CN1280096A - Automatic cage speed controller for lift - Google Patents
Automatic cage speed controller for lift Download PDFInfo
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- CN1280096A CN1280096A CN 99113102 CN99113102A CN1280096A CN 1280096 A CN1280096 A CN 1280096A CN 99113102 CN99113102 CN 99113102 CN 99113102 A CN99113102 A CN 99113102A CN 1280096 A CN1280096 A CN 1280096A
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- door
- velocity
- speed
- velocity curve
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Abstract
Automatic cage door speed controller for lift has a rotation angle sensor to continuously detect the position of door, a monochip microcomputer to produce speed curve and regulate and control the operation state of cage, and a power converter with self-shut electronic power device to drive motor and mechanism unit to reversely open door during pressing something. Based on door position signal of the rotation angle sensor, the monochip microcomputer optimizes the speed curve and controls the door to limit position smoothly and fast. In addition, the use of monochip microcomputer to control speed and force makes the present invention small, reliable and simplified.
Description
The present invention relates to a kind of automatic cage speed controller for lift that is used for, particularly determine the speed control unit of the speed of door by the position of detecting gate.
The elevator automatic cage of prior art, because move distance is short, can stop reposefully when opening the door or closing the door the limit for accomplishing that door moves to, and motion process is steady, run duration the shortest (efficient height), running velocity curve how to determine door is very important, if can record the position at a place at any time, and according to the position of door determine the door speed be the best way.
Mainly contain the velocity curve that two kinds of methods are determined door in the prior art at present: a kind of method is: with the relative limit switch in position several and door, when door during at diverse location, corresponding limit switch is connected, the on-off signal that the door speed controller detects according to limit switch, produce velocity curve, the control gate electrical motor quickens or slows down.Because only when limit switch moves, just can know the accurate position of door, and can only estimate the position of door At All Other Times with the method for inferring, and the actual speed of door and given speed will inevitably errors, so can't infer the position of going out accurately, be difficult to The Gift of Being the Best You Can Be with regard to the speed control that causes door like this.
Another kind method is on the axle of electrical motor photoelectric encoder to be installed, and at the close the door limit and the end position installation limit switch that opens the door of door, this method can be accomplished the optimal control of a speed by the position that measure door to the method for photoimpact accumulative total simultaneously.But when first energising, owing to be to measure the door position by the pulse accumulative total to photoelectric encoder, when this just needed door to move to end position, the limit switch action just can be known the position of door.Simultaneously the method should be installed photoelectric encoder, also limit switch will be installed, also more complicated, cost height.
The present invention seeks to: overcome the deficiencies in the prior art, a kind of elevator cage door speed controller that is produced control by microcomputer according to the continuous door position signal that detects is provided.
The present invention adopts the position of angular sensor continuous detecting door, adopt single chip microcomputer to produce acceleration chart, retardation curve, adjustment doors operational process, control running state, automatic reverse opens the door when gate clips to people or thing at closing time, adopt the power inverter driving motor of forming from the power electronic devices of turn-offing, electrical motor is done the motion of closing the door of opening the door by the mechanical drive driving gate.
The present invention is achieved in that a kind of automatic cage speed controller for lift, comprises door position sensor, microprocessor control system, it is characterized in that:
(1), door position sensor is the angular sensor on crank wheel or the power wheel in the mechanical drive that is contained in door,
(2), microprocessor control system has been realized door running velocity curve generator jointly by soft, hardware, it accepts the order that opens or closes from input interface, and according to the instant door position signal that receives at any time from angular transducer, produce S shape and open or close a velocity curve, the velocity curve signal is defeated by power inverter, drives operating motor and drags elevator cage door by the instant given speed command correspondence rotation speed operation of door velocity curve, the mechanical drive of drive door.Door running velocity curve generator comprises that an accelerating velocity register produces velocity amplitude V by the time principle
1, a geard-down speed register root press distance principle generation velocity amplitude V according to an instant door positional value
2, the two is compared the little person of value as instant control gate velocity setting value V
gOutput.Door running velocity curve generator carries out the real-world operation acceleration/accel a that twice difference tried to achieve door to door position signal in the process of closing the door
m, the given running velocity V of opposite house
gCarry out first difference and try to achieve given acceleration/accel a
g, if (a
m-a
g) less than a setting value, then be judged as and pressed from both sides people or thing this moment, rate generator just stops the process of closing the door immediately, enters the process of opening the door automatically.
Also can also have soft by microprocessor control system, hard-wired door action force controller with such scheme when realization is of the present invention is connected between velocity curve producer and the power inverter, it is to the judgement of sampling of electrical motor working current, if this electric current then carries out being defeated by power inverter again behind the amplitude limit to the instant output valve of velocity curve producer during greater than setting value, if this electric current during less than setting value then the instant output valve of velocity curve producer be directly passed to power inverter.
Implement when of the present invention, angular transducer can be selected the directly senser element of the value of taking measurement of an angle such as rotation tone pitch potential device or magslip, absolute encoder etc. for use.
The invention has the advantages that: owing to adopt angular transducer, can obtain the position signal of door at any time, single chip microcomputer can draw the velocity curve of optimization according to the continuous position signal, and gate is moved by a S type velocity curve, can make the steadily end position of arrival door of door, and the time is the shortest.Adopt single chip microcomputer to carry out speed control, door closing force control simultaneously, the volume of this speed controller is dwindled greatly, improved the reliability of controller, simplified adjustment process.Position by an angular sensor detecting gate also makes it easy for installation, and cost is low.
Fig. 1 is a principle of the invention block diagram.
Fig. 2 is a velocity curve producer workflow diagram of the present invention.
Fig. 3 is concrete structure embodiment 1 schematic circuit diagram of the present invention.
Fig. 4 is concrete structure embodiment 2 schematic circuit diagram of the present invention.
Below in conjunction with drawings and Examples the present invention is done further narration:
With reference to figure 1, composition of the present invention and working process are as follows:
When gate is when being dragged by connecting rod by crank wheel, angular transducer 1 directly links to each other with crank wheel, because the anglec of rotation of crank wheel is corresponding one by one with the position of door, measures the angle of crank wheel like this by angular transducer, a position that just can obtain.When gate is when being dragged by synchronous band, angular transducer links to each other with the power wheel of synchronous band by a mechanical reducer, because the position of gate is corresponding with the position of being with synchronously, but because synchronous corner＞360 of strap drive wheel °, it can be become corner＜360 ° by retarder, the value of angular transducer output signal has just been represented the position of door like this.
Door velocity curve producer 2, the position signal of the door that receiving angle sensor 1 transmits, and the order of sending according to input interface 5: the position according to door when opening the door order produces the velocity curve that opens the door, position according to door when closing the door order produces the velocity curve of closing the door, and this curve is preferred S curve.
Gate action force controller 3, come the action force of limiting door according to motor 6 working currents, when working current during less than the cooresponding setting value of action force, the velocity curve that door action force controller 3 directly produces door velocity curve producer 2 is delivered to power inverter 4, when working current during, again it is delivered to power inverter 4 after the absolute value of 3 pairs of velocity curves of door action force controller is spacing greater than the cooresponding setting value of action force.The door velocity curve producer 2 also actual speed rate of change of the given speed rate of change by measuring door and door prevents that door from pressing from both sides the people in the process of closing the door, and the given speed of opposite house and actual difference compensate etc.Power inverter 4 can be that direct current DC-DCPWM changer drags direct current operating motor 6 or three-phase DC-ACPWM changer, drag three-phase alternating current motor 6, by the cooresponding rotation speed operation of door speed command, actuating motor 6 drags gate by mechanical drive 7.Current sensor 8 is used for measuring working current, supply door action force controller 3 control ends of electrical motor and does overcurrent protection to power inverter 4.
Describe the production process of an Xiamen kinematic velocity curve in detail below with reference to Fig. 2.Establish the sign that opens the door when velocity curve producer 2 is received enabling signal, gate is opened motion; Receive and establish the sign of closing the door when closing gate signal, the gate motion of closing the door.
The accelerating velocity register increases progressively by the time principle, and promptly each delta time has a corresponding velocity amplitude V
1, this increment itself also is that first order inertial loop promptly progressively increases to certain value by zero.The geard-down speed register produces V by the position of this moment with distance principle simultaneously
2, both all there was a velocity amplitude V each relative gate position of stopping limit point
2Corresponding with it, so just can guarantee that the gate pulsation-free reaches the limit of the position, get V
1And V
2The little person of value do the door velocity setting value V
gIn the process of closing the door, should prevent that also gate from clipping to people or other obstacle, when gate folder man-hour, the speed of door can produce a speed bust again on the basis that the velocity curve of closing the door changes.The actual speed V of door
mBe to obtain by position signal is differentiated (poor), the acceleration/accel a of door
mCan pass through V
mDifferentiating obtains, if in the process of closing the door the door actual acceleration a
mGiven acceleration/accel a with door
gDifference less than the thresholding of a setting, illustrate that door has produced one because the speed bust that the folder people causes, should stop the process of closing the door immediately this moment, enters the process of opening the door, and plays the effect of safety edge.
Fig. 3 is direct current door machine preferred embodiment schematic circuit diagram of the present invention.
With reference to figure 3, with dashed lines is divided into several sections with electrical schematic diagram, uses the title of digitized representation each several part respectively.The WM of the 7th part is an angular sensor that accurate conductive plastic potentiometer is realized, is used for measuring the position of door.Section 1 is one and has comprised that A/D conversion, data memory RAM, memory under program ROM, I/O interface, PWM (width-modulation pulse signal) give birth to the single chip microcontroller of device, central processor CPU that it passes through RA
2End is gathered door position signal, gathers the armature electric current by RAO, passes through RA
1Gather the armature voltage signal, pass through RA
3, RA
5Close the door speed setting and door closing force of collection set, and passes through RC
2The pwm signal of output representation speed curve passes through RC
5Control relay ZJ selects to open the door or close door operation, by RBO, RB
2The reception instruction of closing the door or open the door.Part 2 is the input instruction interface.The 3rd part is a driving amplifier, be used for signal with PWM generator zoom into can direct drive electronic power switch device signal.The 4th part is that parameter is set.The 5th part is a Power Conversion, it is a DC-DC changer, with the dutycycle proportional vdc of direct supply voltage transformation one-tenth with pwm signal, be added in the armature two ends of direct current operating motor MD, the 6th part is the mechanical drive of door, is used for the mechanical force of electrical motor is become the power that driving gate is done motion.
Concrete working process is as follows: when single chip microcontroller 1 by input interface 2, receive when opening or closing order, at first gather door position signals by sensor 7, determine the given kinematic velocity of door thus, pass through RA simultaneously
1Gather armature voltage, regulate the pwm signal that produces corresponding dutycycle by in house software and make armature voltage consistent, the compensation of the line speed of going forward side by side difference with given speed.When the armature current of RAO detection surpasses the power setting value, reduce given speed automatically, when the process of closing the door produces the speed bust, enter the process of opening the door automatically and prevent gate folder people.
Fig. 4 is an interchange door machine preferred embodiment electrical schematic diagram of the present invention.
With reference to figure 4, section 1 is a single chip microcontroller that comprises CPU, A/D conversion, RAM, ROM, I/O etc., and it gathers door position signal by RAO, passes through RA
1, RA
2, RA
3Gather setting value, pass through I
6Gather DC bus-bar voltage, pass through I
7Gather the power circuit working current.Part 2 is the three-phase PWM producer, it is according to the frequency of CPU, amplitude, direction, instruction produces corresponding with it three-phase PWM signal, this three-phase PWM signal is amplified rear drive the 6th part three-phase DC-AC changer through the 5th part amplifier, produce three-phase alternating-current supply and drive three-phase alternating current motor MD, drive gate by the 7th part mechanical drive, the 8th part UP is the plastic potentiometer of a precision, when door machinery is the crank wheel transmission, potential device is directly coaxial with crank shaft, when door machinery was synchronous strap drive, potential device linked to each other with synchronous band by a gear reducer.The 3rd part is an input interface, and the 4th part is that parameter is set.
The concrete working process of present embodiment is as follows:
When single chip microcontroller 1, when receiving the order of open and close door, at first gather door position signal by sensor 8 by input interface 3, determine the given kinematic velocity of door thus, pass through I simultaneously
7Gather main circuit current.CPU sends and the corresponding frequency instruction of given speed for three-phase PWM wave mode producer, obtain the given speed of door and the difference of actual speed simultaneously, and this is measured and the frequency instruction addition by way of compensation, when producing the speed bust in the process of closing the door, enter door opening state automatically, prevent gate folder people.
Claims (5)
1, a kind of automatic cage speed controller for lift comprises door position sensor, microprocessor control system, it is characterized in that:
(1), door position sensor is the angular sensor on crank wheel or the power wheel in the mechanical drive that is contained in door,
(2), microprocessor control system has been realized door running velocity curve generator jointly by soft, hardware, it accepts the order that opens or closes from input interface, and according to the instant door position signal that receives at any time from angular transducer, produce S shape and open or close a velocity curve, the velocity curve signal is defeated by power inverter, the driving operating motor drags elevator cage door by the mechanical drive of the corresponding rotation speed operation of the instant given speed command of door velocity curve, drive door.
2, speed controller according to claim 1 is characterized in that: door running velocity curve generator comprises that an accelerating velocity register produces velocity amplitude V by the time principle
1, a geard-down speed register root press distance principle generation velocity amplitude V according to an instant door positional value
2, the two is compared the little person of value as instant control gate velocity setting value V
gOutput.
3, speed controller according to claim 1 and 2 is characterized in that: door running velocity curve generator carries out the real-world operation acceleration/accel a that twice difference tried to achieve door to door position signal in the process of closing the door
m, the given running velocity V of opposite house
gCarry out first difference and try to achieve given acceleration/accel a
g, if (a
m-a
g) less than a setting value, then be judged as and pressed from both sides people or thing this moment, rate generator just stops the process of closing the door immediately, enters the process of opening the door automatically.
4, speed controller according to claim 1 is characterized in that: the angular transducer of employing is rotation tone pitch potential device or magslip.
5, speed controller according to claim 1, it is characterized in that: also have by soft, the hard-wired door of microprocessor control system action force controller and be connected between velocity curve producer and the power inverter, it is to the judgement of sampling of electrical motor working current, if this electric current then carries out being defeated by power inverter again behind the amplitude limit to the instant output valve of velocity curve producer during greater than setting value, if this electric current during less than setting value then the instant output valve of velocity curve producer be directly passed to power inverter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 99113102 CN1280096A (en) | 1999-07-13 | 1999-07-13 | Automatic cage speed controller for lift |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 99113102 CN1280096A (en) | 1999-07-13 | 1999-07-13 | Automatic cage speed controller for lift |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1280096A true CN1280096A (en) | 2001-01-17 |
Family
ID=5276333
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 99113102 Pending CN1280096A (en) | 1999-07-13 | 1999-07-13 | Automatic cage speed controller for lift |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1280096A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1661842A1 (en) * | 2004-10-01 | 2006-05-31 | Inventio Ag | Inputting or adjusting reference positions in a door controller |
| CN101481066B (en) * | 2008-12-18 | 2011-03-16 | 日立电梯（中国）有限公司 | Mechanical braking device and method for abnormal operation of elevator |
| CN102674121A (en) * | 2012-05-21 | 2012-09-19 | 珠海格力电器股份有限公司 | Control system of lift door motor and control method thereof |
| CN107010505A (en) * | 2017-05-18 | 2017-08-04 | 厦门丰万达物联科技有限公司 | Elevator cab door state-detection warning device and method based on acceleration transducer |
| CN110939542A (en) * | 2019-11-04 | 2020-03-31 | 国家电网有限公司 | Mechanical brake input method and device for pumped storage unit |
-
1999
- 1999-07-13 CN CN 99113102 patent/CN1280096A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1661842A1 (en) * | 2004-10-01 | 2006-05-31 | Inventio Ag | Inputting or adjusting reference positions in a door controller |
| US7503434B2 (en) | 2004-10-01 | 2009-03-17 | Inventio Ag | Inputting or adjusting reference positions in a door controller |
| AU2005218049B2 (en) * | 2004-10-01 | 2011-02-24 | Inventio Ag | Inputting or adjusting reference positions in a door controller |
| CN101481066B (en) * | 2008-12-18 | 2011-03-16 | 日立电梯（中国）有限公司 | Mechanical braking device and method for abnormal operation of elevator |
| CN102674121A (en) * | 2012-05-21 | 2012-09-19 | 珠海格力电器股份有限公司 | Control system of lift door motor and control method thereof |
| CN107010505A (en) * | 2017-05-18 | 2017-08-04 | 厦门丰万达物联科技有限公司 | Elevator cab door state-detection warning device and method based on acceleration transducer |
| CN110939542A (en) * | 2019-11-04 | 2020-03-31 | 国家电网有限公司 | Mechanical brake input method and device for pumped storage unit |
| CN110939542B (en) * | 2019-11-04 | 2021-08-03 | 国家电网有限公司 | Mechanical brake input method and device for pumped storage unit |
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