JP2013060775A - Automatic door control device, automatic door control system, and automatic door control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic door control device capable of preventing movement of a door even when an external force urging the door to be artificially moved is applied to the door stopped in a stop position, an automatic door control system, and an automatic door control method.SOLUTION: In the case where an external force is applied to an automatic door in a stopped state and where the door is moved by a predetermined distance in a direction opposite to a driving direction of a motor 22, the motor 22 is driven by delaying an advanced ignition value of a drive voltage output by an inverter 14 and increasing a voltage value. Additionally, when a duration in a door-stopped state exceeds a threshold in the state of generating high driving torque in the motor 22, the driving torque of the motor 22 is reduced. Furthermore, time for generating the high driving torque in the motor 22 against the external force applied to the door is limited by the threshold.

Description

  The present invention relates to an automatic door control device, an automatic door system, and an automatic door control method for performing opening / closing control of an automatic door.

  2. Description of the Related Art In recent years, automatic doors have been installed as a safety measure for preventing passengers or luggage held by passengers from falling on railroad tracks on train platforms. Multiple automatic doors are installed on the platform corresponding to the entrances and exits of vehicles that stop at the station, and they are opened after the arrival of the train, etc., and are closed before the train departs. It is controlled by the control device.

  In such an automatic door, even if the door is in contact with the stopper at the open or closed stop position, the automatic door control device drives the door opening / closing motor to press the door against the stopper. Yes. In this state, an artificial force for forcibly opening and closing the door is applied, and when this force exceeds the force pressing the door against the stopper, the door starts to move. In order to prevent artificial opening and closing of the door, for example, an excitation operation type electromagnetic brake is used, and the movement of the door is restricted by energizing the excitation operation type electromagnetic brake after moving the door to the stop position. Can do. However, with such a configuration, problems such as an increase in cost and an increase in the size of the apparatus due to the installation of the excitation operation type electromagnetic brake occur, and the mechanism and electric circuit for controlling the excitation operation type electromagnetic brake become complicated. Problem arises.

  In Patent Document 1, when the door is held so that it cannot be opened when the door is closed, the door is usually pressed with a low torque in the door closing direction, and it is detected that the door is likely to be opened. An elevator door opening / closing device that controls a DC brushless motor to generate torque has been proposed.

  In Patent Document 2, a door body configured to be slidable and abutting on the inner side of the outer frame body so that the doorway is in a closed state, and a drive device that presses the door body against the outer frame body just before the doorway is in a closed state In addition, the infrared sensor detects whether or not a human body is present near the door body, and controls the pressing of the door body toward the outer frame body when the presence of the human body is detected. A door device provided with a device has been proposed. This door device can intentionally move the door body in a normal manner when there are people in and out, and when there are no people in and out, there is no gap between the door body and the outer frame. It can be in close contact with each other.

JP 2005-104650 A JP 2007-138634 A

  However, the elevator door opening / closing device described in Patent Document 1 is configured to increase the value of current that is applied to the motor in order to generate high torque in the motor. For this reason, it is necessary to mount a motor capable of generating high torque in advance assuming that the door is artificially opened, but it is rare that the door is artificially opened. Such a high torque is not required for opening and closing a normal door, so there is a problem that it is wasteful to install a motor that can generate a high torque, and a motor that generates a high torque is large and expensive. Therefore, there are problems such as an increase in size and cost of the apparatus.

  The door device described in Patent Document 2 is configured to open the door when an external force that artificially opens the door is applied. For this reason, the technique described in Patent Document 2 cannot solve the above problem.

  The present invention has been made in view of such circumstances, and the purpose of the present invention is in the case where an external force that artificially moves the door is applied to the door stopped at the stop position. Even if it exists, it is providing the automatic door control apparatus, automatic door system, and automatic door control method which can prevent a movement of a door.

  An automatic door control device according to the present invention specifies a brushless DC motor that opens and closes a door, a rotation detection unit that detects rotation of the brushless DC motor, and a position of the door according to a detection result of the rotation detection unit. Automatic comprising: door position specifying means; and motor drive means for outputting a drive voltage to the brushless DC motor to urge the door so as to maintain the door stopped at the open or closed stop position. In the door control device, the door position specifying means determines that the door has been moved over a predetermined distance against the rotation of the brushless DC motor driven by the motor driving means. A door movement determining means for determining the voltage based on the increase in the voltage when the door movement determining means determines that the door has moved beyond a predetermined distance. Characterized in that the driving voltage delayed phase are to be outputted to the brushless DC motor causes.

  In the automatic door control device according to the present invention, when the motor driving means opens and closes the door, the first voltage and the driving voltage of the first phase are set immediately before the door reaches the stop position. When the door reaches the stop position, the second voltage lower than the first voltage and the driving voltage of the first phase are output to the brushless DC motor. When the door movement determining means determines that the door has moved beyond a predetermined distance, the brushless DC is supplied with a third voltage higher than the first voltage and a driving voltage of the second phase delayed from the first phase. It is characterized by being output to a motor.

  In the automatic door control device according to the present invention, the motor driving unit outputs a driving voltage that increases the voltage and delays the phase to the brushless DC motor, and the door position specifying unit specifies the door voltage. A timer that counts the duration of the state in which the position does not change, and the motor driving means reduces the voltage of the driving voltage and / or drives when the duration counted by the timer exceeds a predetermined time The voltage phase is advanced.

  The automatic door control device according to the present invention further includes a timer for measuring the duration of the state in which the motor drive means outputs the drive voltage whose voltage is increased and the phase is delayed to the brushless DC motor, and the motor drive The means is characterized in that when the duration time measured by the timer exceeds a predetermined time, the voltage of the drive voltage is reduced and / or the phase of the drive voltage is advanced.

  The automatic door system according to the present invention includes a door that opens and closes, a brushless DC motor that opens and closes the door, a rotation detection unit that detects rotation of the brushless DC motor, and the door according to a detection result of the rotation detection unit. And a motor for outputting a drive voltage to the brushless DC motor to urge the door so as to maintain the door stopped at the open or closed stop position. In an automatic door system comprising an automatic door control device having a drive means, the automatic door control device moves the door beyond a predetermined distance against the rotation of the brushless DC motor driven by the motor drive means. A door movement determining means for determining that the door position specifying means is based on a result of specifying the position of the door, and the motor driving means of the automatic door control device. When the door movement determining means determines that the door has moved beyond a predetermined distance, a drive voltage that increases the voltage and delays the phase is output to the brushless DC motor. To do.

  Further, the automatic door control method according to the present invention detects the rotation of a brushless DC motor that opens and closes the door, specifies the position of the door, and maintains the state where the door is stopped at the open or closed stop position. In order to energize the door, a driving voltage is output to the brushless DC motor, and it is determined whether the door has been moved beyond a predetermined distance against the rotation of the brushless DC motor by the driving voltage. When it is determined that the door has moved beyond a predetermined distance, a drive voltage that increases the voltage and delays the phase is output to the brushless DC motor.

When the automatic door is opened and closed, the door is accelerated from the movement start position, and then the movement speed is switched in the order of high speed movement, deceleration movement, and low speed movement to move the door. In the low-speed movement immediately before the door comes into contact with the stopper and stops at the stop position, the first voltage and the driving voltage based on the first phase are applied to the brushless DC motor for opening and closing the door. When the door is stopped (for example, in contact with the stopper) at the stop position of the open end or the closed end, a second voltage lower than the first voltage and a drive voltage based on the first phase are applied to the brushless DC motor. Energize to keep the door stopped (to keep the door pressed against the stopper).
In the present invention, when the door is moved against the urging force by the brushless DC motor by an artificial external force, and the movement distance exceeds a predetermined distance, the brushless DC motor has a third voltage higher than the first voltage and A drive voltage with a second phase delayed from the first phase is applied. The brushless DC motor can adjust speed, torque, and the like by controlling the phase (so-called advance angle or advance angle). High speed rotation and low torque can be realized by advancing the phase (increasing the advance angle), and low speed rotation and high torque can be realized by delaying the phase (decreasing the advance angle). For this reason, when the door is artificially moved, it is possible to generate a high torque in the brushless DC motor by increasing the voltage of the driving voltage applied to the brushless DC motor and delaying the advance angle of the driving voltage. It can resist the external force that moves the door. Compared with the case where only the voltage of the driving voltage applied to the brushless DC motor is increased, the brushless DC motor can generate a higher torque by increasing the driving voltage and delaying the advance angle of the driving voltage. In other words, even a small brushless DC motor can generate a torque that sufficiently resists external force, and thus the increase in size and cost of the brushless DC motor can be suppressed.

  In addition, when a closed door is artificially opened, a person or an object may be caught between the doors thereafter. In a state where a person or an object is sandwiched between doors, there is a risk that the brushless DC motor generates high torque in the direction of closing the door as described above. Therefore, in the present invention, when a person or an object is caught in the door, the state in which the door does not move is continued. Therefore, a state in which a high torque is generated by the brushless DC motor and the door does not move is a predetermined time. The torque of the brushless DC motor is reduced by reducing the drive voltage and / or advancing the phase when continuing beyond. Thereby, the safety | security of an automatic door can be improved.

  In addition, the state in which the door is artificially moved over a long period of time against the movement of the door by the brushless DC motor may be dangerous, and the automatic door may break down. Therefore, in the present invention, when the state in which the high torque is generated in the brushless DC motor continues for a predetermined time, the torque of the brushless DC motor is reduced by reducing the driving voltage and / or advancing the phase. Reduce. Thereby, the safety | security of an automatic door can be improved and the failure of an automatic door can be prevented.

  In the case of the present invention, when an external force for artificially moving the door is applied to the door stopped at the stop position, the voltage of the drive voltage to the brushless DC motor that moves the door is increased. By adopting a configuration that resists external force by delaying the phase, even a small brushless DC motor can generate torque that resists external force sufficiently, thereby suppressing the increase in size and cost of the brushless DC motor. However, it is possible to prevent artificial movement of the door.

It is explanatory drawing which shows typically the automatic door system which concerns on this Embodiment. It is a block diagram which shows the structure of a motor drive device. It is a speed diagram and a torque diagram for explaining drive control of a motor. It is a graph which shows the characteristic of the torque and rotational speed of a motor. It is a schematic diagram for demonstrating operation | movement of the left door when external force is applied. It is a speed diagram and a torque diagram for explaining drive control of a motor. It is a speed diagram and a torque diagram for explaining drive control of a motor. It is a flowchart which shows the procedure of the control processing in the case of closing a left door. It is a flowchart which shows the procedure of the control processing in the case of closing a left door.

  Hereinafter, the present invention will be specifically described with reference to the drawings showing embodiments thereof. FIG. 1 is an explanatory view schematically showing an automatic door system according to the present embodiment. In FIG. 1, 100 is an automatic door system, and the automatic door system 100 includes a left door 2 and a right door 3, and two sets of drive control mechanisms for driving and controlling the left and right doors 2 and 3, respectively. The drive control mechanism for driving and controlling the left door 2 includes a speed reducer 21, a brushless DC motor (hereinafter referred to as "motor") 22, a rotor position detector 23, a toothed belt 24, a drive pulley 25, a driven pulley 26, A left door opening stopper 27, a left door closing stopper 28, and a brushless DC motor driving device (hereinafter referred to as “motor driving device”) 29 are provided. The drive control mechanism for driving and controlling the right door 3 includes a speed reducer 31, a motor 32, a rotor position detector 33, a toothed belt 34, a drive pulley 35, a driven pulley 36, a right door open end stopper 37, and a right door close end stopper. 38 and a motor drive device 39.

An outline of the operation of the automatic door system 100 will be described. Here, the opening / closing operation of the left door 2 will be described as an example, but the opening / closing operation of the right door 3 is the same.
As the motor 22 rotates, the output shaft of the speed reducer 21 rotates. When the output shaft of the speed reducer 21 rotates, the drive pulley 25 connected to the output shaft rotates. As the drive pulley 25 rotates, the toothed belt 24 that meshes with the teeth of the drive pulley 25 and the driven pulley 26 moves. The left door 2 is connected to the toothed belt 24 and opens and closes according to the rotation direction of the motor 22.

  The rotor position detector 23 outputs a rotor position signal to the motor drive device 29. The motor drive device 29 creates a pulse signal having a number of pulses corresponding to the rotation amount of the motor 22 based on the rotor position signal, and drives the motor 22 based on the created pulse signal.

  The left door 2 opens and closes while being supported by a not-shown door cart and guide rail. The range of movement of the left door 2 is limited by the left door open end stopper 27 and the left door close end stopper 28. That is, when the left door 2 is closed, the left door 2 starts moving from the position of the left door open end stopper 27 and stops at the position of the left door close end stopper 28. During the opening operation of the left door, the left door 2 starts to move from the position of the left door closing stopper 28 and stops at the position of the left door opening stopper 27.

  FIG. 2 is a block diagram illustrating a configuration of the motor driving device. In the following description, the motor drive device 29 included in the drive control mechanism that drives and controls the left door 2 will be described as an example, but the configuration of the motor drive device 39 is the same.

The motor drive device 29 is connected to the AC power supply 10, the motor 22, the door opening / closing signal generator 20 and the rotor position detector 23.
The AC power supply 10 supplies AC power to the motor drive device 29 via terminals L <b> 1-L <b> 2 of the motor drive device 29. The motor drive device 29 applies a drive voltage to the motor 22 and controls the voltage value and phase of the drive voltage. The door opening / closing signal generator 20 gives a door opening signal 20a or a door closing signal 20b to the motor drive device 29 via terminals D1 to D3.

  The rotor position detector 23 detects the rotation of the motor 22 and gives a rotor position signal r corresponding to the rotation amount of the motor 22 to the motor drive device 29. The rotor position detector 23 can be configured by using, for example, three Hall elements that output pulse signals that change in accordance with the position of the rotor of the motor 22, and the rotor position signal r is output by these Hall elements. Three pulse signals can be used.

The motor drive device 29 includes a DC power supply 11, a control power supply 12, a braking circuit 13, an inverter 14, and a drive control unit 41.
The DC power supply 11 includes a converter 11a and a smoothing capacitor 11b. The converter 11a converts the AC voltage / current from the AC power supply 10 into a DC voltage / current. The smoothing capacitor 11 b smoothes the DC voltage / current and applies a DC voltage Ed between PN of the DC power supply 11. The control power supply 12 outputs a control power supply voltage Vcc and gives it to the drive control unit 41. The braking circuit 13 causes the motor 22 to generate a braking force. The inverter 14 supplies a motor current from the terminals U, V, W to the motor 22 based on an inverter drive signal m described later.

  The drive control unit 41 includes a door opening / closing control unit 42, an inverter drive control unit 16, a position pulse signal generation unit 17, and a rotation direction determination unit 18. The drive control unit 41 creates various control signals for controlling the motor driving device 29 based on the door opening signal 20a, the door closing signal 20b, and the rotor position signal r. Further, the drive control unit 41 has a function of calculating the movement position of the automatic door by counting the number of pulses of the rotor position signal r.

  Each of the position pulse signal generation unit 17 and the rotation direction determination unit 18 creates a position pulse signal f and a rotation direction determination signal c based on the rotor position signal r, and gives them to the door opening / closing control unit 42. The position pulse signal generation unit 17 generates and outputs a position pulse signal f having a frequency such as three times or six times the frequency of three pulse signals given as the rotor position signal r. The rotation direction determination unit 18 determines the rotation direction of the motor 22 based on the rotor position signal r, and based on the result, the rotation direction determination signal c indicating either the forward rotation direction or the reverse rotation direction is counter unit 44. Give to. For example, the rotation direction determination unit 18 can determine the rotation direction according to the order in which three pulse signals given as the rotor position signal r change from a high level to a low level or from a low level to a high level. .

The door opening / closing control unit 42 includes a rotation speed storage unit 43, a counter unit 44, a timer unit 45, and an energization phase storage unit 46.
The rotation speed storage unit 43 stores a high-speed rotation speed N1 and a low-speed rotation speed N2, which will be described later.
When the automatic door is opened, the counter unit 44 specifies the position of the moving door by adding the number of pulses obtained from the position pulse signal f to the initial value. When the automatic door is closed, the counter unit 44 specifies the position of the moving door by subtracting the number of pulses obtained from the position pulse signal f from the initial value. The counter unit 44 stores a count value corresponding to the deceleration start position when the automatic door is closed, and a storage unit Cnt2B stores a count value corresponding to the deceleration start position when the automatic door is opened. A storage unit Cnt4 that stores a count value corresponding to the open end position of the automatic door and a storage unit Cnt7x that stores a count value for determining movement of the automatic door due to an external force are provided.
The timer unit 45 measures the input interval (that is, the pulse width) of the position pulse signal f from the position pulse signal generation unit 17 and stores a threshold value Tm1 for detecting the automatic door pinching based on the measured result. Storage unit. The timer unit 45 counts the duration of the state in which an external force is artificially applied to the automatic door, and stores a threshold value Tm2 for controlling the torque of the motor 22 based on the timing result. have.
The energization phase storage unit 46 stores a first advance value θ1 and a second advance value θ2 as advance values for controlling the energization phase (advance angle) for the motor 22 of the inverter 14. The advance value θ1> the advance value θ2, and the advance value θ1 is used when the automatic door is normally opened and closed. Further, the advance value θ2 may be a negative value.

  The door opening / closing control unit 42 is based on the rotation speed stored in the rotation speed storage unit 43, the count value of the counter unit 44, the time measurement result of the timer unit 45, and the advance value stored in the energization phase storage unit 46. Then, three signals (rotation direction command d, rotation speed command e, energization phase command a) for controlling the opening / closing operation of the door 2 are generated and supplied to the inverter drive control unit 16.

  The inverter drive control unit 16 creates an inverter drive signal m based on the rotation direction command d, the rotation speed command e, and the energization phase command a, and supplies the inverter drive signal m to the inverter 14. The inverter 14 generates a voltage value based on the inverter drive signal m and a drive voltage having an energization phase, and supplies the drive voltage to the motor 22.

Hereinafter, the operation at the time of closing the left door 2 in the automatic door system 100 will be described. Since the operation during the closing operation of the right door 3 is the same, the description thereof is omitted.
The count value PC4 of the counter unit 44 when the left door 2 is stopped at the position of the left door opening stopper 27 is stored in the storage unit Cnt4. Further, the count value when the left door 2 reaches the left door closed end stopper 28 is zero. Further, the count value PC2A corresponding to the deceleration start position during the closing operation of the left door 2 is stored in the storage unit Cnt2A. The PC 2A is calculated based on the PC 4, the automatic door opening / closing time, the automatic door weight, and the automatic door maximum speed.
The count value of the counter unit 44 when the left door 2 is located between the left door open end stopper 27 and the left door close end stopper 28 indicates the movement position of the left door 2 from the left door close end stopper 28.

  When the door closing signal 20b is input, the drive control unit 41 reads the high-speed rotation speed N1 from the rotation speed storage unit 43, and gives the rotation speed command e corresponding to the high-speed rotation speed N1 to the inverter drive control unit 16. At the same time, the rotation direction of the motor 22 for moving the left door 2 in the closing direction is given to the inverter drive control unit 16 as a rotation direction command d. Further, the drive control unit 41 reads the advance angle value θ1 from the energization phase storage unit 46, and gives the energization phase command a corresponding to the advance angle value θ1 to the inverter drive control unit 16.

  The rotational speed command e is a command for accelerating the rotational speed of the motor 22 to the high speed rotational speed N1. Upon receiving the rotation speed command e, the inverter drive control unit 16 drives the motor 22 with the energization phase of the advance angle value θ1, and generates an inverter drive signal m to rotate the motor 22 at the high speed rotation speed N1. 14 is given. The inverter 14 applies a drive voltage with an advance angle value θ1 to rotate the motor 22, whereby the left door 2 starts moving in the closing direction. At this time, the counter unit 44 continues to subtract the number of pulses obtained from the position pulse signal f. The drive control unit 41 sets the high-speed rotation speed N1 stored in the rotation speed storage unit 43 as the target rotation speed of the motor 22, and the inverter drive control unit so that the rotation speed of the motor 22 is accelerated to the target rotation speed. The inverter 14 is controlled via 16. After the rotation speed of the motor 22 reaches the high speed rotation speed N1, the motor 22 continues to rotate at the high speed rotation speed N1, and the closing operation of the left door 2 continues.

  When the count value of the counter unit 44 matches the count value PC2A corresponding to the deceleration start position stored in the storage unit Cnt2A, the drive control unit 41 uses the low speed rotation speed N2 stored in the rotation speed storage unit 43. The target rotational speed of the motor 22 is set. Thereby, the motor 22 rotates in the state of the low speed rotation speed N2, and the closing operation of the left door 2 continues at the rotation speed. The counter unit 44 continues to subtract the number of pulses obtained from the position pulse signal f, and when the count value of the counter unit 44 becomes 0, the drive control unit 41 outputs a rotation speed command e for stopping the rotation of the motor 22 to an inverter. This is given to the drive control unit 16. The inverter drive control unit 16 that has received the rotation speed command e gives an inverter drive signal m for stopping the rotation of the motor 22 to the inverter 14. The inverter 14 that has received the inverter drive signal m stops the rotation of the motor 22 and the moving left door 2 stops at the position of the left door closing stopper 28.

When the count value of the counter unit 44 becomes 0, the left door 2 comes into contact with the left door closing stopper 28 and stops, and the left door 2 is pressed against the left door closing stopper 28. At this time, since the rotational speed of the motor 22 decreases from the low speed rotational speed N2 to 0, the driving torque of the motor 22 increases.
Further, when the count value of the counter unit 44 becomes 0, the drive control unit 41 determines that the left door 2 has stopped by contacting the left door closed end stopper 28 so that the drive voltage of the inverter 14 decreases. A rotation speed command e is generated and given to the inverter drive control unit 16. The inverter drive control unit 16 generates an inverter drive signal m corresponding to the rotation speed command e and outputs the inverter drive signal m to the inverter 14, whereby the inverter 14 reduces the drive voltage to energize the motor 22, The drive torque of 22 decreases, and the left door 2 is pressed against the left door closed end stopper 28 by this torque.
Thereafter, the motor 22 continues to output a low driving torque with the rotation stopped. Note that the drive voltage output by the inverter 14 at this time has a predetermined voltage value or the like so that the motor 22 is not heated even when it is continuously applied to the motor 22. When the motor 22 continues to output drive torque while the left door 2 is closed and stopped, for example, the left door 2 can be prevented from being opened by a force such as wind.

Hereinafter, an operation when the left door 2 is opened in the automatic door system 100 will be described. Since the operation during the opening operation of the right door 3 is the same, the description thereof is omitted.
When the left door 2 is stopped at the position of the left door closing stopper 28, the count value of the counter unit 44 is zero. In addition, the count value PC4 when the left door 2 reaches the position of the left door opening stopper 27 is stored in the storage unit Cnt4. Further, the count value PC2B corresponding to the deceleration start position of the movement section when the left door 2 is opened is stored in the storage unit Cnt2B. PC2B is calculated based on PC4, automatic door opening / closing time, automatic door weight, and automatic door maximum speed.
The count value of the counter unit 44 when the left door 2 is located between the left door closing stopper 28 and the left door opening stopper 27 indicates the movement position of the left door 2 from the left door closing stopper 28.

The above-described PC2A and PC2B are calculated based on the count value PC4 of the counter unit 44 when the left door 2 reaches the open end. PC2A and PC2B are calculated by the following formulas, for example.
PC2A = 0.3 × PC4
PC2B = 0.7 × PC4
The coefficients 0.3 and 0.7 are examples, and other values may be used depending on the movement range (movement distance) of the automatic door, the opening / closing time, the weight of the automatic door, or the maximum speed of the automatic door. It may be changed.

  When the door opening signal 20a is input, the drive control unit 41 reads the high speed rotation speed N1 from the rotation speed storage unit 43, and gives the rotation speed command e corresponding to the high speed rotation speed N1 to the inverter drive control unit 16. The rotation direction of the motor 22 for moving the left door 2 in the opening direction is given to the inverter drive control unit 16 as a rotation direction command d. Further, the drive control unit 41 reads the advance angle value θ1 from the energization phase storage unit 46, and gives the energization phase command a corresponding to the advance angle value θ1 to the inverter drive control unit 16.

  The rotational speed command e is a command for accelerating the rotational speed of the motor 22 to the high speed rotational speed N1. Receiving the rotation speed command e, the inverter drive control unit 16 drives the motor 22 with the energization phase of the advance angle value θ1, and gives an inverter drive signal m to the inverter 14 to rotate the motor 22 at the high speed rotation speed N1. . The inverter 14 applies a drive voltage with an advance angle value θ1 to rotate the motor 22, whereby the left door 2 starts moving in the opening direction. At this time, the counter unit 44 continues to add the number of pulses obtained from the position pulse signal f. The drive control unit 41 sets the high-speed rotation speed N1 stored in the rotation speed storage unit 43 as the target rotation speed of the motor 22, and the inverter drive control unit so that the rotation speed of the motor 22 is accelerated to the target rotation speed. The inverter 14 is controlled via 16. After the rotation speed of the motor 22 reaches the high speed rotation speed N1, the motor 22 continues to rotate at the high speed rotation speed N1, and the opening operation of the left door 2 continues.

  When the count value of the counter unit 44 matches the count value PC2B corresponding to the deceleration start position stored in the storage unit Cnt2B, the drive control unit 41 uses the low speed rotation speed N2 stored in the rotation speed storage unit 43. The target rotational speed of the motor 22 is set. Thereby, the motor 22 rotates in the state of the low speed rotation speed N2, and the opening operation of the left door 2 continues at the rotation speed. The counter unit 44 continues to add the number of pulses obtained from the position pulse signal f, and when the count value of the counter unit 44 coincides with PC4 stored in the storage unit Cnt4, the drive control unit 41 rotates the motor 22. A rotation speed command e for stopping is given to the inverter drive control unit 16. The inverter drive control unit 16 that has received the rotation speed command e gives an inverter drive signal m for stopping the rotation of the motor 22 to the inverter 14. The inverter 14 that has received the inverter drive signal m stops the rotation of the motor 22, and the left door 2 that has been moved stops at the position of the left door opening stopper 27.

When the count value of the counter unit 44 is PC4, the left door 2 comes into contact with the left door opening stopper 27 and stops, and the left door 2 is pressed against the left door opening stopper 27. At this time, since the rotational speed of the motor 22 decreases from the low speed rotational speed N2 to 0, the driving torque of the motor 22 increases.
When the count value of the counter unit 44 is PC4, the drive control unit 41 determines that the left door 2 has stopped by contacting the left door opening stopper 27, and rotates so that the drive voltage of the inverter 14 decreases. A speed command e is generated and given to the inverter drive control unit 16. The inverter drive control unit 16 generates an inverter drive signal m corresponding to the rotation speed command e and outputs the inverter drive signal m to the inverter 14, whereby the inverter 14 reduces the drive voltage to energize the motor 22, The drive torque of 22 decreases, and the left door 2 is pressed against the left door open end stopper 27 by this torque.
Thereafter, the motor 22 continues to output a low driving torque with the rotation stopped. Note that the drive voltage output by the inverter 14 at this time has a predetermined voltage value or the like so that the motor 22 is not heated even when it is continuously applied to the motor 22. When the motor 22 continues to output drive torque while the left door 2 is open and stopped, for example, the left door 2 can be prevented from being closed by a force such as wind.

  Since the relationship between the forward / reverse rotation direction of the motor 22 and the opening / closing of the automatic door differs depending on the mechanism for driving the automatic door, the rotation direction determination signal c for determining the normal rotation / reverse rotation of the motor 22 and the counter unit 44 are added. The relationship with subtraction is determined in advance based on a mechanism for driving the automatic door.

<Basic operation of automatic door>
FIG. 3 is a speed diagram and a torque diagram for explaining the drive control of the motor 22. These velocity diagrams (see the upper part) and torque diagrams (see the lower part) are shown on the same time axis (t). In order to simplify the description, the speed diagram and the torque diagram are drawn with straight lines (broken lines). FIG. 4 is a graph showing the characteristics of the torque and rotational speed of the motor 22. As shown in FIG. 4, the torque and rotational speed of the motor 22 change such that when one of them is increased, the other is reduced, and the inclination of this change is the advance value of the drive voltage applied to the motor. The magnitudes of torque and rotational speed depend on the voltage value of the drive voltage. In the automatic door system 100 according to the present embodiment, the advance value can be set to either θ1 or θ2 (where θ2 <θ1), and the voltage value can be set to any one of E1 to E4 (however, E3 <E2 <E1 ≦ E4).
The voltage value E2 corresponds to the first voltage, the voltage value E3 corresponds to the second voltage, and the voltage value E4 corresponds to the third voltage value. The advance value θ1 corresponds to the first phase, and the advance value θ2 corresponds to the second phase.

Changes in the rotational speed and torque of the motor 22 during the closing operation of the automatic door will be described with reference to FIGS. In addition, since it is the same also at the time of opening operation of an automatic door, description about opening operation is abbreviate | omitted.
The time when the door closing signal 20b is input to the drive control unit 41 is defined as time t0. When the door closing signal 20b is input, the door opening / closing control unit 42 of the drive control unit 41 includes a rotation direction command d indicating the rotation direction for closing the left door 2, a rotation speed command e indicating the rotation speed N1 as the target rotation speed, and An energization phase command a indicating the advance angle value θ1 is given to the inverter drive control unit 16. When the inverter drive control unit 16 outputs an inverter drive signal m in accordance with these commands, the inverter 14 changes the voltage value from 0 to E1 (corresponding to the rotational speed N1) in the direction in which the left door 2 is closed. When the energization of the motor 22 is started while the voltage is increased to the voltage value), the motor 22 is started and the left door 2 starts to close. In addition, since the rotation direction of the motor 22 does not change after this, the description regarding a rotation direction is abbreviate | omitted.

During the time t0 to t1, the inverter 14 applies the drive voltage to the motor 22 while continuously increasing the voltage value from 0 to E1 with the advance value θ1. As a result, the motor 22 outputs the drive torque TL1, accelerates with the high speed rotation speed N1 as the target rotation speed, completes the acceleration at time t1, and reaches the high speed rotation speed N1.
During the time t1 to t2, the inverter 14 energizes the motor 22 with the drive voltage having the advance value θ1 and the voltage value E1, whereby the motor 22 outputs the drive torque TL2 (<TL1) and the high speed rotation speed. It continues to rotate at N1, and the left door 2 continues to move at a constant speed (high speed) in the closing direction. The characteristic point of the motor 22 at this time corresponds to the point P1 in FIG.

When the left door 2 is in the open end, the count value of the counter unit 44 is PC4. After the motor 22 is started after the time t0 and the left door 2 starts the closing operation, the count value of the counter unit 44 is a position pulse. Subtraction is performed according to the signal f.
When the count value of the counter unit 44 matches the count value PC2A stored in the storage unit Cnt2A at time t2, the motor 22 starts to decelerate.
During the time t2 to t3, the inverter 14 applies the drive voltage to the motor 22 while continuously decreasing the voltage value from E1 to E2 with the advance value θ1. Accordingly, the motor 22 outputs the drive torque TL3 (<TL2), decelerates using the low speed rotation speed N2 as the target rotation speed, completes the deceleration at time t3, and reaches the low speed rotation speed N2. The characteristic point of the motor 22 at this time moves in the order of points P1 → P1A → P1B → P3 in FIG.

  During the time t3 to t4, the inverter 14 energizes the motor 22 with the drive voltage having the advance value θ1 and the voltage value E2, thereby outputting the drive torque TL2 and rotating at the low speed N2. The left door 2 continues to move at a constant speed (low speed) in the closing direction. By closing the automatic door at a low speed, it is easy for a person who is about to be caught by the automatic door to avoid this. The characteristic point of the motor 22 at this time corresponds to the point P3 in FIG.

When the count value of the counter unit 44 becomes 0, the left door 2 comes into contact with the left door closing stopper 28 and stops, and the left door 2 is pressed against the left door closing stopper 28. At this time, since the rotational speed of the motor 22 decreases from the low speed rotational speed N2 to 0, the driving torque of the motor 22 increases from TL2 to TL2A. The characteristic point of the motor 22 in this case moves as indicated by point P3 → P3A in FIG.
When the count value of the counter unit 44 becomes 0 at time t4, the door opening / closing control unit 42 determines that the left door 2 has stopped due to contact with the left door closing stopper 28, and the inverter 14 has the voltage value E3. A rotation speed command e is generated and output to the inverter drive control unit 16 so as to output the drive voltage of (<E2). The inverter drive control unit 16 generates an inverter drive signal m corresponding to the rotation speed command e and outputs the inverter drive signal m to the inverter 14, whereby the inverter 14 is sent to the motor 22 with the drive voltage of the advance value θ1 and the voltage value E3. The motor 22 outputs a drive torque TL4 (<TL2), and the left door 2 is pressed against the left door closed end stopper 28 by this torque. The characteristic point of the motor 22 in this case moves as indicated by point P3A → P4 in FIG.
After time t4, the motor 22 continues to output the driving torque TL4 in a state where the rotation is stopped. Note that the voltage value E3 of the drive voltage output by the inverter 14 at this time is determined in advance so that the motor 22 is not heated even when continuously applied to the motor 22. . When the motor 22 continues to output the driving torque TL4 while the left door 2 is closed and stopped, for example, the left door 2 can be prevented from being opened by a force such as wind.

As described above, the operation at the times t0 to t4 is the closing operation of the left door 2.
<Automatic door opening / closing prevention>
Subsequently, the operation of the automatic door system 100 when an artificial external force for opening the left door 2 is applied in a state where the left door 2 is closed will be described with reference to FIGS. 3 and 4. FIG. 5 is a schematic diagram for explaining the operation of the left door 2 when an external force is applied, and will also be described with reference to FIG. FIG. 5 illustrates the operation of the left door 2 in time series from A to G. FIG. 5A shows a state in which the left door 2 is closed at time t4 and pressed against the left door closed end stopper 28 with the driving torque TL4.

When an external force exceeding the driving torque TL4 in a state where the rotation of the motor 22 is stopped is applied to the left door 2 at time t5, the left door 2 starts to open after time t5, and the count value of the counter unit 44 starts from 0. It starts to increase (see FIG. 5B).
Thereafter, at time t6, the driving torque TL5 of the motor 22 rotating in the reverse direction at the rotational speed N3 is balanced with the external force applied to the left door 2. From time t5 to t6, the characteristic point of the motor 22 moves as indicated by point P4 → P6 in FIG.
After time t6, in a state where the driving torque TL5 of the motor 22 and the external force applied to the left door 2 are in balance, the left door 2 continues to open and the count value of the counter unit 44 continues to increase (see FIG. 5C).

Thereafter, when the count value of the counter unit 44 reaches the value (PC7x) stored in the storage unit Cnt7x at time t7, the door opening / closing control unit 42 determines the advance value θ2 (<θ1) and the voltage value E4 (≧ An energization phase command a and a rotation speed command e are generated and output to the inverter drive control unit 16 in order to drive the motor 22 with the drive voltage of E1). The inverter drive control unit 16 generates an inverter drive signal m corresponding to the energization phase command a and the rotation speed command e and outputs it to the inverter 14. The inverter 14 drives the motor 22 with a drive voltage having an advance value θ2 and a voltage value E4 according to the given inverter drive signal m. As a result, the driving torque of the motor 22 increases from TL5 and reaches the driving torque TL8 at time t8. From time t7 to t8, the characteristic point of the motor 22 moves as indicated by point P6 → P8 in FIG.
Note that the above-described PC7x is calculated based on the count value PC4 of the counter unit 44 when the left door 2 reaches the open end. PC7x is calculated by the following formula, for example.
PC7x = 0.01xPC4

After time t7, an artificial external force is also increased with respect to an increase in the driving torque of the motor 22, and when the driving torque TL8 of the motor 22 and the external force are balanced at the time t8, the left door 2 moves to the motor 22 The counter unit 44 continues to move in the direction opposite to the rotation of (i.e., the opening direction), and the count value of the counter unit 44 continues to increase.
Thereafter, when the artificial external force decreases at time t9, the rotational speed of the motor 22 in the reverse direction decreases, and at time t10, the rotational speed of the motor 22 reaches 0 and the left door 2 stops ( See FIG. 5D)). At this time, the driving torque of the motor 22 decreases from TL8 to TL10. The characteristic point of the motor 22 from the time t8 to t9 is a point P8 in FIG. 4, and the characteristic point of the motor 22 from the time t9 to t10 moves as indicated by a point P8 → P10 in FIG.

  After time t10, after the state where the left door 2 continues to stop and the motor 22 continues to stop is maintained, at time t11, when the artificial external force further decreases with respect to the drive torque TL10 of the motor 22, 22 starts to rotate in the direction of closing the left door 2, and the left door 2 starts to close (see FIG. 5E). Thereafter, the motor 22 accelerates, reaches the rotational speed N4 at time t12, and the driving torque decreases from TL10 to TL12. The characteristic point of the motor 22 at the time t10 to t11 is a point P10 in FIG. 4, and the characteristic point of the motor 22 at the time t11 to t12 is moved as a point P10 → P12 in FIG.

After time t12, the left door 2 continues to close. At this time, the counter unit 44 continues to subtract the count value according to the position pulse signal f. When the count value becomes 0 at time t13, the left door 2 comes into contact with the left door closing stopper 28 and stops. The left door 2 is pressed against the left door closing stopper 28 (see FIG. 5F). At this time, since the rotational speed of the motor 22 decreases from the rotational speed N4 to 0, the driving torque of the motor 22 increases from TL12 to TL10. The characteristic point of the motor 22 at times t12 to t13 moves as indicated by point P12 → P10 in FIG.
Further, when the count value of the counter unit 44 becomes 0 at time t12, the door opening / closing control unit 42 determines that the left door 2 has stopped by contacting the left door closing stopper 28, and the inverter 14 is advanced. An energization phase command a and a rotation speed command e are generated and output to the inverter drive control unit 16 so as to output a drive voltage having a value θ1 and a voltage value E3. The inverter drive control unit 16 generates an inverter drive signal m corresponding to the energization phase command a and the rotation speed command e and outputs the inverter drive signal m to the inverter 14, whereby the inverter 14 drives the advance value θ1 and the voltage value E3. The motor 22 is energized with voltage, and the motor 22 outputs a driving torque TL4, and the left door 2 is pressed against the left door closing stopper 28 by this torque (see FIG. 5G). In this case, the characteristic point of the motor 22 moves as indicated by a point P10 → P4 in FIG.
After time t13, the motor 22 continues to output the drive torque TL4 in a state where the rotation is stopped.

  As described above, an external force in the opening direction is applied to the left door 2 in the closed state, and the left door 2 is opened by a predetermined distance (a distance corresponding to a value stored in the storage unit Cnt7x of the counter unit 44). In this case, by delaying the advance value of the drive voltage output from the inverter 14 to the motor 22 from θ1 to θ2 and increasing the voltage value from E3 to E4, the motor 22 can be driven at low speed and high torque. The external force that opens the left door 2 can be resisted.

<Countermeasures against pinching>
Next, after the left door 2 in the closed state is opened by an external force, the operation of the automatic door system 100 when the left door 2 is stopped by sandwiching an object will be described. FIG. 6 is a speed diagram and a torque diagram for explaining the drive control of the motor 22, and shows an example when the left door 2 sandwiches an object. The operation of the automatic door system 100 shown in FIG. 6 is the same as the operation shown in FIG.

  After time t12, the motor 22 rotates at the rotational speed N4 and the drive torque TL12, and the left door 2 continues the closing operation. Here, for example, when an object is sandwiched in the left door 2 and the closing operation is stopped by contacting the object with the left door 2 sandwiched at time t13a, the rotational speed of the motor 22 decreases from N4 to 0, and the motor The driving torque 22 increases from TL12 to TL10 (point P12 → P10 in FIG. 4).

  The door opening / closing control unit 42 generates drive torque against the external force applied to the left door 2 (that is, when driving the motor 22 with the advance value θ2 and the voltage value E4). In addition, the timer 45 measures the duration of the state in which the left door 2 is stopped. Therefore, the timer unit 45 measures the input interval of the position pulse signal f from the position pulse signal generation unit 17. Since the position pulse signal f is a signal input with the rotation of the motor 22 (that is, the movement of the left door 2), the position pulse signal f is not input when the left door 2 is stopped (the position pulse signal f Signal level does not change). The timer unit 45 measures the duration of the state in which the left door 2 is stopped because the time is continuously measured when the left door 2 is stopped by measuring the input interval of the position pulse signal f. Can do. Further, the timer unit 45 stores a threshold value Tm1 for detecting pinching, and the door opening / closing control unit 42 determines whether or not the duration of the state in which the left door 2 is stopped exceeds the threshold value Tm1.

  When the state in which the left door 2 is stopped after time t13a is continued and the duration time counted by the timer unit 45 exceeds the threshold value Tm1 at time t14, the door opening / closing control unit 42 causes the left door 2 to sandwich an object. It is determined that the operation has stopped, and an energization phase command a and a rotation speed command e are generated and supplied to the inverter drive control unit 16 so that the inverter 14 outputs a drive voltage having an advance value θ1 and a voltage value E3. The inverter drive control unit 16 generates an inverter drive signal m corresponding to the energization phase command a and the rotation speed command e and outputs the inverter drive signal m to the inverter 14, whereby the inverter 14 drives the advance value θ1 and the voltage value E3. The motor 22 is energized with voltage, and the motor 22 outputs a driving torque TL4. In this case, the characteristic point of the motor 22 moves as indicated by a point P10 → P4 in FIG.

  Although explanation is omitted, in FIG. 6 (and FIG. 3), the left door 2 is also stopped between times t10 and t11, and the timer unit 45 is measuring time. However, in this case, the door opening / closing control unit 42 does not switch the advance angle value and the voltage value because the left door 2 starts closing before the duration time counted by the timer unit 45 exceeds the threshold value Tm1.

  As described above, in a state where a high driving torque is generated in the motor 22 by the driving voltage having the advance angle value θ2 and the voltage value E4, the duration of the state in which the left door 2 is stopped exceeds the threshold value Tm1. By changing the advance angle value θ1 and the voltage value E3 to reduce the driving torque of the motor 22, it is possible to easily take out the object sandwiched between the automatic doors. Further, when a human body or a part of the human body is sandwiched in the automatic door, it is possible to avoid a risk that the human body is pressed with a high driving torque for a long time.

<Danger prevention, failure prevention>
Next, a description will be given of a time limit in which the motor 22 generates a driving torque against the external force after the closed left door 2 is opened by the external force. FIG. 7 is a speed diagram and a torque diagram for explaining the drive control of the motor 22, and shows an example when an external force is applied to the left door 2 for a long time. Since the operation of the automatic door system 100 shown in FIG. 7 is the same as the operation shown in FIG. 3 between the times t0 and t12, the description during this time is omitted.

  The door opening / closing control unit 42 determines that the count value of the counter unit 44 reaches the value stored in the storage unit Cnt7x, and drives the motor 22 with the drive voltage of the advance angle value θ2 and the voltage value E4. When a and the rotational speed command e are output to the inverter drive control unit 16 (time t7), the timer unit 45 starts timing. Further, the timer unit 45 stores a threshold value Tm2 for determining a time limit for generating a high driving torque, and the door opening / closing control unit 42 determines whether or not the timing result of the timer unit 45 exceeds the threshold value Tm2. ing.

  After time t12, the left door 2 continues the closing operation. For example, the external force is increased again at time t13b, and the moving speed of the left door 2 (rotational speed of the motor 22) decreases, and the left door 2 moves at time t14b. It is assumed that the state where the motor is stopped (the rotation of the motor 22 is stopped) and the left door 2 is stopped is maintained. The door opening / closing control unit 42 performs time measurement by the timer unit 45 after starting the driving of the motor 22 at the advance angle value θ2 and the voltage value E4 at time t7, and the time measurement result of the timer unit 45 at time t15. When the value exceeds the threshold value Tm2, the energization phase command a and the rotation speed command e are generated and supplied to the inverter drive control unit 16 so that the inverter 14 outputs the drive voltage having the advance value θ1 and the voltage value E3. The inverter drive control unit 16 generates an inverter drive signal m corresponding to the energization phase command a and the rotation speed command e and outputs the inverter drive signal m to the inverter 14, whereby the inverter 14 drives the advance value θ1 and the voltage value E3. The motor 22 is energized with voltage, and the motor 22 outputs a driving torque TL4.

  As described above, by limiting the time for which the motor 22 generates a high driving torque against the external force applied to the left door 2 by the threshold value Tm2, for example, the act of opening the automatic door is continued. Therefore, it is possible to prevent a danger that is caused to an actor, and it is possible to prevent overheating of the motor 22 caused by, for example, generating a high driving torque in the motor 22 for a long time, and to prevent a failure of the automatic door system 100. be able to.

<Processing procedure>
Next, the control procedure of the automatic door performed in the automatic door system 100 is demonstrated using a flowchart. FIGS. 8 and 9 are flowcharts showing the procedure of the control process when the left door 2 is closed, and is the process performed by the drive control unit 41 of the motor drive device 29. In addition, this flowchart has shown the procedure in the case of closing the left door 2 by making the state in which the left door 2 was opened into an initial state.

  First, the drive control unit 41 determines whether or not the door closing signal from the door opening / closing signal generating unit 20 is on (step S1). If the door closing signal is not on (S1: NO), that is, the door. When the closing signal is in the off state, the process waits until the door closing signal is turned on. When the door closing signal is in the on state (S1: YES), the drive control unit 41 gives the rotation direction command d, the rotation speed command e, and the energization phase command a from the door opening / closing control unit 42 to the inverter drive control unit 16. In response to this, the inverter drive control unit 16 gives the inverter drive signal m to the inverter 14 to start the rotation of the motor 22 with the drive voltage of the advance value θ1 and the voltage value E1 in the direction to close the left door 2 (step S2). Further, the drive control unit 41 starts the closing operation of the left door 2 and starts counting (subtraction) by the counter unit 44 (step S3).

  Next, the drive control unit 41 determines whether or not the count value of the counter unit 44 matches the PC2A stored in the storage unit Cnt2A of the counter unit 44 (step S4), and if the count value does not match the PC2A (S4: NO), the door closing operation and the counting of the counter unit 44 are continuously performed. When the count value of the counter unit 44 coincides with PC2A (S4: YES), the drive control unit 41 reduces the voltage value of the drive voltage of the motor 22 to E2 (step S5), and rotates the motor 22 at a low speed.

  Next, the drive control unit 41 determines whether or not the count value of the counter unit 44 is 0 (step S6). If the count value is not 0 (S6: NO), the door is operated until the count value becomes 0. And the counting of the counter unit 44 are continuously performed. When the count value of the counter unit 44 is 0 (S6: YES), the drive control unit 41 further reduces the voltage value of the drive voltage of the motor 22 to E3 (step S7), and the left door 2 with a low drive torque. The state pressed against the left door closing stopper 28 is maintained.

  Thereafter, the drive control unit 41 determines whether or not the count value of the counter unit 44 matches the count value PC7x stored in the storage unit Cnt7x of the counter unit 44 (step S8), and the count value matches PC7x. If not (S8: NO), the motor 22 is continuously driven with the advance value θ1 and the voltage value E3. When the count value of the counter unit 44 increases due to the left door 2 being opened by an artificial external force and the count value of the counter unit 44 coincides with PC7x (S8: YES), the drive control unit 41 The position pulse signal generated by the position pulse signal generation unit 17 is started in the timer for determining whether the automatic door is caught or not (step S9). Time measurement of the input interval of f is started (step S10). Thereafter, the drive control unit 41 gives an energization phase command a corresponding to the advance angle value θ2 and a rotation speed command e corresponding to the voltage value E4 from the door opening / closing control unit 42 to the inverter drive control unit 16, and an inverter corresponding thereto When the drive signal m is given to the inverter 14 by the inverter drive control unit 16, the motor 22 is driven with the advance value θ2 and the voltage value E4 (step S11).

  Next, the drive control unit 41 determines whether or not the count value of the counter unit 44 is 0 (that is, whether or not the left door 2 is closed) (step S12). When the count value of the counter unit 44 is not 0 (NO in S12), the drive control unit 41 determines whether or not there is an automatic door pinching based on the clocking result by the timer for pinching determination of the timer unit 45 (timer timing result) Whether or not the threshold value Tm1 has been exceeded is further determined (step S13). When the automatic door is not pinched (S13: NO), the drive control unit 41 determines whether or not the time limit has been reached based on the time measurement result by the timer 45 for determining the time limit (time count of the timer). It is further determined whether or not the result exceeds the threshold value Tm2 (step S14). If the time limit has not been reached (S14: NO), the drive control unit 41 returns the processing to step S12, repeats the determinations of steps S12 to S14, and advances one of the advance values θ2 until any of the conditions is satisfied. The motor 22 is continuously driven at the voltage value E4.

  When the count value of the counter unit 44 is 0 (S12: YES), when it is determined that the automatic door is caught (S13: YES), or when it is determined that the time limit of the high driving torque has been reached (S14: (YES), the drive control part 41 stops time-measurement by both timers of the timer part 45 (step S15), returns a process to step S7, and drives the motor 22 by the advance value θ1 and the voltage value E3. Thereafter, the drive control unit 41 repeats the processes in steps S7 to S15 until the automatic door opening signal is turned on.

  In the automatic door system 100 configured as described above, an external force is applied to the stopped automatic door and corresponds to a predetermined distance (a value PC7x stored in the storage unit Cnt7x of the counter unit 44) in a direction opposite to the driving direction of the motor 22. In the case where the driving angle is moved by the distance), the advance value of the driving voltage is delayed from θ1 to θ2, and the motor 22 is driven by increasing the voltage value from E3 to E4, thereby increasing only the voltage value. Compared to the case, a higher driving torque can be generated by the motor 22. Therefore, artificial movement of the automatic door can be prevented while suppressing the increase in size and cost of the motor 22.

  In the present embodiment, the case where an external force in the direction of opening the left door 2 is applied to the closed left door 2 is not limited to this, and the open left door is not limited thereto. The same process can be performed for 2 when an external force is applied in the direction of closing the left door 2. The same applies to the right door 3. Moreover, although the automatic door system 100 provided with two doors has been described as an example, an automatic door system with one door may be used.

2 Left door 3 Right door 14 Inverter (motor drive means)
16 Inverter Drive Control Unit 17 Position Pulse Signal Generation Unit 18 Rotation Direction Discrimination Unit 22 Brushless DC Motor 23 Rotor Position Detector (Rotation Detection Unit)
27 Left door open end stopper 28 Left door open end stopper 29 Motor drive device 32 Motor 33 Rotor position detector 37 Right door open end stopper 38 Right door close end stopper 39 Motor drive device 41 Drive control unit (motor drive means)
42 Door opening / closing control unit (door position specifying means, door movement determining means)
43 Rotational speed storage unit 44 Counter unit (door position specifying means, door movement determining means)
45 Timer unit 46 Energized phase storage unit 100 Automatic door system

Claims (6)

A brushless DC motor that opens and closes the door, a rotation detection unit that detects rotation of the brushless DC motor, a door position specifying unit that specifies the position of the door according to the detection result of the rotation detection unit, and an open end or a closed end In an automatic door control device comprising motor drive means for outputting a drive voltage to the brushless DC motor to urge the door so as to maintain the door stopped at the stop position of
A door that determines that the door has moved beyond a predetermined distance against the rotation of the brushless DC motor driven by the motor driving means based on a result of specifying the position of the door by the door position specifying means. Provided with movement judging means,
When the door movement determining means determines that the door has moved beyond a predetermined distance, the motor driving means increases the voltage and outputs a driving voltage with a delayed phase to the brushless DC motor. An automatic door control device characterized by being. The motor driving means is
When the door is opened and closed, immediately before the door reaches the stop position, the first voltage and the driving voltage of the first phase are output to the brushless DC motor,
In a state where the door has reached the stop position, a second voltage lower than the first voltage and a driving voltage of the first phase are output to the brushless DC motor,
When the door movement determining means determines that the door has moved beyond a predetermined distance, a third voltage higher than the first voltage and a driving voltage of the second phase delayed from the first phase are set. The automatic door control device according to claim 1, wherein the automatic door control device outputs to the brushless DC motor. A timer that increases the voltage and delays the phase and outputs the driving voltage to the brushless DC motor by the motor driving means and measures the duration of the state in which the door position specified by the door position specifying means does not change With
The motor driving means is configured to reduce the voltage of the driving voltage and / or advance the phase of the driving voltage when the duration time counted by the timer exceeds a predetermined time. The automatic door control device according to claim 1 or claim 2. A timer for measuring the duration of the state in which the motor driving means outputs the drive voltage whose voltage is increased and the phase is delayed to the brushless DC motor;
The motor driving means is configured to reduce the voltage of the driving voltage and / or advance the phase of the driving voltage when the duration time counted by the timer exceeds a predetermined time. The automatic door control device according to any one of claims 1 to 3. A door that opens and closes, a brushless DC motor that opens and closes the door, a rotation detection unit that detects rotation of the brushless DC motor, a door position specifying unit that specifies the position of the door according to a detection result of the rotation detection unit, and An automatic door control device having motor drive means for outputting a drive voltage to the brushless DC motor so as to bias the door so that the door is stopped at the open or closed stop position. In automatic door system,
The automatic door control device specifies the position of the door by the door position specifying means that the door has been moved beyond a predetermined distance against the rotation of the brushless DC motor driven by the motor driving means. A door movement determination means for determining based on the result;
The motor driving means of the automatic door control device is configured to increase the voltage and delay the phase of the driving voltage when the door movement determining means determines that the door has moved beyond a predetermined distance. The automatic door system is characterized by being output to Detecting the rotation of a brushless DC motor that opens and closes the door to identify the position of the door;
Outputting a drive voltage to the brushless DC motor to urge the door so as to maintain the door stopped at an open or closed stop position;
Determining whether the door has moved beyond a predetermined distance against the rotation of the brushless DC motor by the drive voltage;
When it is determined that the door has moved beyond a predetermined distance, a driving voltage that increases the voltage and delays the phase is output to the brushless DC motor.

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