CN103282300A - Door control system for elevator - Google Patents
Door control system for elevator Download PDFInfo
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- CN103282300A CN103282300A CN2011800640765A CN201180064076A CN103282300A CN 103282300 A CN103282300 A CN 103282300A CN 2011800640765 A CN2011800640765 A CN 2011800640765A CN 201180064076 A CN201180064076 A CN 201180064076A CN 103282300 A CN103282300 A CN 103282300A
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- control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/02—Door or gate operation
- B66B13/14—Control systems or devices
- B66B13/143—Control systems or devices electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/02—Door or gate operation
- B66B13/14—Control systems or devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/02—Door or gate operation
- B66B13/12—Arrangements for effecting simultaneous opening or closing of cage and landing doors
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Elevator Door Apparatuses (AREA)
Abstract
Provided is a door control system for an elevator comprising: a car door configured to open/close the doorway of the elevator car; elevator hall doors configured to open/close the elevator hall doorways of each floor; a motor configured to drive open/close operation of the car door; an engaging device provided between the car door and the elevator hall doors in order to allow an open/close operation of the elevator hall doors in conjunction with the open/close operation of the car door driven by the motor. In order to promptly detect engagement of the elevator car door and any of the elevator hall doors so as to speed up the open/close operation, this door control system for the elevator comprises: a means configured to previously calculate an area before and after engagement of the car door and the elevator hall door using the output of a rotation detecting means configured to detect rotation of the motor and output of a torque detecting means configured to detect the torque of the motor; a memory means configured to store the result of the calculation; and a means configured to detect engagement of the car door and the elevator hall door using the output of the rotation detecting means and the output of the torque detecting means upon actual open/close operation of the doors and the result of the calculation stored in the memory means.
Description
Technical field
The present invention relates to the control setup in a kind of elevator door opening-closing, relate to a kind of technology that engages that detects car side door and using escalator place side door.
Background technology
Generally, the door of elevator by be arranged on cage side about two car side doors and be arranged on using escalator place side about two using escalator place side doors this add up to 4 doors to constitute, become when door opens and closes that the car side door engages with using escalator place side door and the mechanism of switching in linkage.The car side door links by the binding instrument with the driving belt that is arranged on a top.This driving belt is endless and becomes in the horizontal direction long ellipse, be wrapped in two winding pulleies being arranged at a upper unit both go up and strain.Become following mechanism according to this structure: the rotation by winding pulley drives belt and is rotated, and door opens and closes thus.At this moment, car side door and using escalator place side door do not contact when contract fully, therefore need door low speed ground is moved (with reference to Fig. 4) before engaging.This is because under the situation of moving at high speed, produces big sound, the vibration that is caused by collision when engaging.
In addition, whether using escalator place side door engages is unknown, therefore in engaging gap (with reference to Fig. 3) under situation maximum on the mechanical technique standard, before the position that engaging should finish, car side door 1(is with reference to Fig. 1) transfer to accelerated motion after moving.Thereby, produce driven at low speed time (with reference to Fig. 4) of long duration, as a result of there is the operating efficiency of elevator such problem that descends.
To this, following technology being disclosed in patent documentation 1: the detector that detects the engaging gap is set, comes opposite house to control by the output according to detector, thereby reduce the invalid driven at low speed time.
The technology that changes to detect clamped position according to the torque of electrical motor is disclosed in patent documentation 2 in addition.
And in patent documentation 3, disclose according to the torque of electrical motor and the variation of cireular frequency and infer quality, thereby detect the technology of clamped position.
Patent documentation 1: Japanese kokai publication hei 03-293283 communique (the 8th page, Fig. 1)
Patent documentation 2: TOHKEMY 2007-15787 communique (the 6th page)
Patent documentation 3: TOHKEMY 2009-214952 communique
Summary of the invention
When the technology used shown in the above-mentioned patent documentation 1, can reduce the invalid driven at low speed time really, can improve the operating efficiency of elevator.Yet, the sensor that detects the engaging gap need newly be set, therefore there is the complicated and such problem points that maximizes of device.In addition, also there are the following problems: the sensor in this detection engaging gap generally is expensive.
In addition, patent documentation 2 is that the technology of engaging is judged in the motor torque according to when engaging, the variation of cireular frequency.This technology is to utilize in the common control speed sensor, the current sensor of originally required electrical motor (its control electric current and torque are roughly proportional.) information come the technology of the engaging of decision gate, do not need new sensor, therefore have can prevent locking apparatus complicated, maximize and high price such advantage of formatting.Yet, the change of speed, the change of torque also produce owing to the dust obstruction of the reason beyond the engaging of door, the friction that for example produces in the bottom of car side door, using escalator place side door, door and threshold etc., and therefore existence is easy to generate the such problem points of flase drop.
In addition, the change degree of speed, the torque of engaging also changes according to the exposure level of clamping close device (engaging blade (vane) with engage roller), the friction that drives spring constant, car side door, using escalator place side door and the track of belt, a variety of causes such as control algorithm that are used for the electrical motor of driving winding pulley, so also has indeterminate how the setting for detection of the threshold value that engages such problem points of being advisable.
And, because detection threshold is indefinite, the sensor information when therefore the detection of engaging not only needs to engage, but also above sensor information is estimated during need comprising fixing before and after the engaging.Thereby, the detection that can not engage in real time, in above-mentioned patent documentation, also become following technology: carry out a series of action backs of opening the door and detect clamped position, by in this clamped position storage of each layer, utilize the clamped position of this storage to change a cireular frequency pattern (pattern) later on.
Yet the car of elevator also produces inclination according to passenger's seating position etc., even therefore identical layer, also according to the having or not of passenger, seating position and the position of car side door and using escalator place side door concerns and changes, clamped position also changes.Thereby when conventional operation, the clamped position that the obtains during former on-off action mal that becomes is transferred to accelerated motion or also continue such problem points during low speed after the engaging before also existing in engaging.
In addition, the technology shown in the patent documentation 3 exists in the slack-off problem of renewal that quality is inferred in the low angular acceleration.For near the impact that engaging engaging is caused is suppressed to Min., generally adopt the control that drives the car side door with fixed speed or low angular acceleration, so patent documentation 3 existence need be implemented such problem under special control.
The present invention is a kind of gate control system of elevator, has: the car side door opens and closes the gangway of the car of elevator; Using escalator place side door opens and closes the gangway of using escalator place on each layer floor; Electrical motor carries out driven for opening and closing to described car side door; And clamping close device, be arranged between described car side door and the described using escalator place side door, in linkage described using escalator place side door is carried out on-off action with the on-off action based on the described car side door of the driven for opening and closing of described electrical motor, the gate control system of this elevator is characterised in that to possess: use to detect the unit that the rotation detecting circuit of rotation of described electrical motor and the torque detecting unit that detects the torque of described electrical motor calculate the described car side door of identification and the identification line of the front and back that engage of using escalator place side door in advance; Memory cell is preserved described identification line; And use the described rotation detecting circuit that when the door of reality opens and closes, obtains and output and the described identification line of described torque detecting unit, detect the unit that engages of described car side door and using escalator place side door.
As mentioned above, the present invention is in the gate control system of elevator, detect the rotation detecting circuit of the rotation of described electrical motor, detect the current sensor of the torque of described electrical motor, unit at the identification line that separates the time series data that obtains from described rotation detecting circuit and described current sensor with counting statistics ground before and after the engaging of described using escalator place side door, preserve the memory cell of described identification line, described rotation detecting circuit by new sub section post acquisition, the output of described current sensor and described identification line detect with described using escalator place side door and engage, therefore do not rely on control method, even and because layer floor, partially load waits and the engaging distance of door has change also can detect engaging of car side door and using escalator place side door rapidly.Thereby, can reduce the time of opening the door, after closing, badge can reduce to transfer between low regime accelerated motion in addition, therefore play following significant effect: keep the low noise of the engaging under the low speed and low vibration performance and can improve the operating efficiency of elevator.
Description of drawings
Fig. 1 is the front view of the cage side door gear of general elevator.
Fig. 2 is the front view of the using escalator place side door device of general elevator.
Fig. 3 is the birds-eye view of the relation of expression cage side door gear and using escalator place side door device.
Fig. 4 is the figure of the cireular frequency pattern of the door of the general elevator of expression when opening.
Fig. 5 is the block diagram of the control algorithm in the expression embodiment 1.
Fig. 6 is the figure of example that expression depends on the mechanicalness door closing force of a position.
Fig. 7 be ensured the car side door Men Kaihou amount of movement and the engaging before and the engaging after the zone.
Fig. 8 is Utopian angular acceleration before and after the engaging when opening the door and the plane of torque.
Fig. 9 detects clamped position according to the intersection point of the time series data of the identification line of obtaining, new angular acceleration and torque.
Figure 10 is the angular acceleration of the reality before and after the engaging when opening the door and the plane of torque.
Figure 11 is the figure that improves effect of expression cireular frequency pattern of the present invention.
Figure 12 is the cireular frequency of the reality before and after the engaging when opening the door and the plane of torque integration.
Figure 13 is the angular acceleration that changes according to low-pass filter and the plane of torque.
Figure 14 is that expression will be by selecting 2 figure that decide the method for identification line respectively before will engaging and after the engaging.
Figure 15 is the figure of the identification line that changes of the system of selection of point of expression after according to engaging.
Figure 16 is expression decides the method for identification line at 2 according to the preceding selection of engaging figure.
Figure 17 is the block diagram of the control algorithm in the expression embodiment 8.
Figure 18 is illustrated in the block diagram that electrical motor is control algorithm under induction motor (IM) or the situation that embeds permanent-magnet synchronous type electrical motor, in the embodiment 1.
Figure 19 is illustrated in the block diagram that electrical motor is control algorithm under induction motor (IM) or the situation that embeds permanent-magnet synchronous type electrical motor, in the embodiment 8.
Description of reference numerals
1: the car side door; 2: the engaging blade; 3: memory cell; 4: door controller; 5: electrical motor; 6: using escalator place side door; 7: engaging roller (being called clamping close device altogether with 2 and 7); 8: car; 9: the engaging gap; 10: rotation detecting circuit; 11: current sensor; 12: the cireular frequency pattern generator; 13: speed controller; 14: current controller; 15: known torque converter; 16: badge closes detector; 17: the identification computer on line; 18: driving voltage; 19: subtracter; 20: subtracter; 21: subtracter; 22: differentiator; 23: differentiator; 24: gain; 25: track; 26: the group before the engaging; 27: the group after the engaging; 28: the identification line; 29: intersection point; 30: do not engage the timing that detects and accelerate; 31: according to the shortening amount of present technique; 32: the cireular frequency pattern that nothing engaging in the past detects; 33: the cireular frequency pattern of namely accelerating after engaging detects; 34: the change of any after the engaging when the direction of leaving from X+ α is selected; 35: the change that a bit becomes the identification line when far away after the engaging; 36: the straight line before the representative engaging; 37: the straight line after the representative engaging; 38: the track of the time series data of cireular frequency and torque integration; 39: overload detection; 40: badge closes detection/quality estimator; 41: speed controller; 42: namely accelerate after engaging detects; 43: the shortening time during standard-sized sheet; 44: special torque detecting unit; 45: the electrical motor selection marker.
The specific embodiment
Fig. 1～3rd, the figure of the structure of the door gear of the elevator of expression embodiments of the present invention 1.Fig. 1 is the front view of the car side door of expression elevator, and Fig. 2 is the front view of the using escalator place side door of expression elevator, and Fig. 3 is the birds-eye view of the relation of expression car side door and using escalator place side door.
The following describes structure.As Fig. 1 and shown in Figure 3, be provided with engaging blade 2 for engaging using escalator place side door 6 a side of two car side doors 1.In addition, as with it accordingly, be provided with engaging roller 7 in one in two of using escalator place side door 6.Become following mechanism: when the car 8 of elevator stops at certain layer, the engaging blade 2 that is arranged on a side of car side door 1 is clamped a side's who is arranged on using escalator place side door 6 engaging roller 7 and is controlled, and the on-off action that constitutes with car side door 1 carries out on-off action to using escalator place side door 6 in linkage.These engaging blades 2 and engaging roller 7 are collectively referred to as clamping close device.
In addition, two using escalator place side doors 6 link mutually, therefore when the using escalator place side door 6 of a side that is provided with engaging roller 7 by electrical motor 5 via engaging blade 2 and engage roller 7 when moving, thereby another using escalator place side door 6 also moves round about the gangway is opened and closed.
As mentioned above, the door gear of elevator becomes following mechanism: be provided with electrical motor 5 at car side door 1, in each layer using escalator place side door 6 engaged and open and close in linkage.On the other hand, the car 8 that engaging blade 2 and engaging roller 7 need be arranged in elevator does not contact when travelling, and therefore is arranged to as illustrated in fig. 3 be in have the relation that engages gap 9 mutually.The car 8 of elevator become not only about (travelling) direction but also the structure that also move owing to load, vibration partially in the left-right and front-back direction, therefore engaging gap 9 needs wide arriving to a certain degree, makes it possible to accept this vibration.
Fig. 5 is the block diagram of inner structure of door controller 4 of the door gear of the expression elevator that is arranged on embodiments of the present invention 1.As shown in Figure 5, in door controller 4, be provided with cireular frequency pattern generator 12, subtracter 20, speed controller 13, subtracter 21, current controller 14, differentiator 22,23, gain 24, known torque converter 15, subtracter 19, identification computer on line 17, badge closes detector 16 and memory cell 3.In addition, in Fig. 5, be connected with door controller 4 at electrical motor 5, be connected with the rotation detecting circuit 10 of the rotation that detects electrical motor 5.Here, rotation detecting circuit also is connected with the current sensor 11 that detects the torque that produces in the electrical motor 5.
In door controller 4, export cireular frequency command value to subtracter 20 by cireular frequency pattern generator 12.Deduct the value of the spin velocity that will carry out the differential processing by the rotation detecting circuit 10 detected anglecs of rotation by differentiator 22 and obtain by subtracter 20 from the cireular frequency command value that is output, thereby obtain the cireular frequency deviation.In speed controller 13, use this cireular frequency deviation to obtain current instruction value as actual cireular frequency is followed the trail of the cireular frequency command value.By 21 pairs of current instruction values of obtaining of subtracter with carry out computing by current sensor 11 detected current values, from its deviations of subtracter 21 output.Then, according to this deviation, decide driving voltage 18 by current controller 14, come driving motor 5 according to this driving voltage 18.
In the distinctive identification computer on line 17 of the present invention shown in Figure 5, handle the angular acceleration obtain, 24 be multiplied by torque constant Ke(and will be called the torque detecting unit to the unit that gain 24 is multiply by in the output of current sensor 11 by gaining by current sensor 11 detected current values carrying out differential by differentiator 22), use the torque of the electrical motor that obtains to calculate to separate the identification line before and after the engaging.The torque of mechanicalness door closing force is (identical with " the known torque " that the following describes.Below identical), the position that becomes as shown in Figure 6 with door is worth accordingly, by based on by the rotation detecting circuit 10 detected anglecs of rotation (location information), as the torque that the position that is attached to electrical motor 5 relies on, calculate by known torque converter 15.The torque of mechanicalness door closing force shown in Figure 6 changes according to the difference of the mechanicalness door closing force that the deadweight by spring, bob-weight produces, therefore according to the difference of the combination of the structural element that produces the mechanicalness door closing force and pattern changes like that from 1 to 4.According to coming calculating torque τ (k) from 24 the output of gaining (torque that obtains according to current sensor 11) by the value that subtracter 19 deducts known torque.Suppose not carry out this subtraction and known torque with respect under the big situation of the ratio of gain 24 output, cause flase drop to survey engaging.
For the calculating of described torque tau (k), the processing of not carrying out subtracter 19 sometimes also can correctly detect.But, by carrying out subtraction, known torque with respect to the big situation of the ratio of the output of torque detecting unit 24 under, can reduce and cause flase drop to survey the possibility of engaging.
In special torque detecting unit 44 shown in Figure 180, the torque of calculating motor 5.General be that this torque and electric current are proportional under the situation of DC motor, permanent-magnet synchronous type electrical motor at electrical motor 5, therefore can be by 24 coming calculating torque to being gained by current sensor 11 detected current values uses.On the other hand, in induction motor (IM), according to slippage, the torque change that is output therefore only can not calculating torque by electric current.Here, by according to deriving slippage to the cireular frequency of the voltage of the driving voltage 18 of electrical motor and frequency, rotation detecting circuit 10 calculating motors, can come calculating torque according to formula (1).
Here, Torque_im is that torque, the s of induction motor (IM) are that slippage, V are that driving voltage 18, f are that frequency, the p of driving voltage 18 is that number of poles, r1, r2, x1 and x2 are the network constants of using in the equivalent circuit of electrical motor.In addition, 3 of coefficient is to be per 1 value that determines mutually under the situation of network constant of equivalent circuit, becomes 1 integrating mutually under the situation that is made as network constant 3.
In addition, in embedding permanent-magnet synchronous type electrical motor, similarly can not only come calculating torque by electric current.In embedding permanent-magnet synchronous type electrical motor, produce reluctance torque, therefore can come calculating torque according to formula (2).
Torque_ipm=p{ Ψ
ai
q+ (L
d-L
q) i
di
qFormula (2)
Here, Torque_ipm is torque, the Ψ that embeds permanent-magnet synchronous type electrical motor
aBe interlinkage flux, the L of permanent magnetism
dAnd L
qBe 2 phases when carrying out coordinate transform inductance, be the constant that provides in advance.i
dAnd i
qBe to carry out coordinate transform by the current value that current sensor 11 obtains and the current value of 2 phases that obtain.Therefore, come calculating torque according to formula (2) in the special torque detecting unit 44 shown in Figure 180 in embedding permanent-magnet synchronous type electrical motor.
In addition, selected in advance at electrical motor selection marker 45 under the situation of induction motor (IM), in special torque detecting unit 44, come calculating torque according to formula (1), under the situation of having selected embedding permanent-magnet synchronous type electrical motor, in special torque detecting unit 44, come calculating torque according to formula (2).
Then, be illustrated in inertia (moment of inertia) and the resistance to motion of the hand of rotation of the electrical motor that quality that use in the engaging detection algorithm as feature of the present invention, door causes.
Distance till being made as from the S. A. of electrical motor to the center of gravity of door for fixing situation under, the inertia that the S. A. of the electrical motor that the quality of door causes converts becomes fixing ratio with the quality of door.In addition, the resistance to motion and the quality that produce of the friction when opposite house drives also becomes fixing ratio.Here, be made as J, resistance to motion be made as T, the detection torque of electrical motor 5 is made as τ (k), the detection angular acceleration of electrical motor 5 is made as a(k when the quality with door is made as inertia fixing, will this moment) time, formula (3) is set up.In addition, k represents k sampled value of the detected value of sensor.
τ (k)=J * a(k)+T formula (3)
Here, the quality of the door that is driven by electrical motor 5 varies to and comprises car side door and using escalator side door from only comprising the car side door before and after engaging.In addition, inertia is fixed with the ratio of quality with ratio, the resistance to motion of quality, and therefore when quality increased sharp as mentioned above, J, T be change before and after it, from engaging preceding J
bAnd T
bThe change for the engaging after as J
aAnd T
aSuch constant.Here, become J
b＜J
a, T
b＜T
a
In order to obtain this constant, use can separate the interval of the time series data before and after the engaging.The interval that will engage be made as shown in Figure 7, by X[mm] centered by and be positioned at ± interval of α [mm].Here, ensured not engaging till the X-α that opens the door, X+ α has ensured engaging later on again till the door standard-sized sheet from opening the door.Only use this angular acceleration in the interval that does not have engaging and the time series data of torque of having ensured, time series data by should the interval all or sample several with method of least square etc. carry out straight line approximate or use that between same zone angular acceleration, torque become maximum, minimum end points or near the several points the end points on average come the picture straight line, can obtain the J as the inclination of this straight line (straight line that engaging is preceding) thus
bWith the T as intercept
b
In addition, the J after the engaging
aAnd T
aAlso with engage before method of calculating in the same manner, time series data by will having ensured the interval of X+ α till the standard-sized sheet that does not have engaging all or sampling several with method of least square etc. carry out straight line approximate or use that angular acceleration, torque become the end points of maximum, minimum or near the several points the end points on average come the picture straight line, can obtain the J as the inclination of this straight line (straight line after the engaging) thus
aWith the T as intercept
aIf be not according to coming calculating torque τ (k) from 24 the output of gaining (torque that obtains according to current sensor 11) by the value that subtracter 19 deducts known torque here, then cause known torque to become big with respect to the ratio of the output of gain 24, the J before causing engaging
bAnd T
bWith engage after J
aAnd T
aCan correctly not represent to have only the value of door.
The time series data of the angular acceleration of considering here to obtain by rotation detecting circuit 10, the torque that obtained by current sensor 11, consideration these time series datas are depicted in the graph of a relation of angular acceleration shown in Figure 8 and torque and the track 25(that represents with arrow below, in Fig. 9, Figure 13, represent track 25 with arrow similarly.In addition, the track 38 of in Figure 12, representing the graph of a relation of cireular frequency and torque integration with arrow.）。Therefore because engaging and inertia and resistance to motion change, the group 26 before the engaging, the group 27 after the engaging become linearity, and identification line 28 can be identified with straight line.Group 26 before the engaging and the group after the engaging 27 are linearities, and near the V-shape centered by therefore becoming to engage is if use appropriate methods as can be known then can carry out linear separation.
If here electrical motor 5 to the transmission of the torque of hand of rotation be non-linear or the output of rotation detecting circuit 10 situation about being fixed by nonlinear transmission key element under, also become curve-like sometimes.Can consider torsion spring, the damper to hand of rotation this moment.Can carry out the high separation of reliability near engaging in these methods, become nonlinear identification line, as long as but then also can be non-linear identification line.
In the present embodiment, estimate situation in the changes such as inertia (moment of inertia), resistance to motion of the front and back control object of engaging by angular acceleration, torque change, can define the identification line with good recognition performance, therefore can identify the front and back of engaging.
Here, two straight lines before and after for example will engaging are such suc as formula (4), with the straight line before the expression engaging, carry out 2 five equilibriums with the formed angle of straight line after expression engage, then can construct the group before the identification engaging and engage after group identification line 28.
τ=tan（（tan
-1（J
a）+tan
-1（J
b））/2）×a
+（J
b×T
a-J
a×T
b-（T
a-T
b）
* tan((tan
-1(J
a)+tan
-1(J
b))/2)/(J
b-J
a) formula (4)
The formula of formula (4) is simple and easy and simple, thereby calculated amount can be lacked.
Identification computer on line 17 comes on the basis of calculating formula (4) in advance at the inertia that the time series data of using according to angular acceleration and torque derives, when when the door of reality opens and closes, superposeing the time series data of the new angular acceleration that obtains and torque as illustrated in fig. 9, become with intersection point 29 that formula (4) is intersected and to be estimated to be the timing that engages, can carry out instant engaging and detect.Here the identification line 28 of Dao Chuing is stored in the memory cell 3.
Badge closes detector 16 and maintains when actual door opens and closes the angular acceleration a(k of change in real time), torque tau (k) and the tan((tan that calculates and be stored in the formula (4) in the memory cell 3 in advance
-1(J
a)+tan
-1(J
b))/2), (J
b* T
a-J
a* T
b-(T
a-T
b) * tan((tan
-1(J
a)+tan
-1(J
b))/2)/(J
b-J
a) value, whether the change that is accompanied by angular acceleration, torque continue detects to engage one by one, begins acceleration when engaging immediately detecting.Therefore, to because the change in the engaging gap that the inclination of the car of loading partially in the car produces also can be tackled rapidly, can in time and carry out on the position accelerating after the appropriate engaging detection.
Expression has used badge of the present invention to close an example of detection among Figure 10.Service-test machine detects in this testing result, therefore can survey out the door miles of relative movement till the engaging, be incorporated into the time till the detection that engages and never carry out shortening amount 31 till in the past engaging detects the timing 30 accelerated on the ground acceleration timing when having carried out that engaging detects from actual card as can be known.For shortening amount 31, if see in time then the shortening amount of time as can be known, if see the position of the door in time separately, the shortening amount of the distance that detects by engaging as can be known then.According to this result, can engage detection in real time, can confirm the time decreased of opening the door.
Be accompanied by engaging like this and detect, for the residue till full open position of coupler open the door distance and cireular frequency pattern, recomputate by cireular frequency pattern generator 12.Shown in the cireular frequency mode 33 of Figure 11, namely accelerate 42 after the detection and shorten between low regime by engaging, be adjusted into the driving time of comparing with velocity mode 32 in the past under elongating the most a little.The maximum open-width of door is provided by specification, the miles of relative movement of door is measured by rotation detecting circuit 10, therefore realize prolongation or the shortening of driving time the most at a high speed by send to subtracter 20 as speed value, its result shortens the time of opening the door the shortening time 43 during as standard-sized sheet.
As described above, detect engaging of car side door 1 and using escalator place side door 6 by identification computer on line 17 in the present invention, can use badge to close detector 16, new angular acceleration and the time series data of torque, the output of in time changing cireular frequency pattern generator 12 according to the door position that has engaged.Thus, in each condition, can carry out different engagings and detect, can reduce to transfer between low regime accelerated motion after the engaging, therefore keep low noise and the low vibration performance of the engaging under the low speed, and can reduce the invalid driven at low speed time, can improve the operating efficiency of elevator.
In addition, in the present embodiment, the electric current that detects electrical motor 5 has been obtained the torque of electrical motor 5, but also can use torque sensor directly to obtain torque.In addition, be used for torque that engaging detects and both can be the current instruction value as the output of speed controller 13, the derivation of angular acceleration also can be to use the second differential filter beyond differentiator 22 and 23 etc.In addition, use a differentiator 22 and 23 to obtain angular acceleration by rotation detecting circuit 10, but also can in the cireular frequency measured by turn meter, only use a differentiator 23 or directly use the angular acceleration of being measured by angular accelerometer to obtain angular acceleration.
In addition, consider that the renewal that calculate in the zone before and after the engaging can also carry out the calculating in each zone according to the resistance to motion that deterioration, the state of laying change, but also can with in several times once study, in a few week once study or only the study once when laying or the value of learning in factory are implemented.
The rotation detecting circuit 10 of the electrical motor 5 that uses in the present embodiment in addition, also can be resolver, the coder as angle gauge.In addition, also can be made as and measure the rotation detecting circuit that door, the gear between door and motor, the position of belt, speed, acceleration/accel wait to be transformed to hand of rotation.In addition, also can pay close attention to speed electromotive force that motor interior produces comprise no sensor that angle information utilized it drive control (list of references: in new " permanet magnet モ same period ー タ ベ Network ト Le system drive skill Intraoperative last volume-セ Application サ レ ス drive the imperial true Marrow of Move system-", the 1st edition, the new Wen of Electricity ripple society, on December 15th, 2008, p.28-29).When the rotation information of such acquisition electrical motor 5, becoming favourable aspect the cost of the cost that rotation detecting circuit 10 is installed and maintenance, the installing space.
In addition, what also can replace using in the present embodiment is rotated drive electric motor 5 and uses the linear electric motors, pneumatics/oil pressure activated device etc. of linear drives, replaces rotation detecting circuit 10 and use location sensor, speed sensor, acceleration pick-up etc.
As described above, in the present embodiment, the gate control system of elevator has: car side door 1 opens and closes the gangway of the car 8 of elevator; Using escalator place side door 6 opens and closes the gangway of using escalator place on each layer floor; Electrical motor 5 carries out driven for opening and closing to car side door 1; And clamping close device, be arranged between car side door 1 and the using escalator place side door 6, in linkage using escalator place side door 6 is carried out on-off action with the on-off action based on the car side door 1 of the driven for opening and closing of electrical motor 5, the gate control system of elevator has: rotation detecting circuit 10, detect the rotation of electrical motor 5; Current sensor 11 detects the torque of electrical motor 5; And badge closes detector 16, to be input according to the angular acceleration information that output was obtained of rotation detecting circuit 10 with from the moment information that current sensor 11 is obtained, can engage detection in real time, reduces as can be known and opens the door the time.
In addition, in the present embodiment, cireular frequency pattern generator 12 with the spin velocity that generates electrical motor 5, close the output that cireular frequency pattern generator 12 is changed in the output of detector 16 according to badge, therefore can carry out different engagings in each condition detects, can reduce to transfer to accelerated motion between low regime after the engaging, therefore keep the low noise of the engaging under the low speed and low vibration performance and can reduce the invalid driven at low speed time, can improve the operating efficiency of elevator.
In addition, in the present embodiment, known torque converter 15 with torque that the position of coming calculating motor 5 to load according to the location information that obtains from the output of rotation detecting circuit 10 relies on, badge closes the moment information that detector will deduct the output of known torque converter 15 from the moment information from current sensor 11 and is made as input, therefore the known torque that determines according to the door position can be eliminated in advance, therefore high-precision test can be carried out.
In addition, in the present embodiment, selected to represent that in order to construct identification line 28 the straight line equal angles ground before and after the engaging carries out the straight line of 2 five equilibriums, but engaged the precision change of detection according to the mechanical technique standard.Considering these mechanical technique standards, is purpose to prevent flase drop or to accelerate that engaging detects, and also can not use equal angles and is to use the angle that is weighted to construct identification line 28.
In addition, in order to strengthen difference or the ratio of inertia and resistance to motion before and after the engaging, also has following method: constitute with the mechanicalness door closing force at using escalator place side door 37 additional using escalator place side doors and identify line 28.Using escalator place side door is changed into the power of the direction of closing the door with mechanicalness door closing force use bob-weight and pulley with gravity or is produced the power of the direction of closing the door by spring force.With the flase drop that prevents from engaging or to accelerate that engaging detects be purpose, also can use using escalator place side door to construct with the mechanicalness door closing force and identify line 28.
In the present embodiment, the angular acceleration before and after the engaging and the time series data of torque are regarded as the group, and the straight line that will add up ground isolates and group to construct be to identify line 28.
Here, consideration with isolates and group's plane with border maximization (constitute in the whole straight-line distance between group and group's the key element distance with minimum and be chosen as maximum plane, namely can carry out the data of linear identification, then become the distance that comprises this minimum wait cut apart, be the plane of maximized point.) such method calculates.
If constitute the identification line according to the change of the angular acceleration of measuring in the present embodiment and torque with the method for present embodiment, then also can identify engaging with the new data of not study.But, use the 2-D data of angular acceleration and torque in the present embodiment, therefore identifying line becomes straight line.
In the present embodiment, (key element that determines the group is before the engaging or the engaging back) need tag to the key element of the group before and after the engaging of the data learnt.As this method that tags, use know reliably card and or the position that do not engage tag.Under situation about representing with the form as the engaging gap is X ± α (be the car side door amount of movement of initial point with the full-shut position), be groups 26 before the engaging as can be known till the X-α.On the other hand, as can be known X+ α be later on the engaging after group 27.
Like this, tagged angular acceleration before and after use can engage, the data of torque decide identification line 28, but the method that does not need to be limited to present embodiment for this decision, if (for example in SVMs (SVM), hidden Markov model (HMM), DP coupling etc., other general algorithm for pattern recognition, can use the feature of identifying object, group 26 before the engaging and the group 27 after the engaging become linearity etc.), then also can determine.In addition, principal component analysis (PCA), the recognition methods such as (k-means) of the k-method of average can not tag use information in advance, therefore identify the reliability step-down of line, but can identify the setting of line.
And, in order to determine to identify line, not only to have the border is maximized such method, and the purpose in order to suppress to vibrate etc., be purpose as having likelihood before after engaging, accelerating, also have group before engage to see that the side after the engaging identifies the method that line is offset slightly.In order to satisfy it, the weight of expecting making the group after engaging the distance till the identification line is than the little such method of distance till from the group before engaging to the identification line.And, before the engaging and the data area after the engaging also can with before engaging/be not transitional in whole intervals after the engaging or do not apply the reason of external force that and a part of interval of extracting the noise immunity grow is selected.
Here, the border maximum of group after identifying the preceding group of distance engaging and engaging, therefore whether intersection point 29 expressions of time series data 25 and identification line 28 are right after after engaging, when time series data has surpassed intersection point 29, can identify and engage, namely detect and engage.
In embodiment 1 and 2, use angular acceleration and torque to set the identification line, but use cireular frequency and torque integrated value also can define the identification line 28 identical with embodiment 1 as other state variable that is obtained by rotation detecting circuit 10 and current sensor 11.For cireular frequency, torque integrated value, can eliminate the small noise that in the time series data of angular acceleration and torque, produces by the equalization of integration, can strengthen noise immunity.In addition, suppose in order to calculate angular acceleration cireular frequency carried out differential and under the situation about obtaining, produce the influence of using the delay that filter causes, but also can eliminate this influence.
As shown in figure 12, in cireular frequency-torque integrated value plane, can be by constituting identification line 28 with embodiment 1 and 2 equal methods.This identification line can be made of the method that other state variables such as differential value of use angle, torque are set, and can not rely on the selection of state variable and the detection that engages.
Embodiment 4.
In embodiment 1, use rotation detecting circuit 10 to obtain angular acceleration, but angular acceleration information have a lot of noises sometimes, therefore need to use low-pass filter.At this moment, under the situation that number of times is big or cutoff frequency is low of low-pass filter, the character of the phase delay that has according to low-pass filter, time series data integrally is partial to the beginning side of opening the door as shown in Figure 13, and the position of X-α, actual clamped position also are partial to the beginning side of opening the door.But identification line 28 is not subjected to the influence of the change of the position of X-α, actual clamped position, therefore becomes and detects slack-off direction.But when the number of times that reduces low-pass filter or raising cutoff frequency, noise immunity dies down, therefore because small noise causes the possibility of flase drop survey engaging to uprise.
The amount of noise changes according to installing and installing residing environment, consider that above relation reduces the number of times of low-pass filter or improves cutoff frequency and design, if owing to flase drop takes place noise, then when the number of times that improves low-pass filter or reduce cutoff frequency and design and make and do not carry out flase drop not have the engaging of flase drop to detect thus.
In the present embodiment, get arbitrarily 2 points the group before engage, from ensured the group after the engaging, get 2 points arbitrarily in addition, use describe straight line at 2 before the engaging, its inclination and intercept is made as J
b, T
bSimilarly, use derive J at 2 after engaging
a, T
aUse them and constitute the identification line according to formula (4).But, before the engaging and 2 sides that separate as far as possible after engaging, can not become and caught before the engaging and the inclination (inertia) of the part after the engaging and the straight line of intercept (resistance to motion), therefore become before the performance engaging and the average straight line after the engaging, the performance of identifying line becomes good.
In present embodiment 5 as described above, do not need to carry out complexity and the many calculating of calculated amount as method of least square in order to calculate inertia and resistance to motion, can in less memory device, keep variable.
As described above, in present embodiment 5, obtain the effect identical with embodiment 1～4, and draw as not missing the identification line identifying with less memory device and calculated amount.
In the present embodiment, the group before engage uses 2 points arbitrarily, uses near the X+ α 1 to constitute during having ensured the group after the engaging in addition to become the identification of border maximum line.But 2 sides that separate as far as possible before the engaging can not catch local inertia and resistance to motion, and the performance of identification line becomes good.In addition, 1 after the engaging is along with leaving (with reference to the arrow 34 Figure 15) from X+ α as illustrated in fig. 15, and the group of identification line before engaging becomes (with reference to the arrow 35 Figure 15) far away, so X+ α is good.
In addition, if 1 angular acceleration and the torque of the maximum torque before using card taking among 2 before will engage to close decide the identification line, then tilt with engage before faciation with, ratio of distance engaging preceding group greatly, therefore the group before the engaging can not intersected with intersection point 29, can not identify by mistake.
As described above, in present embodiment 6, obtain the effect identical with embodiment 5, and draw as not missing the identification line identifying with less memory/computation amount.
In the present embodiment, use the group before engage arbitrarily constitute the identification line as illustrated in fig. 16 at 2.But the side that separates as far as possible of 2 difference after before the engaging 2 and the engaging can not catch inertia and the resistance to motion of part, and the performance of identifying line becomes good.Inertia and resistance to motion change for comprising the state of using escalator side door from the state that has only the car side door according to engaging.At this moment, have only the car side door, so the mass ratio of car side door+using escalator place side door 37 is (to use it to be advisable about 2 times under the situation of knowing in advance mass ratio accurately.), the inertia after the engaging and resistance to motion also merely become respectively about 2 times.Therefore, when use formula (4) derived the identification line, the inertia of identification line and resistance to motion became about (1+2)/2/1=3/2 separately times before the engaging.In Figure 16, the representative line before the engaging is expressed as 36, the representative line that the inclination with 36 and intercept become after 2 times the engaging is expressed as 37.
In addition, in present embodiment 7, use also can the group after engaging arbitrarily constitute the identification line at 2.But the side that separates as far as possible of 2 difference after before the engaging 2 and the engaging can not catch inertia and the resistance to motion of part, and the performance of identifying line becomes good.At this moment, the inertia before the engaging and resistance to motion according to mass ratio be after the engaging separately about 1/2 times, the inertia of identification line and resistance to motion become after the engaging (1+1/2)/2/1=3/4 separately doubly about.
As described above, in present embodiment 7, obtain the effect identical with embodiment 6, and draw acquisition as not missing the identification line identifying with memory device and the calculated amount of minimum.
Embodiment 8.
Figure 17 is the block diagram of inner structure of door controller 4 of the door gear of the expression elevator that is arranged on present embodiment 8.In Figure 17, have with the additional same tag of the part of Fig. 5 same function and represent, omit their explanation here.Be with the different of structure of Figure 17 as Fig. 5, in Figure 17, replace the speed controller 13 of Fig. 5 and be provided with speed controller 41, between current controller 14 and electrical motor 5, appended overload detection 39, replaced badge to close detector 16 in addition and be provided with badge closing detection/quality estimator 40.
Figure 19 is that to be illustrated in electrical motor be induction motor (IM), embed the block diagram of inner structure of door controller 4 of the door gear of the elevator that is arranged on present embodiment 8 under the situation of permanent-magnet synchronous type electrical motor.In Figure 19, have with the additional same tag of the part of Figure 18 same function and represent, omit their explanation here.Difference as the structure of Figure 18 and Figure 19, in Figure 19, replace the speed controller 13 of Figure 18 and be provided with speed controller 41, between current controller 14 and electrical motor 5, appended overload detection 39, replaced badge to close detector 16 in addition and be provided with badge closing detection/quality estimator 40.
Close in detection/quality estimator 40 at badge, utilized inertia and the ratio of quality to be fixing characteristics with closed detector 17 detected clamped positions by badge, can according to the method for using embodiment 5 calculate infer engaging before, inertia after the engaging infer engaging respectively before, quality after the engaging.
In present embodiment 8, the output of speed controller 41 is changed according to the output that badge closes detection/quality estimator 40.In addition, in the present embodiment, also export cireular frequency command value to electrical motor 5 by cireular frequency pattern generator 12, deduct and to carry out the spin velocity that the differential processing obtains by the rotation detecting circuit 10 detected anglecs of rotation by differentiator 22 by subtracter 20 from the cireular frequency command value of exporting, thereby calculate the cireular frequency deviation, speed controller 41 calculates current instruction value as actual cireular frequency trace instruction cireular frequency according to this cireular frequency deviation.At this moment, in the present embodiment, this current instruction value closes the output of detection/quality estimator 40 according to badge and suitably changes.As an example of speed controller 41, have suc as formula PI speed controller G(s such shown in (5)).In the present embodiment, describe as example with the situation of the PI speed controller that uses formula (5), but application of the present invention is not limited to the PI controller, if carry out equal action, then also can use other speed controller.
G(s)=K
Sp+ K
Si/ s formula (5)
The tracking of general 14 pairs of command value of current controller set specific rate controller 41 height.Be during suc as formula (5) such PI speed controller when under this condition, being assumed to speed controller 41, as the crossover frequency ω of the index of the tracking of expression speed controller 41
cBecome suc as formula (6).
ω
c=K
Sp/ J formula (6)
Remain under the fixing situation in the tracking of wanting to control system according to formula (6), wish as can be known to change proportional gain K in conjunction with inertia J
SpAccording to the present invention, can close detection/quality estimator 40 by badge and infer inertia J, the difference of door quality that therefore can be by each layer and have or not to change the control ratio K that gains according to the engaging of using escalator place side door 6
SpThus, no matter how the having or not of the engaging of the difference of door quality that can each layer, using escalator place side door 6, the tracking that all will control system remains fixing, can carry out finer control.
Integration proportional gain K
SiBe for example according to " AC サ ー ボ シ ス テ system reason Theory と Let Meter real Inter " (list of references: this English of China fir man of virtue and ability, other 2, " AC サ ー ボ シ ス テ system reason Theory と Let Meter real Inter ", the 7th edition, Gross close Electricity press, on July 10th, 2005, p.153-157), be set at and satisfy formula (7).
K
Si=K
Sp* ω
c/ 5 formulas (7)
In addition, in the present embodiment, the set basis badge of overload detection 39 closes the output of detection/quality estimator 40 and changes.Overload detection 39 is as lower unit: become abnormality detection threshold value than predefined regulation when big in torque, thereby be judged as in car side door 1 or 6 contacts of using escalator place side door or clamped the mobile counter-rotating that human body etc. makes door.Thus, can prevent from applying big load to human body.In the present embodiment, the value of the abnormality detection threshold value of overload detection 39 is changed in the output of closing detection/quality estimator 40 according to badge.
The torque of electrical motor 5 changes according to the quality of car side door 1, the quality of using escalator place side door 6, therefore wishes also to change the abnormality detection threshold value for detection of overload.If use the present invention can infer the quality of the door that electrical motor 5 moves, therefore can strengthen the overload detection threshold value inferring under the big situation of a quality, can reduce the overload detection threshold value inferring under the little situation of a quality.Thus, can carry out the high overload detection of reliability.
As described above, in present embodiment 8, can obtain the effect identical with embodiment 1～7, and can further obtain following effect.
In the present embodiment, has the speed controller 41 of controlling electrical motor 5 according to the output of cireular frequency pattern generator 12 and the difference of the rotative speed that obtains from rotation detecting circuit 10, the proportional gain of this speed controller 41 is changed accordingly with door quality presumed value according to the output that badge closes detection/quality estimator 40, therefore can speed control system optimally be changed according to door quality different before and after each layer, the engaging, no matter therefore how the door quality can both obtain equal vibration, noise performance.
In addition, in the present embodiment, having torque at electrical motor 5 becomes to detect under the situation more than the detection threshold of regulation and is unusual overload detection 39, the abnormality detection threshold value of overload detection 39 is changed in the output of closing detection/quality estimator 40 according to badge, therefore the threshold value of overload detection can be set according to different door quality before and after each layer, the engaging, therefore the high overload detection of precision can be carried out.
Claims (15)
1. the gate control system of an elevator has: the car side door opens and closes the gangway of the car of elevator; Using escalator place side door opens and closes the gangway of using escalator place on each layer floor; Electrical motor carries out driven for opening and closing to described car side door; And clamping close device, be arranged between described car side door and the described using escalator place side door, in linkage described using escalator place side door is carried out on-off action with the on-off action based on the described car side door of the driven for opening and closing of described electrical motor, the gate control system of this elevator is characterised in that to possess:
Use to detect the output of rotation detecting circuit of rotation of described electrical motor and the output of torque detecting unit that detects the torque of described electrical motor and calculate the unit of the described car side door of identification and the identification line of the front and back that engage of using escalator place side door in advance;
Memory cell is preserved described identification line; And
Badge closes detector, the output of the described rotation detecting circuit that use obtains when the door of reality opens and closes and the output of described torque detecting unit and be kept at identification line in the described memory cell detect engaging of described car side door and using escalator place side door.
2. the gate control system of elevator according to claim 1 is characterized in that,
Have the cireular frequency pattern generator of the rotative speed of the described electrical motor of indication, the output of described cireular frequency pattern generator is changed in the output of using described badge to close detector.
3. according to the gate control system of claim 1 or 2 described elevators, it is characterized in that,
Have as lower unit, this unit use the time series data that obtains from the output of described rotation detecting circuit and from the time series data that the current sensor that detects described torque obtains, ensured engaging and the data in the interval that not have to engage according to the mechanical technique standard, calculate the identification line of the front and back of the described engaging of identification in advance
The gate control system of described elevator has:
Store the device of this identification line; And
Badge closes detecting unit, this badge closes detecting unit according to this canned data, the time series data that obtains from the output of the rotation detecting circuit of described electrical motor with from the time series data that the output of described current sensor obtains when the door of reality opens and closes, detect in real time to engage.
4. according to the gate control system of claim 1 or 2 described elevators, it is characterized in that having:
Special torque detecting unit, the location information that obtains according to the output from described rotation detecting circuit, the driving voltage and the described location information that drive described electrical motor are come calculating torque; And
Known torque converter has the function of the known torque that calculated in advance depends on described location information and mechanically export.
5. according to the gate control system of claim 1 or 2 described elevators, it is characterized in that,
Use time series data according to the torque that obtains from the time series data of the angular acceleration that obtains according to described rotation detecting circuit with according to described torque detecting unit, by the mechanical technique standard ensured engaging and not have guarantee that the data in the interval of engaging obtain before the engaging, the time series data in interval after engaging, before deriving engaging, inertia and resistance to motion after the engaging, utilize by described engaging to make driven object constitute the identification line from having only the car side door to change to comprise the using escalator side door.
6. according to the gate control system of claim 1 or 2 described elevators, it is characterized in that,
Number of times or the cutoff frequency of change low-pass filter.
7. according to the gate control system of claim 1 or 2 described elevators, it is characterized in that,
Have known torque converter, the location information that this known torque converter obtains by the output from described rotation detecting circuit is calculated the torque of the position dependence that is attached to described electrical motor,
Have badge and close detection/door quality estimator, this badge closes detection/door quality estimator and uses the output of described known torque converter, the time series data of the angular acceleration that obtains from described rotation detecting circuit, the time series data of the torque that obtains from described torque detecting unit, select to have ensured engaging and the data that do not have the interval of engaging by the mechanical technique standard, according to operational support before the engaging that obtains and before the engaging obtained of the time series data in interval after the engaging, inertia after the engaging and resistance to motion infer that badge closes and the door quality.
8. according to the gate control system of claim 1 or 2 described elevators, it is characterized in that,
The time series data of the torque that obtains according to the time series data that obtains from described rotation detecting circuit with from described torque detecting unit is selected to have ensured engaging and the data in the interval that not have to engage by the mechanical technique standard, operational support before the engaging that obtains and the time series data in the interval after the engaging derive before the representative engaging respectively and the straight line after the engaging, will be to the straight line before engaging, be made as described identification line with straight line that the angle of straight line formation after engaging is carried out 2 five equilibriums.
9. according to the gate control system of claim 1 or 2 described elevators, it is characterized in that,
The time series data of the torque that obtains according to the time series data that obtains from described rotation detecting circuit with from described torque detecting unit is selected to have ensured engaging and the data in the interval that not have to engage by the mechanical technique standard, operational support before the engaging that obtains and the time series data in the interval after the engaging derive before the representative engaging respectively and the straight line after the engaging, for the straight line before the engaging, with engage after the formed angle of straight line, be not to use equal angles and be to use the angle of having carried out weighting to constitute described identification line.
10. according to the gate control system of claim 1 or 2 described elevators, it is characterized in that,
Before engaging, use 2 angular acceleration and torque information, after engaging, use 2 angular acceleration and the information of torque to constitute described identification line.
11. the gate control system according to claim 1 or 2 described elevators is characterized in that,
Before engaging, use 2 angular acceleration and torque information, after engaging, use 1 angular acceleration and the information of torque to constitute described identification line.
12. the gate control system according to claim 1 or 2 described elevators is characterized in that,
Use the information of 2 preceding angular acceleration of engaging, torque and the information of the mass ratio before and after the engaging to constitute described identification line.
13. the gate control system according to claim 1 or 2 described elevators is characterized in that,
Use 2 angular acceleration after engaging, the information of torque and the information of the mass ratio before and after the engaging to constitute described identification line.
14. the gate control system according to claim 1 or 2 described elevators is characterized in that,
Has speed controller, this speed controller is according to the output of described cireular frequency pattern generator, control described electrical motor with the difference of the rotative speed that obtains from described rotation detecting circuit, selection has ensured engaging and the data that do not have the interval of engaging by the mechanical technique standard, will according to used the guarantee obtain before the engaging and engaging that the time series data in the interval after the engaging is obtained before, inertia and resistance to motion after the engaging infer the output that badge closes and the badge of door quality closes detection/quality estimator, is input to described speed controller.
15. the gate control system according to claim 1 or 2 described elevators is characterized in that,
Has overload detection, this overload detection becomes in the torque of described electrical motor under the situation more than the value of regulation and detects to unusual, selection has ensured engaging and the data that do not have the interval of engaging by the mechanical technique standard, based on according to used the guarantee obtain before the engaging and engaging that the time series data in the interval after the engaging is obtained before, inertia after the engaging infers the output that badge closes and the badge of door quality closes detection/quality estimator, changes the abnormality detection threshold value of described overload detection.
Applications Claiming Priority (3)
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| JP2011-001351 | 2011-01-06 | ||
| JP2011001351 | 2011-01-06 | ||
| PCT/JP2011/006927 WO2012093441A1 (en) | 2011-01-06 | 2011-12-12 | Door control system for elevator |
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| Publication Number | Publication Date |
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| CN103282300A true CN103282300A (en) | 2013-09-04 |
| CN103282300B CN103282300B (en) | 2015-03-11 |
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|---|---|
| JP (1) | JP5575272B2 (en) |
| KR (1) | KR101506416B1 (en) |
| CN (1) | CN103282300B (en) |
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| CN106256748A (en) * | 2015-06-17 | 2016-12-28 | 三菱电机株式会社 | For controlling method and the elevator car door system of the operation of the door system of elevator device |
| CN108946409A (en) * | 2018-07-25 | 2018-12-07 | 日立楼宇技术（广州）有限公司 | A kind of control method for operation of elevator car door, device, elevator and storage medium |
| CN110857204A (en) * | 2018-08-23 | 2020-03-03 | 东芝电梯株式会社 | Door control device for elevator |
| CN112696117A (en) * | 2019-10-22 | 2021-04-23 | 株式会社有信 | Opening and closing device for vehicle opening and closing body |
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| EP3138804A1 (en) * | 2015-09-07 | 2017-03-08 | Siemens Aktiengesellschaft | Method for automatically detecting a coupling line |
| KR102060362B1 (en) | 2018-05-21 | 2019-12-30 | 현대엘리베이터주식회사 | Apparatus of controlling impact of elevator door |
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| CN106256748B (en) * | 2015-06-17 | 2018-07-24 | 三菱电机株式会社 | The method and elevator car door system of the operation of door system for controlling elevator device |
| CN108946409A (en) * | 2018-07-25 | 2018-12-07 | 日立楼宇技术（广州）有限公司 | A kind of control method for operation of elevator car door, device, elevator and storage medium |
| CN108946409B (en) * | 2018-07-25 | 2020-07-10 | 日立楼宇技术（广州）有限公司 | Elevator car door operation control method and device, elevator and storage medium |
| CN110857204A (en) * | 2018-08-23 | 2020-03-03 | 东芝电梯株式会社 | Door control device for elevator |
| CN112696117A (en) * | 2019-10-22 | 2021-04-23 | 株式会社有信 | Opening and closing device for vehicle opening and closing body |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20130101120A (en) | 2013-09-12 |
| DE112011104681T5 (en) | 2013-10-02 |
| KR101506416B1 (en) | 2015-03-26 |
| JP5575272B2 (en) | 2014-08-20 |
| WO2012093441A1 (en) | 2012-07-12 |
| DE112011104681B4 (en) | 2021-12-02 |
| JPWO2012093441A1 (en) | 2014-06-09 |
| CN103282300B (en) | 2015-03-11 |
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