CN103264948A - Elevator door motor control system and elevator door motor control method - Google Patents
Elevator door motor control system and elevator door motor control method Download PDFInfo
- Publication number
- CN103264948A CN103264948A CN2013101451723A CN201310145172A CN103264948A CN 103264948 A CN103264948 A CN 103264948A CN 2013101451723 A CN2013101451723 A CN 2013101451723A CN 201310145172 A CN201310145172 A CN 201310145172A CN 103264948 A CN103264948 A CN 103264948A
- Authority
- CN
- China
- Prior art keywords
- door
- elevator door
- width
- elevator
- gate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Elevator Door Apparatuses (AREA)
Abstract
An elevator door motor control system and an elevator door motor control method control opening and closing of an elevator door by controlling running of an elevator door motor. The elevator door motor control method includes the steps: setting initial parameters, detecting a running door width A of an elevator, detecting a residual door width B, and according to the set initial parameters, the detected running door width A and the detected residual door width B, controlling the elevator door motor to open or close the elevator door according to a door opening speed curve or a door closing speed curve after a door opening command or a door closing command is received. The elevator door motor control method has the advantages that by optimizing the door opening and door closing speed curves, the method enables the elevator door to be proper in speed when the elevator door is opened and closed, and speed is low in starting and ending stages while speed in an intermediate stage is high, so that door opening and closing efficiency is improved, and comfort level is good during opening and closing of the elevator door.
Description
Technical field
The present invention relates to elevator control field, particularly relate to a kind of Elevator Door Control System and method of the elevator switch door being controlled by elevator door-motor.
Background technology
Elevator door is the passage of passenger or goods turnover lift car, generally controls the operating speed, time etc. of elevator door-motor by Elevator Door Control System, to realize the switch control to elevator door.Elevator Door Control System also can link to each other with elevator door-motor by coder.By coder, Elevator Door Control System can obtain the rotational angle of elevator door-motor, can obtain the distance that elevator door-motor drives the elevator door motion by calculating.Whether in addition, thereby Elevator Door Control System generally also can obtain the operating condition of elevator door-motor by the electric current that current detecting unit detects the elevator door-motor of flowing through, can judge to run in the elevator door switch process and stop by detecting this electric current.For example, when increasing, the electric current of the elevator door-motor of flowing through just to have thing to stop elevator door switch.Elevator Door Control System just can realize control to elevator door switch by above coder, elevator door-motor, current detecting unit etc.
Yet Elevator Door Control System commonly used is being opened the door with at closing time by control Elevator Door Control elevator, and the running velocity of elevator door is optimized relatively poor, and the comfort level of perhaps opening the door is relatively poor.For example, it is very fast always with the process medium velocity of closing the door to open the door, and it is slower with the bulk velocity of closing the door perhaps to open the door, and efficient is lower.
Summary of the invention
Based on this, be necessary to provide a kind of open the door Elevator Door Control System and the method good with the comfort level of closing the door.
A kind of control method of elevator door-motor, described control method of elevator door-motor is controlled opening and closing of elevator door by the running of control elevator door-motor, described control method of elevator door-motor comprises the steps: to arrange initial parameter, and described initial parameter comprises the maximum speed V that opens the door
Max, opening the door starts apart from S
1, the toggle speed of opening the door V
1, pick-up time T opens the door
1, the tail speed of opening the door is creeped apart from S
2, the tail speed of opening the door creeper speed V
2, T deceleration time opens the door
2, elevator door is with the minimum value t of the time t of the real-world operation maximum speed V operation of opening the door
Min, wherein, V
MaxBe the maximum speed that elevator door can reach, S
1For elevator door with speed V
1The distance of operation, V
1The speed of operation when beginning for elevator door, T
1For elevator door accelerates to V from 0
MaxThe used time, S
2For elevator door with speed V
2The distance of operation, V
2The speed of operation when finishing for elevator door, T
2For elevator door from V
MaxDecelerated to for 0 used time, the maximum speed that V reaches when being the elevator door real-world operation, t is that elevator door is with the time of speed V operation; Detect the operation gate-width A of elevator, wherein A is the ultimate range that elevator door can be opened; Detection remains gate-width B and according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, controls elevator door-motor and open elevator door according to the velocity curve that opens the door after receiving the order of opening the door, and the described velocity curve that opens the door is according to formula S=S
1+ S
2+ (V+V
1) * (T
1/ 2V
Max* (V-V
1))+V * t+ (V+V
2) * (T
2/ 2V
Max* (V-V
2)) obtain, wherein, B is the gate-width of elevator door when being in semi-closed or semi-open state, S is the distance that elevator door opens the door and walks in the process, calculates when opening the door real-world operation maximum speed V, makes t=t
Min, according to the speed step pitch of setting from V
MaxThe value of dwindling V one by one is up to satisfying S＜A, with the V value that the obtains this moment value as the real-world operation maximum speed V that opens the door, when remain gate-width B more than or equal to move gate-width A 2/3 the time, with t=t
MinTime as the real-world operation maximum speed V operation of opening the door obtains the velocity curve that opens the door, when residue gate-width B less than operation gate-width A 2/3 and greater than operation gate-width A 1/2 the time, with t=1/2t
MinTime as the real-world operation maximum speed V operation of opening the door obtains the velocity curve that opens the door, when residue gate-width B be less than or equal to operation gate-width A 1/2 the time, obtain the velocity curve that opens the door with t=0 as the time that the real-world operation maximum speed V that opens the door moves; Detect residue gate-width B and according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, the control elevator door-motor is closed elevator door according to the velocity curve of closing the door after receiving the order of closing the door, and the described velocity curve of closing the door is identical with the described velocity curve that opens the door.
Among embodiment, the step of the operation gate-width A of described detection elevator comprises therein: after receiving detection signal, the Elevator Door Control elevator door is to opening the direction motion; After elevator door was opened to the door open limit position, elevator door-motor shut down, zero clearing elevator operation gate-width A; Elevator door records the distance of elevator door operation to the direction motion of closing the door; After elevator door was closed to the spacing position of closing the door, elevator door-motor shut down, with the distance of the elevator door operation of this moment record operation gate-width A as elevator.
Among embodiment, described elevator door is to the direction motion of closing the door therein, and in the step of the distance of record elevator door operation, the distance of elevator door operation is to be recorded by the coder that links to each other with elevator door-motor.
Among embodiment, described elevator door is to the direction motion of closing the door therein, and the step of the distance of record elevator door operation is carried out behind the time-delay Preset Time.
Among embodiment, in the step of the operation gate-width A of described detection elevator, the value of the speed of elevator door-motor is greater than the toggle speed V that opens the door therein
1And less than the real-world operation maximum speed V that opens the door.
Therein among embodiment, described detection residue gate-width B and according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, the control elevator door-motor is opened in the step of elevator door according to the velocity curve that opens the door after receiving the order of opening the door, and the speed step pitch that sets is 0.05 metre per second (m/s).
Therein among embodiment, described detection residue gate-width B and according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, the control elevator door-motor is opened in the step of elevator door described t according to the velocity curve that opens the door after receiving the order of opening the door
MinValue be 0.3 second.
Therein among embodiment, described detection residue gate-width B and according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, the step that the control elevator door-motor is opened elevator door according to the velocity curve that opens the door after receiving the order of opening the door also is included in the distance that the record elevator door moves in the elevator door opening procedure, when the distance of elevator door operation during greater than operation gate-width A, with the distance of elevator door operation this moment as moving gate-width A.
Therein among embodiment, described detection residue gate-width B and according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, the control elevator door-motor is opened in the step of elevator door according to the velocity curve that opens the door after receiving the order of opening the door, and it is described according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, the control elevator door-motor is closed according to the velocity curve of closing the door in the step of elevator door and is included following steps after receiving the order of closing the door: in the process of opening the door at every turn or close the door, detect the range ability of elevator door-motor, when the range ability of elevator door-motor sends the fault prompting during greater than setting value.
A kind of Elevator Door Control System, the running of the signal control elevator door-motor that described Elevator Door Control System transmits by the capturing and coding device, and opening and closing by the Elevator Door Control elevator door, described Elevator Door Control System comprises: parameter arranges module, be used for initial parameter is set, described initial parameter comprises the maximum speed V that opens the door
Max, opening the door starts apart from S
1, the toggle speed of opening the door V
1, pick-up time T opens the door
1, the tail speed of opening the door is creeped apart from S
2, the tail speed of opening the door creeper speed V
2, T deceleration time opens the door
2, elevator door is with the minimum value t of the time t of the real-world operation maximum speed V operation of opening the door
Min, wherein, V
MaxBe the maximum speed that elevator door can reach, S
1For elevator door with speed V
1The distance of operation, V
1The speed of operation when beginning for elevator door, T
1For elevator door accelerates to V from 0
MaxThe used time, S
2For elevator door with speed V
2The distance of operation, V
2The speed of operation when finishing for elevator door, T
2For elevator door from V
MaxDecelerated to for 0 used time, the maximum speed that V reaches when being the elevator door real-world operation, t is that elevator door is with the time of speed V operation; Operation gate-width detection module, for detection of the operation gate-width A of elevator, wherein A is the ultimate range that elevator door can be opened; Elevator door is opened control module, for detection of residue gate-width B and according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, the control elevator door-motor is opened elevator door according to the velocity curve that opens the door after receiving the order of opening the door, and the described velocity curve that opens the door is according to formula S=S
1+ S
2+ (V+V
1) * (T
1/ 2V
Max* (V-V
1))+V * t+ (V+V
2) * (T
2/ 2V
Max* (V-V
2)) obtain, wherein, B is the gate-width of elevator door when being in semi-closed or semi-open state, S is the distance that elevator door opens the door and walks in the process, calculates when opening the door real-world operation maximum speed V, makes t=t
Min, according to the speed step pitch of setting from V
MaxThe value of dwindling V one by one is up to satisfying S＜A, with the V value that the obtains this moment value as the real-world operation maximum speed V that opens the door, when remain gate-width B more than or equal to move gate-width A 2/3 the time, with t=t
MinTime as the real-world operation maximum speed V operation of opening the door obtains the velocity curve that opens the door, when residue gate-width B less than operation gate-width A 2/3 and greater than operation gate-width A 1/2 the time, with t=1/2t
MinTime as the real-world operation maximum speed V operation of opening the door obtains the velocity curve that opens the door, when residue gate-width B be less than or equal to operation gate-width A 1/2 the time, obtain the velocity curve that opens the door with t=0 as the time that the real-world operation maximum speed V that opens the door moves; Elevator door closing control module, for detection of residue gate-width B and according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, the control elevator door-motor is closed elevator door according to the velocity curve of closing the door after receiving the order of closing the door, and the described velocity curve of closing the door is identical with the described velocity curve that opens the door.
Above-mentioned Elevator Door Control System and method are opened the door by optimization and with the velocity curve of closing the door elevator door are had than proper speed when cutting out opening, beginning is lower with ending phase speed, the speed in intermediary is higher, thereby improve and to open the door and the efficient of closing the door, elevator door is opened with to close the closed procedure comfort level better.
Description of drawings
Fig. 1 is the control method of elevator door-motor diagram of circuit of an embodiment;
Fig. 2 is the diagram of circuit that detects the operation gate-width A of elevator in the control method of elevator door-motor shown in Figure 1;
Fig. 3 is the velocity curve scheme drawing that opens the door in the control method of elevator door-motor shown in Figure 1;
Fig. 4 is the Elevator Door Control System module map of an embodiment.
The specific embodiment
Please refer to Fig. 1, an embodiment of the invention provide a kind of control method of elevator door-motor.This control method of elevator door-motor is controlled opening and closing of elevator door by the running of control elevator door-motor.This control method of elevator door-motor comprises the steps.
Step S110 arranges initial parameter.Initial parameter herein comprises the maximum speed V that opens the door
Max, opening the door starts apart from S
1, the toggle speed of opening the door V
1, pick-up time T opens the door
1, the tail speed of opening the door is creeped apart from S
2, the tail speed of opening the door creeper speed V
2, T deceleration time opens the door
2, elevator door is with the minimum value t of the time t of the real-world operation maximum speed V operation of opening the door
MinWherein, V
MaxBe the maximum speed that elevator door can reach, S
1For elevator door with speed V
1The distance of operation, V
1The speed of operation when beginning for elevator door, T
1For elevator door accelerates to V from 0
MaxThe used time, S
2For elevator door with speed V
2The distance of operation, V
2The speed of operation when finishing for elevator door, T
2For elevator door from V
MaxDecelerated to for 0 used time, the maximum speed that V reaches when being the elevator door real-world operation, t is that elevator door is with the time of speed V operation.
Step S120, the operation gate-width A of detection elevator.Wherein A is the ultimate range that elevator door can be opened.Please refer to Fig. 2, the step of the operation gate-width A of this detection elevator comprises the steps.
Step S121, receive detection signal after, the Elevator Door Control elevator door is to opening direction motion.Detection signal herein is that the mainboard controller by elevator sends.
After step S122, elevator door were opened to the door open limit position, elevator door-motor shut down, zero clearing elevator operation gate-width A.When elevator door arrives the door open limit position, elevator door will cause the working current of elevator door-motor to increase because being subjected to resistance.Working current by detecting elevator door-motor and speed just can be judged elevator door and whether arrive spacing position, thus the convenient running of controlling elevator door-motor.
Step S123, elevator door records the distance of elevator door operation to the direction motion of closing the door.
After step S124, elevator door were closed to the spacing position of closing the door, elevator door-motor shut down, with the distance of the elevator door operation of this moment record operation gate-width A as elevator.In this step, the distance of elevator door operation is to be recorded by the coder that links to each other with elevator door-motor.
At step S120, in the step of the operation gate-width A of detection elevator, the value of the speed of elevator door-motor is greater than the toggle speed V that opens the door
1And less than the real-world operation maximum speed V that opens the door.The speed of elevator door-motor comprises speed when opening the door and speed at closing time herein.Such velocity amplitude makes elevator door be unlikely to too slowly when closing or too fast opening, thereby makes the safer of elevator door operation, control more accurate, the operation gate-width A of convenient acquisition elevator.
Judge whether to receive and open the door or close gate signal, open the door or close the laggard capable step S131 of gate signal or step S132 when receiving.Certainly, also can carry out step S131 or step S132 and then judge whether to receive and open the door or close gate signal herein earlier.
When receiving enabling signal, execution in step S131 detects residue gate-width B.Wherein, B is the gate-width of elevator door when being in semi-closed or semi-open state.Residue gate-width B herein can be calculated by the range ability of the elevator door-motor of the coder that links to each other with elevator door-motor record.
Step S141, according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, the control elevator door-motor is opened elevator door according to the velocity curve that opens the door after receiving the order of opening the door.Wherein, open the door velocity curve according to formula S=S
1+ S
2+ (V+V
1) * (T
1/ 2V
Max* (V-V
1))+V * t+ (V+V
2) * (T
2/ 2V
Max* (V-V
2)) obtain.In this formula, S is the distance that elevator door opens the door and walks in the process.
Please refer to Fig. 3, when real-world operation maximum speed V is opened the door in calculating, make t=t
Min, according to the speed step pitch of setting from V
MaxThe value of dwindling V one by one is up to satisfying S＜A, with the V value that the obtains this moment value as the real-world operation maximum speed V that opens the door.Can be according to the open the door drafting of velocity curve of the value of residue gate-width B after the value of real-world operation maximum speed V that obtains opening the door.When residue gate-width B more than or equal to operation gate-width A 2/3 the time, with t=t
MinTime as the real-world operation maximum speed V operation of opening the door obtains the velocity curve that opens the door; When residue gate-width B less than operation gate-width A 2/3 and greater than operation gate-width A 1/2 the time, with t=1/2t
MinTime as the real-world operation maximum speed V operation of opening the door obtains the velocity curve that opens the door; When residue gate-width B be less than or equal to operation gate-width A 1/2 the time, obtain the velocity curve that opens the door with t=0 as the time that the real-world operation maximum speed V that opens the door moves.
In addition, can derive deceleration distance S
3Computing formula, S
3For decelerate to the tail speed creeper speed V that opens the door from the real-world operation maximum speed V that opens the door
2The time elevator door distance of advancing.S
3=(V+V
2)×(T
2/2V
max×(V-V
2))。So the elevator door-motor velocity curve that opens the door is: open the door when starting apart from S1 when door is positioned at, the elevator door-motor running velocity is the toggle speed V that opens the door
1, start apart from S through opening the door
1After, elevator door-motor accelerates to the real-world operation maximum speed V that opens the door, operation t
Min, 1/2t
MinPerhaps reduce speed now after 0 second, elevator door-motor decelerates to the tail speed creeper speed V that opens the door
2, finish the elevator door-motor process of opening the door.Can dwindle S as required
2With S
3Further to raise the efficiency.
Open the door velocity curve as can be seen from above, and elevator door speed when just opening with approaching closing is lower, and pilot process speed is higher opening the door.And can adopt the suitable comfort level of velocity curve to guarantee to open the door of opening the door according to the residue gate-width B of reality.The safety that so not only can guarantee the efficient of opening the door but also can guarantee to open the door, thus the comfort level of opening the door preferably had.
In this step S141, when real-world operation maximum speed V was opened the door in calculating, the speed step pitch that sets was 0.05 metre per second (m/s), t
MinValue be 0.3 second.
In addition, this step S141 also is included in the elevator door opening procedure distance of record elevator door operation, when the distance of elevator door operation during greater than operation gate-width A, with the distance of elevator door operation this moment as the step of moving gate-width A.At step S120, in the step of the operation gate-width A of detection elevator, when detecting the operation gate-width A of elevator, elevator door-motor may be subjected to resistance and block in operational process, can't continue operation, so detected operation gate-width A may be inaccurate.Upgrade operation gate-width A herein and can make the value of operation gate-width A more accurate, thereby raising is opened the door or closed the door efficient.
When receiving the pass gate signal, execution in step S132 detects residue gate-width B.Step S132 herein is identical with above-mentioned steps S131.Wherein, B is the gate-width of elevator door when being in semi-closed or semi-open state.Residue gate-width B herein can be calculated by the range ability of the elevator door-motor of the coder that links to each other with elevator door-motor record.
Step S142, according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, the control elevator door-motor is closed elevator door according to the velocity curve of closing the door after receiving the order of closing the door.This step S142 is similar to above-mentioned steps S141, has the identical effect of closing the door.Difference is that this step S142 is the action of closing the door, and step S141 is the action of opening the door.The velocity curve of closing the door herein is identical with the velocity curve that opens the door among the step S141, and repeats no more herein.
Include following steps in step S141 and step S142: in the process of opening the door at every turn or close the door, the range ability of detecting gate machine is when the range ability of door machine sends the fault prompting during greater than setting value.Setting value generally need be greater than operation gate-width A herein.Elevator door-motor may occur in operational process that belt pulley skids or the belt pulley crack conditions, and elevator door-motor can't reach the switching threshold site, and elevator door-motor may rotate always and cause range ability to increase always this moment.Elevator door-motor range ability and setting value are compared herein.If the elevator door-motor range ability surpasses setting value, then elevator door-motor is out of service, and prompting response fault is carried out the maintenance of elevator door-motor.
Please refer to Fig. 4, another embodiment provides a kind of Elevator Door Control System.The running of the signal control elevator door-motor that this Elevator Door Control System transmits by the capturing and coding device, and opening and closing by the Elevator Door Control elevator door.This Elevator Door Control System comprises that parameter arranges module 110, operation gate-width detection module 120, elevator door and opens control module 130 and elevator door closing control module 140.
Parameter arranges module 110 and is used for arranging initial parameter.These initial parameters comprise the maximum speed V that opens the door
Max, opening the door starts apart from S
1, the toggle speed of opening the door V
1, pick-up time T opens the door
1, the tail speed of opening the door is creeped apart from S
2, the tail speed of opening the door creeper speed V
2, T deceleration time opens the door
2, elevator door is with the minimum value t of the time t of the real-world operation maximum speed V operation of opening the door
MinWherein, V
MaxBe the maximum speed that elevator door can reach, S
1For elevator door with speed V
1The distance of operation, V
1The speed of operation when beginning for elevator door, T
1For elevator door accelerates to V from 0
MaxThe used time, S
2For elevator door with speed V
2The distance of operation, V
2The speed of operation when finishing for elevator door, T
2For elevator door from V
MaxDecelerated to for 0 used time, the maximum speed that V reaches when being the elevator door real-world operation, t is that elevator door is with the time of speed V operation.
Operation gate-width detection module 120 is for detection of the operation gate-width A of elevator.Wherein A is the ultimate range that elevator door can be opened.
Elevator door is opened control module 130 for detection of residue gate-width B and according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, and the control elevator door-motor is opened elevator door according to the velocity curve that opens the door after receiving the order of opening the door.Open the door velocity curve according to formula S=S
1+ S
2+ (V+V
1) * (T
1/ 2V
Max* (V-V
1))+V * t+ (V+V
2) * (T
2/ 2V
Max* (V-V
2)) obtain.Wherein, B is the gate-width of elevator door when being in semi-closed or semi-open state, and S is the distance that elevator door opens the door and walks in the process.When real-world operation maximum speed V is opened the door in calculating, make t=t
Min, according to the speed step pitch of setting from V
MaxThe value of dwindling V one by one is up to satisfying S＜A, with the V value that the obtains this moment value as the real-world operation maximum speed V that opens the door.
Can be according to the open the door drafting of velocity curve of the value of residue gate-width B after the value of real-world operation maximum speed V that obtains opening the door.When residue gate-width B more than or equal to operation gate-width A 2/3 the time, with t=t
MinTime as the real-world operation maximum speed V operation of opening the door obtains the velocity curve that opens the door, when residue gate-width B less than operation gate-width A 2/3 and greater than operation gate-width A 1/2 the time, with t=1/2t
MinTime as the real-world operation maximum speed V operation of opening the door obtains the velocity curve that opens the door, when residue gate-width B be less than or equal to operation gate-width A 1/2 the time, obtain the velocity curve that opens the door with t=0 as the time that the real-world operation maximum speed V that opens the door moves.
Elevator door closing control module 140 is for detection of residue gate-width B and according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, and the control elevator door-motor is closed elevator door according to the velocity curve of closing the door after receiving the order of closing the door.The velocity curve of closing the door herein is identical with the velocity curve that opens the door.
This Elevator Door Control System relies on parameter that module 110, operation gate-width detection module 120, elevator door are set and opens control module 130 and elevator door closing control module 140 and just can realize elevator door opens and the control of cutting out according to the step of the control method of elevator door-motor of a last embodiment.
This Elevator Door Control System and method are opened the door by optimization and with the velocity curve of closing the door elevator door are had than proper speed when cutting out opening, beginning is lower with ending phase speed, the speed in intermediary is higher, thereby improve and to open the door and the efficient of closing the door, elevator door is opened with to close the closed procedure comfort level better.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (10)
1. opening and closing of control method of elevator door-motor, described control method of elevator door-motor running control elevator door by the control elevator door-motor is characterized in that described control method of elevator door-motor comprises the steps:
Initial parameter is set, and described initial parameter comprises the maximum speed V that opens the door
Max, opening the door starts apart from S
1, the toggle speed of opening the door V
1, pick-up time T opens the door
1, the tail speed of opening the door is creeped apart from S
2, the tail speed of opening the door creeper speed V
2, T deceleration time opens the door
2, elevator door is with the minimum value t of the time t of the real-world operation maximum speed V operation of opening the door
Min, wherein, V
MaxBe the maximum speed that elevator door can reach, S
1For elevator door with speed V
1The distance of operation, V
1The speed of operation when beginning for elevator door, T
1For elevator door accelerates to V from 0
MaxThe used time, S
2For elevator door with speed V
2The distance of operation, V
2The speed of operation when finishing for elevator door, T
2For elevator door from V
MaxDecelerated to for 0 used time, the maximum speed that V reaches when being the elevator door real-world operation, t is that elevator door is with the time of speed V operation;
Detect the operation gate-width A of elevator, wherein A is the ultimate range that elevator door can be opened;
Detection remains gate-width B and according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, controls elevator door-motor and open elevator door according to the velocity curve that opens the door after receiving the order of opening the door, and the described velocity curve that opens the door is according to formula S=S
1+ S
2+ (V+V
1) * (T
1/ 2V
Max* (V-V
1))+V * t+ (V+V
2) * (T
2/ 2V
Max* (V-V
2)) obtain, wherein, B is the gate-width of elevator door when being in semi-closed or semi-open state, S is the distance that elevator door opens the door and walks in the process, calculates when opening the door real-world operation maximum speed V, makes t=t
Min, according to the speed step pitch of setting from V
MaxThe value of dwindling V one by one is up to satisfying S＜A, with the V value that the obtains this moment value as the real-world operation maximum speed V that opens the door, when remain gate-width B more than or equal to move gate-width A 2/3 the time, with t=t
MinTime as the real-world operation maximum speed V operation of opening the door obtains the velocity curve that opens the door, when residue gate-width B less than operation gate-width A 2/3 and greater than operation gate-width A 1/2 the time, with t=1/2t
MinTime as the real-world operation maximum speed V operation of opening the door obtains the velocity curve that opens the door, when residue gate-width B be less than or equal to operation gate-width A 1/2 the time, obtain the velocity curve that opens the door with t=0 as the time that the real-world operation maximum speed V that opens the door moves;
Detect residue gate-width B and according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, the control elevator door-motor is closed elevator door according to the velocity curve of closing the door after receiving the order of closing the door, and the described velocity curve of closing the door is identical with the described velocity curve that opens the door.
2. control method of elevator door-motor according to claim 1 is characterized in that, the step of the operation gate-width A of described detection elevator comprises:
After receiving detection signal, the Elevator Door Control elevator door is to opening the direction motion;
After elevator door was opened to the door open limit position, elevator door-motor shut down, zero clearing elevator operation gate-width A;
Elevator door records the distance of elevator door operation to the direction motion of closing the door;
After elevator door was closed to the spacing position of closing the door, elevator door-motor shut down, with the distance of the elevator door operation of this moment record operation gate-width A as elevator.
3. control method of elevator door-motor according to claim 2 is characterized in that, described elevator door is to the direction motion of closing the door, and in the step of the distance of record elevator door operation, the distance of elevator door operation is to be recorded by the coder that links to each other with elevator door-motor.
4. control method of elevator door-motor according to claim 2 is characterized in that, described elevator door is to the direction motion of closing the door, and the step of the distance of record elevator door operation is carried out behind the time-delay Preset Time.
5. control method of elevator door-motor according to claim 2 is characterized in that, in the step of the operation gate-width A of described detection elevator, the value of the speed of elevator door-motor is greater than the toggle speed V that opens the door
1And less than the real-world operation maximum speed V that opens the door.
6. control method of elevator door-motor according to claim 1, it is characterized in that, described detection residue gate-width B and according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, the control elevator door-motor is opened in the step of elevator door according to the velocity curve that opens the door after receiving the order of opening the door, and the speed step pitch that sets is 0.05 metre per second (m/s).
7. control method of elevator door-motor according to claim 1, it is characterized in that, described detection residue gate-width B and according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, the control elevator door-motor is opened in the step of elevator door described t according to the velocity curve that opens the door after receiving the order of opening the door
MinValue be 0.3 second.
8. control method of elevator door-motor according to claim 1, it is characterized in that, described detection residue gate-width B and according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, the step that the control elevator door-motor is opened elevator door according to the velocity curve that opens the door after receiving the order of opening the door also is included in the distance that the record elevator door moves in the elevator door opening procedure, when the distance of elevator door operation during greater than operation gate-width A, with the distance of elevator door operation this moment as moving gate-width A.
9. according to the described control method of elevator door-motor of each claim in the claim 1 to 8, it is characterized in that, described detection residue gate-width B and according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, the control elevator door-motor is opened in the step of elevator door according to the velocity curve that opens the door after receiving the order of opening the door, and it is described according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, the control elevator door-motor is closed according to the velocity curve of closing the door in the step of elevator door and is included following steps after receiving the order of closing the door: in the process of opening the door at every turn or close the door, detect the range ability of elevator door-motor, when the range ability of elevator door-motor sends the fault prompting during greater than setting value.
10. Elevator Door Control System, the running of the signal control elevator door-motor that described Elevator Door Control System transmits by the capturing and coding device, and by the opening and closing of Elevator Door Control elevator door, it is characterized in that described Elevator Door Control System comprises:
Parameter arranges module, is used for initial parameter is set, and described initial parameter comprises the maximum speed V that opens the door
Max, opening the door starts apart from S
1, the toggle speed of opening the door V
1, pick-up time T opens the door
1, the tail speed of opening the door is creeped apart from S
2, the tail speed of opening the door creeper speed V
2, T deceleration time opens the door
2, elevator door is with the minimum value t of the time t of the real-world operation maximum speed V operation of opening the door
Min, wherein, V
MaxBe the maximum speed that elevator door can reach, S
1For elevator door with speed V
1The distance of operation, V
1The speed of operation when beginning for elevator door, T
1For elevator door accelerates to V from 0
MaxThe used time, S
2For elevator door with speed V
2The distance of operation, V
2The speed of operation when finishing for elevator door, T
2For elevator door from V
MaxDecelerated to for 0 used time, the maximum speed that V reaches when being the elevator door real-world operation, t is that elevator door is with the time of speed V operation;
Operation gate-width detection module, for detection of the operation gate-width A of elevator, wherein A is the ultimate range that elevator door can be opened;
Elevator door is opened control module, for detection of residue gate-width B and according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, the control elevator door-motor is opened elevator door according to the velocity curve that opens the door after receiving the order of opening the door, and the described velocity curve that opens the door is according to formula S=S
1+ S
2+ (V+V
1) * (T
1/ 2V
Max* (V-V
1))+V * t+ (V+V
2) * (T
2/ 2V
Max* (V-V
2)) obtain, wherein, B is the gate-width of elevator door when being in semi-closed or semi-open state, S is the distance that elevator door opens the door and walks in the process, calculates when opening the door real-world operation maximum speed V, makes t=t
Min, according to the speed step pitch of setting from V
MaxThe value of dwindling V one by one is up to satisfying S＜A, with the V value that the obtains this moment value as the real-world operation maximum speed V that opens the door, when remain gate-width B more than or equal to move gate-width A 2/3 the time, with t=t
MinTime as the real-world operation maximum speed V operation of opening the door obtains the velocity curve that opens the door, when residue gate-width B less than operation gate-width A 2/3 and greater than operation gate-width A 1/2 the time, with t=1/2t
MinTime as the real-world operation maximum speed V operation of opening the door obtains the velocity curve that opens the door, when residue gate-width B be less than or equal to operation gate-width A 1/2 the time, obtain the velocity curve that opens the door with t=0 as the time that the real-world operation maximum speed V that opens the door moves;
Elevator door closing control module, for detection of residue gate-width B and according to the initial parameter that arranges and detected operation gate-width A and residue gate-width B, the control elevator door-motor is closed elevator door according to the velocity curve of closing the door after receiving the order of closing the door, and the described velocity curve of closing the door is identical with the described velocity curve that opens the door.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310145172.3A CN103264948B (en) | 2013-04-24 | 2013-04-24 | Elevator door motor control system and elevator door motor control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310145172.3A CN103264948B (en) | 2013-04-24 | 2013-04-24 | Elevator door motor control system and elevator door motor control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103264948A true CN103264948A (en) | 2013-08-28 |
| CN103264948B CN103264948B (en) | 2015-03-25 |
Family
ID=49008628
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310145172.3A Active CN103264948B (en) | 2013-04-24 | 2013-04-24 | Elevator door motor control system and elevator door motor control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103264948B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104444681A (en) * | 2014-11-07 | 2015-03-25 | 广州特种机电设备检测研究院 | Security detection method and system used for elevator door system |
| CN104675262A (en) * | 2015-01-23 | 2015-06-03 | 浙江中控技术股份有限公司 | Screen door control method and system |
| CN107176518A (en) * | 2017-03-30 | 2017-09-19 | 深圳市海浦蒙特科技有限公司 | Door lock of elevator method for detecting short circuit and system |
| CN109179171A (en) * | 2018-10-31 | 2019-01-11 | 苏州汇川技术有限公司 | Elevator door mechanical system self-learning method, equipment and storage medium |
| CN109368460A (en) * | 2018-11-23 | 2019-02-22 | 张勇 | A kind of elevator device of normal state rate curve elevator door control |
| CN110550364A (en) * | 2019-08-30 | 2019-12-10 | 上海有个机器人有限公司 | Door opening and closing device of storage box and opening and closing control method thereof |
| CN111017687A (en) * | 2019-11-22 | 2020-04-17 | 上海新时达电气股份有限公司 | Elevator control method, device and computer readable storage medium |
| CN111071904A (en) * | 2019-12-13 | 2020-04-28 | 上海新时达电气股份有限公司 | Elevator control method, device and computer readable storage medium |
| CN113526281A (en) * | 2021-06-15 | 2021-10-22 | 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） | Method and device for detecting sliding of gantry crane and belt and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1057625A (en) * | 1990-05-30 | 1992-01-08 | 株式会社日立制作所 | The method of power door system and this system of control |
| JPH0676265U (en) * | 1993-04-06 | 1994-10-28 | 株式会社日立ビルシステムサービス | Elevator door controls |
| CN1187454A (en) * | 1996-11-21 | 1998-07-15 | 奥蒂斯电梯公司 | Method for generating velocity profiles for elevator car doors |
| JP2001302156A (en) * | 2000-04-14 | 2001-10-31 | Mitsubishi Electric Corp | Elevator door device and its modifying construction method |
| JP2005298146A (en) * | 2004-04-13 | 2005-10-27 | Mitsubishi Electric Corp | Elevator door control device and control method |
| JP3914482B2 (en) * | 2002-08-01 | 2007-05-16 | 三菱電機ビルテクノサービス株式会社 | Elevator door control device |
| JP4794252B2 (en) * | 2005-09-20 | 2011-10-19 | 東芝エレベータ株式会社 | Elevator door control device |
| JP2012101921A (en) * | 2010-11-11 | 2012-05-31 | Hitachi Building Systems Co Ltd | Door controller of elevator |
-
2013
- 2013-04-24 CN CN201310145172.3A patent/CN103264948B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1057625A (en) * | 1990-05-30 | 1992-01-08 | 株式会社日立制作所 | The method of power door system and this system of control |
| JPH0676265U (en) * | 1993-04-06 | 1994-10-28 | 株式会社日立ビルシステムサービス | Elevator door controls |
| CN1187454A (en) * | 1996-11-21 | 1998-07-15 | 奥蒂斯电梯公司 | Method for generating velocity profiles for elevator car doors |
| JP2001302156A (en) * | 2000-04-14 | 2001-10-31 | Mitsubishi Electric Corp | Elevator door device and its modifying construction method |
| JP3914482B2 (en) * | 2002-08-01 | 2007-05-16 | 三菱電機ビルテクノサービス株式会社 | Elevator door control device |
| JP2005298146A (en) * | 2004-04-13 | 2005-10-27 | Mitsubishi Electric Corp | Elevator door control device and control method |
| JP4794252B2 (en) * | 2005-09-20 | 2011-10-19 | 東芝エレベータ株式会社 | Elevator door control device |
| JP2012101921A (en) * | 2010-11-11 | 2012-05-31 | Hitachi Building Systems Co Ltd | Door controller of elevator |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104444681A (en) * | 2014-11-07 | 2015-03-25 | 广州特种机电设备检测研究院 | Security detection method and system used for elevator door system |
| CN104675262A (en) * | 2015-01-23 | 2015-06-03 | 浙江中控技术股份有限公司 | Screen door control method and system |
| CN107176518A (en) * | 2017-03-30 | 2017-09-19 | 深圳市海浦蒙特科技有限公司 | Door lock of elevator method for detecting short circuit and system |
| CN109179171A (en) * | 2018-10-31 | 2019-01-11 | 苏州汇川技术有限公司 | Elevator door mechanical system self-learning method, equipment and storage medium |
| CN109368460A (en) * | 2018-11-23 | 2019-02-22 | 张勇 | A kind of elevator device of normal state rate curve elevator door control |
| CN109368460B (en) * | 2018-11-23 | 2020-10-20 | 张勇 | Elevator system for controlling elevator door with normal speed curve |
| CN110550364A (en) * | 2019-08-30 | 2019-12-10 | 上海有个机器人有限公司 | Door opening and closing device of storage box and opening and closing control method thereof |
| CN111017687A (en) * | 2019-11-22 | 2020-04-17 | 上海新时达电气股份有限公司 | Elevator control method, device and computer readable storage medium |
| CN111071904A (en) * | 2019-12-13 | 2020-04-28 | 上海新时达电气股份有限公司 | Elevator control method, device and computer readable storage medium |
| CN111071904B (en) * | 2019-12-13 | 2022-05-17 | 上海新时达电气股份有限公司 | Elevator control method, device and computer readable storage medium |
| CN113526281A (en) * | 2021-06-15 | 2021-10-22 | 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） | Method and device for detecting sliding of gantry crane and belt and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103264948B (en) | 2015-03-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103264948A (en) | Elevator door motor control system and elevator door motor control method | |
| CN104444211B (en) | The method of underground coal mine Scraper Conveyor in Mining Face intelligent speed-regulating | |
| CN104192662B (en) | A kind of detection method of elevator brake braking moment | |
| RU2013120063A (en) | VEHICLE OPERATION METHOD (OPTIONS) | |
| CN103309254B (en) | A kind of motor control system of gate | |
| CN102942039A (en) | Belt conveyor control system and method capable of adjusting belt speeds automatically according to material flows or material levels | |
| CN105060037A (en) | Brake control method and system | |
| CN103253576B (en) | Elevator car speed monitored control system | |
| CN103253574B (en) | Elevator car speed and location monitoring system | |
| CN104370171B (en) | Elevator permanent-magnet traction system is without LOAD CELLS starting torque control method | |
| CN104842988A (en) | Method and system for controlling switching-on threshold value and switching-off threshold value of brake vacuum pump | |
| CN102556784B (en) | Elevator brake control device and control method thereof | |
| CN110748263A (en) | Platform door resistance meeting control method, door control unit and platform door | |
| CN106567635B (en) | Electronic side sliding door anti-clamping method and system | |
| CN206720532U (en) | The Elevator Door Control device of automatic identification door quality | |
| CN105645238B (en) | Elevator door-motor system is closed the door and is obstructed processing method and system | |
| CN111677399B (en) | Method for identifying maximum current of platform door motor under wind pressure and platform door control method | |
| CN103922214A (en) | Elevator door motor control method | |
| CN102785989B (en) | Control device for door of elevator | |
| CN102336354B (en) | Elevator pre-starting method | |
| CN102502410B (en) | Quick following control method for lifting motor and opening and closing motor of grabbing crane | |
| CN202520307U (en) | Automatic electric traction device of coal mining machine | |
| CN108217398B (en) | Method for controlling car door driving motor by door machine controller | |
| CN111186342B (en) | Control method for automatic passing neutral section of multi-grouping motor train unit | |
| KR101518659B1 (en) | Elevator door control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |