JP5654770B2 - Automatic door drive control device - Google Patents

Description

  The present invention relates to an automatic door drive control device that performs drive control of a door body of an automatic door.

  2. Description of the Related Art Generally, an automatic door system that automatically opens and closes a door body by detecting the entry and exit of a person is built at an entrance of a building or the like. As such an automatic door drive control device, for example, in Patent Document 1 below, the door body acceleration curve is determined based on the maximum set weight of the door body, the maximum set speed, and the drive capability of the door driving motor. A configuration has been proposed. Further, for example, in Patent Document 2 below, the frequency command and the voltage command of the inverter power supply are stored independently, and the door body is driven by speed feedback control linked to the inverter power supply frequency in the slow speed operation period. Has been proposed.

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

  In the conventional automatic door drive control device as described above, drive control is performed with the same control gain in any speed range, so when the control gain is adjusted to be optimal in a specific speed range, Since the optimum control gain is not obtained outside of the speed range, there has been a problem that speed stability cannot be obtained or control responsiveness deteriorates.

  The present invention has been made in order to solve the above-described problems, and the object of the present invention is to provide an optimal control gain other than the speed range that is adjusted so that the control gain is optimized in a specific speed range. It is an object of the present invention to provide an automatic door drive control device that can eliminate the instability of speed caused by the failure to improve the response of control.

The automatic door drive control device according to the present invention uses an input voltage to a motor for opening and closing the door body of the automatic door, a speed command corresponding to a predetermined speed pattern of the door body, and a door body detected by the speed detection means. By controlling based on the detected opening / closing speed, a feedback speed control unit for controlling the opening / closing speed of the door body, and a gain change command to the feedback speed control unit according to the current position of the door body detected by the position detection means. A gain changing unit that inputs and changes the control gain of the opening / closing speed control , the gain changing unit determines a gain change time constant based on the current position of the door body, and controls according to the determined change time constant Increase or decrease the gain .

  According to the automatic door drive control device of the present invention, a gain change command is input from the gain change unit to the feedback speed control unit according to the current position of the door body detected by the position detection means, and the feedback speed control unit Since the control gain of the opening / closing speed control can be changed, even in the configuration in which the opening / closing speed of the door body is changed during the opening / closing operation, the opening / closing speed control can be performed using the optimum control gain in each speed range. As a result, it is possible to eliminate the instability of the speed due to the fact that the control gain adjusted so as to be optimal in a specific speed range does not become the optimal control gain outside the speed range, and to improve control responsiveness.

It is a block diagram which shows the automatic door drive control apparatus by Embodiment 1 of this invention. It is a block diagram which shows the opening-and-closing speed control of the feedforward speed control part and feedback speed control part of FIG. It is a block diagram which shows the structure of the gain change part of FIG. It is explanatory drawing which shows the specific example of the change operation of the control gain by the gain change part of FIG. It is explanatory drawing explaining the effect | action of a gain change near the opening / closing completion position of FIG.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.
Embodiment 1 FIG.
FIG. 1 is a block diagram showing an automatic door drive control apparatus according to Embodiment 1 of the present invention. In the figure, a speed control means 30 and a control command means 40 are connected to a motor 10 that opens and closes a door body of an automatic door via a power conversion circuit 20. These power conversion circuit 20, speed control means 30, and control command means 40 control the opening and closing of the door body by performing drive control of the motor 10 as will be described later.

  The motor 10 is connected to a rotation detector 50 that outputs a pulse signal corresponding to the rotation of the rotating shaft of the motor 10, that is, a pulse signal 50a corresponding to the moving distance of the door body (end of the door body). Yes. The pulse signal 50a from the rotation detector 50 is input to the speed conversion means 60 and the control command means 40 described above. The speed converting means 60 obtains the detected opening / closing speed 60a of the door body by performing signal processing (differential processing) of the pulse signal 50a. The detected opening / closing speed 60 a is input to the speed control means 30 and the control command means 40. As will be described in detail later, the pulse signal 50a and the detected opening / closing speed 60a are used for the operation of the speed control means 30 and the control command means 40. In the present embodiment, the rotation detector 50 and the speed conversion unit 60 constitute a speed detection unit.

  Furthermore, a current detector 70 that detects a current value of a motor current flowing through the motor 10 is provided between the motor 10 and the power conversion circuit 20. The detected current value 70 a detected by the current detector 70 is used for the operation of the control command means 40.

  Hereinafter, the above-described configuration will be described in more detail. First, the control command means 40 is provided with an end position detector 41, a current position detector 42, and a speed command generator 43.

  The end position detection unit 41 detects that the door body is located at the end position based on the detected opening / closing speed 60 a from the speed conversion means 60 and the detected current value 70 a from the current detector 70. Specifically, in the end position detection unit 41, when the detected opening / closing speed 60a is less than a predetermined reference speed and the detected current value 70a is equal to or greater than a predetermined threshold, the door body is positioned at the end position. Detect that. This is because when the door body opened / closed by the motor 10 is located at the end position, the opening / closing speed of the door body is physically set to 0, while the detected opening / closing speed 60a follows the speed command 43a described later. And a function of a speed control loop for supplying a larger current to the motor 10 is utilized. In addition, an end position is a door open end or a door closed end, and is an opening / closing completion position.

  The current position detection unit 42 detects and outputs the current position 42a of the door body based on the end position detection information 41a from the end position detection unit 41 and the pulse signal 50a from the rotation detector 50. . Specifically, the current position detection unit 42 detects a pulse from the rotation detector 50 corresponding to the movement distance of the door body after the end position detection unit 41 detects that the door body is located at the end position. The current position 42a of the door body is detected by counting the number of pulses of the signal 50a. That is, in the present embodiment, the current position 42a of the door body detected by the current position detection unit 42 is defined by the movement distance from the door open end or the door closed end of the door body. In the present embodiment, the end position detection unit 41, the current position detection unit 42, the rotation detector 50, and the speed conversion unit 60 constitute a position detection unit.

  The speed command creating unit 43 creates a speed command 43a corresponding to the speed pattern of the door body as shown in FIG. 4 to be described later, according to the current position 42a of the door body detected by the current position detecting unit 42. is there.

  The speed control means 30 is provided with a feedforward speed control unit 31, a feedback speed control unit 32, a gain changing unit 33, and an output limiting unit 34.

  The feedforward speed control unit 31 controls the input voltage 20a applied to the motor 10 from the power conversion circuit 20 by generating a feedforward voltage command 31a based on the speed command 43a from the speed command creation unit 43. It is. The feedback speed control unit 32 generates the feedback voltage command 32 a based on the speed command 43 a from the speed command creation unit 43 and the detected opening / closing speed 60 a from the speed conversion means 60, thereby obtaining the input voltage 20 a to the motor 10. It is something to control. The motor 10 is driven by the input voltage 20a from the power conversion circuit 20, thereby opening and closing the door body at an opening / closing speed corresponding to the above-described speed pattern. That is, the feedforward speed control unit 31 and the feedback speed control unit 32 control the opening / closing speed of the door body by controlling the input voltage 20a.

  As will be described in detail later, the gain changing unit 33 inputs a gain changing command 33a to the feedback speed control unit 32 in accordance with the current position 42a of the door body from the current position detecting unit 42, and the feedback speed control unit 32 The control gain of the opening / closing speed control is changed.

  The output limiting unit 34 limits the size of the voltage command 30a in which the feedforward voltage command 31a and the feedback voltage command 32a are added to each other. That is, the output limiter 34 monitors whether or not the voltage command 30a is equal to or greater than a predetermined limit value. If the voltage command 30a is less than the limit value, the output limit unit 34 outputs the voltage command 30a as it is. If 30a is equal to or greater than the limit value, a signal indicating the limit value is output as the voltage command 30a.

  The power conversion circuit 20 includes a converter and an inverter. The power conversion circuit 20 converts an external AC voltage into a DC voltage, and modulates the DC voltage based on a voltage command 30a from the speed control means 30. Is. The power conversion circuit 20 inputs this pulse width modulated DC voltage to the motor 10 as the input voltage 20a.

  Next, FIG. 2 is a block diagram showing the opening / closing speed control of the feedforward speed control unit 31 and the feedback speed control unit 32 of FIG. First, as shown in the figure, the feedforward speed control unit 31 generates a feedforward voltage command 31a by multiplying the speed command 43a from the speed command creation unit 43 by a feedforward control gain 310.

  On the other hand, the feedback speed control unit 32 performs an integral control process 321 and a proportional control process based on a speed deviation 320 that is a difference between the speed command 43 a from the speed command creation unit 43 and the detected opening / closing speed 60 a from the speed conversion means 60. 322 is performed to generate a feedback voltage command 32a. In the integral control process 321, the speed deviation 320 is multiplied by the integral gain 323, and the differential value 326 of the speed integral term 325 previously calculated is added to the multiplied value 324 to calculate a new speed integral term 327. The In the proportional control process 322, the speed deviation 320 is added to the new speed integral term 327 calculated in the integral control process 321, and this added value 328 is multiplied by the proportional gain 329. A value obtained by multiplying the added value 328 by the proportional gain 329 is a feedback voltage command 32a.

  Next, FIG. 3 is a block diagram showing a configuration of the gain changing unit 33 of FIG. In the figure, the gain changing unit 33 is provided with a change time constant determining unit 330, a gain change command generating unit 331, and a target value determining unit 332.

  The change time constant determination unit 330 determines whether it is necessary to change the control gain of the opening / closing speed control by the feedback speed control unit 32, that is, the integral gain 323 and the proportional gain 329, from the current position detection unit 42. Determine based on 42a. Specifically, when the change time constant determination unit 330 detects that the door body has passed a position at which the opening / closing speed of the door body is switched according to a predetermined speed pattern, based on the current position 42a, each of the gains 323, It is determined that the change of 329 is necessary.

  In addition, when the change time constant determination unit 330 determines that the gains 323 and 329 need to be changed, the change time constant determination unit 330 determines the change time constants of the gains 323 and 329 based on the current position 42a of the door body determined to be necessary. To do. The change time constant corresponds to the change rate per unit time of each of the gains 323 and 329. When the change time constant determination unit 330 determines the change time constant of each of the gains 323 and 329, the change time constant determination unit 330 outputs an increase / decrease value 330a according to the change time constant.

  The gain change command generation unit 331 includes a closed loop and an addition unit illustrated in FIG. 3, and generates a gain change command 33a indicating the changed gains 323 and 329 by repeatedly adding the increase / decrease value 330a. Is. That is, in the configuration of the present embodiment, the control gains 323 and 329 are gradually increased or decreased according to the change time constant determined by the change time constant determination unit 330. With this configuration, it is possible to avoid sudden switching of the control gains 323 and 329, and to prevent the opening / closing speed control from becoming unstable.

  The target value determination unit 332 determines the target value after the change of the control gains 323 and 329 based on the current position 42 a of the door body from the current position detection unit 42. Further, the target value determination unit 332 monitors whether or not the values of the control gains 323 and 329 indicated by the gain change command 33a reach the target value, and when the values of the control gains 323 and 329 are less than the target value. Outputs the gain change command 33a of the value as it is, and outputs the gain change command 33a of the target value when the values of the gains 323 and 329 reach the target value. That is, the target value determination unit 332 limits the value indicated by the gain change command 33a to the target value. Note that the change time constant and the target value can be different values for the integral gain 323 and the proportional gain 329.

  Next, FIG. 4 is an explanatory diagram showing a specific example of the control gain changing operation by the gain changing unit 33 in FIG. 3. The upper row shows the change in the opening / closing speed of the door body with the change in the position of the door body. Fig. 6 shows a change in control gain accompanying a change in the position of the door body. As shown in the upper part of the figure, in the present embodiment, the door body is opened and closed at a high speed (first speed) from the opening / closing start position to the first change position, and from the first change position to the second change position. It opens and closes at a low speed (second speed), and opens and closes at a very low speed (third speed) from the first change position to the opening and closing position. The speed command generator 43 in FIG. 1 outputs a speed command 43a (a high speed command, a low speed command, and a very low speed command) according to this speed pattern.

  The change time constant determination unit 330 in FIG. 3 needs to change the control gains 323 and 329 when detecting that the door body has passed the first change position based on the current position 42a from the current position detection unit 42. And a change time constant of the control gains 323 and 329 corresponding to the first change position is determined. Further, when the target value determination unit 332 detects that the door body has passed the first change position based on the current position 42a from the current position detection unit 42, each of the gains 323 corresponding to the first change position is detected. The target value after the change of 329 is determined. As shown in the lower part of the figure, the control gains 323 and 329 are changed to a predetermined gain value with a slope according to the change time constant determined by the change time constant determination unit 330. In this embodiment, the low speed gain from the first change position to the opening / closing completion position is set higher than the high speed gain from the opening / closing start position to the first change position.

  The gain change command generation unit 331 generates a gain change command 33a for gradually increasing the gains 323 and 329 to the target value with the change time constant determined by the change time constant determination unit 330. The feedback speed control unit 32 changes the values of the control gains 323 and 329 to the values indicated by the gain change command 33a from the gain change unit 33 to perform the opening / closing speed control. The speed resulting from the fact that the control gain adjusted so as to be optimal in a specific speed range does not become the optimal control gain outside the speed range by performing the switching speed control by changing the control gain in this way. Instability can be eliminated and control responsiveness can be improved.

  Next, FIG. 5 is an explanatory diagram for explaining the effect of the gain change in the vicinity of the opening / closing completion position in FIG. 4, and shows the change in the opening / closing speed of the door body in the vicinity of the opening / closing completion position, and FIG. The change of the detected current value 70a detected by the current detector 70 is shown. As shown in the upper part of the figure, when the door body is opened and closed to the open / close completion position (end position), the detection opening / closing speed 60a is substantially zero. At this time, since the speed command 43a maintains a constant value as indicated by a broken line in the figure, the detected current value 70a is increased as shown in the lower part of the figure.

In the end position detection unit 41 of FIG. 1, when the detected opening / closing speed 60a is less than a predetermined reference speed and the detected current value 70a is equal to or greater than a predetermined threshold value 41b, the door body is located at the opening / closing completion position. Detect that. At this time, as shown in the lower part in the figure, the detected current value 70a ₁ when the high value of the control gain 323, 329 are detected current value 70a ₂ during lower value of the control gain 323, 329 indicated by a broken line in the figure It is sharply increased compared to That is, as shown in FIG. 4, the door body is positioned at the opening / closing completion position by increasing the control gains 323 and 329 at the opening / closing completion position compared to the control gains 323 and 329 at the opening / closing start position. It is possible to shorten the time required to detect the presence and improve the detection accuracy of the detection.

  In such an automatic door drive control device, feedback from the gain changing unit 33 is performed according to the position of the door body detected by the end position detecting unit 41, the current position detecting unit 42, the rotation detector 50, and the speed converting means 60. Since the gain change command 33a is input to the speed control unit 32 and the control gains 323 and 329 of the open / close speed control of the feedback speed control unit 32 are changed, even in the configuration in which the open / close speed of the door body is changed during the open / close operation. The opening / closing speed control can be performed using the optimum control gains 323 and 329 in each speed range. As a result, it is possible to eliminate the instability of the speed due to the fact that the control gain adjusted so as to be optimal in a specific speed range does not become the optimal control gain outside the speed range, and to improve control responsiveness.

  Further, the target value determination unit 332 increases the control gains 323 and 329 at the door body opening / closing completion position as compared with the control gains 323 and 329 at the door body opening / closing start position. It is possible to shorten the time required to detect that the sensor is located at the position, and to improve the detection accuracy of the detection.

  In the embodiment, the control gains 323 and 329 of the opening / closing speed control have been described so as to be changed from the high speed gain to the low speed gain when the door body passes the first change position. The control gain may be changed over a plurality of stages during one opening and closing of the door body.

  10 motor, 20a input voltage, 32 feedback speed control unit, 33 gain change unit, 33a gain change command, 42a current position, 43a speed command, 60a detection opening / closing speed, 323 integral gain (control gain), 329 proportional gain (control gain) ), 330 Change time constant determination unit, 331 Gain change command generation unit, 332 Target value determination unit

Claims (2)

The input voltage to the motor for opening and closing the door body of the automatic door is controlled based on the speed command corresponding to the predetermined speed pattern of the door body and the detected opening and closing speed of the door body detected by the speed detecting means. A feedback speed control unit for controlling the opening and closing speed of the door body,
A gain change unit that inputs a gain change command to the feedback speed control unit according to the current position of the door body detected by the position detection unit, and changes the control gain of the opening / closing speed control ;
The gain changing unit determines a gain change time constant based on a current position of the door body, and increases or decreases the control gain according to the determined change time constant .   The gain changing unit includes a target value determining unit that increases the control gain at the opening / closing completion position of the door body as compared with the control gain at the opening / closing start position of the door body. The automatic door drive control device according to 1.

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