Time controlled elevator door motion

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, and, in response to said demand means and said position and velocity signal indications, for providing, in each of a series of cycles throughout a period of time equal to the desired door traverse time, a dictated door velocity signal equal to the velocity which the door is desired to have during such cycle in accordance with a desired door traverse velocity profile derived from values of desired rates of acceleration and deceleration and desired maximum velocity, acceleration and deceleration, and cyclically providing motion command signals to said elevator door mechanism in response to the difference between said dictated velocity signal and said door velocity signal indication;
• said signal processing means comprising means for calculating said dictated door velocity signal in each of said cycles in response to signals representing said desired rates of acceleration and deceleration and said desired maximum velocity, acceleration and deceleration, and means for providing said dictated velocity signal by increasing an initial velocity value in each cycle by an acceleration value which begins at zero and increases in each cycle at a desired rate of increasing acceleration until said acceleration value represents said desired maximum acceleration, thereafter increasing said velocity value in each cycle by said desired maximum acceleration value until said velocity value achieves a first value from which it can be increased to a value representing said desired maximum velocity by an acceleration value which decreases in each cycle at a desired rate of decreasing acceleration until it reaches zero, thereafter increasing said velocity value in each cycle by said acceleration value which decreases in each cycle until said velocity value represents said desired maximum velocity, thereafter holding said velocity value constant in each cycle until said position signal indication represents a deceleration position of said door from which said door can be decelerated to a desired final velocity in response to said dictated velocity signal when said dictated velocity signal is provided as follows, thereafter decreasing said velocity value in each cycle by a deceleration value which begins at zero and increases in each cycle at a desired rate of increasing deceleration until said deceleration value represents said desired maximum deceleration, thereafter decreasing said velocity value in each cycle by said desired maximum deceleration value until said velocity value achieves a second value from which it can be decreased to a value representing said desired final velocity by a deceleration value which decreases in each cycle at a desired rate of decreasing deceleration until it reaches zero, thereafter decreasing said velocity value in each cycle by said deceleration value which increases in each cycle until said velocity value represents said desired final velocity.