JP3953491B2 - Automatic door opening and closing control device - Google Patents

Description

  The present invention relates to an automatic door opening / closing control device, and more particularly to an automatic door opening / closing control device using a DC brushless motor drive control device that does not have an automatic door speed reduction mechanism installed at a doorway of a building.

  In an automatic door, when the door collides with a human body or the like during movement, it is desirable to detect the collision and stop the door. In the conventional collision detection device, speed control and position control are performed by a low-resolution encoder (a pulse is generated by the number of poles of three Hall elements and a motor built-in magnet) with respect to the rotation of the motor. A pulse generator is attached, and when the door speed falls below a predetermined speed based on the high-resolution pulse signal, it is detected that an obstacle has collided with the door, and the door is stopped or reversed (for example, , See Patent Document 1).

  In this collision detection device, when the door is opened and closed by a combination of a motor and a speed reduction mechanism (gear), the detection accuracy when an obstacle collides with the door can be improved. However, in a drive unit that eliminates the deceleration mechanism, the effects of wind pressure, windage loss, obstacle collision, and human body collision on the door when the door is opened and closed are directly transmitted to the motor, causing excessive reaction to the load disturbance when the door is opened and closed. To come. Therefore, since it is difficult to distinguish the effects, it has been proposed that in other conventional apparatuses, a wind pressure sensor is attached to the periphery of the door, the door movement resistance due to the wind pressure is separated from the collision component, and the collision detection value is adjusted. (For example, refer to Patent Document 2).

JP 2003-239628 A JP 2001-49955 A

  Since the conventional apparatus described in Patent Document 2 is configured as described above, the detection components for wind pressure, windage loss, obstacle collision, human body collision, etc. affecting the door opening / closing region are unknown. According to the experience, adjustment of the nipping pressure detection value has been carried out, which has been a cause of erroneous detection of nipping pressure detection. Also, if there is no deceleration mechanism, the door can be moved easily even by an artificial external force, so the motor overreacted and the door was alarmed. In addition, due to the aging of the building, the frictional resistance is unbalanced when the door is opened and closed due to the tilt of the door suspension rail, and the running rail surface can be distorted when the door is opened and closed hundreds of thousands of times. If the running resistance increases, it also causes false detection of the pinching pressure detection value.

  The present invention has been made to solve such a problem, and divides an operation time region in which a door is opened and closed into a plurality of time region segments, and detects a clamping pressure for each time region segment. Thus, an object of the present invention is to obtain an automatic door opening / closing control device that prevents erroneous detection due to adjustment of the detected clamping pressure value.

The present invention is an automatic door opening / closing control device that opens and closes a door by rotating a motor based on a door opening / closing control command speed, the actual speed detecting means for detecting the actual speed of the motor, and the motor Motor current detecting means for detecting the motor current, speed deviation detecting means for obtaining a speed deviation which is a difference between the door opening / closing control command speed and the actual speed, and speed proportional control means for speed proportionally controlling the speed deviation. Speed integral control means for speed integral control of the speed deviation; feedback control value detection means for obtaining a feedback control value by adding an output value from the speed proportional control means and an output value from the speed integral control means; A first clamping pressure detecting means for determining that the clamping pressure is detected when a first detection condition based on the motor current and the speed deviation is satisfied; A second clamping pressure detection unit that determines that the clamping pressure is detected when the second detection condition is satisfied, and a third that determines that the clamping pressure is detected when the third detection condition based on the feedback control value is satisfied. And the time area for detecting the pressure during the opening / closing operation of the door is divided into each time area section, and each time area section includes a door opening acceleration area, a door opening high speed area, and a door opening deceleration. Area, door opening slow speed area, door opening slow speed stop area, door closing acceleration area, door closing high speed area, door closing deceleration area, door closing slow speed area, door closing slow speed stopping area, and each time zone classification Each of the automatic door opening / closing control devices includes a clamping pressure setting unit that presets whether the clamping pressure detection is performed by any one or a combination of the first, second, and third clamping pressure detection units.

The present invention is an automatic door opening / closing control device that opens and closes a door by rotating a motor based on a door opening / closing control command speed, the actual speed detecting means for detecting the actual speed of the motor, and the motor Motor current detecting means for detecting the motor current, speed deviation detecting means for obtaining a speed deviation which is a difference between the door opening / closing control command speed and the actual speed, and speed proportional control means for speed proportionally controlling the speed deviation. Speed integral control means for speed integral control of the speed deviation; feedback control value detection means for obtaining a feedback control value by adding an output value from the speed proportional control means and an output value from the speed integral control means; A first clamping pressure detecting means for determining that the clamping pressure is detected when a first detection condition based on the motor current and the speed deviation is satisfied; A second clamping pressure detection unit that determines that the clamping pressure is detected when the second detection condition is satisfied, and a third that determines that the clamping pressure is detected when the third detection condition based on the feedback control value is satisfied. And the time area for detecting the pressure during the opening / closing operation of the door is divided into each time area section, and each time area section includes a door opening acceleration area, a door opening high speed area, and a door opening deceleration. Area, door opening slow speed area, door opening slow speed stop area, door closing acceleration area, door closing high speed area, door closing deceleration area, door closing slow speed area, door closing slow speed stopping area, and each time zone classification Since the automatic door opening / closing control apparatus includes a clamping pressure setting unit that presets whether the clamping pressure detection is performed by any one or combination of the first, second, and third clamping pressure detection units. , Door opening, opening and closing For any region of the section, the operation time region in which the door is opened and closed is divided into a plurality of time region segments, and the detection of the sandwich pressure is performed for each time region segment. False detection due to value adjustment can be prevented.

Embodiment 1 FIG.
FIG. 2 is an automatic door configuration diagram in which an automatic door opening / closing controller and a DC brushless motor for controlling an automatic door opening / closing DC brushless motor having no speed reduction (gear) mechanism according to the present invention are incorporated in the door mechanism. is there. An automatic door opening / closing control device 1 is housed inside a mounting base 119 and a mesh 120 arranged above the entrance of the building. A drive pulley 121 attached to the shaft of the DC brushless motor 5, an automatic door opening / closing control device 1, a driven pulley 123, and a slide rail 127 are attached to the mounting base 119. A drive timing belt 124 for opening and closing an endless door is hung between the drive pulley 121 and the driven pulley 123. In the illustrated example, the automatic door includes two doors 117 and 118, which are suspended from the slide rail 127 by a pair of door wheels 122 and run on the slide rail 127. The doorway of the building can be opened and closed.

  Of the doors 117 and 118 suspended by the door wheel 122, the left door 117 in the figure is connected to the upper running portion of the drive timing belt 124 by the connecting metal 125, and the right door 118 is driven by the connecting metal 126 in the figure. It is connected to the lower traveling portion of the timing belt 124. When the DC brushless motor 5 is driven and the drive pulley 121 drives the drive timing belt 124 in the counterclockwise direction (arrow A direction) in the drawing, the left door moves to the left and the right door 118 moves to the right. Move to open the doorway. When the drive timing belt 124 is driven in the clockwise direction, the left door 117 moves to the right and the right door 118 moves to the left to close the doorway. When the door is opened, it stops at a position just before the open end, and when it is closed, it is stopped at a position where there is no gap between the left and right doors.

  FIG. 1 is a circuit diagram of an automatic door opening / closing control device for driving and controlling an automatic door opening / closing DC brushless motor having no deceleration (gear) mechanism according to the present invention. FIG. 3 is an explanatory diagram of the operation of the clamping pressure detection unit. FIG. 4 is a diagram for explaining the operation of the area section for detecting the clamping pressure during the door opening / closing control according to the present invention. The circuit configuration at the time of pinching detection of the automatic door opening / closing control device according to the present embodiment is as follows. The control device 1 has an electrolytic capacitor 3 installed at the output of the converter circuit 2 to form a DC power source. Using the DC power supply, the inverter circuit 4 is PWM-controlled and output to the DC brushless motor 5, and the speed of the DC brushless motor 5 is controlled by the output and the signal of the pulse generator 6 incorporated in the DC brushless motor 5. It is formed to rotate. The DC brushless motor 5 includes a rotor permanent magnet (not shown), a stator three-phase winding (not shown), a pulse generator 6, and a magnetic pole position detector 31. A software control unit 10 (CPU) by a microcomputer inside the control device is used to detect an overvoltage 11 by reading a bus voltage between PN, a power conversion command 12 to the inverter circuit 4, a pulse signal from the pulse generator 6, and a magnetic pole position. Computer control is performed using the detection signal, the motor current detection signal 7 and the door opening / closing signal 14.

  The software control unit 10 is connected to the control device 1, the DC brushless motor 5, and the automatic door opening / closing mechanism 9 via each signal I / O circuit 8 that inputs and outputs these signals. The software control unit 10 includes a door opening / closing control command unit 15, a feedforward voltage command unit 16, a speed integration control unit 17, a speed proportional control unit 18, a speed / position management free run counter 19, a door A clamping pressure detection unit 26, an I / O circuit 33, various data storage units 30, and a load detection unit 13 during the opening / closing control operation are provided. Further, a personal computer 28 is connected to the software control unit 10 via a communication driver 27. In addition, the software control unit 10 is provided with a control device setting unit 29 that allows an operator to select and set the type (type) of the automatic door by inputting a signal. The control device setting unit 29 will be described later.

  The door opening / closing control command unit 15 outputs a door opening / closing control command speed 20 based on a preset target speed, target position, and target acceleration / deceleration time. The feedforward voltage command unit 16 outputs a feedforward control unit voltage command 23 based on the door opening / closing control command speed 20. The speed integration control unit 17 performs speed integration control of a speed deviation 22 that is a difference between the actual speed 21 obtained by the speed / position management free-run counter 19 and the door opening / closing control command speed 20. The speed proportional control unit 18 performs speed proportional control on the speed deviation 22. The speed / position management free-run counter 19 receives the pulse signal from the pulse generator 6 and detects the actual speed 21 of the DC brushless motor 5 by counting the pulse signal. The load detector 13 to which the motor motor current detection signal 7 is input performs load fluctuation detection and open / close traveling load reading detection in addition to motor current detection.

  In the configuration described above, when the power source 32 of the present apparatus is turned on, the DC brushless motor 5 is rotated forward or backward at low speed, and the positions of the door open end and the closed end are read from the signal of the pulse generator 6 to store the position. To do. Thereafter, when the door opening / closing signal 14 output from the automatic door opening / closing mechanism 9 is input to the door opening / closing control command unit 15, the door opening / closing control in which the target speed, the target position, and the target acceleration / deceleration time are preset. A door opening / closing control command speed 20 is output from the command unit 15. The feedforward voltage command unit 16, the speed integration control unit 17, the speed proportional control unit 18, and the speed / position management free-run counter 19 that operates according to the output from the pulse generator 6 form a closed loop to convert power The command 12 is output to the inverter circuit 4 and the DC brushless motor 5 is rotated by speed control so that the doors 117 and 118 can be opened and closed. The power conversion command 12 includes a feedforward control unit voltage command 23 output from the feedforward voltage command unit 16 and a feedback control value 24 obtained by adding the outputs from the speed integration control unit 17 and the speed proportional control unit 18. Is calculated by adding. As reading signals at the time of door opening / closing control, the door opening / closing control command speed 20 from the door opening / closing control command unit 15, the actual speed 21 by the speed / position management free-run counter 19 (actual speed detecting means), the door opening / closing control command speed 20, Speed deviation 22 by calculation (subtraction) of the junction (speed deviation detection means) with the speed / position management free-run counter 19, output from the speed integration control section 17 (speed integration control means), and speed proportional control section 18 (speed Feedback control value 24 output by calculation (addition) of the joint (feedback control value detection means) with the output from the proportional control means), feedforward control section voltage command 23 output from the feedforward voltage command section 16, There is a motor current 25 by a current detector 34 (motor current detection means). The reading signals 20 to 25 at the time of door opening / closing control are input to the pinching pressure detection unit 26 (first, second, and third pinching pressure detection means) at the time of door opening / closing control operation, and the pinching pressure detection unit 26 is detected. Thus, the communication driver 27 outputs to the personal computer 28 (waveform display means), and changes in the read signals 20 to 25 are displayed as waveforms on the screen of the personal computer 28 so that the operator can observe them. While observing the waveform, the operator operates the personal computer 28 as necessary to adjust the pinching pressure detection (detection condition adjusting means).

  The control device setting unit 29 (door type setting means) is a door pull / double pull selection setting, door mass selection setting, opening / closing speed selection setting, open holding time selection setting, as an automatic door type (type) selection setting, Door opening / closing direction selection setting, installation condition (indoor or outdoor) selection setting, etc. can be performed. This can be easily operated if, for example, options are displayed in a menu format on the operation screen, and the operator selects and inputs a corresponding item from among them. Alternatively, a switch may be provided on the operation panel, and the type of door may be selected and set by the switch. The influence of disturbance on the automatic door running resistance and the door differs depending on the difference between single pull / double pull, door mass, indoor / outdoor installation conditions, and so on. Although it is necessary to adjust the setting of the detected nipping pressure for each of these, in the present embodiment, by making these distinctions settable (detection condition adjusting means), it is necessary to adjust each setting of the door, which is conventionally required. Therefore, it is possible to easily perform the adjustment setting without the adjustment by the personal computer 28 connection. In addition, the various data storage unit 30 includes the number of door opening / closing times, the number of times of opening and closing high speed clamping pressure, the number of times of opening slow speed clamping pressure, the number of times of closing high speed clamping pressure, the number of times of closing slow speed clamping pressure detection, the number of malfunctioning motor pulse detection times, the operation The number of defective currents is stored. Note that it is not necessary to store all of these data in the various data storage unit 30, and one or more of them may be stored as necessary, and other data may be stored. It may be included.

  In the present embodiment, as means for eliminating the adjustment of the clamping pressure at the time of door installation, the controller setting unit 29 is thus provided with the door pull / double pull selection setting, the door mass selection setting, and the door opening / closing direction selection. Setting, etc., allows various types of automatic doors to be selected and set, and the adjustment value of the clamping pressure sensitivity is stored in advance in the various data storage unit 30 of the microcomputer for each type and selected by the operator The pinching sensitivity value suitable for the set type is automatically set. The control device setting unit 29 selects a single-drawing door for each weight based on the setting values of a plurality of stages of rotary switches, and similarly selects both pulling doors based on the setting value of the rotary switch for each weight. There are various applications such as opening from the left, opening from the left end, and opening from the closed center to both sides. A selection switch that can select the opening and closing direction according to the application is provided. When the weight and opening / closing direction of the doors are selected by a switch, the selection condition is transmitted from the I / O circuit 33 to the software control unit 10, and the software control unit 10 reads a set value corresponding to the door weight. The control loop linked to the set value and the various data storage unit 30 in which the adjusted set value of the pinching pressure detection value is stored are connected so that door opening / closing control can be performed as a function including pinching pressure detection sensitivity setting. ing.

  In the automatic door configuration diagram in which the automatic door control device shown in FIG. 2 is incorporated in the door mechanism, it is assumed that a human body hits the door end while the door is open or a foreign object is caught in the door closed end. The circuit diagram relating to the detection of clamping pressure of the control device at that time has the configuration shown in FIG. The type of pinching detection is that the running resistance at the time of a door opening / closing collision is read by the motor current detection signal 7, the change value of the actual opening / closing speed is read by the pulse generator 6, and the door opening / closing control command unit 15 A combination with the door opening / closing control command speed 20 forms a speed control loop, outputs a power conversion command 12 to the inverter circuit 4, and speed-controls the DC brushless motor 5. In the speed control loop circuit, the feedforward voltage command unit 16, the speed integration control unit 17, and the speed proportional control unit 18 form a closed loop. Each signal of the speed control closed loop during the door opening / closing operation and when a foreign object is caught becomes an operation waveform diagram of the door opening / closing pressure detection unit in FIG. An explanatory diagram in which there are three types of pinching detection methods for the operation waveform diagram of the pinching detection unit, the region for detecting pinching is subdivided, and these three types of pinching detection adjustment can be adjusted independently. FIG. 4 is an explanation of the operation of the region classification for detecting the pinching pressure during the door opening / closing control of FIG.

  FIG. 3 is an operation explanatory diagram when observing the waveform of the clamping pressure detection unit 26 during the door opening / closing control operation. 20 is a waveform of a door opening / closing control command speed, 21 is a waveform of actual speed, 22 is a waveform of speed deviation, 23 is a waveform of a feedforward control unit voltage command, 24 is a waveform of a feedback control value, 25 is a waveform of a motor current, Waveforms indicated by broken lines 101 to 104 are waveforms when a foreign object collides between two pulling doors with respect to the waveform at the time of normal opening and closing of the door.

  FIG. 4 is a diagram for explaining the operation of adjusting the clamping pressure sensitivity of the area section for detecting the clamping pressure during door opening / closing control. A is an open acceleration area, B is an open high speed area, C is an open deceleration area, D is an open slow speed area, E is an open slow stop area, F is a closed acceleration area, G is a closed high speed area, H is a closed deceleration area, I Is divided into time zone sections of the closed slow speed area, J is divided into time zone sections of the closed slow speed stop area, and there are three types of clamping pressure detection conditions (1), (2), and (3) described later for each time domain section. Of these, the group (2) (3) or (1) (2) (3) can be set for each region and stored in the various data storage units 30 (clamping pressure setting means). In addition, (1) is detection of clamping pressure based on motor current value + speed deviation, (2) is detection of clamping pressure based on speed deviation, and (3) is detection of clamping pressure based on a feedback control value. The clamping pressure can be adjusted independently for each region.

  That is, as shown in FIG. 4, in the open acceleration region of A, the pinching pressure detection condition of (2) (3), in the open high speed region of B, (1) (2) (3) pinching pressure detection condition, (2) (3) pinching pressure detection condition in the C open deceleration region, (1) (2) (3) pinching pressure detection condition in the D opening slow speed region, and (E) in the opening slow speed stopping region ( 2) The clamping pressure detection condition of (3), (2) (3) clamping pressure detection condition in the F closed acceleration region, and (1) (2) (3) clamping pressure detection in the G closed high speed region. (2) and (3) clamping pressure detection conditions in the H closed deceleration region, (1) (2) (3) clamping pressure detection conditions in the I closed slow speed region, J closed slow stop region In (2) and (3), the pinching pressure detection conditions are set.

  The operation of the clamping pressure detection unit 26 will be described with reference to FIGS. The speed deviation 22 is a deviation value between the door opening / closing control command speed 20 and the actual speed 21. Since the speed deviation value at the time of door opening / closing control is a control in which the actual speed 21 follows the door opening / closing control command speed 20, the speed deviation is an operation indicated by a solid line of the speed deviation 22 in FIG. As the feedback control value 24, a signal obtained by adding the value controlled by the speed integration control unit 17 and the speed proportional control unit 18 to the speed deviation 22 becomes a feedback voltage command, and the voltage command value is used as the feedback control value 24. FIG. The operation indicated by the solid line. The normal door opening / closing feedback control value 24 is a small value. The motor current is obtained by reading the motor current from the motor current detection signal 7, and the motor current 25 during the door opening / closing operation is an operation diagram due to the door opening / closing load as shown by the solid line in FIG.

  At this time, for example, as shown in FIG. 3, when a foreign object gets caught or collides with the door in the door closing high speed region, the door collides and stops at the colliding portion. 21 is an operation indicated by a dotted line 101, which is a zero speed different from the command speed. In addition, when the colliding object is small or light and the door moves after the collision, the dotted line 101 may become a dotted line 101a. At that time, the deviation between the door opening / closing control command speed 20 and the actual speed 21 becomes large, and the speed deviation 22 becomes an abnormal operation like the dotted line 102 or 102a. The feedback control value 24 is a change in a signal obtained by adding the values obtained by controlling the speed deviation 22 by the speed integration control unit 17 and the speed proportional control unit 18 in FIG. 1, and a large operation value such as a dotted line 103 or 103a at the time of collision. It becomes. The motor current 25 that flows to the motor at the time of a door collision also operates as shown by dotted lines 104 and 104a, and is the maximum current value that can be passed to the motor. Here, the waveform is shown in the collision state, but the process after the collision detection is immediately shifted to the door deceleration stop process and the reversal process as before, and the obstacle such as the human body is impacted. Release from the state of joining.

  (1), (2), (3) in the operation explanatory diagram of the area division in which the pressure deviation 102, the feedback control value 103, and the change value of the motor current 104 at the time of the collision are detected for the pinching pressure at the time of door opening / closing control in FIG. )

(1) is pinching detection based on motor current 25 + speed deviation 22 (where speed deviation 22 = door opening / closing control command speed 20−actual speed 21).
When the detected motor current value ≥ (motor current parameter setting value x clamping pressure sensitivity [%]) and (speed deviation) ≥ (speed deviation parameter setting value), (detection time parameter setting value x clamping pressure) When the pressure is continuously detected for the time of sensitivity [%]), pinching pressure is detected.

(2) is pinching pressure detection by speed deviation 22,
If (speed deviation) ≥ (speed deviation parameter value x pinching sensitivity [%]) is detected continuously for more than (detection time parameter value x pinching sensitivity [%]) time, pinching pressure detection and Become.

(3) is the clamping pressure detection by the feedback control value 24,
If (feedback control value) ≥ (feedback control value parameter value x pinching sensitivity [%]) is detected continuously for at least (detection time parameter value x pinching sensitivity [%]) time, pinching pressure It becomes detection.

  The closed high-speed region of G can be detected by the pinching pressure detection settings of (1), (2), and (3), and the detection detected earliest under those setting conditions is used as the pinching pressure detection with priority. Yes. As described above, the detection is performed by using the three types of sandwiching pressure detection methods (1), (2), and (3), and reliable detection accuracy without malfunction is obtained.

  As described above, in this embodiment, the door deviation control command speed 20, the speed deviation comparing the difference between the speed feedback signal output from the pulse generator 6 attached to the motor shaft end and the door opening / closing speed command signal. 22. A detection means for detecting a feedback control value 24 by a combination of speed proportional control and speed integral control, a feedforward control unit voltage command 23, and a motor current 25 is provided, and pinching pressure detection by a combination of the motor current 25 and the speed deviation 22 is provided. The function has three types of pinching detection functions: pinching detection function based on speed deviation 22 and pinching pressure detection function based on feedback control value 24. For these functions, current, speed error, feedback control value, detection time, A setting relating to detection sensitivity is provided, and the signal detected by the detection means when the door is opened and closed is A function that can be displayed and displayed as a waveform on a surface, etc., and the adjustment of clamping pressure sensitivity can be observed while checking the degree of detection and the clamping pressure detection adjustment of the three types of clamping pressure detection function can be adjusted independently. It is provided. As a result, for any region of the door opening and opening / closing control section, the detection component for wind pressure, windage loss, obstacle collision, human body collision, etc., when opening and closing the door, while observing the operation waveform at the time of door opening and closing Since analysis adjustment can be performed, erroneous detection due to adjustment of the pinching pressure detection value can be reduced.

  Also, when opening / closing the door, the opening acceleration area, opening high speed area, opening deceleration area, opening slow speed area, opening slow deceleration stop area, closing acceleration area, closing high speed area, closing deceleration area, closing slow speed area, closing slow deceleration stop area, etc. Detecting pinching pressure from the door opening / closing command speed and actual speed speed deviation for all door opening / closing sections of the door, detection of pinching pressure from the speed feedback control value output from the combination of speed proportional control and speed integration control, motor It has pinching detection by a combination of output current and speed deviation, so that the error between the control command value of each switching area and the command value of each feedback can be adjusted as detection error, detection time, detection sensitivity, etc. The comparison waveform of the signal change command value and the feedback value is displayed on the personal computer screen or the screen of the adjustment device, etc., so that it is possible to adjust the clamping pressure detection while observing the waveform, By having a control function that can hardly cause a malfunction of the pressure detection, to provide adjustment means which can hardly cause a malfunction of the clamping pressure detecting.

  Also, the door pulling / double pulling selection, door mass selection, and door opening / closing direction setting are provided in the control device as a door type selection signal, and adjustment setting values that match the conditions of the door type selection signal are set and stored in a microcomputer or the like in advance. This makes it easy to adjust the opening / closing operation of the door when installing the automatic door, without the need for adjustment by connecting to a PC, making it easier to adjust the opening / closing operation after the door is assembled, and improving work efficiency. I can plan.

Embodiment 2. FIG.
FIG. 5 shows (a) the speed and motor current waveform when the running resistance is large when the door moves from the closed end to the open end, and (b) the running resistance when the door moves from the open end to the closed end. The speed and motor current waveform when small. When the normal door running surface is horizontal, the door running resistance is the same, but if the building tilts due to an earthquake or the like and the door rail surface tilts, the motor current increases when the door climbs as shown in the figure. The motor current becomes smaller when going down. In the example of FIG. 5, since the open end is high and the closed end is low, when the doors 117 and 118 are opened, the climbing resistance increases, and the motor current (reference numeral 131) increases ( On the contrary, when the doors 117 and 118 are closed, the running resistance is small and the motor current (reference numeral 132) is small (when FIG. 5B). Therefore, the pinching pressure detection unit 26 reads the running resistance (motor current) when the inclination occurs (running resistance detecting means) and compares it with the running resistance when horizontal (that is, when the door is installed) (running resistance difference calculation). Means) If there is a difference, it is determined that an inclination has occurred, the clamping pressure sensitivity value is corrected using the difference, and updated as a new clamping pressure value. For example, when the number of door opening / closing times reaches several hundred thousand, the running resistance is read and the adjustment of the pinching sensitivity is automatically set.

  In the above, the inclination of the building due to the earthquake has been described, but the inclination due to the secular change of the building is also conceivable. In this case, the frictional resistance is unbalanced when the door is opened and closed due to the inclination of the slide rail 127 due to secular change, the dust adheres to the running rail surface, and the door opens and closes several hundred thousand times. It is assumed that the running resistance increases due to the occurrence of unevenness on the running rail surface. As means for eliminating the malfunction of the clamping pressure detection due to the secular change, the clamping pressure detection unit 26 detects the running resistance (motor current) at the time of reading the door opening / closing stroke when the power is turned on, and compares it with the running resistance set at the time of installation. Then, the detected value of the difference is automatically set as a correction value for the pinching sensitivity. If the building tilts due to secular change and the height of the slide rail 127 is changed, the door will rise when the door is opened in the direction of the higher rail, and the weight of the door itself will be added, and the running resistance will be proportional to the inclination angle and weight. growing. On the contrary, when the door is closed in the direction in which the slide rail 127 is lowered, the door is lowered and the running resistance is reduced. When the door is opened and closed in this state, the motor current at the time of opening increases and the motor current at the time of closing decreases (refer to FIG. 5 because it is the same as the example of FIG. 5). Since the height difference of the slide rail 127 at the time of normal door installation is small, the running load at the time of opening and closing is the same, and the clamping sensitivity adjustment value at the time of opening and closing the door is also adjusted and set at the same level. However, in the pinching sensitivity in that state, if the slide rail 127 has a height difference, the running resistance at the time of opening and closing differs, so the pinching sensitivity adjustment value also deviates from the resistance difference, and the pinching sensitivity is malfunctioning or detected. It becomes difficult. As a means for preventing malfunction of the pinching sensitivity, as shown in FIG. 5, when the power is turned on or when the number of times of storage of the various data storage means reaches a certain number, The running resistance at the time of reading operation is read and compared with the running resistance value set in advance in the computer, and only when there is a difference between them, the difference can be automatically set and changed as the pinching sensitivity value. Yes.

  As described above, in the present embodiment, long-term secular change or earthquake after automatic door installation, etc. (unbalance between running resistance when the door is opened and running resistance due to the tilt of the house, door sliding slide roller and slide If the running resistance increases due to an increase in running resistance due to the rattling of the rail surface, etc., the setting level for pinching pressure detection will change. As a correction value for that setting level, the door opening / closing running resistance when reading the door open / close end when the power is turned on By using the value of the difference in resistance from the set value, the detection value of the clamping pressure on the open side and the closing side is automatically corrected to eliminate malfunctions in the clamping pressure detection. Even if an earthquake or an earthquake occurs, the reliability that does not cause false detection can be continued, and the effect of eliminating the need for a service person to visit the site and readjustment can be obtained.

Embodiment 3 FIG.
In the automatic door configuration diagram in which the automatic door opening / closing control device shown in FIG. 2 is incorporated in the door mechanism, the door is normally opened and closed by providing a human body detection sensor or a floor switch or the like. If there is no room around the door, etc., it may be inconvenient if the person opens and closes the door only by passing nearby. In such a case, a touch switch is attached to the door or closed. There are cases where an assist function is provided that automatically opens and closes the door when it is slightly opened by human power. The automatic door with the assist function has a unique problem, which will be described. In the control of an automatic door with an assist function, the circuit diagram regarding pinching pressure detection of the control device when the door is pushed in the opening direction by an artificial external force or when the door is pushed or pulled while opening is shown. The configuration is as shown in FIG. The type of clamping pressure detection by the clamping pressure detection unit 26 is that the load resistance 13 reads the motor current from the motor current detection signal 7 based on the running resistance at the time of the door open / close collision, and the change value of the actual switching speed 21 is a pulse generator. 6, a speed control loop is formed in combination with the door opening / closing control command from the door opening / closing control command unit 15, the power conversion command 12 is output to the inverter circuit 4, and the DC brushless motor 5 is speed controlled. Yes. The pinching pressure detection method is the same detection method as in FIGS. 3 and 4 and will not be described here.

  If an action of pushing the door in the opening direction is performed during the closing of the door, the bus voltage normally increases, and an overvoltage alarm occurs in the conventional apparatus. However, since an operation to restore the stop is necessary when the alarm stops, in the present embodiment, the change of the actual speed of the opening / closing speed is read by the pulse generator 6 to detect the action of pushing the door, or When a bus voltage below the level at which the bus voltage becomes an overvoltage alarm is detected, the mode is switched to the bus voltage detection operation mode. When such a change in actual speed or voltage is detected, the dynamic brake is decelerated. When the bus voltage becomes a normal value during dynamic brake deceleration, the vehicle is decelerated by power running braking, and the door is moved to the open end and stopped near the open end. The elapsed time is measured by the timer function, and after a predetermined elapsed time, the normal closing operation is performed and the door stops moving to the closed end.

  In addition, when the door is opened and the door is opened and gripped by hand, the pinching detection unit 26 detects that the action has been performed by a change in the actual speed or a change in the bus voltage. When the door is pushed in the opening direction beyond the set value, the bus voltage detection enable / disable mode is set as described above, and the operation is the same as described above. On the other hand, when the door is pulled in the closing direction (when it is detected that an external force in the closing direction has been applied), the assist pinching pressure is generated. Move the door to the open end at low speed. Then, after a predetermined time has elapsed due to the timer function, the normal closed operation mode is restored. In this way, even if the door is pushed or pulled by an artificial act while the door is opened or closed, the alarm is avoided, the function is safely stopped, and the human body is not harmed. Note that the processing at the time of pinching in cases other than the assist operation is based on processing at normal pinching pressure detection.

FIG. 6 is a flowchart showing a pinching pressure detection operation when the assist is activated and an act of messing while being released. Specifically, in step S1, when the door is slightly opened by hand while the door is closed, the opening operation is automatically started by assist activation (assist means). However, when it is detected in step S2 that an act of quickly pushing the door in the opening direction is made during opening of the door by assist activation (detecting that an external force is applied in the opening direction), for example, In S3, the detection of the clamping pressure by the clamping pressure detection unit 26 is ignored without functioning, and the bus voltage is detected (bus voltage detection means). When the actual motor speed 21 is faster than the door opening / closing control command speed 20 in step S4, the bus voltage detection function detects a high voltage that is less than the bus voltage alarm occurrence and is equal to or higher than a predetermined threshold value. Then, the dynamic brake is decelerated (dynamic brake decelerating means), and when the bus voltage returns to a normal value, it is decelerated by normal power running braking, the door is moved to the open end, and is stopped near the open end (power running brake means). In step S6, after a predetermined time elapses by the timer function after the open end is stopped (first predetermined time), a normal closing operation is performed and the door stops moving to the closed end.
In step S4, if a high voltage that is less than the bus voltage alarm occurrence and is not more than a predetermined threshold value is not detected, in step S11, the vehicle is decelerated by power running braking, and the door is moved to the open end. In step S6, after a predetermined time elapses (first predetermined time) by the timer function, a normal closing operation is performed and the door is moved to the closed end and stopped.
If the door is not pushed in step S2 and if there is no act of grabbing and pulling the door in the closing direction in step S7, in step S11, the regenerative brake is decelerated and the door is moved to the open end, and close to the open end. In step S6, after a predetermined time elapses by the timer function (first predetermined time), a normal closing operation is performed and the door is moved and stopped to the closed end.
If the door is not pushed in step S2 and if the door is grabbed in the closing direction opposite to the opening direction in step S7, the process shifts to the assist clamping pressure detection mode in step S8. If the assist clamping pressure is detected in step S9, the door is once decelerated and stopped at the time of detection (temporary stopping means) in any condition in step S10. After a predetermined time (second predetermined time) by the timer function, the door is opened. Move to the open end at low speed (low speed stop means). In step S6, after the elapse of a predetermined time by the timer function (first predetermined time), the normal closed operation mode is restored. When the assist clamping pressure is not detected in step S9, the operations of steps S11 and S6 are performed.
If the door is grabbed and the push-pull operation is repeated, the above step S2 or step S7 is performed.

  As described above, the open / close control of the automatic door installed in a general household has an assist function that automatically opens / closes when the closed door is opened by a human hand. In this embodiment, adjustment of the pinching sensitivity at the time of opening and closing by the assist function is performed, for example, an act of pushing or pulling an automatic door with the intervention of an infant, or an act of continuing to push the door in the opening direction. In the opening and closing control that may occur, the pinching pressure is detected in any operation, the motor is quickly stopped free of charge, and when the pinching pressure is released, the door is moved slowly to the open end or the closed end with low speed, low torque drive, It has a function to return to normal opening / closing control. When a door is opened and closed using a DC brushless motor controller for automatic door opening and closing that does not have a deceleration (gear) mechanism, the motor is greatly used during door opening acceleration, opening deceleration, closing acceleration, closing deceleration, etc. Requires torque.

  In conventional devices, for example, when the door is pushed by hand in the opening direction during opening acceleration, opening / closing or further decelerating, the artificial force is greater than the force controlling the speed of the motor. There was a problem that the door was moved, and it moved differently from the door open / close command value.In addition to detection of pinching pressure, there was an overvoltage alarm, acceleration alarm, etc., which caused the door to stop abnormally. In the embodiment, even if a movement different from the door opening / closing command value is caused by human action during opening / closing of the door, the door is promptly stopped and the opening / closing control can be safely performed without stopping the alarm. .

  As described above, in this embodiment, it is assumed that an automatic door is installed in a general household, and in a general household, an assist function for opening and closing the door (automatically when a closed door is opened slightly) The door opens and closes), and it is predicted that the child will touch the automatic door and push or pull the door, or the door will be pushed quickly to the open end. Because it can detect pinching pressure without malfunction and can safely operate, stop, and open and close without stopping the automatic door alarm, it can be used safely and safely even if there are abnormal behaviors for children and infants in and out of ordinary households There is an effect that can be done.

  In the first to third embodiments, a magnet and a disk are attached to the rotating shaft inside the motor, and a stator, a stator winding, a magnetic pole detector, and a pulse generator are incorporated around the magnet. The inner type brushless motor having the configuration has been described as an example. However, the present invention is not limited to this, and an outer rotor type brushless motor may be used. The outer rotor type brushless motor is provided with a magnet built-in part, pulse detection disk and pulley teeth on the outer rotor, and the stator, stator winding, pulse generator, and magnetic pole position detector are built into the fixed base inside the outer rotor. Brushless motor. The outer rotor brushless motor and the control device of the present invention may be combined to perform door opening / closing control and adjustment of pinching sensitivity. In that case, the arrangement and assembly of the pulley on the motor shaft are eliminated, which is cost effective and economical.

  As a sliding door type automatic door drive, a function is provided that can analyze and adjust the detected components for wind pressure, windage, obstacle collision, and human body collision on the door during door opening and closing operation while observing the operation waveform at the time of door opening and closing Since the false detection due to the adjustment of the nipping pressure detection value can be reduced, it is the safest and most reliable drive control device. In addition, it is the safest and most reliable drive control device for home door assist operation. Further, by using this clamping pressure detection function, it is possible to eliminate a safety shoe mechanism installed at the tip of an automatic door for a home elevator or an automatic door for an elevator installed in a building.

It is the block diagram which showed the structure of the automatic door opening / closing control apparatus in Embodiment 1 of this invention. It is explanatory drawing which incorporated the opening / closing control apparatus of the automatic door in Embodiment 1 of this invention in the door mechanism. It is explanatory drawing which showed operation | movement of the door opening / closing clamping pressure detection part of the automatic door opening / closing control apparatus in Embodiment 1 of this invention. It is explanatory drawing which showed the operation | movement of the area | region division which performs the clamping pressure detection at the time of the door opening / closing control of the automatic door of the automatic door opening / closing control apparatus in Embodiment 1 of this invention. It is explanatory drawing which showed the speed | rate and electric current operation | movement when the building of the automatic door opening / closing control apparatus in Embodiment 2 of this invention inclines and the door rail surface inclines. It is the flowchart which showed the operation | movement of the clamping pressure at the time of the assist starting of the automatic door opening / closing control apparatus in Embodiment 3 of this invention.

Explanation of symbols

  1 control device, 2 converter circuit, 3 electrolytic capacitor, 4 inverter circuit, 5 DC brushless motor, 6 pulse generator, 7 current detector, 8 signal I / O circuit, 9 automatic door opening / closing mechanism, 10 control device internal micro Software control unit (CPU) by computer, 11 Overvoltage detection, 12 Power conversion command, 13 Current detector, 14 Door open / close signal, 15 Door open / close control command unit, 16 Feed forward voltage command unit, 17 Speed integration control unit, 18 Speed Proportional control unit, 19 Speed / position management free run counter, 20 Door open / close control command speed, 21 Actual speed, 22 Speed deviation, 23 Feed forward control unit voltage command, 24 Feedback control value, 25 Motor current, 26 Door open / close control operation Pinching pressure detection unit, 27 communication driver, 28 parts Con, 29 type selection signal of the door, 30 various data storage unit.

Claims (6)

An automatic door opening and closing control device for opening and closing a door by rotating a motor based on a door opening and closing control command speed,
An actual speed detecting means for detecting an actual speed of the motor;
Motor current detection means for detecting the motor current of the motor;
Speed deviation detecting means for obtaining a speed deviation which is a difference between the door opening / closing control command speed and the actual speed;
Speed proportional control means for speed proportional control of the speed deviation;
Speed integral control means for speed integral controlling the speed deviation;
A feedback control value detecting means for adding the output value from the speed proportional control means and the output value from the speed integral control means to obtain a feedback control value;
First clamping pressure detection means for determining clamping pressure detection when a first detection condition based on the motor current and the speed deviation is satisfied;
Second clamping pressure detecting means for determining clamping pressure detection when the second detection condition based on the speed deviation is satisfied;
Third clamping pressure detecting means for determining clamping pressure detection when a third detection condition based on the feedback control value is satisfied;
A time region for detecting pinching pressure at the time of opening and closing the door is divided into time region segments, and each time region segment includes a door opening acceleration region, a door opening high speed region, a door opening deceleration region, a door opening slow speed region, A door opening slow stop area, a door closing acceleration area, a door closing high speed area, a door closing deceleration area, a door closing slow speed area, a door closing slow stop area, and for each time area section, the first, An automatic door opening and closing control device comprising: a pressure setting unit that presets whether to detect the pressure by any one or a combination of the second and third pressure detection means. Waveform display means for displaying the door opening / closing control command speed, the actual speed, the speed deviation, the feedback control value, and the change in the motor current as waveforms in a section divided into the time domain sections. The automatic door opening and closing control device according to claim 1.   The automatic door opening / closing control device according to claim 1, further comprising a detection condition adjusting unit configured to adjust the detection condition for each time region section. Traveling resistance detecting means for detecting the traveling resistance of the door;
A running resistance difference calculation means for comparing the running resistance at the time of installation of the door and the detected running resistance and outputting the difference;
Closing control device for an automatic door according to any one of claims 1 to 3, characterized in that the difference further comprising a clamping pressure sensitivity setting means for performing setting change of the clamping pressure sensitivity value as a correction value. At least one of the number of times of door opening / closing, the number of times of opening high-speed pinching detection, the number of times of opening slow-speed pinching detection, the number of times of closing high-speed pinching detection, the number of times of closing slow-speed pinching detection, the number of malfunctioning motor pulses detection, and the number of malfunctioning currents. 5. The automatic door opening / closing control device according to claim 4 , further comprising various data storage means in which one is stored. 6. The automatic door opening / closing control device according to claim 5 , further comprising an adjusting means for reading the running resistance and adjusting the pinching sensitivity when the number of times of storage of the various data storage means reaches a certain number. .

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