JPH07127336A - Opening and shutting controller for door - Google Patents

Abstract

PURPOSE:To speed up operation of an opening and shutting controller of a door by providing a circuit performing the decision of an opening and shutting direction, the calculation of an opening and shutting speed or the present position, the setting of a limited speed, etc., to a door opening and shutting device driven by a linear motor, and controlling speed speedily on the way to the opening and shutting of the door and slowly in the approaching end. CONSTITUTION:Based on signals from a magnetic detection sensor consisting of a plurality of movable coils, the decision of an opening and shutting direction of a door is made by a device 100, the calculation of an opening and shutting speed of the door is performed by a device 101 and the calculation of the present position of the door is performed by a device 102 in a controller of an opening and shutting device of the door. After that, based on the calculated value, a limited speed is set by a device 106, at the same time, the value is stored by a cevice 105, speed comparison is made by a device 103, and a speed of the door is braked by a device 104. Even if a mode change-over switch is operated to switch an opening and shutting of the door from automatic operation to manual operation, speed is increased on the way to the opening and shutting of the door, speed is decreased in the case it approaches the upper end or the lower end, sp that the door is not made to collide with the end. According to the constitution, an opening and shutting speed of the door is accelerated, and operation can be lightly made.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a door opening / closing control device using a linear motor as a drive source.

[0002]

2. Description of the Related Art The applicant of the present patent application has proposed a door opening / closing control device using a linear motor as a drive source (Japanese Patent Application No. 3-167722). With this device, since the linear motor has a small sliding resistance, the door can be easily opened and closed manually.
The current position and speed of the door are always obtained based on the detection signal of the magnetic detection sensor, and when the door is opened and closed at a preset speed limit or higher, it is moved so that thrust in the direction opposite to the traveling direction of the door acts. The child coil is excited so that the door is opened and closed at a speed not higher than the speed limit so as not to collide with the open end and the closed end.

[0003]

However, in the door opening / closing control device, the speed limit for applying the reverse thrust is set to be constant over the entire opening / closing stroke of the door. Therefore, when the door is opened and closed manually, there is a problem that the opening / closing speed cannot be increased at a position other than the vicinity of the opening / closing end where there is no problem even if the opening / closing speed is increased. The present invention has been made to solve this problem, and an object of the present invention is to provide a door opening / closing control device in which the speed limit at which a reverse thrust is applied is varied according to the position of the door. is there.

[0004]

In order to achieve the above object, a door opening / closing control apparatus of the present invention, as shown in FIG. 1, switches the energizing polarity to a multi-phase brushless DC linear motor used as a door opening / closing drive source. The discriminating means 100 for discriminating the opening / closing direction of the door, the velocity calculating means 101 for calculating the opening / closing speed of the door, and the current position of the door are determined based on the detection signal of the magnetic detection sensor arranged on the mover for control. The position calculating means 102 for calculating, the speed comparing means 103 for comparing the set speed limit with the calculated actual speed, and the discrimination means 100 discriminates the mover based on the output of the speed comparing means 103. In a door opening / closing control device including a braking means 104 for generating thrust in a direction opposite to the opened / closed door opening / closing direction, a speed limit storing means for storing a speed limit according to the position of the door. And 105, the position calculating means 102
And a speed limit setting means 106 for setting the speed limit according to the position of the door from the output of the speed limit storage means 105.

[0005]

In the door opening / closing control device having the above structure, the speed limit for operating the braking means 104 is set from the outputs of the position calculation means 102 and the speed limit storage means 105 according to the position of the door.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described with reference to the drawings. FIG. 2 is a schematic configuration diagram of the linear motor type door opening / closing device 1. A guide rail 2 is installed horizontally, and a door 5 is suspended by a suspension body 4 that supports a traveling roller 3 traveling in the guide rail 2. A linear motor 6 is integrally laid on the guide rail 2. Linear motor 6
The electric wire 8 is stretched between the controller 7 and the controller 7 to supply power and control signals from the controller 7. The controller 7 controls the opening / closing operation of the door 5 according to signals from the human body detection sensor 9 and a mode changeover switch 41 described later.

The linear motor 6 is a three-phase brushless DC linear motor, and its mover 11 is composed of a coil unit 12 and a sensor unit 13 integrally attached to the coil unit 12, as shown in FIG. To be done. The coil unit 12 is formed by integrating three mover coils 12a, 12b and 12c having the same shape by resin sealing. Further, the sensor unit 13 is an integrated magnetic detection sensor 13a, 13b and 13c using three Hall elements or the like by resin sealing, and is connected to the coil unit 12. Mover coils 12a-12
c and the magnetic detection sensors 13a to 13c are individually associated with each other. The flexible printed circuit board 14 is used to connect the power supply line for energizing each of the mover coils 12a to 12c and the signal line of each of the sensors 13a to 13c.

The coil unit 12 and the sensor unit 13 have an outer rail 22 as shown in the sectional view of FIG.
A rail 21 formed from the inner rails 23 and 23
It is inserted into the traveling part 21 'of the vehicle so that it can travel freely. Between the outer rail 22 and the inner rails 23, 23, there are yokes 24, 2
A stator 27 is constituted by a magnet body 26 in which a plurality of magnets 25, 25 of equal length are arranged in the longitudinal direction with 4 interposed. Then, the magnets 25 and 25 facing each other have the polarities of the adjacent magnets and those facing each other set to opposite polarities.
Form a uniform magnetic field between them. In this case, the magnet 25 may be provided only on one side and the yoke 24 may be provided on the other side to form a magnetic circuit.

The dimensions of the mover coils 12a to 12c constituting the coil unit 12 and their corresponding positional relationships, and the magnetic detection sensors 13a to 13a constituting the sensor unit 13.
3c corresponding positional relationship, and the mover coils 12a-1
Identification of the corresponding distance between 2c and the magnetic detection sensors 13a to 13c will be described below in relation to the size of the permanent magnet 25 having the same length. Mover coils 12a, 12b and 12
The arrangement pitch L of c is L = 2nl / 3. However, n is a natural number other than a multiple of 3 and is 21: the magnetic pole pitch of the magnet body 26. Further, the magnetic detection sensors 13a, 13b and 13
Arrangement pitch M of c is M = 2l / 3 + 2l · 2m, where m: 0, 1, 2, 3, ... 2l: magnetic pole pitch of magnet body 26.

A mover coil 12a individually associated with each other.
Corresponding distance N _x between ~12c and the magnetic detection sensor 13a~13c differs depending on the wiring between the power supply terminals of the armature coil 12a~12c can be expressed as follows. (1) In case of star connection N _x = (2p _x +1) l (2) In case of delta connection N _x = 2 (p _x +1/3) l or N _x = 2 (p _x +2/3) )
l. Here, 2l = the magnetic pole pitch of the magnet body 16 p _X = 0,1,2,3,4 ... Paragraph x = a, b, c where N _a is _a magnetic sensor from the center of the mover coil 12a It represents the distance to 13a. Similarly, in the following cases of N _b and N _c , the distances from the centers of the mover coils 12b and 12c to the magnetic detection sensors 13b and 13c are shown.

An example of the dimensional relationship defined above will be described below. FIG. 5 is an example of the case of the star connection. Mover coils 12a and 12b and 12b and 12
The distance L = 10l / 3 from c is set to n = 5 at L = 2nl / 3. Further, the distance N _a = 11l from the center of the mover coil 12a to the magnetic detection sensor 13a.
It _{is, N a = (2p a +1} ) is obtained by a p _a = 5 in l, similarly N _b = 7l is _{p b = 3, N c =} 3l is p _c =
It is one. Each winding start end of the winding of the armature coil 12a~12c and _{A 1, B 1, C 1} , an end winding end and _{A 2, B 2, C 2} , and the end A ₂ winding end of the movable element coil 12a The winding start end B ₁ of the mover coil 12b and the winding end end C ₂ of the mover coil 12c are connected to perform star connection.

FIG. 6 shows an example of the above-mentioned delta connection. The distance L = 10l / 3 between the mover coils 12a and 12b and 12b and 12c is L = 2nl.
In n / 3, n = 5. Further, the distance N _a = 32l / 3 from the center of the mover coil 12a to the magnetic detection sensor 13a is set to p _a = 5 at N _a = (2p _a +1/3) l, and similarly N _b = 20l / 3 is p
_{b = 3, N c = 8l} / 3 is obtained by the p _c = 1. Each winding start end of the winding of the armature coil 12a~12c and _{A 1, B 1, C 1} , an end winding end and _{A 2, B 2, C 2} , A 1 and B _1, A ₂ and C ₁ And B ₂ and C ₂ are connected to each other, and delta connection is performed to form terminals A ′, C ′ and B ′, respectively.

Next, the system configuration of this embodiment will be described with reference to FIG. Since the door 5 moves by being pulled by the mover 11, the speed and the position of the door 5 can be detected by the speed and the position of the mover 11. The mover coil 1 is included in the mover 11.
2a, 12b, 12c are incorporated, and magnetic detection sensors 13a, 13b, 13c are incorporated. The magnetic detection sensors 13a to 13c detect the relative positions of the mover 11 and the magnet 25. The controller 7 operates the mover 11 according to the signal from the human body detection sensor 9. The human body detection sensor 9 is composed of a sensor that detects a human body or the like without contact, or a touch switch, a mat switch, or the like.

The main control section 31 is composed of a CPU, a memory, various interfaces, and the like (not shown), and receives signals from the human body detection sensor 9 and signals from a position calculation circuit 33 and a mode control circuit 42, which will be described later, to operate the door 5. Output the target position. The target speed calculation circuit 32 calculates a target speed to operate based on the difference between the target position output from the main control unit 31 and the current position from the position calculation circuit 33 and the set speed from the speed setting circuit 34. To do. The speed setting circuit 34 sets the opening / closing speed of the door, and sets a predetermined value or a speed required by a person. The output calculation circuit 35 calculates the output (thrust) of the mover 11 and the direction of the output from the difference between the target speed from the target speed calculation circuit 32 and the actual speed from the speed calculation circuit 36.
The PWM conversion circuit 37 converts the output value calculated by the output calculation circuit 35 into a PWM value (pulse width modulation value).

The drive transistor setting circuit 38 includes a direction of output (thrust) indicated by the output operation circuit 35 and a phase state signal (movable element 11 and stator 2) from the waveform shaping circuit 39.
The relative position with respect to the magnet 25 arranged in 7) sets the mover coils 12a, 12b, 12c to be energized and the energizing direction, and controls the on / off of each of the drive transistors Tr1a to Tr3b. The mover coil energizing circuit 40 includes drive transistors Tr1a, Tr1b ... Tr3b and a transistor drive circuit. Then, the mover coil energization circuit 40 drives the transistors, which are set in the drive transistor setting circuit 38 and should be turned on, in accordance with the PWM value shown in the PWM conversion circuit 37, so that the drive transistor setting circuit 38 determines. Energize with a current that produces output (thrust). The velocity calculation circuit 36 determines the moving element 11 from the changing interval of the phase state signal from the waveform shaping circuit 39.
Calculate the actual speed of.

The position calculation circuit 33 detects the operating direction of the mover 11 from the direction in which the phase state changes from the waveform shaping circuit 39, and counts up or down in accordance with the operating direction for each change in phase state, thereby enabling movement. The position of the child 11 is calculated. The waveform shaping circuit 39 shapes the waveforms of the signals from the magnetic detection sensors (Hall elements) 13a to 13c incorporated in the mover 11 into square waves. The mode switch 41 is
It is installed outside the controller 7 and switches the opening / closing operation of the door 5 between an automatic mode and a manual mode. The mode control circuit 42 selects the drive condition of the linear motor 6 by the combination of the switches switched by the mode changeover switch 41. When switched to the manual mode, the hysteresis speed comparison circuit 43 is activated.

[0017] Hysteresis speed comparing circuit 43, output from the speed calculation circuit 36 and the actual velocity (v) and the upper limit set speed output from the driving condition value setting circuit 44 (v _a) and the lower limit set speed (v _b) To compare. If the actual velocity (v)> upper limit set speed (v _a), and instructs the braking action to the drive condition value setting circuit 44. When the actual speed (v) ≦ lower limit setting speed (v _b ), the drive condition value setting circuit 44
Instruct to cancel the braking operation. Between the upper set speed (v _a) lower the set speed (v _b) and (v _b) =
(V _a) - are related to (v _h), (v _h) is the velocity hysteresis (Fig. 8). Upper limit setting speed for the braking operation to initiate i.e. reverse thruster (v _a) is to set an arbitrary pattern as shown in FIG. 9 (a) ~ (d) as a function corresponding to the position of the door 5 You can

The driving condition value setting circuit 44, when the braking operation is instructed by the hysteresis speed comparison circuit 43, based on the moving direction of the linear motor 6 and the position of the mover 11 output from the position calculation circuit 33, A target position and a target speed in the opposite direction to the moving direction are output to the target speed calculation circuit 32. Also, the hysteresis speed comparison circuit 4
When an instruction to cancel the braking operation is given from 3, the coil energization stop is output to the mover coil energization circuit 40.

(Operation of the device of this embodiment) In FIG. 7, the loop of the waveform shaping circuit 39, the position calculation circuit 33, the target speed calculation circuit 32, the output calculation circuit 35, and the mover 11 is a position feedback loop. Waveform shaping circuit 39 →
The loop of the speed calculation circuit 36, the output calculation circuit 35, and the mover 11 is a speed feedback loop.

(Operation of Position Feedback Loop) The target speed calculation circuit 32 determines the operation direction (sign of the target speed) according to the polarity of the difference between the target position from the main controller 31 and the current position from the position calculation circuit 33. judge. If the difference is large, the magnitude of the target speed is set to the speed set by the speed setting circuit 34, and if the difference is within a predetermined value, the magnitude of the target speed is reduced as the position approaches the target position, and zero (= 0). In this way, the target speed is set so that the mover 11 can smoothly move to the target position.

(Operation of Speed Feedback Loop) The output calculation circuit 35 determines the thrust direction (output value sign) based on the polarity of the difference between the target speed from the target speed calculation circuit 32 and the actual speed from the speed calculation circuit 36. Then, the output value is determined according to the magnitude of the difference. If the actual speed is lower than the target speed, the thrust is positive in the direction of motion, and if the actual speed is higher, the thrust is in the opposite direction. Further, the thrust is increased as the difference between the actual speed and the target speed is larger. As a result, the actual speed of the mover 11 is controlled to reach the target speed.

(Operation of Drive Unit) In order to generate the motor thrust, the magnetic detection sensors 13a to 13c of the mover 11 are used.
In accordance with the state (positional relationship between the magnet 25 of the stator 27 and the mover coils 12a to 12c) detected in step 1,
It suffices to energize and excite 2a to 12c. Here, the relationship between the phase state and the coil excitation is set to one to one in each thrust direction. As a result, the relationship between the on / off state and the phase state of the driving transistors Tr1a to Tr3b arranged in the mover coil energizing circuit 40 is determined to be one-to-one in each thrust direction. This is stored in advance in the mover coil energizing circuit 40 as a table.

The drive transistor setting circuit 38 refers to the above table according to the thrust direction from the output operation circuit 35 and the phase state detected by the square wave from the waveform shaping circuit 39, and the drive transistors Tr1a to Tr1 to be turned on.
Determine 3b. Further, the drive transistors Tr1a to Tr3b to be turned on are changed with reference to the above table each time the phase state changes due to the operation of the mover 11 and the thrust direction from the output calculation circuit 35 changes.

The PWM conversion circuit 37 includes an output calculation circuit 35.
The PWM value corresponding to the magnitude of the thrust force is set. The mover coil energization circuit 40 energizes the mover coils 12a to 12c by operating the transistor set by the drive transistor setting circuit 38 at the PWM value indicated by the PWM conversion circuit 37. At this time, Tr1a to Tr
The transistor of either 3a or Tr1b to Tr3b may be PWM-operated (FIG. 7, 40 part details).

The operation of the mover 11 (door 5) in the case of the star connection shown in FIG. 5 will be specifically described. Figure 1
As shown in 0, when the magnetic detection sensor 13a corresponds to the N pole of the magnet body 26, + V (v) is applied to the terminal A _1.
0 (v) is applied to the S pole, and 0 (v) is applied to the N pole and + V (v) is applied to the S pole in the case of the magnetic detection sensor 13b.
In the case of the magnetic detection sensor 13c, the north pole has + V (v), S
0 (v) is applied to the terminals B ₂ and C ₁ at the poles, respectively. At this time, the energization states of the terminals A ₁ , B ₂ and C _{1 at} the magnetic detection timings of the magnetic detection sensors 13a to 13c are the timings shown in FIG.

For example, at the position (1) of the magnetic detection sensor 13a, the magnetic detection sensors 13a and 13b are displaced by 21/3.
And 13c both correspond to the S pole, and the terminals A ₁ and C ₁ are 0
(v), + V (v) is applied to the terminal B ₂ , and the mover coil 1
2a to 12c are B ₂ → B ₁ , A ₂ → by star connection
A current flows in the direction of A ₁ and C ₂ → C ₁ . Based on the magnetic detection signals output by the magnetic detection sensors 13a to 13c based on the polarity of the magnet body 26, the three terminals A ₁ and B of the star connection are connected.
₂ , the energization state to C ₁ changes, and the mover coils 12a to 1
The direction of the current flowing through 2c is sequentially switched at the timing described above. At that time, each mover coil 12a-12c is
At the position defined by the above dimensional relationship, the direction of the current flowing through each winding portion and the polarity of the corresponding magnet body 26 cause a thrust force in accordance with Fleming's left-hand rule to be applied. ), It moves sequentially from the left to the right.

Further, in the case of the delta connection shown in FIG. 6, when the magnetic detection sensor 13a corresponds to the N pole of the magnet body 26 as shown in FIG. 11, + V is applied to the terminal A '.
(v) is applied to the S pole when 0 (v) is applied, and for the magnetic detection sensor 13b is 0 (v) at the N pole and + V (v) at the S pole.
In the case of the magnetic detection sensor 13c, it is + V at the N pole.
0 (v) is applied to the terminals B ′ and C ′ at the (v) and S poles, respectively. At this time, the energization states of the terminals A ', B'and C'at the magnetic detection timings of the magnetic detection sensors 13a to 13c are the timings shown in FIG.

For example, at the position (3) of the magnetic detection sensor 13a, the magnetic detection sensors 13a and 13b are displaced by 21/3.
And 13c both correspond to the south pole, and 0 is applied to the terminal A '.
(v), + V (v) is applied to the terminals B ′ and C ′. Due to the delta connection, no current flows between the B ′ and C ′ terminals that have the same potential, but a current flows in the direction of A ₂ → A ₁ , B ₂ → B ₁ . Also in this case, similarly to the above, the magnetism of the magnet body 26 corresponding to the direction of the current flowing through the winding portions of the respective mover coils 12a to 12c receives a thrust force according to Fleming's left-hand rule, and the same figure is used.
It moves from left to right as schematically shown in (a) to (h).

(Position Detection) The linear motor of this embodiment is a three-phase brushless DC linear motor, and the phase state is shown in FIG.
0 and FIG. 11, the pulse length of a square wave that changes according to the operation of the mover 11 and shapes the signals of the magnetic detection sensors 13a to 13c is the dimension 21 of the magnet 25 (the magnetic pole of the magnet body 26). Pitch). Thereby, the operation direction of the mover 11 is detected by observing the change order of the phase states. Further, the origin is set in advance at the open position of the door 5 (or another specific position), and the magnetic detection sensors 13a to
The position of the door 5 is detected with a resolution of ⅓ of the length of the magnet 25 by counting up or down according to the operation direction detected by 13c.

(Detection of Speed) The operating speed of the mover 11 is detected by measuring the time t (see FIGS. 10 and 11) at which the above-mentioned phase state changes. At this time, the operating speed v is given by the following equation. v = (2l / 3) / t Further, the direction (polarity) is equal to the operation direction at the time of position detection.

(Overall Operation) When the human body detection sensor 9 is turned on, the main control section 31 sets the target position to the door open position. Then, the mover 11 and the door 5 move to the open position by the functions of the position feedback loop and the velocity feedback loop described above. After confirming that the door 5 has reached the open position by confirming the position calculation circuit 33, the human body detection sensor 9 confirms that there is no person, and the main control unit 31 changes the target position to the closed position. This closes the door 5. When the human body detection sensor 9 detects a person during the closing operation, the target position is set to the open position again, and the above operation is repeated.

FIG. 12 is a flow chart showing the outline of the opening / closing control processing when the opening / closing mode of the door 5 is switched to the manual mode. When the processing is started, the moving direction of the door 5, that is, the mover 11 is determined in step 200. If the moving direction is the closing direction, in step 205, the moving element coil 12 is moved in such a direction that the reverse thrust force in the opening direction acts on the moving element 11.
The excitation directions of a to 12c are determined. If the moving direction is the open direction, the mover coil 12 is moved in the direction in which the reverse thrust force in the closing direction acts on the mover 11 in step 210.
The excitation directions of a to 12c are determined.

[0033] Setting the upper limit set speed corresponding to the step 215 the current position (v _a) the lower limit set speed (v _b).
Subsequently, in step 220, it is determined whether the reverse thrust force for braking has been generated. Compared unless already generated in step 225 and the actual velocity (v) and the upper limit set speed (v _a), if the upper limit set speed (v _a) <actual speed (v), depending on the speed difference at step 230 Generates reverse thrust. Otherwise the upper limit set speed (v _a) <actual speed (v), the process returns to step 200. Furthermore, if reverse thrust has already been generated in the step 220, in step 235, the actual velocity (v) and the lower limit set speed _{(v b) = (v a} ) - (v h)
And the lower limit set speed (v _b ) <actual speed (v), the process returns to step 200. If the lower limit set speed (v _b ) <the actual speed (v), the reverse thrust generation is stopped in step 240.

The relationship between the speed limit for generating reverse thrust and the position of the door 5 can be arbitrarily set as shown in FIG.
The lower limit set speed for stopping the reverse thruster (v _b) an upper limit set speed is the reverse thrust generating velocity (v _a), because are to have a rate hysteresis (v _h), to perform effectively decelerated You can

[0035]

As described above, in the door opening / closing control apparatus of the present invention, the speed limit for operating the braking means is set according to the position of the door from the outputs of the position calculation means and the speed limit storage means. Therefore, when opening and closing in the manual mode, the opening and closing speed can be increased at positions other than the vicinity of the opening and closing end where there is no hindrance even if the opening and closing speed is increased, and it is possible to operate lightly and prevent the door from colliding near the opening and closing end. There are excellent effects such as deceleration control.

[Brief description of drawings]

FIG. 1 is a diagram corresponding to a complaint.

FIG. 2 is a schematic configuration diagram of a linear motor type automatic door opening / closing device.

FIG. 3 is a perspective view of a mover.

FIG. 4 is a sectional view of a linear motor portion.

FIG. 5 is an explanatory diagram showing an example of dimensional relationships in star connection.

FIG. 6 is an explanatory diagram showing an example of dimensional relationships in a delta connection.

FIG. 7 is a system configuration diagram of the present embodiment.

FIG. 8 is a graph showing a mode of speed control.

FIG. 9 is a diagram illustrating an example of a speed limit pattern for generating reverse thrust.

FIG. 10 is an explanatory diagram showing a relationship between a current direction of each mover coil and a permanent magnet by switching the conduction polarity in the star connection.

FIG. 11 is an explanatory diagram showing the relationship between the current direction of each mover coil and the permanent magnets by switching the conduction polarity in the delta connection.

FIG. 12 is a flowchart showing an outline of door opening / closing control in a manual mode.

[Explanation of symbols]

 1 ... Linear motor type door opening / closing device 5 ... Door 6 ... Linear motor (three-phase brushless DC linear motor) 7 ... Controller 9 ... Human body detection sensor 11 ... Mover 13a-13c ... Magnetic detection sensor (position detection sensor) 31 ... Main control unit 33 ... Position calculation circuit 35 ... Output calculation circuit 36 ... Speed calculation circuit 38 ... Drive transistor setting circuit 40 .. .Movable coil energizing circuit 42 ... mode control circuit 44 ... driving condition value setting circuit 100 ... discriminating means 101 ... speed calculating means 102 ... position calculating means 103 ... speed comparing means 104 ... braking means 105 ... speed limit storage means 106 ... speed limit setting means

Claims (1)

[Claims] 1. A door opening / closing direction is determined based on a detection signal of a magnetic detection sensor disposed on a mover for controlling switching of energization polarities of a multi-phase brushless DC linear motor used as a door opening / closing drive source. Discriminating means, speed calculating means for calculating the opening / closing speed of the door, position calculating means for calculating the current position of the door, speed comparing means for comparing the set speed limit with the calculated actual speed, A door opening / closing control device including braking means for generating a thrust force in a direction opposite to the door opening / closing direction determined by the determination means with respect to the mover based on the output of the speed comparison means. And a speed limit setting means for setting the speed limit according to the position of the door from the outputs of the position calculation means and the speed limit storage means. Opening and closing control device of the door to be.