CN105645238B - Elevator door-motor system is closed the door and is obstructed processing method and system - Google Patents
Elevator door-motor system is closed the door and is obstructed processing method and system Download PDFInfo
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- CN105645238B CN105645238B CN201610167609.7A CN201610167609A CN105645238B CN 105645238 B CN105645238 B CN 105645238B CN 201610167609 A CN201610167609 A CN 201610167609A CN 105645238 B CN105645238 B CN 105645238B
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- 238000003672 processing method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 76
- 238000001514 detection method Methods 0.000 claims description 35
- 230000002045 lasting effect Effects 0.000 claims description 5
- 230000005611 electricity Effects 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000001427 coherent effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 241001282135 Poromitra oscitans Species 0.000 description 1
- 206010048232 Yawning Diseases 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000009738 saturating Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
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
- B66B13/146—Control systems or devices electrical method or algorithm for controlling doors
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Elevator Door Apparatuses (AREA)
Abstract
Close the door and be obstructed processing method and system the present invention relates to a kind of elevator door-motor, by detecting whether door mechanism system is obstructed, if so, door mechanism system incision direct torque is then controlled, and torque direction is enabling direction；Motor speed information is detected, and maximal rate is calculated according to motor transfering the letter breath；If door mechanism system is constantly in direct torque, motor speed information is detected；When the motor speed detected, which reaches, calculates maximal rate, then door mechanism system is controlled to switch to speed control；When detecting that motor speed is zero and continues time rating, then control door mechanism system switches to speed control；When detecting the signal in place that opens the door, then door mechanism system is controlled to switch to speed control.Therefore, it is possible to be switched to direct torque in time in door mechanism system so that torque direction when being obstructed of closing the door is converted to enabling direction, thus is avoided that and crushes people and cause danger.
Description
Technical field
The present invention relates to field of electrical control, more particularly to a kind of in the elevator of reopening door immediately of being obstructed at closing time at a high speed
Door mechanism system is closed the door and is obstructed processing method and system.
Background technology
Elevator door-motor generally is variable frequency door machine at present, during door office door, typically requires that shutdown torque can not be big
In 150N, for the elevator for being configured with light curtain and touch panel, when having detected barrier, apparatus for controlling elevator can be at once
Weight door opening command is sent to door machine controller.In this case, be substantially not in situation of the shutdown torque more than 150N.So
And if when above-mentioned detection device light curtain or touch panel fail, for the goods elevator door of big inertia, work as door closing speed
When comparing high, door can not be reopened at once being obstructed at closing time at a high speed, then easily causes danger.
The content of the invention
Based on this, it is necessary to provide a kind of closed the door in the elevator door-motor system of reopening door immediately of being obstructed at closing time at a high speed and be obstructed
Processing method.
A kind of elevator door-motor system is closed the door processing method of being obstructed, and is comprised the following steps：
Whether detection door mechanism system is closed the door is obstructed, if so, door mechanism system incision direct torque is then controlled, and torque direction is
Enabling direction；
Motor speed information is detected, and maximal rate is calculated according to motor transfering the letter breath；
If door mechanism system is constantly in direct torque, motor speed information is detected；
When the motor speed detected, which reaches, calculates maximal rate, then door mechanism system is controlled to switch to speed control；
When detecting that motor speed is zero and continues time rating, then control door mechanism system switches to speed control；
When detecting the signal in place that opens the door, then door mechanism system is controlled to switch to speed control.
In one of the embodiments, the step of whether the detection door mechanism system shutdown is obstructed includes：
It is judged as that shutdown is obstructed after the torque current that the is obstructed lasting time rating that current torque given value of current Iq is more than setting.
In one of the embodiments, the detection motor speed information, and calculated most according to motor transfering the letter breath
The step of big speed, includes：
Motor speed direction is detected, if motor speed is changed into enabling direction from shutdown direction, records elevator location information,
Maximal rate is calculated according to the position that elevator current location and door machine open the door in place.
In one of the embodiments, when the door mechanism system is direct torque, torque reference electric current is Iq*, torque side
To for enabling direction.
In one of the embodiments, when the door mechanism system is speed control, the initial velocity of the door mechanism system is
Open the door and terminate low speed jerking motion speed, after initial velocity is undergone, the door machine as described in normal reopening door speed of service curve controlled
System.
It is obstructed processing system in addition, also providing a kind of closed the door in the elevator door-motor system of reopening door immediately of being obstructed at closing time at a high speed
System.
A kind of elevator door-motor system is closed the door processing system, including detection module, computing module and the control module of being obstructed；
The detection module is used to detect whether door mechanism system shutdown is obstructed, if so, then the control module is used to control
Door mechanism system cuts direct torque, and torque direction is enabling direction；
The detection module is used to detect motor speed information, and the computing module is based on according to motor transfering the letter breath
Calculate maximal rate；
If door mechanism system is constantly in direct torque, the detection module is used to detect motor speed information；
When the motor speed that the detection module detects, which reaches, calculates maximal rate, then the control module control
Door mechanism system switches to speed control；
When the detection module detects that motor speed is zero and continues time rating, then the control module controls door machine
System switches to speed control；
When the detection module detects enabling signal in place, then the control module control door mechanism system switches to speed
Control.
In one of the embodiments, the control module is additionally operable to current torque given value of current Iq being obstructed more than setting
Torque current is judged as that shutdown is obstructed after continuing time rating.
In one of the embodiments, the detection module is used to detect motor speed direction, if motor speed is from shutdown
When direction is changed into enabling direction, elevator location information is recorded, the computing module is used to open according to elevator current location and door machine
The position of door in place calculates maximal rate.
In one of the embodiments, when the door mechanism system is direct torque, torque reference electric current is Iq*, torque side
To for enabling direction.
In one of the embodiments, when the door mechanism system is speed control, the initial velocity of the door mechanism system is
Open the door and terminate low speed jerking motion speed, after initial velocity is undergone, the door machine as described in normal reopening door speed of service curve controlled
System.
Above-mentioned elevator door-motor is closed the door and is obstructed processing method and system by detecting whether door mechanism system is obstructed, if so, then controlling
Door mechanism system processed cuts direct torque, and torque direction is enabling direction；Motor speed information is detected, and is turned according to the motor
Information calculates maximal rate；If door mechanism system is constantly in direct torque, motor speed information is detected；When the electricity detected
Machine rotating speed reaches when calculating maximal rate, then controls door mechanism system to switch to speed control；When detecting that motor speed is zero
And continue time rating, then control door mechanism system to switch to speed control；When detecting the signal in place that opens the door, then door machine system is controlled
System switches to speed control.Therefore, it is possible to be switched to direct torque in time in door mechanism system so that the torque closed the door when being obstructed
Direction is converted to enabling direction, thus is avoided that and crushes people and cause danger.
Brief description of the drawings
Fig. 1 is that elevator door-motor is closed the door the flow chart of processing method of being obstructed；
Fig. 2 is that elevator door-motor is closed the door the module map of processing system of being obstructed.
Embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing
Give the preferred embodiment of the present invention.But the present invention can realize in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose for providing these embodiments is to make the understanding to the disclosure more saturating
It is thorough comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or there may also be element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement are for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention
The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases
The arbitrary and all combination of the Listed Items of pass.
In the present invention, normal elevator is adopted using conventional two close cycles vector controlled, Elevator Door Control System at closing time
With closed-loop vector control strategy, during speed control, output given speed V*, given speed V* and feedback speed Vr difference forms fast
Ring input is spent using the input as speed regulator.It is exported gives Iq* for torque current.
Torque current gives the input of Iq* and torque current feedback Iqr difference composition torque current regulator, torque current
The output of adjuster is q shaft voltages Uq.Inputs of the given speed V* as weak magnetic controller, exports and gives Id* for exciting current,
Exciting current gives the input of Id* and exciting current feedback Idr difference excitation current regulator, exciting current controller
Export as d shaft voltages Ud.D axles refer to magnetic flux axle, and q axles refer to the torque axis of advanced 90 ° of d axles.D shaft voltage Ud and q shaft voltages Uq passes through
PARK inverse transform blocks carry out PARK inverse transformations and obtain the voltage in two-phase rest frame.Ualpha and Ubeta are by space
Vector Pulse Width Modulation module carries out space vector pulse width modulation (SVPWM) and obtains 6 tunnel pulse width modulation (PWM) drive signals,
Motor drive current is obtained after SPM (IPM) processing again to export to motor.To SPM output
2 phase currents in motor drive current are sampled, and the electric current Iu and Iv sampled carries out PARK by PARK conversion modules 570
Conversion obtains the torque current feedback Iqr and exciting current feedback Idr under rotating coordinate system.
It has been observed that exciting current gives the input of Id* and exciting current feedback Idr difference excitation current regulator,
Torque current gives the input of Iq* and torque current feedback Iqr difference composition torque current regulator, and encoder connects with motor
Connect, gather elevator door position and motor speed, magnetic pole angle coherent signal.Computing module obtains the elevator door that encoder collects
Position and motor speed, magnetic pole angle coherent signal, elevator door position, motor speed (i.e. feedback speed Vr) is calculated and sits
Mark translation-angle.
As shown in figure 1, the flow chart for processing method of being obstructed for elevator door-motor shutdown.
A kind of elevator door-motor system is closed the door processing method of being obstructed, and is comprised the following steps：
Step S110, whether detection door mechanism system is closed the door is obstructed, if so, door mechanism system incision direct torque is then controlled, and
Torque direction is enabling direction.
The step of whether the detection door mechanism system shutdown is obstructed includes：
It is judged as that shutdown is obstructed after the torque current that the is obstructed lasting time rating that current torque given value of current Iq is more than setting.
When torque reference electric current is Iq*, speed ring does not work, and torque direction is to enabling direction.By handling above
The power being applied in obstruction is that shutdown inertia force subtracts motor enabling yawning moment, and this will play bigger guarantor to the folder people that closes the door
Shield acts on.
Step S120, motor speed information is detected, and maximal rate is calculated according to motor transfering the letter breath.
It is described detection motor speed information, and according to the motor transfer the letter breath calculate maximal rate the step of include：
Motor speed direction is detected, if motor speed is changed into enabling direction from shutdown direction, records elevator location information,
Maximal rate is calculated according to the position that elevator current location and door machine open the door in place.
Detection motor speed information in real time, when detecting that motor speed is changed into enabling direction from shutdown direction, record electricity
Terraced positional information, the position opened the door in place according to elevator current location and door machine calculate the maximal rate of a high-speed cruising,
Its calculation formula is：
V*=Vmax*L/Lmax；Wherein Lmax is that the whole family is wide, L is current location and open the door distance, Vmax in place are the whole family
Maximum enabling speed when wide.
Step S130, if door mechanism system is constantly in direct torque, detect motor speed information.
If there is direct torque always, the increasingly faster situation of elevator door-motor speed occurs, this obviously can cause electricity
Terraced door machine speed step-out, is necessary direct torque switching to speed control for this, when meeting any one following condition.Door
Machine controller switches to speed control from direct torque automatically.
Step S140, when the motor speed detected, which reaches, calculates maximal rate, then door mechanism system is controlled to switch to
Speed control.
Specifically, door machine controller detects motor actual speed in real time, when detecting that motor speed reaches above-mentioned and calculate
Maximal rate V* when, switch to normal speed control from direct torque.Using now present speed as current given speed.
Then handled according to normal door operation curve of reopening.
Step S150, when detecting that motor speed is zero and continues time rating, then control door mechanism system switches to speed
Control.
If detect that motor speed is zero and certain time, automatically switches to speed control, initial velocity
Terminate low speed jerking motion speed to open the door.Then handled according to normal door operation curve of reopening.Such a situation is elevator door
Electric machine spacing position is reached soon when the just shutdown of machine system is just hampered and opposing torque controls.
Step S160, when detecting the signal in place that opens the door, then door mechanism system is controlled to switch to speed control.
If detecting enabling signal in place, speed control is now automatically switched to, initial velocity is low for end of opening the door
Fast creep speed.Then handled according to normal door operation curve of reopening.
When the door mechanism system is direct torque, torque reference electric current is Iq*, and torque direction is enabling direction.
When the door mechanism system is speed control, the initial velocity of the door mechanism system terminates low speed jerking motion speed to open the door
Degree, after initial velocity is undergone, the door mechanism system as described in normal reopening door speed of service curve controlled.
As shown in Fig. 2 the module map for processing system of being obstructed for elevator door-motor system shutdown.
A kind of elevator door-motor system is closed the door processing system of being obstructed, including detection module 201, computing module 202 and control mould
Block 203.
The detection module 201 is used to detect whether door mechanism system shutdown is obstructed, if so, then the control module 203 is used
In control door mechanism system incision direct torque, and torque direction is enabling direction.
The detection module 201 is used to detect motor speed information, and the computing module 202 is used to be turned according to the motor
Information calculates maximal rate.
If door mechanism system is constantly in direct torque, the detection module 201 is used to detect motor speed information.
When the motor speed that the detection module 201 detects, which reaches, calculates maximal rate, then the control module
203 control door mechanism systems switch to speed control.
When the detection module 201 detects that motor speed is zero and continues time rating, then the control module 203 is controlled
Door mechanism system processed switches to speed control.
When the detection module 201 detects enabling signal in place, then the control module 203 controls door mechanism system switching
For speed control.
It is lasting specified more than the torque current that is obstructed of setting that the control module 203 is additionally operable to current torque given value of current Iq
It is judged as that shutdown is obstructed after time.
The detection module 201 is used to detect motor speed direction, if motor speed is changed into enabling direction from shutdown direction
When, elevator location information is recorded, the computing module 202 is based on the position opened the door in place according to elevator current location and door machine
Calculate maximal rate.
When the door mechanism system is direct torque, torque reference electric current is Iq*, and torque direction is enabling direction.
When the door mechanism system is speed control, the initial velocity of the door mechanism system terminates low speed jerking motion speed to open the door
Degree, after initial velocity is undergone, the door mechanism system as described in normal reopening door speed of service curve controlled.
Above-mentioned elevator door-motor is closed the door and is obstructed processing method and system by detecting whether door mechanism system is obstructed, if so, then controlling
Door mechanism system processed cuts direct torque, and torque direction is enabling direction；Motor speed information is detected, and is turned according to the motor
Information calculates maximal rate；If door mechanism system is constantly in direct torque, motor speed information is detected；When the electricity detected
Machine rotating speed reaches when calculating maximal rate, then controls door mechanism system to switch to speed control；When detecting that motor speed is zero
And continue time rating, then control door mechanism system to switch to speed control；When detecting the signal in place that opens the door, then door machine system is controlled
System switches to speed control.Therefore, it is possible to be switched to direct torque in time in door mechanism system so that the torque closed the door when being obstructed
Direction is converted to enabling direction, thus is avoided that and crushes people and cause danger.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that come for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
- The processing method of being obstructed 1. a kind of elevator door-motor system is closed the door, it is characterised in that comprise the following steps：Whether detection door mechanism system is closed the door is obstructed, if so, door mechanism system incision direct torque is then controlled, and torque direction is to open the door Direction；Motor speed information is detected, and maximal rate is calculated according to the motor speed information；If door mechanism system is constantly in direct torque, motor speed information is detected；When the motor speed detected, which reaches, calculates maximal rate, then door mechanism system is controlled to switch to speed control；When detecting that motor speed is zero and continues time rating, then control door mechanism system switches to speed control；When detecting the signal in place that opens the door, then door mechanism system is controlled to switch to speed control.
- The processing method of being obstructed 2. elevator door-motor system according to claim 1 is closed the door, it is characterised in that the detection door machine The step of whether system shutdown is obstructed includes：It is judged as that shutdown is obstructed after the torque current that the is obstructed lasting time rating that current torque given value of current Iq is more than setting.
- The processing method of being obstructed 3. elevator door-motor system according to claim 1 is closed the door, it is characterised in that the detection motor Rotary speed information, and include the step of calculate maximal rate according to the motor speed information：Motor speed direction is detected, if motor speed is changed into enabling direction from shutdown direction, records elevator location information, according to The position that elevator current location is opened the door in place with door machine calculates maximal rate.
- The processing method of being obstructed 4. elevator door-motor system according to claim 1 is closed the door, it is characterised in that the door mechanism system For direct torque when, torque reference electric current is Iq*, and torque direction is enabling direction.
- The processing method of being obstructed 5. elevator door-motor system according to claim 1 is closed the door, it is characterised in that the door mechanism system For speed control when, the initial velocity of the door mechanism system terminates low speed jerking motion speed to open the door, and after initial velocity is undergone, presses It is normal to reopen door mechanism system described in door speed of service curve controlled.
- The processing system of being obstructed 6. a kind of elevator door-motor system is closed the door, it is characterised in that including detection module, computing module and control Module；The detection module is used to detect whether door mechanism system shutdown is obstructed, if so, then the control module is used to control door machine System cuts direct torque, and torque direction is enabling direction；The detection module is used to detect motor speed information, and the computing module is used to be calculated according to the motor speed information Go out maximal rate；If door mechanism system is constantly in direct torque, the detection module is used to detect motor speed information；When the motor speed that the detection module detects, which reaches, calculates maximal rate, then the control module controls door machine System switches to speed control；When the detection module detects that motor speed is zero and continues time rating, then the control module controls door mechanism system Switch to speed control；When the detection module detects enabling signal in place, then the control module control door mechanism system switches to speed control System.
- The processing system of being obstructed 7. elevator door-motor system according to claim 6 is closed the door, it is characterised in that the control module It is judged as that shutdown is obstructed after being additionally operable to the torque current that the is obstructed lasting time rating that current torque given value of current Iq is more than setting.
- The processing system of being obstructed 8. elevator door-motor system according to claim 6 is closed the door, it is characterised in that the detection module For detecting motor speed direction, if motor speed is changed into enabling direction from shutdown direction, elevator location information is recorded, it is described Computing module is used to calculate maximal rate according to the position that elevator current location and door machine open the door in place.
- The processing system of being obstructed 9. elevator door-motor system according to claim 6 is closed the door, it is characterised in that the door mechanism system For direct torque when, torque reference electric current is Iq*, and torque direction is enabling direction.
- The processing system of being obstructed 10. elevator door-motor system according to claim 6 is closed the door, it is characterised in that the door machine system Unite for speed control when, the initial velocity of the door mechanism system terminates low speed jerking motion speed to open the door, after initial velocity is undergone, The door mechanism system as described in normal reopening door speed of service curve controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610167609.7A CN105645238B (en) | 2016-03-23 | 2016-03-23 | Elevator door-motor system is closed the door and is obstructed processing method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610167609.7A CN105645238B (en) | 2016-03-23 | 2016-03-23 | Elevator door-motor system is closed the door and is obstructed processing method and system |
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| Publication Number | Publication Date |
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| CN105645238A CN105645238A (en) | 2016-06-08 |
| CN105645238B true CN105645238B (en) | 2018-01-02 |
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| CN201610167609.7A Active CN105645238B (en) | 2016-03-23 | 2016-03-23 | Elevator door-motor system is closed the door and is obstructed processing method and system |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107352342A (en) * | 2017-07-17 | 2017-11-17 | 宁波欣达电梯配件厂 | A kind of elevator door-motor is closed the door detecting system and the detection method of being hampered |
| CN111731974B (en) * | 2019-12-19 | 2024-04-26 | 斯迈普电梯(中国)有限公司 | Early warning type intelligent complementary door machine double-driving system and method |
| CN111962999B (en) * | 2020-08-26 | 2021-11-16 | 南京工程学院 | A control method and system for rail transit sliding door based on compliance control |
| CN115123901A (en) * | 2022-07-15 | 2022-09-30 | 菱王电梯有限公司 | Door closing control method and device, storage medium and elevator door system |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5689040B2 (en) * | 2011-08-04 | 2015-03-25 | 株式会社日立製作所 | Elevator door control device and elevator door control method |
| CN102431870B (en) * | 2011-09-16 | 2013-12-25 | 深圳市海浦蒙特科技有限公司 | Torque adaptive method and device for door opening and closing in place of elevator door motor and elevator door motor control system |
| 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 |
| CN103922214B (en) * | 2014-03-11 | 2016-08-17 | 深圳市海浦蒙特科技有限公司 | Control method of elevator door-motor |
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