CN106467266A

CN106467266A - Controlling device for doors and lift appliance

Info

Publication number: CN106467266A
Application number: CN201610686254.2A
Authority: CN
Inventors: 菅原正行; 岸元邦充
Original assignee: Mitsubishi Corp
Current assignee: Mitsubishi Corp; Mitsubishi Electric Corp
Priority date: 2015-08-19
Filing date: 2016-08-18
Publication date: 2017-03-01
Anticipated expiration: 2036-08-18
Also published as: CN106467266B; JP6597426B2; JP2017039609A

Abstract

Controlling device for doors and lift appliance.Appropriate Filtering Processing is carried out by the testing result of opposite house opening and closing speed, so that door is swimmingly opened and closed.Controlling device for doors has：On-off action selector, it selects the action command of output and the motor-driven door-plate carrying and being connected；Speed controlling portion, its output is supplied to the current value of motor, to control the translational speed of door-plate；Push and use electric current instruction department, it makes electric current value changes, so that the torque change that motor produces；Velocity arithmetic portion, it is according to the position of rotation of motor, the rotary speed of computing motor；Band rigidity estimator, the variable quantity of the variable quantity of its current value being exported with electric current instruction department using pushing and the position of rotation of motor is estimated to carry rigidity；Blocking frequency determination section, it determines blocking frequency according to the band rigidity estimating with rigidity estimator；And Filtering Processing portion, its output removes the signal after the frequency content of blocking frequency from the signal of rotary speed, and negative feedback is to speed controlling portion.

Description

Controlling device for doors and lift appliance

Technical field

The present invention relates to the controlling device for doors of the door of lift appliance and automatically-controlled door etc. and the electricity with this controlling device for doors Ladder device.

Background technology

The door gear that the doors such as the automatically-controlled door of the door of lift appliance and building move in the horizontal direction and are opened and closed has： Door-plate；Two belt wheels, it is located at the top of door-plate；Ring-type band for no reason, it is winded on these belt wheels；And motor, its drive The belt wheel rotation of a dynamic side.When Motor drive belt wheel rotates, motor torque is converted into the driving force of horizontal direction by band, The door-plate being installed in band is thus made to be opened and closed.

In conventional door gear, the door of open mode is made to become the feelings of closure state being driven to motor controlling Under condition, after door moves to closure end and is blocked, motor is applied with the voltage being gradually increased, detection door driving force Decline.That is, in the case of not producing skidding between the belt wheel rotating by motor and band, electrify when door is blocked Machine does not rotate, thus flows through the electric current being directly proportional to the voltage being applied in motor.But, when generation between belt wheel and band In the case of skidding, motor rotates and produces counter electromotive force, thus the electric current flowing through motor declines.By detecting such flowing through The electric current of motor declines, and carrys out the skidding that the elongation of detection band or the lax driving force size with motor interact and produce, and The decline (for example, referring to patent documentation 1) of the door driving force that detection is caused due to such skidding.

【Patent documentation】

【Patent documentation 1】Japanese Unexamined Patent Publication 2012-116578 publication

Content of the invention

In conventional door gear described in patent documentation 1, it is capable of detecting when to cause because of the skidding between belt wheel and band Door driving force decline, wherein, this skidding is the elongation of band and/or holder due to leading to environment and timeliness change Tool lax and produce.But, the elongation of band and/or lax also make the characteristic variations with rigidity and/or lift car it is impossible to The vibration of the door that suppression is produced when door is opened and closed due to these changes.That is, in controlling device for doors, if not opposite house opening and closing speed The testing result of degree carries out appropriate Filtering Processing, then the vibration of door will be exaggerated, and the variable quantity of door opening and closing speed is excessive, thus Controlling device for doors be judged to door create exception and make on-off action stop, existing be opened and closed required for time elongated, have Damage the problem of convenience.

The present invention is precisely in order to solving problem as above and proposing, it is intended that providing one kind to pass through opposite house The testing result of opening and closing speed carries out appropriate Filtering Processing, makes controlling device for doors that door is swimmingly opened and closed and has this The lift appliance of controlling device for doors.

Means for solving the problem

The present invention provides a kind of controlling device for doors, and it has：On-off action selector, it selects output the 1st action command With the 2nd action command, wherein, described 1st action command indicate that makes the door-plate being connected with motor-driven band be opened and closed The mobile and action that makes described motor rotation, described 2nd action command instruction makes described motor generation when described door-plate stops The action of torque；1st current-order portion, it is supplied to the 1st current value of described motor according to described 1st action command, output, To control the translational speed of described door-plate；2nd current-order portion, it makes to be supplied to described motor according to described 2nd action command The 2nd electric current value changes so that described motor produce torque change；Velocity arithmetic portion, it is according to located at described motor The position of rotation of the described motor of rotation detector output, the rotary speed of motor described in computing；Band rigidity estimator, its use The variable quantity of the position of rotation of the variable quantity of described 2nd current value and described motor, to estimate the band rigidity of described band；Block frequency Rate determination section, it determines blocking frequency according to the described band rigidity estimating with rigidity estimator；And Filtering Processing portion, its Output eliminates the signal after the frequency content of described blocking frequency from the signal of described rotary speed, and negative feedback is to described 1st current-order portion.

Another kind of controlling device for doors that the present invention provides has：On-off action selector, it selects output the 1st action command With the 2nd action command, wherein, described 1st action command indicate that makes the door-plate being connected with motor-driven band be opened and closed The mobile and action that makes described motor rotation, described 2nd action command instruction makes described motor generation when described door-plate stops The action of torque；1st current-order portion, it is supplied to the 1st current value of described motor according to described 1st action command, output, To control the translational speed of described door-plate；2nd current-order portion, it makes to be supplied to described motor according to described 2nd action command The 2nd current value frequency change so that described motor produce torque cycle ground change；Velocity arithmetic portion, its basis Located at the position of rotation of the described motor of the rotation detector output of described motor, the rotary speed of motor described in computing；Vibration Characteristic estimating portion, it uses the change of the position of rotation of the change of the frequency of described 2nd current value and described motor, to estimate to shake Dynamic frequency characteristic；Blocking frequency determination section, the described frequency of vibration characteristic that it estimates according to described vibration characteristics estimator Lai Determine blocking frequency；And Filtering Processing portion, its output eliminates described blocking frequency from the signal of described rotary speed Signal after frequency content, and described 1st current-order portion is given in negative feedback.

Additionally, the lift appliance of the present invention has：Any one above-mentioned controlling device for doors；And door gear, it is by institute State controlling device for doors to be controlled, make described door-plate be opened and closed movement.

Invention effect

According to the controlling device for doors of the present invention, estimate to determine with rigidity examine from the rotary speed of degenerative motor Survey the blocking frequency removing in result, thus change filtering characteristic is it is thus possible to the vibration of suppression door makes smoothly to be opened and closed Action.

Brief description

Fig. 1 is the skeleton diagram of the structure of the door gear illustrating embodiments of the present invention 1.

Fig. 2 is the control block diagram of the structure of the controlling device for doors illustrating embodiments of the present invention 1.

Fig. 3 is the illustraton of model with rigidity and belt tension of the door gear illustrating embodiments of the present invention 1.

Fig. 4 is the figure of the action of motor carrying out during door opening action illustrating embodiments of the present invention 1.

Fig. 5 is the figure of the rotary speed change of the motor illustrating that conventional controlling device for doors is carried out during door opening action.

Fig. 6 is the control block diagram of the controlling device for doors illustrating embodiments of the present invention 2.

Fig. 7 is the control block diagram of the controlling device for doors illustrating embodiments of the present invention 3.

Fig. 8 is the figure of the action of motor carrying out during door opening action illustrating embodiments of the present invention 3.

Fig. 9 is the control block diagram of the controlling device for doors illustrating embodiments of the present invention 4.

Figure 10 is the control block diagram of the controlling device for doors illustrating embodiments of the present invention 5.

Figure 11 is the control block diagram of another controlling device for doors illustrating embodiments of the present invention 5.

Label declaration：

1A、1B：Door-plate；6A、6B：Belt wheel；7：Band；8A、8B：Connection member；9：Motor；12：Controlling device for doors；13：Open Close Action Selection portion；14：Speed command portion；15：Speed controlling portion (the 1st current-order portion)；16：Push and use electric current instruction department (the 2nd current-order portion)；17：Current-order switching part；18：Current control division；20：Rotation detector；21：Velocity arithmetic portion； 22：Filtering Processing portion；23：Blocking frequency determination section；24：Band rigidity estimator；25：Band initial tension determination part；26：Electric current refers to Make limiting unit (the 2nd current-order portion)；27：Vibrator is with electric current instruction department (the 2nd current-order portion)；28：Vibration characteristics estimator； 29：Abnormality determiner；30：Abnormal distribution unit.

Specific embodiment

Embodiment 1

First, the structure of the door gear of embodiments of the present invention 1 is described.Fig. 1 illustrates embodiments of the present invention 1 The overall skeleton diagram of the structure of door gear.Fig. 1 shows the door gear of the door being for example used as lift appliance.

In FIG, door gear 1 has：Door-plate 1A, 1B, it is opened and closed to the gateway of lift car；Suspension bracket 2, its peace It is loaded on the upper end of door-plate 1A, 1B；Crossbeam 3, it configures the rising wood in gateway in the way of long edge horizontal direction；And Guiding rail 4, it configures in crossbeam 3 in the way of long edge horizontal direction.It is provided with multiple hanging wheels 5, hanging wheel 5 quilt in suspension bracket 2 Be placed on guiding rail 4, hanging wheel 5 is mobile along guiding rail 4, thus guiding suspension bracket 2 move horizontally i.e. guiding door-plate 1A, 1B moves openingly and closingly.

Belt wheel 6A, 6B are located on crossbeam 3 with being separated from each other the distance (hereinafter referred to as carrying tyre tread) of regulation, and ring-type is for no reason Band 7 hang around the both sides of belt wheel 6A, 6B and be set up in this.Therefore, there is the upper of the upside being erected at belt wheel 6A, 6B with 7 Side part and be erected at belt wheel 6A, 6B downside lower portion.In suspension bracket 2, connection member 8A, 8B, connection member are installed 8A engaging in 7 lower portion, connection member 8B engaging in 7 upper portion.Alternatively, it is also possible to be connection member 8A card Due to 7 upper portion, connection member 8B engaging in 7 lower portion.And, the motor 9 for driving pulley 6A with Belt wheel 6A is coaxially located at one end of crossbeam 3.Band 7 is conduction band, driving force is passed to door-plate 1A, 1B from motor 9, for example Toothed belt or V-type band can be used.It is provided with groove corresponding with belt shape in belt wheel 6A, 6B, by change tape tyre tread, energy Enough adjust the initial tension of ring-type band 7 for no reason.

In the suspension bracket 2 of door-plate 1A, inside gateway, (on the left of paper) is provided with block 10A, and outside gateway, (paper is right Side) it is provided with block 10B.And, at height corresponding with block 10A, 10B in crossbeam 3, it is provided with fixing end inside gateway 11A, is provided with fixing end 11B outside gateway.Block 10A, 10B and fixing end 11A, 11B are to determine that door-plate 1A's is complete Closed position and fully open position and arrange.That is, in the case that door-plate 1A is fully closed, it is left that door-plate 1A moves to paper on the right side of paper Side, in full close position, block 10A is contacted with fixing end 11A, thus limit the movement of door-plate 1A, door-plate 1A is in full close position Stop.Equally, in the case of door-plate 1A standard-sized sheet, door-plate 1A moves on the right side of paper on the left of paper, in fully open position, block 10B is contacted with fixing end 11B, thus limit the movement of door-plate, and door-plate 1A stops in fully open position.

In addition, the band 7 that door-plate 1B is also connected with door-plate 1A connects, thus with door-plate 1A in linkage in full close position or Fully open position stops, and can also equally arrange block with door-plate 1A, and arrange consolidating of door-plate 1B in crossbeam 3 at door-plate 1B Fixed end.In addition, be not necessarily required to arrange gateway inside block 10A and fixing end 11A or by make door-plate 1A and Door-plate 1B contacts, and door-plate 1A, 1B stop at full close position.

And, it is provided with as supply for the PWM inverter (not shown) of current source of the electric current of motor 9 and right PWM inverter is supplied to the controlling device for doors 12 that the electric current of motor 9 is controlled, and thus constitutes door gear.

In addition, the structure of above-mentioned door gear is the door gear of the double-door type by door-plate located at the left and right sides of gateway Structure but it is also possible to be single open-door formula door gear, that is, door-plate be one, only with 7 upper portion or lower portion In any one party there is the connection member located at suspension bracket 2.

And, can be said structure in the door gear of the automatically-controlled door in building etc., but the door dress for lift appliance Put, said structure illustrate only the structure of cage side, the structure of the structure of cage side and stop side (not shown) is combined structure Become the door gear of lift appliance.

The structure of stop side is the structure as the cage side shown in Fig. 1, but is not provided with motor 9 and PWM inverter, This point is different from the structure of cage side.That is, in stop side, door-plate 1A, 1B corresponding to cage side also are provided with door-plate, with Fig. 1 Shown structure is equally provided with suspension bracket, crossbeam, guiding rail, hanging wheel, belt wheel, band, connection member, block and fixing end.

It is respectively equipped with clamping close device (not shown) in the door-plate of cage side and the door-plate of stop side, by making engaging each other Device is engaged and is made two side door plate integrations, and the driving force towards opening and closing direction located at the motor 9 of cage side is also passed Pass the door-plate of stop side door, be not provided with the stop side door of motor 9 also with cage side door linkage be opened and closed.

In addition, being provided with door closing force in stop side door to produce mechanism (not shown), this door closing force produces mechanism in car not yet In the case of stop layers, stop side door is made to keep full-shut position, even also making it automatically close when door-plate is deliberately opened.Close the door It is the mechanism acting on door-plate using the mechanical external force that weight and/or spring make fully closed direction that power produces mechanism.Equally, in car The door closing force that side door also is provided with as stop side produces mechanism (not shown), is being trapped in car because power failure etc. occurs In the case that interior, motor 9 driving force is lost, passenger nor car side door plate is pried open.

And, it is provided with enabling power and produces mechanism (not shown), this enabling power produces mechanism in car side door and stop side door In the case that full-gear is become by clamping close device engaging, even the driving force of motor 9 disappears or less drive It is also possible to make the mechanical external force of spring act on the standard-sized sheet direction of door-plate so that door keeps full-gear during power.

It is made up of the door gear of lift appliance above structure.That is, the door dress of the lift appliance of embodiments of the present invention 1 Put by located at the door-plate 1A of car side door, 1B, suspension bracket 2, crossbeam 3, guiding rail 4, hanging wheel 5, belt wheel 6A, 6B, band 7, connecting portion Part 8A, 8B, motor 9, block 10A, 10B, fixing end 11A, 11B, controlling device for doors 12, PWM inverter, clamping close device, close the door Power produces mechanism and enabling power produces mechanism and the door-plate located at stop side door, suspension bracket, crossbeam, guiding rail, hanging wheel, band Wheel, band, connection member, block, fixing end, clamping close device and door closing force produce mechanism and constitute.

In the door gear of lift appliance configured as described above, the rotation of controlling device for doors 12 controlled motor 9, thus electricity The door gear of ladder device carries out action.When motor 9 rotates, the belt wheel 6A being coaxially disposed with motor 9 is rotated and drive belt 7.Door Plate 1A, 1B are passed through connection member 8A, 8B and are connected with band 7, thus pass through drive belt 7, and door-plate 1A, 1B move in the opposite directions to each other Dynamic, gateway is opened and closed.In door gear shown in Fig. 1, in the opening action of door, motor 9 and belt wheel 6A are counterclockwise Rotation, in the closed action of door, motor 9 and belt wheel 6A turn clockwise.

In the case of the door gear of lift appliance, the action of controlling device for doors 12 includes on-off action and racking, On-off action is used for making door-plate 1A, 1B mobile and becomes full-gear from full-shut position or become fully closed shape from full-gear State, racking is used for making door-plate 1A, 1B static under full-shut position or full-gear.On-off action includes generally being opened and closed dynamic Make and abnormal on-off action, usual on-off action makes door-plate 1A, 1B merely be opened and closed for controlled motor 9, abnormal opening and closing Action is used for, in the case of being judged to there occurs that passenger such as contacts at the exception with door, making the opening and closing of door-plate stop for the time being, then with The speed end of door plate lower than usual on-off action is opened and closed.In addition, following, sometimes by usual on-off action at closing time Action is referred to as closed the door action, action when opening the door is referred to as door opening action, the action at closing time in abnormal on-off action is claimed For abnormal action of closing the door, action when opening the door is referred to as abnormal door opening action.And, racking when racking includes fully closed With racking during standard-sized sheet, when fully closed, racking makes generation such as make static door under full-shut position for controlled motor 9 The torque that plate is further closed, during standard-sized sheet, so that generation is such as made for controlled motor 9 static under full-gear for racking The torque that door-plate is opened further.

When fully closed, the pushing force of door closing force and motor 9 that racking produces mechanism by door closing force keeps the fully closed of door-plate State, during standard-sized sheet, the pushing force of enabling power and motor 9 that racking produces mechanism by enabling power keeps the standard-sized sheet shape of door-plate State.Under full-shut position and full-gear, it is located at the fixing end of crossbeam 3 in block 10A, 10B of suspension bracket 2 setting of door-plate 1A 11A, 11B push, thus door-plate 1A, 1B are static.Therefore, even controlled motor 9 makes generation such as make door in racking Torque that plate is further closed or when making torque that door-plate is opened further, actually door-plate 1A, 1B is also static.

Even if pushing force during racking is controlled as fixed value or can change so that when there occurs situations below Door-plate 1A, 1B also can be static：Car vibrations when moving to inside and outside car with passenger and produce the vibration of door-plate 1A, 1B, Be provided with the lift car of crossbeam 3 and the inclination of car frame, due to passenger the generation such as trick end of door plate 1A, 1B dry Disturb or guiding rail 4 and hanging wheel 5 traveling loss variation etc..

The torque of controlling device for doors 12 controlled motor 9, is carried out these on-off actions and pushed away by the door gear of this lift appliance Press work.

Below, controlling device for doors is illustrated.Fig. 2 is the knot of the controlling device for doors illustrating embodiments of the present invention 1 The control block diagram of structure.The controlling device for doors of Fig. 2 is configured to estimate band rigidity in racking, calculating is made up of door-plate and band The eigentone of door, is become by the eigentone that Filtering Processing removes door from the translational speed detected value of door-plate Point, it is achieved in smoothly door opening and closing.

As shown in Fig. 2 controlling device for doors 12 have on-off action selector 13, speed command portion 14, speed controlling portion 15, Push with electric current instruction department 16, current-order switching part 17, current control division 18, amperometric 19, velocity arithmetic portion 21, filter Ripple processing unit 22, blocking frequency determination section 23 and band rigidity estimator 24.And, it is provided with rotation detector 20 in motor 9.

, according to the signal from door gear, the on-off action of output switching door gear and pushing are dynamic for on-off action selector 13 The action command made.From the signal of door gear include for example according to the intention of user press door open button and close the door by The signal producing during button, independently produce with the intention of user, door-plate be shown in a fully open operation reach the stipulated time after automatically Signal of closure etc..In the case of being opened and closed action, to the action command of speed command portion 14 output on-off action, entering In the case of row racking, export the action command of racking with electric current instruction department 16 to pushing.

Speed command portion 14, in the case of the action command outputing on-off action from on-off action selector 13, generates The rotational speed command value of the motor 9 being opened and closed for end of door plate 1A, 1B, and export to speed controlling portion 15.Rotary speed Command value sets in advance according to the time from the start time of the on-off action of door-plate 1A, 1B and/or motor position of rotation, output Fixed rotary speed pattern.Or, gradually calculate and export.But, in the on-off action of actual door-plate, due to producing dirt The running resistances such as angstrom blocking, frictional dissipation contact with objects such as people and/or article of causing because of the deformation of door-plate these do Disturb so that producing velocity error between the rotary speed of the reality of motor 9 and rotational speed command value.Speed controlling portion 15 corrects This velocity error.

Speed controlling portion 15 is to the rotational speed command value from speed command portion 14 and from Filtering Processing portion 22 negative feedback The rotary speed of the reality of motor 9 between error be corrected, by the current instruction value being opened and closed action export to Current-order switching part 17.That is, speed controlling portion 15 exports for making door-plate be opened and closed movement, supply motor 9 the 1st electricity Flow valuve, thus be the 1st current-order portion.

And, speed controlling portion 15 is defeated with the difference of rotary speed V of the reality of motor 9 and rotational speed command value V* Enter, according to the time interval controls current instruction value specifying so that rotary speed V of the reality of motor 9 is followed as target Rotational speed command value V*.That is, speed controlling portion 15 is for example by using transmission function C_b(s)=K_sp+K_siThe feedback control that/s represents Device is constituted.Wherein, K_spRepresent proportional gain, K_siRepresent storage gain, s represents Laplace operator.In general, according to Motor shaft conversion inertia value J of the suitable door-plate of motor-driven load etc., the torque constant K of motor 9_T, specify be directed to target Control crossover frequency ω of the performance of output error correction of value_CParameter, by proportional gain K_spIt is designed to K_sp=J × ω_C/ K_T, by storage gain K_siIt is designed to K_si≤K_sp×ω_C/5.

Pushing electric current instruction department 16 is in the situation of the action command outputing racking from on-off action selector 13 Under, generate the pushing current instruction value for pushing door-plate 1A, 1B, and export to current-order switching part 17.That is, push and use Current-order portion 16 is in the 2nd electric current making door-plate 1A, 1B be opened and closed output supply motor 9 in the racking before and after moving Value, thus be the 2nd current-order portion.

And, pushing electric current instruction department 16 export for carry out racking during standard-sized sheet and fully closed when the pushing away of racking Pressure current instruction value, and carry out action and make in racking the change of pushing current instruction value, and so that motor 9 is produced Pushing force changes.In the controlling device for doors of present embodiment 1, the change of the pushing force being produced with such motor 9 by detection Change the position of rotation of corresponding motor 9, to estimate with 7 rigidity and to determine blocking frequency.Details will be aftermentioned.

Current-order switching part 17 selects the current instruction value from speed controlling portion 15 in on-off action, dynamic pushing When making select from pushing electric current instruction department 16 pushing current instruction value, by the current instruction value of any one party export to Current control division 18.

Current control division 18, according to the current instruction value from current-order switching part 17, controls and provides from PWM inverter Current value I to motor 9_M.Thus, the torque tau of on-off action or racking that motor 9 carries out door-plate 1A, 1B is entered Row controls.It is provided with amperometric 19, the electric current that current control division 18 detects to amperometric 19 in the input of motor 9 Value carries out negative feedback, and is controlled making the current value being supplied to motor 9 substantially uniform with current instruction value.It is supplied to electricity setting The current value of machine 9 is I_M, motor 9 torque constant be K_T, the belt wheel radius of coaxially connected with motor 9 belt wheel 6A be r situation Under, power F of the horizontal direction being produced by motor 9 is F=I_M×K_T/r.And, because the torque tau of motor 9 is τ=I_M×K_T, because And F=τ/r.Power F being represented with above formula becomes opening and closing power in on-off action, becomes pushing force in racking.

Rotation detector 20 is located at motor 9, the position of rotation of output motor 9.Rotation detector 20 can be had using motor 9 The rotary detecting circuit being made up of encoder or resolver etc. having.

Velocity arithmetic portion 21 samples to the position of rotation of the motor 9 of rotation detector 20 output at intervals of set time, Obtain the rotary speed of the reality of motor 9 by computing and exported.Detected by rotation detector 20 alternatively, it is also possible to replace The position of rotation of motor 9, and use the detection current value of amperometric 19 to speculate position of rotation input speed operational part 21.

Filtering Processing portion 22 removes by blocking-up frequency from the rotary speed of the reality of the motor 9 being exported by velocity arithmetic portion 21 The vibration component of the assigned frequency (hereinafter referred to as blocking frequency) that rate determination section 23 determines, and negative feedback is to speed controlling portion 15. Filtering Processing portion 22 is the digital filter being made up of low pass filter and/or notch filter, according to blocking frequency determination section 23 decision is changing the blocking frequency in Filtering Processing portion 22.Becoming of blocking frequency is even more by the memorizer to digital filter Data rewriting carry out, for example can also rewrite the data of the table representing filtering characteristic, represent filtering characteristic with numerical expression In the case of it is also possible to numerical expression is rewritten as other numerical expressions.Blocking frequency for example can carried out in units of 3 months～1 year Maintenance opportunity changed it is also possible to whenever open the door at closing time, whenever opening the door, whenever at closing time or on-off action In changed.

Blocking frequency determination section 23 determines to hinder according to the estimated result with rigidity of the band 7 exporting with rigidity estimator 24 Disconnected frequency.The pushing current instruction value being exported according to the pushing electric current instruction department 16 in racking with rigidity estimator 24 The position of rotation of the motor 9 detecting with rotation detector 20, estimates the band rigidity with 7.With regard to the 7 estimation sides with rigidity The determining method of method and blocking frequency will be described hereinafter.

Controlling device for doors 12 configured as described above.

Fig. 3 is the illustraton of model with rigidity and belt tension of the door gear illustrating embodiments of the present invention 1.Fig. 3 is to illustrate The illustraton of model of the door gear of the double-door mechanism shown in Fig. 1.Door-plate 1A, 1B are by controlling to the Tension Difference at each position with 7 Make and be opened and closed.

In figure 3, k1, k2, k3, k4 represent band rigidity, and k1 represents the band rigidity between connection member 8A and belt wheel 6A, k2 Represent the band rigidity between connection member 8B and belt wheel 6A, k3 represents the band rigidity between connection member 8B and belt wheel 6B, k4 table Show the band rigidity between connection member 8A and belt wheel 6B.In addition, sometimes the band rigidity of k1, k2, k3, k4 is unified description being below Ki (i=1～4).Depend on the strip length at each position with rigidity ki (i=1～4).In addition, T1, T2, T3, T4 represent belt tension, T1 represents the belt tension between connection member 8A and belt wheel 6A, and T2 represents the belt tension between connection member 8B and belt wheel 6A, T3 Represent the belt tension between connection member 8B and belt wheel 6B, T4 represents the belt tension between connection member 8A and belt wheel 6B.In addition, Hereinafter sometimes describe unified for the belt tension of T1, T2, T3, T4 as Ti (i=1～4).Additionally, MA represents connection member 8A, door-plate 1A and the gross mass of the suspension bracket 2 installed in door-plate 1A, MB represents connection member 8B, door-plate 1B and hanging in door-plate 1B installation The gross mass of frame 2.

In figure 3, being represented using the difference of belt tension T2 and belt tension T1 based on opening and closing power F of motor 9 at belt wheel 6A, The relation of T2-T1=F is set up.And, for making gross mass MA with the power of acceleration a movement, using belt tension T1 and belt tension The difference of T4 represents, the relation of T1-T4=MA × a is set up.Equally, for making gross mass MB with the power of acceleration a movement, using band Tension force T3 is represented with the difference of belt tension T2, and the relation of T3-T2=MB × a is set up.It is not provided with motor in belt wheel 6B, thus band Power T3 and belt tension T4 are equal, and the relation of T3=T4 is set up.

In addition, Fig. 3 is to illustrate the illustraton of model only in the case that belt wheel 6A is provided with motor 9 as shown in Figure 1.Motor can also Located at belt wheel 6A and 6B both sides, in this case, even also producing opening and closing power in belt wheel 6B, in belt tension T3 as mentioned above The Tension Difference suitable with opening and closing power is produced and belt tension T4 between.

Below, the mechanism of the intrinsic vibration of door is produced at door gear using the illustraton of model explanation of Fig. 3.End of door plate 1A, 1B The driving force being opened and closed is the Tension Difference of the band 7 of connection member 8A, the 8B both sides according to each door-plate and produces.Tension Difference Opening and closing power F that the torque tau of motor 9 that results from is converted to horizontal direction from direction of rotation and is produced by belt wheel 6A.

Door-plate 1A, 1B be static, in the case that motor 9 do not produce torque tau, the tension force Ti (i=1～4) of each band is permanent Fixed, become equal initial tension.In general, by safeguarding the appropriate value that initial tension is remained prescribed level, but There is the initial tension of band and changed or unsuitable maintenance and situation about reducing due to environment and/or timeliness.Such first In the case that beginning tension force reduces, motor 9 produces torque tau, thus producing the Tension Difference suitable with belt tension, sometimes produces belt tension Band position for 0.The state that such belt tension is 0 is referred to as atonia, in this case, is being made up of door-plate and band Door in produce intrinsic vibration.

For example, torque tau, the tension force T1 with position being k1 with rigidity are produced to the motor 9 in the opening and closing of door-plate 1A, 1B Become 0 and occur the situation of atonia to illustrate.In figure 3, the tension force T1 at the position being k1 with rigidity is 0 feelings Under condition, opening and closing power F in the horizontal direction of the torque tau based on motor 9 all becomes the tension force T2 at the position being k2 with rigidity.? If the opening and closing power of horizontal direction is F, belt wheel radius is r, the torque tau of motor 9 is τ=F × r, thus the portion being k2 with rigidity Tension force T2 at position becomes T2=τ/r.That is, in the case that the initial tension with 7 reduces, the mould of the door gear shown in Fig. 3 Type in figure, the model for tension force T1=tension force T2 before motor 9 produces torque tau, torque tau is produced by motor 9 and becomes and turn to Tension force T1=0, the model of tension force T2=τ/r.That is, the inertia J 0 of minimum motor 9 pass through to carry rigidity k1 and k2 respectively with very The model that big gross mass MA and gross mass MB connect becomes tension force T1=0 due to atonia, thus this model becomes Turn to the inertia J 0 of gross mass MB and motor 9 model only by connecting with rigidity k2.So in initial tension reduction In the case of producing atonia, there is the situation of tension force T1=0, thus produce depending on motor inertia J0 with rigidity k2 The intrinsic vibration of parameter.

Such intrinsic vibration is attached to the rotary speed of motor 9, and velocity arithmetic portion 21 output of Fig. 2 considers inherently The operation result of the rotary speed of vibration.

Contacted with door due to passenger etc. and so that in the case that the rotary speed of motor 9 creates excessive vibration, door Control device 12 is judged to there occurs exception and carries out abnormal on-off action, so that the opening and closing of door-plate is stopped for the time being, then with than logical Normally opened close low speed end of door plate and be opened and closed.Abnormal on-off action is for realizing making passenger more comfortably boarding and descending stair institute The action needing.But, although abnormal not occurring passenger to contact with door etc., controlling device for doors 12 carry out misinterpretation and In the case of having carried out abnormal on-off action, passenger feels uncomfortable.Reduce in the initial tension of door gear as described above and send out In the case of the intrinsic vibration of raw door, there is controlling device for doors 12 and be judged to abnormal situation by the intrinsic vibration of door.Cause This, as shown in Fig. 2 the operation result of the rotary speed exporting from speed operational part 21 is inputted by the controlling device for doors 12 of the present invention The frequency content of the intrinsic vibration of door is removed by Filtering Processing portion 22, and negative feedback is to speed controlling by Filtering Processing portion 22 Portion 15.

In the controlling device for doors 12 of the present invention, blocking frequency determination section 23 is utilized to determine the intrinsic vibration for removing door Blocking frequency, Filtering Processing portion 22 change filtering characteristic, to block blocking frequency, thus comprises from speed operational part 21 Output door intrinsic vibration in interior rotary speed after the frequency content eliminating intrinsic vibration using Filtering Processing portion 22, By negative feedback to speed controlling portion 15.As a result, controlling device for doors 12 will not mistakenly carry out abnormal judgement, do not having Have generation exception in the case of, even the intrinsic vibration creating door in the on-off action of door-plate 1A, 1B lead to vibration when, It is also carried out usual on-off action it is thus possible to accomplish not impair the comfortableness of passenger.And, the blocking-up frequency in Filtering Processing portion 22 Rate is dynamic change, even thus the frequency of the intrinsic vibration of door due to environment and/or timeliness change and change when, also not The abnormal judgement occurring can mistakenly be carried out, usual on-off action can be carried out in the case of not there is exception.

Below, the method determining blocking frequency is illustrated.Blocking frequency is the eigentone by calculating door And determine.In present embodiment 1, racking during standard-sized sheet is carried out by one side, simultaneously make pushing force F that motor 9 produces Change, and detect the position of rotation of motor 9 to estimate to carry rigidity, and obtain the intrinsic vibration frequency of the door being blocked accordingly Rate.

Fig. 4 is the figure of the action of the motor illustrating that door gear is opened and closed during the door opening action of one of action.Fig. 4 shows The door gear of full-shut position starts door opening action in the time 0, until entering till time t2 after in time t1, door opening action terminates The situation of racking during row standard-sized sheet.In the diagram, (a) of Fig. 4 illustrates the operation result in velocity arithmetic portion 21, and expression is transfused to The change of the actual rotation speed of motor 9 in Filtering Processing portion 22.(b) of Fig. 4 shows the electricity from Filtering Processing portion 22 output The change of the rotary speed of machine 9, so that comprise in the actual rotation speed shown in (a) of Filtering Processing portion 22 removal Fig. 4 The mode of the intrinsic vibration of door, to set the blocking frequency in Filtering Processing portion 22 and to be removed.In addition, (c) of Fig. 4 shows The change of motor torque, (d) of Fig. 4 shows the motor position of rotation from rotation detector 20 output.

In the diagram, the action from time 0 to time t1 is door opening action, and action from time t1 to time t2 is to push Action.In addition, time t0 represents that in door opening action door creates the time of vibration.

Estimate band rigidity during racking after door opening action for the controlling device for doors of present embodiment 1, determine to block frequency Rate and change filtering characteristic.And, according to the filtering characteristic after change, when in ensuing close the door action and ensuing enabling In the case of creating the intrinsic vibration of door in action, the frequency removing intrinsic vibration from the actual rotation speed of motor 9 becomes Point, and negative feedback is to speed controlling portion 15.

First, racking from time t1 to time t2 is illustrated, rigidity is carried to estimation and calculates blocking frequency Method illustrate, then the door opening action from time 0 to time t1 is illustrated.

When, at the end of time t1 door opening action, the on-off action selector 13 output racking shown in Fig. 2 instructs, and pushes away Pressure electric current instruction department 16 will push against and exported to current control division 18 via current-order switching part 17 with current instruction value.Electric current Control unit 18, according to the current instruction value being inputted, controls the electric current being supplied to motor 9 from PWM inverter, thus pushes electricity consumption The pushing current instruction value of stream instruction department 16 output is identical with the current value being supplied to motor 9.In addition, being supplied to motor setting 9 current value is I_M, torque constant be K_TWhen, the torque tau τ=I of motor 9_M×K_TRepresent, K_TIt is fixed value, thus push dynamic The change of the pushing current instruction value that pushing when making is exported with electric current instruction department 16 and (c) of Fig. 4 from time t1 then Between t2 motor torque identical.

As shown in (c) of Fig. 4, when after the time, t1 started racking, make pushing electric current instruction department 16 output push away Pressure is changed with current instruction value, makes the torque of motor 9 change variable quantity τ 1 from τ 1 to 0.Then, motor position of rotation change Variable quantity θ 1.As described above, the torque variable quantity τ 1 of motor 9 can calculate according to pushing current instruction value, thus push away The output of pressure electric current instruction department 16 is transfused to band rigidity estimator 24.And, the rotation of motor 9 is detected by rotation detector 20 Location variation θ 1, thus the output of rotation detector 20 is transfused to band rigidity estimator 24.

Torque variable quantity τ 1 becomes the variable quantity F1 of the pushing force in racking and acts on door-plate 1A, 1B.Torque becomes Relation between the variable quantity F1 of change amount τ 1 and pushing force can be represented with F1=τ 1/r.In addition, r is the belt wheel half of belt wheel 6A Footpath.In racking, door-plate 1A and 1B is static, thus the change of the position of rotation of the variable quantity F1 with regard to pushing force and motor 9 Change amount θ 1, the relation of formula (1) below is set up.

F1=(k1+k2) × r × θ 1 ... (1)

In figure 3, in the distance setting the belt wheel 6A being connected from connection member 8A (gross mass MA) to motor 9 and from even The summation of the distance of the belt wheel 6B that relay part 8B (gross mass MB) is connected to motor 9 be L when, the per unit length with 7 firm Degree k0 is represented with following formula (2).In addition, L is roughly equal with band tyre tread, thus band tyre tread can also be set to L.

K0=F1/ (r × θ 1)/L ... (2)

If L1 is the strip length between connection member 8A and belt wheel 6A, L2 is the belt length between connection member 8B and belt wheel 6A Degree, L3 are the strip length between connection member 8B and belt wheel 6B, L4 is the strip length between connection member 8A and belt wheel 6B, are inciting somebody to action Each strip length L1, L2, L3, L4 are unified to be described as, in the case of Li (i=1～4), carrying rigidity ki (i=1～4) and each portion The strip length of position is inversely proportional to, thus band rigidity ki (i=1～4) at each position can be calculated with following formula (3).In addition, In formula (3), i=1～4.

Ki=k0/Li ... (3)

Being stored with rigidity estimator 24 with the value roughly equal with tyre tread is L, be also stored with standard-sized sheet when The strip length Li (i=1～4) at each position.Therefore, by referring to the pushing electric current exporting from pushing electric current instruction department 16 Make value and the position of rotation input tape rigidity estimator 24 of the motor 9 from rotation detector 20 output, thus carry rigidity estimator 24 obtain the variable quantity F1 of pushing force according to pushing current instruction value, obtain position of rotation according to the position of rotation of motor 9 Variable quantity θ 1, and band rigidity ki (i=1～4) at each position is estimated by formula (2) and formula (3).

In addition, door-plate 1A and 1B is engaging in connection member 8A and 8B, when door-plate 1A and 1B is mobile, connection member 8A and 8B Mobile, thus change with rigidity ki (i=1～4) corresponds to the position of door-plate 1A and 1B.Door-plate 1A and 1B is located at assigned position When band rigidity ki (i=1～4) can be according to the amount of movement of door-plate 1A and 1B, according to the strip length Li (i=1～4) during standard-sized sheet Obtain.

Band rigidity ki (i=1～4) at each position estimating with rigidity estimator 24 is transfused to blocking frequency determination section 23.Blocking frequency determination section 23 (also includes coaxially connected with motor 9 using the inertia J 0 with rigidity ki (i=1～4) and motor 9 Belt wheel 6A) horizontal direction mass M_J0, frequency fi (i=1～4) of intrinsic vibration is calculated according to following formula (4).

Fi=1/ { 2 π (ki/M_J0)^1/2}……(4)

In addition, in formula (4), M_J0=J0/r², r is belt wheel radius.And, i=1～4.

Band rigidity estimator 24 determines blocking frequency, so that the intrinsic vibration at each position that will calculate according to formula (4) One of frequency fi (i=1～4) or the size of multiple frequency content reduce or remove this frequency content.Block frequency Rate can also be the frequency band of a frequency or multiple frequency or prescribed limit.The blocking frequency so determining is firm by carrying Degree estimator 24 exports to Filtering Processing portion 22, and the frequency that the filtering characteristic in Filtering Processing portion 22 is changed to remove blocking frequency becomes Point.With regard to the filtering characteristic in Filtering Processing portion 22, for example set s as Laplace operator, f be blocking frequency, ω=2 π f be resistance In the case of angle of rupture frequency, if the low-pass filtering of 1 time, then can be set to s/ (s+ ω).

As described above, band rigidity estimator 24 estimates band rigidity, blocking frequency determination section 23 in the racking in standard-sized sheet Calculate blocking frequency and change the action of the filtering characteristic in Filtering Processing portion 22, both can be in each standard-sized sheet after each enabling Carry out in racking it is also possible to often carry out for several times 1 time or several moon carries out 1 time.And, can not also push in standard-sized sheet Carry out in action, and carry out in racking when fully closed.Fig. 4 pushes away when illustrating each standard-sized sheet after each enabling Press situation about carrying out in work.

Reuse the door opening action that Fig. 4 illustrates door gear.The door opening action that Filtering Processing portion 22 illustrates afterwards it Filtering characteristic is changed, to remove the blocking-up frequency determining according to above-mentioned method in racking after front door opening action Rate.

When the instruction opening door-plate 1A, 1B of full-shut position has been carried out by operation of passenger etc., opening shown in Fig. 2 Close Action Selection portion 13 and start door opening action to speed command portion 14 output on-off action instruction.In the diagram, will start to open the door The time of action is set to 0.When door opening action starts, the rotational speed command value of speed command portion 14 output motor 9, according to this Output, speed controlling portion 15 output is supplied to the current instruction value of motor 9.Current instruction value warp from speed controlling portion 15 output Current control division 18 is exported to by current-order switching part 17, current control division 18 is according to the electric current from speed controlling portion 15 Command value, controls the current value being supplied to motor 9 from PWM inverter.The rotary speed of motor 9 is by velocity arithmetic portion 21 according to rotation The testing result turning detector 20 enters row operation, removes after the frequency content of intrinsic vibration by Filtering Processing portion 22, by negative feedback To speed controlling portion 15.Therefore, speed controlling portion 15 exports suitable current instruction value, so as to from speed command portion 14 Error between the actual rotation speed of speed value and motor 9 is corrected.

As shown in (a) of Fig. 4, cause because of the intrinsic vibration of door when creating in the rotary speed in time t0 motor 9 In the case of vibration, velocity arithmetic portion 21 exports the operation result of the rotary speed comprising produced vibration to filtering Processing unit 22.But Filtering Processing portion 22 has the filtering spy being set the blocking frequency of eigentone composition removing door Property, thus as shown in (b) of Fig. 4, become the actual rotation speed from motor 9 from the motor rotary speed of Filtering Processing portion 22 output The smooth rotary speed after the vibration component causing because of the intrinsic vibration of door is eliminated in degree, and by negative feedback to speed controlling Portion 15.As a result, speed controlling portion 15 need not exceedingly correct rotary speed, i.e. exportable suitable current instruction value, because And can swimmingly carry out door opening action, can be in time t1 normal termination door opening action.In racking afterwards, such as with As upper explanation, band rigidity estimator 24 is estimated to carry rigidity again, and blocking frequency determination section 23 is according to band rigidity estimated result Determine blocking frequency, change the filtering characteristic in Filtering Processing portion 22 according to the blocking frequency determining.

Fig. 5 is that the door gear being shown in full-shut position in conventional controlling device for doors carries out the rotation of motor during door opening action The figure of rotary speed change, can be become with the rotary speed of the motor of the controlling device for doors illustrating based on embodiments of the present invention 1 (a) of the Fig. 4 changing is compared.There is not on-off action selector 13 in the structure of Fig. 2, push in conventional controlling device for doors With electric current instruction department 16, blocking frequency determination section 23 and band rigidity estimator 24 although there is Filtering Processing portion 22, but filtering is special Property be fixing it is impossible to the intrinsic vibration of the elongation of the band producing reason in environment and timeliness change and the door causing such as lax Frequency content remove.

Conventional door gear shown in Fig. 5 starts door opening action in the time 0.And, produce inherently shaking of door in time t0 The dynamic vibration leading to.It is included in door-plate and the vibration with producing in the rotary speed of the motor being calculated by velocity arithmetic portion Vibration component, but Filtering Processing portion can not remove this vibration component, thus the rotary speed of the motor comprising vibration component is born Feed back to speed controlling portion.Speed controlling portion makes the rotary speed of motor vibrate further, to make to comprise this vibration component The rotary speed of motor is consistent with the speed command exporting from speed instruction department.And, increase in vibration and be judged as exception Level when, the speed command from speed command portion becomes 0, and door opening action stops.And, stop to time t3 always Afterwards, enter the abnormal door opening action restarting door opening action with the speed lower than the speed of common door opening action, reach in time t4 To full-gear.

In such conventional controlling device for doors, Filtering Processing portion does not remove the intrinsic of door from the rotary speed of motor With regard to negative feedback to speed controlling portion, thus the initial tension in band is dropped the frequency content of vibration due to environment and timeliness change etc. Low thus producing vibration in the case of, although exist do not occur abnormal be also judged as exception, door is opened and closed the cost time, damages The situation of the comfortableness of passenger.But, in the controlling device for doors of embodiments of the present invention 1, according to by band rigidity estimator The band rigidity that 24 estimate, the blocking frequency that blocking frequency determination section 23 decision should block, the frequency in change Filtering Processing portion 22 Rate characteristic makes to remove blocking frequency using Filtering Processing portion 22, even thus band initial tension reduce and produce vibration In the case of, also will not falsely determine that as exception, the effect of smoothly door on-off action can be realized all the time.

Embodiment 2

Fig. 6 is the control block diagram of the controlling device for doors illustrating embodiments of the present invention 2.In figure 6, it is labelled with and Fig. 2 The part of identical label represents identical or corresponding structure, and the description thereof will be omitted.The controlling device for doors of Fig. 6 is configured to and real The controlling device for doors applying mode 1 is same, estimates band rigidity, calculates the frequency of the intrinsic vibration of door, by filter in racking Ripple processes the frequency content removing this intrinsic vibration from the translational speed detected value of door-plate, is achieved in smoothly door opening and closing. It is with the difference of embodiments of the present invention 1, more precisely estimate to carry rigidity using the initial tension value of band.Under Face, illustrates to the difference with embodiment 1, omits the explanation with embodiment 1 same section.

In figure 6, export the band initial tension that goes out of maintainer measured in advance or in door with initial tension determination part 25 The band initial tension being gone out according to the torque detection of motor 9 during opening and closing.In the case of maintainer measuring band initial tension, in door In the state of static, band can be calculated just according to the relation of deflection when pressing belt top or bottom and the size of pressing force Beginning tension force.And, in the case of when door is opened and closed according to the torque detection band initial tension of motor 9, each belt tension Ti (i =1～4) it is 0, in the timing of the output detection vibration according to the rotation detector 20 located at motor 9, can be according to according to motor The belt tension variable quantity measuring band initial tension that 9 torque estimation goes out.

With initial tension determination part 25, the band initial tension being determined according to said method is exported to band rigidity estimator 24.Same with the controlling device for doors of explanation in embodiment 1, band rigidity estimator 24 is transfused to from pushing electric current instruction department 16 output become the pushing of the current value being supplied to motor 9 in racking with current instruction value with from rotation detector The position of rotation of the motor 9 of 20 outputs, also from band initial tension determination part 25 input tape initial tension.In addition, using T0 table below Show band initial tension.

The torque being produced by the band rigidity method of estimation of explanation in present embodiment 2, the motor 9 in racking When size is with 7 lax size, can accurately estimate to carry rigidity.For this reason, band rigidity estimator 24 is opened using band is initial The band initial tension T0 of power determination part 25 output, differentiates whether level of torque when estimating with rigidity is with 7 lax sizes.

First, the principle with rigidity method of estimation of present embodiment 2 is described using Fig. 3.Motor 9 torque for 0 In the case of not producing torque, each tension force Ti (i=1～4) with position is fixed as initial tension T0.And, produce in motor 9 During raw torque tau 1, produce tension variation amount Δ Ti (i=1～4) at each band position.That is, the torque of motor 9 turns to τ 1 from 0 change, Thus each tension force with position becomes Ti=T0+ Δ Ti (i=1～4).

In the case that motor 9 produces torque and carries out racking, so that torque is changed and so that pushing force is changed, thus, it is possible to Enough variable quantity F1 and each strip length Li (i=1～4) with position according to pushing force, obtain each tension force with position and become Change amount Δ Ti (i=1～4).When the torque variable quantity setting motor 9 is r as τ 1, belt wheel radius, the variable quantity F1 energy of pushing force Enough F1=τ 1/r represent.If making the pushing force of motor 9 change, for example, make the tension variation amount Δ at the position with rigidity k2 T2 is equal with initial tension T0, then T0+ Δ T2=0, the tension force T2 at the position with rigidity k2 can be set to 0.Due to initial Tension force T0 is positive value, thus the size in tension variation amount Δ T2 exceedes the size of initial tension T0, tension variation amount Δ T2 Negative value, become the tension variation amount Δ T2 of such as belt sag in the case of, can by the position with rigidity k2 Power T2 is set to 0.Tension force T2 is 0 to refer to gross mass MA being made up of door-plate 1A etc. by the position that is k1 with rigidity and motor 9 The model that system gets up is it is thus possible to accurately estimate to carry rigidity k1 using this model.

Below, the action to the controlling device for doors of present embodiment 2 illustrates.In present embodiment 2 also with enforcement Mode 1 is same, and band rigidity estimator 24 is estimated to carry rigidity in racking.And, the action of the motor 9 in racking is such as Shown in Fig. 4.Below, the band rigidity method of estimation of present embodiment 2 is described using Fig. 4.

As shown in (c) of Fig. 4, in the time t1 starting racking, motor 9 produces torque tau 1, then makes in time t2 The torque of motor 9 is 0.That is, the torque variable quantity of the motor 9 in racking is τ 1.And, as shown in (d) of Fig. 4, motor 9 Torque variable quantity become τ 1, θ 1 is become by the variable quantity of this motor position of rotation.Torque variable quantity τ 1 and motor position of rotation Variable quantity θ 1 be equally transfused to band rigidity estimator 24 with embodiment 1.In addition, can be using torque variable quantity τ 1 and band The variable quantity F1 that wheel radius r will push against power is expressed as F1=τ 1/r.

In present embodiment 2, the torque tau 1 producing in time t1 motor 9 is configured to as mentioned above as making band rigidity k2 The size of the belt sag for 0.With rigidity estimator 24 according to from the band initial tension T0 inputting with initial tension determination part 25, sentence Whether the size determining torque tau 1 is the size of belt sag.Be judged to be belt sag size in the case of carry out following dynamic Make, be judged to be not the size of belt sag in the case of carry out as embodiment 1 action, do not carry out following dynamic Make.Below, to rigidity estimator 24, the size of torque tau 1 and initial tension T0 is compared and is judged to it is belt sag The situation of size illustrates.

Motor 9 produce torque tau 1 and in the case of belt sag, as described above, the model of Fig. 3 become motor 9 only with by door The model that gross mass MA of the compositions such as plate 1A connects.Therefore, the relation of formula below (5) is set up.

F1=k1 × r × θ 1 ... (5)

When being L1 using the strip length between connection member 8A and belt wheel 6A, the rigidity k0 energy of the per unit length with 7 Enough following formulas (6) represent.

K0=F1/ (r × θ 1)/L1 ... (6)

Band rigidity ki (i=1～4) at each position using the strip length Li (i=1～4) at each position and can utilize Following formula (7) represents.

Ki=k0/Li ... (7)

Be equally stored with embodiment 1 in rigidity estimator 24 standard-sized sheet when each position strip length Li (i=1 ～4).Therefore, by the pushing current instruction value inputting with rigidity estimator 24 from pushing electric current instruction department 16 output With the position of rotation of the motor 9 exporting from rotation detector 20, rigidity estimator 24 is carried to be obtained according to pushing current instruction value The variable quantity F1 of pushing force, obtains the variable quantity θ 1 of position of rotation according to the position of rotation of motor 9, is estimated according to formula (6) and formula (7) Count band rigidity ki (i=1～4) at each position, and export to blocking frequency determination section 23.

By the blocking frequency determination section 23 from the estimated result with rigidity outputing each position with rigidity estimator 24 Method according to explanation in embodiment 1 determines blocking frequency.The determining method of blocking frequency and explanation in embodiment 1 Method the same, thus in this description will be omitted.

As described above, according to the controlling device for doors of present embodiment 2, according to carrying the output of initial tension determination part, Differentiate that gross mass MA and motor 9 are in by the state connecting with rigidity k1 at it is thus possible to accurately estimate Meter band rigidity, as a result, the eigentone of door can accurately be calculated, determine blocking frequency and by blocking frequency Vibration removes, thus, it is possible to play the effect carrying out smoothly door opening and closing.

Embodiment 3

Fig. 7 is the control block diagram of the controlling device for doors illustrating embodiments of the present invention 3.In the figure 7, it is labelled with and Fig. 2 The part of identical label represents identical or corresponding structure, and the description thereof will be omitted.The controlling device for doors of Fig. 7 is and embodiment party The different structure of the controlling device for doors of formula 1, estimates with rigidity and calculates the intrinsic vibration of a characteristic when on-off action starts Frequency, removes the frequency content of this intrinsic vibration from the rotary speed detected value of motor by Filtering Processing, is achieved in suitable Smooth door opening and closing.

As shown in fig. 7, the controlling device for doors 12 of embodiments of the present invention 3 is configured to have is derived from on-off action for input The current-order limiting unit 26 of the action command of selector 13.And push the output not input tape rigidity with electric current instruction department 16 Estimator 24, but the output of current-order limiting unit 26 is transfused to band rigidity estimator 24.Defeated in on-off action selector 13 In the case of having gone out the action command opening the door or closing the door, current-order limiting unit 26 is playing reality when on-off action starts Door-plate 1A, 1B start the period of movement, instruct limits value to current-order switching part 17 output current, limit from speed controlling portion The current instruction value of 15 outputs.That is, current-order limiting unit 26 output current control unit 18 when door-plate remains static carries The current instruction value of the current value of supply motor, thus be the 2nd current-order portion.And, current-order limiting unit 26 have as Under function：Limiting in the case of the current value of speed controlling portion 15 output, the storage gain of speed controlling portion 15 is being set Persistently reset to 0 such Integral Processing stopping speed controlling portion 15 for 0 or by the integrated value based on storage gain.

Below, using Fig. 8, the action of controlling device for doors 12 is illustrated.Fig. 8 illustrates embodiments of the present invention 3 Door gear carries out the figure of the action of motor during door opening action.Fig. 8 shows that the door gear of full-shut position starts out in time ta Door action, also continues to the situation of door opening action after elapsed time tb.In fig. 8, (a) of Fig. 8 represents motor rotary speed, uses Solid line represents the motor rotary speed being filtered before processing by Filtering Processing portion 22, is represented by dashed line and is entered by Filtering Processing portion 22 Motor rotary speed after row Filtering Processing.(b) of Fig. 8 represents the change of motor torque, and (d) of Fig. 8 represents motor rotation position Put.

In fig. 8, from time 0 to time ta, racking when door gear carries out fully closed.Turn in the motor setting enabling direction Square be just in the case of, in racking, motor torque becomes the size of 0 or negative setting, motor position of rotation when fully closed Also fix.

In time ta, start door opening action when on-off action selector 13 exports the action command of door opening action.In Fig. 8 In, the period from time ta to tb is door opening action, but is that enabling power based on motor torque is less than door closing force and produces machine The period of the door closing force of structure.That is, in the period from time ta to tb, door-plate 1A, 1B are static, maintain full-shut position.

It is transfused to speed command portion 14 and current-order limit in the action command of time ta on-off action selector 13 output Portion 26 processed and when starting door opening action, current-order limiting unit 26 is proportional to the elapsed time from time ta by being restricted to The current instruction value that ground increases exports to current-order switching part 17.And, current-order limiting unit 26 is by speed controlling simultaneously The storage gain in portion 15 is set to 0, and stops Integral Processing.Current-order switching part 17 will export from current-order limiting unit 26 The current instruction value proportionally being increased with the elapsed time from time ta is exported to current control division 18.That is, from time ta To the period of time tb, provide the current value electric current through proportionally increasing in time to motor 9.As a result, motor turns Square also proportionally increases with the elapsed time.And, when becoming time tb, the enabling power of torque tau a being produced based on motor 9 Fa produces the dynamic balance of closing the door of mechanism with door closing force.Then, in elapsed time tb, the enabling power of motor 9 exceedes door closing force and produces The door closing force of life structure, door-plate 1A, 1B move to enabling direction.

Current-order limiting unit 26 releases to the current instruction value exporting from speed controlling portion 15 in elapsed time tb Limit, release the stopping of the Integral Processing of speed controlling portion 15.As a result, before and after time tb input current control unit 18 Current instruction value be continuous, be capable of smoothly door opening action.In elapsed time tb, export from speed controlling portion 15 Sufficiently large current instruction value, thus provide sufficiently large electric current to motor 9, door-plate 1A, 1B high-speed mobile can be made.Later Action is identical with the action of explanation in embodiment 1, even producing the vibration causing because of the intrinsic vibration of door, also due to right Filtering Processing portion 22 sets suitable blocking frequency it is thus possible to remove the vibration component comprising in the rotary speed of motor, And carry out smoothly door opening action.

Below, the band rigidity method of estimation of present embodiment 3 is illustrated.When estimating band rigidity, use time tb Enabling power Fa and motor position of rotation variable quantity θ a.In addition, enabling power Fa can use torque tau a and the belt wheel half of motor 9 Footpath r is represented with Fa=τ a/r.

Due to producing the dynamic balance of closing the door of mechanism in time tb enabling power Fa and door closing force, thus door-plate 1A, 1B be in quiet Only state, the variable quantity θ a of motor position of rotation becomes dependent on the elongation with rigidity k1 and the band with rigidity k2.Therefore, open the door Power Fa can be represented with following formula (8).

Fa=(k1+k2) × r × θ a ... (8)

Rigidity k0 of the per unit length with 7 is represented with following formula (9).In addition, L represents from connection member 8A to motor 9 distance and the summation of the distance from motor 9 to connection member 8B, roughly equal with band tyre tread.

K0=Fa/ (r × θ a)/L ... (9)

Band rigidity ki (i=1～4) at each position and the strip length at each position are inversely proportional to, thus the band at each position Rigidity ki (i=1～4) can be represented with following formula (10).In addition, in formula (10), i=1～4.

Ki=k0/Li ... (10)

Equally be stored with embodiment 1 in rigidity estimator 24 standard-sized sheet when each position strip length Li (i= 1～4).Therefore, by the current-order to the time tb inputting with rigidity estimator 24 from current-order limiting unit 26 output Value and the position of rotation of the motor 9 from rotation detector 20 output, with rigidity estimator 24 according to the current instruction value of time tb Obtain pushing force Fa, obtain the variable quantity θ a of position of rotation according to the position of rotation of motor 9, estimated according to formula (9) and formula (10) Band rigidity ki (i=1～4) at each position, and export to blocking frequency determination section 23.

As described above, according to the controlling device for doors of present embodiment 3, on-off action being estimated band rigidity, calculating door Eigentone and determine blocking frequency, the vibration of blocking frequency is removed by change filtering characteristic, carries out thus, it is possible to play The smoothly effect of door opening and closing.

Embodiment 4

Fig. 9 is the control block diagram of the controlling device for doors illustrating embodiments of the present invention 4.In fig .9, be labelled with Fig. 2, The part of Fig. 6 or Fig. 7 identical label represents identical or corresponding structure, and the description thereof will be omitted.Embodiment 1～3 Controlling device for doors estimates the frequency of the intrinsic vibration with Rigidity Calculation door characteristic, and the controlling device for doors of Fig. 9 is unlike this, and it is Directly measure the structure of the eigentone of door.Below, the difference with embodiment 1～3 is illustrated, omit with The explanation of embodiment 1～3 identical part.

As shown in figure 9, the controlling device for doors of embodiments of the present invention 4 is filled with the gate control of the embodiment 3 shown in Fig. 7 Put and compare, be provided with vibrator electric current instruction department 27 and replace current-order limiting unit 26, be provided with vibration characteristics estimator 28 generation For band rigidity estimator 24.

In the case that on-off action selector 13 outputs diagnostic action instruction, vibrator electric current instruction department 27 is to electric current The current instruction value that instruction switching part 17 output frequency corresponds to the time from diagnostic action starts and changes.Vibrator electric current The current instruction value of instruction department 27 output is the current value of the size that door-plate 1A, 1B do not move, and door-plate 1A, 1B are resting states. That is, vibrator electric current instruction department 27 becomes the 2nd current-order portion.The current instruction value of vibrator electric current instruction department 27 output both may be used Increased with frequency or reduce it is also possible to amplitude is fixed or changed, for example, can be the sine wave of frequency change.Input current The current instruction value of the frequency change from vibrator electric current instruction department 27 of instruction switching part 17 is imported into current control division 18, the electric current of frequency change is provided to motor 19.

And, the output of vibrator electric current instruction department 27 is imported into vibration characteristics estimator 28, thus vibration characteristics is estimated Frequency and the current value of the electric current being supplied to motor 9 can be learnt by meter portion 28.And, due to providing frequency change to motor 9 Electric current, thus the position of rotation of motor 9 corresponds to the intrinsic vibration of door and produces change.Motor from rotation detector 20 output Position of rotation be transfused to vibration characteristics estimator 28, thus vibration characteristics estimator 28 can learn the position of rotation of motor 9. Therefore, vibration characteristics estimator 28 with the current instruction value of electric current instruction department 27 and can carry out spinning detection according to from vibrator The position of rotation of the motor 9 of device 20, the frequency of vibration characteristic of identification door, obtain the eigentone of door.In addition, door is intrinsic Vibration changes according to the position of door-plate, thus the frequency of vibration characteristic of door changes also according to the position of door-plate.

The frequency characteristic of the door being picked out by vibration characteristics estimator 28 is transfused to blocking frequency determination section 23, blocking frequency Determination section 23 determines the blocking frequency of the frequency for removing intrinsic vibration, and exports to Filtering Processing portion 22.In Filtering Processing In portion 22, change filtering characteristic is so that block to the blocking frequency inputting from blocking frequency determination section 23.Filtering Processing portion Action in 22 is identical with embodiment 1, thus in this description will be omitted.

The identification of the frequency characteristic of door is that the less electric current that will not make door-plate 1A, 1B movement is supplied to motor 9 and enters Row, thus when diagnostic action is not limited to Maintenance and Repair, can also carry out in usual operating.And, by operating usual When continually carry out diagnostic action, can tackle rapidly the ground such as the environmental change of lift appliance determine blocking frequency.Diagnostic action Can be full-shut position, full-gear or the optional position in being in from full close position to fully open position in door-plate 1A, 1B Carry out under state.

In general, the crossbeam 3 of the door gear of lift appliance is arranged on car or the car frame of lift appliance, elevator The car frame of device is connected with the guide rail in the hoistway being fixed on building by guiding parts.And, car frame and taking advantage of The car that visitor takes passes through vibration-proof rubber and is connected.Occupant ride lift car or from lift car descending stair, thus the quality of passenger It is appended in the quality of car.The quality of passenger can estimate maximum according to most number of people boarding of car, or energy Enough quality learning passenger according to the sensor located at car.Guiding parts and vibration-proof rubber are elastomers, thus rigidity according to The environmental conditions such as temperature and humidity and timeliness change and change.

The static shape that the model of the door gear shown in Fig. 3 is provided with belt wheel 6A, belt wheel 6B, the crossbeam 3 of motor 9 are fixed State.But, strictly, crossbeam 3 can be arranged on the pedestal with following intrinsic vibration, and this intrinsic vibration can use base In mass M c of lift car, mass M f of elevator car frame, connect car and car frame vibration-proof rubber rigidity kb, And the double IMUs of rigidity kg of guiding parts of connection guide rail and car frame are carried out approximately.Therefore, as this embodiment party Shown in formula 4, by providing the electric current of frequency change to motor 9 and measuring the frequency characteristic of door, following effect can be obtained：Energy Enough obtain the eigentone of the door in model strict as above, accurately determine blocking frequency, can carry out More smoothly door opening and closing.

Embodiment 5

Figure 10 is the control block diagram of the controlling device for doors illustrating embodiments of the present invention 5.In Fig. 10, it is labelled with and scheme 2nd, the part of Fig. 6, Fig. 7 or Fig. 9 identical label represents identical or corresponding structure, and the description thereof will be omitted.The door of Figure 10 Control device is the structure that controlling device for doors to embodiment 1 has added following function：Judge the generation of exception, and to door The outside output abnormality of control device.Present embodiment 5 illustrate added output to the controlling device for doors of embodiment 1 different The controlling device for doors of normal function but it is also possible to add the function of output abnormality to the controlling device for doors of embodiment 2～4.Under Face, illustrates to the difference with embodiment 1～4, omits the explanation with embodiment 1～4 identical part.

As shown in Figure 10, the controlling device for doors of present embodiment 5 is to the controlling device for doors shown in Fig. 2 of embodiment 1 Abnormality determiner 29 and the structure of abnormal distribution unit 30 are added.

The output in the output in velocity arithmetic portion 21 and Filtering Processing portion 22 is transfused to abnormality determiner 29.Abnormality determiner 29 The difference of the output in the output of calculating speed operational part 21 and Filtering Processing portion 22.That is, calculating is calculated by velocity arithmetic portion 21 The signal of the rotary speed of motor and eliminate the signal that the frequency content of blocking frequency obtains from the signal of this rotary speed Difference.And, if the difference calculating is more than the threshold value of regulation, then it is judged to exception, exports to abnormal distribution unit 30 different Regular signal.It is different threshold values it is also possible to be directed to for judging that abnormal threshold value both can be set in difference as negative with as timing The absolute value given threshold of difference.And, the output of blocking frequency determination section 23 can also be inputted abnormality determiner 29, make threshold Value changes according to this input value.

The difference of the output in the output in velocity arithmetic portion 21 and Filtering Processing portion 22 exceed the threshold value of regulation state it is meant that Rotation detector 20 detects that motor 9 creates the state of vibration.When having of calculating blocking frequency determination section 23 is closed the door When the message reflection of eigentone is in speed controlling portion 15, vibration will not be suppressed to amplify vibration, but by intervention Filtering Processing portion 22, can keep the smoothly opening and closing of door-plate 1A, 1B, continue as passenger services.However, it is desirable to by maintainer The mechanical system of door aligning device is adjusted, thus abnormality determiner 29 determines whether exception, exports different to abnormal distribution unit 30 Regular signal or normal signal.

Abnormal distribution unit 30, according to the abnormal signal exporting from abnormality determiner 29 or normal signal, is creating exception In the case of, to the outside output abnormality of controlling device for doors, to notify to be provided with the house of door gear or the pipe of building Reason person.Abnormal distribution unit 30 output abnormality signal, by abnormal distribution unit 30 output abnormality, maintainer can carry out motor 9 The adjustment of installation situation, the confirmation of the deterioration with 7, by belt wheel 6A and 6B to 7 the adjustment of stretched condition, connection member 8A and 8B with 7 the adjustment of connection status etc., make the mechanical system normalization of door gear, carry out the mechanical system because of door gear The improvement of the abnormality causing.

Figure 11 is the control block diagram of the controlling device for doors illustrating embodiments of the present invention 5.Gate control dress shown in Figure 10 Put is that the output of blocking frequency determination section 23 is applied to filtering spy that Filtering Processing portion 22 to change Filtering Processing portion 22 all the time Property structure, and the controlling device for doors shown in Figure 11 is in the case that the on-off action of door-plate creates exception, will block frequency The output of rate determination section 23 is applied to Filtering Processing portion 22 to change the structure of the filtering characteristic in Filtering Processing portion 22.

The output of blocking frequency determination section 23 is applied to Filtering Processing portion 22 but does not change the filter in Filtering Processing portion 22 In the case of wave property, the on-off action of conventional controlling device for doors as shown in Figure 5 like that, due to 7 initial tension Change etc. and door opening and closing during detect exception in the case of, door-plate 1A, 1B are difficult to smoothly on-off action.? In the controlling device for doors of the embodiments of the present invention, the output of blocking frequency determination section 23 is applied to Filtering Processing portion 22 The filtering characteristic in change Filtering Processing portion 22, thus exception will not be detected during door opening and closing, door-plate 1A, 1B can continue Continue and carry out smoothly on-off action.

Yet it is not desirable to all the time or periodically the output of blocking frequency determination section 23 is applied to Filtering Processing portion 22 to become The more filtering characteristic in Filtering Processing portion 22 or, when detecting abnormal situation in the on-off action in door-plate 1A, 1B Under, blocking frequency determination section 23 determines that blocking frequency changes the filtering characteristic in Filtering Processing portion 22 so that blocking frequency is determined The frequency content determining the blocking frequency that portion 23 determines removes.In this case, detect that door on-off action during exception becomes For abnormal on-off action, according to carrying out action shown in Fig. 5, but due to changing Filtering Processing portion in door on-off action afterwards 22 filtering characteristic is it is thus possible to will detect the frequency of the eigentone of abnormal door gear by Filtering Processing portion 22 Composition removes it is thus possible to carry out the smoothly on-off action of door-plate 1A, 1B again.

The controlling device for doors of Figure 11 be so in the on-off action of door-plate 1A, 1B, detect exception in the case of, will hinder The output of disconnected frequency determination section 23 is applied to Filtering Processing portion 22 and fills the gate control to change the filtering characteristic in Filtering Processing portion 22 Put.Because the filtering characteristic in Filtering Processing portion 22 is changed it is thus possible to the opening and closing proceeding smoothly door-plate 1A, 1B is moved Make, but due to detecting exception in door on-off action, thus preferred maintainer carries out Maintenance and Repair.Therefore, will block When the output of frequency determination section 23 is applied to Filtering Processing portion 22 to change filtering characteristic, Filtering Processing portion 22 is to abnormal distribution unit 30 output abnormality signals.On the other hand, in the situation that the output of blocking frequency determination section 23 is not applied to Filtering Processing portion 22 Under, Filtering Processing portion 22 exports normal signal to abnormal distribution unit 30.

Abnormal distribution unit 30, according to the abnormal signal exporting from Filtering Processing portion 22 or normal signal, is creating exception In the case of, to the outside output abnormality of controlling device for doors, to notify to be provided with the house of door gear or the pipe of building Reason person.By abnormal distribution unit 30 output abnormality, maintainer can carry out the adjustment of installation situation of motor 9, the deterioration with 7 Confirmation, by belt wheel 6A and 6B the adjustment of stretched condition, connection member 8A and 8B and the connection status with 7 to band 7 tune Whole etc., make mechanical system normalization, improve the abnormality causing because of mechanical system.

In addition, maintainer periodically carries out the Maintenance and Repair of door gear, thus abnormal distribution unit 30 is not necessarily set, not In the case of the abnormal distribution unit 30 of setting, preferably the LED arranging in the inside of controlling device for doors is lighted etc. and shown, make Maintainer will appreciate that in Maintenance and Repair and detects exception and so that the filtering characteristic in Filtering Processing portion 22 is changed Situation.

Claims

1. a kind of controlling device for doors, wherein, described controlling device for doors has：

On-off action selector, it selects output the 1st action command and the 2nd action command, and wherein, described 1st action command refers to Show that the described 2nd moves in order that the door-plate being connected with motor-driven band is opened and closed action that is mobile and making described motor rotation Make instruction instruction makes described motor produce the action of torque when described door-plate stops；

1st current-order portion, it is supplied to the 1st current value of described motor according to described 1st action command, output, to control The translational speed of described door-plate；

2nd current-order portion, it, according to described 2nd action command, makes to be supplied to the 2nd electric current value changes of described motor, so that Obtain the torque change that described motor produces；

Velocity arithmetic portion, the position of rotation of its described motor according to the rotation detector output located at described motor, computing institute State the rotary speed of motor；

Band rigidity estimator, it uses the variable quantity of the position of rotation of the variable quantity of described 2nd current value and described motor, to estimate Count the band rigidity of described band；

Blocking frequency determination section, it determines blocking frequency according to the described band rigidity estimating with rigidity estimator；And

Filtering Processing portion, its output eliminates the letter after the frequency content of described blocking frequency from the signal of described rotary speed Number, and described 1st current-order portion is given in negative feedback.

2. controlling device for doors according to claim 1, wherein,

Described 2nd current-order portion makes described 2nd electric current value changes in the racking of described door-plate.

3. controlling device for doors according to claim 2, wherein,

Described controlling device for doors also has band initial tension determination part, and described band rigidity estimator uses described band initial tension to survey The initial tension of described band determining portion's output is estimating described band rigidity.

4. controlling device for doors according to claim 1, wherein,

Described 2nd current-order portion, when the on-off action of described door-plate starts, makes described 2nd current value pass through in time and increase Greatly.

5. a kind of controlling device for doors, wherein, described controlling device for doors has：

2nd current-order portion, it makes the frequency being supplied to the 2nd current value of described motor become according to described 2nd action command Change, so that the torque cycle ground change that described motor produces；

Vibration characteristics estimator, it uses the change of the position of rotation of the change of the frequency of described 2nd current value and described motor, To estimate frequency of vibration characteristic；

Blocking frequency determination section, it determines to block according to the described frequency of vibration characteristic that described vibration characteristics estimator estimates Frequency；And

6. the controlling device for doors according to any one in Claims 1 to 5, wherein,

Described controlling device for doors also has：

Abnormality determiner, it calculates the letter after the frequency content eliminating described blocking frequency from the signal of described rotary speed Difference number with the signal of described rotary speed, and exception is judged according to described difference；And

Abnormal distribution unit, it issues abnormal according to the judged result of described abnormality determiner.

7. the controlling device for doors according to any one in Claims 1 to 5, wherein,

Described blocking frequency determination section determines in the case of detecting exception in the moving openingly and closingly of described door-plate described to block frequency Rate.

8. controlling device for doors according to claim 7, wherein,

Described controlling device for doors also has the abnormal distribution unit issuing exception in the case of determining described blocking frequency.

9. a kind of lift appliance, wherein, described lift appliance has：

Controlling device for doors described in any one in claim 1～8；And

Door gear, it is controlled by described controlling device for doors, makes described door-plate be opened and closed movement.