CN1091422C - Elevator door control apparatus - Google Patents

Abstract

An elevator door control device that controls the torque generated by the door drive motor based on the deviation between the speed command for door movement and the output of the speed sensor that detects the door speed, the improvement is that it is not detected in the presence of a speed command When the output of the speed sensor is used, the torque generated by the motor is reduced to zero. According to the present invention, passengers stuck in the door can be safely protected without loss of working efficiency of the entire elevator.

Description

Instruction Manual Elevator Door Control Device

field of invention

The present invention relates to an elevator door control device, in particular to an elevator door control device capable of safely protecting passengers stuck in the door without losing the entire service capacity of the elevator.

Background of the invention

As a kind of elevator door control device, such as JP-A-7-137967, is well known, in the elevator door control device disclosed in this patent, when the rotational speed of the motor driving the elevator door suddenly drops to zero and the situation For a predetermined period of time, any problem or failure of the speed sensor detecting the speed of door movement can be determined.

On the other hand, when the rotation speed of the motor is slowly reduced compared to the above case, it is not possible to determine any problem or failure of the speed sensor, but it can be determined that the phenomenon is caused by human actions such as mischief by a passenger or a fault in the door rail. caused by dust. Therefore, only by eliminating these factors can the elevator be reopened.

With this prior art, problems or faults in the door control, especially in the speed sensor, can be reliably detected, whereby the operation of the elevator does not often need to be stopped unnecessarily. The overall working efficiency of the elevator is greatly improved.

However, in the event of a passenger being stuck in the door, the door speed does not drop suddenly to zero as described in the prior art. As a result, the elevator will continue to work and passengers may be in serious danger. In this regard, the prior art does not take into account the safety of passengers.

Contents of the invention

An object of the present invention is to provide an elevator door control device which can reliably find any problem or failure in the door control device, thereby not reducing the overall working efficiency of the elevator, in full consideration of the safety of passengers.

The elevator door control device of the present invention includes a processing unit and a driver for generating a motor voltage command according to the result of the processing operation in the processing unit, wherein in the presence of the speed command calculated by the processing unit, when there is substantially no When the output of the speed sensor is detected, the torque generated by the motor is basically reduced to zero by setting the motor voltage command to zero.

According to the deviation between the speed command for door movement and the output of the speed sensor that detects the door speed, the elevator door control device controls the torque generated by the door drive motor. Under the condition of the speed command, when the output of the speed sensor is basically not detected , so that the torque generated by the motor is basically reduced to zero.

According to the present invention, since the torque generated by the door motor is substantially reduced to zero, the force acting on the door is reduced, and therefore, passengers caught in the door can easily escape, thereby safely protecting the passengers.

Additionally, passengers can move the elevator doors when escaping. Any problem or malfunction of the speed sensor can be identified by the movement of the door.

Brief description of the drawings

Fig. 1 is a block diagram of an elevator door control device according to an embodiment of the present invention.

Figures 2a to 2f are signal diagrams showing signal changes in various parts of the door control device shown in Figure 1 during a normal state of door movement.

3a to 3f are signal diagrams showing signal changes of various parts of the door control device shown in FIG. 1 when the movement of the door is temporarily stopped due to dust in the door rail.

Figures 4a to 4g are signal diagrams showing signal changes in various parts of the door control device when the movement of the door is stopped due to any problem or failure of the door control device.

5 to 7 are flowcharts illustrating the operation of the elevator door control device according to the embodiment of the present invention.

Detailed ways

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

In the accompanying drawings, Fig. 1 is a block diagram schematically showing the overall configuration of an elevator door control device according to an embodiment of the present invention.

In the figure, reference numeral 1 denotes a well-known elevator controller, which controls the elevator's ascending or descending transport, serving the required floors according to requests in the lobby or within the elevator. The elevator controller 1 generates the door opening command Po and the door closing command Pc to the elevator door control device 2 and receives the fault detection signal Tre.

The door control device 2 responds to the command Po or Pc of the elevator controller 1, and generates a signal to control the opening or closing of the elevator door. The control device 2 includes a processing unit 21 that performs various processing operations required for door control; an analog-to-digital (A/D) converter 22 that converts the motor current Im detected by the current detector into a digital signal; and a driver 23 that converts the motor current Im according to A motor voltage command Em is generated as a result of the processing operation of the processing unit 21 .

Processing unit 21 is by input/output (I/O) interface 211, exchanges data with elevator controller 1 by it; Data bus 212; Central processing unit (CPU) 213, carries out predetermined processing operation; Read-only memory (ROM) 214, in which a program for controlling the gate is stored; random access memory (RAM) 215, in which an area that functions as various time counters and a fault detection counter is defined; , Driver 23 to exchange data, and other components.

Reference numeral 27 denotes a voltage controller which receives a motor voltage command Em of the driver 23 and generates a voltage to be applied to the door control motor 30 according to Em. The current detector 228 detects the current flowing through the motor 30 . Reference numeral 29 is a rotary encoder coupled to the motor to generate an output signal Vre. From the Vre of the encoder 29 the actual velocity of the door movement is calculated in the processing unit 21 .

Reference numeral 31 denotes a cam which operates the switches 32 and 33 and moves together with the door. The switch 32 is a closed end detection switch, and when the door moves to the closed end, it engages with the cam 31 to generate a closed end detection signal Sc. The switch 33 is an open end detection switch, and when the door moves to the open end, an open end detection signal So is generated.

Reference numerals 34 and 35 designate pulleys, and reference numeral 36 designates a steel cable for driving the door mechanism. Reference numeral 37 denotes a door rail, and reference numerals 39 and 38 denote an elevator car and a door therein, respectively.

Reference symbols L and S denote the maximum stroke of door opening/closing movement and the current amount of door opening, respectively.

The operation of the above-mentioned embodiment will be described below, as shown in Figs. 5 to 7, which show the processing operation of the embodiment. Furthermore, the case of a normally functioning door will be described first with reference to the signal diagrams of FIGS. 2a to 2f.

As shown in Figures 2a and 2b, the door opening command Po is ON (open), and the door closing command Pc is OFF (closed). That is, suppose the door is commanded to open.

When the door opening instruction Po occurs, the processing operations shown in FIG. 5 are triggered. After starting the processing operation, it is judged in step S1 whether the flag F is "1". F is a mark showing the movement status of the door. The flag F is set to "1" when the door is moving during the deceleration process, and to "0" otherwise.

Since the flag F appears just after the door opening command Po, it is not "1", and the processing operation proceeds to step S2, where, as shown in Fig. 2c, the velocity characteristic curve Vp is generated according to the acceleration α. The processing operation proceeds to step S3, at which it is determined whether or not the current speed characteristic curve Vp is greater than its maximum value _V1 .

It is smaller than _V1 before the speed characteristic curve Vp increases to a sufficiently high level. Therefore, the process proceeds to step S8, at which the flag F remains "0".

The processing operation proceeds to step S9 (FIG. 6), at which step the actual velocity Vd of door movement is read out, which is calculated from the encoder signal Vre (FIG. 2e). In step S10, a torque command T is obtained from the deviation between the speed characteristic curve Vp and the actual speed Vd, where _k1 is a constant.

Then, it is determined in step S11 whether or not the actual speed Vd is zero. Since it is assumed here that the door moves normally, the actual speed Vd is not 0, so the processing operation proceeds to step S12, where a current command I is calculated based on the torque command T calculated in step S10, where _k2 is a constant.

In step S13, the actual motor current Im is read out, and in step S14, the motor voltage command Em is calculated according to the difference between the current command I and the actual motor current Im, where k ₃ is a constant. The calculated voltage command Em is output to the driver 23 in step S15.

Thereafter, the processing operation returns to step S1 (FIG. 5). As the door continues to move normally, a command Em of the motor voltage is generated, as shown in Figure 2f.

The above-mentioned processing operations are repeated until the time point t ₂ ( FIG. 2 c ) is reached. At time t ₂ , the calculated pattern velocity Vp exceeds its maximum value V ₁ . Therefore, step S3 decides to reach the time point t ₂ . Then, the processing operation proceeds to step S4, at which the pattern speed is maintained at _V1 .

As shown in steps S5 and S6, the square root of 2β(LS) is calculated from the time point when the door opening command Po is issued, where β is the deceleration in the door opening movement. It can be seen from the current door opening amount S included in the above formula that the calculation result decreases when the door is opened, that is, S increases. Often the calculated result is much larger than _V1 until the gate is opened wide enough. Accordingly, the processing operation proceeds from step S5 to step S8.

After that, the processing operations already described are repeated. When the time point _t3 (Fig. 2c) is reached, the value of the square root of 2β(LS) becomes smaller than _V1 , with the result that the processing operation proceeds to step S6. Thereafter, the pattern velocity Vp is updated by the calculated value of the square root of 2β(LS). Since the opening movement of the door starts to decelerate, the flag F is set to "1" in step S7. The above-mentioned processing operation is repeated until the door is fully opened.

Next, let us assume that the opening movement of the door is stopped for some reason before the door is fully opened. This will be described below with reference to the flowcharts shown in Figures 5 to 7 and the signal diagrams of Figures 3a to 3f.

In this case, the same operation as the above-mentioned processing operation is applied until there is a problem or failure in door movement. However, if the door stops moving, the speed sensor 29 outputs a signal Vre, so the actual speed signal Vd disappears ( _t4 in Fig. 3d).

The disappearance of Vd is detected at step S11 (FIG. 6), and as a result, the processing operation proceeds to step S16 (FIG. 7).

In the flowchart shown in Figure 7, _steps S16 and S17 function as a time counter which counts the time elapsed after _t4 at which Vd=0 is detected (Figure 3d). If it is determined in step S17 that a speed characteristic curve _V1 larger than _V2 is present, and furthermore that the predetermined time period _T1 has not elapsed after detection of Vd=0, the process operation proceeds to step S12. Thereafter, the processing operations already described are repeated.

In this embodiment, the above-mentioned T1 is selected as 200 milliseconds, but it can be set to any value in consideration of installation of elevators and the like. In addition, the above-mentioned _V2 is set to prevent misjudgment due to a delay in the rising portion of the speed characteristic curve Vp. Although _V2 can be chosen to be any value, in this embodiment it is set to approximately 10% of _V1

If it is determined at step S17 that _V1 is present and Vd=0 persists over time period _T1 , processing operation proceeds to step S18 where the motor voltage command Em is made zero ( _t5 in Fig. 3f). Thereby, the torque generated by the motor 30 becomes zero, and therefore, the passenger stuck in the door can be released.

Also, when the force on the door is reduced, passengers stuck in the door will try to escape. As a result, the door will move in the opposite direction of its previous movement. Through this reverse movement, the speed sensitive device generates a negative Vd. Of course, positive Vd can also be generated. Either way, the presence of Vd can be considered as no problem or failure of the speed sensitive device (FIG. 1) including the encoder 29. This is because Vd will not be generated if there is any problem or failure of the sensitive device.

In step S19, it is determined whether Vd is negative, if so, then in steps S20 and S21 the time period of Vd < 0 is measured. This step functions as another time counter. If there is a negative Vd over the time period _T2 ( _t5 - _t6 in Fig. 3d), process operation proceeds to step S22.

As mentioned above, in the present invention, when the motor torque is zero, if the actual speed Vd is detected, whether negative or positive, it will be judged that there is no problem or failure in the speed sensitive devices including the encoder 29 . In this case, the processing operation proceeds to step S22, at which the stored number n of the failure detection counter is reset.

Another time counter formed by steps S20 and S21 is set for reliable detection of negative Vd. However, it is not always necessary to set this time counter. Without this time counter, the failure detection counter can also be reset by the result of step S19.

The function of steps S23 and S24 is also a time counter, which counts the elapsed time after the fault detection counter was reset. When the time period _T3 - _T4 (Figs. 3d and 3f) is counted, the process operation returns to step S1 (Fig. 5). T ₃ will be described in detail below.

Returning to step 19, if it is determined that there is no negative Vd, then it is assumed that there is a problem or malfunction with the speed sensitive device. This situation will be described below with reference to the flowcharts of FIGS. 5 to 7 and the signal diagrams of FIGS. 4a to 4g. More specifically, as shown in Fig. 4e, the encoder 29 does not generate the output signal Vre, thus it can be seen that the encoder 29 is assumed to be faulty.

In the same manner as described above, FIGS. 4a and 4b show that the door opening command Po is ON and the door closing command Pc is OFF, which indicates that the door opening command has been issued.

As shown in Figure 4d, the actual speed Vd is not detected because of a problem or failure of the speed sensitive device including the encoder 29. The dotted line in Fig. 4d shows the virtual waveform of the actual speed Vd detected by the speed sensitive device in normal operation when the speed characteristic curve Vp shown in Fig. 4c is applied.

In this case, the time counter formed by steps S16 and S17 starts counting a time period T ₁ from the point in time t ₇ ( FIG. 4 c ) at which Vp is generated, more precisely from the point in time when Vp exceeds V ₂ . At the time point _t8 when the time period _T1 disappears, the process operation proceeds to step S18, at which step the motor voltage command Em is made zero (FIG. 4f).

After that, the processing operation proceeds to step S19. However, in this case, since there is no actual speed Vd, the processing operation proceeds to step S25 and starts yet another time timer formed by steps S25 and S26. Unlike the previous cases, due to the absence of Vd, a problem or failure of the speed sensitive device can be assumed.

At time point _t9 (FIG. 4c), when the time period _T3 elapses, the processing operation proceeds to step S27, at which step the value n of the failure detection timer is incremented by "1". Thereafter, the processing operation proceeds to step S28, at which it is judged whether or not the stored number n of the timer exceeds a predetermined number N. The number N can be selected as a desired value. In this embodiment, N is set to 5.

If the number of times the above processing operations are performed does not exceed five times, it returns to step S1 (FIG. 5). When the number of repeated executions exceeds five times, the processing operation proceeds to step S29, at which a problem or malfunction detection signal Tre is generated to the elevator controller 1 (FIG. 4g).

Although there is no problem or malfunction of the speed sensitive device including the encoder 29, the same situation as described above and as shown in Figures 4a to 4g may occur, in this case due to dust in the The door stopped moving.

In this case, according to this embodiment, door movement can be easily restarted if only a caretaker staying in the building removes dust and manually moves the door to generate Vd, thereby resetting the fault detection timer. No need to go to the trouble of asking for a maintenance engineer. Therefore, it is not necessary to interrupt the elevator operation for a long time.

Claims (8)

1. A door control device for an elevator, which comprises a processing unit (21) and a driver (23), for generating a motor voltage command according to the result of the processing operation in the processing unit, characterized in that, when there is The torque generated by the motor is reduced to substantially zero by setting the motor voltage command to zero under the condition of the speed command calculated by the processing unit that substantially no speed sensor output is detected. 2. The elevator door control apparatus of claim 1, wherein the torque generated by the motor is reduced to substantially zero when substantially no output from the speed sensor is detected for a first predetermined period of time. 3. The elevator door control apparatus of claim 1, wherein the torque generated by the motor is reduced to substantially zero when substantially no output from the speed sensor is detected for a second predetermined time period. 4. An elevator door control device according to any one of claims 1-3, characterized in that the present speed command is greater than a predetermined value. 5. The elevator door control device according to any one of claims 1-3, characterized in that: the processing time for making the motor generated torque substantially becomes zero is counted, and when the counted time exceeds the predetermined number of times , to generate a fault detection signal to the elevator controller. 6. The elevator door control device according to claim 5, wherein when the torque generated by the motor becomes substantially zero, if the output of the speed sensor is detected, the counting time is reset. 7. The elevator door control device according to claim 5, wherein when the elevator door is manually moved after the failure detection signal is generated, if the speed sensor output is detected, the counting time is reset. 8. The elevator door control device according to claim 1, characterized in that the device controls the torque generated by the door drive motor according to the deviation between the speed command for door movement and the output of the speed sensor for detecting the door speed, wherein, When the output of the speed sensor is basically not detected under the condition that there is a speed command, after the torque generated by the motor is basically reduced to zero, it is determined that there is a problem with the speed sensor based on the output of the speed sensor.

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