JPH03284591A - Door control device of elevator - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

Detailed Description of the Invention [Field of Industrial Application] The present invention relates to an elevator door control device, and in particular to an inverter control device for a motor for opening and closing the elevator door. This invention relates to an elevator door control device in which the driving frequency is different between when the elevator is in operation and when the door is opened and closed.

[Prior Art] FIG. 3 is a block diagram schematically showing a door opening/closing device portion of a conventional elevator. In this figure 3,
(1) is the elevator door, and (2) is the entrance/exit of the elevator car.

The door hanger (3) is fixed to the upper end of the door (1) and is housed in a hanger case (4).

The rail (5) is attached to the hanger case (4), and the hanger roller (6) and up-thrust roller (7) are each attached to the door hanger (3). These hanger rollers (6) and up-thrust rollers (7) move along the rails (5) and function to guide the opening and closing of the door (1). The engagement device (8) is mounted on the door (1) and is engaged in a certain predetermined door zone with a corresponding device provided on the landing door (not shown), so that the car door in the elevator (1) and the landing door.The drive device (9) installed on the hanger case (4) is for driving the door (1), and this drive bag M( A motor (10) built in the motor (10) is used to drive the opening and closing of the door (1).The four drive links (11) connect the drive bag W (9) to the engagement device of the door (1). (8), which drives the door (1) to open and close.C
The LT sensor (12) is for indicating that the door (1) is in the closed state, and the ○LT sensor (13) is for indicating that the door (1) is in the open state. be. The closing stop means (14) are constructed of a suitable resilient material and are adapted to abut and stop the door (1) from moving when it is closed. Opening stopper means (1
4A) is also made of a suitable elastic material, and the door (1A) is also made of a suitable elastic material.
) to stop the movement by coming into contact with each other when it is opened. The inverter control device (14B) is of a vector control type, and is driven by a motor (14B) for driving the opening and closing of the door (1).
0). The door stop fitting (14C) is for abutting against the stopper means (14) or (14A). The operating metal fittings (14D) are the aforementioned CLT sensor (12) and OLT sensor (13).
) to perform the required operations.

FIG. 4 is a schematic diagram of a conventional vector control type inverter control section. In this FIG. 4, for example, 20
0■ or 220V 3-phase AC or single-phase AC is connected to the diode bridge (15) and smoothing capacitor (16).
The required DC voltage can be obtained by performing appropriate rectification and smoothing processing. The DC voltage thus obtained is controlled by an inverter control device (17) made up of switching elements such as ordinary transistors and FETs to generate a sinusoidal motor drive current. At this time, the switching element constituting the inverter control device (17) uses pulse width modulation (PWM).
) is pulse width modulated by a PWM pulse from a pulse generator (19). In this way, the speed and torque of the motor (10) for driving the opening and closing of the door (1) are controlled.

Here, the speed of the motor (10) for driving the opening and closing of the door (1) is determined by the encoder (], which is attached to the motor shaft.
OA). The speed ω,* of the motor (10) detected in this way and the speed command generation unit (22
) is compared with the speed ω based on the command issued from the first addition point (23) to obtain the speed deviation Δω. Then, in the speed amplifier section (24) to which this speed deviation Δω1 is input, the speed ω corresponding to the command,
In order to follow this, a motor (
After calculating the torque required in step 10>, a predetermined torque command is issued. Here, the torque component current iq from the speed amplifier section (24) and the excitation current distribution 7fi from the outside
When i d is added to the slip calculating section (26), a corresponding slip frequency ωS is generated from there.

Note that the excitation component current id usually has a constant value in a region where the torque is constant.

Then, the frequency corresponding to this slip frequency ωS and the detected speed ω, are added at a second addition point (27). And the value ω as a result of this addition is
The rotation angle θr of the magnetic field of the motor (10) is calculated as follows.

θr=s(ωr±ω5)dt Then, the phase angle θi calculated by the phase angle calculation unit (30) based on the rotation angle θr of the magnetic field of this motor (10), the torque component current 19, and the excitation component current id. are added at the third addition point (two points). As a result, the actual current phase angle θ is obtained as follows.

θ = θr + θ1 Based on this phase angle and the current amplitude III of the current amplitude calculation unit (25), the current command generation unit (21) generates U-phase current command Iu = l I l -5inθ, ■phase current command I v= l I l ・5in(θ+2/3π
) is obtained.

Furthermore, based on these current commands and the actual phase motor 1JIIu*, ■■* from the DC CT (18), the deviations ΔIu, ΔIv, and ΔIw−ΔIu−ΔIv are determined in the current amplifier section (20). , a pulse-like three-phase PWM voltage command matching these values is generated from the PWM section (19).

By applying the pulse signal from this PWM section (19), the switching elements constituting the inverter control device (17) are operated, and based on this operation, the current, voltage, and frequency for the motor (10) are controlled. etc. are controlled to a certain desired value. That is, the rotational speed and torque of the motor (10) are controlled by such a series of operations.

In addition, in such a conventional vector control type inverter control section, the portion (31) demarcated by the dotted line is usually constituted by a suitable microcomputer.

Next, the operation of the above-mentioned conventional example will be explained. Suppose now that the elevator has landed on a certain floor and the control has shifted to opening/closing the door. First, as shown in FIG. 5, when controlling the opening of the door, the opening stopper means (14A) is pressed against the door stop fitting (14C). On the other hand, when controlling the door to close, the closing stopper means (14) is pressed against the door stop fitting (14C).

By the way, at this time, the stopper means made of an elastic body may be deformed due to mutual pushing. Such a situation is illustrated in FIG. 6.

Note that FIG. 6 shows an example of a state in which the door is controlled to open.

Here, the force (torque) F applied to the opening stopper means (14A> made of an elastic body) is calculated according to the well-known Hooke's law.
It is expressed as follows.

F=to-x However, the second is a constant of proportionality, X is transition.

The relationship between the displacement and torque at this time is illustrated in FIG.

Now, the torque of the motor (10) that presses the opening stopper means (14A) and the closing stopper means (14) changes from F1 to F2 as illustrated in Fig. 8. In some cases, as shown in FIG. 7, the displacement of the stopper means, which is an elastic body, also changes from x1 to x2. When the frequency associated with this change is low, there is a problem in that this causes minute vibrations in the door and motor shaft.

Regarding the inverter control device that controls the opening and closing of the door, the current detector (18
), etc., due to variations in each phase due to drift, etc., causes variations in the operation of the related current and voltage control systems. For this reason, as shown in FIG.
There is also the problem that an imbalance occurs in Iw of the three phases u, Iv, and IW, resulting in a torque ripple with the same period as the current flowing here, as shown by the dotted line Iw'. Ta.

[Problems to be Solved by the Invention] In conventional elevator door control devices, an appropriate elastic body is used as a stopper means at the opening/closing end of the elevator door to prevent so-called door hitting noise. Therefore, there is a problem in that minute vibrations are generated in the door and the motor shaft depending on the frequency when the stopper means and the door stop fitting are pressed together. Also,
Due to variations in the current detector, etc. included in the above conventional example due to phase-by-phase drift, etc., variations occur in the operation of the current and voltage control system, resulting in torque ripples with the same period as the current flowing there. There was also the problem that this would occur.

The present invention has been made to solve the various problems mentioned above, and the present invention has been made in order to solve the above-mentioned problems, and when the stopper means of the elastic body and the door stop metal fitting of the door are pressed against each other in the opening/closing control of the door, a current is applied to the motor. , the frequency of the voltage is selected higher than the frequency of the elastic body to prevent minute vibrations from occurring at the motor shaft or door even if torque ripple occurs due to unbalance in the current and voltage to the motor. The purpose of the present invention is to obtain an elevator door control device that enables this.

[Means for Solving the Problems] An elevator door control device according to the present invention includes: a motor for opening and closing an elevator door; an inverter control device for controlling the drive of the motor; and a predetermined elasticity. a stopper means for opening and closing the door, comprising: a stopper means when the door is opened and closed; This is a characteristic feature.

[Function] In the present invention, regarding an inverter control device for controlling the drive of a motor for opening and closing operation of an elevator door, the frequency of this inverter control device is adjusted between when the elevator is in operation and when the elevator is stopped. This makes it possible to prevent minute vibrations from occurring at the motor shaft or the door.

[Embodiment] FIG. 1 is a block diagram showing essential parts of an elevator door control device according to an embodiment of the present invention. In this FIG. 1, (32) is a pressing mode determination section,
This is for determining whether the elevator door (1) has reached the door closed position (CLT) or the door open position (OLT). and (33), (34) and (35)
are #1 switch section, #2 switch section and #
It is a 3 switch section. Each of these switch sections performs a required switching operation upon receiving a switching command from the mode determining section (32). Since the other means are the same as those shown in FIG. 4, detailed explanation thereof will be omitted. Note that the portion (31A) surrounded by a dotted line can be constructed by an appropriate microprocessor, as in the case of the conventional example.

Further, FIG. 2 is a flowchart diagram for explaining the operation of the above embodiment.

The operation of the above embodiment will be described below with reference to FIGS. 1 and 2 as appropriate. Now, assuming that the elevator is in a certain predetermined state, it is determined whether or not a command to close the door has been issued at this time. If the result of the determination is YES, it means that a door close command has been issued, and subsequently, it is determined whether the CLT is 0N10FF or not. When it is determined that it is ON, it is checked that a certain predetermined period of time has elapsed, and then the door closing pressing shifts to the mode operation and the required work is completed. On the other hand, when it is determined that the CLT is OFF, the operation shifts to the normal operation mode and the required work is completed.

By the way, when the result of the determination as to whether or not a command to close the door has been issued is NO, it is subsequently determined whether or not a command to open the door has been issued. If the result of the judgment is YES, the door open command has been issued, so follow this with the OLT's 0N10FF.
The decision will be made as to whether or not it is possible. When it is determined that it is ON, it is checked that a certain predetermined time has elapsed, and then the door opening pushing mode shifts to the operation mode and the required work is completed. On the other hand, when it is determined that the CLT is OFF, the operation shifts to the normal operation mode and the required work is completed.

Here, the operation of the above embodiment will be explained again, focusing on the #1 switch section, #2 switch section, and #3 switch section (33), (34), and (35). Now, suppose that the elevator door (1) reaches either the CLT or the OLT, and after a certain predetermined time has elapsed, the #1 switch unit According to (33), the predetermined current command 11=l I is set.

Further, regarding the phase command θr=I(ωr±ω5)dt+θO, by using the #3 switch section (35), the frequency of the current flowing through the motor (10) can be adjusted to
) is processed so that the response frequency becomes higher than the response frequency of the elastic body as a stopper means. Then, based on the frequency ±ωs1 at this time, a phase command θr=N±ω5I)dt is generated. The phase command generated in this manner is transmitted to the current command generation section (21) via the #2 switch section (34).

As described above, according to the embodiment of the present invention, by switching between the mode for opening and closing the elevator door and the vector control operation for normal operation, The generation of minute vibrations in the rotating shaft of the opening/closing motor, the door itself, etc. can be reliably prevented.

[Effects of the Invention] As explained above, the elevator door control device according to the present invention includes: a motor for opening and closing the elevator door; an inverter control device for controlling the driving of the motor; and, stopper means for opening and closing the door, which is made of a predetermined elastic body; and: making the frequency of the inverter control device different between when the elevator is in operation and when the elevator is stopped and the door is opening and closing. Even if torque ripple occurs due to unbalance in the current and voltage for the motor, it is possible to prevent minute vibrations from occurring at the motor shaft or the door, This has the effect of enabling safe and comfortable operation.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the essential parts of an elevator door control device which is an embodiment of the present invention, FIG. 2 is an explanatory diagram regarding the operation of the above embodiment, and FIG. 3 is a diagram showing the door control device of a conventional elevator. A configuration diagram schematically showing the switchgear part of the
FIG. 4 is a schematic configuration diagram of an inverter control section based on a conventional vector control formula, and FIGS. 5 to 9 are explanatory diagrams regarding the operation of the conventional example. (15 is a diode bridge, (16 is a smoothing capacitor, (17 is an inverter control device, (18 is a DC CT, (19 is a pulse width modulation (PWM) pulse generator, (20 is a
) is the current amplifier section, (21) is the current command generation section, (22) is the speed command generation section, (23) is the first addition point, (24) is the speed amplifier section, (25) is the current amplitude calculation section, (26) is the slip calculation section, (27) is the second addition point, (28) is the phase counter section, (29) is the third addition point, (30) is the phase angle calculation section, (31), (31A> is a microprocessor, (32)
indicates the pressing mode determination section, and (33), (34), and (35) indicate the #], , #2, and #3 switch sections. In addition, the same reference numerals in the figures indicate the same or equivalent parts.

Claims (1)

[Claims] (1) An elevator comprising: a motor for opening and closing the elevator door; an inverter control device for controlling the drive of the motor; and a stopper means for opening and closing the door made of a predetermined elastic body. In the door control device for an elevator, the frequency of the inverter control device is made different between when the elevator is in operation and when the elevator is stopped and the door is being opened and closed.