Elevator door motion bench velocity

Elevator door apparatus, comprising:

• a motor driven elevator door mechanism;
• demand means for providing signals indicative of demands to open or close said elevator door;
• position means providing signals related to the position of said elevator door;
• and
• control means for controlling said door mechanism in response to said demand signals and said position signals;
• characterized by:
• said position means comprising a transducer for providing signals which vary as a function of the position of said door mechanism;
• and
• said control means comprising cyclically operative signal processing means for providing, in response to said transducer, signal indications of the position and velocity of said door, for providing profile signals defining a desired door traverse dictated velocity profile to accelerate the door with a desired rate of increasing acceleration to a desired maximum acceleration, accelerate the door at said desired maximum acceleration, accelerate the door with a desired rate of decreasing acceleration to a desired maximum velocity, move the door at said maximum velocity, decelerate the door with a desired rate of increasing deceleration to a desired maximum deceleration, decelerate the door at said desired maximum deceleration, and decelerate the door with a desired rate of decreasing acceleration to a desired final bench velocity, for providing an ending velocity signal, indicative of a dictated velocity at which said profile is to become responsive to the one of said profile signals defining said desired rate of decreasing deceleration, in response to ones of said profile signals defining said desired rate of decreasing deceleration, said desired maximum deceleration and said desired final bench velocity, and for providing, in each of a series of cycles throughout a period of time equal to the desired door traverse time, unipolar motion command signals to said elevator door mechanism in response to the difference between said door velocity signal indication and a dictated door velocity signal provided in response to said profile signals and said ending velocity signal.