CN110185351A - Eliminate the subway shield accelerator control system and method for driving force mutation - Google Patents
Eliminate the subway shield accelerator control system and method for driving force mutation Download PDFInfo
- Publication number
- CN110185351A CN110185351A CN201910345154.7A CN201910345154A CN110185351A CN 110185351 A CN110185351 A CN 110185351A CN 201910345154 A CN201910345154 A CN 201910345154A CN 110185351 A CN110185351 A CN 110185351A
- Authority
- CN
- China
- Prior art keywords
- foot
- module
- door
- unit
- control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000035772 mutation Effects 0.000 title claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 24
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 238000005259 measurement Methods 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims description 32
- 238000013459 approach Methods 0.000 claims description 17
- 238000005070 sampling Methods 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000006872 improvement Effects 0.000 claims description 6
- 239000000725 suspension Substances 0.000 claims description 4
- 230000009977 dual effect Effects 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 3
- 238000013024 troubleshooting Methods 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 241001465382 Physalis alkekengi Species 0.000 claims description 2
- 238000000605 extraction Methods 0.000 claims description 2
- FFBHFFJDDLITSX-UHFFFAOYSA-N benzyl N-[2-hydroxy-4-(3-oxomorpholin-4-yl)phenyl]carbamate Chemical compound OC1=C(NC(=O)OCC2=CC=CC=C2)C=CC(=C1)N1CCOCC1=O FFBHFFJDDLITSX-UHFFFAOYSA-N 0.000 claims 1
- 230000007547 defect Effects 0.000 abstract description 4
- 230000006378 damage Effects 0.000 abstract description 3
- 230000010354 integration Effects 0.000 abstract description 3
- 230000008030 elimination Effects 0.000 abstract description 2
- 238000003379 elimination reaction Methods 0.000 abstract description 2
- 238000013461 design Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 230000009466 transformation Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000000306 component Substances 0.000 description 2
- 230000029087 digestion Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 208000017667 Chronic Disease Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000008595 infiltration Effects 0.000 description 1
- 238000001764 infiltration Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
- E05F15/42—Detection using safety edges
-
- 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
- E05F15/632—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings
-
- 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
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/77—Power-operated mechanisms for wings with automatic actuation using wireless control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/40—Application of doors, windows, wings or fittings thereof for gates
- E05Y2900/404—Application of doors, windows, wings or fittings thereof for gates for railway platform gates
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Power Engineering (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The present invention discloses the subway shield accelerator control system and method for a kind of elimination driving force mutation.System is made of main control module, drive module, inverter module, brshless DC motor, hall position detection module, current measurement module, close switch and lamp module, local control panel and signal system.The BLDCM of control system uses high integration special driving chip+inverter circuit, simple and reliable；The shield door for setting up pinch resistant functionality improves S smooth motion curve, eliminates the defect of subway shield door driving force mutation, reduces impact force, the mechanical wear of shield door, BLDCM and the damage for driving inverter circuit at the end of closing the door；Control system firmware has remote online more new function using double application architectures；The speed of BLDCM-current double closed-loop control --- the model prediction MPC control of speed ring, the integral-separated PI of electric current loop control --- can overcome the anti-electronic caused slope disturbance of BLDCM startup stage.
Description
Technical field
The invention belongs to the technology scopes of shield door control.It is remote using double application architectures to particularly relate to control system firmware
Journey online updating eliminates the subway shield accelerator control system and method for driving force mutation when shutdown operation.
Background technique
Subway possesses the incomparable advantage of ground traffic tools；It is to eliminate urban traffic blocking under the conditions of the prior art
Chronic illness and the first choice for improving whole society's transit trip share rate.In October, 2012, the operation of one phase of Hangzhou Subway Line 1, day
23.24 ten thousand people times/day of the equal volume of the flow of passengers；It is dragged using AC frequency conversion transformation Type B vehicle, four dynamic two, six marshallings, 1240 people of staffing, if
Timing speed 80km/h, standard running interval 120s.1976, US Department of Transportation published " underground railway Environment Design handbook "
(Subway Enviroment Design Handbook), be put forward for the first time subway platform passenger area and the area Gui Hang by air-flow or
Partition wall separates；It is intended to energy conservation, improves station platform passenger area environmental condition.1987, Westinghous released the first set screen in the whole world
Door/safety door system is covered, enforcement place is Singapore metro.2002, Westinghous built up me in Guangzhou Metro Line No.2
State's first set shield door/safety door system.It is different from developed country, what Chinese subway peak period presence on and off duty be can't get rid of
High crowd scene；Therefore, the safety trip of the main suit Seeking Truth passenger of subway standard configuration shield door.The professional standard of shield door and
It standardizes as follows: " metro design code " (GB50157-2003), " urban railway system platform shielding door technical regulation " (DG/
TJ08-901-2004), " urban railway system platform shielding door " (CJ/T236-2006), " urban rail transit technology specification "
(GB50490-2009).Well-known shield door production supplier has Switzerland's kappa (Kaba), French Faville Lay (Faiveley), Britain
Western room (Westinghous) and Japan Na Boke (Nabco)；Four occupy the 90% of world market share.
By taking Hangzhou Subway Line 1 as an example, total track length 54km, 5.85km containing overhead route；If 34, station, in which: underground
It stands 31, elevated station 3；Shield door is arranged in underground station, and safety door is arranged in elevated station.Shielding/safety door guarantees the safety of passenger
Trip, reduces station operator on duty and working strength；Platform passenger area and the area Gui Hang is isolated in shield door, reduces operation energy consumption,
Reduce the influence of train operation noise and Piston Action Wind to platform passenger.The production supplier of Hangzhou Subway Line 1 shield door is
The gross investment of Faiveley, Line 1 shield door are high, and annualization takes huge O&M spending, and the purchase and supply of spare and accessory parts needs to expend
A large amount of manpowers.So far, shield door core key technology is still monopolized by offshore company；For example, domestic building and built ground
In iron wire, the controller homogeneity of shield door is that pool carrys out product.
What domestic subway shield door industry was walked is introduction, digestion and absorption, again Innovation.Initial stage, the shielding of domestic corporation
Door project uses the mode for cooperating to implement with offshore company；The middle side that rawness lacks technology can only be engaged in low value-added project point
Work: the purchase and assembling of core component, the processing and installation of door body mechanical part, field adjustable and after-sale service；One speech covers it,
Middle side lacks project right of speech.Mid-term experienced the learning process of digestion and absorption, and domestic corporation is to the production compared with high added value
The transfer infiltration of industry chain middle reaches: possess the production and deliverability of the most of components of shield door, such as brshless DC motor, door body, biography
Dynamic device, monitoring device etc., and obtain field application.Currently, it is shield door Core equipment that degree domestic is lower: center connects
Mouth disk (PSC) and door control unit (DCU) etc., it is still necessary to introduce from foreign countries；Expect surmounting for " innovating again " stage.
Subway shield accelerator control system is innovated again, need to be fully assessed to related the relevant technologies and equipment, Quan Mianping
The analysis of subway O&M big data is combined on the basis of estimating, then is innovated and realized and surmounted.
Brshless DC motor (Brushless DC Motor, BLDCM).Alternating current generator is small in size, the service life is long, but adjusts the speed
Control is complicated, speed adjusting performance is poor；Brushed DC motor speed regulating control is simple, speed adjusting performance is good, but motor volume is big, brush life
Short, Maintenance Difficulty inherent shortcoming is substantially without solution.BLDCM has the strong point of exchange and brushed DC motor concurrently, have it is simple, can
It leans on, stablize, safeguarding that convenience, the feature high-efficient, speed adjusting performance is superior are the only selections of subway shield door driving motor.
The HALL sensor position of BLDCM detects.BLDCM commutation depends on the correct detection of p-m rotor position.Without position
Setting sensor method mainly has Based on Back-EMF Method, freewheeling diode method, inductance method and state observation method；Position-sensor-free detection
Method is low in cost, maintenance is few, but detection accuracy is slightly inferior；Suitable for highly sensitive to cost O&M, not to required precision
High occasion (such as household electrical appliances), the requirement from subway shield door to precision are considered, and position-sensor-free detection method is unsuccessful.Position passes
Sensor is generally Mageneto-sensitive type, electromagnetic type and photo-electric three classes；The synthesis cost performance of Mageneto-sensitive type is slightly dominant, therefore preferred Mageneto-sensitive type HALL
Sensor position detection.
The special driving chip of BLDCM+inverter circuit module.The driving inverter module implementation of BLDCM mainly has
Three kinds: discrete component module, Application Specific Intelligent Power Module IPM, special driving chip+inverter circuit module.Discrete member
The poor reliability of part module scheme, at high cost, oneself is by marginalisation.Application Specific Intelligent Power Module IPM, this is a kind of the inverse of integrated-type
Become device intelligent power module, not only the circuit comprising inverter circuit, driving inverter power switch element IGBT, is also integrated with various
Circuit is protected, such as the IPM module MC33035 of MOTOROLA, the IPM module PS2I965 of Mitsubishi；IPM represents BLDCM driving
The developing direction of inversion, the disadvantage is that at high cost, function is relatively single, and engineer application case is relatively deficient.Special driving chip+inverse
The module on power transformation road, technology maturation, cost performance are excellent, and tradeoff compares, using special driving chip+inverter circuit scheme；Simultaneously
The newest fruits of application specific driving chip, the i.e. special driving chip of high integration.
The O&M big data for analyzing Hangzhou Subway Line 1, when subway shield door Control System Design two urgently to be resolved it is hidden
Suffer from.
Firstly, eliminating the defect of subway shield door driving force mutation.CJ/T 236-2006 " urban rail traffic platform screen
Cover door " etc. standards regulation: the not super 10J of sliding door of screen door maximum kinetic energy, the not super 1J of the maximum kinetic energy of last 100mm stroke；On
The standard of stating is intended to protect the safety of passenger, is very important, even more the compulsory index of subway shield accelerator control system.It is existing
Solution bases oneself upon conjunction rule, formulates the rate curve of sliding door of screen door: being down to door closing speed from V at last 100mm stroke
About 0.3V maintains 0.3V door closing speed to shutdown operation to terminate；Obviously, the speed of sliding door of screen door exists and is mutated twice, i.e.,
It is mutated in the presence of driving force twice.Metro operation peak period, shield door is averaged, and will to switch sliding door primary by 120s, removes " skylight
Phase " external demand continuous work；Therefore, the reliability of control system seems most important.But the existing non-smooth motion of sliding door
Curve will aggravate mechanical wear, BLDCM and the damage for driving inverter circuit；Countermeasure is to design the smooth motion curve of sliding door,
The defect of subway shield door driving force mutation is eliminated, and reduces the impact force at the end of closing the door.
Secondly, the remote online for providing control system firmware updates.Subway standard configuration shield door be item collection building, it is mechanical,
The subjects such as motor, electronics, control, communication are in the high-tech product of one, in view of the variation of metro operation demand or equipment, need pair
Control system firmware is modified accordingly.Metro operation has its particularity, just allows to carry out control system and if only if " skylight phase "
The modification of system firmware.Offline to remove, update, installation system firmware, human and material resources, the pressure of time are huge, and error probability is high；
Use for reference Huawei, in the communication common carriers such as emerging online firmware update solution: system firmware be designed to can remote online update
Double application architectures.
More representational intellectual property Summary on research results is as follows in terms of subway shield accelerator control system:
Patent of invention " a kind of door machine controller and its control method for shield door " (ZL201410019390.7),
It is proposed that central processing unit is connect by rigid line with cell controller, central processing unit is come from by the receiving of asynchronous serial communication module
The enabling of cell controller and door close commands；Central processing unit is connect by CAN bus with master monitor, by door machine controller
State and fault message send master monitor to.
Patent of invention " Oftware updating method of shield door gating device " (application number 201710033047.1) proposes to rise
Grade packet is split into multiple subpackages, then in such a way that bus is using broadcast, while sending to each gating device；Send query information
Confirm whether each gating device receives subpackage.
It is above-mentioned to benefit our pursuits, it is the summary of subway shield accelerator control system research achievement.The capacity of control system firmware has
Limit, being split into multiple subpackages increases the complexity of more new job, and necessity leaves a question open.On the other hand, design sliding door is smooth
The problem of curve movement, lacks people so far and makes inquiries, and is the security risk of metro operation.Therefore, it is necessary on the basis of on going result
On, make further innovative design.
Summary of the invention
The purpose of the present invention is overcome the deficiencies of the prior art and provide a kind of subway shield door of elimination driving force mutation
Control system and method.
A kind of control system of subway shield door that eliminating driving force mutation, it is characterised in that system is by main control module, drive
Dynamic model block, inverter module, brshless DC motor, hall position detection module, current measurement module, close switch and lamps and lanterns mould
Block, local control panel and signal system composition；Main control module is connected through drive module, inverter module with brshless DC motor, nothing
Brushless motor is connected through hall position detection module with main control module, and inverter module is through current measurement module and main control module phase
Even, it is connected respectively with main control module close to switch and lamp module, local control panel and signal system；
Brshless DC motor is controlled using speed-current double closed-loop of mainstream；Subway shield accelerator control system receives enabling
When order, according to standard S curve, enabling operation is completed in 2.5~3.0s；Subway shield accelerator control system receives door close commands
When, according to the improvement S smooth motion curve for setting up pinch resistant functionality, shutdown operation is completed in 3.0~4.0s；The control of subway shield door
System firmware processed is double application architectures, has the remote online more new function of system firmware.
The main control module include control communication unit, the 1st optocoupler unit, the 2nd optocoupler unit, control communication unit with
STM32F103 chip is core, and for the 1st optocoupler unit using ISO7230 chip as core, the 2nd optocoupler unit class is same；STM32F103
Foot 59,60,63 be connected respectively with the foot 3,4,5 of the 1st optocoupler unit ISO7230；The foot 14,13,12 of ISO7230 is respectively connected to
A110, B110, C110 terminal, foot 2,8,15,9 are grounded, and foot 1,16 meets Vcc, and the 2nd optocoupler unit class is same；STM32F103 passes through foot
69,70 asynchronous serial port UART is extended to RS485 bus, communicates with local control panel and signal system, receives local control panel
With the opening-closing door control command of signal system, while the instantaneous operating conditions of shield door are fed back；
The firmware of communication unit is controlled using double application architectures, i.e. " dual system " framework: being opened up independent using journey
Sort run area I and application program Operational Zone II；When controlling the update of communication unit firmware remote online, local control panel and signal system
System issues the application program of update, and the application program of update is stored to application program Operational Zone I or application program Operational Zone II；On
When electrically activating, the switching of Boot loader guidance control communication unit application program.
The drive module using DRV8301 chip as core, the foot 17~22 of DRV8301 sequentially respectively with A110,
A120, B110, B120, C110, C120 terminal are connected, the foot 8~11 of DRV8301 sequentially respectively with control communication unit
STM32F103 foot 40,42,43,41 is connected, and the foot 47,42,37,45,40,35 of DRV8301 is respectively connected to GH_A, GH_B, GH_
C, GL_A, GL_B, GL_C terminal；SPI mouthfuls of DRV8301 core Embedded, STM32F103 are downloaded when mistake occurs by SPI
Protective condition, the embedded error protection unit of DRV8301 chip judge whether to need to start according to the error protection condition of downloading
Error protection.
The inverter module include MOSFET:V301, V303 of 6 model IRF1010, V305, V302, V304,
V306 constitutes full arm bridge inverter circuit；V301, V303, V305 form upper arm bridge, and V302, V304, V306 form lower arm bridge；
V301, V302 are A phase branch, and node A is the common node of V301 and V302, and V303, V304, V305, V306 are similar；V301's
Grid is connected through R301 with GH_A terminal, and the grid of V302 is connected through R302 with GL_A terminal, V303, V304, V305, V306 class
Together；Common node A, B, C are connected with A, B, C winding of brushless DC motor stator respectively；When motor operates, the six of upper lower arm bridge
MOSFET has and a conducting of only one of upper arm bridge and lower arm bridge, and two MOSFET are not in the branch of same phase
On；Resistance RS is the current sampling resistor of inverter module, and VS is then the voltage value of sampled resistance conversion inverter module electric current；Nothing
The brshless DC motor of brushless motor selection De En section BG series.
The hall position detection module is using optocoupler ISO7230 chip as core, 3 Halls built in brshless DC motor
Position sensor: HALL1, HALL2, HALL3, the panel output sensor signal through 5 ports；Port 1 and R501, R502,
One end of R503, C501 and 5V are connected, and port 5 is connected ground connection with the other end of C501；The port 2 and R501's of HALL1 is another
One end, one end of R511 are connected, and the other end of R511, one end of C511, the foot 3 of ISO7230 are connected, C511 other end ground connection；
The port 3 of HALL2,4 mode of connection of port of HALL3 are similar；
The foot 16,1 of ISO7230 meets 5V, 3.3V respectively, and foot 15,9,2,8 is grounded, and foot 14,13,12 is communicated with control respectively
The STM32F103 foot 26,27,28 of unit is connected；Electricity of the signal of hall position sensor output through optocoupler processing, 5V to 3.3V
Flat turn is changed, and carries out AD sampling for STM32F103, completes the MPC control of speed ring model prediction.
The current measurement module is using DRV8301 chip as core, the Current amplifier that is internally integrated by DRV8301
Device improves the sampled signal of electric current；The current sampling resistor of inverter module is RS, the both ends RS extraction voltage VS, VS access
The foot 32,33 of DRV8301；The foot 24 of DRV8301 meets 3.3V, and foot 25 is connected with the STM32F103 foot 29 of control communication unit, supplies
STM32F103 carries out AD sampling, completes electric current loop and integrates isolated PI control.
Described includes the 1st inductance approach switch unit, the 1st optocoupler unit, the 2nd inductance close to switch and lamp module
Formula is close to switch unit, the 2nd optocoupler unit, the model of the model HLM18N2NO of inductance approach switch, opto-coupler chip
TLP521_1；1st inductance approach switch unit, the connection type of the 1st optocoupler unit are as follows: the red port of HLM18N2NO
12V is met, black port ground connection, yellow port is connected with TLP521_1 foot 2；TLP521_1 foot 1 meets 12V through R701, and foot 3 is grounded,
Foot 4 is connected with the STM32F103 foot 34 of one end of R702, control communication unit 130, another termination 3V3 of R702；Shield door is adopted
With suspension mounting means, HLM18N2NO is fixed on the 815mm shield door guide rail of shield door 1000mm shutdown stroke；
2nd inductance approach switch unit, the connection type of the 2nd optocoupler unit and the 1st inductance approach switch unit, the
1 optocoupler unit class is same, and HLM18N2NO is fixed on the 980mm shield door guide rail of shield door 1000mm shutdown stroke, logical with control
Believe that the STM32F103 foot 35 of unit is connected.
The shutdown method of the subway shield accelerator control system, it is characterised in that the process of method is as follows:
Variable declaration
The current rating I_rating of BLDCM
The revolving speed rated value N_rating of BLDCM
Current threshold I_threshold=3 × I_rating of shield door folder people
Rotary speed threshold value N_threshold=0.3 × N_rating of shield door folder people
Closing the door, there is no time T ∈ [0,200] ms of folder people
Shield door presss from both sides people's criterion explanation
Criterion 1, the time of shutdown operation
Criterion 2, the electric current i > I_rating of BLDCM
Criterion 3, the revolving speed n < N_rating of BLDCM
Subway shield door shutdown process
1. receiving instruction of closing the door
It reads in and improves S smooth motion curve
T ∈ 2. [0,200] ms
Shutdown operation is carried out according to S smooth motion curve is improved, is turned 5.
3. t ∈ (200,4000] ms
3. -1 shield door presss from both sides people's detection
Criterion 1& criterion 2& criterion 3 is invalid, turns 4.
3. -2 shield doors press from both sides people's processing
Sliding door phase down retreats 50mm
Back door is again switched off, is repeated 3 times within 1 second
Call " 3. -1 " detection
3. -2-1 presss from both sides people's troubleshooting, turn 4.
Exist 3. -2-2 presss from both sides people's failure
The flashing of door indicator light, door are opened and are in free state, artificial treatment
4. carrying out shutdown operation according to S smooth motion curve is improved, turn 5.
5. returning 2..
Compared with the background technology, the present invention, have the beneficial effect that the BLDCM of control system is dedicated using high integration
Driving chip+inverter circuit, it is simple and reliable；The shield door for setting up pinch resistant functionality improves S smooth motion curve, eliminates ground iron shield
A defect for driving force mutation is covered, the impact force at the end of closing the door, the mechanical wear of shield door, BLDCM are reduced and is driven inverse
The damage on power transformation road；Control system firmware has remote online more new function using double application architectures；The speed-of BLDCM
Current double closed-loop control --- the model prediction MPC control of speed ring, the integral-separated PI of electric current loop control --- can overcome BLDCM
Startup stage is anti-electronic to cause slope to disturb.
Detailed description of the invention
Fig. 1 is the functional block diagram of subway shield accelerator control system；
Fig. 2 (a) is the circuit diagram of main control module；
Fig. 2 (b) is the double application architecture figures for controlling communication unit firmware；
Fig. 3 is the circuit diagram of drive module；
Fig. 4 is the circuit diagram of inverter module；
Fig. 5 is the circuit diagram of hall position detection module；
Fig. 6 is the circuit diagram of current measurement module；
Fig. 7 is the circuit diagram close to switch and lamp module；
Fig. 8 (a) is the flow chart of subway shield door shutdown method；
Fig. 8 (b) is to improve S smooth motion curve graph.
Specific embodiment
As shown in Figure 1, eliminating the subway shield accelerator control system of driving force mutation by main control module 100, drive module
200, inverter module 300, brshless DC motor 400, hall position detection module 500, current measurement module 600, close switch
It is formed with lamp module 700, local control panel and signal system 800；Main control module 100 is through drive module 200, inverter module
300 are connected with brshless DC motor 400, and brshless DC motor 400 is through hall position detection module 500 and 100 phase of main control module
Even, inverter module 300 is connected through current measurement module 600 with main control module 100, close to switch and lamp module 700, controls on the spot
Disk processed and signal system 800 are connected with main control module 100 respectively；
Brshless DC motor 400 is controlled using speed-current double closed-loop of mainstream；The receiving of subway shield accelerator control system is opened
When door order, according to standard S curve, enabling operation is completed in 2.5~3.0s；Subway shield accelerator control system receives door close commands
When, according to the improvement S smooth motion curve for setting up pinch resistant functionality, shutdown operation is completed in 3.0~4.0s；The control of subway shield door
System firmware processed is double application architectures, has the remote online more new function of system firmware.
Illustrate 1: in view of local control panel (PSL) and signal system (SIG) they are the existing equipments of Hangzhou Subway Line 1,
It only refers to and not discussing herein.
As shown in Fig. 2 (a), Fig. 2 (b), main control module 100 includes control communication unit 130, the 1st optocoupler unit the 110, the 2nd
Optocoupler unit 120 controls communication unit 130 using STM32F103 chip as core, and the 1st optocoupler unit 110 is with ISO7230 chip
For core, the 2nd optocoupler unit 120 is similar；The foot 59,60,63 of STM32F103 is respectively with the 1st optocoupler unit 110ISO7230's
Foot 3,4,5 is connected；The foot 14,13,12 of ISO7230 is respectively connected to A110, B110, C110 terminal, and foot 2,8,15,9 is grounded, foot 1,
16 meet Vcc, and the 2nd optocoupler unit 120 is similar；It is total to be extended to RS485 by foot 69,70 asynchronous serial port UART by STM32F103
Line is communicated with local control panel and signal system 800, and the opening-closing door for receiving local control panel and signal system 800 controls life
It enables, while feeding back the instantaneous operating conditions of shield door；
The firmware of communication unit 130 is controlled using double application architectures, i.e. " dual system " framework: opening up independent application
Program Operational Zone I and application program Operational Zone II；Control 130 firmware remote online of communication unit update when, local control panel and
Signal system 800 issues the application program of update, and the application program storage of update is transported to application program Operational Zone I or application program
Row area II；When electrifying startup, the switching of Boot loader guidance control 130 application program of communication unit.
As shown in figure 3, drive module 200 is using DRV8301 chip as core, the foot 17~22 of DRV8301 sequentially respectively with
A110, A120, B110, B120, C110, C120 terminal be connected, the foot 8~11 of DRV8301 sequentially respectively with control communication unit
130 STM32F103 foot 40,42,43,41 is connected, and the foot 47,42,37,45,40,35 of DRV8301 is respectively connected to GH_A, GH_
B, GH_C, GL_A, GL_B, GL_C terminal；SPI mouthfuls of DRV8301 core Embedded, STM32F103 downloads mistake by SPI
When protective condition, the embedded error protection unit of DRV8301 chip judges whether to need according to the error protection condition of downloading
Start error protection.
As shown in figure 4, MOSFET:V301, V303 of inverter module 300 including 6 model IRF1010, V305, V302,
V304, V306 constitute full arm bridge inverter circuit；V301, V303, V305 form upper arm bridge, and V302, V304, V306 form lower arm
Bridge；V301, V302 are A phase branch, and node A is the common node of V301 and V302, and V303, V304, V305, V306 are similar；
The grid of V301 is connected through R301 with GH_A terminal, and the grid of V302 is connected through R302 with GL_A terminal, V303, V304, V305,
V306 is similar；Common node A, B, C are connected with A, B, C winding of 400 stator of brshless DC motor respectively；When motor operates, on
Six MOSFET of lower arm bridge have and only one of upper arm bridge is connected with one of lower arm bridge, and two MOSFET are not same
The branch road of phase；Resistance RS is the current sampling resistor of inverter module 300, and VS is then sampled resistance conversion inverter module 300
The voltage value of electric current；The brshless DC motor of the selection De En section BG series of brshless DC motor 400.
As shown in Fig. 5, Fig. 1, hall position detection module 500 is using optocoupler ISO7230 chip as core, brshless DC motor
3 hall position sensors built in 400: HALL1, HALL2, HALL3, the panel output sensor signal through 5 ports；Port 1
It is connected with one end of R501, R502, R503, C501 and 5V, port 5 is connected ground connection with the other end of C501；The end of HALL1
Mouth 2 is connected with one end of the other end of R501, R511, and the other end of R511, one end of C511, the foot 3 of ISO7230 are connected,
C511 other end ground connection；The port 3 of HALL2,4 mode of connection of port of HALL3 are similar；
The foot 16,1 of ISO7230 meets 5V, 3.3V respectively, and foot 15,9,2,8 is grounded, and foot 14,13,12 is communicated with control respectively
The STM32F103 foot 26,27,28 of unit 130 is connected；The signal of hall position sensor output is through optocoupler processing, 5V to 3.3V
Level conversion, for STM32F103 carry out AD sampling, complete speed ring model prediction MPC control.
As shown in Fig. 6, Fig. 1, Fig. 4, current measurement module 600 is using DRV8301 chip as core, inside DRV8301
Integrated current amplifier improves the sampled signal of electric current；The current sampling resistor of inverter module 300 is RS, and the both ends RS are drawn
Voltage VS, VS access the foot 32,33 of DRV8301；The foot 24 of DRV8301 connects 3.3V, foot 25 and control communication unit 130
STM32F103 foot 29 is connected, and carries out AD sampling for STM32F103, completes electric current loop and integrates isolated PI control.
Illustrate to integrate two current amplifiers in 2:DRV8301 driving chip, therefore the sample rate current of inverter module 300 improves
It can be realized by one of current amplifier.
As shown in fig. 7, including the 1st inductance approach switch unit 710, the 1st optocoupler list close to switch and lamp module 700
First 720, the 2nd inductance approach switch unit 730, the 2nd optocoupler unit 740, the model of inductance approach switch
The model TLP521_1 of HLM18N2NO, opto-coupler chip；1st inductance approach switch unit 710, the 1st optocoupler unit 720
Connection type is as follows: the red port of HLM18N2NO meets 12V, and black port ground connection, yellow port is connected with TLP521_1 foot 2；
TLP521_1 foot 1 meets 12V through R701, and foot 3 is grounded, one end of foot 4 and R702, the STM32F103 foot 34 for controlling communication unit 130
It is connected, another termination 3V3 of R702；Shield door uses upper suspension mounting means, and HLM18N2NO is fixed on the pass shield door 1000mm
On the 815mm shield door guide rail of door stroke；
2nd inductance approach switch unit 730, the connection type of the 2nd optocoupler unit 740 and the 1st inductance approach switch
Unit 710, the 1st optocoupler unit 720 are similar, and the 980mm shield door that HLM18N2NO is fixed on shield door 1000mm shutdown stroke is led
On rail, it is connected with the STM32F103 foot 35 of control communication unit 130.
Illustrate 3: in view of detection shield door closure whether in place close to switch (Switch), and shielding gate light (Lamp)
Related switching value category knowledge scope, is also the existing equipment of Hangzhou Subway Line 1, no matter therefore only referring to herein also
It states；Only expansion describes auxiliary add, improvement S smooth motion curve close to switch and circuit.
As shown in Fig. 8 (a), Fig. 8 (b), the process for eliminating the subway shield door shutdown method of driving force mutation is as follows:
Variable declaration
The current rating I_rating of BLDCM
The revolving speed rated value N_rating of BLDCM
Current threshold I_threshold=3 × I_rating of shield door folder people
Rotary speed threshold value N_threshold=0.3 × N_rating of shield door folder people
Closing the door, there is no time T ∈ [0,200] ms of folder people
Shield door presss from both sides people's criterion explanation
Criterion 1, the time of shutdown operation
Criterion 2, the electric current i > I_rating of BLDCM
Criterion 3, the revolving speed n < N_rating of BLDCM
Subway shield door shutdown process
1. receiving instruction of closing the door
It reads in and improves S smooth motion curve
T ∈ 2. [0,200] ms
Shutdown operation is carried out according to S smooth motion curve is improved, is turned 5.
3. t ∈ (200,4000] ms
3. -1 shield door presss from both sides people's detection
Criterion 1& criterion 2& criterion 3 is invalid, turns 4.
3. -2 shield doors press from both sides people's processing
Sliding door phase down retreats 50mm
Back door is again switched off, is repeated 3 times within 1 second
Call " 3. -1 " detection
3. -2-1 presss from both sides people's troubleshooting, turn 4.
Exist 3. -2-2 presss from both sides people's failure
The flashing of door indicator light, door are opened and are in free state, artificial treatment
4. carrying out shutdown operation according to S smooth motion curve is improved, turn 5.
5. returning 2..
Eliminate the parameter list of the improvement S smooth motion curve of driving force mutation
| Time S | Add (subtracting) speed m/s3 | Speed m/s | It is displaced m |
| tA1=0.1, tB1=0.4, tC1=0.5 | K1=12.5 | Accelerate to 0.5 | 0.125 |
| tVD- tVC(tC1)=1.38 | 0 | At the uniform velocity 0.5 | 0.690 |
| tA2- tVD=0.1, tB2- tVD=0.4, tC2- tVD=0.5 | K2=-8.5 | It is decelerated to 0.16 | 0.085 |
| tVF- tVE(tC2)=0.5 | 0 | At the uniform velocity 0.16 | 0.080 |
| tA3- tVF=0.1, tB3- tVF=0.4, tC3- tVF=0.5 | K2=-2.0 | It is decelerated to 0.08 | 0.020 |
It checks, close the door activity duration t=3.38S ∈ [3,4] S, is displaced W=1m；
0.5mV2 VD=0.5 × 75 × 0.52≤ 10J, 0.5mV2 VF=0.5 × 75 × 0.162≤1J；
Conclusion meets Hangzhou Subway Line 1 shield door associated technical parameters index, meets CJ/T 236-2006 and refer to safely
Mark.
Illustrate 4: because enabling follows seven sections of classical S curves, therefore being unfolded to discuss only around shutdown curve herein.BLDCM's
Electric current loop step response regulating time≤10ms, motor speed rise time≤200ms；The false alarm of shield door folder people is excluded,
Shield door press from both sides people detection t ∈ (200,4000] ms, i >=3 × n≤0.3 I_rating and × N_rating；Shutdown operation
Initial 200ms, there is no shield door folder people a possibility that.Detection shield door closure whether in place provide suspension close to switch
The signal of shield door shutdown operation, the close switch are the existing equipments of Hangzhou Subway Line 1.
Illustrate the displacement of 5: seven sections of S curves, speed, acceleration, add the relationship of (subtracting) speed as follows:
If speed at the uniform velocity is V0, the acceleration of even acceleration is a0, then boost phase is being added to meet a0=ktA(k is plus adds
Velocity amplitude subtracts deceleration value), tAIt is to accelerate finish time, tBIt is the even acceleration for accelerating finish time entire boost phase
Degree
Speed
Displacement
Accelerate the speed of finish time
V0=v (tA+tB)=a0tB
It can be exported by above 2 formula
Due to shutdown operation plus accelerate, it is even accelerate, subtract accelerations, at the uniform velocity follow seven sections of S curves of classics, therefore only refer to and not opening up
It opens, discusses the deceleration curve for focusing shutdown operation.Deceleration curve includes three phases: 1. VD (VC)=0.5m/S is decelerated to VE=
0.16m/S, 2. VE=0.16m/S is at the uniform velocity to VF=0.16m/S, and 3. VF=0.16m/S is decelerated to VG=0.08m/S；Each subtract
The fast stage by acceleration and deceleration, it is even slow down, deceleration form, deceleration time=0.1+0.3+0.1=0.5S, subtract deceleration be respectively-
8.5m/S3、-2.0m/S3。
Claims (8)
1. it is a kind of eliminate driving force mutation subway shield accelerator control system, which is characterized in that system by main control module (100),
Drive module (200), inverter module (300), brshless DC motor (400), hall position detection module (500), current measurement
Module (600) is formed close to switch and lamp module (700), local control panel and signal system (800)；Main control module (100)
It is connected through drive module (200), inverter module (300) with brshless DC motor (400), brshless DC motor (400) is through Hall
Position detecting module (500) is connected with main control module (100), and inverter module (300) is through current measurement module (600) and master control mould
Block (100) be connected, close to switch and lamp module (700), local control panel and signal system (800) respectively with main control module
(100) it is connected；
Brshless DC motor (400) is controlled using speed-current double closed-loop of mainstream；Subway shield accelerator control system receives enabling
When order, according to standard S curve, enabling operation is completed in 2.5~3.0s；Subway shield accelerator control system receives door close commands
When, according to the improvement S smooth motion curve for setting up pinch resistant functionality, shutdown operation is completed in 3.0~4.0s；The control of subway shield door
System firmware processed is double application architectures, has the remote online more new function of system firmware；The improvement S smooth motion
The parameter list of curve is as follows:
2. subway shield accelerator control system according to claim 1, which is characterized in that main control module (100) packet
Include control communication unit (130), the 1st optocoupler unit (110), the 2nd optocoupler unit (120), control communication unit (130) with
STM32F103 chip is core, and for the 1st optocoupler unit (110) using ISO7230 chip as core, the 2nd optocoupler unit (120) is similar；
The foot 59,60,63 of STM32F103 is connected with the foot 3,4,5 of the 1st optocoupler unit (110) ISO7230 respectively；The foot of ISO7230
14,13,12 it is respectively connected to A110, B110, C110 terminal, foot 2,8,15,9 is grounded, and foot 1,16 connects Vcc, the 2nd optocoupler unit
(120) similar；STM32F103 is extended to RS485 bus, with local control panel and letter by foot 69,70 asynchronous serial port UART
The communication of number system (800), receives the opening-closing door control command of local control panel and signal system (800), while feeding back shield door
Instantaneous operating conditions；
The firmware of communication unit (130) is controlled using double application architectures, i.e. " dual system " framework: being opened up independent using journey
Sort run area I and application program Operational Zone II；Control communication unit (130) firmware remote online update when, local control panel and
Signal system (800) issues the application program of update, and the application program of update is stored to application program Operational Zone I or application program
Operational Zone II；When electrifying startup, the switching of Boot loader guidance control communication unit (130) application program.
3. subway shield accelerator control system according to claim 1, which is characterized in that the drive module (200) with
DRV8301 chip be core, the foot 17~22 of DRV8301 sequentially respectively with the end A110, A120, B110, B120, C110, C120
Son be connected, the foot 8~11 of DRV8301 sequentially respectively with control communication unit (130) 40,42,43,41 phase of STM32F103 foot
Even, the foot 47,42,37,45,40,35 of DRV8301 is respectively connected to GH_A, GH_B, GH_C, GL_A, GL_B, GL_C terminal；
SPI mouthfuls of DRV8301 core Embedded, STM32F103 downloads protective condition when mistake occurs by SPI, in DRV8301 chip
Embedding error protection unit judges whether to need to start error protection according to the error protection condition of downloading.
4. subway shield accelerator control system according to claim 1, which is characterized in that inverter module (300) packet
MOSFET:V301, V303, V305, V302, V304, the V306 for including 6 model IRF1010 constitute full arm bridge inverter circuit；
V301, V303, V305 form upper arm bridge, and V302, V304, V306 form lower arm bridge；V301, V302 are A phase branch, and node A is
The common node of V301 and V302, V303, V304, V305, V306 are similar；The grid of V301 is connected through R301 with GH_A terminal,
The grid of V302 is connected through R302 with GL_A terminal, and V303, V304, V305, V306 are similar；Common node A, B, C respectively with nothing
A, B, C winding of brushless motor (400) stator are connected；Motor operate when, six MOSFET of upper lower arm bridge have and only on
The conducting of one of arm bridge and lower arm bridge, and two MOSFET are not on the same road Xiang Zhi；Resistance RS is inverter module
(300) current sampling resistor, VS are then the voltage values of sampled resistance conversion inverter module (300) electric current；Brushless dc
The brshless DC motor of machine (400) selection De En section BG series.
5. subway shield accelerator control system according to claim 1, which is characterized in that the hall position detection module
(500) using optocoupler ISO7230 chip as core, 3 hall position sensors built in brshless DC motor (400): HALL1,
HALL2, HALL3, the panel output sensor signal through 5 ports；One end of port 1 and R501, R502, R503, C501, and
5V is connected, and port 5 is connected ground connection with the other end of C501；The port 2 of HALL1 is connected with one end of the other end of R501, R511,
The other end of R511, one end of C511, the foot 3 of ISO7230 are connected, C511 other end ground connection；The port 3 of HALL2, HALL3
4 mode of connection of port is similar；
The foot 16,1 of ISO7230 meets 5V, 3.3V respectively, and foot 15,9,2,8 is grounded, foot 14,13,12 respectively with control communication unit
(130) STM32F103 foot 26,27,28 is connected；The signal of hall position sensor output is handled through optocoupler, 5V is to 3.3V's
Level conversion carries out AD sampling for STM32F103, completes the MPC control of speed ring model prediction.
6. subway shield accelerator control system according to claim 1, which is characterized in that the current measurement module
(600) using DRV8301 chip as core, the current amplifier being internally integrated by DRV8301 improves the sampled signal of electric current；
The current sampling resistor of inverter module (300) is RS, and the both ends RS extraction voltage VS, VS access the foot 32,33 of DRV8301；
The foot 24 of DRV8301 meets 3.3V, and foot 25 is connected with the STM32F103 foot 29 of control communication unit (130), for STM32F103 into
Row AD sampling completes electric current loop and integrates isolated PI control.
7. subway shield accelerator control system according to claim 1, which is characterized in that described close to switch and lamps and lanterns mould
Block (700) includes the 1st inductance approach switch unit (710), the 1st optocoupler unit (720), the 2nd inductance approach switch unit
(730), the 2nd optocoupler unit (740), the model of the model HLM18N2NO of inductance approach switch, opto-coupler chip
TLP521_1；1st inductance approach switch unit (710), the connection type of the 1st optocoupler unit (720) are as follows: HLM18N2NO
Red port meet 12V, black port ground connection, yellow port is connected with TLP521_1 foot 2；TLP521_1 foot 1 connects through R701
12V, foot 3 are grounded, and foot 4 is connected with the STM32F103 foot 34 of one end of R702, control communication unit 130, another termination of R702
3V3；Shield door uses upper suspension mounting means, and HLM18N2NO is fixed on the 815mm shield door of shield door 1000mm shutdown stroke
On guide rail；
2nd inductance approach switch unit (730), the connection type of the 2nd optocoupler unit (740) and the 1st inductance approach switch
Unit (710), the 1st optocoupler unit (720) are similar, and HLM18N2NO is fixed on the 980mm shielding of shield door 1000mm shutdown stroke
On door guide rail, it is connected with the STM32F103 foot 35 of control communication unit (130).
8. a kind of shutdown method using subway shield accelerator control system as described in claim 1, which is characterized in that the stream of method
Journey is as follows:
Variable declaration
The current rating I_rating of BLDCM
The revolving speed rated value N_rating of BLDCM
Current threshold I_threshold=3 × I_rating of shield door folder people
Rotary speed threshold value N_threshold=0.3 × N_rating of shield door folder people
Closing the door, there is no time T ∈ [0,200] ms of folder people
Shield door presss from both sides people's criterion explanation
Criterion 1, the time of shutdown operation
Criterion 2, the electric current i > I_rating of BLDCM
Criterion 3, the revolving speed n < N_rating of BLDCM
Subway shield door shutdown process
1. receiving instruction of closing the door
It reads in and improves S smooth motion curve
T ∈ 2. [0,200] ms
Shutdown operation is carried out according to S smooth motion curve is improved, is turned 5.
3. t ∈ (200,4000] ms
3. -1 shield door presss from both sides people's detection
Criterion 1& criterion 2& criterion 3 is invalid, turns 4.
3. -2 shield doors press from both sides people's processing
Sliding door phase down retreats 50mm
Back door is again switched off, is repeated 3 times within 1 second
Call " 3. -1 " detection
3. -2-1 presss from both sides people's troubleshooting, turn 4.
Exist 3. -2-2 presss from both sides people's failure
The flashing of door indicator light, door are opened and are in free state, artificial treatment
4. carrying out shutdown operation according to S smooth motion curve is improved, turn 5.
5. returning 2..
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910345154.7A CN110185351B (en) | 2019-04-26 | 2019-04-26 | Subway shield door control system and method for eliminating sudden change of driving force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910345154.7A CN110185351B (en) | 2019-04-26 | 2019-04-26 | Subway shield door control system and method for eliminating sudden change of driving force |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110185351A true CN110185351A (en) | 2019-08-30 |
| CN110185351B CN110185351B (en) | 2020-10-23 |
Family
ID=67715248
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910345154.7A Expired - Fee Related CN110185351B (en) | 2019-04-26 | 2019-04-26 | Subway shield door control system and method for eliminating sudden change of driving force |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110185351B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080263964A1 (en) * | 2007-04-26 | 2008-10-30 | Heinz Ludwig | Method for controlling an electrical door drive |
| CN102312634A (en) * | 2010-07-07 | 2012-01-11 | 河南万鑫济科技有限公司 | Anti-pinching control method and control system for automotive electric window |
| CN105024610A (en) * | 2015-08-04 | 2015-11-04 | 南京信息工程大学 | Brushless direct current motor control method |
| CN105201319A (en) * | 2015-11-06 | 2015-12-30 | 武汉理工大学 | Four-door car window anti-clamping method based on two hall sensors and direct current motor |
| CN103401488B (en) * | 2013-08-05 | 2016-06-29 | 宁波申菱电梯配件有限公司 | Control method of elevator door-motor |
| DE102013204925B4 (en) * | 2013-03-20 | 2018-03-01 | Siemens Aktiengesellschaft | Control of a drive for a movable object |
| CN109116161A (en) * | 2018-10-22 | 2019-01-01 | 广州佳都信息技术研发有限公司 | A kind of shield door abnormal state detection system and control method |
-
2019
- 2019-04-26 CN CN201910345154.7A patent/CN110185351B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080263964A1 (en) * | 2007-04-26 | 2008-10-30 | Heinz Ludwig | Method for controlling an electrical door drive |
| CN102312634A (en) * | 2010-07-07 | 2012-01-11 | 河南万鑫济科技有限公司 | Anti-pinching control method and control system for automotive electric window |
| DE102013204925B4 (en) * | 2013-03-20 | 2018-03-01 | Siemens Aktiengesellschaft | Control of a drive for a movable object |
| CN103401488B (en) * | 2013-08-05 | 2016-06-29 | 宁波申菱电梯配件有限公司 | Control method of elevator door-motor |
| CN105024610A (en) * | 2015-08-04 | 2015-11-04 | 南京信息工程大学 | Brushless direct current motor control method |
| CN105201319A (en) * | 2015-11-06 | 2015-12-30 | 武汉理工大学 | Four-door car window anti-clamping method based on two hall sensors and direct current motor |
| CN109116161A (en) * | 2018-10-22 | 2019-01-01 | 广州佳都信息技术研发有限公司 | A kind of shield door abnormal state detection system and control method |
Non-Patent Citations (1)
| Title |
|---|
| 贺海波: "地铁屏蔽门控制系统设计与实现", 《工程科技Ⅱ辑》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110185351B (en) | 2020-10-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102958257B (en) | Control system and control method of stair illuminating device | |
| CN208300076U (en) | The efficient managing device of tracking lighting device | |
| CN101612923A (en) | Vehicle control unit of electric vehicle | |
| CN202705742U (en) | Household full-automation clotheshorse based on internetwork monitoring | |
| CN106600791A (en) | Gate control system and gate controller | |
| CN101007607A (en) | Integral frequency conversion controller for elevator | |
| CN105442471A (en) | Intelligent safety barrier and safety island component | |
| CN104097646A (en) | Door control method for tramcar | |
| CN110185351A (en) | Eliminate the subway shield accelerator control system and method for driving force mutation | |
| CN208297967U (en) | Tracking lighting device based on Internet of Things | |
| CN107087336A (en) | A kind of wind light mutual complementing villa illuminator and control method based on Internet of Things | |
| CN207346922U (en) | The high transport power passenger lift of increase-volume speed-raising | |
| CN104260756A (en) | Intelligent control device and method of underground railway turnout | |
| CN207589242U (en) | A kind of sound control energy-saving device | |
| CN206886458U (en) | A kind of elevator operating control device | |
| CN202186334U (en) | Getting-on stepping board device with automatic expanding first stage stepping board | |
| CN201801274U (en) | Elevator | |
| CN215485504U (en) | Multifunctional induction door | |
| CN208300092U (en) | The intelligent controlling device of tracking lighting device | |
| CN214587046U (en) | Pedestrian and robot compromise current entrance guard's device | |
| CN211656472U (en) | Intelligent control device for intelligent lamp pole and power management system thereof | |
| CN205171415U (en) | Formula of holding court from behind a screen intelligent security banister and safety island subassembly | |
| CN209481027U (en) | Door motor integrated controller | |
| CN203865752U (en) | Elevator car roof water inlet automatic protection system | |
| CN107517521B (en) | The highly reliable intelligent illuminating system and method for underground parking |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201023 |