JP4661188B2 - Door opener - Google Patents

Description

  The present invention relates to a door opening and closing device that controls opening and closing of a vehicle door that is opened and closed by an electric motor in a train or the like.

  Conventionally, when a permanent magnet type synchronous motor is used for speed control when a door is opened and closed, the motor is often provided with a detector for detecting the magnetic pole position and a detector for detecting the speed. However, if the magnetic pole position cannot be detected correctly, or if the control at the correct magnetic pole position cannot be performed due to a wiring connection failure to the motor, even if the output of the speed detector is correct, the motor will run backward, that is, the door May run out of control.

In order to suppress such runaway, it has been proposed to shut off the power supply to the electric motor when a runaway state is detected as in Patent Document 1.
Moreover, in the conventional door opening and closing apparatus described in Patent Document 2, it has been proposed to short-circuit between the terminals of the electric motor in order to stop the movement of the door during a power failure.
Japanese Patent Laid-Open No. 10-290521 JP-A-10-1249474

However, in the above-mentioned Patent Document 1, when the reverse runaway of the door is detected, the power supply to the electric motor is stopped. Therefore, when applied to a door opening / closing device, the door collides with the end of the door running rail and the door-related equipment (Door equipment) may be damaged, or people or objects may be caught.
Moreover, when the brake is applied by short-circuiting between the terminals of the electric motor in order to stop the movement of the door at the time of an abnormality such as a power failure as in Patent Document 2, the door does not collide with the end of the door running rail. Stop. For this reason, it becomes difficult to move a door manually from a stop state on the way, and there is a problem that the passage of people and the proper operation of the door are hindered.

  The present invention has been made in view of such a problem, and when the door runs out of control, the door can be stopped without damaging the door device or sandwiching a person or an object. It is an object of the present invention to provide a door opening and closing device that enables the passage of a person and the proper operation of the door by enabling the movement of the door.

In order to achieve the above object, a door opening / closing device according to claim 1 of the present invention is a permanent magnet type synchronous motor that drives the door to open and close, and a speed command corresponding to the detected speed value of the motor and the door opening / closing command. Generating means for generating a voltage for power supply control using the voltage command value generated to eliminate the deviation from the value and position information detecting the magnetic pole position of the motor, and the voltage from the generating means In the door opening and closing device having power conversion means for supplying the corresponding electric power to the electric motor, the switch for short-circuiting the armature coil of the electric motor, and the speed detection value are set in advance with a polarity different from the speed command value. and when it exceeds the first set value is a velocity value, it stops the voltage application to the generating means, and control means for controlling so that the armature coils are short-circuited by the switch, Serial control unit, when the speed detection value becomes close to zero speed, and performs control to release the short circuit of the armature coil by the switch.

  According to this configuration, when the speed detection value has a polarity different from the speed command value and exceeds a preset first set value (the limit value at which the speed becomes abnormal), voltage application from the generation unit Stopping power supply from the power conversion means to the motor stops. In this state, power supply to the motor is stopped, but the motor is rotated by inertial force. However, since the armature coil of the electric motor is short-circuited in addition to the stop of the power supply, the electric motor is braked and stopped, thereby immediately stopping the door.

Moreover , since the short circuit of the armature coil of the electric motor is released when the door is substantially stopped, it is possible to easily move the door manually from the state where the door stops halfway.

According to a second aspect of the present invention, there is provided a door opening / closing device that eliminates a deviation between a permanent magnet type synchronous motor that drives the door to open and close, and a speed command value corresponding to the door opening / closing command. Generating means for generating a voltage for power supply control using the voltage command value generated for this purpose and the position information obtained by detecting the magnetic pole position of the electric motor, and electric power corresponding to the voltage from the generating means In the door opening and closing device having power conversion means for supplying to the power, when the speed detection value exceeds a first set value that is a preset speed value with a polarity different from the speed command value, the power Control means for controlling voltage application to the generating means in a state where the voltage supplied from the converting means to the electric motor becomes zero and the armature coil of the electric motor is short-circuited , and the control means includes the Speed test When the value is close to zero speed, and performs control to release the shorting state of the armature coil by the supply voltage zero to the motor from the power conversion means.

According to this configuration, when the speed detection value has a polarity different from the speed command value and exceeds a preset first set value (the limit value at which the speed becomes abnormal), voltage application from the generation unit By the control, the supply voltage from the power conversion means to the electric motor becomes zero, and the armature coil is short-circuited. Therefore, the electric motor is braked and stopped, and the door is immediately stopped.
Further, since the short-circuiting of the armature coil of the motor when the door is in a substantially stopped state is canceled, the door is able to move the door easily by human power from the state of being stopped on the way.

  As described above, according to the present invention, when the door runs out of control, the door can be stopped without damaging the door device or sandwiching a person or an object. Thereafter, the door can be easily moved manually. By doing so, there is an effect that it is possible to allow the passage of people and the proper operation of the door.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(First embodiment)
FIG. 1 is a block diagram showing a configuration of a door opening and closing device according to a first embodiment of the present invention.
A door opening and closing device 101 shown in FIG. 1 includes a permanent magnet type synchronous motor 2 for driving the door 1 to open and close, a transmission mechanism 3 for mechanically coupling the door 1 and the permanent magnet type synchronous motor (PM) 2, Magnetic pole position detector 4, speed detector 5, magnetic pole position calculator 6, position calculator 7, speed command calculator 8, speed calculator 9, speed adjuster 10, PWM (Pulse Width Modulation) ) A calculator 11, a power converter 12, a speed abnormality determiner (control means) 13, and a short-circuit switch (switch) 14.

The magnetic pole position detector 4, the speed detector 5, the magnetic pole position calculator 6, the position calculator 7, the speed command calculator 8, the speed calculator 9, the speed controller 10, and the PWM calculator. 11, generating means.
The magnetic pole position detector 4 detects the magnetic pole position of the permanent magnet type synchronous motor 2.
The speed detector 5 detects the speed of the permanent magnet type synchronous motor 2.
The magnetic pole position calculator 6 calculates the magnetic pole position using the output of the magnetic pole position detector 4.
The position calculator 7 calculates the position of the door 1 using the output of the magnetic pole position calculator 6.

The speed command calculator 8 calculates a speed command value from a door opening / closing command and an output of the position calculator 7 sent from a control device (not shown).
The speed calculator 9 calculates a speed detection value from the output of the speed detector 5.
The speed adjuster 10 calculates a voltage command value for eliminating a deviation between the speed command value output from the speed command calculator 8 and the speed detection value output from the speed calculator 9.
The PWM calculator 11 generates a pulse signal by PWM calculation using the voltage command value output from the speed controller 10 and the magnetic pole position information (position information) calculated by the magnetic pole position calculator 6.

The power converter 12 is configured by an inverter circuit in which a plurality of circuits in which a diode 12b is connected between the emitter and collector of the transistor 12a is combined, and the pulse signal that is the output of the PWM calculator 11 is applied to the base of the transistor 12a. Electric power is supplied to the permanent magnet type synchronous motor 2 in response to the supply.
The speed abnormality determination unit 13 determines a speed abnormality (reverse runaway) using the speed command value output from the speed command calculation unit 8 and the speed detection value output from the speed calculation unit 9, and short-circuits accordingly. The switch 14 is turned on / off.

  This is because the speed detection value and the speed command value are different in polarity and the speed detection value exceeds the first set value indicating that the speed of the permanent magnet synchronous motor 2 is abnormal. At this time, the PWM calculator 11 is controlled to stop voltage application from the PWM calculator 11 to the bases of all the transistors 12a of the power converter 12, and the shorting switch 14 is turned on.

  Further, when the absolute value of the speed detection value falls below the second set value close to the speed zero, it is determined that the speed abnormality state has been avoided, and at this time, the voltage application to the base is resumed. Control is performed, and the shorting switch 14 is further turned off. Further, a short-circuit flag is set when the short-circuit switch 14 is turned on, and is cleared when the switch 14 is turned off. Note that the first and second set values are set in advance.

The short-circuit switch 14 is turned on when the speed abnormality determining unit 13 determines that the speed is abnormal, short-circuits the armature coil of the permanent magnet type synchronous motor 2, and is turned off when it is determined that the speed abnormality is avoided. The armature coil short circuit is released.
The door opening and closing operation by the door opening and closing apparatus 101 having such a configuration will be described.
A speed command calculator 8 calculates a speed command value corresponding to the opening / closing command and the door position calculated by the position calculator 7 and outputs the calculated speed command value to the speed controller 10. The speed regulator 10 calculates the voltage command value so that there is no deviation between the speed command value and the speed detected value calculated by the speed calculator 9 based on the speed detected by the speed detector 5, and PWM. It is output to the calculator 11.

  In the PWM calculator 11, PWM calculation is performed using the voltage command value and the value indicating the magnetic pole position calculated by the magnetic pole position calculator 6, and power corresponding to the calculation result is supplied from the power converter 12. It is supplied to the permanent magnet type synchronous motor 2. By this supply, the permanent magnet type synchronous motor 2 is rotated, and this turning force is transmitted to the door 1 via the transmission mechanism 3, so that the door 1 is opened and closed.

  Here, for example, when the magnetic pole position detector 4 or the magnetic pole position calculator 6 has a problem and the magnetic pole position cannot be detected correctly, or there is a connection error between the power converter 12 and the permanent magnet type synchronous motor 2. Since the electric power supplied to the permanent magnet type synchronous motor 2 does not follow the voltage command value, proper speed control of the permanent magnet type synchronous motor 2 cannot be performed, and there is a possibility that the reverse runaway may occur. In this case, opening and closing of the door 1 is in a reverse operation or a runaway operation state.

The operation when the door 1 is safely stopped by the speed abnormality determination unit 13 when this reverse runaway occurs will be described with reference to the flowchart shown in FIG.
In step S1, it is determined whether or not the short circuit flag is cleared by the speed abnormality determination unit 13. If cleared, it is determined in step S2 whether or not the polarity of the speed detection value and the speed command value is the same. If they are different, it is determined in step S3 whether or not the speed detection value exceeds the first set value. That is, it is determined whether or not the permanent magnet type synchronous motor 2 is in the reverse runaway state.

  If exceeded, in step S4, the application of voltage from the PWM calculator 11 to the bases of all the transistors 12a of the power converter 12 is controlled to stop the permanent magnet type synchronous motor 2 from the power converter 12. The power supply to is stopped. Further, in step S5, the short circuit switch 14 is turned on, and in step S6, a short circuit flag is set. Since the armature coil of the permanent magnet type synchronous motor 2 is short-circuited when the short-circuit switch 14 is turned on, the motor 2 is braked and stopped. As a result, the door 1 stops.

  On the other hand, if the determination result in step S1 is that the short circuit flag is set, it is determined in step S7 whether or not the absolute value of the speed detection value has fallen below the second set value. If it falls below, the shorting switch 14 is turned off in step S8. Thereby, the short circuit state of the armature coil of the permanent magnet type synchronous motor 2 is released.

  As described above, according to the door opening and closing apparatus 101 of the first embodiment, the speed abnormality determination unit 13 has the first detection value (speed is abnormal) in which the speed detection value has a polarity different from the speed command value. Is exceeded, the voltage application from the PWM calculator 11 is stopped. Thereby, the power supply from the power converter 12 to the permanent magnet type synchronous motor 2 is stopped. In this state, power supply to the permanent magnet type synchronous motor 2 is stopped, but the motor 2 is rotated by inertial force. However, since the armature coil of the electric motor 2 is short-circuited in addition to the stop of the power supply, the electric motor 2 is braked and stopped, whereby the door 1 is immediately stopped.

Further, the speed abnormality determination unit 13 performs control to release the short circuit of the armature coil by the short-circuit switch 14 when the speed detection value falls below the second set value, that is, when the speed approaches zero. I made it. As a result, the short circuit of the armature coil of the electric motor 2 is released when the door 1 is substantially stopped. Therefore, the door can be easily moved manually from the state where the door 1 is stopped halfway.
Therefore, when the door 1 runs backward in reverse, the door 1 can be stopped without damaging the door device or putting a person or an object between them, and then the movement of the door 1 can be easily performed manually. Proper operation of traffic and doors can be made possible.

(Second Embodiment)
FIG. 3 is a block diagram showing a configuration of a door opening and closing device according to the second embodiment of the present invention.
The difference between the door opening / closing device 102 shown in FIG. 3 and the door opening / closing device 101 shown in FIG. 1 is that the short-circuit switch 14 is not provided and the functional operations of the speed abnormality determination devices 13 and 13-1 are different. is there.
The speed abnormality determination unit 13-1 determines a speed abnormality in the same manner as in the first embodiment by using the speed command value output from the speed command calculator 8 and the speed detection value output from the speed calculator 9. In this determination, the voltage output from the power converter 12 to the permanent magnet synchronous motor 2 is controlled to zero by controlling the voltage application from the PWM calculator 11 to the bases of all the transistors 12a of the power converter 12. It is intended to be

  The voltage zero output control to make this zero voltage is performed such that the voltage from the PWM calculator 11 is applied to the transistor 12a in one of the upper and lower rows of the power converter 12. Further, when the speed abnormality is avoided (when the voltage zero output control is canceled), the above-described normal voltage application is performed. However, the short circuit flag is set when the voltage zero output control is performed, and the short circuit flag is cleared when the voltage zero output control is canceled.

In the door opening and closing operation of the door opening and closing device 102 having such a configuration, when reverse runaway occurs, refer to the flowchart shown in FIG. 4 for the operation when the door 1 is safely stopped by the speed abnormality determination device 13-1. To explain.
In step S11, the speed abnormality determination unit 13 determines whether or not the short circuit flag is cleared. If cleared, it is determined in step S12 whether the speed detection value and the speed command value have the same polarity. If they are different, it is determined in step S13 whether or not the speed detection value has exceeded the first set value. That is, it is determined whether or not the permanent magnet type synchronous motor 2 is in the reverse runaway state.

  If exceeded, in step S14, the voltage from the PWM calculator 11 is controlled to be applied only to, for example, the bases of the transistors 12a in the lower row of the power converter 12, so that the power converter 12 sends a permanent magnet. The voltage output to the type synchronous motor 2 is zero (voltage zero output). In step S15, a short circuit flag is set.

  In the voltage zero output state of step S14, no voltage is applied to the bases of the upper row of transistors 12a of the power converter 12, so that only the diodes 12b are connected and the current flowing through the diodes 12b is It will be in the state which does not flow to the permanent magnet type | mold synchronous motor 2, ie, the state which is not concerned with the said motor 2. FIG. At this time, since a voltage is applied to the bases of the lower row of transistors 12a, the pair of the transistors 12a and the diodes 12b is in one conductive line state, and the armature coil of the permanent magnet type synchronous motor 2 is connected. It will be in the state to short-circuit. As a result, the electric motor 2 is braked and stopped, so that the door 1 stops.

  On the other hand, if the determination result of step S11 is that the short circuit flag is set, it is determined in step S16 whether or not the absolute value of the speed detection value has fallen below the second set value. If it falls below, in step S17, the zero voltage output is released, and thereby the short-circuit state of the armature coil of the permanent magnet type synchronous motor 2 is released. In step S18, the short circuit flag is cleared.

  As described above, according to the door opening and closing device 102 of the second embodiment, the speed abnormality determination unit 13-1 has a speed detection value having a polarity different from the speed command value and exceeding a preset first setting value. In this case, the supply voltage from the power converter 12 to the electric motor 2 becomes zero by the voltage application control from the PWM calculator 11, and the armature coil is short-circuited. As a result, the electric motor 2 is braked and stopped, and the door 1 is immediately stopped.

  Further, the speed abnormality determination unit 13-1 is configured to detect an armature with zero supply voltage from the power converter 12 to the motor 2 when the speed detection value falls below the second set value, that is, when the speed approaches zero. Control to cancel the short-circuit state of the coil was performed. Thereby, when the door 1 is substantially stopped, the short circuit of the armature coil of the electric motor 2 is released, so that the door 1 can be easily moved manually from the state where the door 1 is stopped halfway.

It is a block diagram which shows the structure of the door opening / closing apparatus which concerns on the 1st Embodiment of this invention. It is a flowchart for demonstrating the safe stop operation | movement of the door by the door opening / closing apparatus which concerns on 1st Embodiment. It is a block diagram which shows the structure of the door opening / closing apparatus which concerns on the 2nd Embodiment of this invention. It is a flowchart for demonstrating the safe stop operation | movement of the door by the door opening and closing apparatus which concerns on 2nd Embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Door 2 Permanent magnet type synchronous motor 3 Transmission mechanism 4 Magnetic pole position detector 5 Speed detector 6 Magnetic pole position calculator 7 Position calculator 8 Speed command calculator 9 Speed calculator 10 Speed regulator 11 PWM calculator 12 Power converter 13, 13-1 Speed abnormality detector 14 Short-circuit switch

Claims (2)

A permanent magnet type synchronous motor that drives the door to open and close, a voltage command value that is generated to eliminate a deviation between the speed detection value of the motor and a speed command value corresponding to the door opening / closing command, and a magnetic pole of the motor In a door opening and closing device having a generating means for generating a voltage for power supply control using position information where the position is detected, and a power converting means for supplying power corresponding to the voltage from the generating means to the electric motor.
A switch for short-circuiting the armature coil of the motor;
When the speed detection value exceeds a first set value that is a preset speed value with a polarity different from that of the speed command value, the voltage application to the generating means is stopped, and the switch is used to Control means for controlling the armature coil to be short-circuited ,
The said control means performs the control which cancels | releases the short circuit of the armature coil by the said switch, when the said speed detection value becomes near speed zero . A permanent magnet type synchronous motor that drives the door to open and close, a voltage command value that is generated to eliminate a deviation between the speed detection value of the motor and a speed command value corresponding to the door opening / closing command, and a magnetic pole of the motor In a door opening and closing device having a generating means for generating a voltage for power supply control using position information where the position is detected, and a power converting means for supplying power corresponding to the voltage from the generating means to the electric motor.
When the speed detection value exceeds a first setting value which is a polarity value different from the speed command value and is a preset speed value, the voltage supplied from the power conversion means to the electric motor becomes zero. Control means for controlling voltage application to the generating means in a state where the armature coil of the motor is short-circuited,
Wherein, when said speed detection value becomes close to zero speed, you and performing control to release the shorting state of the armature coil by the supply voltage zero to the motor from the power conversion means door opening and closing device.

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