A method for synchronous control of elevator swing doors

Abstract

This invention discloses a synchronous control method for elevator swing doors. An intermediate controller is placed between the two drive motors of the elevator swing door. This intermediate controller receives door opening and closing commands from the elevator control system and outputs two PWM signals to drive the two drive motors. Angle sensors are installed on each of the two door panels to collect the opening and closing angles of the door panels in real time. Based on the difference in the opening and closing angles of the two door panels at each sampling time, the intermediate controller adjusts the two PWM signals in real time to change the speed of the drive motors, so that the door panels cancel out the difference in opening and closing angles in the next sampling cycle. This invention can improve the synchronization rate of elevator swing doors and further improve their operational stability.

Description

Technical Field

[0001] This invention relates to a synchronous control method for elevator swing doors, belonging to the field of intelligent control technology. Background Technology

[0002] Hinged elevator doors are a common type of elevator door. They open to the left and right, offering advantages such as a large opening area and convenient entry and exit. Hinged elevator doors are mainly used in high-end residential buildings, commercial office buildings, hotels, and other similar locations.

[0003] Elevator swing doors typically consist of two opposing doors, each driven independently by a separate motor. To synchronize the opening speed, both motors output the same control signal via a frequency converter, whose operation commands are issued by the elevator control system. However, because the motors are connected to the door panels via a mechanical mechanism, structural errors and other factors can cause the two door panels to open or close asynchronously.

[0004] Currently, many swing-door elevators on the market suffer from asynchronous operation, mainly manifested in sequential opening, misaligned opening and closing angles, and significantly asynchronous operating speeds. These issues can pose safety hazards when severe, such as people being trapped due to visual misalignment. Even in less severe cases, the visual asynchrony can create a psychological suggestion of "insecurity" for passengers. Summary of the Invention

[0005] The purpose of this invention is to provide a synchronous control method for elevator swing doors. This method can improve the synchronization rate of elevator swing doors and further enhance their operational stability.

[0006] The technical solution of this invention is a synchronous control method for elevator swing doors, characterized by: setting an intermediate controller (located near the elevator swing door side to reduce signal transmission delay) between the two drive motors of the elevator swing door; the intermediate controller receives the door opening and closing commands from the elevator control system and outputs two PWM signals to drive the two drive motors; angle sensors are respectively set on the two door panels of the elevator swing door to collect the door opening and closing angles in real time; the intermediate controller adjusts the two PWM signals in real time according to the difference between the opening and closing angles of the two door panels at each sampling time to change the speed of the drive motors, so that the door panels cancel out the difference in the opening and closing angles of the two door panels in the next sampling period.

[0007] In the aforementioned elevator swing door synchronization control method, because the distance between the two door panels is small when the elevator swing doors first open, even slight asynchrony can be visually observed by comparing the positions of the two door panels. Therefore, it is essential to ensure a high synchronization rate when the door panel opening angle is small. After the elevator doors are fully opened, it is necessary to ensure that both door panels stop simultaneously in precise positions. Therefore, the control process is divided into an opening phase, a smooth operation phase, and a stopping phase based on the door panel opening angle.

[0008] During the opening phase, the speed of the drive motor is changed by adjusting the two PWM signals in real time, so that the opening angle values ​​of the two door panels are dynamically synchronized. When the opening angle of the door panel reaches the preset value A, it switches to the stable operation phase.

[0009] During the stable operation phase, the rotation of the two door panels is controlled smoothly according to a fixed speed. When the door panels have reached the preset value B, the system switches to the stop phase. During the stable operation phase, the door panels only need to rotate smoothly and there is no need to maintain real-time synchronization, because it is difficult to visually detect the asynchrony between the two at this time.

[0010] During the stopping phase, the speed of the drive motor is changed by adjusting the two PWM signals in real time, so that the remaining angle values ​​of the two door panels from the end point are dynamically synchronized, and finally the door panels are opened to the preset value C.

[0011] In the aforementioned elevator swing door synchronous control method, if an opening command is executed, the drive motor speed is first preset to a constant acceleration mode during the opening phase, with both drive motors having an acceleration of 'a'. Starting at the first sampling moment, the difference in the opening angles of the two door panels is used as the basis for the control. Reduce the speed acceleration of the drive motor corresponding to the door with a larger opening angle, and repeat the above steps at each sampling time. When the drive motor speed reaches a preset value, set the speed acceleration of the drive motor to 0. At each subsequent sampling time, start based on the difference between the opening angles of the two door panels. Reduce the speed of the drive motor corresponding to the door leaf with a large opening angle; when one of the door leaves reaches the preset opening angle, enter the smooth operation phase, and the drive motor executes the speed at the last sampling moment of the opening phase; in the stopping phase, the drive motor first executes the speed at the last sampling moment of the smooth operation phase, and then at each subsequent sampling moment, it executes the speed based on the difference between the remaining opening angles of the two door leaves from the endpoint position. Reduce the speed of the drive motor corresponding to the door leaf with the smaller remaining opening angle. When any door leaf reaches a preset angle, add a negative speed acceleration b to each drive motor. At each subsequent sampling time, the speed is adjusted based on the difference between the remaining opening angles of the two door leaves. Increase the speed acceleration of the drive motor corresponding to the door leaf with a smaller remaining opening angle until the speed reaches 0.

[0012] Similarly, if the command to close the door is executed, the initial position of the opening phase is the position where the door is fully open, and the final position of the stopping phase is the position where the door is fully closed. The intermediate controller performs the same control as the command to open the door.

[0013] Preferably, A is 20-30 and CB is 15-20.

[0014] Compared to existing technologies, this invention uses an intermediate controller to provide unified, short-range control of the two drive motors controlling the door panels, replacing the traditional method of remote direct control via an elevator control system. Furthermore, this invention replaces the traditional method of controlling the doors according to a preset opening and closing program with a dynamic adjustment of the door opening speed. Therefore, compared to existing technologies, this invention enables the elevator's swing doors to maintain dynamic adjustment throughout the opening and closing process, and achieves visual synchronization through continuous step-by-step synchronization, thereby improving the synchronization rate and operational stability of the elevator swing doors.

[0015] Furthermore, the dynamic adjustment strategy adopted in this invention can not only avoid sudden changes in the speed of door opening and closing (visually appearing as shaking), but also avoid the problem of excessively fast door opening and closing speed. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the door leaf movement when the door opening command is executed according to an embodiment of the present invention;

[0017] Figure 2 This is a schematic diagram of the door leaf movement when executing the closing command according to an embodiment of the present invention;

[0018] Figure 3 This is the door opening position curve of an embodiment of the present invention;

[0019] Figure 4 This is a schematic diagram of the intermediate controller structure according to an embodiment of the present invention. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the present invention.

[0021] A synchronous control method for elevator swing doors involves placing an intermediate controller between the two drive motors of the elevator swing door. This intermediate controller receives door opening and closing commands from the elevator control system and outputs two PWM signals to drive the two drive motors. Angle sensors are installed on each of the two door panels to collect the opening and closing angles in real time. Based on the difference in the opening and closing angles of the two door panels at each sampling moment, the intermediate controller adjusts the two PWM signals in real time to change the speed of the drive motors, ensuring that the door panels cancel out the difference in opening and closing angles in the next sampling cycle.

[0022] The control process is divided into three stages based on the door opening angle: the opening stage, the smooth operation stage, and the stopping stage.

[0023] During the opening phase, the speed of the drive motor is changed by adjusting the two PWM signals in real time, so that the opening angle values ​​of the two door panels are dynamically synchronized. When the opening angle of the door panel reaches the preset value A, it switches to the stable operation phase.

[0024] During the stable operation phase, the rotation of the two door panels is controlled smoothly according to a fixed speed. When the door panels have reached the preset value B, the system switches to the stop phase.

[0025] During the stopping phase, the speed of the drive motor is changed by adjusting the two PWM signals in real time, so that the remaining angle values ​​of the two door panels from the end point are dynamically synchronized, and finally the door panels are opened to the preset value C. Here, A is 20~30, CB = 15~20. The larger A and B are, the higher the synchronization rate of the overall opening and closing process, but the more it will increase the computational load of the intermediate controller.

[0026] The specific strategies are as follows.

[0027] If the command to open the door is executed, the door will operate as follows: Figure 1 As shown, in the initial startup phase, the drive motor speed is first preset to a constant acceleration mode, and the speed acceleration of both drive motors is a. In the first sampling (sampling period is t)... c Starting at a certain moment, the difference in opening and closing angles of the two doors is used as the basis for calculation. Let the opening angle of the two doors be... and Based on the time calculation, the angular velocity of the faster door leaf 1 is ω1, and the angular velocity of door leaf 2 is ω2. The next strategy is to change the angular velocity change of door leaf 1 to ω = ω1 + (a - a1)t, according to the formula... The acceleration adjustment value a1 is calculated, and the speed acceleration of the drive motor corresponding to the door with a larger opening angle is reduced. This process is repeated at each sampling time. Once the drive motor speed reaches a preset value, the speed acceleration of the drive motor is set to 0. At each subsequent sampling time, the speed acceleration is adjusted based on the difference between the opening angles of the two door panels. Reduce the speed of the drive motor corresponding to the door leaf with a large opening angle, by a reduction value. After entering the stable operation phase, the drive motor first executes the speed measured at the last sampling moment of the opening phase; in the stopping phase, the drive motor first executes the speed measured at the last sampling moment of the stable operation phase, and then at each subsequent sampling moment, it executes the speed measured at the difference between the opening and closing angles of the two door panels. Reduce the speed of the drive motor corresponding to the door leaf with a larger opening angle. When any door leaf reaches a preset angle, add a negative speed acceleration b to each drive motor. At each subsequent sampling time, start based on the difference between the opening angles of the two door leaves. Increase the speed acceleration of the drive motor corresponding to the door leaf with a larger opening angle by a value of b1. According to the formula... The acceleration adjustment value b1 is obtained. When A is set to 30, B to 70, and C to 90, and the sampling period is once every 0.5°, the opening status of the two doors is as follows: Figure 3 As shown. Figure 3 The results show that the positions of the two doors basically satisfy the curve model of uniform acceleration-uniform speed-uniform deceleration. Although there are slight sawtooth fluctuations, the positions of the two doors are never misaligned for a long time, and the synchronization rate is relatively high.

[0028] If the command to close the door is executed, the door will operate as follows: Figure 2 As shown. The specific control and execution of the door opening command are the same, only the position of the door fully open is taken as the initial position of the opening phase, and the position of the door fully closed is taken as the final position of the stopping phase.

[0029] When A is set to 30, B to 70, and C to 90, with a sampling period of once every 0.5°, the opening status of the two doors is as follows: Figure 2 As shown. Figure 2 The results show that the positions of the two doors basically satisfy the curve model of uniform acceleration-uniform speed-uniform deceleration. Although there are slight sawtooth fluctuations, the positions of the two doors are never misaligned for a long time, and the synchronization rate is relatively high.

[0030] The intermediate controller structure of the present invention is as follows: Figure 4 As shown, it is based on a CPU and equipped with two PWM modules, which control two drive motors M1 and M2 respectively. The opening angle values ​​PG1 and PG2 of the two door panels are fed back to the CPU. The CPU of this invention can be a Freescale microcontroller chip KE06.

Claims

1. A method for synchronous control of elevator swing doors, characterized in that: An intermediate controller is set between the two drive motors of the elevator swing door. The intermediate controller receives the door opening and closing commands from the elevator control system and outputs two PWM signals to drive the two drive motors. Angle sensors are set on the two door panels of the elevator swing door to collect the door opening and closing angles in real time. The intermediate controller adjusts the two PWM signals in real time according to the difference between the opening and closing angles of the two door panels at each sampling time to change the speed of the drive motors, so that the door panels cancel out the difference between the opening and closing angles of the two door panels in the next sampling period. Based on the door opening angle, the control process is divided into the opening stage, the smooth operation stage, and the stopping stage. During the opening phase, the speed of the drive motor is changed by adjusting the two PWM signals in real time, so that the opening angle values ​​of the two door panels are dynamically synchronized. When the opening angle of the door panel reaches the preset value A, it switches to the stable operation phase. During the stable operation phase, the rotation of the two door panels is controlled smoothly according to a fixed speed. When the door panels have reached the preset value B, the system switches to the stop phase. During the stopping phase, the speed of the drive motor is changed by adjusting the two PWM signals in real time, so that the remaining angle values ​​of the two door panels from the end point are dynamically synchronized, and finally the door panels are opened to the preset value C. If the command to open the door is executed, the drive motor speed is initially preset to a constant acceleration mode during the opening phase, with both drive motors having an acceleration of 'a'. Starting from the first sampling moment, based on the difference Δφ between the opening angles of the two door panels, the acceleration of the drive motor corresponding to the door panel with the larger opening angle is reduced. This process is repeated at each subsequent sampling moment. Once the drive motor speed reaches the preset value, the acceleration of the drive motor is set to 0. At each subsequent sampling moment, the drive motor speed corresponding to the door panel with the larger opening angle is reduced based on the difference Δφ between the opening angles of the two door panels. When one of the door panels reaches the preset opening angle, the system enters a stable operation phase, and the drive motor operates at the speed set at the last sampling moment of the opening phase. During the stopping phase, the drive motor first executes the speed at the last sampling moment of the smooth operation phase. At each subsequent sampling moment, based on the difference Δφ between the remaining opening angles of the two door panels from the endpoint position, the speed of the drive motor corresponding to the door panel with the smaller remaining opening angle is reduced. When either door panel reaches the preset angle, a negative speed acceleration b is added to each drive motor. At each subsequent sampling moment, based on the difference Δφ between the remaining opening angles of the two door panels, the speed acceleration of the drive motor corresponding to the door panel with the smaller remaining opening angle is increased until the speed is 0. If the command to close the door is executed, the initial position of the opening phase is the position where the door is fully open, and the final position of the stopping phase is the position where the door is fully closed. The intermediate controller performs the same control as the command to open the door.

2. The elevator swing door synchronous control method according to claim 1, characterized in that: A is 20-30, and CB is 15-20.

Images