CN110748263B - Platform door resistance meeting control method, door control unit and platform door - Google Patents
Platform door resistance meeting control method, door control unit and platform door Download PDFInfo
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- CN110748263B CN110748263B CN201910922417.6A CN201910922417A CN110748263B CN 110748263 B CN110748263 B CN 110748263B CN 201910922417 A CN201910922417 A CN 201910922417A CN 110748263 B CN110748263 B CN 110748263B
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- driving mode
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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
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
- B61B1/00—General arrangement of stations, platforms, or sidings; Railway networks; Rail vehicle marshalling systems
- B61B1/02—General arrangement of stations and platforms including protection devices for the passengers
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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
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
- E05F15/41—Detection by monitoring transmitted force or torque; Safety couplings with activation dependent upon torque or force, e.g. slip couplings
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- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
Abstract
The invention relates to a platform door blockage control method, a door control unit and a platform door, wherein the method comprises the following steps: detecting the blockage of the encoder, correspondingly entering one of a normal environment driving mode and a blockage control mode by the platform door according to the blockage result of the detection encoder, wherein the blockage control mode comprises a person blockage driving mode and a wind pressure blockage driving mode, detecting the rotation of the motor after the platform door enters the blockage control mode, and correspondingly entering one of the person blockage driving mode and the wind pressure blockage driving mode by the platform door according to the rotation result of the detection motor. The invention can accurately judge the blocking condition of the platform door, so that the blocking of the platform door can be accurately controlled; and the system can also judge whether the platform door is blocked by wind pressure or not so as to judge whether the platform door enters a wind pressure blocking control mode or not and well control the opening and closing operation of the platform door caused by the door blocking due to the wind pressure.
Description
Technical Field
The invention relates to the technical field of platform door control, in particular to a platform door resistance control method, a door control unit and a platform door.
Background
Platform doors of urban rail transit such as subways are susceptible to tunnel wind pressure, foreign matter obstruction and the like, so that the platform doors can not be normally opened and closed, the station operation efficiency is influenced, and the tunnel wind pressure is usually caused by piston wind. The wind pressure can cause extra frictional force to the platform door, and the resistance increase when the platform door opens or closes, that is the door resistance increase of the platform door, can be caused by the extra frictional force increase. The dynamic wind pressure can oppress the platform door and lead to the door of platform door to hinder and produce the change, and the door hinders the change and can influence the detection to obstacles such as foreign matter and produce the erroneous judgement to influence the normal switching of platform door, probably lead to the train delay even.
The conventional subway platform door only comprises a normal environment driving mode and a person resistance driving mode, the normal environment driving mode refers to the door opening and closing process of the platform door, the opening and closing process can be normally performed without any obstruction of foreign matters and the like, the person resistance driving mode refers to the door opening and closing process of the platform door, the platform door cannot be normally opened and closed due to the obstruction of the person or the foreign matters, for example, if the platform door is closed and the person is blocked, the platform door needs to retreat (towards the door opening direction) to avoid the injury to the person, and the same control operation needs to be performed when the platform door is blocked by the foreign matters.
At present, a control method for preventing a platform door from being blocked due to wind pressure is seldom considered when the platform door of rail traffic such as subways runs. Under the condition that the wind pressure is not considered to block the platform door, the platform door can cause misjudgment and delay of opening and closing, thereby not only affecting the normal operation of the train, but also affecting the safe operation of the train.
Disclosure of Invention
Aiming at the defects of the prior art, one of the purposes of the invention is to provide a platform door blockage control method, which can solve the problem that the platform door blockage control is not accurate;
the second object of the present invention is to provide a door control unit, which can solve the problem of inaccurate control when a platform door is blocked;
the third objective of the present invention is to provide a platform door, which can solve the problem of inaccurate control when the platform door is blocked.
The technical scheme for realizing one purpose of the invention is as follows: a method for controlling the blockage of a platform door comprises the following steps:
detecting the blockage of the encoder, and according to the blockage result of the encoder, the platform door correspondingly enters one of a normal environment driving mode and a blockage control mode, wherein the blockage control mode comprises a person blockage driving mode and a wind pressure blockage driving mode,
after the platform door enters the obstacle control mode, the rotation of the motor is detected, and according to the rotation result of the motor, the platform door correspondingly enters one of a person obstacle driving mode and a wind pressure obstacle driving mode,
the normal environment driving mode refers to an operation that the platform door can be normally opened and closed without touching a human body and/or an object, the person resistance driving mode refers to an operation that the platform door is opened and closed when touching the human body or the object, and the wind pressure resistance driving mode refers to an operation that the platform door is opened and closed when the platform door is subjected to door resistance caused by wind pressure.
Further, the specific implementation that the platform door correspondingly enters one of the normal environment driving mode and the blocking control mode according to the detection encoder stalling result includes the following steps:
if the locked-rotor result of the encoder is detected to be that the encoder is locked-rotor, the platform door enters a blockage control mode, otherwise, the platform door enters a normal environment driving mode.
Further, the concrete implementation that the platform door correspondingly enters one of the person resistance-encountering driving mode and the wind pressure resistance-encountering driving mode according to the rotation result of the detection motor comprises the following steps:
if the rotation result of the motor is detected to be that the motor rotates reversely, the platform door enters a figure blockage driving mode, otherwise, the platform door enters a wind pressure blockage driving mode.
Further, the detection motor rotation result is whether the motor is rotated reversely within a certain time t, if the motor is rotated reversely within the time t, the platform door enters a person blocking driving mode, otherwise, the platform door enters a wind pressure blocking driving mode.
Further, t is 100 ms.
Further, after the platform door enters the wind pressure blocking driving mode, the method further comprises the following steps:
closing a speed loop of the motor and opening a current loop of the motor so as to enable the motor to enter a torque mode, increasing the current of the current loop of the motor so as to adjust a torque value output by the motor to a maximum value, overcoming door resistance caused by wind pressure and enabling the platform door to be safely and completely opened and closed; if the motor does not rotate forward in the process of increasing the current to the maximum value, the platform door jumps from the wind pressure resistance driving mode to the human resistance driving mode, otherwise, the platform door is continuously in the wind pressure resistance driving mode.
Further, the limiting time from the beginning of increasing the current to the maximum value is delta t, wherein the delta t is the time from the moment when the platform door enters the wind pressure meeting driving mode to the current time; if the motor does not rotate forwards within the time delta t, the platform door jumps from the wind pressure resistance driving mode to the human resistance driving mode, otherwise, the platform door is continuously in the wind pressure resistance driving mode.
The second technical scheme for realizing the aim of the invention is as follows: a door control unit, door control unit includes collection module, judgment module and output module, collection module is used for gathering encoder stall signal and motor rotation signal, judgment module is according to encoder stall signal output platform door gets into normal environment drive mode and meets the judgement result signal that hinders one of the two of control mode to send judgement result signal for output module, output module output corresponding output signal a, platform door gets into normal environment drive mode and meets one of the two of hindering the control mode according to output signal a, it hinders drive mode and wind pressure and hinders drive mode to meet to hinder the control mode including personage,
after the platform door enters a blockage control mode, the acquisition module acquires a rotation signal of the motor, wherein the rotation signal comprises a forward rotation signal, a non-rotation signal and a reverse rotation signal and sends the rotation signal to the judgment module, the judgment module outputs a judgment result signal of the platform door entering one of a person blockage driving mode and a wind pressure blockage driving mode according to the rotation signal and sends the judgment result signal to the output module, the output module outputs a corresponding output signal b, and the platform door enters one of the person blockage driving mode and the wind pressure blockage driving mode according to the output signal b;
the normal environment driving mode refers to an operation that the platform door can be normally opened and closed without touching a human body and/or an object, the person resistance driving mode refers to an operation that the platform door is opened and closed when touching the human body or the object, and the wind pressure resistance driving mode refers to an operation that the platform door is opened and closed when the platform door is subjected to door resistance caused by wind pressure.
Furthermore, if the platform door enters the emergency control mode according to the output signal b, further comprising,
the output module outputs a control signal which controls the motor to close a speed loop of the motor and open a current loop of the motor so that the motor enters a torque mode, the current of the current loop of the motor is increased to adjust a torque value output by the motor to a maximum value so as to overcome door resistance caused by wind pressure and ensure that the platform door is safely and completely opened and closed; if the motor does not rotate forward in the process of increasing the current to the maximum value, the platform door jumps from the wind pressure resistance driving mode to the human resistance driving mode, otherwise, the platform door is continuously in the wind pressure resistance driving mode.
The technical scheme for realizing the third aim of the invention is as follows: a platform door comprises the door control unit, and the door control unit is used for controlling the platform door to open and close.
The invention has the beneficial effects that: the invention can accurately judge the blocking condition of the platform door, so that the blocking of the platform door can be accurately controlled; the device can also judge whether the platform door is blocked by wind pressure or not, so as to judge whether the platform door enters a wind pressure blocking control mode or not, well control the opening and closing operation of the platform door due to door blocking caused by wind pressure, effectively avoid the problem of prolonging the door opening and closing time caused by misjudgment of obstacles caused by the wind pressure, improve the running efficiency of the train and ensure the normal operation of the train.
Drawings
Fig. 1 is a schematic diagram of a platform door jam control method according to an embodiment;
fig. 2 is an example of the operation principle of the motor for normally opening the platform door according to the first embodiment;
fig. 3 is an example of the operation principle of the motor when the platform door is normally closed according to the first embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, specific embodiments of the present application will be described in detail with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some but not all of the relevant portions of the present application are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
As shown in fig. 1 to 3, a method for controlling a platform door in a blocked state includes the following steps:
whether an encoder of a motor used for driving the platform door to be opened and closed is locked, if the encoder is locked, the platform door enters a blocking control mode, the blocking control mode comprises a figure blocking driving mode and a wind pressure blocking driving mode, and otherwise, the platform door is controlled according to a normal environment driving mode, namely the platform door is normally opened and closed. And judging whether the encoder is locked up, judging whether the pulse signal of the encoder changes, and if the pulse signal does not change, locking up the encoder, otherwise, locking up the encoder.
When the platform door enters the obstacle control mode, it is necessary to further determine whether the platform door enters the person obstacle driving mode or the wind pressure obstacle driving mode. The person-meeting driving mode refers to a platform door opening and closing operation performed by a door stop generated on a platform door due to a person or a foreign object, and the wind pressure-meeting driving mode refers to a platform door opening and closing operation performed by a door stop generated on a platform door due to wind pressure. Whether people meet the driving mode of hindering or wind pressure meets the driving mode of hindering, all be in order to control platform door and can open and close safely, including but not limited to prevent to cause the injury to human body or foreign matter, and avoid causing the damage to platform door itself.
The motor is released by turning off the upper and lower bridge outputs driven by the motor, and whether the motor is reversely rotated is detected within a certain time t (ms), wherein the time t is the time counted from the start of releasing the motor, and t is preferably 100 ms. The reverse rotation means that the rotation direction of the motor is opposite to the target rotation direction, the target rotation direction means that the opening direction or the closing direction of the platform door is kept consistent, namely, in the process of opening the platform door, the target rotation direction is the opening direction, the motor reverse rotation means that the rotation direction of the motor is the closing direction, otherwise, in the process of closing the platform door, the target rotation direction is the closing direction, and the motor reverse rotation means that the rotation direction of the motor is the opening direction. If the motor rotates reversely within the time t, judging that the platform door is in a barrier meeting mode, wherein the barrier is a general finger and comprises a human body or a specific foreign body, and the platform door enters a person meeting driving mode; if the motor does not rotate reversely within the time t, the platform door is judged to be in a wind pressure meeting resistance mode, and the platform door enters a wind pressure meeting resistance driving mode.
And after the platform door enters a wind pressure resistance driving mode, the motor is controlled to be adjusted to a torque mode, wherein the torque mode is to close a speed loop of the motor and only open a current loop of the motor. The speed loop is a PID (proportion-integral-derivative) control closed loop taking the motor rotating speed as a parameter, and the current loop is a PID (proportion-integral-derivative) control closed loop taking the motor current as a parameter.
By increasing the current of the motor current loop, the torque value output by the motor is slowly adjusted to the maximum value (for example, 140N, the safety standard of resistance encountered by a subway platform door obstacle is less than or equal to 150N at present), if the time t + delta t (for example, 300ms) in the process of increasing the current, the motor does not rotate forwards, the forward rotation refers to that the rotation direction of the motor is the same as the target rotation direction of opening or closing the platform door, for example, in the process of opening the platform door, the forward rotation of the motor refers to that the motor rotates towards the door opening direction, in the process of closing the platform door, the forward rotation of the motor refers to that the motor rotates towards the door closing direction, the platform door is still judged to be blocked, and the platform door jumps from the wind pressure blocking driving mode to the human blocking driving mode; in the time t + Δ t, that is, the motor does not rotate reversely in the time t, the motor further determines whether the motor rotates normally in the next time Δ t, the time Δ t is the time from the moment when the platform door enters the wind pressure meeting driving mode to the current time, and preferably, the time Δ t is 200 ms.
If the motor rotates forwards within the time t + delta t of increasing the current of the motor current loop, the platform door is judged to be in wind pressure resistance, the platform door enters a wind pressure resistance driving mode, the current of the motor current loop is continuously increased until the moment value of the platform door is at the maximum value and the moment value of the platform door is maintained at the maximum value, and therefore the platform door can be opened or closed finally.
It should be noted that the motor includes three states of forward rotation, non-rotation and reverse rotation, therefore, the motor does not rotate reversely, which indicates that the motor is in forward rotation or non-rotation; the motor does not rotate forwards, the motor is indicated to be in reverse rotation or not, the motor rotates forwards, namely the motor rotates towards the target rotating direction, the target rotating direction is consistent with the door opening direction or the door closing direction of the platform door, the target rotating direction is the door opening direction in the door opening process of the platform door, and otherwise, the target rotating direction is the door closing direction.
In this process, two obstacle encounter judgments are made based on the fact and reason that: the softness degree of the foreign matter that the platform door touched may be different, and some foreign matter compliance height, also elasticity is high, and some foreign matter hardness is high, and also elasticity is low, and is corresponding, and the door that the foreign matter of different softness degree was touched to the platform door produced hinders differently. When the platform door touches soft foreign matters such as thick clothes, the platform door still can continue to advance a minimum displacement towards the current direction within a very short time after the platform door contacts the foreign matters, and then the platform door touches the bottom and rebounds to displace towards the direction opposite to the current direction. For example, during the closing process of the platform door, the platform door still continues to advance to generate a little displacement extrusion within a very short time after the platform door touches thick clothes, and then the platform door touches the bottom and rebounds to displace in the opposite direction (namely, the door opening direction). Accordingly, in this very short time, the motor of the platform door does not rotate reversely, so that it is determined that the platform door is in a wind pressure blocking state and enters a wind pressure blocking driving mode, and actually, the platform door is in a door blocking state caused by a foreign object. The reason is that some foreign matters are soft, so that the door resistance of the platform door is very small, and the door resistance caused by the foreign matters is not enough to cause the motor to rotate reversely as the wind pressure, so that the foreign matters are misjudged as the platform door meeting the wind pressure resistance.
When the platform door touches a foreign matter with higher hardness, the platform door can immediately touch the bottom to rebound and move in the direction opposite to the current direction, and correspondingly, the motor can rotate reversely, so that the situation that the person is blocked needs to be judged, and the platform door is controlled to enter a person blocking driving mode.
Therefore, the first judgment that the entering of the wind pressure blockage driving mode is possibly misjudgment is carried out, and in order to avoid the misjudgment that the obstacle blockage is the wind pressure blockage by mistake, the second judgment whether the obstacle blockage is caused is set, so that whether the door blockage encountered by the platform door is the obstacle blockage or the wind pressure blockage can be judged more accurately.
The normal environment driving mode and the person obstacle driving mode of the embodiment are realized by adopting an obstacle driving control method of the existing platform door. The normal environment driving mode is that the platform door can be normally opened and closed without being blocked by any person or foreign matter, and the working principle of the motor when the platform door is normally opened and closed is as shown in fig. 2 and fig. 3. Fig. 2 is a specific example of an operation principle of a motor when a platform door is normally opened, fig. 3 is a specific example of an operation principle of a motor when a platform door is normally closed, and the ordinate of fig. 2 and 3 represents the rotation speed of the motor and the abscissa represents time (sec), and the displacement of the platform door may be correspondingly represented. Fig. 2 shows a process of first accelerating and then decelerating the motor during the opening process of the platform door, and fig. 3 shows the acceleration, the constant speed, the deceleration, the constant speed and the deceleration sequentially performed by the motor during the closing process of the platform door, and of course, the operation state of the motor may also be changed according to the actual situation, for example, the operation state includes a plurality of alternately performed accelerations, constant speeds and decelerations, but generally follows the operation principle of fig. 2 and fig. 3, and is not repeated here.
The figure meets and hinders the drive mode and is referred to the platform door and touches human body or foreign matter and meets and hinders the control mode that carries out, usually, after the platform door touches human body or foreign matter, can produce a feedback signal to make the platform door stop the present direction of advance and move in the opposite direction, in order to cause the injury or avoid the damage of platform door self to the person or object, after the platform door moves one location in the opposite direction and moves, the platform door continues to move towards original direction again, so that the platform door can be opened safely and completely or close. Of course, in this process, the platform door may be moved alternately in the forward direction and in the opposite direction to the forward direction a plurality of times. For example, when a person touches the platform door during closing, the platform door moves in the opening direction in a very short time to prevent people from being injured by the person, and then the platform door is closed again one or more times to finally close the platform door. Of course, in the actual process of opening and closing the platform door, the forward direction of the platform door and the reverse direction opposite to the forward direction may be moved by different times and in different alternating sequences, but the general idea follows the above description and is not described herein again.
Example two
This embodiment provides a door control unit, and the door control unit is also called DCU, the door control unit includes collection module, judging module and output module, collection module is used for gathering encoder stall signal and motor rotation signal, and collection module sends the signal of gathering for judging module, and judging module sends the judged result for output module, and output module outputs corresponding output signal to make platform door get into corresponding normal environment drive mode and meet one of the two of hindering control mode.
Specifically, the judging module outputs a judging result signal of the platform door entering one of the normal environment driving mode and the encountering resistance control mode according to the encoder stalling signal, and sends the judging result to the output module, the output module outputs a corresponding output signal a, the platform door correspondingly enters one of the normal environment driving mode and the encountering resistance control mode according to the output signal a,
the obstacle control mode comprises a figure obstacle driving mode and a wind pressure obstacle driving mode, and the platform door is judged to enter one of the figure obstacle driving mode and the wind pressure obstacle driving mode according to the motor rotation signal.
If the judging module judges that the encoder is not locked according to the encoder locked-rotor signal, a first judging signal is sent to the output module, and the output module outputs a first output signal to control the motor to drive the platform door to enter a normal environment driving mode;
if the judging module judges that the encoder is locked according to the encoder locked signal, a second judging signal is sent to the output module, the output module outputs a second output signal to control the motor to drive the platform door to enter one of a person blockage driving mode and a wind pressure blockage driving mode, namely the platform door is in an undetermined state, and whether the platform door enters the person blockage driving mode or the wind pressure blockage driving mode needs to be further determined according to a judging result of the judging module.
When the platform door enters an undetermined state of one of a person resistance meeting driving mode and a wind pressure resistance meeting driving mode, the acquisition module acquires a rotation signal of the motor, wherein the rotation signal comprises a forward rotation signal, a non-rotation signal and a reverse rotation signal, and respectively represents forward rotation of the motor, stopping rotation of the motor and reverse rotation of the motor;
the acquisition module acquires a rotation signal of the motor, the rotation signal comprises a forward rotation signal, a non-rotation signal and a reverse rotation signal, the rotation signal is sent to the judgment module, the judgment module outputs a judgment result signal of one of a person resistance meeting driving mode and a wind pressure resistance meeting driving mode according to the rotation signal, the judgment result signal is sent to the output module, the output module outputs a corresponding output signal b, and the platform door enters one of the person resistance meeting driving mode and the wind pressure resistance meeting driving mode according to the output signal b.
More specifically, if the judging module judges that the motor rotates reversely according to the motor rotation signal, a third judging signal is sent to the output module, and the output module outputs a third output signal to control the motor to drive the platform door to enter a person obstacle-encountering driving mode;
if the judging module judges that the motor rotates positively or does not rotate according to the motor rotation signal, a fourth judging signal is sent to the output module, and the output module outputs a fourth output signal to control the motor to drive the platform door to enter a wind pressure blockage driving mode.
When the platform door enters the wind pressure driving mode, the following steps are executed,
when the motor receives the fourth output signal, the motor is adjusted to be in a torque mode, the torque mode refers to that the speed loop of the motor is closed, only the current loop of the motor is opened, and the current of the current loop of the motor is increased, so that the torque value output by the motor is slowly adjusted to the maximum value (for example, 140N, at present, the safety standard of the subway platform door obstacle in resistance is less than or equal to 150N). If the current is increased within the time of t + delta t (for example, 300ms), the judging module judges that the motor does not rotate forwards according to the motor rotation signal acquired by the acquisition module, namely the judging module judges that the motor rotates backwards or does not rotate, the platform door is judged to be blocked by the obstacle, the judging module sends a fifth judging signal to the output module, and the output module outputs a fifth output signal to control the motor to drive the platform door to enter a figure-blocking driving mode, namely the platform door jumps from the wind-pressure-blocking driving mode to the figure-blocking driving mode;
if the current of the motor current loop is increased, the judging module judges that the motor rotates forwards according to the motor rotation signal collected by the collecting module, the platform door is judged to be in wind pressure resistance, the judging module sends a sixth judging signal or does not send a judging signal to the output module, correspondingly, the output module outputs a sixth output signal or does not output a signal, the motor continues to work according to the current mode, the platform door is still in a wind pressure resistance driving mode, the current of the motor current loop is increased until the moment value of the platform door is at the maximum value and the moment value of the platform door is maintained at the maximum value, and the platform door is opened or closed.
Preferably, the judging module judges that the motor rotates reversely within a certain time t (ms) according to the motor rotation signal, and sends a third judging signal to the output module, and the output module outputs a third output signal to control the motor to drive the platform door to enter a person obstacle-encountering driving mode; as an example, t is 100 ms.
The judging module judges whether the motor does not rotate reversely within a certain time t (ms) according to the motor rotation signal, namely, judges whether the motor rotates forwards or does not rotate, and sends a fourth judging signal to the output module, and the output module outputs a fourth output signal to control the motor to drive the platform door to enter a wind pressure blockage driving mode.
EXAMPLE III
This embodiment provides a platform door, and the platform door is usually used in the subway, can also be used in other places, for example following bus stop or passenger station, etc., and is not limited in particular, the platform door includes the door control unit of embodiment two, and the door control unit is used for controlling the platform door to open and close.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A method for controlling the blockage of a platform door is characterized by comprising the following steps:
detecting the blockage of the encoder, and according to the blockage result of the encoder, the platform door correspondingly enters one of a normal environment driving mode and a blockage control mode, wherein the blockage control mode comprises a person blockage driving mode and a wind pressure blockage driving mode,
after the platform door enters the obstacle control mode, the rotation of the motor is detected, and according to the rotation result of the motor, the platform door correspondingly enters one of a person obstacle driving mode and a wind pressure obstacle driving mode,
if the platform door is judged to enter the wind pressure resistance driving mode for the first time according to the detection result of the rotation of the motor, after the platform door enters the wind pressure resistance driving mode, the speed ring of the motor is closed, only the current ring of the motor is opened to control the motor to enter the torque mode and increase the current of the current ring, the rotation of the motor is detected for the second time in the process of increasing the current to the maximum value to identify whether the first judgment is false judgment or not, the platform door is judged to enter the person resistance driving mode or the wind pressure resistance driving mode again according to the second detection result of the rotation of the motor,
the normal environment driving mode refers to an operation that the platform door can be normally opened and closed without touching a human body and/or an object, the person resistance driving mode refers to an operation that the platform door is opened and closed when touching the human body or the object, and the wind pressure resistance driving mode refers to an operation that the platform door is opened and closed when the platform door is subjected to door resistance caused by wind pressure.
2. The method according to claim 1, wherein the step of entering the platform door into one of the normal driving mode and the emergency control mode according to the detection result of the encoder stall includes the following steps:
if the locked-rotor result of the encoder is detected to be that the encoder is locked-rotor, the platform door enters a blockage control mode, otherwise, the platform door enters a normal environment driving mode.
3. The method of claim 1, wherein the step of entering the specific implementation of one of the person-encounter driving mode and the wind-pressure-encounter driving mode according to the rotation result of the detection motor comprises the steps of:
if the rotation result of the motor is detected to be that the motor rotates reversely, the platform door enters a figure blockage driving mode, otherwise, the platform door enters a wind pressure blockage driving mode.
4. The method according to claim 1, wherein the detecting the rotation of the motor is detecting whether the motor is reversed within a predetermined time period, and if the motor is reversed within a time period t, the platform door enters a person-encountering-blockage driving mode, otherwise, the platform door enters a wind-pressure-encountering-blockage driving mode.
5. A platform door encounter control method according to claim 4, wherein t =100 ms.
6. A platform door jam control method according to claim 1, wherein the current of the current loop is increased to adjust the torque value output by the motor to a maximum value to overcome the door jam caused by wind pressure and to make the platform door safely and completely open and close; also comprises the following steps: if the motor does not rotate forward in the process of increasing the current to the maximum value, the platform door jumps from the wind pressure resistance driving mode to the human resistance driving mode, otherwise, the platform door is continuously in the wind pressure resistance driving mode.
7. The method according to claim 6, wherein the current is increased to a maximum value and the limit time is Δ t, which is the time when the platform door enters the wind pressure distress driving mode to the current time; if the motor does not rotate positively in the time of Δ t, the platform door jumps from the wind pressure resistance meeting driving mode to the human resistance meeting driving mode, otherwise, the platform door continues to be in the wind pressure resistance meeting driving mode.
8. A door control unit, the door control unit includes collection module, judging module and output module, its character lies in, the collection module is used for collecting the encoder lock signal and the motor rotation signal, the judging module outputs the judging result signal of one of the normal environment driving mode and the resistance control mode according to the encoder lock signal, and sends the judging result signal to the output module, the output module outputs the corresponding output signal a, the platform door enters one of the normal environment driving mode and the resistance control mode according to the output signal a, the resistance control mode includes the figure resistance driving mode and the wind pressure resistance driving mode, after the platform door enters the resistance control mode, the collection module collects the rotation signal of the motor, the rotation signal includes the positive rotation signal, the non-rotation signal and the reverse rotation signal, the system comprises a judging module, an output module and a platform door, wherein the judging module outputs a judging result signal of the platform door entering one of a figure resistance driving mode and a wind pressure resistance driving mode according to the rotating signal, and sends the judging result signal to the output module, the output module outputs a corresponding output signal b, and the platform door enters one of the figure resistance driving mode and the wind pressure resistance driving mode according to the output signal b;
if the platform door is judged to enter the wind pressure blockage driving mode for the first time according to the output signal b, after the platform door enters the wind pressure blockage driving mode, the output module outputs a control signal which controls the motor so as to close a speed ring of the motor and open a current ring of the motor so as to enable the motor to enter a torque mode and increase the current of the current ring, in the process of increasing the current to the maximum value, the rotation of the motor is detected for the second time so as to identify whether the first judgment is misjudgment or not, the judgment module outputs a judgment result signal of the platform door entering one of a person blockage driving mode and a wind pressure blockage driving mode according to a rotation signal acquired for the second time and sends the judgment result signal to the output module, the output module outputs a corresponding output signal, and enters one of the person blockage driving mode and the wind pressure blockage driving mode according to the output signal,
the normal environment driving mode refers to an operation that the platform door can be normally opened and closed without touching a human body and/or an object, the person resistance driving mode refers to an operation that the platform door is opened and closed when touching the human body or the object, and the wind pressure resistance driving mode refers to an operation that the platform door is opened and closed when the platform door is subjected to door resistance caused by wind pressure.
9. The door control unit of claim 8, wherein the current of the current loop is increased to adjust the torque value outputted from the motor to a maximum value to overcome the door resistance caused by wind pressure and to allow the platform door to be opened and closed safely and completely, further comprising,
if the motor does not rotate forward in the process of increasing the current to the maximum value, the platform door jumps from the wind pressure resistance driving mode to the human resistance driving mode, otherwise, the platform door is continuously in the wind pressure resistance driving mode.
10. A platform door comprising the door control unit according to claim 8 or 9, the door control unit controlling opening and closing of the platform door.
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| CN111677399B (en) * | 2020-06-04 | 2022-05-17 | 广州地铁集团有限公司 | Method for identifying maximum current of platform door motor under wind pressure and platform door control method |
| CN111648689A (en) * | 2020-06-11 | 2020-09-11 | 上海有个机器人有限公司 | Anti-pinch control method and control device for automatic door and automatic door |
| CN111568590A (en) * | 2020-07-01 | 2020-08-25 | 卡瓦科尔牙科医疗器械（苏州）有限公司 | System and method for cleaning plant mobile phone with self-adaptive control function |
| CN113513817A (en) * | 2021-05-07 | 2021-10-19 | 宁波奥克斯电气股份有限公司 | Sliding door control method, control device, air conditioner and storage medium |
| CN114541918B (en) * | 2022-04-01 | 2023-08-22 | 日立楼宇技术（广州）有限公司 | Method, device, equipment and storage medium for controlling opening and closing of rail transit platform door |
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| JP6629044B2 (en) * | 2015-11-04 | 2020-01-15 | 西日本旅客鉄道株式会社 | Obstacle detection device and sliding door opening / closing device provided with the device |
| CN205719794U (en) * | 2016-03-30 | 2016-11-23 | 广州新科佳都科技有限公司 | A kind of shield door dynamic pressure load, sealing, structure composition test system |
| CN206928815U (en) * | 2017-07-07 | 2018-01-26 | 江苏惠民交通设备有限公司 | A kind of new passenger doors anti-pinch device |
| CN208452987U (en) * | 2018-04-19 | 2019-02-01 | 广州地铁设计研究院股份有限公司 | A kind of subway platform door based on rolling friction |
| CN208907342U (en) * | 2018-04-19 | 2019-05-28 | 广州地铁设计研究院股份有限公司 | A kind of gate intelligent controlling device |
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