WO2007138668A1 - エレベータのドア装置 - Google Patents
エレベータのドア装置 Download PDFInfo
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- WO2007138668A1 WO2007138668A1 PCT/JP2006/310663 JP2006310663W WO2007138668A1 WO 2007138668 A1 WO2007138668 A1 WO 2007138668A1 JP 2006310663 W JP2006310663 W JP 2006310663W WO 2007138668 A1 WO2007138668 A1 WO 2007138668A1
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Classifications
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- 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
- B66B13/143—Control systems or devices electrical
Definitions
- the present invention relates to an elevator door device for opening and closing an elevator doorway.
- Patent Document 1 Japanese Patent Laid-Open No. 10-88902
- each motor is controlled independently by two controllers, for example, the speed pattern of the door panel is set individually by each controller. In this case, if different speed patterns are mistakenly set in each controller, a very large load is applied to the door operation device itself, which may cause a malfunction.
- the present invention has been made to solve the above-described problems, and provides an elevator door device that can reduce costs and prevent failure. With the goal.
- An elevator door device includes an elevator door that opens and closes an elevator door, a first door driving device having a first rotating shaft, and a second door driver having a second rotating shaft.
- a first computing process for controlling the first door driving device and the power transmission mechanism for moving the elevator door in response to the rotation of each of the moving device, the first rotating shaft and the second rotating shaft.
- the first processing device includes a single processing unit that performs a part of the first arithmetic processing and calculates intermediate processing information, and the intermediate processing information.
- a first individual processing unit that completes the first arithmetic processing by processing the second processing device, and the second processing device performs first processing by processing the intermediate processing information received through the information transmission means.
- FIG. 1 is a front view showing an elevator door device according to Embodiment 1 of the present invention.
- FIG. 2 is a functional block diagram showing a first CPU and a second CPU in FIG.
- FIG. 3 is a block diagram showing a first speed control unit in FIG. 2.
- ⁇ 5 Shows temporal changes in the output torques of the first and second door drive units when the followability to the door speed command information of the first and second torque command units in Fig. 3 is the same. It is a graph.
- FIG. 7 is a front view of a principal part showing another example of an elevator door device according to Embodiment 1 of the present invention.
- FIG. 8 is a principal block diagram showing an elevator door device according to Embodiment 2 of the present invention.
- FIG. 9 is a graph showing temporal changes in output torques of the first and second door drive devices controlled by the arithmetic processes of the first and second CPUs in FIG. 8.
- FIG. 10 is a principal block diagram showing an elevator door device according to Embodiment 3 of the present invention.
- FIG. 11 is a graph showing temporal changes in output torques of the first and second door driving devices controlled by the arithmetic processing of the first and second CPUs in FIG.
- FIG. 12 is a principal block diagram showing an elevator door device according to Embodiment 4 of the present invention.
- FIG. 13 is a configuration diagram showing a power transmission mechanism in the door device for the elevator shown in FIG. 11.
- FIG. 14 is a graph showing the temporal change during the opening operation of the tension of the toothed belt when the distribution ratio in the torque distribution section of FIG.
- FIG. 15 When the sum of the output torques of the first and second door drive devices is positive, the first side weight distribution ratio is set. When the sum of the output torques is negative, 13 is a graph showing a temporal change during the door opening operation of the tension of the toothed belt when the torque distribution control in FIG. 12 is performed.
- FIG. 16 When the sum of the output torques of the first and second door drive devices is positive, the second-side weight distribution ratio is used. When the sum of the output torques is negative, the first-side weight distribution ratio is 13 is a graph showing a temporal change during the door opening operation of the tension of the toothed belt when the torque distribution control in FIG. 12 is performed.
- FIG. 17 is a principal block diagram showing an elevator door device according to Embodiment 5 of the present invention.
- FIG. 18 is a principal block diagram showing an elevator door device according to Embodiment 6 of the present invention.
- FIG. 1 is a front view showing an elevator door device according to Embodiment 1 of the present invention.
- a car (not shown) is provided with a car doorway (elevator doorway) 1.
- a nonga case 2 disposed at the top of the car doorway 1 is fixed to the car.
- Hanger rails (support rails) 3 arranged along the frontage direction of the car doorway 1 are fixed to the hanger case 2.
- a pair of car doors (elevator doors) 4 are suspended from the hanger rail 3.
- Each car door 4 has a door panel 5 that opens and closes the car doorway 1 and a roller hanger 6 that is provided at the top of the door panel 5 and that can move along the hanger rail 3!
- Each roller hanger 6 includes a hanger plate 7 fixed to the top of the door panel 5 and a plurality of rollers 8 provided on the hanger plate 7 and rolled on the hanger rail 3 as the car door 4 is displaced. And have.
- the hanger case 2 is provided with a first door driving device 9 and a second door driving device 10 that are arranged at a distance from each other in the frontage direction of the car doorway 1.
- the first door driving device 9 is disposed at one end of the hanger case 2
- the second door driving device 10 is disposed at the other end of the hanger case 2.
- the first door driving device 9 includes a first driving device main body 11 that includes a motor and generates a driving force (output torque) that moves each force door 4, and a first driving device main body 11 And a first rotating shaft 12 that is rotated by the driving force.
- the second door driving device 10 includes a second driving device main body 13 that includes a motor and generates a driving force (output torque) for moving the door 4 of each force, and a driving force of the second driving device main body 13. And a second rotating shaft 14 to be rotated.
- a first pulley 15 is fixed to the first rotating shaft 12, and a second pulley 16 is fixed to the second rotating shaft 14. Between the first and second pulleys 15 and 16, an endless toothed belt (transmission strip) 17 is wound. The toothed belt 17 is moved around by the rotation of the first and second pulleys 15 and 16.
- the power transmission mechanism that moves each force door 4 in response to the rotation of each of the first rotating shaft 12 and the second rotating shaft 14 includes the first pulley 15, the second pulley 16, and the toothed gear. It has a belt 17.
- Each car door 4 is connected to the toothed belt 17 via connecting members 18 and 19 so as to be moved in opposite directions by the circular movement of the toothed belt 17. That is, one car door 4 is connected to the forward side portion of the toothed belt 17 via the connecting member 18, and the other car door 4 has the connecting member 19 attached to the return side portion of the toothed belt 17.
- the first door driving device 9 is provided with a first resolver (rotation angle detector) 20 that generates a signal corresponding to the rotation of the first rotating shaft 12.
- the second door driving device 10 is provided with a second resolver (rotation angle detector) 21 that generates a signal corresponding to the rotation of the second rotating shaft 14.
- the force includes the upper controller 23 that outputs a door opening / closing command at the start of the opening / closing operation of the force door 1 and the first door driving device 9 by receiving the door opening / closing command from the upper controller 23.
- a first drive device control device 25 for controlling the second door drive device 10 and a second drive device control device 26 for controlling the second door drive device 10 are mounted.
- the first drive device control device 25 and the second drive device control device 26 are electrically connected to each other via a signal line (information transmission means) 27.
- the signal line 27 transmits information between the first drive device controller 25 and the second drive device controller 26. That is, the door control device that controls the movement of each car door 4 includes a first drive device control device 25, a second drive device control device 26, and a signal line 27.
- the first drive device controller 25 controls the rotational speed of the first rotary shaft 12 by adjusting the power supply to the first door drive device 9.
- the amount of power supplied to the first door driving device 9 (the output torque of the first door driving device 9) is detected by a first current detector (first torque detector) 28.
- the first drive device control device 25 controls the first door drive device 9 based on information from each of the first resolver 20, the host controller 23, and the first current detector 28.
- the first drive device controller 25 includes a first resolver digital converter 29, a first current detector digital converter 30, a first CPU (first processing device) 31 and a first 1 drive circuit 32 is provided.
- the first resolver digital converter 29 converts the signal from the first resolver 20 into a digital signal, and sends the converted digital signal to the first CPU 31 as first measured speed information.
- the first current detector digital converter 30 converts the signal from the first current detector 28 into a digital signal, and uses the converted digital signal as the first output torque information as the first CP. Send to U31.
- the first CPU 31 is based on the information of the power of the host controller 23, the first resolver digital converter 29, and the first current detector digital converter 30, respectively.
- the first calculation process is performed to control By the first calculation process in the first CPU 31, a voltage command for controlling the power supply to the first door drive device 9 is calculated as the first voltage command information. Further, the result of the first arithmetic processing, that is, the first voltage command information is sent from the first CPU 31 to the first drive circuit 32.
- the first drive circuit 32 supplies power to the first door drive device 9 in accordance with the first voltage command information from the first CPU 31.
- the second drive device controller 26 controls the rotational speed of the second rotary shaft 14 by adjusting the power supply to the second door drive device 10.
- the amount of power supplied to the second door driving device 10 (the output torque of the second door driving device 10) is detected by a second current detector (second torque detector) 33.
- the second drive device controller 26 is based on information from each of the second resolver 21, the first drive device control device 25, and the second current detector 33, and the second door drive device 10 To control.
- Information from the first drive device controller 25 is sent to the second drive device controller 26 via the signal line 27.
- the second drive device controller 26 includes a second resolver digital converter 34, a second current detector digital converter 35, a second CPU (second processing device) 36, and a second There are two drive circuits 37.
- the second resolver digital converter 34 converts the signal from the second resolver 21 into a digital signal, and sends the converted digital signal to the second CPU 36 as second actually measured speed information.
- the second current detector digital converter 35 converts the signal from the second current detector 33 into a digital signal, and uses the converted digital signal as second output torque information as the second CP. Send to U36.
- the second CPU 36 uses the second driving device 31, the second resolver digital converter 34, and the second current detector digital converter 35 based on the power information, respectively. 2nd arithmetic processing for controlling the door drive device 10 is performed. Voltage for controlling power supply to the second door drive device 10 by the second arithmetic processing in the second CPU 36 The command is calculated as the second voltage command information. Further, the result of the second arithmetic processing, that is, the second voltage command information is sent from the second CPU 36 to the second drive circuit 37.
- the second drive circuit 37 supplies power to the second door drive device 10 according to the second voltage command information from the second CPU 36.
- FIG. 2 is a functional block diagram showing the first CPU 31 and the second CPU 36 in FIG.
- the first CPU 31 performs a part of the first arithmetic processing to calculate the intermediate processing information
- the first CPU 31 completes the first arithmetic processing by processing the intermediate processing information.
- 1 individual processing unit 39 Further, the second CPU 36 has a second individual processing unit 40 that completes the second arithmetic processing by processing the intermediate processing information from the single processing unit 38.
- the intermediate processing information from the single processing unit 38 is sent to the second individual processing unit 40 via the signal line 27.
- the single processing unit 38 includes a speed pattern calculation unit 41 that receives a door opening / closing command from the host controller 23 and calculates a predetermined speed pattern as door speed command information.
- the rotational speeds of the first and second rotary shafts 12 and 14 change along a predetermined speed pattern calculated by the speed pattern calculation unit 41.
- the door speed command information from the speed pattern calculation unit 41 is sent to each of the first individual processing unit 39 and the second individual processing unit 40. That is, door speed command information is used as intermediate processing information.
- the calculation of the predetermined speed pattern is performed by selecting a predetermined speed pattern from a plurality of speed patterns preliminarily stored in the first drive device controller 25.
- the first individual processing unit 39 includes a first differentiating unit 42, a first torque command unit 43, and a first voltage command unit 44.
- the first differentiating unit 42 differentiates the first actually measured speed information (digital signal) from the first resolver digital converter 29 to obtain the first rotational angular velocity information. Accordingly, the first rotation angular velocity information is a signal corresponding to the rotation speed of the first rotation shaft 12.
- the first torque command unit 43 obtains a difference between the first rotational angular velocity information from the first differentiation unit 42 and the door speed command information (intermediate processing information) from the speed pattern calculation unit 41. Based on the information from the first speed information comparison unit 45 and the first speed information comparison unit 45, the first door drive And a first speed control unit 46 for calculating a torque command for controlling the output torque of the device 9 as first torque command information.
- the first voltage command unit 44 includes first output torque information (digital signal) from the first current detector digital converter 30 and first torque command information from the first torque command unit 43.
- a first torque information comparison unit 47 for obtaining a difference between the first torque information and a first current control unit 48 for calculating first voltage command information based on information from the first torque information comparison unit 47. is doing.
- the first voltage command information is sent from the first current control unit 48 to the first drive circuit 32.
- the second individual processing unit 40 includes a second differentiating unit 49, a second torque command unit 50, and a second voltage command unit 51.
- the second differentiating unit 49 differentiates the second actually measured speed information (digital signal) from the second resolver digital converter 34 to obtain the second rotational angular velocity information. Therefore, the second rotation angular velocity information is a signal corresponding to the rotation speed of the second rotation shaft 14.
- the second torque command unit 50 receives the door speed command information (intermediate processing information) received from the speed pattern calculation unit 41 via the signal line 27 and the second rotational angular velocity from the second differentiation unit 49. Based on the information from the second speed information comparison unit 52 for obtaining the difference from the information and the second speed information comparison unit 52, a torque command for controlling the output torque of the second door drive device 10 is provided. And a second speed control unit 53 that calculates the second torque command information.
- the second voltage command unit 51 includes the second output torque information (digital signal) from the second current detector digital converter 35 and the second torque command information from the second torque command unit 50.
- a second torque information comparison unit 54 that calculates the difference between the second torque information and a second current control unit 55 that calculates second voltage command information based on information from the second torque information comparison unit 54. is doing.
- the second voltage command information is sent from the second current control unit 55 to the second drive circuit 37.
- FIG. 3 is a block diagram showing the first speed control unit 46 of FIG.
- the first speed control unit 46 calculates a signal proportional to the information from the speed information comparison unit 45, respectively, a multiplier 56 and a multiplier 57, and an integration value of the information from the multiplier 57.
- An integrator 58 for calculating a signal and an adder 59 for adding information from each of the multiplier 56 and the integrator 58 are provided. That is, the calculation algorithm of the first speed control unit 46 is PI control.
- the control constant for multiplier 56 is Kp and the control constant for multiplier 57 is Ks.
- the configuration of the second speed control unit 53 is the same as that of the first speed control unit 46. That is, the calculation algorithm of the second speed control unit 53 is also PI control similar to that of the first speed control unit 46.
- the door speed command information from the speed pattern calculation unit 41 is sent to the second torque command unit 50 via the signal line 27.
- the second torque command unit 50 receives the door speed command information later than the first torque command unit 43.
- the magnitude of the reception delay of the door speed command information is about several milliseconds to several tens of milliseconds depending on the transmission speed of the signal line 27 and the control cycle. Accordingly, there is a difference between the temporal change in the door speed command information received by the first torque command unit 43 and the temporal change in the door speed command information received by the second torque command unit 50.
- first pulley 15 and the second pulley 16 are mechanically (mechanistically) connected to each other by a toothed belt 17. As a result, there is no significant difference between the rotational speeds of the first and second pulleys 15 and 16.
- FIG. 4 shows each door speed command information received by each of the first and second torque command units 43 and 50 in FIG. 3, and each time detected by each of the first and second resolvers 20 and 21. It is a graph which shows the time change of the signal of rolling speed. As shown in the figure, the door speed command information 62 received by the second torque command unit 50 changes with a time delay from the door speed command information 61 received by the first torque command unit 43. Further, the rotational speed signals 63 and 64 detected by the first and second resolvers 20 and 21 respectively change in the same manner (indicated by a single solid line in FIG. 4).
- first speed difference information the difference between the door speed command information 61 and the rotation speed signal 63 (first speed difference information) and the difference between the door speed command information 62 and the rotation speed signal 64 (second speed difference information) are different from each other. Therefore, there is a difference between the first torque command information calculated by the first torque command unit 43 and the second torque command information calculated by the second torque command unit 50. It will be.
- the second torque command unit 50 has a followability to the door speed command information.
- the followability to the door speed command information of the first torque command unit 43 is higher. That is, by setting the second torque command unit 50 so as to react faster to the door speed command information than the first torque command unit 43, the door speed command information in the second torque command unit 50 is set. The delay in receiving is corrected.
- the followability of the second torque command unit 50 to the door speed command information is determined by the control constants Kp and Ks of the multipliers 56 and 57 in the second torque command unit 50 being determined by the first torque command unit 43. By setting it larger than the control constants Kp and Ks of the multipliers 56 and 57, the followability of the first torque command unit 50 to the door speed command information is made higher.
- the reception delay of the second torque command unit 50 with respect to the first torque command unit 43 is 10 msec, and the second torque command unit 50 controls the multipliers 56 and 57.
- the constants Kp and Ks are set to 1.1 times the control constants Kp and Ks of the multipliers 56 and 57 in the first torque command section 43.
- FIG. 5 shows the first and second door drive devices 9 and 10 when the followability to the door speed command information of the first and second torque command units 43 and 50 in FIG. 3 is the same. It is a graph which shows the time change of each output torque.
- FIG. 6 shows the first and second door drive devices 9 when the followability of the second torque command unit 50 of FIG. 3 with respect to the door speed command information is higher than that of the first torque command unit 43.
- 10 is a graph showing temporal changes in 10 output torques.
- the imbalance between the output torques of the first and second door drive devices 9, 10 is greater when the followability of the second torque command unit 50 is higher than that of the first torque command unit 43. 1 and 2nd torque finger It is more relaxed than the case where the following parts of HQ 43 and 50 are the same.
- a door open / close command is input from the host controller 23 to the first CPU 31, a predetermined speed pattern is calculated as door speed command information by the speed pattern calculation unit 41. Thereafter, the door speed command information is transmitted to the first torque command unit 43 and also transmitted to the second torque command unit 50 via the signal line 27.
- the first torque command unit 43 the first rotational angular velocity information received from the first resolver 20 via the first resolver digital transformation 29 and the first differentiating unit 42 is the door. Compared with the speed command information, the first torque command information is calculated. Thereafter, the first torque command information is transmitted to the first voltage command unit 44.
- the first voltage command unit 44 uses the first output torque information received from the first current detector 28 via the first current detector digital converter 30 as the first torque command.
- the first voltage command information is calculated by comparing with the information.
- the first voltage command information is transmitted to the first drive circuit 32.
- power supply according to the first voltage command information is performed by the first drive circuit 32, and the first door drive device 9 is driven.
- the second rotational angular velocity information received from the second resolver 21 via the second resolver digital converter 34 and the second differentiation section 49 is the door speed.
- the second torque command information is calculated by comparing with the command information. Thereafter, the second torque command information is transmitted to the second voltage command unit 51.
- the second output torque information received from the second current detector 33 via the second current detector digital change is converted into the second torque command information.
- the second voltage command information is calculated by comparison.
- the second voltage command information is transmitted to the second drive circuit 37.
- power supply according to the second voltage command information is performed by the second drive circuit 37, and the second door drive device 10 is driven.
- the first arithmetic processing for controlling the first door driving device 9 is performed by the first CPU 31, and the first arithmetic processing is obtained by executing a part of the first arithmetic processing.
- Et Door speed command information (intermediate processing information) is sent from the first CPU 31 to the second CPU 36 via the signal line 27, and based on the door speed command information from the first CPU 31. Since the second CPU 36 controls the second door drive device 9 by the second CPU 36, the first and second CPUs 36 and 36 are respectively performed by the first and second CPUs 31 and 36. Thus, the processing load on each of the first and second CPUs 31 and 36 can be reduced.
- the number of I / O ports to the CPU does not increase excessively, and there is no need to increase the processing capacity with an expensive CPU. Therefore, cost can be reduced.
- the signal line 27 between the first and second CPUs 31 and 36 it is possible to prevent the occurrence of an imbalance in the output torques of the first and second door drive units 9 and 10. be able to.
- the intermediate processing information sent from the first CPU 31 to the second CPU 36 is the door speed command information
- the followability of the first torque command unit 43 with respect to the door speed command information is higher than the followability of the second torque command unit 50 with respect to the door speed command information. It is possible to correct the delay in reception at the second CPU 36 caused by being sent via. As a result, the difference between the output torques of the first and second door drive devices 9 and 10 can be reduced, and the occurrence of overload in the first and second door drive devices 9 and 10 can be prevented. More can be achieved.
- the calculation algorithm of the first and second speed control units 46 and 53 is a force for which the PI control is used. Another calculation algorithm is not limited to this. Yes.
- the door speed command information is output from the speed pattern calculation unit 41 to the first and second torque command units 43 and 50 simultaneously.
- the output of the door speed command information to the first torque command unit 43 and the output of the door speed command information to the second torque command unit 50 may be shifted in time.
- only the information from the first CPU 31 to the second CPU 36 is sent via the signal line 27.
- the signal line 27 is connected between the first and second CPUs 31 and 36.
- Information may be sent to each other through the network. For example, a pulse signal may be continuously sent between the first CPU 31 and the second CPU 36 via the signal line 27 so that the first and second CPUs 31 and 36 are monitored each other. Good.
- the stop information of the pulse signal is transmitted from one of the first and second CPUs 31 and 36 to the other via the signal line 27 as abnormality detection information. May be sent. In this way, it is possible to easily detect the occurrence of abnormality in each of the first and second CPUs 31 and 36. As a result, the occurrence of an abnormality that cannot be determined by a single CPU can be detected, and the reliability of abnormality detection can be improved.
- the number of the first and second door driving devices 9, 10 is one each, but the number of the first door driving devices 9 is one, A plurality of door drive devices 10 may be provided.
- a first door driving device 9 and two second door driving devices 10 are arranged in a hanger case 2 at a distance from each other in the direction of the entrance of the car doorway 1. May be.
- a first pulley 15 is provided on the first rotating shaft 12
- a second pulley 16 is provided on each of the two second rotating shafts 14.
- a toothed belt 69 to which one connecting member 18 is connected is wound between the first pulley 15 and one second pulley 16, and one second pulley 16 and the other pulley 16 are wound around.
- a toothed belt 70 to which the other coupling member 19 is connected is wound between the second pulley 16 and the second pulley 16.
- each second door driving device 10 is independently controlled by the arithmetic processing of two second CPUs each having the same function as the second CPU 36 described above. Furthermore, door speed command information (intermediate processing information) from the first CPU 31 is sent to each second CPU through a signal line.
- FIG. 8 is a principal block diagram showing an elevator door device according to Embodiment 2 of the present invention.
- the second individual processing unit 40 includes a second differentiating unit 49, a second torque command unit 50, a second voltage command unit 51, and a phase advance unit 71.
- the configurations and functions of the second differentiation unit 49, the second torque command unit 50, and the second voltage command unit 51 are the same as those in the embodiment. Same as state 1.
- the door speed command information (intermediate processing information) from the speed pattern calculation unit 41 is sent to the phase advance unit 71 via the signal line 27.
- the phase advance unit 71 performs phase advance compensation on the door speed command information. That is, the phase advance unit 71 compensates for the time delay of the door speed command information generated by the signal line 27, and uses the compensated door speed command information as compensated speed information.
- ⁇ 1 and ⁇ 2 are control coefficients, and ⁇ 1> ⁇ 2.
- S is the Laplace operator
- the second speed information comparison unit 52 obtains a difference between the compensated speed information from the phase advance unit 71 and the second rotation angular speed information from the second differentiation unit 49.
- the second speed control unit 53 calculates second torque command information based on the information from the second speed information comparison unit 52. Further, the followability of the first and second speed control units 46 and 53 with respect to the door speed command information is the same. That is, in the first and second torque command units 43 and 50, the control constants Kp and Ks of the multipliers 56 and 57 are the same. Other configurations are the same as those in the first embodiment.
- FIG. 9 shows temporal changes in the output torques of the first and second door driving devices 9 and 10 controlled by the arithmetic processing of the first and second CPUs 31 and 36 in FIG. It is a graph.
- the difference between the output torque 72 of the first door driving device 9 and the output torque 73 of the second door driving device 10 is smaller than that without the phase advance portion 71 (FIG. 5).
- V relaxed than the case.
- a phase advance unit 71 that performs phase advance compensation on door speed command information is provided in the second individual processing unit 40, and the phase advance unit 71 is provided with a speed pattern. Since the information received from the calculation unit 41 via the signal line 27 is processed and the processed information is sent to the second torque command unit 50, the reception by the second individual processing unit 40 is performed. The delay can be corrected, and the unbalanced output torques of the first and second door driving devices 9 and 10 can be prevented. Therefore, it is possible to further prevent the first and second door driving devices 9 and 10 from being overloaded.
- FIG. 10 is a principal block diagram showing an elevator door device according to Embodiment 3 of the present invention.
- information from the first speed information comparison unit 45 is sent to the second individual processing unit 40 via the signal line 27 as intermediate processing information. That is, the difference between the door speed command information from the speed pattern calculation unit 41 and the first rotational angular velocity information from the first differentiation unit 42 (that is, the information from the first resolver 20) is the intermediate processing information.
- the first CPU 31 is sent to the second individual processing unit 40.
- the intermediate processing information from the first speed information comparison unit 45 is also sent to the first speed control unit 46.
- the first speed control unit 46 calculates first torque command information by processing the intermediate processing information.
- the first torque command information is sent from the first speed control unit 46 to the first voltage command unit 44.
- the single processing unit 38 includes a speed pattern calculation unit 41, a first differentiation unit 42, and a speed information comparison unit 45.
- the first individual processing unit 39 includes a first speed control unit 46 and a first voltage command unit 44.
- the configurations and functions of the speed pattern calculation unit 41, the first differentiation unit 42, the first speed information comparison unit 45, the first speed control unit 46, and the first voltage command unit 44 are the same as those in the first embodiment. The configuration and function are the same.
- the second individual processing unit 40 includes a second speed control unit 53 and a second voltage command unit 51.
- the intermediate processing information from the single processing unit 38 is processed by the second speed control unit 53, and the second torque command information is calculated.
- the second torque command information is sent to the second speed command unit 53 and the second voltage command unit 51.
- the configurations and functions of the second speed control unit 53 and the second voltage command unit 51 are the same as those of the first embodiment.
- the first speed control units 46 and 53 share a common intermediate time shifted due to a delay in receiving the intermediate processing information of the second speed control unit 53 relative to the first speed control unit 46. Processing information will be processed. That is, the second torque command information from the second speed control unit 53 is the same in size and shape as the first torque command information from the first speed control unit 46, but is shifted in time. Will occur.
- the second resolver 21, the second resolver digital converter 34, the second differentiator 49 and the second velocity information comparator 52 shown in the first embodiment are It is not provided.
- Other configurations are the same as those in the first embodiment.
- FIG. 11 is a graph showing temporal changes in the output torques of the first and second door driving devices 9 and 10 controlled by the arithmetic processing of the first and second CPUs 31 and 36 in FIG. is there.
- the difference between the output torque 75 of the first door drive device 9 and the output torque 76 of the second door drive device 10 is the door speed command from the speed pattern calculation unit 41.
- the information is intermediate processing information (Fig. 5), it is getting smaller.
- the first speed control Force that causes a time lag between the first and second torque command information calculated by each of the parts 46 and 53.
- the difference between the output torques of the first and second door driving devices 9, 10 is extremely small. I understand that it is small. That is, the imbalance between the output torques of the first and second door driving devices 9 and 10 due to the delay in receiving the intermediate processing information of the second individual processing unit 40 relative to the first individual processing unit 39 is controlled by It can be seen that it is suppressed without correction.
- the difference between the door speed command information from the speed pattern calculation unit 41 and the first rotational angular velocity information from the first differentiation unit 42 is the second intermediate processing information. Since it is sent to the individual processing unit 40, the difference between the output torques of the first and second door drive devices 9, 10 without performing control correction can be further reduced. As a result, it is possible to further prevent the first and second door driving devices 9, 10 from being overloaded.
- FIG. 12 is a principal block diagram showing an elevator door device according to Embodiment 4 of the present invention.
- the single processing unit 38 includes a speed pattern calculation unit 41, a first differentiation unit 42, a total torque command unit 81, and a torque distribution unit 82.
- the configurations and functions of the speed pattern calculation unit 41 and the first differentiation unit 42 are the same as those in the first embodiment.
- the total torque command unit 81 is based on the door speed command information from the speed pattern calculation unit 41 and the first rotational angular velocity information from the first subtraction unit 42.
- the total torque command to each of the driving devices 9 and 10 is calculated as total torque command information.
- the total torque command unit 81 is based on the information from the speed information comparison unit 83 for obtaining the difference between the door speed command information and the first rotation angular speed information and the information from the first speed information comparison unit 45.
- a speed control unit 84 for calculating torque command information.
- the total torque command information from total torque command unit 81 is sent to torque distribution unit 82.
- the torque distribution unit 82 divides the total torque command information into first torque command information and second torque command information.
- the distribution ratio between the first torque command information and the second torque command information is preliminarily set in the torque distribution unit 82.
- the torque distribution unit 82 has the same first-side weight distribution ratio and first and second torque command information for making the first torque command information larger than the second torque command information.
- a plurality of distribution ratios are set, including an even distribution ratio for increasing the size and a second-side biased distribution ratio for making the second torque command information larger than the first torque command information.
- the torque distribution unit 82 adjusts the distribution ratio of the first and second torque command information based on the information on the output torques of the first and second door driving devices 9 and 10.
- the adjustment of the distribution ratio in the torque distribution unit 82 is performed by selecting from preset distribution ratios.
- the first torque command information is sent from the torque distribution unit 82 to the first voltage command unit 44 as intermediate processing information
- the second torque command information is sent from the torque distribution unit 82 to the second voltage as intermediate processing information. Is sent to the voltage command section 51 via the signal line 27. Therefore, the first voltage command unit 44 is the first individual processing unit 39, and the second voltage command unit 51 is the second individual processing unit 40.
- the configurations and functions of the first and second voltage command units 44 and 51 are the same as those in the first embodiment.
- FIG. 13 shows the elevator doors of Figure 11. It is a block diagram which shows the power transmission mechanism in a key device.
- a portion of the toothed belt 17 between the second pulley 16 and the one connecting member 18 is given a tension T1, and the first pulley 15 and the one connecting member 18 of the toothed belt 17 are connected to each other.
- the tension T2 is given to the part between.
- a tension T3 is applied to a portion between the first pulley 15 and the other connecting member 19 of the toothed belt 17, and the second pulley 16 and the other connecting member 19 of the toothed belt 17 are connected to each other.
- the tension between T4 is given to the part between.
- the tension T2 increases and the tension T3 decreases.
- the tension T4 increases and the tension T1 decreases.
- differences occur between the tension T2 and the tension T1, and between the tension T3 and the tension T4, and the toothed belt 17 is moved.
- the engagement device for engaging the door 4 of the car with the door of the landing is installed only on one of the doors 4 of each car, etc.
- the weight of the door 4 and the weight of the car door 4 provided with the other connecting member 19 are different from each other.
- FIG. 14 shows the temporal change during the door opening operation of the tension T1 to T4 of the toothed belt 17 when the distribution ratio in the torque distribution section 82 in FIG. 12 is the uniform distribution ratio (1: 1). It is a graph which shows. As shown in the figure, tension T1 changes in the direction against tension ⁇ 2, and tension ⁇ 3 changes in the direction against tension ⁇ 4. In this case, the maximum value of tension ⁇ 2 and tension ⁇ 3 is larger than the maximum value of tension T1 and tension ⁇ 4, and the minimum value of tension ⁇ 2 and tension ⁇ 3 is smaller than the minimum value of tension T1 and tension ⁇ 4.
- FIG. 15 shows the first side bias when the total output torque (Ma + Mb) of the first and second door driving devices 9 and 10 is positive (when each car door 4 is accelerated). Control the torque distribution part 82 in Fig. 12 as the distribution ratio, and when the total output torque (Ma + Mb) is negative (when each door 4 is decelerated) It is a graph which shows the time change at the time of the door opening operation
- the distribution ratios of the first and second torque command information are the same.
- the maximum values of tension T2 and tension T3 are lower than in the case (Fig. 14).
- the maximum values of all of the tensions T1 to T4 are kept low, and the generation of vibration and sound is prevented.
- the torque distribution unit 82 has a total sum (Ma + Mb) of the output torques of the first and second door drive devices 9, 10.
- the first torque command information is made larger than the second torque command information, and when the total of each output torque is negative, the first torque command information is made smaller than the second torque command information.
- Fig. 16 shows the second side weighted distribution ratio when the total output torque (Ma + Mb) of the first and second door drive devices 9, 10 is positive, and the total output torque (Ma + Mb) is negative when the torque distribution part 82 in Fig. 12 is controlled to be the first-side eccentric distribution rate.
- the change over time during the opening operation of the tension T1 to T4 of the toothed belt 17 is shown. It is a graph to show. As shown in the figure, in this case, the minimum values of tension ⁇ 2 and tension ⁇ 3 are higher than when the distribution ratios of the first and second torque command information are the same (FIG. 14). As a result, the minimum values of all the tensions ⁇ 1 to ⁇ 4 are kept high, and the occurrence of looseness is prevented.
- the torque distribution unit 82 is used when the total output torque (Ma + Mb) of the first and second door drive devices 9 and 10 is positive.
- the first torque command information is made smaller than the second torque command information, and the first torque command information is made larger than the second torque command information when the total output torque is negative.
- Other configurations and functions are the same as those in the first embodiment.
- the total torque command information is distributed to the first and second torque command information by the torque distributor 82, and each of the first and second torque command information is the first torque command information.
- the calculation load on the CPU 36 can be reduced.
- the distribution ratio of the first and second torque command information by the torque distribution unit 82 can be adjusted, the output torques of the first and second door driving devices 9, 10 are individually adjusted.
- the toothed belt 17 can be prevented from vibrating, sounding, and loosening.
- FIG. 17 is a block diagram of an essential part showing an elevator door device according to Embodiment 5 of the present invention.
- the first CPU 31 compares the first output torque information of the first current detector digital converter 30 force with the second output torque information from the second current detector digital change.
- an overload detection unit 91 for detecting the presence or absence of overload is provided.
- the overload detection unit 91 detects the presence or absence of overload by comparing information on each of the first current detector 28 and the second current detector 33.
- the overload detection unit 91 is preliminarily set with a predetermined threshold value. When the difference between the first and second output torque information is smaller than a predetermined threshold, the overload detection unit 91 performs a normal determination that no overload occurs, and the first and second output torques When the difference in information is greater than or equal to a predetermined threshold, an abnormality determination is made that an overload has occurred.
- the overload detection unit 91 When the overload detection unit 91 performs the abnormality determination, the overload detection unit 91 sends an inversion command for inverting the movement of each car door 4 to the speed pattern calculation unit 41.
- the speed pattern calculation unit 41 calculates a preset reverse speed pattern and outputs the reverse speed pattern as door speed command information.
- Other configurations are the same as those in the first embodiment.
- the first and second output torque information corresponding to each output torque of the first and second door drive devices 9 and 10 is compared to detect the presence or absence of overload. Since the overload detection unit 91 is provided in the first CPU 31, it is possible to easily detect the presence or absence of an overload of either the first or second door driving device 9, 10. As a result, the occurrence of a failure can be detected at an early stage, and the expansion of the failure can be prevented.
- the overload detection unit 91 may be provided in the second CPU 36 in which the overload detection unit 91 is provided in the first CPU 31.
- FIG. 18 is a principal block diagram showing an elevator door device according to Embodiment 6 of the present invention.
- the first CPU 31 is provided with a total torque limit setting unit 95 and a torque limit information calculation unit 96.
- the total torque limit setting unit 95 includes a torque command limit value for controlling the output torque of the first door drive device 9 and a control value for controlling the output torque of the second door drive device 10.
- the total with the torque command limit value is preset as total torque limit information.
- the equal torque limit information is determined, for example, by the weight of each car door 4.
- the torque limit information calculation unit 96 calculates the difference between the first torque command information from the first speed control unit 46 and the total torque limit information from the total torque limit setting unit 95 as distributed torque limit information. Put out.
- the distribution torque limit information is sent from the torque limit information calculation unit 96 to the second CPU 36 via the signal line 27.
- the second CPU 36 compares the distribution torque limit information from the torque limit information calculation unit 96 with the second torque command information from the second speed control unit 53 to determine whether there is an overload.
- An overload detection unit 97 is provided to detect this.
- a predetermined threshold is preliminarily set.
- the overload detection unit 97 determines whether there is no overload when the difference between the distribution torque limit information and the second torque command information is smaller than a predetermined threshold, and distribute torque limit information When the difference between the value and the second torque command information is greater than or equal to a predetermined threshold value, it is determined that an overload has occurred.
- the difference between the first torque command information and the preset total torque limit information is calculated as the distribution torque limit information, and the distribution torque limit information and the second torque limit information are calculated. Since the presence or absence of overload is detected by comparing with the command information, the total of the first and second torque command information is total even if the difference between the first and second torque command information is small. The occurrence of overload can be detected when the torque limit information is exceeded. Therefore, the presence or absence of overload can be detected more reliably.
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008517730A JP4896973B2 (ja) | 2006-05-29 | 2006-05-29 | エレベータのドア装置 |
CN2006800544108A CN101426710B (zh) | 2006-05-29 | 2006-05-29 | 电梯的门装置 |
DE112006003911.3T DE112006003911B4 (de) | 2006-05-29 | 2006-05-29 | Türvorrichtung für einen Aufzug |
US12/293,445 US7992688B2 (en) | 2006-05-29 | 2006-05-29 | Door device for an elevator |
PCT/JP2006/310663 WO2007138668A1 (ja) | 2006-05-29 | 2006-05-29 | エレベータのドア装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2006/310663 WO2007138668A1 (ja) | 2006-05-29 | 2006-05-29 | エレベータのドア装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2007138668A1 true WO2007138668A1 (ja) | 2007-12-06 |
Family
ID=38778197
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2006/310663 WO2007138668A1 (ja) | 2006-05-29 | 2006-05-29 | エレベータのドア装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US7992688B2 (ja) |
JP (1) | JP4896973B2 (ja) |
CN (1) | CN101426710B (ja) |
DE (1) | DE112006003911B4 (ja) |
WO (1) | WO2007138668A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009166919A (ja) * | 2008-01-11 | 2009-07-30 | Mitsubishi Electric Corp | エレベータのドア装置 |
JP2011047239A (ja) * | 2009-08-28 | 2011-03-10 | Nippon Jido Door Kk | 自動ドアの開閉制御装置 |
JP2014057395A (ja) * | 2012-09-11 | 2014-03-27 | Toyota Motor Corp | モータ制御装置 |
WO2014199688A1 (ja) * | 2013-06-12 | 2014-12-18 | 三菱電機株式会社 | ドア装置およびドアの制御方法 |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA2765438C (en) * | 2009-07-23 | 2017-06-06 | Inventio Ag | Elevator car |
JP5375964B2 (ja) * | 2009-09-10 | 2013-12-25 | 三菱電機株式会社 | エレベータドアの制御装置 |
KR102229239B1 (ko) * | 2012-10-30 | 2021-03-18 | 인벤티오 아게 | 파워 어큐뮬레이터에 의해 야기된 도어 리프의 과속을 방지하기 위한 디바이스 |
DE102018110021A1 (de) * | 2018-04-26 | 2019-10-31 | Airbus Operations Gmbh | Vorrichtung zum Steuern einer Tür eines Transportmittels und Flugzeug |
US11091950B2 (en) * | 2018-05-25 | 2021-08-17 | Fuji Electric Co., Ltd. | Door control device and door control method |
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- 2006-05-29 CN CN2006800544108A patent/CN101426710B/zh not_active Expired - Fee Related
- 2006-05-29 WO PCT/JP2006/310663 patent/WO2007138668A1/ja active Application Filing
- 2006-05-29 US US12/293,445 patent/US7992688B2/en not_active Expired - Fee Related
- 2006-05-29 DE DE112006003911.3T patent/DE112006003911B4/de not_active Expired - Fee Related
- 2006-05-29 JP JP2008517730A patent/JP4896973B2/ja not_active Expired - Fee Related
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JP2009166919A (ja) * | 2008-01-11 | 2009-07-30 | Mitsubishi Electric Corp | エレベータのドア装置 |
JP2011047239A (ja) * | 2009-08-28 | 2011-03-10 | Nippon Jido Door Kk | 自動ドアの開閉制御装置 |
JP2014057395A (ja) * | 2012-09-11 | 2014-03-27 | Toyota Motor Corp | モータ制御装置 |
WO2014199688A1 (ja) * | 2013-06-12 | 2014-12-18 | 三菱電機株式会社 | ドア装置およびドアの制御方法 |
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Also Published As
Publication number | Publication date |
---|---|
JP4896973B2 (ja) | 2012-03-14 |
JPWO2007138668A1 (ja) | 2009-10-01 |
CN101426710A (zh) | 2009-05-06 |
DE112006003911B4 (de) | 2016-10-06 |
US20090272605A1 (en) | 2009-11-05 |
US7992688B2 (en) | 2011-08-09 |
CN101426710B (zh) | 2012-06-20 |
DE112006003911T5 (de) | 2009-07-30 |
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