| 摘要 |
It is ensured that a control device of an elevator door which does not worsen operation efficiency due to useless door panel reversals and reduces the contact force of the door panel to the human body can be obtained. Equivalent stiffness calculation means is provided which calculates the equivalent stiffness of an object in contact from an increase in the rotation quantity, which is the moving quantity of a driving device within a prescribed time, a driving torque or driving force of the driving device, and an increase in a variance from a torque or force reference value, and the door is reversed using calculated equivalent stiffness as a determination criterion. |
