CN105133995A - Method and system for controlling opening/closing moving speed of electric servo protection door - Google Patents
Method and system for controlling opening/closing moving speed of electric servo protection door Download PDFInfo
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- CN105133995A CN105133995A CN201510455050.3A CN201510455050A CN105133995A CN 105133995 A CN105133995 A CN 105133995A CN 201510455050 A CN201510455050 A CN 201510455050A CN 105133995 A CN105133995 A CN 105133995A
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- protective door
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- stop
- door
- electrical servo
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Abstract
The invention discloses a method and system for controlling the opening/closing moving speed of an electric servo protection door. Parameters of movement acceleration time and constant speed of the protection door are set in a driver control module, a drive component is ordered to execute the parameter set, and accordingly the protection door is driven to run. The driver control module comprises a processor and a minimum system circuit. The processor can carry out programming of the assembly language or the hardware C language or the ladder diagram LAD or the structural language STL or the functional block FBD computer language. The drive component comprises an electric serve motor, a servo driver and an electric servo motor control loop, and the electric servo motor is connected to a protection door body through a mechanical transmission mechanism. The method and system are applied to designing of a protection door control system, variable slope control in the opening and closing stage of the protection door and the variable speed control in the constant-speed running process are achieved, and the requirement for controlling the moving speed of the safety isolation protection door is met.
Description
Technical field
The present invention relates to a kind of method and system controlling electrical servo type protective door ON/OFF movement velocity, be specifically related to a kind of movement velocity control method and system of electrical servo type protective door, comprise the basic demand of protective door electrical servo driver part, control assembly and control algolithm hardware.
Background technology
Protective door is widely used in Machining energetic materials, nuclear material processing, dangerous substance production etc. and there is the dangerous operation fields such as risk of explosion, nuclear radiation, biochemical environment pollution, mainly realize the isolation of deathtrap and safety zone, guarantee dangerous operation process safety.Protective door requires that dangerous operation region possesses in the secure state on the one hand and opens at any time or close, and meets the function of personnel's turnover; Require that dangerous operation region is in dangerous operation process on the other hand, even if there occurs dangerous accident, unsafe range also can be realized to be isolated in beyond safety zone, guarantee the personnel of safety zone, equipment or physical security.Protective door in use, need guarantee that a body is opened or stopped process flexibility, do not produce surrounding objects and clash into and can realize protective door high-efficiency operation, general employing electrical servo type drive system, need invent a kind of door speed of moving body control method of electrical servo type protective door.Domesticly also do not form at present relevant intellectual property file to introduce electrical servo type protection every speed of moving body control method.The movement velocity control method of this electrical servo type protective door mainly introduced by this file.
Summary of the invention
Instant invention overcomes the deficiencies in the prior art, a kind of method and system controlling electrical servo type protective door ON/OFF movement velocity are provided.
Consider the problems referred to above of prior art, according to an aspect disclosed by the invention, the present invention by the following technical solutions:
Control a method for the movement velocity that electrical servo type protective door is opened, said method comprising the steps of:
Protective door on step 1, push parts drives button, the set of protective door open state, if now protective door keeper position detecting device detects that keeper reaches position, then driver control module controls protective door to open driver enable, and protective door evolution is to set;
Step 2, protective door motion acceleration time and constant speed speed parameter is set in driver control module;
After step 3, driver part receive the protective door ON signal of driver control module, just perform permanent accelerated motion by the acceleration time arranged in step 2, thus drive protective door also with permanent accelerated motion;
If step 4 step 3 executes according to the acceleration time that step 2 is arranged and closes and arrive constant speed speed set in step 2, then represent that protective door starts section and completes, now driver part just drives protective door to continue to perform door opening action by constant speed, if driver module failure system is reported to the police, then perform the stop of protective door start-stop and do; If or driver module failure system is not reported to the police, but protective door position detecting device detects that Men Tiyi reaches position, then perform the stop of protective door start-stop and do; If or driver module failure system is not reported to the police, protective door position detecting device detects that a body does not reach position simultaneously, now protective door then continues the door opening action performing constant speed, does until just perform the stop of protective door start-stop when occurring that the situation that foregoing execution protective door start-stop stop is done or protective door stop button are pressed.
Control a method for the movement velocity that electrical servo type protective door closes, said method comprising the steps of:
Protective door on step 1, push parts closes button, the set of protective door off status, and it is enable that driver control module controls protective door pass driver, and protective door closes direction set;
Step 2, protective door motion acceleration time and constant speed speed parameter is set in driver control module;
After step 3, driver part receive the protective door OFF signal of driver control module, just perform permanent accelerated motion by the acceleration time arranged in step 2, thus drive protective door also with permanent accelerated motion;
If step 4 step 3 executes according to the acceleration time that step 2 is arranged and closes and arrive constant speed speed set in step 2, then represent that protective door starts section and completes, now driver part just drives protective door to continue execution by constant speed to close the door action, if driver module failure system is reported to the police, then perform protective door and close down stop work; If or driver module failure system is not reported to the police, but protective door position detecting device detects that Men Tiyi closes to put in place, then perform protective door and close down stop work; If or driver module failure system is not reported to the police, simultaneously protective door position detecting device detects that a body does not close and puts in place, now protective door then continues to perform the action of closing the door of constant speed, just performs protective door close down stop work until occur that foregoing execution protective door is closed down when situation that stop does or protective door stop button are pressed.
Present invention also offers a kind of system controlling electrical servo type protective door ON/OFF movement velocity, described system comprises:
Functional unit, open for realizing protective door, protective door close and protective door stop feature operation;
Driver part, for the driving of protective door, realizes the execution controlled protective door movement velocity;
Driver control module, for arranging protective door motion acceleration time and constant speed speed parameter, and outputs signal driver part;
Protective door keeper position detecting device, for detecting the situation residing for keeper;
Protective door position detecting device, for detecting the situation residing for protection every body;
Whether driver module failure system, run normal, and output guard door is opened or protective door closes stop signal for detecting driver part.
Further technical scheme is: described driver part comprises electrical servo motor, servo-driver and electrical servo motor control loop, and described electrical servo motor is connected on protection every body by mechanical transmission mechanism.
Further technical scheme is: described electrical servo motor control loop comprises loop protection line breaker and motor driver; and described motor driver is connected on buncher by connecting line, motor drive signal can be produced according to friction speed, rotating direction.
Further technical scheme is: described driver control module comprises processor, minimum system circuit, and described processor can carry out assembler language, hardware C language, ladder diagram LAD, structured language STL or functional block FBD language programming.
Further technical scheme is: described protective door position detecting device comprises a body and reaches a sense switch and Men Tiguan and to put in place sense switch.
Further technical scheme is: described functional unit comprises protective door and opens button, protective door pass button and protective door stop button.
Compared with prior art, one of beneficial effect of the present invention is:
First door body accelerates from zero velocity according to the acceleration time after opening and running, and when after arrival active section speed, open section and stop, door body runs according to active section constant speed.
After Men Tikai or Men Tiguan instruction sends, the set of door body opening, only receives a body halt instruction, door health check-up slowdown monitoring switch puts in place or after the arrival of driver module failure system alarm signal, door body opening just resets; Under the set of door body opening, send to driver part and rotate forward or reverse signal, driver part produces different control signal sequences according to boost phase and constant rate period state, realizes the motion of door body; Under resetting in door body opening, send zero velocity signal to driver part, driver part then produces stop control signal sequence, realizes the stop motion of door body.
Method and system of the present invention has been applied in protective door Control System Design, achieves the change speeds control in the variable slope control in protective door start and stop stage, constant speed operation, meets the movement velocity control overflow of safety isolation protective door.
Accompanying drawing explanation
In order to clearer explanation present specification embodiment or technical scheme of the prior art, below the accompanying drawing used required in the description to embodiment or prior art is briefly described, apparently, the accompanying drawing that the following describes is only the reference to some embodiments in present specification, for those skilled in the art, when not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 shows the method workflow diagram controlling the movement velocity that electrical servo type protective door is opened according to an embodiment of the invention.
Fig. 2 shows the method workflow diagram controlling the movement velocity that electrical servo type protective door closes according to an embodiment of the invention.
Detailed description of the invention
Below in conjunction with embodiment, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
As shown in Figure 1, a kind of method controlling the movement velocity that electrical servo type protective door is opened, said method comprising the steps of:
Protective door on step 1, push parts drives button, the set of protective door open state, if now protective door keeper position detecting device detects that keeper reaches position, then driver control module controls protective door to open driver enable, and protective door evolution is to set;
Step 2, protective door motion acceleration time and constant speed speed parameter is set in driver control module;
After step 3, driver part receive the protective door ON signal of driver control module, just perform permanent accelerated motion by the acceleration time arranged in step 2, thus drive protective door also with permanent accelerated motion;
If step 4 step 3 executes according to the acceleration time that step 2 is arranged and closes and arrive constant speed speed set in step 2, then represent that protective door starts section and completes, now driver part just drives protective door to continue to perform door opening action by constant speed, if driver module failure system is reported to the police, then perform the stop of protective door start-stop and do; If or driver module failure system is not reported to the police, but protective door position detecting device detects that Men Tiyi reaches position, then perform the stop of protective door start-stop and do; If or driver module failure system is not reported to the police, protective door position detecting device detects that a body does not reach position simultaneously, now protective door then continues the door opening action performing constant speed, does until just perform the stop of protective door start-stop when occurring that the situation that foregoing execution protective door start-stop stop is done or protective door stop button are pressed.
As shown in Figure 2, a kind of method controlling the movement velocity that electrical servo type protective door closes, said method comprising the steps of:
Protective door on step 1, push parts closes button, the set of protective door off status, and it is enable that driver control module controls protective door pass driver, and protective door closes direction set;
Step 2, protective door motion acceleration time and constant speed speed parameter is set in driver control module;
After step 3, driver part receive the protective door OFF signal of driver control module, just perform permanent accelerated motion by the acceleration time arranged in step 2, thus drive protective door also with permanent accelerated motion;
If step 4 step 3 executes according to the acceleration time that step 2 is arranged and closes and arrive constant speed speed set in step 2, then represent that protective door starts section and completes, now driver part just drives protective door to continue execution by constant speed to close the door action, if driver module failure system is reported to the police, then perform protective door and close down stop work; If or driver module failure system is not reported to the police, but protective door position detecting device detects that Men Tiyi closes to put in place, then perform protective door and close down stop work; If or driver module failure system is not reported to the police, simultaneously protective door position detecting device detects that a body does not close and puts in place, now protective door then continues to perform the action of closing the door of constant speed, just performs protective door close down stop work until occur that foregoing execution protective door is closed down when situation that stop does or protective door stop button are pressed.
According to another embodiment of the present invention, a kind of system controlling electrical servo type protective door ON/OFF movement velocity, described system comprises:
Functional unit, open for realizing protective door, protective door close and protective door stop feature operation;
Driver part, for the driving of protective door, realizes the execution controlled protective door movement velocity;
Driver control module, for arranging protective door motion acceleration time and constant speed speed parameter, and outputs signal driver part;
Protective door keeper position detecting device, for detecting the situation residing for keeper;
Protective door position detecting device, for detecting the situation residing for protection every body;
Whether driver module failure system, run normal, and output guard door is opened or protective door closes stop signal for detecting driver part.
Further, described driver part comprises electrical servo motor, servo-driver and electrical servo motor control loop, and described electrical servo motor is connected on protection every body by mechanical transmission mechanism.
Further, described electrical servo motor control loop comprises loop protection line breaker and motor driver, and described motor driver is connected on buncher by connecting line, can produce motor drive signal according to friction speed, rotating direction.
Further, described driver control module comprises processor, minimum system circuit, and described processor can carry out assembler language, hardware C language, ladder diagram LAD, structured language STL or functional block FBD language programming.
Further, described protective door position detecting device comprises a body and reaches a sense switch and Men Tiguan and to put in place sense switch.
Further, described functional unit comprises that protective door drives button, protective door closes button and protective door stop button.
This invention achievement is successfully applied in the blast-resistant door design of plant area of Inst. of Chemical Material, Chinese Inst. of Engineering Physics, achieves the operating movement velocity controlling functions of more than ten platform blast-resistant doors of this plant area.This equipment reliability service 10 months.The movement velocity that the method invented realizes protective door controls.
In this manual, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiment, identical similar portion cross-reference between each embodiment.
Than that described above, also it should be noted that, spoken of in this manual " embodiment ", " another embodiment ", " embodiment ", etc., refer to the specific features, structure or the feature that describe in conjunction with this embodiment and be included at least one embodiment of the application's generality description.Multiple place occurs that statement of the same race is not necessarily refer to same embodiment in the description.Furthermore, when describing specific features, structure or a feature in conjunction with any embodiment, what advocate is also fall within the scope of the invention to realize this feature, structure or feature in conjunction with other embodiments.
Although with reference to multiple explanatory embodiment of the present invention, invention has been described here, but, should be appreciated that, those skilled in the art can design a lot of other amendment and embodiment, these amendments and embodiment will drop within spirit disclosed in the present application and spirit.More particularly, in the scope of and claim open in the application, multiple modification and improvement can be carried out to the building block of subject combination layout and/or layout.Except the modification of carrying out building block and/or layout is with except improvement, to those skilled in the art, other purposes also will be obvious.
Claims (8)
1. control a method for the movement velocity that electrical servo type protective door is opened, it is characterized in that, said method comprising the steps of:
Protective door on step 1, push parts drives button, the set of protective door open state, if now protective door keeper position detecting device detects that keeper reaches position, then driver control module controls protective door to open driver enable, and protective door evolution is to set;
Step 2, protective door motion acceleration time and constant speed speed parameter is set in driver control module;
After step 3, driver part receive the protective door ON signal of driver control module, just perform permanent accelerated motion by the acceleration time arranged in step 2, thus drive protective door also with permanent accelerated motion;
If step 4 step 3 executes according to the acceleration time that step 2 is arranged and closes and arrive constant speed speed set in step 2, then represent that protective door starts section and completes, now driver part just drives protective door to continue to perform door opening action by constant speed, if driver module failure system is reported to the police, then perform the stop of protective door start-stop and do; If or driver module failure system is not reported to the police, but protective door position detecting device detects that Men Tiyi reaches position, then perform the stop of protective door start-stop and do; If or driver module failure system is not reported to the police, protective door position detecting device detects that a body does not reach position simultaneously, now protective door then continues the door opening action performing constant speed, does until just perform the stop of protective door start-stop when occurring that the situation that foregoing execution protective door start-stop stop is done or protective door stop button are pressed.
2. control a method for the movement velocity that electrical servo type protective door closes, it is characterized in that, said method comprising the steps of:
Protective door on step 1, push parts closes button, the set of protective door off status, and it is enable that driver control module controls protective door pass driver, and protective door closes direction set;
Step 2, protective door motion acceleration time and constant speed speed parameter is set in driver control module;
After step 3, driver part receive the protective door OFF signal of driver control module, just perform permanent accelerated motion by the acceleration time arranged in step 2, thus drive protective door also with permanent accelerated motion;
If step 4 step 3 executes according to the acceleration time that step 2 is arranged and closes and arrive constant speed speed set in step 2, then represent that protective door starts section and completes, now driver part just drives protective door to continue execution by constant speed to close the door action, if driver module failure system is reported to the police, then perform protective door and close down stop work; If or driver module failure system is not reported to the police, but protective door position detecting device detects that Men Tiyi closes to put in place, then perform protective door and close down stop work; If or driver module failure system is not reported to the police, simultaneously protective door position detecting device detects that a body does not close and puts in place, now protective door then continues to perform the action of closing the door of constant speed, just performs protective door close down stop work until occur that foregoing execution protective door is closed down when situation that stop does or protective door stop button are pressed.
3. control a system for electrical servo type protective door ON/OFF movement velocity, it is characterized in that, described system comprises:
Functional unit, open for realizing protective door, protective door close and protective door stop feature operation;
Driver part, for the driving of protective door, realizes the execution controlled protective door movement velocity;
Driver control module, for arranging protective door motion acceleration time and constant speed speed parameter, and outputs signal driver part;
Protective door keeper position detecting device, for detecting the situation residing for keeper;
Protective door position detecting device, for detecting the situation residing for protection every body;
Whether driver module failure system, run normal, and output guard door is opened or protective door closes stop signal for detecting driver part.
4. the system of control electrical servo type protective door ON/OFF movement velocity according to claim 3, it is characterized in that, described driver part comprises electrical servo motor, servo-driver and electrical servo motor control loop, and described electrical servo motor is connected on protection every body by mechanical transmission mechanism.
5. the system of control electrical servo type protective door ON/OFF movement velocity according to claim 4; it is characterized in that; described electrical servo motor control loop comprises loop protection line breaker and motor driver; and described motor driver is connected on buncher by connecting line, motor drive signal can be produced according to friction speed, rotating direction.
6. the system of control electrical servo type protective door ON/OFF movement velocity according to claim 3, it is characterized in that, described driver control module comprises processor, minimum system circuit, and described processor can carry out assembler language, hardware C language, ladder diagram LAD, structured language STL or functional block FBD language programming.
7. the system of control electrical servo type protective door ON/OFF movement velocity according to claim 3, is characterized in that, described protective door position detecting device comprises a body and reaches a sense switch and Men Tiguan and to put in place sense switch.
8. the system of control electrical servo type protective door ON/OFF movement velocity according to claim 3, is characterized in that, described functional unit comprises protective door and opens button, protective door pass button and protective door stop button.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510455050.3A CN105133995A (en) | 2015-07-29 | 2015-07-29 | Method and system for controlling opening/closing moving speed of electric servo protection door |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510455050.3A CN105133995A (en) | 2015-07-29 | 2015-07-29 | Method and system for controlling opening/closing moving speed of electric servo protection door |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105507733A (en) * | 2016-01-05 | 2016-04-20 | 天津职业技术师范大学 | Automatic door control device |
| CN106948704A (en) * | 2017-04-06 | 2017-07-14 | 上海三意电机驱动技术有限公司 | Gate direction-adaptive control method and gate control device |
| CN109062126A (en) * | 2018-08-14 | 2018-12-21 | 中国工程物理研究院化工材料研究所 | A kind of circuit realized blast-resistant door and close safety detection and interlocked control in place |
-
2015
- 2015-07-29 CN CN201510455050.3A patent/CN105133995A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105507733A (en) * | 2016-01-05 | 2016-04-20 | 天津职业技术师范大学 | Automatic door control device |
| CN106948704A (en) * | 2017-04-06 | 2017-07-14 | 上海三意电机驱动技术有限公司 | Gate direction-adaptive control method and gate control device |
| CN106948704B (en) * | 2017-04-06 | 2018-07-24 | 上海三意电机驱动技术有限公司 | Gate direction-adaptive control method and gate control device |
| CN109062126A (en) * | 2018-08-14 | 2018-12-21 | 中国工程物理研究院化工材料研究所 | A kind of circuit realized blast-resistant door and close safety detection and interlocked control in place |
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Application publication date: 20151209 |
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