Control device for elevator door

Abstract

A control device for an elevator door is capable of improving the identification accuracy of door quality for various elevator doors. A control device for an elevator door comprises: a motor for driving the opening and closing of an elevator door; a speed command unit (8) that outputs a rotational speed command value of the motor; a speed control unit (9) that calculates a torque command value such that the rotational speed of the motor matches the rotational speed command value output from the speed command unit; a door mass identification unit (12) that identifies the mass of the door; and a door mass identification value storage unit (13) that stores an identification value of the door mass identified by the door mass identification unit (12). A door mass identification unit (12) sequentially updates the identified value of the mass of the door using a torque value calculated by multiplying a current value of the motor by a torque constant, an angular acceleration of the motor, and the identified value of the mass of the door stored in a door mass identification value storage unit (13) at the last time of identification.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a control device of an elevator door. BACKGROUND

[0002] There is known a technique in which a door weight is calculated by a door weight recognition section based on an acceleration and a torque at the time of opening and closing of a door in accordance with an opening and closing pattern for recognition set for the purpose of stabilizing the torque, and the door weight is stored in a door weight storage section for each floor (see, for example, Patent Literature 1).

[0003] Patent Literature 1: Japanese Patent Application Publication No. 2009-220997

[0004] In an elevator, the mass of a door of a landing is not uniform for each floor due to differences in design implemented and the like, even within the same building. In addition, in recent years, the specifications of elevators including doors are diversified, and the use of doors manufactured by other companies or doors of special specifications and the like in addition to doors manufactured by the company increases. Therefore, the actual door mass sometimes deviates from the range initially assumed, and the door mass initial value set before recognition of the door mass greatly deviates from the actual door mass. In the technique shown in Patent Literature 1, in the case where the actual door mass deviates from the range initially assumed and the like, the recognition accuracy of the door mass can significantly decrease. SUMMARY

[0005] The present disclosure has been made to solve such a problem. It is an object to provide a control device of an elevator door capable of achieving an improvement in recognition accuracy of a door mass for various doors of elevators.

[0006] The control device of an elevator door of the present disclosure has a motor that drives opening and closing of a door of an elevator, a speed detector that detects a rotational speed of the motor, a current detector that detects a current value of the motor, a speed command section that outputs a rotational speed command value of the motor associated with an opening and closing speed of the door, a speed control section that calculates a torque command value to make the rotational speed of the motor coincide with the rotational speed command value output from the speed command section, a door mass recognition section that recognizes a mass of the door, and a door mass recognition value storage section that stores a recognition value of the mass of the door recognized by the door mass recognition section, the door mass recognition section using a torque value calculated by multiplying the current value of the motor by a torque constant, an angular acceleration of the motor, and a recognition value of the mass of the door at the time of the last recognition stored in the door mass recognition value storage section to update the recognition value of the mass of the door successively.

[0007] Alternatively, a control device of an elevator door of the present disclosure has a motor that drives opening and closing of a door of an elevator, a speed detector that detects a rotational speed of the motor, a speed command section that outputs a rotational speed command value of the motor associated with an opening and closing speed of the door, a speed control section that calculates a torque command value to make the rotational speed of the motor coincide with the rotational speed command value output from the speed command section, a door mass recognition section that recognizes a mass of the door, and a door mass recognition value storage section that stores a recognition value of the mass of the door recognized by the door mass recognition section, the door mass recognition section successively updates the recognition value of the mass of the door using the torque command value of the motor, an angular acceleration of the motor, and the recognition value of the mass of the door at the time of the last recognition stored in the door mass recognition value storage section.

[0008] Inventive Effects

[0009] According to the control device of the elevator door of the present disclosure, the following effects are exerted: the recognition accuracy of the mass of the door can be improved for various doors of elevators. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 is a diagram schematically showing the overall structure of a door device of an elevator and a control device of an elevator door of Embodiment 1.

[0011] Figure 2 is a diagram showing an example of a speed pattern in the control device of the elevator door of Embodiment 1.

[0012] Figure 3 is a diagram showing an example of a speed pattern in the control device of the elevator door of Embodiment 1.

[0013] Figure 4 is a diagram showing an example of a speed pattern in the control device of the elevator door of Embodiment 1.

[0014] Figure 5 is a block diagram showing a structure example of a door mass recognition section of the control device of the elevator door of Embodiment 1.

[0015] Figure 6 is a diagram showing an example of a door mass recognition result of the control device of the elevator door of Embodiment 1.

[0016] Figure 7 is a diagram schematically showing the overall structure of a door device of an elevator and a control device of an elevator door of Embodiment 1.

[0017] Figure 8 is a block diagram showing a structure example of a door mass recognition section in the control device of the elevator door of Embodiment 1.

[0018] Figure 9 FIG. 1 is a diagram showing an example of a structure of a function of a control device of a control device that implements the elevator door of Embodiment 1.

[0019] Explanation of Reference Numerals

[0020] 1 door motor

[0021] 2 belt

[0022] 3 door panel

[0023] 4 rotation detector

[0024] 5 coupling portion

[0025] 6 pulley

[0026] 7 speed parameter storage portion

[0027] 8 speed command portion

[0028] 9 speed control portion

[0029] 10 current control portion

[0030] 11 current detector

[0031] 12 door mass identification portion

[0032] 13 door mass identification value storage portion

[0033] 16 differentiator

[0034] 17 torque constant multiplier

[0035] 18 filter

[0036] 19 gain multiplier

[0037] 20 storage unit

[0038] 100 control device

[0039] 101 processor

[0040] 102 memory

[0041] 103 dedicated hardwareDETAILED DESCRIPTION

[0042] A control device for an elevator door according to the present disclosure will be described with reference to the drawings. In the drawings, like or similar components are designated by like reference numerals, and repeated description is appropriately simplified or omitted. In the following description, for the sake of convenience, the positional relationship of each structure is sometimes expressed on the basis of the illustrated state. In addition, the present disclosure is not limited to the following embodiments, and freely combining the embodiments, deforming or omitting any structural element of the embodiments, or the like can be made without departing from the spirit of the present disclosure.

[0043] Embodiment 1

[0044] Reference Figures 1-9 Embodiment 1 of the present disclosure will be described. Figure 1 is a diagram schematically showing the overall structure of a door device of an elevator and a control device of an elevator door. Figures 2-4 are diagrams each illustrating an example of a speed pattern in the control device of the elevator door. Figure 5 is a block diagram showing a structural example of a door mass recognition section of the control device of the elevator door. Figure 6 is a diagram illustrating an example of a door mass recognition result of the control device of the elevator door. Figure 7 is a diagram schematically showing the overall structure of a modification example of the door device of the elevator and the control device of the elevator door. Figure 8 is a block diagram showing a structural example of a door mass recognition section in the modification example of the control device of the elevator door. Figure 9 is a diagram showing an example of a structure realizing the function of the control device of the control device of the elevator door.

[0045] The control device of the elevator door of the embodiment controls the opening and closing operation of a door device provided to a car and a landing of an elevator. The door device shown in Figure 1 is provided to the car of the elevator.

[0046] An entrance as an opening portion is provided to a front portion of the car. Door panels 3 constituting a pair of left and right car doors are provided to the entrance of the car so as to be freely opened and closed along a substantially horizontal direction. Door hangers are installed to upper end portions of the door panels 3. Door rollers are installed to upper portions of the door hangers. A door rail is installed above the entrance of the car. The door rail is installed substantially horizontally along the opening and closing direction of the door panels. The door rollers are engaged with the door rail in a rollable manner. In addition, in Figure 1 , the illustration of the door hangers, the door rollers, and the door rail is omitted.

[0047] In this way, the pair of left and right door panels 3 are suspended and held by the door rail via the door hangers and the door rollers. Furthermore, the door rollers are guided by the door rail and roll on the door rail, whereby the pair of left and right door panels 3 open and close the entrance of the car.

[0048] A car sill that forms a lower edge of an entrance of the car is installed at a lower portion of a front surface of the car. The car sill is installed substantially horizontally along the opening / closing direction of the door panel 3. A guide groove is provided on the car sill along the longitudinal direction. Unillustrated door guide shoes are installed at the lower end portions of the left and right pair of door panels. These door guide shoes are slidably engaged in the guide groove of the car sill.

[0049] A door motor 1 is provided above the door rail in the car. The door motor 1 is a motor that drives the opening / closing of the door of the elevator. The door motor 1 is disposed above the door rail on one side along the opening / closing direction of the door panel 3. One of a pair of pulleys 6 is fixed to the drive shaft of the door motor 1. Further, the other of the pair of pulleys 6 is installed above the door rail on the other side along the opening / closing direction of the door panel 3. The pulley of the pair of pulleys 6 that is fixed to the drive shaft of the door motor 1 is a drive pulley. Further, the other pulley 6 is a driven pulley.

[0050] A loop-shaped belt 2 is wound between the pair of pulleys 6. In this way, a wrap drive mechanism that transmits the rotational drive of the door motor 1 to the circulating movement of the belt 2 is constituted.

[0051] Linking portions 5 are installed at the upper end portions of the door panels 3. The linking portion 5 of one of the pair of door panels 3 is engaged with one of the upper and lower portions of the belt 2 that is wound between the pulleys 6. Further, the linking portion 5 of the other of the pair of door panels 3 is engaged with the other of the upper and lower portions of the belt 2 that is wound between the pulleys 6. According to this structure, the rotational drive of the door motor 1 in both directions is converted into the circulating movement of the belt 2 in both directions, and the pair of door panels 3 are moved in opposite directions from each other, and the entrance of the car is opened / closed.

[0052] A landing is provided at the floor where the car stops. An entrance as an opening portion is provided in the wall portion between the hoistway in the landing. The entrance of the landing is provided at a position that opposes the entrance of the car that stops at the floor of the landing. A pair of landing doors is provided at the entrance of the landing so as to be freely opened / closed along the substantially horizontal direction.

[0053] Unillustrated linking devices are provided at the hoistway side surfaces of the door panels 3 and the hoistway side surfaces of the door panels of the landing doors. The linking devices are constituted, for example, by a car side roller and a landing side plate. The car side roller is a roller that is installed at the tip of a rod-shaped member that is protrusively provided at the hoistway side surface of the door panel. The landing side plate is a pair of plates that are protrusively provided at the hoistway side surface of the door panel of the landing door. The car side roller and the landing side plate are disposed at positions that oppose each other when the car stops at the floor.

[0054] When the car stops at a floor, the car side rollers of the connecting device engage with the landing side plate, and the door panel 3 and the landing door panel are mechanically connected. Then, when the door panel 3 is opened and closed by the power of the door motor 1, the door panel and the landing door panel open and close together in a coordinated manner.

[0055] like Figure 1 As shown, the control device includes a speed parameter storage unit 7, a speed command unit 8, a speed control unit 9, a current control unit 10, a current detector 11, a door quality identification unit 12, and a door quality identification value storage unit 13. A rotation detector 4 is installed on the door motor 1. The rotation detector 4 is a sensor that detects the rotation angle of the door motor 1. By detecting the rotation angle of the door motor 1 through the rotation detector 4, the speed and position of the door panel 3 can be determined. Furthermore, the rotation speed of the door motor 1 can also be detected through the rotation detector 4. In this sense, the rotation detector 4 is also a speed detector that detects the rotation speed of the door motor 1.

[0056] The speed parameter storage unit 7 stores various parameters used in controlling the opening and closing of the door panel 3. Specifically, for example, the speed parameter storage unit 7 stores parameters such as the maximum speed, acceleration, and deceleration of the door panel 3 during opening and closing. In this embodiment, the parameters stored in the speed parameter storage unit 7 include at least parameters related to a first speed mode and parameters related to a second speed mode. The first speed mode is the speed mode of the door panel 3 during normal door opening and closing operations. Furthermore, the second speed mode is the speed mode of the door panel 3 where one or both of its acceleration and deceleration are greater than those of the first speed mode.

[0057] That is, for example, in the first speed mode, the acceleration and deceleration of the door panel 3 is set to the first acceleration and deceleration. Furthermore, in the second speed mode, the acceleration and deceleration of the door panel 3 is set to the second acceleration and deceleration. Moreover, the value of the second acceleration and deceleration is greater than the value of the first acceleration and deceleration.

[0058] Reference Figures 2-4 Specific examples of the first and second speed modes are explained. In these diagrams, the dashed line represents the first speed mode. The solid line represents the second speed mode. Figure 2 The image shows the first and second speed modes during the door opening action. Figure 3 This shows the first and second speed modes during the door closing action. Furthermore, Figure 4 The diagram shows the first speed mode during the closing action and the second speed mode, which reverses to the opening action during the closing process. However, the second speed mode is not limited to these examples. For instance, it could also be repeated multiple times. Figure 4 Speed ​​patterns can be formed by reversing the opening and closing directions of the door. Alternatively, speed patterns can be combinations of these.

[0059] The speed command section 8 acquires the parameters stored in the speed parameter storage section 7, and generates a speed command value of the door panel 3. The speed command value generated by the speed command section 8 is output to the speed control section 9. In this way, the speed command section 8 outputs a rotational speed command value of the door motor 1 associated with the opening / closing speed of the door.

[0060] The speed control section 9 calculates a torque command value so that the actual speed of the door panel 3 based on the detection result of the rotation detector 4 coincides with the speed command value of the door panel 3. In other words, the speed control section 9 calculates a torque command value so that the rotational speed of the door motor 1 coincides with the rotational speed command value output from the speed command section 8. The torque command value generated by the speed control section 9 is output to the current control section 10.

[0061] The current detector 11 is a sensor that detects a current value flowing through the door motor 1. The current control section 10 determines a drive voltage of the door motor 1 based on the command value output from the speed control section 9 and the current value of the door motor 1 detected by the current detector 11, and drives the door motor 1. For example, the current control section 10 multiplies the current value of the door motor 1 detected by the current detector 11 by a torque constant, and calculates a torque value. Then, the current control section 10 determines a drive voltage of the door motor 1 based on the difference between the torque command value output from the speed control section 9 and the torque value calculated by multiplying the detected current value by the torque constant, so that the torque value calculated based on the detected current value coincides with the torque command value.

[0062] Alternatively, in addition to this, for example, the current control section 10 converts the torque command value output from the speed control section 9 into a current command value. This conversion can be performed by finding a current value required to generate the torque indicated by the torque command value. Then, the current control section 10 determines a drive voltage of the door motor 1 based on the difference between the current command value converted from the torque command value and the current value detected by the current detector 11, so that the detected current value coincides with the current command value.

[0063] The door mass recognition section 12 recognizes the mass of the door of the elevator. Then, the recognized value of the mass of the door recognized by the door mass recognition section 12 is stored in the door mass recognition value storage section 13. The mass of the door of the elevator recognized here is a value obtained by adding the mass of the car door panel 3 and the mass of the landing door panel. The recognition of the mass of the door can be performed by calculating the rotational shaft conversion inertia of the door motor 1. When the door mass recognition inertia is set to J(k), the rotational angular acceleration of the door motor 1 is set to a(k), the torque of the door motor 1 is set to τ(k), the disturbance torque due to the friction and the like applied to the door panel 3 is set to Tf, and the known torque due to the mechanical door closing force and the like applied to the door panel 3 is set to Tw, the following equation (1) holds. In addition, k represents the kth sample value of the detected value of the sensor.

[0064] τ(k) = J(k) - a(k) + Tf + Tw... (1)

[0065] Here, in the case where the opening and closing operation of the door is performed in the above-described second speed mode, it can be considered that the rotational angular acceleration a(k) of the door motor 1 is sufficiently large. In this case, the term of J(k) - a(k) in equation (1) is dominant with respect to the terms of Tf and Tw. That is, it can be considered that the term of J(k) - a(k) is sufficiently large to the extent that the terms of Tf and Tw in equation (1) can be ignored. In this case, equation (1) can be expressed as equation (2) as follows.

[0066] τ(k) ≒ J(k) - a(k)... (2)

[0067] Then, at this time, when J(k) is found using an algorithm of a learning recognition method (for example, an LMS method), it is as follows as equation (3).

[0068] J(k) = J(k - 1) + μ - a(k) - (τ(k) - J(k - 1) - a(k))... (3)

[0069] Here, J(k - 1) is the last recognized value of the door mass recognition inertia J(k). The last recognized value J(k - 1) of the door mass recognition inertia is stored in the door mass recognition value storage section 13 as described above. The torque τ(k) of the door motor 1 can be calculated by multiplying the current value of the door motor 1 detected by the current detector 11 by a torque constant. The rotational angular acceleration a(k) of the door motor 1 can be found using the value detected by the rotation detector 4, that is, the speed detector. In addition, μ is a gain called a step parameter, and by setting μ to an appropriate value, the recognized value can be stably converged. In this way, the door mass recognition section 12 uses the torque value calculated by multiplying the current value of the door motor 1 by a torque constant, the angular acceleration of the door motor 1, and the recognized value of the mass of the door at the last recognition stored in the door mass recognition value storage section 13 to update the recognized value of the mass of the door successively.

[0070] Figure 5 An example of the configuration of the door mass recognition section 12 when using the algorithm of formula (3) is shown. In more detail, in the example shown, the door mass recognition inertia J(k) is found by formula (4) below. In formula (4), τf(k) is used instead of the torque τ(k) of the door motor 1 of formula (3). τf(k) is found after the current value of the door motor 1 from the current detector 11 is multiplied by the torque constant in the torque constant multiplier 17 to make a torque signal, and is shaped using the filter 18. Also, in formula (4), af(k) is used instead of the rotational angular acceleration a(k) of the door motor 1 of formula (3). af(k) is found after the angular velocity of the door motor 1 from the rotation detector 4 is differentiated using the differentiator 16 to make an angular acceleration signal, and is shaped using the filter 18.

[0071] J(k) = J(k - 1) + μ - af(k) - (τf(k) - J(k - 1) - af(k))... (4)

[0072] The filter 18 can be a low-pass filter, or a high-pass filter. By using a low-pass filter in the filter 18, noise generated by the differentiation processing in the differentiator 16 can be removed. Also, by using a high-pass filter in the filter 18, the effects of Tf and Tw in formula (1) can be excluded. Furthermore, by using a band-pass filter in the filter 18, the effects of both can be obtained. In this way, the door mass recognition section 12 can also use a value obtained by performing filtering processing on one or both of the torque value, which is calculated by multiplying the current value of the door motor 1 by the torque constant, and the angular acceleration of the door motor 1, to calculate the recognized value of the mass of the door. The gain multiplier 19 is a multiplier that multiplies the step parameter μ described above.

[0073] The storage unit 20 stores the last recognized value J(k - 1) of the door mass recognition inertia. As described above, the last recognized value J(k - 1) of the door mass recognition inertia is stored in the door mass recognition value storage section 13. Therefore, the storage unit 20 can also acquire and use the last recognized value J(k - 1) of the door mass recognition inertia stored in the door mass recognition value storage section 13. Alternatively, the storage unit 20 can be the door mass recognition value storage section 13 itself. In this way, in the example shown, the door mass recognition section 12 uses the last recognized value J(k - 1) of the door mass recognition inertia stored in the storage unit 20 as an input, and calculates the door mass recognition inertia J(k) using formula (4). Figure 5 In the example shown, the door mass recognition section 12 uses the torque τf(k) shaped by the filter 18, the rotational angular acceleration af(k) shaped by the filter 18, and the value of the door mass recognition inertia J(k - 1) one step before the door mass recognition inertia J(k) stored in the storage unit 20 as inputs, and calculates the door mass recognition inertia J(k) using formula (4). Then, the calculated value of the door mass recognition inertia J(k) is stored in the door mass recognition value storage section 13.

[0074] Figure 6 An example of the door mass recognition result of the control device of the elevator door of this embodiment is shown. The three graphs of this figure show the time-series changes of the door speed of the door panel 3, the torque of the door motor 1, and the door mass recognition value updated in the door mass recognition value storage section 13, respectively, from the upper side. As shown in this figure, in the second speed pattern, that is, each time the door panel 3 is opened, closed, and reversed at a large acceleration / deceleration, the door mass recognition value is updated and converges. In this way, according to the control device of the elevator door of this embodiment, the recognition value of the mass of the door at the time of the last recognition is used to update the recognition value of the mass of the door successively, whereby it is possible to achieve an improvement in the recognition accuracy of the mass of the door for various doors of elevators.

[0075] In addition, the speed command section 8 is able to output the speed command value by the first speed pattern of the first acceleration / deceleration and the second speed pattern of the second acceleration / deceleration that is larger than the first acceleration / deceleration. At the time of normal opening and closing of the door, the speed command section 8 outputs the speed command value by the first speed pattern. On the other hand, in the case of performing the recognition of the mass of the door, the speed command section 8 can output the speed command value by the second speed pattern. Then, the door mass recognition section 12 uses the torque value calculated by multiplying the current value to the torque constant of the door motor 1 at the time when the speed command section 8 outputs the speed command value by the second speed pattern, the angular acceleration of the door motor 1, and the recognition value of the mass of the door at the time of the last recognition stored in the door mass recognition value storage section 13 to update the recognition value of the mass of the door successively. In this case, it is possible to perform the opening and closing of the door and the recognition of the mass of the door based on the second speed pattern when there is no passenger in the car.

[0076] In this way, the door mass recognition is performed at the time of opening, closing, and reversing at a large acceleration / deceleration, whereby it is possible to complete the recognition in a short time compared to the case where the door mass recognition is performed at the time of opening and closing the door at a normal speed. In addition, in the case where the door mass recognition is performed at the time of opening and closing at a large acceleration / deceleration, it is possible to perform the door mass recognition at the time of opening and closing at a large acceleration / deceleration even when the passenger is in the car. Figure 6 In the example shown, the case where opening, closing, and reversing are performed successively in the second speed pattern is shown as the door speed of the door panel 3, but it is not limited to this example. In addition thereto, for example, it is possible to open the door in the second speed pattern and close the door in the first speed pattern, and in addition, conversely, it is possible to open the door in the first speed pattern and close the door in the second speed pattern. Or, it is also possible to repeatedly perform reversing in the second speed pattern successively only.

[0077] The door mass recognition section 12 can recognize the mass of the door of the elevator for each of a plurality of floors. In this case, the door mass recognition value storage section 13 stores the recognition value of the mass of the door recognized by the door mass recognition section 12 for each of a plurality of floors. Thereby, even in the case of a hall door of a different specification for each of a plurality of floors, it is possible to achieve an improvement in the recognition accuracy of the mass of the door for each floor.

[0078] The door mass recognition section 12 can also update the parameters stored in the speed parameter storage section 7 (the maximum speed of one or both of the first and second speed patterns, the first and second acceleration / deceleration, etc.) using the recognized value of the mass of the door of the elevator, i.e., using the recognized value of the mass of the door stored in the door mass recognized value storage section 13. Further, the speed control section 9 can also calculate the torque command value using the recognized value of the mass of the door of the elevator, i.e., using the recognized value of the mass of the door stored in the door mass recognized value storage section 13. Thus, the control parameters can be automatically adjusted in accordance with the recognized mass of the door, and the recognition result of the mass of the door can be reflected in the door opening / closing control.

[0079] Next, the door control device of the embodiment will be described with reference to Figure 7 and Figure 8 A modification of the door control device of the embodiment will be described. In the configuration example described above, the door mass recognition section 12 successively updates the recognized value of the mass of the door using the torque value calculated by multiplying the current value of the door motor 1 by the torque constant. In contrast, in the modification, the door mass recognition section 12 uses the torque command value output from the speed control section 9 instead of the torque value calculated by multiplying the current value of the door motor 1 by the torque constant. In this case, as shown in FIG. 6, the door mass recognition section 12 does not need to have the torque constant multiplier 17. Figure 8

[0080] Thus, in the modification of the door control device of the embodiment, the door mass recognition section 12 successively updates the recognized value of the mass of the door using the torque command value of the door motor 1, the angular acceleration of the motor, and the recognized value of the mass of the door at the last recognition stored in the door mass recognized value storage section 13. According to this modification, the door mass recognition can be performed even when the torque constant of the door motor 1 is unknown.

[0081] Further, in the modification, the door mass recognition section 12 can calculate the recognized value of the mass of the door using the value obtained by performing the filter processing on one or both of the torque command value of the door motor 1 and the angular acceleration of the door motor 1, as known from Figure 8 Further, the door mass recognition section 12 can successively update the recognized value of the mass of the door using the torque command value of the door motor 1, the angular acceleration of the door motor 1, and the recognized value of the mass of the door at the last recognition stored in the door mass recognized value storage section 13 when the speed command section 8 outputs the speed command value by the second speed pattern.

[0082] Figure 9 ​is a drawing showing an example of a structure that implements the functions of the control device of the elevator door in this embodiment. The functions of the control device of the elevator door are implemented, for example, by a processing circuit. The processing circuit can also have a processor 101 and a memory 102. The processing circuit can also be a dedicated hardware 103. It can also be that a part of the processing circuit is formed as the dedicated hardware 103, and the processing circuit also has the processor 101 and the memory 102. In the example shown in this drawing, a part of the processing circuit is formed as the dedicated hardware 103. Further, in the example shown in this drawing, the processing circuit also has the processor 101 and the memory 102.

[0083] A part of the processing circuit that is at least one dedicated hardware 103 is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a component obtained by combining them. In the case where the processing circuit has at least one processor 101 and at least one memory 102, the functions of the control device of the elevator door are implemented by software, firmware, or a combination of software and firmware.

[0084] The software and the firmware are described as programs, which are stored in the memory 102. The processor 101 reads out and executes the programs stored in the memory 102, thereby implementing the functions of the respective sections. The processor 101 is also called a CPU (Central Processing Unit), a central processing device, a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP. The memory 102 is, for example, a nonvolatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, and an EEPROM, or a magnetic disk, a floppy disk, an optical disk, a high-density disk, a mini disk, and a DVD.

[0085] Thus, the processing circuit of the control device of the elevator door can implement the respective functions of the control device of the elevator door by hardware, software, firmware, or a combination of them. In the case where the processing circuit of the control device of the elevator door has at least the processor 101 and the memory 102, in the control device of the elevator door, the processor 101 executes the programs stored in the memory 102, and the hardware and the software of the control device of the elevator door cooperate, thereby implementing the functions of the respective sections that the control device of the elevator door has.

[0086] In addition, in the present disclosure, each embodiment, structural example, modification, and the like can be arbitrarily combined without departing from the gist of the present disclosure. Hereinafter, examples of each mode of the present disclosure will be collectively described as a supplementary note.

[0087] (Supplementary Note 1)

[0088] A control device of an elevator door, the control device of the elevator door having:

[0089] a motor that drives opening and closing of a door of an elevator;

[0090] a speed detector that detects a rotational speed of the motor;

[0091] a current detector that detects a current value of the motor;

[0092] a speed command section that outputs a rotational speed command value of the motor associated with an opening / closing speed of the door;

[0093] a speed control section that calculates a torque command value so that the rotational speed of the motor coincides with the rotational speed command value output from the speed command section;

[0094] a door mass recognition section that recognizes a mass of the door; and

[0095] a door mass recognition value storage section that stores a recognition value of the mass of the door recognized by the door mass recognition section,

[0096] the door mass recognition section updates the recognition value of the mass of the door successively using a torque value calculated by multiplying the current value of the motor by a torque constant, an angular acceleration of the motor, and a recognition value of the mass of the door at the last recognition stored in the door mass recognition value storage section.

[0097] (Paragraph 2)

[0098] The control device of the elevator door according to Paragraph 1, wherein

[0099] the speed command section is capable of outputting the rotational speed command value by a first speed pattern of a first acceleration / deceleration and a second speed pattern of a second acceleration / deceleration greater than the first acceleration / deceleration,

[0100] the door mass recognition section updates the recognition value of the mass of the door successively using a torque value calculated by multiplying the current value of the motor by a torque constant, an angular acceleration of the motor, and a recognition value of the mass of the door at the last recognition stored in the door mass recognition value storage section when the speed command section outputs the rotational speed command value by the second speed pattern.

[0101] (Paragraph 3)

[0102] The control device of the elevator door according to Paragraph 1 or 2, wherein

[0103] the door mass recognition section calculates the recognition value of the mass of the door using a value obtained by performing a filter process on one or both of a torque value calculated by multiplying the current value of the motor by a torque constant and an angular acceleration of the motor.

[0104] (Paragraph 4)

[0105] A control device of an elevator door, the control device of the elevator door having:

[0106] a motor that drives opening and closing of a door of an elevator;

[0107] a speed detector that detects a rotational speed of the motor;

[0108] a speed command section that outputs a rotational speed command value of the motor associated with an opening and closing speed of the door;

[0109] a speed control section that calculates a torque command value so that the rotational speed of the motor coincides with the rotational speed command value output from the speed command section;

[0110] a door mass recognition section that recognizes a mass of the door; and

[0111] a door mass recognition value storage section that stores a recognition value of the mass of the door recognized by the door mass recognition section,

[0112] the door mass recognition section successively updates the recognition value of the mass of the door using the torque command value of the motor, an angular acceleration of the motor, and the recognition value of the mass of the door at the last recognition stored in the door mass recognition value storage section.

[0113] (Paragraph 5)

[0114] The control device of the elevator door according to Paragraph 4, wherein

[0115] the speed command section is capable of outputting the rotational speed command value by a first speed pattern of a first acceleration / deceleration and a second speed pattern of a second acceleration / deceleration greater than the first acceleration / deceleration,

[0116] the door mass recognition section successively updates the recognition value of the mass of the door using the torque command value of the motor, the angular acceleration of the motor, and the recognition value of the mass of the door at the last recognition stored in the door mass recognition value storage section when the speed command section outputs the rotational speed command value by the second speed pattern.

[0117] (Paragraph 6)

[0118] The control device of the elevator door according to Paragraph 4 or 5, wherein

[0119] the door mass recognition section calculates the recognition value of the mass of the door using a value obtained by performing a filter process on one or both of the torque command value of the motor and the angular acceleration of the motor.

[0120] (Paragraph 7)

[0121] The control device of an elevator door according to any one of appendices 1 to 6, wherein

[0122] The door mass recognition section calculates a recognition value of the mass of the door for each of a plurality of floors,

[0123] The door mass recognition value storage section stores the recognition value of the mass of the door recognized by the door mass recognition section for each of a plurality of floors.

[0124] (appendix 8)

[0125] The control device of an elevator door according to any one of appendices 1 to 7, wherein

[0126] The speed control section calculates the torque command value using the recognition value of the mass of the door stored in the door mass recognition value storage section.

Claims

1. A control device of an elevator door, the control device of an elevator door having: a motor that drives opening and closing of a door of an elevator; a speed detector that detects a rotational speed of the motor; a current detector that detects a current value of the motor; a speed command section that outputs a rotational speed command value of the motor associated with an opening and closing speed of the door; a speed control section that calculates a torque command value to make the rotational speed of the motor coincide with the rotational speed command value output from the speed command section; a door mass recognition section that recognizes a mass of the door; and a door mass recognition value storage section that stores a recognition value of the mass of the door recognized by the door mass recognition section, the door mass recognition section successively updates the recognition value of the mass of the door using a torque value calculated by multiplying the current value of the motor by a torque constant, an angular acceleration of the motor, and the recognition value of the mass of the door at the last recognition stored in the door mass recognition value storage section.

2. The control device of an elevator door according to claim 1, wherein the speed command section is capable of outputting the rotational speed command value by a first speed pattern of a first acceleration / deceleration and a second speed pattern of a second acceleration / deceleration larger than the first acceleration / deceleration, the door mass recognition section successively updates the recognition value of the mass of the door using a torque value calculated by multiplying the current value of the motor by a torque constant, an angular acceleration of the motor, and the recognition value of the mass of the door at the last recognition stored in the door mass recognition value storage section when the speed command section outputs the rotational speed command value by the second speed pattern.

3. The control device of an elevator door according to claim 1 or 2, wherein the door mass recognition section calculates the recognition value of the mass of the door using a value obtained by performing a filter process on one or both of a torque value calculated by multiplying the current value of the motor by a torque constant and an angular acceleration of the motor.

4. The control device of an elevator door according to claim 1 or 2, wherein the door mass recognition section calculates the recognition value of the mass of the door for a plurality of floors, respectively, the door mass recognition value storage section stores the recognition value of the mass of the door recognized by the door mass recognition section for a plurality of the floors, respectively.

5. The control device of an elevator door according to claim 1 or 2, wherein the speed control section calculates the torque command value using the recognition value of the mass of the door stored in the door mass recognition value storage section.

6. A control device of an elevator door, the control device of an elevator door having: a motor that drives opening and closing of a door of an elevator; a speed detector that detects a rotational speed of the motor; a speed command section that outputs a rotational speed command value of the motor associated with an opening and closing speed of the door; a speed control section that calculates a torque command value to make the rotational speed of the motor coincide with the rotational speed command value output from the speed command section; a door mass recognition section that recognizes a mass of the door; and a door mass recognition value storage section that stores a recognition value of the mass of the door recognized by the door mass recognition section, the door mass recognition section successively updates the recognition value of the mass of the door using a torque value calculated by multiplying the current value of the motor by a torque constant, an angular acceleration of the motor, and the recognition value of the mass of the door at the last recognition stored in the door mass recognition value storage section. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ a door mass recognition value storage section that stores a recognition value of the mass of the door recognized by the door mass recognition section, the door mass recognition section successively updates the recognition value of the mass of the door using the torque command value of the motor, the angular acceleration of the motor, and the recognition value of the mass of the door at the time of the last recognition stored in the door mass recognition value storage section.

7. The control device of the elevator door according to claim 6, wherein the speed command section is capable of outputting the rotational speed command value by a first speed pattern of a first acceleration / deceleration and a second speed pattern of a second acceleration / deceleration that is larger than the first acceleration / deceleration, the door mass recognition section successively updates the recognition value of the mass of the door using the torque command value of the motor, the angular acceleration of the motor, and the recognition value of the mass of the door at the time of the last recognition stored in the door mass recognition value storage section when the speed command section outputs the rotational speed command value by the second speed pattern.

8. The control device of the elevator door according to claim 6 or 7, wherein the door mass recognition section calculates the recognition value of the mass of the door using a value obtained by performing a filter process on one or both of the torque command value of the motor and the angular acceleration of the motor.

9. The control device of the elevator door according to claim 6 or 7, wherein the door mass recognition section calculates the recognition value of the mass of the door for each of a plurality of floors, the door mass recognition value storage section stores the recognition value of the mass of the door recognized by the door mass recognition section for each of the plurality of floors.

10. The control device of the elevator door according to claim 6 or 7, wherein the speed control section calculates the torque command value using the recognition value of the mass of the door stored in the door mass recognition value storage section.

Images