Method and apparatus for controlling the movement of elevator car doors
AssigneeInventio AG
InventorsNorbert Gutknecht, Andreas Sukale
Life of this patent
Estimating the term…
Abstract
An apparatus and a method for moving an elevator door utilizes computed travel curves to control a door drive. The actual speed and position of the door are inputs to a travel curve computer in which travel curve algorithms are stored. Constants used in the algorithms are freely selectable and are communicated to the computer through a terminal connected to the computer. The computer generates target values a regulator which controls a power unit connected to the door drive motor for the opening, closing and reversing operations of the door.
Claims15
A method for controlling movement of an elevator car door coupled to a door drive connected to a drive control for the operations of opening, closing and reversing the door along a travel path comprising the steps of:
- a. storing an algorithm for computing a continuous travel curve defining values of door speed as a function of door position for an elevator door, the travel curve being formed of a plurality of adjacent segments, the algorithm including a mathematical function for computing each of the segments, a first one of the segments defined by an X.sup.3 parabola mathematical function, a second one of the segments defined by a straight line mathematical function and a third one of the segments defined by an X.sup.3 parabola mathematical function, X being a value of door position;
- b. inputting door speed and door position values for a beginning point and an ending point for each segment of the travel curve into said algorithm and computing said continuous travel curve according to the mathematical functions;
- c. sensing a door operation command signal generated by an elevator control associated with the elevator door;
- and
- d. controlling movement of the elevator door in response to the door operation command signal by generating a door drive control signal to a door drive control for the elevator door, the door drive control signal representing values of door speed as a function of door position defined by the continuous travel curve.
A method for controlling movement of an elevator car door coupled to a door drive connected to a drive control for the operations of opening, closing and reversing the door along a travel path comprising the steps of:
- a. storing one algorithm including at least one mathematical function for computing a continuous travel curve defining values of door speed as a function of door position for an elevator door and storing another algorithm including a mathematical function for computing a continuous first reversal curve for decelerating the elevator door during a door reversal operation, and a mathematical function for computing a continuous second reversal curve for accelerating the elevator door during the door reversal operation;
- b. computing the travel curve according to the mathematical function to generate target values of door speed as a function of door position;
- c. sensing a door operation command signal generated by an elevator control associated with the elevator door;
- d. controlling movement of the elevator door in response to the door operation command signal by generating a door drive control signal to a door drive control for the elevator, the door drive control signal representing a difference between actual values of door speed and the target values of door speed according to the travel curve;
- e. ascertaining the actual values of door speed as a function of door position during operation of the elevator door;
- f. upon detecting a cause for door reversal during movement of the elevator door according to travel curve, using the current values of door speed, door position and curve slope from the travel curve as beginning support points for computing the first reversal curve;
- and
- g. controlling movement of the elevator door by generating the door drive control signal to the door drive control for the elevator door, the door drive control signal representing values of door speed as a function of door position defined by the first reversal curve.
A method for controlling movement of an elevator car door coupled to a door drive connected to a drive control for the operations of opening, closing and reversing the door along a travel path comprising the steps of:
- a. storing one algorithm including a plurality of mathematical functions for computing continuous opening and closing travel curves defining values of door speed as a function of door position for an elevator door, each of the travel curves including a plurality of adjacent segments, each segment being associated with one of the mathematical functions and storing another algorithm including a mathematical function for computing a continuous first reversal curve for decelerating the elevator door during a door reversal operation, and a mathematical function for computing a continuous second reversal curve for accelerating the elevator door during the door reversal operation;
- b. computing the travel curves according to the associated mathematical function to generate target values of door speed as a function of door position;
- c. sensing a door operation command signal generated by an elevator control associated with the elevator door;
- d. controlling movement of the elevator door in response to the door operation command signal by generating a door drive control signal to a door drive control for the elevator, the door drive control signal representing a difference between actual values of door speed and the target values of door speed according to the travel curve;
- e. upon detecting a cause for door reversal during movement of the elevator door according to one of the travel curves, using the current values of door speed, door position and curve slope from the one travel curve as beginning support points for computing the first reversal curve and current values of door speed and curve slope from the other one of the travel curves at the same door position for computing the second reversal curve;
- and
- f. controlling movement of the elevator door by generating the door drive control signal to the door drive control for the elevator door, the door drive control signal representing values of door speed as a function of door position defined by the first and second reversal curves.
Dependencies are inferred from the claim text.