JP2001001886A - Method of controlling opening and closing door - Google Patents

Abstract

PROBLEM TO BE SOLVED: To minimize the fluctuation of time in opening and closing a door by controlling the fluctuation of the door opening and closing time caused by an environmental change or the wear or deformation of a movable part by a movable fence itself. SOLUTION: In the opening and closing control of a door, various motor control parameters are set in the motor control part of each movable fence as standard value, and the movement is started according to this value. The time required for ending the control from its start is regularly measured, this value is stored as coefficient, and the value of the motor control parameter is corrected by this door opening and closing time coefficient in the next opening and closing operation of the door to perform the opening and closing control. The door opening and closing time coefficient obtained by the result of this opening and closing control is substituted and reflected to the next control. Accordingly, the control method having the learning function of repeating the control according to the motor control parameter regularly corrected with the latest door opening and closing time coefficient is adapted, whereby the fluctuation of the door opening and closing time caused by an environmental change or the wear or deformation of a movable part can be minimized.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a door open / close control method for a movable fence for a platform.

[0002]

2. Description of the Related Art Conventionally, opening / closing control of a door in a movable fence for a platform includes an acceleration force for controlling a motor to open and close the door in a predetermined opening / closing time, a traveling speed in a constant speed range, and a deceleration brake. Various parameters such as force and running speed in a low speed range are set as optimal fixed values under certain conditions, and the motor is controlled based on the parameters.

Accordingly, means for minimizing fluctuations in the opening / closing time of the door due to environmental changes in use such as ambient temperature, humidity, and power supply voltage, or changes in mechanical resistance of the movable part caused by wear and deformation of the movable part. The structure is such that the variable elements such as inertia and mechanical resistance of the movable part are reduced as much as possible by reducing the weight of the movable part and using a rotary bearing for the sliding part, so that there is sufficient margin for the performance limit of the motor It is necessary to improve the followability of the movable part.

On the other hand, as a movable fence installed on a platform, deformation and collapse beyond the architectural limit on the track side are not allowed in any case, and the door that opens and closes is sufficient for anticipated wind pressure and pressing by passengers. Since it is required to have a structure that can withstand, significant reduction in the weight of the door and reduction in the sliding resistance of the sliding portion cannot be expected. For heavy doors that generate large inertia or mechanisms with high sliding resistance, the conventional motor control method based on fixed control constants has a poor ability to follow the door due to changes in the mechanical resistance of the moving parts described above. There is a problem that time fluctuation cannot be suppressed.

[0005]

SUMMARY OF THE INVENTION According to the present invention, the opening / closing time of a door is affected by a change in the use environment such as ambient temperature, humidity, and power supply voltage, or a change in mechanical resistance of the movable part caused by wear or deformation of the movable part. The movable fence itself suppresses the fluctuation,
The purpose is to perform control to keep it constant.

[0006]

[Means for Solving the Problems] An acceleration force for opening and closing the door in a predetermined time, a traveling speed in a constant speed range, a deceleration braking force, a very low speed selected as an optimum value under a certain condition. Various motor control parameters such as the running speed in the area are set as standard values in the motor control unit of each movable fence, and operation is started according to these values. At this time, the motor control unit always measures the time required from when the motor control is started to when the door is actually opened or closed, and stores this value as a coefficient. Next, at the timing of opening / closing the door, the value of the motor control parameter is corrected according to the degree of increase or decrease with respect to the predetermined opening / closing time by referring to the previously stored door opening / closing time coefficient. Open / close control in accordance with.

Further, the door opening / closing time coefficient obtained as a result of the opening / closing control is replaced with the coefficient stored previously, and is reflected in the next control. By adopting a control system with a learning function that repeats control according to the motor control parameters that are always corrected with the latest door opening / closing time coefficient, fluctuations in door opening / closing time caused by environmental changes, wear and deformation of movable parts, etc. Can be minimized. Furthermore, the latest control parameters that are constantly corrected are always stored in the storage medium inside the movable fence, and the first control when the power of the movable fence is stopped and restored is based on the stored control parameters, and the first control is performed according to the stored control parameters. A predetermined opening / closing time is also maintained in the control.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is an overall configuration diagram of a control system showing features of the present invention. FIG. 2 is a control flowchart for realizing the present invention.

In the movable fence 11, when a command to open and close the door is received, the motor controller 14 executes 21 and the motor 1
3 are referred from the storage unit. Control signal 1 based on parameters in module 22
6 is supplied to the motor 13, and the motor 13 opens or closes the door 12 according to the control signal. In the motor control unit 14, the module 23
Starts the measurement of the door opening / closing time with the information of the door opening / closing time 15,
When the module 24 determines that the door opening / closing operation is completed, the module 25 ends the measurement of the door opening / closing time.

The measured door opening / closing time is converted from a deviation from a predetermined opening / closing time by a module 26 into a door opening / closing time coefficient, and is replaced with a coefficient stored in a storage medium. The various parameters used for motor control this time are corrected. The module 27 stores the obtained corrected parameters in the storage unit. After that, by executing this control every time the opening / closing command is similarly given, various parameters are corrected so that the predetermined opening / closing time is obtained at the time when the indication of the fluctuation of the door opening / closing time is recognized. Since the door opening / closing control is performed according to the corrected parameters, the fluctuation of the door opening / closing time can be suppressed to a minimum.

[0011]

As described above, according to the present invention, it is possible to minimize the fluctuation of the door opening / closing time caused by the change of the environment, the wear and deformation of the movable part, and the like.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a control system showing one embodiment of the present invention.

FIG. 2 is a flowchart showing one embodiment of a control flow of the present invention for each module.

[Explanation of symbols]

11: movable fence, 12: door that opens or closes, 13: motor, 14: motor control device, 15: time information required to open and close the door, 16: control signal for controlling the motor 13, 21: save A module for quoting the corrected parameters, a module for generating a control signal based on the corrected parameters and starting control of the motor, 2
3: a module for starting the opening and closing time of the door; 24: a module for monitoring whether the opening and closing of the door is completed; if not completed, the measurement of the opening and closing time is continued; if completed, the module proceeds to the next step; Module for ending the measurement of the opening / closing time, 26: A module for obtaining a door opening / closing time coefficient from a deviation between the measured door opening / closing time and a predetermined opening / closing time, 27: For controlling at a predetermined door opening / closing time using the door opening / closing time coefficient. A module for correcting a control parameter, and a module for replacing the control parameter in the storage unit with the latest corrected parameter for use in the next control.

Claims (3)

[Claims] 1. A door having a communication control unit for receiving a door open / close information from a general control unit and giving an open / close command to a control unit, a motor control unit for controlling a rotation direction and an output of a motor, and a mechanism for opening / closing by a motor. Learning that the opening / closing time of the door fluctuates due to changes in the operating environment such as ambient temperature, humidity, and power supply voltage, or changes in the mechanical resistance of the movable part caused by wear and deformation of the movable part. A door opening / closing control method characterized in that the movable fence itself performs control to keep it constant by function. 2. A movable platform for a platform comprising: a communication control unit for receiving an opening / closing information of a door from a general control unit and giving an opening / closing command to a control unit; a motor control unit for controlling a rotation direction and an output of a motor; The learning function detects the fluctuating door opening / closing time in fences due to changes in the operating environment such as ambient temperature, humidity, and power supply voltage, or changes in the mechanical resistance of the moving parts caused by wear and deformation of the moving parts. The door is characterized by constantly updating and holding the control parameters set to perform control to keep it constantly constant, and performing control based on the latest parameters held when newly starting control due to a power failure or the like. Open / close control method. 3. A door opening / closing control system according to claim 1, wherein said door is opened and closed.