Elevator door control device

Abstract

An elevator door control device is favorable for suppressing vibration and noise caused by the state of a belt driving a door. This elevator door control device is provided with: a current command unit for providing a command value for applying a certain pressing force in the door opening direction or the door closing direction when a door panel is in a fully open position or a fully closed position; a current control unit that generates a voltage command value that causes a current flowing through the gate motor to follow the command value; a belt stiffness estimation unit that estimates a stiffness value of the belt; a resonance frequency estimation unit that estimates a resonance frequency on the basis of the stiffness value of the band; an abnormality determination unit that determines an abnormality on the basis of the estimated resonance frequency; and an automatic adjustment unit that automatically adjusts a speed control system parameter of the door motor on the basis of the estimated resonance frequency.

Description

Technical Field

[0001] The invention relates to an elevator door control device. Background Art

[0002] Patent document 1 below discloses a door control device. The door control device includes: an opening and closing action selection unit that selects and outputs a first action command and a second action command, wherein the first action command indicates an action of rotating a motor to open and close a door panel connected to a belt driven by a motor, and the second action command indicates an action of causing the motor to generate torque when the door panel stops; a first current command unit that outputs a first current value supplied to the motor so as to control the moving speed of the door panel according to the first action command; a second current command unit that changes a second current value supplied to the motor so as to change the torque generated by the motor according to the second action command; a speed calculation unit that calculates the rotation speed of the motor according to the rotation position of the motor output by a rotation detector provided in the motor; a belt stiffness estimation unit that estimates the belt stiffness of the belt using a change in the second current value and a change in the rotation position of the motor; a cutoff frequency determination unit that determines the cutoff frequency according to the belt stiffness estimated by the belt stiffness estimation unit; and a filter processing unit that outputs a signal obtained by removing the frequency component of the cutoff frequency from the signal of the rotation speed and negatively feeds it back to the first current command unit.

[0003] Prior art literature

[0004] Patent Document 1: Japanese Patent Application Publication No. 2017-039609 Summary of the invention

[0005] In the existing elevator door device, abnormal noise or vibration may occur when the door is driven depending on the tension state of the belt. In order to solve these problems, maintenance workers change the belt tension or control parameters on site to solve the problem. However, when these abnormalities occur, the elevator is likely to stop being used, which has a great impact on users.

[0006] The present invention has been made to solve the above-mentioned problems. An object of the present invention is to provide an elevator door control device that is effective in suppressing vibration and noise caused by the state of a belt driving a door.

[0007] The elevator door control device of the present invention comprises: a rotation detector, which detects the rotation angle of a door motor, which drives a belt on which a door panel is suspended; a door position switch, which detects whether the position of the door panel is in a fully open state or a fully closed state; a current detector, which detects the current value flowing through the door motor; a speed command unit, which indicates the opening and closing speed of the door panel; a speed control unit, which controls the opening and closing speed of the door panel; a current command unit, which provides the following command value: based on the signal obtained from the rotation detector and the door position switch, a certain pressing force is applied in the direction of opening or closing the door when the door panel is in a fully open position or a fully closed position; a current control unit, which generates a voltage command value so that the current flowing through the door motor follows the command value; a belt stiffness estimation unit, which estimates the stiffness value of the belt; a resonance frequency estimation unit, which estimates the resonance frequency based on the stiffness value of the belt; and an abnormality determination unit, which determines the abnormality based on the estimated resonance frequency; an automatic adjustment unit, which automatically adjusts the speed control system parameters of the door motor based on the estimated resonance frequency.

[0008] Effects of the Invention

[0009] According to the present invention, it is possible to provide an elevator door control device that is advantageous in suppressing vibration and noise caused by the state of a belt that drives a door. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a schematic diagram showing the overall structure of a door device of an elevator door control device according to Embodiment 1.

[0011] Figure 2 This is a diagram showing an example of the relationship between the natural frequency of the door device and the natural frequency of the belt calculated by the resonance frequency estimation unit.

[0012] Figure 3 It is a diagram showing a detailed configuration of an abnormality determination unit.

[0013] Figure 4 It is a diagram showing the flow of belt abnormality determination.

[0014] Figure 5 This is a diagram showing an example of a configuration for realizing the functions of the elevator door control device in the first embodiment. DETAILED DESCRIPTION

[0015] Hereinafter, the embodiments are described with reference to the accompanying drawings. In each figure, the same reference numerals are used for common or corresponding elements, and the description is simplified or omitted. The structure shown in the embodiment shown below represents an example of the technical idea of ​​the present invention, which can be combined with other known technologies or a plurality of technical ideas recorded in the present invention. In addition, a part of the structure can be omitted or changed without departing from the scope of the gist of the present invention.

[0016] Implementation Method 1

[0017] Figure 1 This is a schematic diagram showing the overall structure of a door device of an elevator door control device according to Embodiment 1. Figure 1 For example, a door device of an elevator door control device includes a door motor 1, a belt 2, a door panel 3, a rotation detector 4, a connecting portion 5, a pulley 6, and a door position switch 7. In addition, the elevator door control device includes a speed command unit 8, a filter 9, a speed control unit 10, a current command unit 11, a current control unit 12, a belt stiffness estimation unit 13, a resonance frequency estimation unit 14, and an automatic adjustment unit 15.

[0018] exist Figure 1 In the embodiment, the door device moves the belt 2 in the horizontal direction by the driving force of the door motor 1, thereby opening and closing the door panel 3 serving as the entrance and exit of the elevator car.

[0019] The door motor 1 is provided with a rotation detector 4 , and the speed or position of the door panel 3 can be detected by detecting the rotation angle of the door motor 1 .

[0020] A coupling portion 5 is disposed on the upper portion of the door panel 3 in the form of a gripping belt 2. Thus, the driving force of the door motor 1 is transmitted to the door panel 3 via the belt 2 stretched over the pulley 6, so that the door can be opened and closed.

[0021] A toothed belt can be used as the belt 2. A groove corresponding to the type of belt is provided in the pulley 6, and the initial tension can be adjusted according to the length of the belt 2 and the distance between the axes of the pulleys 6. In addition, the door position switch 7 has a function of detecting whether the door panel 3 is at the door fully open position terminal or the door fully closed position terminal.

[0022] The speed command unit 8 instructs the opening and closing speed of the door panel 3. The speed command unit 8 determines whether the door panel 3 is in the fully open position or the fully closed position based on the signal obtained from the door position switch 7, and outputs the door opening command or the door closing command to the speed control unit 10.

[0023] The speed control unit 10 controls the opening and closing speed of the door panel 3. The speed control unit 10 takes as input the difference between the value obtained by applying the filter 9 to the speed of the door panel 3 indicated by the speed instruction unit 8 and the value obtained by applying the filter 9 to the speed of the door panel 3 calculated based on the rotation speed of the door motor 1 obtained from the rotation detector 4, and corrects the input speed difference. The filter 9 is used to remove the noise component of the instruction value or the negative feedback value, and can be, for example, a low-pass filter or a notch filter. The cutoff frequency of the filter is set to a value that can remove the influence of the resonance frequency estimation value described later.

[0024] The current command unit 11 outputs a current command for pressing the door panel 3 in the fully open direction or the fully closed direction with a certain force based on the signals from the rotation detector 4 and the door position switch 7 when the door panel 3 is in the fully open position or the fully closed position, and outputs a current command value controlled by the speed control unit 10 when the door panel 3 is in any other position.

[0025] The current control unit 12 controls the current supplied to the door motor 1 according to the input current command value. The current control unit 12 generates a voltage command value so that the current flowing through the door motor 1 follows the command value. When the torque of the door motor 1 is τ, the current value supplied to the door motor 1 is I, and the torque constant is Kt, it can be expressed as τ=I×Kt.

[0026] The belt stiffness estimation unit 13 is an estimation unit that calculates the stiffness value of the belt 2 based on the torque τ applied by the door motor 1 and the belt elongation x detected by the rotation detector 4. If the belt stiffness is set to k, the belt elongation is set to x, the pulley radius is set to R, and the rotation angle is set to θ, when a force is applied to the belt 2 in the door opening direction or the door closing direction with a certain torque τ,

[0027] x=R·θ

[0028] τ / R=k·x

[0029] These two formulas hold.

[0030] Therefore, the belt stiffness k can be calculated by k=τ / R^2 / θ.

[0031] The belt stiffness estimating unit 13 can also estimate the stiffness of the belt 2 when the door panel 3 is in the fully open position or the fully closed position, using a theoretical calculated value of the force applied to the belt 2 calculated from the motor current value obtained from the current detector detecting the current value flowing through the door motor 1, and the elongation of the belt 2 calculated from the rotation change of the door motor 1 obtained from the rotation detector 4. Thus, the stiffness of the belt 2 can be estimated with high accuracy.

[0032] The belt stiffness value decreases due to aging, etc., but if a certain torque is applied in the door opening direction at the door opening terminal or in the door closing direction at the door closing terminal, the belt stiffness value can be estimated successively. Here, when the stiffness value estimated by the belt stiffness estimating unit 13 is lower than the stiffness value at the time of installation, the result is output to the resonance frequency estimating unit 14.

[0033] The resonance frequency estimation unit 14 estimates the resonance frequency based on the belt stiffness value output from the belt stiffness estimation unit 13 .

[0034] When the resonance frequency estimation unit 14 determines that there is a resonance frequency, the automatic adjustment unit 15 adjusts the cutoff frequency of the filter 9 and the control gain of the speed control unit 10. The cutoff frequency of the filter 9 and the control gain of the speed control unit 10 are examples of speed control system parameters of the door motor 1. According to this embodiment, the stiffness of the belt 2 that drives the door can be estimated, and the control parameters can be automatically adjusted according to the state of the belt 2. Therefore, vibration and noise can be reliably suppressed.

[0035] In addition, when the natural vibration frequency 17 of the door device estimated by the resonance frequency estimation unit 14 is significantly different from the pre-stored value and there is still a vibration component exceeding the threshold value in the speed feedback value after the control parameters are changed by the automatic adjustment unit 15, the abnormality judgment unit 16 judges that there is an abnormality in the belt 2, for example, reporting it to the maintenance system 21.

[0036] Figure 2 An example of the relationship between the door device natural vibration frequency 17 and the belt natural vibration frequency 18 calculated by the resonance frequency estimation unit 14 is shown. The resonance frequency estimation unit 14 is, for example, an estimation unit that calculates and outputs the door device natural vibration frequency 17 using a model that regards the belt 2 as a spring and the door panel 3 as a mass body. When the calculated door device natural vibration frequency 17 and the belt natural vibration frequency 18 are consistent, the resonance frequency estimation unit 14 regards the consistent natural vibration frequencies as the resonance frequency and outputs the value. The belt natural vibration frequency 18 is the belt string vibration frequency determined by the length L of the belt 2, the initial tension T and the linear density ρ, or the belt meshing frequency between the door motor 1 and the belt 2. If the belt string vibration frequency is set to fb, it can be obtained by Calculate. n is a natural number, and the string vibration frequency when n=1 is the fundamental wave, and n=2, 3, 4... represents higher harmonics.

[0037] In addition, if the belt meshing frequency is set to fc, the belt length L is calculated by considering the distance from the connecting portion 5 to the axis of the pulley 6. The linear density ρ is a value corresponding to the type of belt. The connecting portion 5 also moves according to the door position, so the belt length also changes, and the door device natural vibration frequency 17 and the belt natural vibration frequency 18 change according to the door position. The resonance frequency estimation unit 14 detects the frequency at which the door device natural vibration frequency 17 and the belt natural vibration frequency 18 coincide with each other due to the change in the belt stiffness as the resonance frequency.

[0038] Figure 3: is a diagram showing the detailed structure of the abnormality determination unit 16. The abnormality determination unit 16 has: a storage unit 19 that stores the door device natural vibration frequency 17 in normal state in advance; and an abnormality reporting unit 20 that reports the abnormality to the maintenance system 21 when it is determined that the belt 2 has an abnormality. The abnormality determination unit 16 may also determine that the belt 2 has an abnormality when the door device natural vibration frequency 17 estimated by the resonance frequency estimation unit 14 is different from the pre-stored door device natural vibration frequency 17 and the resonance frequency estimated by the resonance frequency estimation unit 14 exists. Thus, the abnormality of the belt 2 can be detected with high accuracy.

[0039] Figure 4 An example of a flow from when the belt stiffness estimating unit 13 starts estimating the belt stiffness to when the abnormality determining unit 16 detects an abnormality in the belt 2 is shown. Figure 4 This is a diagram showing a flowchart of abnormality determination, which starts from "Start" and continues until reaching "End". Figure 4 processing. In step S201, the belt stiffness estimation unit 13 obtains the door position signal based on the signals obtained from the rotation detector 4 and the door position switch 7, and determines whether the door panel 3 is fully open or fully closed. Here, when the belt stiffness estimation unit 13 determines that the door panel 3 is in the fully open or fully closed position, it proceeds to step S202. In step S202, the current command unit 11 inputs a current command of a certain value to the current control unit, the door motor 1 drives the belt 2 with a certain torque, and the belt stiffness estimation unit 13 estimates the belt stiffness. In step S203, the belt stiffness estimation unit 13 determines whether the belt stiffness is reduced. In the case where the belt stiffness is reduced, the process proceeds to the belt resonance frequency estimation step S204. In step S204, the resonance frequency estimation unit 14 uses the input belt stiffness to estimate the door device natural vibration frequency 17 and the belt natural vibration frequency 18, and proceeds to step S205.

[0040] In step S205, it is determined whether the door device natural vibration frequency 17 is consistent with the belt natural vibration frequency 18. When the door device natural vibration frequency 17 is consistent with the belt natural vibration frequency 18, the natural vibration frequency value is regarded as the resonance frequency value, and the process proceeds to step S206. In step S206, the cutoff frequency of the filter 9 or the control gain of the speed control unit 10 is adjusted, and the process proceeds to step S207. In step S207, the abnormality determination unit 16 confirms the input of the rotation speed of the door motor 1 obtained by the rotation detector 4, that is, the waveform of the actual speed, and the process proceeds to step S208. The abnormality determination unit 16 determines whether there is vibration in the input rotation speed of the door motor 1, and if there is vibration, the process proceeds to step S209. In step S209, the abnormality reporting unit 20 reports the abnormality to the maintenance system 21, and the process ends.

[0041] As described above, when the door device natural frequency 17 calculated based on the belt stiffness value estimated by the belt stiffness estimation unit 13 is consistent with the natural frequency of the belt 2, that is, the belt natural frequency 18, the resonance frequency estimation unit 14 outputs the vibration frequency as the resonance frequency. Thus, the resonance frequency can be estimated with high accuracy.

[0042] Alternatively, the resonant frequency estimation unit 14 estimates the resonant frequency when the elevator is installed, and the automatic adjustment unit 15 automatically adjusts the speed control system parameters during the installation. Thus, poor installation can be discovered early. In addition, poor adjustment just after installation can be discovered, and human errors of operators can be dealt with as early as possible. In addition, the resonant frequency estimation unit 14 can also estimate the resonant frequency at each floor, and the automatic adjustment unit 15 automatically adjusts the speed control system parameters for each floor. Thus, the parameters can be adjusted according to the installation state of the belt 2 on each floor, and vibration noise can be reliably suppressed.

[0043] Figure 5 601 and 602. A part of the processing circuit may be formed as dedicated hardware 600, and the processing circuit may also include a processor 601 and a memory 602. Figure 5 In the example shown, a portion of the processing circuitry is formed as dedicated hardware 600. Figure 5 In the example shown, the processing circuit includes a processor 601 and a memory 602 in addition to the dedicated hardware 600 .

[0044] The processing circuit that is part of at least one dedicated hardware 600 is, for example, a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

[0045] In the case where the processing circuit includes at least one processor 601 and at least one memory 602, the functions of the various parts of the elevator door control device are implemented by software, firmware, or a combination of software and firmware.

[0046] Software and firmware are described as programs and stored in the memory 602. The program can also be recorded in a computer-readable recording medium. The processor 601 realizes the functions of each part by reading and executing the program stored in the memory 602. The processor 601 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 602 is, for example, a non-volatile 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 compact disc (CD), a mini disk and a DVD.

[0047] In this way, the processing circuit can realize the functions of the elevator door control device through hardware, software, firmware or a combination thereof. In addition, each function of the elevator door control device can be realized by the cooperation of multiple devices or by a single device. In addition, at least part of each function of the elevator door control device can also be installed on a server on an external network.

[0048] Hereinafter, various aspects of the present invention will be collectively described as supplementary notes.

[0049] (Note 1)

[0050] An elevator door control device, wherein the elevator door control device comprises:

[0051] a rotation detector that detects the rotation angle of a door motor that drives a belt on which a door panel is suspended;

[0052] A door position switch, which detects whether the door panel is in a fully open state or a fully closed state;

[0053] a current detector for detecting a value of a current flowing through the door motor;

[0054] A speed instruction unit, which indicates the opening and closing speed of the door panel;

[0055] A speed control unit, which controls the opening and closing speed of the door panel;

[0056] a current command unit that provides a command value for applying a certain pressing force in a door opening direction or a door closing direction when the door panel is in a fully open position or a fully closed position according to the signals obtained from the rotation detector and the door position switch;

[0057] a current control unit that generates a voltage command value so that the current flowing through the door motor follows the command value;

[0058] a belt stiffness estimating section that estimates a stiffness value of the belt;

[0059] a resonance frequency estimating unit that estimates the resonance frequency based on the stiffness value of the belt;

[0060] an abnormality determination unit that determines an abnormality based on the estimated resonance frequency; and

[0061] An automatic adjustment unit automatically adjusts the speed control system parameters of the door motor according to the estimated resonance frequency.

[0062] (Note 2)

[0063] The elevator door control device according to Supplement 1, wherein:

[0064] The belt stiffness estimation unit estimates the stiffness of the belt using a theoretical calculated value of the force applied to the belt calculated based on the motor current value obtained from the current detector when the door panel is in the fully open position or the fully closed position, and an elongation of the belt calculated based on the rotational change of the door motor obtained from the rotation detector.

[0065] (Note 3)

[0066] The elevator door control device according to Supplement 1 or 2, wherein:

[0067] The abnormality determination unit comprises:

[0068] A storage unit that stores in advance the natural vibration frequency of the door device in a normal state; and

[0069] An abnormality reporting unit reports abnormalities according to the determination results,

[0070] The abnormality determination unit determines that the belt has an abnormality when a pre-stored natural frequency of the door device is different from the natural frequency of the door device estimated by the resonant frequency estimation unit and the resonant frequency estimated by the resonant frequency estimation unit exists.

[0071] (Note 4)

[0072] An elevator door control device according to any one of Notes 1 to 3, wherein:

[0073] When the natural vibration frequency of the door device calculated based on the stiffness value estimated by the belt stiffness estimation unit coincides with the natural vibration frequency of the belt, the resonance frequency estimation unit outputs the vibration frequency as the resonance frequency.

[0074] (Note 5)

[0075] An elevator door control device according to any one of Notes 1 to 4, wherein:

[0076] The resonance frequency estimation unit estimates the resonance frequency at the time of installation or at each floor, and the automatic adjustment unit automatically adjusts the speed control system parameters at the time of installation or for each floor.

[0077] Description of symbols

[0078] 1: door motor; 2: belt; 3: door panel; 4: rotation detector; 5: connecting part; 6: pulley; 7: door position switch; 8: speed command part; 9: filter; 10: speed control part; 11: current command part; 12: current control part; 13: belt stiffness estimation part; 14: resonance frequency estimation part; 15: automatic adjustment part; 16: abnormality determination part; 17: natural vibration frequency of door device; 18: natural vibration frequency of belt; 19: storage part; 20: abnormality reporting part; 21: maintenance system; 600: dedicated hardware; 601: processor; 602: memory.

Claims

1. An elevator door control device, wherein: The elevator door control device comprises: a rotation detector that detects the rotation angle of a door motor that drives a belt on which a door panel is suspended; A door position switch, which detects whether the door panel is in a fully open state or a fully closed state; a current detector for detecting a value of a current flowing through the door motor; A speed instruction unit, which indicates the opening and closing speed of the door panel; A speed control unit, which controls the opening and closing speed of the door panel; a current command unit that provides a command value for applying a certain pressing force in a door opening direction or a door closing direction when the door panel is in a fully open position or a fully closed position according to the signals obtained from the rotation detector and the door position switch; a current control unit that generates a voltage command value so that the current flowing through the door motor follows the command value; a belt stiffness estimating section that estimates a stiffness value of the belt; a resonance frequency estimating unit that estimates the resonance frequency based on the stiffness value of the belt; an abnormality determination unit that determines an abnormality based on the estimated resonance frequency; as well as An automatic adjustment unit automatically adjusts the speed control system parameters of the door motor according to the estimated resonance frequency.

2. The elevator door control device according to claim 1, wherein: The belt stiffness estimation unit estimates the stiffness of the belt using a theoretical calculated value of the force applied to the belt calculated based on the motor current value obtained from the current detector when the door panel is in the fully open position or the fully closed position, and an elongation of the belt calculated based on the rotational change of the door motor obtained from the rotation detector.

3. The elevator door control device according to claim 1 or 2, wherein: The abnormality determination unit comprises: A storage unit that stores in advance the natural vibration frequency of the door device in a normal state; and An abnormality reporting unit reports abnormalities according to the determination results, The abnormality determination unit determines that the belt has an abnormality when a pre-stored natural frequency of the door device is different from the natural frequency of the door device estimated by the resonant frequency estimation unit and the resonant frequency estimated by the resonant frequency estimation unit exists.

4. The elevator door control device according to claim 1 or 2, wherein: When the natural vibration frequency of the door device calculated based on the stiffness value estimated by the belt stiffness estimation unit coincides with the natural vibration frequency of the belt, the resonance frequency estimation unit outputs the vibration frequency as the resonance frequency.

5. The elevator door control device according to claim 1 or 2, wherein: The resonance frequency estimation unit estimates the resonance frequency at the time of installation or at each floor, and the automatic adjustment unit automatically adjusts the speed control system parameters at the time of installation or for each floor.

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