JP3382418B2 - Electric blinds - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric blind in which vertical movement of a blind and opening and closing of blades are driven by a common motor, and more particularly to speed control for keeping the vertical movement speed of the blind constant.

[0002]

2. Description of the Related Art Generally, a blind of this type includes a head box 1 fixed to an upper end of a window as shown in FIG.
It is composed of a large number of blades 2 and a bottom rail 3 suspended from the head box 1. Then, a lifting tape (elevation tape) (not shown) for moving the blind up and down is hung from the head box 1 and penetrates a large number of blades 2 to fix the ends to the bottom rails 3, and Two ladder cords (tilt tapes) (not shown) for opening and closing by tilting (tilting) are suspended from the head box 1 and fixed to both ends of all the blades 2. Therefore,
By moving the lifting tape or the ladder cord up and down by the motor, the blinds can be moved up and down and the blades can be opened and closed.

When the winding drum is configured to be rotated by a motor to which a constant voltage is applied, the speed of the blind becomes high when descending and the speed becomes low when ascending. Therefore, it becomes unsightly when a large number of blinds are installed side by side and moved vertically at the same time.

Conventionally, as a method of keeping the vertical movement speed of the blind constant, for example, Japanese Patent Publication No. 4-16591 (Japanese Patent Laid-Open No. 63-63591).
304892), the photo-interrupter detects the number of rotations of the motor when the lifting tape is moved up and down as a pulse, and the microprocessor (MP
U) has proposed a method of servo-controlling a motor so that the rotation speed detection pulse has a predetermined rotation speed.

[0005]

[Problems to be Solved by the Invention]

Problem (1) However, in the above-mentioned conventional electric blind, for example, the rotation speed detection pulse is about 33 pulses / 1 rotation, and the frequency of the PWM (pulse width modulation) signal for driving the motor is 30 Hz and the speed is high. It's too coarse for a control signal, so
When a large number of blinds having different loads, that is, different sizes are installed side by side and moved up and down at the same time, the speed difference is large and unsightly. Here, in order to solve the above problems, in order to make the speed control dense, for example, 10 times (rotation speed detection pulse = 330 pulses / 1 rotation, PWM frequency = 300
When performing the speed servo of (Hz), since the processing speed of the MPU becomes 10 times, there is a problem that the load of processing the speed servo becomes large and other processing cannot be performed.
If an MPU with a high processing speed is used, it will naturally be expensive.

Problem (2) Further, when the lifting tape is wound around the take-up drum in order to move the blind up and down, and the take-up drum is rotated by a motor at a constant speed, the lifting tape is lifted depending on the height position. The tape winding diameter is different,
Since the linear velocity is not constant, the vertical movement speed does not become constant,
Especially when a large number of blinds are installed side by side and moved up and down at the same time, it becomes difficult to see. Further, in the above-mentioned conventional method, since the rotation speed of the motor is detected and the speed is controlled, it is necessary to detect that the blade 2 and the bottom rail 3 are in contact with the obstacle and the vertical movement is stopped. Separate detection means is required. The problem (2) can be solved by detecting the actual speed of the blind instead of the rotation speed of the motor, but the problem (1) cannot be solved.

[0007] A first object of the present invention is to provide an electric blind which has an inexpensive structure and can accurately keep the vertical moving speed of the blind constant.

A second object of the present invention is to provide an electric blind capable of preventing damage to equipment due to overcurrent by shutting down the current due to the action of the current control loop when a large inrush current flows. is there.

A third object of the present invention is to make it easy to move the bottom rails of a plurality of blinds having different lengths to a predetermined position, and even when a single blind is moved, the quality of the product is not good. In addition, the rotation speed of the motor decreases as the winding diameter of the lifting tape increases, so the motor torque can be used effectively, and a switch for looseness detection and the mechanism / wiring associated therewith are unnecessary. To provide blinds.

[0010]

The first object is to use a motor for vertically moving a blind, a pulse generating means for generating a pulse having a frequency corresponding to the speed of the blind vertically moved by the motor, and a blind. The value of the counter that counts in a constant cycle in synchronization with the state of vertically moving at a constant constant speed and the number of pulses of the pulse generating means are compared for each constant cycle, and the current ideal position of the blind and the actual A microcomputer that outputs a position difference, a D / A conversion unit that converts a position error from the microcomputer into a voltage, and a frequency that generates a blind speed error voltage based on the frequency of the pulse of the pulse generation unit. Voltage conversion means, and the motor based on the difference between the position error voltage and the speed error voltage converted by the D / A conversion means. It is achieved by first means and a comparator means for applying a dynamic voltage.

A second object of the present invention is that, in the first means, a current detection means for detecting a current flowing through the motor and a voltage corresponding to the current detected by the current detection means are used as drive voltages for the comparison means. It is achieved by a second means further comprising a current limiter means for subtracting from and applying to the motor.

The third object is, in addition to the first means,
The lifting tape includes a lifting tape, a motor that raises and lowers the blade by winding or unwinding the lifting tape, and a detection unit that directly detects a linear movement of the lifting tape, and the detection unit winds or winds the motor by the motor. This is achieved by the third means for directly detecting the linear movement of the lifting tape to be returned from the lifting tape and controlling the raising and lowering of the blade.

[0013]

In the first means, the value of the counter that counts at a constant cycle in synchronization with the state in which the blind vertically moves at an ideal constant speed by the microcomputer and the blind that vertically moves by the motor are used. The difference between the frequency and the number of pulses of the frequency corresponding to the actual speed is calculated in the cycle of the counter, and the difference between the current ideal position and the actual position of the blind is output. Also, the speed error voltage of the blind is calculated based on the number of pulses of the frequency corresponding to the actual speed of the blind that moves up and down by the motor, and is subtracted from the position error voltage to calculate the drive voltage of the motor and the speed of the blind is calculated. Controlled. Therefore, since the speed of the blind is controlled without the microcomputer processing at high speed, the vertical movement speed of the blind can be accurately made constant with an inexpensive configuration.

In the second means, when a large inrush current flows, the current is shut down by the action of the current control loop, and damage to the equipment due to overcurrent can be prevented.

In the third means, it becomes easy to move the bottom rails of a plurality of blinds having different lengths to a predetermined position, and even when a single blind is moved, the quality as a product is improved. Becomes higher. Also, where the winding diameter of the lifting tape is large (near the upper limit of the bottom rail), the weight of the lifting tape naturally becomes large, and a large winding torque is required for winding, but if the winding diameter becomes large, the motor rotation will increase. Since the speed becomes smaller, the torque of the motor can be effectively utilized, and this effect becomes more remarkable as the length of the blind becomes longer. Further, since the looseness of the lifting tape can be detected and the elevation of the blind can be controlled, the looseness detecting switch and the mechanism / wiring associated therewith are not required.

[0016]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of an electric blind according to the present invention, FIGS. 2 (a), (b), and (c) are schematic views of the electric blind and a configuration diagram showing an operating portion, and FIG. A longitudinal sectional view of a main part, FIG. 4 is a sectional view taken along the line AA, FIG. 5 is a sectional view taken along the line BB, and FIGS. 6 (a), (b), and (c) are front views and right side views of the height sensor portion. Figures and rear views, FIGS. 7 (a), (b), and (c) are front views, right side views, and rear views of the angle sensor portion, and FIG. 8 is an explanatory view showing a state before the sensor is assembled, and FIG. a) and (b) are explanatory views showing the principle of the height sensor and the angle sensor of FIG. 1, respectively, and FIG.
11 is a flowchart for explaining the operation of the MPU when the blind is moved up and down, FIG. 11 is an explanatory diagram showing in detail the PWM conversion unit and main waveforms of FIG. 1, and FIG. 12 is a detailed view of the F / V converter and main waveforms of FIG. 13 is an explanatory diagram shown in FIG.
FIG. 14 is an explanatory diagram showing a function of the F / V converter when the blind is vertically moved, FIG. 14 is an explanatory view of an inverted output of the function of the F / V converter of FIG. 1, and FIG. 15 is N− when the blind of the DC motor of FIG. Explanatory drawing of T curve, FIG. 16: MP of FIG.
FIG . 17 is an explanatory view showing the position command value of U, and FIG.
FIG. 18 is a diagram illustrating a function when the blade of the inverter is rotated.
Explanatory diagram of the NT curve when the blade of the DC motor of No. 1 is rotated,
FIG. 19 illustrates the operation of the MPU of FIG. 1 when the blade is rotated.
Flowchart in order, FIG. 20 is a timing chart of the pulse control of the embodiment.

First, a general blind of this type is shown in FIG.
As shown in FIG. 8 to FIG. 8, it is composed of a head box 1, a large number of blades 2 and a bottom rail 3. And
A lifting tape (also referred to as a lifting tape) 4 is hung from the head box 1 to move the blind up and down, penetrates a large number of blades 2 and the tip is fixed to the bottom rail 3, and the blades 2 are inclined ( Each tip of one ladder cord (also referred to as a tilt tape) 5 for opening and closing by tilting is suspended from the head box 1 and fixed to both ends of all the blades 2.

In FIG. 2 (a), the bottom rail 3 has an upper limit position of "0" and a lower limit position of "255" and a height of 8 mm.
Bit controlled. In FIG. 2B, the blade 2 is in the fully open position when it is horizontal, and one rotation direction from this fully open position is the up fully closed position, and the other rotation direction is the down fully closed position. The moving angle is controlled with 8 bits between each limit position from the fully closed closed position to the fully closed down position. The vertical movement of the bottom rail 3 (blind) and the opening / closing of the blade 2 are performed by the operation unit 1 as shown in FIG. 2 (c).
It is controlled by the circuit shown in FIG. In addition, 101 is an up key that raises the bottom rail 3, 102 is a down key that lowers the bottom rail 3, 103 is a slat rotation key that drives the rotation angle of the blade 2 to the fully closed position, and 104 is the rotation of the blade 2. Slat rotation key to drive the moving angle to the down fully closed position, 105
Is a stop key that stops driving by each key.

The lifting tape 4 is shown in FIGS. 4 and 9 (a).
As shown in FIG. 1, the winding drum 6 provided in the head box 1 is mounted so as to be able to wind and rewind,
The take-up drum 6 rotates clockwise and counterclockwise in accordance with the forward and reverse rotations of the DC motor M shown in FIG. 1 to take up and rewind the lifting tape 4, respectively.
Therefore, the bottom rail 3 moves in the vertical direction.

As shown in FIGS. 5 and 9B, the ladder cord 5 is wound around the pulley 7, the winding drum 6 and the pulley 7 are coaxial, and the DC motor M shown in FIG. 1 rotates. It is configured to rotate at the same time. here,
When the DC motor M rotates, the winding drum 6 always rotates and the lifting tape 4 is wound and rewound.
Since the ladder cord 5 is only wound around the pulley 7, when the blade 2 rotates to the limit position, it slips on the pulley 7 and does not move.

The lifting tape 4 and the ladder cord 5 are provided with rollers 8a and 8a, as shown in FIGS. 9 (a) and 9 (b), respectively.
It is configured to pass between the roller pair 9a and the detection shafts 8b and 9b. Both of the detection axes 8b and 9b are, for example,
A magnetized rotor magnet is attached to 48 poles, and two Hall sensors are attached to face the rotor magnet.

Therefore, when the lifting tape 4 and the ladder cord 5 move, the rotor magnet rotates in accordance with each moving speed and the hall sensor outputs a pulse having a frequency proportional to each moving speed. It is possible to detect the height and moving speed of the blind (bottom rail 3) and the rotation angle and angular speed of the blade 2. Therefore, the rotor magnet and the hall sensor provided on the detection shafts 8b and 9b respectively form the height sensor 8 of the blind and the angle sensor 9 of the blade 2.

20 is a guide roller and 21 is a roller 8.
A roller arm supporting a or 9a and having the other end supported by a shaft 22, 23 is a coil spring for urging the roller 8a or 9a of the roller arm 21 against the lifting tape 4 or the ladder cord 5, 24 is an encoder, 25
Is a shaft of the encoder 24, 26 is a sensor substrate, 27 is a gear for transmitting the rotation of the roller 9a to the shaft 25 of the encoder 24, 28 is a holding frame to which the height sensor 8 or the angle sensor 9 is attached, and 29 is a holding frame 28. A pair of engaging claws provided to engage and fix the height sensor 8 or the angle sensor 9.

Here, the assembly method will be described with reference to FIG. In FIG. 8, the angle sensor 9 has already been fixed by snapping it into a pair of engaging claws 29, 29 (not shown) of the holding frame 28. Then, the lifting tape 4 wound around the winding drum 6 is passed between the roller 8a of the height sensor 8 and the detection shaft 8b, and the guide roller 2 of the holding frame 28 is further passed.
Pass 0 to the left. Next, the height sensor 8 is snapped in and fixed to the pair of engaging claws 29, 29 of the holding frame 28. Next, the winding drum 6 (and the pulley 7) is incorporated into the holding frame 28. At this time, when the roller arm 21 of the angle sensor 9 is moved in the direction of arrow A, the angle sensor 9 is retracted, so that the winding drum 6 can be easily incorporated. Next, the roller arm 21 of the angle sensor 9 is moved in the direction of arrow A, and the left end of the ladder cord 5 is passed through the holding frame 28 downward.
Then, the right end of the ladder cord 5 is wound around the pulley 7 and passed through the inside of the holding frame 28 downward to be assembled as shown in FIG.

Next, the operation of moving the blind up and down will be described. Here, when the DC motor M is rotated at a constant voltage, the speed of the blind becomes high when descending due to the weight of the blind, and conversely, the speed becomes slow when rising. Further, since the winding diameter of the lifting tape 4 is different depending on the height of the blind, that is, the height of the bottom rail 3, the bottom tape 3 is rotated at a constant speed when the DC motor M is rotated at a constant speed. When it is located below, it is slow, and conversely, when the bottom rail 3 is located above, it is early.

Further, the load of the ladder cord 5 is such that when the bottom rail 3 is located at the lowest position, all the blades 2 are loaded.
Is the largest because it is supported by the ladder cord 5. Then, as the bottom rail 3 rises, the blade 2 rides on the bottom rail 3, and the ladder cord 5 is loosened by the amount of the blade 2 on the bottom rail 3, so the load becomes smaller, and the bottom rail 3 is at the uppermost position. When it is located, the bottom rail 3 and all the blades 2 have a minimum load. That is, in this type of blind, the load of the ladder cord 5 is large when the bottom rail 3 is located below, and conversely, the load of the ladder cord 5 is small when the bottom rail 3 is located above.

Referring to FIG. 1, first, a method of driving the DC motor M when vertically moving the blind will be described. The DC motor M is normally rotated by applying a voltage of + 24V via the transistors Q1 to Q4 and the switch SW,
Reverse rotation and short brake are controlled to stop. The transistors Q1 and Q2 and the switch SW are controlled based on blind UP, DOWN, and STOP commands from the MPU 10, and the transistors Q3 and Q4 are turned on and off according to the switch SW.

Blind UP: Q1, Q4: ON, Q2, Q3: OFF → M: forward blind DOWN: Q1, Q4: OFF, Q2, Q3: ON → M: reverse blind STOP: Q1, Q4: OFF, Q3, Q4: ON → M: Short brake Stop and hold. Also, DC in normal rotation and reverse rotation
The current applied to the motor M is detected by the current sensor 19 including the resistor R and the comparator 19a, and is applied to the comparator 16 as a voltage.

Height data (frequency) detected by the height sensor 8 is applied to the MPU 10 and the F (frequency) / V (voltage) converter 15. Note that the detection signal of the angle sensor 9 is not used when the blind is moved up and down.
The MPU 10 compares the blind current ideal height position command with the actual height data H and outputs serial data corresponding to the difference to the 8-bit D / A converter 11,
The F / V converter 15 has height data (hereinafter, FG input)
The blind speed error voltage corresponding to is applied to the comparator 13.

Next, the height control process of the MPU 10 is shown in FIG.
Will be described with reference to. First, when a height operation command is issued via the operation unit 100 (step S1), the motor M is turned on and the reference position counter that counts in synchronization with the state in which the blind moves up and down at an ideal speed is started. (Step S2). Next, if there is no operation stop request, for example, wait for 6 msec (step S3 → S4), and when the time of 6 msec elapses, the reference position counter is incremented and its count value and the current position (count value of height data H are counted. ) (Comparator A shown in FIG. 1) is output to the D / A converter 11 (step S4 → S5). Below, MPU10
Outputs a position command at a cycle of 6 msec (166.7 Hz). When an operation stop request is issued via the operation unit 100 in step S3, the value of the reference position counter is stored in the target position storage RAM (step S6), and then the motor M is turned on until the target position and the current position match. Continues (step S7), and if they match, the motor M is stopped (step S7).
8).

Returning to FIG. 1, the voltage D / A converted by the D / A converter 11 is amplified by the amplifier 12 and applied to the comparator 13 as a position deviation (speed command value).
The speed error voltage from the / V converter 15 is subtracted. The output voltage of the comparator 13 is amplified by the amplifier 14 so that the maximum value becomes 5V and then applied to the comparator 16.
The voltage corresponding to the motor current from the current sensor 19 is subtracted, the drive current of the motor M is controlled, and the torque is controlled. Then, the output voltage of the comparator 17 is amplified by the amplifier 17, converted into a pulse signal having a pulse width corresponding to the voltage by the PWM conversion circuit 18, and applied to the gates of the transistors Q3 and Q4 via the switch SW. .

Here, in order to keep the number of rotations of the DC motor M constant, it is necessary to control the torque generated by the motor M according to the load. The torque is the current I flowing through the motor M.
In proportion to, the drive voltage of the motor M is increased when a large amount of current is passed, and conversely, the drive voltage is decreased when the torque is reduced.

As shown in FIG. 11, the drive voltage of the motor is 0V when the control voltage is 0V, 24V when the control voltage is 5V, and 2.5V when the control voltage is 5V.
When it is V, 12V is applied. When the control voltage is 12V, the pulse voltage is actually 24V, 50kHz, and the duty ratio is 50%, but this is theoretically the same as the DC voltage of 12V.

The current sensor 19 shown in FIG. 1 is constructed so that a voltage of 5 V is obtained when a current of 2 A flows through the motor M, and this voltage is applied to the negative input terminal of the comparator 16, so Since the maximum voltage of 5 V is applied to the + input terminal of 16, the current control loop (current sensor 1
9, the comparator 16, the amplifier 17, the PWM converter 18, the switch SW, the transistors Q1 to Q4, and the motor M)
It works as a current limiter that suppresses the current flowing through the motor M to 2 A or less. Therefore, the current is shut down by the action of the current control loop, and damage to the equipment due to overcurrent can be prevented.

Next, the F / V converter 15 will be described. The most general F / V converter 15 is an S / H (sample hold) type of a CR oscillator 15a as shown in FIG. 12, and its function is to generate a sawtooth wave determined by the time constants of C and R by the oscillator 15a. be able to. That is, the oscillator 15a is reset at the rising edge of the input pulse FG from the height sensor 8 to raise the sawtooth wave at that point, sample and hold the voltage of the sawtooth wave at the trailing edge of the pulse FG, and output it as a speed error voltage. To do.

Next, the problem of the speed servo will be described. (1) Here, in the above F / V servo, the motor M
The control frequency changes depending on the load. That is, FIG.
As shown in FIG. 3, the output voltage of the F / V converter 15 is 1 to 1 with respect to the feedback frequency of the signal FG obtained from the speed that is the control target.
As shown in FIG. 14, the function shown in FIG.
Invert at 5V and use.

In the speed control of this embodiment, the error voltage of 2.5V is equivalent to 12V of the applied voltage of the motor M, and the load of 5kg is obtained from the NT curve of the motor M as shown in FIG.
When the motor rotation speed is 333 Hz in cm, the motor M can rotate at the target control frequency of 333 Hz. However, when the load torque becomes 10 kg · cm, the rotation speed of the motor M decreases and the signal FG also becomes lower than 333 Hz. And F
The output voltage of the / V converter 15 becomes 3V, and the motor M
The applied voltage of 15 V becomes 15 V, and the signal FG at that time becomes 300 Hz, and they are balanced. On the contrary, when the load torque becomes smaller, the load torque becomes 380 Hz when the load torque is 2 kg · cm by the same principle.

As described above, in the F / V servo, a speed shift occurs due to a load. Therefore, if the gain of the speed system is increased, the speed can be reduced, but it does not become zero.
When blinds of different sizes are interlocked, the speed difference is accumulated, and when the blinds are wound up to the lower limit position or the upper limit position, a position error of each blind occurs.

(2) If the load is different from the motor start to the speed stabilization, the start time is different and the blind with heavy load is always delayed. That is, since the voltage applied to the motor M is 24 V from 24 V until the speed reaches 333 Hz, the transient rise of the rotation speed naturally varies according to the NT curve characteristic shown in FIG. . If the load is doubled, the rise time is more than doubled and even longer than the doubled time from the time constant of the motor.

Therefore, the points to solve the problems of the speed control in the above (1) and (2) will be described. Here, in FIG. 1, the initial position deviation (output of the amplifier 12) is “0”.
Therefore, the MPU 10 outputs serial data “80H” as the speed command value, and this data “80H” is converted to 2.5V by the 8-bit D / A converter 11 and the amplifier 12. When the motor M is rotating under the following conditions: Motor load: 5kg ・ cm Motor rotation speed: 333Hz (FG frequency) F / V output: 2.5V The output of the comparator 13 is 2.5V, and the motor M is FG frequency. Continue rotating at 333 Hz. However, the motor load is 10k
At g · cm, the motor speed becomes 300 Hz, and the F / V output becomes 2 V from FIG. If the speed command value is 2.5V, the output of the comparator 13 will be 3V, motor load: 10kg ・ cm Motor speed: 300Hz (FG frequency) F / V output: 2.0V, the motor M will be 300Hz of FG frequency. Continue to rotate.

Therefore, in this embodiment, the MPU 10 outputs the difference between the position command value (pulse number) and the signal FG as the position deviation. That is, since the position deviation increases when the motor M rotates from 333 Hz to 300 Hz, the MPU 10 adds "80H" to the insufficient FG pulse number and outputs it as serial data. For example, if "8DH" is output when there are only 13 pulses, the output voltage of the amplifier 12 is 3.0.
V, the comparator 13 outputs 4V, the applied voltage of the motor M becomes 19.2V, and the motor M tries to rotate fast.

When the output of the MPU 10 is "9 AH", the positional deviation = the + input voltage of the comparator 13 is 3.125 V, and the-input voltage at that time is 2.5 V, so the output of the comparator 13 is 3.75 V. V, and the applied voltage V of the motor M is
18V, load torque is 10kgcm, rotation speed is 333Hz. Therefore, when the position deviation from the MPU 10 is “9 AH”, the motor M continues to rotate at the FG frequency of 333 Hz. This means that even if the load torque changes from 5 kg · cm to 10 kg · cm, the maximum positional deviation converges with 26 FG pulses (eg 7.8 mm), and the movement continues while maintaining the positional deviation of 7.8 mm. Means that you can.

In the above description, the amplifiers 12, 14, 1
Although the gain of No. 7 is "1", by adjusting this gain, the positional deviation due to the difference in load can be suppressed to the minimum. Further, the above description is the operation at the time of blind UP in which the load gradually increases, but the operation in the blind DOWN at which the load gradually decreases is also the same, so the description thereof will be omitted. However, in the position control, a value is determined so that the motor M always follows the position command value shown in FIG. 16 with a delay. Further, the method of minimizing the positioning error in the position control is also effective when the motor M starts up.

The result of comparison between the example value and the number of rotation pulses thus positioned is used as an input value, and the input value is compared with the output value obtained by F / V converting the rotation pulse to control the elevation of the blind. To do. Thus, only the speed control, by controlling the position difference by the load that can not be absorbed, it is possible to arrange the certain range (almost zero). Further, by separating the speed control from the processing of the microcomputer, the microcomputer does not need to perform the speed control processing according to the input frequency of the sensor, and does not need to perform the speed control processing at high speed. Other processing can be performed in parallel with a margin.

Next, the operation of rotating the blade 2 will be described. In this case, the detection signal of the angle sensor 9 is MP
It is applied to U10, and the detection signal of the height sensor 8 is applied to the F / V converter 15 in order to detect the angular velocity error of the blade 2. That is, as described above, the load on the blade 2 differs depending on the height of the blind, and
When the blade 2 is rotated to the limit position, the ladder cord 5 slips and moves on the pulley 7 and a pulse cannot be obtained from the angle sensor 9, so that the height sensor 8 and the angle sensor 9 cannot rotate. Both are used.

[0046] First, the process of MPU10 with reference to FIG 9. Here, the control of the transistors Q1 to Q4 and the switch SW at the time of UP of the blade 2: DOWN of the blade 2: STOP of the blade 2:
The control is the same as the blind UP, the blind DOWN, and the blind STOP when the blind is moved, respectively.

In FIG. 19, when an angle operation command is issued via the operation unit 100 (step S11), the motor M is turned on and the pulse control for absorbing the variation at the time of starting the motor is started. A reference position counter that counts at a constant cycle is started in synchronization with the state in which the blade 2 rotates at an ideal constant angular velocity (step S12).
Here, the pulse control will be described. In FIG. 1, in the initial operation, the MPU 10 turns on the motor M and, at the same time as the + input of the comparator 16, the pulse control select signal of FIG. In this example, a cycle of 12 ms and a duty of 25%, not shown in FIG. 1, is selected and input, and a short period (48 in the example of FIG. 20) at the time of initial operation is input.
ms) pulse. During this period, a voltage of about 6 V is applied to the motor M, the motor M rotates, and the backlash is absorbed. After the backlash of the mechanical portion is absorbed, the normal control loop of FIG. 1 is switched to by the pulse control select signal of FIG. This pulse control is related to Step S12, S
14, S15.

Next, if there is no operation stop request, it is checked whether or not the pulse control is completed, and the process waits until it is completed (steps S13 to S15). When the pulse control is completed, for example, 12 m
Wait for sec time (step S14 → S16). Then, when the time of 12 msec has elapsed, the reference position counter is counted up, and the difference between the count value and the count value of the output pulse of the angle sensor 9 (current angle of the blade 2) is output to the D / A converter 11 (step. S16 → S17). Below, MPU
10 outputs an angle command at a cycle of 12 msec (83.3 Hz).

When an operation stop request is issued through the operation unit 100 in step S13, the value of the reference position counter is stored in the target position storage RAM (step S1.
8) Then, the motor M is continuously turned on until the target position of the angle and the current position match (step S19), and when they match, the motor M is stopped (step S20). Although not shown in the drawing, when the angle detection pulse of the angle sensor 9 does not change for 120 msec or more and two height detection pulses of the height sensor 8 are detected thereafter, it is determined that the blade 2 is the limit and the motor is determined. Stop M.

Here, when the blade is rotated, the target frequency (that is, the number of rotations of the motor M) is lower than when the blind is vertically moved, and is 1/4 of that when vertically moved as shown in FIG.
It is 83.3Hz. Further, as shown in FIG. 18, the applied voltage of the motor M is 6V when the load torque is 5 kg · cm, 12 V when the load torque is 10 kg · cm, and 24 V when the load torque is 20 kg · cm.

As described in the conventional example, if the control is performed only by the speed servo, the following problems occur.

With only the speed servo by the F / V converter 15, the rotation speed of the motor M changes depending on the motor load.

There is a difference in the starting time of each blind due to a difference in load when a plurality of blinds are provided side by side (positional deviation of the blade 2 caused by a difference in rising speed of the motor M of each blind).

Therefore, in FIG. 1, since the initial angle deviation (output of the amplifier 12) is "0", the MPU 10
Outputs serial data "40H" as the speed command value,
This data "40H" is converted to 1.25V by the 8-bit D / A converter 11 and the amplifier 12. Motor M
Is rotating under the following conditions: Motor load: 5kg ・ cm Motor rotation speed: 83.3Hz (FG frequency) F / V output: 1.25V Motor applied voltage: 6V-Input voltage of comparator 13 is 1.25V, The output voltage of the comparator 13 becomes 1.25 V, and the motor M continues to rotate at the FG frequency of 83.3 Hz.

However, when the load of the motor M is 10 kg.cm, the rotation speed of the motor M is 60 Hz, and the F / V output is 0.625 V from the NT curve shown in FIG. If the speed command value remains 1.25V, the output of comparator 13 will be 1.875.
It becomes V, and motor load: 10kg ・ cm Motor rotation speed: 60Hz (angle FG frequency) F / V output: 0.625V From the motor applied voltage: 9V, the motor M continues to rotate at the FG frequency of 60Hz.

Therefore, in this embodiment, the MPU 10 outputs the difference between the angle command value (the number of pulses) and the angle signal FG as the position deviation, as in the blind movement. That is, since the angular deviation increases when the motor M rotates at 60 Hz, the MPU 10 adds only the insufficient FG pulse number to "40H" and outputs it as serial data. And MP
When the output of U10 is "60H", the angle deviation = comparator 13
+ Input voltage of 1.875V, and-input voltage at that time is 1.25V, the output of the comparator 13 is 2.5V, the applied voltage V of the motor M is 12V, and the load torque is 10kg.c.
m, rotation speed is 83.3Hz.

Therefore, when the angle deviation from the MPU 10 is "60H", the motor M continues to rotate at the angle FG frequency of 83.3Hz. This has a load torque of 5kgcm to 10kgcm
It means that the maximum angle deviation is converged by 32 angle FG pulses (for example, 4.8 mm) even if it changes to, and the rotation can be continued while maintaining the angle deviation of 4.8 mm.

In the above description, the amplifiers 12, 14, 1
The gain of No. 7 is "1", but by adjusting this gain, the angular deviation due to the difference in load can be minimized. Further, although the above description is for the operation when the load is heavy, the operation for when the load is light is the same, so the description thereof is omitted. However, in the case of position control,
A value is determined so that the motor M always follows the position command value shown in 6 with a delay. Further, the method of minimizing the positioning error in the position control is also effective when the motor M starts up.

When the blade of this embodiment is rotated and the conventional example is compared, the MPU in the conventional example only performs speed control, whereas the MPU 10 mainly performs positioning in the conventional example. Is submissive. That is, in the electric blind, the rotation speed of the motor M does not have to be so accurate. Therefore, in the present embodiment, the angular speed is set to a small amount so that the angular deviation due to the angular speed difference does not accumulate in the case where the load fluctuation is very large. It is changed to absorb the angular deviation.

Next, the reason why the motor M is rotated outside the limit position of the blade 2 by utilizing the detection signal of the height sensor 8 when the blade is rotated will be described. By the way, if the output pulse of the height sensor 8 is used for both position control and speed control, the limit of the blade 2 shown in FIG. If the MPU 10 is controlled so as to stop it just before the position, it is possible to prevent speed runaway due to the height detection pulse not being output beyond the limit position, and control is possible.

However, in actuality, as shown below, it is more convenient to control the speed control system by using height detection pulses.

Even if the blade 2 exceeds the limit position, the speed control system does not run away and it is not necessary to stop it just before the limit position.

Even if the limit position is exceeded, the angle position can be reset every time by controlling the angle of the blade 2, so that the angle error is not accumulated.

[0064]

According to the first aspect of the invention, the value of the counter that counts at a constant cycle in synchronization with the state in which the blind vertically moves at an ideal constant speed by the microcomputer, and the vertical movement by the motor. The difference between the frequency and the pulse number of the blind depending on the actual speed is calculated in the cycle of the counter, the difference between the current ideal position and the actual position of the blind is output, and the blind that moves up and down by the motor The speed error voltage of the blind is calculated based on the number of pulses of the frequency according to the actual speed of, and the drive voltage of the motor is calculated by subtracting it from the position error voltage, and the speed of the blind is controlled. The speed of the blind can be controlled without processing at high speed, and the vertical movement speed of the blind can be accurately kept constant with an inexpensive configuration. Door can be.

According to the invention of claim 2, in addition to the effect of the invention of claim 1, when a large inrush current flows, the current is shut down by the action of the current control loop, and the overcurrent causes the device to shut down. Damage can be prevented.

According to the third aspect of the invention, it becomes easy to move the bottom rails of a plurality of blinds having different lengths to a predetermined position, and even when a single blind is moved, the quality as a product is improved. Becomes higher. Also, where the winding diameter of the lifting tape is large (near the upper limit of the bottom rail), the weight of the lifting tape naturally becomes large, and a large winding torque is required for winding, but if the winding diameter becomes large, the motor rotation will increase. Since the speed becomes smaller, the torque of the motor can be effectively utilized, and this effect becomes more remarkable as the length of the blind becomes longer. Also, it detects loosening of the lifting tape,
Since the raising and lowering of the blind can be controlled, the loosening detection switch and the mechanism and wiring associated therewith are unnecessary.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of an electric blind according to the present invention.

2 (a), (b) and (c) are schematic diagrams showing a blind and an operation unit.

FIG. 3 is a longitudinal sectional view of an essential part showing an embodiment of the electric blind according to the present invention.

FIG. 4 is a sectional view taken along line AA.

FIG. 5 is a sectional view taken along line BB.

6A, 6B, and 6C are a front view, a right side view, and a rear view of a height sensor portion.

7 (a), (b) and (c) are a front view, a right side view and a rear view of an angle sensor portion.

FIG. 8 is an explanatory diagram showing a state before the sensor is incorporated.

9 (a) and 9 (b) are explanatory views showing the principles of the height sensor and the angle sensor of FIG. 1, respectively.

10 is a flowchart for explaining an operation of the MPU of FIG. 1 when moving up and down a blind.

FIG. 11 is an explanatory diagram showing in detail the PWM conversion unit and main waveforms of FIG. 1.

FIG. 12 is an explanatory diagram showing the F / V converter of FIG. 1 and main waveforms in detail.

13 is an explanatory diagram showing a function when the F / V converter of FIG. 1 moves up and down a blind.

14 is an explanatory diagram of an inverted output of a function of the F / V converter of FIG.

15 is an explanatory diagram of an NT curve when the blind of the DC motor of FIG. 1 is moved up and down.

16 is an explanatory diagram showing a position command value of the MPU of FIG. 1. FIG.

17 is a function when the blade of the F / V converter of FIG . 1 rotates .
FIG.

FIG. 18 is an NT car when the blades of the DC motor of FIG . 1 are rotated.
FIG.

FIG. 19 illustrates the operation of the MPU of FIG . 1 when the blade rotates.
It is a flowchart for.

FIG. 20 is a timing chart of pulse control of an embodiment of the electric blind according to the present invention.

[Explanation of symbols]

2 feathers 3 bottom rail 4 Lifting tape (elevating tape) 5 Ladder code (tilt tape) 6 lifting drum 7 pulley 8 height sensor 9 Angle sensor 10 MPU (microprocessor) 11 D / A converter 12,14,17 amplifier 13,16 Comparator 15 F / V converter 18 PWM converter 19 Current sensor M DC motor Q1-Q4 transistors SW switch

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Toshifumi Sue 1-11-1 Kaigan, Minato-ku, Tokyo Tachikawa Blind Industry Co., Ltd. (56) Reference JP-A-63-304892 (JP, A) Sho 63-4195 (JP, U) JP-B 4-61954 (JP, B2) (58) Fields investigated (Int.Cl. ⁷ , DB name) E06B 9/32

Claims (3)

(57) [Claims] 1. A motor for vertically moving a blind, a pulse generating means for generating a pulse having a frequency according to the speed of the blind vertically moved by the motor, and a state in which the blind vertically moves at an ideal constant speed. A value of a counter that counts in a constant cycle and the number of pulses of the pulse generating means are compared in each of the constant cycles, and a microcomputer that outputs the difference between the current ideal position and the actual position of the blind, D / A conversion means for converting the position error from the microcomputer into a voltage, frequency-voltage conversion means for generating a speed error voltage of the blind based on the frequency of the pulse of the pulse generation means, and the D / A conversion means And a comparison means for applying a drive voltage to the motor based on the difference between the position error voltage converted by Electric blind, characterized in that the. 2. A current detecting means for detecting a current flowing through the motor, and a current limiter means for applying a voltage to the motor by subtracting a voltage corresponding to the current detected by the current detecting means from a driving voltage of the comparing means. The electric blind according to claim 1, further comprising: 3. A lifting tape, a motor that raises and lowers the blade by winding or unwinding the lifting tape, and a detection unit that directly detects linear movement of the lifting tape. the linear movement of the lifting tape is rewound up or winding by directly detected from the lifting tape, according to claim 1, characterized in that to perform the elevation control of the blade
Electric blinds.