WO2011027450A1 - エレベーターのドア装置 - Google Patents

エレベーターのドア装置 Download PDF

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Publication number
WO2011027450A1
WO2011027450A1 PCT/JP2009/065419 JP2009065419W WO2011027450A1 WO 2011027450 A1 WO2011027450 A1 WO 2011027450A1 JP 2009065419 W JP2009065419 W JP 2009065419W WO 2011027450 A1 WO2011027450 A1 WO 2011027450A1
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WO
WIPO (PCT)
Prior art keywords
door
elevator
car
engagement
speed
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PCT/JP2009/065419
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English (en)
French (fr)
Japanese (ja)
Inventor
健児 宇都宮
正行 菅原
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三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2009/065419 priority Critical patent/WO2011027450A1/ja
Priority to CN200980161248.3A priority patent/CN102482057B/zh
Priority to DE112009005200T priority patent/DE112009005200B4/de
Priority to JP2011529740A priority patent/JP5465251B2/ja
Publication of WO2011027450A1 publication Critical patent/WO2011027450A1/ja

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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, and more particularly to an elevator door device that detects the engagement between a car door and a landing door and controls the speed of the door according to the timing of the engagement.
  • FIG. 4 is a diagram showing an example of a general elevator door opening speed pattern.
  • an elevator door is composed of a total of four doors, two left and right car doors provided on the car side and two left and right landing doors provided on the landing side.
  • the car side door and the drive belt provided on the upper portion of the door are connected by a connecting tool.
  • the drive belt is endless and has a substantially elliptical shape that is long in the horizontal direction.
  • the drive belt is wound around and stretched around both of two winding wheels provided on the upper portion of the door. . With this configuration, the drive belt is rotated by the rotation of the winding wheel, so that the door is opened and closed.
  • a pair of members consisting of an engagement vane and an engagement roller, hereinafter referred to as an engagement device
  • the engaging device made of the above members needs to be installed so as not to contact each other when the elevator car is traveling, they are installed so as to have a gap (hereinafter referred to as an engaging gap).
  • an engaging gap hereinafter referred to as an engaging gap.
  • the conventional door control device it is a configuration that cannot detect whether the car side door is engaged with the landing side door during the door opening operation, so even when the engagement gap is the largest, Control is performed so as to shift to the acceleration operation after the car-side door moves to the position where the engagement should have been completed.
  • FIG. 4 there is a problem that a low-speed driving time (low-speed section) of a considerably long time occurs, and as a result, the operation efficiency of the elevator is lowered.
  • Patent Documents 3 and 4 a technique for detecting an engagement position from a torque change of an electric motor is disclosed (for example, refer to Patent Documents 3 and 4).
  • JP 03-293283 A page 3, upper right column, lines 4-7, FIG. 1
  • JP 03-186589 page 3, lower left column, lines 8 to 18
  • JP 2002-3116 paragraphs [0049] to [0050]
  • JP 2007-15787 A paragraph [0025]
  • Patent Document 1 Using the technique disclosed in the above-mentioned Patent Document 1 can certainly reduce useless low-speed driving time and increase the operation efficiency of the elevator. However, since it is necessary to newly provide a sensor for detecting the engagement gap, there is a problem that the apparatus becomes complicated and large. In addition, a sensor for detecting such an engagement gap is generally expensive.
  • Patent Document 2 determines the engagement of the door by utilizing the characteristic that the actual speed is delayed at the time of engagement with respect to the speed command value given to the electric motor.
  • the engagement is determined from the increase in the motor torque at the time of engagement.
  • Each of these technologies is a technology for judging the engagement of a door using information of a speed sensor and a current sensor (control current is approximately proportional to torque) necessary for normal control. Since a simple sensor is not required, there is an advantage that the apparatus can be prevented from becoming complicated, large and expensive. However, speed fluctuations and torque fluctuations are also caused by factors other than the engagement of the doors, such as friction generated in the lower part of the car-side door or the landing-side door, clogging of the door and sill, etc. There was a problem.
  • the degree of change in speed and torque due to engagement also depends on the degree of contact between the engagement devices (engagement vanes and engagement rollers), the spring constant of the drive belt, the friction of the car side door and the landing side door, and the winding car. Since it fluctuates due to various factors such as the control algorithm of the electric motor for driving, there is also a problem that it is unclear how to set the threshold value for determining the engagement.
  • the determination threshold is unclear, the determination of engagement needs to be evaluated including not only sensor information at the time of engagement but also sensor information for a certain period before and after the engagement. Accordingly, the determination of engagement cannot be performed in real time, and in the above-described patent document, the engagement position is determined after performing the door opening operation, and the engagement position is stored for each floor. Thus, hereinafter, a technique for changing the door speed pattern using the stored engagement position is used.
  • the elevator car is inclined depending on the passenger's boarding position, etc., even on the same floor, the positional relationship between the car side door and the landing side door changes depending on the presence or absence of the passenger and the boarding position, and the engagement position also Change. Therefore, during normal operation, the engagement position obtained during the previous opening / closing operation is not correct, and there is a problem that the operation shifts to the acceleration operation before the engagement or the low speed period continues after the engagement. .
  • the present invention has been made in order to solve the above-described problems, and can detect engagement with high reliability even when there is a disturbance such as friction or clogging of dust, and can also adjust and control the door.
  • An object of the present invention is to obtain an elevator door device that can detect the engagement of the car-side door and the landing-side door in real time regardless of the variation of the algorithm.
  • the present invention includes a car-side door that opens and closes an entrance / exit of a car of an elevator, a landing-side door that opens and closes an entrance / exit of a landing on each floor, a drive device that opens and closes the car-side door, the car-side door, and the landing
  • An elevator door device provided with an engagement device provided between the side door and opening / closing the landing side door in conjunction with the opening / closing operation of the car side door by the opening / closing drive of the driving device, Means for detecting angular acceleration or acceleration of the driving device, means for detecting driving torque or driving force of the driving device, sequentially estimating the door weight of the elevator, and estimating the previous door weight estimated value
  • the information is stored in the storage means, and the angular acceleration or acceleration information, the driving torque or driving force information, and the previous door weight estimated value stored in the storage means are input.
  • a door device and a door weight estimating means for outputting a new door weight estimate.
  • the present invention includes a car-side door that opens and closes an entrance / exit of a car of an elevator, a landing-side door that opens and closes an entrance / exit of a landing on each floor, a driving device that opens and closes the car-side door, the car-side door, and the landing
  • An elevator door device provided with an engagement device provided between the side door and opening / closing the landing side door in conjunction with the opening / closing operation of the car side door by the opening / closing drive of the driving device, Means for detecting angular acceleration or acceleration of the driving device, means for detecting driving torque or driving force of the driving device, sequentially estimating the door weight of the elevator, and estimating the previous door weight estimated value
  • the information is stored in the storage means, and the angular acceleration or acceleration information, the driving torque or driving force information, and the previous door weight estimated value stored in the storage means are input.
  • FIG. 3 is a front view of an elevator car side door for illustrating a configuration of an elevator door device according to Embodiments 1 to 3 of the present invention.
  • FIG. 3 is a front view of a landing door of the elevator for illustrating the configuration of the elevator door device according to the first to third embodiments of the present invention.
  • FIG. 5 is a top view showing a relationship between a car-side door and a landing-side door for illustrating a configuration of an elevator door device according to Embodiments 1 to 3 of the present invention. It is a figure which shows the opening speed pattern of the door of a common elevator. It is a block diagram which shows the internal structure of the door controller provided in the door apparatus of the elevator which concerns on Embodiment 1 of this invention.
  • FIG. 1 to 3 show the configuration of an elevator door device according to Embodiment 1 of the present invention.
  • FIG. 1 is a front view showing a car-side door of an elevator
  • FIG. 2 is a front view showing a landing-side door of the elevator
  • FIG. 3 is a top view showing a relationship between the car-side door and the landing-side door.
  • 1 is a car-side door for opening and closing an entrance / exit of a car of an elevator
  • 2 is a hand hanging a car-side door
  • 3 is a girder provided on the car-side door 1
  • 4 Is a guide rail provided on the beam 3
  • 5 is a pair of winding vehicles provided on the beam 3
  • 6 is a driving belt wound on both of the winding vehicles 5
  • 7 is a suspension 2 and a driving belt 6.
  • a door controller that controls the opening and closing operation of the door
  • 9 is an electric motor that is a driving device that rotates the winding car 5 to open and close the car-side door 1
  • 10 is each floor A landing side door for opening and closing the entrance / exit of the landing
  • 11 an engagement vane provided on the car door 1
  • 12 an engagement roller provided on the landing door 10 and engaged with the engagement vane 11
  • Linked rope, 14 is elevator car
  • 15 is engagement vane 11 and engagement rope A engagement gap provided between the La 12.
  • a suspender 2 is provided at the upper end of the car-side door 1.
  • a substantially rectangular girder 3 is arranged at the upper edge of an entrance (not shown) of the elevator car 14 provided with the car-side door 1 so that the longitudinal direction is in the horizontal direction.
  • a guide rail 4 is arranged in the longitudinal direction in the girder 3 and guides the horizontal movement of the hanger 2, that is, the opening and closing movement of the car-side door 1.
  • two girders 5 are pivoted apart from each other, and an endless driving belt 6 is wound around the two girders 5 and stretched.
  • Each of the two connecting tools 7 is connected to the car-side door 1 via the suspension 2 and the other end is connected to the drive belt 6.
  • a connecting tool 7 provided on the right car-side door 1 via a hanger 2 is connected to one side on the lower side of the drive belt 6 arranged in an elliptical shape
  • the left car-side door. 1 is connected to one side on the upper side of the drive belt 6 arranged in an elliptical shape.
  • an engagement vane 11 for engaging the landing door 10 is provided on one of the two car doors 1. Further, an engagement roller 12 is provided on one of the two landing-side doors 10 so as to correspond thereto.
  • the engagement vane 11 installed on one of the car-side doors 1 sandwiches and holds the engagement roller 12 installed on one of the landing-side doors 10.
  • the landing door 10 is opened and closed in conjunction with the opening and closing operation of the car side door 1.
  • the engagement vanes 11 and the engagement rollers 12 are collectively referred to as an engagement device.
  • the two landing-side doors 10 are connected via an interlocking rope 13. Therefore, when the landing-side door 10 on the side where the engaging roller 12 is installed is operated by the electric motor 9 via the engaging vane 11 and the engaging roller 12, the other landing-side door 10 is also moved by the function of the interlocking rope 13. Operates in the opposite direction to open and close the doorway.
  • the elevator door device is provided with the electric motor 9 as a driving device on the car-side door 1, and has a mechanism for engaging and closing the landing-side door 10 on each floor.
  • the engagement vane 11 and the engagement roller 12 need to be installed so that they do not come into contact with each other when the elevator car 14 is traveling. It is installed to become. Since the elevator car 14 has a structure that moves not only in the vertical (running) direction but also in the left-right longitudinal direction due to uneven load and vibration, the engagement gap 15 needs to be wide to some extent so as to absorb the vibration.
  • FIG. 5 is a block diagram showing an internal configuration of the door controller 8 provided in the elevator door device according to Embodiment 1 of the present invention.
  • the door controller 8 includes a speed pattern generator 19, a subtractor 20, a speed controller 21, a subtractor 22, a current controller 23, differentiators 24 and 25, gains, and the like. 26, a known torque converter 27, a subtractor 28, high-pass filters 29 and 30, a door weight estimator 31, and a storage means 32 are provided.
  • 16 is a door device of the present invention to which a door controller 8 is connected, and an electric motor 9 is provided.
  • Reference numerals 18 and 17 denote a current sensor and a resolver connected to the door device 16, respectively.
  • a resolver (rotation sensor) 17 that detects the rotation of the electric motor 9 is connected to the electric motor 9 of the door device 16. Further, a current sensor 18 for detecting a current flowing through the electric motor 9 is connected.
  • the speed pattern generator 19 outputs a command angular velocity value to the electric motor 9. From the output angular velocity command value, the rotational angular velocity value obtained by differentiating the rotational angle detected by the resolver 17 by the differentiator 24 is subtracted by the subtractor 20 to calculate the angular velocity deviation. Based on this angular velocity deviation, a current command value that causes the actual angular velocity to follow the commanded angular velocity is calculated by the speed controller 21. The calculated current command value is compared with the actual current value detected by the current sensor 18 by the subtractor 22, and the subtractor 22 outputs the deviation. Next, based on the deviation, a drive voltage is determined by the current controller 23, and the motor 9 of the door device 16 is driven by this drive voltage.
  • J is the door weight fraction inertia of the rotating shaft conversion of the electric motor 9
  • T f is the disturbance torque due to friction
  • T w is known torque due the closer spindle or vane link (not shown)
  • k is the value detected by the sensor This indicates the kth sampling value.
  • Equation (1) is simplified as Equation (2).
  • P (k) is a variable called a covariance matrix
  • ⁇ is a positive constant of 1 or less called a forgetting element.
  • the door weight estimator 31 shown in FIG. 5 updates the estimated inertia value J (k) by calculating the equations (3) to (4).
  • the door weight estimation algorithm unique to the present invention with the configuration shown in the lower part of FIG. 5 is set based on the above theory. That is, the rotational angular velocity is differentiated by the differentiator 25 and converted into rotational angular acceleration. Further, the rotational angular acceleration becomes variable rotational angular acceleration a (k) (angular acceleration information) by the high-pass filter 30 that removes low-frequency components.
  • the current value detected by the current sensor 18 is multiplied by the torque constant Ke by the gain 26 to calculate the motor torque.
  • the known torque which is a position-dependent torque applied to the electric motor 8 based on the rotation angle (position information) detected by the resolver 17.
  • T w is calculated by the known torque converter 27.
  • the door weight estimator 31 is a value one step before the variable rotational angular acceleration a (k), the variable torque ⁇ (k), and the estimated inertia value J (k) stored in the storage unit 32.
  • the inertia estimation value J (k) (door weight estimation value) is calculated according to equations (3) to (4) and stored in the storage means 32.
  • the covariance matrix P (k) is an internal variable of the door weight estimator 31 and is given by an initial value other than zero and updated as needed.
  • the forgetting variable ⁇ is a constant set in the range of about 0.97 to 0.995.
  • FIG. 6 shows an example (experimental result) of the door weight estimation result when the present invention is used.
  • the test shown in FIG. 6 shows the results of estimation of several patterns in which the weights of the car-side door 1 and the landing-side door 10 are changed.
  • graph 33 indicates that the total weight of car-side door 1 is 60 kg and the total weight of landing-side door 10 is 80 kg
  • graph 34 indicates that the total weight of car-side door 1 is 60 kg and the total weight of landing-side door 10 is If the total weight of the car door 1 is 110 kg and the total weight of the landing door 10 is 130 kg
  • the graph 36 indicates that the total weight of the car door 1 is 110 kg and the total weight of the landing door 10 is 130 kg.
  • graph 37 shows a case where the total weight of the car-side door 1 is 160 kg and the total weight of the landing-side door 10 is 180 kg. As shown in FIG.
  • the weight of only the door-side door 1 before the engagement and the total weight of the car-side door 1 and the landing-side door 10 after the engagement can be accurately detected.
  • the control is determined in detail according to the door weight that is different for each floor, the difference in the engagement timing that is different for each floor and the uneven load of the car, etc. Is possible.
  • the speed pattern generator 19 moves the engagement position of the landing-side door 10 to the floor or elevator car 14. It can be detected every time regardless of the passenger's boarding condition. Depending on the engagement detection position, the remaining door opening distance and speed pattern up to the fully open position are recalculated by the speed pattern generator 19. For example, if the engagement detection position is detected earlier, the acceleration start time is advanced as shown in the speed pattern 38 of FIG. 7, and the drive time at the maximum speed is adjusted slightly longer. On the contrary, if the travel detection position is late, the acceleration start time is delayed accordingly, and the drive time at the maximum speed is also shortened.
  • the maximum speed extension or shortening time is adjusted so that the area under the speed pattern is the same.
  • the speed pattern adjusted in this way is sent to the subtracter 20 as a speed command value.
  • the engagement of the car-side door 1 and the landing-side door 10 is determined from the door weight estimator, and the output of the speed pattern generator 19 is appropriately changed according to the engagement position. Can do.
  • different engagement positions can be determined with high accuracy under the respective conditions and the acceleration operation can be started immediately after the engagement, so that low noise and low vibration performance due to low-speed engagement is maintained. Since unnecessary low-speed driving time can be omitted, the operation efficiency of the elevator is greatly improved.
  • the door can be accelerated immediately after the engagement on each floor, so that a loud noise or vibration is generated during the engagement.
  • a resolver is used as a sensor for detecting the rotation of the electric motor 9, but an encoder may be used as long as it can detect the rotation of the electric motor 9. Further, although the current of the electric motor 9 is detected and the torque of the electric motor 9 is obtained, the torque may be directly obtained using a torque sensor.
  • the car-side door 1 that opens and closes the entrance / exit of the elevator car 14, the landing-side door 10 that opens and closes the entrance / exit of the landing on each floor, and the car-side door 1 are opened and closed.
  • An electric motor 9 is provided between the car-side door 1 and the landing-side door 10, and has an engagement device that opens and closes the landing-side door 10 in conjunction with the opening / closing operation of the car-side door 1 by opening / closing driving of the electric motor 9.
  • the resolver 17 that detects the rotation of the electric motor 9
  • the current sensor 18 that detects the electric current of the electric motor 9
  • the angular acceleration information obtained from the output of the resolver 17 the torque information obtained from the current sensor 18, and itself.
  • the door weight estimator 31 that sequentially estimates the door weight with the estimated door weight information as an input is input. Can be detected with high accuracy and real-time, door weight differ each floor, depending on the differences in different engagement timing each floor and the car unbalanced load, an effect that delicate control decided becomes possible to obtain.
  • a speed pattern generator 19 that indicates the rotation speed of the electric motor 9 is provided, and the engagement between the car-side door 1 and the landing-side door 10 is determined from the output of the door weight estimator 31. Since the output of the speed pattern generator 19 is changed, different engagement positions can be determined with high accuracy under each condition, and the acceleration operation can be started immediately after the engagement. Since it is possible to save unnecessary low-speed driving time while maintaining low noise and low vibration performance due to the engagement, an effect that the operation efficiency of the elevator is greatly improved can be obtained.
  • the door weight estimator 31 is input from the angular acceleration information and the torque information obtained by removing the low frequency components by the high-pass filters 30 and 29, respectively. By removing the low-frequency component from each input signal, it is possible to remove the influence of door friction that is different for each floor, so that more accurate estimation is possible.
  • the present embodiment has a known torque converter 27 that calculates a position-dependent torque applied to the electric motor 9 based on position information obtained from the output of the resolver 17, and the door weight estimator 31 is a current sensor. Since the information obtained by subtracting the output of the known torque converter 27 from the torque information obtained from No. 18 is used as the input, the known torque determined by the door position can be removed in advance, so that highly accurate estimation is possible. .
  • FIG. FIG. 8 is a block diagram showing an internal configuration of the door controller 8 provided in the elevator door device according to Embodiment 2 of the present invention.
  • FIG. 8 8, 9, 16 to 18, 19 to 20, and 22 to 32 are the same as those in FIG. 5 and FIG. 8 is different from FIG. 8 in that a speed controller 40 is provided instead of the speed controller 21 of FIG. 5 and that the current controller 23 and the door device 16 are different from each other. In the meantime, an overload detector 41 is added.
  • the output of the speed controller 40 is changed by the output of the door weight estimator 31.
  • a command angular velocity value to the motor 9 is output by the velocity pattern generator 19, and the rotation angle detected by the resolver 17 is differentiated by the differentiator 24 from the output angular velocity command value.
  • the rotational angular velocity obtained in this way is subtracted by the subtractor 20 to calculate an angular velocity deviation, and the speed controller 40 calculates a current command value such that the actual angular velocity follows the commanded angular velocity based on this angular velocity deviation.
  • the current command value is appropriately changed according to the output of the door weight estimator 31.
  • An example of the speed controller 40 is a PI speed controller G (s) as shown in Expression (5).
  • the case where the PI speed controller of Formula (5) is used will be described as an example.
  • the application of the present invention is not limited to the PI controller, and any equivalent operation can be performed. Other speed controllers may be used.
  • the followability to the command value of the current controller 23 is set higher than that of the speed controller 40.
  • the speed controller 40 is a PI speed controller as shown in Equation (5) under this condition
  • the crossing frequency ⁇ c which is an index indicating the followability of the speed controller 40, becomes as shown in Equation (6). .
  • the control proportional gain Ksp can be changed depending on the difference in the door weight of each floor and the presence or absence of the landing side door 10 being engaged. Thereby, the followability of the control system can be kept constant regardless of the difference in the door weight of each floor and the presence or absence of the landing door 10, and finer control is possible.
  • the integral proportional gain Ksi is set so as to satisfy the equation (7) according to “the theory and design of AC servo system” (general electronic publisher), for example.
  • the setting of the overload detector 41 is changed by the output of the door weight estimator 31.
  • the overload detector 41 determines that a human body is in contact with or caught between the car-side door 1 or the landing-side door 10 when the torque exceeds a predetermined abnormality determination threshold, and reverses the movement of the door. Means. Thereby, it can prevent that a big load is applied to a human body.
  • the abnormality determination threshold value of the overload detector 41 is changed according to the output of the door weight estimator 31.
  • the torque of the electric motor 9 varies depending on the weight of the car-side door 1 and the weight of the landing-side door 10, it is desirable to change the abnormality determination threshold for detecting an overload. If the present invention is used, the weight of the door moved by the electric motor 9 can be estimated, so that the overload detection threshold is increased when the estimated door weight is large, and the overload detection threshold is decreased when the estimated door weight is small. Can do. This makes it possible to detect overload with high reliability.
  • the speed control system has a speed controller 40 for controlling the electric motor 9 based on the difference between the output of the speed pattern generator 19 and the rotational speed obtained from the resolver 17, and the proportional gain of the speed controller 40 is set as the door weight. Since the change is made according to the estimated door weight based on the output of the estimator 31, the speed control system can be optimally changed according to the different door weights at each floor and before and after the engagement. Uniform performance can be obtained.
  • an overload detector 41 that is determined to be abnormal when the torque of the electric motor 9 is equal to or greater than a predetermined determination threshold is provided, and overload detection is performed from the output of the door weight estimator 31. Since the abnormality determination threshold value of the container 41 is changed, an overload detection threshold value can be set according to different door weights at each floor and before and after the engagement, so that it is possible to detect an overload with high accuracy.
  • FIG. 9 is a block diagram showing an internal configuration of the door controller 8 provided in the elevator door device according to Embodiment 3 of the present invention.
  • 9, 8, 9, 16, 18, 19 to 23, and 25 to 32 are the same as those in FIG. 5 and are therefore denoted by the same reference numerals, and description thereof is omitted here.
  • the difference in configuration between FIG. 5 and FIG. 9 is that, in FIG. 9, the speed estimator 42 is provided, and the resolver 17 and the differentiator 24 are not provided in the electric motor 9.
  • Japanese Patent Laid-Open No. 2000-78878 discloses a technique for estimating the rotational position of the electric motor 9 from the position dependency of the induced voltage.
  • Japanese Patent Laid-Open No. 2004-514392 discloses a technique for estimating the rotational position of the electric motor 9 using the saliency of the inductance of the electric motor 9.
  • the present invention is also applicable to an elevator door device using such sensorless drive technology. That is, the rotational speed of the electric motor 9 is estimated by the speed estimator 42 using the voltage command value output from the current controller 23 and the measured current value output from the current sensor 18.
  • the details of the speed estimator 42 are not the essence of the present invention, and thus the description thereof will be omitted. However, any speed estimation can be performed as long as the rotation speed of the motor can be obtained from the voltage command value and the measured current value. Can be used.
  • the estimated rotational speed estimated by the speed estimator 42 is used, and the rotational angular acceleration is calculated by differentiating the value.
  • the electric motor 9 Can be detected in real time with high accuracy.
  • Embodiment 3 since the resolver 17 that detects the rotation of the electric motor 9 can be omitted, there is an effect that the reliability can be improved in that it is inexpensive and eliminates the worry of a resolver failure.
  • FIG. 10 is a front view showing the car-side door of the elevator according to the fourth embodiment
  • FIG. 11 is a block diagram showing the internal configuration of the door controller 8 according to the fourth embodiment. 1 to 8 and 11 and 8, 16, 18, and 19 to 32 in FIG. 11 are the same as those in FIG. 1 and / or FIG.
  • 43 is a permanent magnet
  • 44 is a moving coil
  • 45 is a position sensor
  • 46 is a linear motor.
  • a linear motor 46 configured by a movable coil 44 and a permanent magnet 43 instead of the electric motor 9 as a driving device for the car-side door 1. Is used, and the position sensor 45 is used instead of the resolver 17.
  • the present invention is also applicable to an elevator door device using such a linear motor.
  • a driving force acts on the permanent magnet 43 in the horizontal direction with respect to the paper surface of FIG.
  • the position sensor 45 detects the position of the car-side door 1. Accordingly, as shown in FIG. 11, the driving force F (k) of the linear motor 46 can be calculated from the current sensor 18, and the acceleration ⁇ (( k) can be calculated.
  • Equation (8) M is a door weight, F f is a disturbance force due to friction, F w is a known disturbance force due to a closer weight or vane link (not shown), and k is a k-th sampled value detected by the sensor. Is shown.
  • Equations (1) and (8) are essentially the same, and it is clear that the door weight M can be calculated sequentially in the fourth embodiment in the same manner as the door weight inertia J of the first embodiment. is there.
  • the door weight is different for each floor, the engagement timing is different for each floor, and the car load is different. It is possible to obtain an effect that fine control is possible according to the necessity. Also, different engagement positions can be determined with high accuracy under each condition, and it is possible to shift to acceleration operation immediately after engagement, so that low noise and low vibration performance due to low speed engagement is maintained, Since useless low-speed driving time can be saved, the effect of greatly improving the operation efficiency of the elevator can be obtained.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Door Apparatuses (AREA)
PCT/JP2009/065419 2009-09-03 2009-09-03 エレベーターのドア装置 WO2011027450A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
PCT/JP2009/065419 WO2011027450A1 (ja) 2009-09-03 2009-09-03 エレベーターのドア装置
CN200980161248.3A CN102482057B (zh) 2009-09-03 2009-09-03 电梯门装置
DE112009005200T DE112009005200B4 (de) 2009-09-03 2009-09-03 Türvorrichtung eines Fahrstuhls
JP2011529740A JP5465251B2 (ja) 2009-09-03 2009-09-03 エレベーターのドア装置

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PCT/JP2009/065419 WO2011027450A1 (ja) 2009-09-03 2009-09-03 エレベーターのドア装置

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CN (1) CN102482057B (zh)
DE (1) DE112009005200B4 (zh)
WO (1) WO2011027450A1 (zh)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012127607A1 (ja) * 2011-03-22 2012-09-27 三菱電機株式会社 エレベータのドア制御装置
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JP2015147645A (ja) * 2014-02-06 2015-08-20 三菱電機株式会社 エレベーターのドア制御装置およびその方法
JP2017019057A (ja) * 2015-07-13 2017-01-26 セイコーエプソン株式会社 ロボット制御装置、ロボットおよびロボットシステム
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JP2013209207A (ja) * 2012-03-30 2013-10-10 Toshiba Elevator Co Ltd エレベータのドア制御装置
US10011463B2 (en) 2013-01-08 2018-07-03 Otis Elevator Company Elevator door friction belt drive including one or more markers
JP2015147645A (ja) * 2014-02-06 2015-08-20 三菱電機株式会社 エレベーターのドア制御装置およびその方法
JP2017019057A (ja) * 2015-07-13 2017-01-26 セイコーエプソン株式会社 ロボット制御装置、ロボットおよびロボットシステム
CN115196473A (zh) * 2022-06-30 2022-10-18 广州广日股份有限公司研究院 电梯轿门异物检测装置、电梯轿门及轿门异物检测方法

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