JPH08284526A - Driving controller of automatic door - Google Patents

Abstract

PURPOSE: To promote efficiency by using a brushless DC motor as a door driving motor, at the same time, specifying the number of poles and the maximum speed, and using a toothed belt to decelerate. CONSTITUTION: A door driving belt 7 is wrapped around a driving pulley 5 and a following pulley 6 mounted to an output shaft of a decelerator 4, at the same time, a door 8 is connected to the belt 7, and a motor M is forwarded and reversed to open and close the door 8. Then, the decelerator 4 is connected to the motor M through a toothed belt 2, and since noises to be generated are controlled with the belt 2, the maximum speed of the output shaft in the motor M is not more than 1600rpm. Then, in order that the maximum speed of the motor M is limited to increase the degree of accuracy of speed and position control of the door 8, since the number of pulses in a rotor magnetic pole position sensor is necessary to increase, the number of poles of the motor M is at least 16 poles. By the constitution, a driving controller of an automatic door can be controlled by a simple construction with high degree of accuracy without mounting encoder, etc., to a special damping position sensor or the motor.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive control method for an automatic door which controls opening / closing by using a motor.

[0002]

2. Description of the Related Art In an automatic door, a belt is wound around a drive pulley and a driven pulley which are normally and reversely rotated by a motor, the belt is connected to the door, and the motor is normally and reversely rotated to automatically open and close the door. It is a thing. The automatic door that opens and closes at high speed not only stops the door at the stop position at the end of opening and closing the door, but also opens in front of each stop position to reduce the impact when the door stops. By providing a closed and closed braking position, the door moves at a high speed to near the stop position, and when the door passes this braking position, the door is braked, and the stop buffer control is performed to reduce the speed sufficiently and then drive to the stop position at a fine speed. Is going.

In a conventional automatic door apparatus using an induction motor, a sensor such as a reed switch is generally arranged on the fixed side of the traveling mechanism of the door to detect that the door has passed a braking position, and it is opposed to this. Then, a magnet or the like is attached to the hanging metal fitting of the traveling door and the both are opposed at the braking position to operate the sensor. Since it is generally necessary to adjust the braking position back and forth depending on the weight of the door, etc., the structure is such that after the door is installed, the sensor can be moved back and forth on the site and adjusted and then fixed.

An automatic door using an induction motor is
Generally, a 4-pole motor is used, and the maximum rotation speed is necessarily about 1,30 at 50Hz due to the characteristics of the induction motor.
0 rpm, 60 Hz becomes about 1,600 rpm.
For speed control to change the opening / closing speed of the door, it is common to detect the speed with a 12-pole AC speed generator directly connected to the motor, compare this with the speed command voltage, and control the speed of the induction motor with thyristor control. That's the method.
Generally, the ratio of the maximum speed to the minimum speed is up to about 10: 1, and it is difficult to rotate at a lower speed and smoother than this. Further, there is a problem that the temperature rise becomes large when the induction motor is used at low speed and high torque.

On the other hand, the brushless DC motor is provided with a sensor for detecting the position of the magnetic pole of the rotor, and the direction of the stator winding current is switched using this signal to perform brushless driving. Therefore, if the structure is such that there is no slip between the rotation angle of the rotor and the movement amount of the door, the position of the door can be obtained by counting and counting the signals of the magnetic pole position sensor of the motor. That is, since the braking position can be obtained by counting and counting the moving distance from the fully open or fully closed point, the special braking position sensor using the above-mentioned reed switch or the like can be omitted. A general incremental encoder can be used without also using the motor magnetic pole position sensor for door position detection.
Since the resolution can be increased, the positional accuracy can be improved, but the cost is increased, so that it is generally difficult to adopt as an automatic door device.

In addition, the brushless DC motor has a large starting torque, and has the advantage of being able to endure a high frequency of starting and stopping as compared with an induction motor, and therefore has been widely used. The automatic door that uses a brushless DC motor uses a 3-phase 4-pole brushless DC motor so far, and the maximum rotation speed is not limited by the power supply frequency unlike the induction motor, so it can be rotated at a high speed of about 3,000 rpm. It was often used. One of the reasons for this is that the signal from the magnetic pole detection sensor of the 4-pole motor has 2 pulses per rotation, so even if the three phases are combined, the maximum is 12 ppr.
The maximum value of the door opening / closing speed is 5
The rotation speed of the motor at this time is 3,000
If rpm is used, one pulse of the pulse signal after synthesis corresponds to a moving distance of 0.833 mm, so the resolution is almost the limit for controlling the position and speed of the door with this signal,
This is because if the rotation is designed to be lower than this, the moving distance per pulse becomes large and the controllability deteriorates.

Another reason is that increasing the number of rotations of the motor and increasing the reduction ratio makes it possible to produce a large torque with a motor having a small starting torque, so that a motor of this class is relatively easily available in the world. Is.

A speed reducer is used to transmit the rotation of the motor to the drive pulley. However, if a gear is used from the beginning to connect the output shaft of the motor and the speed reducer, the number of rotations of the motor shaft is high, so noise is likely to be generated from the gear. Generally, a deceleration method using a belt and a pulley for a motor shaft is used.

[0009]

In an automatic door using an induction motor, a V-belt type deceleration method is generally used for a motor shaft, but the door position and speed are controlled by using a signal from a rotor magnetic pole position sensor. In this case, since there is no slippage between the rotation angle of the rotor and the movement amount of the door, a toothed belt without slippage is used instead of the V belt. However, when the rotation speed is high, noise is generated due to the tooth contact noise of the belt, and the noise becomes louder than that of a device using a conventional induction motor. In particular, if the tension of the belt is increased, noise is likely to be generated. Conversely, if the tension is excessively weakened, tooth skipping occurs and an error is detected in the position detection.

In order to reduce the noise generated by the toothed belt, it is desirable to use the rotational speed of the rotor shaft at a value lower than at least 1,600 rpm which is the maximum rotational speed of the conventional induction motor. However, in the case of a 3-phase 4-pole brushless DC motor, the maximum rotation speed is 1,600 rpm.
Then, when the opening / closing speed of the door is 500 mm / s, the moving distance of the door per pulse of the magnetic pole position sensor is 1.56 m.
This is not practical because the position accuracy of the door becomes worse as it becomes larger.

Regarding the speed control, if the fine speed value is set to 30 mm / s with this pulse number, the speed detection frequency is only 19.2 Hz, which makes speed control difficult and smooth running of the door is almost impossible. Is.

[0012]

In order to suppress the noise generated by the toothed belt, the rotation speed of the output shaft of the motor must be at least 1,600 rpm which is the maximum rotation speed of the conventional induction motor. is there. It is necessary to increase the number of pulses of the rotor magnetic pole position sensor in order to limit the maximum rotation speed of the motor to 1,600 rpm or less and improve the accuracy of door speed and position control.

Therefore, if the number of magnetic poles of the motor can be set to, for example, 16 poles, the number of pulses is 4 when the three phases are combined.
It can be increased to 8 ppr. By doing so, the traveling distance of the door per pulse can be increased to 0.39 mm and the resolution can be increased under the above-described conditions, and the speed detection frequency at a low speed of 30 mm / s can be increased to 76.8 Hz. Therefore, the speed and position of the door can be controlled by the pulse signal of the magnetic pole position sensor of the motor.

The torque of the motor must be increased in order to set the maximum number of rotations of the motor to be low so that the door opening / closing speed and the acceleration characteristics are the same, but since a high-performance magnet has been put into practical use, The torque of the brushless DC motor can be increased, and the number of poles can be increased relatively easily with the outer rotor, that is, the magnet abduction type structure.

[0015]

When the deceleration method using the toothed belt without slippage is used for the motor output shaft, the maximum number of rotations of the motor is set to 1,600 rpm or less to suppress the increase of noise generated from the belt, and the number of poles of the motor is reduced. To 16 poles or more,
By compensating for the decrease in the pulse signal for controlling the position and speed using the motor magnetic pole position sensor due to the decrease in the number of rotations of the motor, we have realized an automatic door device that can secure position accuracy and perform smooth fine speed operation. To do.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 1, a small toothed pulley 1 is attached to an output shaft of a motor M and is connected to a large toothed pulley 3 of an input shaft of a speed reducer 4 via a toothed belt 2. A door drive belt 7 is wound around a drive pulley 5 and a driven pulley 6 attached to the output shaft of the speed reducer 4, and a door 8 is connected to the belt 7 by a connector 9 to rotate the motor M in the forward and reverse directions. As a result, the door 8 is configured to be opened and closed.
Assuming that the effective diameter of the drive pulley 5 is 56 mm and the product of the reduction ratio by the small toothed pulley 1 and the large toothed pulley 3 and the internal reduction ratio of the speed reducer 4 is 1/9, the opening / closing speed of the door 8 is 500.
The rotation speed of the output shaft of the motor M at the time of mm / s is 1,53
The speed is 5 rpm, and even if a toothed belt is used, it can be driven with relatively low noise.

The motor M is a brushless DC motor and incorporates a magnetic pole position sensor 10 using a Hall element or a Hall IC for detecting the magnetic pole position of the rotor.
In the case of a three-phase brushless DC motor, a magnetic pole position signal is generally taken out as a three-phase signal 11 having a 120-degree phase difference by using three Hall sensors, and a brushless logic circuit is used as a signal for brushlessly driving the motor M. In step 12, the motor M is brushlessly driven through the three-phase motor driver 13. The three-phase signal 11 is combined by the pulse combining circuit 14 in order to increase the resolution for controlling the position and speed of the door 8, and the position / speed pulse 15 and the direction discrimination signal 1 are combined.
6, and the speed control of the motor M is performed via the speed control circuit 17. The opening / closing control of the door 8 is managed by the microcomputer and the peripheral circuit 18, and the door opening command 19 from the mat switch and the human body detection sensor is sent to the microcomputer and the peripheral circuit 1.
When input to 8, the speed command 21, the rotation direction command 22 and the torque command 23 are output to the speed control circuit 7 based on the door opening / closing stroke and the opening / closing speed preset with the initial setting value 20. The motor current is detected by the three-phase motor driver 13 for torque control, and is fed back to the speed control circuit 17 as a current signal 24.

The motor M is a 3-phase 16-pole brushless DC motor, and the magnetic pole position signal 11 is a 3-phase signal with a phase difference of 120 degrees at 8 ppr per phase. When all the rising and falling edges of the three-phase signal 11 are used to perform the multiplication processing in the pulse synthesizing circuit 14, the position / velocity pulse 15 of 48 ppr is obtained. In the case of the reduction ratio of the above-described embodiment, that is, when the opening / closing speed of the door 8 is 500 mm / s and the rotation speed of the motor M is 1,535 rpm, one pulse of the position speed pulse 15 is applied to the door 8. This corresponds to a moving distance of 0.407 mm, and positioning can be performed with practical positional accuracy. Further, since the speed pulse 15 at a fine speed of 30 mm / s is 73.7 Hz, the door 8 can be run at a fine speed almost stably using this signal.

[0019]

EFFECTS OF THE INVENTION A deceleration method using a toothed belt to eliminate slippage is generated from the belt by using the maximum rotation speed of the motor shaft at the maximum rotation speed of the conventional induction motor of 1,600 rpm or less. Noise is suppressed, the number of poles of the brushless DC motor is increased to 16 or more, and the number of pulses for controlling the position and speed of the door is increased by using the signal of the magnetic pole position sensor. It is possible to put a high-precision and low-noise automatic door device into practical use with a simple configuration without attaching an expensive encoder or the like to the motor or the motor.

[Brief description of drawings]

FIG. 1 is a structural explanatory view of a drive control device for an automatic door according to the present invention.

[Explanation of symbols]

 1: Small pulley with teeth 2: Belt with teeth 3: Large pulley with teeth 4: Reducer 5: Drive pulley 6: Drive pulley 7: Door drive belt 8: Door 9: Connector 10: Magnetic pole position sensor 11: Magnetic pole position Signal 12: Brushless logic circuit 13: Three-phase motor driver 14: Pulse synthesis circuit 15: Position speed pulse 16: Direction determination signal 17: Speed control circuit 18: Microcomputer and peripheral circuits 19: Open command 20: Initial setting value 21: Speed Command 22: Rotation direction command 23: Torque command 24: Current feedback signal

Claims (1)

[Claims] Claim: What is claimed is: 1. A brushless DC motor is used as a motor for driving a door, and the pole and the speed of the brushless DC motor are controlled in an automatic door driving apparatus in which the position and speed of the door are controlled by using signals from a magnetic pole position sensor of the motor. The number is 16 poles or more, the pulley for the toothed belt is attached to the output shaft of the motor,
Use a toothed belt to reduce the speed, and set the motor speed to 1,600 rp when the door opening / closing speed is maximum.
Drive control device for automatic doors designed to be used at m or less.