JP5493313B2 - Electric drive door control device for railway vehicles - Google Patents

Description

The present invention relates to a control device for an electrically driven door for a railway vehicle driven by an electric motor.

For example, among the equipment installed in railway vehicles, the electric motors that propel railway vehicles and the inverters that drive them have a problem with some of the electric motors and inverters when multiple units are installed. However, it has so-called redundancy that can continue operation.
On the other hand, the side sliding doors for boarding and exiting railway vehicles have 4 openings on one side of a common commuter train and 40 openings on only one side of a 10-car train, but there is a problem even with one side sliding door during commuting hours. If this occurs, it may cause a serious transportation failure. In other words, it is a vulnerable system with a large number but no redundancy.

Conventionally, doors driven by compressed air have been the mainstream as doors for railway vehicles, but the so-called door pinching detection function and door pinching detection that detect the presence of passengers' bodies and belongings when opening and closing the doors. From the viewpoint of enabling an erroneous safe operation flexibly, an electrically driven door to which electronic control is applied is becoming widespread (for example, see Patent Document 1).
Such a control device for an electrically driven door has, for example, a system configuration shown in FIG. That is, the thrust command generator 11 outputs a target thrust command τc to the electric drive system 12 in response to the door opening / closing operation command c, and the electric drive system 12 generates a thrust f for opening and closing the door. The door drive mechanism 13 is driven by f to control opening and closing of the electrically driven door. The position and speed of the electrically driven door at this time are detected by the position / speed detector 14, and the position information p and door opening / closing speed information v detected by the position / speed detector 14 are supplied to the thrust command generator 11. The thrust command τc is calculated according to the position information p and the door opening / closing speed information v.

When lubrication of sliding parts such as door rails decreases or foreign matter is caught in the electrically driven door, the mechanical drag fm due to friction against the door drive mechanism and the external force fd due to the resistance force of the foreign matter act and the electrically driven door Hinders driving.
JP 2004-242499 A

However, in the conventional example described in Patent Document 1, the door drive mechanism 13 is a part that rolls or slides together with a mechanism that transmits the driving force of the electric motor to the electrically driven door and a door leaf that opens and closes. Have For this reason, it is necessary to maintain lubrication of the sliding portion, and periodic maintenance work such as grease supply is required.
In addition, it is difficult to distinguish between an increase in mechanical drag due to obstacles in the mechanism for sliding the door panel when the door is opened and closed, or a decrease in lubrication, and a reaction force due to door pinching. There is a case where it is detected that the door is pinched and the door is closed poorly. On the other hand, if the detection sensitivity is lowered, there is an unsolved problem that a problem such as not detecting the door pinching occurs even if the door pinching actually occurs.
Accordingly, the present invention, the prior art has been made in view of the unsolved problems of electrically driven control system for electrically driven doors for railway vehicles which can determine accurately the operation state change of the door The purpose is to provide.

In order to achieve the above object, an electric drive door control apparatus for a railway vehicle according to claim 1 is an electric drive door control apparatus for a railway vehicle that is opened and closed by an electric motor. A driving force command value generator for outputting the driving force command value, a door driving mechanism for driving the electric drive door based on the driving force command value of the driving force command value generator, and a machine for the door driving mechanism A state observer that estimates the dynamic drag, and an operational state determination unit that determines a change in the operational state of the door drive mechanism based on the mechanical drag estimated by the state observer, the operational state determination unit includes: It is characterized in that an operating state change is determined for each door position when the electrically driven door is moved .

According to a second aspect of the present invention, there is provided the control device for an electrically driven door for a railway vehicle. In the invention according to the first aspect, the operation state determination unit is configured such that the mechanical drag estimated by the state observer exceeds a determination threshold value. The door drive mechanism is sometimes judged to have deteriorated in the operation state.
Furthermore, the control device of the electrically driven door for a railway vehicle according to claim 3 is the invention according to claim 2, wherein the determination threshold value is a predetermined ratio to the average value of mechanical drag estimated by the state observer It is characterized in that it is calculated by multiplying.

Furthermore, the control device for a railway vehicle electric drive door according to claim 4 is the invention according to claim 2, wherein the determination threshold value, the in the period in which normal operation of the electrically driven door is guaranteed It is characterized in that it is calculated by multiplying the average value of the mechanical drag estimated by the state observer by a predetermined ratio.
Still further, in the control device for an electrically driven door according to a fifth aspect, in the invention according to any one of the first to fourth aspects, the operation state determination unit stores a door position in which the operation state has changed. It has the part.

According to a sixth aspect of the present invention, there is provided a control device for an electrically driven door for a railway vehicle according to any one of the second to fifth aspects, wherein the operation state determining unit is configured to move the electrically driven door during movement. The determination threshold value is set for each door position.
According to a seventh aspect of the present invention, there is provided a control device for an electrically driven door for a railway vehicle. In the invention according to the third or fourth aspect, the average value of the mechanical drag estimated by the state observer is used to move the electrically driven door. It is calculated for each door position at the time.

According to the present invention, the mechanical drag against the door drive mechanism that drives the electrically driven door for a rail vehicle is estimated by the state observer, and the operation state of the door drive mechanism is determined by the operation state determination unit based on the estimated mechanical drag. Since the change is determined, there is an effect that it is possible to reliably determine the possibility that the sliding part or the rolling part is insufficiently lubricated or that the obstacle due to the obstacle occurs in the moving path of the electrically driven door. Therefore, when the determination result is a deterioration of the operating state, maintenance inspection can be performed to remove insufficient lubrication and obstructions, and to perform efficient maintenance operation of the electrically driven door.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
Figure 1 is a first block diagram showing a schematic configuration of a control apparatus for an electrically driven door according to the embodiment, FIG. 2 is a block diagram showing a specific configuration of the control device of FIG. 1 of the present invention.
In FIG. 1, the body of a railway vehicle is provided with an electrically driven door 1 that constitutes a side sliding door closing device that passengers use for getting on and off. The door portions 1a and 1b of the electrically driven door 1 are provided. A door rubber 2 is attached to the end of the closing side. Further, the railway vehicle includes a door operator 3 and an electric drive door 1 configured by an electric motor that drives the electric drive door 1 and a door drive mechanism 13 that converts or transmits the driving force of the electric motor into a linear motion of opening and closing the door. The position and speed of the door drive mechanism 13 constituted by the connecting portion 4 that connects the door operator 3 and the electrically driven door 1 are detected, and position information p and door opening / closing speed information v corresponding to these are output. A position / speed detector 14 is provided.
The door drive mechanism 13 is driven by an electric drive system 12 including a power converter such as an inverter built in the control device 10 and an electric motor to drive the electric drive door 1 to open and close.

As shown in FIG. 2, the control device 10 receives an opening / closing operation command c instructing an opening / closing operation of a door, which is input from a door closing control device (not shown), and is output from the position / speed detector 14. A thrust command generator 11 is provided as a driving force command value generator to which door position information p and door opening / closing speed information v are input. In the thrust command generator 11, when a door opening / closing operation command c is input, a predetermined calculation is performed based on the door position information p and the door opening / closing speed information v, or referring to a control map. The target thrust command τc is calculated, and the calculated target thrust command τc is output.
The target thrust command τc output from the thrust command generator 11 is output to an electric drive system 12 including an inverter and an electric motor, and the electric drive system 12 opens and closes the door based on the target thrust command τc. The door operator 3 is driven via the door drive mechanism 13.

  Further, the target thrust command value τc output from the thrust command generator 11 is supplied to one input side of the state observer 15. The other input side of the state observer 15 is supplied with door opening / closing speed information v detected by the position / speed detector 14. In this state observer 15, the mechanical drag fm such as friction of the electrically driven door 1 against the door drive mechanism 13 and the door based on the target thrust command τc output from the thrust command generator 11 and the door opening / closing speed information v. A mechanical drag estimated value fe that is the sum of the external force fd caused by the disturbance applied to the electrically driven door 1 during pinching is estimated.

The mechanical drag estimated value fe estimated by the state observer 15 is supplied to the memory 16 and is also supplied to the operation state change determination unit 17. The memory 16 receives the position information p detected by the position / velocity detector 14 and combines the position information p and history information such as the number of recordings with the mechanical drag estimated value fe to perform various arithmetic averages and the like. After data processing using a mathematical method, the average value fem of the mechanical drag estimated value fe of the state observer 15 for each position of the electrically driven door 1 is stored. At this time, the door 16 is opened and closed in a state where the lubrication of the electric drive door 1 is normal and no obstacle is caught, that is, the mechanical drag fd due to the disturbance is zero, and the average value fem is stored in the memory 16. By doing so, it is possible to recognize only the mechanical drag fm due to the friction of the sliding portion in the normal state of the electrically driven door 1 excluding the mechanical drag fd due to disturbance such as a door pinching state. Then, the memory 16 reads the mechanical drag average value fem at the corresponding position based on the position information p input from the position / velocity detector 14, and outputs this to the operation state change determination unit 17 . Here, as a mathematical method of data processing executed in the memory 16, a method of obtaining an average value in a time domain during operation of the electrically driven door 1, or a mechanical drag at each position using the door position information p as a parameter. There is a method of obtaining the average value of. The timing for acquiring and updating data may be obtained when data is constantly collected or acquired during a preset period, for example, teaching mode.

In addition, the estimated mechanical drag value fe output from the state observer 15 and the average mechanical drag value fem output from the memory 16 are input to the operation state change determination unit 17. The operation state changing unit 17 is a threshold value obtained by multiplying the mechanical drag estimation average value fem input from the state observer 15 by the mechanical drag estimation average value fem by a ratio Ke that is greater than a predetermined value 1. It is determined whether or not fth (= Ke · fem) is exceeded, and when fe ≦ fth, it is determined that there is little deterioration in the operating state from the normal state. For example, a warning signal Arm with a logical value “0” When fe> fth, it is determined that the operating state has deteriorated, and a warning signal Arm with a logical value “1” is output. At this time, in the operation state change determination unit 17, the value (fe−fem) obtained by subtracting the mechanical drag estimated average value fem output from the memory 16 from the mechanical drag estimated value fe input from the state observer 15 is the door. When a predetermined threshold fth1 of a relatively large value for determining the pinching state is exceeded, it is determined that the door is pinching and the warning signal Arm is preferably maintained at the logical value “0”.
As the threshold value, a fixed value Fer that can be set in advance may be used instead of the threshold value fth.

Next, the operation of the first embodiment will be described.
First, when the railway vehicle is shipped from the factory, or during maintenance / inspection, lubrication at the sliding portion or rolling portion of the electric drive door 1 is normal, and an obstacle is caught in the movement path of the electric drive door 1. When the position information p detected by the position / velocity detector 14 at the time of repeated opening / closing is repeated a predetermined number of times in a state in which normal operation without any trouble can be guaranteed, the state detector 15 The mechanical drag estimated value fe is sequentially stored in the memory 16 in combination with the history count and the position information p. An arithmetic average process or a moving average process is performed on a predetermined number of mechanical drag estimation values fe for each stored position information p to calculate an average value fem for each position information p, and the calculated average value fem is used as the position information p At the same time, it is stored in the memory 16.

  In this way, by storing the average value fem of the estimated external force fe for each position information p detected by the state observer 15 in the normal operation state, the door drive mechanism 13 is mechanically caused by disturbance such as when the door is pinched. The estimated mechanical thrust value fe in a state where the drag force fd is not acting, that is, the average value fem of the estimated mechanical thrust value fe in the state where only the mechanical drag force fm due to friction or the like is acting on the door drive mechanism 13 is position information. Each p can be stored in the memory 16.

  For this reason, when the railway vehicle is actually stopped at the boarding / exiting station, and the door opening / closing operation command c is output to the thrust command generator 11 by the door closing control unit, the thrust command generator 11 and the position / speed detector 14 Based on the detected position information p and door opening / closing speed information b, a target thrust command τc for opening / closing the electrically driven door 1 in a desired speed pattern is calculated and supplied to the electric drive system 12. The system 12 generates a thrust f and drives the door drive mechanism 13 with this thrust f. The door drive mechanism 13 is a thrust obtained by reducing mechanical drag fm such as friction of sliding parts and rolling parts. Driven.

For this reason, when the door is not pinched, based on the thrust command τc output from the thrust command generator 11 by the state observer 15 and the door opening / closing speed information v detected by the position / speed detector 14. When the estimated mechanical drag value fe for the door drive mechanism 13 is estimated, the estimated mechanical drag value fe including only the mechanical drag fm due to the sliding portion or friction caused by the sliding portion is estimated.
Then, the estimated mechanical drag estimated value fe is supplied to the operation state change determination unit 17. At this time, when the lubrication of the rolling part and the sliding part is normal, the mechanical drag estimated value fe is the electric drive type stored in the memory 16 in a state in which the normal operation state is guaranteed as described above. The mechanical drag estimation average value fem for each position information p of the door 1 is not significantly different, the mechanical drag estimation value fe is equal to or less than the threshold fth, and it is determined that the deterioration of the operation state is small. A warning signal Arm is output. For this reason, it is possible to grasp the continuation state of the normal state by supplying the warning signal Arm to a predetermined display unit such as a lamp provided in the driver's seat or storing the warning signal Arm together with history information in a predetermined storage device. it can.

  However, when the sliding portion or rolling portion of the electric drive type door 1 is insufficiently lubricated, the frictional resistance increases, and the mechanical drag fm due to friction acting on the door drive mechanism 13 increases. become. Therefore, the estimated mechanical drag value fe estimated by the state observer 15 is also increased, and the estimated mechanical drag estimated value fe is input to the operating state change determiner 17.

  The estimated mechanical drag value fe input by the operation state change determination unit 17 is calculated by multiplying the estimated mechanical drag average value fem for each door position information p stored in the memory 16 by a predetermined ratio Ke. When the threshold value fth is exceeded, it is determined that the operating state change has deteriorated, and the warning signal Arm has the logical value “1”. By supplying this warning signal Arm to the display unit of the driver's seat or storing it in the storage device, it is possible to recognize that the operating state due to insufficient lubrication of the electrically driven door 1 has deteriorated. When the deterioration of the operating state is recognized, maintenance of the electrically driven door 1 is performed, and grease is supplied to the sliding part and the rolling part to ensure lubricity, thereby reducing the operating state. Can be recovered.

  Further, not only the increase in the mechanical drag fm due to insufficient lubrication at the sliding part and the rolling part, but an obstacle is caught in the moving path of the electrically driven door 1, and a mechanical drag fm smaller than the door clamped state is obtained. Even when it occurs, a warning signal Arm having a logical value “1” that notifies the deterioration of the operation state is output by the operation state change determination unit 17 in the same manner as described above. Also in this case, it is possible to return to a normal operation state by performing maintenance work in the same manner as described above and removing obstacles.

  When a part of the passenger's body is caught during the closing operation of the electric drive door 1 or when belongings are caught, a large mechanical drag fd acting as a disturbance acts on the door drive mechanism 13. Will do. For this reason, the mechanical drag estimated value fe estimated by the state observer 15 becomes a larger value than when the operating state deteriorates, and the mechanical state input from the memory 16 from the mechanical drag estimated value fe by the operating state determiner 17. When the value obtained by subtracting the estimated drag average value fem is larger than the door pinching determination threshold fth1, it is determined that the door is pinched and the warning signal Arm maintains the logical value “0”, and the operation state It is possible to prevent erroneous recognition as deterioration.

  As described above, according to the first embodiment, the state observer 15 estimates the mechanical drag accompanying the opening and closing of the electrically driven door 1, and estimates the mechanical drag estimated value fe and the normal mechanical drag estimated. By comparing the value fem with the threshold value fth obtained by multiplying the predetermined ratio Ke, it is possible to accurately detect the deterioration of the operating state of the electrically driven door 1 due to insufficient lubrication or the pinching of obstacles. It is possible to notify the necessity of maintenance work for lubrication, and to notify the occurrence of obstacles due to obstacles such as foreign matter being caught in the sliding part, and efficient maintenance of the electrically driven door 1 It can be effective for operation.

  At this time, the mechanical drag estimated average value fem is calculated for each door position during the operation of the electrically driven door 1 and is stored in the memory 16, so that an accurate change in the operating state is determined for each door position. Can do. Therefore, the door position p when the deterioration of the operation state is detected by the operation state change determination unit 17 is separately stored in the storage device, and the door position p stored in the storage device is read during maintenance work. Therefore, the malfunctioning part can be quickly identified.

Next, a second embodiment of the present invention will be described with reference to FIG.
In the second embodiment, a state quantity E of the electric drive system 12 such as voltage and current is used as an input to the state observer 15 in place of the thrust command τc applied to the electric drive system 12. The configuration is the same as that of the first embodiment described above, and the same reference numerals are given to corresponding parts to those in FIG. 2, and the detailed description thereof is omitted.
In the second embodiment, the external force estimated value fe calculated by the state observer 15 using the state quantity E such as voltage and current supplied to the electric motor of the electric drive system 12 is substantially the same as that of the first embodiment. It becomes the same value and can obtain the same operation effect as a 1st embodiment mentioned above.
In the first and second embodiments described above, the normal state mechanical drag estimation stored in the memory 16 from the mechanical drag estimated value fe estimated by the state observer 15 in the operation state change determination unit 17. Although the case where the threshold value obtained by multiplying the average value fem by the predetermined ratio Ke has been described, the present invention is not limited to this, and the threshold value may be set in advance for each door position.

  In the first and second embodiments, the mechanical drag estimated value fe output from the state observer 15 by opening and closing the electrically driven door 1 during maintenance work in which normality is guaranteed is stored in the memory 16. The case of storing and calculating the average value fem for each door position has been described. However, the present invention is not limited to this, and the long-term state observer 15 that can ignore the influence caused by the occurrence of the door pinching state. The average value fem may be calculated by performing an arithmetic average or a moving average of the mechanical drag estimated value fe estimated in (1).

In the first and second embodiments, the case where the mechanical drag estimated average value fem is calculated for each door position in the operating state of the electrically driven door 1 and stored in the memory 16 has been described. However, the present invention is not limited to this, and the overall mechanical drag estimated average value fem irrespective of the door position p may be calculated and stored in the memory 16.
Further, the state observer 15 is not limited to the configurations of the first and second embodiments, and may be any configuration that can accurately estimate the mechanical drag (fm + fd) acting on the door drive mechanism 13. Any state observer can be applied.

Moreover, in the said 1st and 2nd embodiment, although the case where this invention was applied to the electrically driven door 1 of a railway vehicle was demonstrated, it is not limited to this, It mounts in vehicles, such as a motor vehicle. The present invention can also be applied to an electrically driven door, and the present invention can be applied not only to a door having a side sliding door configuration but also to a door having another configuration.
Moreover, in the said 1st and 2nd embodiment, the case where this invention was applied to the electrically driven door comprised from the rotary electric motor and the door drive mechanism 13 which converts the rotational force into the linear motion of a door was demonstrated. However, the present invention is not limited to this, and the present invention can also be applied to the case where the door is directly driven by a linear motor that linearly moves.

It is a schematic block diagram at the time of applying this invention to the electrically driven door of a railway vehicle. It is a block diagram which shows the specific structure of the control apparatus of FIG. It is a block diagram which shows the specific structure of the control apparatus which shows the 2nd Embodiment of this invention. It is a block diagram which shows the control apparatus of the electrically driven door of a prior art example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Electric drive type door 2 ... Door rubber | gum 3 ... Door operator 10 ... Control apparatus 11 ... Thrust command generator 12 ... Electric drive system 13 ... Door drive mechanism 14 ... Position and speed detector 15 ... State observer 16 ... Memory 17 ... Operational state determination unit

Claims (7)

A control device for an electrically driven door for a railway vehicle that is driven to open and close by an electric motor,
A driving force command value generator for outputting a driving force command value of the electric drive type door; a door driving mechanism for driving the electric drive door based on the driving force command value of the driving force command value generator; A state observer that estimates a mechanical drag against the door drive mechanism, and an operation state determination unit that determines a change in the operation state of the door drive mechanism based on the mechanical drag estimated by the state observer;
The operation state determining unit, the electrically driven control system for electrically driven doors for railway vehicles, characterized in that determining the operating condition changes every door position during movement of the door. The operation state determination unit is configured to determine that the operation state of the door drive mechanism has deteriorated when a mechanical drag estimated by the state observer exceeds a determination threshold value. Item 2. A control device for an electrically driven door for a railway vehicle according to Item 1. The determination threshold value, the railway electrically driven vehicle door according to claim 2, characterized in that to calculate by multiplying the predetermined ratio to the average value of mechanical drag estimated by the state observer Control device. The determination threshold value, and characterized in that to calculate by multiplying the predetermined ratio to the average value of the electrically driven mechanical drag normal operation is estimated by the state observer in period is guaranteed door The control device for an electrically driven door for a railway vehicle according to claim 2. The railroad vehicle electric drive door control device according to any one of claims 1 to 4, wherein the operation state determination unit includes a storage unit that stores a door position in which the operation state has changed. 6. The electric drive type for railway vehicles according to claim 2, wherein the operation state determination unit sets the determination threshold value for each door position when the electric drive door is moved. 7. Door control device. The average value of the mechanical drag estimated by the state observer is calculated for each door position when the electric drive door is moved. 5. The electric drive door for a railway vehicle according to claim 3 or 4, Control device.

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