JPH0780664B2 - Elevator door controls - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a door control device for an elevator, and more particularly to a door control device for an elevator capable of quickly performing a reversing operation of a door.

[Prior Art] As a conventional technology regarding an elevator door control device,
For example, the technique described in JP-A-61-203087 is known.

This conventional technology adjusts the increasing driving force applied to the door according to the position of the door during the reversing operation of the door so that an excessive driving force is not applied to the door near the full opening when the door is reversed, and This is to reduce the sound of door hits.

[Problems to be Solved by the Invention] In the conventional technology, when the door is opened again immediately after the door starts to be closed, the driving force to the door can be adjusted, and therefore, the door is opened to the open end at an excessive speed. It has the advantage of never reaching.

However, this conventional technique has a problem that the driving speed to the door is limited, so that the speed of the door is reduced, the sense of speed is lost, and passengers are irritated.

An object of the present invention is to solve the above-mentioned problems of the prior art, to reduce the engagement noise between the car door and the landing door, to quickly move the door when it is turned over, and to reduce the door-contact noise to the open / close end. An object of the present invention is to provide an elevator door control device capable of achieving the following.

Another object of the present invention is to provide an elevator door control device capable of reducing the overshoot of the door response speed in response to the door speed command and performing a quick door opening / closing operation.

Another object of the present invention is to provide a door control device for an elevator that reduces the noise of the door hitting the open / close end when the door is inverted.

[Means for Solving the Problem] According to the present invention, the object is to provide a plurality of door speed command patterns corresponding to the door position when the door opening / closing command is input to the door control device in advance, This is accomplished by selectively using the pattern to control the door.

Further, the object is to separately provide a door acceleration command value according to the door position when the door opening / closing command is input to the door control device, and selectively use this command value to control the door. Achieved by

Further, the other purpose is that, when the door position when the door opening / closing command is input to the door control device is in the opening deceleration zone when the door opening command is input, or in the closing deceleration zone when the door closing command is input, A predetermined value is added to or subtracted from the position data, and a speed command pattern is set based on the increased or decreased door position data, and the overshoot of the response to the speed command is determined by the speed command pattern based on the increased or decreased door position data. It is achieved by making it absorb.

The present invention has the following functions and configurations in order to realize the above-mentioned means.

The rising edge of the door opening / closing command input (hereinafter referred to as ON edge) is detected by the MPU in the door control device.

At this time, it is determined whether or not there is a door at the open / close end based on the operating state of the closed end detection switch or the open end detection switch. Whether or not the door is in the deceleration zone is determined by the operating state of the closing deceleration point detection switch at the time of input.

The door control device stores a plurality of speed command patterns depending on the door position, selects the speed pattern according to the door position state determined above, and controls the drive of the door based on this pattern.

Further, in order to absorb the overshoot of the speed response to the speed command, the output signal of the door position detecting means is set to MPU.
If the door is in the deceleration zone as a result of the door position determination, it is stored in the door control device in the door control device by selecting the speed command pattern based on this position data. The predetermined predetermined value data value is added or subtracted, the speed command pattern is selected based on the resulting position data, and the drive of the door is controlled by this pattern.

[Operation] At the ON edge of the door open / close command, when the door open command is ON and the closed end detection switch is operating, the MPU determines that the door is at the closed end, and stores multiple speeds stored in advance. From the command patterns, a constant low speed command pattern is output for a predetermined time after the door opening command ON edge, and then a predetermined acceleration command is output and when a predetermined speed is reached, the speed command pattern that outputs the predetermined speed command is selected. As a result, when the door is opened from the door closed end, the engagement noise between the car door and the landing door can be minimized.

Next, the closed end detection switch is OFF, the opening deceleration point detection switch O
In the case of FF, the MPU determines that the door is not at the closed end and is not in the door open deceleration zone, outputs the predetermined acceleration command, and when the predetermined speed is reached, selects the speed command pattern that outputs the predetermined speed command. . That is, in this case, a speed command pattern is selected in which the constant low speed command pattern is eliminated for a predetermined time immediately after the opening command ON edge of the speed command pattern at the door closed end. As a result, when the opening command is input when the door is not at the closed end, that is, when the door is turned over, the door can be swiftly moved without feeling sloppy.

Next, when the opening deceleration point detection switch is ON, the MPU determines that the door is in the opening deceleration zone, that is, the door is inverted near the open end, outputs the predetermined acceleration command, and further outputs the predetermined acceleration command value. A speed pattern having a value lower than the predetermined acceleration command of the speed command pattern is selected. Then, the vehicle is accelerated until reaching a preset speed command value for the deceleration zone, and after reaching that speed, deceleration is started at the speed command value for the deceleration zone. At this time, by setting the acceleration command value until the speed command value of the deceleration zone is set low, the overshoot of the door speed response to the speed command value of the deceleration zone can be reduced, and the door is decelerated to the open end of the door. It is possible to prevent collision without fail.

Also, the speed command value of the open deceleration zone is set based on the position data of the door position detection means, and when the door is in the deceleration zone when the open command ON edge is reached, a predetermined value is added to or subtracted from the door position data. , Operate the door position data so that the door is closer to the open end than the actual position. By selecting the speed command value in the deceleration zone based on this position data, the door speed command can be decelerated faster than the deceleration in opening from the closed end.

As a result, even if the response overshoots the speed command value in the deceleration zone when the door is reversed near the open end,
Since the overshoot occurs before the actual position, it is possible to avoid the collision with the open end of the door due to the overshoot, absorb the overshoot, and perform the reversing operation.

The same applies when the door is closed.

[Embodiment] An embodiment of an elevator door control device according to the present invention will be described in detail below with reference to the drawings.

FIG. 1 is a block diagram showing a configuration of an embodiment of the present invention, FIGS. 2 to 5 are diagrams showing an example of a door speed command pattern used in an embodiment of the present invention, and FIG. 6 is a door. It is a flow chart explaining operation of position discrimination. In FIG.
1 is a microprocessor (MPU), 2 is ROM, 3 is RAM,
4 is a base drive line, 5 is an input / output buffer (I /
O), 6 is a power supply, 7 is a diode bridge, 8 is a capacitor, 9 is a motor drive element, 10 is an elevator control device, 11 is a door position / speed detection means, 12 is a motor, 13 is an open end detection switch (OLS), 14 is the deceleration start point detection switch for opening (ODS), 15 is the deceleration start point detection switch for closing (CD
S), 16 are closed end detection switches (CLS), 17 is a cam for operating a switch, 18 is a strip, 19 and 20 are rotating bodies, 21 is a door, 22 is a door rail.

In the embodiment of the present invention shown in FIG. 1, an elevator door 21 is supported by a door rail 22 and is connected to a strip 18 at a connecting portion 23 with the strip 18. The strip 18 is wound around a rotating body 20 installed at both ends of the elevator car entrance, and the rotating body 20 is an electric motor (hereinafter referred to as a motor) 12
Is connected to the rotating body 19 and the strip.

The rotating bodies 19 and 20 convert the rotational movement of the motor 12 into horizontal movement via the strip body 18, and horizontally open and close the door 21.

At the elevator car entrance / exit, an open end detection switch 13 (hereinafter referred to as OLS) that detects the open end of the door 21 and a deceleration start point detection switch 14 for opening (hereinafter referred to as ODS) that detects the deceleration start position of the door when the door is opened. ), A closed end detection switch 16 (hereinafter referred to as CLS) for detecting the closed end of the door 21, and a closing deceleration start point detection switch 15 (hereinafter referred to as CDS) for detecting the door deceleration start position when the door is closed. Installed, also
A cam 17 for operating each switch is attached to the door 21. Since the cam 17 operates the above-mentioned switch in synchronization with the position of the door 21, it is possible to detect the deceleration start position and the open end and closed end positions of the door 21.

The door control device drives and controls a motor 12 that drives the door, and includes a motor drive element 9 and a motor drive element 9.
A single-phase AC power supply 6, a full-wave rectification diode bridge 7, a smoothing capacitor 8, a base drive circuit 4 for performing roll call control of a motor drive element 9,
Microcomputer controlling the base drive circuit 4
Door position / speed detection that attaches pulse signals to MPU1 via I / O5 that is attached to ROM2, RAM3, peripheral devices of MPU1 and MPU1, I / O buffer I / O5, and motor 12 It is configured by including means 11. Further, the operation signals of the switches CLS, CDS, OLS, ODS, and the door opening command signal 102 and the closing command signal 101 output from the elevator control device 10 are input to the MPU 1 via the I / O 5.

Next, the speed command pattern used in the embodiment of the present invention will be described.

2 (a) and 2 (b) are speed command patterns used when the door starts from the door opening / closing end, and FIG. 3 (a) and FIG.
FIG. 4B is a speed command pattern used when opening the door while the door is being closed, and FIGS. 4A and 4B are speed command patterns used when closing the door while the door is opening.
FIGS. 9A and 9B show speed command patterns used when the door is opened when the door is close to the open end immediately after the door is closed.

In the embodiment of the present invention, these speed command patterns are selected according to the position of the door when the opening / closing command is input, and the door is controlled using the speed command pattern.

FIG. 6 shows a flowchart for determining the door position. First, the door position determining operation will be described with reference to FIG.

The MPU1 monitors the signal input to the I / O5 at regular intervals. Assuming that this cycle is 10 ms in one embodiment of the present invention, the MPU 1 will monitor the signal input to the I / O 5 every 10 ms. In this case, the flowchart shown in FIG. 6 is also started every 10 ms.

(1) Determine whether the closing command 101 is an ON edge.
This judgment is made when the closing command 101 of the input signals of the I / O5 monitored by the MPU1 at a constant cycle is OFF 10 ms before, and the closing command 101 this time is ON. To
It is determined that the closing instruction 101 is the ON edge, and the door closing start is determined. If other conditions, for example, both the previous closing command 101 and the current closing command 101 are ON, it is determined that the closing command 101 is not the ON edge but the door is being closed (step 6).
1).

(2) In step 61, if the ON edge of the closing command 101 is determined, it is determined whether the OLS is ON or OFF, and if it is ON, it is determined that the door is at the open end, indicating that the door is at the open end. The flag NCL is set and the other position flags are reset (steps 62 and 67).

(3) If OLS is OFF in step 62, CDS is ON or OFF
If the CDS is ON, it is determined that the door has passed the deceleration start point, that is, it is in the door deceleration zone when the door is closed, and the flag GCL indicating that the door is in the closed deceleration zone is set. Then, the other position flags are reset (steps 63 and 68).

(4) If CDS is OFF in step 63, the flag TCL indicating that the door is between the door open end and the door closing deceleration zone is set, and other position flags are reset (step 69).

As described above, the door position determination is performed when the door closing command 101 is the ON edge.

(5) When it is determined in step 61 that the closing instruction 101 is not the ON edge, it is determined whether the door opening instruction 102 is the ON edge (step 64).

(6) When the ON edge of the open command 102 is detected in step 64, the CLS and CDS are checked for ON and OFF in the same manner as when the close command 101 is the ON edge, indicating that the door is at the closed end. The flag NOP, the flag GOP indicating that the door is in the open deceleration zone, and the flag TOP indicating that the door is between the door open deceleration zone and the state other than the closed end are set, and other position flags are reset ( Steps 65, 66, 70-7
2).

(7) If neither the closing command 101 nor the opening command 102 is an ON edge, the door position flag is not set or reset. Set and reset the door position flag by command 10
Only performed when 1,102 is an ON edge.

As described above, the door position at the time of inputting the commands 101 and 102 is determined, and the speed command pattern is selected according to the door position flag set as a result.

Next, the speed command pattern selected according to the position flag will be described including the door opening / closing control operation.

In the case of door opening, the speed pattern selected by setting the flag ONP indicating that the door is at the closed end at the ON edge of the door opening command 102 is shown in FIG. 2 (a).

This speed pattern is a predetermined time T after the door open command 102 is turned on.
The period 1 is set as the predetermined speed command V ₁ , the door is driven at a low speed (Fig. 2 (a) -a), and the speed command is increased by the time function of the predetermined acceleration command A1 after the predetermined time T1. by (FIG. 2 (a) - i), the door speed to a predetermined speed command value V _2,
When the door reaches this speed, keep the speed command at V ₂
At a constant speed (Fig. 2 (a) -c), the door 21 opens next, and the switch operation cam 17 attached to the door 21 is OD.
When S is turned on, deceleration control is then performed at deceleration D1 (Fig. 2 (a) -d).

In the above, the speed command at the time of deceleration control is the door position, the output signal of the speed detection means 11, the MPU1 detects the door movement position after the ODS is turned ON, and is set based on this position data. Use the value selected from the speed command value. That is, the deceleration control until the door reaches the open end is performed by the position function. According to the speed command pattern of the open deceleration zone, the door 21 decelerates to a predetermined speed V ₃ near the open end, reaches the open end, turns on OLS, and ends the opening operation (FIG. 2 (a)).
-O).

In the above description, as the speed command pattern when the door is opened from the closed end, it is necessary to travel at a low speed for a predetermined time immediately after the door is opened. Although not shown, the reason for this is to reduce the shock at the time of engagement between the door 21 driven by the motor 12 and the landing door driven by the door 21.

In the case of door closing, the speed command pattern when the flag NCL indicating that the door is at the open end is set at the ON edge of the door closing command 101 is shown in FIG. 2 (b).

The door opening / closing control method in this case is the same as the above-described door opening when the NOP flag is set, only the driving direction of the door is different.

Next, regarding the speed pattern when the door is opened and the flag TOP indicating that the door is located before the door opening deceleration zone from a position other than the closed end is set, FIGS. 3 (a) and 3 (b).
Will be described.

FIG. 3A shows a speed command pattern in the case where the door opening command 102 does not have a speed command pattern corresponding to the door position at the ON edge, that is, in the case of the conventional technique.

In this speed command pattern, the door is driven at a low speed for a predetermined time T2 after the door close command 101 is turned on, and then accelerated at an acceleration A2. During this acceleration, the close command 101 is OFF, the open command 102
Is ON and the door is reversing, open command 102 is O
After N is reached, the door is driven at a low speed for a predetermined time T ₁ , and then accelerated at an acceleration A ₁ to reverse and open the door.

Regarding the operation of the door in this case, the low-speed traveling for a predetermined time immediately after the door starts to be reversed gives the passenger a feeling of looseness and gives the passenger a feeling of frustration. In addition, the switch operation cam attached to the door will be released a predetermined time after the door starts turning.
When ODS is activated, the door is accelerated until it reaches the speed command pattern in the deceleration zone indicated by the dotted line OP, and then
The speed will be decelerated according to the speed command pattern OP in the deceleration zone, but due to the magnitude of the acceleration A1 at this time, the response to the command of the solid line door will overshoot as indicated by the chain line P1 and the door will decelerate sufficiently. Reaching the open end without doing
The collision noise becomes loud and gives passengers anxiety.

FIG. 3 (b) is a speed command pattern having a speed command pattern corresponding to the door position when the door opening command 102 in the present invention is an ON edge.

In this case, the door close command 101 is OFF, the door open command 102 is an ON edge, and the flag TOP indicating that the door is at a position other than the closed end and before the open deceleration zone is set. As a result, after the door opening command 102 is turned on, the door is immediately accelerated at a predetermined acceleration A3 without decelerating the door and decelerated in the deceleration zone to open the door. The speed command pattern shown in FIG. Is selected.

As described above, by eliminating the low speed command pattern immediately after the start of the reversal, it is possible to eliminate the feeling of the door that the passenger feels when the door is reversed. Further, by setting the value of the acceleration A3 to be smaller than A1, the overshoot of the actual door speed response can be reduced as shown by the alternate long and short dash line P2, and the collision noise at the open end can also be reduced.

FIGS. 4 (a) and 4 (b) show a speed command when a door close command is issued while the door is open, the door close command 101 is an ON edge, and the door is between a position other than the open end and just before the door close deceleration zone. It is a pattern. And, FIG. 4 (a) shows a door closing command 10
The case where there is no speed command pattern according to the door position when 1 is the ON edge, that is, the case of the related art is shown.
Further, FIG. 4 (b) shows a door closing command 10 according to the present invention.
The following shows the speed command pattern when there is a speed command pattern corresponding to the door position when 1 is the ON edge, and the feeling of slipping at the time of reversing the door and the overshoot for the speed command are the same as in the case of the door opening in Fig. 3. It can be reduced.

Next, in the case of opening the door, the speed pattern when the flag GOP indicating that the door is in the opening deceleration zone is set will be described with reference to FIGS.

FIG. 5 (a) shows a speed command pattern in the case where there is no speed command pattern corresponding to the door position when the door opening command 102 is the ON edge, that is, in the case of the conventional technique.

When this pattern is used, the door is O
After N, it is accelerated by low speed after acceleration A2 for a predetermined time T _2. During this acceleration, when the ODS is turned on by the switch operation cam, the door close command 101 is turned off and the door open command 102 is turned on.
At N, the door flips near the open end.

In this case, since the door is in the deceleration zone, the door is accelerated until the speed command value OP in the deceleration zone is reached, and then decelerated at the speed command value PO in the deceleration zone. At this time, the door is
As indicated by the alternate long and short dash line P5, the magnitude of the acceleration A1 causes an overshoot in the response, resulting in an increased collision sound at the open end. Further, there is a possibility that the door position is displaced by the position detecting means due to a slip of the strip 18 when the door is turned over, and the velocity command value is also displaced to further increase the collision noise at the open end.

FIG. 5B shows that when the door opening command 102 is the ON edge,
5 is a speed command pattern in the present invention when the door is in the deceleration zone.

This pattern indicates that the door close command 101 is OF when OFS is ON.
F, selected when the door open command 102 is the ON edge and the flag GOP indicating that the door is in the open deceleration zone is set.

When this pattern is selected, the MPU1 adds a predetermined value Q to the current door position data, selects the speed command value for the deceleration zone using the data with this Q as the current door position data, and selects this value. After accelerating the door until you reach
The door is opened by decelerating the door according to the speed command value in the deceleration zone. As a result, the door starts decelerating before the actual position by the position of data Q.

As a result, even if an overshoot occurs with respect to the speed command, it is possible to prevent the collision with the open end of the door. That is, when the door is reversed from the position after the deceleration start point in the direction after the door is reversed, a means for shifting the speed pattern OP during deceleration to a speed pattern OP ′ for deceleration before normal is provided. . In this case, the value of acceleration A4 is lower than accelerations A1 and A3 separately from acceleration A1 when the door is opened from the door closed end and acceleration A3 when the door is opened from the door deceleration zone other than the door open end. By setting the value to
It is also possible to reduce overshoot.

Further, if the door closing command is the ON edge and the door is in the closing deceleration zone, that is, if there is a closing command immediately after the opening operation of the door, the flag GCL is set, and FIG.
The pattern in which the closing operation and the opening operation are reversed is selected, and the door is controlled in the same manner as in the case of FIG. 5 (b) described above.

Also, as another means of setting the acceleration when reversing the door,
There is also a means of dividing the frontage data of the door into a plurality of pieces, determining the door position within the range to which the door position data at the time of inputting the door opening / closing command belongs, and selecting a preset acceleration for each door position.

FIG. 7 is a diagram showing an example of a door speed command pattern used in another embodiment of the present invention by the means described above.

In this embodiment, door frontage data stored in advance in ROM2 is
Divide into Z ₁ , Z ₂ and Z ₃ and calculate the acceleration at reversal at each position.
It is set to A5, A6, A7. Although FIG. 7 shows an example of opening the door, the same applies to the case of closing the door.

In this embodiment, when the door opening command 102 is an ON edge, it is determined whether the door position is Z ₁ , Z ₂ , or Z ₃ described above, and the reversal acceleration corresponding to the door position is selected. The pattern controls the door when the door is turned over.

According to the above-described embodiments of the present invention, all of the means for storing a plurality of reverse acceleration, ROM2, and one of the plurality of reverse acceleration according to the door position when the door reverse command is input. Means for selecting and a means for creating a speed command pattern at the time of reversing the door based on the selected reversing acceleration, particularly a speed command pattern for reversing the door without a constant speed section immediately after reversing the door traveling direction, for example, microprocessor MPU1 And a computer processing means (FIG. 6 of the flowchart) and means 1 to 12 for controlling the door speed according to the speed command pattern at the time of reversing the door. The door can be moved quickly when the door is turned over, and
As the door position goes to Z ₁ rather than Z _3, the acceleration at the time of reversing the door becomes higher, so that passengers will not feel annoyed.

[Effects of the Invention] As described above, according to the present invention, a plurality of speed command patterns corresponding to the door position at the time of inputting a door opening / closing command are provided, and opening / closing of the door is controlled by selecting these patterns. As a result, the shock of engagement between the car door and the hall door can be reduced, and the operation of the door when the door is turned over can be speeded up.

Further, according to the present invention, the overshoot of the door speed response to the door speed command is reduced by setting the acceleration according to the door position when the door opening / closing command is input, and the overshoot is controlled by operating the door position data. It is possible to prevent the door from colliding against the open / close end without being fully decelerated, and it is possible to obtain an inexpensive door control device that does not require a control compensator for reducing overshoot.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an embodiment of the present invention, FIGS. 2 to 5 are diagrams showing an example of a door speed command pattern used in an embodiment of the present invention, and FIG. 6 is a door. FIG. 7 is a flow chart for explaining the position determining operation, and FIG. 7 is a diagram showing an example of a door speed command pattern used in another embodiment of the present invention. 1 ... Microprocessor (MPU), 2 ... ROM, 3 ...
RAM, 4 ... Base drive line, 5 ... Input / output buffer (I / O), 6 ... Power supply, 7 ... Diode bridge,
8 ... Capacitor, 9 ... Motor drive element, 10 ... Elevator control device, 11 ... Door position / speed detection means, 12
...... Motor, 13 ...... Open end detection switch (OLS), 14 ......
Opening deceleration start point detection switch (OSD), 15 ... Closing deceleration start point detection switch (CDS), 16 ... Closing end detection switch, 17 ... Switch operation cam, 18 ... Article, 19, 20 …
… Rotating body, 21 …… Door, 22 …… Door rail.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Wako Aoki 1070 Ige, Katsuta-shi, Ibaraki Hitachi Ltd. Mito Plant (56) Reference JP-A-2-276791 (JP, A)

Claims (3)

[Claims] 1. A door control device for an elevator, comprising door open end and closed end detection means, door deceleration start point detection means for opening and closing, and door position detection means, wherein the door control device for an elevator reverses halfway in response to a door reversal command. Means for storing the reversing acceleration, and means for selecting one of the plurality of reversing accelerations according to the door position when the door reversing command is input, and based on the selected reversing acceleration An elevator door control apparatus comprising: a means for creating a speed command pattern for reversing a door; and a means for controlling a door speed according to the speed command pattern for reversing the door. 2. A door control device for an elevator, comprising: a door opening / closing end detecting means; a door deceleration start point detecting means for opening / closing; Means for storing the reversing acceleration, and means for selecting one of the plurality of reversing accelerations according to the door position when the door reversing command is input, and based on the selected reversing acceleration , A means for creating a speed command pattern at the time of reversing the door without a constant speed section immediately after reversing the door traveling direction, and means for controlling the door speed by the speed command pattern at the time of reversing the door Elevator door control device. 3. A door open / closed end detection means, a door deceleration start point detection means for opening / closing, a door position detection means, and a substantially constant value when the running door reaches the deceleration start point. In an elevator door control device that includes means for generating a speed pattern during deceleration that decreases with deceleration, and that reverses halfway by a door reversal command, a means for storing a plurality of reversal accelerations, and the door reversal command is input. Means for selecting one of the plurality of reversing accelerations according to the door position at this time, means for creating a speed command pattern at the time of reversing the door based on the selected reversing acceleration, When the door reverses from a position after the deceleration start point in the direction after door reversal, the speed pattern during deceleration is communicated according to the speed command pattern during deceleration. Elevator door control device, characterized in that it includes a means for shifting to a more reduction in front.