according to the elevator of the third embodiment, System means the same as above can of the first embodiment actuator fruit. (Fourth embodiment) In the case of the elevator door holding device of the first to third embodiments described above, although the door parameter calculation mechanism uses the kinetic energy calculation mechanism ^ = the speed limit value calculation mechanism 9a calculates the door parameters, but It is also possible to test the structure of replacing =, etc., with a comparison table memory mechanism that previously stores a correspondence table (table) with a plurality of motor speed modes and lifting and lowering gears. "
第5圖所示係上述對照表記憶機構之一例。此圖 準備四個馬達速度模式V1，V2，V3，V4時的例子。於圖中的 平均速度’係當採用該等四個馬達速度模式時乂 :由竭模擬所獲得門速度波形所計算得的數值。另 質量[kg]。°早位’係平均速度[―門動能m、H 由第5圖得知去扣a 式、與昇降機門之質1:二 制時的各馬達速度模 譬如指定門動…間乃具有關聯。第5圖所示係 分）進行說明的話，旦8附（對應於方框所包圍之部 速度模式.V1，若在貝里在37〇kg以下的話便使用馬達 速度模式V2,若在4 〇4至4624範圍内的話便使用馬達 速度模式V3,若在以^“至6494範圍内的話便使用馬達 速度模式V4, 4%至665kg範圍内的話便使用馬達 下。 右°此的話’此時的門動能必將在8[J]以 315083 18 200410891 速度模式選擇機構 量，從預先記憶於上诚啦 虞母個樓層的昇降機門質 所對應的馬達速度模式’照表記憶機構中的對照表’讀取 馬達速度模式執行昇;^速^令部4則利用此讀取的 照表或表，仍可取代門動处關控制。依此即使採用對 機構9a等的實際計算。▲計异機構9或速度限制值計算 再者，可從上述第1者 機門之控制裝置中知* Λ ⑦4實施形態的昇降 心，雖已說明採用平均 動能的門速度的情況十勺速度作為计异 能的門速度時，仍可達相：木用其他敢大速度作為計算動 ^ j建相同的效果。 【產業上之可利用性】 如上述，依照本發明，將可達成經 参數的門速度最佳化，社杲便可接…d規粑之門 安全性盘mΜ θ ^供對昇降機使用者兼顧 女王〖生μ舒適性的昇降機門之控制裝 【圖式簡單說明】 施形態的昇降機門之控制裝置 第1圖係本發明第i實 例之架構圖。 置 置 由第2圖係本發明第1實施形態的昇降機門之控㈣ ’速度模式選擇機構動作說明圖。 弟3圖係本發明第2實施形態的昇降機門之控 例之架構圖。 衣 第4圖係本發明第3實 例之架構圖。 施形態的昇降機門之控制裝 置 315083 19 200410891 第5圖係本發明第4實施形態的昇降機門控制裝置 中，對照表記憶機構内容說明圖。 1 門驅動用馬達 2 脈衝產生器 3 電流檢測器 4 速度指令部 5 加算部 6 速度控制部 7 門質量記憶部 8 門/馬達速度轉換部 9 動能計算機構 9a 速度限制值計算機構 10 電流控制部 10 速度模式選擇機構 11 門質量計算機構 20 315083Figure 5 shows an example of the above-mentioned lookup table memory mechanism. This figure is an example of four motor speed modes V1, V2, V3, and V4. The average speed in the figure is when the four motor speed modes are used. 的: The value calculated from the door speed waveform obtained by exhaustive simulation. Another mass [kg]. ° Early position ’is the average speed [―door kinetic energy m, H can be seen from Figure 5 to deduct the“ a ”type, which is related to the speed mode of each motor when the elevator door quality is 1: 2, such as the specified door movement ... For the description shown in Figure 5), if 8 is attached (corresponds to the speed mode of the part enclosed by the frame. V1, if the Bailey is below 37kg, the motor speed mode V2 is used, if it is below 4 〇 The motor speed mode V3 is used within the range of 4 to 4624, and the motor speed mode V4 is used if it is in the range of ^ "to 6494, and the motor is used in the range of 4% to 665kg. Right ° If this is' at this time The kinetic energy of the door will be selected at 8 [J] with the speed mode of 315083 18 200410891, and the motor speed mode corresponding to the elevator door quality stored in the upper floor of Shangchenglayu mother's floor will be stored in the table. Read the motor speed mode to execute the increase; ^ Speed ^ command unit 4 can use this read the photo or table, can still replace the door closing control. Therefore, even if the actual calculation of the mechanism 9a and so on. ▲ Differentiating mechanism 9 or the calculation of the speed limit value, and can be known from the control device of the first door mentioned above * Λ ⑦ 4 The lifting center of the embodiment, although it has been explained that the door speed of the average kinetic energy is used, ten spoon speeds are used as the power calculation The door speed is still reachable: wood Use the other dare to use the speed as the calculation method to achieve the same effect. [Industrial Applicability] As described above, according to the present invention, the door speed can be optimized through the parameters, and the society can then ...粑 之 门 safety plate mΜ θ ^ It is used for the elevator user to take into account the queen ’s control of the elevator ’s comfort. [Schematic description] The elevator door control device according to the embodiment 1 is the i-th example of the present invention The structure diagram is shown in Figure 2. Figure 2 shows the control of the elevator door in the first embodiment of the present invention. Figure 3 illustrates the structure of the elevator door control example in the second embodiment of the present invention. Figure 4 is a structural diagram of a third example of the present invention. The elevator door control device of the embodiment 315083 19 200410891 Figure 5 is a diagram illustrating the contents of a reference table memory mechanism in the elevator door control device of the fourth embodiment of the present invention. 1 motor for door drive 2 pulse generator 3 current detector 4 speed command section 5 addition section 6 speed control section 7 door mass memory section 8 door / motor speed conversion section 9 kinetic energy meter Calculation mechanism 9a Speed limit value calculation mechanism 10 Current control unit 10 Speed mode selection mechanism 11 Door mass calculation mechanism 20 315083