CN201133182Y - All-digit door machine control system - Google Patents
All-digit door machine control system Download PDFInfo
- Publication number
- CN201133182Y CN201133182Y CNU2007201907543U CN200720190754U CN201133182Y CN 201133182 Y CN201133182 Y CN 201133182Y CN U2007201907543 U CNU2007201907543 U CN U2007201907543U CN 200720190754 U CN200720190754 U CN 200720190754U CN 201133182 Y CN201133182 Y CN 201133182Y
- Authority
- CN
- China
- Prior art keywords
- signal
- inverter
- motor
- extract
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000012545 processing Methods 0.000 claims description 34
- 238000004891 communication Methods 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000004148 unit process Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 16
- 238000001514 detection method Methods 0.000 abstract description 13
- 230000001133 acceleration Effects 0.000 abstract description 12
- 230000007246 mechanism Effects 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 6
- 230000004888 barrier function Effects 0.000 abstract 2
- 230000036632 reaction speed Effects 0.000 abstract 1
- 230000000979 retarding effect Effects 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 13
- 230000005622 photoelectricity Effects 0.000 description 10
- 230000003287 optical effect Effects 0.000 description 9
- 230000006870 function Effects 0.000 description 8
- 238000013439 planning Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000004804 winding Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 230000008676 import Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 101150047356 dec-1 gene Proteins 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 230000035484 reaction time Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Images
Abstract
The utility model discloses a full-digital door machine control system; a control device is connected with a power source; a motor is connected with the control device; a worm wheel and a worm of a retarding mechanism are connected with the motor; a first gear is fixed on a rotating shaft; a second gear is fixed on the rotating shaft; a belt is connected with the first and the second gears in sliding way; one end of a first door body is connected with one end of a first connection element; one end of a second door body is connected with one end of a second connection element; the other end of the connection element is connected with the belt; the upper side of a sliding rail is connected with the bottom of the first and the second door bodies in sliding way. The control system aims at resolving the problem that during the operation acceleration process of the door body, the desired speed is greatly deviated from the actual speed, and thus reducing the cost. The electric current and speed dual-closed-ring control ensures the control precision and the reaction speed. Electric-current detection barrier and position detection barrier dual-redundant way ensures the security of the door machine during the operation process.
Description
Technical field
The utility model relates to the control device of driving gate machine opening and closing door body.
Background technology
Door mechanism system generally is installed in the doorframe top of elevator door, automatic door, is used for the switch of control gate body.Adopt conventional motors such as direct current generator, single-phase asynchronous motor, threephase asynchronous machine as executive component in the at present common door machine controller.This class device exists needs often maintenance, and volume is big, and efficient is low, problems such as cost height.Some controller adopts speed open loop control on the control method in addition, and control accuracy is relatively poor, and opposite house machine load variations adaptive capacity is relatively poor, can not satisfy high-grade elevator, the requirement of automatic door opposite house machine.
Need guarantee the safety of a running body as the door mechanism system that drives elevator door, automatic door, when running into the obstruction of people or thing in the door body motion process, need detecting promptly and accurately, and finish and stop accordingly or function that inverted running instruction and fault show.Rate curve planning and obstacle detection method that native system adopts can well guarantee safety and economize on hardware cost.
The utility model content
In order to address the above problem, the purpose of this utility model is to reduce the fault rate of door machine drive system, improves system application life, and the safety that improves system's control accuracy and system the utility model proposes a kind of full-digital portal crane control system for this reason.
To achieve these goals, the utility model proposes a kind of full-digital portal crane control system, comprising:
Have a power supply, be used to system that power supply is provided;
Have a control device and be connected, be used to export control signal with power supply;
Have a motor and be connected with control device, the receiving control device control signal is used to export driving torque;
Worm and gear with a reducing gear is connected with motor, is used for rotating speed of motor is reduced, and torque is transferred on first gear after increasing;
Having one first gear is fixed in the rotating shaft;
Having one second gear is fixed in the rotating shaft;
Having a belt and first gear and second gear is slidingly connected;
End with one first body is connected with an end of first connector;
End with one second body is connected with an end of second connector;
The other end with a connection piece is connected on the belt;
Bottom surface with the top of a slide rail and first body and second body is slidingly connected.
Described control device comprises: processing unit, change-over circuit, isolated location, inverter, motor, encoder, sensor, protected location, controller, digital oscilloscope;
First end with a processing unit is connected with power supply, is used to receive power supply voltage signal; Second end and the 3rd end with processing unit are used to export the voltage signal through processing unit processes;
First end with a change-over circuit is connected with the 3rd end of processing unit, is used to extract the voltage signal of the 3rd end of processing unit through processing unit processes; Also have second end and the 3rd end of change-over circuit, be used for output voltage signal;
First end with an isolated location is connected with change-over circuit second end, is used to receive the voltage signal of change-over circuit second end; Second end with isolated location is used to export the pulse-width modulation PWM ripple through isolating; The 3rd end with isolated location is used to extract the pulse-width modulation PWM ripple of controller;
First end with an inverter is connected with second end of processing unit, is used to extract the voltage signal of processing unit second end; Second end that also has inverter is connected with isolated location, is used to extract the PWM ripple of isolated location output; The 3rd end with inverter is used to export three-phase voltage signal control motor; Have the 4th end of inverter, be used for output overvoltage overcurrent protection signal and current signal;
First end with a motor is connected with the 3rd end of inverter, is used to extract the three-phase voltage signal of inverter the 3rd end output; Have second end of motor, be used for the output rotor positional information;
First end with an encoder is connected with second end of motor, is used to extract the rotor position information of motor second end; Have second end of an encoder, be used for the output rotor speed pulse signal, as speed feedback;
First end with a sensor is connected with the 4th end of inverter, is used to extract the current signal of the 4th end of inverter; Have second end of sensor, be used for the output transducer sensor current signal;
First end with a protected location is connected with the 4th end of inverter, is used to extract the electric current and voltage fault-signal of inverter the 4th end; Second end with protected location is used to export filtered electric current and voltage fault-signal;
First end with a controller is connected with the 3rd end of isolated location, is used to the 3rd end of isolated location that the pulse-width modulation PWM ripple is provided;
Second end with a controller is connected with second end of protected location, is used to extract the filtered electric current and voltage fault-signal of second end of protected location;
The 3rd end with a controller is connected with level shifting circuit the 3rd end, is used to extract the voltage signal of level shifting circuit the 3rd end;
The 4th end with a controller is connected with digital oscilloscope, is used to digital oscilloscope to provide data to show;
Five terminal with a controller is connected with second end of sensor, is used to obtain the sensor current signal of second end of sensor;
The 6th end with a controller is connected with second end of encoder, is used to extract the spinner velocity pulse signal of encoder second end.
Digital Signal Processing DSP logical operation is used to finish the control of system logic judgement, control algolithm, power model unit and the processing that fault is interrupted in the described controller.
Described inverter rises power supply circuits by Intelligent Power Module and peripheral pump and constitutes the orthogonal change-over circuit; be that turn-on and turn-off by six switching tubes convert direct current to and exchange output; be connected on the three-phase of motor; be used for controlling motor; the overvoltage signal on the inverter dc bus and the over-voltage and over-current signal of Intelligent Power Module are connected with the interruption input interface of controller by protected location, are used for directly by interrupting turn-offing all six road pulse-width modulation PWM ripples outputs.
Described control device middle controller passes through the serial communication interface upper machine communication, the intermediate variable of Electric Machine Control that online demonstration is useful on and a door machine important parameter.
Novel location positioning method is adopted in the planning of the rate curve of the utility model door machine control system, utilize encoder to determine the position of door operation, solve desired speed and the excessive problem of actual speed deviation in the door machine motion accelerator, reduced the cost of hardware circuit.
By being installed in the speed of the encoder detection motor rotation on the motor shaft, can detect electric current by Hall current sensor LEM, control algolithm adopts electric current and speed double closed-loop control, has guaranteed the control accuracy and the response speed of system.
Can run into obstruction in the door running body process, detection of obstacles is taked current detecting obstruction and the two redundant fashions of position probing obstruction, has guaranteed the safety in the door machine running.This optimization and administrative mechanism have reasonably guaranteed the reliability and the robustness of system.
Description of drawings
Fig. 1 is door mechanism of the present utility model and control system structured flowchart
Fig. 2 is the utility model control device structured flowchart
Fig. 3 is the utility model IPM converter main circuit schematic diagram
Fig. 4 is the planning that the utility model adopts the rate curve of location positioning method
Fig. 5 is the utility model main program block diagram
The specific embodiment
Describe each related detailed problem in the technical solutions of the utility model in detail below in conjunction with accompanying drawing.Be to be noted that described embodiment only is intended to be convenient to understanding of the present utility model, and it is not played any qualification effect.
With reference to Fig. 1, Fig. 1 has shown the enforcement structured flowchart of full-digital portal crane control system in the utility model, comprising:
Have a power supply 1 and adopt direct current 48v, be used to system that power supply is provided;
Have a control device 2 and be connected, be used to export control signal with power supply 1;
Have a motor BLDCM and be connected with control device 2, receiving control device 2 control signals are used to export driving torque;
Worm and gear 3 with a reducing gear is connected with motor BLDCM, is used for the rotating speed of motor BLDCM is reduced certain multiple, and torque is transferred on first gear 4 after increasing certain multiple;
Having one first gear 4 is fixed in the rotating shaft 6;
Having one second gear 5 is fixed in the rotating shaft 7;
Having a belt 8 and first gear 4 and second gear 5 is slidingly connected;
End with one first body 9 is connected with an end of first connector 11;
End with one second body 10 is connected with an end of second connector 11;
The other end with a connection piece 11 is connected on the belt 8;
Bottom surface with the top of a slide rail 12 and first body 9 and second body 10 is slidingly connected.
First end with an electromagnetic compatibility EMI processing unit 21 is connected with dc source 1, is used to receive the 48V voltage signal of dc source 1; Second end and the 3rd end with electromagnetic compatibility EMI processing unit 21 are used to export the 48V voltage signal of handling through EMI;
First end with a level shifting circuit 22 is connected with the 3rd end of electromagnetic compatibility EMI processing unit 21, is used to extract the 48V voltage signal of the 3rd end of electromagnetic compatibility EMI processing unit 21 through the EMI processing; Second end with level shifting circuit 22 is used to export 5V and 15V voltage signal; Have the 3rd end of level shifting circuit 22, be used to export the 3.3V voltage signal;
First end with a photoelectricity isolated location 23 is connected with level shifting circuit 22 second ends, is used for the 5V voltage signal of incoming level change-over circuit 22 second ends; Second end with photoelectricity isolated location 23 is used to export 6 road pulse-width modulation PWM ripples of isolating through photoelectricity; The 3rd end with photoelectricity isolated location 23 is used to extract 6 road PWM ripples of controller 28;
First end with an IPM inverter 24 is connected with second end of electromagnetic compatibility EMI processing unit 21, is used to extract the 48V voltage signal of electromagnetic compatibility EMI processing unit 21 second ends; Second end with IPM inverter 24 is connected with photoelectricity isolated location 23, is used to extract 6 road PWM ripples of photoelectricity isolated location 23 outputs; The 3rd end with IPM inverter 24 is used to export three-phase voltage signal control motor; The 4th end output voltage current failure signal and current signal with IPM inverter 24;
First end with a motor BLDCM is connected with the 3rd end of IPM inverter 24, is used to extract the three-phase voltage signal of IPM inverter 24 the 3rd end; Have second end of motor BLDCM, be used for the output rotor positional information;
First end with an optical electric axial angle encoder 25 is connected with second end of motor BLDCM, is used to extract the rotor position information of motor BLDCM second end; Have second end of an optical electric axial angle encoder 25, be used for the output rotor speed pulse signal, as speed feedback;
First end with a Hall current sensor 26 is connected with the 4th end of IPM inverter 24, is used to extract the current signal of the 4th end of IPM inverter 24; Have second end of Hall current sensor 26, be used for the output transducer sensor current signal;
First end with an over-voltage over-current protection unit 27 is connected with the 4th end of IPM inverter 24, is used to extract the electric current and voltage fault-signal of IPM inverter 24 the 4th end; Second end with over-voltage over-current protection unit 27 is used to export filtered electric current and voltage fault-signal;
First end with a controller 28 is connected with the 3rd end of photoelectricity isolated location 23, is used to the 3rd end of photoelectricity isolated location 23 that 6 road PWM ripples are provided;
Second end with a controller 28 is connected with second end of over-voltage over-current protection unit 27, is used to extract the filtered electric current and voltage fault-signal of second end of over-voltage over-current protection unit 27;
The 3rd end with a controller 28 is connected with level shifting circuit 22 the 3rd end, is used to extract the 3.3V voltage signal of level shifting circuit 22 the 3rd end;
The 4th end with a controller 28 is connected with digital oscilloscope 29, is used to digital oscilloscope 29 to provide data to show;
Five terminal with a controller 28 is connected with second end of Hall current sensor 26, is used to obtain the sensor current signal of sensing of second end of Hall current sensor 26;
The 6th end with a controller 28 is connected with second end of optical electric axial angle encoder 25, is used to carry the spinner velocity pulse signal of optical electric axial angle encoder 25 second ends.
Controller chip adopts the TMS320F2407A dedicated digital signal processor of U.S. Ti company, and Digital Signal Processing DSP logical operation is used to finish the control of system logic judgement, control algolithm, power model unit and the processing that fault is interrupted in the controller 28.
Fig. 3 is inverter 24 schematic diagrames, and inverter 24 employing IPM inverters rise power supply circuits by Intelligent Power Module IPM and peripheral pump and constitute the orthogonal change-over circuit.Six road PWM ripples that produced by 6 road PWM generation units of controller 28 connect six switching tubes 241 in the IPM inverter 24 through photoelectricity isolated location 23 back output six tunnel control signals, 242,243,244,245,246 gate pole just can be controlled the conducting of six switching tubes, and then control IPM inverter 24 output voltage amplitude and polarity.
Three phase windings of motor link to each other with IPM inverter 24 upper and lower bridge arms respectively as shown in Figure 3, and the output of control IPM inverter 24 voltages just can be controlled the rotating speed of motor BLDCM and turn to.Because the motor BLDCM that selects for use band is used for the three phase electric machine of Hall element of detection rotor position, when control motor BLDCM rotation, the position of the Hall element detection rotor by motor BLDCM inside determines that motor BLDCM winding switches the time of phase.The rotor revolution is crossed 60 degree electrical angles and is just changed stator conducting phase, average leading rotor 90 degree of the magnetic potential that allows stator winding produce, and motor BLDCM just can normally move according to predetermined direction like this.Because back-emf is a trapezoidal wave, the current signal that adds square wave just can produce constant electromagnetic torque.
The optical electric axial angle encoder 25 that is installed on the motor BLDCM axle detects the speed that motor BLDCM turns round, Hall current sensor 26 is used to detect the current value on the IPM inverter 24 DC side buses, A/D in the current analog signal access controller 28 that obtains detects interface ADC, through participating in the DSP logical operation as current feedback behind the digital filtering, can realize electric current, the speed double closed-loop control of motor BLDCM.Can detect first body 9 and second distance and position that body 10 moves by optical electric axial angle encoder 25 on the other hand.Novel location positioning method is adopted in the planning of the rate curve of door machine control system, has solved desired speed and the excessive problem of actual speed deviation in the door machine motion accelerator, has reduced the cost of hardware circuit.
The rate curve of first body 9 and second body 10 motion is divided into boost phase, at the uniform velocity stage, first decelerating phase, low speed at the uniform velocity stage, second decelerating phase at a high speed, as shown in Figure 4.
Usually determine speed given curve according to the method for utilizing time slice G3, promptly go out boost phase, at the uniform velocity determine deceleration point the running time in stage and decelerating phase by control device 2 calculated in advance, rather than according to door running body physical location.Because boost phase needs system that very big acceleration is provided,, can cause the too high and stability of a system variation of hardware cost if choose motor BLDCM output torque according to peak acceleration.Therefore the electric current of driver need be restricted, and just motor output torque diminishes, and like this, causes a body acceleration can't reach set-point.As shown in Figure 4, Shi Ji rate curve can't the onspeed curve.Like this, the distance of actual door running body can't reach given range ability.
We adopt the method according to the location, position and since actual acceleration and given acceleration promptly among the figure slope of values for actual speed and given speed value conform to substantially in the decelerating phase, being unlike in boost phase has very large deviation like that.Door body uniform motion stage high-speed, low velocity, the acceleration in acceleration and deceleration stage, the range ability in low-speed motion stage and the total distance of door running body are setting value.High-speed setting range 400-500mm/s, low velocity setting range 100-150mm/s, acceleration setting range 800-1200mm/s
2, the range ability setting range 100-150mm in low-speed motion stage, the total distance range of door running body is 980-1100mm.According to following formula:
v
1, v
2Be high and low speed value, a is an acceleration, and s is a distance
Deceleration point can be above-mentioned given data by the reverse release of terminal point.
Step 1: utilize low velocity, acceleration and the total distance of door running body calculate the second deceleration point s
Dec2
Step 2: utilize at a high speed, low velocity, acceleration, the range ability in low-speed motion stage and the total distance of door running body calculate the first deceleration point s
Dec1
Step 3: in the back door locking of at every turn closing the door, the position zero clearing that resets of door;
Step 4: utilize optical electric axial angle encoder to determine the position of door operation;
Step 5: door body actual motion is time the deceleration point, and speed value G2 i.e. opsition dependent locating speed set-point among the figure just reduces speed now.
The rate curve that experiment obtains is shown in values for actual speed among the figure.As can be seen, according to the time ratio that the method door body of position location moves in process at the uniform velocity long by the method for time segmentation, this has just remedied the range deviation between the command value G2 and values for actual speed G1 in the accelerator, as shown in the formula no:
s1＝s2+s3
Here: s1, s2, the area of dash area is the distance of door running body in the s3 difference presentation graphs 4.
This method has guaranteed that electric current also can reach requirement in smaller scope inside door body motion, has saved hardware cost, has improved the stability of system.
Can run into obstruction in the door running body process, detection of obstacles is taked current detecting obstruction and the two redundant fashions of position probing obstruction, has guaranteed the safety in the door machine running.So-called electric current detection of obstacles promptly according to current sensor senses to electric current with place obstacles the thing alarm current relatively, transfinite and produce the obstruction incident then for report.The position probing obstruction promptly comes the disturbance in judgement thing according to the difference of expectation stroke and the detected current stroke of photoelectric encoder.
The utility model main program flow block diagram is as shown in Figure 5: software adopts the timeslice management, and task division comprises that order executes the task and interrupt task, and the order that task is carried out designs in the function of task subordinate, with optimizing reaction time.
The step of executing the task in proper order is as follows:
Step a: after the hardware and software initialization, i.e. finite state machine initialization, the DSP initialization imports parameter, and the motion control initialization of variable is opened interruption;
The timeslice of step b: system divides 1ms;
Step c:, carry out motion planning and obtain movement velocity and position when timeslice reaches 1ms; When timeslice does not reach 1ms, execution in step b then;
Steps d: timeslice 1ms carries out a task, and task comprises serial ports processing function, detection of obstacles, CPU, the fault detect function, detection of obstacles, CPU, serial data sends, and timeslice is distributed to cycle task successively, and 8ms finishes and once is circulated to step b.
Serial ports is handled function performance: the read-write system parameter, send startup, and stop the brake control command;
The detection of obstacles function: the electric current detection of obstacles promptly compares according to the Hall current sensor 26 detected electric currents and the thing alarm current of placing obstacles, and transfinites and produces the obstruction incident then for report.The position probing obstruction promptly comes the disturbance in judgement thing according to the difference of expectation stroke and the detected current stroke of optical electric axial angle encoder.As have obstruction, provide obstruction and have sign.
The CPU function: the main procedure of drive software, coordinate other the task and the operation of commander's transmission device.The action that initiating system changes becomes incident, according to the incident of current state processing appearance.
The fault detect function performance: carry out controlling parameter internal storage data exclusive or check and inspection, 10 minutes once.Import internal memory when controlling parameter starts in system, after check data is correct, generate exclusive or check and.During each the inspection, recomputate the controlling parameter check and, with initial parameter verification and comparison,, then provide the check errors critical failure if inconsistent, system enters the critical failure state.
The interrupt class task comprises the Electric Machine Control interruption, the interruption of base 1ms during the system time sheet, and serial ports receives interrupt operation.
This optimization and administrative mechanism have reasonably guaranteed the reliability and the robustness of system.
The above; it only is the specific embodiment in the utility model; but protection domain of the present utility model is not limited thereto; anyly be familiar with the people of this technology in the disclosed technical scope of the utility model; can understand conversion or the replacement expected; all should be encompassed in of the present utility model comprising within the scope, therefore, protection domain of the present utility model should be as the criterion with the protection domain of claims.
Claims (5)
1, a kind of full-digital portal crane control system is characterized in that, comprising:
Have a power supply, be used to system that power supply is provided;
Have a control device and be connected, be used to export control signal with power supply;
Have a motor and be connected with control device, the receiving control device control signal is used to export driving torque;
Worm and gear with a reducing gear is connected with motor, is used for rotating speed of motor is reduced, and torque is transferred on first gear after increasing;
Having one first gear is fixed in the rotating shaft;
Having one second gear is fixed in the rotating shaft;
Having a belt and first gear and second gear is slidingly connected;
End with one first body is connected with an end of first connector;
End with one second body is connected with an end of second connector;
The other end with a connection piece is connected on the belt;
Bottom surface with the top of a slide rail and first body and second body is slidingly connected.
2, full-digital portal crane control system according to claim 1 is characterized in that, control device comprises: processing unit, change-over circuit, isolated location, inverter, motor, encoder, sensor, protected location, controller, digital oscilloscope;
First end with a processing unit is connected with power supply, is used to receive power supply voltage signal; Second end and the 3rd end with processing unit are used to export the voltage signal through processing unit processes;
First end with a change-over circuit is connected with the 3rd end of processing unit, is used to extract the treated voltage signal of the 3rd end of processing unit; Also have second end and the 3rd end of change-over circuit, be used for output voltage signal;
First end with an isolated location is connected with change-over circuit second end, is used to receive the voltage signal of change-over circuit second end; Second end with isolated location is used to export the pulse-width modulation PWM ripple through isolating; The 3rd end with isolated location is used to extract the pulse-width modulation PWM ripple of controller;
First end with an inverter is connected with second end of processing unit, is used to extract the voltage signal of processing unit second end; Second end that also has inverter is connected with isolated location, is used to extract the PWM ripple of isolated location output; The 3rd end with inverter is used to export three-phase voltage signal control motor; Have the 4th end of inverter, be used for output overvoltage overcurrent protection signal and current signal;
First end with a motor is connected with the 3rd end of inverter, is used to extract the three-phase voltage signal of inverter the 3rd end output; Have second end of motor, be used for the output rotor positional information;
First end with an encoder is connected with second end of motor, is used to extract the rotor position information of motor second end; Have second end of an encoder, be used for the output rotor speed pulse signal, as speed feedback;
First end with a sensor is connected with the 4th end of inverter, is used to extract the current signal of the 4th end of inverter; Have second end of sensor, be used for the output transducer sensor current signal;
First end with a protected location is connected with the 4th end of inverter, is used to extract the electric current and voltage fault-signal of inverter the 4th end; Second end with protected location is used to export filtered electric current and voltage fault-signal;
First end with a controller is connected with the 3rd end of isolated location, is used to the 3rd end of isolated location that the pulse-width modulation PWM ripple is provided;
Second end with a controller is connected with second end of protected location, is used to extract the filtered electric current and voltage fault-signal of second end of over-voltage over-current protection unit;
The 3rd end with a controller is connected with level shifting circuit the 3rd end, is used to extract the voltage signal of level shifting circuit the 3rd end;
The 4th end with a controller is connected with digital oscilloscope, is used to digital oscilloscope to provide data to show;
Five terminal with a controller is connected with second end of sensor, is used to obtain the sensor current signal of second end of sensor;
The 6th end with a controller is connected with second end of encoder, is used to extract the spinner velocity pulse signal of encoder second end.
3, full-digital portal crane control system according to claim 2 is characterized in that: Digital Signal Processing DSP logical operation is used to finish the control of system logic judgement, control algolithm, power model unit and the processing that fault is interrupted in the controller.
4, full-digital portal crane control system according to claim 2; it is characterized in that; described inverter rises power supply circuits by Intelligent Power Module and peripheral pump and constitutes the orthogonal change-over circuit; be that turn-on and turn-off by six switching tubes convert direct current to and exchange output; be connected on the three-phase of motor; be used for controlling motor; the overvoltage signal on the inverter dc bus and the over-voltage and over-current signal of Intelligent Power Module are connected with the interruption input interface of controller by protected location, are used for directly by interrupting turn-offing all six road pulse-width modulation PWM ripples outputs.
5, full-digital portal crane control system according to claim 2 is characterized in that: described control device middle controller passes through the serial communication interface upper machine communication, the intermediate variable of Electric Machine Control that online demonstration is useful on and a door machine important parameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201907543U CN201133182Y (en) | 2007-12-12 | 2007-12-12 | All-digit door machine control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201907543U CN201133182Y (en) | 2007-12-12 | 2007-12-12 | All-digit door machine control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201133182Y true CN201133182Y (en) | 2008-10-15 |
Family
ID=40061455
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007201907543U Expired - Lifetime CN201133182Y (en) | 2007-12-12 | 2007-12-12 | All-digit door machine control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201133182Y (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010124615A1 (en) * | 2009-04-30 | 2010-11-04 | 浙江关西电机有限公司 | Speed reduction device and its control method |
| CN101881117A (en) * | 2010-06-18 | 2010-11-10 | 南车株洲电力机车有限公司 | Automatic reset system and method for door control units of mass transit vehicle door |
| CN102035449A (en) * | 2010-12-30 | 2011-04-27 | 海安县宏菱新型材料机电有限公司 | All-in-one gantry crane direct-driving and vector control device |
| CN101275452B (en) * | 2008-05-12 | 2012-09-19 | 石建立 | Intelligent control apparatus of automatic smoothing door manipulator based on fuzzification |
| CN102966283A (en) * | 2012-11-14 | 2013-03-13 | 周裕佳 | Electric door and buffer control method thereof |
| CN101456513B (en) * | 2007-12-12 | 2013-05-01 | 中国科学院自动化研究所 | Full-digital portal crane control system and control method |
| CN103362397A (en) * | 2013-07-18 | 2013-10-23 | 无锡凯施智联软件科技有限公司 | Intelligent control device for automatic door |
| CN104270064A (en) * | 2014-09-28 | 2015-01-07 | 苏州市职业大学 | Motor control device |
| CN104918874A (en) * | 2013-01-08 | 2015-09-16 | 奥的斯电梯公司 | Elevator door friction belt drive including one or more markers |
| CN110344706A (en) * | 2018-04-04 | 2019-10-18 | 中山市欧派克五金制品有限公司 | A kind of self-adaptation control method and adaptive control system for sliding door |
| CN111021874A (en) * | 2019-12-09 | 2020-04-17 | 国网智能科技股份有限公司 | Tunnel fireproof door and related self-checking method and fireproof method |
| CN113167095A (en) * | 2019-03-08 | 2021-07-23 | 株式会社海莱客思 | Opening/closing body drive mechanism |
| CN114568914A (en) * | 2022-02-23 | 2022-06-03 | 南京工程学院 | Manual and automatic dual-purpose curtain opening and closing machine system with intelligent voice recognition function |
-
2007
- 2007-12-12 CN CNU2007201907543U patent/CN201133182Y/en not_active Expired - Lifetime
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101456513B (en) * | 2007-12-12 | 2013-05-01 | 中国科学院自动化研究所 | Full-digital portal crane control system and control method |
| CN101275452B (en) * | 2008-05-12 | 2012-09-19 | 石建立 | Intelligent control apparatus of automatic smoothing door manipulator based on fuzzification |
| WO2010124615A1 (en) * | 2009-04-30 | 2010-11-04 | 浙江关西电机有限公司 | Speed reduction device and its control method |
| CN101881117A (en) * | 2010-06-18 | 2010-11-10 | 南车株洲电力机车有限公司 | Automatic reset system and method for door control units of mass transit vehicle door |
| CN101881117B (en) * | 2010-06-18 | 2012-12-12 | 南车株洲电力机车有限公司 | Automatic reset system and method for door control units of mass transit vehicle door |
| CN102035449A (en) * | 2010-12-30 | 2011-04-27 | 海安县宏菱新型材料机电有限公司 | All-in-one gantry crane direct-driving and vector control device |
| CN102966283A (en) * | 2012-11-14 | 2013-03-13 | 周裕佳 | Electric door and buffer control method thereof |
| CN104918874A (en) * | 2013-01-08 | 2015-09-16 | 奥的斯电梯公司 | Elevator door friction belt drive including one or more markers |
| CN103362397A (en) * | 2013-07-18 | 2013-10-23 | 无锡凯施智联软件科技有限公司 | Intelligent control device for automatic door |
| CN104270064A (en) * | 2014-09-28 | 2015-01-07 | 苏州市职业大学 | Motor control device |
| CN110344706A (en) * | 2018-04-04 | 2019-10-18 | 中山市欧派克五金制品有限公司 | A kind of self-adaptation control method and adaptive control system for sliding door |
| CN110344706B (en) * | 2018-04-04 | 2021-11-09 | 中山市欧派克五金制品有限公司 | Self-adaptive control method and self-adaptive control system for sliding door |
| CN113167095A (en) * | 2019-03-08 | 2021-07-23 | 株式会社海莱客思 | Opening/closing body drive mechanism |
| CN113167095B (en) * | 2019-03-08 | 2022-07-08 | 株式会社海莱客思 | Opening/closing body drive mechanism |
| CN111021874A (en) * | 2019-12-09 | 2020-04-17 | 国网智能科技股份有限公司 | Tunnel fireproof door and related self-checking method and fireproof method |
| CN114568914A (en) * | 2022-02-23 | 2022-06-03 | 南京工程学院 | Manual and automatic dual-purpose curtain opening and closing machine system with intelligent voice recognition function |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201133182Y (en) | All-digit door machine control system | |
| CN101456513B (en) | Full-digital portal crane control system and control method | |
| USRE42200E1 (en) | Fault handling of inverter driven PM motor drives | |
| CN102004224B (en) | Three-phase motor phase failure detection system and detection method thereof | |
| CN201383787Y (en) | Controller of brushless direct current motor | |
| CN102624315A (en) | High-precision permanent magnetic servo motor three-closed-loop control system and method | |
| CN103534929A (en) | Drive system for synchronous motor | |
| CN102957372A (en) | Double closed-loop control system of permanent-magnet synchronous motor | |
| CN201509176U (en) | Brushless motor control system and brushless motor | |
| CN203675020U (en) | Hand dryer brushless motor controller without position sensor | |
| CN103684120A (en) | Inductive brushless direct current motor drive method | |
| CN102064753A (en) | Alternating current permanent-magnet synchronous machine controller | |
| CN106849702A (en) | A kind of Novel rotary rectifier with malfunction monitoring function | |
| WO2020047664A1 (en) | Systems and methods for intelligent control of rotating electric machines | |
| WO2012032571A1 (en) | Ac motor rotation direction detecting method and electric power conversion device for ac motor using same | |
| CN101420198A (en) | Five phase DC brushless motor controller | |
| CN105007007B (en) | A kind of control method of two-phase switched reluctance motor controller | |
| CN104617828B (en) | The AC permanent-magnet synchronous servo motor control system and control method of barrier gate device | |
| CN110061677A (en) | A kind of switched reluctance machines method for suppressing torque ripple based on novel more level power circuits | |
| CN105071714A (en) | Control system for brushless direct current motor free of position sensor | |
| CN111769780A (en) | Control method and device of motor controller and automobile | |
| CN204539018U (en) | The single Hall three-phase direct-current brushless motor of high-speed industrial sewing machine | |
| CN201915750U (en) | Integral gate operator direct drive and vector control device | |
| CN115037205A (en) | Permanent magnet motor torque ripple suppression method based on hybrid system theory | |
| CN210745044U (en) | SRM direct instantaneous torque control system based on novel multi-level power circuit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20081015 Effective date of abandoning: 20071212 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20081015 Effective date of abandoning: 20071212 |
|
| RGAV | Abandon patent right to avoid regrant |