CN107816280A - The control device and control method of a kind of electric inner swing door - Google Patents
The control device and control method of a kind of electric inner swing door Download PDFInfo
- Publication number
- CN107816280A CN107816280A CN201711029749.9A CN201711029749A CN107816280A CN 107816280 A CN107816280 A CN 107816280A CN 201711029749 A CN201711029749 A CN 201711029749A CN 107816280 A CN107816280 A CN 107816280A
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- Prior art keywords
- door
- motor
- module
- inner swing
- swing door
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/506—Application of doors, windows, wings or fittings thereof for vehicles for buses
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Application of doors, windows, wings or fittings thereof for vehicles characterised by the type of wing
- E05Y2900/531—Doors
Abstract
The invention discloses a kind of control device of electric inner swing door and control method, including microprocessor, Logic control module, input port module, delivery outlet module, communication module, motor drive module, motor, Hall sensor, analog-to-digital conversion module and pid algorithm module；Logic control module is used for the state for judging door；Input port module is used for the switch gate instruction for transmitting microprocessor transmission, and the door state that delivery outlet module is used to judge Logic control module exports；Communication module includes serial communication and CAN communication, and motor drive module is used to instruct controlled motor to rotate according to switch gate；Hall sensor is used for steering and the rotating speed for detecting motor, and Hall sensor has two, two Hall sensor vertical distributions；Analog-digital converter module is used to gather current of electric；Pid algorithm module is run by PID control motor two close cycles.Inner swing door stable movement of the present invention, low noise；Safety coefficient is high；Save the energy；It is applied widely.
Description
Technical field
The present invention relates to the control device and control method of vehicle accessory, more particularly to a kind of electric inner swing door.
Background technology
City bus flourishes at present, and door system is mainly based on Pneumat internal swing door, pneumatic External tilting door, but deposit
Poor in sealing, security is not high, the defects such as comfort level is low by bus.On city bus supporting good airproof performance, it is safe,
The high electronic Inner swing doors of comfort level have turned into the trend of industry development by bus.
Former electric inner swing door is influenceed and unstable by source of the gas, and noise is big during switch gate, and pinch resistant functionality easily fails,
In the presence of certain potential safety hazard；Cylinder driving is to be converted into gas by electricity, then is converted into kinetic energy by gas, certain energy wave be present
Take；And existing inner swing door can be shaken during switch gate or have obvious impingement phenomenon.
The content of the invention
Goal of the invention：In order to overcome in the prior art Pneumat internal swing door occur shaking during switch gate or substantially hit
Phenomenon, the present invention provide a kind of control device of electric inner swing door.
It is a further object of the present invention to provide a kind of control method of electric inner swing door.
Technical scheme：A kind of control device of electric inner swing door, including microprocessor, Logic control module, input mouth mold
Block, delivery outlet module, communication module, motor drive module, motor, Hall sensor, analog-to-digital conversion module and pid algorithm mould
Block；The microprocessor is main control chip, and Logic control module is used for the state for judging door；Input port module is used to transmit micro- place
The switch gate instruction that device is sent is managed, the door state that delivery outlet module is used to judge Logic control module exports；Communication module bag
Serial communication and CAN communication are included, motor drive module is used to instruct controlled motor to rotate according to switch gate；Hall sensor is used for
The steering and rotating speed, Hall sensor for detecting motor have two, two Hall sensor vertical distributions；Analog-digital converter module is used
In collection current of electric；Pid algorithm module is used for the electric current and speed of closed-loop control motor.
Preferably, electric inner swing door includes No.1 door and No. two doors, and the motor drive module drives including No.1 motor
Module, No. two motor drive modules, motor include No.1 motor, No. two motors, and No.1 motor drive module is used to drive No.1
Motor control No.1 door, No. two motor drive modules are used to drive No. two doors of No. two motor controls.The present apparatus it is electronic directly by
Electric energy is converted into kinetic energy, can save the energy, reduces power consumption.
A kind of electric inner swing door control method, comprises the following steps：
(1) control device is powered；
(2) each functional module of control device carries out initial configuration；
(3) electric inner swing door is initialized；
(4) electric inner swing door is controlled to open the door；
(5) electric inner swing door is controlled to close the door；
(6) control electric inner swing door is stopped.
Preferably, the specific method that the step (3) initializes to electric inner swing door is as follows：
(31) judge that inner swing door whether in a position is reached, if reaching a position, stops control inner swing door, output
An indicator lamp is reached, terminates initialization；
(32) judge that inner swing door whether in position in place is closed, if closing position in place, stops control inner swing door, output
Indicator lamp in place is closed, terminates initialization；
(33) if inner swing door does not reach position without closing in place yet, controlled motor inner swing door opens the door, output enabling instruction
Lamp, until detecting that inner swing door reaches position, stop control inner swing door, terminate initialization.
Preferably, the specific method that step (4) the control electric inner swing door opens the door is as follows：
(41) microprocessor sends enabling signal, and enabling signal is filtered processing by Logic control module, judges to open the door
Whether signal is effective, and step (42) is performed if effectively；
(42) judge whether No.1 door reaches position, if position is reached, driving No.1 motor carries out enabling operation；If reach
Position, No.1 motor are out of service；
(43) postpone some seconds, judge whether No. two doors reach position, if not reaching position, No. two motors of driving carry out enabling fortune
OK；If reaching position, No. two motors are out of service；
(44) in motor operation course, motor speed is detected by Hall sensor in real time, passes through analog-to-digital conversion module
Detect electric current, by motor speed and electric current respectively compared with rotational speed limit and current limit, if not only exceeded rotational speed limit but also
More than current limit, then judge in place；If electric current exceedes limitation, rotating speed is not above then into enabling anti-extrusion；
(45) No.1 door and No. two Men Jun reach position, terminate enabling step.
Preferably, the specific method that step (5) the control electric inner swing door is closed the door is as follows：
(51) microprocessor sends door signal, and door signal is filtered processing by Logic control module, judges to close the door
Whether signal is effective, and step (52) is performed if effectively；
(52) judge whether to trigger shutdown anti-extrusion, enter shutdown anti-extrusion if triggering；
(53) judge whether No. two doors close in place, if not closing in place, No. two motors of driving carry out shutdown operation；
(54) postpone some seconds, judge whether No.1 door closes in place, if not closing in place, No.1 motor carries out shutdown operation；
(55) in motor operation course, motor speed is detected by Hall sensor in real time, passes through analog-to-digital conversion module
Detect electric current, by motor speed and electric current respectively compared with rotational speed limit and current limit, if not only exceeded rotational speed limit but also
More than current limit, then judge in place；If electric current exceedes limitation, rotating speed is not above and closing location switch and be not triggered, then enter
Enter anti-extrusion of closing the door；
(56) No.1 door and No. two Men Junguan in place, terminate shutdown step.
Preferably, the shutdown anti-extrusion includes：
(a1) anti-extrusion limit value is set, if detection electric current is more than the extruding limit value, meets shutdown anti-extrusion condition；
(a2) if meeting shutdown anti-extrusion condition, control electric inner swing door opens the door；
(a3) if lockup does not arrive again, enabling is continued executing with；If lockup arrives again, next step is performed
Suddenly；
(a4) judge whether continuous anti-extrusion three times, if without if motor close the door；Shutdown anti-extrusion is exited if having,
Microprocessor is waited to send instruction.Anti-extrusion function is sensitive, will not be failed because of shock, avoids the potential safety hazard of vehicle.
Preferably, the enabling anti-extrusion includes：
(b1) anti-extrusion limit value is set, if detection electric current is more than the extruding limit value, meets enabling anti-extrusion condition；
(b2) if meeting enabling anti-extrusion condition, motor is stopped；
(b3) if lockup does not arrive again, continue waiting for；If lockup arrives again, next step is performed；
(b4) judge whether continuous anti-extrusion three times, if without if motor open the door；Enabling anti-extrusion is exited if having,
Microprocessor is waited to send instruction.
Preferably, the pass in place or reaches the determination methods of position and is：Rotational speed limit and current limit are set, transported in motor
During row, motor speed is detected by Hall sensor in real time, electric current is detected by analog-to-digital conversion module, by motor speed and
Electric current is respectively compared with rotational speed limit and current limit, if motor speed exceedes rotational speed limit, and electric current limits more than electric current
Value, then judge to reach position or close in place；If electric current exceedes current limit, motor speed is then judged as preventing not above rotational speed limit
Squeezed state.
Preferably, when Men Congguan is in place to reaching position or from position is reached to closing in running in place, motor
Change velocity of rotation, the change of speed is according to sinusoidal variation.
Beneficial effect：The control device and control method of a kind of electric inner swing door provided by the invention, are opened inner swing door
Door closing procedure sequencing reasonable in design, by double-closed-loop control, change motor speed according to sine curve, make a motion flat
Surely and without shock, noise is reduced, lifts Consumer's Experience；Anti-extrusion function is sensitiveer, will not be failed because of shock, avoid vehicle
Potential safety hazard；And it is electronic kinetic energy is directly converted into by electric energy, can save the energy, reduce power consumption.It is applied widely, the control
Device and control method can be with all city buses, and various door apertures are controllable.Cost of implementation is low, reliability
Height, a control device can control two motor movements, due to higher using more ripe device, its reliability.Extension
Property it is high, because control device possesses CAN, CAN communication can be carried out with vehicle；There is serial communication simultaneously, can be at any time
Adjusting parameter and function.
Brief description of the drawings
Fig. 1 is the structured flowchart of the control device of the electric inner swing door of the present invention；
Fig. 2 is the main software control flow chart of the present invention；
Fig. 3 is function of initializing flow chart in control process of the invention；
Fig. 4 is door opening function flow chart in control process of the invention；
Fig. 5 is functional flow diagram of being closed the door in the control process of the present invention；
Fig. 6 is shutdown anti-extrusion functional flow diagram in control process of the invention；
Fig. 7 is enabling anti-extrusion functional flow diagram in control process of the invention；
Fig. 8 is that electric inner swing door control device applies the schematic diagram on bus inner swing door.
Embodiment
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings.
The application of the control device and control method on city bus electric inner swing door is as shown in fig. 7, electric inner swing door
Control device 1 is arranged on door system top center, passes through hardwired with the No.1 motor 2 at top both ends and No. two motors 3
Connection.Control device is also connected with vehicle hardwired, there is provided control device power supply and switch gate instruction.
As shown in figure 1, the control device of electric inner swing door, including microprocessor, Logic control module, input port module,
Delivery outlet module, communication module, motor drive module, motor, Hall sensor, analog-to-digital conversion module and pid algorithm module；Institute
It is main control chip to state microprocessor, and Logic control module is used for the state for judging door；Input port module is used to transmit microprocessor
The switch gate instruction of transmission, the door state that delivery outlet module is used to judge Logic control module export；Communication module includes string
Port communications and CAN communication, motor drive module are used to instruct controlled motor to rotate according to switch gate；Hall sensor is used to detect
The steering of motor and rotating speed, Hall sensor have two, two Hall sensor vertical distributions；Analog-digital converter module is used to adopt
Collect current of electric；Pid algorithm module is used for the electric current and speed of closed-loop control motor.Wherein, closed loop refers to system output quantity
Measured value compared with desired set-point, thus produce a deviation signal, control is adjusted using this deviation signal
System, make output valve as far as possible close to desired value.The closed loop of the present embodiment includes two rings of speed ring and electric current loop.Electric current loop is interior
Ring, by PID controller, regulation dutycycle makes current output identical with specified rate.Speed ring is outer shroud, passes through PID control
Device, regulation electric current make speed output quantity identical with specified rate.The invention often carries out the regulation of 20 primary current rings, then carries out a speed
Ring is adjusted.Therefore referred to as inner and outer ring (two close cycles).
Electric inner swing door includes No.1 door and No. two doors, and the motor drive module includes No.1 motor drive module, two
Number motor drive module, motor include No.1 motor, No. two motors, and No.1 motor drive module is used to drive No.1 motor control
No.1 door, No. two motor drive modules are used to drive No. two doors of No. two motor controls.
Control device is integrally based on ARM frameworks, uses microprocessor as main control chip, Logic control module, input mouth mold
Block, delivery outlet module, communication module are referred to as application layer, motor drive module, Hall sensor, analog-digital converter module, PID
Algoritic module is referred to as bottom.The major function of Logic control module is that processing is filtered to input signal, judges that signal is
It is no effective；Current of electric and location variable judge whether door reaches position；Current of electric, location variable and pass location switch judge
Whether door closes in place；This module is also responsible for obstacle detection function, breakdown judge function, state-indicating function etc. simultaneously.Input port
Module includes two I/O mouths, receives signals of vehicles instruction, and respectively door open command and closing the door instructs, by input signal the bottom of to
Layer motor drive module sends door movement instruction, and receives the gate signal fed back from bottom.Delivery outlet module passes through one
The output of I/O mouths turns off or on state when whether front door is in；Communication module realizes fault diagnosis functions and door parameter configuration work(
Can, including serial communication function (local communication) and CAN communication (vehicle-carrying communication).Motor drive module is used to export PWM ripples, controls
Power tube shut-off processed, to reach the purpose of controlled motor rotation direction and rotating speed.Hall sensor has two, two hall sensings
Device vertical distribution, according to hall signal order, calculate motor steering and rotating speed.Analog-digital converter module also has two-way, two-way mould
Number converter module is respectively used to gather the electric current of two motors.
Also including LED light, the LED light is controlled by Logic control module, can show the various states of door,
Including initialize, opening the door, closing the door, reach position, close in place, malfunction, wherein malfunction includes No.1 motor
Excessively stream, No. two over current of motor etc..
As shown in Fig. 2 the electric inner swing door control method of the control device using the electric inner swing door, including following step
Suddenly：
(1) control device is powered；
(2) each functional module of control device carries out initial configuration；
(3) electric inner swing door is initialized；
(4) electric inner swing door is controlled to open the door；
(5) electric inner swing door is controlled to close the door；
(6) control electric inner swing door is stopped.
Inner swing door through the control of electric inner swing door control method opens the door, in addition to shutdown function except normal, also has whole process
Anti-extrusion function, speed-optimization function and adaptation function.
Anti-extrusion function is the detection of the position and electric current by door, judges whether to run into barrier, if it is determined that running into
Barrier then carries out anti-extrusion flow, and specific method step sees below.Detection of obstacles precision reaches 3cm poles, anti-extrusion pressure
Size is adjustable.
Speed-optimization function refers to motor and uses double-closed-loop control, the control of door speed sine curve can be achieved, i.e., Men Congguan is arrived
Position to reach position or from reach position to close in place, speed can be according to sinusoidal variation.Make a motion more steady, will not
Shake, reduce noise.
Adaptation function refers to inner swing door, and success is run to closing in place from position is reached every time, can record running parameter, and
With parameter comparison before, suitably change default parameter.Such as：Anti-extrusion pressure size, door aperture etc..
1st, wherein, the specific method of electric inner swing door initialization is as follows, sees Fig. 3：
(31) judge that inner swing door whether in a position is reached, if reaching a position, stops control inner swing door, output
An indicator lamp is reached, terminates initialization；
(32) judge that inner swing door whether in position in place is closed, if closing position in place, stops control inner swing door, output
Indicator lamp in place is closed, terminates initialization；
(33) if inner swing door does not reach position without closing in place yet, controlled motor inner swing door opens the door, output enabling instruction
Lamp, until detecting that inner swing door reaches position, stop control inner swing door, terminate initialization.
Initialization electric inner swing door purpose be to allow door to run to specified location, be easy to the reality of switch gate function below
It is existing.
2nd, the specific method for controlling electric inner swing door to open the door is as follows, sees Fig. 4：
(41) microprocessor sends enabling signal, and enabling signal is filtered processing by Logic control module, judges to open the door
Whether signal is effective, and step (42) is performed if effectively；
(42) judge whether No.1 door reaches position, if position is reached, driving No.1 motor carries out enabling operation；If reach
Position, No.1 motor are out of service；
(43) postpone some seconds, judge whether No. two doors reach position, if not reaching position, No. two motors of driving carry out enabling fortune
OK；If reaching position, No. two motors are out of service；
(44) in motor operation course, motor speed is detected by Hall sensor in real time, passes through analog-to-digital conversion module
Detect electric current, by motor speed and electric current respectively compared with rotational speed limit and current limit, if not only exceeded rotational speed limit but also
More than current limit, then judge in place；If electric current exceedes limitation, rotating speed is not above then into enabling anti-extrusion；
(45) No.1 door and No. two Men Jun reach position, terminate enabling step.
3rd, the specific method for controlling electric inner swing door to close the door is as follows, sees Fig. 5：
(51) microprocessor sends door signal, and door signal is filtered processing by Logic control module, judges to close the door
Whether signal is effective, and step (52) is performed if effectively；
(52) judge whether to trigger shutdown anti-extrusion, enter shutdown anti-extrusion if triggering；
(53) judge whether No. two doors close in place, if not closing in place, No. two motors of driving carry out shutdown operation；
(54) postpone some seconds, judge whether No.1 door closes in place, if not closing in place, No.1 motor carries out shutdown operation；
(55) in motor operation course, motor speed is detected by Hall sensor in real time, passes through analog-to-digital conversion module
Detect electric current, by motor speed and electric current respectively compared with rotational speed limit and current limit, if not only exceeded rotational speed limit but also
More than current limit, then judge in place；If electric current exceedes limitation, rotating speed is not above and closing location switch and be not triggered, then enter
Enter anti-extrusion of closing the door；
(56) No.1 door and No. two Men Junguan in place, terminate shutdown step.
4th, the specific method of the shutdown anti-extrusion is as follows, sees Fig. 6：
(a1) anti-extrusion limit value is set, if detection electric current is more than the extruding limit value, meets shutdown anti-extrusion condition；
(a2) if meeting shutdown anti-extrusion condition, control electric inner swing door opens the door；
(a3) if lockup does not arrive again, enabling is continued executing with；If lockup arrives again, next step is performed
Suddenly；
(a4) judge whether continuous anti-extrusion three times, if without if motor close the door；Shutdown anti-extrusion is exited if having,
Microprocessor is waited to send instruction.
5th, the specific method of the enabling anti-extrusion is as follows, sees Fig. 7：
(b1) anti-extrusion limit value is set, if detection electric current is more than the extruding limit value, meets enabling anti-extrusion condition；
(b2) if meeting enabling anti-extrusion condition, motor is stopped；
(b3) if lockup does not arrive again, continue waiting for；If lockup arrives again, next step is performed；
(b4) judge whether continuous anti-extrusion three times, if without if motor open the door；Enabling anti-extrusion is exited if having,
Microprocessor is waited to send instruction.
The pass in place or reaches the determination methods of position and is：Rotational speed limit and current limit are set, in motor operation course
In, motor speed is detected by Hall sensor in real time, electric current is detected by analog-to-digital conversion module, by motor speed and electric current point
Not compared with rotational speed limit and current limit, if motor speed exceedes rotational speed limit, and electric current exceedes current limit, then sentences
Disconnect in place or close in place；If electric current exceedes current limit, motor speed is then judged as anti-extrusion shape not above rotational speed limit
State.
Claims (10)
1. a kind of control device of electric inner swing door, it is characterised in that including microprocessor, Logic control module, input mouth mold
Block, delivery outlet module, communication module, motor drive module, motor, Hall sensor, analog-to-digital conversion module and pid algorithm mould
Block；The microprocessor is main control chip, and Logic control module is used for the state for judging door；Input port module is used to transmit micro- place
The switch gate instruction that device is sent is managed, the door state that delivery outlet module is used to judge Logic control module exports；Communication module bag
Serial communication and CAN communication are included, motor drive module is used to instruct controlled motor to rotate according to switch gate；Hall sensor is used for
The steering and rotating speed, Hall sensor for detecting motor have two, two Hall sensor vertical distributions；Analog-digital converter module is used
In collection current of electric；Pid algorithm module is used for the electric current and speed of closed-loop control motor.
2. the control device of electric inner swing door according to claim 1, it is characterised in that electric inner swing door includes No.1 door
With No. two doors, the motor drive module includes No.1 motor drive module, No. two motor drive modules, and motor includes No.1 electricity
Machine, No. two motors, No.1 motor drive module are used to drive No.1 motor control No.1 door, and No. two motor drive modules are used to drive
Move No. two doors of No. two motor controls.
3. a kind of electric inner swing door control method of control device using electric inner swing door as claimed in claim 1, it is special
Sign is, comprises the following steps：
(1) control device is powered；
(2) each functional module of control device carries out initial configuration；
(3) electric inner swing door is initialized；
(4) electric inner swing door is controlled to open the door；
(5) electric inner swing door is controlled to close the door；
(6) control electric inner swing door is stopped.
4. the control method of electric inner swing door according to claim 3, it is characterised in that the step (3) is to electronic interior
The specific method of swing door initialization is as follows：
(31) judge that inner swing door whether in a position is reached, if reaching a position, stops control inner swing door, output is reached
Position indicator lamp, terminates initialization；
(32) judge that inner swing door whether in position in place is closed, if closing position in place, stops control inner swing door, output pass is arrived
Position indicator lamp, terminates initialization；
(33) if inner swing door does not reach position without closing in place yet, controlled motor inner swing door opens the door, and exports opening indicating lamp, directly
To detecting that inner swing door reaches position, stop control inner swing door, terminate initialization.
5. the control method of electric inner swing door according to claim 3, it is characterised in that step (4) control is electronic
The specific method that inner swing door opens the door is as follows：
(41) microprocessor sends enabling signal, and enabling signal is filtered processing, judges enabling signal by Logic control module
Whether effectively, step (42) is performed if effectively；
(42) judge whether No.1 door reaches position, if position is reached, driving No.1 motor carries out enabling operation；If reaching position, one
Number motor is out of service；
(43) postpone some seconds, judge whether No. two doors reach position, if not reaching position, No. two motors of driving carry out enabling operation；
If reaching position, No. two motors are out of service；
(44) in motor operation course, motor speed is detected by Hall sensor in real time, detected by analog-to-digital conversion module
Electric current, by motor speed and electric current respectively compared with rotational speed limit and current limit, if not only having exceeded rotational speed limit but also having exceeded
Current limit, then judge in place；If electric current exceedes limitation, rotating speed is not above then into enabling anti-extrusion；
(45) No.1 door and No. two Men Jun reach position, terminate enabling step.
6. the control method of electric inner swing door according to claim 3, it is characterised in that step (5) control is electronic
The specific method that inner swing door is closed the door is as follows：
(51) microprocessor sends door signal, and door signal is filtered processing, judges door signal by Logic control module
Whether effectively, step (52) is performed if effectively；
(52) judge whether to trigger shutdown anti-extrusion, enter shutdown anti-extrusion if triggering；
(53) judge whether No. two doors close in place, if not closing in place, No. two motors of driving carry out shutdown operation；
(54) postpone some seconds, judge whether No.1 door closes in place, if not closing in place, No.1 motor carries out shutdown operation；
(55) in motor operation course, motor speed is detected by Hall sensor in real time, detected by analog-to-digital conversion module
Electric current, by motor speed and electric current respectively compared with rotational speed limit and current limit, if not only having exceeded rotational speed limit but also having exceeded
Current limit, then judge in place；If electric current exceedes limitation, rotating speed is not above and closing location switch and be not triggered, then enter to enter the GATT
Door anti-extrusion；
(56) No.1 door and No. two Men Junguan in place, terminate shutdown step.
7. the control method of electric inner swing door according to claim 6, it is characterised in that the shutdown anti-extrusion includes：
(a1) anti-extrusion limit value is set, if detection electric current is more than the extruding limit value, meets shutdown anti-extrusion condition；
(a2) if meeting shutdown anti-extrusion condition, control electric inner swing door opens the door；
(a3) if lockup does not arrive again, enabling is continued executing with；If lockup arrives again, next step is performed；
(a4) judge whether continuous anti-extrusion three times, if without if motor close the door；Shutdown anti-extrusion is exited if having, is waited
Microprocessor sends instruction.
8. the control method of electric inner swing door according to claim 7, it is characterised in that the enabling anti-extrusion includes：
(b1) anti-extrusion limit value is set, if detection electric current is more than the extruding limit value, meets enabling anti-extrusion condition；
(b2) if meeting enabling anti-extrusion condition, motor is stopped；
(b3) if lockup does not arrive again, continue waiting for；If lockup arrives again, next step is performed；
(b4) judge whether continuous anti-extrusion three times, if without if motor open the door；Enabling anti-extrusion is exited if having, is waited
Microprocessor sends instruction.
9. the control method of the electric inner swing door according to claim 4 or 5, it is characterised in that described to close in place or reach
Position determination methods be：Rotational speed limit and current limit are set, in motor operation course, detected in real time by Hall sensor
Motor speed, electric current is detected by analog-to-digital conversion module, motor speed and electric current are entered with rotational speed limit and current limit respectively
Row compares, if motor speed exceedes rotational speed limit, and electric current exceedes current limit, then judges to reach position or close in place；If electric current
More than current limit, motor speed is then judged as anti-extrusion pressure condition not above rotational speed limit.
10. the control method of electric inner swing door according to claim 3, it is characterised in that when Men Congguan is in place to reaching
Position or from position is reached to closing in running in place, motor changes velocity of rotation, and the change of speed is according to sinusoidal bent
Line changes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711029749.9A CN107816280A (en) | 2017-10-27 | 2017-10-27 | The control device and control method of a kind of electric inner swing door |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| 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 |
| WO2021120469A1 (en) * | 2019-12-20 | 2021-06-24 | 今创集团股份有限公司 | Door mechanism motor drive system |
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