JP2018094953A - Control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device which has decreased possibility to lose the function of opening or shutting because the motor is stopped by the application of external force to the door of the vehicle.SOLUTION: A control device 10 of this invention is used for an electric drive type door closing apparatus 1 which opens or closes the door by an electric motor 20 and comprises a comparing part 13 which compares a first threshold value higher than a speed specified by speed command of the motor 20 with rotational speed of the motor 20 and a control part 14 which, when the comparison of the comparing part 13 detects that the rotational speed of the motor 20 is higher than the first threshold value, brings about short circuit braking state where the input and output circuits of the motor 20 are short-circuited.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a control device that controls an electrically driven door closing device that opens and closes a door of a vehicle with an electric motor.

  Conventionally, as a door-closing device that opens and closes doors such as side sliding doors and folding doors used by passengers to get on and off, such as rail cars and buses, air that opens and closes doors by driving mechanisms such as pistons and cylinders. A drive-type door closing device was used. However, the air-driven door closing device has a problem that it is necessary to periodically replace packings as a maintenance work, and it takes time and effort to remove and disassemble a heavy door closing device for the maintenance work. . In recent years, from the viewpoint of safety and normal operation, special operations associated with normal opening and closing of doors such as pinching detection and door closing force weakening have been required. The air-driven door closing device has a limit in responding to such a demand.

  Therefore, in recent years, an electrically driven door closing device (see Patent Document 1) that drives an opening / closing mechanism that opens and closes a door of a vehicle by an electric motor has been adopted mainly in a railway vehicle near a city. In the electrically driven door closing device, the door can be opened and closed by using an electric motor, so that the door can be opened and closed more finely, and packing is not required, so that maintenance work is facilitated.

JP 2010-53528 A

  In the electrically driven door closing device, the rotation speed of the electric motor is controlled to follow the speed command. Here, when an artificial external force is applied to the door when the door is opened and closed, and the rotational speed of the motor greatly deviates from the speed command, a large voltage is applied to the control device side that controls the electrically driven door closing device due to regeneration of the motor. May be applied, and the control voltage in the control device may be in an overvoltage state.

  The control device that controls the electrically driven door closing device is usually equipped with an overvoltage protection detection function as a fail-safe function, and when the overvoltage is detected, the control device stops the operation of the electric motor. When the operation of the electric motor stops, the door cannot be opened and closed, which hinders the operation of the vehicle. In particular, in special operations such as pinching detection and door closing force weakening, the door opening / closing thrust for opening and closing the door is often temporarily reduced, so that it is easy to hinder the door opening and closing operation from the outside. Therefore, the phenomenon that the motor stops due to the detection of the overvoltage and normal operation of the vehicle becomes difficult to occur.

  An object of the present invention is to solve the above-described problems, and in an electrically driven door closing device, a control device that reduces the possibility that the motor stops operating due to the application of external force to the door of the vehicle and the door cannot be opened or closed. Is to provide.

  In order to solve the above-described problem, a control device according to the present invention is a control device that controls an electrically driven door closing device that opens and closes a door by an electric motor, and is a first device that is larger than a speed indicated by a speed command of the electric motor. A comparison unit that compares a threshold value with the rotation speed of the electric motor, and, as a result of comparison by the comparison unit, when it is detected that the rotation speed of the electric motor is greater than the first threshold value, the input / output of the electric motor is short-circuited. And a control unit configured to be in a short-circuit braking state.

  In the control device according to the present invention, it is preferable that the control unit sets the electric motor in a short-circuit braking state when detecting that the rotation speed of the electric motor is larger than the first threshold for a predetermined time or more.

  Further, in the control device according to the present invention, the control unit sets the motor to a short-circuit braking state, and then, as a result of comparison by the comparison unit, the second rotational speed of the motor is equal to or lower than the speed indicated by the speed command. It is desirable to cancel the short-circuit braking state of the electric motor when it is detected that it is smaller than the threshold value.

  In the control device according to the present invention, it is desirable that the control unit cancels the short-circuit braking state of the electric motor when detecting that the rotation speed of the electric motor is smaller than the second threshold for a predetermined time or more. .

  According to the control device of the present invention, in the electrically driven door closing device, it is possible to reduce the possibility that the motor stops operating due to an external force applied to the door of the vehicle and the door cannot be opened and closed.

It is a figure which shows the structural example of the electric drive type door closing apparatus which concerns on one Embodiment of this invention. It is a figure which shows the operation | movement in the normal operation state of the control apparatus shown in FIG. It is a figure which shows the operation | movement in the short circuit braking state of the control apparatus shown in FIG. It is a time chart which shows the operation example of the control apparatus shown in FIG.

  Embodiments of the present invention will be described below.

  FIG. 1 is a diagram illustrating a configuration example of an electrically driven door closing apparatus 1 according to an embodiment of the present invention. The electrically driven door closing device 1 according to the present embodiment is mounted on a vehicle such as a railway vehicle or a bus, and opens and closes doors such as side sliding doors and folding doors that passengers use to get on and off.

  An electrically driven door closing device 1 shown in FIG. 1 includes a control device 10 and an electric motor 20.

  The control device 10 receives a speed command for instructing the rotation speed of the electric motor 20 and a short-circuit braking command for instructing to short-circuit the electric motor 20 when the door is opened and closed. The control device 10 compares the threshold value according to the speed command with the rotation speed of the electric motor 20, and outputs one of the speed command and the short-circuit braking command to the electric motor 20 according to the comparison result. The rotational speed of the electric motor 20 is detected by, for example, a sensor attached to the electric motor 20.

  When the speed command is output from the control device 10, the electric motor 20 enters a normal operation state. In the normal operation state, the rotational speed of the electric motor 20 is controlled so as to follow the speed (target speed) indicated by the speed command. The opening / closing mechanism that opens and closes the door of the vehicle is driven by the rotation of the electric motor 20 to open and close the door. Further, when a short-circuit braking command is output from the control device 10, the electric motor 20 enters a short-circuit braking state in which the input / output of the electric motor 20 is short-circuited. In the short-circuit braking state, the electric motor 20 is in a braking state.

  Next, the configuration of the control device 10 will be described.

  As illustrated in FIG. 1, the control device 10 includes a switching unit 11, a gain unit 12, a comparison unit 13, and a control unit 14.

  The switching unit 11 receives the speed command and the short-circuit braking command, and outputs either one to the electric motor 20 according to the control of the control unit 14.

  The gain unit 12 receives a speed command, multiplies the input speed command by a gain G (multiplies the speed command by a predetermined number), and outputs the result to the comparison unit 13. Here, the gain unit 12 switches the value of the gain G according to the operating state of the electric motor 20. Specifically, the gain unit 12 sets the gain G> 1 in the normal operation state, and sets the gain G ≦ 1 in the short-circuit braking state.

  The comparison unit 13 uses the speed indicated by the speed command multiplied by the gain G by the gain unit 12 as a threshold value, compares the threshold value with the rotational speed (absolute value) of the electric motor 20, and outputs the comparison result to the control unit 14. To do. That is, in the normal operation state, the comparison unit 13 sets the speed indicated by the speed command multiplied by the gain G greater than 1 as the first threshold value, compares the first threshold value with the rotation speed of the electric motor 20, and short-circuits. In the braking state, the speed indicated by the speed command multiplied by a gain G of 1 or less is set as the second threshold value, and the second threshold value is compared with the rotation speed of the electric motor 20.

  When the control unit 14 detects from the comparison result of the comparison unit 13 that the rotation speed of the electric motor 20 is greater than the first threshold for a predetermined time or longer, the switching unit 11 outputs a short-circuit braking command to the electric motor 20. To control. Further, when the control unit 14 sets the electric motor 20 in the short-circuit braking state and detects that the rotation speed of the electric motor 20 is smaller than the second threshold for a predetermined time or more from the comparison result of the comparison unit 13, the speed command is issued. The switching unit 11 is controlled so as to be output to the electric motor 20. That is, in the short-circuit braking state, when the rotational speed of the electric motor 20 becomes smaller than the second threshold value, the control unit 14 cancels the short-circuit braking state of the electric motor 20 and returns to the normal operation state in which the electric motor 20 is operated according to the speed command. Let

  FIG. 2 is a diagram illustrating the operation of the control device 10 in the normal operation state.

  In the normal operation state, the switching unit 11 outputs a speed command to the electric motor 20 as shown in FIG. The gain unit 12 sets a value larger than 1 as the gain G.

  The comparison unit 13 uses the gain unit 12 to set the speed indicated by the speed command multiplied by the gain G greater than 1 as the first threshold value, and compares the rotation speed of the electric motor 20 with the first threshold value. Then, the comparison unit 13 outputs the comparison result to the control unit 14.

  When the control unit 14 detects from the comparison result of the comparison unit 13 that the rotational speed of the motor 20 is greater than the first threshold for a predetermined time or more, the switching unit 14 outputs a short-circuit braking command to the motor 20. 11 is controlled.

  When the rotation speed of the electric motor 20 is larger than the first threshold value, it is considered that an external force is applied to the door during the door opening / closing operation, and the rotation speed of the electric motor 20 is greatly deviated from the speed command. In this case, due to regeneration of the electric motor 20, a voltage is applied to the control device 10 side and an overvoltage state occurs, so that the fail-safe function works and there is a possibility that the operation of the electric motor 20 is stopped. In the present embodiment, when it is detected that the rotation speed of the electric motor 20 is greater than the first threshold, the electric motor 20 is brought into a short-circuit braking state, thereby preventing an overvoltage state due to regeneration of the electric motor 20. Therefore, the possibility that the door of the vehicle cannot be opened and closed due to the stop of the operation of the electric motor 20 can be reduced.

  Note that the rotational speed of the electric motor 20 may instantaneously exceed the first threshold due to noise or the like, but in such a case, it is not necessary to place the electric motor 20 in a short-circuit braking state. In the present embodiment, when the rotational speed of the electric motor 20 is greater than the first threshold for a predetermined time or more, the electric motor 20 is put into a short-circuit braking state, and thus the occurrence of unnecessary switching of the electric motor 20 state is suppressed. Can do.

  FIG. 3 is a diagram illustrating the operation of the control device 10 in the short-circuit braking state.

  In the short-circuit braking state, as shown in FIG. 3, the switching unit 11 outputs a short-circuit braking command to the electric motor 20. The gain unit 12 sets a value of 1 or less as the gain G.

  The comparison unit 13 uses the gain unit 12 to set the speed indicated by the speed command multiplied by a gain G of 1 or less as the second threshold value, and compares the rotation speed of the electric motor 20 with the second threshold value. Then, the comparison unit 13 outputs the comparison result to the control unit 14.

  When the control unit 14 detects from the comparison result of the comparison unit 13 that the rotation speed of the electric motor 20 is smaller than the second threshold for a predetermined time or longer, the switching unit 11 outputs a speed command to the electric motor 20. To control.

  When the rotational speed of the electric motor 20 is smaller than the second threshold value, it is considered that the rotational speed of the electric motor 20 decreases in the short-circuit braking state and becomes the target speed or lower. In the present embodiment, when it is detected that the rotation speed of the electric motor 20 is smaller than the second threshold value, the electric motor 20 is returned from the short-circuit braking state to the normal operation state. By doing so, the rotational speed of the electric motor 20 can be made to follow the target speed, and a desired opening / closing operation can be performed.

  Note that the rotational speed of the electric motor 20 may be instantaneously lower than the second threshold due to noise or the like, but in such a case, it cannot be said that the rotational speed of the electric motor 20 is sufficiently reduced. Therefore, it is necessary to keep the electric motor 20 in the short-circuit braking state. In the present embodiment, when the rotational speed of the electric motor 20 is smaller than the second threshold for a predetermined time or more, the electric motor 20 is set in a normal operation state. Therefore, before the rotational speed of the electric motor 20 sufficiently decreases, the electric motor 20 can be prevented from being switched to the normal operation state.

  FIG. 4 is a time chart showing an operation example of the control device 10 according to the present embodiment during the door opening / closing operation. In FIG. 4, the vertical axis represents the speed (rotational speed) of the electric motor 20, and the horizontal axis represents time.

  In the initial state (time t0), it is assumed that the control device 10 outputs a speed command to the electric motor 20 and operates the electric motor 20 in a normal operation state. In this case, the rotation speed of the electric motor 20 is controlled so as to follow the target speed indicated by the speed command.

  It is assumed that an external force is applied to the door at time t1, the rotation speed of the electric motor 20 starts to rise, and becomes greater than the first threshold value (TH1) at time t2. The external force that causes the rotational speed of the electric motor 20 to be greater than the first threshold value is, for example, an external force that acts in the direction of opening the door when door pinching is detected and the thrust for closing the door is weakened. . Further, when the door is closed (open), there is an external force that works in the direction of closing (opening) the door.

  From time t2 to time t3 after the elapse of a predetermined time, if the rotation speed of the electric motor 20 remains larger than the first threshold value, the control device 10 determines that the electric motor 20 is in a short-circuit braking state. In accordance with this determination, the control device 10 controls the switching unit 11 to output a short-circuit braking command to the electric motor 20 instead of the speed command. It is assumed that an external force is continuously applied at time t3.

  When the electric motor 20 enters the short-circuit braking state, the electric motor 20 enters the braking state, but since the external force is continuously applied, the rotation speed of the electric motor 20 continues to be greater than the first threshold value.

  It is assumed that there is no external force applied to the door at time t4. As the external force applied to the door disappears, the rotational speed of the electric motor 20 in the short-circuit braking state decreases.

  At time t5, the rotational speed of the electric motor 20 becomes smaller than the second threshold (TH2), and the rotational speed of the electric motor 20 remains smaller than the second threshold from time t5 to time t6 after a predetermined time has elapsed. If so, the control device 10 determines that the electric motor 20 is in a normal operation state. In accordance with this determination, control device 10 outputs a speed command to electric motor 20 instead of the short-circuit braking command.

  When the electric motor 20 is in the normal operation state, the rotational speed of the electric motor 20 increases so as to follow the target speed.

  As described above, in the present embodiment, the control device 10 compares the first threshold value larger than the speed indicated by the speed command of the electric motor 20 with the rotational speed of the electric motor 20, and the comparison by the comparing section 13. As a result, when it detects that the rotational speed of the electric motor 20 is larger than a 1st threshold value, the control part 14 which makes the electric motor 20 a short circuit braking state is provided.

  When the rotational speed of the electric motor 20 is larger than a first threshold value larger than the speed indicated by the speed command, the electric motor 20 is put into a short-circuit braking state to prevent an overvoltage state due to regeneration of the electric motor 20. Can do. By stopping the operation of the electric motor 20, the possibility that the door of the vehicle cannot be opened and closed can be reduced.

  Although the present invention has been described based on the drawings and embodiments, it should be noted that those skilled in the art can easily make various variations or modifications based on the present disclosure. Therefore, it should be noted that these variations or modifications are included in the scope of the present invention. For example, functions included in each block or the like can be rearranged so that there is no logical contradiction, and a plurality of blocks can be combined into one or divided.

DESCRIPTION OF SYMBOLS 1 Electric drive type door closing apparatus 10 Control apparatus 11 Switching part 12 Gain part 13 Comparison part 14 Control part 20 Electric motor

Claims (4)

A control device for controlling an electrically driven door closing device that opens and closes a door by an electric motor,
A comparison unit that compares a first threshold value greater than the speed indicated by the speed command of the motor with the rotation speed of the motor;
A control unit configured to make a short-circuit braking state in which the input / output of the motor is short-circuited when detecting that the rotation speed of the motor is larger than the first threshold as a result of the comparison by the comparison unit, Control device. The control device according to claim 1,
The control unit is configured to place the electric motor in a short-circuit braking state when detecting that the rotation speed of the electric motor is greater than the first threshold for a predetermined time or more. The control device according to claim 1 or 2,
The control unit detects that the rotation speed of the motor has become lower than a second threshold value equal to or less than the speed indicated by the speed command as a result of the comparison by the comparison unit after the motor is brought into a short-circuit braking state. Then, the short circuit braking state of the electric motor is canceled. The control device according to claim 3,
The control unit cancels the short-circuit braking state of the electric motor when detecting that the rotation speed of the electric motor is smaller than the second threshold for a predetermined time or more.

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