Elevator door control device and door control system

Abstract

To provide a door control device of an elevator capable of achieving appropriate door control in consideration of door characteristics while suppressing a calculation load.SOLUTION: A voltage conversion unit which supplies a voltage to the door motor, a current detection unit which detects a current value of an output voltage of the voltage conversion unit, a door speed calculation unit which calculates a door speed at the time of opening and closing the door on the basis of an output of a motor position sensor of the door motor, and an acceleration command unit which generates an acceleration command at the time of opening and closing the door on the basis of the current value detected by the current detection unit, wherein the acceleration command unit includes: a torque calculation unit which calculates a motor torque on the basis of the current value detected by the current detection unit; a running resistance calculation unit which calculates a running resistance of the door on the basis of the motor torque calculated in a stationary period of the door speed; an acceleration torque calculation unit which calculates an acceleration torque of the door on the basis of the motor torque calculated in an acceleration period of the door speed; and an acceleration calculation unit which generates an acceleration command on the basis of the running resistance, the acceleration torque, and the maximum motor torque of the door motor.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to an elevator door control device and a door control system that optimizes door opening and closing control according to door characteristics. [Background technology]

[0002] Patent Document 1 is known as a document disclosing an elevator door control device that optimizes door opening and closing control by taking into account door characteristics such as the weight and weight of the door. The abstract of this document states that the problem is to provide an elevator door control device that can achieve both speed tracking performance and vibration suppression performance while ensuring safety, and an elevator door drive system using the same. As a solution, it states that the elevator door control device outputs a control command for driving a door mechanism provided in a car 103 in accordance with a target command for the door operation state, and is equipped with a control unit 108 that creates the control command in accordance with a control input, and an optimization control unit 113 that has an evaluation index that evaluates both the door operation state and the control input, calculates a control input that optimizes the evaluation index, and outputs the calculated control input to the control unit.

[0003] Furthermore, with regard to the optimization of the evaluation index, paragraph 0040 of the same document states, "The optimal control unit 113 calculates an evaluation value for each calculated response, and uses an optimizer 115 to calculate a current command when the integral value for a predetermined time period in the prediction period is optimal (for example, minimum or maximum) for an evaluation function including each evaluation value including a current command." and paragraph 0049 states, "In optimal control problems in model predictive control, it is known that an evaluation function J such as that shown in equation (2) is minimized in order to optimize the system response." [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-48697 Summary of the Invention [Problem to be solved by the invention]

[0005] As described above, the door control device of Patent Document 1 optimizes the response of the door drive system by minimizing the evaluation function J, but this type of calculation requires high computing power that far exceeds the capabilities of general door control devices.

[0006] Therefore, an object of the present invention is to provide an elevator door control device and a door control system that can achieve appropriate door control that takes into account door characteristics while reducing the computational load. [Means for solving the problem]

[0007] In order to solve the above problems, the door control device of the present invention is a door control device that controls the opening and closing of a door based on a door opening and closing command from a control panel of an elevator, and includes: a voltage conversion unit that supplies a voltage based on the door opening and closing command to a door motor that drives the door; a current detection unit that detects a current value of the output voltage of the voltage conversion unit; a door speed calculation unit that calculates the door speed when the door is opened and closed based on the output of a motor position sensor of the door motor; and an acceleration command unit that generates an acceleration command when the door is opened and closed based on the current value detected by the current detection unit, and the acceleration command unit includes: a torque calculation unit that calculates motor torque based on the current value detected by the current detection unit; a running resistance calculation unit that calculates the running resistance of the door based on the motor torque calculated during a steady period of the door speed; an acceleration torque calculation unit that calculates the acceleration torque of the door based on the motor torque calculated during an acceleration period of the door speed; and an acceleration calculation unit that generates the acceleration command based on the running resistance, the acceleration torque, and the maximum motor torque of the door motor. [Effects of the Invention]

[0008] According to the elevator door control device and door control system of the present invention, appropriate door control that takes into account door characteristics can be achieved while reducing the computational load. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic front view of a car according to a first embodiment. [Figure 2] FIG. 2 is a diagram of a door opening / closing model in which the mechanical characteristics of the door and the door opening / closing mechanism of the first embodiment are modeled. [Figure 3] 4 is a graph showing the relationship between torque and moment of inertia of the door opening / closing model of the first embodiment. [Figure 4] Graph showing the change over time in door speed and load-side torque when the door is opened and closed in Example 1 [Figure 5] FIG. 2 is a functional block diagram of the door control device according to the first embodiment. [Figure 6] 4 is a flowchart showing a calculation of a torque Top and a torque Tcl when the door is opened or closed in the first embodiment. [Figure 7] 6 is a flowchart of a process for calculating a maximum acceleration torque when a door is opened or closed according to the first embodiment. [Figure 8] 4 is a graph showing the relationship between torque and moment of inertia of the door opening / closing model of the first embodiment. [Figure 9] 1 is a schematic configuration diagram of a door opening and closing system according to a first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment of an elevator door control device or a door control system according to the present invention will be described with reference to the drawings. [Example]

[0011] First, a door control device 1 according to a first embodiment of the present invention will be described with reference to FIGS.

[0012] FIG. 1 is a schematic front view of a car 100 that moves up and down in an elevator shaft. As shown in the figure, a pair of sliding doors 101 are arranged on the left and right sides of the front of the car 100 so as to cover the entrance and exit of the car 100. In addition, a door opening and closing mechanism 102 is arranged above the doors 101, and a door control device 1 for controlling the door opening and closing mechanism 102 is arranged on the outer surface of the car 100. Each of these will be explained in detail below.

[0013] <Door 101> The doors 101 are suspended from door rails (not shown) provided above the entrance of the car 100. Door shoes (not shown) are also provided at the bottom of the doors 101, and these door shoes are slidably engaged with threshold grooves (not shown) in the floor of the car. Therefore, the left and right doors 101 can slide leftward or rightward while being guided by the upper door rails and lower threshold grooves. The car 100 is also provided with closers (not shown) that constantly apply a closing force to the doors 101 in the door closing direction.

[0014] When the car 100 lands on the floor, the landing-side door and the car-side door 101 are engaged with each other by engaging elements (not shown) provided on each door. Therefore, the landing-side door is linked to the movement of the car-side door 101, so both doors open and close simultaneously.

[0015] <Door opening / closing mechanism 102> The door opening / closing mechanism 102 is a mechanism for opening and closing the door 101 and the landing door when the car 100 lands on the floor, and includes a door motor 102a, pulleys 102b and 102c, a belt 102d, and a motor position sensor 102e (not shown). Of these, the door motor 102a is a power source that generates driving force for opening and closing the door 101 and the landing door, and is, for example, a three-phase stepping motor. In this embodiment, a three-phase stepping motor is used as an example, but a PM motor may also be used. The pulley 102b is a drive pulley fixed to the drive shaft of the door motor 102a, and the pulley 102c is a driven pulley that pairs with the pulley 102b. The belt 102d is an endless V-belt, toothed belt, steel wire rope, or the like that is wound around the pulleys 102b and 102c, and is connected to the door 101 via a connecting mechanism (not shown). The motor position sensor 102e is a rotary encoder that outputs pulses corresponding to the rotation of the door motor 102a.

[0016] Therefore, the door control device 1 of this embodiment appropriately controls the rotation speed and rotation position of the door motor 102a by referring to the output pulse of the motor position sensor 102e, thereby transmitting a desired motor driving force to the door 101 and the landing-side door via the belt 102d, and can open and close the door 101 and the landing-side door at a desired speed / acceleration.

[0017] <Door opening and closing model> 2 is a schematic diagram of a door opening / closing model 200 that models the dynamic characteristics when the door 101 and the landing-side door are driven by the door opening / closing mechanism 102. In the figure, a virtual pulley 201 is a virtual driving pulley that models the dynamic characteristics related to the door motor 102a that is a power source, and a virtual pulley 202 is a virtual driven pulley that models the dynamic characteristics related to the running of the door 101 and the landing-side door. In the following, a virtual belt 203 for power transmission wound around these virtual pulleys 201 and 202 is referred to as the door opening / closing model 200 of this embodiment.

[0018] Here, the parameters related to the driving side virtual pulley 201 are the motor side acceleration α M , motor torque TM , motor side moment of inertia J M , motor side pulley diameter r M and the parameter related to the virtual pulley 202 on the driven side is the load side acceleration α L , load torque T L , load side moment of inertia J L , load pulley diameter r L In the following, the load torque T L This is sometimes referred to as running resistance. In this case, the reduction ratio γ of the door opening / closing model 200 is expressed by the following (Equation 1). Note that this reduction ratio γ is a design value and is a known value.

[0019] γ = r M / r L ... (Formula 1) << Door running resistance (load torque T L ) is not present >> The running resistance caused by the frictional force when the door is opened and closed (load torque T L ), the following (Equation 2) holds for the balance of forces, and the following (Equation 3) holds for the balance of accelerations.

[0020] (T M -J M α M )γ = J L α L ... (Formula 2) α M = γα L ... (Formula 3) Substituting (Equation 3) into (Equation 2), the running resistance (load torque T L ) when there is no load side acceleration α L The following equation (4) is obtained, which represents

[0021] α L = γT M / (J L +γ 2 J M )... (Formula 4) << Door running resistance (load torque T L ) >> In reality, the running resistance when the door is opened and closed (load torque T L ) exists, the following (Equation 2') holds regarding the balance of forces.

[0022] (T M -J M α M )γ = J L α L +T L ... (Formula 2') Substituting (Equation 3) into (Equation 2'), the running resistance (load torque T L ) when the load side acceleration α L The following equation (Equation 4') is obtained, which represents

[0023] α L = (γT M -T L ) / (J L +γ 2 J M )... (Formula 4') By transforming this (Equation 4'), the following (Equation 5) is obtained.

[0024] γT M = (J L +γ 2 J M )α L +T L ... (Formula 5) In FIG. 3, the horizontal axis represents the moment of inertia (J L +γ 2 J M ), and the vertical axis represents the input torque (γT M ) in two-dimensional space, a curve equivalent to (Equation 5) is drawn. From this figure, it is clear that the moment of inertia is J L +γ 2 J M For the door opening / closing model 200, the load side acceleration α L It can be seen that it can be calculated using (Equation 4').

[0025] Here, the motor torque T M The maximum value of the specification is T MmaxThe load side acceleration at that time is α Lmax Then, the above (Equation 4) can be expressed as the following (Equation 4'').

[0026] α Lmax = (γT Mmax -T L ) / (J L +γ 2 J M )... (Formula 4'') Here, the following (Equation 6) can be obtained from (Equation 4') and (Equation 4''), which have the same denominator on the right side.

[0027] α Lmax = α L (γT Mmax -T L ) / (γT M -T L )... (Formula 6) α in this (Equation 6) L ,γ,T Mmax is a known design value, so by using this (Equation 6), the motor torque T M and the load torque T L By simply measuring the load side acceleration α Lmax can be easily calculated.

[0028] <<Running resistance when opening and closing the door (load torque T L )>> Next, using the graph of FIG. 4, the door speed and motor torque T M Explain the change over time.

[0029] The upper graph in Figure 4 shows the change in door speed over time, with positive speeds indicating the speed at which the door slides in the opening direction and negative speeds indicating the speed at which the door slides in the closing direction. Therefore, the period from time t0 to time t7 in the graph is the period in which the door slides in the opening direction, and the period from time t8 to time t 15 The period shown in the upper graph of FIG. 4 is the period during which the door slides in the closing direction. The periods shown in the upper graph of FIG. 4 are the periods during which the door speed accelerates (t0 to t1, t2 to t3, t8 to t9, t 10 ~t 11), deceleration period (t4~t5, t6~t7, t 12 ~t 13 , t 14 ~t 15 ), and the steady-state period (t1~t2, t3~t4, t5~t6, t9~t 10 , t 11 ~t 12 , t 13 ~t 14 ) can be classified into

[0030] On the other hand, the lower graph in Fig. 4 shows the motor torque T M The positive torque is a torque that urges the door in the opening direction, and the negative torque is a torque that urges the door in the closing direction.

[0031] As can be seen from the comparison of the upper and lower graphs, the motor torque T M is applied, but even during the steady period of the door speed, the running load (sliding torque T S ) and closer power T C As mentioned above, a torque of some magnitude is applied depending on the closer force T C is a force in the door closing direction, which acts as an obstacle to the door opening operation and assists the door closing operation. Therefore, the motor torque (torque T op ) and the motor torque during the steady state when the door is closed (torque T cl ) is expressed by the following (Equation 7) and (Equation 8). (Equation 7) and (Equation 8) are the torque required to operate the door, and the running resistance (load torque T L ) corresponds to the load torque T when the door is opened. L is (Equation 7), and the load torque T L is (Equation 8).

[0032] T op = T S +T C ... (Formula 7) T cl = T S -TC ... (Formula 8) Based on these (Equation 7) and (Equation 8), the closing force T C can be calculated using the following equation (9).

[0033] T C = (T op -T cl ) / 2 ··· (Formula 9) Furthermore, by substituting this (Equation 9) into (Equation 7) and (Equation 8), the sliding torque T S can be calculated using the following (Equation 10) or (Equation 11).

[0034] T S = T op - (T op -T cl ) / 2 ··· (Equation 10) T S = T cl + (T op -T cl ) / 2 ··· (Equation 11) By the above procedure, the running resistance (sliding torque T S ) can be calculated.

[0035] If the closer force differs between the open end and the closed end of the door, the closer force T according to the door position C It is also possible to calculate the closing force T according to the door position using (Equation 7) and (Equation 8). C and sliding torque T S By substituting the above, the running resistance (load torque T L ) can be obtained.

[0036] <Door control device 1> There are various specifications for the car 100 and the landing door, but it is cumbersome to design the door control device 1 for each combination of specifications for the door 101, door opening / closing mechanism 102, landing door, etc. Therefore, in the door control device 1 of this embodiment, the standard door control expressed by (Equation 5) in Figure 3 is optimized based on various data acquired in the actual elevator usage environment, thereby automatically realizing suitable door opening / closing control according to the combination of specifications for each part.

[0037] For example, when opening or closing the door 101 that is lighter than the door weight assumed in the standard door control, it is considered that the maximum torque in the specifications of the door motor 102a will not be exceeded even if the opening / closing acceleration (or deceleration) is made higher than the standard acceleration (or standard deceleration). Therefore, in such a case, by opening or closing the door at an acceleration (or deceleration) higher than the standard acceleration (or standard deceleration), the time required to open or close the door can be shortened, thereby improving convenience for the user.

[0038] For these reasons, in the door control device 1 of this embodiment, various parameters used for door control are optimized in the procedure described below.

[0039] <<Function block diagram>> 5 is a functional block diagram of the door control device 1 of this embodiment. As shown in this diagram, the door control device 1 of this embodiment includes a speed command calculation unit 11, a speed control calculation unit 12, a current control calculation unit 13, a voltage conversion unit 14, a current detection unit 15, a pulse calculation unit 16, a door speed calculation unit 17, a door position calculation unit 18, and an acceleration command unit 19. Each of these units will be described in detail below.

[0040] Specifically, the door control device 1 is a computer equipped with hardware such as a calculation device such as a CPU or SoC, a storage device such as a semiconductor memory, and a communication device. The calculation device executes a predetermined program to realize the above-mentioned functions, but the following description will omit such well-known techniques as appropriate. Furthermore, each of the components from the speed command calculation unit 11 to the door position calculation unit 18 is basically a well-known configuration, so only a brief description of each will be given.

[0041] The speed command calculation unit 11 calculates a speed command for opening and closing the door 101 based on the door opening / closing command from the elevator control panel 2, the door position information from the door position calculation unit 18, and the acceleration command from the acceleration command unit 19, and outputs the speed command to the speed control calculation unit 12.

[0042] The speed control calculation unit 12 calculates speed control information based on the speed command from the speed command calculation unit 11 and the door speed information from the door speed calculation unit 17 , and outputs the speed control information to the current control calculation unit 13 .

[0043] The current control calculation unit 13 calculates current control information for driving the door motor 102a based on the speed control information from the speed control calculation unit 12 and the current value detected by the current detection unit 15, and outputs the calculated current control information to the voltage conversion unit 14. For example, if the door motor 102a is a three-phase motor, the current control calculation unit 13 calculates current control information for vector control of the three-phase motor.

[0044] The voltage conversion unit 14 converts the current control information from the current control calculation unit 13 into a voltage and outputs it to the door motor 102a. For example, if the door motor 102a is a three-phase motor, the voltage conversion unit 14 outputs a three-phase voltage to drive the door motor 102a.

[0045] The current detection unit 15 detects the current value of the voltage output by the voltage conversion unit 14 and outputs it to the current control calculation unit 13 and the acceleration command unit 19 .

[0046] The pulse calculation unit 16 calculates the rotation speed and rotation position of the door motor 102a based on the pulses from the motor position sensor 102e, and outputs the results to the door speed calculation unit 17 and the door position calculation unit 18.

[0047] The door speed calculation unit 17 calculates the door speed based on the rotation speed and rotation position of the door motor 102 a output by the pulse calculation unit 16 , and outputs the calculated door speed to the speed control calculation unit 12 .

[0048] The door position calculation unit 18 calculates the door position based on the rotation speed and rotation position of the door motor 102 a output by the pulse calculation unit 16 , and outputs the calculated position to the speed command calculation unit 11 .

[0049] Acceleration command unit 19 is a functional unit that generates an acceleration command based on the current value detected by current detection unit 15 and outputs it to speed command calculation unit 11, and includes torque calculation unit 19a, running resistance calculation unit 19b, acceleration torque calculation unit 19c, and acceleration calculation unit 19d. Note that acceleration command unit 19 also includes a storage unit (not shown) for storing various data.

[0050] The torque calculation unit 19a calculates the motor-side torque T based on the current value detected by the current detection unit 15. M and outputs it to the running resistance calculation unit 19b and the acceleration torque calculation unit 19c.

[0051] The running resistance calculation unit 19b calculates the motor-side torque T M Based on this, the running resistance of the door 101 (load side torque T L ) and outputs it to the acceleration calculation unit 19d.

[0052] The acceleration torque calculation unit 19c calculates the motor-side torque T M Based on this, the acceleration torque of the door 101 is calculated and output to the acceleration calculation unit 19d.

[0053] The acceleration calculation unit 19d calculates the running resistance (load side torque T L ) and the acceleration torque from the acceleration torque calculation unit 19c, an acceleration command for realizing appropriate door opening / closing control is calculated and output to the speed command calculation unit 11.

[0054] <<Specific calculation method for acceleration command>> Next, when designing the door control device 1, the reduction ratio γ and the motor side inertia moment J M , maximum motor torque T Mmax , and the estimated running resistance (load torque T L1), load side moment of inertia J L1 is set, and the actual running resistance of the door 101 when tested in a real environment is the load torque T L2 The procedure for calculating the acceleration command using the above formulas when the following is true will be described. During the following process, it is assumed that the elevator is set to a test mode that can only be used by the elevator manager, and the car 100 has landed at a predetermined floor.

[0055] <<<Calculating Actual Running Resistance>>> First, using Fig. 6, the actual running resistance (load torque T L2 ) is calculated as follows.

[0056] First, in step S61, the acceleration command unit 19 transmits a door open command to the speed command calculation unit 11. As a result, the door 101 slides in the opening direction at a door speed as shown in the upper diagram of FIG.

[0057] Next, in step S62, the torque calculation unit 19a calculates the motor-side torque T based on the current value detected by the current detection unit 15 when the door is opened. M is calculated and stored in the memory unit.

[0058] In step S63, the running resistance calculation unit 19b calculates the motor torque T M The average value of the torque T op and stores it in the storage unit. In this step, the door speed calculated by the door speed calculation unit 17 is referenced.

[0059] Subsequently, in step S64, the acceleration command unit 19 transmits a door close command to the speed command calculation unit 11. As a result, the door 101 closes from time t8 to time t 15 The door slides in the closing direction at a speed similar to that shown in FIG.

[0060] Next, in step S65, the torque calculation unit 19a calculates the motor-side torque T based on the current value detected by the current detection unit 15 when the door is closed. Mis calculated and stored in the memory unit.

[0061] In step S66, the running resistance calculation unit 19b calculates the door speed during the steady period (period t9 to t 10 , t 11 ~t 12 , t 13 ~t 14 ) measured motor torque T M The average value of the torque T cl and stores it in the storage unit.

[0062] Finally, in step S67, the running resistance calculation unit 19b uses the above-mentioned (Equation 10) or (Equation 11) to calculate the torque T op and the torque T when the door is closed calculated in step S66. cl From the actual running resistance (load torque T L2 ) is calculated.

[0063] <<<Calculating maximum acceleration torque>>> The flowchart in FIG. 7 shows a method for calculating the maximum acceleration torque when the door is opened or closed.

[0064] First, in step S71, the acceleration command unit 19 transmits a door open command to the speed command calculation unit 11. As a result, the door 101 slides in the opening direction at a door speed such as that shown in the upper diagram of FIG.

[0065] Next, in step S72, the torque calculation unit 19a calculates the motor-side torque T based on the current value detected by the current detection unit 15 when the door is opened. M is calculated and stored in the memory unit.

[0066] In step S73, the acceleration torque calculation unit 19c calculates the motor torque T measured during the door speed acceleration period (periods t0 to t1 and t2 to t3). M The maximum value of the maximum acceleration torque T op_max and stores it in the storage unit. In this step, the door speed calculated by the door speed calculation unit 17 is referenced.

[0067] Subsequently, in step S74, the acceleration command unit 19 transmits a door open command to the speed command calculation unit 11. As a result, the door 101 opens from time t8 to time t 15 The door slides in the closing direction at a speed similar to that shown in FIG.

[0068] Next, in step S75, the torque calculation unit 19a calculates the motor-side torque T based on the current value detected by the current detection unit 15 when the door is closed. M is calculated and stored in the memory unit.

[0069] Finally, in step S76, the acceleration torque calculation unit 19c calculates the door speed during the acceleration period (period t8 to t9, t 10 ~t 11 ) measured motor torque T M The maximum value of the maximum acceleration torque T cl_max and stores it in the storage unit.

[0070] Although FIG. 7 shows a method for calculating the maximum acceleration torque when the door is opened and closed, it is also possible to calculate the maximum deceleration torque when the door is opened and closed. In that case, instead of steps S73 and S76 in FIG. 7, the deceleration period of the door speed (periods t4 to t5, t6 to t7, t 12 ~t 13 , t 14 ~t 15 ) measured motor torque T M The maximum value of the above equation may be calculated as the maximum deceleration torque when the door is opened.

[0071] <<<Acceleration command calculation>>> Next, we will explain how to calculate the acceleration command. L T L1 , T L2 When the load side acceleration α L1 , α L2 is expressed by the following (Equation 4a) and (Equation 4b) according to (Equation 4'). L1 is the load torque when opening and closing the door of the assumed maximum weight, and T L2 is the load torque when opening and closing a door of any weight that is lighter than the maximum weight.

[0072] α L1 = (γT M -T L1 ) / (J L1 +γ 2 J M )... (Equation 4a) α L2 = (γT M -T L2 ) / (J L2 +γ 2 J M )... (Equation 4b) Following the same procedure as in deriving (Equation 5) from (Equation 4'), the following (Equation 5a) and (Equation 5b) can be obtained from (Equation 4a) and (Equation 4b).

[0073] γT M = (J L1 +γ 2 J M )α L1 +T L1 ... (Equation 5a) γT M = (J L2 +γ 2 J M )α L2 +T L2 ... (Equation 5b) Fig. 8 is a graph in which the curves of (Equation 5a) and (Equation 5b) are arranged in a two-dimensional space equivalent to Fig. 3. Note that the curve of (Equation 5a) in the figure corresponds to a command proposal that was considered before setting the reference door control in the door control device 1, and is not registered in the door control device 1.

[0074] In this example, the horizontal axis value of the curve (Equation 5a) is J L1 +γ 2 J M At this position, the vertical axis value is the maximum value of the input torque (γT Mmax This is because the maximum motor torque T Mmax This means that the door control determined by (Equation 5a) cannot be realized even if the maximum motor torque T MmaxIn consideration of this, the door control device 1 of this embodiment has a load side acceleration α calculated by the following (Equation 4a'): L1 Set.

[0075] α L1 = (γT Mmax -T L1 ) / (J L1 +γ 2 J M ) ... (Equation 4a') Next, a test under a real environment will be described. First, the acceleration command unit 19 sends a door open command to the speed command calculation unit 11, and the door under a real environment is opened at a load side acceleration α L1 The door in the actual environment is lighter than the door assumed when the door control device 1 was designed, so the motor torque T M is the maximum motor torque T Mmax In other words, when the door is opened and closed in a real environment, the door motor 102a has a surplus of power, so the horizontal axis value is J L2 +γ 2 J M At this position, the vertical axis value is γT Mmax If the door 101 is opened and closed along the curve of (Equation 5b) set so that:

[0076] After determining (Equation 5b) in this way, the acceleration command unit 19 calculates the load side acceleration α L2 It is determined whether the load side acceleration α determined based on the specifications of the door motor 102a can be used. L2 If the load side acceleration α is used as it is, the door may be damaged due to excessive acceleration when the door is opened or closed. L2 is compared with the upper limit of acceleration that can be applied to each door, which is stored in advance in the storage unit, and if the former is less than the latter, the former is used, and if the former is equal to or greater than the latter, the latter is used as the load side acceleration α L2 Adopted as.

[0077] By following the above procedure, the acceleration command unit 19 can generate an optimal acceleration command for opening and closing any door with a relatively small computational load. If this acceleration command is obtained in advance for each floor, the door opening and closing time can be shortened at any floor during actual elevator operation, thereby improving convenience for general users. [Example]

[0078] Next, a door control system according to a second embodiment of the present invention will be described. Note that a duplicated description of points common to the door control device 1 of the first embodiment will be omitted.

[0079] In the first embodiment, the door control device 1 that optimizes the acceleration command according to the characteristics of the door to be opened and closed has been described. In this embodiment, various processes such as those illustrated in Fig. 6 and Fig. 7 need to be performed for each door control device 1, so even if there are many door control devices 1 used in the same environment, it is necessary to adjust the acceleration command for each door control device 1.

[0080] However, if there is an acceleration command that has been optimized for a certain environment by a certain door control device 1, this command can be reused, thereby eliminating the time it takes for other door control devices 1 to optimize their acceleration commands in the same environment. Therefore, in this embodiment, the control panel 2 of each elevator is equipped with a communication function so that the acceleration command generated by one door control device 1 can be reused by other door control devices 1, and a server 3 is also provided to relay communication between elevators.

[0081] 9 is a schematic diagram of the door control system of this embodiment. As shown here, the control panel 2 of each elevator is communicatively connected to the communication unit 31 of the server 3. Therefore, the acceleration command optimized by the door control device 1 of each elevator can be stored in the memory unit 32 of the server 3 together with information indicating the usage environment of that elevator.

[0082] This means that if a certain door control device 1 has a track record of adjusting the acceleration command under a certain environment, when another door control device 1 needs to adjust the acceleration command under a similar environment, the information stored in the memory unit 32 of the server 3 can be used, thereby significantly reducing the time required to optimize the acceleration command. [Explanation of symbols]

[0083] 100 car 101 Door 102 Door opening and closing mechanism 102a Door motor 102b, 102c pulleys 102d Belt 102e Motor Position Sensor 200 door opening and closing model 201, 202 Virtual pulley 203 Virtual Belt 1 Door control device 11 Speed ​​command calculation section 12 Speed ​​control calculation section 13 Current control calculation section 14 Voltage conversion section 15 Current detection section 16 Pulse calculation unit 17 Door speed calculation unit 18 Door position calculation unit 19 Acceleration command section 19a Torque calculation section 19b Running resistance calculation unit 19c Acceleration torque calculation section 19d Acceleration calculation section 2 Control panel 3 Server 31 Communications Department 32 Storage section

Claims

1. A door control device that controls the opening and closing of a door based on a door opening and closing command from an elevator control panel, a voltage conversion unit that supplies a voltage based on the door opening / closing command to a door motor that drives the door; a current detection unit that detects a current value of the output voltage of the voltage conversion unit; a door speed calculation unit that calculates a door speed when the door is opened or closed based on an output of a motor position sensor of the door motor; an acceleration command unit that generates an acceleration command when opening or closing the door based on the current value detected by the current detection unit, The acceleration command unit a torque calculation unit that calculates a motor torque based on the current value detected by the current detection unit; a running resistance calculation unit that calculates the running resistance of the door based on the motor torque calculated during a steady period of the door speed; an acceleration torque calculation unit that calculates an acceleration torque of the door based on the motor torque calculated during the acceleration period of the door speed; an acceleration calculation unit that generates the acceleration command based on the running resistance, the acceleration torque, and the maximum motor torque of the door motor; A door control device comprising:

2. The door control device according to claim 1, The door control device is characterized in that the running resistance calculation unit calculates the running resistance based on an average value of the motor torque calculated during a steady door speed period when the door is open and an average value of the motor torque calculated during a steady door speed period when the door is closed.

3. The door control device according to claim 1, The door control device is characterized in that the acceleration torque calculation unit calculates the acceleration torque based on a maximum value of the motor torque calculated during a door speed acceleration period when the door is opened and a maximum value of the motor torque calculated during a door speed acceleration period when the door is closed.

4. The door control device according to claim 1, The door control device is characterized in that the acceleration torque calculation unit calculates the acceleration torque based on a maximum value of the motor torque calculated during a door speed deceleration period when the door is opened and a maximum value of the motor torque calculated during a door speed deceleration period when the door is closed.

5. A door control system comprising: a plurality of elevators; and a server, Each elevator is The door control device according to any one of claims 1 to 4; a control panel that transmits the door opening / closing command to the door control device, The acceleration command generated by a certain elevator door control device is recorded in the server; A door control system characterized in that the acceleration command recorded in the server is used in door control devices of other elevators.

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