CN102900300A - Motor controller for track traffic platform gate - Google Patents
Motor controller for track traffic platform gate Download PDFInfo
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- CN102900300A CN102900300A CN2012102440844A CN201210244084A CN102900300A CN 102900300 A CN102900300 A CN 102900300A CN 2012102440844 A CN2012102440844 A CN 2012102440844A CN 201210244084 A CN201210244084 A CN 201210244084A CN 102900300 A CN102900300 A CN 102900300A
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Abstract
The invention relates to a motor controller for a track traffic platform gate. The motor controller comprises a power supply part, a digital signal processing part, an electric current sampling part, a motor driving part, a relay output part, an external control signal input part and a data storage display part; the power supply part is used for respectively supplying electric currents of needed voltages to the digital signal processing part, the electric current sampling part, the motor driving part, the relay output part and the data storage display part; the electric current sampling part, the motor driving part, the relay output part, the external control signal input part and the data storage display part are respectively connected with the digital signal processing part through electrical signals; the motor driving part is also connected with a motor through an electric wire; and the relay output part is also connected with an upper computer through the electrical signals. The motor controller has the advantages of safety, reliability, strong driving capability, wide application, accurate control, stable running, low cost and the like.
Description
Technical field
The present invention relates to electric machine controller, particularly a kind of rail traffic platform door motor controller.
Background technology
At present, the average daily volume of the flow of passengers of Shanghai rail transit has reached 6,000,000 person-times, and after the track traffic back bone network built up, the average daily volume of the flow of passengers was with 10 million person-time, and the huge volume of the flow of passengers has also been brought outstanding potential safety hazard.As falling platform because of crowded when causing the passenger to wait, the interval lost article found of passenger's injection, the passenger crashes into track section etc. because fighting for the seat or making up for lost time.For this situation, install the rail traffic platform door additional, passenger and train, track regions are suitably isolated, stop casualty accident the task of top priority occurs to have become.
Technological difficulties main in the execution are:
1. automatically adapt to belt pulley heavy with door, control gate is with the setting speed curve motion.
2. for guaranteeing the compliance of motion, all are connected return portion must become broken line S type curve.The variation that is the power of motor is that a controlled acceleration is controlled, and the mutability of motor reinforcing can not occur at any time.
3. although door is very heavy, finish whole switching in setting time (the longest 4S), and for preventing obstruction (such as people or object) be damaged when detecting obstruction, must control and close power less than 150N.Speed and motor have formed conflict between exerting oneself like this, and how to solve is exactly a difficult point.
4. last closing the door the stage, kinetic energy namely must be closed with door with very light power less than or equal to 1J in the last 100mm stroke range of every fan dodge gate, and must guarantee the reliable closure of door, the two has formed contradiction, and the speed of service of the kinetic energy of 1J and door has also formed contradiction.
Summary of the invention
Purpose of the present invention is exactly for the above-mentioned problems in the prior art, and a kind of rail traffic platform door motor controller is provided.
To achieve these goals, the present invention has adopted following technical scheme: a kind of rail traffic platform door motor controller, link to each other with the host computer signal, realize the switch of moving door is controlled by the control to motor, comprise power pack, signal process part, current sample part, motor-driven part, relay output, external control signal importation and data storage display part; Power pack provides respectively the electric current of required voltage to signal process part, current sample part, motor-driven part, relay output and data storage display part; Current sample part, motor-driven part, relay output, external control signal importation and data storage display part link to each other with the signal process part signal of telecommunication respectively, the motor-driven part also links to each other with the motor electric wire, and the relay output also links to each other with the host computer signal of telecommunication.
Described power pack is provided with the anti-DC-DC transforming circuit that swashs; Power pack input 36V direct current supply is partly exported+15V voltage to motor-driven respectively after swashing DC-DC transforming circuit transformation through anti-, to current sample part and relay output output+5V voltage, store display part output+3.3V voltage to signal process part and data.
Described signal process part mainly is comprised of digital signal processing chip, data buffering chip and some optocouplers; The signal that the outside input of digital signal processing chip acceptance and internal feedback are returned is processed the running of the whole controller of rear control; The data buffering chip forms the driving force that buffer circuit carries out the shaping of waveform to the control signal of digital signal processing chip output and strengthens signal, and signal process part guarantees the safety and reliability of controller by other part isolation of optocoupler and controller simultaneously.
Described motor-driven part mainly consists of drive circuit by Intelligent Power Module and six metal-oxide-semiconductors, the dutycycle of PWM ripple is adjusted in reception from the switch of six metal-oxide-semiconductors of driving signal controlling of signal process part, thereby drives and control the switch of the rotation control gate of motor.
Described current sample part mainly is comprised of current sensor and operational amplifier, current sensor detects the electric current of motor three-phase output, through feeding back to signal process part after the operational amplifier amplification, the digital processing part calculates exerting oneself of motor by the size of electric current, forms the closed-loop control to motor.
Described relay output comprises relay and reverse drive chip, by the folding of the signal control relay of signal process part input, with signal feedback to host computer.
Described external control signal importation comprises RS485 input interface and PLC input interface, and controller is accepted control command from host computer by PLC or RS232 communication; The PLC input interface has the power input of 4 isolation, need to provide from the outside+the 24V power supply makes input power, and when an input adds the 24V input voltage therein, this input conducting, single-ended power consumption 8mA; When four whole conductings of input, maximum power consumption 32mA; The MODBUS agreement is followed in the communication of RS485 input interface, and the priority of serial communication is lower than the external signal input.
Described data storage display part is made of storage chip, charactron display control chip and charactron, shows for the parameter of depositing controller and by charactron, and all parameters all can be made amendment online, and autostore.
Rail traffic platform door motor controller of the present invention owing to having adopted above technical scheme, has following advantage and good effect:
1, safe and reliable, signal processing and other parts isolation prevent from disturbing and have improved safety, and a series of abnormality detection such as input voltage, current of electric are arranged, and have improved reliability.The equal fault-free cycle (MCBF) of controller is 1,000,000 circulation/fault;
2, driving force is strong, and controller can drive gate and heavily be 250KG;
3, low in energy consumption, during normal operation, the operating current of controller itself is less than 80mA;
4, of many uses, controller can also be applied to the field of other automatic door controls;
5, maintenance is convenient, and the parameter of controller can be made amendment easily by the RS485 serial ports, can carry out the oneself during fault and detect and show by LED;
6, control accurately, operate steadily, controller can be realized Accurate Position Control to automatic door by the signal that photoelectric encoder returns, and realizes the switch gate rate smoothing, and noise is little;
7, with low cost.
Description of drawings
Fig. 1 is the control structure schematic diagram of rail traffic platform door motor controller of the present invention;
Fig. 2 is the confession electrical schematic of electric machine controller;
Fig. 3 is that switch gate arranges speed and acceleration plots;
Fig. 4 is the speed curve diagram of the last 100mm that the position begins that puts in place from the open and close door;
Fig. 5 is signal flow diagram.
The specific embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.
Referring to Fig. 1, Fig. 2, rail traffic platform door motor controller of the present invention, link to each other with the host computer signal, realize the switch of gate is controlled by the control to motor, comprise power pack, signal process part, current sample part, motor-driven part, relay output, external control signal importation and data storage display part; Power pack provides respectively the electric current of required voltage to signal process part, current sample part, motor-driven part, relay output and data storage display part; Current sample part, motor-driven part, relay output, external control signal importation and data storage display part link to each other with the signal process part signal of telecommunication respectively, the motor-driven part also links to each other with the motor electric wire, and the relay output also links to each other with the host computer signal of telecommunication.
Power pack wherein mainly consists of the anti-DC-DC transforming circuit that swashs by power management integrated chip, transformer, three-terminal voltage-stabilizing integrated chip, the poor adjusting chip of low-voltage, operational amplifier.Power pack input 36V direct current supply is partly exported+15V voltage to motor-driven respectively after swashing DC-DC transforming circuit transformation through anti-, to current sample part and relay output output+5V voltage, store display part output+3.3V voltage to signal process part and data.The comparison circuit of operational amplifier formation carries out under-voltage and the overvoltage monitoring to the voltage of input simultaneously.
Signal process part wherein mainly is comprised of digital signal processing chip, data buffering chip and some optocouplers; The signal that the outside input of digital signal processing chip acceptance and internal feedback are returned is processed the running of the whole controller of rear control; The data buffering chip forms the driving force that buffer circuit carries out the shaping of waveform to the control signal of digital signal processing chip output and strengthens signal, and signal process part guarantees the safety and reliability of controller by other part isolation of optocoupler and controller simultaneously.
Motor-driven part wherein mainly consists of drive circuit by Intelligent Power Module and six metal-oxide-semiconductors, the dutycycle of PWM ripple is adjusted in reception from the switch of six metal-oxide-semiconductors of driving signal controlling of signal process part, thereby drives and control the switch of the rotation control moving door of motor.Driving gate body monomer weight: a control two is driven: 65～80Kg; One control one is driven≤95kg; Door body kinetic friction force: 5Kg.Maximum output current: 12A.Door closing force :≤150N is maximum kinetic energy at closing time :≤10J.
Current sample part wherein mainly is comprised of current sensor and operational amplifier, current sensor detects the electric current of motor three-phase output, through feeding back to signal process part after the operational amplifier amplification, the digital processing part calculates exerting oneself of motor by the size of electric current, forms the closed-loop control to motor.
Relay output wherein comprises relay and reverse drive chip, by the folding of the signal control relay of signal process part input, with signal feedback to host computer.Relay output externally provides 5 relay dry contact outputs.Each node fan-out capability is AC125V, 0.3A.DC24V，1A。
External control signal importation wherein comprises RS485 input interface and PLC input interface, and controller is accepted control command from host computer by PLC or RS232 communication; The PLC input interface has the power input of 4 isolation, need to provide from the outside+the 24V power supply makes input power, and when an input adds the 24V input voltage therein, this input conducting, single-ended power consumption 8mA; When four whole conductings of input, maximum power consumption 32mA; The MODBUS agreement is followed in the communication of RS485 input interface, and the priority of serial communication is lower than the external signal input.
Data storage display part wherein is made of storage chip, charactron display control chip and charactron, shows for the parameter of depositing controller and by charactron, and all parameters all can be made amendment online, and autostore.Be after the most parameters setting is finished and come into force, need to re-power rear revival after the setting of fraction parameter is finished.Parameter setting has two kinds of methods, and the one, utilize the RS485 interface, make amendment with the MODBUS stipulations.Can singlely revise, also can batch modification.The 2nd, carry out individual event by external control display plate and revise.
The important technological parameters of rail traffic platform door motor controller of the present invention is as follows:
1, dodge gate opening time 2.5-3.5 second, movable door closing time 2.5-4.0 second;
2, dodge gate is omnidistance stepless adjustable;
The minimum thickness of the obstruction that 3, can detect is 10mm;
4, the activity power of closing is less than or equal to 150N;
5, the artificial opening force of manual unlocking is less than or equal to 67N;
6, the maximum kinetic energy of every fan dodge gate motion is less than or equal to 10J;
7, at closing time in the last 100MM stroke range of every fan dodge gate kinetic energy less than or equal to 1J.
Presentation Function of the present invention is as follows:
This driver provides the Presentation Function of two 8 charactrons on the plate.
After powering on, automatically carry out the self study door long.Be shown as " .-. " this moment, and move in circles and move from left-hand.
After finishing self study, press table 1 and show.
Table 1
| The door state | Show |
| Door-closing in-place | 00 |
| Open the door and put in place | 01 |
| Men Zaifei closes the door or opens the door to put in place and also do not accept the switch gate order | 02 |
| The operation of closing the door | 03 |
| The operation of opening the door | 04 |
When unrecoverable failure occurring, charactron can show the fault prompting.And stop a motion.Until re-power and could recover after the outage, as shown in table 2:
Table 2
| Fault type | Show | Remarks |
| The HALL signal deletion | HA | Three-phase HALL signal has any disappearance |
| The photoelectric encoder signal deletion | EC | Two-phase photoelectric encoder signal has any disappearance |
| Overcurrent fault | OC | Surpass the maximum current of setting |
| Overvoltage | OH | Surpass the maximum voltage of setting |
| Plant failure | dE | Device fault on the plate |
Illustrate: self study is a transient process.Power on rear just from self-studying mode at every turn
After powering on, double figures code display tube should show " .-. ", and the from left to right rotation that moves in circles.Expression initializes.
Initialized purpose is to determine the pass close point of door and the maximum opening point of door.After only having the pass of determining close point, could determine the maximum opening point.Determine that thus door is long.
Display menu is divided into and is STUDY, ERROR, and SET, NORMAL is STUDY after powering on, signal flow diagram is as shown in Figure 5.
The course of work principle of rail traffic platform door motor controller of the present invention is described as follows:
1, self study flow process
The instruction 1.1 close the door
Provide close the door instruction by the external command port this moment, and goalkeeper seeks the pass close point of door to the direction motion of closing the door.The speed of service is VREF.After the pass close point that finds door, because need Constant load 0.8S to judge whether to close close point, therefore still need to continue to provide the instruction of closing the door this moment, until the door-closing in-place output relay has output, represent door-closing in-place.Just can cancel the instruction of closing the door.If just cancel the instruction of closing the door before relay output door-closing in-place, even door has arrived closed condition, driver does not still search out a pass close point.
The instruction 1.2 open the door
Behind relay output door-closing in-place, expression has searched out the pass close point of door.Can provide the instruction of opening the door this moment by the external command commodity.Electromagnetic lock relay output this moment, approximately behind the 0.5S, goalkeeper moves to the direction of opening the door, to determine the maximum opening of door with the electromagnetic lock adhesive.The electromagnetic lock adhesive approximately behind the 1S with under the automatic releasing.The door speed of service of opening the door is VREF.Behind the maximum opening that finds door, therefore because need Constant load 0.8S to judge whether door maximum opening point, still need to continue to provide the instruction of opening the door this moment, until the output relay that puts in place of opening the door has output, expression has been opened the door and has been put in place.Just can cancel the instruction of opening the door.If relay output open the door put in place before the just cancellation instruction of opening the door, even door arrive the maximum opening point, the maximum opening point that driver does not still search out.
The instruction 1.3 close the door
Find the maximum opening point of the pass close point of door and door when driver after, determined that the initial point of door and door are long, can provide the instruction of closing the door this moment by the external command port, and goalkeeper moves to the direction of closing the door.The speed of service is VREF.After the pass close point that finds door, the door-closing in-place output relay has output, represents door-closing in-place.This moment, charactron was shown as " 00 ", and self study has been finished in expression.Can accept formal to have opened the door instruction.
1.4 explanation
Initialized purpose is to determine the pass close point of door and the maximum opening point of door.After only having the pass of determining close point, could determine the maximum opening point.Determine that thus door is long.
Therefore, power on the order of rear switch gate order should be close the door---〉judge door-closing in-place---〉open the door---〉judge that the---〉---〉decision gate of closing the door that puts in place of opening the door puts in place---self study finishes.
If provide the order of closing the door, do not judge that door-closing in-place just cancels the order of closing the door, then do not think and finish a judgement of closing close point.
If provide the order of opening the door, do not judge not open the door to put in place and just cancel the order of opening the door, then do not think the judgement of finishing a maximum width points.
Provide first the order of opening the door afterwards if power on, because do not judge door-closing in-place, so even relay provides to open the door to put in place, can not think and judge the length of going out.Still need to finish to close the door, open the door, the action of closing the door.
Initialize and also have an effect to be that decision gate is heavy, adjusts the door closing force size thus automatically.
1.5 running status
After finishing self study, show " 00 ", expression is in the door-closing in-place state.Can provide the instruction control gate that opens the door and open this moment.
2, switch gate state
The instruction 2.1 open the door
After providing the instruction of opening the door, the adhesive of electromagnetic lock relay, approximately behind the 0.5S, the door beginning is to the direction operation of opening the door.Approximately behind the 1S, the electromagnetic lock relay discharges.When running to long 4% left and right sides of whole door, the door-closing in-place signal cancellation.When initial, with the RACCL acceleration operation, after reaching VUNL speed, travel at the uniform speed, after running length reached PLOCK, low cruise finished.Enter the high-speed cruising section, with the RACCO acceleration operation, after reaching VOP speed, travel at the uniform speed, subtract acceleration with RDECO afterwards and slow down until speed reaches VCRAW.Then creep with VCRAW, until the maximum position that opens the door after being hampered, stops.Finish the action of all opening the door.
Above all parameters all can arrange, and door is long to be detected automatically by self study.When parameters conflicts with a door appearance, as maximum speed VOP is set surpasses maximal rate in the long scope of door, automatically adjust VOP speed when then moving for allowing maximal rate.As maximum speed VOP is set is no more than maximal rate in the long scope, then maximum speed VOP to be set as maximal rate, automatically calculate the running length of VOP speed.That is to say, under the extreme case, actual operation curve is the low speed segment added with triangle, and generally speaking, it is trapezoidal that actual operation curve is that low speed segment adds.
If enabling signal is interrupted suddenly in the process of opening the door, then with the acceleration snub of RSTOP.If again provide enabling signal this moment, then automatically recomputate whole curve, repeat to walk out curve that low speed segment adds high regime out.The maximal rate of this moment may be less than setting maximum speed VOP.
If interrupt in the section of creeping enabling signal, then with the acceleration snub of RSTOP.If again provide enabling signal this moment, then only creep to maximum with the speed of VCRAW and open the door a little.
After the arrival maximum was opened the door a little, if do not close the door instruction, then door kept motionless.If this moment with hand to closing the door direction sliding door, when pulling out after distance reaches approximately 5CM, then automatically with the constant power of opening the door to the direction reinforcing of opening the door with opposing sliding door power, until door be pulled to the scope of the maximum 2CM that opens the door of distance interior till.After if sliding door power greater than the power of opening the door, causes door to be drawn out approximately 1/3, cancel the power of opening the door this moment, report to the police.Until door is put near the position in place the cancellation warning for being pushed into to open the door by the people.
The instruction 2.2 close the door
After providing the instruction of closing the door, the door beginning is to the direction operation of opening the door.When run to whole door long 96% in the time, the signal cancellation that puts in place opens the door.When initial, with the RACCL acceleration operation, after reaching VLOCK speed, travel at the uniform speed, after running length reached PHYUL, low cruise finished.Enter the high-speed cruising section,, when reach VCL speed after travel at the uniform speed with the RACCL acceleration operation this moment, subtracts acceleration with RDECL afterwards and slow down until speed reaches VCLLO.This moment, range gate was closed close point apart from being PUNLO, then creeped with VCLLO speed, until door closes close point, after being hampered, stopped.Finish the action of all closing the door.On the door lock automatic locking.
In the whole action of closing the door, time-out (automatically adjust with the door state by the power that is hampered if be hampered, when for acceleration, the power that is hampered maximum, when for subtracting when accelerating, the power that is hampered is for minimum), then the door relay is quoted the signal that is hampered, door is subjected to PC control, suspends behind counter motion one segment distance, and is then again closed.If repeatedly be hampered three times, then the automatic standard-sized sheet of door is reported to the police.
Be hampered or close after gate signal cancels, again provide the pass gate signal again, this moment, operation curve recomputated whole curve by a remaining door range ability, repeated to walk out curve that low speed segment adds high regime out.The maximal rate of this moment may be less than setting maximum speed VCL.
Above all parameters all can arrange, and door is long to be detected automatically by self study.When parameters conflicts with a door appearance, as maximum speed VCL is set surpasses maximal rate in the long scope of door, automatically adjust VCL speed when then moving for allowing maximal rate.As maximum speed VCL is set is no more than maximal rate in the long scope, then maximum speed VCL to be set as maximal rate, automatically calculate the running length of VCL speed.That is to say, under the extreme case, actual operation curve is the low speed segment added with triangle, and generally speaking, it is trapezoidal that actual operation curve is that low speed segment adds.
The unlock command 2.3 open the door
After providing the unlock command that opens the door, the adhesive of electromagnetic lock relay, approximately behind the 0.5S, the door beginning is to the direction operation of opening the door.Approximately behind the 1S, the electromagnetic lock relay discharges.When running to long 4% left and right sides of whole door, the door-closing in-place signal cancellation.The speed of service is VREF low speed.Range ability is about 50CM.
At this moment, no longer accept any switch gate instruction, only have artificially door is shut again fully, after the mechanical lock automatic locking is buckled well, just again accept to open the door instruction.
For the technological difficulties that exist in the prior art, the present invention has also adopted following method:
One, because requires all parameters all can revise onboard or by Long-distance Control, therefore software for operational design on the plate button and display part, compound action by three buttons is realized input function, realizes Presentation Function by four 8 charactrons.
Two, for Long-distance Control, we adopt the industrial transmission hardware of RS485, follow on this basis the master-slave mode Communication Control, adopt the MODBUS agreement of standard, have realized transmission and the modification of all parameters.And guaranteed the correction of the control of bound and error of transmission and reported an error.
Three, the implementation of S type curve
Sigmoid curve is divided into seven sections, is respectively and adds accelerating sections, even accelerating sections subtracts accelerating sections, section at the uniform velocity, and accelerating and decelerating part, even braking section subtracts braking section.
Parameter declaration:
1.Jmax---------mm/s3, acceleration rate, jerk, definite value;
2.set_up_amax---------mm/s2, the user sets the accelerating sections acceleration;
3.set_down_amax---------mm/s2, the user sets the braking section acceleration;
4.Up_amax---------mm/s2, Practical Calculation gained accelerating sections acceleration;
5.Down_amax---------mm/s2, Practical Calculation gained braking section acceleration;
6.user_set_vmax---------mm/s, user set at the uniform velocity section maximal rate;
7.set_vmax---------mm/s, the higher limit when being used for dichotomy method calculating maximal rate;
8.Vmax---------mm/s calculates at the uniform velocity section maximal rate of final gained;
9.v1max---------mm/s, the limit value v ' max when being used for dichotomy method calculating maximal rate;
10.V11max---------mm/s, the limit value v when being used for dichotomy method calculating maximal rate " max;
11.Vs---------mm/s, the starting velocity of S type curve;
12.Ve---------mm/s, the end speed of S type curve;
13.Set_smax---------mm/s sets the sigmoid curve range ability;
14.finished_vmax_sign---end mark of actual vmax was calculated in-----expression with two minutes iterative methods;
15.fnish_iteration_sign---------expression finishes with one group of iteration between two limit values of two minutes iterative methods, does not represent to have finished the calculating of maximal rate;
16.vmax_level---------is worth scope 0-3, represents respectively four interval ranges of two minutes iterative methods, initially is necessary for 3, do not subtract 1 if condition does not satisfy again, and can iterate to 0 always; Be 3 o'clock, [set_vmax ,] be 2 o'clock, [v1max, set_vmax] is 1 o'clock, [v11max, v1max] is 0 o'clock, [min[ve, vs], v11max]
17.T[8]---------ms, seven sections time stacks of sigmoid curve sum.T[7 wherein] be final running time;
18.V[8]---------mm/s, sigmoid curve seven segment endpoint velocity amplitudes;
19.S[8]---------um, sigmoid curve seven segment endpoints apart from sum.S[7 wherein] be final running length, if general vmax=user_set_vmax, then this value is set_smax.
Instantaneous value during each run:
---------count value, general every ms computing once, then this value adds one to Time_cnt;
Vel---------mm/s, the velocity amplitude during each run;
Acce---------mm/s2, the accekeration during each run;
Space----------um, the range ability value during each run;
Attention: all time, distance all is the value take zero point or initial point as corresponding point.
Function:
Sshape_init initializes function, can simplify again, mainly puts initial value;
Sshape_time_calc calculates minimum t1-t3 according to set_user_amax and jmax, and t5-t7 does not contain t4;
Sshape_dist_calc calculates real-time speed and distance value;
Sshape_dist_limit_calc calls Sshape_dist_calc and calculates v[8], s[8];
Sshape_vmax_calc calculates actual maximum vmax with dichotomy method.Only have when vmax_level is 3, even accelerating sections is just arranged, other are all without even accelerating sections.
Fig. 3 is that switch gate arranges speed and accelerating curve table, is from left to right the curve that opens the door, and is from right to left the curve of closing the door.Listed parameter all can be revised among Fig. 3.
Four, how to control the method for kinetic energy in 1J of last 100mm
As shown in Figure 4, put in place from opening the door the position, live through acceleration, at the uniform velocity, after the moderating process, the door running enters the stage of creeping.If this stage speed is VCRAW, the mm/S of unit.
When door moved, the maximum, force that is added on the motor was made of three parts altogether, is described below:
1, overcomes the sliding-frictional resistance of door.The resistance that this need to overcome when moving for door.Can think the power that this power need to overcome when traveling at the uniform speed for door.Called after Ff.
2, the acceleration or deceleration power of door.The motor force that need to additionally provide when making Accelerating running.Called after Fa.
3, door closing force.Be also referred to as the folder manpower, called after Fc.
Be motor maximum, force Fm=Ff+Fa+Fc.
During normal operation, Fm is the restriction of maximum operation power.The practical range of values of motor force is [0, Fm].
In the end creep the stage, because door is in travel at the uniform speed, so actual Fa is zero.
Be Fm=Ff+Fc.
Wherein Fc is setting value, and scope is between 50-300N.
Ff be one to the heavy proportional power of door.Be Kf if get friction factor, Men Chongwei m, then:
Ff＝m*Kf。
The method of asking of Ff has dual mode:
Method one, according to formula F f=m*Kf, generally get between Kf=0.06, m gets a heavy 180KG and draws Ff and be about 108N.
Method two, when traveling at the uniform speed, motor measures the motor average current, because motor average current and motor force are proportionate relationship, therefore can obtain the frictional force Ff of correspondence this moment.
We adopt method two to draw Ff.
Therefore in the end creep the stage, the power that is added on the motor is no more than Fm=Ff+Fc, when door when this is hampered, the motor speed vanishing, the power that is added on the motor reaches Fm, after continuing for some time, think and be hampered, speed setting value is decayed to zero through the S curve, and namely the flexible motor force that discharges on the door is quoted the signal that is hampered.
By control Fm and the door creep speed size, just can guarantee final stage apart from the time kinetic energy be no more than erg-ten.
Claims (8)
1. rail traffic platform door motor controller, link to each other with the host computer signal, realize the switch of gate is controlled by the control to motor, it is characterized in that: comprise power pack, signal process part, current sample part, motor-driven part, relay output, external control signal importation and data storage display part; Power pack provides respectively the electric current of required voltage to signal process part, current sample part, motor-driven part, relay output and data storage display part; Current sample part, motor-driven part, relay output, external control signal importation and data storage display part link to each other with the signal process part signal of telecommunication respectively, the motor-driven part also links to each other with the motor electric wire, and the relay output also links to each other with the host computer signal of telecommunication.
2. rail traffic platform door motor controller as claimed in claim 1 is characterized in that: described power pack is provided with the anti-DC-DC transforming circuit that swashs; Power pack input 36V direct current supply is partly exported+15V voltage to motor-driven respectively after swashing DC-DC transforming circuit transformation through anti-, to current sample part and relay output output+5V voltage, store display part output+3.3V voltage to signal process part and data.
3. rail traffic platform door motor controller as claimed in claim 1, it is characterized in that: described signal process part mainly is comprised of digital signal processing chip, data buffering chip and some optocouplers; The signal that the outside input of digital signal processing chip acceptance and internal feedback are returned is processed the running of the whole controller of rear control; The data buffering chip forms the driving force that buffer circuit carries out the shaping of waveform to the control signal of digital signal processing chip output and strengthens signal, and signal process part guarantees the safety and reliability of controller by other part isolation of optocoupler and controller simultaneously.
4. rail traffic platform door motor controller as claimed in claim 1, it is characterized in that: described motor-driven part mainly consists of drive circuit by Intelligent Power Module and six metal-oxide-semiconductors, the dutycycle of PWM ripple is adjusted in reception from the switch of six metal-oxide-semiconductors of driving signal controlling of signal process part, thereby drives and control the switch of the rotation control gate of motor.
5. rail traffic platform door motor controller as claimed in claim 1, it is characterized in that: described current sample part mainly is comprised of current sensor and operational amplifier, current sensor detects the electric current of motor three-phase output, through feeding back to signal process part after the operational amplifier amplification, the digital processing part calculates exerting oneself of motor by the size of electric current, forms the closed-loop control to motor.
6. rail traffic platform door motor controller as claimed in claim 1, it is characterized in that: described relay output comprises relay and reverse drive chip, by the folding of the signal control relay of signal process part input, with signal feedback to host computer.
7. rail traffic platform door motor controller as claimed in claim 1, it is characterized in that: described external control signal importation comprises RS485 input interface and PLC input interface, and controller is accepted control command from host computer by PLC or RS232 communication; The PLC input interface has the power input of 4 isolation, need to provide from the outside+the 24V power supply makes input power, and when an input adds the 24V input voltage therein, this input conducting, single-ended power consumption 8mA; When four whole conductings of input, maximum power consumption 32mA; The MODBUS agreement is followed in the communication of RS485 input interface, and the priority of serial communication is lower than the external signal input.
8. rail traffic platform door motor controller as claimed in claim 1, it is characterized in that: described data storage display part is made of storage chip, charactron display control chip and charactron, be used for depositing the parameter of controller and showing by charactron, all parameters all can be made amendment online, and autostore.
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| CN201210244084.4A CN102900300B (en) | 2012-07-13 | 2012-07-13 | Motor controller for track traffic platform gate |
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| CN201210244084.4A CN102900300B (en) | 2012-07-13 | 2012-07-13 | Motor controller for track traffic platform gate |
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