JP6042388B2 - Automatic door device - Google Patents

Description

  The present invention relates to an automatic door device, and more particularly to a controller that controls opening and closing of a door.

  The drive mechanism (drive unit) of the automatic door device is composed of a brushless motor and a speed reducer incorporating a Hall IC that detects the magnetic poles N and S of the motor rotor and generates a pulse proportional to the rotation amount of the motor.

  In automatic door devices, the pulse generated by the Hall IC built in the brushless motor is measured, and the door opening / closing speed, opening / closing deceleration point, stop point, etc. are detected and controlled (position / speed control). It is the composition which performs.

  For example, in order to control the position of the door, a learning opening / closing operation is performed, the number of pulses of the Hall IC is counted, and the door stroke is stored in the memory as a movable door stroke. Thereafter, based on the stored number of door stroke pulses, the number of pulses corresponding to the deceleration position and the stop position on the open side and the closed side calculated by the control calculation unit is calculated, and the calculated pulse number Based on this, the control calculation unit controls the motor speed control unit to drive and control the motor.

  In the automatic door device including the motor speed control unit, first, the control calculation unit transmits the door opening / closing speed command value and the motor current command value to the motor speed control unit. Next, when the motor speed control unit supplies a current corresponding to the motor specifications and the motor starts to rotate, the control calculation unit calculates the actual door speed and the opening / closing speed command value detected based on the number of pulses of the Hall IC. In comparison, a current command value corresponding to the speed difference (speed deviation) is transmitted to the motor speed control unit. Next, the motor speed control unit increases or decreases the motor torque, and controls the power supplied to the motor so that the motor rotates at the command speed from the control calculation unit, thereby opening and closing the door at a predetermined speed. It has become.

At this time, in order to perform motor torque control, the motor speed control unit compares the motor current detected by the motor current detection unit with the motor current command value transmitted from the control calculation unit, and controls to increase or decrease the motor current. A loop is formed.
As an automatic door apparatus which consists of the structure mentioned above, there exists invention of patent document 1, for example.

JP 2013-159990 A

  On the other hand, in the conventional automatic door, depending on the structure and size of the installation location, the size and number of doors, and the door opening and closing method etc. are different, corresponding to the driving ability required to open and close the door, Multiple types (plural types) of drive units such as a lightweight type and a heavy type are necessary. In particular, the speed reduction ratio 1 / G of the speed reduction part constituting the drive part is different due to the difference between the lightweight type and the weight type. In addition, the number of magnetic poles of the motor rotor differs depending on the motor manufacturer, motor type (inner row type, outer row type), etc., and the number of pulses per rotation of the rotor. S was different depending on the type of motor. For this reason, the moving distance per pulse of the door connected to the belt wound around the driving pulley attached to the output shaft of the driving unit is also different.

  On the other hand, the door opening / closing speed (mm / second) and door position (mm) when the door is opened / closed are detected by a controller calculation unit of a unit movement amount (door movement amount per pulse) L (mm / Position / velocity control.

  For this reason, in the conventional automatic door device, in order to realize position / speed control corresponding to the types of motors and speed reducers constituting the drive unit, the drive units (drives) corresponding to combinations of a plurality of motors and speed reducers For each part type), a dedicated controller having a corresponding motor control parameter value is provided, and the drive unit and the controller (dedicated controller) are paired.

  However, when designing and developing a dedicated controller for each type of drive unit, the burden required for development, including development costs, increases and the number of production lots for each model decreases, resulting in higher costs and the amount of inventory. And product management is also a heavy burden. In addition, the dedicated controller as well as the drive unit needs to be kept in stock for a predetermined period as a repair part, which further increases the burden.

  In addition, motor performance and motor torque characteristics (high torque / low rotation speed type, low torque / high rotation speed type, etc.) differ, so motor current and speed control gain also differ. In response to the above, the type (type) of the controller further increases, and there is a problem that the burden is further increased.

  The present invention has been made in view of these problems, and the object of the present invention is to reduce the types of controllers prepared for each type of drive unit, thereby reducing the burden required for development, product management, etc. It is to provide a technique that can be performed.

The automatic door mounting apparatus according to claim 1, which has been made to solve the above problems, includes a motor, a magnetic position sensor that generates a pulse signal proportional to the rotation amount of the motor, and rotation of the motor. A reduction gear that decelerates, and drives a belt mechanism that includes a toothed main driving pulley disposed on an output shaft of the reduction gear and a toothed belt suspended on a toothed driven pulley. a drive unit is a drive mechanism for opening and closing the attached that door,
Counting pulse signals from an inside / outside sensor arranged inside and outside the door for detecting an object and a magnetic position sensor arranged at the motor, and controlling the drive unit to supply electric power to the motor. A controller that controls opening and closing, and based on detection information from the inside and outside sensors, the controller is an automatic door device that controls opening and closing of the door,
The controller is
A pulse synthesizing unit for synthesizing and generating pulses output from a magnetic position sensor that is arranged in the motor and generates a pulse signal proportional to the rotation amount of the motor , and outputs the synthesized pulses; And
It has a memory for storing two or more specific motor control parameters that are detection information of the drive unit, and the pulse and position / velocity signals output from the pulse synthesis / counting unit are respectively input from the internal and external sensors. an open command signal of the door, the opening speed setpoint and closing speed setpoint and the deceleration start position set value of the door are respectively input of the speed command (speed command value) and the rotation direction command (rotational direction command value) And a control arithmetic unit that outputs a motor current command value that is one of motor control parameters for controlling the motor and the speed reducer ;
A position / speed signal output from the pulse synthesis / counting unit, a speed command (speed command value) and a rotation direction command (rotation direction command value) output from the control calculation unit are input, and the motor and the A motor speed control unit to which a motor current command value, which is one of motor control parameters for controlling the speed reducer, is input;
A motor current detector for detecting a motor current supplied to the motor;
Drive for selecting a motor control parameter corresponding to the drive unit for driving the door attached to the toothed belt from a plurality of motor control parameters stored in the memory provided in the control calculation unit Part selection means;
Consists of
Based on the motor control parameter selected by the driver selecting means, it reads the corresponding motor control parameters from the memory, closing speed and opening閉幅of the door in the control arithmetic unit based on the read-out motor control parameter calculates the door, it controls the power to be subjected supply to the motor based on the calculation result, and characterized in that so as to control the opening and closing of the door.

The automatic door mounting device of the present invention according to claim 2, which has been made to solve the above-mentioned problems, is the automatic door device according to claim 1, wherein the drive unit selecting means is a selection switch installed in the controller. It is characterized by consisting of.

The automatic door mounting device of the present invention according to claim 2, which has been made to solve the above-described problem, is the automatic door device according to claim 1, wherein the driving unit selection means detects a coil resistance of the motor. a motor resistance detecting means, is characterized in that it comprises a determination means for determining the type of the driving unit installed from the detected the coil resistance in the automatic door system.

According to the present invention, the control means corresponding to each of two or more types of drive mechanisms of different types is stored in the memory means, and the automatic selection mechanism is selected among the two or more types of drive mechanisms stored in the memory means. Identify the type of drive mechanism installed in the door device. Here, based on the selection value selected by the selection means, the control calculation means reads the corresponding control parameter from the memory means, and calculates the door opening / closing speed and the door opening / closing width based on the read control parameter. Then, based on the calculated opening / closing speed and opening / closing width of the door, the power supply to the motor is controlled and the opening / closing of the door is controlled, so that one controller can cope with a plurality of types of drive mechanisms. . Therefore, it is possible to reduce the types of controllers that have to be prepared for each type of drive mechanism, and to reduce the burden required for development, product management, and the like.
Other effects of the present invention will become apparent from the description of the entire specification.

It is a figure for demonstrating the whole structure of the automatic door apparatus of Embodiment 1 of this invention. It is an operation | movement flow for demonstrating selection operation of the control parameter in the control calculating part with which the automatic door apparatus of Embodiment 1 of this invention is provided. It is a figure which shows schematic structure of the drive part which can be used for the automatic door apparatus of Embodiment 1 of this invention. It is a figure for demonstrating the whole structure of the automatic door apparatus of Embodiment 2 of this invention. It is an operation | movement flow for demonstrating the detection operation of the drive part by the motor resistance detection means with which the automatic door apparatus of Embodiment 2 of this invention is provided, and the selection operation of the control parameter by a control calculating part.

  Embodiments to which the present invention is applied will be described below with reference to the drawings. However, in the following description, the same components are denoted by the same reference numerals, and repeated description is omitted.

<Embodiment 1>
FIG. 1 is a diagram for explaining the overall configuration of an automatic door device according to a first embodiment of the present invention. Hereinafter, the overall configuration of the automatic door device according to the first embodiment will be described with reference to FIG.
The automatic door device of Embodiment 1 includes a door 1, a drive unit 2 that is a drive mechanism for opening and closing the door 1, a controller (door controller) 3 that controls the drive unit 2, the inside of the door 1, and And an inside / outside sensor 14 that is a sensor that is arranged outside and detects a person or an object. The driving unit 2 includes a motor 4 and a magnetic position sensor (hereinafter referred to as “HIC”) 5 that generates a pulse signal (hereinafter abbreviated as a pulse) proportional to the rotation amount of the motor 4, It has a speed reducer 6 that decelerates rotation. A toothed main driving pulley (driving pulley) for driving is arranged on the output shaft of the speed reducer 6, and this driving pulley, the toothed driven pulley 7 and a toothed belt (teeth) wound around these are wound. Belt) 8 constitutes a belt mechanism. Further, the door 1 is attached to the toothed belt 8 via a well-known connector, and the driving force of the motor 4 is transmitted to the door 1 via the speed reducer 6, the driving pulley and the belt 8, and the door 1 is opened and closed. It is supposed to be.

  The motor 4 is a three-phase brushless motor (three-phase coil: U phase, V layer, W layer), and the magnetic position sensor 5 detects the magnetic poles N and S of the motor rotor of the motor 4 and is proportional to the amount of rotation of the motor. Hall IC that generates the above-described pulse (however, when the motor coil has three phases, three are required for excitation switching). In the first embodiment, three Hall ICs are built in the motor 4. The motor 4 is not limited to a three-phase brushless motor, and the magnetic position sensor 5 is not limited to a Hall IC.

The controller 3 includes a pulse synthesis / counting unit 9, a control calculation unit (control calculation unit) 10, a speed control unit (motor speed control unit) 11, a motor current detection unit 12, and a drive unit selection unit (selection). and a means) 13. Here, in the automatic door device according to the first embodiment, the drive unit selection unit 13 is composed of a dip switch that is a well-known switch element disposed in the controller 3. Further, the pulse synthesis / counting unit 9 excluding the drive unit selection means 13, the control calculation unit 10, the speed control unit (motor speed control unit) 11, and the motor current detection unit 12 are well-known microcomputers mounted on the controller 3 ( Although it is a functional block realized by a program operating on a microcomputer, a configuration realized by a dedicated control circuit configured using a circuit element or the like may be used. The drive unit selection means 13 is not limited to a dip switch, and may be configured using other switch elements or a remote controller.

  The pulse synthesizing / counting unit 9 constituting the controller 3 is a well-known pulse synthesizing unit (not shown) for generating a pulse (pulse signal) obtained by synthesizing three pulses by receiving pulses output from the three Hall ICs. The synthesized pulse is output to the control calculation unit 10. The pulse synthesis / counting unit 9 includes a known rotation direction detection unit (not shown) that detects the rotation direction of the motor 4 based on the respective pulses from the three Hall ICs, and synthesizes information on the detected rotation direction. It outputs to the control calculating part 10 with the performed pulse.

  The speed control unit 11 receives a position / speed signal from the pulse synthesis / counting unit 9, a speed command (speed command value) and a rotation direction command (rotation direction command value) from the control calculation unit 10, and A motor current command (motor current command value), which is one of the control parameters, is input. Based on these input values, the speed control unit 11 supplies a drive current to the motor 4, and controls the motor 4 to rotate at an arbitrary speed in the forward and reverse directions. At this time, as will be described in detail later, the speed controller 11 of the first embodiment is configured to supply the motor 4 with a drive current that does not exceed the current value commanded by the motor current command value. Further, the speed control unit 11 of the first embodiment compares the motor current detected by the motor current detection unit 12 with the motor current command value transmitted from the control calculation unit 10 to form a control loop that increases or decreases the motor current. doing. The speed control unit 11 according to the first embodiment is the same as the known speed control unit 11 except for the configuration that supplies the motor 4 with a drive current that does not exceed the current value commanded by the motor current command value. Therefore, detailed description is omitted.

  The control calculation unit 10 includes a signal (open command) from the inside / outside sensor 14, each set value of the opening speed (opening speed) and closing speed (closing speed) of the door 1, and a deceleration start point (deceleration start position), and a pulse. A pulse and a position / velocity signal from the synthesis / counting unit 9 are respectively input. Note that the opening speed, the closing speed, the deceleration start position, and the like input to the control calculation unit 10 can be set to arbitrary values using a volume or a remote controller built in the controller.

  In addition, the control calculation unit 10 is configured to output a speed command, a rotation direction command, and a motor current command to the speed control unit 11 and to control the supply of drive current from the speed control unit 11 to the motor 4. Furthermore, in the automatic door device of the present invention, the nonvolatile memory (memory means) 15 included in the microcomputer is configured to store setting information corresponding to two or more types (types) of the drive units 2. . The setting information stored in the memory 15 is a control parameter (motor control parameter) unique to the drive unit 2 including the motor 4, for example, a control parameter unique to the drive unit 2 such as a position / speed and a motor current. . However, the position / speed parameters are the number of pulses per rotation of the motor 4 and the amount of movement of the door 1 per pulse, and the motor current parameters are the maximum currents that can be supplied to the motors 4 mounted on each drive unit 2. These control parameters will be described in detail later.

  FIG. 2 is an operation flow for explaining the control parameter selection operation in the control arithmetic unit provided in the automatic door device according to the first embodiment of the present invention. Hereinafter, the control operation by the control arithmetic unit 10 will be described based on FIG. explain. However, in the operation flow shown in FIG. 2, a case where one type of controller corresponds to two types (types) of drive units 2 of A and B will be described. However, control parameters corresponding to two or more types of drive units 2 are described. A configuration corresponding to two or more types of driving units 2 stored in the memory 15 may be used. In the automatic door device according to the first embodiment, the setting of the drive unit selection unit 13 is performed in advance by an operator when the automatic door device is installed or when the controller 3 is replaced, for example.

  The start of this flow is to turn on the power to the automatic door device of the first embodiment. First, the control calculation unit 10 reads the setting of the driving unit selection unit 13 and the setting value of the driving unit selection unit 13 is “driving unit A”. ] (Step S1)

  If it is determined in step S1 that the setting of the drive unit selection means 13 is “drive unit A”, the control calculation unit 10 reads the control parameter corresponding to the drive unit A from the memory 15 (step S2).

  Next, the control calculation unit 10 opens and closes the door 1 based on the read control parameter (control parameter A corresponding to the drive unit A) (step S3). As the opening / closing operation of the door 1 at this time, when the power is turned on, as an initial setting operation, the control calculation unit 10 controls the speed control unit 11 based on the read control parameter to open the door 1 to the fully open position. While traveling at a low speed to the (fully open point) and fully closed position (fully closed point), the pulses from the magnetic pole position sensor 5 of the motor 4 input through the pulse synthesis / counting unit 9 are counted, and this count value is calculated. The reference door stroke value is stored in a storage unit (not shown). As a result, the control calculation unit 10 counts the pulses from the magnetic pole position sensor 7 by comparing the stroke value (reference stroke value) serving as the reference of the door 1 with the actually counted number of pulses. Based on the counted value, the current position of the door 1 is detected. Further, the control calculation unit 10 compares the reference door stroke value with the actually measured pulse count value. As a result, in the subsequent control, it is possible to detect the brake position, the fully open position, and the fully closed position during the opening / closing operation of the door 1 based on the count value of the pulse. Predetermined high-speed operation, deceleration operation, and low-speed operation are executed based on the count value of the number of pulses.

  On the other hand, if it is determined in step S1 described above that the setting of the drive unit selection unit 13 is not “drive unit A”, the control calculation unit 10 then sets the set value of the drive unit selection unit 13 to “drive unit B”. ] (Step S4)

If it is determined in step S4 that the setting of the drive unit selector 13 is “drive unit B”, the control calculation unit 10 reads the control parameter corresponding to the drive unit B from the memory 15 (step S5).
Next, the control calculation unit 10 performs the opening / closing operation of the door 1 described above based on the read control parameter (control parameter B corresponding to the drive unit B) (step S3).

  By reading the control parameter corresponding to the setting value of the driving unit selection means 13 described above, in the automatic door device of the first embodiment, among the setting information of two or more driving units 2 stored in the memory 15, Only the setting information of the drive unit 2 corresponding to the value (selection value) set in the drive unit selection means 13 is read into the control calculation unit 10.

  However, in the automatic door device of the first embodiment, if it is determined in step S4 described above that the setting of the drive unit selection means 13 is not “drive unit B”, the process returns to step S1 again to select the drive unit. The setting value of the means 13 is determined. With this configuration, the setting of the drive unit selection unit 13 by the operator is forgotten or wrong, and further, the control parameter is not erroneously set due to a defect such as a dip switch serving as the drive unit selection unit 13. . At this time, a counting step for counting the number of times of returning from step S4 to step S1 is provided, and when the number of times of return is equal to or greater than a predetermined value, a notification operation such as lighting or blinking of an LED or the like provided in the controller 3 is performed. It may be. Thereby, it is possible to prevent the operator from forgetting the setting of the driving unit selection means 13 or a setting difference, and to detect a defect such as a dip switch serving as the driving unit selection means 13.

  FIG. 3 is a diagram showing a schematic configuration of a drive unit that can be used in the automatic door device according to the first embodiment of the present invention. Hereinafter, a lightweight drive unit (drive unit A) shown in FIG. The control parameters corresponding to the two drive units A and B and the operation of the controller using the control parameters with the weight type drive unit (drive unit B) shown in FIG. 3B will be described in detail.

As is clear from FIGS. 3A and 3B, the basic configurations of the drive units A and B are the same, and a toothed pulley 16 is attached to the output shaft of the motor 4 and is decelerated. A toothed pulley 18 is attached to the input shaft of the machine 6. Further, the toothed belt 17 spans as winding around a toothed pulley 16 and the toothed pulley 18, after the rotation of the motor 4 is decelerated through the reduction gear 6, the shaft to the output shaft of the reduction gear The drive pulley (toothed main drive pulley) 19 to be worn is rotated. At this time, in the drive parts A and B shown in FIGS. 3A and 3B, the output of the motor 4, the reduction ratio of the speed reducer 6, and further, the toothed pulley 16, the toothed pulley 18, and the drive pulley 19 The number of teeth is different. That is, the driving units A and B (2) have a driving capability corresponding to the configuration and weight of the door 1.

  Hereinafter, the controller 3 according to the first embodiment that can individually control two drive units A and B (2) having different types shown in FIGS. 3A and 3B will be described in detail.

First, control parameters for storing in the memory 15 in advance will be described.
The control parameters are the position / speed, motor current, etc. specific to the two drive parts A and B (2). Among these, the position / speed parameters are the number of pulses S (pulse / pulse per rotation of the rotor of the motor 4). Rotation) and the door movement amount L (mm / pulse) per pulse, which are calculated as follows.

When the number of magnetic poles of the motor rotor is M, the reduction ratio is 1 / G, and the driving pulley effective diameter is D (mm), the two parameters S and L can be calculated by the following equations.
S = 3 (the number of Hall ICs built in the three-phase brushless motor) × (the number of magnetic poles of the motor rotor M)
= 3 × M (pulse / rotation) Expression (1) L = (door movement distance when the drive pulley makes one revolution) ÷ (number of pulses generated when the drive pulley makes one revolution) = πD ÷ (S × G) (mm / pulse) (2) formula

Accordingly, the number of pulses per motor rotation in the light-weight and heavy-weight drive units A and B (2) shown in FIGS. 3A and 3B is determined by the parameters Sa and Sb (pulse / rotation) per pulse. When the movement amounts of the door 1 are parameters La and Lb (mm / pulse), the parameters Sa and Sb and the parameters La and Lb, which are position / velocity parameters, are calculated as follows. However, in the following calculation, the number of magnetic poles of the motor 4 in the drive units A and B (2) is Ma = 16 and Mb = 8, respectively, and the reduction ratio of the speed reducer 6 is 1 / Ga = 1/10 and 1 / Gb, respectively. = 1/8, the effective diameter of the drive pulley 19 is Da = 56 mm, Db = 50 mm, respectively, and the number of built-in Hall ICs 5 of each motor 4 is an example, and each parameter value is not limited to this value.
1) Position / velocity parameter of drive unit A Sa = 3 × Ma = 3 × 16 = 48 (pulse / rotation)
La = πDa ÷ (Sa × Ga)
= (3.14 × 56 mm) ÷ (48 pulses × 10)
≒ 0.366 (mm / pulse)
2) Position / velocity parameter of drive unit B Sb = 3 × Mb = 3 × 8 = 24 (pulse / rotation)
Lb = πDb / (Sb × Gb)
= (3.14 × 50 mm) ÷ (24 pulses × 8)
≒ 0.818 (mm / pulse)

  Here, in the first embodiment, the obtained number of pulses per motor rotation Sa = 48, Sb = 24 (pulses / rotation), and the door movement amount La = 0.366, Lb = 0.818 per pulse. (Mm / pulse), reduction ratio Ga = 10, Gb = 8, driving pulley effective diameter Da = 56 (mm), Db = 50 (mm) It is stored in the memory 15 as a speed parameter.

  Further, as described above, the motors 4 constituting the driving units A and B (2) also have different outputs (driving capabilities), so that the driving units A and B (2) according to the outputs of the motors 4 respectively. The maximum motor currents that can be energized to the respective motors 4 constituting the motors are also different. Therefore, when the motor current limit value is 1 (ampere) for the lightweight drive unit A and 2 (ampere) for the weight type drive unit B, the motor current parameters I are Ia = 1000 (milliamperes) and Ib = 2000 (milliamperes), respectively. ) Is stored in the memory 15.

  Next, the control operation of the automatic door device by the controller 3 according to the first embodiment when the drive unit selection unit 13 is set to the drive unit A (2) will be described. However, in the following explanation, the door stroke is 900 mm, the opening speed is 500 mm / second, the closing speed is 200 mm / second, the deceleration start position during the opening operation is 300 mm before the fully open point, and the deceleration start position during the closing operation is fully closed. The case where it is set 100 mm before the point will be described.

a) Measurement of door stroke value When the automatic door device is turned on and the controller 3 is supplied with power, as described above, the control calculation unit 10 reads the setting of the drive unit selection means 13, and the drive units A, It is determined which of B (2) is selected. When it is determined that the selected drive unit 2 is the drive unit A (2), the control calculation unit 10 uses the position / speed parameters S, L as control parameters corresponding to the drive unit A (2) corresponding to the determination result. , Sa, La, motor current parameter I, Ia, reduction ratio G, Ga, driving pulley effective diameter D, Da are selected as execution parameters for controlling the motor. On the other hand, when the selected drive unit 2 is determined to be the drive unit B (2), the control calculation unit 10 uses the position / speed parameter S as a control parameter corresponding to the drive unit B (2) corresponding to the determination result. , L are Sb, Lb, the motor current parameter I is Ib, the reduction ratio G is Gb, and the driving pulley effective diameter D is Db, as execution parameters for controlling the motor.

  Next, the control calculation unit 10 controls the speed control unit 11 to execute a learning operation, and moves the door 1 from the fully open position to the fully closed position, or 900 mm from the fully closed position to the fully open position, and the door 1 The number of pulses counted during the movement is stored in the memory 15 or a storage device (not shown) as a door stroke value (DS).

At this time,
When the drive unit selection means 13 is set to A (when the drive unit A is selected): The control calculation unit 10 counts DS≈2459 pulses and stores it in the memory 15 as the door stroke value DS. (Calculation confirmation is 900mm ÷ La)
When drive unit selection means 13 is set to B (when drive unit B is selected): DS≈1101 pulses are counted in control calculation unit 10 and stored in memory 15 as door stroke value DS. (Calculation confirmation is 900mm ÷ Lb)

b) Door Opening Operation When an opening command signal is input from the inside / outside sensor 14, a control calculation unit is used as an opening speed command value that is a speed command value (OP SP) for opening the door 1 at an opening speed of 500 mm / sec. 10 calculates the number of pulses generated per 0.1 second at a speed of 500 mm / sec. Based on the calculated value, the control calculation unit 10 controls the speed control unit 11 to drive and control the motor 4.
Since the speed command value (OP SP) can be calculated by OP SP = 500 (mm / second) ÷ πD (mm) × (S × G) × 0.1 (second), when the drive unit selecting means 13 is set to A The control calculation unit 10 calculates the opening speed command value by the following equation.
OP SP = 500 (mm / second) ÷ πDa (mm) × (Sa × Ga) × 0.1 (second)
= 500 (mm / sec) ÷ (3.14 × 56 mm) × (48 pulses × 10) × 0.1 (sec)
= 136.4 (pulse)

The control calculation unit 10 compares the actual speed detected by counting the pulses generated during the opening operation by the pulse synthesizing / counting unit 9 with the speed command value OP SP = 136.4 pulses, and the motor current corresponding to the speed difference. The command value is transmitted to the speed control unit 11, and the speed control unit 11 increases or decreases the motor torque to drive and rotate the motor at the command speed. As a result, the door 1 is opened at a speed of 500 mm / sec until reaching the deceleration start position during the opening operation 300 mm before the fully open point is detected.
Note that the motor current command value when driving the motor 4 is drive-controlled within the range of the motor current parameter Ia = 1000 (mA) that is effective in the control program.

On the other hand, when the drive unit selection means 13 is set to B, the opening speed command value is calculated by the following equation by the control calculation unit 10.
OP SP = 500 (mm / second) / πDb (mm) × (Sb × Gb) × 0.1 (second)
= 500 (mm / sec) ÷ (3.14 × 50 mm) × (24 pulses × 8) × 0.1 (sec)
= 61.1 (pulse)

The actual speed detected by counting the number of pulses generated during the opening operation is compared with the speed command value OP SP = 61.1 (pulse), the motor current command value corresponding to the speed difference is transmitted, and the motor torque is By increasing / decreasing, the motor is driven to rotate at the command speed. As a result, even when B is set, the door 1 is opened at a speed of 500 mm / second until reaching the deceleration start position during the opening operation 300 mm before the fully open point is detected.
The motor current command value at the time of driving the motor is drive-controlled within the range of the motor current parameter Ib = 2000 (mA) that is effective in the control program.

c) Deceleration operation during door opening operation The control calculation unit 10 calculates and calculates the deceleration start position during opening operation, which is set 300 mm before the fully open point, into the number of pulses, and the deceleration starting point during door 1 opening operation. When arrival at (OP BP) is detected, deceleration control is started.

When the drive unit selection means 13 is set to A, the open deceleration start point (OP BP) is calculated by the following equation.
OP BP = 300mm ÷ La (mm / pulse)
= 300mm ÷ 0.366 (mm / pulse)
= 819 (pulse)
Therefore, every time a pulse is counted during the opening operation, the control calculation unit 10 compares the number of pulses actually counted from the pulse synthesizing / counting unit 9 with the door stroke value 2459 pulses, and is 300 mm before the fully opened point, that is, , (Door stroke value) − (actually counted pulse number) = 819 pulses, the control calculation unit 10 issues a deceleration command to the speed control unit 11 to decelerate to a predetermined low speed, and further the door stroke Stop at the fully open position where the difference between the value and the number of pulses actually counted is 0 (zero) pulse.

On the other hand, when the drive unit selecting means 13 is set to B, the open deceleration start point (OP BP) is calculated by the following equation.
OP BP = 300mm / Lb (mm / pulse)
= 300mm ÷ 0.818 (mm / pulse)
= 366 (pulse)
Each time a pulse is counted during the opening operation, the control calculation unit 10 compares the number of pulses actually counted and the door stroke value 1101 pulse, and is 300 mm before the fully opened point, that is, (door stroke value) − (actually At the position where the number of pulses counted) = 366 pulses, the control calculation unit 10 issues a deceleration command to the speed control unit 11 to decelerate to a predetermined low speed, and further calculates the door stroke value and the number of pulses actually counted. Stop at the fully open position where the difference is 0 (zero) pulse.

d) Door closing operation After the time set at the fully opened position has elapsed, the control calculation unit 10 uses the closing speed command value that is a speed command value (CLS SP) for closing the door at a speed of 200 mm / sec. The number of pulses generated per 0.1 second at a speed of 200 mm / second is calculated. Based on the calculated value, the control calculation unit 10 controls the speed control unit 11 to drive and control the motor 4.
CLS SP = 200 (mm / second) / πD (mm) × (S × G) × 0.1 (second)

When the drive unit selection means 13 is set to A, the control calculation unit 10 calculates the closing speed command value by the following equation.
CLS SP = 200 (mm / second) / πDa (mm) × (Sa × Ga) × 0.1 (second)
= 200 (mm / sec) ÷ (3.14 × 56 mm) × (48 pulses × 10) × 0.1 (sec)
= 54.5 (pulse)

  Therefore, the control calculation unit 10 calculates the actual speed detected by counting the pulses from the pulse synthesis / counting unit 9 which is the number of pulses generated when the pulse synthesis / counting unit 9 is opened, and the speed command value CLS SP = 54. .6 (pulse), a motor current command value corresponding to the speed difference is transmitted to the speed control unit 11, and the speed control unit 11 increases or decreases the motor torque to drive and rotate the motor 4 at the command speed. As a result, the door 1 is closed at a closing speed of 200 mm / second until reaching the deceleration start position during the closing operation 100 mm before the fully closed point is detected.

  In addition, since the drive part selection means 13 is set to A, the motor current command value when driving the motor is driven within the range of the motor current parameter Ia = 1000 (mA) which is effective in the control program. Be controlled.

On the other hand, when the drive unit selection means is set to B, the control calculation unit 10 calculates the closing speed command value by the following equation.
CLS SP = 200 (mm / second) / πDb (mm) × (Sb × Gb) × 0.1 (second)
= 200 (mm / sec) ÷ (3.14 × 50 mm) × (24 pulses × 8) × 0.1 (sec)
= 24.4 (pulse)

  The actual speed detected by counting the number of pulses generated during the opening operation is compared with the speed command value CLS SP = 24.4 (pulse), the motor current command value corresponding to the speed difference is transmitted, and the motor torque is By increasing / decreasing, the motor is driven to rotate at the command speed. As a result, even when B is set, the door 1 is closed at a closing speed of 200 mm / sec until reaching the deceleration start position during the closing operation 100 mm before the fully closed point is detected.

  In addition, since the drive part selection means 13 is set to B, the motor current command value when driving the motor is driven within the range of the motor current parameter Ib = 2000 (mA) or less that is effective in the control program. Be controlled.

e) Deceleration operation during door closing operation Deceleration start position during closing operation, set 100mm before the fully closed point, is converted to a pulse number by the control calculation unit 10, and deceleration starts when door 1 is closing operation. When the point (CLS BP) is reached, deceleration control is started.

When the drive unit selection means 13 is set to A, the closed deceleration start point (CLS BP) is calculated by the control calculation unit 10 according to the following equation.
CLS BP = 100 (mm) / La (mm / pulse)
= 100 (mm) ÷ 0.366 (mm / pulse)
= 273 (pulse)

  Therefore, every time a pulse is counted during the closing operation, the control arithmetic unit 10 compares the number of pulses actually counted from the pulse synthesizing / counting unit 9 with the door stroke value 2459 (pulse), and 100 mm from the fully closed point. At the front, that is, (door stroke value) − (actually counted number of pulses) = 273 (pulses), the control calculation unit 10 issues a deceleration command to the position speed control unit 11 to a predetermined low speed. Decelerate and stop at the fully closed position where the difference between the counted pulse number and the door stroke value is 0 (zero) pulse.

On the other hand, when the drive unit selection means 13 is set to B, the closed deceleration start point (CLS BP) is calculated by the control calculation unit 10 according to the following equation.
CLS BP = 100mm ÷ Lb (mm / pulse)
= 100mm ÷ 0.818 (mm / pulse)
= 122 (pulse)

  Each time a pulse is counted during the closing operation, the control calculation unit 10 compares the actually counted number of pulses with the door stroke value 1101 (pulse), and is 100 mm before the fully opened point, that is, (door stroke value) − (actual The control calculation unit 10 issues a deceleration command to the speed control unit 11 to decelerate to a predetermined low speed, and further counts the number of pulses and the door stroke value. Is stopped at the position where the difference between them becomes 0 (zero) pulse.

  As described above, in the first embodiment, a configuration for appropriately selecting control parameters such as the position / speed and motor current unique to each of the driving units A and B (2) is incorporated in the software program of the controller 3 and provided in the controller 3. By making it possible to select each control parameter for each drive unit with the drive unit selection means 13 (DIP switch, remote controller, etc.), each of the drive units 2 of different lightweight type and heavy type is individually controlled by one controller 3. Can be controlled.

  As described above, in the automatic door device of the first embodiment, the control parameter corresponding to each of the two or more types of driving units 2 having different types is stored in the memory 15, and the driving unit selection unit 13 is stored in the memory 15. Two or more types of driving units 2 corresponding to the control parameters, that is, the types of driving units 2 installed in the automatic door device are specified. Here, based on the selection value selected by the drive unit selection means 13, the control calculation unit 10 reads the corresponding control parameter from the memory 15, and based on the read control parameter, the opening / closing speed of the door 1 and the door 1 The number of pulses corresponding to the opening / closing width and the deceleration point is calculated. Based on the calculated number of pulses, the speed control unit 11 supplies power to the motor and the opening / closing of the door 1 is controlled. One controller 3 can correspond to a plurality of types of driving units 2. Therefore, it is possible to reduce the types of the controllers 3 that need to be prepared for each type of the drive unit 2. As a result, it is possible to reduce the burden required for development of the controller 3 and product management.

  In the above description, the case where the two types of driving units 2 of the lightweight type shown in FIG. 3A and the heavy type shown in FIG. 3B are individually controlled by one controller 3 has been described. However, it is not limited to this. For example, by setting the control parameters for each drive unit 2 stored in the memory 10 to the three types, the drive units shown in FIGS. 3A and 3B are used like the drive unit 2 shown in FIG. It is also possible to individually control the three types of driving units 2 including the driving units 2 of a type different from 2 by a single controller 3. Furthermore, by setting the control parameters for each driving unit 2 stored in the memory 10 to four or more types, it is possible to individually control four or more different types of driving units 2 with one controller 3. It is. However, the drive unit 2 shown in FIG. 3C has a configuration in which the speed reducer 6 is disposed directly on the output shaft of the motor 4, and the rotation of the motor 4 is decelerated through the speed reducer 6. The drive pulley 19 that is attached to the output shaft of the speed reducer is rotated.

<Embodiment 2>
FIG. 4 is a diagram for explaining the overall configuration of the automatic door device according to the second embodiment of the present invention. The basic configuration of the automatic door device according to the second embodiment other than the configuration of the motor resistance detecting means 20 is as follows. The configuration is the same as that of the automatic door device of the first embodiment. Therefore, in the following description, the motor resistance detection means 20 will be described in detail. However, in the automatic door device of the second embodiment, a case in which the three drive units 2 (drive units A, B, and C shown in FIGS. 3A to 3C) can be handled will be described later. In addition, the memory 15 stores control parameters corresponding to the driving units A, B, and C, which are the three driving units 2.

  Also in the automatic door device according to the second embodiment, as in the automatic door device according to the first embodiment, the memory 15 has a type of driving unit (for example, the driving units A, B, and C) corresponding to the automatic door device according to the second embodiment. ) The control parameter corresponding to each of 2 is stored. Furthermore, in the configuration of the second embodiment, the memory 15 stores the values of the coil resistances RM of the motors 4 respectively mounted on the three types of driving units (driving units A, B, and C) 2. It has become.

  The motor resistance detection means 20 is a motor mounted on the drive unit 2 on the basis of a weak detection current (constant current) or detection voltage (constant voltage) that the speed control unit 11 supplies to the motor 4 immediately after the power is turned on. 4 is configured to measure (detect) the coil resistance. The motor resistance detection means 20 is configured to output the measured coil resistance to the control calculation unit 10. The motor resistance detection means 20 can be formed by a program that operates on a microcomputer mounted on the controller 3 as in the case of the control calculation unit 10, the speed control unit 11, and the like, but is configured by a circuit independent of the microcomputer. It is also possible. Further, the measurement of the coil resistance of the motor 4 by the motor resistance detecting means 20 is not limited to the application of a constant current or a constant voltage, but other measurement methods such as measurement by applying a pulse current or a pulse voltage. Also good.

  In addition to the functions of the first embodiment described above, the control calculation unit 10 includes the coil resistance input from the motor resistance detection unit 20 and the coils of the motors 4 of the driving units A and B stored in the memory 15. By comparing with the resistance, it has a function of specifying the type of the drive unit 2 to which the controller 3 is connected.

  FIG. 5 shows an operation flow for explaining the detection operation of the drive unit by the motor resistance detection means provided in the automatic door device of Embodiment 2 and the control parameter selection operation by the control calculation unit. Now, the detection operation of the drive unit by the motor resistance detection means 20 and the control operation by the control calculation unit 10 will be described.

  The start of this flow is to turn on the power to the automatic door device of the second embodiment. First, the control calculation unit 10 controls the speed control unit 11 and the motor 4 does not operate from the speed control unit 11. Supply a constant current. Here, the coil resistance detection means 20 measures the coil resistance (motor coil resistance) RM of the motor 4 connected to the controller 3 based on the constant voltage or constant current supplied to the motor 4, and uses the measured coil resistance RM. It outputs to the control calculating part 10 (step S1).

  Next, the control calculation unit 10 compares the coil resistance RM measured by the coil resistance detection means 20 with the coil resistance of the motor 4 of the “driving unit A” stored in the memory 15 (step S2).

  In step S2, if the two coil resistances are equal, the control calculation unit 10 reads the control parameter corresponding to the drive unit A from the memory 15 assuming that the drive unit 2 connected to the controller 3 is “drive unit A”. (Step S3).

  Next, the control calculation unit 10 performs an opening / closing operation of the door 1 based on the read control parameter (control parameter A corresponding to the drive unit A) (step S4). The opening / closing operation of the door 1 in step S4 is the same as that of the first embodiment described above.

  On the other hand, when it is determined in step S2 described above that the two coil resistances are not equal, the control calculation unit 10 determines the measured coil resistance RM and the motor 4 of the “driving unit B” stored in the memory 15. Is compared with the coil resistance (step S5).

In this step S5, if the two coil resistances are equal, it is assumed that the drive unit 2 connected to the controller 3 is “drive unit B”, and the control calculation unit 10 obtains the control parameter corresponding to the drive unit B from the memory 15. Read (step S6).
Next, the control calculation unit 10 performs an opening / closing operation of the door 1 based on the read control parameter (control parameter A corresponding to the drive unit B) (step S4).

  Furthermore, when it is determined in step S5 described above that the two coil resistances are not equal, the control calculation unit 10 determines the measured coil resistance RM and the motor of the “driving unit C” stored in the memory 15. 4 is compared with the coil resistance (step S7).

In step S7, if the two coil resistances are equal, it is assumed that the drive unit 2 connected to the controller 3 is “drive unit C”, and the control calculation unit 10 obtains the control parameter corresponding to the drive unit C from the memory 15. Read (step S8).
Next, the control calculation unit 10 performs an opening / closing operation of the door 1 based on the read control parameter (control parameter A corresponding to the drive unit C) (step S4).

  The automatic door device according to the second embodiment corresponds to each of the three drive units 2 stored in the memory 15 by measuring the coil resistance RM by the motor resistance detection unit 20 described above and the determination operation by the control calculation unit 10. Of the control parameters, only the control parameters of the drive unit 2 corresponding to the drive unit 2 to which the controller 3 is connected are read into the control calculation unit 10 without external designation by an operator or the like. .

  However, in the automatic door device of the second embodiment, when it is determined in step S7 described above that the two coil resistances are not equal, the process returns to step S1 again and the coil resistance RM is measured again. It has become. With this configuration, the control parameter is prevented from being erroneously set due to noise, poor connection, or the like when the coil resistance RM is measured by the motor resistance detection means 20.

  As described above, in the automatic door device according to the second embodiment, based on the coil resistance RM measured by the coil resistance detecting means 20, the drive units A, B, C stored in the memory by the control calculation unit 10 in advance. By comparing with each coil resistance, it is configured to automatically determine which of the drive units A, B, and C is connected to the controller.

  Therefore, in the automatic door device of the second embodiment, in addition to the same effects as those of the first embodiment, the drive unit 2 on which an operator is installed is specified at the time of installation work of the automatic door device or when the controller 3 is replaced. Therefore, it is possible to obtain a special effect that it is possible to prevent forgetting and mistakes in the setting work of the drive unit 2.

  In the configuration of the above-described second embodiment, the coil resistance detection unit 20 measures the coil resistance RM, and the control calculation unit 10 compares and determines the coil resistance stored in the memory and the measured coil resistance RM. Although the configuration is such that the control parameters are read, the present invention is not limited to this, and other configurations may be used. For example, the coil resistance detection means 20 performs measurement of the coil resistance RM, comparison and determination of the measured coil resistance RM and the coil resistance stored in the memory, and based on the determination result by the coil resistance detection means 20, The control arithmetic unit 10 may be configured to read out corresponding control parameters.

  Further, in a configuration that does not require the operator to set the drive unit 2, a connector for connecting the controller 3 and the motor 4 (including the magnetic position sensor (Hall IC) 5) on the motor 4 side of the wiring that electrically connects the controller 3 and the motor 4. In addition, a terminal for detecting the type of the drive unit 2 may be added, and the voltage level of the terminal may be detected by the controller 3 to detect the type of the drive unit 2. Specifically, when a Hall IC is used as the magnetic position sensor 5, a power line for supplying power to the Hall IC is required. Therefore, one dedicated terminal for detecting the type of the driving unit 2 is provided as an additional terminal. When the type of the driving unit 2 is the driving unit A, the additional terminal is provided on the driving unit 2 side on the ground side of the Hall IC. When the type of the drive unit 2 is the drive unit B, the additional terminal is connected to the power supply voltage side of the Hall IC on the drive unit 2 side. With this configuration, the voltage level of the additional terminal is input to the controller 3 side. For example, when the automatic door device is powered on, the controller 3 side only needs to detect the voltage level of the additional terminal. Since it becomes possible to specify whether the type of the part 2 is the drive part A or B, the same effect as that of the automatic door device of the second embodiment described above can be obtained.

  As mentioned above, the invention made by the present inventor has been specifically described based on the embodiment of the invention. However, the invention is not limited to the embodiment of the invention, and various modifications can be made without departing from the scope of the invention. It can be changed.

1 …… Door 2 …… Drive unit 3 …… Controller 4 …… Motor 5 …… Magnetic position sensor (Hall IC)
6 ... Reducer 7 ... Tooth driven pulley 8 ... Toothed belt (toothed belt)
9 …… Pulse synthesis / counting unit 10 …… Control calculation unit 11 …… Speed control unit 12 …… Motor current detection unit 13 …… Drive unit selection means 14 …… Inside / outside sensor 15 …… Memory 16, 18 ... Toothed Pulley 17 ... toothed belt 19 ... drive pulley (toothed main pulley)
20 …… Motor resistance detection means

Claims (3)

A motor, a magnetic position sensor that generates a pulse signal proportional to the amount of rotation of the motor, and a speed reducer that decelerates the rotation of the motor; and a toothing for driving disposed on the output shaft of the speed reducer drives the belt mechanism comprising a toothed belt suspended driving pulley and toothed driven pulley, a drive unit is a drive mechanism for opening and closing the door that is attached to the toothed belt,
Counting pulse signals from an inside / outside sensor arranged inside and outside the door for detecting an object and a magnetic position sensor arranged at the motor, and controlling the drive unit to supply electric power to the motor. A controller that controls opening and closing, and based on detection information from the inside and outside sensors, the controller is an automatic door device that controls opening and closing of the door,
The controller is
A pulse synthesizing unit for synthesizing and generating pulses output from a magnetic position sensor that is arranged in the motor and generates a pulse signal proportional to the rotation amount of the motor , and outputs the synthesized pulses; And
It has a memory for storing two or more specific motor control parameters that are detection information of the drive unit, and the pulse and position / velocity signals output from the pulse synthesis / counting unit are respectively input from the internal and external sensors. an open command signal of the door, the opening speed setpoint and closing speed setpoint and the deceleration start position set value of the door are respectively input of the speed command (speed command value) and the rotation direction command (rotational direction command value) And a control arithmetic unit that outputs a motor current command value that is one of motor control parameters for controlling the motor and the speed reducer ;
A position / speed signal output from the pulse synthesis / counting unit, a speed command (speed command value) and a rotation direction command (rotation direction command value) output from the control calculation unit are input, and the motor and the A motor speed control unit to which a motor current command value, which is one of motor control parameters for controlling the speed reducer, is input;
A motor current detector for detecting a motor current supplied to the motor;
Drive for selecting a motor control parameter corresponding to the drive unit for driving the door attached to the toothed belt from a plurality of motor control parameters stored in the memory provided in the control calculation unit Part selection means;
Consists of
Based on the motor control parameter selected by the driver selecting means, it reads the corresponding motor control parameters from the memory, closing speed and opening閉幅of the door in the control arithmetic unit based on the read-out motor control parameter preparative calculated, the calculated result by controlling the power to be fed subjected to the motor based on the automatic door system being characterized in that so as to control the opening and closing of the door. The automatic door device according to claim 1,
2. The automatic door device according to claim 1, wherein the driving unit selecting means comprises a selection switch installed in the controller. The automatic door device according to claim 1,
The drive part selection means includes motor resistance detection means for detecting coil resistance of the motor, and determination means for determining a type of the drive part installed in the automatic door device from the detected coil resistance. An automatic door device characterized by that.

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