Elevator door control device

Abstract

To provide a control device for an elevator door that can improve the accuracy of identifying the door mass even if the type of closer installed on the door is unknown. [Solution] The elevator door control device comprises a motor that drives the opening and closing of elevator doors, a rotation angle detector 4 that detects the rotation angle of the motor, a speed detection unit 12 that detects the rotation speed of the motor, a speed command unit 8 that outputs a rotation speed command value for the motor, a speed control unit 9 that calculates a torque command value so that the rotation speed of the motor detected by the speed detection unit 12 matches the rotation speed command value output from the speed command unit 8, a door closing force identification unit 13 that identifies the mechanical door closing force of the door using the door position calculated from the rotation angle and a torque value related to the motor torque, and a door mass identification unit 14 that identifies the mass of the door using a correction torque obtained by correcting the torque value with the door closing force identified by the door closing force identification unit 13 and the rotation speed of the motor.

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, elevator doors may not have uniform mass at each floor due to differences in design. In recent years, elevator specifications, including doors, have become more diverse, and there are an increasing number of cases where elevator doors are made by third parties or specially designed, in addition to in-house manufactured doors. This can result in the actual door mass being outside the initially expected range, and the initial door mass set before the door mass identification may differ significantly from the actual door mass.

[0005] Furthermore, elevator doors on the landing side are equipped with closers that generate a mechanical door-closing force for self-closing, and the closer's type may vary depending on the type of landing door. Some closers generate a constant mechanical door-closing force regardless of the door's position, while others, for example, use a spring or other mechanism that changes the mechanical door-closing force depending on the door's position. However, in the technology described in Patent Document 1, the torque obtained in the steady-state running area of ​​the speed pattern is treated as a torque equivalent to the friction caused by the movement of the landing door and car door and the mechanical door-closing force of the landing door. Therefore, if the closer's type and the mechanical door-closing force are unknown, an error will occur in the mass identification value depending on the door position at which steady-state running was performed.

[0006] 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 even if the type of closer installed on the elevator door is unknown. [Means for solving the problem]

[0007] The elevator door control device according to the present disclosure includes a motor that drives the opening and closing of an elevator door, a rotation angle detector that detects the rotation angle of the motor, a speed detection unit that detects the rotation speed of the motor, a speed command unit that outputs a rotation speed command value for the motor, a speed control unit that calculates a torque command value so that the rotation speed of the motor detected by the speed detection unit matches the rotation speed command value output from the speed command unit, a door closing force identification unit that identifies a mechanical door closing force of the door using the door position calculated from the rotation angle and a torque value related to the torque of the motor, and a door mass identification unit that identifies the mass of the door using a correction torque obtained by correcting the torque value with the door closing force identified by the door closing force identification unit and the rotation speed. [Effects of the Invention]

[0008] The elevator door control device according to the present disclosure has the advantage of being able to improve the accuracy of identifying the door mass even if the type of closer installed on the elevator door is unknown. [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] 2 is a block diagram showing an example of the configuration of a door closing force identification unit of the elevator door control device according to embodiment 1. FIG. [Figure 3] A figure explaining an example of the relationship between door speed and torque when identifying the door closing force in the elevator door control device of embodiment 1. [Figure 4] 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 5] 4 is a flow chart showing an example of the door mass identification operation of the elevator door control device according to embodiment 1. FIG. [Figure 6] 1 is a flow chart showing an example of the operation of identifying the door closing force of the elevator door control device according to embodiment 1. FIG. [Figure 7] FIG. 10 is a block diagram showing a modified example of the door closing force identification unit of the elevator door control device according to embodiment 1. [Figure 8] 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 9] FIG. 2 is a block diagram showing an example configuration of a door closing force identification unit in a modified example of the elevator door control device according to embodiment 1. [Figure 10] 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 11] FIG. 1 is a diagram showing an example of a configuration for realizing the functions 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 11. FIG. 1 is a diagram schematically illustrating the overall configuration of an elevator door device and an elevator door control device. FIG. 2 is a block diagram illustrating an example of the configuration of a door closing force identification unit of the elevator door control device. FIG. 3 is a diagram illustrating an example of the relationship between door speed and torque when identifying a door closing force in the elevator door control device. FIG. 4 is a block diagram illustrating an example of the configuration of a door mass identification unit of the elevator door control device. FIG. 5 is a flow diagram illustrating an example of the door mass identification operation of the elevator door control device. FIG. 6 is a flow diagram illustrating an example of the door closing force identification operation of the elevator door control device. FIG. 7 is a block diagram illustrating a modified example of the door closing force identification unit of the elevator door control device. FIG. 8 is a diagram schematically illustrating the overall configuration of a modified example of an elevator door device and an elevator door control device. FIG. 9 is a block diagram illustrating an example of the configuration of a door closing force identification unit in the modified example of the elevator door control device. FIG. 10 is a block diagram illustrating an example of the configuration of a door mass identification unit in the modified example of the elevator door control device. FIG. 11 is a diagram illustrating an example of a configuration for implementing the 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 7, which forms the lower edge of the car entrance, is attached to the lower front of the car. This car threshold 7 is attached approximately horizontally along the opening and closing direction of the door panel 3. A guide groove is provided in this car threshold 7 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 7.

[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 3 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 command unit 8, a speed control unit 9, a current control unit 10, a current detector 11, a speed detection unit 12, a door closing force identification unit 13, a door mass identification unit 14, and a door mass identification value storage unit 15. 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.

[0023] Furthermore, the rotation angle of the door motor 1 detected by the rotation detector 4 is input to the speed detection unit 12. The speed detection unit 12 detects the rotation speed of the door motor 1. More specifically, the speed detection unit 12 calculates the rotation speed (angular velocity) of the door motor 1 by differentiating the rotation angle of the door motor 1 with respect to time.

[0024] The speed command unit 8 acquires parameters stored in a speed parameter storage unit (not shown) and generates a speed command value for the door panel 3. The speed parameter storage unit 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 stores parameters such as the maximum speed, acceleration, and deceleration of the door panel 3 when the door panel 3 is opened or closed. 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.

[0025] The speed control unit 9 receives an input of 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 detected by the speed detection unit 12. 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 speed detection unit 12 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.

[0026] 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.

[0027] 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.

[0028] The door closing force identifying unit 13 identifies the mechanical door closing force of the door using the door position calculated from the rotation angle of the door motor 1 detected by the rotation detector 4 and the torque value of the door motor 1. Here, in the present disclosure, the torque value of the door motor 1 refers to a value related to the torque of the door motor 1. For example, the torque command value output from the speed control unit 9 can be used as the torque value of the door motor 1.

[0029] Here, elevator landing doors are provided with closers that generate a mechanical door-closing force for self-closing. Closers are broadly classified into those that apply a constant mechanical door-closing force regardless of the door position, such as weight-type closers, and those that use springs or the like to change the mechanical door-closing force depending on the door position. The door-closing force identifying unit 13 mainly identifies the mechanical door-closing force applied to the door by such closers. The configuration of the door-closing force identifying unit 13 for identifying the mechanical door-closing force will be described in detail below.

[0030] The door mass identification unit 14 identifies the mass of the elevator door. The identified value of the door mass identified by the door mass identification unit 14 is stored in the door mass identification value storage unit 15. 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 acting on the door panel 3 due to friction, etc. is Tf(x), and the known torque acting on the door panel 3 due to the mechanical door closing force, etc. is Tw(x), the following equation (1) is established. Note that k indicates the kth sampled value of the detection value by the sensor. Also, x is the door position (movement amount) when the fully closed position is 0.

[0031] τ(k)=J(k)·a(k)+Tf(x)+Tw(x) ··· (1)

[0032] When the torque Tw(x) due to the mechanical door closing force is not known and its value varies depending on the door position x, it is necessary to remove the influence of Tw(x). Therefore, in the elevator door control device according to this embodiment, the door mass identification inertia J(k) can be calculated with high accuracy using equation (1) by using Tw(x) identified by the door closing force identification unit 13. The same is true for the disturbance torque Tf(x), but Tf(x) is mainly caused by friction, etc., and is known to be an approximately constant value, so it does not affect the accuracy of door mass identification.

[0033] Next, an example of the configuration of the door closing force identifying unit 13 will be described with reference to Fig. 2. In the example configuration shown in the figure, the door closing force identifying unit 13 includes a door position conversion unit 16, a torque value-door position table storage unit 17, and a calculation unit 18. The door position conversion unit 16 converts the rotation angle of the door motor 1 detected by the rotation detector 4 into a door position using a door position conversion coefficient. The door position conversion coefficient is set in advance depending on the configuration of the door device.

[0034] The door position obtained by the door position conversion unit 16 is input to a torque value-door position table storage unit 17. The torque value of the door motor 1, i.e., the torque command value output from the speed control unit 9 in this case, is also input to the torque value-door position table storage unit 17. The torque value-door position table storage unit 17 stores the input door position and torque value in association with each other. In this way, the relationship between the torque value and the door position is stored in the torque value-door position table storage unit 17 as a data table.

[0035] In the configuration example described here, the data table of the torque value-door position table storage unit 17 is divided into those for when the door is open and those for when the door is closed. That is, the torque value-door position table storage unit 17 stores door open data and door close data. The door open data is data in which the torque value when the door is moving in the door open direction is associated with the door position. The door close data is data in which the torque value when the door is moving in the door close direction is associated with the door position.

[0036] The calculation unit 18 calculates the door closing force identified value Tw(x) based on the data stored in the torque value-door position table storage unit 17. First, the calculation unit 18 acquires the above-mentioned door opening data from the torque value-door position table storage unit 17 as a torque τop(x) at the time of door opening with the door position x as a variable. The calculation unit 18 also acquires the above-mentioned door closing data from the torque value-door position table storage unit 17 as a torque τcl(x) at the time of door closing with the door position x as a variable. Then, the calculation unit 18 calculates and outputs the door closing force identified value Tw(x) from the torque values ​​τop(x) and τcl(x) corresponding to the input door position x.

[0037] With reference to FIG. 3, door closing force identification in this embodiment will be described in more detail. To identify the torque Tw(x) due to the mechanical door closing force, it is advisable to open and close the door at a speed that ensures a sufficient constant speed interval. That is, the door closing force identification unit 13 identifies the door closing force when the door motor 1 is driven at a constant rotational speed to open and close the door. For example, if the opening width is narrow, the door may be opened and closed at a speed slower than the normal speed. In the constant speed interval, a(k) in equation (1) becomes approximately 0. Furthermore, while the disturbance torque Tf(x) due to friction, etc., always acts in the opposite direction to the door movement direction, the torque Tw(x) due to the mechanical door closing force always acts in the direction that closes the door. Therefore, the following equations (2) and (3) can be obtained from equation (1) when the door is opened and closed at a constant speed, respectively.

[0038] τop(x)=-Tf(x)-Tw(x) ··· (2) τcl(x)=Tf(x)-Tw(x) ··· (3)

[0039] By solving these equations (2) and (3) simultaneously for Tf(x) and Tw(x), the following equations (4) and (5) are obtained.

[0040] Tf(x)=-(τop(x)-τcl(x)) / 2 ··· (4) Tw(x)=-(τop(x)+τcl(x)) / 2 ··· (5)

[0041] From these equations (4) and (5), it can be seen that Tf(x) and Tw(x) can be calculated by adding or subtracting the torque value τop(x) of the door-opening data and the torque value τcl(x) of the door-closing data at the same door position x. The calculation unit 18 identifies the torque Tw(x) due to the mechanical door-closing force using equation (5) and outputs the identification result.

[0042] Equation (5) represents the mechanical door closing force according to the door position in the constant speed section. The mechanical door closing force according to the door position in all sections, including sections other than the constant speed section, may be estimated, for example, by extrapolating the mechanical door closing force in the constant speed section. In this case, for example, the mechanical door closing force according to the door position in all sections can be expressed by the following linear approximation, Equation (6). Then, the calculation unit 18 calculates m and n in Equation (6) for the mechanical door closing force in the constant speed section obtained using Equation (5), for example, using the least squares method. In this way, the door closing force identification unit 13 identifies the mechanical door closing force Tw(x) according to the door position x in all sections and outputs the identification result. In this case, the door closing force identification unit 13 outputs the identified mechanical door closing force as a function of the door position. In this function, the door position x is the explanatory variable (independent variable) and the mechanical door closing force Tw is the response variable (dependent variable).

[0043] Tw(x)=m x+n (6)

[0044] The door mass identification unit 14 identifies the mass of the elevator door using a corrected torque τc(k) obtained by correcting the torque value with the door closing force Tw(x) identified by the door closing force identification unit 13 in this manner. In other words, the door mass identification unit 14 calculates and uses a correction torque according to the door position using a function with the door position as the explanatory variable and the mechanical door closing force as the objective variable. By using the correction torque τc(k) obtained by subtracting Tw(x) from the torque value τ(k) of the door motor 1, equation (1) can be expressed as the following equation (7).

[0045] τc(k)≒J(k)·a(k) ··· (7)

[0046] Then, when J(k) is calculated using a learning identification algorithm (for example, the LMS method), it is expressed as the following equation (8).

[0047] J(k)=J(k-1)+μ·a(k)·(τc(k)-J(k-1)·a(k)) ··· (8)

[0048] Here, J(k-1) is the previous identified value of the door mass identification inertia J(k). As mentioned above, the correction torque τc(k) of the door motor 1 is obtained by subtracting Tw(x) from the torque value τ(k). The rotational angular acceleration a(k) of the door motor 1 can be calculated by time-differentiating the angular velocity detected by the velocity detection unit 12. Furthermore, 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 14 identifies the door mass using the correction torque obtained by correcting the torque value with the door closing force identified by the door closing force identification unit 13 and the rotational speed of the door motor 1.

[0049] FIG. 4 shows an example of the configuration of the door mass identification unit 14 when the algorithm of equation (8) is used. More specifically, in the illustrated example, the door mass identification inertia J(k) is calculated using the following equation (9). In equation (9), τf(k) is used instead of the correction torque τc(k) of the door motor 1 in equation (8). τf(k) is the correction torque shaped by the filter 20. Furthermore, in equation (9), af(k) is used instead of the rotational angular acceleration a(k) of the door motor 1 in equation (8). af(k) is the angular acceleration signal obtained by differentiating the angular velocity of the door motor 1 obtained from the speed detection unit 12 by the differentiator 19 and then shaping it by the filter 20.

[0050] J(k)=J(k-1)+μ·af(k)·(τf(k)-J(k-1)·af(k)) ··· (9)

[0051] The filter 20 may be a low-pass filter or a high-pass filter. Using a low-pass filter for the filter 20 can remove noise caused by the differentiation process performed by the differentiator 19. Using a high-pass filter for the filter 20 can eliminate the effect of Tf in equation (1). Using a band-pass filter for the filter 20 can also achieve both of these effects. In this way, the door mass identification unit 14 may calculate the identified value of the door mass by using filtered versions of either or both of the corrected torque of the door motor 1 corrected by the mechanical door closing force of the door and the angular acceleration of the door motor 1. The gain multiplier 21 is a multiplier that multiplies by the step width parameter μ described above. The memory means 22 stores the previous identified value J(k-1) of the door mass identification inertia.

[0052] 4, the door mass identification unit 14 calculates the door mass identification inertia J(k) using equation (9) with the correction torque τf(k) shaped by the filter 20, the rotational angular acceleration af(k) shaped by the filter 20, 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 22. The calculated value of the door mass identification inertia J(k) is then stored in the door mass identification value storage unit 15.

[0053] The previous identified value J(k-1) of the door mass identification inertia may be stored in the door mass identification value storage unit 15. In this case, the storage means 22 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 15. Alternatively, the storage means 22 may be the door mass identification value storage unit 15 itself.

[0054] As described above, the elevator door control device according to this embodiment identifies the mechanical door closing force using the door position calculated from the rotation angle of the door motor 1 and the torque value of the door motor 1, and identifies the door mass using a correction torque obtained by correcting the torque value of the door motor 1 with the identified mechanical door closing force, thereby reducing identification errors in the door mass caused by fluctuations in the mechanical door closing force. Therefore, even if the type of closer installed on the elevator door is unknown, it is possible to improve the accuracy of identifying the door mass.

[0055] The door closing force identification unit 13 may identify the mechanical door closing force of the elevator door for each of the plurality of floors. In this case, the door mass identification unit 14 may identify the mass of the door for each of the plurality of floors using the mechanical door closing force identified by the door closing force identification unit 13. The door mass identification value storage unit 15 may store the identification value of the door mass identified by the door mass identification unit 14 for each of the plurality of floors. In this way, even if the doors at the landings on each of the plurality of floors have different specifications, the accuracy of identifying the door mass for each floor can be improved.

[0056] The speed control unit 9 may calculate the torque command value using the identified value of the elevator door mass by the door mass identification unit 14, that is, the identified value of the door mass stored in the door mass identification value storage unit 15. 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.

[0057] Next, an example of the door mass identification process in the elevator door control device according to this embodiment will be described with reference to Figures 5 and 6. First, in step S101, the control device determines whether the mechanical door closing force of the door at the current floor, i.e., the floor where the car is located, is unknown. If the mechanical door closing force of the door at the current floor is unknown, the control device then performs the process of step S102. In step S102, the control device performs a door closing force identification operation, and the door closing force identification unit 13 identifies the mechanical door closing force. After step S102, the control device then performs the process of step S103. On the other hand, if the mechanical door closing force of the door at the current floor is known in step S101, the control device then performs the process of step S103 without performing the process of step S102.

[0058] In step S103, the control device uses the torque due to the identified mechanical door closing force to correct the torque value of the door motor 1. In the following step S104, the door mass identification unit 14 identifies the door mass of the current floor using the corrected torque corrected in step S103 and the angular velocity of the door motor 1 output from the speed detection unit 12. The identified door mass is stored in the door mass identification value storage unit 15.

[0059] Fig. 6 shows details of the door closing force identification operation in step S102 of Fig. 5. When the control device starts the door closing force identification operation in step S201, in step S202 the speed command unit 8 outputs a door opening speed command that ensures a sufficient constant speed section. In the following step S203, the door closing force identification unit 13 stores in the torque value-door position table storage unit 17 the relationship between the door position obtained by converting the rotation angle of the door motor 1 detected by the rotation detector 4 when the door is open using the door position conversion unit 16 and the torque value of the door motor 1 output from the speed control unit 9 (torque command value output from the speed control unit 9). After step S203, the door closing force identification unit 13 then performs the process of step S204.

[0060] In step S204, the speed command unit 8 outputs a door closing speed command that ensures a sufficient constant speed interval. In the following step S205, the door closing force identification unit 13 stores in the torque value-door position table storage unit 17 the relationship between the door position obtained by converting the rotation angle of the door motor 1 detected by the rotation detector 4 when the door is closed using the door position conversion unit 16 and the torque value of the door motor 1 output from the speed control unit 9 (torque command value output from the speed control unit 9). After step S205, the door closing force identification unit 13 then performs the processing of step S206. In step S206, the calculation unit 18 of the door closing force identification unit 13 obtains the torques τop(x) and τcl(x) when the door is open from the torque value-door position table storage unit 17, and calculates the door closing force identification value Tw(x) from these torque values ​​τop(x) and τcl(x) using linear approximation.

[0061] Next, a modified example of the elevator door control device according to this embodiment will be described. First, Fig. 7 shows a modified example of the door closing force identification unit 13. In this modified example, the calculation unit 18 of the door closing force identification unit 13 approximates the mechanical door closing force according to the door position in all sections using the following equation (6') instead of the above-mentioned equation (6). According to this modified example of the door closing force identification unit 13, although the identification accuracy of the mechanical door closing force, especially when the door is in the fully closed position, decreases, this does not significantly affect the identification accuracy of the door mass, so that the calculation process related to the intercept can be omitted, thereby reducing the calculation processing load and improving the calculation processing speed.

[0062] Tw(x)=m x (6')

[0063] 8 to 10, instead of the torque command value output from the speed control unit 9, a torque value calculated by multiplying the current value of the door motor 1 detected by the current detector 11 by a torque constant is used as the torque value related to the torque of the door motor 1. In this modification, as shown in FIG. 8, the current value of the door motor 1 detected by the current detector 11 is also input to the door closing force identification unit 13 and the door mass identification unit 14. In this modification, as shown in FIG. 9, the door closing force identification unit 13 further includes a torque constant multiplier 23. The torque constant multiplier 23 multiplies the current value of the door motor 1 obtained from the current detector 11 by a torque constant to calculate a torque value, and outputs the calculated torque value. The torque value output from the torque constant multiplier 23 is input to the torque value-door position table storage unit 17 together with the door position calculated by the door position conversion unit 16. The torque value-door position table storage unit 17 then stores the input door positions and torque values ​​in association with each other.

[0064] 10, the door mass identification unit 14 also includes a torque constant multiplier 23. The torque constant multiplier 23 calculates a torque value by multiplying the current value of the door motor 1 obtained from the current detector 11 by a torque constant, and outputs the calculated torque value. The torque value output from the torque constant multiplier 23 is subtracted by the door closing force Tw(x) identified by the door closing force identification unit 13 to obtain a corrected torque τc(k). The corrected torque τc(k) is shaped by a filter 20 and output as τf(k). The door mass identification unit 14 then receives as input the corrected torque τf(k) shaped by the filter 20, the rotational angular acceleration af(k) shaped by the filter 20, 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 22, and calculates the door mass identification inertia J(k) using the above-mentioned equation (9). According to this modification, it is possible to identify the door closing force and the door mass based on torque information corresponding to the actual torque when the motor 1 is actually driven. This makes it possible to further improve the accuracy of identifying the door closing force and the door mass.

[0065] FIG. 11 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.

[0066] 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.

[0067] 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 may include, for example, non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, and EEPROM, or a magnetic disk, flexible disk, optical disk, compact disk, minidisk, DVD, etc.

[0068] 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.

[0069] 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 rotation angle detector for detecting a rotation angle of the motor; a speed detection unit that detects the rotation speed of the motor; a speed command unit that outputs a rotation speed command value of the motor; a speed control unit that calculates a torque command value so that the rotation speed of the motor detected by the speed detection unit coincides with the rotation speed command value output from the speed command unit; a door closing force identifying unit that identifies a mechanical door closing force of the door using the door position calculated from the rotation angle and a torque value related to the torque of the motor; An elevator door control device comprising: a door mass identification unit that identifies the mass of the door using a correction torque obtained by correcting the torque value with the door closing force identified by the door closing force identification unit and the rotation speed. (Appendix 2) a door mass identification value storage unit that stores an identification value of the door mass identified by the door mass identification unit; 2. 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 a door mass identification value memory unit. (Appendix 3) The door closing force identification unit Identifying the door closing force when the motor is driven at a constant rotational speed to move the door open or close; storing door-opening data in which the torque value and the door position when the door is moving in the door-opening direction are associated with each other, and door-closing data in which the torque value and the door position when the door is moving in the door-closing direction are associated with each other; An elevator door control device as described in Appendix 1 or Appendix 2, which identifies the door closing force using the torque value of the door opening data and the torque value of the door closing data at the same door position. (Appendix 4) the door closing force identifying unit outputs the identified door closing force as a function of the position of the door, An elevator door control device described in any one of Appendix 1 to Appendix 3, wherein the door mass identification unit calculates the correction torque according to the position of the door using the function. (Appendix 5) The elevator door control device described in Appendix 4, wherein the door closing force identification unit determines and outputs the function by linear approximation. (Appendix 6) An elevator door control device described in any one of Appendix 1 to Appendix 5, wherein the door mass identification unit identifies the mass of the door using a learning identification method using the correction torque and the rotational speed. (Appendix 7) The door closing force identifying unit identifies the door closing force for each of a plurality of floors, 7. The elevator door control device according to claim 1, wherein the door mass identification unit identifies the mass of the door for each of the plurality of floors using the door closing force identified by the door closing force identification unit. (Appendix 8) An elevator door control device described in any one of Appendix 1 to Appendix 7, wherein the torque value is the torque command value. (Appendix 9) a current detector for detecting a current value of the motor; An elevator door control device described in any one of Appendix 1 to Appendix 7, wherein the torque value is a value calculated by multiplying the current value by a torque constant. [Explanation of symbols]

[0070] 1 door motor 2 Belt 3 Door Panels 4 Rotation detector 5 Connecting part 6 pulleys 7. Basket threshold 8 Speed ​​command section 9 Speed ​​control section 10 Current control section 11 Current detector 12 Speed ​​detection unit 13 Door closing force identification unit 14 Door mass identification unit 15 Door mass identification value memory section 16 Door position conversion unit 17 Torque value-door position table storage section 18 Calculation section 19 Differentiator 20 filters 21 Gain Multiplier 22 Memory means 23 Torque constant multiplier 101 processors 102 memory 103 Dedicated Hardware

Claims

1. A motor that drives the opening and closing of elevator doors; a rotation angle detector for detecting a rotation angle of the motor; a speed detection unit that detects the rotation speed of the motor; a speed command unit that outputs a rotation speed command value of the motor; a speed control unit that calculates a torque command value so that the rotation speed of the motor detected by the speed detection unit coincides with the rotation speed command value output from the speed command unit; a door closing force identifying unit that identifies a mechanical door closing force of the door using the door position calculated from the rotation angle and a torque value related to the torque of the motor; An elevator door control device comprising: a door mass identification unit that identifies the mass of the door using a correction torque obtained by correcting the torque value with the door closing force identified by the door closing force identification unit and the rotation speed.

2. a door mass identification value storage unit that stores an identification value of the door mass identified by the door mass identification unit; 2. 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 a door mass identification value storage unit.

3. The door closing force identification unit Identifying the door closing force when the motor is driven at a constant rotational speed to move the door open or close; storing door-opening data in which the torque value and the door position when the door is moving in the door-opening direction are associated with each other, and door-closing data in which the torque value and the door position when the door is moving in the door-closing direction are associated with each other; 3. The elevator door control device according to claim 1, wherein the door closing force is identified using the torque value of the door opening data and the torque value of the door closing data at the same door position.

4. the door closing force identifying unit outputs the identified door closing force as a function of the position of the door, The elevator door control device according to claim 1 or 2, wherein the door mass identification unit calculates the correction torque according to the position of the door using the function.

5. The elevator door control device according to claim 4, wherein the door closing force identification unit determines and outputs the function by linear approximation.

6. 3. The elevator door control device according to claim 1, wherein the door mass identification unit identifies the mass of the door by a learning identification method using the correction torque and the rotation speed.

7. The door closing force identifying unit identifies the door closing force for each of a plurality of floors, 3. The elevator door control device according to claim 1, wherein the door mass identification unit identifies the mass of the door for each of the plurality of floors using the door closing force identified by the door closing force identification unit.

8. The elevator door control device according to claim 1 or 2, wherein the torque value is the torque command value.

9. a current detector for detecting a current value of the motor; 3. An elevator door control device as described in claim 1 or claim 2, wherein the torque value is a value calculated by multiplying the current value by a torque constant.

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