Elevator door control device

Abstract

To provide an elevator door control device advantageous in suppressing vibration and noise caused by a state of a belt for driving a door.SOLUTION: An elevator door control device according to the present disclosure includes: a current command unit that gives a command value such that a constant pressing force is applied in a door opening direction or a door closing direction when a door panel is at a fully open position or a fully closed position; a current control unit that generates a voltage command value such that a current flowing through a door motor follows the command value; a belt rigidity estimation unit that estimates a rigidity value of a belt; a resonance frequency estimation unit that estimates a resonance frequency from the rigidity value of the belt; an anomaly determination unit that determines an anomaly according to the estimated resonance frequency; and an automatic adjustment unit that automatically adjusts a speed control system parameter of a door motor according to the estimated resonance frequency.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to elevator door control devices. [Background technology]

[0002] The following Patent Document 1 discloses a door control device. This door control device includes an opening / closing operation selection unit that selects and outputs a first operation command that instructs an operation of rotating a motor to open and close a door panel connected to a belt driven by the motor, and a second operation command that instructs an operation of generating torque in the motor when the door panel is stopped, 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 based on the first operation command, a second current command unit that changes a second current value supplied to the motor based on the second operation command so as to change the torque generated by the motor, a speed calculation unit that calculates the rotation speed of the motor from 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 the amount of change in the second current value and the amount of change in the rotation position of the motor, a cutoff frequency determination unit that determines a cutoff frequency from 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 rotation speed signal and negatively feeds back the signal to the first current command unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-039609 A Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional elevator door devices, abnormal noise or oscillations may occur when the door is driven depending on the tension of the belt. To solve these problems, maintenance workers change the belt tension or control parameters on-site. However, when these abnormalities occur, the elevator is likely to be suspended, which has a significant impact on users.

[0005] The present disclosure has been made to solve the above-mentioned problems. An object of the present disclosure is to provide an elevator door control device that is advantageous in suppressing vibration and noise caused by the state of a belt that drives the door. [Means for solving the problem]

[0006] The elevator door control device according to the present disclosure includes a rotation detector that detects the rotation angle of a door motor that drives a belt from which a door panel is suspended, a door position switch that detects whether the door panel is in a fully open or fully closed state, a current detector that detects the value of a current flowing to the door motor, a speed command unit that commands the opening and closing speed of the door panel, a speed control unit that controls the opening and closing speed of the door panel, a current command unit that gives a command value such that a constant pressing force is applied in the door opening direction or the door closing direction when the door panel is in the fully open position or the fully closed position based on signals obtained from the rotation detector and the door position switch, a current control unit that generates a voltage command value such that the current flowing to the door motor follows 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 from the stiffness value of the belt, an abnormality determination unit that determines an abnormality according to the estimated resonance frequency, and an automatic adjustment unit that automatically adjusts speed control system parameters of the door motor according to the estimated resonance frequency. Effect of the Invention

[0007] According to the present disclosure, it is possible to provide an elevator door control device that is advantageous in suppressing vibrations and noise caused by the condition of the belt that drives the door. [Brief description of the drawings]

[0008] [Figure 1] 1 is a schematic diagram showing the overall configuration of a door device of an elevator door control device according to embodiment 1. [Diagram 2] 6 is a diagram showing an example of a relationship between a door device natural frequency and a belt natural frequency calculated by a resonance frequency estimation unit; FIG. [Diagram 3] FIG. 4 is a diagram illustrating a detailed configuration of an abnormality determination unit. [Figure 4] FIG. 11 is a flowchart showing a belt abnormality determination process. [Diagram 5] FIG. 1 is a diagram showing an example of a configuration for realizing the functions of an elevator door control device in embodiment 1. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, the embodiments will be described with reference to the drawings. In each drawing, the same reference numerals are used to denote common or corresponding elements, and the description is simplified or omitted. The configurations shown in the embodiments below are examples of the technical ideas related to the present disclosure, and may be combined with other known technologies, or multiple technical ideas described in the present disclosure may be combined. In addition, it is also possible to omit or modify a part of the configuration without departing from the gist of the present disclosure.

[0010] Embodiment 1 Fig. 1 is a schematic diagram of the overall configuration showing a door device of an elevator door control device according to embodiment 1. Fig. 1 shows a door device possessed by, for example, an elevator door control device, and includes a door motor 1, a belt 2, a door panel 3, a rotation detector 4, a connecting unit 5, a pulley 6, and a door position switch 7. The elevator door control device also 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.

[0011] In FIG. 1, the door device opens and closes a door panel 3, which is the entrance and exit for an elevator car, by a driving force of a door motor 1 causing a belt 2 to move horizontally.

[0012] A rotation detector 4 is attached to the door motor 1, and by detecting the rotation angle of the door motor 1, it is possible to grasp the speed or position of the door panel 3.

[0013] A connecting part 5 is disposed on the upper part of the door panel 3 in a manner that grips the belt 2. As a result, the driving force of the door motor 1 is transmitted to the door panel 3 via the belt 2 stretched around the pulley 6, enabling the door to be opened and closed.

[0014] A toothed belt can be used as the belt 2. The pulley 6 is provided with a groove according to the type of belt, and the initial tension can be adjusted according to the length of the belt 2 and the center distance of the pulley 6. In addition, the door position switch 7 has a function of detecting whether the door panel 3 is positioned at the end of the fully open position or the end of the fully closed position.

[0015] The speed command unit 8 commands the opening / closing speed of the door panel 3. The speed command unit 8 judges 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 a door open command or a door close command to the speed control unit 10.

[0016] The speed control unit 10 controls the opening / closing speed of the door panel 3. The speed control unit 10 receives as input the difference between a value obtained by filtering the speed of the door panel 3 commanded by the speed command unit 8 with a filter 9 and a value obtained by filtering the speed of the door panel 3 calculated based on the rotation speed of the door motor 1 obtained from the rotation detector 4 with the filter 9, and corrects the input speed difference. The filter 9 is used to remove noise components in the command value or the negative feedback value, and may 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 a resonant frequency estimate value described later.

[0017] Based on the signals from the rotation detector 4 and the door position switch 7, the current command unit 11 outputs a current command to press the door panel 3 in the fully open or fully closed direction with a constant force when the door panel 3 is in the fully open or 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.

[0018] The current control unit 12 controls the current supplied to the door motor 1 based on the input current command value. The current control unit 12 generates a voltage command value such that the current flowing through the door motor 1 follows the command value. If 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, then τ can be expressed as τ=I×Kt.

[0019] The belt stiffness estimation unit 13 is an estimation unit that calculates the stiffness value of the belt 2 from 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 k, the belt elongation is x, the pulley radius is R, and the rotation angle is θ, when a force is applied to the belt 2 in the door opening direction or the door closing direction with a constant torque τ, x=R θ τ / R=k x The following two equations hold: Therefore, the belt stiffness k can be calculated as k=τ / R^2 / θ.

[0020] The belt stiffness estimation unit 13 may estimate the stiffness of the belt 2 using a theoretical calculation value of the force acting on the belt 2 calculated from a motor current value obtained from a current detector that detects the value of a current flowing through the door motor 1 when the door panel 3 is in the fully open position or the fully closed position, and the elongation of the belt 2 calculated from the amount of change in rotation of the door motor 1 obtained from the rotation detector 4. This makes it possible to estimate the stiffness of the belt 2 with high accuracy.

[0021] Although the belt stiffness value decreases due to aging, for example, if a constant torque is applied in the door opening direction at the door opening end or in the door closing direction at the door closing end, the belt stiffness value can be successively estimated. If 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.

[0022] The resonance frequency estimation unit 14 estimates the resonance frequency from the belt stiffness value output from the belt stiffness estimation unit 13 .

[0023] When the resonance frequency estimation unit 14 determines that a resonance frequency exists, 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. In this embodiment, it is possible to estimate the stiffness of the belt 2 that drives the door and automatically adjust the control parameters according to the state of the belt 2. This makes it possible to reliably suppress vibrations and noise.

[0024] Furthermore, if the door device natural frequency 17 estimated by the resonant frequency estimation unit 14 is significantly different from the pre-stored value and if the speed feedback value still contains a vibration component exceeding a threshold value even after the control parameters are changed by the automatic adjustment unit 15, the abnormality determination unit 16 determines that there is an abnormality in the belt 2 and issues an alert to, for example, a maintenance system 21.

[0025] FIG. 2 shows an example of the relationship between the door device natural frequency 17 and the belt natural frequency 18 calculated by the resonance frequency estimation unit 14. The resonance frequency estimation unit 14 is an estimation unit that calculates and outputs the door device natural frequency 17 using a model in which the belt 2 is regarded as a spring and the door panel 3 is regarded as a mass body. When the calculated door device natural frequency 17 and the belt natural frequency 18 match, the resonance frequency estimation unit 14 regards the matched natural frequency as the resonance frequency and outputs a value. The belt natural frequency 18 is a belt string vibration frequency determined by the length L, initial tension T, and linear density ρ of the belt 2, or a belt meshing frequency between the door motor 1 and the belt 2. If the belt string vibration frequency is fb, it can be calculated as fb=n / 2L*√ρ / T. n is a natural number, and the string vibration frequency when n=1 is the fundamental wave, and n=2, 3, 4, etc. indicate harmonics.

[0026] Furthermore, assuming that the belt meshing frequency is fc, the belt length L is calculated as the distance from the connecting part 5 to the axis of the pulley 6. The linear density ρ is a value according to the type of belt. Since the connecting part 5 also moves according to the door position, the belt length also changes, and the door device natural frequency 17 and the belt natural frequency 18 change depending on the door position. The resonance frequency estimation part 14 detects the frequency at which the belt stiffness changes and the door device natural frequency 17 and the belt natural frequency 18 match as the resonance frequency.

[0027] 3 is a diagram showing a detailed configuration of the abnormality determination unit 16. The abnormality determination unit 16 has a storage unit 19 that stores in advance the door device natural frequency 17 in a normal state, and an abnormality notification unit 20 that notifies the maintenance system 21 of an abnormality when it is determined that an abnormality exists in the belt 2. The abnormality determination unit 16 may determine that an abnormality exists in the belt 2 when the door device natural frequency 17 stored in advance differs from the door device natural frequency 17 estimated by the resonance frequency estimation unit 14 and the resonance frequency estimated by the resonance frequency estimation unit 14 exists. This makes it possible to detect an abnormality in the belt 2 with high accuracy.

[0028] FIG. 4 shows an example of a flow from when the belt stiffness estimation unit 13 starts belt stiffness estimation to when the abnormality determination unit 16 detects an abnormality in the belt 2. FIG. 4 is a diagram showing a flowchart of belt abnormality determination, and the process starts from START and continues until it reaches END. In step S201, the belt stiffness estimation unit 13 acquires a door position signal 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, if the belt stiffness estimation unit 13 determines that the door panel 3 is in the fully open or fully closed position, the process proceeds to step S202. In step S202, the current command unit 11 inputs a constant current command to the current control unit, the door motor 1 drives the belt 2 with a constant 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 has decreased. If the belt stiffness has decreased, the process proceeds to belt resonance frequency estimation step S204. In step S204, the resonance frequency estimation unit 14 estimates the door device natural frequency 17 and the belt natural frequency 18 using the input belt stiffness, and the process proceeds to step S205.

[0029] In step S205, it is determined whether the door device natural frequency 17 and the belt natural frequency 18 are the same. If the door device natural frequency 17 and the belt natural frequency 18 are the same, the natural 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 checks the input of the rotation speed of the door motor 1 acquired by the rotation detector 4, i.e., the waveform of the actual speed, and the process proceeds to step S208. The abnormality determination unit 16 determines whether vibration exists in the input rotation speed of the door motor 1, and if vibration exists, the process proceeds to step S209. In step S209, the abnormality notification unit 20 issues an abnormality notification to the maintenance system 21, and the process ends.

[0030] As described above, when the door device natural frequency 17 calculated from the belt stiffness value estimated by the belt stiffness estimation unit 13 coincides with the belt natural frequency 18, which is a natural frequency related to the belt 2, the resonance frequency estimation unit 14 outputs the frequency as the resonance frequency. This makes it possible to estimate the resonance frequency with high accuracy.

[0031] The resonance frequency estimation unit 14 may estimate the resonance frequency when the elevator is installed, and the automatic adjustment unit 15 may automatically adjust the speed control system parameters during the installation. This allows early detection of installation defects. Also, poor adjustments immediately after installation can be detected, and human errors by workers can be dealt with early. The resonance frequency estimation unit 14 may estimate the resonance frequency for each floor, and the automatic adjustment unit 15 may automatically adjust the speed control system parameters for each floor. This allows the parameters to be adjusted according to the installation state of the belt 2 on each floor, making it possible to reliably suppress vibration noise.

[0032] FIG. 5 is a diagram showing an example of a configuration for realizing the functions of the elevator door control device in the first embodiment. Each function of the elevator door control device is realized, for example, by a processing circuit. The processing circuit may be dedicated hardware 600. The processing circuit may include a processor 601 and a memory 602. A part of the processing circuit may be formed as the dedicated hardware 600, and the processing circuit may further include the processor 601 and the memory 602. In the example shown in FIG. 5, a part of the processing circuit is formed as the dedicated hardware 600. Also, in the example shown in FIG. 5, the processing circuit further includes the processor 601 and the memory 602 in addition to the dedicated hardware 600.

[0033] The processing circuitry of which at least one portion is dedicated hardware 600 may be, for example, a single circuit, multiple circuits, a programmed processor, parallel programmed processors, an ASIC, an FPGA, or a combination thereof.

[0034] When the processing circuit includes at least one processor 601 and at least one memory 602, the functions of each part of the elevator door control device are realized by software, firmware, or a combination of software and firmware.

[0035] The software and firmware are written as a program and stored in the memory 602. The program may be recorded in a computer-readable recording medium. The processor 601 realizes the functions of each unit by reading and executing the program stored in the memory 602. The processor 601 is also called a CPU (Central Processing Unit), central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP. The memory 602 may be, for example, a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM, or a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like.

[0036] In this way, the processing circuit can realize the functions of the elevator door control device by hardware, software, firmware, or a combination of these. Each function of the elevator door control device may be realized by multiple devices working together, or by a single device. Also, at least a part of each function of the elevator door control device may be implemented in a server or the like on an external network.

[0037] Various aspects of the present disclosure are summarized below as appendices.

[0038] (Appendix 1) 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 for detecting whether the door panel is in a fully open or fully closed position; a current detector for detecting a value of a current flowing through the door motor; a speed command unit for commanding an opening / closing speed of the door panel; a speed control unit for controlling an opening / closing speed of the door panel; a current command unit that, based on signals obtained from the rotation detector and the door position switch, gives a command value such that a certain pressing force is applied 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; a current control unit that generates a voltage command value such that a current flowing through the door motor follows the command value; a belt stiffness estimating unit that estimates a stiffness value of the belt; a resonance frequency estimation unit that estimates a resonance frequency from a stiffness value of the belt; an abnormality determination unit that determines an abnormality according to the estimated resonant frequency; an automatic adjustment unit that automatically adjusts a speed control system parameter of the door motor in accordance with the estimated resonance frequency; An elevator door control device comprising: (Appendix 2) The elevator door control device described in Appendix 1, wherein the belt stiffness estimation unit estimates the stiffness of the belt using a theoretical calculation value of the force applied to the belt calculated from the motor current value obtained from the current detector when the door panel is in a fully open position or a fully closed position, and an elongation of the belt calculated from an amount of rotation change of the door motor obtained from the rotation detector. (Appendix 3) The elevator door control device according to claim 1 or 2, wherein the abnormality judgment unit includes a memory unit which pre-stores the natural frequency of the door device under normal conditions, and an abnormality reporting unit which reports an abnormality depending on the judgment result, and judges that there is an abnormality in the belt when the 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 when the resonant frequency estimated by the resonant frequency estimation unit exists. (Appendix 4) The elevator door control device according to any one of claims 1 to 3, wherein the resonant frequency estimation unit outputs a natural frequency of the door device calculated from the stiffness value estimated by the belt stiffness estimation unit as a resonant frequency if the natural frequency of the door device calculated from the stiffness value estimated by the belt stiffness estimation unit coincides with a natural frequency related to the belt. (Appendix 5) 5. The elevator door control device according to any one of claims 1 to 4, wherein the resonant frequency estimation unit estimates a resonant frequency at the time of installation or for each floor, and the automatic adjustment unit automatically adjusts the speed control system parameters at the time of installation or for each floor. [Explanation of symbols]

[0039] 1 Door motor, 2 Belt, 3 Door panel, 4 Rotation detector, 5 Connection section, 6 Pulley, 7 Door position switch, 8 Speed ​​command section, 9 Filter, 10 Speed ​​control section, 11 Current command section, 12 Current control section, 13 Belt stiffness estimation section, 14 Resonance frequency estimation section, 15 Automatic adjustment section, 16 Abnormality determination section, 17 Door device natural frequency, 18 Belt natural frequency, 19 Memory section, 20 Abnormality reporting section, 21 Maintenance system, 600 Dedicated hardware, 601 Processor, 602 Memory

Claims

1. 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 for detecting whether the door panel is in a fully open or fully closed position; a current detector for detecting a value of a current flowing through the door motor; a speed command unit for commanding an opening / closing speed of the door panel; a speed control unit for controlling an opening / closing speed of the door panel; a current command unit that, based on signals obtained from the rotation detector and the door position switch, gives a command value such that a certain pressing force is applied 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; a current control unit that generates a voltage command value such that a current flowing through the door motor follows the command value; a belt stiffness estimating unit that estimates a stiffness value of the belt; a resonance frequency estimation unit that estimates a resonance frequency from a stiffness value of the belt; an abnormality determination unit that determines an abnormality according to the estimated resonant frequency; an automatic adjustment unit that automatically adjusts a speed control system parameter of the door motor in accordance with the estimated resonance frequency; An elevator door control device comprising:

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 calculation value of the force acting on the belt calculated from 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 the belt elongation calculated from the rotation change amount 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 includes a memory unit that pre-stores the natural frequency of the door device under normal conditions, and an abnormality reporting unit that reports an abnormality depending on the determination result, and determines that there is an abnormality in the belt when the pre-stored natural frequency of the door device is different from the natural frequency of the door device estimated by the resonance frequency estimation unit and when the resonance frequency estimated by the resonance frequency estimation unit exists.

4. 3. The elevator door control device according to claim 1, wherein the resonant frequency estimation unit outputs a natural frequency of the door device calculated from the stiffness value estimated by the belt stiffness estimation unit as a resonant frequency when the natural frequency of the door device calculated from the stiffness value estimated by the belt stiffness estimation unit coincides with a natural frequency of the belt.

5. 3. The elevator door control device according to claim 1, wherein the resonant frequency estimation unit estimates the resonant frequency at the time of installation or for 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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