JPH07106859B2 - Elevator door controls - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elevator door control device for driving and controlling an electric motor that opens and closes an elevator door.

[Prior Art] FIG. 5 is a configuration diagram of a conventional elevator door control device that performs an inverter opening / closing operation by inverter controlling an elevator door driving electric motor using a known transistor type inverter. In the figure, (1) is a three-phase AC power supply 200 /
A rectifying diode bridge that converts 220V to DC,
(2) is a smoothing electrolytic capacitor, (3) is a transistor bridge for generating three-phase AC voltage from DC voltage,
(4) is an induction motor for driving a door, (5) is an encoder for detecting a door position, and (6) is a base amplifier which outputs a base current for operating the transistor bridge (3). (30) is a three-phase pulse width modulation pulse train ( _UP ) which is a base voltage signal to the base amplifier (6),
A door position counter (7) for detecting a door position by counting pulse signals output from a door position detection encoder (5), which is a microcomputer for generating (V _P ), (W _P ). A speed pattern generator (8) that determines a door speed command from the detected door position, a v / f constant control circuit (9) that generates a constant voltage frequency command v / f from the speed command, and a voltage command V A sine wave command generator (11) that generates a phase sine wave command, a counter (1 that determines the phase θ of the three-phase sine wave command from the frequency command f
0), a triangular wave carrier oscillator (12) that outputs a triangular wave carrier, compares the triangular wave carrier with the three-phase sine wave commands V _U , V _V , V _W, and three-phase pulse width modulation pulse trains U _P , V _P , It is composed of a comparator (13) that outputs W _P. The base amplifier is configured to cut off the base current by a base cutoff signal from the outside. As an operation of the microcomputer (30), a speed pattern generator (8) generates a door opening / closing signal (not shown) and a speed command determined by a door position counter (7). Based on the speed command, the v / f constant control circuit (9) generates the voltage command V and the frequency command f calculated so that the voltage frequency command v / f becomes constant. The generated frequency f is input to the counter (10) and each phase information θ of the three-phase sine wave voltage command is generated. Then, based on the voltage command V and the phase information θ generated by the counter, the following three-phase voltage command V _U = V · sin θ V _V = V · sin (θ−2 / is generated by the sine wave command generator (11). 3π) V _W = V · sin (θ + 2 / 3π) is generated, and three-phase voltage command and triangular wave carrier oscillator (12)
A comparator (13) performs a magnitude comparison with the output of the three-phase pulse width modulation pulse trains U _P , V _P , and W _P. The relationship is shown in FIGS. 6 (a) and (b). Waveform A in FIG. 6 (a)
Is one phase of the three-phase voltage command V _U , V _V , V _W. Waveform B is a triangular wave carrier. FIG. 3B shows a three-phase pulse width modulation pulse train U _P , V _P , W _P. The pulse width modulated pulse train generated in this way is input to the transistor bridge (3) through the upper and lower short-circuit prevention circuit and the base amplifier (6) not shown in the figure, and each transistor is switched so that the motor has a constant v / f three-phase. A voltage is applied and generated, and the speed is controlled according to the set speed pattern.

On the basis of such an operation principle, the door opening / closing control of an elevator that operates is normally performed by a microcomputer (30) surrounded by a dotted line. As a safety circuit of a door device, it is conventionally shown in FIG. 9 (a). As shown in the figure, a limit switch (16) that indicates that the door is closed is provided as a separate circuit, and the "traveling" signal that indicates that the elevator is traveling becomes valid and is output from the hoist control panel (not shown). If the limit switch (16) is disengaged while running, it is judged that the door is open during running, and an abnormal signal is sent to the inverter (17),
Flip-flop (2) via AND gates (18) and (19)
Input to the set terminal of 0) and set. At that time, the signal output from the flip-flop (20) is input to the base amplifier (6) to shut off the base, stop the door motor, and prevent the door opening / closing operation.

Alternatively, as shown in FIG. 7, a two-phase encoder (5)
Further, a phase discriminating circuit (14) may be provided which inputs a pulse train signal for speed detection with a phase shift of 90 ° C. and detects a forward / reverse change of the door motor (4) by phase inversion between the pulse train signals. The operation of this phase discrimination circuit (14) is as follows.
As shown in FIG. 8, when the pulse train signals PHA and PHB having a 90 ° phase shift from the two-phase encoder (5) are input to the differentiating circuit, differential pulses are generated at the rising and falling edges of each pulse. Then, input the differentiated pulse and the level signal of each pulse signal to a logic circuit that satisfies the following logical expression, and CWP = δPHA ・ PHA ・ ▲ ▼ + δ ▲ ▼ ・ ▲
▼ ・ PHB ＋ δPHB ・ PHA ・ PHB ＋ δ ▲ ▼ ・ ▲ ▼ ・ ▲
▼ CCWP = δ ▲ ▼ ・ ▲ ▼ ・ ▲ ▼ ＋ δPHA
・ PHA ・ PHB ＋ δ ▲ ▼ ・ PHA ・ ▲ ▼ ＋ δPHB ・ ▲ ▼
・ PHB (δ indicates differential pulse.) Separately outputs one of the forward rotation pulse train (door closing direction) CWP and the reverse rotation pulse train (door opening direction) CCWP to the abnormality determination circuit (15). This abnormality determination circuit (15) determines that "elevator door open runaway" occurs if CCWP is input when the "running" signal is input from the hoist control panel, and sends a base cutoff stop signal to the base amplifier (6). Is output.

[Problems to be Solved by the Invention]

The conventional elevator door control device detects the elevator door open runaway by the operation of the limit switch as described above, and the method of detecting the reverse rotation of the electric motor by the phase change of the encoder output and detecting the elevator door open runaway. However, the limit switch according to the first method
As shown in Fig. 10 (b), the switch lever and the door engage before the position where the door completely closes, and the ON operation occurs, so even if the door opens due to open runaway, after opening more than 1 Otherwise, the limit switch is turned off and the abnormal signal is not output to the base amplifier, so there is a drawback that the door abnormal opening judgment is delayed. On the other hand, in the case of the second method, an encoder is indispensable as one of means for determining open runaway, so that it is not very versatile.
Even if the motor is driven in the direction in which the door should be closed by an appropriate drive control signal or drive output, if the motor is rotated in the opposite direction by prying the door, the elevator engaged with the motor will also be in the reverse phase. Then, the phase discrimination circuit outputs a reverse rotation pulse train to the abnormality determination circuit by this output, and the transistor bridge base is shut off based on the determination signal from the abnormality determination circuit.Therefore, the pressing torque in the door closing direction disappears, Since the door can be easily opened manually, the passengers of the elevator are in a very dangerous state.

The present invention has been made to solve the above problems, and can detect a door open runaway without requiring an elevator output, and eliminates the door tightening torque when the door is pryed open, while the elevator is running. An object of the present invention is to obtain an elevator door control device that can prevent the door from opening easily.

[Means for Solving the Problems]

An elevator door control device according to the present invention includes an electric motor that opens and closes an elevator door, and a control unit that drives and controls the electric motor, and a three-phase signal input to the electric motor based on the output of the control unit. Is input and phase rotation detection means for detecting the phase rotation of this three-phase signal and drive stop control for performing drive stop control of the electric motor when reverse rotation of the phase rotation is detected by the phase rotation detection means while the elevator is traveling. And means are provided.

[Action]

In the case of elevator door control, a torque that pushes the door against the stop is always required for the door motor to maintain the door closed.Therefore, the motor requires a three-phase signal consisting of a predetermined voltage and frequency. Is being applied. Therefore,
If the reverse rotation of the phase rotation of the three-phase signal is detected while the elevator is running, it is possible to instantly detect the abnormal runaway of the door during elevator running. Does not change and the door open runs away and motor control is stopped, and the pressing torque is not released.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS. 1, 3, and 4. FIG. 1 is an overall configuration diagram of an elevator door control device according to the present embodiment. In addition, in FIG.
The same reference numerals as those in FIG. 7 indicate the same parts, and detailed description thereof will be omitted. In the figure, (21) and (22) are low-pass filters for demodulating the pulse width modulated pulse train voltage commands U _P and V _P into sine waves having phase differences, and (23) and (24) are respective sine wave outputs. U-phase and V-phase waveform shaping circuit for converting to a square wave (pulse train), (25A) is a door opening direction determination circuit that outputs a pulse train V _CCW that indicates the door opening direction, and (25) is a pulse train V _CCW that is input during elevator travel This is an abnormality determination circuit that outputs a base cutoff signal to the base amplifier (6) when the operation is performed.

The U-phase low-pass filter (21), the V-phase low-pass filter (22), the U-phase waveform shaping circuit (23), the V-phase waveform shaping circuit (24), and the door opening direction determination circuit (25A) are described in the claims. Phase rotation detection means is configured.

The abnormality determination circuit (25) represents the drive stopping means described in the claims.

Next, the operation of this embodiment will be described based on the above configuration. First, each of the U-phase low-pass filter (21) and the V-phase low-pass filter (22) inputs the pulse width modulation pulse train voltage commands U _P and V _P, and outputs the phase as shown in (a) and (b) of FIG. Of the sine wave (V
_U ) and (V _V ) are input to the U-phase waveform shaping circuit (23) and V-phase waveform shaping circuit (24), and as shown in (c) and (d) of FIG. 6 and FIG. Pulse train V _UP , V _VP . These converted pulse trains V _UP and V _VP are input to the door opening direction determination circuit (25A), and after obtaining the rising differential pulse and the falling differential pulse of each pulse train, these differential pulses, and each pulse signal and inverted pulse signal are calculated. , Input to the logic circuit that satisfies the following logic condition, and discriminate between the pulse train V _CW in the door closing direction ((e) in the figure) and the pulse train V _{CCW in the} door opening direction ((f) in the figure). Output.

V _CW = δVUP ・ VUP ・ ▲ ▼ ＋ δ ▲ ▼ ・ ▲
▼ ・ VVP ＋ δVVP ・ VUP ・ VVP ＋ δ ▲ ▼ ・ ▲ ▼ ・ ▲
▼ (δ indicates the differential pulse.) The logic of the pulse train V _{CCW in} the door opening direction is V _CCW = δ ▲ ▼ ・ ▲ ▼ ・ ▲ ▼ + δVUP
・ VUP ・ VVP V _CCW ＝ δ ▲ ▼ ・ VUP ・ ▲ ▼ ＋ δVVP ・ ▲
▼ ・ VVP (δ indicates a differential pulse.) At this time, when the pulse width modulation pulse train voltage command V _VP shown in (c) and (d) of FIG. 3 advances 120 ° in phase with respect to V _UP . If so, the pulse train V _{CCW in the} door opening direction is output to the abnormality determination circuit (25) from the above logical expression. If the V _CCW signal is input to the AND gate (21) while the running signal input from the hoisting machine control panel is input to the abnormality determination circuit (25) as shown in FIG. , AND output is OR gate (21
It is input to the set terminal of the flip-flop (20) via a), and the base cutoff signal is output to the base amplifier (6). Further, as in the conventional case, the abnormality determination circuit (25) operates the flip-flop (6) and outputs the base cutoff signal even when the door open limit switch (16) is opened during the traveling of the elevator.

Although the above description has been made by the voltage command output of the pulse width modulation circuit, as shown in FIG.
A current pulse train that detects the phase by the current detectors (3A) and (3B), pulse-shapes the detected current by the waveform shaping circuits (23) and (24), and then determines the phase rotation by the above-mentioned logic.
The present invention can be configured by detecting either I _CWP or I _CCWP .

〔The invention's effect〕

As described above, according to the present invention, the phase rotation of the three-phase signal such as the drive voltage or the current output to the door driving motor is monitored, and the door open runaway is determined based on the phase rotation reverse rotation detection. Therefore, with a simple configuration, it is possible to instantaneously determine the door open runaway due to a malfunction of the motor control unit, and the forced open operation of the door does not determine the door open runaway, so it is possible to control the opening and closing of the door during elevator traveling. Since this is not done, there is an effect of obtaining an elevator door control device which is excellent in safety and reliability.

[Brief description of drawings]

FIG. 1 is a block diagram of an elevator door control apparatus according to an embodiment of the present invention, FIG. 2 is another embodiment of the present invention, and FIG. 3 is a signal waveform diagram for explaining the operation of the present embodiment. FIG. 4 is an internal configuration diagram of the abnormality determination circuit (25), FIGS. 5 and 7 are configuration diagrams of a conventional device, FIG. 6 is a waveform diagram for explaining a pulse width modulation operation, and FIG. 8 is a conventional phase discrimination. FIG. 9 (a) is a diagram for explaining the operation of the circuit (14), and FIG. 9 (a) is a conventional abnormality determination circuit (15).
FIG. 7B is a diagram for explaining the operation of the limit switch (16). In the figure, (3) is a transistor bridge, (3A),
(3B) is a current detector, (4) is a door drive induction motor,
(6) is a base amplifier, (13) is a comparator, U _P , V _P , W _P are three-phase pulse width modulation pulse trains, (21) and (22) are low-pass filters, and (23) and (24) are waveforms. Shaping circuit, (25A) door opening direction determination circuit, (25) abnormality determination circuit. In each figure, the same reference numerals indicate the same or corresponding parts.

Front Page Continuation (72) Inventor Tatsushi Takahashi 1 Inazawa, Inazawa, Inaichi, Aichi Mitsubishi Electric Co., Ltd. Inazawa Works (72) Inventor Hiroshi Muramatsu 1, Hishimachi, Inazawa, Aichi Mitsubishi Electric Co., Inazawa (72) Inventor Toshiyuki Kodera 1 Hishimachi Inazawa, Aichi Prefecture Mitsubishi Electric Engineering Co., Ltd. Inazawa Office

Claims (1)

[Claims] 1. An electric motor for opening and closing an elevator door, and a control unit for driving and controlling the electric motor. Based on an output of the control unit, a three-phase signal input to the electric motor is used as an input. It has a phase rotation detecting means for detecting the phase rotation of the phase signal, and a drive stopping means for performing the drive stop control of the electric motor when the reverse rotation of the phase rotation is detected by the phase rotation detecting means while the elevator is traveling. Elevator door control device characterized by: