JP2002104176A - Opening/closing pattern generating method for plurality of linear doors - Google Patents

Abstract

PROBLEM TO BE SOLVED: To control a plurality of linear doors in a simpler control structure. SOLUTION: When the plurality of weather door type linear doors are opened or closed in various patterns, a simple parameter is set for the opening/closing pattern, thereby automatically generating a speed pattern for each motor.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention generates a speed command for opening and closing a shutter-type home door using a linear motor applied to a platform of a station of a high-speed railway vehicle such as a Shinkansen in various patterns. How to do it.

[0002]

2. Description of the Related Art It is desired that a platform be provided with a home door system having a door for getting on and off as a safety facility for vehicles passing at high speed through the platform. However, conventionally known home doors only have doors for getting on and off at predetermined intervals, and do not correspond to the entrances of all types of vehicles. There was a need for a space where passengers could walk on the road from the vehicle to the entrance of the vehicle, and the platform was narrow by the required width between the platform door and the vehicle.

Therefore, a shutter type home door system has been developed which can move an arbitrary number of doors by an arbitrary number as shown in FIG. This home door system
It is installed on the platform of the station where the vehicle stops and passes,
Even if the position of the entrance of the stopped vehicle changes due to a difference in the type of vehicle or a difference in the stop position of the vehicle, the necessary door can be moved so that the position corresponding to the entrance becomes the opening. . For example, in the case of six doors as shown in FIG. 1 (actually about 16 doors), the doors can be opened and closed from an arbitrary location in an arbitrary direction, such as in Examples 1 and 2, by an arbitrary number. It is possible to change the door opening and closing location and the like according to the type of train and the stop position. FIG. 2 shows various opening / closing patterns assumed for six doors.

In a shutter type home door using a linear motor, as shown in FIG.
2 is installed, and the motor 14, the amplifier 16, and the lower control device 18 are installed on the side of the gate that does not move, thereby simplifying the structure. As an example, two motors are installed for one door. Wiring is simplified by giving a command from the host controller 20 for the type of opening / closing pattern and the opening / closing start signal. By installing motors and sensors on the side of the gate, electric wiring is not required for moving doors, and mechanical structure and wiring can be simplified, but each motor needs to control multiple doors. The control method becomes complicated. That is, since no encoder, motor, or amplifier is installed on the door side, the door control requires some contrivance.

[0005]

When a plurality of doors are controlled by a plurality of motors, conventionally, information of all the motors is centrally managed and a speed command value is issued to all the motors. Control methods are commonly used. However, the transmission of information between the centralized controller and the motor must exchange not only the door position information but also the current value of the amplifier. Have. Also, communication between the centralized control device and the motor had to be performed at a very high speed. Many methods for generating a speed command for a single door have been invented. However, a speed command value for a case where an encoder, a motor, and an amplifier are installed in a stator with a plurality of linear doors is installed. Has not been invented.

The present invention has been made in view of the above points, and it is an object of the present invention to provide a plurality of shutter door type linear home doors, in which an encoder, a motor, and an amplifier are installed on a stator (gate). In a device configuration in which magnets are installed, by setting simple parameters for the opening and closing pattern with a lower control device installed in each motor, a speed pattern for each motor is automatically generated, and each motor is generated. The opening and closing of the entire door can be controlled by distributed control for each, and the communication speed between the upper control device and the lower control device may be low, and the amount of wiring between the higher control device and the lower control device can be reduced. The object of the present invention is to provide a method for generating a linear door opening / closing pattern.

[0007]

In order to achieve the above object, a method for generating a plurality of linear door opening / closing patterns according to the present invention is provided. A plurality of doors are movably mounted on a common rail, and a magnet is attached to each door. A linear motor that drives the magnet by energizing the motor and arranging the motor on the rail side at a pitch of an integral number of the door width and supplying current to the motor to open and close the door An amplifier is provided for each motor, and a lower control device that gives a speed command to the amplifier is installed for each motor, and a door open / close command is transmitted from the higher control device to the lower control device. Method of generating open / close patterns for multiple linear doors, in which a lower-level control device generates speed commands and controls open / close of the entire door by distributed control for each motor Then, the door opening / closing pattern and the opening / closing start command are transmitted from the upper controller to the lower controller of each motor, and the lower controller selects the parameters set for the opening / closing pattern, thereby obtaining the motor encoder value and A speed command value is calculated from parameters determined by a door opening / closing pattern, and the speed command value is input to an amplifier to perform speed control based on an encoder value.

Further, according to the method of the present invention, a plurality of doors are movably mounted on a common rail, a magnet is provided on each door, and a motor is arranged on the rail side at a pitch of an integral number of the door width. Then, a linear motor for energizing the motor to drive the magnet is provided, and an amplifier for supplying a current to the motor for opening and closing the door is provided for each motor, and a lower-level control device for giving a speed command to the amplifier is provided. Installed on the motors, and the lower control device transmits a door opening / closing command from the higher control device. Based on the information, the lower control device generates a speed command from the encoder value of the motor. A method for generating a plurality of linear door opening / closing patterns for controlling opening / closing of a plurality of linear doors. After normalizing the encoder values, the lower control device selects the three parameters set for the opening / closing pattern, the door moving direction, the encoder value correction amount, and the door moving distance. The sign is determined according to the moving direction of the door, the correction value of the encoder value is added to the value, the speed command value is calculated from the value, and the sign of the obtained speed command value is changed to the moving direction of the door. And the speed command value is input to the amplifier to perform speed control based on the encoder value.

Further, according to the method of the present invention, a plurality of doors are movably mounted on a common rail, a magnet is provided on each door, and motors are arranged on the rail side at a pitch equal to an integral number of the door width. Then, a linear motor for energizing the motor to drive the magnet is provided, and an amplifier for supplying a current to the motor for opening and closing the door is provided for each motor, and a lower-level control device for giving a speed command to the amplifier is provided. Installed on the motors, and the lower control device transmits a door opening / closing command from the higher control device. Based on the information, the lower control device generates a speed command from the encoder value of the motor. A method for generating a plurality of linear door opening / closing patterns for controlling the opening / closing of a door, wherein a door opening / closing pattern, opening / closing selection and a control start command are transmitted from a host controller. Transmitted to the low order control device of the motor, the low order control device, configured for opening and closing pattern 3
After selecting the two parameters of the door moving direction, the encoder value correction amount and the door moving distance, and normalizing the encoder value with the length of the encoder for one door as 1,
The sign is determined according to the moving direction of the door, the amount of correction of the encoder value is added to the value, the speed command value of two patterns of opening and closing is calculated from the value, and the speed obtained by selecting the opening and closing is calculated. The sign of the command value is determined according to the moving direction of the door, and the speed command value is input to the amplifier in response to a control start command to perform speed control based on the encoder value.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below, but the present invention is not limited to the following embodiments and can be implemented with appropriate modifications. In order to open and close a plurality of shutter type linear home doors in various patterns, it is necessary to give speed command values to a plurality of servo amplifiers. The present embodiment describes a shutter type home door opening / closing device using a linear motor and a speed pattern generation method. A shutter-type linear door is, for example, six doors as shown in FIG. 1 (actually about 16 doors), and can be opened and closed from an arbitrary location by moving an arbitrary number of doors in an arbitrary direction. It is possible, and it is possible to change the door opening / closing location and the like according to the type of train and the stop position. Example 1 of FIG. 1 is a three door 10 arranged on the right side of the six doors 10 attached to the rail 22.
This shows a state in which three doors have moved to the right by three doors to form an opening 24. In the example 2 of FIG. 1, the three doors arranged on the left side move to the left by one door, and the three doors arranged on the right side move to the right by two doors, and 26 shows a state where it is formed. FIG. 2 shows various opening / closing patterns assumed for six doors.

As shown in FIG. 3, a magnet 12 is installed on the door 10 and a motor 14, an amplifier 16 and a lower-level control device 18
Is installed to simplify the structure. As an example, two motors are installed for one door. Wiring is simplified by giving a command from the host controller 20 for the type of opening / closing pattern and the opening / closing start signal. By installing motors and sensors on the Kamoi side, there is no need for electrical wiring on the moving doors,
Although the mechanical structure and wiring can be simplified, each motor needs to control a plurality of doors, and the control method becomes complicated. That is, since no encoder, motor, or amplifier is installed on the door side, the door control requires some contrivance. The present invention is a configuration for easily performing the control method, and is a method for generating speed commands for a plurality of linear home doors.

(1) Method of transmitting information between the upper control device and the lower control device FIG. 4 shows a door opening / closing sequence. The door opening / closing pattern and the opening / closing start command are transmitted from the upper control device to the lower control device. The communication speed between the upper control device and the lower control device does not matter even if the communication speed is relatively low. When the door opening / closing pattern and the opening / closing start command are transmitted from the upper control device to the lower control device, the lower control device alone controls the movement of the door. Although the lower-level control devices are installed in each motor, in this control method, there is no need to exchange information between the lower-level control devices, and distributed control is performed for each motor. Therefore, the lower-level control device has a very simple configuration. As shown in FIG. 4, three parameters (moving direction at the time of opening, encoder value correction amount, and moving distance) are selected in the lower control device by opening / closing pattern selection from the higher control device, and the opening and closing are performed by the lower control device. A speed command corresponding to the pattern is automatically generated, and the speed control is performed only by the lower control device. Only the command for performing the opening operation and the closing operation is sent from the upper control device to the lower control device.

(2) Detailed Description of Lower-Level Control Device FIG. 5 shows an apparatus for executing the method for generating a plurality of linear door opening / closing patterns according to the first embodiment of the present invention, and shows details of the lower-level control device. As shown in FIG. 5, the lower control device 18 receives signals of the door opening / closing pattern (open / close pattern number, motor number), open / close selection, and control start command from the upper control device 20. The speed command value is calculated from the encoder value of the motor 14 based on the information. 28 is an encoder detector and 30 is an encoder slit. A speed command value is input to the amplifier 16, and speed control is performed based on the encoder value. In the method of calculating the speed command value from the encoder value in the lower control device 18, first, the position information of the door is obtained by a position detector (not shown) from the count number of the encoder output from the encoder detector 28, The encoder value is normalized by assuming that the length of the encoder for one door is 1, then the sign is determined according to the moving direction of the door, the amount of correction of the encoder value is added to the value, and the speed is calculated from the value. Determine the command value. The speed command value is prepared in two patterns, open and closed, and finally the sign is determined according to the moving direction of the door. The normalization of the encoder value has a role of simplifying the calculation. The reason why the sign of the encoder value or the speed command value is changed depending on the moving direction of the door is to reduce the formula for preparing the speed command value. The reason why the correction amount is added to the encoder value is to make the actual movement amount of the door equal to the encoder value for every door. For example, even if the door moves, the motor without the door below the motor cannot recognize the moving distance, and therefore corrects it.
By using this method, it is not necessary to prepare a plurality of maps of encoder values and speed command values to be prepared.

(3) Map of Encoder Value and Speed Command Value FIG. 6 and the following equations 1, 2, and 3 show a method of generating a map of the encoder value and the speed command value. The variables shown in Expression 1 are parameters for determining variables and maps used in FIG. vcmd is a speed command value that is input to the amplifier. encoder_input is the encoder value and ENCODER_C
OUNT is the count number (for example, 1040) of the encoder installed on one door. The counter is a value after normalization and correction calculated from the encoder value, and the speed command value is determined from this value. direction is the direction of door movement, off
set is a correction amount of the encoder value, and is 0 when the door is below the motor, and is increased from 0.25 by 0.5 for each motor otherwise. distance is the distance traveled by the door. param_vel_1 ~ param_vel_4 and param_length_1 ~ para
m_length_5 is a map parameter for determining the vcmd from the counter. The meaning of the parameters is shown in Equation 1 and the graph of FIG. List 1 shown in Equation 2 shows a speed command value generation program (description in C language) when the door is opened, and List 2 shown in Equation 3 shows a speed command value generation program (C language) when the door is closed. Description). Function input is
The output of encoder_input is vcmd. The program first normalizes, corrects, and determines the sign of the encoder value (encoder_input), determines a speed command value based on the value, and finally determines the sign of the speed command value according to the moving direction of the door. The difference in the door opening / closing pattern is that the movement start point and the movement end point are opposite, and the expression of the speed command value is different.

[0015]

(Equation 1)

[0016]

(Equation 2)

[0017]

[Equation 3]

(4) Door Opening / Closing Pattern and Method of Determining Parameters of Each Motor In the lower control device of each motor, three parameters are determined based on the door opening / closing pattern, and the speed command value is determined. For example, in a linear door including six doors as shown in FIG.
The parameters for moving two doors, door numbers 4, 5, and 6 to the right (see Example 2 in FIG. 1) are determined as follows. List 3 shown in the following Expression 4 shows an example of parameters (description in C language) in this case.

[0019]

(Equation 4)

First, direction, which is a parameter for determining the moving direction of the door, has a value of -1 for a motor related to the movement and moving to the left and 1 for a motor related to the movement and moving to the right. The encoder value correction amount is 0 when the door is closed and there is a door below the motor, and starts from 0.25 when there is no door and is 0.5 for one motor.
I will increase it. Note that the offset amount does not change depending on the opening / closing pattern since the door closing pattern is usually the same.
That is, if the installation location (motor No.) of the motor is determined, the offset amount is determined. FIG. 7 shows the role of the offset amount. FIG. 7 illustrates a case where one door is moved to the right by two doors. In order to move two doors to the right, each motor may be controlled in a speed pattern as shown at the top of the figure, based on the center of the door. Therefore, in order to control each motor with such a speed command value based on each encoder value, control is performed using a speed command value at a position shifted by an offset amount from the start of the basic speed pattern using an offset amount. Is going. For example, since the offset amount of the motor (No. 1) is 0, the control is performed using the basic pattern as it is. Since the offset amount of the motor (No. 4) is 0.75, the offset is 0. Control is performed from a position shifted by 75. The movement distance is a motor related to the movement, and the movement amount is a positive value. Motors not related to the movement are set to 0.

List 4 shown in the following Expression 5 shows a parameter example (description in C language) relating to a speed pattern that is not related to the door opening / closing pattern. 8 and 9 show:
The basic speed pattern determined from the speed pattern is shown. In this example, since param_vel_3 and param_vel_4 have the same value, the position feedback at the target value and the slow speed before stop have the same value.

[0022]

(Equation 5)

FIG. 10 shows the progress of the movement in the opening / closing example and the encoder values of the respective motors. When the encoder value and the speed command value for all 24 motors at the time of opening and closing in this opening and closing example are calculated, the basic pattern is determined by the amount of movement of the door, and depends on the opening and closing direction of the door and the opening and closing mode of the door. It can be seen that the sign of the speed command value and the positions of the movement start point and the movement end point change, and four speed command values are generated. In addition, it can be seen that the movement start point and the movement end point change depending on the encoder value correction amount.

[0024]

As described above, the present invention has the following advantages. (1) By setting simple parameters for the opening / closing pattern, a speed pattern for each motor is automatically generated, and the servo amplifier sends a door position and speed command to each door opening / closing pattern. It is no longer necessary to store a large amount of data, and a plurality of linear doors can be controlled with a simpler control configuration. (2) A speed command value can be generated for a plurality of doors, and the opening and closing of the entire door can be controlled by distributed control for each motor. (3) There is no problem even if the communication speed between the upper control device and the lower control device is low. (4) The amount of wiring between the upper control device and the lower control device can be reduced.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing a shutter type home door system using a linear motor.

FIG. 2 is a schematic configuration diagram illustrating an example of an opening / closing pattern of six linear doors.

FIG. 3 is a schematic explanatory view showing a basic configuration of a shutter type home door using a linear motor.

FIG. 4 is a flowchart illustrating a door opening / closing sequence of the method for generating an opening / closing pattern of a plurality of linear doors according to the first embodiment of the present invention.

FIG. 5 is an apparatus for implementing a method for generating an opening / closing pattern of a plurality of linear doors according to the first embodiment of the present invention, and is a systematic schematic configuration explanatory diagram showing details of a lower control device.

FIG. 6 is a graph showing an example of a basic pattern of a speed command value according to the first embodiment of the present invention.

FIG. 7 is a graph and a schematic explanatory diagram showing an example of a speed command value of each motor according to the first embodiment of the present invention.

FIG. 8 is a graph showing an example of a basic speed pattern when two doors are moved in the first embodiment of the present invention.

FIG. 9 is a graph showing an example of a basic speed pattern at the time of moving one door according to the first embodiment of the present invention.

FIG. 10 is a schematic explanatory diagram showing a relationship between a door opening / closing process and an encoder value according to the first embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Door 12 Magnet 14 Motor 16 Amplifier 18 Lower control device 20 Upper control device 22 Rail 24, 26 Opening 28 Encoder detector 30 Encoder slit

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Masato Yokota 2-1-1-18 Wadayama-dori, Hyogo-ku, Kobe Kawasaki Heavy Industries, Ltd. Hyogo Plant (72) Inventor Junichi Yauchida 2 Wadayama-dori, Hyogo-ku, Kobe-shi No. 1-118, Kawasaki Heavy Industries, Ltd.Hyogo Plant (72) Inventor Masaaki Hirayama 1-1, Kawasaki-cho, Akashi-shi, Hyogo Prefecture Kawasaki Heavy Industries, Ltd.In Akashi Plant (72) Inventor Hirohide Matsushima Kawasaki, Akashi-shi, Hyogo Prefecture No. 1-1, Kawasaki Heavy Industries, Akashi Factory Co., Ltd. (72) Inventor Kazunori Hara 1-1, Kawasaki-cho, Akashi-shi, Hyogo Kawashige Techno Service Co., Ltd. Akashi Works (72) Inventor Bunkyo Asada Nakamura, Nagoya-shi, Aichi 1-1-4 Kuname Station Inside Tokai Passenger Railway Co., Ltd. (72) Inventor Takashi Horioka 1-4-1 Meiji Station Nakamura-ku Nagoya City, Aichi Prefecture East Inside the passenger railway company (72) Inventor Tsutomu Koike 1-1-4 Meiji Station, Nakamura-ku, Nagoya City, Aichi Prefecture Inside Tokai Passenger Railway Company (72) Inventor Takashi Hirako 1-1-1, Meieki Station, Nakamura-ku, Nagoya City, Aichi Prefecture No. 4 Tokai Passenger Railway Co., Ltd. (72) Inventor Shuichi Watanabe 1-23-27 Minamieki, Nakamura-ku, Nagoya-shi, Aichi F-term (reference) 2E052 AA02 AA04 AA09 CA07 DA02 DB02 EA15 EB01 EC02 GD01 GD05 KA13 KA25 5H540 AA10 BA05 BB06 BB09 DD08 EE02 EE06 FA14 FB03 5H572 AA20 BB02 BB10 DD05 DD09 DD10 EE03 GG02 HB07 HC07 JJ03 JJ25 KK05 KK08 KK10 LL08 LL32

Claims (3)

[Claims] 1. A plurality of doors are movably mounted on a common rail, a magnet is provided on each door, and a motor is arranged on the rail side at a pitch equal to an integral number of the door width. A linear motor that drives a magnet is provided, and an amplifier that supplies a current to the motor to open and close the door is provided for each motor, and a lower-level control device that gives a speed command to the amplifier is provided for each motor. A door control command is transmitted to the lower control device from the higher control device, a speed command is generated by the lower control device based on the encoder value of the motor based on the information, and the entire door is controlled by the distributed control for each motor. The method of generating a linear door opening / closing pattern according to claim 1, wherein a door opening / closing pattern and an opening / closing start command are transmitted from a higher-level controller to a lower-level controller of each motor. In the position control device, by selecting a parameter set for the opening / closing pattern, a speed command value is calculated from the motor encoder value and a parameter determined by the door opening / closing pattern, and this speed command value is sent to the amplifier. A method for generating an opening / closing pattern of a plurality of linear doors, wherein the speed is controlled based on an input and an encoder value. 2. A plurality of doors are movably mounted on a common rail, a magnet is provided on each door, and a motor is arranged on the rail side at a pitch equal to an integral number of the door width. A linear motor that drives a magnet is provided, and an amplifier that supplies a current to the motor to open and close the door is provided for each motor, and a lower-level control device that gives a speed command to the amplifier is provided for each motor. A door control command is transmitted to the lower control device from the higher control device, a speed command is generated by the lower control device based on the encoder value of the motor based on the information, and the entire door is controlled by the distributed control for each motor. The method of generating a linear door opening / closing pattern according to claim 1, wherein a door opening / closing pattern and an opening / closing start command are transmitted from a higher-level controller to a lower-level controller of each motor. In the position control device, three parameters set for the opening / closing pattern, the door moving direction, the amount of encoder value correction, and the door moving distance are selected, and the encoder values are normalized. The sign is determined, the amount of correction of the encoder value is added to the value, the speed command value is calculated from the value, the sign of the obtained speed command value is determined according to the moving direction of the door, and this speed is determined. A method of generating an opening / closing pattern for a plurality of linear doors, comprising inputting a command value to an amplifier and performing speed control based on an encoder value. 3. A plurality of doors are movably mounted on a common rail, a magnet is provided on each door, and a motor is arranged on the rail side at a pitch equal to an integral number of the door width. A linear motor that drives a magnet is provided, and an amplifier that supplies a current to the motor to open and close the door is provided for each motor, and a lower-level control device that gives a speed command to the amplifier is provided for each motor. A door control command is transmitted to the lower control device from the higher control device, a speed command is generated by the lower control device based on the encoder value of the motor based on the information, and the entire door is controlled by the distributed control for each motor. The method for generating a linear door opening / closing pattern according to claim 1, wherein the door opening / closing pattern, the opening / closing selection, and the control start command are transmitted from the upper controller to the lower controller of each motor. And the lower control device selects three parameters set for the opening / closing pattern, namely, a door moving direction, an encoder value correction amount, and a door moving distance, and sets the encoder value to the encoder value of one door. After normalizing the length as 1, the sign is determined according to the moving direction of the door, the amount of correction of the encoder value is added to the value, and the speed command values of the two opening and closing patterns are calculated from the value. And determining the sign of the speed command value obtained by selecting open / close based on the moving direction of the door, and inputting this speed command value to the amplifier by a control start command to perform speed control based on the encoder value. An open / close pattern generation method for multiple linear doors.