CN108217398B - Method for controlling car door driving motor by door machine controller - Google Patents
Method for controlling car door driving motor by door machine controller Download PDFInfo
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- CN108217398B CN108217398B CN201611190105.3A CN201611190105A CN108217398B CN 108217398 B CN108217398 B CN 108217398B CN 201611190105 A CN201611190105 A CN 201611190105A CN 108217398 B CN108217398 B CN 108217398B
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- driving motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/02—Door or gate operation
- B66B13/14—Control systems or devices
- B66B13/143—Control systems or devices electrical
- B66B13/146—Control systems or devices electrical method or algorithm for controlling doors
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- Automation & Control Theory (AREA)
- Elevator Door Apparatuses (AREA)
Abstract
The invention discloses a control method of a door machine controller for a car door driving motor, which is used for detecting whether the door closing state of elevator door equipment is abnormal or not in the door closing process of an elevator; if the abnormal state happens, the gate machine enters a specific control mode, and the gate machine controller controls the gate driving motor to increase the closing speed of the gate at the separation point of the gate and the landing door so as to increase the running speed of the landing door in the final closing stage. In the special control mode, if the landing doors cannot be closed after the closing speed of the doors at the door-landing door separation point is increased, the closing speed of the doors at the door-landing door separation point is further increased to realize the closing of the landing doors. The control method of the door motor controller for the car door driving motor can automatically control the elevator door equipment to normally close when the door closing state of the elevator door equipment is abnormal due to the abnormal external resistance, has simple structure and does not need a special detection unit or an additional auxiliary device.
Description
Technical Field
The invention relates to an elevator control technology, in particular to a control method of a door machine controller for a car door driving motor.
Background
The door apparatus of an elevator includes a car door of a car and a hall door provided at each floor of a building, the car includes a driving motor for driving the car door to provide a driving force for opening and closing the car door, and the hall door has a self-closing device such as a weight.
The car door is a driving door and comprises a door knife, and the hall door is a driven door and comprises a gate ball.
The door opening process is as follows: after the lift car reaches a target floor, the door knife on the lift car door is inserted into the door ball on the hall door, so that the linkage of the lift car door and the hall door is realized, and the lift car door and the hall door move in the door opening direction by overcoming the resistance of the hall door self-closing device through the power of the lift car door driving motor.
The door closing process is as follows: the car door and the hall door run towards the door closing direction together, when the door is closed in place, the door knife on the car door is separated from the door ball on the hall door, the car door is closed continuously by the power of the driving motor, and the hall door is closed by the self-closing device and inertia.
In the coastal or northern places with large wind force, if the large wind blows to the elevator door, extra resistance is brought. In addition, there is excessive frictional resistance during the closing of the elevator door due to insufficient installation or maintenance. These resistances can lead to an excessively long closing time and an increased closing moment; when the door knife on the car door is separated from the door ball on the hall door, the power of the driving motor of the car door cannot be transmitted to the hall door, and at the moment, if the resistance is large enough, the hall door can be difficult to be completely closed, and the normal operation of the elevator is influenced.
In order to solve the above problem, the biasing force of the self-closing device such as a weight can be increased to improve the ability of the hall door to be closed, but this method also increases the resistance to door opening.
In order to solve the problem of abnormal door closing caused by abnormal friction force such as wind force, liquid, solid obstacle, etc., the chinese patent publication CN102491154B "a method for communicating a door driving system with a main microcomputer and a door driving system" discloses a method for communicating a door driving system with a main microcomputer under the condition of abnormal friction force. However, when the door is closed, after the door knife on the car door is separated from the door ball on the hall door, the torque applied by the method only acts on the car door, and if the extra resistance caused by strong wind is large, the hall door is still difficult to close.
Chinese patent application publication CN105645237A "control method and system of elevator door motor" discloses a control method of elevator door motor, which detects the environmental wind power of elevator door motor and outputs the environmental wind power to the door motor control system, and the door motor control system automatically adjusts the moment or the door closing speed according to the environmental wind power. However, the method needs corresponding detection equipment for detecting the magnitude of the environmental wind power, and the cost is increased.
Chinese patent application publication CN102653374A "a door device taking harmful wind countermeasure of an elevator" adopts an auxiliary device to overcome the extra resistance brought by strong wind to a hall door.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method for controlling a car door driving motor by a door operator controller, which can automatically control the normal door closing of the elevator door equipment when the door closing state of the elevator door equipment is abnormal due to the abnormal external resistance, has simple structure and does not need a special detection unit or an additional auxiliary device.
In order to solve the technical problem, the invention discloses a method for controlling a car door driving motor by a door machine controller, which comprises the following steps:
firstly, the door closing process of the first floor is started, the door machine controller controls the car door driving motor to start to rotate forwards according to the speed curve of the default car door position of the first floor, and the car door driving motor drives the car door to start to close; the floor default car door position speed curve is an ith car door position speed curve, i is more than or equal to 1 and less than or equal to N, j is i, and N is a positive integer greater than 1;
the car door position speed curve sequentially comprises four position points, namely a car door full-opening point, a car door speed maintaining point, a car door landing door separating point and a car door full-closing point from beginning to end;
the speed between the Nth door position speed curve corresponding to the door speed maintaining point and the door full-closing point is higher than the speed between the Nth-1 th door position speed curve corresponding to the door speed maintaining point and the door full-closing point;
detecting whether the door closing state of the elevator door equipment is abnormal in the door closing process, and detecting whether the car door passes through a car door and landing door separation point;
if the door closing state of the elevator door equipment is abnormal, performing the step four; if the door closing state of the elevator door equipment is normal, setting the j-th car position speed curve as the floor default car position speed curve, and performing the seventh step;
if j +1 is not more than N, j is increased by 1 by itself, and the step five is carried out;
if the car door does not pass through the separation point of the car door and the landing door, the sixth step is carried out; if the car door is at the car door and landing door separation point or passes the car door and landing door separation point, the door machine controller controls the car door driving motor to rotate reversely, and the car door driving motor drives the car door to open before the car door and landing door separation point, and then the sixth step is carried out;
the door machine controller continuously controls the car door driving motor to rotate forwards according to the jth car door position speed curve, and the second step is carried out;
and seventhly, continuously controlling the car door driving motor to work by the door machine controller according to a default car door position speed curve until the closing of the elevator is finished.
Preferably, the front of the separation point of the car door and the landing door is a car door full-open point.
Preferably, the abnormal door closing state of the elevator door equipment refers to one or more of the car door closing state of the elevator door equipment, the car door failing to close but the hall door failing to close, the car door not closing after the door closing start exceeding the set time, and the car door closing moment exceeding the upper limit set moment in the door closing process.
Preferably, in the fifth step, if j +1> N, the door machine controller controls the car door driving motor to stop working.
Preferably, in step five, if j +1> N, the door machine controller outputs an alarm signal.
Preferably, if a floor meets the set reset condition, the door machine controller resets the default car door position and speed curve of the floor to the 1 st car door position and speed curve.
Preferably, the reset condition of a floor is that the reset key of the floor is triggered.
Preferably, the set reset condition of a floor is that the floor default car door position and speed curve of the floor exceeds the set time for the non-1 st car door position and speed curve.
Preferably, the set reset condition of one floor is that the door closing torque of the car door after the speed maintaining point of the car door in the door closing process is smaller than the lower limit set torque, and the lower limit set torque is smaller than the upper limit set torque.
Preferably, the reset condition set for one floor is a specific proportion of the operating current of the car door driving motor after the car door speed maintaining point in the door closing process being smaller than the rated current.
According to the control method of the door motor controller for the car door driving motor, whether the door closing state of the elevator door equipment is abnormal or not in the door closing process of the elevator is detected; if the door closing state of the elevator door equipment is abnormal, the door motor controller enters a specific control mode, and the door motor controller controls the car door driving motor to improve the car door closing speed of a car door and hall door separation point (a point where a car door knife and a hall door ball are separated) so as to improve the running speed of the hall door in the final door closing stage, so that the hall door can be closed by means of the force of the hall door self-closing device and the self kinetic energy under the condition of no driving force of the car door driving motor. In the specific control mode, if the landing doors cannot be closed after the closing speed of the car doors at the separation point of the car doors and the landing doors is increased, the door operator controller can further increase the closing speed of the car doors at the separation point of the car doors and the landing doors so as to close the landing doors. The method for controlling the car door driving motor by the door machine controller can automatically control the elevator door equipment to normally close or output an alarm signal when the door closing state of the elevator door equipment is abnormal due to the abnormal external resistance, has a simple structure, and does not need a special detection unit or an additional auxiliary device.
Drawings
FIG. 1 is a flowchart of an embodiment of a method for controlling a door drive motor by a door operator controller according to the present invention;
FIG. 2 is a flowchart of another embodiment of a method for controlling a door drive motor by a door operator controller according to the present invention;
figure 3 is a graph of velocity curves for different door positions.
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
A control method of a gate machine controller for a car gate driving motor is shown in figures 1 and 2, and comprises the following steps:
firstly, the door closing process of the first floor is started, the door machine controller controls the car door driving motor to start to rotate forwards according to the speed curve of the default car door position of the first floor, and the car door driving motor drives the car door to start to close; the floor default car door position speed curve is an ith car door position speed curve, i is more than or equal to 1 and less than or equal to N, j is i, and N is a positive integer greater than 1;
as shown in fig. 3, a 1 st car door position and speed curve, a 2 nd car door position and speed curve, and a 3 rd car door position and speed curve are respectively shown, and the car door position and speed curves sequentially comprise four position points, namely a car door full-opening point, a car door speed maintaining point, a car door and hall door separating point, and a car door full-closing point from beginning to end;
the speed between the Nth door position speed curve corresponding to the door speed maintaining point and the door full-closing point is higher than the speed between the Nth-1 th door position speed curve corresponding to the door speed maintaining point and the door full-closing point;
detecting whether the door closing state of the elevator door equipment is abnormal in the door closing process, and detecting whether the car door passes through a car door and landing door separation point;
if the door closing state of the elevator door equipment is abnormal, performing the step four; if the door closing state of the elevator door equipment is normal, setting the j-th car position speed curve as the floor default car position speed curve, and performing the seventh step;
if j +1 is not more than N, j is increased by 1 by itself, and the step five is carried out;
if the car door does not pass through the separation point of the car door and the landing door, the sixth step is carried out; if the car door is at the car door and landing door separation point or passes the car door and landing door separation point, the door machine controller controls the car door driving motor to rotate reversely, and the car door driving motor drives the car door to open before the car door and landing door separation point, and then the sixth step is carried out;
the door machine controller continuously controls the car door driving motor to rotate forwards according to the jth car door position speed curve, and the second step is carried out;
and seventhly, continuously controlling the car door driving motor to work by the door machine controller according to a default car door position speed curve until the closing of the elevator is finished.
Preferably, the abnormal door closing state of the elevator door equipment refers to one or more of the car door closing state of the elevator door equipment, the car door failing to close but the hall door failing to close, the car door not closing after the door closing start exceeding the set time, and the car door closing moment exceeding the upper limit set moment in the door closing process.
Preferably, in the fifth step, if j +1> N, the door machine controller may control the car door driving motor to stop working, and may also give an alarm signal. If the door closing state of the elevator door equipment is still abnormal in the door closing process after the speed between the car door speed maintaining point and the car door full-closing point is increased for many times, the car door driving motor is controlled to stop working through the door machine controller, or an alarm signal is given out, so that the elevator equipment is protected.
Preferably, the front of the separation point of the car door and the landing door is a car door full-open point.
In the method for controlling a car door driving motor by a door machine controller according to the first embodiment, in a door closing process of an elevator, whether a door closing state of elevator door equipment is abnormal or not is detected; if the door closing state of the elevator door equipment is abnormal, the door motor controller enters a specific control mode, and the door motor controller controls the car door driving motor to improve the car door closing speed of a car door and hall door separation point (a point where a car door knife and a hall door ball are separated) so as to improve the running speed of the hall door in the final door closing stage, so that the hall door can be closed by means of the force of the hall door self-closing device and the self kinetic energy under the condition of no driving force of the car door driving motor. In the specific control mode, if the landing doors cannot be closed after the closing speed of the car doors at the separation point of the car doors and the landing doors is increased, the door operator controller can further increase the closing speed of the car doors at the separation point of the car doors and the landing doors so as to close the landing doors.
The method for controlling the car door driving motor by the door machine controller according to the embodiment can automatically control the elevator door equipment to normally close or output an alarm signal when the door closing state of the elevator door equipment is abnormal due to external resistance abnormality, and has a simple structure without a special detection unit or an additional auxiliary device.
In the method for controlling the car door driving motor by the door machine controller according to the first embodiment, the door machine controller sets the car position speed curve capable of normally closing the door in the current door closing process of the first floor as the floor default car position speed curve, and when the door is closed at the floor next time, the door machine controller automatically controls the car door driving motor to start forward rotation according to the car position speed curve capable of normally closing the door last time, and the car door driving motor drives the car door to start closing, so that the successful door closing probability of the corresponding floor is improved.
Example two
Based on the control method of the door machine controller for the car door driving motor in the first embodiment, if a floor meets the set reset condition, the door machine controller resets the default car door position speed curve of the floor to the 1 st car door position speed curve.
The reset condition of a floor can be that the reset key of the floor is triggered; the floor default car door position speed curve of the floor can be that the non-1 st car door position speed curve exceeds the set time (for example, 24 hours); or the car door closing moment after the car door speed maintaining point in the door closing process is smaller than the lower limit setting moment, and the lower limit setting moment is smaller than the upper limit setting moment; or a particular fraction (e.g., 50%) of the rated current of the door drive motor operating current after the point at which the door speed is maintained during the closing of the door.
The door machine controller can be a main microcomputer controller of the elevator, can also be a door machine control board positioned at a car top station, and can also be a combination of the two.
In the method for controlling the car door driving motor by the door machine controller according to the second embodiment, if a floor meets the set reset condition, the door machine controller resets the default car door position and speed curve of the floor to the 1 st car door position and speed curve, and the door machine controller returns to the normal operation mode.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A control method of a gate machine controller for a car gate drive motor is characterized by comprising the following steps:
firstly, the door closing process of the first floor is started, the door machine controller controls the car door driving motor to start to rotate forwards according to the speed curve of the default car door position of the first floor, and the car door driving motor drives the car door to start to close; the floor default car door position speed curve is an ith car door position speed curve, i is more than or equal to 1 and less than or equal to N, j is i, and N is a positive integer greater than 1;
the car door position speed curve sequentially comprises four position points, namely a car door full-opening point, a car door speed maintaining point, a car door landing door separating point and a car door full-closing point from beginning to end;
the speed between the Nth door position speed curve corresponding to the door speed maintaining point and the door full-closing point is higher than the speed between the Nth-1 th door position speed curve corresponding to the door speed maintaining point and the door full-closing point;
detecting whether the door closing state of the elevator door equipment is abnormal in the door closing process, and detecting whether the car door passes through a car door and landing door separation point;
if the door closing state of the elevator door equipment is abnormal, performing the step four; if the door closing state of the elevator door equipment is normal, setting the j-th car position speed curve as the floor default car position speed curve, and performing the seventh step;
if j +1 is not more than N, j is increased by 1 by itself, and the step five is carried out; if j +1 is greater than N, the door machine controller outputs an alarm signal or controls the car door driving motor to stop working, and the step eight is carried out;
if the car door does not pass through the separation point of the car door and the landing door, the sixth step is carried out; if the car door is at the car door and landing door separation point or passes the car door and landing door separation point, the door machine controller controls the car door driving motor to rotate reversely, and the car door driving motor drives the car door to open before the car door and landing door separation point, and then the sixth step is carried out;
the door machine controller continuously controls the car door driving motor to rotate forwards according to the jth car door position speed curve, and the second step is carried out;
the door machine controller continuously controls the car door driving motor to work according to the default car door position speed curve until the elevator is closed;
and eighthly, ending.
2. The method for controlling a gate driving motor by a gate machine controller according to claim 1,
and a car door full-open point is arranged in front of the car door and hall door separation point.
3. The method for controlling a gate driving motor by a gate machine controller according to claim 1,
the abnormal door closing state of the elevator door equipment refers to one or more of the condition that the car door of the elevator door equipment is closed but the landing door cannot be closed, the car door is not closed after the door closing begins and exceeds the set time, and the door closing moment of the car door exceeds the upper limit set moment in the door closing process.
4. The method for controlling a gate driving motor by a gate machine controller according to claim 1,
if a floor meets the set reset condition, the door machine controller resets the default car door position speed curve of the floor to the 1 st car door position speed curve.
5. The method for controlling a gate driving motor by a gate machine controller according to claim 4,
the reset condition of the floor is that the reset key of the floor is triggered.
6. The method for controlling a gate driving motor by a gate machine controller according to claim 4,
the set reset condition of a floor is that the floor default car door position and speed curve of the floor exceeds the set time for the non-1 st car door position and speed curve.
7. The method for controlling a gate driving motor by a gate machine controller according to claim 4,
the set reset condition of a floor is that the door closing torque of the car door behind the speed maintaining point of the car door in the door closing process is smaller than the lower limit set torque, and the lower limit set torque is smaller than the upper limit set torque.
8. The method for controlling a gate driving motor by a gate machine controller according to claim 4,
the reset condition set for one floor is that the working current of the car door driving motor after the car door speed maintaining point is smaller than the specific proportion of the rated current in the door closing process.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611190105.3A CN108217398B (en) | 2016-12-21 | 2016-12-21 | Method for controlling car door driving motor by door machine controller |
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| CN201611190105.3A CN108217398B (en) | 2016-12-21 | 2016-12-21 | Method for controlling car door driving motor by door machine controller |
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| CN108217398B true CN108217398B (en) | 2020-09-22 |
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| CN111377337B (en) * | 2018-12-29 | 2021-05-25 | 上海三菱电梯有限公司 | Car vibration damper |
| CN110626899B (en) * | 2019-09-05 | 2023-07-28 | 上海三菱电梯有限公司 | Door entrance monitoring system for framed glass elevator car |
| CN111017687A (en) * | 2019-11-22 | 2020-04-17 | 上海新时达电气股份有限公司 | Elevator control method, device and computer readable storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4289570B2 (en) * | 1998-11-30 | 2009-07-01 | 三菱電機株式会社 | Elevator door control device |
| KR20050044626A (en) * | 2002-09-27 | 2005-05-12 | 미쓰비시덴키 가부시키가이샤 | Elevator door controller |
| JP4464121B2 (en) * | 2003-12-15 | 2010-05-19 | 三菱電機株式会社 | Elevator door control device |
| JP2007015787A (en) * | 2005-07-05 | 2007-01-25 | Toshiba Elevator Co Ltd | Elevator door device, door control device and door control method |
| JP2009096563A (en) * | 2007-10-12 | 2009-05-07 | Mitsubishi Electric Corp | Elevator door controller |
| JP4555370B2 (en) * | 2008-08-25 | 2010-09-29 | 三菱電機株式会社 | Elevator door control device |
| DE112009005200B4 (en) * | 2009-09-03 | 2013-12-12 | Mitsubishi Electric Corp. | Door device of an elevator |
| JP2012101921A (en) * | 2010-11-11 | 2012-05-31 | Hitachi Building Systems Co Ltd | Door controller of elevator |
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