JPH02106592A - Door control device for elevator - Google Patents

Abstract

PURPOSE:To enable stable control opening and closing of a door even when door position data of a memory device is lost by providing a means to directly detect the position of a door. CONSTITUTION:Door position detectors 13-16 to mechanically or electromagnetically and directly detect the position of a door along the running passage of a door 11 of an elevator are provided. During normal operation, opening and closing of the door 11 is controlled based on door position data in memory devices 24 and 25. When door position data is lost due to a cause, e.g. outage, control of opening and closing of the door 11 is effected by using door position information obtained by the door position detects 13-16 to mechanically or electromagnetically and directly a door position. Thus, even when the door 11 is locate din any position during outage, accurate door information is obtained after recovery of a power source, and since based on the accurate door information, the opening and closing speed of the door is decided, stable control can be realized.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an elevator door control device, and in particular, to an elevator door opening/closing speed F'' control using a CPU (processing unit) such as a microprocessor. This invention relates to an elevator door control device that improves control stability during elevator operations and improves safety for elevator passengers.

[Conventional technology]

As a prior art, Japanese Patent Laid-Open No. 61-45878 describes a system that detects the actual speed of a door and gives a speed command to control the opening and closing of the door.

[Problem to be solved by the invention]

The above conventional technology has a problem in generating a speed command for the door. That is, in door opening/closing control, particularly in a door opening/closing control using a CPU such as a microprocessor, door position data necessary for creating a speed command is lost due to an abnormality such as a power outage. When the power is restored and door control is continued after that, if a speed command is created with the position data lost, there is a risk that the door will be controlled to move to the closed end position or the open end position at high speed. Particularly when such high-speed control is performed when the door is closed, passengers are more likely to get caught in the door, which poses a problem in that safety and service performance deteriorate.

An object of the present invention is to generate a speed command accurately and to maintain stability in a door control device using a CPU, even if an abnormal situation occurs in which door position data stored in a storage device is instantaneously lost. An object of the present invention is to provide an elevator door control device that can perform door opening/closing control.

[Means to solve the problem]

The above purpose is to provide an elevator door control device using a CPU with a means for directly detecting the door position mechanically or electromagnetically and a means for converting this detection result into an electrical signal, and to perform control by the CPU at all times. In the event of an abnormality in which the position data in the storage device used in the system is lost, this can be achieved by using a control system that determines the door speed command based on the electric signal obtained from the above-mentioned direct detection results.

[Effect]

In normal times, the speed command for opening and closing the door is determined by means for detecting the door position from the rotational speed of the electric motor that drives the door, and a CPU control having a storage device that stores the door position. When it is detected that the memory contents of the storage device have been lost, it is determined that an abnormality has occurred and the door position information obtained by direct mechanical or electromagnetic detection of the door position is used to open and close the door. Switch to control that determines the speed command. Mechanically or electromagnetically, the door position can be detected by, for example, attaching a magnet to the door and placing a switch near the magnet that closes the circuit using magnetic attraction, or A method is used in which a cam is attached to the cam and a switch is provided that closes the circuit when the cam comes in contact with the circuit, and detection is performed using electrical signals from these switches.

If an abnormality such as a power outage occurs and the stored contents of the storage device are lost, the control is automatically switched to use the door position obtained by the direct detection means, and the power supply is switched off no matter where the door is at the time of the power outage. An accurate door position is obtained upon return, and the opening/closing speed of the door is determined based on this, so stable control is achieved.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a configuration diagram of an embodiment device. In Figure 1,
1 is an AC power supply, 2 is a power converter that converts the AC power from the AC power supply 1 into DC power, 3 is a smoothing capacitor that suppresses the pulsation of the DC voltage, and 4 is for adjusting the firing period of the self-extinguishing element. 66, which constitutes the DC motor control device 5, is a power controller that can control the output power by controlling the output power. It rotates in response to the output of 4.

A speed detector 7 detects the rotational speed ω of the DC motor 6. Reference numeral 8 is a decelerator that reduces the rotation of the DC motor 6, 9 is a drive pulley, 10 is a drive belt, and 12 is a pulley that supports the rotation of the drive belt 10 together with the drive pulley 9. The door 11 is driven by. 20
is a door speed control device that outputs a control signal PC for the power controller 4, and is configured as follows. That is, as an internal configuration, the CPU 21. Pulse counter 22. Information bus 23゜memory bag @24, 25. Signal input/output device 26. It has a self-extinguishing element drive circuit 27 and functions as follows. Opening command S from the opening/closing command generator 18 of the elevator control panel 19
o, a signal input/output device 26 that receives the door closing command Sc and the signal 5r=Sa from the door position detectors 13 to 16 and outputs the voltage command Sv, and stores procedures and data values necessary for processing by the CPU 21. The storage devices 24 and 25 and a pulse counter 22 that counts a number of pulses Pr proportional to the rotational speed ω of the DC motor 6 output from the speed detector 7 are connected to the CPU 21 through the same information bus 23, respectively. and
The self-extinguishing element drive circuit 27 includes a signal input/output device 26.
A signal Pc for controlling the power controller 4 is generated in response to a voltage command Sv from the power controller 4 .

Here, as the voltage command Sv increases, the speed of the DC motor 6 increases, and the rotation direction is changed by switching the positive and negative polarities of the voltage command Sv.

The door position detectors 13-16 generate signals 81-S4 by closing or opening an electric circuit when a cam 17 attached to the door 11 comes into contact with or separates from the door 11. FIG. 6 shows the state of the signals S1"S4. Among the four position detectors 13 to 16, the position detector 13 is placed near the closed end of the door, and the position of the door 11 is determined by the position detection. When the door 11 is closer to the closed end than the door 13, the signal S1 becomes II H11. Conversely, when the door 11 is closer to the open end than the position detector 13, the signal S1 becomes 11 L 7+. The signal from the position detector 14 Similarly, when the door 11 is on the closed end side, S2
0 position detector 1 which becomes “L” when it is on the open end side
The signal Ss from 5.16, 84 operates so that it becomes 11H11 when the door 11 is on the open end side of the position detector, and becomes JIL'' when it is on the closed end side.

The CPU 21 receives the door open signal So, the door close signal Sc, and the signals S1 to S4 via the signal input/output device 26, and proceeds with the processing according to the processing flowchart shown in FIG. That is, the CPU
21 is turned on, initialization is performed in process 100, and the contents of the storage device 25, which can be freely read and written, are set to a predetermined value such as zero. In process 200, it is detected whether the door position data PDR stored in the storage device 25 is in a reset state, that is, whether the stored contents have been lost. If the detection result is NO1, that is, the stored contents are not lost, process 300. The normal processing of process 400 is repeated. The detection result in process 200 is YES
That is, if the stored contents have been lost, the process moves to process 500, and after the process ends, normal processes of process 30o and process 400 are repeated.

FIG. 3 is a detailed flow diagram of process 300 in FIG. In process 301, the door closing command Sc is determined, and if it is "H", the process proceeds to process 302, where the zero-order process 303 increases the speed command 5PDCD by the acceleration data ACCCL.
It is determined whether the maximum speed data TOPCL has been reached. If the speed command 5PDCD exceeds the maximum speed data TOPCL, the speed command 5PDCD is
Primary processing 304 to suppress the speed to the maximum speed data TOPCL
The 0 judgment result of judging the state of signal S2 is II HIT.
If so, the count value Pr'' of Pr is added to the door position data PDH, and the position calculation of the door 11 is started.

In process 304, the state determination result of the signal St is di L
In the case of 11, the process moves to process 309, and the door position data PDR
is cleared. Next, in process 306, based on the door position data PDR obtained in process 305, the corresponding speed data is retrieved from the speed table SPO in the storage device 24 and replaced when it is smaller than the speed command 5PDCD before process 304.

Thereafter, in process 307, a voltage command VCMD is generated by proportional or proportional integral processing using the speed command 5PDCD, P, and ω-, which is the speed data. This VCMD becomes the voltage command Sv from the signal input/output device 26. Processing 3
If the state determination result of the door closing command Sc in 01 is L'', the process proceeds to step 310, where the state of the door opening command Sθ is determined.If So is determined to be ``H'', the process 311 is performed in the same manner. to 317, and processing 307 is performed. Processing 31
0, if So is determined to be "L"', process 31
The process proceeds to step 8, where the speed command 5PDCD is set to zero, and then processing 307 is performed.

FIG. 4 is a detailed flow diagram of process 400 in FIG. This occurs when the door open/close command is reversed in normal control by CPU processing, that is, when the door position is on the open end side and a door close command is issued, and when the door position is on the closed end side and a door open command is issued. of the case.

This is a case where normal speed control is performed by counting the door position data PDR. In process 401, the state of the door closing command Sc is determined, and in process 402, the state of the signal S3 is determined. Both H″
If so, it means that the door position is on the open end side and a door closing command has been issued, and the process advances to process 403. On the other hand, in process 406, the state of the door opening command So is determined, and in process 407, the state of the signal S2 is determined. If both are it HII, this means that the door position is on the closed end side and a door opening command has been issued, and the process advances to process 408.

In processes 403 and 408, the count value Pr'' of P is decreased from the door position data PDR, and the process proceeds to process 404.In process 404, it is checked whether PDR has underflowed, and if this condition is met, process 405 is performed. to reset the PDR and end the process 400. In the process 401, the door closing command S
c is 11 L 11, and in process 406 the door opening command So is
In the case of L'', the process 400 is directly ended.

FIG. 5 is a detailed flow diagram of process 500 of FIG. Here, in response to the determination that the door position data PDR is lost in process 200, a speed control process different from the normal process by the CPU is performed. When entering process 500, first in process 501 it is determined whether the door closing command Sc is "HIt".

When Sc is H'', the process proceeds to process 502, where the state of the signal Sz is determined.If the signal S2 is ItHIt, process 50
Moving on to step 3, enter a speed command value 5PCSD to the speed command 5PDCD, which does not cause heavy door hitting. And processing 50
Step 4 creates the voltage command VCMD. Next, in process 505, it is confirmed that the signal S1 or 84 has become "H'". Once this confirmation is made, the process 500 ends. If the signal S2 is 41 L It in process 502, process 300. Processing 4
Normal opening/closing of 00 is performed, processing 500 is completed, and the process shifts to normal processing. When the door opening command So following processing 506 is issued, the same processing as described above is performed.

In Figures 7 and 8, the above is seen in terms of the movement of the door.

This shows the speed state of the door. FIG. 8 is a diagram showing the speed of the door during normal opening and closing versus time. Close door command S
c is It L It and door opening command S.

When is H'', the door opening operation starts from time O.

The speed of the door continues to increase at an acceleration based on the acceleration data ACCOP in step 311. When the maximum speed V TOP is reached at time 1+, processing 316 is performed.

Drive at a constant speed. On the other hand, when the door reaches the position of the position detector 15, the signal S3 becomes uH'', and according to processing 314,
A distance 1111 from the detection point of the position detector 15 is measured by a pulse P. FIG. 9 is a conceptual diagram of the speed table SPO held in the storage device 24. Here, Pr
Speed data corresponding to the distance required is stored, and in step 315, the speed ■1 for the distance R1 is extracted.

The retrieved data is compared with the speed command accelerated by the above-mentioned time, and the minimum one is taken as the speed command. Through this process, deceleration starts from time tz. and time ta
The door stops and the door opening operation ends. The same applies when the door is closed, and smooth opening/closing control can be obtained.

Next, regarding the door opening/closing operation in process 500, the seventh
With reference to the figure, the case where the door opening command So is ItHIt will be explained. When the door starts to open, the door position is at the closed end.

If a power outage occurs at the time shown in FIG. 7(a), the door position will be in the range A or B in FIG. 6. Next, when the power is restored and So becomes "HIt" again, processing 500 is performed. In the door opening control, door position data is required when the door position is within the range C. When the door position is within the range A or B, normal control may be performed. Looking at the signal S3 of the position detector 15, when the door position is within the range A or B, the signal S3 is "L It Therefore, the process branches from process 507 to process 300 and subsequent processes, and normal door opening control is performed. On the other hand, if a power outage occurs at the time shown in FIG. 7(b), the door position is within the range C in FIG. 6. At this point, when the power is restored and the normal door opening process resumes, the measured door position data PDR is lost.
The door hits the open end at high speed, causing an unpleasant collision sound and vibration of the elevator car. Therefore, in this embodiment, in processing 507, the signal S3 is
H'p is detected and the process proceeds to the next process 508.
Open the door at a slow speed that does not generate noise or vibration. In this way, the door advances to the open end, the signal S4 becomes 118 It, the process 500 is completed, and the normal process is performed from now on.

As described above, according to this embodiment, two door position detectors are provided on the open end side and two on the closed end side to limit the range for measuring the door position, so that low-speed operation is performed when the door position is unknown. The range becomes narrower, making it possible to shorten the time it takes to open and close the door immediately after power is restored, which has the effect of improving service to users.

In this embodiment, the position of the door is measured only in the range where the door decelerates, but it is also possible to measure the position over the entire area, and the same effect can be obtained.

〔Effect of the invention〕

According to the present invention, in an elevator door control device using a CPU such as a microprocessor, by simply providing a simple mechanism that directly detects the door position, the position data in the storage device can be stored immediately after a power outage. Even if the elevator is lost, stable door opening/closing control is possible, improving safety for users and increasing the reliability of the elevator as a whole.

[Brief explanation of drawings]

FIG. 1 is a block diagram of an embodiment of the present invention, FIG. 2 is a flowchart of signal processing according to the present invention, FIG. 3 is a detailed flowchart of the process 300 in FIG. 2, and FIG. 4 is a flowchart of the process 400 in FIG. 5 is a detailed flowchart of the process 500 of FIG.
The diagram shows the output signals 5l- of the door position detectors 13 to 16 in Figure 1.
8a is a state diagram, FIG. 7 is a door speed state diagram during door opening control by the process 500 of the present invention, and FIG. 8 is a state diagram of the process 300 of the present invention.
FIG. 9 is a conceptual diagram of speed data held in the storage device 24 in FIG. 1. 4... Power controller, 5... DC motor control device, 6
...DC motor, 7...Speed detector, 9...Drive pulley, 10...Drive belt, 11...Door, 13~
16...Door position detector, 17...Cam, 18...
Opening/closing command generator, 20...Door speed control device, 21...
・CPU, 24° Figure 2 Prisoner 2+

Claims (1)

[Claims] 1. In an elevator door control device that uses a computer to control the opening and closing of doors using command signals for opening and closing elevator doors, means for detecting the door position from the rotational speed of the electric motor that drives the door, and means for storing the door position. and a means for directly detecting the door position mechanically or electromagnetically, and normally controls the opening and closing of the door by determining the speed command for opening and closing the door based on the door position stored in the storage means. An elevator door control device characterized in that when a door is lost, the door position obtained by the direct detection means is used to determine a speed command for opening and closing the door.