JP6597426B2 - Door control device and elevator device - Google Patents

Description

  The present invention relates to a door control device such as a door of an elevator device or an automatic door, and an elevator device including the door control device.

  A door device that opens and closes in a horizontal direction, such as an elevator door or an automatic door of a building, includes a door panel, two pulleys provided at the top of the door panel, and an endless coil wound around these pulleys. And a motor that rotationally drives one pulley. When the motor drives the pulley to rotate, the motor torque is converted into a horizontal driving force by the belt, and the door panel attached to the belt is opened and closed.

  In a conventional door device, when a door is opened by controlling the drive of a motor, a gradually increasing voltage is applied to the motor after the door has been moved to the closed end and stopped. It was detected that the door driving force was reduced. That is, when slip does not occur between the pulley and the belt rotated by the motor, the door does not rotate and the motor does not rotate, so that a current flows through the motor in proportion to the applied voltage. However, when slippage occurs between the pulley and the belt, the motor rotates and generates back electromotive force, so that the current flowing through the motor decreases. By detecting such a decrease in the current flowing through the motor, a slip that occurs due to the extension or looseness of the belt and the magnitude of the driving force of the motor is detected, and a decrease in the door driving force caused by such a slip is detected. It was detected (see, for example, Patent Document 1).

JP 2012-116578 A

  In the conventional door device described in Patent Document 1, a decrease in door driving force due to slippage between the pulley and the belt caused by the elongation of the belt or the loosening of the fixture due to the environment or aging is detected. We were able to. However, the elongation and looseness of the belt also changes the belt rigidity and the characteristics of the elevator car. However, the vibration of the door that occurs when the door is opened or closed cannot be suppressed. In other words, if the door control device does not properly filter the detection result of the door opening / closing speed, the door vibration will be amplified and the amount of change in the door opening / closing speed will be excessive, causing the door control device to malfunction. There is a problem in that the opening / closing operation is stopped because it is determined that it has occurred, and the time required for opening / closing is prolonged, which impairs convenience.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a door control device that smoothly opens and closes a door by performing appropriate filter processing on the detection result of the door opening and closing speed. And

The door control device according to the present invention generates a first operation command for instructing an operation of rotating a motor to open and close a door panel connected to a belt driven by a motor, and generates torque in the motor when the door panel is stopped. An opening / closing operation selection unit that selects and outputs a second operation command for instructing an operation to be performed, and a first current supplied to the motor so as to control the moving speed of the door panel based on the first operation command A first current command unit that outputs a value; a second current command unit that changes a second current value supplied to the motor based on the second operation command so that the torque generated by the motor changes; and Using a speed calculator that calculates the rotational speed of the motor from the rotational position of the motor output from the rotation detector provided in the motor, the amount of change in the second current value, and the amount of change in the rotational position of the motor ,bell A belt stiffness estimator for estimating the belt stiffness, a cutoff frequency deciding unit for determining a cutoff frequency from the belt stiffness estimated by the belt stiffness estimator, and changing the filter characteristics when the door panel is fully open or fully closed. A filter processing unit that outputs a signal obtained by removing the frequency component of the cutoff frequency determined by the cutoff frequency determination unit from the signal and negatively feeds back to the first current command unit , wherein the cutoff frequency determination unit includes the inertia of the motor To determine the cutoff frequency.

  According to the door control device of the present invention, the filter characteristics are changed by determining the cutoff frequency to be removed from the rotational speed detection result of the motor that is negatively fed back by estimating the belt rigidity, so that the vibration of the door is suppressed. Smooth opening and closing operation.

It is the schematic which shows the structure of the door apparatus in Embodiment 1 of this invention. It is a control block diagram which shows the structure of the door control apparatus in Embodiment 1 of this invention. It is a model figure which shows the belt rigidity and belt tension | tensile_strength of the door apparatus in Embodiment 1 of this invention. It is a figure which shows operation | movement of the motor in the case of performing the door opening operation | movement in Embodiment 1 of this invention. It is a figure which shows the rotational speed change of the motor at the time of performing the door opening operation | movement in the conventional door control apparatus. It is a control block diagram which shows the door control apparatus in Embodiment 2 of this invention. It is a control block diagram which shows the door control apparatus in Embodiment 3 of this invention. It is a figure which shows operation | movement of the motor in the case of performing the door opening operation | movement in Embodiment 3 of this invention. It is a control block diagram which shows the door control apparatus in Embodiment 4 of this invention. It is a control block diagram which shows the door control apparatus in Embodiment 5 of this invention. It is a control part block diagram which shows the other door control apparatus in Embodiment 5 of this invention.

Embodiment 1 FIG.
First, the structure of the door apparatus in Embodiment 1 of this invention is demonstrated. FIG. 1 is an overall schematic diagram showing a configuration of a door device according to Embodiment 1 of the present invention. FIG. 1 shows a door device used as a door of an elevator device, for example.

  In FIG. 1, a door device 1 has door panels 1 </ b> A and 1 </ b> B that open and close an elevator car doorway, a suspension 2 attached to the upper ends of the door panels 1 </ b> A and 1 </ b> B, and a longitudinal direction that is horizontal to the upper edge of the doorway. 3 and a guide rail 4 arranged so that the longitudinal direction thereof is horizontal to the girder 3. The hanger 2 is provided with a plurality of hanger rollers 5. The hanger roller 5 is placed on the guide rail 4, and the hanger roller 5 moves along the guide rail 4, thereby moving the hanger 2 horizontally. That is, the opening / closing movement of the door panels 1A and 1B is guided.

  The girder 3 is provided with pulleys 6A and 6B separated from each other by a predetermined distance (hereinafter referred to as a distance between pulleys), and an endless belt 7 is wound around and stretched around both pulleys 6A and 6B. Yes. For this reason, the belt 7 has an upper portion that extends over the pulleys 6A and 6B and a lower portion that extends under the pulleys 6A and 6B. Connecting tools 8A and 8B are attached to the hanger 2, and the connecting tool 8A is locked to the lower part of the belt 7 and the connecting tool 8B is locked to the upper part of the belt 7. The connecting tool 8A may be locked to the upper portion of the belt 7 and the connecting tool 8B may be locked to the lower portion of the belt 7. A motor 9 for driving the pulley 6A is provided at one end of the beam 3 coaxially with the pulley 6A. The belt 7 is a conductive belt and transmits a driving force from the motor 9 to the door panels 1A and 1B. For example, a toothed belt or a V-belt can be used. The pulleys 6A and 6B are provided with grooves according to the belt shape, and the initial tension of the endless belt 7 can be adjusted by changing the distance between the pulleys.

  The suspension 2 of the door panel 1A is provided with a stopper 10A on the inner side (left side of the paper) and a stopper 10B on the outer side (right side of the paper). The girder 3 has a height corresponding to the stoppers 10A and 10B, and is provided with a fixed end 11A on the inside of the entrance / exit and a fixed end 11B on the outside of the entrance / exit. The stoppers 10A and 10B and the fixed ends 11A and 11B are provided for determining the fully closed position and the fully open position of the door panel 1A. That is, when the door panel 1A is fully closed, the door panel 1A moves from the right side of the page to the left side of the page. However, when the stopper 10A comes into contact with the fixed end 11A at the fully closed position, the movement of the door panel 1A is restricted. Stop in the closed position. Similarly, when the door panel 1A is fully opened, the door panel 1A moves from the left side to the right side of the page. However, when the stopper 10B comes into contact with the fixed end 11B at the fully open position, the movement of the door panel is limited, and the door panel 1A is at the fully open position. Stop.

  Since the door panel 1B is also connected to the belt 7 to which the door panel 1A is connected, the door panel 1B stops at the fully closed position or the fully open position in conjunction with the door panel 1A. However, the door panel 1B is provided with a stopper in the same manner as the door panel 1A. A fixed end for the door panel 1B may be provided on the beam 3. Note that the stopper 10A and the fixed end 11A inside the entrance / exit are not necessarily provided, and the door panels 1A and 1B may be stopped at the fully closed position when the door panel 1A and the door panel 1B come into contact with each other.

  And the PWM inverter (not shown) used as the current source which supplies an electric current in order to drive the motor 9, and the door control apparatus 12 which controls the electric current which a PWM inverter supplies to the motor 9 are provided, and a door apparatus is comprised. Is done.

  The above door device is configured as a double door type door device having door panels on both the left and right sides of the entrance / exit. Or it is good also as only one side of a lower part, and it is good also as a single opening type door apparatus.

  In addition, the above-described configuration may be used for a door device such as an automatic door of a building, but in the case of a door device for an elevator device, the above-described configuration indicates only the configuration on the car side, and the configuration on the car side and the landing side (not shown). The door device of the elevator device is configured together with the configuration of

  The structure on the landing side is the same as that on the car side shown in FIG. 1 except that the motor 9 and the PWM inverter are not provided. That is, a door panel is provided on the landing side corresponding to the car-side door panels 1A and 1B. Similarly to the configuration shown in FIG. 1, a suspension hand, a girder, a guide rail, a hanger roller, a pulley, a belt, A connector, a stopper, and a fixed end are provided.

  An engagement device (not shown) is provided for each of the car-side door panel and the landing-side door panel, and the respective engagement devices are engaged and integrated with each other so that they are provided on the car side. The driving force in the opening / closing direction by the motor 9 is also transmitted to the door panel of the landing side door, and the landing side door not provided with the motor 9 is also opened / closed in conjunction with the car side door.

  Furthermore, a door closing force generation mechanism that keeps the landing door in a fully closed state when the car is not landing and automatically closes even when the door panel is intentionally opened ( (Not shown) is provided. The door closing force generating mechanism applies a mechanical external force in the fully closing direction to the door panel by a weight or a spring. Similarly, the car side door is also provided with a door closing force generation mechanism (not shown) similar to that on the landing side, and confinement occurs in the car due to a power failure and the driving force of the motor 9 is lost. Even if this is the case, passengers cannot be forced to open the car door panel.

  Further, when the car-side door and the landing-side door are engaged with each other by the engaging device and are fully opened, a spring is used so that the fully opened state can be maintained even when there is no driving force of the motor 9 or even with a small driving force. There is provided a door opening force generating mechanism (not shown) for applying a mechanical external force in the fully opening direction of the door panel.

  The door apparatus of an elevator apparatus is comprised by the above structure. That is, the door device of the elevator apparatus according to Embodiment 1 of the present invention includes door panels 1A and 1B, a suspension 2, a girder 3, a guide rail 4, a hanger roller 5, and pulleys 6A and 6B provided on the car side door. , Belt 7, couplers 8A and 8B, motor 9, stoppers 10A and 10B, fixed ends 11A and 11B, door control device 12, PWM inverter, engagement device, door closing force generating mechanism and door opening force generating mechanism, and landing It is composed of a door panel, a suspension hand, a girder, a guide rail, a hanger roller, a pulley, a belt, a connector, a stopper, a fixed end, an engagement device, and a door closing force generating mechanism provided on the side door.

  In the door device of the elevator apparatus configured as described above, the door control device 12 controls the rotation of the motor 9 so that the door device of the elevator apparatus operates. When the motor 9 rotates, the pulley 6A provided coaxially with the motor 9 rotates and the belt 7 is driven. Since the door panels 1A and 1B are coupled to the belt 7 by the coupling tools 8A and 8B, the door panel 1A and 1B move in directions opposite to each other when the belt 7 is driven to open and close the doorway. In the door device shown in FIG. 1, the motor 9 and the pulley 6A rotate counterclockwise when the door is opened, and the motor 9 and the pulley 6A rotate clockwise when the door is closed.

  In the case of an elevator door device, the door control device 12 is operated by moving the door panels 1A and 1B so that the door panel 1A, 1B is moved from the fully closed state to the fully open state or from the fully open state to the fully closed state. There is a pressing operation that keeps the door panels 1A and 1B stationary in the state. In the opening / closing operation, when it is determined that an abnormality such as a normal opening / closing operation for simply opening / closing the door panels 1A and 1B and a door stop with a passenger has occurred, the opening and closing of the door panel is temporarily stopped. Thereafter, there is an abnormal opening / closing operation for opening / closing the door panel at a lower speed than the normal opening / closing operation. Hereinafter, of the normal opening and closing operations, the door closing operation is called the door closing operation, and the door opening operation is called the door opening operation. Of the abnormal opening and closing operations, the door closing operation is the abnormal door closing operation and the door opening operation. May be referred to as an abnormal door opening operation. Further, in the pressing operation, the motor 9 is controlled so as to generate a torque that further closes the door panel that is stationary in the fully closed state, and the door panel that is stationary in the fully opened state is further opened. There is a fully open pressing operation that generates a large torque.

  The fully-closed pressing operation is to keep the door panel fully closed by the pressing force of the motor 9 in addition to the door closing force of the door closing force generating mechanism. The fully opening pressing operation is the door opening force generating mechanism door. In addition to the opening force, the door 9 is kept fully open by the pressing force of the motor 9. In the fully closed state or the fully open state, the stoppers 10A, 10B provided on the suspension 2 of the door panel 1A are pressed against the fixed ends 11A, 11B provided on the beam 3, so that the door panels 1A, 1B are stationary. Therefore, even if the motor 9 is controlled during the pressing operation to generate a torque for further closing the door panel or a torque for further opening the door panel, the door panels 1A and 1B are actually stationary.

  The pressing force during the pressing operation is generated by the vibration of the door panels 1A and 1B caused by the car vibration when the passenger moves in and out of the car, the inclination of the elevator car to which the girder 3 is attached, the car frame, the mischief of the passenger, etc. Even if a disturbance to 1A, 1B or a change in travel loss between the guide rail 4 and the hanger roller 5 occurs, the door panels 1A, 1B are controlled to be constant or variable so that they are stationary.

  When the door control device 12 controls the torque of the motor 9, the door device of the elevator apparatus performs these opening / closing operations and pressing operations.

  Next, the door control device will be described. FIG. 2 is a control block diagram showing the configuration of the door control device according to Embodiment 1 of the present invention. The door control device in FIG. 2 estimates the belt rigidity during the pressing operation, calculates the frequency of the natural vibration of the door composed of the door panel and the belt, and filters the frequency component of the natural vibration of the door from the detected moving speed of the door panel. It is the structure which implement | achieves smooth door opening and closing by removing by a process.

  As shown in FIG. 2, the door control device 12 includes an opening / closing operation selection unit 13, a speed command unit 14, a speed control unit 15, a pressing current command unit 16, a current command switching unit 17, a current control unit 18, and a current detector 19. , A speed calculation unit 21, a filter processing unit 22, a cutoff frequency determination unit 23, and a belt stiffness estimation unit 24. The motor 9 is provided with a rotation detector 20.

  The opening / closing operation selection unit 13 outputs an operation command for switching between the opening / closing operation and the pressing operation of the door device based on a signal from the door device. Signals from the door device include, for example, signals that are generated when the door open button or door close button is pressed based on the user's intention, or because the door panel automatically closes after the door panel is fully open for a certain period of time. There are signals that are generated regardless of the intention of the user. When the opening / closing operation is performed, an operation command for the opening / closing operation is output to the speed command unit 14, and when the pressing operation is performed, the operation command for the pressing operation is output to the pressing current command unit 16.

  The speed command unit 14 generates a rotation speed command value for the motor 9 for opening and closing the door panels 1 </ b> A and 1 </ b> B when the operation command for the opening / closing operation is output from the opening / closing operation selection unit 13, and outputs it to the speed control unit 15. . As the rotation speed command value, a preset rotation speed pattern is output based on the time from the start of the opening / closing operation of the door panels 1A and 1B and the motor rotation position. Alternatively, it is sequentially calculated and output. However, in the actual opening / closing operation of the door panel, disturbances such as running resistance such as clogging of dust, friction loss due to deformation of the door panel, and contact with an object such as a person or an object occur. Therefore, the actual rotation speed and rotation speed command of the motor 9 are generated. A speed error occurs between the values. The speed controller 15 corrects this speed error.

  The speed control unit 15 corrects an error between the rotational speed command value from the speed command unit 14 and the actual rotational speed of the motor 9 negatively fed back from the filter processing unit 22, and a current command value for performing an opening / closing operation. Is output to the current command switching unit 17. That is, the speed control unit 15 is a first current command unit because it outputs a first current value supplied to the motor 9 to open and close the door panel.

The speed controller 15 receives the difference between the actual rotational speed V of the motor 9 and the rotational speed command value V ^* as an input, and sets the actual rotational speed command value V ^* to the target rotational speed command value V ^* at regular time intervals. The current command value is controlled so that the rotation speed V of the motor follows. That is, the speed control unit 15 includes a feedback controller represented by, for example, a transfer function C _b (s) = K _sp + K _si / s. Here, K _sp is a proportional gain, K _si is an integral gain, and s is a Laplace operator. In general, the proportional gain K _sp is a control cross frequency ω _C that designates the motor shaft equivalent inertia value J of the door panel or the like corresponding to the motor driving load, the torque constant K _T of the motor 9, and the error correction performance of the output with respect to the target value. is the parameter and _{K sp = J × ω C /} K T _design, integral gain K _si is designed such that _{K si ≦ K sp × ω C} / 5.

  The pressing current command unit 16 generates a pressing current command value for pressing the door panels 1A and 1B when the operation command of the pressing operation is output from the opening / closing operation selection unit 13, and sends it to the current command switching unit 17. Output. That is, the pressing current command unit 16 is a second current command unit because it outputs a second current value to be supplied to the motor 9 by the pressing operation before and after the door panels 1A and 1B are opened and closed.

  In addition, the pressing current command unit 16 outputs a pressing current command value for performing a pressing operation when fully opened and a pressing operation when fully closed, and the motor 9 is generated by changing the pressing current command value during the pressing operation. Operates to change the pressing force. In the door control device according to the first embodiment, the rotational frequency of the motor 9 is detected in accordance with the change in the pressing force generated by the motor 9, and the cutoff frequency is determined by estimating the rigidity of the belt 7. ing. Details will be described later.

  The current command switching unit 17 selects the current command value from the speed control unit 15 during the opening / closing operation, and selects the pressing current command value from the pressing current command unit 16 during the pressing operation. The value is output to the current control unit 18.

The current control unit 18, based on the current command value from the current command switching unit 17 controls the current value I _M is supplied from the PWM inverter to the motor 9. Thereby, the torque τ for the motor 9 to perform the opening / closing operation or pressing operation of the door panels 1A, 1B is controlled. A current detector 19 is provided at the input end of the motor 9, and the current control unit 18 negatively feeds back the current value detected by the current detector 19 so that the current value supplied to the motor 9 becomes the current command value. Control to match. When the current value supplied to the motor 9 is I _M , the torque constant of the motor 9 is K _T , and the pulley radius of the pulley 6A connected coaxially with the motor 9 is r, the horizontal force F generated by the motor 9 Is F = I _M × K _T / r. The torque τ of the motor 9 is F = τ / r because τ = I _M × K _T. The force F expressed by the above formula is an opening / closing force in the opening / closing operation, and a pressing force in the pressing operation.

  The rotation detector 20 is provided in the motor 9 and outputs the rotation position of the motor 9. The rotation detector 20 may be a rotation detection unit configured by an encoder, a resolver, or the like provided in the motor 9.

  The speed calculation unit 21 calculates and outputs the actual rotation speed of the motor 9 by sampling the rotation position of the motor 9 output from the rotation detector 20 at regular intervals. Instead of detecting the rotation position of the motor 9 with the rotation detector 20, the rotation position may be estimated using the current value detected by the current detector 19 and input to the speed calculation unit 21.

  The filter processing unit 22 removes a vibration component having a predetermined frequency (hereinafter referred to as a cutoff frequency) determined by the cutoff frequency determination unit 23 from the actual rotation speed of the motor 9 output from the speed calculation unit 21, Negative feedback to the speed controller 15 is performed. The filter processing unit 22 is a digital filter in which a low-pass filter or a notch filter is configured, and the cutoff frequency of the filter processing unit 22 is changed based on the determination of the cutoff frequency determination unit 23. The cut-off frequency is changed by rewriting the data in the memory of the digital filter. For example, the table data indicating the filter characteristics may be rewritten, and when the filter characteristics are expressed by a mathematical expression, the mathematical expression may be rewritten by another mathematical expression. Good. The cutoff frequency may be changed, for example, at a timing when maintenance is performed in units of 3 months to 1 year, or may be changed every time the door is opened, opened, opened, or closed.

  The cutoff frequency determination unit 23 determines the cutoff frequency based on the estimation result of the belt stiffness of the belt 7 output from the belt stiffness estimation unit 24. The belt rigidity estimation unit 24 estimates the belt rigidity of the belt 7 from the pressing current command value output by the pressing current command unit 16 during the pressing operation and the rotational position of the motor 9 detected by the rotation detector 20. A method for estimating the belt stiffness of the belt 7 and a method for determining the cutoff frequency will be described later.

  The door control device 12 is configured as described above.

  FIG. 3 is a model diagram showing belt rigidity and belt tension of the door device according to Embodiment 1 of the present invention. FIG. 3 is a model diagram showing the door device of the double opening mechanism shown in FIG. The door panels 1 </ b> A and 1 </ b> B are opened and closed by controlling the tension difference in each part of the belt 7.

  In FIG. 3, k1, k2, k3, and k4 are belt stiffnesses, k1 is a belt stiffness between the coupler 8A and the pulley 6A, k2 is a belt stiffness between the coupler 8B and the pulley 6A, and k3 is a coupler 8B and a pulley. The belt rigidity between 6B, k4 is the belt rigidity between the connector 8A and the pulley 6B. In the following, the belt rigidity of k1, k2, k3, and k4 may be collectively referred to as ki (i = 1 to 4). The belt rigidity ki (i = 1 to 4) depends on the belt length of each part. T1, T2, T3, and T4 are belt tensions, T1 is a belt tension between the connection tool 8A and the pulley 6A, T2 is a belt tension between the connection tool 8B and the pulley 6A, and T3 is a connection between the connection tool 8B and the pulley 6B. The belt tension, T4, is the belt tension between the connector 8A and the pulley 6B. Hereinafter, the belt tensions of T1, T2, T3, and T4 may be collectively referred to as Ti (i = 1 to 4). Further, MA is the total mass of the hanger 2 attached to the connector 8A, the door panel 1A and the door panel 1A, and MB is the total mass of the hanger 2 attached to the connector 8B, the door panel 1B and the door panel 1B.

  In FIG. 3, the opening / closing force F by the motor 9 at the pulley 6A is represented by the difference between the belt tension T2 and the belt tension T1, and the relationship of T2−T1 = F is established. Further, the force for moving the total mass MA with the acceleration a is represented by the difference between the belt tension T1 and the belt tension T4, and the relationship of T1−T4 = MA × a is established. Similarly, the force for moving the total mass MB at the acceleration a is represented by the difference between the belt tension T3 and the belt tension T2, and the relationship of T3−T2 = MB × a is established. Since the pulley 6B is not provided with a motor, the belt tension T3 and the belt tension T4 are equal, and the relationship T3 = T4 is established.

  FIG. 3 is a model diagram showing a case where the motor 9 is provided only on the pulley 6A as shown in FIG. The motor may be provided in both the pulleys 6A and 6B. In that case, an opening / closing force is also generated in the pulley 6B as described above, and corresponds to the opening / closing force between the belt tension T3 and the belt tension T4. A tension difference occurs.

  Next, a mechanism for generating door natural vibration in the door device will be described with reference to the model diagram of FIG. A driving force for opening and closing the door panels 1A and 1B is generated by a difference in tension between the belts 7 on both sides of the connecting portions 8A and 8B of the door panels. The tension difference is caused by the opening / closing force F generated by converting the torque τ of the motor 9 from the rotational direction to the horizontal direction by the pulley 6A.

  When the door panels 1A and 1B are stationary and the motor 9 does not generate torque τ, the tension Ti (i = 1 to 4) of each belt is constant and equal initial tension. Generally, the initial tension is maintained at an appropriate value of a predetermined magnitude by maintenance, but the initial tension of the belt may be lowered due to environment, aging, or improper maintenance. When the initial tension is low, the motor 9 generates a torque τ, which may cause a belt portion where the belt tension becomes zero due to a tension difference corresponding to the belt tension. Such a state in which the belt tension becomes zero is called tension loss. In such a case, a natural vibration is generated in the door composed of the door panel and the belt.

  For example, a case will be described in which the motor 9 generates torque τ when the door panels 1A and 1B are opened and closed, and the tension T1 at the belt portion of the belt rigidity k1 becomes 0 and tension loss occurs. In FIG. 3, when the tension T1 at the belt rigidity k1 portion becomes zero, the horizontal opening / closing force F due to the torque τ of the motor 9 is all the tension T2 at the belt rigidity k2 portion. Since the torque τ of the motor 9 is τ = F × r, where F is the horizontal opening / closing force and r is the pulley radius, the tension T2 at the belt rigidity k2 is T2 = τ / r. That is, when the initial tension of the belt 7 is low, the model of the door device shown in FIG. 3 is a model in which tension T1 = tension T2 before the motor 9 generates torque τ. When the motor 9 generates the torque τ, the model changes to a model in which the tension T1 = 0 and the tension T2 = τ / r. In other words, from the model in which the inertia J0 of the very small motor 9 is connected to the very large total mass MA and total mass MB by the belt stiffness k1 and k2, respectively, the tension T1 = 0 due to the tension loss, The model changes to a model in which the mass MB and the inertia J0 of the motor 9 are connected only by the belt rigidity k2. In this way, when the initial tension is low and tension loss occurs, the tension T1 = 0 may occur, and thus natural vibration depending on the parameters of the motor inertia J0 and the belt rigidity k2 occurs.

  Such natural vibration is added to the rotation speed of the motor 9, and the speed calculation unit 21 in FIG. 2 outputs the calculation result of the rotation speed including the natural vibration.

  The door control device 12 determines that an abnormality has occurred when excessive vibration occurs in the rotational speed of the motor 9 due to a passenger's door contact, etc., temporarily stops the opening and closing of the door panel, and then at a lower speed than the normal opening and closing. An abnormal opening / closing operation that opens and closes the door panel is performed. The abnormal opening / closing operation is an operation necessary for realizing a more comfortable passenger boarding / exiting. However, the passenger feels uncomfortable when the door control device 12 makes an erroneous determination and performs an abnormal opening / closing operation despite the fact that there is no abnormality such as the door stop of the passenger. As described above, when the initial tension of the door device is low and natural vibration of the door occurs, the door control device 12 may determine that the natural vibration of the door is abnormal. Therefore, as shown in FIG. 2, the door control device 12 of the present invention inputs the calculation result of the rotational speed output from the speed calculation unit 21 to the filter processing unit 22, and the filter processing unit 22 determines the natural vibration of the door. The frequency component is removed and negative feedback is made to the speed control unit 15.

  In the door control device 12 according to the present invention, the cut-off frequency for removing the natural vibration of the door is determined by the cut-off frequency determining unit 23, and the filter characteristics are changed so that the filter processing unit 22 cuts off the cut-off frequency. Therefore, the rotational speed including the natural vibration of the door output from the speed calculation unit 21 is removed by the filter processing unit 22 from the frequency component of the natural vibration and negatively fed back to the speed control unit 15. As a result, the door control device 12 does not mistakenly determine the occurrence of abnormality, and if no abnormality has occurred, the door control device 12 normally opens and closes even if the door panels 1A and 1B open and close due to vibrations due to the natural vibration of the door. Therefore, passenger comfort can be prevented from being impaired. Since the cut-off frequency of the filter processing unit 22 is dynamically changed, even if the natural vibration frequency of the door changes due to the environment or aging, an abnormality has occurred without erroneously determining the occurrence of the abnormality. If not, a normal opening / closing operation can be performed.

  Next, a method for determining the cutoff frequency will be described. The cutoff frequency is determined by calculating the natural vibration frequency of the door. In the first embodiment, the belt rigidity is estimated by detecting the rotational position of the motor 9 by changing the pressing force F generated by the motor 9 while performing the pressing operation when fully opened, and should be cut off based on this. The frequency of the natural vibration of the door is obtained.

  FIG. 4 is a diagram illustrating the operation of the motor when the door device performs a door opening operation which is one of the opening / closing operations. FIG. 4 shows a case where the door device in the fully closed state starts the door opening operation at time 0, and after the door opening operation is completed at time t1, performs the pressing operation at the time of full opening until time t2. In FIG. 4, FIG. 4A shows the calculation result of the speed calculation unit 21, which is a change in the actual rotation speed of the motor 9 input to the filter processing unit 22. FIG. 4B shows a change in the rotational speed of the motor 9 output from the filter processing unit 22, and the filter processing unit 22 removes the natural vibration of the door included in the actual rotational speed of FIG. Thus, the cutoff frequency of the filter processing unit 22 is set and removed. 4C shows a change in motor torque, and FIG. 4D shows a motor rotation position output from the rotation detector 20. FIG.

  In FIG. 4, the operation from time 0 to time t1 is a door opening operation, and the operation from time t1 to time t2 is a pressing operation. The time t0 is the time when the door is vibrated during the door opening operation.

  The door control device according to the first embodiment estimates the belt rigidity, determines the cutoff frequency, and changes the filter characteristics during the pressing operation after the door opening operation. When the natural vibration of the door occurs in the next door closing operation and the next door opening operation due to the changed filter characteristics, the frequency component of the natural vibration is removed from the actual rotational speed of the motor 9 to control the speed. Negative feedback is provided to section 15.

  First, a pressing operation from time t1 to time t2 will be described, a method for estimating belt rigidity and calculating a cut-off frequency will be described, and then a door opening operation from time 0 to time t1 will be described.

When the door opening operation ends at time t1, the opening / closing operation selection unit 13 shown in FIG. 2 outputs a pressing operation command, and the pressing current command unit 16 sends the pressing current command value via the current command switching unit 17. Output to the current controller 18. Since the current control unit 18 controls the current supplied from the PWM inverter to the motor 9 based on the input current command value, the pressing current command value output from the pressing current command unit 16 is supplied to the motor 9. It becomes the same as the current value. Incidentally, the torque tau of the motor 9, the current value supplied to the motor 9 I _M, the torque constant is K _T, is represented by τ = I _M × K _T, because the K _T is a constant value, pressing The change in the pressing current command value output by the pressing current command unit 16 during operation is similar to the motor torque from time t1 to time t2 in FIG.

  As shown in FIG. 4C, after starting the pressing operation at time t1, the pressing current command value output by the pressing current command unit 16 is changed to change the torque of the motor 9 from τ1 to 0. Change τ1. Then, the motor rotation position changes by the change amount θ1. Since the torque change amount τ 1 of the motor 9 can be calculated from the pressing current command value as described above, the output of the pressing current command unit 16 is input to the belt rigidity estimation unit 24. In addition, since the rotation position change amount θ1 of the motor 9 is detected by the rotation detector 20, the output of the rotation detector 20 is input to the belt rigidity estimation unit 24.

  The torque change amount τ1 acts on the door panels 1A and 1B as the change amount F1 of the pressing force during the pressing operation. The relationship between the torque change amount τ1 and the pressing force change amount F1 can be expressed by F1 = τ1 / r. In addition, r is a pulley radius of the pulley 6A. Since the door panels 1A and 1B are stationary during the pressing operation, the relationship of the following formula (1) is established between the pressing force change amount F1 and the rotation position change amount θ1 of the motor 9.

      F1 = (k1 + k2) × r × θ1 (1)

  In FIG. 3, the sum of the distance from the coupling tool 8A (total mass MA) to the pulley 6A to which the motor 9 is connected and the distance from the coupling tool 8B (total mass MB) to the pulley 6A to which the motor 9 is connected is represented by L. , The rigidity k0 per unit length of the belt 7 is expressed by the following formula (2). Since L is approximately equal to the distance between pulleys, the distance between pulleys may be set to L.

      k0 = F1 / (r × θ1) / L (2)

  L1 is a belt length between the connecting tool 8A and the pulley 6A, L2 is a belt length between the connecting tool 8B and the pulley 6A, L3 is a belt length between the connecting tool 8B and the pulley 6B, and L4 is a belt between the connecting tool 8A and the pulley 6B. When the belt length L1, L2, L3, and L4 are collectively expressed as Li (i = 1 to 4), the belt rigidity ki (i = 1 to 4) is inversely proportional to the belt length of each part. The belt rigidity ki (i = 1 to 4) of each part can be calculated by the following mathematical formula (3). In Equation (3), i = 1 to 4.

      ki = k0 / Li (3)

  The belt stiffness estimator 24 stores L, which is substantially equal to the distance between pulleys, and also stores the belt length Li (i = 1 to 4) of each part when fully opened. Accordingly, the belt stiffness estimator 24 receives the pressing current command value output from the pressing current command unit 16 and the rotational position of the motor 9 output from the rotation detector 20, so that the belt stiffness estimator 24. 24, the change amount F1 of the pressing force is obtained from the pressing current command value, the change amount θ1 of the rotational position is obtained from the rotational position of the motor 9, and the belt rigidity ki ( i = 1 to 4) are estimated.

  Note that the door panels 1A and 1B are locked to the couplers 8A and 8B. When the door panels 1A and 1B move, the couplers 8A and 8B move, so that the belt rigidity ki depends on the positions of the door panels 1A and 1B. (I = 1 to 4) varies. The belt rigidity ki (i = 1 to 4) when the door panels 1A and 1B are in a predetermined position is obtained from the belt length Li (i = 1 to 4) when fully opened according to the movement amount of the door panels 1A and 1B. Can do.

The belt rigidity ki (i = 1 to 4) of each part estimated by the belt rigidity estimation unit 24 is input to the cutoff frequency determination unit 23. The cut-off frequency determination unit 23 uses the belt stiffness ki (i = 1 to 4) and the horizontal mass M _J0 of the inertia J0 of the motor 9 (including the pulley 6A coaxially connected to the motor 9) as follows. The frequency f i (i = 1 to 4) of the natural vibration is calculated by the equation (4).

fi = 1 / {2π (ki / M _j0 ) ^1/2 } (4)

In Equation (4), M _j0 = J0 / r ² and r is the pulley radius. Further, i = 1 to 4.

  The belt stiffness estimator 24 cuts off so as to reduce or eliminate the magnitude of one or a plurality of frequency components of the natural vibration frequency fi (i = 1 to 4) of each part calculated by Expression (4). Determine the frequency. The cut-off frequency may be one frequency, a plurality of frequencies, or a predetermined range of frequency bands. The cut-off frequency determined in this way is output from the belt stiffness estimator 24 to the filter processor 22 and the filter characteristic of the filter processor 22 is changed so as to remove the frequency component of the cut-off frequency. The filter characteristic of the filter processing unit 22 is, for example, s / (s + ω) if s is a Laplace operator, f is a cut-off frequency, and ω = 2πf is a cut-off angular frequency for a first-order low-pass filter. Can do.

  As described above, during the fully open pressing operation, the belt stiffness estimating unit 24 estimates the belt stiffness, the cut-off frequency determining unit 23 calculates the cut-off frequency, and the filter characteristic of the filter processing unit 22 is changed. Although it may be performed for every pressing operation when fully opened after opening, it may be performed once every several times or once every several months. Further, it may be performed not during the fully open pressing operation but during the fully closed pressing operation. FIG. 4 shows an example of a case where the pressing operation is performed every time the door is fully opened after each door is opened.

  With reference to FIG. 4 again, the door opening operation of the door device will be described. The filter characteristics of the filter processing unit 22 are changed so as to remove the cutoff frequency determined by the above method in the pressing operation after the door opening operation before the door opening operation described below.

  When an instruction to open the fully closed door panels 1A and 1B is given by a passenger operation or the like, the opening / closing operation selection unit 13 shown in FIG. 2 outputs an opening / closing operation command to the speed command unit 14, and the door opening operation is started. The In FIG. 4, the time when the door opening operation is started is set to zero. When the door opening operation is started, the speed command unit 14 outputs a rotation speed command value of the motor 9, and based on this output, the speed control unit 15 outputs a current command value supplied to the motor 9. The current command value output from the speed control unit 15 is output to the current control unit 18 via the current command switching unit 17, and the current control unit 18 outputs the current from the PWM inverter to the motor 9 based on the current command value from the speed control unit 15. The current value supplied to the is controlled. The rotation speed of the motor 9 is calculated by the speed calculation unit 21 based on the detection result of the rotation detector 20, and after the frequency component of the natural vibration is removed by the filter processing unit 22, it is negatively fed back to the speed control unit 15. The Therefore, the speed control unit 15 outputs an appropriate current command value so as to correct an error between the speed command value from the speed command unit 14 and the actual rotational speed of the motor 9.

  As shown in FIG. 4A, when vibration due to the natural vibration of the door occurs at the rotation speed of the motor 9 at time t0, the speed calculation unit 21 uses the calculation result of the rotation speed including the generated vibration as a filter processing unit 22. Output to. However, since the filter processing unit 22 has a filter characteristic in which the cutoff frequency is set so as to remove the frequency component of the natural vibration of the door, the output from the filter processing unit 22 as shown in FIG. The motor rotation speed is a smooth rotation speed obtained by removing the vibration component due to the natural vibration of the door from the actual rotation speed of the motor 9, and is negatively fed back to the speed control unit 15. As a result, since the speed control unit 15 outputs an appropriate current command value without trying to correct the rotational speed excessively, the door opening operation is smoothly performed, and the door opening operation can be normally terminated at time t1. it can. In the subsequent pressing operation, as described above, the belt stiffness estimator 24 again estimates the belt stiffness, and the cutoff frequency determination unit 23 determines the cutoff frequency based on the belt stiffness estimation result, and the determined cutoff frequency is set. Based on this, the filter characteristics of the filter processing unit 22 are changed.

  FIG. 5 is a diagram showing a change in the rotational speed of the motor when the door opening operation of the door device in the fully closed state is performed in the conventional door control device. This can be compared with FIG. 4A showing a change in the rotational speed of the motor by the door control device according to the first embodiment of the present invention. In the conventional door control device, in the configuration of FIG. 2, the opening / closing operation selection unit 13, the pressing current command unit 16, the cutoff frequency determination unit 23, and the belt rigidity estimation unit 24 do not exist, but the filter processing unit 22 exists. The filter characteristics are fixed, and the frequency component of the natural vibration of the door caused by the elongation and loosening of the belt caused by the environment and aging cannot be removed.

  The conventional door device shown in FIG. 5 starts the door opening operation at time zero. At time t0, vibration due to the natural vibration of the door occurs. The rotation speed of the motor calculated by the speed calculation unit includes the vibration component of the vibration generated in the door panel and belt, but the filter processing unit cannot remove this vibration component. The speed is negatively fed back to the speed controller. Since the speed control unit tries to match the rotational speed of the motor including the vibration component with the speed command output from the speed command unit, the rotational speed of the motor further vibrates. When the vibration increases to a level at which it is determined to be abnormal, the speed command from the speed command unit becomes 0, and the door opening operation is stopped. And after stopping to time t3, it transfers to the abnormal door opening operation | movement which restarts door opening operation | movement at a lower speed than the speed of normal door opening operation | movement, and reaches a fully open state at time t4.

  As described above, in the conventional door control device, the filter processing unit negatively feeds back to the speed control unit without removing the frequency component of the natural vibration of the door from the rotation speed of the motor. When the initial tension of the vehicle becomes low and vibration starts to occur, it is determined that the abnormality is not occurring, and it takes time to open and close the door, which may impair passenger comfort. However, in the door control device according to the first embodiment of the present invention, the cutoff frequency determination unit 23 determines the cutoff frequency to be cut off based on the belt stiffness estimated by the belt stiffness estimation unit 24, and the filter processing unit Since the frequency characteristic of the filter processing unit 22 is changed so that the cutoff frequency is removed at 22, even if the initial tension of the belt is low and vibration occurs, it is not erroneously determined to be abnormal. An effect that a smooth door opening / closing operation can be realized at all times is obtained.

Embodiment 2. FIG.
FIG. 6 is a control block diagram illustrating the door control device according to Embodiment 2 of the present invention. In FIG. 6, the same reference numerals as those in FIG. 2 denote the same or corresponding components, and the description thereof is omitted. Similar to the door control device of the first embodiment, the door control device of FIG. 6 estimates the belt rigidity during the pressing operation, calculates the natural vibration frequency of the door, and calculates the natural vibration from the detected moving speed of the door panel. It is the structure which implement | achieves smooth door opening and closing by removing the frequency component of this by a filter process. The first embodiment of the present invention is different from the first embodiment in that the belt rigidity is estimated with higher accuracy using the initial tension value of the belt. In the following, differences from the first embodiment will be described, and the same points as in the first embodiment will not be described.

  In FIG. 6, the belt initial tension measuring unit 25 outputs the belt initial tension measured in advance by the maintenance staff or the belt initial tension measured from the torque of the motor 9 when the door is opened and closed. When the maintenance staff measures the initial belt tension, the initial belt tension can be calculated from the relationship between the amount of bending and the amount of pressing force when the upper or lower portion of the belt is pressed while the door is stationary. When the belt initial tension is measured from the torque of the motor 9 when the door is opened and closed, each belt tension Ti (i = 1 to 4) becomes 0, and vibration is detected from the output of the rotation detector 20 provided in the motor 9. The belt initial tension can be measured from the amount of belt tension change estimated from the torque of the motor 9 at the timing.

  The belt initial tension measuring unit 25 outputs the belt initial tension measured by the above method to the belt stiffness estimating unit 24. As with the door control device described in the first embodiment, the belt stiffness estimator 24 includes a pressing current command value that is a current value supplied to the motor 9 during the pressing operation, which is output from the pressing current command unit 16. The rotational position of the motor 9 output from the rotation detector 20 is input, and further, the belt initial tension is input from the belt initial tension measuring unit 25. In the following, the belt initial tension is represented by T0.

  The belt stiffness estimation method described in the second embodiment estimates the belt stiffness with high accuracy when the magnitude of the torque generated by the motor 9 during the pressing operation is such that the belt 7 is loosened. For this purpose, the belt stiffness estimator 24 uses the belt initial tension T0 output from the belt initial tension estimator 25 to determine whether or not the magnitude of torque at the time of belt stiffness estimation is such that the belt 7 is loosened. To do.

  First, the principle of the belt rigidity estimation method according to the second embodiment will be described with reference to FIG. When the torque of the motor 9 is 0 and no torque is generated, the tension Ti (i = 1 to 4) of each belt portion is constant at the initial tension T0. When the motor 9 generates torque τ1, a tension change ΔTi (i = 1 to 4) occurs in each belt portion. That is, since the torque of the motor 9 is changed from 0 to τ1, the tension of each belt portion becomes Ti = T0 + ΔTi (i = 1 to 4).

  When the motor 9 is generating a torque and performing a pressing operation, the pressing force is changed by changing the torque, thereby changing the pressing force change amount F1 and the belt length Li (i = 1 to 4) of each belt portion. ), The tension change amount ΔTi (i = 1 to 4) of each belt part can be obtained. The pressing force change amount F1 can be expressed as F1 = τ1 / r, where τ1 is the torque change amount of the motor 9 and r is the pulley radius. If the pressing force by the motor 9 is changed so that, for example, the tension change ΔT2 at the belt rigidity k2 portion becomes equal to the initial tension T0, T0 + ΔT2 = 0, and the tension T2 at the belt rigidity k2 portion becomes 0. Can be. Since the initial tension T0 is a positive value, the magnitude of the tension change ΔT2 exceeds the magnitude of the initial tension T0, and the tension change ΔT2 is a negative value, that is, the tension change ΔT2 that causes the belt to relax. In this case, the tension T2 at the site of the belt rigidity k2 can be zero. When the tension T2 is 0, the total mass MA of the door panel 1A and the like is a model connected to the motor 9 by the belt rigidity k1 portion. It can be estimated with high accuracy.

  Next, the operation of the door control device of the second embodiment will be described. Also in the second embodiment, as in the first embodiment, the belt rigidity estimation unit 24 estimates the belt rigidity during the pressing operation. The operation of the motor 9 during the pressing operation is as shown in FIG. Hereinafter, the belt rigidity estimation method according to the second embodiment will be described with reference to FIG.

  As shown in FIG. 4C, the motor 9 generates the torque τ1 at the time t1 when the pressing operation is started, and thereafter, the torque of the motor 9 is set to 0 at the time t2. That is, the torque change amount of the motor 9 during the pressing operation is τ1. Further, as shown in FIG. 4D, when the torque change amount of the motor 9 becomes τ1, the change amount of the motor rotation position becomes θ1. The torque change amount τ1 and the motor rotation position change amount θ1 are input to the belt stiffness estimator 24 as in the first embodiment. Note that the change amount F1 of the pressing force can be expressed as F1 = τ1 / r using the torque change amount τ1 and the pulley radius r.

  In the second embodiment, the torque τ1 generated by the motor 9 at time t1 is set such that the belt rigidity k2 becomes 0 and the belt loosens as described above. Based on the belt initial tension T0 input from the belt initial tension measuring unit 25, the belt stiffness estimating unit 24 determines whether the magnitude of the torque τ1 is a magnitude that the belt is loosened. If it is determined that the belt is loose, the following operation is performed. If it is determined that the belt is not loose, the same operation as in the first embodiment is performed, and the following operation is not performed. Hereinafter, a case where the belt rigidity estimation unit 24 determines that the torque τ1 is a magnitude at which the belt loosens as compared with the magnitude of the initial tension T0 will be described.

  When the motor 9 generates torque τ1 and the belt is loose, the model shown in FIG. 3 is a model in which the motor 9 is connected only to the total mass MA including the door panel 1A and the like. Therefore, the relationship of the following numerical formula (5) is established.

      F1 = k1 × r × θ1 (5)

  When L1 which is the belt length between the coupler 8A and the pulley 6A is used, the rigidity k0 per unit length of the belt 7 is expressed by the following formula (6).

      k0 = F1 / (r × θ1) / L1 (6)

  The belt rigidity ki (i = 1 to 4) of each part can be expressed by the following formula (7) using the belt length Li (i = 1 to 4) of each part.

      ki = k0 / Li (7)

  As in the first embodiment, the belt rigidity estimation unit 24 stores the belt length Li (i = 1 to 4) of each part when fully opened. Accordingly, the belt stiffness estimator 24 receives the pressing current command value output from the pressing current command unit 16 and the rotational position of the motor 9 output from the rotation detector 20, so that the belt stiffness estimator 24. 24, the change amount F1 of the pressing force is obtained from the pressing current command value, the change amount θ1 of the rotational position is obtained from the rotational position of the motor 9, and the belt rigidity ki ( i = 1 to 4) are estimated and output to the cut-off frequency determination unit 23.

  The cut-off frequency determination unit 23 that has output the belt rigidity estimation result of each part from the belt rigidity estimation unit 24 determines the cut-off frequency by the method described in the first embodiment. Since the method for determining the cut-off frequency is as described in the first embodiment, description thereof is omitted here.

  As described above, according to the door control device according to the second embodiment, the total mass MA and the motor 9 are connected by the belt rigidity k1 at one location by the output from the belt initial tension measuring unit. Therefore, it is possible to estimate the belt rigidity with high accuracy. As a result, the frequency of the door's natural frequency is calculated with high accuracy to determine the cutoff frequency, and the vibration at the cutoff frequency is eliminated. With this, the door can be opened and closed more smoothly.

Embodiment 3 FIG.
FIG. 7 is a control block diagram showing a door control device according to Embodiment 3 of the present invention. 7, the same reference numerals as those in FIG. 2 denote the same or corresponding components, and the description thereof is omitted. Unlike the door control device of the first embodiment, the door control device of FIG. 7 estimates the belt rigidity at the start of the opening and closing operation, calculates the frequency of the natural vibration of the door characteristics, and uses the motor rotation speed detection value. By removing the frequency component of the natural vibration by filtering, the door is smoothly opened and closed.

  As shown in FIG. 7, the door control device 12 according to the third embodiment of the present invention includes a current command limiting unit 26 to which an operation command from the opening / closing operation selection unit 13 is input. Further, the output of the pressing current command unit 16 is not input to the belt rigidity estimation unit 24, and the output of the current command restriction unit 26 is input to the belt stiffness estimation unit 24. When the opening / closing operation selection unit 13 outputs a door opening / closing operation command, the current command limiting unit 26 is configured to execute a current command from the start of the opening / closing operation until the door panels 1A, 1B actually start moving. The limit value is output to the current command switching unit 17 and the current command value output from the speed control unit 15 is limited. That is, the current command limiting unit 26 is a second current command unit because the current control unit 18 outputs a current command value of the current value supplied to the motor when the door panel is stationary. In addition, when the current value output from the speed control unit 15 is limited, the current command limiting unit 26 resets the integral gain of the speed control unit 15 to 0 or resets the integral value based on the integral gain to 0. It has a function of stopping the integration processing of the speed control unit 15 such as continuing.

  Next, operation | movement of the door control apparatus 12 is demonstrated using FIG. FIG. 8 is a diagram illustrating the operation of the motor when the door device according to Embodiment 3 of the present invention performs the door opening operation. FIG. 8 shows a case where the fully-closed door device starts the door opening operation at time ta and the door opening operation continues even after time tb has elapsed. In FIG. 8, FIG. 8A shows the motor rotation speed, the motor rotation speed before being filtered by the filter processing unit 22 is indicated by a solid line, and the motor rotation speed after being filtered by the filter processing unit 22 is indicated by a broken line. Is shown. FIG. 8B shows the change in motor torque, and FIG. 8D shows the motor rotation position.

  In FIG. 8, from time 0 to time ta, the door device performs a pressing operation when fully closed. Assuming that the motor torque in the door opening direction is positive, the motor torque is zero or a negative negative value in the fully-closed pressing operation, and the motor rotation position is also constant.

  When the opening / closing operation selection unit 13 outputs an operation command for the door opening operation at time ta, the door opening operation is started. In FIG. 8, the door opening operation is performed from time ta to tb, but the door opening force by the motor torque does not exceed the door closing force by the door closing force generating mechanism. That is, during the time ta to tb, the door panels 1A and 1B are stationary and maintained in a fully closed state.

  When the operation command output from the opening / closing operation selection unit 13 at time ta is input to the speed command unit 14 and the current command limiting unit 26 and the door opening operation is started, the current command limiting unit 26 has elapsed since the time ta. The current command value limited so as to increase in proportion to time is output to the current command switching unit 17. At the same time, the current command limiting unit 26 sets the integral gain of the speed control unit 15 to 0 and stops the integration process. The current command switching unit 17 outputs a current command value that increases in proportion to the elapsed time from the time ta output from the current command limiting unit 26 to the current control unit 18. That is, during the period from time ta to time tb, the motor 9 is supplied with a current whose current value increases in proportion to the passage of time. As a result, the motor torque also increases in proportion to the elapsed time. At time tb, the door opening force Fa generated by the torque τa generated by the motor 9 is balanced with the door closing force of the door closing force generating mechanism. Thereafter, when the time tb elapses, the door opening force by the motor 9 exceeds the door closing force of the door closing force generating mechanism, and the door panels 1A and 1B move in the door opening direction.

  The current command limiting unit 26 releases the restriction on the current command value output from the speed control unit 15 when the time tb has elapsed, and releases the stop of the integration process of the speed control unit 15. As a result, the current command value input to the current control unit 18 before and after the time tb becomes continuous, and a smooth door opening operation can be realized. When the time tb elapses, a sufficiently large current command value is output from the speed control unit 15, so that a sufficiently large current is supplied to the motor 9 to move the door panels 1 </ b> A and 1 </ b> B at high speed. it can. The subsequent operation is the same as that described in the first embodiment, and even if vibration due to the natural vibration of the door occurs, an appropriate cutoff frequency is set in the filter processing unit 22, so that the rotation speed of the motor is increased. A smooth door opening operation can be performed by removing the contained vibration component.

  Next, a belt rigidity estimation method according to the third embodiment will be described. For estimating the belt rigidity, the door opening force Fa at time tb and the change amount θa of the motor rotation position are used. The door opening force Fa is expressed by Fa = τa / r using the torque τa of the motor 9 and the pulley radius r.

  Since the door opening force Fa and the door closing force of the door closing force generating mechanism are balanced at time tb, the door panels 1A and 1B are in a stationary state, and the change amount θa of the motor rotational position is determined by the belt stiffness k1 and the belt stiffness k2. The belt will depend on the elongation. Therefore, the door opening force Fa can be expressed by the following mathematical formula (8).

      Fa = (k1 + k2) × r × θa (8)

  The rigidity k0 per unit length of the belt 7 is expressed by the following mathematical formula (9). Note that L is the sum of the distance from the connector 8A to the motor 9 and the distance from the motor 9 to the connector 8B, and is substantially equal to the distance between the pulleys.

      k0 = Fa / (r × θa) / L (9)

  Since the belt rigidity ki (i = 1 to 4) of each part is inversely proportional to the belt length of each part, the belt rigidity ki (i = 1 to 4) of each part can be expressed by the following formula (10). . In Equation (10), i = 1 to 4.

      ki = k0 / Li (10)

  As in the first embodiment, the belt rigidity estimation unit 24 stores the belt length Li (i = 1 to 4) of each part when fully opened. Accordingly, the belt stiffness estimator 24 receives the current command value at the time tb output from the current command limiter 26 and the rotational position of the motor 9 output from the rotation detector 20, thereby estimating the belt stiffness. The unit 24 obtains the pressing force Fa from the current command value at the time tb, obtains the change amount θa of the rotational position from the rotational position of the motor 9, and determines the belt rigidity ki ( i = 1 to 4) are estimated and output to the cut-off frequency determination unit 23.

  The cut-off frequency determination unit 23 that has output the belt rigidity estimation result of each part from the belt rigidity estimation unit 24 determines the cut-off frequency by the method described in the first embodiment. Since the method for determining the cut-off frequency is as described in the first embodiment, description thereof is omitted here.

  As described above, according to the door control device according to the third embodiment, the belt rigidity is estimated during the opening / closing operation, the frequency of the natural frequency of the door is calculated, the cutoff frequency is determined, and the filter characteristics are determined. Since the vibration of the cut-off frequency is removed by changing, there is an effect that the door can be smoothly opened and closed.

Embodiment 4 FIG.
FIG. 9 is a control block diagram illustrating a door control device according to Embodiment 4 of the present invention. 9, the same reference numerals as those in FIG. 2, FIG. 6, or FIG. 7 denote the same or corresponding components, and the description thereof is omitted. The door control device in FIG. 9 is different from the door control device in the first to third embodiments in that the belt rigidity is estimated and the natural vibration frequency of the door characteristic is calculated. This is a configuration for measuring the frequency. Hereinafter, differences from the first to third embodiments will be described, and the same points as the first to third embodiments will not be described.

  As shown in FIG. 9, the door control device of the fourth embodiment is different from the door control device of the third embodiment shown in FIG. And a vibration characteristic estimation unit 28 is provided instead of the belt rigidity estimation unit 23.

  When the switching operation selection unit 13 outputs a diagnostic operation command, the excitation current command unit 27 outputs a current command value whose frequency changes according to the time from the start of the diagnostic operation to the current command switching unit 17. The current command value output by the excitation current command unit 27 is a current value that does not move the door panels 1A and 1B, and the door panels 1A and 1B are stationary. That is, the excitation current command unit 27 is the second current command unit. The current command value output by the excitation current command unit 27 may increase or decrease in frequency, the amplitude may be constant or fluctuate, and may be, for example, a sine wave whose frequency changes. The current command value that changes in frequency from the excitation current command unit 27 that is input to the current command switching unit 17 is input to the current control unit 18, and the motor 9 is supplied with current that changes in frequency.

  Further, since the output of the excitation current command unit 27 is input to the vibration characteristic estimation unit 28, the vibration characteristic estimation unit 28 can know the frequency and current value of the current supplied to the motor 9. In addition, since a current whose frequency changes is supplied to the motor 9, the rotational position of the motor 9 changes according to the natural vibration of the door. Since the rotation position of the motor output from the rotation detector 20 is input to the vibration characteristic estimation unit 28, the vibration characteristic estimation unit 28 can know the rotation position of the motor 9. Therefore, the vibration characteristic estimation unit 28 identifies the vibration frequency characteristic of the door from the current command value from the excitation current command unit 27 and the rotation position of the motor 9 from the rotation detector 20, and the natural vibration of the door. Can be obtained. Since the natural vibration of the door changes according to the position of the door panel, the vibration frequency characteristic of the door also changes according to the position of the door panel.

  The frequency characteristic of the door identified by the vibration characteristic estimating unit 28 is output to the cutoff frequency determining unit 23, and the cutoff frequency determining unit 23 determines a cutoff frequency for removing the natural vibration frequency, and outputs it to the filter processing unit 22. To do. The filter processing unit 22 changes the filter characteristics so as to block the cutoff frequency input from the cutoff frequency determining unit 23. Since the operation of the filter processing unit 22 is the same as that of the first embodiment, the description thereof is omitted here.

  The identification of the frequency characteristics of the door is performed by supplying a small current to the motor 9 so that the door panels 1A and 1B do not move. Therefore, the diagnostic operation is not limited to maintenance and inspection but may be performed during normal operation. Further, by frequently performing a diagnostic operation during normal operation, the cut-off frequency can be determined quickly in response to an environmental change of the elevator apparatus. The diagnosis operation may be performed in a state in which the door panels 1A and 1B are in the fully closed state, the fully open state, or any position from the fully closed position to the fully open position.

  In general, the girders 3 of the door device of the elevator apparatus are installed in a car or a car frame of the elevator apparatus, and the car frame of the elevator apparatus is in contact with a rail fixed in a hoistway of a building by a guide. The car frame and passengers are connected by anti-vibration rubber. As passengers get on and off the elevator car, the mass of the passenger is added to the mass of the car. The maximum value of the passenger's mass can be estimated from the maximum number of passengers in the car, or the mass of the passenger can be known by a sensor provided in the car. Since the guide and the anti-vibration rubber are elastic bodies, the rigidity changes depending on environmental conditions such as temperature and humidity and aging deterioration.

  In the model of the door device shown in FIG. 3, the beam 3 provided with the pulley 6A, the pulley 6B, and the motor 9 is fixed and is stationary. However, strictly speaking, the girder 3 has two inertias due to the elevator car mass Mc, the elevator car frame mass Mf, the rigidity kb of the anti-vibration rubber connecting the car and the car frame, and the rigidity kg of the guide connecting the rail and the car frame. It is installed on a foundation with natural vibration that can be approximated by the system. Therefore, as shown in the fourth embodiment, the frequency of the door is measured by supplying a current whose frequency changes to the motor 9 and measuring the frequency characteristic of the door, thereby obtaining the frequency of the natural vibration of the door in the above strict model. Thus, it is possible to obtain an effect that the cut-off frequency can be determined with high accuracy and the door can be opened and closed more smoothly.

Embodiment 5. FIG.
FIG. 10 is a control block diagram showing a door control device according to Embodiment 5 of the present invention. 10, the same reference numerals as those in FIG. 2, FIG. 6, FIG. 7 or FIG. 9 denote the same or corresponding components, and the description thereof is omitted. The door control device in FIG. 10 has a configuration in which the door control device according to the first embodiment is added with a function of determining the occurrence of an abnormality and issuing an abnormality outside the door control device. In the fifth embodiment, a door control device having a function of issuing an abnormality to the door control device of the first embodiment will be described. However, a function of issuing an abnormality to the door control device of the second to fourth embodiments is added. May be. Hereinafter, differences from the first to fourth embodiments will be described, and description of the same points as those of the first to fourth embodiments will be omitted.

  As shown in FIG. 10, the door control device of the fifth embodiment has a configuration in which an abnormality determination unit 29 and an abnormality issuing unit 30 are added to the door control device shown in FIG. 2 of the first embodiment. Yes.

  The abnormality determination unit 29 receives the output of the speed calculation unit 21 and the output of the filter processing unit 22. The abnormality determination unit 29 calculates the difference between the output of the filter processing unit 22 and the output of the speed calculation unit 21. That is, the difference between the rotation speed signal calculated by the speed calculation unit 21 and the signal obtained by removing the frequency component of the cutoff frequency from the rotation speed signal is calculated. If the calculated difference is equal to or greater than a predetermined threshold, it is determined that there is an abnormality, and an abnormality signal is output to the abnormality issuing unit 30. The threshold value for determining abnormality may be a different threshold value when the difference is negative or positive, and the threshold value may be set for the absolute value of the difference. Further, the output of the cut-off frequency determination unit 23 may be input to the abnormality determination unit 29, and the threshold value may be changed according to the input value.

  A state where the difference between the output of the speed calculation unit 21 and the filter processing unit 22 exceeds a predetermined threshold means that the rotation detector 20 detects that the motor 9 is vibrating. . When the information on the frequency of the natural vibration of the door calculated by the cutoff frequency determination unit 23 is reflected in the speed control unit 15, the vibration is not suppressed but amplified, but the door panel is provided via the filter processing unit 22. It is possible to maintain the smooth opening and closing of 1A and 1B and continue service to passengers. However, since the mechanical system of the door device needs to be adjusted by maintenance personnel, the abnormality determination unit 29 determines whether there is an abnormality and outputs an abnormality signal or a normal signal to the abnormality issuing unit 30.

  In order to notify the manager of the room or building in which the door device is attached when the abnormality occurs based on the abnormality signal or the normal signal output from the abnormality determination unit 29, the abnormality issuing unit 30 Anomaly is issued outside the door control device. When the abnormality issuing unit 29 outputs an abnormality signal and the abnormality issuing unit 30 issues an abnormality, the maintenance staff adjusts the mounting condition of the motor 9, confirms the deterioration of the belt 7, and the belt 7 by the pulleys 6A and 6B. It is possible to adjust the tension, adjust the coupling state of the coupling tools 8A and 8B with the belt 7, etc., normalize the mechanical system of the door device, and improve the abnormal state caused by the mechanical system of the door device.

  FIG. 11 is a control block diagram showing a door control device according to Embodiment 5 of the present invention. The door control device shown in FIG. 10 has a configuration in which the output of the cutoff frequency determination unit 23 is always applied to the filter processing unit 22 to change the filter characteristics of the filter processing unit 22, but the door control device of FIG. Is configured to change the filter characteristics of the filter processing unit 22 by applying the output of the cutoff frequency determination unit 23 to the filter processing unit 22 when an abnormality occurs in the opening / closing operation of the door panel.

  When the output of the cut-off frequency determining unit 23 is applied to the filter processing unit 22 and the filter characteristics of the filter processing unit 22 are not changed, the belt 7 is opened and closed as in the conventional door control device shown in FIG. When an abnormality is detected during door opening / closing due to a change in initial tension or the like, it is difficult to perform a smooth opening / closing operation of the door panels 1A, 1B. In the door control device of each embodiment of the present invention, the output of the cut-off frequency determining unit 23 is applied to the filter processing unit 22 and the filter characteristics of the filter processing unit 22 are changed, so that an abnormality is detected during door opening and closing. The smooth opening / closing operation of the door panels 1A and 1B can be continued without doing so.

  However, it is not necessary to change the filter characteristics of the filter processing unit 22 by applying the output of the cutoff frequency determining unit 23 to the filter processing unit 22 constantly or periodically, and an abnormality is detected during the opening / closing operation of the door panels 1A and 1B. In this case, the filter characteristics of the filter processing unit 22 may be changed so that the cutoff frequency determination unit 23 determines the cutoff frequency and removes the frequency component of the cutoff frequency determined by the cutoff frequency determination unit 23. In this case, when the abnormality is detected, the door opening / closing operation is an abnormal opening / closing operation, and the operation is performed as shown in FIG. 5. However, the filter characteristics of the filter processing unit 22 are changed in the subsequent door opening / closing operation. Since the detected frequency component of the natural frequency of the door device is removed by the filter processing unit 22, the smooth opening / closing operation of the door panels 1A and 1B can be performed again.

  In the door control device of FIG. 11, when an abnormality is detected during the opening / closing operation of the door panels 1 </ b> A and 1 </ b> B in this way, the output of the frequency determination unit 23 is applied by the filter processing unit 22, and the filter characteristics of the filter processing unit 22 It is a door control device to be changed. Since the filter characteristics of the filter processing unit 22 are changed, the smooth opening / closing operation of the door panels 1A, 1B can be continued. However, since an abnormality is detected during the door opening / closing operation, maintenance inspection may be performed by maintenance personnel. desirable. For this reason, when the output of the cutoff frequency determination unit 23 is applied to the filter processing unit 22 and the filter characteristics are changed, the filter processing unit 22 outputs an abnormal signal to the abnormality issuing unit 30. On the other hand, when the output of the cutoff frequency determination unit 23 is not applied by the filter processing unit 22, the filter processing unit 22 outputs a normal signal to the abnormality issuing unit 30.

  In order to notify the manager of the room or building in which the door device is installed when the abnormality occurs based on the abnormality signal or the normal signal output from the filter processing unit 22, Anomaly is issued outside the door control device. When the abnormality issuing unit 30 issues an abnormality, the maintenance staff adjusts the mounting condition of the motor 9, confirms the deterioration of the belt 7, adjusts the tension of the belt 7 by the pulleys 6A and 6B, and adjusts the connecting tools 8A and 8B. The state of connection with the belt 7 can be adjusted, the mechanical system can be normalized, and the abnormal state caused by the mechanical system can be improved.

  Since the maintenance staff regularly performs maintenance and inspection of the door device, the abnormality issuing unit 30 does not necessarily have to be provided. However, if the abnormality issuing unit 30 is not provided, an abnormality is detected and the filter is detected. In order to allow maintenance personnel to know at the time of maintenance inspection that the filter characteristics of the processing unit 22 have been changed, it is desirable to display such as turning on an LED lamp provided inside the door control device.

DESCRIPTION OF SYMBOLS 1A, 1B Door panel 6A, 6B Pulley 7 Belt 8A, 8B Connecting tool 9 Motor 12 Door control device 13 Opening and closing operation selection part 14 Speed command part 15 Speed control part (1st current command part)
16 Current command section for pressing (second current command section)
DESCRIPTION OF SYMBOLS 17 Current command switching part 18 Current control part 20 Rotation detector 21 Speed calculation part 22 Filter processing part 23 Cutoff frequency determination part 24 Belt rigidity estimation part 25 Belt initial tension measurement part 26 Current command limitation part (2nd current command part)
27 Excitation current command section (second current command section)
28 Vibration Characteristic Estimation Unit 29 Abnormality Determination Unit 30 Abnormal Issue Unit

Claims (8)

A first operation command for instructing an operation of rotating the motor to open and close a door panel connected to a belt driven by a motor; and an instruction for instructing an operation of generating torque to the motor when the door panel is stopped. An opening / closing operation selection unit that selects and outputs the operation command of 2;
A first current command unit that outputs a first current value supplied to the motor so as to control a moving speed of the door panel based on the first operation command;
A second current command unit that changes a second current value supplied to the motor based on the second operation command so that a torque generated by the motor changes;
A speed calculator that calculates the rotational speed of the motor from the rotational position of the motor output by a rotation detector provided in the motor;
A belt stiffness estimator that estimates the belt stiffness of the belt using the change amount of the second current value and the change amount of the rotational position of the motor;
A cutoff frequency determining unit for determining a cutoff frequency from the belt stiffness estimated by the belt stiffness estimating unit;
When the door panel is fully open or fully closed, a filter characteristic is changed to output a signal obtained by removing the frequency component of the cutoff frequency determined by the cutoff frequency determination unit from the rotational speed signal, and the first current command A filter processing unit for negative feedback to the unit;
Equipped with a,
The said cutoff frequency determination part is a door control apparatus which determines a cutoff frequency from the inertia of the said motor . The door control device according to claim 1, wherein the second current command unit changes the second current value during a pressing operation of the door panel. The door control device according to claim 2 , further comprising a belt initial tension measurement unit, wherein the belt stiffness estimation unit estimates the belt stiffness using the initial tension of the belt output from the belt initial tension measurement unit. 2. The door control device according to claim 1, wherein the second current command unit increases the second current value with the elapsed time at the start of the opening / closing operation of the door panel. An abnormality determination unit that calculates a difference between the signal obtained by removing the frequency component of the cutoff frequency from the rotation speed signal and the rotation speed signal, and determines an abnormality based on the difference;
An abnormality issuing unit that issues an abnormality according to the determination result of the abnormality determining unit;
The door control device according to any one of claims 1 to 4 , further comprising: The door control device according to any one of claims 1 to 4 , wherein the cutoff frequency determination unit determines the cutoff frequency when an abnormality is detected during opening and closing movement of the door panel. The door control device according to claim 6 , further comprising an abnormality issuing unit that issues an abnormality when the cutoff frequency is determined. The door control device according to any one of claims 1 to 7 ,
A door device that is controlled by the door control device to open and close the door panel;
Elevator device equipped with.

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