CN102539173B - Simulation experiment and performance detecting system of driving device of rail transit passenger room door and method thereof - Google Patents
Simulation experiment and performance detecting system of driving device of rail transit passenger room door and method thereof Download PDFInfo
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- CN102539173B CN102539173B CN201110436375.9A CN201110436375A CN102539173B CN 102539173 B CN102539173 B CN 102539173B CN 201110436375 A CN201110436375 A CN 201110436375A CN 102539173 B CN102539173 B CN 102539173B
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Abstract
The invention discloses a simulation experiment and performance detecting system of a driving device of a rail transit passenger room door and a method thereof. The system comprises a vibration sensor, a photoelectric encoder, a torque sensor, a spindle brake, a system control device and an upper computer. The vibration sensor, the photoelectric encoder and the torque sensor are used as detecting components and electrically connected with the system controller respectively and provide real-time detecting feedback data for the system controller. The vibration sensor is arranged on a casing of a door driving motor and used for detecting vibration data of the door driving motor in a simulation experiment process. The photoelectric encoder, the torque sensor and the spindle brake are sequentially arranged on an output shaft of a servo motor. The spindle brake brakes the output shaft of the door driving motor, the door driving motor is connected with a door controller in electric mode, and an output shaft of the door driving motor is connected with the output shaft of the servo motor through a coupler. The simulation experiment and performance detecting system of the driving device of the rail transit passenger room door and the method of the system is simple in structure, low in cost and good in controllability.
Description
Technical field
The invention belongs to simulated experiment and performance detecting system and the method thereof of robotization control, technical field of motors, particularly a kind of driving device of rail transit passenger room door.
Background technology
Because urban track traffic has that freight volume is large, speed is fast, safety, on schedule, the feature such as protection of the environment, the saving energy and land used; the fast development that track traffic industry has obtained; the particularly fast development of subway and light rail vehicle, also more and more higher for the requirement of the safety and reliability of passenger room of railway vehicle door.The performance of the aspects such as the switch gate time of track traffic guest room door, switch gate power, detection of obstacles, relevant criterion (EN14752 etc.) has clearly strict regulation.At present, urban rail transit vehicles adopts electricity powered guest room door more, guest room door system is by door leaf, mechanical mechanism (comprises drive unit, gearing, carrying guide piece, locking device, door spacer assembly etc.) and door controller composition, by the drive unit that is arranged on car door top left end (or right-hand member), provide motion-promotion force, drive unit is brshless DC motor (BLDC), guest room door drive is connected with screw nut driving mechanism by shaft coupling and drives door leaf to move, the control signal of receiving gate controller, realize the switch motion of door leaf, it is the key feature of whole passenger compartment doors system, its performance level improves and has key effect the safety and reliability of door system.
Each functional part Performance Detection experiment of door of guest room, domestic relevant track traffic pass is started late, imperfection is gone back in detection to door system, some stopping sliding door comprehensive experiment tables are by door controller is inputted to unlike signal, each initial conditions and the state of analog gate controller, detect corresponding output signal and realize the detection to door controller; To the resistance performance of the cylinder of Pneumatic plug door and pressure maintaining performance detect (Pang Yuanfeng, Meng Yanhong, Wang Zhenxin. the development of Plug Doors on Passenger Cars synthetical test stand for elements. rail truck, in Dec, 2005); Some moving test systems need to arrive on-the-spot manual to vehicle gating device input requirements voltage or electric current, control the action of stopping sliding door, then with multimeter, the resistance of some relevant positions of rail traffic vehicles gating device, electric capacity, voltage, electric current are tested, gating device fault is made to qualitative minute (Ding Xinggang, Chen Mingxue, Hu Peng. the development of urban rail transit vehicles gating device moving test system. urban track traffic, the 2nd phase in 2007).More than detect and be mostly for door controller and the early detection of the driving cylinder of the electrically controlled pneumatic plug door of use, but for the current drive unit of widely used electricity powered guest room door on city rail vehicle, not yet there are special simulated experiment and the system platform of Performance Detection.
In the testing process of track traffic guest room each functional part of door system, performance how to verify guest room door drive becomes a difficult problem, because in the situation that not coming into operation, the external loading of drive unit is untrue, the door leaf that full-scale investigation not only will be made different model according to different environments for use carries out on-the-spot test, cost is high, and versatility is poor, and has reduced detection efficiency.
Summary of the invention
The object of the present invention is to provide a kind of simulated experiment and performance detecting system and method thereof of driving device of rail transit passenger room door, can open at real simulation guest room door under laboratory condition, close with detection of obstacles process in, the load that drive unit is suffered, accurate simulated environment is provided, and then it is carried out to Performance Detection, can conveniently obtain experimental data like this, the reliability of data is high, conventional efficient is high, favorable repeatability, thereby reach, the performance of drive unit is made to accurate evaluation, save human and material resources and financial resources object.
The technical solution that realizes the object of the invention is: a kind of simulated experiment of driving device of rail transit passenger room door and performance detecting system and method thereof, involving vibrations sensor, photoelectric encoder, torque sensor, spindle brake, system controller, host computer, vibration transducer, photoelectric encoder, torque sensor is as detecting element, be electrically connected with system controller respectively, for system controller provides real-time detection feedback data, vibration transducer is arranged on the shell of a drive motor, detect the vibration data of door drive motor in simulated experiment process, photoelectric encoder, torque sensor, spindle brake is arranged on the output shaft of servomotor successively, the braking of spindle brake opposite house drive motor output shaft, door drive motor is connected with door controller by electrical means, the output shaft of this drive motor is connected by the output shaft of shaft coupling and servomotor, the angle signal that photoelectric encoder detecting gate drive motor rotor turns over, torque sensor is for measuring the resultant moment on output shaft, servo-driver is connected by electric signal with system controller, servomotor respectively, the voltage signal that servo-driver receiving system controller sends, and according to the current phasor of the size control servomotor of voltage signal, export the torque of corresponding size, be loaded on a drive motor axle, analog gate drive motor open the door, close the door and the detection of obstacles course of work in the moment of resistance that is subject to, host computer sends door leaf in diverse location, the stressed curve of load data of friction speed situation Xiamen drive motor by serial communication interface to system controller, and described curve data is by obtaining the field test data of the full-scale investigation of different model guest room door system, meanwhile, host computer is connected by electric signal with door controller, to door controller, sends the trigger pip of opening the door or close the door, and a drive motor is started working.
The present invention compared with prior art, its remarkable advantage: (1) is arranged on servomotor on a drive motor axle and has replaced the mechanical mechanisms such as door leaf in guest room door system, gearing, carrying guide piece, locking device, door spacer assembly, can be under laboratory condition really and accurately simulated passenger room's door opening, close, the situation of the suffered drag loads of drive unit in detection of obstacles process, apparatus structure is simple, cost is low, and controllability is good.(2) the present invention can be opening the door, close the door, in detection of obstacles simulation process, by detecting element, obtain various experimental datas, and arrangement generates the performance data curves such as (closing the door) time of opening the door, (closing the door) speed of opening the door, (closing the door) acceleration that opens the door, (closing the door) power of opening the door, door drive motor oscillating curve to data message, realize effective detection of drive unit performance, compare with on-the-spot full-scale investigation test, improved experiment detection efficiency, saved a large amount of human and material resources and time, had a good application prospect.(3) by set the model that will test guest room door in host computer, change the different analog switch door curves of load, the performance that can test different model driving device of rail transit passenger room door, versatility is good, repeatable high.(4) database in host computer is to the storage of classifying of every test result data, so that inquiry, comparative analysis, for the design of door drive provides reference.
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is simulated experiment and the performance detecting system structural principle schematic diagram of driving device of rail transit passenger room door of the present invention.
Fig. 2 is the structured flowchart of system controller.
Fig. 3 is the Performance Detection FB(flow block) of process door drive of opening the door, close the door.
Fig. 4 is the Performance Detection FB(flow block) of detection of obstacles process door drive.
Embodiment
In conjunction with Fig. 1, the present invention is comprised of system under test (SUT) I, control detection system II, simulated testing system III, simulated testing system III has replaced the door leaf in guest room door system, gearing, carrying guide piece, locking device, door spacer assembly, by servomotor 6 simulation different model guest room doors, opening, close, the true moment of resistance that during detection of obstacles, drive unit is subject to, be loaded into accurately in real time on door drive motor 1 axle of the system under test (SUT) I in above-mentioned duty, simultaneously, control detection system II and detect the various data of drive unit in the above-mentioned course of work, and will after the data preparation of gained, export, make technician have overall understanding to the performance of drive unit, and realized under laboratory condition the simulated experiment of driving device of rail transit passenger room door and Performance Detection.
Described system under test (SUT) I comprises a drive motor 1, door controller 10.Door drive motor 1 is the drive unit of electricity powered guest room door, for brshless DC motor BLDC, be connected with door controller 10 by electrical means, output shaft is by shaft coupling 2 and servomotor 6 mechanical connections, door controller 10 is the controller of track traffic guest room door, itself carry and open the door, the control program such as close the door, each door controller is controlled a car door, receive after the switch gate trigger pip of host computer 9 transmissions, by self control program control gate drive motor 1 rotating speed, torque and rotating, realizing guest room door opens in reality, the duty of door drive motor in closing process.
Described control detection system II involving vibrations sensor 11, photoelectric encoder 3, torque sensor 4, spindle brake 5, system controller 8, host computer 9, vibration transducer 11, photoelectric encoder 3, torque sensor 4 is as detecting element, respectively with system controller 8 electrical connections, for system controller 8 provides real-time detection feedback data, vibration transducer 11 is arranged on the shell of a drive motor 1, detect the vibration data of door drive motor 1 in simulated experiment process, photoelectric encoder 3, torque sensor 4, spindle brake 5 is arranged on the output shaft of servomotor 6 successively, spindle brake 5 opposite house drive motor 1 output shaft brakings, door drive motor 1 is connected with door controller 10 by electrical means, the output shaft of this drive motor 1 is connected with the output shaft of servomotor 6 by shaft coupling 2, the angle signal that photoelectric encoder 3 detecting gate drive motor 1 rotors turn over, torque sensor 4 is for measuring the resultant moment on output shaft, servo-driver 7 is connected by electric signal with system controller 8, servomotor 6 respectively, the voltage signal that servo-driver 7 receiving system controllers 8 send, and according to the current phasor of the size control servomotor 6 of voltage signal, export the torque of corresponding size, be loaded on a drive motor 1 axle, analog gate drive motor 1 open the door, close the door and the detection of obstacles course of work in the moment of resistance that is subject to, host computer 9 sends door leaf in diverse location, the stressed curve of load data of friction speed situation Xiamen drive motor 1 by serial communication interface to system controller 8, and described curve data is by obtaining the field test data of the full-scale investigation of different model guest room door system, meanwhile, host computer 9 is connected by electric signal with door controller 10, to door controller 10, sends the trigger pip of opening the door or close the door, and a drive motor 1 is started working.The man-machine interface that host computer 9 provides, controlling interface is to be made by VB, after the model of controlling selected test guest room door on interface (mainly containing hidden door, stopping sliding door, outside hanging door etc.), by serial communication interface, to system controller 8, send door leaf stressed curve of load data of drive unit in diverse location, friction speed situation, described curve data is by obtaining the field test data of the full-scale investigation of different model guest room door system.The different stress load curve data of drive unit of storage in host computer 9, the performance that can test easily different model driving device of rail transit passenger room door.
Vibration transducer 11, photoelectric encoder 3, torque sensor 4 are as the detecting element in native system, and system controller 8 electrical connections, for system controller 8 provides real-time detection feedback data, the Performance Detection of drive unit are laid the foundation.Vibration transducer 11 is arranged on the shell of a drive motor 1, detect the vibration data of door drive motor in simulated experiment process, photoelectric encoder 3, torque sensor 4, spindle brake 5 are arranged on the output shaft of servomotor 6, the angle signal that photoelectric encoder 3 detecting gate drive motor 1 rotors turn over, select the U.S. EPC-755A of ENCODER PRODUCTS company photoelectric encoder, there is correction reference signal, can realize two-way counting.Torque sensor 4 is selected the JN338-2OOF type digital-type intelligent torque sensor of San Jing company, in test simulation system for measuring the resultant moment on transmission shaft.
Described simulated testing system III comprises servomotor 6, servo-driver 7.Servo-driver 7 is connected by electric signal with system controller 8, servomotor 6, the voltage signal that servo-driver 7 receiving system controllers 8 send, and according to the current phasor of the size control servomotor 6 of voltage signal, export the torque of corresponding size, be loaded on a drive motor 1 axle, analog gate drive motor 1 open the door, close the door and the detection of obstacles course of work in the moment of resistance that is subject to, replaced door leaf in guest room door system, gearing, carrying guide piece etc. to be loaded into the moment of resistance on a drive motor 1.For the switch gate resistance of real simulation drive unit real-time change in real work, be convenient to drive unit to carry out Performance Detection, need servomotor to have higher torque responsing speed.Select SERVOSTAR 670 servo-drivers of DANAHER MOTION company, can adjust easily various parameters, realize instruction input, signal output, this servo-driver has been used Direct Torque Control (DTC) technology simultaneously, meets the requirement that native system is controlled for servomotor.
In conjunction with Fig. 2, system controller 8 is control centers of whole simulated experiment and performance detecting system, it comprises CPU element, UART serial communication interface module, capture-port module, A/D modular converter, D/A modular converter, SD card, reset circuit, real-time clock, FLASH, SRAM, jtag interface module, UART serial communication interface module, capture-port module, A/D modular converter, D/A modular converter, SD card, reset circuit, real-time clock, FLASH, SRAM, jtag interface module is connected with CPU element respectively, vibration transducer 11, torque sensor 4 is connected with A/D modular converter, spindle brake 5, servo-driver 7 is connected with D/A modular converter, photoelectric encoder 3 is connected with capture-port module, host computer 9 is connected with UART serial communication interface module, in the process of opening the door or closing the door in simulation, if CPU receives the test enable signals of the detection of obstacles that host computer 9 sends through UART interface module, CPU sends brake signal, the brake signal sending is delivered to spindle brake 5 after D/A modular converter is converted to analog quantity, spindle brake 5 opposite house drive motor 1 output shaft brakings, make a drive motor 1 stall in short-term, realize door leaf and in normal door or the process of closing the door, run into the simulation of barrier situation, in whole simulation test process, actual resultant moment value on the axle that torque sensor 4 gathers, door drive motor 1 vibration data that vibration transducer 11 gathers, all through A/D modular converter, convert the accessible digital signal of CPU to and be stored in SD card, door drive motor 1 rotor that photoelectric encoder 3 gathers turns over angle-data and also deposits in SD card, test finishes rear host computer 9 and receives the test result data of storing in SD cards, and generates and corresponding open the door or lockup, open the door or door closing speed, the acceleration that opens the door or close the door, open the door or door closing force, a door drive motor oscillating curve show with graphics mode on host computer.CPU element is selected 32 bit processor STM32F103 of ST Microelectronics's high-performance, low-power consumption Coetex-M3 kernel.16 high precision analog-digital chip DAC714 that D/A modular converter selects U.S. BB company to produce.The UART interface of STM32F103 chip converts RS232 level to through MAX232, realizes the data double-way transmission of system controller 8 and host computer 9.SD card is selected the SD card that the memory capacity of Kingston is 2GB.Reset circuit is selected MAX811 chip, with hand-reset, inputs.
The angle signal that door drive motor 1 rotor that photoelectric encoder 3 returns turns over is sent into CPU and is calculated after capture-port module is caught
(
for the helical pitch of screw nut driving mechanism,
the movement position of door leaf while the angle turning over for door drive motor rotor) obtaining real work, according to the position torque curve data in SD card, by current location, obtain the torque data of coupling, by CPU, to servo controller 7, sent the voltage signal of respective torque size, make servo-driver 7 control the torque that servomotor 6 outputs are set, analog gate drive unit is suffered opening the door (closing the door) resistance under actual opening the door (closing the door) working environment.Described capture-port module be STM32F103 processor with timer input capture.Described curve data is being sent in the SD card of system controller 8 by UART serial communication interface module before test starts by host computer 9.The digital signal that described voltage signal is sent by CPU obtains after the conversion of D/A modular converter.
In the process of (closing the door) of opening the door in simulation, if CPU receives the test enable signals of the detection of obstacles that host computer 9 sends through UART serial communication interface, CPU sends brake signal, the brake signal sending is delivered to spindle brake 5 after D/A modular converter is converted to analog quantity, spindle brake 5 opposite house drive motor 1 output shaft brakings, make a drive motor 1 stall (0.5～3s) in short-term, realize door leaf and in normal door (closing the door) process, run into the simulation of barrier situation.
In whole simulation test process, actual resultant moment value on the axle that torque sensor 4 gathers, door drive motor 1 vibration data that vibration transducer 11 gathers, all through A/D modular converter, convert the accessible digital signal of CPU to and be stored in SD card, described A/D modular converter be STM32 processor with 12 successive approximations simulation digital quantizers.Door drive motor 1 rotor of photoelectric encoder collection turns over angle-data and also deposits in SD card.
Test finishes rear host computer 9 and receives the test result data of storing in SD card, and corresponding (closing the door) time of opening the door, (closing the door) speed of opening the door, (closing the door) acceleration that opens the door, (closing the door) power of opening the door, the door drive motor oscillating curve of generation shows with graphics mode on host computer, not only there is effect intuitively, can also according to relevant criterion (EN14752 etc.), to the performance of door drive, make judge efficiently for technician.Simulation test result data classification is stored in the Access database of host computer 9, so that inquiry, comparative analysis, for the selecting of door drive, design reference is provided.Described opening the door (closing the door) time is by the real time clock circuit timing of system controller 8, described in open the door that (closing the door) speed, acceleration movement position of door leaf when to work carries out once respectively, second differential is tried to achieve, described in (closing the door) power of opening the door can be by
calculating is tried to achieve
for the helical pitch of screw nut driving mechanism,
for transmission efficiency,
output torque for door drive motor.
In conjunction with Fig. 3, adopt the simulated experiment of above-mentioned driving device of rail transit passenger room door and the detection method of performance detecting system, in the process of opening the door, close the door, the Performance Detection step of door drive motor 1 is as follows:
The first step: user sets the model of the track traffic guest room door that will test on host computer 9, host computer 9 sends corresponding position torque curve experimental data to system controller 8, system controller 8 carries out system initialization after receiving data, and waits for that host computer 9 sends (closing the door) test enable signals of opening the door;
Second step: user clicks and opens the door after the instruction of (closing the door) drive unit Performance Detection on host computer 9, host computer 9 sends to door controller 10 (closing the door) trigger pip of opening the door, and sends (closing the door) test initiation command signal that opens the door to system controller 8 simultaneously;
The 3rd step: door controller 10 opens the door after (closing the door) signal receiving, is reversed by programmed control door drive motor 1 forward that inside is intrinsic, realizes (closing the door) course of work of opening the door when real work situation;
The 4th step: system controller 8 receives the angle signal that drive motor 1 rotor turns over that photoelectric encoder 3 returns, and calculates
(
for the helical pitch of screw nut driving mechanism,
the movement position of door leaf while the angle turning over for door drive motor rotor) obtaining real work;
The 5th step: during by real work, the movement position of door leaf judges door leaf whether switch puts in place, if yes, finishes this simulation test, uploading detection data; If NO, according to position torque curve data, by current movement position, obtain the torque data of coupling, by system controller 8, to servo controller 7, sent the voltage signal of respective torque size, make servo-driver 7 control the torque T1 that servomotor 6 outputs are set, analog gate drive unit is suffered opening the door (closing the door) resistance under actual working environment;
The 6th step: system controller 8 receives the actual moment of resistance T2 exporting of servomotor 6 that torque sensor 4 returns, and contrasts deviation range more between the two with the desirable output torque T1 setting
whether≤5%.If yes, continue detection rotor and turn over angle; If NO, reduce) during T2 > T1) or increase) torque of T2 < T1 time=servomotor 6, realize adjusting and revise torque output, reach the object of the suffered drag loads of accurate analog gate drive unit;
The 7th step: in (closing the door) process that door drive is opened the door in suffered resistance simulation, system controller 8 receives the data message that vibration transducer 11, photoelectric encoder 3, torque sensor 4 return simultaneously, stores in SD card.Open the door (closing the door) put in place, experiment test finishes, detection data upload in SD card to host computer 9 is further processed, generate corresponding (closing the door) time of opening the door, (closing the door) speed of opening the door, (closing the door) acceleration that opens the door, (closing the door) power of opening the door, door drive motor oscillating curve, for technician, the performance of door drive is made to judge, and test result data is stored in the Access database of host computer 9 to convenient inquiry.Wherein open the door or lockup by the real time clock circuit timing of system controller 8, described in open the door that (closing the door) speed, acceleration movement position of door leaf when to work carries out once respectively, second differential is tried to achieve, described in (closing the door) power of opening the door can be by
calculating is tried to achieve)
for the helical pitch of screw nut driving mechanism,
for transmission efficiency,
output torque for door drive motor).
In conjunction with Fig. 4, adopt the simulated experiment of aforesaid driving device of rail transit passenger room door and the detection method of performance detecting system, the Performance Detection of detection of obstacles process door drive motor 1 comprises the following steps:
The first step: in the process of (closing the door) normal work of opening the door, i.e. door drive motor 1 forward reversion, during servomotor 6 output resistance square, user sends detection of obstacles test initiation command signal by host computer 9 to system controller 8;
Second step: system controller 8, after receiving detection of obstacles test enable signals, stops sending dtc signal to servo-driver 7, makes servomotor 6 stop output resistance square;
The 3rd step: the angle information that the rotor that system controller 8 returns in conjunction with photoelectric encoder 3 turns over sends brake signal to spindle brake 5, control spindle brake 5 brakings, (the stall time is m～n to make a drive motor 1 stall, m is the detection of obstacles shortest time, n is detection of obstacles maximum duration, the value of m, n is according to setting in actual testing process, if m is 0.5～2s, n is 3～4s), analog gate drive motor 1 runs into the situation of barrier in normal door (closing the door) process;
The 4th step: when door controller 10 current of electric monitoring and two kinds of detection of obstacles modes of distance/time supervision by self detect while running into barrier, door controller 10 is according to the programmed control door drive motor of self 1 reversion, under actual conditions, show as door leaf to motion in the other direction, the dtc signal that 8 pairs of torque sensors 4 of simultaneity factor controller return judges, if oppositely increase explanation door drive motor 1 after torque on axle being detected and being first reduced to zero, have reversal trend, system controller 8 is controlled spindle brakes 5 and is stopped braking; If reversal trend do not detected, judge that whether the motor rotation blockage time is over 3s, if be greater than 3s, spindle brake 5 also stops braking, and a drive motor 1 can normally be reversed, and prevents that the drive motor from burning out because electric current is excessive; If be less than 3s, continue the reversal trend of detecting gate drive motor;
The 5th step: spindle brake 5 stops braking, door drive motor 1 can normal rotation, and after the door controller 10 control gate drive motor 1 reversion N number of turns, (numerical value of N is specifically by the screw lead of door system gear train
determine,
), continue control gate drive motor 1 forward, under actual conditions, show as door leaf and move after 350mm to opposite direction, continue positive movement;
The 6th step: in process described in the 5th step, the signal that system controller 8 detects in real time by photoelectric encoder 3 and torque sensor 4, according to position torque curve, control the corresponding simulated resistance square of servomotor 6 output, repeat, in conjunction with the step 4～step 7 described in Fig. 3, specifically to proceed as follows:
1. system controller 8 receives the angle signal that drive motor 1 rotor turns over that photoelectric encoder 3 returns, and calculates
the movement position of door leaf while obtaining real work, wherein
for the helical pitch of screw nut driving mechanism,
the angle turning over for door drive motor rotor;
During 2. by real work, the movement position of door leaf judges whether door leaf opens or closes and puts in place, if yes, finishes this simulation test, uploading detection data; If NO, according to position torque curve data, by current movement position, obtain the torque data of coupling, by system controller 8, to servo controller 7, sent the voltage signal of respective torque size, make servo-driver 7 control the torque T1 that servomotor 6 outputs are set, analog gate drive motor 1 is suffered opening the door or close the door resistance under actual working environment;
3. system controller 8 receives the actual moment of resistance T2 exporting of servomotor 6 that torque sensor 4 returns, and contrasts deviation range more between the two with the torque T1 setting
whether≤5%; If yes, continue detection rotor and turn over angle; If NO, the torque that reduces during T2 > T1 or increase servomotor 6 during T2 < T1, realizes adjusting and revises torque output, reaches the object of the suffered drag loads of accurate analog gate drive unit;
4. in opposite house drive motor 1 opens the door or close the door process in suffered resistance simulation, system controller 8 receives the data message that vibration transducer 11, photoelectric encoder 3, torque sensor 4 return simultaneously, stores in the SD card of system controller 8; Open the door or during door-closing in-place, experiment test finishes, detection data upload in SD card to host computer 9 is further processed, generate and corresponding to open the door or lockup, open the door or door closing speed, the acceleration that opens the door or close the door, open the door or door closing force, door drive motor oscillating curve, performance for technician's opposite house drive motor 1 is made judge, and test result data is stored in the Access database of host computer 9 to convenient inquiry.
Claims (7)
1. the simulated experiment of a driving device of rail transit passenger room door and performance detecting system, comprise host computer (9), characterized by further comprising vibration transducer (11), photoelectric encoder (3), torque sensor (4), spindle brake (5), system controller (8), vibration transducer (11), photoelectric encoder (3), torque sensor (4) is as detecting element, respectively and system controller (8) electrical connection, for system controller (8) provides real-time detection feedback data, vibration transducer (11) is arranged on the shell of a drive motor (1), detect the vibration data of door drive motor (1) in simulated experiment process, photoelectric encoder (3), torque sensor (4), spindle brake (5) is arranged on the output shaft of servomotor (6) successively, the braking of spindle brake (5) opposite house drive motor (1) output shaft, door drive motor (1) is connected with door controller (10) by electrical means, the output shaft of this drive motor (1) is connected with the output shaft of servomotor (6) by shaft coupling (2), the angle signal that photoelectric encoder (3) detecting gate drive motor (1) rotor turns over, torque sensor (4) is for measuring the resultant moment on output shaft, servo-driver (7) is connected by electric signal with system controller (8), servomotor (6) respectively, the voltage signal that servo-driver (7) receiving system controller (8) sends, and according to the current phasor of the size control servomotor (6) of voltage signal, export the torque of corresponding size, be loaded on a drive motor (1) axle, analog gate drive motor (1) open the door, close the door and the detection of obstacles course of work in the moment of resistance that is subject to, host computer (9) sends door leaf in diverse location, the stressed curve of load data of friction speed situation Xiamen drive motor (1) by serial communication interface to system controller (8), and described curve data is by obtaining the field test data of the full-scale investigation of different model guest room door system, meanwhile, host computer (9) is connected by electric signal with door controller (10), to door controller (10), sends the trigger pip of opening the door or close the door, and a drive motor (1) is started working.
2. the simulated experiment of driving device of rail transit passenger room door according to claim 1 and performance detecting system, it is characterized in that system controller (8) is the control center of whole simulated experiment and performance detecting system, comprise CPU element, UART serial communication interface module, capture-port module, A/D modular converter, D/A modular converter, SD card, reset circuit, real-time clock, FLASH, SRAM, jtag interface module, UART serial communication interface module, capture-port module, A/D modular converter, D/A modular converter, SD card, reset circuit, real-time clock, FLASH, SRAM, jtag interface module is connected with CPU element respectively, vibration transducer (11), torque sensor (4) is connected with A/D modular converter, spindle brake (5), servo-driver (7) is connected with D/A modular converter, photoelectric encoder (3) is connected with capture-port module, host computer (9) is connected with UART serial communication interface module, in the process of opening the door or closing the door in simulation, if CPU receives the test enable signals of the detection of obstacles that host computer (9) sends through UART interface module, CPU sends brake signal, the brake signal sending is delivered to spindle brake (5) after D/A modular converter is converted to analog quantity, the braking of spindle brake (5) opposite house drive motor (1) output shaft, make a drive motor (1) stall in short-term, realize door leaf and in normal door or the process of closing the door, run into the simulation of barrier situation, in whole simulation test process, the resultant moment value of reality on the axle that torque sensor (4) gathers, door drive motor (1) vibration data that vibration transducer (11) gathers, all through A/D modular converter, convert the accessible digital signal of CPU to and be stored in SD card, door drive motor (1) rotor that photoelectric encoder (3) gathers turns over angle-data and also deposits in SD card, test finishes rear host computer (9) and receives the test result data of storing in SD card, and generates and corresponding open the door or lockup, open the door or door closing speed, the acceleration that opens the door or close the door, open the door or door closing force, a door drive motor oscillating curve show with graphics mode on host computer.
3. adopt the simulated experiment of driving device of rail transit passenger room door and a detection method for performance detecting system described in claim 1 or 2, in the process that it is characterized in that opening the door, close the door, the Performance Detection step of door drive motor (1) is as follows:
The first step: user is in the upper model of setting the track traffic guest room door that will test of host computer (9), host computer (9) sends corresponding position torque curve experimental data to system controller (8), system controller (8) carries out system initialization after receiving data, and waits for that host computer (9) sends and open the door or close the door test enable signals;
Second step: user opens the door or closes after the instruction of door drive Performance Detection upper click of host computer (9), host computer (9) sends to door controller (10) trigger pip of opening the door or close the door, and sends the test initiation command signal that opens the door or close the door to system controller (8) simultaneously;
The 3rd step: door controller (10) opens the door or closes after gate signal receiving, by its inner intrinsic programmed control door drive motor (1) forward or reverse, realizes opening the door or closing the door the course of work when real work situation;
The 4th step: system controller (8) receives the angle signal that drive motor (1) rotor turns over that photoelectric encoder (3) returns, and calculates
the movement position of door leaf while obtaining real work, wherein
for the helical pitch of screw nut driving mechanism,
the angle turning over for door drive motor rotor;
The 5th step: during by real work, the movement position of door leaf judges whether door leaf opens or closes and puts in place, if yes, finishes this simulation test, uploading detection data; If NO, according to position torque curve data, by current movement position, obtain the torque data of coupling, by system controller (8), to servo controller (7), sent the voltage signal of respective torque size, make servo-driver (7) control the torque T1 that servomotor (6) output is set, analog gate drive motor (1) is suffered opening the door or close the door resistance under actual working environment;
The 6th step: system controller (8) receives the actual moment of resistance T2 exporting of servomotor (6) that torque sensor (4) returns, and contrasts deviation range more between the two with the torque T1 setting
whether≤5%; If yes, continue detection rotor and turn over angle; If NO, during T2 > T1, reduce or increase during T2 < T1 the torque of servomotor (6), realize adjusting and revise torque output, reach the object of the suffered drag loads of accurate analog gate drive unit;
The 7th step: in opposite house drive motor (1) opens the door or close the door process in suffered resistance simulation, system controller (8) receives the data message that vibration transducer (11), photoelectric encoder (3), torque sensor (4) return simultaneously, stores in the SD card of system controller (8); Open the door or during door-closing in-place, experiment test finishes, detection data upload in SD card to host computer (9) is further processed, generate and corresponding to open the door or lockup, open the door or door closing speed, the acceleration that opens the door or close the door, open the door or door closing force, door drive motor oscillating curve, performance for technician's opposite house drive motor (1) is made judge, and test result data is stored in the Access database of host computer (9) to convenient inquiry.
4. the simulated experiment of driving device of rail transit passenger room door according to claim 3 and method for testing performance, it is characterized in that in the 7th step, described open the door or lockup by the real time clock circuit timing of system controller (8), described open the door or door closing speed, the acceleration movement position of door leaf when to work carries out once respectively, second differential is tried to achieve, described in open the door or door closing force can be by
calculating is tried to achieve,
for the helical pitch of screw nut driving mechanism,
for transmission efficiency,
output torque for door drive motor.
5. adopt the simulated experiment of driving device of rail transit passenger room door and a detection method for performance detecting system described in claim 1 or 2, it is characterized in that the Performance Detection of detection of obstacles process door drive motor (1) comprises the following steps:
The first step: in the process of normal work of opening the door or close the door, i.e. door drive motor (1) forward or reverse, during servomotor (6) output resistance square, user sends detection of obstacles test initiation command signal by host computer (9) to system controller (8);
Second step: system controller (8), after receiving detection of obstacles test enable signals, stops sending dtc signal to servo-driver (7), makes servomotor (6) stop output resistance square;
The 3rd step: the angle information that the rotor that system controller (8) returns in conjunction with photoelectric encoder (3) turns over sends brake signal to spindle brake (5), control spindle brake (5) braking, make a drive motor (1) stall, analog gate drive motor (1) runs into the situation of barrier in normal door or the process of closing the door;
The 4th step: when door controller (10) is monitored by the current of electric of self, two kinds of detection of obstacles modes of distance time supervision detect while running into barrier, door controller (10) is according to programmed control door drive motor (1) reversion of self, under actual conditions, show as door leaf to motion in the other direction, the dtc signal that simultaneity factor controller (8) returns torque sensor (4) judges, if oppositely increase explanation door drive motor (1) after torque on axle being detected and being first reduced to zero, there is reversal trend, system controller (8) is controlled spindle brake (5) and is stopped braking, if reversal trend do not detected, judge that whether the motor rotation blockage time is over n, if be greater than n, spindle brake (5) also stops braking, and a drive motor (1) can normally be reversed, and prevents that the drive motor from burning out because electric current is excessive, if be less than n, continue the reversal trend of detecting gate drive motor,
The 5th step: spindle brake (5) stops braking, door drive motor (1) normal rotation, after door controller (10) control gate drive motor (1) the reversion N number of turns, continue control gate drive motor (1) forward, under actual conditions, showing as door leaf moves after 350mm to opposite direction, continue positive movement, wherein the numerical value of N is specifically by the screw lead of door system gear train
determine,
;
The 6th step: in process described in the 5th step, the signal that system controller (8) detects in real time by photoelectric encoder (3) and torque sensor (4), controls servomotor (6) according to position torque curve and export corresponding simulated resistance square.
6. the simulated experiment of driving device of rail transit passenger room door according to claim 5 and method for testing performance, it is characterized in that in the 3rd step, door drive motor (1) the stall time is m～n, and m is the detection of obstacles shortest time, and n is detection of obstacles maximum duration.
7. the simulated experiment of driving device of rail transit passenger room door according to claim 5 and method for testing performance, is characterized in that, in the 6th step, specifically proceeding as follows:
1. system controller (8) receives the angle signal that drive motor (1) rotor turns over that photoelectric encoder (3) returns, and calculates
the movement position of door leaf while obtaining real work, wherein
for the helical pitch of screw nut driving mechanism,
the angle turning over for door drive motor rotor;
During 2. by real work, the movement position of door leaf judges whether door leaf opens or closes and puts in place, if yes, finishes this simulation test, uploading detection data; If NO, according to position torque curve data, by current movement position, obtain the torque data of coupling, by system controller (8), to servo controller (7), sent the voltage signal of respective torque size, make servo-driver (7) control the torque T1 that servomotor (6) output is set, analog gate drive motor (1) is suffered opening the door or close the door resistance under actual working environment;
3. system controller (8) receives the actual moment of resistance T2 exporting of servomotor (6) that torque sensor (4) returns, and contrasts deviation range more between the two with the torque T1 setting
whether≤5%; If yes, continue detection rotor and turn over angle; If NO, during T2 > T1, reduce or increase during T2 < T1 the torque of servomotor (6), realize adjusting and revise torque output, reach the object of the suffered drag loads of accurate analog gate drive unit;
4. in opposite house drive motor (1) opens the door or closes the door process in suffered resistance simulation, system controller (8) receives the data message that vibration transducer (11), photoelectric encoder (3), torque sensor (4) return simultaneously, stores in the SD card of system controller (8); Open the door or during door-closing in-place, experiment test finishes, detection data upload in SD card to host computer (9) is further processed, generate and corresponding to open the door or lockup, open the door or door closing speed, the acceleration that opens the door or close the door, open the door or door closing force, door drive motor oscillating curve, performance for technician's opposite house drive motor (1) is made judge, and test result data is stored in the Access database of host computer (9) to convenient inquiry.
?
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| FR3064578B1 (en) * | 2017-03-29 | 2020-01-31 | Alstom Transport Technologies | EXPERIMENTAL SIMULATION METHOD FOR OBTAINING INFORMATION RELATING TO THE RELIABILITY OF AN AUTOMATIC PASSENGER ACCESS DOOR |
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