CN104712214B - Control method for motor driving shield door and provided with position sensor - Google Patents
Control method for motor driving shield door and provided with position sensor Download PDFInfo
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- CN104712214B CN104712214B CN201510038245.8A CN201510038245A CN104712214B CN 104712214 B CN104712214 B CN 104712214B CN 201510038245 A CN201510038245 A CN 201510038245A CN 104712214 B CN104712214 B CN 104712214B
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Abstract
The invention provides a control method for a motor driving a shield door and provided with a position sensor. The control method comprises the steps that a, when the motor drives the shield door, a digital signal processor carries out speed closed-loop PID control over the motor; b, if the digital processor can not obtain a position change signal detected by the position sensor, the digital signal processor compares currents of the motor with a preset threshold value, and when the currents are larger than the set threshold value, the motor is controlled to stop rotating or reversely rotate to an initial state; when the currents are not larger than the set threshold value, then whether the digital signal processor has already recorded a time and duty ratio curve of the whole door opening and closing process is judged, if no, the motor is controlled to rotate at a constant speed, and if yes, according to the recorded time and duty ratio curve, the motor is controlled according to a door opening and closing speed curve. According to the control method, when the position sensor in the motor fails, the motor can still be controlled safely to drive the shield door to be opened or closed normally.
Description
Technical field
The present invention relates to the motor control method with position sensor, the brushed DC motor control of shield door is especially driven
Method processed.
Background technology
The conventional executing agency of subway shield accelerator control system is brushed DC motor and brshless DC motor, brush motor
Relative to brushless electric machine, with cheap, control simple（Without commutation）The advantages of, in order to the position for obtaining brush motor is believed
Number, it will usually in the embedded photoelectric code sensor of motor internal as position sensor.Electric machine controller is input into by sensor to be believed
Number change obtain the variable quantity △ s of displacement, while recording the time △ t that is used of change in displacement, and then calculate motor
Speed of service v=△ s/ △ t, controller is to carry out PID by aim parameter of speed（PID）Control.Brushed DC electricity
Because connector or use environment be severe etc., reason easily fails the embedded position sensor of machine, and controller will be by obtaining position
Confidence ability accurately calculates the speed of motor, if built-in sensors fail, just cannot correctly obtain position signalling, controls
Be not inconsistent for actual speed with motor by the speed obtained by device calculating, it is possible to triggers security incident, for example, crush passenger, close
It is not in place etc., even if motor safety is stalled, can also influence the normal operation of subway.
The content of the invention
The technical problems to be solved by the invention are to overcome the above-mentioned not enough of prior art and provide a kind of driving shield door
The motor control method with position sensor, even if its position sensor in motor is failed, also can be safely
Controlled motor, driving shield door normal switch.
The present invention the used technical scheme that solves the above problems is：Drive the motor with position sensor of shield door
Control method, it is characterised in that：The motor includes digital signal processor, current acquisition mould by controller control, controller
Block, analog-digital converter, pulse-width modulator, controller are connected with motor, position sensor, the detection of current acquisition module
Current signal is converted to data signal and supplied with digital signal processor, the control by current of electric, analog-digital converter
Method is comprised the following steps：
Step a：When motor drives shield door to move, position sensor detects the position variation signal of motor, data signal
Processor obtains position signalling and calculates the time used by change in location, is calculated the speed of motor, digital signal processor pair
Motor carries out speed closed loop PID control；
Step b：If digital signal processor cannot obtain the position variation signal of position sensor detection, data signal
Processor compares current of electric and presetting threshold values, and when threshold values of the electric current more than setting, controlled motor is stalled or is inverted to
Original state；When electric current is not more than the threshold values of setting, then judge whether digital signal processor have recorded switch gate whole process
When m- dutycycle curve, if the controlled motor uniform rotation without if, if the when m- dutycycle then according to record is bent
Line, by switch gate rate curve controlled motor；
Described when m- dutycycle curve is recorded in such a way：When gate test is shielded or during commencement of commercial operation, shielding
During door switch door, one group of pulse-width modulator output is with the time as axle, the dutycycle number of correspondence switch gate rate curve
According to digital signal processor records each duty cycle data and its corresponding time, m- dutycycle curve during formation.
Preferably, controller is also connected to level sensor, if sensors in place detects shield door and do not have open and close to arrive
Position, circulation step a, b, if detecting shield door open and close in place, motor stalling.
Preferably, during speed closed loop PID control, motor drives shield door movement, and moving process is divided into five stages：Start
After accelerate；After accelerating to certain value, remain a constant speed movement；Shield door reduces speed now when running the position to total travel 85%；To complete
Low speed is kept at the uniform velocity to move during the position of stroke 95%；Slow down again afterwards movement, until shield door is moved into place.
Preferably, open the door or all times of closing the door are set to 3 seconds, a dutycycle number was recorded every 0.01 second in step b
According to.
Preferably, the position sensor is photoelectric code disk.
The advantage of the invention is that：1st, during the turned position variable signal of the detectable motor of position sensor, it is believed that position
Put sensor signal normal, now carry out closed loop PID control by aim parameter of speed, control accuracy is high, if position sensor
When signal is abnormal, and electric current is not more than default threshold values, illustrate position sensor failure, now also dependent on having recorded
The whole when m- dutycycle curve of switch gate carries out velocity close-loop control, and position sensor it is normal when control accuracy quite,
Even if not recording the when m- dutycycle curve of whole process, motor uniform rotation is also can control, will not be because of position sensor failure
Influence the movement of shield door, it is to avoid hinder the operation of rail vehicle.If the 2, electric current is more than presetting threshold values, it is judged as motor
Generation stall, may run into obstacle because of shield door, can take the measure such as stalling or reversion, it is ensured that security.3rd, shield door is moved
Dynamic state is divided into five stages, more meets use requirement, and translational speed is more reasonable, and security is stronger.
Brief description of the drawings
Fig. 1 is control process figure of the invention.
Fig. 2 is shield door rate curve in the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings, the present invention is further described for embodiment.
The executing agency of subway shield door is that the position sensor set in brushed DC motor, motor is photoelectric code disk,
The controller of controlled motor includes digital signal processor, current acquisition module, analog-digital converter, pulse width modulation
Device, controller is electrically connected with motor, photoelectric code disk, the electric current in current acquisition module detection motor, and analog-digital converter will
Current signal is converted to data signal and supplied with digital signal processor, and controller also includes input/output port.
Control process is as shown in figure 1, when performing the action of shield door switch gate, the turned position of photoelectric code disk detection motor becomes
Change signal, if digital signal processor can obtain position signalling, the time according to used by change in location, be calculated the speed of motor
Degree, and the rotation of pid algorithm controlled motor is carried out as aim parameter with speed；Meanwhile, pulse-width modulator export one group with when
Between be axle, the duty cycle data of correspondence switch gate rate curve, digital signal processor records each duty cycle data and its right
The time answered, m- dutycycle curve during formation, when m- dutycycle curve be stored in digital signal processor.Persistently calculated by PID
Method controlled motor is rotated, and has been opened the door or door-closing in-place until sensors in place detects shield door, in place rear motor stalling, if
It is not in place, circulate this process.
During speed closed loop PID control, motor drives shield door movement, as shown in Fig. 2 moving process is divided into five stages：
Accelerate after startup；After accelerating to certain value, remain a constant speed movement；Shield door reduces speed now when running the position to total travel 85%；
To total travel 95% position when keep low speed at the uniform velocity move；Slow down again afterwards movement, until shield door is moved into place.
If digital signal processor cannot obtain the motor turned position variable signal of position sensor detection, electric current is adopted
Current signal in the motor that collection module will be detected is by supplied with digital signal processor after analog-to-digital conversion, Digital Signal Processing
Device compares presetting threshold values in current of electric and digital signal processor, when threshold values of the electric current more than setting, then it is assumed that electricity
There is stall situation in machine, shield door has been encountered barrier, need to have been processed according to barrier, and controlled motor is stalled or even low speed rotation
Dynamic, to prevent from crushing passenger, such as controlled motor drives shield door to be moved with the speed of 0.15m/s, and safer scheme is control
The even low speed and reverse of motor processed, prevents shield door from crushing passenger.
If electric current is not more than the threshold values of setting, it is considered as position sensor failure, then judge the preceding Digital Signal Processing that fails
Whether device have recorded the whole when m- dutycycle curve of switch gate, if not recording full distance curve, controlled motor is by symbol
At the uniform velocity slowly running for shield door convention security requirement is closed, for example, shield door is at the uniform velocity moved into place with 0.15m/s, prevent shielding
Door is in the process of running because topagnosis causes to crush the security incident of passenger.If having recorded the when m- duty of whole process
Than curve, then according to this curve controlled motor of record, realization carries out closed-loop control, is passed until in place with speed as aim parameter
Sensor detects stopping action after shield door is moved into place.
For precise control, under position sensor normal condition, all times that will open the door or close the door are set as 3 seconds, with every
As time interval, when motor drives, a duty cycle data is recorded every 0.01 pulse per second (PPS) width modulator, also within 0.01 second
The ratio for recording duration and pulse total cycle of positive pulse in 0.01 second, open the door or door closing procedure in altogether 300 account for
Sky reaches control accuracy higher than data.
The preferential position sensor selected is photoelectric code disk, and there is axle at photoelectric code disk center, there is annular logical, dark quarter on axle
Line, has photoemission and receiving device to read, and obtains two square-wave signal A, B, and A, B two-phase differ 90 degree, by comparing A phases preceding
Or B phase is preceding, to differentiate the forward and reverse of encoder, it is assumed that 90 degree of the advanced B phases of A phase are rotating forward, then B phases A phases 90 in advance
It is reversion to spend.
Because speed closed loop pid control algorithm, digital signal processor, the existing prior art of photoelectric code disk are disclosed, here
Repeat no more.
Claims (5)
1. the motor control method with position sensor of shield door is driven, it is characterised in that：The motor is by controller control
System, controller includes digital signal processor, current acquisition module, analog-digital converter, pulse-width modulator, controller
It is connected with motor, position sensor, current acquisition module detection current of electric, analog-digital converter is converted to current signal
Data signal and supplied with digital signal processor, the control method are comprised the following steps：
Step a：When motor drives shield door to move, position sensor detects the position variation signal of motor, Digital Signal Processing
Device obtains position signalling and calculates the time used by change in location, is calculated the speed of motor, and digital signal processor is to motor
Carry out speed closed loop PID control；
Step b：If digital signal processor cannot obtain the position variation signal of position sensor detection, Digital Signal Processing
Device compares current of electric and presetting threshold values, and when threshold values of the electric current more than setting, controlled motor is stalled or is inverted to initial
State；When electric current is not more than the threshold values of setting, then judge digital signal processor whether have recorded switch gate it is whole when
M- dutycycle curve, if the controlled motor uniform rotation without if, if when m- dutycycle curve then according to record, presses
Switch gate rate curve controlled motor；
Described when m- dutycycle curve is recorded in such a way：When gate test is shielded or during commencement of commercial operation, shield door is opened
In door closing procedure, one group of pulse-width modulator output is with the time as axle, the duty cycle data of correspondence switch gate rate curve, number
Word signal processor records each duty cycle data and its corresponding time, m- dutycycle curve during formation.
2. it is according to claim 1 drive shield door the motor control method with position sensor, it is characterised in that：
The controller is also connected to level sensor, if sensors in place detects shield door and does not have open and close in place, circulation step a,
B, if detecting shield door open and close in place, motor stalling.
3. it is according to claim 2 drive shield door the motor control method with position sensor, it is characterised in that：
During speed closed loop PID control, motor drives shield door movement, and moving process is divided into five stages：Accelerate after startup；Accelerate to one
After definite value, remain a constant speed movement；Shield door reduces speed now when running the position to total travel 85%；To total travel 95% position when
Low speed is kept at the uniform velocity to move；Slow down again afterwards movement, until shield door is moved into place.
4. it is according to claim 1 drive shield door the motor control method with position sensor, it is characterised in that：
The all times that open the door or close the door are set to 3 seconds, and a duty cycle data was recorded every 0.01 second in step b.
5. it is according to claim 1 drive shield door the motor control method with position sensor, it is characterised in that：
The position sensor is photoelectric code disk.
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| CN201510038245.8A CN104712214B (en) | 2015-01-26 | 2015-01-26 | Control method for motor driving shield door and provided with position sensor |
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| CN201510038245.8A CN104712214B (en) | 2015-01-26 | 2015-01-26 | Control method for motor driving shield door and provided with position sensor |
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| CN104712214B true CN104712214B (en) | 2017-05-24 |
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| TWI622699B (en) * | 2015-06-26 | 2018-05-01 | Hao Wu | Intelligent door and window control system |
| CN105162375B (en) * | 2015-08-20 | 2017-12-15 | 宁波中车时代传感技术有限公司 | Screen door control system methods of self-tuning |
| KR101774666B1 (en) * | 2015-12-03 | 2017-09-04 | 현대자동차주식회사 | Safety power window system and operating method thereof |
| CN107975908B (en) * | 2017-11-03 | 2020-10-20 | 广东美的制冷设备有限公司 | Air conditioner opening and closing structure control method, air conditioner and readable storage medium |
| CN107834912A (en) * | 2017-11-08 | 2018-03-23 | 郑州精益达汽车零部件有限公司 | A kind of electronic Passenger door device and control method |
| JP7032168B2 (en) | 2018-02-14 | 2022-03-08 | 株式会社小松製作所 | Work vehicle and system including work vehicle |
| CN110336517B (en) * | 2019-07-03 | 2021-02-12 | 东方久乐汽车电子（上海）股份有限公司 | Hidden door handle control method based on in-place running time |
| CN110296850A (en) * | 2019-07-18 | 2019-10-01 | 上海海事大学 | The control method of car door opening position in car door durability test apparatus |
| CN112627666A (en) * | 2019-10-08 | 2021-04-09 | 苏州个纳科技有限公司 | Intelligent control method for automatic door |
| CN111677399B (en) * | 2020-06-04 | 2022-05-17 | 广州地铁集团有限公司 | Method for identifying maximum current of platform door motor under wind pressure and platform door control method |
| CN112963061B (en) * | 2021-02-23 | 2022-04-29 | 杭州优迈科技有限公司 | Electric door control method and device and electronic equipment |
| CN113241978B (en) * | 2021-05-21 | 2023-06-20 | 北京云迹科技股份有限公司 | Control method for door motor and related equipment |
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Address after: 315021 Zhejiang Province, Ningbo Jiangbei District Yongjiang Industrial Park No. 138 vibration Yonglu Applicant after: NINGBO CRRC TIMES SENSING TECHNOLOGY CO., LTD. Address before: 315021 Zhejiang Province, Ningbo Jiangbei District Yongjiang Industrial Park No. 138 vibration Yonglu Applicant before: Ningbo CSR Times Transducer Technique Co., Ltd. |
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