JPS61203884A - Electric controller for door opening/closing system for vehicle - Google Patents

Abstract

PURPOSE:To substantially constantly control the rotating speed of a rotary motor irrespective of a load variation by controlling a power supply voltage in response to the speed of the motor. CONSTITUTION:When an operation switch 30 is operated to 32 side in the state that a full open detection signal from a full-open detection switch 40a is erased, a NAND gate 100a outputs an L signal. Since a speed voltage is lower than the first and second reference voltage, a flip-flop 140 outputs an L signal, and a flip-flop 150 outputs an H signal, relays 50, 70 are excited, and a DC motor M is driven normally at a high speed. When the rotating speed becomes the first reference voltage or higher, the output of the flip-flop 150 becomes L, the relay 70 is deenergized, and the motor M is driven at a low speed. When the rotating speed is further raised to become the second reference voltage or higher, the output of the flip-flop 140 becomes H, the relay 50 is deenergized to produce generatively brake action.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a vehicle door opening/closing system, and particularly to a vehicle door opening/closing system that can be opened and closed laterally along the entrance/exit of a vehicle such as a wagon or a bus. The present invention relates to an electric control device for a vehicle opening/closing system in which opening/closing of a door provided therein is controlled by a rotating electric motor.

[Prior art]

Conventionally, in an electric control device for this type of vehicle door opening/closing system, a resistor is connected in series to a rotating electric motor, and a resistor is connected in series to a rotating electric motor, as disclosed in, for example, Japanese Patent Laid-Open No. 58-69980. A position detection switch is provided at a nearby position, and when the door reaches a position close to its fully open position, the position detection switch detects this, and in response to this detection result, the resistor is short-circuited, and a voltage is applied to the rotating motor. There is a system in which the resistance is increased by an amount corresponding to a short circuit, thereby easily ensuring engagement of the door with the fully closed locking mechanism without causing a decrease in the rotational speed of the rotary motor.

[Problem that the invention seeks to solve]

However, in such a configuration, when the load on the rotary motor is light, the rotational speed of the rotary motor increases too much during the door closing or opening process, causing the door closing speed or opening speed to increase too much. On the other hand, when the load on the rotary motor is heavy, there is a problem that the rotational speed of the rotary motor decreases too much during the closing/opening process of the door, and the closing/opening speed becomes too low.

In order to deal with this problem, the present invention is designed to control the rotational speed change range of the rotary motor that controls the opening and closing of the door in a vehicle door opening/closing system to be almost constant regardless of load fluctuations. The present invention seeks to provide an electrical control device.

Means for Solving Problem C] In solving this problem, the structural features of the present invention are as follows:
A door opening/closing system equipped with a rotary electric motor that opens and closes a door in one direction by rotating it in one direction and closes it by rotating it in the other direction is used in a door opening/closing system that is installed at a vehicle entrance so that it can be opened and closed laterally along the entrance. an operating means that generates a second operating signal when the first operating signal is closed; and a power source that connects the rotary motor to a first driving state in response to the first operating signal and rotates the rotary electric motor in one direction. A drive that allows power to be supplied to the rotary electric motor from the power source via the resistor so as to enter a second drive state in response to the second operation signal and rotate the rotary electric motor in the other direction. and a short-circuiting means for short-circuiting the resistor, the speed detection means detecting the rotational speed of the rotary motor and generating a speed detection signal;
a reference signal generating means for generating an upper limit value and a lower limit value of the allowable rotational speed range of the rotating electric motor as an upper limit reference signal and a lower limit reference signal, respectively; and a value of the speed detection signal reaching the value of the upper limit reference signal. output signal means for generating a first output signal when the speed detection signal reaches the value of the lower limit reference signal; and output signal means for generating a second output signal when the value of the speed detection signal reaches the value of the lower limit reference signal, said first in response to a signal.
and one of the second driving states is released, and the shorting means shorts the resistor in response to the second output signal.

[Effect]

Therefore, by configuring the present invention in this way, when opening and closing the door when the vehicle is stopped tilting in the opening/closing direction of the door, the own weight of the same person is used in the opening and closing process. Even if the load on the rotary electric motor is reduced on the one hand and the load on the rotary electric motor is increased on the other hand during the opening process and the closing process, the rotational speed increases due to the decrease in the load on the rotary electric motor, causing the speed to increase. When the value of the detection signal reaches the value of the upper limit reference signal, the output signal generating means generates a first output signal, and in response, the driving means changes to one of its first and second driving states. is released to reduce the rotational speed of the rotary electric motor, and on the other hand, when the value of the speed detection signal reaches the value of the lower limit reference signal due to a decrease in the rotational speed due to an increase in the load on the rotary electric motor, the output signal The generating means generates a second output signal, and in response, the driving means releases the other of its first and second driving states to increase the rotational speed of the rotary electric motor, thereby increasing the rotational speed of the rotary electric motor. The speed is maintained within the permissible rotational speed range regardless of load fluctuations, and as a result, the opening and closing speeds of the door are always approximately constant regardless of the vehicle's stopped state. can be maintained constant.

Further, such effects can be similarly achieved not only when the vehicle is stopped but also when load fluctuations due to some cause are applied to the rotary electric motor.

〔Example〕

Hereinafter, one embodiment of the present invention will be described with reference to the drawings.
2 and 2 show an example in which the electric control device according to the present invention is applied to the opening/closing mechanism 20 of the bus door 10.
0 is disposed at an entrance provided on the side wall of the bus so that it can be opened and closed in the front and rear directions along the entrance. Opening/closing mechanism 2
0 is equipped with a stepped drive shaft 21 mounted on a part of the floor surface of the bus, and this drive shaft 2I has a support arm extending horizontally from a part of the inner wall of the bus. 22 and a portion of the floor surface so as to be rotatable in the horizontal direction. A pair of upper and lower connecting arms 21a, 21a extending horizontally from the large diameter portion of the drive shaft 21 are connected at each tip to an inner wall portion of the door 10 so as to be rotatable horizontally relative to the inner wall portion. This causes the drive shaft 21 to move to the first position.
When the door 10 rotates counterclockwise in the figure, the drive shaft 21
As the door 10 rotates, the connecting arms 21a, 21a open toward the rear of the bus (toward the left in FIG. 1), and when the drive shaft 21 rotates clockwise in this state, the door 10 opens.
is closed toward the front of the bus (toward the right in FIG. 1) by the action of the connecting arms 21a, 21a. Further, the opening/closing mechanism 20 includes a large diameter spur gear 23 pivotally supported at the lower end of the large diameter drive shaft 210.

A small-diameter spur gear 24 that meshes with the spur gear 23 is provided, and the spur gear 24 is integrally supported by the output shaft of a DC motor M mounted on the floor of the bus. In addition, door 1
0 is in a fully open state (or fully closed state) due to detachable engagement with a fully open lock mechanism (or fully closed lock mechanism) provided at the peripheral portion of the entrance/exit when fully opened (or fully open). maintained.

Further, forward rotation (or reverse rotation) of the DC motor M corresponds to opening (or closing) of the door IO.

The electric control device is as shown in Fig. 1 (, operation switch 3
0, fully open detection switch 40a, fully closed detection switch 4
0b, auxiliary detection switch 40c, and operation switch 30
The bus has relays 50, 60, and 70 connected to the bus, and the operation switch 30 is located near the driver's seat of the bus.
It includes a double-throw contact 31 connected to the positive terminal of the DC power supply B via the ignition switch IG of the bus, and a pair of fixed contacts 32 and 33. However, operation switch 3
0 generates the first operating signal necessary to open the door 10 at a high level in response to the connection of the double-throw contact 31 with the fixed contact 32, and in response to the connection of the double-throw contact 31 with the fixed contact 33. In response, a second operation signal necessary to close the door 10 is generated at a high level, and both fixed contacts 32 and 33 of the double-throw contact 31 are activated.
In the neutral state, the generation of the first and second operation signals is stopped.

The fully open detection switch 40a is of a normally closed type, and is opened only when the door 10 is fully opened to generate a fully open detection signal at a high level. The fully closed detection switch 40b is of a sealed type and is opened only when the door 10 is fully closed to generate a fully closed detection signal at a high level. The auxiliary detection switch 40C is of a normally open type, and is closed when the door 10 is closed to the position immediately before fully opening, and generates a position detecting signal immediately before fully closed at a low level.

The relay 50 has an electromagnetic coil 51 and a double-throw switch 52, and the double-throw switch 52 connects the double-throw contact 52a to the fixed contact 52 by excitation (or demagnetization) of the electromagnetic coil 51.
b (or 52C).

In this case, the double-throw contact 52a is connected to the first input terminal of the DC motor M, the fixed contact 52b is connected to the positive terminal of the DC power supply B, and the -blade fixed contact 52c is grounded.

The relay 60 has an electromagnetic coil 61 and a double-throw switch 62, and the double-throw switch 62 changes the double-throw contact 62a to the fixed contact 62b by excitation (or demagnetization) of the electromagnetic coil 61.
(or 62c).

In such a case, the double-throw contact 62a is connected to the second input terminal of the DC motor M via the load resistor 80, and the fixed contact 62a is connected to the second input terminal of the DC motor M through the load resistor 80.
2b is connected to the positive side terminal of the DC power supply B, and the -blade fixed contact 62c is grounded. The relay 70 includes an electromagnetic coil 7
2, and a normally open switch 72 that is closed (or opened) by excitation (or demagnetization) of the electromagnetic coil 72, and the switch 72 is connected in parallel to a load resistor 80.

Further, as shown in FIG.
00a, 100b), and a pair of negative NAND gates 110a, 110b (negative logic AND gate 110a).
, 110b), and the negative AND gate 100a has an inverter 90a at its first inverting input terminal.
is connected to the fixed contact 32 of the operation switch 30 through the terminal, and its second inverting input terminal is grounded via the fully open detection switch 40a. However, negative AND gate 1
00a is a low level signal (or high level signal). Further, when the first operation signal from the operation switch 30 disappears, the negative AND gate 100a generates a high level signal.

The negative AND gate 100b has a first inverting input terminal connected to the fixed contact 33 of the operation switch 30 via an inverter 90b, and a second inverting input terminal of the negative AND gate 100b is connected to the fully closed detection switch 4.
It is grounded via 0b. However, negative AN
The D gate 100b goes low level in response to the disappearance (or generation) of the fully open detection signal from the fully closed detection switch 40b under the inverting action of the inverter 90b in response to the generation of the second operation signal from the operation switch 30. signal (or high level signal). Furthermore, when the second operation signal from the operation switch 30 disappears, the negative AND game zoo
b produces a high level signal.

The negative NAND gate 110a has its first inverting input terminal connected to the output terminal of the negative AND gate 10ob, and its second inverting input terminal is grounded via the auxiliary detection switch 40c. Therefore, the negative NAND gate 110a is a negative AND gate) 1
While the low level signal from 00b is being generated, a high level signal (or low level signal) is generated in response to the disappearance (or generation) of the immediately before fully closed position detection signal from the auxiliary detection switch 40c.
occurs. Further, negative NAND gate 110a generates a high level signal in response to a high level signal from negative AND gate 100b. Negative NAN
The D gate 110b is connected to each fixed contact 32 and 33 of the operation switch 30 at its first and second inverting input terminals, respectively. Thus, when the first (or second) operation signal is generated from the operation switch 30, the negative NAND gate 110b generates a low level signal.

Furthermore, when both the first and second operation signals from the operation switch 30 disappear, the negative NAND gate 110b
generates a high level signal.

The electric control device also includes a speed sensor 120 and a speed determination circuit 130 connected to the speed sensor 120. The speed sensor 120 detects the rotational speed N of the DC motor M and outputs a frequency proportional to this. generates a series of pulse signals with a The speed determination circuit 130 includes, for example, a frequency-voltage converter 131 (hereinafter referred to as an F-V converter 131) connected to the speed sensor 120, and a reference voltage generator 13.
2, and each comparator 133, 134, 135.13 connected to the F-V converter 131 and the reference voltage generator 132.
The F-V converter 131 converts the frequency of each pulse signal from the speed sensor 120 into a speed voltage at a level proportional to the frequency of each pulse signal. In such a case, F-V
The level of the speed voltage from the converter 131 corresponds to the rotational speed N of the DC motor M.

The reference voltage generator 132 includes resistors 1 connected in series with each other.
32a, 132b, 132c, 132d,
The resistor 132a is grounded at one end, and each resistor 132b, 132c is connected at the other end.

It is connected to the output terminal of a constant voltage power supply (not shown) via 132d. Therefore, the reference voltage generator 132 is
The constant voltage +Vc from the constant voltage power supply is applied to each resistor 132a~
132d, and these divided voltages are applied to their respective output terminals Pi, P2 . 1st from P3. Second. They are respectively generated as third reference voltages. In this case, the first reference voltage corresponds to the resistance value of the resistor 132a (i.e., rotation speed N=minimum allowable rotation speed Nl), and the second reference voltage corresponds to the series resistance value of both resistors 132a and 132b (i.e., Rotational speed N
= predetermined rotational speed N2>Nl), and the third reference voltage corresponds to the total series resistance value of the three resistors 132a, 132b, 132c (i.e., rotational speed N - maximum allowable rotational speed N3>N
2) is supported.

Furthermore, Nl<N<N2 corresponds to the heavy load region of the DC motor M, N2≦N<N3 corresponds to the steady load region of the DC motor M, and N≧N3 corresponds to the light load region of the DC motor M. do.

The comparator 133 generates a high level signal only when the voltage from the F-V converter 131 is less than or equal to the first reference voltage from the reference voltage generator 132, and the comparator 134 generates a high level signal only when the voltage from the F-V converter 131 The comparator 135 generates a high level signal only when the voltage is equal to or higher than the second reference voltage from the reference voltage generator 132.
31 and the second speed voltage from reference voltage generator 132.
The comparator 136 generates a high level signal only when the speed voltage from the F-V converter 131 is equal to or higher than the third reference voltage from the reference voltage generator 132. Occur. In such case,
The high level signal from the comparator 133 corresponds to N≦N2, and the high level signal from the comparator 134 corresponds to N
≧N2, the high level signal from the comparator 135 corresponds to N≦N2, and the high level signal from the comparator 136 corresponds to N≧N3.

Further, the electric control device includes a pair of RS flip-flops 140 and 150 connected to the speed determination circuit 130 and a pair of negative AND gates 160a.

160b and a positive NOR gate 160c, the RS flip-flop 7p 140 has its cent terminal S connected to the output terminal of the comparator 136 of the speed determination circuit 130, and its reset terminal R connected to the output terminal of the comparator 136 of the speed determination circuit 130. 135 output terminal. Therefore, the RS flip-flop 140 is connected to the comparator 136
It is set in response to a high level signal from comparator 135 to generate a high level signal from its output terminal Q, and is reset in response to a high level signal from comparator 135 to generate a low level signal from its output terminal Q.

The RS flip-flop 150 is connected at its cent terminal S to the output terminal from the comparator 134,
The reset terminal R of this RS flip-flop 150 is connected to the output terminal of the comparator 133. Therefore, the RS flip-flop 150 is connected to the comparator 134.
It is set in response to a high level signal from the comparator 133 to generate a low level signal from its output terminal Q, and is reset in response to a high level signal from the comparator 133 to generate a high level signal from its output terminal Q. . The negative AND gate 160a is connected at each inverting input terminal to the output terminal of the negative AND gate 100a and to the output terminal Q of the RS flip-flop 140, respectively. Thus, the negative AND gate 160a generates a low level signal in response to each low level signal from the negative AND gate 100a and the RS flip-flop 140, and the negative AND gate 160a and (
or) A high level signal 1 is generated in response to each high level signal of the RS flip-flop 140.

Negative AND game) 160b has its respective inverting input terminal connected to the output terminal of negative AND game) 100b and R
They are respectively connected to the output terminals Q of the S flip-flop 140. However, this negative AND gate 1
60b generates a low level signal in response to each low level signal from the negative AND gate 100b and the RSS flip-flop 14;
A high level signal is generated in response to each high level signal from 0b and/or RS flip-flop 140.

Positive NOR gate 160c is connected to negative AND gate 100a and/or RS flip-flop 150.
A low level signal is generated in response to each high level signal from the negative NAND gate 110a and a high level signal is generated in response to each low level signal from the negative NAND gate 110a and the RS flip-flop 150. The output terminal of the negative AND gate 160a is connected to the positive terminal of the DC power supply B via the electromagnetic coil 51 of the relay 50 and the ignition switch IG, and the negative AND gate 1-1
60b connects the electromagnetic coil 61 of the relay 60 at its output terminal.
and is connected to the positive side terminal of DC power supply B via the ignition switch IC, and is also connected to the positive NOR gate 160.
C is connected at its output terminal to the positive terminal of the DC power supply B via the electromagnetic coil 71 of the relay 70 and the ignition switch IC.

In this embodiment configured as described above, the bus running with the ignition switch
For example, assume that the vehicle is stopped on a relatively flat road surface. However, in this state, since the door 10 is in the fully closed state, the fully closed detection switch 40b generates a fully closed detection signal, and the auxiliary detection switch 40c generates a fully closed position detection signal. On the other hand, each operation signal from the operation switch 30 and the full-open detection signal from the full-open detection switch 40a have disappeared. Further, the speed voltage generated from the F-V converter 131 in cooperation with the speed sensor 120 becomes zero based on the stoppage of the DC motor M.

In such a state, the operation switch 3 is pressed to open the door 10.
From 0, the first FIj! When the operation signal (see symbol a in FIG. 4) is generated, the inverter 90a responds to the first operation signal from the operation switch 30 when the full-open detection signal from the full-open detection switch 40a disappears when the negative AND gate 100a The negative NAND gate 110b generates a low level signal in response to the first operation signal when the second operation signal from the operation switch 30 disappears.

Further, since the speed voltage from the F-V converter 131 is lower than the first and second reference voltages from the reference voltage generator 132, both comparators 135 and 133 generate high level signals, and the RS flip-flop 140 generates a low level signal in response to a high level signal from comparator 135, and RS flip-flop 150 generates a high level signal in response to a high level signal from comparator 133.

Then, the negative AND gate 160a connects the negative AND gate 100a and the RS flip-flop 140.
When a low level signal is generated in response to each low level signal from The contact 52a is inserted into the fixed contact 52b. Also, the positive NOR gate 160c is R
When a low level signal is generated in response to the high level signal from the S flip-flop 150, the relay 70 closes the switch 72 by energizing the electromagnetic coil 71 (see symbol c1 in FIG. 4) in response to the low level signal. The load resistor 80 is short-circuited. At this time, negative AND gate 1
Since relay 60b generates a high level signal in response to the low level signal from RS flip-flop 140 and the high level signal from negative AND gate 100b, relay 60 maintains the state shown in FIG.

As described above, when the relay 60 is in the state shown in FIG.
When the DC power supply B is short-circuited, the power supply current from the DC power supply B passes through the fixed contact 52b and the double-throw contact 52a of the relay 50, and flows into the DC motor M from its first input terminal.
from the second input terminal of switch 72 and relay 60
It flows into the fixed contact 62c through the double-throw contact 62a. In other words, if the DC motor M directly receives the power supply voltage from the DC power supply B with the load resistor 80 short-circuited, the curve d in FIG.
The forward rotation speed begins to increase along l. Then, the spur gear 23 is rotated counterclockwise by the spur gear 24 interlocked with the DC motor M, and in response, the drive shaft 21 locks the door 10 with the fully closed locking mechanism using its connecting arms 21a, 21a. It begins to open to the left in FIG. 2 against the engagement force.

When the normal rotation speed of the DC power supply B increases above the predetermined rotation speed N2, the speed voltage generated from the F-V converter 131 in cooperation with the speed sensor 120 becomes higher than the second reference voltage from the reference voltage generator 132, Both comparison lakes 133, 13
5 both generate a low level signal, and at the same time, the comparator 134 generates a high level signal. Then, the RS flip-flop 150 generates a low level signal in response to the high level signal from the comparator 134, inverts the low level signal from the positive NOR gate 160c to high level, and the relay 70 causes the electromagnetic coil 71 to disappear (
(see reference numeral C2 in FIG. 4) opens the switch 72 and releases the short circuit of the load resistor 80. This means that when the DC motor M receives a voltage obtained by subtracting the voltage drop due to the load resistor 80 from the power supply voltage from the DC power source B, the curve d in FIG.
This means increasing the normal rotation speed along line 2. In such a case, as understood from both lines di and d2, the degree of increase in the forward rotation speed of the DC motor M is slower in N2<N<N3 than in Nl<N<N2 in relation to the load resistance 80. It becomes saturated. Therefore, the door 10 continues to open while decreasing the degree of increase in the opening speed. In other words, in the steady load region (see reference numeral I in FIG. 4), the rotational speed of the DC motor M maintains an increasing saturation tendency in the range of N2<N<N3, and the opening speed of the door 10 is kept almost constant. maintain.

When the door 10 is fully open, the fully open detection switch 40a generates a fully open detection signal, and the negative AND gate '100 is activated.
a generates a high level signal, the negative AND gate 160a generates a high level signal, and the relay 50 demagnetizes the electromagnetic coil 51 to connect the double throw contact 52a to the fixed contact 5.
2c to cut off the DC motor M from the DC power supply B.

As a result, the DC motor M stops rotating in the normal direction and the drive mechanism 2
The opening action on the door 10 of No. 0 is stopped. in this case,
The door lO is easily engaged with the fully open locking mechanism and maintained fully open due to inertia due to its opening speed. Note that after the door 10 is fully opened in this manner, the operation switch O is kept in the neutral state.

In such a state, the operation switch 3 is pressed to close the door 10.
0, the second operation signal (symbol A in Fig. 4) is generated by the operation.
), the negative AND gate 100
When the fully closed detection signal from the fully closed detection switch 40b disappears, a low level signal is generated by the inverting action of the inverter 90b in response to the second operation signal, and in response, the negative AND gate 160b is activated. A low level signal is generated under the generation of the low level signal from the RS flip-flop 140, and the positive NOR gate 160c
A low level signal is generated based on the high level signal from the S flip-flop 150.

Then, the relay 60 activates the negative AND gate 160b.
The double-throw contact 62a is turned on to the fixed contact 62b by the excitation of the electromagnetic coil 61 in response to the low level signal from the positive NOR gate 160c (see symbol B in FIG. 4), and the relay 70 responds to the low level signal from the positive NOR gate 160c. When the electromagnetic coil 71 is excited (see reference numeral C1 in FIG. 4), the switch 72 is closed and the load resistor 80 is short-circuited. At this time, the relay 50 is in the state shown in FIG.

Therefore, the power supply current from the DC power supply B passes through the fixed contact 62b, the double-throw contact 62a of the relay 60, and the switch 72 of the relay 70, and flows into the second input terminal of the DC motor M, and the first input terminal of the DC motor M. It flows out from the terminal, passes through the double-throw contact 52a of the relay 50, and flows into the fixed contact 52c. In other words, when the DC motor M directly receives the power supply voltage from the DC power supply B with the load resistor 80 short-circuited, the reverse rotation speed begins to increase along the curve D1 in FIG. Then, the spur gear 23 is rotated clockwise by the spur gear 24 interlocked with the DC motor M, and in response, the drive mechanism 20 uses its connecting arms 21a, 21a to apply the engagement force to the door 10 with the fully open locking mechanism. begins to close forward against the

When the reverse rotation speed of DC power supply B increases above the predetermined rotation speed N2, the speed voltage generated from the F-V converter 131 in cooperation with the speed sensor 120 becomes higher than the second reference voltage from the reference voltage generator 132, and both Comparator 133, 13
5 both generate a low level signal, and at the same time, the comparator 134 generates a high level signal. Then, the RS flip-flop 150 generates a low level signal in response to the high level signal from the comparator 134, inverts the low level signal from the positive NOR gate 160c to high level, and the relay 70 demagnetizes the electromagnetic coil 71 (
(see reference numeral C2 in FIG. 4) opens the switch 72 and releases the short circuit of the load resistor 80. This means that when the DC motor M receives a voltage obtained by subtracting the voltage drop due to the load resistor 80 from the power supply voltage from the DC power source B, the curve D in FIG.
This means increasing the reversal speed along 2. In such a case, as understood from the biconvex lines DI and D2, the degree of increase in the reverse rotation speed of the DC motor M is more gradual in N2<N<N3 than in Nl<N<N2 in relation to the load resistance 80. It becomes saturated. Therefore, 5i110 continues to close with a decreasing increase in its closing rate. In other words, in the steady load region (see symbol ■ in Fig. 4), the rotational speed of the DC motor M maintains an increasing saturation tendency in the range of N2<N<N3, and the closing speed of the door 10 is kept almost constant. to be maintained.

When the door 10 reaches the position immediately before fully closed and the auxiliary detection switch 40C generates a position detecting signal immediately before fully closed, the negative NAN
D gate 110a generates a high level signal, positive NOR gate 160c generates a low level signal, and relay 70 shorts load resistor 80 by closing switch 72. Then, the voltage applied to the DC motor M increases by the amount of the short circuit of the load resistor 80, and the reverse rotation speed of the DC motor M increases, increasing the closing force on the door 10. This means that the door 10 easily engages with the fully closed locking mechanism under the action of the drive mechanism 20 and becomes fully closed.

When the door 10 is fully opened in this way, the fully open detection switch 4
0b generates a fully closed detection signal, negative AND gate 100b generates a low level signal, and negative AND gate 100b generates a low level signal.
game) 160b generates a high level signal, relay 60
By demagnetizing the electromagnetic coil 61, the double-throw contact 62a is connected to the fixed contact 62c, and the DC motor M is cut off from the DC power supply B. As a result, the DC motor M stops rotating in reverse, thereby stopping the closing action of the drive mechanism 20 on the door 10.

In this case, the door 10 easily engages with the fully closed locking mechanism and is maintained in the fully closed state due to inertia due to its closing speed. In addition, after the door 10 is completely closed,
Keep the operation switch 30 in the neutral state.

In addition, in the above explanation of the operation, it is assumed that the bus is stopped on the boarding road surface with its forward direction directed toward the top of the boarding road surface. In such a state, when the first operation signal is generated from the operation switch 30 to open the 5i110,
In the same way as described above, the DC motor M directly receives the power supply voltage from the DC power supply B under the short circuit of the load resistor 80 and starts to rotate in the normal direction, and in response, the drive mechanism 20 locks the door 10 into the fully closed locking mechanism. begins to open against the force of engagement. In such a case, the door 10 can be more easily disengaged from the fully closed locking mechanism due to the rearward weight of the door 10.

When the normal rotation speed of the DC power supply B rises above the predetermined rotation speed N2, the DC motor M starts to rotate the load resistor 80 in the same manner as described above.
With the short-circuit removed, the forward rotation speed is further increased while receiving a voltage obtained by subtracting the voltage drop due to the load resistor 80 from the power supply voltage from the DC power supply B. In such a case, the rearward weight of the door 10 acts to reduce the load on the DC power supply B, so that the normal rotation speed of the DC motor M increases along the curve d3 in FIG. raise.

When the normal rotation speed of the DC motor M reaches the maximum allowable rotation speed N3, the speed voltage from the F-V converter 131 reaches the third reference voltage from the reference voltage generator 132, and the comparator 1
36 generates a high level signal, the RS flip-flop 140 generates a high level signal, inverts the low level signal from the negative AND gate 160a to high level, and the relay 50 demagnetizes the electromagnetic coil 51 (as shown in FIG. (refer to reference numeral b2), the double-throw contact 52a is connected to the fixed contact 52c.
to be put into. Then, the DC motor M is short-circuited at both input terminals via the load resistor 80, resulting in a dynamic braking operation. This means that the normal rotation speed of the DC motor M decreases as shown by the curve d4 in FIG. 4, thereby suppressing the increase in the opening speed of the door 10.

Then, when the normal rotation speed of the DC motor M decreases to a predetermined rotation speed N2, the speed voltage from the F-V converter 131 decreases to the second reference voltage from the reference voltage generator 132, and the comparator 135 outputs a high level signal. , the RS flip-flop 140 generates a low-level signal, the negative AND gate 160a generates a low-level signal, and the relay 50 activates the electromagnetic coil 51 (see symbol b3 in FIG. 4) to open the double-throw contact. 52a to the fixed contact 52b. Then, the DC motor M stops its dynamic braking operation and receives the power supply voltage from the DC power supply B via the load resistor 80, thereby increasing the normal rotation speed along the curve d5 in FIG. This suppresses a decrease in the opening speed of FJIO. Thereafter, in the same manner, the DC motor M repeats a decrease in the normal rotation speed due to the dynamic braking operation and an increase in the normal rotation speed due to the cancellation of the dynamic braking operation. In other words, the DC motor M satisfies N2≦N5 in its light load region (see symbol ■ in Fig. 4).
The opening speed of the door 10 is maintained almost constant while increasing/decreasing the normal rotation speed within the range of N3. In addition, door 10
The effect when fully opened is the same as described above.

In such a state, when the second operation signal is generated from the operation switch 30 to close the door 10, the DC motor M is connected to the DC power source B under the short circuit of the load resistor 80 in the same manner as described above. The drive mechanism 20 begins to close the alo forward against the fully open locking mechanism. In such a case, the door 10 is easily disengaged from the fully open locking mechanism in connection with the short circuit of the load resistor 80, despite the rearward weight of the door 10. Note that the electromagnetic coil 61 of the relay 60 is in an excited state (see reference numeral B2 in FIG. 4).

When the reversal speed of the DC motor M increases above the predetermined rotation speed N2, the DC motor M starts increasing the load resistance 8 in the same manner as described above.
The reversal speed is attempted to be increased while receiving a voltage obtained by subtracting the voltage drop due to the load resistor 80 from the power supply voltage from the DC power supply B with the short-circuit released at 0. However, since the dead weight of the door 10 acts to increase the load on the DC motor M, the reverse speed of the DC motor M is
It decreases along the curve d6 in FIG. Therefore, when the reverse rotation speed of the DC motor M decreases to the minimum allowable rotation speed N1,
The speed voltage from the F-V converter 131 is applied to the reference voltage generator 1.
32 to the first reference voltage from comparator 133
generates a high level signal, positive NOR gate 1
60c generates a low level signal, and relay 70 closes switch 72 by energizing its electromagnetic coil 71 (see reference numeral C3 in FIG. 4) to short-circuit load resistor 80.

Then, due to the short circuit of the load resistor 80, the DC motor M directly receives the power supply voltage from the DC power supply B, resisting the weight of the door 10 and
The reversal speed is increased along the curve d7 in the figure. This suppresses a decrease in the closing speed of the door 10.

Next, when the reverse speed of the DC motor M increases to a predetermined rotation speed N2, the speed voltage from the F-V converter 131 increases to the second reference voltage from the reference voltage generator 132, and the comparator 134 outputs a high level signal. The RS flip-flop 150 generates a low level signal to invert the low level signal from the positive NOR gate 160c to a high level, and the relay 70 demagnetizes the electromagnetic coil 71 (see symbol C4 in FIG. 4). The switch 72 is opened to release the short circuit of the load resistor 80. Then, the voltage applied to the DC motor M decreases by the voltage drop caused by the load resistor 80,
The reverse speed of the DC motor M decreases along the curve d8 in FIG. Thereafter, in the same manner, the DC motor M is connected to the load resistance 8.
The reverse speed increases due to a short circuit at 0, and the reverse speed decreases repeatedly when the short circuit is released. In other words, the DC motor M is
In the heavy load region (see symbol m in Figure 4), N≦N
The opening speed of the door 10 is maintained almost constant while increasing/decreasing the reversal speed in the range of ≦N2. In addition, door 1
The effect when fully closed at 0 is the same as described above.

In addition, in the above-mentioned operation, the case where the bus is stopped on the boarding road surface with its forward direction facing the top of the boarding road surface has been described, but this is not limited to this. Substantially the same effects as described above can also be achieved when the vehicle is stopped with its advancing direction facing the top of the climbing road surface.

In the above embodiment, an example was described in which the present invention was applied to a boarding start 10 that was disposed at a boarding gate provided on the side wall of the bus so that it could be opened and closed in the front and rear directions along the boarding gate. The present invention is not limited to the bus, but the present invention may be applied to a door provided along the boarding/exit located on the rear wall of the bus so that it can be opened and closed in the left and right directions. It may be a wagon.

Further, in implementing the present invention, instead of the door 10, the present invention may be applied to a door provided on a bus or the like so that it can be folded back and forth.

Further, in carrying out the present invention, the speed determination circuit 130 may be configured by a counter-type circuit that counts the input frequency purely digitally.

Further, in the embodiment, the rotational speed N of the DC motor M is set to N1, N2, . Although the classification is based on the three values of N3, the classification is not limited to this, but may include Nl, N21. N22°N3 (Nl<N21
The rotational speed N is divided into four values: <N22<N3), and in the light load range of the DC motor M, N21≦N≦N3.
The control may be performed with N1≦N≦N22 in the heavy load/low region.

[Brief explanation of drawings]

1 and 2 are overall configuration diagrams showing one embodiment of the present invention,
FIG. 3 is an electric circuit diagram of the speed determination circuit in FIG. 1, and FIG. 4 is a time chart for explaining the present invention in detail. Explanation of symbols B: DC power supply, M: DC motor, 10: Door, 20: Drive mechanism, 30: Operation. Switch, 40c...Auxiliary detection switch, 50°60.
70...Relay, 80...Load resistance, 90a, 90
b -- Inverter, 100a, 100b, 160a,
160b -- Negative AND gate, 110a, 1
10b -- Negative NAND gate, 120...
Speed sensor, 130... Speed judgment circuit, 131...
F-V converter, 132... reference voltage generator, 133-
136...Comparator, 140.150...RS
Flip-flop, 160c...Positive NOR gate. Applicant Nippondenso Co., Ltd. (foreign name) Agent Patent attorney Teru Hase - (1 other person) C) Job St + - 1 ≧ Can

Claims (1)

[Claims] A door opening/closing system equipped with a rotary electric motor that opens and closes a door by rotating in one direction and closing it by rotating in the other direction is used to open and close a door disposed at a vehicle entrance so that the door can be opened and closed laterally along the entrance and exit of a vehicle. an operating means that generates a first operating signal and generates a second operating signal when the door is closed; and a resistor that causes the rotary electric motor to rotate in one direction in a first driving state in response to the first operating signal. a second operating signal that allows power to be supplied from the power supply to the rotary electric motor and responds to the second operation signal;
In the electric control device, the electric control device includes a driving means that allows power to be supplied from the power source to the rotary motor via the resistor so as to be in a driving state and rotate the rotary motor in the other direction, and a short-circuiting means that short-circuits the resistor. A speed detection means that detects the rotational speed of the rotary electric motor and generates it as a speed detection signal, and a reference signal generating means that generates an upper limit value and a lower limit value of the allowable rotational speed range of the rotary electric motor as an upper limit reference signal and a lower limit reference signal, respectively. means for generating a first output signal when the value of the speed detection signal reaches the value of the upper limit reference signal; and a second output signal when the value of the speed detection signal reaches the value of the lower limit reference signal. output signal means for generating a signal, wherein the driving means releases one of the first and second driving states in response to the first output signal, and the shorting means responds to the second output signal. An electric control device for a vehicle door opening/closing system, characterized in that the resistor is short-circuited by