Elevator door control device

Abstract

An elevator door control device that can improve the accuracy of identifying door mass for a variety of elevator doors. [Solution] The elevator door control device includes a motor that drives the 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 the rotational speed of the motor coincides with the rotational speed command value output from the speed command unit, a door mass identification unit 12 that identifies the mass of the door, and a door mass identification value storage unit 13 that stores the identification value of the door mass identified by the door mass identification unit 12. The door mass identification unit 12 sequentially updates the identification value of the door mass using a torque value calculated by multiplying the motor current value by a torque constant, the angular acceleration of the motor, and the identification value of the door mass at the time of the previous identification stored in the door mass identification value storage unit 13.

Description

[Technical field]

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

[0002] A known system calculates the door weight for a given floor based on the acceleration and torque when the door is opened and closed 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 door weight for each floor in a door weight memory unit (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2009-220997 A Summary of the Invention [Problem to be solved by the invention]

[0004] In elevators, even in the same building, the mass of the landing doors may not be uniform for each floor due to differences in the design. In recent years, the specifications of elevators, including the doors, have become more diverse, and there are an increasing number of cases where landing doors are made by third parties or special specifications, in addition to in-house manufactured doors. For this reason, the actual door mass may be outside the initially assumed range, and the initial door mass value set before the identification of the door mass may be significantly different from the actual door mass. In the technology shown in Patent Document 1, when the actual door mass is outside the initially assumed range, the accuracy of identifying the door mass may be significantly reduced.

[0005] The present disclosure has been made to solve such problems. It is an object of the present invention 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 a 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 a mass of the door, and a door mass identification value storage unit for storing the identification value of the door mass identified by the door mass identification unit, the speed command unit is capable of outputting the rotation speed command value according to 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, The door mass identification unit is When the speed command unit outputs the rotation speed command value according to the second speed pattern, The identification value of the door mass is sequentially updated 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 time of the previous identification stored in the door mass identification value memory unit.

[0007] Alternatively, an 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 a rotational speed 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 a mass of the door, and a door mass identification value storage unit for storing the identification value of the door mass identified by the door mass identification unit, the speed command unit is capable of outputting the rotation speed command value according to 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, The door mass identification unit is When the speed command unit outputs the rotation speed command value according to the second speed pattern, The identification value of the door mass is sequentially updated 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 stored in the door mass identification value memory unit. Effect of the Invention

[0008] According to the elevator door control device of the present disclosure, it is possible to improve the accuracy of identifying door mass for various elevator doors. [Brief description of the drawings]

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

[0010] The embodiment for implementing the elevator door control device according to the present disclosure will be described with reference to the attached drawings. In each drawing, the same or corresponding parts are given the same reference numerals, and the duplicated description will be appropriately simplified or omitted. In the following description, for convenience, the positional relationship of each structure may be expressed based on the illustrated state. Note that the present disclosure is not limited to the following embodiments, and the embodiments may be freely combined, any component of each embodiment may be modified, or any component of each embodiment may be omitted, within the scope of the gist 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 showing a schematic diagram of an overall configuration of an elevator door device and an elevator door control device. Figs. 2 to 4 are diagrams explaining examples of speed patterns in the elevator door control device. Fig. 5 is a block diagram showing a configuration example of a door mass identification unit of the elevator door control device. Fig. 6 is a diagram explaining an example of a door mass identification result by the elevator door control device. Fig. 7 is a diagram showing a schematic diagram of an overall configuration of a modified example of an elevator door device and an elevator door control device. Fig. 8 is a block diagram showing a configuration example of a door mass identification unit in a modified example of the elevator door control device. Fig. 9 is a diagram showing an example of a configuration for realizing the functions of the control device 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 an elevator car and a landing. The elevator car is provided with a door device as shown in FIG.

[0013] An entranceway, which is an opening, is provided at the front of the car. Door panels 3 constituting a pair of left and right car doors are provided at the entranceway of the car so as to be able to be opened and closed along a substantially 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 entranceway of the car. This door rail is attached substantially 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 rail are not shown in FIG. 1.

[0014] In this way, the pair of left and right door panels 3 are suspended by the door rail via the door hanger and the door roller. The door roller is guided by the door rail and rolls on the door rail, whereby the left and right door panels 3 open and close the entrance of the car.

[0015] A car threshold that forms the lower edge of the car entrance is attached to the lower front part 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 in the longitudinal direction. Door guide shoes (not shown) are attached to the lower end parts 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 on one side above the door rail in 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 in 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 manner, 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 one of the upper and lower ends of the belt 2 wound around the pulleys 6. 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 and lower ends of the belt 2 wound around the pulleys 6. With this configuration, the rotational drive in both forward and reverse directions of the door motor 1 is converted into the circular movement of the belt 2 in both directions, and the pair of left and right door panels 3 move in opposite directions to each other, opening and closing the entrance and exit of the car.

[0019] A landing is provided at a floor where the car stops. An entrance, which is an opening, is provided in a wall between the landing and the elevator. The landing entrance is provided at a position opposite the entrance of the car stopped at the landing floor. A pair of landing doors, one on the left and one on the right, are provided at the landing entrance 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 hoistway side surface of each door panel 3 and the hoistway 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 hoistway side surface of the door panel so as to protrude toward the hoistway side. The landing side plate is a pair of plates provided on the hoistway side surface of the door panel of the landing door so as to protrude toward the hoistway side. The car side roller and the landing side plate are disposed in positions facing 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 coupling 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 and 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 and 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. 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. Also, 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. And 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 the door is closed. Note that the second speed pattern is not limited to these examples. For example, it may be a speed pattern in which the door opening / closing direction in Fig. 4 is reversed multiple times. Also, it may 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 manner, the speed command unit 8 outputs a rotation speed command value for the door motor 1 related to the opening / closing speed of the door.

[0027] The speed control unit 9 receives 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 rotation 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 the torque command value so that the rotation speed of the door motor 1 matches the rotation 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 a 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 door mass identification value 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 rotation axis conversion inertia of the door motor 1. If the door mass identification inertia is J(k), the rotation 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 or the like applied to the door panel 3 is Tf, and the known torque due to the mechanical door closing force or the like applied to the door panel 3 is Tw, the following formula (1) is established. Note that k indicates the k-th 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 above-mentioned second speed pattern, 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] In this case, if J(k) is calculated using a learning identification method (for example, the LMS method), it will be expressed as 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 identification value of the door mass identification inertia J(k). As described above, the previous identification 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., a speed detector. Moreover, μ is a gain called a step width parameter, and the identification value can be stably converged by setting μ to an appropriate value. In this way, the door mass identification unit 12 sequentially updates the identification value of the door mass using the torque value calculated by multiplying the current value of the door motor 1 by a torque constant, the angular acceleration of the door motor 1, and the identification value of the door mass at the time of 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 the formula (3) is used. More specifically, in the illustrated example, the door mass identification inertia J(k) is calculated by the following formula (4). In formula (4), τf(k) is used instead of the torque τ(k) of the door motor 1 in formula (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 obtain a torque signal, and then shaping the signal using a filter 18. In addition, in formula (4), af(k) is used instead of the rotational angular acceleration a(k) of the door motor 1 in formula (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 obtain an angular acceleration signal, and then shaping the signal using 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. By using a low-pass filter for the filter 18, it is possible to remove noise caused by the differential processing by the differentiator 16. Furthermore, by using a high-pass filter for the filter 18, it is possible to eliminate the effects of Tf and Tw in the formula (1). Furthermore, it is possible to obtain both of these effects by using a band-pass filter for the filter 18. In this way, the door mass identification unit 12 may calculate the identification 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 an angular acceleration of the door motor 1 that has been subjected to filtering. The gain multiplier 19 is a multiplier that multiplies the step width parameter μ described above.

[0040] The storage means 20 stores the previous identification value J(k-1) of the door mass identification inertia. As described above, the previous identification 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 identification 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 way, in the configuration example shown in FIG. 5, the door mass identification unit 12 receives 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 stored in the storage means 20, and calculates the door mass identification inertia J(k) using the formula (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 the door mass identification result by the elevator door control device according to this embodiment. The three graphs in the figure show, from the top, the door speed of the door panel 3, the torque of the door motor 1, and the time series change of 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 every time the door panel 3 is opened, closed, and reversed at a large acceleration / deceleration in the second speed pattern described above. In this way, according to the elevator door control device according to this embodiment, the door mass identification value at the time of the previous identification is used to sequentially update the door mass identification value, thereby improving the door mass identification accuracy for various elevator doors.

[0042] The speed command unit 8 can output a speed command value by the first speed pattern of the first acceleration / deceleration and the second speed pattern of 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 by the first speed pattern. On the other hand, when identifying the door mass, the speed command unit 8 may output a speed command value by the second speed pattern. The door mass identification unit 12 sequentially updates the identification 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 when the speed command unit 8 outputs the speed command value by the second speed pattern, the angular acceleration of the door motor 1, and the identification value of the door mass at the time of the previous identification stored in the door mass identification value storage unit 13. In this case, the door opening and closing by the second speed pattern and the identification of the door mass may be performed when there is no passenger 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, the identification can be completed in a short time compared to performing door mass identification when the door is opened and closed at a normal speed. Note that, in the example shown in Fig. 6, the door panel 3 is shown to be continuously opened, closed, and reversed at the second speed pattern, but is not limited to this example. For example, the door may be opened at the second speed pattern and closed at the first speed pattern, or conversely, the door may be opened at the first speed pattern and closed at the second speed pattern. Alternatively, only 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 for the plurality of floors have different specifications, it is possible to improve the identification accuracy of the door mass for each floor.

[0045] The parameters (maximum speeds of one or both of the first and second speed patterns, the first acceleration / deceleration, the second acceleration / deceleration, etc.) stored in the speed parameter storage unit 7 may be updated using the value identified by the door mass identification unit 12 for the mass of the elevator door, i.e., using the value identified by the door mass identification unit 12 for the mass of the door stored in the door mass identification value storage unit 13. The speed control unit 9 may also calculate a torque command value using the value identified by the door mass identification unit 12 for the mass of the elevator door, i.e., using the value identified by 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 Figs. 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 Fig. 8.

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

[0048] 8, in this modified example, the door mass identification unit 12 may calculate the identification value of the door mass by using a filtered version 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 sequentially update the identification 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 identification 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 above-mentioned second speed pattern.

[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 be dedicated hardware 103. A part of the processing circuit may be formed as the dedicated hardware 103, and the processing circuit may further include the processor 101 and the memory 102. In the example shown in the figure, a part of the processing circuit is formed as the dedicated hardware 103. Also, in the example shown in the figure, the processing circuit further includes the processor 101 and the memory 102.

[0050] The processing circuit, part of which is at least one dedicated hardware 103, may be, for example, a single circuit, a composite 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 is 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. Memory 102 corresponds to, for example, non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, and EEPROM, or a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, and a DVD.

[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 has at least the processor 101 and the memory 102, the processor 101 executes the program stored in the 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 addition, in the present disclosure, the embodiments, configuration examples, modified examples, etc. may be arbitrarily combined 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 a mass of the door; a door mass identification value storage unit that stores an identification value of the door mass identified by the door mass identification unit, The door mass identification unit 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 rotation speed command value according to 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, The door mass identification unit 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 when the speed command unit outputs the rotational speed command value using the second speed pattern, an angular acceleration of the motor, and the identification value of the door mass at the time of the previous identification stored in the door mass identification value memory 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 a mass of the door; a door mass identification value storage unit that stores an identification value of the door mass identified by the door mass identification unit, The door mass identification unit of the elevator door control device 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 rotation speed command value according to 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, The elevator door control device described in Appendix 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 time of the previous identification stored in the door mass identification value memory unit when the speed command unit outputs the rotational speed command value using 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 mass of the door 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. The elevator door control device according to any one of claims 1 to 6, wherein the door mass identification value memory unit stores an identification value of the door mass identified by the door mass identification unit for each of the plurality of floors. (Appendix 8) 8. The elevator door control device according to claim 1, 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 Panel 4 Rotation detector 5 Connecting part 6 Pulley 7 Speed ​​parameter memory section 8 Speed ​​command section 9 Speed ​​control section 10 Current control section 11 Current detector 12 Door mass identification section 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 Processor 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 a mass of the door; a door mass identification value storage unit that stores an identification value of the door mass identified by the door mass identification unit, the speed command unit is capable of outputting the rotation speed command value according to 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, the door mass identification unit 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 when the speed command unit outputs the rotational speed command value using the second speed pattern, the angular acceleration of the motor, and the identification value of the door mass at the time of the previous identification stored in the door mass identification value memory unit.

2. The elevator door control device of 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 a filtered value of the angular acceleration of the motor.

3. 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 a mass of the door; a door mass identification value storage unit that stores an identification value of the door mass identified by the door mass identification unit, the speed command unit is capable of outputting the rotation speed command value according to 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, 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 memory unit when the speed command unit outputs the rotational speed command value using the second speed pattern.

4. The elevator door control device of claim 3, 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.

5. The door mass identification unit calculates an identification value of the door mass for each of a plurality of floors, 5. 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.

6. The elevator door control device according to any one of claims 1 to 4, wherein the speed control unit calculates the torque command value using an identification value of the mass of the door stored in the door mass identification value memory unit.

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