JP5297599B2 - Automatic door drive device - Google Patents

Description

  The present invention relates to an automatic door driving apparatus for driving an automatic door whose moving speed changes when an external force is applied.

An automatic door system that automatically opens and closes doors when people enter and exit a building has been built. As an automatic door opening / closing control method, an acceleration curve for accelerating a stopped door to increase the speed to a high speed is determined in consideration of the maximum set weight of the door, the maximum set speed, and the driving capability of the motor. It has been proposed to adjust the acceleration force of the motor in accordance with the deviation between the running speed and the acceleration curve (see, for example, Patent Document 1).
In addition, during the acceleration period, high-speed movement period, and braking period of the automatic door, the inverter power supply frequency is executed by V / f = constant open control and / or speed feedback control linked to the inverter power supply frequency, and the automatic door fine speed is set. During the period, it has been proposed to perform motor speed control by voltage control with a constant frequency while fixing the inverter power supply frequency within a predetermined range (see, for example, Patent Document 2).

Japanese Patent Application Laid-Open No. 9-100678 JP-A-9-215387

  However, in the conventional automatic door device that enables manual operation, when the door is moved manually, there is a possibility of colliding with the closed end or the open end depending on the moving force.

SUMMARY OF THE INVENTION An object of the present invention is to provide an automatic door driving device that drives a door by avoiding the collision of the door with the closed end or the open end even when the door is manually moved, or by reducing the impact of the collision. is there.
It is another object of the present invention to provide an automatic door driving device that suppresses the door from closing at a rapid speed or facilitates manual movement of the door.

The automatic door driving apparatus according to the present invention is an automatic door driving apparatus that drives an automatic door that can be manually opened and closed during a stop, and the movement speed of the automatic door is based on the current position and movement direction of the automatic door. When a restraining speed is created as an upper limit value that smoothly changes and the automatic door is moved manually, the actual moving speed of the automatic door is detected by speed feedback, and the detected moving speed exceeds the restraining speed. when, the suppression torque proportional to the deviation between the moving speed detected with the inhibition rate in addition to the automatic door, the inhibition rate is Ri Do a small value gets closer to the automatic door open end or closed end, The suppression speed created when the automatic door is moving from the open end toward the closed end is a minute value from the open end to a predetermined closing start position. There, and the current position of the automatic door is gradually larger value in accordance exceeding the closure start position.

  The effect of the automatic door driving device according to the present invention is that a suppression torque proportional to an amount exceeding the suppression speed created based on the current position and movement direction of the automatic door exceeds the actual movement speed of the automatic door. Since the restraining speed is small as the automatic door is applied to the automatic door and approaches the open end or the closed end, even if an external force is applied to the automatic door approaching the open end or the closed end, the restraining torque compensates the external force, The automatic door can be prevented from moving quickly. As a result, the automatic door is prevented from colliding with the closed end or the open end, or the impact is mitigated when it collides.

FIG. 1 is a block diagram of an automatic door driving apparatus according to an embodiment of the present invention.
In the automatic door driving apparatus according to the embodiment of the present invention, the signal from the detector 6 attached to the end of the rotating shaft of the motor 5 is a power conversion circuit 4 for driving the motor 5 that opens and closes the automatic door (not shown). To control.

The automatic door driving apparatus according to the embodiment of the present invention includes a current position creating unit 12 that creates a door current position of an automatic door from a feedback pulse from a detector 6, and a speed command that creates a speed command based on the door current position. A creation unit 11 is included.
In addition, the automatic door driving apparatus according to the embodiment of the present invention includes a pulse / speed converter 23 that converts a feedback pulse from the detector 6 into speed feedback, and a feedforward controller 21 that performs feedforward control on a speed command. The feedback control unit 22 that performs feedback control on the deviation between the speed command and the speed feedback, and the output limit control is performed on the sum of the output of the feedforward control unit 21 and the output of the feedback control unit 22 to output the speed control voltage command An output restriction control unit 24 is included.

  Further, the automatic door driving device according to the embodiment of the present invention includes a suppression speed generation unit 31 that generates a suppression speed from the door current position, and a suppression proportional control unit 32 that performs proportional control on the deviation between the speed feedback and the suppression speed. In addition, an induced voltage compensation unit 33 that performs induced voltage compensation for speed feedback, an adder 34 that adds the output of the suppression proportional control unit 32 and the output of the induced voltage compensation unit 33 to create a suppression control voltage command, and a speed control voltage command And an addition control unit 35 that outputs the motor voltage command.

  The power conversion circuit 4 converts electric power from a power source (not shown) based on the input motor voltage command and supplies the electric power to the motor 5 to drive the motor 5.

FIG. 2 is a graph showing the opening suppression speed and the closing suppression speed created by the suppression speed creation unit 31 of FIG. 1 according to the current door position.
Next, it will be described that the suppression speed creation unit 31 creates the suppression speed according to the current door position and the moving direction of the automatic door. The suppression speed includes an opening suppression speed when the automatic door moves from the closed end 203 toward the open end 204 and a closing suppression speed when the automatic door moves from the open end 204 toward the closed end 203.
The moving direction of the automatic door is obtained from speed feedback.
Then, when the automatic door is moving from the closed end side to the open end side, as shown in FIG. 2A, the opening suppression speed is created according to the door current position. The opening suppression speed is divided into three stages according to the distance from the opening end 204: an opening suppression high-speed area, an opening suppression deceleration area, and an opening suppression slow speed area.

  Further, when the automatic door is moving from the open end side to the closed end side, as shown in FIG. 2B, the closing suppression speed is created according to the current door position. This closing suppression speed is divided into five stages according to the distance from the closing end 203: a closing suppression fine speed region, a closing suppression acceleration region, a closing suppression high speed region, a closing suppression deceleration region, and a closing suppression slow speed region.

  Then, when the automatic door is moving from the closed end side to the open end side and from the open end side to the closed end side, when the speed feedback exceeding the opening suppression speed or the closing suppression speed is detected, the suppression torque is Is output.

  Further, when the automatic door is moving from the open end side to the closed end side, the closing suppression speed between the opening end 204 and the closing start position 211 is made minute, and thereafter, gradually closes to the closing suppression high speed by an arbitrary time constant. Enlarge.

Next, the operation of the automatic door driving apparatus according to the embodiment of the present invention will be described.
First, the current position creation unit 12 creates the door current position from the feedback pulse.
A speed command corresponding to the current position of the door is generated from a predetermined speed pattern by the speed command generating unit.
The suppression speed creation unit 31 creates a suppression speed according to the current door position.
Suppression speed is created according to the current position of the door, and when the automatic door moves from the closed end to the open end, it becomes a large value at a position away from the open end and gradually becomes a small value as it approaches the open end. Created.

The pulse / velocity conversion unit 23 converts the feedback pulse from the detector 6 into velocity feedback.
The suppression proportional control unit 32 creates a suppression voltage component proportional to the deviation between the suppression speed and the speed feedback.
The addition unit 34 adds the output of the induced voltage compensation unit 33 to the suppression voltage component and outputs a suppression control voltage command.
Since the suppression control voltage command is determined by the deviation between the suppression speed and the speed feedback, if the speed feedback exceeds the suppression speed, the suppression torque is applied smoothly, and the movement of the door is suppressed without a large impact. Can do.

When the automatic door is moving from the closed end 203 toward the open end 204, the opening suppression speed at a position away from the open end 204 has a large value, so that the automatic door can be moved at a high speed. Is possible.
As the automatic door approaches the opening end 204, the opening suppression speed decreases. Therefore, when the automatic door is moved near the opening end 204 toward the opening end 204 at a high speed, a large suppression torque is applied, and the automatic door collides with the opening end 204. Suppress.

  Further, when the automatic door is moving from the open end 204 toward the closed end 203, the suppression speed at the closing start position 211 is a minute value, and then gradually increases to the closing suppression high speed, so that the automatic door starts to move. Even if an external force is applied to it, it is prevented from closing suddenly.

  When the door is moved manually, it is possible to easily open and close the door manually by detecting the moving speed of the door by speed feedback and outputting the assist torque according to the environment of the door and the weight. Become. The assist torque at this time may be an arbitrarily set value, or may be calculated automatically by reading the load resistance from the torque when automatically opening and closing.

  The automatic door driving apparatus according to the embodiment of the present invention is a suppression proportional to the amount of speed exceeding the suppression speed created based on the current position and direction of movement of the automatic door when the actual movement speed of the automatic door exceeds. Torque is applied to the automatic door, and the suppression speed decreases as the automatic door approaches the open or closed end, so even if an external force is applied to the automatic door that approaches the open or closed end, the suppression torque compensates for the external force In addition, the automatic door can be prevented from moving quickly. As a result, it is avoided that the automatic door collides with the closed end or the open end, or when the collision occurs, the impact is reduced.

  Even if an external force is applied when the automatic door is moving from the open end side toward the closed end side, the closing suppression speed is very small between the open end and the closing start position. However, since the closing suppression speed gradually increases, a suppression torque that counteracts the external force is applied, and the automatic door is prevented from closing suddenly.

  Also, assists to reduce the external force when an external force is applied when the door is moving within the closing suppression speed or the opening suppression speed from the open end side to the closed end side or from the closed end side to the open end side, respectively. Since torque is applied, the load applied when the automatic door is moved manually is reduced.

It is a block diagram of the apparatus for automatic door drive concerning this invention. It is a graph which shows the control speed created by the control speed creation part of the automatic door drive device concerning this invention.

Explanation of symbols

  4 power conversion circuit, 5 motor, 6 detector, 11 speed command creation unit, 12 current position creation unit, 21 feedforward control unit, 22 feedback control unit, 23 pulse / speed conversion unit, 24 output limit control unit, 31 suppression Speed creation unit, 32 inhibition proportional control unit, 33 induced voltage compensation unit, 34, 35 addition unit, 203 closed end, 204 open end, 211 closing start position.

Claims (2)

In an automatic door drive device that drives an automatic door that can be manually opened and closed during a stop ,
Based on the current position and moving direction of the automatic door, a suppression speed is created as an upper limit value that smoothly changes the moving speed of the automatic door, and when the automatic door is moved manually, the automatic door is moved by speed feedback. When the actual movement speed is detected and the detected movement speed exceeds the suppression speed, a suppression torque proportional to the deviation between the suppression speed and the detected movement speed is applied to the automatic door,
The suppression rate, Ri Do a small value gets closer to the automatic door open end or closed end,
The suppression speed created when the automatic door is moving from the open end toward the closed end is a minute value from the open end to a predetermined closing start position, and the current position of the automatic door is An automatic door driving device characterized in that the value gradually increases as the closing start position is exceeded . 2. The automatic door control device according to claim 1 , wherein when an external force is applied when the automatic door is moving at a speed lower than the suppression speed, an assist torque in the same direction as the applied external force is applied to the automatic door. .

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