JP7392892B1 - elevator door control device - Google Patents

Abstract

An object of the present invention is to realize a function for diagnosing vibrations generated in elevator door motor control within the constraints and resources of a function that generally controls a door motor. A control device controls a door motor so that an actual speed calculated from a rotation angle of the door motor follows a speed command value. Also, during the sampling period during the door opening/closing operation, the control device acquires the actual speed at a predetermined sampling period, and obtains the actual speed by integrating the absolute value of the amount of change in the actual speed during the sampling period. The process of calculating the integrated value of the actual speed change, the integrated value of the speed command value change obtained by acquiring the speed command value in the sampling period, and integrating the absolute value of the change in the speed command value during the sampling period. and a process of diagnosing that there is an abnormality in the door if a first difference value obtained by subtracting the integrated value of the speed command value change from the integrated value of the actual speed change is larger than the first threshold value. [Selection diagram] Figure 6

Description

The present disclosure relates to technology for elevator door control devices.

Regarding the motor control that operates the door, in recent years, the motor control function has become more precise in order to realize high-speed and smooth door operation. As a result, vibrations may occur due to the installation conditions at the site or aging of the mechanical system, or because the control gain is not adjusted properly. At that time, vibrations are determined by performing frequency analysis based on detailed waveform data and comparing it with data during operation, which was the basis at the time of development.

For example, Patent Document 1 cites a technique of performing frequency analysis on current as a method for determining a rotation angle error of a rotation detection unit of an elevator motor.

International Publication No. 2016/174796

In the technique of Patent Document 1, it is ideal to incorporate a data analysis mechanism into embedded software that operates on site to enable vibration analysis and judgment. However, there is a problem in that it is difficult to incorporate data analysis mechanisms as they are due to software limitations such as RAM capacity, calculation time, and communication volume.

The present disclosure has been made in order to solve the above-mentioned problems, and realizes a function for diagnosing vibrations generated in elevator door motor control within the constraints and resources of a function that generally controls door motors. The purpose of the present invention is to provide an elevator door control device that can perform the following steps.

The elevator door control device of the present disclosure includes a door motor that drives the elevator door in the opening/closing direction, and a control device that controls the door motor, and the control device includes a rotation detection unit that detects a rotation angle of the door motor. , a door speed calculation section that calculates the actual speed in the door opening/closing direction from the rotation angle, a door speed command value calculation section that calculates the speed command value in the door opening/closing direction, and a door speed command value calculation section that calculates the speed command value in the door opening/closing direction from the rotation angle. a motor control unit that controls the door motor during operation; and a door diagnosis unit that diagnoses abnormalities in the door during a predetermined sampling period during the opening or closing operation of the door. Acquires the actual speed at a predetermined sampling period during the period from the door speed calculation unit, and calculates the actual speed change amount integrated value obtained by integrating the absolute value of the amount of change in the actual speed during the sampling period. The first calculation process and the speed command value change integration obtained by acquiring the speed command value in the sampling period from the door speed command value calculation unit and integrating the absolute value of the change in the speed command value during the sampling period. a second calculation process for calculating the value; and a first judgment for diagnosing that there is an abnormality in the door if the first difference value obtained by subtracting the integrated value of the speed command value change from the integrated value of the actual speed change is larger than the first threshold value. The processing is configured to perform the following steps.

According to the technology of the present disclosure, it is possible to realize the function of diagnosing vibrations generated in elevator door motor control within the constraints and resources of a function that generally controls a door motor.

1 is a front view of an elevator door control device in Embodiment 1. FIG. FIG. 3 is a functional block diagram of functions included in the control device. It is a figure which illustrated the door speed pattern at the time of the door opening operation of a door. FIG. 6 is a diagram for explaining abnormality diagnosis processing executed by the door diagnosis section. FIG. 6 is a diagram for explaining abnormality diagnosis processing executed by the door diagnosis section. 2 is a flowchart showing a routine of an abnormality diagnosis process executed in the door control device 1 according to the first embodiment. FIG. 3 is a diagram illustrating an example of hardware resources of a control device. FIG. 7 is a diagram showing another example of hardware resources of the control device. FIG. 2 is a functional block diagram of an elevator door control device in Embodiment 2. FIG. 7 is a flowchart showing a routine of an abnormality diagnosis process executed in the door control device 1 according to the second embodiment. FIG. 7 is a functional block diagram of an elevator door control device in Embodiment 3. FIG. 12 is a flowchart showing a routine of an abnormality diagnosis process executed in the door control device 1 according to the third embodiment. 12 is a flowchart showing a routine of an abnormality diagnosis process executed in the door control device 1 according to the third embodiment.

Embodiments will be described below with reference to the drawings. Note that common elements in each figure are denoted by the same reference numerals, and redundant explanations will be omitted.

Embodiment 1.
1-1. Configuration of Elevator Door Control Device in Embodiment 1 FIG. 1 is a front view of an elevator door control device in Embodiment 1. The elevator hoistway is formed so as to penetrate each floor of the building. On each floor, a landing is formed near the hoistway. A passenger car is provided within the hoistway. A landing entrance is formed between each landing and the hoistway. A landing door is provided at the landing entrance. A car entrance/exit is formed on the landing side of the passenger car. A door control device 1 is provided at the car entrance/exit. The door control device 1 includes a door 2, a door opening/closing mechanism 3 that opens and closes the door 2, and a door driving mechanism 4 that drives the door opening/closing mechanism 3.

The door 2 is provided to open and close the car entrance. Typically, the doors 2 are provided in pairs so as to open in the center. As another example, the door 2 may be provided to open on one side. A door opening/closing mechanism 3 is provided above the door 2. The door opening/closing mechanism 3 includes a suspension member 6, a hanger roller 7, a rail 8, two pulleys 9, a belt 10, and a connecting member 11. The suspension member 6 is fixed to the upper part of the door 2. The hanger roller 7 is installed on top of the suspension member 6. The rail 8 is installed above the door 2. The two pulleys 9 are arranged horizontally apart above the rail 8. The belt 10 is installed so as to go around the pulley 9.

One end of the connecting member 11 is fixed to the belt 10 above the pulley 9. One other end of the connecting member 11 is fixed to one of the suspension members 6. The other end of the connecting member 11 is fixed to the belt 10 below the pulley 9. Both other ends of the connecting member 11 are fixed to the other side of the suspension member 6. In the door opening/closing mechanism 3, when the belt 10 is reciprocated from side to side by the door driving mechanism 4, the door 2 is guided by the hanger roller 7 running on the rail 8 and reciprocated in the opposite direction to open and close the doorway. .

The door drive mechanism 4 includes a door motor 12, a pulse encoder 13, and a control device 20. The door motor 12 has a function of rotationally driving the pulley 9 via a rotating shaft. The pulse encoder 13 has a function of converting the rotation of the door motor 12 into pulses. The control device 20 has a function of controlling the door motor 12 based on the pulses output by the pulse encoder 13. The control device 20 also has a function of diagnosing whether or not there is an abnormality in the door opening or closing operation of the door 2. In addition, in the following description, the door opening operation or door closing operation of the door 2 is also simply referred to as the "opening/closing operation" of the door 2. The functions provided by the control device 20 will be described in detail later.

In such an elevator, when a passenger car is placed adjacent to a landing, a part of the door 2 of the passenger car and a part of the landing door engage with each other. In this state, the door motor 12 is driven by the control device 20. This drive causes the pulley 9 to rotate. This rotation causes the belt 10 to move. At this time, above the pulley 9, the belt 10 moves to either the left or the right. On the other hand, below the pulley 9, the belt 10 moves to the other side.

Along with this movement, the connecting members 11 move in mutually opposite directions. Along with this movement, the suspension members 6 move in mutually opposite directions. Along with this movement, the doors 2 move in opposite directions. At this time, the hanger roller 7 runs on the rail 8. Therefore, the door 2 smoothly opens and closes the car entrance/exit. As the landing doors open and close, the pair of landing doors move in opposite directions. This movement causes the landing door to open and close the landing entrance.

1-2. Functions of control device 20 in Embodiment 1 Next, functions provided in control device 20 will be described using FIG. 2. FIG. 2 is a functional block diagram of the functions included in the control device. As shown in FIG. 2, the control device 20 includes a rotation detection section 21, a door speed calculation section 22, a door speed command value calculation section 23, a motor control section 24, a door diagnosis section 25, and a storage section 26 as its functional blocks. Equipped with

The rotation detection unit 21 is a functional block for detecting the rotation angle of the door motor 12. Typically, the rotation detection unit 21 calculates the rotation angle by counting pulses output by the pulse encoder 13. The calculated rotation angle is sent to the door speed calculation unit 22 at any time.

The door speed calculation unit 22 is a functional block for calculating the actual speed of the door 2 in the opening/closing direction from the rotation angle calculated by the rotation detection unit 21. Typically, the door speed calculating section 22 calculates the actual speed at a predetermined control cycle during the opening/closing operation of the door 2, and outputs the calculated actual speed to the motor control section 24. Furthermore, during the opening/closing operation of the door 2, the door speed calculating section 22 calculates the actual speed according to a sampling period and a sampling cycle predetermined in the diagnostic conditions, and outputs the calculated actual speed to the door diagnostic section 25.

The door speed command value calculation unit 23 is a functional block for calculating a speed command value in the opening/closing direction when the door 2 is opened/closed. FIG. 3 is a diagram illustrating a door speed pattern during a door opening operation. In this figure, the horizontal axis is time and the vertical axis is the speed of the door 2. In FIG. 3, a pattern indicated by W11 is an example of a pattern of speed command values during a door opening operation. In pattern W11, the period from time t0 in the fully closed state to time t1 is an acceleration section. In the acceleration section, the acceleration of the door 2 is constant. The period from time t1 to time t2 is the maximum speed portion. In the maximum speed section, the speed of the door 2 is constant at the maximum speed. The period from time t2 to fully open t3 is a deceleration section. In the deceleration section, the deceleration of the door 2 is constant. The control device 20 stores such a pattern of door speed command values in the storage unit 26. The door speed command value calculation unit 23 calculates a speed command value at a predetermined control cycle using the door speed command value pattern stored in the storage unit 26 during the opening/closing operation of the door 2, and controls the motor. 24. Further, the door speed command value calculating section 23 calculates a speed command value according to a sampling period and a sampling cycle predetermined in the diagnostic conditions during the diagnosis period of the opening/closing operation of the door 2, and outputs the speed command value to the door diagnosis section 25.

The motor control unit 24 controls the torque of the door motor 12 so that the actual speed during the opening/closing operation of the door 2 follows the speed command value. There is no limitation on the method of controlling the door motor 12 here. For example, the motor control unit 24 feeds back the deviation between the actual speed and the speed command value to the torque command value. In FIG. 3, a pattern indicated by W12 is an example of a pattern of the actual speed of the door 2 when the motor control unit 24 controls the door motor 12 so as to follow the speed command value indicated by W11.

The door diagnostic section 25 is a functional block for diagnosing abnormalities during the opening/closing operation of the door 2. Typically, the door diagnostic unit 25 diagnoses an abnormality in the door 2 according to predetermined diagnostic conditions. This process is hereinafter referred to as "abnormality diagnosis process." The diagnostic conditions here are conditions that define the sampling period and sampling period for calculating the actual speed and speed command value. The sampling period may be during the opening operation of the door 2 or may be during the door closing operation. Further, the sampling period may be an acceleration portion or a deceleration portion of the door opening command value. The sampling period is set to a period that allows sampling at at least three locations during the sampling period.

4 and 5 are diagrams for explaining the abnormality diagnosis processing executed by the door diagnosis section. FIG. 4 shows an enlarged example of the pattern of the acceleration portion surrounded by A in FIG. 3. In FIG. In the abnormality diagnosis process, the door diagnosis section 25 acquires the actual speed of the door 2 calculated by the door speed calculation section 22 according to a sampling period and a sampling cycle determined in advance in the diagnosis conditions. In the example shown in FIG. 4, the door diagnostic unit 25 acquires the actual speed at sampling cycles T0, T1, T2, and T3 during the sampling period. Then, the door diagnosis unit 25 calculates the amount of change in the actual speed during each sampling period, and calculates an integrated value of the amount of change in the actual speed by integrating the absolute values of the respective amounts of change. This process is hereinafter referred to as "first calculation process." In the example shown in FIG. 4, the difference between the actual speed in the sampling period T1 and the actual speed in the sampling period T0 is calculated as the amount of change (A), and the difference between the actual speed in the sampling period T2 and the actual speed in the sampling period T1 is calculated as the difference between the actual speed in the sampling period T1 and the actual speed in the sampling period T0. The amount of change (B) is calculated, and the difference between the actual speed in the sampling period T3 and the actual speed in the sampling period T2 is calculated as the amount of change (C). In addition, Fig. 5 shows the actual speed change amount integrated by integrating the absolute values (A'), (B'), and (C') of the actual speed change amounts (A), (B), and (C), respectively. A value W32 is shown.

Furthermore, in the abnormality diagnosis process, the door diagnosis section 25 acquires the speed command value calculated by the door speed command value calculation section 23 at the same sampling period as the first calculation process according to the diagnosis conditions. In the example shown in FIG. 4, the door diagnostic unit 25 acquires speed command values at sampling periods T0, T1, T2, and T3. Then, the door diagnosis unit 25 calculates the amount of change in the speed command value during each sampling period, and calculates an integrated value of the amount of change in the speed command value by integrating the absolute values of the respective amounts of change. This process is hereinafter referred to as "second calculation process." In the example shown in FIG. 4, the difference between the speed command value in the sampling period T1 and the speed command value in the sampling period T0 is calculated as the amount of change (a), and the difference between the speed command value in the sampling period T2 and the speed command value in the sampling period T1 is calculated as the amount of change (a). The difference between the speed command value in the sampling period T3 and the speed command value in the sampling period T2 is calculated as the change amount (c). In addition, FIG. 5 shows the speed command value change, which is the sum of the absolute values (a'), (b'), and (c') of the speed command value changes (a), (b), and (c), respectively. A quantity integrated value W31 is illustrated.

Furthermore, in the abnormality diagnosis process, the door diagnosis unit 25 calculates the difference between the calculated actual speed change amount integrated value and the speed command value change amount integrated value as a first difference value, and the first difference value is set to the first threshold value. It is determined whether or not there is an abnormality in the door 2 based on whether or not it is larger than that. This process is hereinafter referred to as "first determination process." FIG. 5 illustrates the difference value between the actual speed change amount integrated value W32 and the speed command value change amount integrated value W31.

If a deviation occurs in the adjustment of the control gain for controlling the door motor 12 in the motor control section 24 due to the installation condition of the door 2 at the site or due to aging of the mechanical system such as the door opening/closing mechanism 3 or the door drive mechanism 4. , vibration occurs when the door 2 opens and closes. The first difference value between the actual speed change amount integrated value W32 and the speed command value change amount integrated value W31 tends to become a larger value as the vibration during the opening/closing operation of the door 2 is larger. Therefore, the first threshold value here is set, for example, to the value of the first difference value corresponding to the permissible limit of vibrations generated during the opening/closing operation of the door 2. According to the setting of the first threshold value, when the difference value between the actual speed change amount integrated value W32 and the speed command value change amount integrated value W31 is larger than the first threshold value, an abnormality occurs during the opening/closing operation of the door 2. It is possible to diagnose if there is.

1-3. Specific Processing Executed in Elevator Door Control Device in Embodiment 1 Next, specific processing of the abnormality diagnosis processing executed in elevator door control device 1 in Embodiment 1 will be described. FIG. 6 is a flowchart showing a routine of abnormality diagnosis processing executed in the door control device 1 according to the first embodiment. The routine shown in FIG. 6 is executed in the control device 20 during the sampling period determined by the diagnostic conditions.

In step S100 of the routine shown in FIG. 6, the door speed calculation unit 22 calculates the actual speed of the door 2 at a sampling period determined by the diagnostic conditions. In the next step S102, the door diagnostic unit 25 executes a first calculation process, calculates the amount of change in the actual speed during each sampling period, and integrates the amount of change in the actual speed by integrating the absolute value of each amount of change. Calculate the value.

In the next step S104, the door speed command value calculation unit 23 executes a second calculation process, calculates the amount of change in the speed command value during each sampling period, and calculates the speed that is the sum of the absolute values of the respective amounts of change. Calculate the cumulative amount of change in command value.

The door diagnosis unit 25 executes a first determination process in steps S108, S110, and S112. Typically, in step S108, the door diagnostic unit 25 calculates a first difference value between the integrated value of the actual speed change amount and the integrated value of the speed command value change amount, and the first difference value is larger than the first threshold value. Determine whether or not. As a result, if the determination is established, the process proceeds to step S112, and if the determination is not established, the process proceeds to step S110.

In step S110, the door diagnostic unit 25 determines that the door 2 is not experiencing vibration exceeding the permissible range and diagnoses whether the door 2 is normal. On the other hand, in step S112, the door diagnostic unit 25 determines that the door 2 is experiencing vibrations that exceed the allowable range, and diagnoses an abnormality in the door 2.

As is clear from the above description, according to the elevator door control device 1 of the first embodiment, the door motor 12 is controlled based on the actual speed and the speed command value obtained by using the existing function for controlling the door motor 12. Therefore, it is possible to quantitatively determine the magnitude of vibration when the door 2 is opened and closed. This makes it possible to diagnose abnormalities when opening and closing the door 2 within the constraints and resources that the function of controlling the door motor 12 generally has.

1-4. Modifications The door control device 1 of Embodiment 1 may be modified as follows.

4-1. Hardware resources of control device 20

FIG. 7 is a diagram showing an example of hardware resources of the control device 20. The control device 20 includes a processing circuit 206 including a processor 202 and a memory 204 as hardware resources. Processing circuit 206 may include multiple processors 202. Processing circuit 206 may include multiple memories 204.

In the present embodiment, each section indicated by reference numerals 21 to 26 indicates a function that the control device 20 has. The functions of the storage unit 26 are realized by the memory 204. The functions of each part shown by reference numerals 21 to 26 can be realized by software written as a program, firmware, or a combination of software and firmware. The program is stored in memory 204. Alternatively, the program may be recorded on a computer-readable recording medium. The control device 20 realizes the functions of each section indicated by reference numerals 21 to 26 by having a processor 202 (computer) execute a program stored in a memory 204.

The processor 202 is also called a CPU (Central Processing Unit), central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP. As the memory 204, a semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD may be used. Semiconductor memories that can be employed include RAM, ROM, flash memory, EPROM, EEPROM, and the like.

FIG. 8 is a diagram showing another example of the hardware resources of the control device 20. In the example shown in FIG. 8 , control device 20 includes processing circuitry 206 that includes a processor 202 , memory 204 , and dedicated hardware 208 . FIG. 8 shows an example in which some of the functions of the control device 20 are realized by dedicated hardware 208. All of the functions of the control device 20 may be realized by dedicated hardware 208. Dedicated hardware 208 may employ a single circuit, multiple circuits, programmed processors, parallel programmed processors, ASICs, FPGAs, or combinations thereof. Note that the modification of the hardware resources of the control device 20 described above can also be applied to the control device 20 of other embodiments to be described later.

Embodiment 2.
2-1. Features of the elevator door control device in the second embodiment FIG. 9 is a functional block diagram of the elevator door control device in the second embodiment. Note that the same or equivalent parts as in the door control device 1 of Embodiment 1 are given the same reference numerals, and the description thereof will be omitted.

The control device 20 of the second embodiment further includes a door speed storage section 27 in addition to the configuration of the control device 20 of the first embodiment. The door speed storage unit 27 stores the actual speed change amount calculated by executing the first calculation process according to predetermined diagnostic conditions at the time of installing the elevator in which the control gain of the control of the door motor 12 has been appropriately adjusted. This is a functional block that functions as a storage device that stores and retains the standard actual speed change amount integrated value.

In the abnormality diagnosis process, the door diagnostic unit 25 calculates the current actual speed change amount calculated by executing the first calculation process under the same diagnostic conditions as the standard actual speed change amount integrated value when calculating the standard actual speed change amount integrated value; An abnormality in the door 2 is diagnosed by comparing it with the standard actual speed change amount integrated value. Typically, the door diagnostic unit 25 calculates the difference between the current actual speed change integrated value and the standard actual speed change integrated value as a second difference value, and the second difference value is greater than the second judgment value. Whether or not there is an abnormality in the door 2 is determined based on whether or not the amount is large. This process is hereinafter referred to as "second determination process."

When a mechanical system such as the door opening/closing mechanism 3 or the door driving mechanism 4 deteriorates over time, a deviation occurs in the adjustment of the control gain for controlling the door motor 12 in the motor control unit 24, and vibrations occur in the door 2 during opening/closing operations. do. The second difference value between the actual speed change amount integrated value and the standard actual speed change amount integrated value tends to become a larger value as the vibration during the opening/closing operation of the door 2 becomes larger. Therefore, the second threshold value is set to the second difference value corresponding to the permissible limit of vibrations generated during the opening/closing operation of the door 2, which corresponds to the permissible limit of vibrations generated during the opening/closing operation of the door 2. In this way, according to the second determination process, it becomes possible to quantitatively diagnose changes in the magnitude of vibration of the door 2 due to aging of the mechanical system.

2-2. Specific Processing Executed in Elevator Door Control Device in Embodiment 2 Next, specific processing of the abnormality diagnosis processing executed in the elevator door control device 1 in Embodiment 2 will be described. FIG. 10 is a flowchart showing a routine of abnormality diagnosis processing executed in the door control device 1 according to the second embodiment. The routine shown in FIG. 10 is executed in the control device 20 during the sampling period determined by the diagnostic conditions.

In steps S200, S202, and S204 of the routine shown in FIG. 10, the same processes as steps S100, S102, and S104 of the routine shown in FIG. 6 are executed. When the process of step S204 is completed, the process advances to step S206.

In step S206, the door diagnostic unit 25 determines whether it is time to install the elevator. As a result, if the determination is established, the process proceeds to step S208, and if the determination is not established, the process proceeds to step S210.

In step S208, the door diagnostic section 25 stores the actual speed change amount integrated value calculated in step S202 of this routine in the door speed storage section 27 as the standard actual speed change amount integrated value. When the process of step S208 is completed, the process proceeds to step S210.

In step S210, the door diagnostic unit 25 calculates a first difference value between the actual speed change amount integrated value and the speed command value change amount integrated value, and determines whether the first difference value is larger than the first threshold value. do. As a result, if the determination is established, the process proceeds to step S216, and if the determination is not established, the process proceeds to step S212.

In step S212, the door diagnostic unit 25 calculates a second difference value between the actual speed change amount integrated value and the standard actual speed change amount integrated value, and determines whether the second difference value is larger than the second threshold value. do. As a result, if the determination is established, the process proceeds to step S216, and if the determination is not established, the process proceeds to step S214.

In step S214, the door diagnostic unit 25 diagnoses the normality of the door 2, assuming that no vibration exceeding the permissible range has occurred in the door 2. On the other hand, in step S216, the door diagnostic unit 25 diagnoses an abnormality in the door 2, assuming that vibration exceeding the permissible range is occurring in the door 2.

As is clear from the above description, according to the elevator door control device 1 of Embodiment 2, in addition to comparing the actual speed change cumulative value and the speed command value change cumulative value, the actual speed change cumulative value Based on the comparison between the value and the standard actual speed change amount integrated value, the magnitude of vibration when the door 2 is opened and closed can be quantitatively determined. This makes it possible to accurately diagnose abnormalities during opening and closing of the door 2 due to deterioration of the mechanical system over time, especially within the constraints and resources of the function of controlling the door motor 12 in general.

2-3. Modifications The door control device 1 of the second embodiment may adopt a modified form as follows.

2-3-1. Standard actual speed change amount integrated value The standard actual speed change amount integrated value stored in the door speed storage section 27 is not limited to the actual speed change amount integrated value calculated at the time of installation of the elevator. That is, the standard actual speed change amount integrated value may be an actual speed change amount integrated value in a standard state of the elevator in which the control gain of the control of the door motor 12 is appropriately adjusted. Examples of such a standard state of the elevator include when the elevator is installed, after adjustment of the control gain due to maintenance and inspection, and the like.

Embodiment 3.
3-1. Features of the elevator door control device in the third embodiment FIG. 11 is a functional block diagram of the elevator door control device in the third embodiment. In FIG. 11, the same or corresponding parts as those of the door control device of Embodiment 1 or Embodiment 2 are given the same reference numerals, and the description thereof will be omitted.

The door control device 1 according to the third embodiment includes a server 30. The server 30 is configured to be able to communicate with the control devices 20 of the door control devices 1 of other elevators at a plurality of sites via a network. The server 30 includes a collection section 31, a door speed storage section 32, and a comparison diagnosis section 33 as functional blocks. The collection unit 31 collects door information in which diagnostic conditions are associated with the current integrated value of actual speed change from the control device 20 of the door control device 1 at each site, and stores it in the door speed storage unit 32 for each site. do.

The comparison diagnosis unit 33 obtains the difference between the current integrated value of actual speed change at each site and the integrated value of actual speed change at other sites, which is the current integrated value of actual speed change under the same diagnostic conditions at other sites. The location where the door 2 is abnormal is determined based on whether or not the third difference value is larger than the third threshold value. This process is hereinafter referred to as "third determination process." The third threshold value here is a value predetermined as a threshold value for determining an abnormality of the door 2 by comparison with the integrated value of the actual speed change amount at another site. If there is a site where an abnormality of the door 2 is diagnosed in the third determination process, the comparative diagnosis section 33 transmits the diagnosis result to the door control device 1 of the target site. When the door diagnosis unit 25 of the door control device 1 at each site receives the diagnosis result of the abnormality of the door 2 from the server 30, it diagnoses the abnormality of the door 2.

The installation condition of the elevator influences whether or not vibration occurs during the opening/closing operation of the door 2. Therefore, by comparing the actual speed change amount integrated value calculated at other sites with the same diagnostic conditions, it is possible to compare the influence of the installation state at each site. In this way, according to the third determination process, it is possible to quantitatively diagnose the change in the magnitude of vibration of the door 2 depending on the installation state.

3-2. Specific Processing Executed in the Elevator Door Control Device in Third Embodiment Next, specific processing of the abnormality diagnosis process executed in the elevator door control device 1 in the third embodiment will be described. 12 and 13 are flowcharts showing a routine of abnormality diagnosis processing executed in the door control device 1 according to the third embodiment. Note that FIG. 12 shows a routine executed in the server 30, and FIG. 13 shows a routine executed in the control device 20 at each site during the diagnosis period determined by the diagnosis conditions.

First, the processing executed in the server 30 according to the routine shown in FIG. 12 will be described. In step S300 of the routine shown in FIG. 12, the collection unit 31 acquires door information in which diagnostic conditions are associated with the current calculated actual speed change amount transmitted from each site. The acquired door information is stored in the door speed storage section for each site. When the process of step S300 is completed, the process advances to step S302.

In step S302, the comparative diagnosis unit 33 executes a third determination process, and from the current integrated value of actual speed change at each site, calculates the current integrated value of actual speed change at other sites under the same diagnostic conditions. It is determined whether there is a site where the third difference value obtained by subtracting the difference value is larger than the third threshold value. Here, the third difference value is calculated for all combinations of the current actual speed change integrated value at each site and the current actual speed change integrated value under the same diagnostic conditions at other sites, and the third difference value is calculated. compared to As a result, if the determination is established, the process proceeds to step S304, and if the determination is not established, this routine is ended.

In step S304, the comparative diagnosis unit 33 transmits the diagnosis result of the abnormality of the door 2 to the target site where the determination in step S302 is approved.

Next, the processing executed in the control device 20 according to the routine shown in FIG. 13 will be explained. In steps S310, S312, and S314 of the routine shown in FIG. 13, the same processes as steps S100, S102, and S104 of the routine shown in FIG. 6 are executed. When the process of step S314 is completed, the process advances to step S316.

In step S316, the door diagnosis unit 25 transmits to the server 30 door information in which the current actual speed change amount integrated value is associated with diagnostic conditions. When the process in step S316 is completed, the process advances to step S318.

In step S318, the door diagnostic unit 25 calculates a first difference value between the integrated value of the actual speed change amount and the integrated value of the speed command value change amount, and determines whether the first difference value is larger than the first threshold value. do. As a result, if the determination is established, the process proceeds to step S324, and if the determination is not established, the process proceeds to step S320.

In step S<b>320 , the door diagnostic unit 25 determines whether the diagnosis result of the abnormality of the door 2 has been received from the server 30 . As a result, if the determination is established, the process proceeds to step S324, and if the determination is not established, the process proceeds to step S322.

In step S322, the door diagnostic unit 25 diagnoses whether the door 2 is normal, assuming that no vibration exceeding the allowable range has occurred in the door 2. On the other hand, in step S324, the door diagnostic unit 25 diagnoses an abnormality in the door 2, assuming that vibration exceeding the permissible range is occurring in the door 2.

As is clear from the above description, according to the elevator door control device 1 of Embodiment 3, in addition to comparing the integrated value of the actual speed change and the integrated value of the speed command value change, Based on the comparison with the actual speed change amount integrated value of the diagnostic condition, the magnitude of vibration when the door 2 is opened and closed can be determined quantitatively. This makes it possible to diagnose abnormalities during opening and closing of the door 2 due to the installation state.

3-3. Modifications The door control device 1 of Embodiment 3 may be modified as follows.

The functions of the server 30 may be located in the control device 20.

The third determination process executed in the door control device 1 of the third embodiment may be executed in combination with the second determination process executed in the door control device 1 of the second embodiment.

1 Door control device, 2 Door, 3 Door opening/closing mechanism, 4 Door drive mechanism, 6 Suspension member, 7 Hanger roller, 8 Rail, 9 Pulley, 10 Belt, 11 Connection member, 12 Door motor, 13 Pulse encoder, 20 Control device , 21 rotation detection section, 22 door speed calculation section, 23 door speed command value calculation section, 24 motor control section, 25 door diagnosis section, 26 storage section, 27 door speed storage section, 30 server, 31 collection section, 32 door speed storage unit, 33 comparison diagnosis unit, 202 processor, 204 memory, 206 processing circuit, 208 dedicated hardware

Claims (4)

A door motor that drives the elevator door in the opening and closing direction;
A control device that controls the door motor,
The control device includes:
a rotation detection unit that detects a rotation angle of the door motor;
a door speed calculation unit that calculates an actual speed in the opening/closing direction of the door from the rotation angle;
a door speed command value calculation unit that calculates a speed command value in the opening/closing direction of the door;
a motor control unit that controls the door motor so that the actual speed follows the speed command value;
A door diagnostic unit that diagnoses an abnormality in the door during a predetermined sampling period during the door opening or closing operation of the door,
The door diagnosis section includes:
an actual speed change obtained by acquiring the actual speed at a predetermined sampling period during the sampling period from the door speed calculating section and integrating the absolute value of the amount of change in the actual speed during the sampling period; a first calculation process for calculating a quantity integrated value;
A speed command value change amount integrated value obtained by acquiring the speed command value in the sampling period from the door speed command value calculation unit and integrating the absolute value of the change amount of the speed command value during the sampling period. a second calculation process for calculating
a first determination process of diagnosing that there is an abnormality in the door when a first difference value obtained by subtracting the speed command value change amount integrated value from the actual speed change amount integrated value is larger than a first threshold value;
An elevator door control device configured to perform. In a standard state of the elevator, the storage device stores the actual speed change integrated value under the same diagnostic conditions including the sampling period and the sampling period as a standard actual speed change integrated value,
During the operation of the door, the door diagnostic section:
If a second difference value obtained by subtracting the standard actual speed change amount integrated value from the actual speed change amount integrated value is larger than a second threshold value, a second determination process is executed for diagnosing that there is an abnormality in the door. The elevator door control device according to claim 1. In other elevators installed at one or more sites different from the elevator, the actual speed change integrated value calculated under the same diagnostic conditions including the sampling period and the sampling period is calculated as the actual speed change at other sites. a collection unit that collects a quantity integrated value;
a comparison diagnosis unit that executes a third process of diagnosing that there is an abnormality in the door when the difference value between the actual speed change integrated value and the other site actual speed change integrated value is larger than a third threshold;
The elevator door control device according to claim 1 or 2, further comprising: comprising a server capable of communicating with the control device via a network,
The server is
The collection section;
The comparative diagnosis section,
4. The elevator door control device according to claim 3, wherein the comparison diagnosis section is configured to send a diagnosis result to the control device when the third process diagnoses that the door is abnormal.

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