JP2004242499A - Control method for switching device of vehicular door - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control method for the switching device of an electric-car door comprising a linear synchronous motor consisting of permanent magnets and an armature coil. <P>SOLUTION: This control method for the switching device of the electric-car door consists of a door portion 10, the linear synchronous motor 40, and a control circuit 100. With this control method, if the presence of a passenger or foreign matter is detected in the running path of the door 10 during the closing operation of the door 10, a value corresponding to the initial thrust upper limit, and a value corresponding to a thrust limit value smaller than the thrust upper limit value, are alternately repeated for the thrust given to the linear synchronous motor 40 until the passenger or the foreign matter is removed. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

  The present invention comprises a linear synchronous motor, which includes a permanent magnet, an armature coil, and a speed / magnetic pole position detector, and is mechanically coupled to a train door, and a control circuit that controls the linear synchronous motor. The present invention relates to a method for controlling an opening and closing device for a train door.

  FIG. 10 shows a schematic configuration diagram of a train door opening and closing device of this type.

  In FIG. 10, reference numeral 10 denotes a door, 20 denotes a linear synchronous motor, 30 denotes a control circuit, and the door 10 comprises a door body 11, rails 12, a door wheel 13, a joint 14, and the like. A stator 21 formed of a permanent magnet or the like, a mover coil 22 forming an armature coil, a magnetic pole position indicating a positional relationship between the mover coil 22 and a magnetic pole of the stator 21 and a speed / position detection of the mover coil are performed. It is constituted by a sensor 23 comprising a slit plate and a photo interrupter for detection.

  In the configuration of the train door opening and closing device, the thrust of the linear synchronous motor 20 is directly transmitted from the mover coil 22 to the door body 11 via the drive arm (shown by a thick broken line) and the joint 14 of the door unit 10. , Acting as a driving force.

  At this time, the load on the door body 11 is supported by the rail 12 and the door roller 13, the mover coil 22 and the joint 14 are free-coupled, and the load on the door body 11 is applied to the mover coil 22 of the linear synchronous motor 20. Has a structure that can hardly be applied.

  The control circuit 30 includes a set value calculation circuit 31 that outputs a predetermined moving position set value to the linear synchronous motor 20 when the door body 11 is opened and closed based on a command from a crew member. And a position adjuster 32 for calculating a speed set value of the linear synchronous motor 20 from a deviation from a detected position obtained from the sensor. A thrust set value of the linear synchronous motor 20 is calculated from a deviation between the speed set value and a detected speed obtained from the sensor 23. And a signal converter 34 for converting the thrust set value and the detected magnetic pole obtained from the sensor 23 into current set values corresponding to the respective phases of the mover coil 22 of the linear synchronous motor 20. A current controller 36 for calculating a drive signal of each phase from a deviation between the current set value of each phase and the detected current of each phase obtained from the current detector 35; A power converter called a so-called inverter, which comprises a semiconductor switch element or the like for supplying power of a desired voltage and frequency to each phase of the mover coil 22 from a source (for example, 100 VDC) based on the drive signal of each phase. 37.

  A conventional control method of the train door opening / closing device will be described below with reference to the configuration diagram of FIG.

  First, for the opening operation of the door body 11, a predetermined moving position set value is output from the set value calculating circuit 31, and the deviation between the moved position set value and the detected position obtained from the sensor 23 is determined by the position adjuster 32. , A predetermined speed setting value (high speed) is output, and the door body 11 starts the opening operation from the fully closed position. When the proximity switch or the like (not shown) detects that the door body 11 has passed a specific position on the track, the output of the position adjuster 32 is switched to a speed setting value (low speed), and the door is switched based on the speed setting value (low speed). When the main body 11 moves to the fully open position, the moving distance setting value matches the detection position obtained from the sensor 23, and the opening operation of the door main body 11 is completed.

  Next, for the closing operation of the door body 11, a predetermined moving position set value is output from the set value calculating circuit 31, and the deviation between the moved position set value and the detected position obtained from the sensor 23 is determined by the position adjuster. A predetermined speed set value (high speed) is output by calculation at 32, and the door body 11 starts the closing operation from the fully open position. When the proximity switch or the like (not shown) detects that the door body 11 has passed a specific position on the track, the output of the position adjuster 32 is switched to a speed setting value (low speed), and the door is switched based on the speed setting value (low speed). When the main body 11 moves to the fully closed position, the moving distance set value matches the detection position obtained from the sensor 23, and the closing operation of the door main body 11 is completed.

  During the closing operation of the door main body 11 described above, when the traveling of the door main body 11 is stopped due to the presence of a passenger or a foreign substance on the track of the door main body 11, the control circuit 30 once instructs the opening operation of the door main body 11 according to a command from the crew. And the closing operation is performed again.

  In the train door opening and closing device, when the input power is cut off, the door main body 11 is not moved by a mechanical brake (not shown).

  According to the control method of the conventional train door opening / closing device described above, when a passenger or a foreign object intervenes on the track during the closing operation of the train door, the closing operation is performed to once perform the opening operation and then perform the closing operation again. There is a problem that it takes time to complete.

  An object of the present invention is to provide a control method of a train door opening / closing device that solves the above-mentioned problems.

  In order to achieve the above object, a first aspect of the present invention provides a linear synchronous motor that includes a permanent magnet, an armature coil, and a speed / magnetic pole position detector and is mechanically coupled to a train door. In the train door opening and closing device, comprising: a control circuit that performs control, a predetermined speed and a thrust upper limit value are given to the linear synchronous motor by the control circuit, and the train door is closed. When the control circuit detects that a passenger or a foreign object is present on the runway from the current speed or the speed set value of the linear synchronous motor and the thrust, the control circuit applies the thrust to the linear synchronous motor to the passenger or the foreign object. Until is removed, a value corresponding to the initial thrust upper limit value and a value corresponding to the thrust limit value smaller than this thrust upper limit value are alternately repeated.

  According to a second aspect, in the first aspect, when the control circuit detects that the intervening passenger or foreign matter has been removed from the current speed or the speed set value of the linear synchronous motor and the thrust, The control operation of the speed of the linear synchronous motor by the control circuit is switched from a proportional / integral operation of a deviation between the set value of the linear synchronous motor speed and the detected value to a proportional operation of the deviation for a predetermined time period.

  According to a third aspect of the present invention, in the first or second aspect, the control circuit determines that the train door has reached the fully open position or the fully closed position by generating the number of pulse train signals output from the speed / magnetic pole position detector. When the thrust applied to the linear synchronous motor by the control circuit is detected from the measured value of the above, the thrust applied to the linear synchronous motor is switched from a value corresponding to the initial thrust upper limit value to a value corresponding to the stop thrust value smaller than the thrust upper limit value. is there.

  According to the above invention, when a passenger or foreign matter is present on the track during the closing operation of the train door, the passenger or foreign matter can be easily removed by alternately increasing or decreasing the thrust of the linear synchronous motor at that position, The closing operation after the removal is performed promptly and smoothly, and even in this state, the closing operation is completed in a short time, and the safety of the passenger is ensured.

  In addition to the above, by reducing the thrust of the linear synchronous motor when the train door is in the fully open position or the fully closed position, the power consumption of the train door opening / closing device is saved, and the control circuit and the linear synchronous motor Fever is also reduced.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic configuration diagram of a train door opening / closing device according to an embodiment of the present invention. Components having the same functions as those of the conventional example shown in FIG. Is omitted.

  In this train door opening and closing device, the linear synchronous motor 40 includes a stator 21 and a mover coil 22 having the same functions as those of the conventional example, and a magnetic pole position indicating a positional relationship between the mover coil 22 and the magnetic pole of the stator 21. In order to detect the speed of the mover coil by so-called A- and B-phase pulse train signals, a slit plate and a sensor 41 including a photo interrupter are provided.

  In addition to the signal converter 34, the current detector 35, the current regulator 36, and the power converter 37 having the same functions as those in the conventional example, the control circuit 100 receives commands from the crew and a state monitoring control circuit 80 described later. A set value calculating circuit 50 for outputting a predetermined speed set value of the linear synchronous motor 40 when the door body 11 is opened and closed based on the speed switching command, and the speed set value and A and B phase pulse trains of the sensor 41 A speed adjuster 60 for calculating a thrust command value of the linear synchronous motor 40 by performing a proportional / integral calculation or a proportional calculation based on a calculation switching command from a state monitoring control circuit 80 to be described later, based on a deviation from the detected speed obtained from the signal. A limit value switch 70 for outputting the thrust command value as a thrust set value which is reduced to a predetermined limit value or less based on a limit value switching command from a state monitoring control circuit 80 described later; Pulse train signal, the moving speed setting value, performs a logical operation by inputting a thrust setting value, the speed changing command, operation switching command, and a status monitor control circuit 80 for outputting the like limit switching command.

  Note that the current supplied from the power converter 37 to the mover coil 22 of the linear synchronous motor 40 is a value corresponding to the thrust set value of the linear synchronous motor 40 output from the limit value switch 70 as is well known. I have.

  FIG. 2 is a detailed circuit configuration diagram of the set value calculation circuit 50 shown in FIG.

  In the following description, the speed setting value and the thrust setting value of the door body 11 in the closing direction are positive, and the speed setting value and the thrust setting value of the door body 11 in the opening direction are negative.

  In FIG. 2, reference numeral 51 denotes a fine speed setting device at the time of closing operation, 52 to 55 denote high speed setting devices at the time of closing operation of the door body 11, low speed setting devices at the time of closing operation, and high speed at the time of opening operation. And a low-speed setting device during the opening operation. Reference numeral 56 denotes a switch which is closed by a power-on signal output for a predetermined time when power is supplied from a power supply monitoring circuit (not shown) included in the control circuit 100. Reference numeral 57 denotes a switch that operates based on a command from a crew member. When the door body 11 is closed, the switch 57a is closed, and when the door body 11 is opened, the switch 57b is closed. Reference numeral 58 denotes a changeover switch that operates based on a speed changeover command from the state monitoring control circuit 80. The changeover switches 58a and 58c are shown when the door main body 11 passes a predetermined position on the track of the door main body 11 while the door main body 11 is closing. The switch is switched to the contact side opposite to the contact side, and the changeover switch 58b is switched to the contact side opposite to the illustrated contact side when the door body 11 passes through a predetermined position on the running path of the door body 11 during the opening operation. Reference numeral 59 denotes a changeover switch which operates based on a re-opening / closing operation command from a crew member, which is normally at the illustrated contact side, and is opposite to the illustrated contact side for a predetermined time when the re-opening / closing operation command is input. It switches to the contact side, and switches again to the illustrated contact side.

  FIG. 3 is a detailed circuit configuration diagram of the speed controller 60 shown in FIG.

  In FIG. 3, reference numeral 61 denotes an addition calculator for calculating a deviation between the moving speed set value and the detected speed; 62, an amplifier for performing a proportional operation of the deviation; 63, an integrator for performing an integration operation of the output of the amplifier 62; The output of the adder 64 during normal operation is a proportional / integral operation value of the deviation, and when an operation switching command is issued from the state monitoring control circuit 80, the integrator 63 interrupts the operation and stops the operation. By setting the output to zero, the output of the speed regulator 60 switches from the proportional / integral operation value of the deviation to the proportional operation value.

  FIG. 4 is an explanatory diagram of the operation of the limit value switch 70 shown in FIG. 1. A thrust command value output from the speed controller 60 is input. If it exceeds the limit value based on the limit value switching command from 80, it is set to a value within this limit value and this is output as the thrust set value.

  FIG. 5 is a detailed circuit configuration diagram of the state monitoring control circuit 80 shown in FIG.

  In FIG. 5, reference numeral 81 denotes a comparator which operates when the closing operation of the door body 11 is started and the speed set value output from the set value calculation circuit 50 exceeds a predetermined threshold value, and 82 denotes an output of the limit value switch 70. , A comparator that operates when the thrust set value exceeds a predetermined threshold value, a delay operation timer 83 that operates after a predetermined time has elapsed while the comparator 82 is operating, Element that outputs a logical H signal when the switch 81 and the timer 83 are operating together. The element 85 operates while the AND element 84 outputs the logical H signal, and outputs a square wave of a predetermined cycle. A square wave oscillator, 86 is an inverter element, and 87 is a one-shot operation timer for outputting an operation switching signal to the speed controller 60 for a predetermined period immediately after the output of the inverter element changes from a logical L signal to a logical H signal. .

  Reference numeral 88 denotes a reversible counter for measuring the number of A- and B-phase pulse train signals generated from the sensor 41 of the linear synchronous motor 40. The reversible counter 88 calculates the current value of the reversible counter 88 based on the phase relationship between the A and B-phase pulse train signals. When the power-on signal is output for a predetermined period in a state where the addition and subtraction are performed and the AND element 84 is outputting a logic H signal, the value of the fully open position data 89 is changed to the reversible counter 88 at the end of this period. Preset to.

  Further, each of the digital comparators 90 to 93 is provided when the measured value of the reversible counter 88 reaches or passes the values corresponding to the fully closed position, the fully open position, the closing operation deceleration start position, and the opening operation deceleration start position. A limit value switching command and a speed switching command are output in accordance with the operation state of No. 11.

  The control method of the train door opening and closing device of the present invention will be described below with reference to FIGS.

  Generally, when the train is retracted to a garage or the like, the train door 11 is at the fully open position, and the input power to the train door opening / closing device is shut off.

  As an operation corresponding to the control method of the present invention, first, when the input power of the train door opening / closing device is turned on, a predetermined time is output when the power is turned on from a power supply monitoring circuit (not shown) provided in the control circuit 100. A power-on signal is issued, the switch 56 of the set value calculation circuit 50 is closed, the set value of the speed setting device 51 at a very low speed is output from the set value calculation circuit 50 as a speed set value, and the door body 11 is moved to the fully closed position. Move at a slow speed (very slow).

  Next, the door main body 11 reaches the fully closed position, and the state where the thrust of the linear synchronous motor 40 having a value corresponding to the thrust set value from the control circuit 100 is output, that is, the AND element 84 of the state monitoring control circuit 80 When the generation period of the power-on signal ends while the logic H signal is being output, the state monitoring control circuit 80 presets the value of the fully open position data 89 to the reversible counter 88 at the end of this period. This completes the preparation for the normal opening / closing operation of the train door opening / closing device.

  After this completion, the thrust set value from the control circuit 100 becomes the fully closed position contact thrust set value based on the operation of the digital comparator 90 of the state monitoring control circuit 80, and corresponds to this contact thrust set value. The state shifts to a state where the thrust of the linear synchronous motor 40 having the value is output.

  FIG. 6 is a waveform chart for explaining the operation of the embodiment of the present invention.

  In FIG. 6, in a state where the preparation for the normal opening / closing operation of the train door opening / closing device is completed by the control method described above, when an opening operation command of the door main body 11 is given from the crew, the setting value calculation circuit 50 When the switch 57b closes, a value corresponding to the set value of the high-speed moving speed setting device 54 at the time of the opening operation is output from the set value calculation circuit 50 as a speed set value, and the door body 11 starts the opening operation. During the opening operation, the reversible counter 88 of the state monitoring control circuit 80 measures the number of generations of the pulse train signal from the sensor 41 of the linear synchronous motor 40, and when this measured value passes the comparison value of the digital comparator 93, When a speed switching command is issued from the monitoring control circuit 80, the changeover switch 58c of the set value calculation circuit 50 is switched to the lower moving speed setting device 55 at the time of the opening operation. The speed set value of the value corresponding to the set value of the setting device 55 is output from the set value calculation circuit 50, the door body 11 continues the opening operation at this speed and moves to the fully open position, and the door body 11 is moved to the fully open position. When the set value is reached, the thrust set value from the control circuit 100 becomes the fully open position stop thrust set value based on the operation of the digital comparator 91 of the state monitoring control circuit 80, and the linear synchronization of the value corresponding to this stop thrust set value is performed. The opening operation is completed by shifting to the state in which the thrust of the motor 40 is being output (see the waveform of circle 1 in FIG. 6).

  Similarly, when a command to close the door body 11 is given from the crew, a value corresponding to the set value of the high-speed moving speed setting device 52 during the closing operation is output from the set value calculation circuit 50 as a speed set value. When the door main body 11 starts the closing operation and the measured value of the reversible counter passes the comparison value of the digital comparator 92 during the closing operation, a speed switching command is issued from the state monitoring control circuit 80 and the door moves at a low speed. A speed set value corresponding to the set value of the speed setter 53 is output from the set value calculation circuit 50. At this speed, the door main body 11 continues the closing operation and moves to the fully closed position. When the closed position is reached, the thrust set value from the control circuit 100 becomes a fully closed position contact thrust set value based on the operation of the digital comparator 90 of the state monitoring control circuit 80, and a value corresponding to this stop thrust set value No Closing operation is completed by moving to state that thrust of A synchronous motor 40 is output (see the waveform circle 2 of FIG. 6).

  According to the above embodiment, a simple A, B phase pulse train signal is used instead of the proximity switch and the incremental type sensor or the absolute type sensor at a plurality of specific positions on the track of the train door, which has been conventionally required. A linear synchronous motor is provided with an incremental type sensor for output, and the A / B phase pulse train signal is converted into a quadruple pulse by a known technique, so that the position can be controlled by an inexpensive coarse-resolution incremental type sensor. I can do it. Further, in addition to the above, when the train door is in the fully open position or the fully closed position, the thrust of the linear synchronous motor is weakened, so that the power consumption of the train door opening / closing device can be reduced.

  FIG. 7 is a waveform chart for explaining the operation of the embodiment of the present invention.

  In FIG. 7, during the closing operation of the door body 11 according to the above-described control method, when the crew member detects that a passenger is caught or is likely to be caught in the door body 11, the crew member returns from the crew member. Based on the opening / closing operation command, the changeover switch 59 of the set value calculation circuit 50 operates, and the output of the set value calculation circuit 50 switches to the speed set value corresponding to the set value of the moving speed setter 54 or the set speed of the moving speed setter 55. Then, after the door body 11 is retracted for a predetermined time, the operation of returning to the initial position (measured value of the reversible counter 88 immediately before the command is issued) is again performed at the initially set speed set value. In the example of the waveform of circle 1 shown in the figure, the operation during high-speed running where the digital comparator 92 of the state monitoring control circuit 80 is not operating is shown, and in the example of the waveform of circle 2, the digital comparator 92 operates. It shows the operation during the running at low speed.

  According to the above embodiment, when a passenger or a foreign object intervenes on the track during the closing operation of the train door, the train door is retracted for a predetermined time and then returns to the initial position, thereby returning the passenger or the foreign object. Can be easily removed, and the closing operation after the removal is performed quickly and smoothly.

  FIG. 8 is a waveform chart for explaining the operation of the embodiment of the present invention.

  In FIG. 8, during the closing operation of the door body 11 according to the above-described control method, the comparators 81 and 82 of the state monitoring control circuit 80 detect that a passenger or a foreign object is present on the track of the door body 11, and When the output of 84 becomes a logic H signal, the square wave oscillator 85 is activated and a limit value switching command is issued, and the passenger or foreign matter is removed from the thrust given to the linear synchronous motor 40 via the limit value switch 70. In the meantime, the square wave oscillator alternates between a value corresponding to the initial upper limit of thrust (the upper limit thrust shown) and a value corresponding to the thrust limit value smaller than the upper limit of the thrust (lower limit thrust shown). This is repeated at a predetermined cycle (the sum of the upper limit thrust duration and the lower limit thrust duration shown) output by 85.

  As an operation corresponding to the control method, when the passenger or the foreign object is removed by the operation of the control method described above, the timer 87 of the state monitoring control circuit 80 is activated and a calculation switching command is issued for a predetermined period. By switching the adjustment operation of the speed adjuster 60 from the proportional / integral operation to the proportional operation, the output of the speed adjuster 60 immediately after the passenger or the foreign matter is removed changes smoothly, and as a result, the door body 11 also changes. Accelerate smoothly and drive to the fully closed position.

  According to the above-described embodiment, when a passenger or a foreign object intervenes on the track during the closing operation of the train door, the passenger or the foreign object is easily removed by periodically adding or subtracting the thrust of the linear synchronous motor at that position. As a result, the closing operation after the removal is performed quickly and smoothly.

  FIG. 9 is a partial circuit diagram of a train door opening and closing device for explaining the operation of the embodiment of the present invention.

  That is, when a power supply monitoring circuit (not shown) provided in the control circuit 100 detects the cutoff of the input power supply, or when the electromagnetic contactor 38 excited by the input power supply becomes non-excited, the power converter 37 side of the electromagnetic contactor 38 is turned off. As the contacts are opened and the contacts on the opposite side are closed, the terminals of the respective phases of the mover coil 22 of the linear synchronous motor 40 are short-circuited. Braking action can be performed against the movement of the vehicle, and safety should be ensured.

1 is a schematic configuration diagram of a train door opening / closing device according to an embodiment of the present invention. Detailed circuit diagram of the set value calculation circuit shown in FIG. Detailed circuit diagram of the voltage regulator shown in FIG. Detailed circuit diagram of the limit value switching circuit shown in FIG. Detailed circuit diagram of the state monitoring control circuit shown in FIG. Operation waveform diagram for explaining an embodiment of the present invention Operation waveform diagram for explaining an embodiment of the present invention Operation waveform diagram for explaining an embodiment of the present invention Partial circuit diagram illustrating an embodiment of the present invention. Schematic configuration diagram of a train door opening and closing device showing a conventional example

Explanation of reference numerals

  DESCRIPTION OF SYMBOLS 10 ... Door part, 11 ... Door body, 12 ... Rail, 13 ... Door, 14 ... Coupling, 20 ... Linear synchronous motor, 21 ... Stator, 22 ... Motor coil, 23 ... Sensor, 30 ... Control circuit, 31 ... Set value calculation circuit, 32: Position adjuster, 33: Speed adjuster, 34: Signal converter, 35: Current detector, 36: Current adjuster, 37: Power converter, 38: Electromagnetic contactor, 40: Linear Synchronous motor, 41: Sensor, 50: Set value calculation circuit, 60: Speed controller, 70: Limit value switch, 80: State monitoring control circuit, 100: Control circuit

Claims (3)

A linear synchronous motor consisting of a permanent magnet, an armature coil, and a speed / magnetic pole position detector and mechanically connected to a train door, and a control circuit for controlling the linear synchronous motor. In switchgear,
During the closing operation of the train door given a predetermined speed and thrust upper limit value to the linear synchronous motor by the control circuit,
When the control circuit detects from the current speed or the speed set value of the linear synchronous motor and the thrust that the passenger or the foreign matter is present on the track of the train door,
The thrust given to the linear synchronous motor by the control circuit alternates between a value corresponding to the initial thrust upper limit value and a value corresponding to a thrust limit value smaller than this thrust upper limit value until the passenger or foreign matter is removed. A method for controlling a train door opening / closing device, wherein the method is repeated. The control method for a train door opening / closing device according to claim 1,
When the control circuit detects that the intervening passenger or foreign matter has been removed from the current speed or speed set value of the linear synchronous motor and the thrust,
The arithmetic operation of adjusting the speed of the linear synchronous motor by the control circuit is switched from a proportional / integral operation of a deviation between a set value of the linear synchronous motor speed and a detected value to a proportional operation of the deviation for a predetermined time period. A method for controlling an opening / closing device for a train door. A control method for a train door opening / closing device according to claim 1 or 2,
When the control circuit detects that the train door has reached the fully open position or the fully closed position from the measured value of the number of pulse train signals output from the speed / magnetic pole position detector,
Control of a train door opening / closing device, wherein the thrust given to the linear synchronous motor by the control circuit is switched from a value corresponding to the initial thrust upper limit to a value corresponding to a stop thrust value smaller than the thrust upper limit. Method.

Images