JPH0459587A - Door control device of elevator - Google Patents

Abstract

PURPOSE:To prevent various inconvenience depending on a self-propelling condi tion of a door by applying a necessary electric energy from a battery power source to a control/driving member when it is detected that a feeding voltage is less than a standard value. CONSTITUTION:When a power source cutting detector 32 detects that the feeding voltage is less than a specific standard value by a cutting of power source from a normal power feeding condition, the output signal responding to the detection of the abnormal condition is added to the speed instruction generator 22 in a microcomputer 31. And, corresponding to that, the speed of the door of an elevator is reduced depending on a speed instruction output from the speed instruction generator 22. In this case, the power feeding to an inverter control circuit 17 is made by passing through a DC-DC converter 33. As a result, various inconveniences depending on the self-propelling condition generated by the inertia of the door itself of the elevator, when an abnormal condition is generated in the power source, can be prevented securely.

Description

[Detailed Description of the Invention] [Industrial Field of Application] This invention relates to an elevator door control device, and in particular, the present invention relates to an elevator door control device, and in particular, the invention relates to an elevator door control device. The present invention relates to an elevator door control device in which, when detected, required electrical energy is applied from an internally provided rechargeable battery power source to a control and drive unit including a motor.

[Prior Art] FIG. 4 is a block diagram schematically showing a door opening/closing device portion of a conventional elevator. This fourth [! In I, (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 serve to guide the opening and closing of the door (1), and the engagement device (8) moves along the rail (5) to guide the opening and closing of the door (1). and is engaged in a certain predetermined door zone with a corresponding device provided on a landing door (not shown) for interlocking the car door (1) in the elevator with said landing door. The drive device (9) installed on the hanger case (4) that performs the function is to drive the door (1), and the motor (10) built in this drive device W (9) is for driving the door (1) to open and close. The four drive links (11) are for connecting the drive device (9) to the engagement device (8) of the door (1), thereby driving 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 OLT sensor (13) is for indicating that the door (1) is in the open state. . The closing stop means (14) is constructed of a suitable resilient material and is adapted to abut against and stop the movement of the door (1) 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).
The metal fitting (14C) per unit that controls the CLT sensor (14A) is for contacting the stopper means (14) or (14A>). 12) and OLT sensor (13)
) to perform the required operations.

FIG. 5 is a schematic diagram of a conventional vector control type inverter control section. In this FIG. 5, for example, 20
0V or 220V three-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 obtained in this way is transferred to the inverter control device F (17), which is composed of switching elements such as ordinary transistors and FETs.
A sinusoidal motor drive current is generated. At this time, the switching elements constituting the inverter control device (17) are pulse width modulated (PW).
M) 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 an encoder (10) attached to the motor shaft.
A). The speed ω,* of the motor (10) detected in this way and the speed command generation unit (22)
The speed ω1 based on the command issued from the first addition point (
23), and the speed deviation Δω1 is determined. Then, in the speed amplifier section (24) to which this speed deviation Δω is inputted, in order to follow the speed ω1 corresponding to the command, a motor (1
After calculating the torque required for 0), a predetermined torque command is issued. Here, when the torque component current iq of the speed amplifier section (24) and the excitation component current id from the outside are added to the slip calculation 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
added to a phase counter (28) corresponding to an integrator, -
Here, the rotation angle θr of the magnetic field of the motor (10) is calculated as follows.

θr=s(ωr±(LI S )d tThen, the rotation angle θr of the magnetic field of this motor (10) and the torque component current iq
and a phase angle calculation unit (30) based on the excitation component current id.
The phase angle θi calculated in is added at the third addition point (29). As a result, the actual current phase angle θ is obtained as follows.

θ=θr+θi Based on this phase angle and the current amplitude III from the current amplitude calculation unit (25), in the current command generation unit (21), U-phase current command Iu= II l ·sinθ, V-phase current command I v= l I 1-sin(θ+273r) is obtained.

Furthermore, based on these current commands and the actual phase motor currents Iu and Iv from the DC CT (18), the current amplifier section (20) calculates the deviations ΔIu, Δrv, and Δ
Iw=ΔIu−ΔIv is determined, and a pulse-like three-phase PWMt pressure 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. 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.

In addition, there is a power failure detection unit (32) between the S phase line and the R phase line.
is provided, and its output side is connected to an inverter (17). And diode bridge (15)
A DC-DC converter (33) is provided in parallel to. When the input voltage from the power supply is cut off for some reason and the supply of electrical energy to the elevator drive is cut off, or when the input voltage drops below a certain predetermined tolerance value, this This is detected by the power failure detection unit (32), a corresponding signal is applied to the appropriate position of the inverter (17), the supply of current to the motor (10) is cut off, and the elevator door is activated accordingly. movement will be interrupted.

Next, the operation of the conventional example described above will be explained with reference to FIGS. 6 and 7 below as appropriate.

First, FIG. 6 is a general illustration of the door speed when the elevator door is closed. In FIG. 6, the vertical axis represents the speed of the door, and the horizontal axis represents the position of the door. Moreover, the operating curve of the door is (
601). PO at the origin of the horizontal axis is the open end side stopper position, and PS
is at the stopper position on the closed end side! It is. As can be understood from FIG. 6, the elevator door is gradually accelerated along the A curve from the open end side stopper position PO until it approaches about half the distance from the closed end side stopper position PS. Following this A curve, the vehicle transitions to a B curve, and then transitions to the C curve that follows while decelerating relatively rapidly. In this C curve, the degree of deceleration gradually becomes gentler,
It relatively quickly enters the stopped state at the D curve and reaches the closed end side stopper position PS.

Next, FIG. 7 is an illustrative diagram of a change in door speed when power is cut off in the conventional example.

Also in FIG. 7, the vertical axis represents the speed of the door, and the horizontal axis represents the position of the door. Further, the operating curve of the door is illustrated in (701). PO at the origin of the horizontal axis is the open end side stopper position, and PS is the closed end side stopper position.

Now, the power supply to the elevator drive unit in the normal state (702) is at the position P when the door speed is at the highest state.
Assume that at T, a cutoff state (703) is entered. At this time, a self-propelled state occurs due to the inertia of the door itself, and the door collides with the closed end side stopper without applying deceleration braking. Furthermore, even if an elevator user gets caught in the door, the elevator does not reverse itself, and the user may be injured due to the weight of the door.

[Lesson 1 that the invention attempts to solve! ] In conventional elevator door control devices, when any abnormality occurs in the state of the voltage applied to the motor that drives the door to open and close, especially when such an abnormality occurs during the closing operation of the door, the door Due to its own inertia, the elevator may become self-propelled and collide with the stopper on the closed end side without applying deceleration braking, and the elevator may reverse motion even if the elevator user is caught in the door. There was a problem in that the weight of the door could cause injuries to users.

This invention was made to solve the various problems mentioned above, and includes cutting off the power supply when it is detected that the supply voltage is lower than a certain predetermined reference value. The necessary electrical energy is applied to the control and drive unit including the motor from the rechargeable battery power supply unit provided in the door, and the self-propelled state that occurs due to the inertia of the door itself as described above is achieved. An object of the present invention is to obtain an elevator door control device that can reliably prevent various inconveniences.

[Means for Solving the Problems] An elevator door control device according to the present invention: Controls opening and closing of doors by a motor driven via a predetermined diode bridge and inverter circuit based on electrical energy from an external power supply line. In the elevator door control device, a power failure detection unit is provided between the external power supply line and the speed command generation unit of the motor; and a power failure detection unit is provided between the diode bridge and the inverter circuit. , a rechargeable battery power supply is provided; and when a supply voltage is detected to be below a certain predetermined reference value, including a power disconnection, the required electricity is removed from said rechargeable battery power supply. The present invention is characterized in that target energy is applied to a control/drive section including the motor.

[Operation] In this invention, when it is detected that the power supply to the main circuit is cut off or that the supply voltage has fallen below a certain predetermined reference value, the required power is supplied from the rechargeable battery power supply section provided inside the device. Electrical energy is applied to the control drive unit including the motor, thereby making it possible to reliably prevent various inconveniences due to the self-running state caused by the inertia of the elevator door itself.

[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 FIG. 1, a power failure detection unit (3
2) is provided, and its output side is a speed command generator (
22).

And charging current limiting resistor (34) and battery (35)
A series circuit is connected in parallel to the diode bridge (15), and a current loop prevention diode (36) is connected in parallel to the charging current limiting resistor (34). Note that this diode (36) discharges when the main circuit voltage becomes lower than the battery voltage, and
The charge tt current flows only through the charge 1 current limiting resistor (34). Furthermore, the battery (35
) is connected to a DC-DC converter (33).

When the input voltage from the power supply is cut off for some reason and the supply of electrical energy to the elevator drive is cut off, or when the input voltage drops below a certain predetermined tolerance value, this This is the power failure detection part (32)
The signal corresponding to this is detected by the speed command generator (2).
2).

FIG. 2 and FIG. 3 are explanatory diagrams regarding the operation of the above-mentioned cold application. FIG. 2 is an illustration of the change in door speed when the power is cut off in the above embodiment, and FIG. FIG. 3 is a diagram illustrating the relationship between the speed N and the applied voltage (2). In addition, in this Fig. 3, the curve (301
) shows the relationship when the load is small, and
A curve (302) shows the relationship when the load is large. Here, as the magnitude of the load changes from small to large as shown by the arrow (303), the above curve changes to (303).
It will move from the side of 01) to the side of (302).

The operation of the above embodiment will be described below with reference to FIGS. 1, 2, 3, and 6 as a general illustration of the door speed when the elevator door is closed. I will explain about it.

First, as you can see from Figure 6, the elevator doors are normal! When the closing operation is performed in Mr. B, acceleration and deceleration operations are performed along the movement curve (601).

That is, the elevator door approaches about half of the distance from the open end side stopper position PO to the closed end side stopper position PS while being gradually accelerated along the A curve. Following this curve, the vehicle transitions to a B curve, and then transitions to the C curve that follows while decelerating relatively rapidly. Then, the degree of deceleration gradually becomes gentler on this C curve, and relatively rapidly enters a stopped state on the D curve to reach the closed end side stopper position PS.

Now, for some reason, as shown in Figure 2, the power supply status is normal! From (202), abnormal events such as power outage, supply voltage being lower than a certain predetermined reference value, etc. n(2
03) is detected at time point PT by the power-off detection unit (32), which is comprised of a required comparator (not shown), etc., the signal output in response to the detection of this abnormal situation is Microcomputer (31A
) is added to the speed command generation section (22). and,
Correspondingly, based on the speed command issued from the speed command generation section (22), the speed of the elevator door is changed from B→
is decreased along F. Note that switching to such a deceleration pattern can be easily performed by adding and providing necessary software to the microcomputer (31A).

By the way, although the main circuit voltage in this case is not applied from the external power supply passing through the R3T feeder line, in this case,
Since the motor (10) is in a regenerative braking state, power is supplied from the motor (10) side to the inverter (17) side. For this reason, even if the above-mentioned abnormal situation occurs, the voltage drop caused by this can be reduced, and power is supplied to the necessary parts of the control circuit by using the voltage from both ends of the battery (35). through a DC-DC converter (33), which allows normal operation until the battery (33) is discharged.

After the elevator door is braked and stopped, the microcomputer (31A) issues a reversal command as shown in the pattern FG→H in FIG. 2, and the motor (10
) performs slow reversal operation. During this time, the voltage of the main circuit will drop to the voltage from the battery (33). By the way, at this time, as shown in FIG. 3, the voltage required between the terminals of the motor (10) decreases as the speed N decreases. For this purpose, a motor (1
If the voltage design for driving 0) is properly done,
The torque required to operate the elevator door is
This can be fully realized based on the voltage of the battery (33).

In addition, in the above embodiment, the battery (33) connected to the main circuit side is charged! Although it is illustrated as being constantly charged via the current limiting resistor (34), other methods using a constant current source may also be used.

[Effects of the Invention] As explained above, the elevator door control device according to the present invention is: Based on electrical energy from an external power supply line, the door is controlled by a motor driven via a predetermined diode bridge and an inverter circuit. An elevator door control device for controlling the opening and closing of an elevator, wherein: a power failure detection unit is provided between the external power supply line and a speed command generation unit of the motor;
A rechargeable battery power supply section is provided between the diode bridge and the inverter circuit; when it is detected that the supply voltage is below a certain predetermined reference value, including when the power supply is cut off. , characterized in that the required electrical energy is applied from the rechargeable battery power supply unit to the control/drive unit including the motor, so that when an abnormality occurs in the power supply, the elevator door itself The elevator operates safely and comfortably by reliably preventing various inconveniences caused by the self-propelled state caused by the inertia of the elevator, such as the user being caught between the door and the door stop. The effect is that this is realized.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the essential parts of an elevator door control device which is an embodiment of the present invention, and FIGS.
FIG. 4 is an explanatory diagram of the operation of the above embodiment, FIG. 4 is a block diagram schematically showing a door opening/closing device in a conventional elevator, and FIG. 5 is an inverter control section based on a conventional vector control system. The schematic configuration diagrams, FIGS. 6 and 7, are explanatory diagrams of the operation of the above-mentioned conventional example. (15) is a diode bridge, (16> is a smoothing capacitor, (17) is an inverter control device, (18) is a DC CT, (1) is a pulse width modulation (PWM) pulse generator, (2) is a
0) 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 microcomputer, (32
) is the power failure detection section, (33) is the DC-DC converter, and (34) is the charge! Current limiting resistor, (35) is the battery (DC power supply), (36) is the loop prevention diode. In addition, the same reference numerals in the figures indicate the same or equivalent parts.

Claims (1)

[Claims] (1) An elevator door control device that controls opening and closing of a door by a motor driven via a predetermined diode bridge and inverter circuit based on electrical energy from an external power supply line, including the external power supply line and the above. A power failure detection unit is provided between the motor speed command generation unit;
Furthermore, a rechargeable battery power supply section is provided between the diode bridge and the inverter circuit; An elevator door control device, at times, wherein required electrical energy is applied from the rechargeable battery power source to a control/drive unit including the motor.