CN102070064A - Elevator door motor control system and method - Google Patents
Elevator door motor control system and method Download PDFInfo
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- CN102070064A CN102070064A CN2009101096852A CN200910109685A CN102070064A CN 102070064 A CN102070064 A CN 102070064A CN 2009101096852 A CN2009101096852 A CN 2009101096852A CN 200910109685 A CN200910109685 A CN 200910109685A CN 102070064 A CN102070064 A CN 102070064A
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Abstract
The invention relates to an elevator door motor control system. The system at least comprises a door motor main loop, a detection unit, a memory unit and a door width learning unit, wherein the door motor main loop is used for opening or closing an elevator door by driving a door motor to rotate; the door width learning unit is used for recording standard moment of each position without external force during the closing of the elevator door and storing the standard moment in the memory unit; the detection unit is used for detecting actual moment during the running of the elevator door through a signal acquired by the door motor main loop; and when the difference of the actual moment at any position during the closing of the elevator door and the standard moment at a corresponding position stored in the memory unit is greater than a specified threshold value, the obstruction to the closing of the door is determined. The invention also provides a corresponding method. By the system and the method, the standard moment applied to the elevator door is self-learned without the external force, and the obstruction to the running is determined when the actual moment and the standard moment are greater than the specified threshold value, so that the moment is more accurately calculated to avoid false determination.
Description
Technical field
The present invention relates to elevator control field, more particularly, relate to a kind of system and method that elevator door-motor is carried out the switch gate control.
Background technology
Elevator door is the passage of passenger or goods turnover lift car, generally realizes the switch control of elevator door by elevator controlling structure.The control and the elevator safety of elevator door are closely related, and simple and reliable gate control system is extremely important.
Existing elevator controlling structure can be reduced to shown in Figure 1, and wherein apparatus for controlling elevator is an integral body, comprises some electric links of elevator control, is the core component of control elevator, is elevator control maincenter.The door machine controller is an actuating unit, comprises a machine control logic partial sum direct motor drive part, can finish the operation control of elevator door electrical motor.Mechanical arm is the man-machine interface of machine debugging, and the commissioning staff need debug near the installation site of the door machine controller of elevator, and the operation parameter of a machine controller is set.
The door switch order of apparatus for controlling elevator decision elevator is delivered to a machine controller by terminal signals with order then, and the door machine controller is carried out corresponding operation according to order control gate electrical motor, and the status information with elevator door feeds back to apparatus for controlling elevator then.
In above-mentioned elevator controlling structure, when the elevator door switch door was hampered, the door machine controller judged whether to be obstructed according to light curtain signal.In case only providing enough big at obstacle, light curtain Signal Fail, door machine controller just can make the judgement that is hampered when being subjected to resisting moment.
The elevator GB requires the Clamping force of elevator door to be no more than 150 Ns.When being hampered judgement, with calculated by the obstacle resistance, ignored power such as the suffered friction force of in the process of closing the door elevator door, external mechanical force is this key factor of dynamic change to existing door machine controller with the friction force of elevator door, external elevator doors such as mechanical force self resistance.Thereby make there is error in the judgement that is subjected to resisting moment, can not open the door automatically by actv. when elevator door is hampered.Therefore, elevator " folder people " accident takes place frequently, and can not guarantee the elevator door safety in utilization by actv..
Summary of the invention
The technical problem to be solved in the present invention is that the problem that the elevator that causes at above-mentioned elevator door Clamping force inaccuracy " presss from both sides the people " provides a kind of Elevator Door Control System and method.
The technical scheme that the present invention solves the problems of the technologies described above is, a kind of Elevator Door Control System is provided, and comprises a machine major loop, detecting unit, memory cell, gate-width unit at least, wherein:
Described door machine major loop is used for rotating opening or closing of realization elevator door by the driving gate electrical motor;
Described gate-width unit is used for being recorded in elevator door under the no external force effect in the standard moment of closing each position of closed procedure, and described standard moment is stored in memory cell;
Described detecting unit, be used for going out the operating actual moment of elevator door, and the difference of the standard moment of the correspondence position of storing in actual moment that elevator door closes arbitrary position in the closed procedure and memory cell is judged the pass hindered lift-cabin door during greater than assign thresholds by the signal detection of described door machine major loop collection.
In Elevator Door Control System of the present invention, the moment of described each operation phase of gate-width unit or each position of gate-width proportional recording elevator door, the described operation phase comprises that elevator door closes acceleration, speed stabilizing, the decelerating phase in the closed procedure, described gate-width ratio is meant based on the elevator door maximum width, gets fixed proportion as the moment registration point.
In Elevator Door Control System of the present invention, described gate-width unit and detecting unit are according to current value base of calculation moment and actual moment, and described standard moment becomes the set formula relation with actual moment with current value.
In Elevator Door Control System of the present invention, also comprise the gate-width position feedback device, described gate-width unit and detecting unit are determined the position of elevator door according to the feedback signal of described gate-width position feedback device.
In Elevator Door Control System of the present invention, described gate-width unit also is recorded in elevator door each position or standard moment in stage in opening process under the no external force effect, and described standard moment is stored in memory cell, whether the difference of the standard moment of the correspondence position of storing in the actual moment of described detecting unit detection elevator door each position in opening process and the memory cell is obstructed as if then being judged as to open the door greater than assign thresholds greater than assign thresholds.
The present invention also provides a kind of control method of elevator door-motor, may further comprise the steps:
A, calculating are being closed the standard moment of each position in the closed procedure at elevator door under the no external force effect, and are being stored described standard moment;
B, calculate the actual moment of elevator door each position in closing closed procedure, and whether the difference of standard moment of correspondence position of judging described actual moment and storage is greater than assign thresholds;
C, judge that closing the hindered lift-cabin door condition produces when specifying assign thresholds in the difference of actual moment and standard moment.
In control method of elevator door-motor of the present invention, the moment of calculating and storing each position of elevator door according to the operation phase or the gate-width ratio of elevator door among the described step a, the described operation phase comprises that elevator door closes acceleration, speed stabilizing, the decelerating phase in the closed procedure, described gate-width ratio is meant based on maximum width, gets fixed proportion as the moment registration point.
In control method of elevator door-motor of the present invention, according to current value base of calculation moment and actual moment, described standard moment becomes the set formula relation with actual moment with current value among described step a and the step b.
In control method of elevator door-motor of the present invention, the position of described elevator door is determined according to the feedback signal of gate-width position feedback device.
Elevator Door Control System of the present invention and method do not have the suffered standard moment of elevator door under the external force situation by self study, and confirm that in actual moment and standard moment operation is obstructed during greater than assign thresholds, thereby make Calculating Torque during Rotary more accurate, avoid erroneous judgement.When the present invention is obstructed judgement at elevator door, only calculates the influence of pure resistance, and remove the influence of factors such as suffered friction force of elevator door and mechanical external force, thereby accurately judge the situation of being obstructed of diverse location point in the elevator door operational process.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples, in the accompanying drawing:
Fig. 1 is the scheme drawing of existing elevator controlling structure;
Fig. 2 is the scheme drawing of the application of Elevator Door Control System of the present invention;
Fig. 3 is the scheme drawing of Elevator Door Control System embodiment of the present invention;
Fig. 4 is the run curve scheme drawing of Elevator Door Control System of the present invention when elevator door is hampered;
Fig. 5 is the schematic flow sheet of control method of elevator door-motor embodiment of the present invention.
The specific embodiment
The present invention by before the work of door machine control system (under the no external force state) carry out the study of gate-width self study or switch door moment, be recorded in that the cooresponding electric current of diverse location changes in the switch door process, and compute switch door standard moment.Thereby by actual moment and the contrast of standard moment with the switch door; the resistance of eliminating elevator door self and friction force etc.; whether the decision gate machine is blocked by foreign matter in operational process; realize closing and reopen the door function after hindered lift-cabin door stops or is obstructed; protect personal security greatly, avoid a machine generation physical damage.
As shown in Figure 2, be the scheme drawing of the application example of a kind of Elevator Door Control System of the present invention.This machine control system is by external single phase poaer supply driving gate motor, thus the unlatching and the closure of control elevator door.
This machine control system is connected with rotary encoder, with the feedback signal from rotary encoder receiving gate motor, and knows the gate-width data of opening at closing time.This machine control system is also connected to apparatus for controlling elevator, to obtain control signal and to send door-closing in-place signal, the fault signal etc. that puts in place of declaring, open the door to apparatus for controlling elevator.Certainly, also can adopt other gate-width position feedback devices to replace above-mentioned rotary encoder.
As shown in Figure 3, be the scheme drawing of door machine control system embodiment of the present invention.In the present embodiment, door machine control system comprises a machine major loop 34, detecting unit 33, memory cell 32 and gate-width unit 31.Certainly also comprise employed circuit or module in other existing door machines controls in this machine control system, for example the communication between the drive controlling of door machine major loop 34, data storage control and the apparatus for controlling elevator is handled and the auxiliary logic of door machine control system etc.
Door machine major loop 34 is used for the driving gate electrical motor and rotates with the ON/OFF elevator door.Particularly, this machine major loop 34 is strong power parts of machine control system, and it comprises 4 main portions such as rectification, inversion, Switching Power Supply, dc capacitor.The system power supply that is input as elevator of this machine major loop 34, output are three lines of U, V, W of control gate electrical motor.
Gate-width unit 31 is used for being recorded under the no external force effect (for example elevator formally do not use or when guaranteeing clear) elevator door in the standard moment of closing each position of closed procedure, and standard moment is stored in memory cell 32.Particularly, this gate-width unit is recorded in the cooresponding current curve in different gate-widths position in the switch door process in gate-width self study process, and calculates cooresponding standard moment according to current curve, electric current becomes the set formula relation with standard moment, for example by certain coefficient relation in direct ratio.
Gate-width unit 31 can be gathered the standard moment of a plurality of gate-widths position according to different demands for security, and described certain gate-width ratio is meant based on maximum width, gets fixed proportion as the moment registration point.During for example according to the proportional recording moment of 2% gate-width, with the 2% standard moment of gathering 50 points of the maximum width of elevator door.
Gate-width unit 31 also can write down the moment of each operation phase of elevator door, and wherein the operation phase of elevator door comprises that elevator door closes acceleration in the closed procedure, speed stabilizing, decelerating phase etc.
Whether detecting unit 33 is used for detecting the difference of standard moment of the correspondence position that elevator door stores greater than assign thresholds in the actual moment of closing each position of closed procedure and memory cell, close hindered lift-cabin door (for example to apparatus for controlling elevator output pass hindered lift-cabin door signal) and make a machine major loop 34 reverse drive door motors if then judge greater than assign thresholds.
In said system, can be according to the actual conditions setting moment upper limit (for example by setting the threshold value of actual moment and the difference of standard moment) of closing the door, thus the pairing maximum allowed current of determining in operational process of diverse location.Change the decision gate machine by electric current and in operational process, whether blocked, realize closing and reopen the door function after hindered lift-cabin door stops or is obstructed, protect personal security greatly, avoid a machine generation physical damage by foreign matter.
In said system, gate-width unit 31 and detecting unit 33 are determined the position (gate-width) of elevator door according to the feedback signal of rotary encoder.
Said system also can comprise the detection of opening the door.At this moment, gate-width unit 31 also is recorded in the standard moment of elevator door each position in opening process under the no external force effect except the standard moment in the closed procedure of record elevator door pass, and standard moment is stored in memory cell 32.Correspondingly, whether the difference of the standard moment of the correspondence position of storing in the actual moment that detecting unit 33 detects elevator door each positions in opening process and the memory cell greater than assign thresholds, is obstructed and makes described door machine major loop stop to export if then judge to open the door greater than assign thresholds.
Current curve when as shown in Figure 4, being the elevator door switch hindered lift-cabin door.In this application example, when door motor receives normal pass gate signal, after this door motor accelerates to startup low speed (F400) operation of closing the door through the startup pick-up time of setting (F401) of closing the door, at the low speed segment constant-speed operation of closing the door; When the distance of closing the door reaches predetermined gate-width (F607), a door machine switches to (F403) operation phase at a high speed of closing the door, and quickens according to the pick-up time of closing the door (F404), quickens to finish the back at the high regime constant-speed operation of closing the door.
In the high regime constant-speed operation process of closing the door, the difference of the standard moment that door machine control system writes down in the time of can judging stressed moment and self study, when this difference during greater than setting threshold, assert closes the door at this moment is hampered.Door machine control system is according to the unusual deceleration time of setting (F500), speed reduced to 0 in the scope between at this moment, after this reopens gate signal if receive actv., and then the driving gate electrical motor enters door opening state.
Each parameter all can be set by mechanical arm, can satisfy the judgement that is hampered of different occasions, and is accurately reliable.
As shown in Figure 3, be the schematic flow sheet of control method of elevator door-motor embodiment of the present invention.Particularly, this method may further comprise the steps:
Step S51: calculate the standard moment of closing each position in the closed procedure at elevator door under the no external force effect, and store described standard moment.According to current value (amplitude) the base of calculation moment of input gate motor, this standard moment is directly proportional with current value in this step.
In this step, can gather the standard moment of a plurality of gate-widths position, for example can promptly gather 50 standard moments according to the moment of each position of proportional recording elevator door of 2% gate-width according to the spacing of 2% gate-width according to different demands for security.
Step S52: calculate in the running process of elevator (the actual use) the actual moment of elevator door in closing closed procedure.Current value (amplitude) according to the input gate motor in this step calculates actual moment, and this actual moment becomes the set formula relation with current value, for example be directly proportional.
Step S53: whether the difference of standard moment of correspondence position of judging above-mentioned actual moment and storage greater than assign thresholds, if greater than assign thresholds, and execution in step S54 then, otherwise return step S52, continue to calculate the actual moment of the next position.
In the method, can be according to the actual conditions setting moment upper limit (for example by setting the threshold value of actual moment and the difference of standard moment) of closing the door, thus the pairing maximum allowed current of determining in operational process of diverse location.Change the decision gate machine by electric current and in operational process, whether blocked, realize closing and reopen the door function after hindered lift-cabin door stops or is obstructed, protect personal security greatly, avoid a machine generation physical damage by foreign matter.
Step S54: confirm to close hindered lift-cabin door and make a machine major loop reverse drive door motor.
In said method, step S51 and step S52 determine the position (gate-width) of elevator door according to the feedback signal of rotary encoder.
Above-mentioned control method of elevator door-motor also can be used for realizing the elevator control of opening the door, and this process may further comprise the steps: calculate the standard moment of elevator door each position in opening process under no external force effect, and store described standard moment; Calculate the actual moment of elevator door each position in opening process, and whether the difference of standard moment of correspondence position of judging described actual moment and storage is greater than assign thresholds; Judge during greater than assign thresholds to open the door in the difference of actual moment and standard moment and be obstructed and make a machine major loop stop output.
Above-mentioned system and method has a machine running resistance and changes the self-tune function: in gate-width self study process, be recorded in the cooresponding current curve of diverse location in the switch door process, if in the process of closing the door, be obstructed, the door machine controller can be removed the influence of self suffered friction force and mechanical external force etc. self moment, only calculate the influence of pure resistance, the accurate situation of being obstructed of judging diverse location point in the machine operational process of going out.
System and method of the present invention has common incremental encoder permagnetic synchronous motor closed-loop vector control: based on the feedback signal of coder, controller is with speed sensor approach vector control operation.
The above; only for the preferable specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (9)
1. an Elevator Door Control System is characterized in that, comprises a machine major loop, detecting unit, memory cell, gate-width unit at least, wherein:
Described door machine major loop is used for rotating opening or closing of realization elevator door by the driving gate electrical motor;
Described gate-width unit is used for being recorded in elevator door under the no external force effect in the standard moment of closing each position of closed procedure, and described standard moment is stored in memory cell;
Described detecting unit, be used for going out the operating actual moment of elevator door, and the difference of the standard moment of the correspondence position of storing in actual moment that elevator door closes arbitrary position in the closed procedure and memory cell is judged the pass hindered lift-cabin door during greater than assign thresholds by the signal detection of described door machine major loop collection.
2. Elevator Door Control System according to claim 1, it is characterized in that, the moment of described each operation phase of gate-width unit or each position of gate-width proportional recording elevator door, the described operation phase comprises that elevator door closes acceleration, speed stabilizing, the decelerating phase in the closed procedure, described gate-width ratio is meant based on the elevator door maximum width, gets fixed proportion as the moment registration point.
3. Elevator Door Control System according to claim 1 is characterized in that, described gate-width unit and detecting unit are according to current value base of calculation moment and actual moment, and described standard moment becomes the set formula relation with actual moment with current value.
4. Elevator Door Control System according to claim 1 is characterized in that, also comprises the gate-width position feedback device, and described gate-width unit and detecting unit are determined the position of elevator door according to the feedback signal of described gate-width position feedback device.
5. Elevator Door Control System according to claim 1, it is characterized in that, described gate-width unit also is recorded in elevator door each position or standard moment in stage in opening process under the no external force effect, and described standard moment is stored in memory cell, whether the difference of the standard moment of the correspondence position of storing in the actual moment of described detecting unit detection elevator door each position in opening process and the memory cell is obstructed as if then being judged as to open the door greater than assign thresholds greater than assign thresholds.
6. a control method of elevator door-motor is characterized in that, may further comprise the steps:
A, calculating are being closed the standard moment of each position in the closed procedure at elevator door under the no external force effect, and are being stored described standard moment;
B, calculate the actual moment of elevator door each position in closing closed procedure, and whether the difference of standard moment of correspondence position of judging described actual moment and storage is greater than assign thresholds;
C, judge that closing the hindered lift-cabin door condition produces when specifying assign thresholds in the difference of actual moment and standard moment.
7. control method of elevator door-motor according to claim 6, it is characterized in that, the moment of calculating and storing each position of elevator door according to the operation phase or the gate-width ratio of elevator door among the described step a, the described operation phase comprises that elevator door closes acceleration, speed stabilizing, the decelerating phase in the closed procedure, described gate-width ratio is meant based on maximum width, gets fixed proportion as the moment registration point.
8. control method of elevator door-motor according to claim 6 is characterized in that, according to current value base of calculation moment and actual moment, described standard moment becomes the set formula relation with actual moment with current value among described step a and the step b.
9. control method of elevator door-motor according to claim 6 is characterized in that, the position of described elevator door is determined according to the feedback signal of gate-width position feedback device.
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| CN2009101096852A CN102070064A (en) | 2009-11-20 | 2009-11-20 | Elevator door motor control system and method |
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| CN2009101096852A CN102070064A (en) | 2009-11-20 | 2009-11-20 | Elevator door motor control system and method |
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| CN102674121A (en) * | 2012-05-21 | 2012-09-19 | 珠海格力电器股份有限公司 | Elevator door motor control system and control method |
| CN103274280A (en) * | 2013-04-10 | 2013-09-04 | 深圳市海浦蒙特科技有限公司 | Elevator device and elevator driving method |
| CN104843571A (en) * | 2015-04-14 | 2015-08-19 | 上海贝思特门机有限公司 | Elevator door motor controller capable of automatically recognizing door width and door position |
| CN105110113A (en) * | 2015-07-28 | 2015-12-02 | 苏州汇川技术有限公司 | Elevator floor leveling position control system and method |
| CN109179171A (en) * | 2018-10-31 | 2019-01-11 | 苏州汇川技术有限公司 | Elevator door mechanical system self-learning method, equipment and storage medium |
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| CN102674121A (en) * | 2012-05-21 | 2012-09-19 | 珠海格力电器股份有限公司 | Elevator door motor control system and control method |
| CN103274280A (en) * | 2013-04-10 | 2013-09-04 | 深圳市海浦蒙特科技有限公司 | Elevator device and elevator driving method |
| CN103274280B (en) * | 2013-04-10 | 2015-04-08 | 深圳市海浦蒙特科技有限公司 | Elevator device and elevator driving method |
| CN104843571A (en) * | 2015-04-14 | 2015-08-19 | 上海贝思特门机有限公司 | Elevator door motor controller capable of automatically recognizing door width and door position |
| CN105110113A (en) * | 2015-07-28 | 2015-12-02 | 苏州汇川技术有限公司 | Elevator floor leveling position control system and method |
| CN110344699A (en) * | 2018-04-04 | 2019-10-18 | 中山市欧派克五金制品有限公司 | Linear motor self-buffering control method for sliding door and self-buffering sliding door system |
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| CN112225046B (en) * | 2020-09-24 | 2023-08-22 | 嘉兴学院 | Method for coordinated operation of elevator traction machine and elevator door motor according to logic instructions |
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Application publication date: 20110525 |