Control device for elevator door

Abstract

To provide an elevator door control device that is able to improve the accuracy of door mass identification for various elevator doors.SOLUTION: A control device for an elevator door includes: a motor that drives opening and closing of the elevator door; a speed command unit 8 that outputs a rotational-speed command value for the motor; a speed control unit 9 that calculates a torque command value so that a 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 a mass of the door; and a door mass identified-value storage unit 13 that stores an identified value of the mass of the door identified by the door mass identification unit 12. The door mass identification unit 12 sequentially updates the identified value of the mass of the door by using: a torque value calculated by multiplying an electrical 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 in previous identification stored in the door mass identified-value storage unit 13.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a control device for an elevator door. [Background technology]

[0002] A known system calculates the door weight for a floor based on the acceleration and torque when the door is opening and closing in an identification opening and closing pattern that is set for the purpose of stabilizing torque using a door weight identification unit, and stores the calculated door weight in a door weight memory unit for each floor (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-220997 Summary of the Invention [Problem to be solved by the invention]

[0004] Even within the same building, elevators may have non-uniform door masses at each floor due to differences in design and other factors. In recent years, elevator specifications, including doors, have become more diverse, and elevators increasingly use not only in-house manufactured doors but also third-party and custom-designed doors. This can result in the actual door mass being outside the initially estimated range, leading to significant deviations from the initial door mass set before the door mass is identified. In technology such as that disclosed in Patent Document 1, the accuracy of door mass identification may be significantly reduced if the actual door mass is outside the initially estimated range.

[0005] The present disclosure has been made to solve such problems, and its purpose is to provide an elevator door control device that can improve the accuracy of identifying the door mass for various elevator doors. [Means for solving the problem]

[0006] The elevator door control device according to the present disclosure includes a motor for driving the opening and closing of an elevator door, a speed detector for detecting the rotational speed of the motor, a current detector for detecting a current value of the motor, a speed command unit for outputting a rotational speed command value of the motor related to the opening and closing speed of the door, a speed control unit for calculating a torque command value so that the rotational speed of the motor coincides with the rotational speed command value output from the speed command unit, a door mass identification unit for identifying the mass of the door, and a door mass identification value storage unit for storing the identified value of the door mass identified by the door mass identification unit, wherein the door mass identification unit sequentially updates the identified value of the door mass using a torque value calculated by multiplying the current value of the motor by a torque constant, the angular acceleration of the motor, and the identified value of the door mass at the time of the previous identification stored in the door mass identification value storage unit.

[0007] Alternatively, an elevator door control device according to the present disclosure includes a motor that drives the opening and closing of an elevator door, a speed detector that detects the rotational speed of the motor, a speed command unit that outputs a rotational speed command value of the motor related to the opening and closing speed of the door, a speed control unit 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 unit, a door mass identification unit that identifies the mass of the door, and a door mass identification value storage unit that stores the identification value of the door mass identified by the door mass identification unit, wherein the door mass identification unit sequentially updates the identification value of the door mass using the torque command value of the motor, the angular acceleration of the motor, and the identification value of the door mass at the time of the previous identification that is stored in the door mass identification value storage unit. [Effects of the Invention]

[0008] The elevator door control device according to the present disclosure has the effect of improving the accuracy of identifying door mass for a variety of elevator doors. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a diagram showing a schematic diagram of the overall configuration of an elevator door device and an elevator door control device according to a first embodiment. [Figure 2] 1 is a diagram illustrating an example of a speed pattern in an elevator door control device according to embodiment 1. FIG. [Figure 3] 1 is a diagram illustrating an example of a speed pattern in an elevator door control device according to embodiment 1. FIG. [Figure 4] 1 is a diagram illustrating an example of a speed pattern in an elevator door control device according to embodiment 1. FIG. [Figure 5] 2 is a block diagram showing an example of the configuration of a door mass identification unit of the elevator door control device according to embodiment 1. FIG. [Figure 6] FIG. 2 is a diagram illustrating an example of a door mass identification result by the elevator door control device according to embodiment 1. [Figure 7] 1 is a diagram showing a schematic diagram of the overall configuration of a modified example of an elevator door device and elevator door control device according to embodiment 1. FIG. [Figure 8] FIG. 2 is a block diagram showing an example of the configuration of a door mass identification unit in a modified example of the elevator door control device according to embodiment 1. [Figure 9] FIG. 2 is a diagram showing an example of a configuration for realizing the functions of a control device of an elevator door control device according to embodiment 1. DETAILED DESCRIPTION OF THE INVENTION

[0010] Embodiments for implementing an elevator door control device according to the present disclosure will be described with reference to the accompanying drawings. In each drawing, identical or corresponding parts are designated by the same reference numerals, and redundant descriptions will be appropriately simplified or omitted. For convenience, the following description may express the positional relationship of each structure based on the illustrated state. Note that the present disclosure is not limited to the following embodiments, and any combination of the embodiments, any modification of any component of each embodiment, or any omission of any component of each embodiment are possible within the scope of the present disclosure.

[0011] Embodiment 1 A first embodiment of the present disclosure will be described with reference to FIGS. 1 to 9. FIG. 1 is a diagram schematically illustrating the overall configuration of an elevator door device and an elevator door control device. FIGS. 2 to 4 are diagrams illustrating examples of speed patterns in the elevator door control device. FIG. 5 is a block diagram illustrating an example of the configuration of a door mass identification unit in the elevator door control device. FIG. 6 is a diagram illustrating an example of a door mass identification result by the elevator door control device. FIG. 7 is a diagram schematically illustrating the overall configuration of a modified elevator door device and an elevator door control device. FIG. 8 is a block diagram illustrating an example of the configuration of a door mass identification unit in a modified elevator door control device. FIG. 9 is a diagram illustrating an example of the configuration for realizing the control device functions of the elevator door control device.

[0012] The elevator door control device according to this embodiment controls the opening and closing of door devices installed in the elevator car and landing. The elevator car is equipped with a door device as shown in Figure 1.

[0013] An opening, i.e., a doorway, is provided at the front of the car. Door panels 3 constituting a pair of left and right car doors are provided at the doorway of the car so as to be able to open and close along an approximately horizontal direction. Door hangers are attached to the upper ends of the door panels 3. Door rollers are attached to the tops of these door hangers. A door rail is attached above the doorway of the car. This door rail is attached approximately horizontally along the opening and closing direction of the door panel. A door roller is engaged on this door rail so as to be able to roll. Note that the door hangers, door rollers, and door rails are not shown in Figure 1.

[0014] In this way, the pair of left and right door panels 3 are suspended by the door rail via the door hangers and door rollers. The door rollers are guided by the door rail and roll on the door rail, causing the left and right door panels 3 to open and close the entrance to the car.

[0015] A car threshold, which forms the lower edge of the car entrance, is attached to the lower front of the car. This car threshold is attached approximately horizontally along the opening and closing direction of the door panel 3. A guide groove is provided in this car threshold along its longitudinal direction. Door guide shoes (not shown) are attached to the lower ends of the pair of left and right door panels. These door guide shoes are slidably engaged in the guide grooves of the car threshold.

[0016] A door motor 1 is disposed above the door rail of the elevator car. The door motor 1 is a motor that drives the opening and closing of the elevator door. This door motor 1 is disposed above the door rail on one side along the opening and closing direction of the door panel 3. One of a pair of left and right pulleys 6 is fixed to the drive shaft of the door motor 1. The other of the pair of left and right pulleys 6 is attached to the other side above the door rail along the opening and closing direction of the door panel 3. Of the pair of left and right pulleys 6, the one fixed to the drive shaft of the door motor 1 is a drive pulley. The other pulley 6 is a driven pulley.

[0017] An endless belt 2 is wound around the pair of pulleys 6. In this way, a winding transmission mechanism is formed in which the rotational drive of the door motor 1 is transmitted to the circulating movement of the belt 2.

[0018] A connecting portion 5 is attached to the upper end of the door panel 3. Of these connecting portions 5, the connecting portion 5 provided on one of the pair of left and right door panels 3 is engaged with either the upper or lower end of the belt 2 wound around pulleys 6. Furthermore, the connecting portion 5 provided on the other of the pair of left and right door panels 3 is engaged with the other of the upper or lower end of the belt 2 wound around pulleys 6. With this configuration, the rotational drive in both forward and reverse directions of the door motor 1 is converted into circulating movement of the belt 2 in both directions, and the pair of left and right door panels 3 move in opposite directions to open and close the entrance and exit of the car.

[0019] A landing is provided at the floor where the car stops. An opening, that is, an entrance / exit, is provided in the wall between the landing and the elevator shaft. The landing entrance / exit is provided in a position opposite the entrance / exit of the car stopped at the floor of the landing. A pair of landing doors, one on each side, are provided at the landing entrance / exit so as to be able to be opened and closed along a substantially horizontal direction.

[0020] A coupling device (not shown) is provided on the shaft-side surface of each door panel 3 and the shaft-side surface of the door panel of the landing door. This coupling device is composed of, for example, a car-side roller and a landing-side plate. The car-side roller is a roller attached to the tip of a rod-shaped member provided on the shaft-side surface of the door panel so as to protrude toward the shaft. The landing-side plate is a pair of plates provided on the shaft-side surface of the door panel of the landing door so as to protrude toward the shaft. The car-side roller and the landing-side plate are positioned so as to face each other when the car stops at a floor.

[0021] When the elevator car stops at a floor, the car-side roller of the coupling device engages with the hall-side plate, mechanically connecting the door panel 3 with the door panel of the hall door. When the door panel 3 is opened or closed by the power of the door motor 1, the door panel and the door panel of the hall door are linked and opened or closed as a unit.

[0022] As shown in FIG. 1 , 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 mass identification unit 12, and a door mass identification value storage unit 13. A rotation detector 4 is attached to 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 with the rotation detector 4, it is possible to grasp the speed and position of the door panel 3. The rotation detector 4 can also detect the rotation speed of the door motor 1. In this sense, the rotation detector 4 is also a speed detector that detects the rotation speed of the door motor 1.

[0023] The speed parameter storage unit 7 stores in advance various parameters used when 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 when the door panel 3 is opened or closed. In this embodiment, the parameters stored in the speed parameter storage unit 7 include at least parameters related to a first speed pattern and parameters related to a second speed pattern. The first speed pattern is a speed pattern of the door panel 3 in a normal door opening and closing operation. The second speed pattern is a speed pattern of the door panel 3 in which one or both of the acceleration and deceleration of the door panel 3 are greater than those of the first speed pattern.

[0024] That is, for example, in the first speed pattern, the acceleration / deceleration of the door panel 3 is set to a first acceleration / deceleration, and in the second speed pattern, the acceleration / deceleration of the door panel 3 is set to a second acceleration / deceleration, and the value of the second acceleration / deceleration is greater than the value of the first acceleration / deceleration.

[0025] Specific examples of the first speed pattern and the second speed pattern will be described with reference to Figs. 2 to 4. In these figures, the first speed pattern is indicated by a broken line. The second speed pattern is indicated by a solid line. Fig. 2 shows the first speed pattern and the second speed pattern during the door opening operation. Fig. 3 shows the first speed pattern and the second speed pattern during the door closing operation. Fig. 4 shows the first speed pattern during the door closing operation and the second speed pattern in which the door is reversed to open while it is closed. Note that the second speed pattern is not limited to these examples. For example, it may also be a speed pattern in which the door opening / closing direction shown in Fig. 4 is reversed multiple times. It may also be a speed pattern that combines these.

[0026] The speed command unit 8 acquires the parameters stored in the speed parameter storage unit 7 and generates a speed command value for the door panel 3. The speed command value generated by the speed command unit 8 is output to the speed control unit 9. In this way, the speed command unit 8 outputs a rotation speed command value for the door motor 1 related to the opening and closing speed of the door.

[0027] The speed control unit 9 receives as input a difference value between the speed command value of the door panel 3 output from the speed command unit 8 and the actual speed of the door panel 3 calculated based on the rotational speed of the door motor 1 obtained from the rotation detector 4. The speed control unit 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 matches the speed command value of the door panel 3. In other words, the speed control unit 9 calculates a torque command value so that the rotational speed of the door motor 1 matches the rotational speed command value output from the speed command unit 8. The torque command value generated by the speed control unit 9 is output to the current control unit 10.

[0028] The current detector 11 is a sensor that detects the value of a current flowing through the door motor 1. The current control unit 10 determines a drive voltage for the door motor 1 based on the command value output from the speed control unit 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 unit 10 calculates a torque value by multiplying the current value of the door motor 1 detected by the current detector 11 by a torque constant. Then, based on the difference between the torque command value output from the speed control unit 9 and the torque value calculated by multiplying the detected current value by the torque constant, the current control unit 10 determines a drive voltage for the door motor 1 so that the torque value calculated from the detected current value matches the torque command value.

[0029] Alternatively, for example, the current control unit 10 converts the torque command value output from the speed control unit 9 into a current command value. This conversion can be performed by determining the current value required to generate the torque indicated by the torque command value. Then, 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, the current control unit 10 determines the drive voltage of the door motor 1 so that the detected current value coincides with the current command value.

[0030] The door mass identification unit 12 identifies the mass of the elevator door. The identified value of the door mass identified by the door mass identification unit 12 is stored in the door mass identification value storage unit 13. The elevator door mass identified here is the sum of the mass of the car door panel 3 and the mass of the landing door panel. The door mass can be identified by calculating the rotational axis converted inertia of the door motor 1. If the door mass identification inertia is J(k), the rotational angular acceleration of the door motor 1 is a(k), the torque of the door motor 1 is τ(k), the disturbance torque due to friction etc. acting on the door panel 3 is Tf, and the known torque due to the mechanical door closing force etc. acting on the door panel 3 is Tw, the following equation (1) is established. Note that k indicates the kth sampling value of the detection value by the sensor.

[0031] τ(k)=J(k)·a(k)+Tf+Tw ··· (1)

[0032] Here, when the door is opened and closed using the second speed pattern described above, the rotational angular acceleration a(k) of the door motor 1 can be considered to be sufficiently large. In this case, the term J(k) a(k) in equation (1) becomes dominant over the terms Tf and Tw. In other words, the term J(k) a(k) can be considered to be sufficiently large so that the terms Tf and Tw in equation (1) can be ignored. In this case, equation (1) can be expressed as the following equation (2).

[0033] τ(k)≒J(k) a(k) (2)

[0034] Then, if J(k) is calculated using a learning identification algorithm (for example, the LMS method), it will be expressed as in the following equation (3).

[0035] J(k)=J(k-1)+μ·a(k)·(τ(k)-J(k-1)·a(k)) ··· (3)

[0036] Here, J(k-1) is the previous identified value of the door mass identification inertia J(k). As described above, the previous identified value J(k-1) of the door mass identification inertia is stored in the door mass identification value storage unit 13. 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 a value detected by the rotation detector 4, i.e., the speed detector. μ is a gain called a step width parameter, and setting μ to an appropriate value allows the identified value to converge stably. In this way, the door mass identification unit 12 sequentially updates the identified value of the door mass using the torque value calculated by multiplying the current value of the door motor 1 by the torque constant, the angular acceleration of the door motor 1, and the identified value of the door mass at the previous identification stored in the door mass identification value storage unit 13.

[0037] FIG. 5 shows an example of the configuration of the door mass identification unit 12 when the algorithm of equation (3) is used. More specifically, in the illustrated example, the door mass identification inertia J(k) is calculated using the following equation (4). In equation (4), τf(k) is used instead of the torque τ(k) of the door motor 1 in equation (3). τf(k) is obtained by multiplying the current value of the door motor 1 obtained from the current detector 11 by a torque constant using a torque constant multiplier 17 to generate a torque signal, which is then shaped by a filter 18. Furthermore, in equation (4), af(k) is used instead of the rotational angular acceleration a(k) of the door motor 1 in equation (3). af(k) is obtained by differentiating the angular velocity of the door motor 1 obtained from the rotation detector 4 using a differentiator 16 to generate an angular acceleration signal, which is then shaped by a filter 18.

[0038] J(k)=J(k-1)+μ·af(k)·(τf(k)-J(k-1)·af(k)) ··· (4)

[0039] The filter 18 may be a low-pass filter or a high-pass filter. Using a low-pass filter for the filter 18 can remove noise generated by the differentiation process performed by the differentiator 16. Using a high-pass filter for the filter 18 can eliminate the effects of Tf and Tw in equation (1). Using a band-pass filter for the filter 18 can also achieve both of these effects. In this way, the door mass identification unit 12 may calculate the identified value of the door mass by using a torque value calculated by multiplying the current value of the door motor 1 by a torque constant and / or the angular acceleration of the door motor 1, which have been filtered. The gain multiplier 19 is a multiplier that multiplies the value by the step width parameter μ described above.

[0040] The storage means 20 stores the previous identified value J(k-1) of the door mass identification inertia. As described above, the previous identified value J(k-1) of the door mass identification inertia is stored in the door mass identification value storage unit 13. Therefore, the storage means 20 may acquire and use the previous identified value J(k-1) of the door mass identification inertia stored in the door mass identification value storage unit 13. Alternatively, the storage means 20 may be the door mass identification value storage unit 13 itself. In this manner, in the configuration example shown in FIG. 5 , the door mass identification unit 12 receives as input the torque τf(k) shaped by the filter 18, the rotational angular acceleration af(k) shaped by the filter 18, and J(k-1), which is the value of the door mass identification inertia J(k) one step before and is stored in the storage means 20, and calculates the door mass identification inertia J(k) using equation (4). The calculated value of the door mass identification inertia J(k) is then stored in the door mass identification value storage unit 13.

[0041] FIG. 6 shows an example of a door mass identification result obtained by the elevator door control device according to this embodiment. The three graphs in the figure show, from top to bottom, the time series changes of the door speed of the door panel 3, the torque of the door motor 1, and the door mass identification value updated in the door mass identification value storage unit 13. As shown in the figure, the door mass identification value is updated and converges each time the door panel 3 is opened, closed, or reversed at a large acceleration / deceleration using the second speed pattern described above. In this way, the elevator door control device according to this embodiment can improve the accuracy of door mass identification for a variety of elevator doors by sequentially updating the door mass identification value using the door mass identification value from the previous identification.

[0042] The speed command unit 8 can output a speed command value using the first speed pattern with the first acceleration / deceleration and the second speed pattern with the second acceleration / deceleration that is greater than the first acceleration / deceleration. During normal door opening and closing, the speed command unit 8 outputs a speed command value using the first speed pattern. On the other hand, when identifying the door mass, the speed command unit 8 preferably outputs a speed command value using the second speed pattern. The door mass identification unit 12 then sequentially updates the identified value of the door mass using a torque value calculated by multiplying the current value of the door motor 1 by a torque constant when the speed command unit 8 outputs a speed command value using the second speed pattern, the angular acceleration of the door motor 1, and the identified value of the door mass at the previous identification stored in the door mass identification value storage unit 13. In this case, the door opening and closing using the second speed pattern and the identification of the door mass should preferably be performed when there are no passengers in the car.

[0043] In this way, by performing door mass identification when the door is opened, closed, and reversed at a relatively large acceleration / deceleration, identification can be completed in a shorter time than when the door is opened or closed at a normal speed. In the example shown in FIG. 6, the door panel 3 is operated at a speed where the door is opened, closed, and reversed continuously at the second speed pattern, but this is not limiting. For example, the door may be opened at the second speed pattern and the door closed at the first speed pattern, or conversely, the door may be opened at the first speed pattern and the door closed at the second speed pattern. Alternatively, only the reverse rotation at the second speed pattern may be continuously repeated.

[0044] The door mass identification unit 12 may identify the mass of the elevator door for each of the plurality of floors. In this case, the door mass identification value storage unit 13 stores the identification value of the door mass identified by the door mass identification unit 12 for each of the plurality of floors. In this way, even if the landing doors on each of the plurality of floors have different specifications, the accuracy of identifying the door mass for each floor can be improved.

[0045] The parameters (such as the maximum speed, the first acceleration / deceleration, and the second acceleration / deceleration) stored in the speed parameter storage unit 7 may be updated using the value of the elevator door mass identified by the door mass identification unit 12, i.e., the value of the door mass identified in the door mass identification value storage unit 13. Furthermore, the speed control unit 9 may calculate a torque command value using the value of the elevator door mass identified by the door mass identification unit 12, i.e., the value of the door mass identified in the door mass identification value storage unit 13. In this way, the control parameters can be automatically adjusted according to the identified door mass, and the identification result of the door mass can be reflected in the door opening / closing control.

[0046] Next, a modified example of the elevator door control device according to this embodiment will be described with reference to Figures 7 and 8. In the configuration examples described so far, the door mass identification unit 12 sequentially updates the identification value of the door mass using a torque value calculated by multiplying the current value of the door motor 1 by a torque constant. In contrast, in this modified example, the door mass identification unit 12 uses a torque command value output from the speed control unit 9 instead of the torque value calculated by multiplying the current value of the door motor 1 by a torque constant. In this case, the door mass identification unit 12 does not need to include a torque constant multiplier 17, as shown in Figure 8.

[0047] In this way, in the modified elevator door control device according to this embodiment, the door mass identification unit 12 sequentially updates the identified value of the door mass using the torque command value of the door motor 1, the angular acceleration of the motor, and the identified value of the door mass at the previous identification stored in the door mass identification value storage unit 13. This modified example makes it possible to perform door mass identification even when the torque constant of the door motor 1 is unknown.

[0048] 8, in this modification, the door mass identification unit 12 may calculate the identified value of the door mass by using filtered values ​​of either or both of the torque command value of the door motor 1 and the angular acceleration of the door motor 1. The door mass identification unit 12 may also successively update the identified value of the door mass by using the torque command value of the door motor 1, the angular acceleration of the door motor 1, and the identified value of the door mass at the time of the previous identification stored in the door mass identification value storage unit when the speed command unit 8 outputs a speed command value according to the second speed pattern described above.

[0049] FIG. 9 is a diagram showing an example of a configuration for realizing the functions of the elevator door control device in this embodiment. The functions of the elevator door control device are realized, for example, by a processing circuit. The processing circuit may include a processor 101 and a memory 102. The processing circuit may also be dedicated hardware 103. A part of the processing circuit may be formed as dedicated hardware 103, and the processing circuit may further include a processor 101 and a memory 102. In the example shown in the figure, a part of the processing circuit is formed as dedicated hardware 103. Furthermore, in the example shown in the figure, the processing circuit further includes a processor 101 and a memory 102.

[0050] The processing circuit, part of which is at least one dedicated hardware 103, may be, for example, a single circuit, a multiple circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. If the processing circuit comprises at least one processor 101 and at least one memory 102, the functionality of the elevator door controller may be realized by software, firmware, or a combination of software and firmware.

[0051] The software and firmware are written as programs and stored in memory 102. Processor 101 realizes the functions of each unit by reading and executing the programs stored in memory 102. Processor 101 is also called a CPU (Central Processing Unit), central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, or DSP. Examples of memory 102 include non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, and EEPROM, as well as magnetic disks, flexible disks, optical disks, compact disks, minidisks, and DVDs.

[0052] In this way, the processing circuit of the elevator door control device can realize each function of the elevator door control device by hardware, software, firmware, or a combination of these. When the processing circuit of the elevator door control device comprises at least processor 101 and memory 102, the processor 101 executes the program stored in memory 102 in the elevator door control device, and the hardware and software of the elevator door control device work together to realize the functions of each part of the elevator door control device.

[0053] In the present disclosure, the embodiments, configuration examples, modified examples, etc. may be combined in any manner without departing from the spirit of the present disclosure. Examples of various aspects of the present disclosure are summarized below as appendices. (Appendix 1) A motor that drives the opening and closing of elevator doors; a speed detector for detecting a rotation speed of the motor; a current detector for detecting a current value of the motor; a speed command unit that outputs a rotation speed command value of the motor related to the opening / closing speed of the door; a speed control unit that calculates a torque command value so that the rotation speed of the motor coincides with the rotation speed command value output from the speed command unit; a door mass identification unit that identifies the mass of the door; a door mass identification value storage unit that stores the identification value of the door mass identified by the door mass identification unit, The door mass identification unit is an elevator door control device that sequentially updates the identification value of the door mass using a torque value calculated by multiplying the current value of the motor by a torque constant, the angular acceleration of the motor, and the identification value of the door mass at the previous identification stored in the door mass identification value memory unit. (Appendix 2) the speed command unit is capable of outputting the rotational speed command value using 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, 2. The elevator door control device according to claim 1, wherein the door mass identification unit sequentially updates the door mass identification value using a torque value calculated by multiplying the current value of the motor by a torque constant when the speed command unit outputs the rotational speed command value using the second speed pattern, the angular acceleration of the motor, and the door mass identification value at the previous identification stored in the door mass identification value storage unit. (Appendix 3) The door mass identification unit calculates an identification value of the door mass using a torque value calculated by multiplying the current value of the motor by a torque constant and / or an angular acceleration of the motor that has been filtered. (Appendix 4) A motor that drives the opening and closing of elevator doors; a speed detector for detecting a rotation speed of the motor; a speed command unit that outputs a rotation speed command value of the motor related to the opening / closing speed of the door; a speed control unit that calculates a torque command value so that the rotation speed of the motor coincides with the rotation speed command value output from the speed command unit; a door mass identification unit that identifies the mass of the door; a door mass identification value storage unit that stores the identification value of the door mass identified by the door mass identification unit, The door mass identification unit is an elevator door control device that sequentially updates the identification value of the door mass using the torque command value of the motor, the angular acceleration of the motor, and the identification value of the door mass at the previous identification stored in the door mass identification value memory unit. (Appendix 5) the speed command unit is capable of outputting the rotational speed command value using 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, 5. The elevator door control device according to claim 4, wherein the door mass identification unit sequentially updates the identification value of the door mass using the torque command value of the motor, the angular acceleration of the motor, and the identification value of the door mass at the previous identification stored in the door mass identification value storage unit when the speed command unit outputs the rotational speed command value according to the second speed pattern. (Appendix 6) The elevator door control device of claim 4 or 5, wherein the door mass identification unit calculates an identification value of the door mass using filtered values ​​of the torque command value of the motor and / or the angular acceleration of the motor. (Appendix 7) the door mass identification unit calculates an identification value of the door mass for each of a plurality of floors; 7. An elevator door control device according to any one of claims 1 to 6, wherein the door mass identification value memory unit stores the identification value of the door mass identified by the door mass identification unit for each of the plurality of floors. (Appendix 8) 8. An elevator door control device according to any one of claims 1 to 7, wherein the speed control unit calculates the torque command value using an identification value of the door mass stored in the door mass identification value memory unit. [Explanation of symbols]

[0054] 1 door motor 2 Belt 3 Door Panels 4 Rotation detector 5 Connecting part 6 pulleys 7 Speed ​​parameter memory section 8 Speed ​​command section 9 Speed ​​control section 10 Current control section 11 Current detector 12 Door mass identification unit 13 Door mass identification value memory unit 16 Differentiator 17 Torque constant multiplier 18 Filters 19 Gain Multiplier 20 Memory means 100 control device 101 processors 102 memory 103 Dedicated Hardware

Claims

1. A motor that drives the opening and closing of elevator doors; a speed detector for detecting a rotation speed of the motor; a current detector for detecting a current value of the motor; a speed command unit that outputs a rotation speed command value of the motor related to the opening / closing speed of the door; a speed control unit that calculates a torque command value so that the rotation speed of the motor coincides with the rotation speed command value output from the speed command unit; a door mass identification unit that identifies the mass of the door; a door mass identification value storage unit that stores the identification value of the door mass identified by the door mass identification unit, The door mass identification unit is an elevator door control device that sequentially updates the identification value of the door mass using a torque value calculated by multiplying the current value of the motor by a torque constant, the angular acceleration of the motor, and the identification value of the door mass at the previous identification stored in the door mass identification value memory unit.

2. the speed command unit is capable of outputting the rotational speed command value using 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, 2. The elevator door control device according to claim 1, wherein the door mass identification unit sequentially updates the identified value of the door mass using a torque value calculated by multiplying the current value of the motor by a torque constant when the speed command unit outputs the rotational speed command value using the second speed pattern, the angular acceleration of the motor, and the identified value of the door mass at the previous identification stored in the door mass identification value storage unit.

3. 3. The elevator door control device according to claim 1, wherein the door mass identification unit calculates an identification value of the door mass using a torque value calculated by multiplying the current value of the motor by a torque constant and / or an angular acceleration of the motor that has been filtered.

4. A motor that drives the opening and closing of elevator doors; a speed detector for detecting a rotation speed of the motor; a speed command unit that outputs a rotation speed command value of the motor related to the opening / closing speed of the door; a speed control unit that calculates a torque command value so that the rotation speed of the motor coincides with the rotation speed command value output from the speed command unit; a door mass identification unit that identifies the mass of the door; a door mass identification value storage unit that stores the identification value of the door mass identified by the door mass identification unit, The door mass identification unit is an elevator door control device that sequentially updates the identification value of the door mass using the torque command value of the motor, the angular acceleration of the motor, and the identification value of the door mass at the previous identification stored in the door mass identification value memory unit.

5. the speed command unit is capable of outputting the rotational speed command value using 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, 5. The elevator door control device according to claim 4, wherein the door mass identification unit sequentially updates the identified value of the door mass using the torque command value of the motor, the angular acceleration of the motor, and the identified value of the door mass at the previous identification stored in the door mass identification value storage unit when the speed command unit outputs the rotational speed command value according to the second speed pattern.

6. 6. The elevator door control device of claim 4, wherein the door mass identification unit calculates an identification value of the door mass using filtered values ​​of the torque command value of the motor and / or the angular acceleration of the motor.

7. the door mass identification unit calculates an identification value of the door mass for each of a plurality of floors; 6. The elevator door control device according to claim 1, wherein the door mass identification value memory unit stores the identification value of the door mass identified by the door mass identification unit for each of the plurality of floors.

8. 6. An elevator door control device as described in any one of claims 1, 2, 4 and 5, wherein the speed control unit calculates the torque command value using the identification value of the door mass stored in the door mass identification value memory unit.

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