CN1091422C - Elevator door control apparatus - Google Patents
Elevator door control apparatus Download PDFInfo
- Publication number
- CN1091422C CN1091422C CN98109264A CN98109264A CN1091422C CN 1091422 C CN1091422 C CN 1091422C CN 98109264 A CN98109264 A CN 98109264A CN 98109264 A CN98109264 A CN 98109264A CN 1091422 C CN1091422 C CN 1091422C
- Authority
- CN
- China
- Prior art keywords
- door
- elevator door
- speed sensor
- control device
- torque
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000001514 detection method Methods 0.000 claims description 12
- 238000010586 diagram Methods 0.000 description 4
- 239000000428 dust Substances 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 240000007643 Phytolacca americana Species 0.000 description 3
- 230000008034 disappearance Effects 0.000 description 3
- 239000000523 sample Substances 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000009408 flooring Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/02—Door or gate operation
- B66B13/14—Control systems or devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/02—Door or gate operation
- B66B13/06—Door or gate operation of sliding doors
- B66B13/08—Door or gate operation of sliding doors guided for horizontal movement
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
- E05Y2900/104—Application of doors, windows, wings or fittings thereof for buildings or parts thereof for elevators
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Elevator Door Apparatuses (AREA)
Abstract
An elevator door control apparatus, which controls torque to be produced by a door driving motor in response to the deviation between a speed instruction for a door movement and an output of a speed sensor for detecting a door speed, the improvement thereof resides in that the torque to be produced by the motor is reduced down to zero, when no output of the speed sensor is detected under the condition of existence of the speed instruction. According to the invention, a passenger, who is caught in a door, can be protected safely without losing the operation efficiency of an elevator as a whole.
Description
Invention field
The present invention relates to the control setup of elevator door, relate in particular to protect safely and be stuck in the passenger in the door and do not lose the control device for elevator door of whole elevator service ability.
Background of invention
As a kind of control device for elevator door, JP-A-7-137967 for example, be well-known, in the control device for elevator door of this patent disclosure, when the rotative speed of the motor that drives elevator door drops to zero suddenly and this situation continue one period preset time cycle, can determine any problem or fault that the speed sensor of detecting gate moving velocity occurs.
On the other hand, compared with the above case, when the rotative speed of motor slowly reduces, then can not determine any problem or fault that speed sensor occurs, but can determine that this phenomenon is is behavior by the people, as having dust to cause in passenger's mischief or the door track.So, have only these factors of eliminating that elevator is reopened.
Adopt this prior art, can find controlling device for doors reliably, especially problem in the speed sensor or fault do not need often to stop in rain the operation of elevator thus.The whole work efficiency of elevator is greatly improved.
Yet, under the passenger is stuck in situation in the door, door speed can not resemble described in the prior art unexpected drop to zero.As a result, elevator also can work on, and the passenger may be in grave danger.At this on the one hand, prior art is not considered passenger's safety problem.
Summary of the invention
The control device for elevator door that the purpose of this invention is to provide a kind of passenger's of fully taking into account safety, this device can be found any problem or the fault in the controlling device for doors reliably, does not reduce the whole work efficiency of elevator thus.
Control device for elevator door of the present invention comprises a processing unit and an actuator, be used for producing the electric moter voltage instruction according to the result of processing unit for processing operation, wherein under the condition that has the speed command that calculates by described processing unit, when not detecting the output of speed sensor substantially, by setting the electric moter voltage instruction is zero, makes the torque that will be produced by motor be reduced to zero substantially.
Deviation between speed command that moves according to door and the output of the speed sensor of detecting gate speed, the torque that control device for elevator door control gate drive motor produces, exist under the condition of speed command, when not detecting the output of speed sensor substantially, the torque that motor is produced is reduced to zero substantially.
According to the present invention, because the torque that door motor produced is reduced to zero substantially, reduced to act on the power on the door, therefore, the passenger who is stuck in the door is easy to escape, and therefore can protect the passenger safely.
In addition, the passenger can the moving elevator door when escaping.Utilize moving of door can differentiate whether speed sensor exists any problem or fault.
The accompanying drawing summary
Fig. 1 is the block scheme of the control device for elevator door of the embodiment of the invention.
Fig. 2 a to 2f is the signal graph that shows that controlling device for doors various piece signal shown in Figure 1 changes during the normal condition that door moves.
Fig. 3 a to 3f is the dust that shows owing in the door track, and door moves when temporarily stopping, the signal graph that controlling device for doors various piece signal shown in Figure 1 changes.
Fig. 4 a to 4g shows because any problem or the fault of controlling device for doors, stops door when mobile, the signal graph that controlling device for doors various piece signal changes.
Fig. 5 to 7 is diagram of circuits of the control device for elevator door work of the explanation embodiment of the invention.
The specific embodiment
Below with reference to accompanying drawing preferred embodiment of the present invention is described.
In the accompanying drawing, Fig. 1 is the block scheme that shows the whole configuration of control device for elevator door of the embodiment of the invention with diagramatic way.
Among the figure, the well-known electric life controller of reference number 1 expression, its is controlled the liter of elevator or falls transportation, according to asking in request or the elevator in the hall, for required flooring provides service.Electric life controller 1 produces the instruction Po that opens the door to control device for elevator door 2 and instructs Pc and receive its fault detection signal Tre with closing the door.
The instruction Po or the Pc of 2 pairs of electric life controllers 1 of controlling device for doors respond, and produce the signal that the control elevator door opens or closes.Control setup 2 comprises processing unit 21, carries out the required various processing operations of gate control; Analog-digital (A/D) conv 22 detects current of electric Im with current probe and converts digital signal to; And actuator 23, according to the processing operating result generation electric moter voltage instruction Em of processing unit 21.
Reference symbol L and S represent that respectively door opens/close a mobile range and the current amount opened of door.
To describe the service condition of the foregoing description below, as shown in Figs. 5 to 7, they show the processing operation of embodiment.In addition, at first with reference to the signal graph of figure 2a to 2f, be described for the situation of the door of normal operation.
Shown in Fig. 2 a and 2b, the instruction Po that opens the door is ON (opening), and the instruction Pc that closes the door is OFF (pass).In other words, suppose that command gate opens.
When the instruction Po that opens the door occurring, trigger the processing operation shown in Fig. 5.After beginning to handle operation, whether be " 1 " at step S1 marker for determination F.F is the mark of expression door moving state.When door is mobile during moderating process, flag F is set at " 1 ", otherwise is " 0 ".
Because flag F appears at after the instruction Po that opens the door just, so it is not " 1 ", handles operation and enter step S2, in this step, shown in Fig. 2 c,, produce power speed curve Vp according to acceleration alpha.Handle operation and enter into step S3,, judge that whether current power speed curve Vp is greater than its maxim V in this step
1
Before power speed curve Vp increased sufficiently high level, it was less than V
1Therefore, handle and enter into step S8, in this step, flag F remains " 0 ".
Handle operation and enter into step S9 (Fig. 6), in this step, the actual speed Vd that read out gate moves, it calculates (Fig. 2 e) according to code device signal Vre.At step S10, obtain torque instruction T, k here according to the deviation between power speed curve Vp and the actual speed Vd
1It is constant.
Then, judge at step S11 whether actual speed Vd is 0.Move because the hypothesis door is normal here, actual speed Vd is not 0, therefore, handles operation and proceeds to step S12, and in this step, the torque instruction T that calculates according to step S10 calculates current-order I, k here
2It is constant.
At step S13, read actual motor current Im, at step S14, according to the instruction Em of the difference calculating electric moter voltage between current-order I and the actual motor current Im, k here
3It is constant.In step S15, the voltage instruction Em that calculates is outputed to actuator 23.
After this, handle operation and turn back to step S1 (Fig. 5).Because door continues normal moving, and produces the instruction Em of electric moter voltage, shown in Fig. 2 f.
Repeat above-mentioned processing operation and put t until the time of advent
2Till (Fig. 2 c).At time point t
2, the pattern velocity Vp that calculates surpasses its maxim V
1Therefore, step S3 determines to put the time of advent t
2Then, handle operation and proceed to step S4,, pattern velocity is remained on V in this step
1
Shown in step S5 and S6, begin to calculate the square root of 2 β (L-S) from the time point that sends the instruction Po that opens the door, β is the deceleration/decel in moving of opening the door here.From be included in following formula in the button fly front amount S as can be seen, when door is opened, result of calculation reduced when promptly S increased.Door be opened to enough wide before, result of calculation is usually than V
1Much bigger.Therefore, handle operation and proceed to step S8 from step S5.
After this, the processing operation that repeats to have described.Put t when the time of advent
3When (Fig. 2 c), the subduplicate value of 2 β (L-S) becomes less than V
1, the result treatment operation proceeds to step S6.After this, upgrade pattern velocity Vp by the subduplicate computing value of 2 β (L-S).Because the opening to move of door reduces speed now, in step S7, flag F is set at " 1 ".Repeat above-mentioned processing operation till door is opened fully.
Then, let us hypothesis, before door was opened fully, it was mobile to stop to open of door for a certain reason.With reference to diagram of circuit shown in the figure 5 to 7 and the signal graph of Fig. 3 a to 3f, below will be described this situation.
In this case, door move go wrong or fault before, use with above-mentioned processing and operate identical computing.Yet, if door stops to move, speed sensor 29 output signal Vre, so actual speed signal Vd disappearance (t among Fig. 3 d
4).
Detect the disappearance of Vd at step S11 (Fig. 6), the result handles operation and proceeding to step S16 (Fig. 7).
In diagram of circuit shown in Figure 7, the function of step S16 and S17 is that it is to t as a time counter
4The time of Xiao Shiing counts afterwards, at t
4Detect Vd=0 (Fig. 3 d).If occur greater than V in step S17 decision
2Power speed curve V
1, do not pass through predetermined period of time T after this external Vd=0 of detecting
1, handle operation and proceed to step S12.After this, the processing operation that repeats to have described.
Elect above-mentioned T1 as 200 milliseconds in the present embodiment, be arbitrary value yet consider that situations such as elevator is installed can be set.In addition, set above-mentioned V
2Be to prevent misjudgement in power speed curve Vp rising part because of postponing to cause.Although can be with V
2Elect arbitrary value as, be about V but be set in the present embodiment
110%
If V occurs in step S17 decision
1And in the overtime period T
1Go up lasting Vd=0, handle operation and proceeding to step 18, in this step, the instruction Em that makes electric moter voltage is zero (t among Fig. 3 f
5).Thus, therefore the torque vanishing that motor 30 produces, can discharge the passenger who is stuck in the door.
In addition, when the power on the door diminishes, the passenger who is stuck in the door will attempt to escape.As a result, goalkeeper can with before move on the opposite direction and move.Oppositely move by this, the speed sensitive device produces negative Vd.Certainly, also can produce positive Vd.No matter be any, can regard the Vd that occurs as comprise coder 29 the no problem or fault of speed sensitive device (Fig. 1).This is because if sensing device exists any problem or fault can not produce Vd.
At step S19, judge whether Vd is negative, if, Vd＜0 time cycle at step S20 and S21 measurement appears so, and the function in this step is as another time counter.If in the overtime period T
2(t among Fig. 3 d
5-t
6) go up the negative Vd of existence, handle operation and proceeding to step S22.
As mentioned above, in the present invention, when motor torque is zero,, no matter be negative or just if detect actual speed Vd, judgement is comprised the no problem or fault of speed sensitive device of coder 29.In this case, handle operation and proceed to step S22, in this step, the poke n of fault detection counting machine resets.
Another time counter that step S20 and S21 form is provided with in order to detect negative Vd reliably.Yet, always do not need to be provided with this time counter.Do not have this time counter, the result by step S19 also can make the fault detection counting machine reset.
The function of step S23 and S24 also still as a time counter, count by the time that it has disappeared after the fault detection counting machine is resetted.When to period of time T
3-T
4During (Fig. 3 d and 3f) counting, handle operation and turn back to step S1 (Fig. 5).Below will describe T in detail
3
Turn back to step 19 again,, suppose speed sensitive device existing problems or fault so if there is not negative Vd in judgement.Hereinafter with reference to the diagram of circuit of Fig. 5 to 7 and the signal graph of Fig. 4 a to 4g this situation is described.More specifically, shown in middle Fig. 4 e, coder 29 does not produce output signal Vre, this shows, supposes that coder 29 has fault.
In the mode identical with above description, it is ON that Fig. 4 a and 4b illustrate the instruction Po that opens the door, and the instruction Pc that closes the door is OFF, and it shows sends the instruction of opening the door.
Shown in Fig. 4 d, do not detect actual speed Vd, because comprise the speed sensitive device existing problems or the fault of coder 29.When dotted line represents to apply power speed curve Vp shown in Fig. 4 c among Fig. 4 d by the virtual waveform of the detected actual speed Vd of speed sensitive device of normal operation.
In this case, the time counter that is formed by step S16 and S17 begins from producing Vp, more properly is surpass V from Vp
2Time point t
7The period of time T that (Fig. 4 c) rises
1Count.In period of time T
1The time point t that disappears
8, handle operation and proceed to step S18, in this step, making electric moter voltage instruction Em is zero (Fig. 4 f).
After this, handle operation and proceed to step S19.Yet, in this case,, handle another time timer that operation proceeds to step S25 and begins to be formed by step S25 and S26 owing to there is not actual speed Vd.Different with aforesaid situation, owing to there is not Vd, can suppose that the speed sensitive device goes wrong or fault.
At time point t
9(Fig. 4 c) is when the time period T
3During disappearance, handle operation and enter step S27,, make the poke n of fault detection time meter increase " 1 " in this step.After this, handle operation and proceed to step S28, judge in this step whether the poke n of time meter surpasses predetermined number N.Can be chosen to be desirable value to digital N.In the present embodiment, N is set at 5.
Be no more than five times if carry out the number of times of above-mentioned processing operation, it turns back to step S1 (Fig. 5).When the number of times that repeats surpasses five times, handle operation and enter into step S29, have problems or fault detection signal Tre (Fig. 4 g) for electric life controller 1 in this step.
Although the speed sensitive device that comprises coder 29 without any problem or fault, may occur and same case above-mentioned and as shown in Fig. 4 a to 4g, in this case, owing in the door track dust is arranged, therefore door stops to move.
In this case,, can restart door easily and move, if, the fault detection time meter is resetted as long as there is a tenter who rests in the building to remove dust and manual mode moving door generation Vd according to present embodiment.Not needing not be afraid of trouble goes for the maintenance engineer.Therefore, needn't interrupt the elevator operation for a long time.
Claims (8)
1. control device for elevator door, this device comprises a processing unit (21) and an actuator (23), be used for producing the electric moter voltage instruction according to the result of described processing unit for processing operation, it is characterized in that, when not detecting the output of speed sensor substantially under the condition that has the speed command that calculates by described processing unit, by setting described electric moter voltage instruction is zero, will be reduced to zero by the torque that described motor produces basically.
2. control device for elevator door as claimed in claim 1 is characterized in that: when not detecting the output of speed sensor substantially in first predetermined period of time, the torque that motor produces is reduced to zero substantially.
3. control device for elevator door as claimed in claim 1 is characterized in that: for second predetermined period of time, when not detecting the output of speed sensor substantially, the torque that motor produces is reduced to zero substantially.
4. as any one described control device for elevator door among the claim 1-3, it is characterized in that: the speed command of existence is greater than predetermined value.
5. as any one described control device for elevator door among the claim 1-3, it is characterized in that: count for the processing time that makes motor produce the basic vanishing of torque, when the time of counting surpasses the time of pre-determined number, produce a fault detection signal to electric life controller.
6. control device for elevator door as claimed in claim 5 is characterized in that: when the basic vanishing of torque that motor produces, if detect speed sensor output, reset gate time so.
7. control device for elevator door as claimed in claim 5 is characterized in that: during manual moving elevator door, if detect speed sensor output, reset gate time so after producing fault detection signal.
8. control device for elevator door as claimed in claim 1, it is characterized in that, deviation between speed command that this device moves according to door and the output of the speed sensor of detecting gate speed, the torque that the control gate drive motor produces, wherein, when under having the condition of speed command, not detecting the output of speed sensor substantially, after the torque that motor is produced is reduced to zero substantially, there is output to judge that speed sensor has problem based on speed sensor.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12863297A JP4015721B2 (en) | 1997-05-19 | 1997-05-19 | Elevator door control device |
| JP128632/97 | 1997-05-19 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1199704A CN1199704A (en) | 1998-11-25 |
| CN1091422C true CN1091422C (en) | 2002-09-25 |
Family
ID=14989621
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN98109264A Expired - Lifetime CN1091422C (en) | 1997-05-19 | 1998-05-19 | Elevator door control apparatus |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JP4015721B2 (en) |
| KR (1) | KR19980087126A (en) |
| CN (1) | CN1091422C (en) |
| HK (1) | HK1015752A1 (en) |
| TW (1) | TW434182B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106163964B (en) * | 2014-04-16 | 2018-01-02 | 三菱电机株式会社 | The controlling device for doors and door control method of elevator |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003040562A (en) * | 2001-07-25 | 2003-02-13 | Mitsubishi Electric Corp | Elevator door safety control device |
| EP2517997B1 (en) * | 2006-01-30 | 2017-07-26 | Otis Elevator Company | Managing an encoder malfunction in an elevator drive system |
| JP2011152973A (en) * | 2010-01-26 | 2011-08-11 | Toshiba Elevator Co Ltd | Elevator door control device |
| JP2014091594A (en) * | 2012-11-01 | 2014-05-19 | Hitachi Building Systems Co Ltd | Door opening and closing device for elevator |
| CN103274280B (en) * | 2013-04-10 | 2015-04-08 | 深圳市海浦蒙特科技有限公司 | Elevator device and elevator driving method |
| WO2016146186A1 (en) * | 2015-03-18 | 2016-09-22 | Otis Elevator Company | System and method for controlling an elevator car |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4753323A (en) * | 1986-05-26 | 1988-06-28 | Kone Elevator Gmbh | Safety system for closing doors |
| US5131506A (en) * | 1990-02-16 | 1992-07-21 | Mitsubishi Denki Kabushiki Kaisha | Door control system using drive motor torque signals |
| EP0665182A1 (en) * | 1994-01-28 | 1995-08-02 | Inventio Ag | Method of controlling door movement |
| US5616895A (en) * | 1993-10-06 | 1997-04-01 | Inventio Ag | Door safety circuit for monitoring of story doors in lift installations |
-
1997
- 1997-05-19 JP JP12863297A patent/JP4015721B2/en not_active Expired - Lifetime
-
1998
- 1998-04-23 TW TW087106274A patent/TW434182B/en not_active IP Right Cessation
- 1998-05-15 KR KR1019980017631A patent/KR19980087126A/en not_active Application Discontinuation
- 1998-05-19 CN CN98109264A patent/CN1091422C/en not_active Expired - Lifetime
-
1999
- 1999-02-22 HK HK99100711A patent/HK1015752A1/en not_active IP Right Cessation
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4753323A (en) * | 1986-05-26 | 1988-06-28 | Kone Elevator Gmbh | Safety system for closing doors |
| US5131506A (en) * | 1990-02-16 | 1992-07-21 | Mitsubishi Denki Kabushiki Kaisha | Door control system using drive motor torque signals |
| US5616895A (en) * | 1993-10-06 | 1997-04-01 | Inventio Ag | Door safety circuit for monitoring of story doors in lift installations |
| EP0665182A1 (en) * | 1994-01-28 | 1995-08-02 | Inventio Ag | Method of controlling door movement |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106163964B (en) * | 2014-04-16 | 2018-01-02 | 三菱电机株式会社 | The controlling device for doors and door control method of elevator |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH10316339A (en) | 1998-12-02 |
| HK1015752A1 (en) | 1999-10-22 |
| TW434182B (en) | 2001-05-16 |
| JP4015721B2 (en) | 2007-11-28 |
| CN1199704A (en) | 1998-11-25 |
| KR19980087126A (en) | 1998-12-05 |
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Granted publication date: 20020925 |