| 摘要 |
In a door controller of an elevator, a feed forward control section generates a first output for specifying the follow-up performance to a speed command by using a first transfer function, and generates a second output for specifying the follow-up performance to a speed command by using a second transfer function and parameters of an elevator door on every floor. A feedback control section generates an output for correcting the rotation error of a door motor for the speed command based on the first output, information about the actual speed of the door motor, and the parameters. The door controller generates a torque command for the door motor from the sum of the second output and the output from the feedback control section.
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