CN110344706B - Self-adaptive control method and self-adaptive control system for sliding door - Google Patents
Self-adaptive control method and self-adaptive control system for sliding door Download PDFInfo
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- CN110344706B CN110344706B CN201810879216.8A CN201810879216A CN110344706B CN 110344706 B CN110344706 B CN 110344706B CN 201810879216 A CN201810879216 A CN 201810879216A CN 110344706 B CN110344706 B CN 110344706B
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- 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
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- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B7/00—Special arrangements or measures in connection with doors or windows
- E06B7/28—Other arrangements on doors or windows, e.g. door-plates, windows adapted to carry plants, hooks for window cleaners
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- Civil Engineering (AREA)
- Structural Engineering (AREA)
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- Automation & Control Theory (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The invention relates to a self-adaptive control method and a self-adaptive control system for a sliding door, which can automatically identify the door weight and the door frame width of different door bodies, and then carry out self-adaptive control on the motion of the door bodies according to an identification result, so that the door frame width and the door weight do not need to be measured in advance, the requirements on experience and quality of installers do not exist, and the door frame width and the door weight can be automatically identified even if parameters of the door frame and the door weight change without readjustment.
Description
Technical Field
The invention relates to the field of sliding doors, in particular to a self-adaptive control method and a self-adaptive control system for a sliding door.
Background
The automatic door can be automatically opened and closed under the control of the controller. When the door is opened or closed each time, in order to ensure smooth operation, the door body must go through three processes of acceleration, uniform speed and deceleration, which requires the controller to do: 1. the door is driven by applying proper driving force to change the door from a static state to a moving state, the door can be accelerated and decelerated according to the requirement in the moving state, the magnitude of the control force is directly related to the weight of the door, when the door is heavy, the driving force required to be applied is correspondingly large, and otherwise, the driving force is small; 2. the running lengths of the door body acceleration motion section, the uniform motion section and the deceleration motion section are determined according to the actual width and the running speed of the door, and the running lengths of the motion sections of the door bodies with different widths are different. Therefore, the door width and the door weight have direct influence on the motion control of the door body, the door width and the door weight are generally manually measured in advance by a door machine controller in the current market, and then the measured values are input into a control system so as to control the motion of the door body.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, improves the prior art, and provides a self-adaptive control method and a self-adaptive control system for a sliding door, which can automatically adapt to the change of parameters of a door body.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
an adaptive control method for a sliding door, comprising the steps of:
s101: measuring the width of a door frame when the system is powered on;
s102: determining an acceleration motion section, a uniform motion section and a deceleration motion section of the door body motion according to the measured door frame width, the measured door weight and the measured running speed;
s103: and controlling the motion of the door body according to the determined accelerated motion section, the uniform motion section and the decelerated motion section.
When the sliding door is controlled, the width of the door frame needs to be measured firstly, the same door can be installed in different door frames in sequence, and in different application occasions, the width of the door frame is different, so that the measurement of the width of the door frame needs to be measured once when the system is powered on every time. After the width of the door frame is obtained through measurement, a motion model of the door body can be determined according to the width and the weight of the door frame and the set running speed, and because the door body usually undergoes three stages of acceleration, uniform speed and deceleration in the process of opening and closing the door, the motion model of the door body mainly determines an acceleration motion section, a uniform speed motion section and a deceleration motion section of the motion of the door body, and after the motion model is determined, the motion of the door body is controlled, so that the door body correspondingly accelerates, uniformly speeds and decelerates within the preset time and displacement range according to the determined motion model.
Further, the step of measuring the width of the door frame comprises the following steps:
s201: moving the door to a position on one side of the doorframe, and recording the displacement at the moment as zero;
will measure the door frame width, at first will let the door remove to a side position of door frame, for this reason, preferably, when the electricity is gone up, make the door body low-speed open the door earlier, then judge whether the door body that opens the door meets the door frame side, if do not meet the door frame side, make the door body continue the low-speed removal, and continue to detect whether having met the door frame side, in case the door body has met the door frame side, then set up the displacement this moment to 0, and regard this as measuring starting point.
S202: moving the door to the other side of the door frame, and measuring the displacement of the door;
after the steps are completed, the door is closed at a low speed, so that the door moves towards the other side edge of the door frame, meanwhile, the displacement of the door is measured in real time, and whether the door body meets the door frame on the other side edge is judged.
S203: judging whether the door meets the position of the other side edge or not, and if not, enabling the door to continue moving; if the door meets the position of the other side edge, the door stops moving, and the displacement of the door is equal to the width of the doorframe.
In order to ensure the accuracy of the measurement result, the door frame width measurement method may be utilized to perform multiple measurements, and then an average value of the multiple measurements is obtained and is used as a finally measured door frame width parameter value.
Further, the door weight is measured and stored when the door body system is installed for the first time and powered on.
The door weight is also one of important parameters influencing the motion of the door body, and the driving forces required for driving the door bodies with different door weights are different, so that the door body is installed for the first time, and when the system is powered on, the door weight must be measured at the same time, and then the door weight parameters are stored to serve as important basis for outputting the driving force subsequently.
Further, the door weight can be selectively measured according to instructions when the system is powered on after the door body is installed.
In the case of a single door body, the weight of the door body itself does not change regardless of the type of door frame to which the door body is attached, and therefore, the weight of the door body needs to be measured for the first time, and in general, secondary measurement is not required.
Further, the door weights comprise a static door weight and a dynamic door weight, and the static door weight comprises a door opening static door weight and a door closing static door weight.
The door weight is divided into static door weight and dynamic door weight, the static door weight refers to the change of friction force from a track on a door body in the door opening and closing process, and the dynamic door weight refers to the mass of the door body, and the static door weight and the dynamic door weight must be measured respectively to realize good control on the door body. In the process of opening and closing the door body, the friction force applied to the door body may be different, so in order to realize finer control, the static door weight is divided into an opening static door weight and a closing static door weight, and the opening static door weight and the closing static door weight are respectively measured.
Further, the measurement of the static door weight during door opening comprises the following steps:
s601: detecting whether the door body has door opening movement or not and detecting whether the door body moves to a door opening end point or not;
because the static door weight during door opening refers to the change of friction force applied during door opening, whether the door body is in the door opening motion state at present needs to be detected and confirmed at first, and whether the door body reaches the end position of door opening needs to be synchronously detected during the low-speed motion of the door body.
S602: when the door body is detected not to move to open the door and the door body is detected not to move to the end point, increasing the control force and returning to the step S601; when the door body is detected to have door opening movement and the door body is detected not to move to the end point, reducing the control force and returning to the step S601;
the step is mainly to ensure that the door body is always in a low-speed motion state, when the door body does not move, the control force is gradually increased to enable the door body to move, and when the door body is detected to be in the motion state, the control force needs to be gradually reduced to enable the door body not to move too fast.
S603: and when the door body is detected to move to the door opening end point, calculating the average value of the control force in the door opening movement process of the door body, thereby obtaining the door opening static door weight.
If the door body does not reach the door opening end position, the steps are repeated, the door body continues to keep moving at a low speed, once the door opening end position is reached, the average value of the control force applied in the low-speed moving process is calculated, and the average value of the control force can be approximately equal to the average friction force of the door body in the low-speed door opening process due to the fact that the door body is always in a low-speed moving state, and the average friction force is the static door weight for opening the door.
Further, the measurement of the static door weight of the closed door comprises the following steps:
s701: detecting whether the door body has door closing motion;
since the static door weight of the door closing means the change of the friction force applied during the door closing process, it is necessary to first detect and confirm whether the door body is in the door closing motion state. In the process of low-speed movement of the door body, whether the door body reaches the end position of closing the door needs to be synchronously detected.
S702: when the door body is detected not to be closed and the door body is detected not to move to the end point, increasing the control force and returning to the step S701; when the door body is detected to have door closing movement and the door body is detected not to move to the end point, reducing the control force and returning to the step S701;
the step is mainly to ensure that the door body is always in a low-speed motion state, when the door body does not move, the control force is gradually increased to enable the door body to move, and when the door body is detected to be in the motion state, the control force needs to be gradually reduced to enable the door body not to move too fast.
S703: and when the door body is detected to move to the door closing end point, calculating the average value of the control force in the door closing movement process of the door body, thereby obtaining the static door weight for opening the door.
If the door body does not reach the door closing end position, the steps are repeated, the door body continues to keep moving at a low speed, once the door closing end position is reached, the average value of the control force applied in the low-speed moving process is calculated, and the average value of the control force can be approximately equal to the average friction force of the door body in the low-speed door closing process due to the fact that the door body is always in a low-speed moving state, and the average friction force is the static door weight for door closing.
Further, the measurement of the dynamic door weight comprises the following steps:
s801: on the basis of overcoming the driving force of the static door weight, a constant driving force F is applied to the door to move the door;
s802: measuring the displacement L of the door;
s803: recording the time t required for completing the displacement L;
s804: calculating the mass M of the gate2/(2*L)。
The driving force F is a result of integration after sufficiently considering the influence of the static door weight and eliminating the influence. To ensure that the results are accurate, multiple measurements may be taken and then averaged.
Further, the control of the door body movement according to the determined accelerated movement section, the uniform movement section and the decelerated movement section comprises control of the magnitude of the door body driving force in different movement sections.
The key to the control of the motion of the door body is the control of the magnitude of the driving force of the door body, and the door body can be controlled to be in the stages of acceleration, uniform speed and deceleration by different magnitudes of the driving force.
An adaptive control system for a sliding door, comprising:
the door frame width measuring module is used for measuring the width of a door frame when the system is powered on;
when controlling the sliding door, the width of the doorframe needs to be measured first, and the measurement is realized by the doorframe width measuring module. The same door may be installed in different door frames one after the other, and in different applications, the door frame width is different, so that the measurement of the door frame width requires one measurement each time the system is powered on.
The calculation module is used for determining an acceleration motion section, a uniform motion section and a deceleration motion section of the door body motion according to the measured door frame width, the measured door weight and the measured running speed;
after the width of the door frame is obtained through measurement, a motion model of the door body can be obtained through calculation of the calculation module according to the width and the weight of the door frame and the set running speed.
And the motion control module is used for controlling the motion of the door body according to the determined accelerated motion section, the uniform motion section and the decelerated motion section.
After the motion model is determined, the motion of the door body is controlled by the motion control module, so that the door body performs corresponding acceleration, uniform velocity and deceleration motion within a preset time and displacement range according to the determined motion model.
Further, the door frame width measuring module includes:
the initialization module is used for recording the displacement as zero when the door moves to one side position of the doorframe;
will measure the door frame width, at first will let the door remove to a side position of door frame, for this reason, preferably, when the electricity is gone up, make the door body low-speed open the door earlier, then judge whether the door body that opens the door meets the door frame side, if do not meet the door frame side, make the door body continue the low-speed removal, and continue to detect whether having met the door frame side, in case the door body has met the door frame side, then set up the displacement this moment to 0, and regard this as measuring starting point.
The displacement measuring module is used for measuring the displacement of the door when the door moves towards the other side edge of the door frame;
after the measurement starting point is determined through the initialization module, the door is closed at a low speed, so that the door moves towards the other side edge of the door frame, meanwhile, the displacement of the door is measured in real time, and whether the door meets the door frame at the other side edge is judged.
The door frame width determining module is used for judging whether the door meets the position of the other side edge or not, and if the door does not meet the position of the other side edge, the door continues to move; if the door encounters the other side position, the door stops moving, at which time the door displacement is equal to the doorframe width.
In order to ensure the accuracy of the measurement result, the door frame width measurement method may be utilized to perform multiple measurements, and then an average value of the multiple measurements is obtained and is used as a finally measured door frame width parameter value.
And the door weight measuring module is used for selectively measuring and storing the door weight according to the instruction when the door body system is installed for the first time and powered on or when the system is powered on after the door body is installed.
The door weight is also one of important parameters influencing the motion of the door body, and the driving forces required for driving the door bodies with different door weights are different, so that the door body is installed for the first time, and when the system is powered on, the door weight must be measured, and then the door weight parameters are stored to serve as important basis for outputting the driving force subsequently.
In the case of a single door body, the weight of the door body itself does not change regardless of the type of door frame to which the door body is attached, and therefore, the weight of the door body needs to be measured for the first time, and in general, secondary measurement is not required.
The door weight measurement is completed by a door weight measurement module.
Further, the door weight measuring module includes:
the displacement measuring module is used for applying a constant driving force F to the door so as to measure the displacement L of the door when the door moves;
the time recording module is used for recording the time t required by the displacement L of the door;
and the door weight calculating module is used for calculating the door weight according to the driving force F, the displacement L and the time t.
The driving force F is a result of integration after sufficiently considering the influence of the static door weight and eliminating the influence. To ensure that the results are accurate, multiple measurements may be taken and then averaged.
Further, the displacement measuring module is a linear hall sensor.
The linear Hall sensor is selected because of the advantages of simple installation, high measurement precision, low deployment cost and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a flow chart of an adaptive control method for a sliding door;
FIG. 2 is a flow chart for measuring the width of a doorframe;
FIG. 3 is a flow chart of static door weight measurement;
FIG. 4 is a flow chart of dynamic door weight measurement;
FIG. 5 is a block diagram of an adaptive control system for a sliding door;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as upper, lower, left, right, front, back, outer and inner … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
An adaptive control method for a sliding door, as shown in fig. 1, includes the steps of:
s101: measuring the width of a door frame when the system is powered on;
s102: determining an acceleration motion section, a uniform motion section and a deceleration motion section of the door body motion according to the measured width, the measured weight and the measured running speed of the door frame;
s103: and controlling the motion of the door body according to the determined accelerated motion section, the uniform motion section and the decelerated motion section.
When the sliding door is controlled, the width of the door frame needs to be measured firstly, the same door can be installed in different door frames in sequence, and in different application occasions, the width of the door frame is different, so that the measurement of the width of the door frame needs to be measured once when the system is powered on every time. After the width of the door frame is obtained through measurement, a motion model of the door body can be determined according to the width and the weight of the door frame and the set running speed, and because the door body usually undergoes three stages of acceleration, uniform speed and deceleration in the process of opening and closing the door, the motion model of the door body mainly determines an acceleration motion section, a uniform speed motion section and a deceleration motion section of the motion of the door body, and after the motion model is determined, the motion of the door body is controlled, so that the door body correspondingly accelerates, uniformly speeds and decelerates within the preset time and displacement range according to the determined motion model.
Further, as shown in fig. 2, measuring the width of the door frame includes the following steps:
s201: moving the door to a position on one side of the doorframe, and recording the displacement at the moment as zero;
will measure the door frame width, at first will let the door remove to a side position of door frame, for this reason, preferably, when the electricity is gone up, make the door body low-speed open the door earlier, then judge whether the door body that opens the door meets the door frame side, if do not meet the door frame side, make the door body continue the low-speed removal, and continue to detect whether having met the door frame side, in case the door body has met the door frame side, then set up the displacement this moment to 0, and regard this as measuring starting point.
S202: moving the door to the other side of the door frame, and measuring the displacement of the door;
after the steps are completed, the door is closed at a low speed, so that the door moves towards the other side edge of the door frame, meanwhile, the displacement of the door is measured in real time, and whether the door body meets the door frame on the other side edge is judged.
S203: judging whether the door meets the position of the other side edge or not, and if not, enabling the door to continue moving; if the door meets the position of the other side edge, the door stops moving, and the displacement of the door is equal to the width of the doorframe.
In order to ensure the accuracy of the measurement result, the door frame width measurement method may be utilized to perform multiple measurements, and then an average value of the multiple measurements is obtained and is used as a finally measured door frame width parameter value.
Further, the door weight is measured and stored when the door body system is installed for the first time and powered on.
The door weight is also one of important parameters influencing the motion of the door body, and the driving forces required for driving the door bodies with different door weights are different, so that the door body is installed for the first time, and when the system is powered on, the door weight must be measured at the same time, and then the door weight parameters are stored to serve as important basis for outputting the driving force subsequently.
Further, the door weight can be selectively measured according to instructions when the system is powered on after the door body is installed.
In the case of a single door body, the weight of the door body itself does not change regardless of the type of door frame to which the door body is attached, and therefore, the weight of the door body needs to be measured for the first time, and in general, secondary measurement is not required.
Further, the door weight comprises a static door weight and a dynamic door weight, and the static door weight comprises a door opening static door weight and a door closing static door weight.
The door weight is divided into static door weight and dynamic door weight, the static door weight refers to the change of friction force from a track on a door body in the door opening and closing process, and the dynamic door weight refers to the mass of the door body, and the static door weight and the dynamic door weight must be measured respectively to realize good control on the door body. In the process of opening and closing the door body, the friction force applied to the door body may be different, so in order to realize finer control, the static door weight is divided into an opening static door weight and a closing static door weight, and the opening static door weight and the closing static door weight are respectively measured.
Further, as shown in fig. 3, the measurement of the static door weight when the door is opened includes the following steps:
s601: detecting whether the door body has door opening movement;
because the static door weight during door opening refers to the change of the friction force applied during the door opening process, it is necessary to first detect and confirm whether the door body is in the door opening motion state. In the process of low-speed movement of the door body, whether the door body reaches the end position of the door opening needs to be synchronously detected.
S602: when the door body is detected not to move to open the door and the door body is detected not to move to the end point, increasing the control force and returning to the step S601; when the door body is detected to have door opening movement and the door body is detected not to move to the end point, reducing the control force and returning to the step S601;
the step is mainly to ensure that the door body is always in a low-speed motion state, when the door body does not move, the control force is gradually increased to enable the door body to move, and when the door body is detected to be in the motion state, the control force needs to be gradually reduced to enable the door body not to move too fast.
S603: and when the door body is detected to move to the door opening end point, calculating the average value of the control force in the door opening movement process of the door body, thereby obtaining the door opening static door weight.
If the door body does not reach the door opening end position, the steps are repeated, the door body continues to keep moving at a low speed, once the door opening end position is reached, the average value of the control force applied in the low-speed moving process is calculated, and the average value of the control force can be approximately equal to the average friction force of the door body in the low-speed door opening process due to the fact that the door body is always in a low-speed moving state, and the average friction force is the static door weight for opening the door.
Further, as shown in fig. 3, the measurement of the static door weight of the closed door includes the following steps:
s701: detecting whether the door body has door closing motion;
since the static door weight of the door closing means the change of the friction force applied during the door closing process, it is necessary to first detect and confirm whether the door body is in the door closing motion state. In the process of low-speed movement of the door body, whether the door body reaches the end position of closing the door needs to be synchronously detected.
S702: when the door body is detected not to be closed and the door body is detected not to move to the end point, increasing the control force and returning to the step S701; when the door body is detected to have door closing movement and the door body is detected not to move to the end point, reducing the control force and returning to the step S701;
the step is mainly to ensure that the door body is always in a low-speed motion state, when the door body does not move, the control force is gradually increased to enable the door body to move, and when the door body is detected to be in the motion state, the control force needs to be gradually reduced to enable the door body not to move too fast.
S703: and when the door body is detected to move to the door closing end point, calculating the average value of the control force in the door closing movement process of the door body, thereby obtaining the static door weight for opening the door.
If the door body does not reach the door closing end position, the steps are repeated, the door body continues to keep moving at a low speed, once the door closing end position is reached, the average value of the control force applied in the low-speed moving process is calculated, and the average value of the control force can be approximately equal to the average friction force of the door body in the low-speed door closing process due to the fact that the door body is always in a low-speed moving state, and the average friction force is the static door weight for door closing.
Further, as shown in fig. 4, the measurement of the dynamic door weight includes the following steps:
s801: on the basis of overcoming the driving force of the static door weight, a constant driving force F is applied to the door to move the door;
s802: measuring the displacement L of the door;
s803: recording the time t required for completing the displacement L;
s804: calculating the mass M of the gate2/(2*L)。
The driving force F is a result of integration after sufficiently considering the influence of the static door weight and eliminating the influence. To ensure that the results are accurate, multiple measurements may be taken and then averaged.
Further, the control of the door body movement according to the determined accelerated movement section, the uniform movement section and the decelerated movement section comprises the control of the magnitude of the door body driving force in different movement sections.
The key to the control of the motion of the door body is the control of the magnitude of the driving force of the door body, and the door body can be controlled to be in the stages of acceleration, uniform speed and deceleration by different magnitudes of the driving force.
An adaptive control system for a sliding door, as shown in fig. 5, comprising:
the door frame width measuring module is used for measuring the width of a door frame when the system is powered on;
when controlling the sliding door, the width of the doorframe needs to be measured first, and the measurement is realized by the doorframe width measuring module. The same door may be installed in different door frames one after the other, and in different applications, the door frame width is different, so that the measurement of the door frame width requires one measurement each time the system is powered on.
The calculation module is used for determining an acceleration motion section, a uniform motion section and a deceleration motion section of the door body motion according to the measured width of the door frame, the measured door weight and the measured running speed;
after the width of the door frame is obtained through measurement, a motion model of the door body can be obtained through calculation of the calculation module according to the width and the weight of the door frame and the set running speed.
And the motion control module is used for controlling the motion of the door body according to the determined accelerated motion section, the uniform motion section and the decelerated motion section.
After the motion model is determined, the motion of the door body is controlled by the motion control module, so that the door body performs corresponding acceleration, uniform velocity and deceleration motion within a preset time and displacement range according to the determined motion model.
Further, as shown in fig. 5, the door frame width measuring module includes:
the initialization module is used for recording the displacement as zero when the door moves to one side position of the doorframe;
will measure the door frame width, at first will let the door remove to a side position of door frame, for this reason, preferably, when the electricity is gone up, make the door body low-speed open the door earlier, then judge whether the door body that opens the door meets the door frame side, if do not meet the door frame side, make the door body continue the low-speed removal, and continue to detect whether having met the door frame side, in case the door body has met the door frame side, then set up the displacement this moment to 0, and regard this as measuring starting point.
The displacement measuring module is used for measuring the displacement of the door when the door moves towards the other side edge of the door frame;
after the measurement starting point is determined through the initialization module, the door is closed at a low speed, so that the door moves towards the other side edge of the door frame, meanwhile, the displacement of the door is measured in real time, and whether the door meets the door frame at the other side edge is judged.
The door frame width determining module is used for judging whether the door meets the position of the other side edge or not, and if the door does not meet the position of the other side edge, the door continues to move; if the door encounters the other side position, the door stops moving, at which time the door displacement is equal to the doorframe width.
In order to ensure the accuracy of the measurement result, the door frame width measurement method may be utilized to perform multiple measurements, and then an average value of the multiple measurements is obtained and is used as a finally measured door frame width parameter value.
And the door weight measuring module is used for selectively measuring and storing the door weight according to the instruction when the door body system is installed for the first time and powered on or when the system is powered on after the door body is installed.
The door weight is also one of important parameters influencing the motion of the door body, and the driving forces required for driving the door bodies with different door weights are different, so that the door body is installed for the first time, and when the system is powered on, the door weight must be measured, and then the door weight parameters are stored to serve as important basis for outputting the driving force subsequently.
In the case of a single door body, the weight of the door body itself does not change regardless of the type of door frame to which the door body is attached, and therefore, the weight of the door body needs to be measured for the first time, and in general, secondary measurement is not required.
The door weight measurement is completed by a door weight measurement module.
Further, as shown in fig. 5, the door weight measuring module includes:
the displacement measuring module is used for applying a constant driving force F to the door so as to measure the displacement L of the door when the door moves;
the time recording module is used for recording the time t required by the displacement L of the door;
and the door weight calculating module is used for calculating the door weight according to the driving force F, the displacement L and the time t.
The driving force F is a result of integration after sufficiently considering the influence of the static door weight and eliminating the influence. To ensure that the results are accurate, multiple measurements may be taken and then averaged.
Further, the displacement measuring module is a linear hall sensor.
The linear Hall sensor is selected because of the advantages of simple installation, high measurement precision, low deployment cost and the like.
While the invention has been described above with reference to certain embodiments, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the various features of the various embodiments of the invention disclosed may be used in any combination, provided that no structural conflict exists, and the combinations are not exhaustively described in this specification merely for the sake of brevity and resource conservation. Therefore, it is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. An adaptive control method for a sliding door, comprising the steps of:
s101: measuring the width of a door frame when the system is powered on;
s102: determining an accelerated motion section, a uniform motion section and a decelerated motion section of the motion of the door body according to the measured width of the door frame, the measured door weight and the preset running speed, wherein the door weight comprises a static door weight and a dynamic door weight, the dynamic door weight is the weight of the door body, the static door weight is the change of friction force, which is applied by the door body in the door opening and closing process, of the door body from a track, the static door weight comprises a door opening static door weight and a door closing static door weight, the measurement of the dynamic door weight is obtained by applying a constant driving force F to the door body to move the door body, and the applied driving force F is determined on the basis of overcoming the driving force of the static door weight;
s103: controlling the motion of the door body according to the determined accelerated motion section, the uniform motion section and the decelerated motion section;
wherein the measurement of the dynamic door weight comprises the steps of:
s801: on the basis of overcoming the driving force of the static door weight, a constant driving force F is applied to the door to move the door;
s802: measuring the displacement L of the door;
s803: recording the time t required for completing the displacement L;
s804: calculate the mass of the door:
M＝F*t 2 /(2*L)；
the measurement of the static door weight during door opening comprises the following steps:
s601: detecting whether the door body has door opening movement or not and detecting whether the door body moves to a door opening end point or not;
s602: when the door body is detected not to move to open the door and the door body is detected not to move to the end point, increasing the control force and returning to the step S601; when the door body is detected to have door opening movement and the door body is detected not to move to the end point, reducing the control force and returning to the step S601;
s603: and when the door body is detected to move to the door opening end point, calculating the average value of the control force in the door opening movement process of the door body, thereby obtaining the door opening static door weight.
2. An adaptive control method for a sliding door according to claim 1, wherein:
the step of measuring the width of the door frame comprises the following steps:
s201: moving the door to a position on one side of the doorframe, and recording the displacement at the moment as zero;
s202: moving the door to the other side of the door frame, and measuring the displacement of the door;
s203: judging whether the door meets the position of the other side edge or not, and if not, enabling the door to continue moving; if the door meets the position of the other side edge, the door stops moving, and the displacement of the door is equal to the width of the door.
3. An adaptive control method for a sliding door according to claim 1, wherein: the door weight is measured and stored when the door body system is installed for the first time and powered on.
4. An adaptive control method for a sliding door according to claim 1, wherein:
and the door weight can be selectively measured according to the instruction when the system is powered on after the door body is installed.
5. An adaptive control method for a sliding door according to claim 1,
the measurement of the static door weight of the closed door comprises the following steps:
s701: detecting whether the door body has door closing motion;
s702: when the door body is detected not to be closed and the door body is detected not to move to the end point, increasing the control force and returning to the step S701; when the door body is detected to have door closing movement and the door body is detected not to move to the end point, reducing the control force and returning to the step S701;
s703: and when the door body is detected to move to the door closing end point, calculating the average value of the control force in the door closing movement process of the door body, thereby obtaining the static door weight for opening the door.
6. An adaptive control method for a sliding door according to claim 1, wherein: and the control of the door body movement according to the determined accelerated motion section, the uniform motion section and the decelerated motion section comprises the control of the door body driving force in different motion sections.
7. An adaptive control system for a sliding door, comprising:
the door frame width measuring module is used for measuring the width of a door frame when the system is powered on;
the calculation module is used for determining an accelerated motion section, a uniform motion section and a decelerated motion section of the door body motion according to the measured door frame width, the measured door weight and the preset running speed, wherein the door weight comprises a static door weight and a dynamic door weight, the dynamic door weight is the weight of the door body, the static door weight is the change of friction force of the door body from a track in the door opening and closing process, the static door weight comprises a door opening static door weight and a door closing static door weight, the measurement of the dynamic door weight is obtained by applying a constant driving force F to the door body to enable the door body to move and measure, and the applied driving force F is determined on the basis of overcoming the driving force of the static door weight;
the motion control module is used for controlling the motion of the door body according to the determined accelerated motion section, the uniform motion section and the decelerated motion section;
wherein, adaptive control system measures dynamic door and heavily includes:
on the basis of overcoming the driving force of the static door weight, a constant driving force F is applied to the door to move the door; measuring the displacement L of the door; recording the time t required for completing the displacement L; s804: calculate the mass of the door:
M＝F*t 2 /(2*L)；
wherein, adaptive control system measures the static door weight that opens the door and includes:
detecting whether the door body has door opening movement or not and detecting whether the door body moves to a door opening end point or not;
when the door body is detected to have no door opening movement and the door body is detected to have no movement to the terminal point, the control force is increased, and whether the door body has the door opening movement or not is detected and whether the door body moves to the door opening terminal point or not is detected; when the door body is detected to have door opening movement and the door body is detected not to move to the terminal point, reducing the control force, returning to the step of detecting whether the door body has door opening movement and detecting whether the door body moves to the door opening terminal point;
and when the door body is detected to move to the door opening end point, calculating the average value of the control force in the door opening movement process of the door body, thereby obtaining the door opening static door weight.
8. An adaptive control system for a sliding door according to claim 7,
the door frame width measuring module includes:
the initialization module is used for recording the displacement as zero when the door moves to one side position of the doorframe;
the displacement measuring module is used for measuring the displacement of the door when the door moves towards the other side edge of the door frame;
the door frame width determining module is used for judging whether the door meets the position of the other side edge or not, and if the door does not meet the position of the other side edge, the door continues to move; if the door encounters the other side position, the door stops moving, at which time the door displacement is equal to the doorframe width.
9. An adaptive control system for a sliding door according to claim 7,
the door weight measuring module is used for selectively measuring and storing the door weight according to the instruction when the door body system is installed for the first time and powered on or when the system is powered on after the door body is installed.
10. An adaptive control system for a sliding door according to claim 8,
the displacement measurement module is a linear Hall sensor.
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