JP2012240789A - Elevator door control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve sure and safe door closing operation of an elevator without installing external equipment.SOLUTION: An elevator door control device includes: a speed controller 14 for controlling the speed of a door driving motor 11; a current controller 16 for controlling the current of the motor 11 so as to follow a torque command value output from the speed controller 4; a torque limiter 15 which is inserted between the speed controller 14 and the current controller 16 and stops the supply of the torque command value when the torque command value exceeds a maximum torque value T1; an abnormal torque detection unit 10 for detecting abnormal torque generation when the torque command value exceeds an abnormal torque value T2 (T2<T1); and a torque value correction part 23 which stores a traveling resistance torque when a door is open as a function of a door position, and corrects T1 or T2 according to the position when closing the door on the basis of the difference for a standard drive torque when there is not external force.

Description

  Embodiments described herein relate generally to an elevator door control device that controls opening and closing of an elevator door.

  In an elevator with a high up-and-down stroke, a wind flow called a draft is generated due to a difference in internal and external air pressure between the elevator hoistway and the outside of the building, and an updraft may be generated from the lowest floor to the top floor of the elevator. In a high-floor building, a draft may occur due to a temperature difference between the hoistway and the outside air in winter. In such a case, wind pressure is generated with respect to the door of the elevator, and the door is not fully closed.

  Although it is possible to avoid the above problem by raising the threshold value of the torque limiter or the torque abnormality detection, it becomes a safety problem against passengers being caught. Furthermore, it will not be possible to satisfy the standard of door closing force of 150 (N) or less, which is the law of each country including Japan. On the other hand, a method of adjusting a torque necessary for door opening / closing control by installing a temperature sensor or an anemometer in an elevator hoistway has been proposed.

  However, in the above-described method, it is necessary to accurately grasp the relationship between the temperature sensor and the torque generated by the wind pressure, but it may be difficult to grasp the relationship depending on the state of the building. Furthermore, a new external device such as a sensor is required, leading to an increase in cost.

JP 2009-280336 A

  As described above, in an elevator with a high up-and-down stroke, the opening / closing operation of the door, particularly the door closing operation, may be abnormal due to the draft. To prevent this, raise the threshold of the torque limiter or torque abnormality detection. Keeping it leads to a decrease in safety. Even if a temperature sensor, an air pressure gauge, or the like is provided, accurate control cannot always be realized, and a new external device is provided, resulting in an increase in cost.

  An object of one embodiment of the present invention is to provide an elevator door control device that can realize a safe and safe door closing operation of an elevator without installing an external device such as a temperature sensor or an anemometer. And

  According to the embodiment, the elevator door control device detects the speed of the elevator door drive motor, outputs a torque command value so as to follow the speed command, and performs speed control, and A current control unit that detects a current of the door driving motor and performs current control of the motor so as to follow a torque command value output from the speed control unit, and between the speed control unit and the current control unit A torque limiter inserted to stop the supply of the torque command value to the current control unit when the torque command value from the speed control unit exceeds a preset maximum torque value T1, and from the speed control unit When the torque command value exceeds a preset abnormal torque value T2 (T2 <T1), abnormal torque detection means for detecting the occurrence of abnormal torque and the running resistance torque when the door is opened are set to the door position. Torque value correcting means for correcting the set maximum torque value T1 or abnormal torque value T2 according to the position when the door is closed, based on the difference with respect to the standard driving torque when there is no external force. It is characterized by comprising.

The block diagram which shows schematic structure of the door control apparatus of the elevator concerning 1st Embodiment. It is for demonstrating the state which the door of an elevator receives the wind, (a) is a figure which shows the direction of the wind with respect to the door of an elevator, (b) is a figure which shows the torque change at the time of a door opening, (c) These are figures which show the torque change at the time of a door closing. It is for demonstrating the state which the door of an elevator receives the wind, (a) is a figure which shows the direction of the wind with respect to the door of an elevator, (b) is a figure which shows the torque change at the time of a door opening, (c) These are figures which show the torque change at the time of a door closing. It is for demonstrating the state which the door of an elevator receives the wind, (a) is a figure which shows the direction of the wind with respect to the door of an elevator, (b) is a figure which shows the torque change at the time of a door opening, (c) These are figures which show the torque change at the time of a door closing. The block diagram which shows schematic structure of the door control apparatus of the elevator concerning 2nd Embodiment. It is a block diagram which shows schematic structure of the door control apparatus of the elevator concerning 3rd Embodiment. It is for demonstrating an example of the operation | movement waveform in 3rd Embodiment, (a) is a figure which shows the torque change at the time of door opening, (b) is a figure which shows the torque change at the time of door closing. It is for demonstrating the door control apparatus of the elevator concerning 4th Embodiment, (a) is a figure which shows the torque change at the time of a door opening, (b) is a figure which shows the torque change at the time of a door closing.

  Hereinafter, embodiments will be described with reference to the drawings.

(First embodiment)
FIG. 1 is a block diagram showing a schematic configuration of an elevator door control apparatus according to the first embodiment.

  A pulse encoder 12 is connected to the drive motor 11, and a speed feedback control system is configured to control following a predetermined opening / closing pattern based on the output of the pulse encoder 12.

  The actual speed is calculated by the speed detector 13 from the motor rotation angle that is the output of the pulse encoder 12. A deviation between the speed command output from the opening / closing pattern output unit 21 and the actual speed from the speed detector 13 is input to the speed controller 22. The speed controller 22 outputs a torque command corresponding to the speed deviation. The torque limiter 23 outputs a torque command that is subjected to a limiter process so that the torque command output from the speed controller 22 does not exceed a predetermined value. That is, when the torque command value exceeds the preset maximum torque value T1, the supply of the torque command value to the current controller 24 is stopped. The current controller 24 generates a control command for the power converter 25 that supplies power to the drive motor 11 based on a torque command, that is, a deviation between the current command and the current detected by the current detector 26.

  The abnormal torque detection unit 29 determines that the door is caught or pulled when the difference between the drive torque estimated in advance and the torque command that is the actual drive torque is greater than or equal to a predetermined value, and detects it as an overload. . That is, when the torque command value exceeds a predetermined abnormal torque value T2 (T2 <T1), the occurrence of abnormal torque is detected. When an abnormal torque is detected, for example, an alarm is issued.

  The basic configuration so far is the same as that of the conventional apparatus. In this embodiment, in addition to this, a running resistance torque calculation unit 31, a running resistance torque storage unit 32, and a running resistance torque correction unit 33 are provided.

  The running resistance torque calculation unit 31 calculates the running resistance torque that has changed due to the influence of an external force during door opening. As shown in the following equation, the driving resistance torque is obtained by subtracting the acceleration / deceleration torque, the weight closer, and the steady torque for the steady friction from the drive torque.

"Running resistance torque that varies with external force"
= "Drive torque"-"Acceleration / deceleration torque"-"Steady torque"
Alternatively, “acceleration / deceleration torque” + “steady torque” may be stored as “standard driving torque” and obtained by the following equation.

"Running resistance torque that varies with external force" = "Drive torque"-"Standard drive torque"
The travel resistance torque calculated by the travel resistance torque calculation unit 31 is stored in the travel resistance torque storage unit 32 in association with the door position. When the door opening is completed and the door closing operation is started, the running resistance torque correction unit 33 outputs a torque correction value based on the stored running resistance torque.

  The torque correction value is supplied to the torque limiter 23 and the abnormal torque detection unit 29, and each threshold value is replaced with a protection setting value that excludes the influence of the running resistance torque that has changed due to disturbance. Specifically, the running resistance torque due to the disturbance is ΔT, and the maximum torque value T1 of the torque limiter 23 and the abnormal torque value T2 of the abnormal torque detection unit 29 are increased by ΔT according to the door position.

  As described above, when the running resistance torque fluctuates due to a disturbance such as a draft, the torque-related protection setting value can be optimized, and the stop of the door closing operation and the increase of the pinching force can be avoided.

  Thus, according to the present embodiment, paying attention to the running resistance torque when the door is open, when the draft is generated, the running resistance torque corresponding to the draft also changes when the draft is open. The torque corresponding to this change is stored, and the torque limiter when the door is closed or the threshold value for detecting torque abnormality is corrected. As a result, it is possible to realize a reliable and safe elevator door opening / closing operation without newly installing an external device by grasping the torque change due to the draft and reflecting it in the control at the time of closing the door. In addition, since correction is performed in real time, it is possible to cope with changes in draft characteristics due to climate change.

  Next, the state of correction to the protection set value in the present embodiment will be described with reference to FIGS.

  2-4 is a figure for demonstrating the state in which the door of an elevator is receiving the wind. 2 to 4, (a) is a view showing the direction of the wind with respect to the door of the elevator, and the flow of the wind with respect to the entrance door panel 41 and the entrance pillar 42 at the landing is indicated by an arrow. (B) is a figure which shows the torque change at the time of door opening, (c) is a figure which shows the torque change at the time of door closing, and represents the torque with respect to a door position by making the door opening direction into the torque of a positive direction.

  As shown in FIG. 2A, when wind is received from the landing side on the front surface of the door panel 41, the running resistance torque is as shown in FIG. 2B, and has a predetermined inclination with respect to the standard driving torque. Running resistance torque is generated. Focusing on the door opening operation, as shown in FIG. 2 (b), when the door is fully closed, the running resistance torque is greatest in the positive direction, and the influence of the wind pressure is reduced as the door is opened. The running resistance torque that changes is zero. On the contrary, during the door closing operation, the running resistance torque increases in the negative direction as the door is closed. Therefore, the travel torque shown in FIG. 2B may be corrected as the torque correction amount shown in FIG.

  FIG. 3A shows a case where wind is received from the hoistway in the direction of closing the door panel 41. In the door opening operation, as shown in FIG. 3B, a constant running resistance torque is generated with respect to the standard driving torque. Similarly, the traveling resistance torque is generated in the positive direction during the door closing operation. Therefore, what is necessary is just to correct | amend the part for the running torque shown in FIG.3 (b) as a torque correction amount shown in FIG.3 (c).

  FIG. 4A shows a case where wind flows into the gap between the door panel 41 from the landing side and is affected by the wind pressure generated at the front end of the door panel. At this time, the running resistance torque when the door is opened is as shown in FIG. 4B, and a large running resistance torque is generated in the region of the door closed end with respect to the standard driving torque. Focusing on the door closing operation, the running resistance torque increases rapidly as the distance between the door panels decreases. Therefore, the travel torque shown in FIG. 4B may be corrected as the torque correction amount shown in FIG.

  As shown in FIGS. 2 to 4, the running resistance generated by the draft varies greatly depending on the wind flow, and the amount of correction of each threshold value of the torque limiter 23 or the abnormal torque detection unit 29 when the door is closed also changes. Therefore, when the running resistance torque when the door is opened decreases with a predetermined inclination, the traveling resistance torque correction unit 33 determines that the case is as shown in FIG. 2 and calculates a torque correction value having a predetermined inclination in the negative direction. To do. When the running resistance torque increases by a constant value in the positive direction, it is determined that the case is as shown in FIG. 3, and a constant torque correction value is calculated in the positive direction. Further, if the running resistance torque increases rapidly near the door closing end when the running resistance torque is opened from the fully closed position, it is determined as a case as shown in FIG. Calculate the negative torque correction value as a function.

  Reflecting the running resistance torque obtained as described above in the torque limiter and abnormal torque detection threshold value during door closing control makes it possible to optimize the torque limiter and improve the accuracy of abnormality detection. Control becomes possible.

(Second Embodiment)
FIG. 5 is a block diagram showing a schematic configuration of an elevator door control apparatus according to the second embodiment. In addition, the same code | symbol is attached | subjected to the same part as FIG. 1, and the detailed description is abbreviate | omitted.

  This embodiment is different from the first embodiment described above in that an external information output unit 35 is provided in addition to the configuration of the first embodiment, and whether or not the travel resistance torque correction unit 33 performs correction by this output. It is to decide.

  The pressure difference between the hoistway and the outside air, which is a main factor of the influence of the draft on the door panel, can be grasped to some extent by simple information such as date and weather. In addition, the strength of the draft changes depending on the opening / closing information of the building-side doors and automatic doors installed in front of the landing. Furthermore, when a plurality of elevators are installed in the same hoistway, the influence of the wind pressure varies depending on the operation information of other elevators.

  The external information output unit 35 takes in various external information as described above and adjusts the correction amount in the running resistance torque correction unit 33. For example, in the summer or when the automatic door in front of the landing door is fully closed, there is almost no draft, so even if the running resistance torque is recognized when the door is opened, it is judged as an artificial external force on the door panel and the correction amount is set. Zero. Further, instead of setting the correction amount to zero, the correction amount may be reduced.

  As described above, according to the present embodiment, it is possible to check the validity of the running resistance torque by obtaining external information such as date and weather as well as the same effects as the first embodiment. There are advantages.

(Third embodiment)
FIG. 6 is a block diagram showing a schematic configuration of an elevator door control apparatus according to the third embodiment. In addition, the same code | symbol is attached | subjected to the same part as FIG. 1, and the detailed description is abbreviate | omitted.

  The present embodiment is different from the first embodiment described above in that a torque monitoring unit 36 for monitoring a torque command is provided in addition to the configuration of the first embodiment, and the output of the opening / closing pattern output unit 21 and the traveling is determined by this output. The purpose is to control the resistance torque correction unit 33. The torque monitoring unit 36 is input with the running resistance torque from the running resistance torque storage unit 32 together with the torque command from the speed controller 22.

  FIG. 7 is an operation waveform diagram showing a change in torque when the door is opened and when the door is closed in the present embodiment. (A) is a figure which shows the torque change at the time of door opening, (b) is a figure which shows the torque change at the time of door closing, and represents the torque with respect to a door position by making the door opening direction into the positive direction torque.

  When the pressure difference between the inside and outside of the hoistway changes suddenly, the influence of the draft when the door is opened and when the door is closed may change. In order to cope with such a case, as shown in FIG. 7 (b), the torque command after starting the door closing is monitored by the torque monitoring unit 36, and the correction value based on the running resistance torque detected when the door is opened is calculated. If it is different from the inclination, it is determined that the situation has changed significantly when the door is opened. Then, the amount of correction by the running resistance torque correction unit 33 is changed to zero, or the speed command from the opening / closing pattern output unit 21 is changed to lower the door closing speed. In comparison between the torque command at the time of door closing and the correction value at the time of door opening, these may not necessarily be the same, but may be determined to be consistent if they are close to some extent.

  As described above, according to the present embodiment, when the influence of the draft changes abruptly when the door is opened and when the door is closed, the correction amount is reduced to zero, or the speed specified value by the opening / closing pattern output unit 21 is decreased. It is possible to cope with a drastic change in the draft. Therefore, the same effect as the first embodiment can be obtained, and even when the influence of the draft changes suddenly between opening and closing, a highly safe door closing operation is realized. can do. In other words, by monitoring the running resistance torque when the door is open and the torque command while the door is closed, even when an unexpected draft occurs, the door closing speed is reduced, etc. Can be done.

(Fourth embodiment)
FIG. 8 is a view for explaining an elevator door control apparatus according to the fourth embodiment, in which (a) shows a torque change when the door is opened, and (b) shows a torque change when the door is closed. It is a figure and the torque with respect to a door position is represented by making the door opening direction into a positive direction torque.

  The basic configuration of this embodiment is substantially the same as that shown in FIG. The difference from FIG. 6 is that the torque monitor 36 receives only the torque command from the speed controller 22.

  The running resistance torque when the door is opened increases due to the difference in atmospheric pressure inside and outside the hoistway. If the torque limiter at the time of door closing and the abnormal torque detection threshold value are corrected in this state, the safety against pinching at the time of door closing is lowered. In order to avoid this, when the running resistance torque at the time of door opening exceeds a predetermined value, the correction amount is set to zero and switching such as lowering the door closing speed is performed to ensure safety. Here, instead of setting the correction amount to zero, the correction amount may be reduced.

  Therefore, according to the present embodiment, the same effect as in the first embodiment can be obtained, and when an unexpected draft is generated by monitoring the running resistance torque when the door is opened. It is possible to perform a safer door closing operation by reducing the door closing speed.

(Modification)
The present invention is not limited to the above-described embodiments. In the embodiment, the threshold value is corrected by both the torque limiter and the abnormal torque detection unit based on the information of the running torque when the door is opened. However, only one of them may be corrected. . The state where the door of the elevator is receiving wind is not limited to FIGS. 2 to 4, but it corresponds to any state by giving the amount of running resistance torque when the door is opened as a torque correction amount when the door is closed. It is possible. Furthermore, the first to fourth embodiments can be implemented in combination as appropriate.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalents thereof.

DESCRIPTION OF SYMBOLS 11 ... Door drive motor 12 ... Pulse encoder 13 ... Speed detector 21 ... Opening / closing pattern output part 22 ... Speed controller 23 ... Torque limiter 24 ... Current controller 25 ... Power converter 26 ... Current detector 29 ... Abnormal torque detection Unit 31: Traveling resistance torque calculation unit 32 ... Traveling resistance torque storage unit 33 ... Traveling resistance torque correction unit 35 ... External information output unit 36 ... Torque monitoring unit 41 ... Landing door panel 42 ... Landing doorway column

Claims (5)

A speed control unit that detects the speed of the elevator door drive motor and outputs a torque command value so as to follow the speed command;
A current control unit that detects a current of the door driving motor and performs current control of the motor so as to follow a torque command value output from the speed control unit;
Supplying the torque command value to the current control unit when the torque command value from the speed control unit is inserted between the speed control unit and the current control unit and exceeds a preset maximum torque value T1. A torque limiter to stop
Abnormal torque detection means for detecting occurrence of abnormal torque when a torque command value from the speed control unit exceeds a preset abnormal torque value T2 (T2 <T1);
The running resistance torque when the door is opened is stored as a function of the door position, and the set maximum torque value T1 or abnormal torque value T2 is set to the position when the door is closed based on the difference with respect to the standard driving torque when there is no external force. A torque value correcting means for correcting in response,
An elevator door control device characterized by comprising:   The torque value correction means obtains the direction and magnitude ΔT in which an external force is generated from the amount of change in the running resistance torque stored when the door is opened, and adds the correction value ΔT to the maximum torque value T1 or the torque value T2 when the door is closed. The elevator door control device according to claim 1, wherein:   The torque value correction means takes in external environment information, building opening information that generates a difference between the internal and external pressures of a building, and operation information of an adjacent elevator, and adjusts the correction amount based on each piece of the acquired information. Item 2. The elevator door control device according to Item 1. A torque monitoring unit that monitors a torque command value from the speed control unit and a correction value by the torque value correcting unit during a door closing operation;
The torque value correction means adjusts the correction value or sets the speed command to a low speed when the torque monitoring unit determines that the torque command value during the door closing operation is different from the amplitude or inclination of the correction value. The elevator door control device according to claim 1, wherein the elevator door control device is changed.   The elevator door according to claim 1, wherein the torque value correcting means adjusts the correction value or changes the speed command to a low speed when a running resistance torque exceeding a predetermined value is measured when the door is opened. Control device.

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