JP2010053529A - Apparatus for controlling electrically-driven door - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus for controlling an electrically-driven door, which can suppress pressure on the occurrence of the state of having incoming and outgoing passengers caught in a door end, while enhancing the sensitivity of the detection of the state of having the incoming and outgoing passengers caught in the door end. <P>SOLUTION: This apparatus for controlling the electrically-driven door 1 driven for opening/closing with an electric motor includes at least a driving force command value generator 11 which outputs a driving force command value of the electrically-driven door 1, a state observer 15 which estimates mechanical reaction against the door driving system of the electrically-driven door, a normative model 17 which specifies the dynamic property of the electrically-driven door 1 against the mechanical reaction estimated with the state observer 15, a gain compensator 18 which computes a control compensation amount for making the output of the normative model 17 agree with an actual speed of the electrically-driven door, and an adder 19 which adds the control compensation amount, computed with the gain compensator, to the driving force command value from the driving force command value generator. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a control device for an electrically driven door driven by an electric motor, and in particular, to allow a door to operate safely when a door scissor is generated in which a foreign object is caught in the electrically driven door.

For example, in the case of an electrically driven door driven by an electric motor such as a side sliding door of a railway vehicle, it is an important function for ensuring safety to detect a so-called door pinching in which foreign objects such as passengers and belongings are pinched when the door is closed. It is.
Therefore, conventionally, upon receiving the detection results of the speed detecting means for detecting the opening / closing speed of the door, the position detecting means for detecting that the door is in the middle position of the opening / closing operation, the speed detecting means and the position detecting means. Determining means for determining whether the opening / closing speed of the door at the midway position of the opening / closing operation is zero, decreasing or minus, and the opening / closing speed of the door at the midway position of the opening / closing operation by the determining means is zero When it is determined that the door is in the reduced state or the minus state, a door pinching detection device including a notification unit that outputs a notification signal indicating that a foreign object has been caught in the door tip of the door has been proposed (for example, Patent Documents). 1). Patent Document 1 also describes a device for detecting pinching of foreign matter from a pressure change by providing a pressure sensor in a rubber provided at the door tip of a door in a railway vehicle as a door pinching detection device. Yes.

When the occurrence of door pinching is detected by such a door pinching detection device, the passenger who has pinched the door by reducing the thrust of the door or once opening the door to a certain distance or fully open position in the fully open direction It is possible to escape and to remove portable items.
Japanese Patent Laid-Open No. 3-189265

  However, in the conventional example described in Patent Document 1 above, it is determined that the door does not reach the fully closed position, or that the opening / closing speed of the door in the middle of the opening / closing operation is zero, decreased, or negative. When this is done, a notification signal indicating that a foreign object has been caught in the door tip of the door is output, and as a result, the door has entered the door-holding state. It is the structure which detects a door pinching when it has generate | occur | produced. As a result, if something is caught between doors, especially when passengers are caught, it will continue to receive pressure from being caught until the door is detected, and sometimes you will feel tenderness. Become.

In addition, in order to increase the detection sensitivity of door pinching, it is necessary to increase the rigidity of the door, in particular, the rigidity of the rubber provided at the tip of the door (hereinafter referred to as door rubber). This also increases tenderness when pinching occurs, and there is an unsolved problem that is not preferable in terms of safety.
Therefore, there is a demand for a control device for an electrically driven door that can suppress pressure when a door pinching occurs when a passenger gets caught between doors while increasing the sensitivity of door pinching detection.
Therefore, the present invention has been made paying attention to the unsolved problems of the above-mentioned conventional example, and it is possible to suppress pressure when a door pinch occurs where a passenger gets on and off while increasing the sensitivity of door pinch detection. An object is to provide a control device for a possible electrically driven door.

  In order to achieve the above object, an electric drive door control device according to claim 1 is an electric drive door control device that is opened and closed by an electric motor, and the drive force command value of the electric drive door is obtained. A driving force command value generator for output, a state observer for estimating a mechanical drag against the door drive system of the electric drive door, and a power of the electric drive door with respect to a mechanical drag estimated by the state observer A reference model that defines the physical characteristics, a gain compensator that calculates a thrust compensation value that matches the output of the reference model and the actual speed of the electric drive door, and a thrust compensation value that is calculated by the gain compensator. And an adder for adding to the driving force command value of the driving force command value generator.

According to a second aspect of the present invention, there is provided a control device for an electrically driven door according to the first aspect of the present invention, wherein the mechanical drag of the door drive system estimated during normal operation of the electrically driven door is a compensation amount of the door drive force. And an adder for adding to the driving force command value.
Furthermore, the control device for an electrically driven door according to claim 3 is the door drive estimated for each position of the electrically driven door during normal operation as the compensation amount of the door drive force in the invention according to claim 2. It is characterized by using the mechanical drag of the system.
Furthermore, the control device for an electrically driven door according to claim 4 is the invention according to any one of claims 1 to 3, wherein the electrically driven door has a side sliding door configuration of a railway vehicle. Yes.

According to the present invention, the state observer estimates the mechanical resistance against the door drive system of the electric drive door, generates a reference model that defines the dynamic characteristics of the electric drive door against the estimated mechanical drag, The thrust compensation value that matches the output of the reference model and the actual speed of the electrically driven door is calculated, and this thrust compensation value is added to the driving force command value of the driving force command value generator. It is possible to manage the behavior of the electrically driven door with respect to the external force when it is generated so as to have a predetermined dynamic characteristic, and it is possible to reduce the impact when the door is caught, which is preferable for safety of the door operation. The effect is that it can be a gentle door for passengers.
Also, by adding the mechanical drag of the door drive system estimated during normal operation to the drive force command value as the amount of door drive force compensation, it is possible to estimate the net external force applied to the door from the outside due to the occurrence of door pinching or the like it can.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a schematic configuration of a control device for an electrically driven door according to a first aspect of the present invention, and FIG. 2 is a block diagram showing a specific configuration of the control device of FIG.
In FIG. 1, the body of a railway vehicle is provided with an electrically driven door 1 that constitutes a side sliding door closing device that passengers use for getting on and off. The door portions 1a and 1b of the electrically driven door 1 are provided. A door rubber 2 is attached to the end of the closing side. Further, the railway vehicle includes a door operator 3 and a door operator 3 and a door leaf that are configured by an electric motor that drives the electric drive type door 1 and a door driving mechanism 13 that converts or transmits the driving force of the electric motor into a linear movement for opening and closing the door. And a position / speed detector 14 that detects the position and speed of the electrically driven door 1 and outputs position information p and door opening / closing speed information v according to these positions. .
The door drive mechanism 13 is driven by an electric drive system 12 including a power converter such as an inverter built in the control device 10 and an electric motor to open and close the electric drive door 1.

As shown in FIG. 2, the control device 10 receives an opening / closing operation command c for instructing an opening / closing operation of a door input from a door closing control device (not shown) and is output from the position / speed detector 14. A thrust command generator 11 is provided as a driving force command value generator to which door position information p and door opening / closing speed information v are input. In the thrust command generator 11, when a door opening / closing operation command c is input, a predetermined calculation is performed based on the door position information p and the door opening / closing speed information v, or referring to a control map. The target thrust command τ ^* is calculated, and the calculated target thrust command τ ^* is output to an electric drive system 12 including an inverter and an electric motor. The electric drive system 12 uses the target thrust command τ ^* based on the target thrust command τ ^*. A thrust force f for opening and closing is generated, and the door operator 3 is driven via the door drive mechanism 13.

The target thrust command τ ^* output from the thrust command generator 11 is added with a thrust compensation value τm supplied from a gain compensator 18 described later by an adder 19 and from a memory 16 described later by an adder 20. The average value fem of the estimated external force fe that estimates the sum of external forces applied to the door drive mechanism 13 is added, and the addition output of the adder 20 is input to the electric drive system 12.
The compensated thrust command value τc obtained by adding the thrust compensation value τm to the target thrust command τ ^* output from the adder 19 is supplied to one input side of the state observer 15, and the other of the state observer 15 The door opening / closing speed information v detected by the position / speed detector 14 is input to the input side. In this state observer 15, the mechanical drag fm such as the friction of the electrically driven door 1 against the door drive mechanism 13 and the door based on the compensated target thrust command τc output from the adder 19 and the door opening / closing speed information v. An external force estimated value fe that is the sum of the external force fd applied to the electrically driven door 1 during pinching is calculated.

  The external force estimated value fe calculated by the state observer 15 is supplied to the memory 16 and is also supplied to the target value response reference model 17. The memory 16 receives the position information p detected by the position / velocity detector 14 and combines the position information p and history information such as the number of recordings with the estimated external force fe and various mathematical means such as arithmetic mean. After data processing using the technique, the average value fem of the estimated external force fe of the state observer 15 for each position of the electrically driven door 1 is stored. At this time, by opening and closing the door in a state where the lubrication of the electrically driven door 1 is normal and no obstacle is caught, that is, the external force fd is zero, the average value fem is stored in the memory 16. It is possible to recognize the mechanical drag fm due to the friction of the sliding portion in the normal state of the electrically driven door 1. The memory 16 reads the average value fem at the corresponding position based on the position information p input from the position / velocity detector 14, and outputs this to the adder 20.

  Further, in the target value response reference model 17 to which the external force estimated value fe output from the state observer 15 is input, as a desirable dynamic characteristic of the electrically driven door 1 with respect to the external force, a soft material that absorbs an impact when the door is pinched. This represents a mathematical normative model representing the dynamic characteristics of the electric drive door 1 in which the apparent inertia of the electric drive door 1 is reduced so as to reduce the impact when the door is pinched or the door is pinched. The speed deviation ΔV is calculated by subtracting the speed vm when the external force estimated value fe estimated by the state observer 15 is added to the reference model 17 and the actual door opening / closing speed v by the subtractor 21, and the calculated speed deviation is calculated. ΔV is supplied to the gain compensator 18.

  The gain compensator 18 calculates a thrust compensation value τm by multiplying the input speed deviation ΔV by a predetermined compensation gain Kv, and supplies the calculated thrust compensation value τm to the adder 19. At this time, by setting an appropriate characteristic as the compensation gain Kv, the speed vm output from the target value response reference model and the door opening / closing speed v actually detected by the position / speed detector 14 can be matched. it can. Here, the compensation gain Kv is not limited to a simple proportional gain of scalar quantity, and may be a combination of proportional compensation, integral compensation, and differential compensation.

Next, the operation of the first embodiment will be described.
First, opening and closing of the electric drive door 1 is repeated a predetermined number of times in a normal operation state in which the electric drive door 1 is normally lubricated and no obstacles are caught when the railway vehicle is shipped from the factory, or during maintenance and inspection. Each time the position information p detected by the position / speed detector 14 at the time of repeated opening and closing changes, the external force estimated value fe of the state observer 15 is sequentially stored in the memory 16 in combination with the history count and the position information p, An arithmetic average process or a moving average process is performed on a predetermined number of external force estimation values fe for each stored position information p to calculate an average value fem for each position information p, and the calculated average value fem is stored together with the position information p. 16 is stored. By storing the average value fem of the estimated external force fe for each position information p detected by the state observer 15 in the normal operation state, the estimated external force value in a state where the external force fd is not acting on the door drive mechanism 13. The average value fem of the estimated external force fe in a state where only the mechanical drag fm due to fe or friction acts on the door drive mechanism 13 can be stored in the memory 16 for each position information p.

For this reason, when the railway vehicle is actually stopped at the boarding / exiting station, and the door opening / closing operation command c is output to the thrust command generator 11 by the door closing control unit, the thrust command generator 11 and the position / speed detector 14 Based on the detected position information p and door opening / closing speed information b, a target thrust command τ ^* for opening and closing the electrically driven door 1 in a desired speed pattern is calculated and output to the adder 19.
The adder 19 includes, as described above, the speed vm output from the target value response reference model and the door opening / closing speed v detected by the position / speed detector 14 as calculated by the gain compensator 18. The thrust compensation value τm that can be matched with each other is input, and this thrust compensation value τm is added to the target thrust command τ ^* , so that the target value of the door speed and the actual door opening / closing speed v become zero. In other words, the door can be controlled so that the electrically driven door 1 exhibits the dynamic characteristics defined by the reference model 17.

  For this reason, when the external force fd increases and the door pinching occurs, the external force fd can be accurately estimated as the external force estimated value fe by the state observer 15, and the external force estimated value fe corresponding to the external force fd is obtained. When estimated, the speed vm calculated by the reference model 17 and the actual door opening / closing speed v can be matched. For this reason, by setting the dynamic characteristics of the electric drive door 1 with respect to the external force applied to the electric drive door 1, that is, the external force when the door is sandwiched, to a characteristic having elasticity such as a sponge, the speed corresponding to this characteristic is obtained. Thus, the actual door opening / closing speed v can be controlled so that the impact at the time of door pinching can be mitigated.

Therefore, combining with increasing the elasticity of the door-end rubber 2, it is possible to suppress an increase in impact when door pinching occurs while improving door pinching detection sensitivity. For this reason, the door operation is preferable in terms of safety, and the door is gentle for the passenger.
In addition, the memory 16 outputs an average value fem of the estimated external force fe corresponding to the mechanical drag fm acting on the door drive mechanism 13 for each position information p in the normal state, and this is added by the adder 20 to the target thrust command after compensation. Since it is added to τc and the added value is supplied to the electric drive system 12, this electric drive system 12 can generate a thrust f that takes into account mechanical drag fm such as friction. By being supplied to the constituting electric motor, the mechanical drag fm acting on the door drive mechanism 13 can be canceled, and the net thrust generated by the electric drive door 1 to the outside can be managed. .

Next, a second embodiment of the present invention will be described with reference to FIG.
In the second embodiment, a state quantity E of the electric drive system 12 such as voltage and current is used as an input to the state observer 15 in place of the thrust command τc applied to the electric drive system 12. The configuration is the same as that of the first embodiment described above, and the same reference numerals are given to the corresponding parts to those in FIG. 2, and the detailed description thereof will be omitted.
In the second embodiment, the external force estimated value fe calculated by the state observer 15 using the state quantity E such as voltage and current supplied to the electric motor of the electric drive system 12 is substantially the same as that of the first embodiment. It becomes the same value and can obtain the same operation effect as a 1st embodiment mentioned above.
Note that the state observer 15 is not limited to the configurations of the first and second embodiments described above, and may be any configuration as long as the external force (fm + fd) acting on the door drive mechanism 13 can be accurately estimated. The state observer can be applied.

Moreover, in the said 1st and 2nd embodiment, although the case where this invention was applied to the electrically driven door 1 of a railway vehicle was demonstrated, it is not limited to this, It mounts in vehicles, such as a motor vehicle. The present invention can be applied to an electrically driven door, and the present invention can be applied not only to a door having a side sliding door structure but also to a door having another structure.
Further, in the first and second embodiments described above, the case where the present invention is applied to an electric drive type door composed of a rotary electric motor and a door drive mechanism 13 that converts the rotational force into a linear motion of the door has been described. However, the present invention is not limited to this, and the present invention can also be applied to the case where the door is directly driven by a linear motor that linearly moves.

It is a schematic block diagram at the time of applying this invention to the electrically driven door of a railway vehicle. It is a block diagram which shows the specific structure of the control apparatus of FIG. It is a block diagram which shows the specific structure of the control apparatus which shows the 2nd Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Electric drive type door 2 ... Door rubber | gum 3 ... Door operator 10 ... Control apparatus 11 ... Thrust command generator 12 ... Electric drive system 13 ... Door drive mechanism 14 ... Position and speed detector 15 ... State observer 16 ... Memory 17 ... Target value response reference model 18 ... Gain compensator 19, 20 ... Adder 21 ... Subtractor

Claims (4)

A control device for an electrically driven door that is opened and closed by an electric motor,
A driving force command value generator that outputs a driving force command value of the electric drive door, a state observer that estimates a mechanical drag against the door drive system of the electric drive door, and the state observer estimated A reference model that defines dynamic characteristics of the electrically driven door with respect to mechanical drag, a gain compensator that calculates a thrust compensation value that matches the output of the reference model and the actual speed of the electrically driven door; An electric drive type door control device comprising at least an adder for adding a thrust compensation value calculated by the gain compensator to a driving force command value of the driving force command value generator.   The adder which adds the mechanical drag of the door drive system estimated at the time of normal operation of the electric drive door to the drive force command value as a compensation amount of the door drive force is provided. Electric drive door control device.   The control of the electrically driven door according to claim 2, wherein a mechanical drag of the door drive system estimated for each position of the electrically driven door during normal operation is used as the compensation amount of the door drive force. apparatus.   The control device for an electrically driven door according to any one of claims 1 to 3, wherein the electrically driven door has a side sliding door configuration of a railway vehicle.

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