1231289 玖、發明說明： 【發明所屬之技術領域】 本發明係關於昇降機門之押 機使用去i曰4置，尤指能提供昇降 械使用者兼具較南安全性與 置。 、11的幵降機門之控制裝 【先如技術】 昇降機門係相當於昇降機蛊 yV , ^ _，β ，、其使用者間的介面部 刀，4求能提供使用者兼具 1 m - r ^ ^ B 女王11與舒適性的功能。 所明「女全性問題 夾住、哎卡# μ 何減輕使用者被昇降機門 八江 4卞住等事故所致災宝的pq % i#厣诂鹿1 Η Α 〇的問通。針對此問題，將門 速度減慢乃屬有效的解決策略之_。 】 此外，所謂「舒適性問 昇降機之際的等待時間之問心;=制=者使用 者及早运在目的樓層乃屬有效方式，因而加快使= 縮短門之開關時間乃屬有效的解決策略之一。、、又、或 如上述’在昇降機門之控制 適性的問題乃屬重要1 ，兼八安全性與舒 門之控制裝置，俏淼田里土 白头的汁降機 係“用馬達（執行門之開 €馬達電流指八1沾次』， 1艇動）轉矩指令 :達電的資料’俾達兼具安全 (譬如參照專利文獻〗）。 t S的 門，二於：全性方面，乃採用速度控制部(控制驅動昇降機 、驅動用馬達之門速度)輸出的轉矩 安全之目的。且靜而4 7貝σί1而達到 〆、且而S ，將轉矩指令，與通稱 測模式的門異常判斷 …負載檢 斷用杈式進仃比車父，當轉矩指令超過過 315083 5 1231289 負載檢測模式之時，便 在提高異常闕動作異常。另外， 利用門質量較大時轉矩指俾提昇安全性方面，係 令即變小的關係，從複數：：Γ 量較小時轉矩指 β Ή i- -V k負載核測模式中選擇該處的過 員戟檢·式。具體而 負載檢測模式，當門質旦,丄門：里車父大時便選擇較大的過 式。 、里焱小呀便選擇較小過負載檢測模 此外，關於舒適性方 _ ^ t 巾，、g I 乂 方面，乃精由從複數馬達速度模式 τ，述擇一個經考虎 .4 Μ轉矩才曰令（馬達電流指令）大小的適當 馬達速度模式而達到舒谪夕θ M k田 ^ όΑ BB ^ . 、。具體而5，根據每個樓 增的門貝$與轉矩指合 、 ^ ^ 小，從複數馬達速度模式中選擇 ^的2速度模式，以利用門質量較大時轉矩指令即變 大’門質量較小時轉矩沪八 I i 心7即變小之關係，使每個樓層轉 矩指令大小大致相同。 [專利文獻1]:日本專利特開2000-159461號公報 即在白知幵降機門之控制裝置中，考慮轉矩指令大 而4擇付合各樓層之門質量的馬達速度模式，俾使門 貝：較大柃門速度即變慢，門質量較小時門速度即變快。 C疋’因下述理由’而有無法達到兼具安全性與舒適性之 最佳門速度的問題。 為了解上述問題’必須具備門動能方面之安全性與舒 適性的基本常識。 關方；幵降機門之安全性與舒適性方面，在國外規格 (如·美國機械技術協會規格ASME(American Μ 6 315083 12312891231289 发明 Description of the invention: [Technical field to which the invention belongs] The present invention relates to the use of a press for an elevator door, especially to provide a user of the elevator with more safety and security. 、 11's control device for the lowering door [Xianru Technology] The elevator door is equivalent to the elevator 蛊 yV, ^ _, β, and the interface knife between its users. 4 It can provide users with 1 m- r ^ ^ B Queen 11 features with comfort. It is stated that "women's sexual problems are pinched, hey card # μ How to alleviate the pq% i # 厣 诂 鹿 1 Η Α 〇 〇 〇 〇 〇 okay to reduce the user's disaster caused by accidents such as the elevator door Bajiang 4 Slowing down the door speed is an effective solution.】 In addition, the so-called "comfort about the waiting time when the elevator is asked; = system = users and early transportation on the destination floor is an effective way, so speed up Making = shortening the door opening and closing time is one of the effective solution strategies. As mentioned above, the problem of controllability of the elevator door is important1. It also has eight safety and Shumen control devices. Tanari's white-headed juicer is a "motor (the door is opened. The motor current means 8 1 dipping times", 1 boat movement). Torque command: Data from Danda's "Banda is also safe (refer to patent documents, for example) 〖). The door of t S is two-dimensional: for the sake of safety, the torque output from the speed control unit (controlling the door speed of the driving elevator and the driving motor) is adopted. And quietly, 4 7 shells σί1 to reach 〆, and S, the torque command is judged with the door abnormality of the common measurement mode ... The load detection is compared with the driver, when the torque command exceeds 315083 5 1231289 In the load detection mode, the abnormality is raised and the operation is abnormal. In addition, using the torque finger 俾 to improve safety when the door mass is large, the relationship becomes smaller. Select from the complex number: Γ torque finger β Ή i- -V k load check mode. The passer-in inspection at this place is performed. Specifically, for load detection mode, when the door quality is large, and the door is large, the driver will choose a larger style. If you want to choose a smaller overload detection mode, you will choose a smaller overload detection mode. In addition, regarding the comfort square, the g I 乂 aspect is selected from the multiple motor speed mode τ. The motor speed command mode (motor current command) is appropriate to reach Shu Yixi θ M k 田 ^ όΑ BB ^. Specifically, according to the increase of the doorbell $ and the torque finger of each building, ^ ^ is small, and the 2 speed mode of ^ is selected from the plurality of motor speed modes to use the torque command becomes larger when the door mass is larger. When the door mass is small, the relationship between the torque and the torque is reduced, so that the torque command on each floor is approximately the same. [Patent Document 1]: Japanese Patent Laid-Open Publication No. 2000-159461, that is, in the control device of the lower gate of Bai Zhiyan, considering the motor speed mode with a large torque command and 4 different door quality for each floor, Door: The door speed becomes slower when the door is larger, and it becomes faster when the door quality is smaller. C 疋 'For the following reasons, there is a problem in that it is impossible to achieve an optimal door speed having both safety and comfort. In order to understand the above-mentioned problems, it is necessary to have basic common sense of safety and comfort in terms of door kinetic energy. Customs; safety and comfort of the lowering door, in foreign specifications (such as the American Machinery Technology Association specifications ASME (American Μ 6 315083 1231289
Mechanical Engineers)第112·4條）中，即針對門關閉動 制定有門動能之相關規範。所謂「門動能」，具體而+ 作 如下述式（1)所示，利用門質量（正確而言為門單位^量乃 與以機械式連結於門的各構件之質量總和里 得。 ）及門速度而求 動能=(1/2)χ (門質量）χ (門速度）2 〇) 因此為符合上述國外規格標準值，便必須改變門 (即馬達速度）以與門質量相對應。 又、又 此外，補充說明此動能，門速度乃表示平均速度， 於此點在上述國外規格等之中亦有明確記載。具體=上 乃利用下式（2)求得。 /、 5 ’ 平均關門速度=(門從全開至全關的移動距離)/(移動時間 =者，關於此處的移動時間亦有規範，譬如當屬於中 央又開門的情況時，移動時間 、 片土 疋兩在門全開盥夺關夕 私動距離中各扣除25[mm]時， 一 間。 門矛夕動於該部分所需的時 另外，採用此平均速度的動能規範值， 定為10[焦耳](Joules)以下。 ”虹而吕係权 在上述中，通常雖僅指關門時的動 關門時，即便開門车 、&，但疋不僅 P便開門時，數值雖不 管理，在昇降機門安全上亦屬有效。因：=同_ 與關門時之動能皆可依同樣方式加以定：在下文中’開" 隹在上文中說明採用平均上 速度的情況，# θ & 又為评估動能時的門 丨月况但疋在考慮衝擊性指卢从6 的安全性之前提下， 315083 7 1231289 以採用瞬間速度（即最大速度）較為適當。因而，在下文中， 上式（1)所示動能的門速度，可採用平均速度或最大速度。 然而，動能規範值則依所用的速度而有不同。 其次，將闡明此動能、與安全性及舒適性間之相關 性。在安全性的問題方面，當使用者被昇降機門夾住、或 卡住之際’應可輕易理解到人體所受的災害程度，乃與門 動能的大小成比例關係，因此推知僅要儘可能的減小門動 能即可。 再者，在舒適性的問題方面，為縮短昇降機等待時 ]並且及早私動至目的樓層，最好加速門速度（縮短門開 關時間），因而僅需儘可能增加門動能即可。 在此得知安全性與舒適性均可用門動能加以規範 η 時在可遵守此情況下之門動能規範的範圍内，儘可能加沒 門速度’或者縮短門開關時間之動作皆與安全性與舒適，卜 的最佳化有關。 ^ ，•/〜·』〜灶市y衣直甲，因為 考慮轉矩指令大小，但是並未 ,,„ ,, , m 疋卫禾具有计异、評估門動能等 構的構件，因而在可遵守動能規範的範圍下，即在依最 極限利用動能規範的形式下，並 在依取 、古ώ：…无運成所界疋之加速 短門開關時間的門速度最佳化，此乃咅味： 有安全性與舒適性之最佳化㈣不足的_。心 本發明乃用以解決上述問題者 種在可遵守動能規 =目的乃在於提供- 關時間’俾㈣速度最錢 ^或“… J计丨牛機門之控制裝置。 315083 8 1231289 【發明内容】 本發明的昇降制之控㈣置，係將對應複數馬達速 又模式中所選出之馬達速度模式的轉矩指彳，輸出至昇降 $門之驅動機構，並執行上述昇降機門之開關控制；其中 八備有·根據各樓層的昇降機門質量，計算各樓層之門參 f =門參數計算機構；以及根據上述門參數計算機構的計 ^、、n果，於各樓層分別選擇上述複數馬達速度模式中之任 者以作為開關控制各樓層之昇降機門的馬達速度模式 的速度模式選擇機構。 【實施方式】 (第1實施形態） 第1圖所示係本發明第丨實施形態的昇降機門之控制 虞置例之構造圖。如第i圖所示，驅動昇降機門的昇降機 門，構部之Η驅動用馬们之馬達軸，直接連接於脈衝產 生器2。此脈衝產生器2係產生表示門驅動用馬達丨位置 的脈衝資A &外’電流檢測态3係檢測出門驅動用馬達 1的負載電流。門驅動用馬4 i假設為如向量控制感應馬 達、或直流無刷馬達（Brushless DC Motor)等。 在速度指令部4中，儲存有數個預定的馬達速度模 式，並將對應於此存有數個馬達速度模式的速度指令輸 出。加算部5係將此速度指令部4所輸出的速度指令、與 從脈衝產生器2經由速度轉換部所獲得之實際馬達速产 (回授速度）間的速度偏差輸出。速度控制部6係以對應於 加算部5輸出之速度偏差的轉矩指令，將對應於該轉^指 315083 9 1231289 令的馬達電流指令輸出至門驅動用馬達丨，而控制速度。 更正確而言，速度控制部6輸出的馬達電流指令，利 用加算部取得與電流檢測器3所檢測出的實際馬達電流間 之電流偏差，並輸出給電流控制部1〇。電流控制部1〇係 知：妝所輸入之電流偏差，而產生驅動門驅動用馬達丨的負 載電流，以控制馬# i的速度。在此速度控制之際，電流 控制部1〇係根據來自脈衝產生器2的相位資訊，而達成向 量控制。 所田 —”王嗎邱/ Y，預先記憶著每個樓層白< Γ質量:動能計算機# 9乃根據昇降機門之每個樓層貿 ::计异母個樓層之門參數的門參數計算機構，並根據門 =㈣7内的每個樓層之門質量、與平均速度或速度 ^ +門速度貧訊’計算門動能並當作門參數用。 速度模式選擇機構1〇係根據動能計算機構 算 =二用：：存於速度指令部4之數個馬達速度模式中 二=第ΓΓ式，並經速度指令部4輸出速度指 控制穿置為相之虛線部内，乃表示與普通昇降機門之 J衷置為相同或相當之部分。 選擇=模=第1實施形態昇降機門之控制裝置 完全相同心:=。因為開門動作與關門動作可為 口而在此僅說明關門動作。 首先，將說明選擇馬達速度模式 2易理解將舉出選擇馬達速度模式㈣’接著為 的基本動作，係以某種馬達速度模式驅動門 315083 10 1231289 關閉後，以動能計算機構9,才艮據門質量記憶部7中樓声 賴之Η質量與平均速度或速度過程值等門速度資料，^ 算每個樓層的動能。 將藉由反覆計#數種馬達速度模式於各種層之動能 所獲各馬達速度模式的動能值，存人各樓層資料中。且體 而言，乃以速度模式選擇機構10，在符合所期望之門動能 限制的各種馬達速度握式Φ 、强4变 疋度杈式中，選擇各樓層門開關時間最短 的馬達速度模式，作為各樓層的馬達速度模式。 再者，上文中，以速度模式選擇機構10，選擇各樓声 門開關時間最短的馬達速度模式，作為各樓層的馬達速^ 模式’但並不僅限於此’各樓層的馬達速度模<，譬如二 可在4 口所期2之門動能限制的各個馬達速度模式中 擇可獲得最大門動能的馬達速度模式。 、 藉此利用每個樓層.選擇符合所需門動能限制的馬達 速度模式，俾達較高安全性。此外，#由在符合所需門動 能限制的範_，選擇門動能較大的馬達速度模式， 優越的舒適性。 而且，亦可將包含上、下限條件，也就是基於—定範 圍内門動能之選擇條件’作為上述門動能之限制值。 再者，動能計算中採用為門速度資料的平均速度，除 依照上述規格’採用式（2)而獲得之外，其餘尚可採用將門 速度（門過程值）進行時間積分後的值，除以門開關時間後 的數值結果(近似值）。因而在第】圖中，計算動能的動能 計算機構9 ’乃將此門速度資料設定為平均速度或速度: 315083 11 1231289 程值’以作為輸入之門速度資料之一。 ，=式選擇機構1G係在符合所期望⑽能限制的 馬達速度模式中，當各樓声門鬥 m “ 關時間最短的馬達速度模 式八有複數個時，選擇最大門速 、 作為速度指令。 遗度為最小之馬達速度模式 速二動：用第2圖所示之動作說明圖，說明選擇馬達 ==例。在此，針對速度指令部4之速度模式 時；：cr式，係在數個馬達速度模式中，將門開關 、乂丑時間依序排至較長時間之限制形式之情況 度模式的動作。其中，此處之所有馬達速： =…從全開至全關的門移動距離為相同的馬達速 首先如第2圖所示，將初始值的馬達速度模式 B，並執行門關閉驅動，計算此時的動能， 疋否付合動能限制。當未符合動能限制之時，因為於 量偏大，而將漣声捃斗、丁攸， 口匈月b 又、式下降1段（1級）變為速度模式c，當 付合動能限制之時，因為能量偏小，田 段（1級）變為速度模式h 1 重複此#作’在符合動能限制之處便確定馬達速度模 式。將此確定動作价a 、 疋動作依母個樓層實施，便可利用本 形態達成昇降機門之控制裝置。 ^之例巾’在速度指令部4内的速度模式記憶部 中，因為所記恃沾甘 式），已經將關門一時n、"二馬達速度模式（關門速度模 T間k較短時間依序排至較長時間，因而 315083 12 1231289 可輕易達到門速度之最佳化。 但是開門動作亦可同 另外，上文雖僅說明關門動作 樣達成門速度之最佳化。 :士述’依照本第丨實施形態的昇降機門之控制裝 個樓層可在遵守動能規範的範圍…以加快門速 二至取快、或縮短門開關時間至最短之方式，達成 的最佳化，而可提供昇降機蚀 、又 昇降機門兼具安全性與舒適性的 幵降機門之控制裝置。 再者’在符合所期望門動能限制的上述複數馬達速声 棋式中，當選擇各樓層門開關時間較短之馬達速度模式^ 作為各樓層之馬達速度模式時，便可在遵守動能規範的範 圍内，以加快門速度、或縮短門開關時間之方式，達 速度的最佳化。 再者，當符合所期望之門動能限制的馬達速度模式 中，各樓層門開關時間最短的馬達速度模式具有數個時， 選擇最大門速度為最小的馬達速度模式便能找到可在遵守 動能規範的範圍内，以加快門速度至最快、或縮短門開關 時間至最短之方式而達到門速度最佳化之唯一解。 (第2實施形態） 第3圖所示係本發明第2實施形態的昇降機門之控制 裝置例之架構圖。在第3圖中，與第1圖所示之第丨實施 形態為相同元件符號者乃表示相同或同等構件，因而省略 說明。新設構件門/馬達速度轉換部8為檢測出速度轉換部 輸出的實際馬達速度，而將實際馬達速度轉換為門速度。 13 315083 1231289 此外，門質量計算機、*盖i4 轉換的Η速度、：=根6,馬達速度轉換部8所 ^逯度控制部6輸出的轉矩指令，計算門 質量。 ^ 換句洁說，本第9> 構，雖大致如同丄ΓΓ:昇降機門之控制裝置架 制奘罟加爐彳 β不第1貫施形態的昇降機門之控 與將馬達速度轉換為門速度的門Α達速产 轉換部8、以及利用pm i Ί /馬達速度 度、及速度控制部6二達韓速二轉換部8所獲得之門速 質量的門質量計丄二二矩指令，進行演算而計算門 ^械構11之部分，則有所不同。 以下主要係說明該不同之 施形態的昇降機門之控制裳置中： ；：：之第1實 記憶著每個樓層的門質量。相對於此，、第53^_7係= 2實施形態的昇降機門之控制裝置中，門二 本第 記憶著根據門/馬達速度轉換部 @里5己憶部7係 控制部6輸出的轉矩指一之門速度、與速度 計算的門質量。 7亚利用門質量計算機構U進行 其\ ’說明上述門暂θ 量之方法。在此為；機“計算各樓層門質 以皮帶直接將門驅動“，：採用具有非以聯動機構而 乃在於電源切斷時==此門機構之構造上的特徵， 作用於門上之機⑴4 1 I生的非線性聯動，而形成 之铖械性闕門保持力。 攻 此處的門型係具有 達加速度分別形成線性：二、广達速度、門加速度與馬 係 '亦即以固定倍數增加之闕係 315083 14 1231289 之特徵。在下文之說明中，得知可輕易地以門速度代替馬 達角速度，並以門加速度代替馬達角速度。另外，第3圖 所不係以門速度作為門質量計算機構u之輸入的架構 “再者，此時門型之動能模式，當將門馬達動作的總轉 矩叹疋為τ、將馬達轉矩指令設定為Tm、將因產生非線性 聯動所形成的轉矩設定為T1、將固定之關門轉矩設定為 丁2、將從門驅動用馬達i所觀看到的門慣性（除門體之外、 2包含滑輪、門驅動用馬達丨本身等的慣性在内之可動部 个貝性）設定為J、將馬達角加速度設定為a、將隨門移動時 的移動阻抗（摩擦力）而產生的轉矩設定為b之時，便可假 設下式所示忽略速度黏性項的近似式。 T=J.a+b (3) 其中， T=Tm+Tl+T2 ⑷ 在此採用式（3)、（4)求取門慣性j之時，利用測量便可 取得的資料，乃利用馬達角速度（對應於門速度）的差分計 异，便可求得的馬達加速度a與馬達轉矩指令丁⑺，利用 產生非線性聯動所形成的轉矩T1、及一定關門轉矩丁2並 無法直接測量。 惟，藉由利用產生非線性聯動等之質量或形狀為已知 事項者提供門開關位置之資料，可事先利用函數計算預^ 求取產生非線性聯動所形成的轉矩T1及固定' T2。在此將事先求得的產生非線性聯動所形成之轉矩丁】 315083 15 1231289 :固定之關門轉矩T2,加上馬達轉矩指令Tm之值 L轉矩T，門總轉矩τ與馬達角加进 方法而求取各層樓的門慣性J，並可門可利用最小平 質量。 卫了由该門慣性J算出門 :以’在本第2實施形態的昇降機門之控制裝置中， 二二1實施形態的昇降機門之控制裝置，採用此門 貝里计异機構n所計算求得之門質 據此速度模式選擇機構1G選擇 。异出動能，並根 達速度模式。 …達成門速度最佳化的馬 二二述’依照本第2實施形態的昇降機門之控制裝 ί也丄 可自動計算出，由於不需要勞師動 ==、材質等構件資料求出門質量，而可防止人 馮4失而异出錯誤門皙畺务 夕]貝里之現象發生，因此可獲得高精度 之門貝1，進而獲得高精度動能計算結果。 規範極高之精確度達成在可遵守每個樓層動能 門戶：二：，將門速度加速至最快(縮短門開關時間)的 門速度取佳化，結果便可提供昇降機使用者兼具高安全性 與舒適性的昇降機門之控制裝置。 (第3實施形態） 第4圖所示係本發明第3實施形態的 f置例架構圖。在第4圖中，與第1圖所示之第q = 悲為相R兀件符號者乃表示相同或同等構件，因而省略說 明。新設構件速度限制值計算機構9a，係根據各楼層昇降 315083 16 1231289 各樓層門參數的門參數計算機構，以取 樓展：的動能計算機構9，並根據門質量記憶部7中各Mechanical Engineers (Article 112 · 4), that is, the relevant specifications for the kinetic energy of the door are formulated for the closing motion of the door. The so-called "door kinetic energy" is specifically as shown in the following formula (1), using the mass of the door (to be more accurate, the unit of the door is the sum of the mass of each component mechanically connected to the door.) And Kinetic energy for door speed = (1/2) x (door quality) x (door speed) 2 0) Therefore, in order to meet the above-mentioned foreign specifications and standards, the door (ie motor speed) must be changed to correspond to the door mass. In addition, this kinetic energy is supplemented, and the door speed indicates the average speed. This point is also clearly recorded in the above-mentioned foreign specifications. Specific = up is obtained by the following formula (2). /, 5 'Average closing speed = (moving distance of the door from fully open to fully closed) / (moving time = person, there is also a standard about the moving time here, for example, when the door is opened in the center, the moving time, film The two soil guns are each deducted 25 [mm] from the private movement distance of the door when the door is fully open. When the door spear moves in this part, the standard value of the kinetic energy of this average speed is set to 10 [Joules] (Joules) below. "Hong Er and Lu Xiquan in the above, usually only refers to when the door is closed, even when the door is opened, & but when the door is opened, the value is not managed. The elevator door is also effective in terms of safety. Because: = the same as _ and the kinetic energy at the time of closing the door can be determined in the same way: in the following 'open " 隹 the above description of the use of the average speed, # θ & The gate when assessing kinetic energy 丨 Monthly conditions But before considering the impact of the safety of Lu from 6, 315083 7 1231289 is more appropriate to use the instantaneous speed (that is, the maximum speed). Therefore, in the following, the above formula (1) Door speed of kinetic energy shown, available Average speed or maximum speed. However, the value of the kinetic energy varies depending on the speed used. Secondly, the correlation between this kinetic energy, safety and comfort will be explained. In terms of safety, when the user is lifted When the door is pinched or stuck, it should be easy to understand that the degree of disaster to the human body is proportional to the magnitude of the kinetic energy of the door, so it is inferred that the kinetic energy of the door should be reduced as much as possible. In terms of comfort, in order to reduce the waiting time of the elevator] and move to the destination floor as early as possible, it is best to accelerate the door speed (to shorten the door opening and closing time), so you only need to increase the kinetic energy of the door as much as possible. The comfort can be regulated by the kinetic energy of the door. Within the range of the kinetic energy specification of the door that can be observed in this case, increase the door speed as much as possible or reduce the time of door opening and closing. Both are related to the optimization of safety and comfort. ^ ， • / ～ · 』～ Zaoshi y clothing straight nails, because the torque command size is considered, but not ,,,,,,, and Therefore, within the range that can comply with the kinetic energy specification, that is, in the form of using the kinetic energy specification in the extreme limit, and in the adoption, ancient sale: ... the speed of the door that accelerates the opening and closing time of the short-range door is optimized. This is the smell: there is an optimization of safety and comfort ㈣ inadequate _. The present invention is to solve the above-mentioned problems in order to comply with kinetic energy regulations = the purpose is to provide-off time '俾 ㈣ the most speed Qian ^ or "... J Count 丨 cattle door control device. 315083 8 1231289 [Summary of the invention] The control system of the lifting system of the present invention is the torque corresponding to the motor speed mode selected in the multiple motor speed mode. Refers to the drive mechanism that outputs to the lift door and performs the above-mentioned lift door opening and closing control; eight of them are equipped with: · According to the lift door quality of each floor, calculate the door parameter f = door parameter calculation mechanism of each floor; and according to the above As a result of the calculation of the door parameter calculation mechanism, each of the above plural motor speed modes is selected on each floor as the speed mode for controlling the motor speed mode of the elevator door on each floor. Optional institutions. [Embodiment] (First Embodiment) FIG. 1 is a structural diagram of an elevator door control example according to a first embodiment of the present invention. As shown in Fig. I, the elevator door that drives the elevator door, the motor shaft of the horses for driving the horses of the structural part are directly connected to the pulse generator 2. This pulse generator 2 generates a pulse current A & current detection state 3 indicating the position of the door drive motor 丨 and detects the load current of the door drive motor 1. The gate drive horse 4 i is assumed to be a vector control induction motor or a brushless DC motor. The speed command unit 4 stores a plurality of predetermined motor speed modes, and outputs speed commands corresponding to the plurality of motor speed modes. The adding unit 5 outputs a speed deviation between the speed command output from the speed command unit 4 and the actual motor speed (feedback speed) obtained from the pulse generator 2 via the speed conversion unit. The speed control unit 6 outputs a motor current command corresponding to the rotation speed command 315083 9 1231289 to the door drive motor 丨 with a torque command corresponding to the speed deviation output by the adding unit 5 to control the speed. More specifically, the motor current command output from the speed control unit 6 uses the addition unit to obtain the current deviation from the actual motor current detected by the current detector 3, and outputs the current deviation to the current control unit 10. The current control unit 10 knows that a deviation of the current inputted by the makeup causes a load current to drive the door driving motor 丨 to control the speed of the horse # i. During this speed control, the current control unit 10 performs vector control based on the phase information from the pulse generator 2. Soda— "Wang Moqiu / Y, memorizing in advance each floor white < Γ mass: kinetic energy computer # 9 is a door parameter calculation mechanism that calculates the door parameters of different floors of elevator doors: And calculate the kinetic energy of the door according to the mass of the door on each floor within the door = ㈣7, and the average speed or speed ^ + the door speed is poor and used as the parameter of the door. The speed mode selection mechanism 10 is calculated based on the kinetic energy calculation mechanism = Two uses :: stored in several speed modes of the motor in the speed command section 4 = formula ΓΓ, and the speed command section 4 outputs the speed finger control in the dotted line, which is the same as the common elevator door. Set the same or equivalent part. Selection = mode = The control device of the elevator door of the first embodiment is completely concentric: =. Because the door opening and closing operations can be the same, only the door closing operation will be described here. First, the selection of the motor will be explained. Speed mode 2 is easy to understand. The basic action of selecting the motor speed mode will be given. The door is driven in a certain motor speed mode 315083 10 1231289. After closing, the kinetic energy calculation mechanism 9 is used to calculate the door quality. Memories of the 7th floor of the Ministry of Messaging rely on the door speed data such as mass and average speed or speed process value to calculate the kinetic energy of each floor. Each motor will be obtained by repeatedly counting #kinds of motor speed modes on the kinetic energy of various floors. The kinetic energy value of the speed mode is stored in the data of each floor. In particular, the speed mode selection mechanism 10 is used in various motor speed gripping types Φ, strong 4 variable degrees, and various types that meet the desired door kinetic energy limit. , Select the motor speed mode with the shortest door opening and closing time on each floor as the motor speed mode on each floor. Furthermore, above, the speed mode selection mechanism 10 was used to select the motor speed mode with the shortest door opening and closing time on each floor as the floor's “Motor speed mode” is not limited to this “motor speed modes of each floor”, for example, the motor speed mode that can obtain the maximum door kinetic energy can be selected from each of the motor speed modes for the gate 2 kinetic energy limitation of the 4th port. To take advantage of each floor, select a motor speed mode that meets the required door kinetic energy limit, and achieve higher safety. In addition, # 由 在 Range that meets the required door kinetic energy limit_ Selecting a motor speed mode with a large door kinetic energy has superior comfort. Moreover, the upper and lower limit conditions, that is, the selection conditions based on the door kinetic energy within a fixed range, can be used as the above-mentioned door kinetic energy limit value. Furthermore, In the calculation of kinetic energy, the average speed of the door speed data is used. In addition to using the formula (2) obtained in accordance with the above specifications, the rest can also be the value obtained by integrating the door speed (gate process value) in time, divided by the door opening and closing time. The numerical value (approximate value) after the calculation. Therefore, in the figure below, the kinetic energy calculation mechanism 9 'that calculates the kinetic energy is to set the door speed data as the average speed or speed: 315083 11 1231289 range value' as the input door speed data. 1. The = type selection mechanism 1G is in the motor speed mode that meets the expected energy limitation. When there are multiple motor speed modes with the shortest closing time in each floor, the maximum door speed is selected as the speed command. . Motor speed mode with the smallest degree of loss. Second speed: Use the action diagram shown in Figure 2 to explain the selection of the motor == example. Here, with respect to the speed mode of the speed command section 4: cr type, it is the operation of the degree mode in which the door switch and the ugly time are sequentially ordered to a longer time limit mode in several motor speed modes. Among them, all the motor speeds here: = ... the door movement distance from the fully opened to the fully closed is the same motor speed. Firstly, as shown in Figure 2, the initial value of the motor speed mode B, and the door closing drive is performed, calculate this The kinetic energy at the time, whether to pay the resultant kinetic energy limit. When the kinetic energy limit is not met, because the amount is too large, Liansheng fights, Ding You, Tong Hung Yue b, and the type 1 level (level 1) is reduced to the speed mode c. When the total kinetic energy limit is paid At this time, because the energy is too small, the field (level 1) becomes the speed mode h 1 Repeat this operation to determine the motor speed mode when the kinetic energy limit is met. The determined operation prices a and 疋 can be implemented according to each floor of the mother, and the control device of the elevator door can be achieved by using this form. In the speed mode memory section of the speed command section 4, because of the type described, the door is closed for a short time n, two motor speed modes (the time between the door closing speed mode T and k is shorter). The sequence is extended for a long time, so 315083 12 1231289 can easily achieve the optimization of door speed. But the opening operation can also be the same. Although the above description only describes the closing operation to achieve the optimization of door speed.: Shishu 'according to The control of the elevator door of this embodiment can be installed on the floor within the scope of compliance with the kinetic energy specifications ... By speeding up the door speed to two, or shortening the door opening time to the shortest, the optimization can be achieved, and the elevator can be provided The control device for lowering the elevator door that has both safety and comfort. It is also used in the above-mentioned multiple-motor speed-sounding chess style that meets the desired kinetic energy limit of the door. When each floor door is selected, the opening and closing time is shorter. Motor speed mode ^ When used as the motor speed mode of each floor, it can achieve the best speed by accelerating the door speed or shortening the door opening and closing time within the range of complying with the kinetic energy specifications. In addition, when there are several motor speed modes with the shortest door opening and closing times among the motor speed modes that meet the expected door kinetic energy limit, selecting the motor speed mode with the largest door speed to find the kinetic energy that can be observed Within the scope of the standard, the only solution to optimize the door speed is to increase the door speed to the fastest or shorten the door opening and closing time to the shortest. (Second Embodiment) The second embodiment shown in FIG. 3 is the second embodiment of the present invention. A structural diagram of an example of a lift door control device in the form. In FIG. 3, the same component symbols as those in the first embodiment shown in FIG. 1 indicate the same or equivalent components, so the description is omitted. Newly installed component doors / motors The speed conversion unit 8 detects the actual motor speed output by the speed conversion unit, and converts the actual motor speed into the door speed. 13 315083 1231289 In addition, the door quality computer, the * speed converted by the cover i4, == root 6, motor speed The torque command output by the conversion unit 8 and the degree control unit 6 calculates the door quality. ^ In other words, the 9th > structure is roughly similar to 丄 ΓΓ: elevator door control The control device is used to control the elevator door in the first embodiment, and the door A reaches the speed production conversion unit 8 that converts the motor speed to the door speed, and uses PM i Ί / motor speed, and The speed control unit 62 reaches the door speed gauge of the door speed mass obtained by the Korean speed second conversion unit 8 and the second moment command, which performs calculations to calculate the part of the door mechanism 11 is different. The following mainly describes the The control of the elevator door of different application forms is placed in the middle of the elevator control system:; :: The first real memory of the door mass of each floor. In contrast, the 53 ^ _7 series = 2 embodiment of the elevator door control device The second door of the door remembers the door speed calculated according to the torque output by the door / motor speed conversion section @ 里 5 忆 忆 部 7 series control section 6 and the door mass calculated from the speed. 7 Asian uses the door quality calculation mechanism U to perform its method to explain the above-mentioned door temporary θ amount. Here, the machine "calculates the door quality of each floor and directly drives the door with a belt": adopts a non-interlocking mechanism but when the power is turned off == the structural characteristics of this door mechanism, acting on the door. 4 1 The non-linear linkage generated by I and the mechanical cardia retention force formed. The door type here has the characteristics of linear acceleration: Second, Quanta speed, door acceleration and horse system, that is, the system of 315083 14 1231289 which increases by a fixed multiple. In the following description, it is known that the angular velocity of the motor can be easily replaced by the velocity of the door, and the angular velocity of the motor by the acceleration of the door. In addition, the structure shown in FIG. 3 does not use the door speed as the input of the door mass calculation mechanism u. Moreover, in the kinetic energy mode of the door at this time, when the total torque of the door motor is sighed to τ, the motor torque is The command is set to Tm, the torque generated by the non-linear linkage is set to T1, the fixed door closing torque is set to D2, and the door inertia viewed from the door drive motor i (except for the door body) 2) The moving parts (including the inertia of the pulley and the door drive motor itself) are set to J, the angular acceleration of the motor is set to a, and the movement resistance (friction force) when the door moves is generated. When the torque is set to b, we can assume an approximate formula that ignores the viscosity of the velocity as shown in the following formula: T = J.a + b (3) where T = Tm + Tl + T2 采用 Here we use formula (3 ), (4) When obtaining the door inertia j, the data that can be obtained by measurement is the difference between the angular velocity of the motor (corresponding to the door speed), and the motor acceleration a and the motor torque command D can be obtained. ⑺, using the torque T1 generated by the non-linear linkage and a certain closing torque D2 However, by using the quality or shape of the non-linear linkage, etc. to provide information on the door switch position for those who know the matter, you can use the function calculation in advance to obtain the torque T1 and the torque generated by the non-linear linkage. Fixed 'T2. Here, the torque formed by the non-linear linkage will be obtained in advance.] 315083 15 1231289: Fixed door closing torque T2, plus the value of the motor torque command Tm L torque T, the total door rotation The moment τ and the motor angle are added to obtain the door inertia J of each floor, and the minimum flat mass can be used for the door. The door is calculated from the door inertia J: The control of the elevator door according to the second embodiment Among the devices, the control device of the elevator door in the embodiment of 221 adopts the door quality calculated by the doorbell calculation mechanism n to select according to the speed mode selection mechanism 1G. The kinetic energy is different, and the speed mode is obtained. … The second and second description of the optimization of the door speed 'the control device of the elevator door according to the second embodiment can also be automatically calculated. Since the door quality is not required to obtain the door quality by labor movement, ==, material, etc., Can prevent people (4) Mistakes and mistakes happening] The phenomenon of Bailey occurs, so you can get high-precision doorbell1, and then obtain high-precision kinetic energy calculation results. The extremely high accuracy of the specification is achieved when the kinetic energy of each floor can be observed. Portal: Two: Optimize the door speed that accelerates the door speed to the fastest (shorten the door opening and closing time), and as a result, it can provide a lift door control device with high safety and comfort for the lift user. (3rd implementation Form) Figure 4 is a schematic diagram of the f-set example of the third embodiment of the present invention. In Figure 4, the same as or equivalent to the q = symbol R element symbol shown in Figure 1 indicates the same or equivalent. The component, therefore, the description is omitted. The new component speed limit value calculation mechanism 9a is a door parameter calculation mechanism based on the door parameters of each floor lift 315083 16 1231289 to take the floor exhibition: kinetic energy calculation mechanism 9 and memory based on the door quality. Each in Part 7
Si機門㈣、與根據式⑴的預定門動能限制值， 开出各樓層之平均門速度限制值。 制值實施形態的昇降機門之控制裝置，係在速度限 制值计开機構中，採用符合樓声資料φ夂秘成 門暂旦A』、 丁 〇偻層貝枓中各樓層之昇降機 、里 ^、根據式（1 )的預定門At R曰立丨从 孭疋門動旎限制值，預先計算各樓 層之平均門速度限制值。另外， 只4匕外人 此十均門速度的限制值， 乃私付合門動能限制值上所需 Λ, ρρ , , ^ ^ 1而I十均門速度條件。此門動 肊限制值未必僅限於上限，亦 — 農者下限，換句話說，亦 〇又疋為具有—U ®之門動能的選擇條件。 速度模式選擇機構1〇俦接 〇 係抓用作為速度限制值計算機 構9a之平均門速度條件的 如咏 制值在付合所期望門動能限 制的各個馬達速度模式中，盘头 ^ 一先則一樣，選擇各樓層門開 關時間取短的馬達速度模式 , & 為各樓層的馬達速度模 式，並從速度指令部4輸出速度指令。 、 再者，速度模式選擇機構丄 匕一 ^ m i 戍稱10乃當上述門開關時間最 短的馬達速度模式具有複數個 4 — U I隱况時，亦可於該等馬達 速度模式中，選擇最大門速度Λ ^ t ^ 度為取小之馬達速度模式，並 輸出速度指令。 再者，速度模式選擇機構〗Ω 4 戍構10雖選擇各樓層之門開關 日寸間琅短的馬達速度模式，作盘 作為母個樓層的馬達速度模 式，但是並不僅限於此，例如 亦可在付合平均門速度限制 值的各個馬達速度模式中，潠摆從〜^ 、擇獲得最大平均門速度的馬 315083 17 1231289 達速度核式。 #如上述’即使根據本第3實施形態的昇降機門之控制 裝置’亦可達如同上述第1實施形態相同的效果。工 (第4實施形態） 再者’依照上述第1至第3實施形態的昇降機門之控 制裝置H _門參數計算機構係採用動能計算機構9或 速度=制值計算機構9a計算門參數，但是亦可考慮取代該 等構&，具備預先記憶著與複數馬達速度模式與昇降機門 貝里具對應關係的對照表（表）之對照表記憶機構。 第圖所示係上述對照表記憶機構之一例。此圖中乃 準備四個馬達速度模式V1，V2，V3，V4時的例子。於圖中的 平句速度係^採用該等四個馬達速度模式時的實驗，以 及由計算機模擬所獲得門速度波形所計算得的數值。另 外第5圖中的單位，係平均速度[m/sec]、門動能[j]、門 質量[kg；]。 由第5圖得知當指定門動能限制時的各馬達速度模 式、與昇降機門之質量範圍間乃具有關聯。第5圖所示係 言如^疋門動能限制值為8 [J]時（對應於方框所包圍之部 分）進行說明的話，若門質量在37〇kg以下的話便使用馬達 速度模式· V1，若在370kg至462kg範圍内的話便使用馬達 速度模式V2，若在462kg至649kg範圍内的話便使用馬達 速度模式V3 ’若在649kg至665kg範圍内的話便使用馬達 速度模式V4 ’若如此的話，此時的門動能必將在8 [j]以 下。 18 315083 1231289 旦速度模式選擇機才冓10係根據每個樓層的昇降機門質 里’從預先記憶於上述對照表記憶機構中的對照表，讀取 所對應的馬達速度模式’而速度指令部4則利用此讀取的 :達速度模式執行昇降機門之開關控制。依此即使採用對 表或表4乃可取代門動能計算機才籌9或速度严艮制值計算 機構9a等的實際計算。 者’可從上述第1實施形態至第4實施形態的昇降 ^之控《置中知悉’雖已說明採用平均速度 ===的情況，但於採用其他最大速度作為計算動 月"的門速度時，仍可達相同的效果。 【產業上之可利用性】 夫數照本發明，將可達成經考慮動能規範之門 佳化，結果便可提供對昇降機使用者兼顧 f適性的昇降機門之控制裝置。 【圖式簡單說明】 之控制裝置 之控制裝置 之控制裝置 一圖係本發明第1實施形態的昇降機門 例之架構圖。 第3圖係本發 例之架構圖。 第2圖係本發明第1實施形態的昇降機門 中速度板式選擇機構動作說明圖。 明第2實施形態的昇降機門 第4圖係本發明第 例之架構圖。 3實施形態的昇降機 門之控制裝置 315083 19 1231289 降機門控制裝置 第5圖係本發明第4實施形態的 中，對照表記憶機構内容說明圖。 1 門驅動用馬達 2 脈衝產生器 3 電流檢測恭 4 速度指令部 5 加算部 6 速度控制部 7 門質量記憶部 8 門/馬達速度轉換部 9 動能計算機構 9a 速度限制值計算機構 10 電流控制部 10 速度模式選擇機構 11 門質量計算機構 20 315083Si machine door ㈣ and the predetermined door kinetic energy limit value according to formula ，, open the average door speed limit value of each floor. The control device of the elevator door in the value-based implementation mode is in the speed limit value opening mechanism. It adopts the elevators and elevators on each floor in the floor of the building, which is in accordance with the sound data of the building. According to the predetermined door At R of formula (1), the limit value of the door movement is calculated, and the average door speed limit value of each floor is calculated in advance. In addition, only 4 dagger outsiders, the limit value of this ten-average door speed is the required Λ, ρρ,, ^ ^ 1 and I-ten average door speed condition on the limit of the kinetic energy limit value of the closed door. The threshold value of this door is not necessarily limited to the upper limit, which is also the lower limit of the farmer, in other words, it is also a selection condition with the door kinetic energy of -U ®. The speed mode selection mechanism 10 is connected to the average door speed condition used as the speed limit value calculation mechanism 9a. For example, the system value is in each motor speed mode that meets the desired door kinetic energy limit. Similarly, the motor speed mode of each floor door is selected to take a short time, & is the motor speed mode of each floor, and the speed command is output from the speed command section 4. Moreover, the speed mode selection mechanism 丄 一 一 mi 戍 claims that 10 is when the above-mentioned motor speed mode with the shortest door opening and closing time has a plurality of 4-UI hidden, you can also select the maximum door in these motor speed modes. The speed Λ ^ t ^ degrees is the motor speed mode that takes the smaller one and outputs the speed command. In addition, the speed mode selection mechanism [Omega 4] Structure 10 selects the motor speed mode of the door switch on each floor and the short motor speed mode, and uses the disk as the motor speed mode of the parent floor, but it is not limited to this, for example, it can also In each motor speed mode that complies with the average door speed limit value, the pendulum is selected from ~ ^, and the horse 315083 17 1231289 to obtain the maximum average door speed reaches the speed core type. #As described above, even the elevator door control device according to the third embodiment can achieve the same effect as the first embodiment. (Fourth embodiment) Furthermore, the control device H of the elevator door according to the above-mentioned first to third embodiments. The door parameter calculation mechanism uses the kinetic energy calculation mechanism 9 or the speed = value calculation mechanism 9a to calculate the door parameters, but It is also conceivable to replace the structures & with a comparison table memory mechanism which previously stores a comparison table (table) corresponding to a plurality of motor speed modes and a lift doorbell. The figure shows an example of the above-mentioned lookup table memory mechanism. This figure is an example when four motor speed modes V1, V2, V3, and V4 are prepared. The speed of the flat sentence in the figure is an experiment when the four motor speed modes are used, and the calculated value of the door speed waveform obtained by computer simulation. In addition, the units in Figure 5 are the average speed [m / sec], door kinetic energy [j], and door mass [kg;]. Fig. 5 shows that there is a correlation between each motor speed mode when the specified door kinetic energy is limited and the mass range of the elevator door. As shown in Figure 5, if the limit value of the kinetic energy of the door is 8 [J] (corresponding to the part enclosed by the box), the motor speed mode is used if the door mass is less than 37 kg. V1 If it is in the range of 370kg to 462kg, use the motor speed mode V2, if it is in the range of 462kg to 649kg, use the motor speed mode V3 'If it is in the range of 649kg to 665kg, use the motor speed mode V4' If so, The kinetic energy of the door at this time must be below 8 [j]. 18 315083 1231289 Once the speed mode selection machine is 10, according to the elevator door quality of each floor, 'read the corresponding motor speed mode from the comparison table stored in the above-mentioned comparison table memory mechanism in advance, and the speed command section 4 Then use this read: up to speed mode to perform elevator door opening and closing control. Based on this, even if the table or table 4 is used, it can replace the door kinetic energy computer to calculate the actual value of 9 or the speed strict value calculation mechanism 9a. The above mentioned "can be controlled from the first embodiment to the fourth embodiment" "Control in the middle" Although the average speed === has been described, but other maximum speed is used as the door to calculate the moving month " The same effect can still be achieved at speed. [Industrial Applicability] According to the present invention, the door can be optimized by taking the kinetic energy specifications into consideration. As a result, it is possible to provide a lift door control device that takes into account f suitability for the lift user. [Brief description of the drawings] A control device, a control device, and a control device A diagram is a schematic diagram of an example of an elevator door according to the first embodiment of the present invention. Figure 3 is the architecture diagram of this example. Fig. 2 is an operation explanatory diagram of the speed plate type selection mechanism in the elevator door according to the first embodiment of the present invention. The elevator door of the second embodiment is shown in Fig. 4. Fig. 4 is a block diagram of the first embodiment of the present invention. Control device for elevator door according to 3rd embodiment 315083 19 1231289 Control device for lowering door Fig. 5 is a diagram illustrating the contents of a reference table memory mechanism in the fourth embodiment of the present invention. 1 Motor for door drive 2 Pulse generator 3 Current detection 4 Speed command section 5 Addition section 6 Speed control section 7 Door mass memory section 8 Door / motor speed conversion section 9 Kinetic energy calculation mechanism 9a Speed limit value calculation mechanism 10 Current control section 10 Speed mode selection mechanism 11 Door mass calculation mechanism 20 315083