WO2021120469A1

WO2021120469A1 - Door mechanism motor drive system

Info

Publication number: WO2021120469A1
Application number: PCT/CN2020/085320
Authority: WO
Inventors: 戈建鸣; 翟泉新; 仇维斌
Original assignee: 今创集团股份有限公司
Priority date: 2019-12-20
Filing date: 2020-04-17
Publication date: 2021-06-24
Also published as: CN111305693A

Abstract

Disclosed is a door mechanism motor drive system. The system comprises: a CPU processing module, receiving a parameter transmitted by a host computer by means of a serial communication module, and planning a motion curve of a door according to the parameter; a motor drive module, receiving the motion curve transmitted by the CPU processing module, and driving a motor to act according to the motion curve; a power supply control module, used to output a power supply voltage required by the motor; a fault storage module, used to store fault information during operation of the door; a 5G communication module, used to provide communication between a remote control center and the CPU processing module; an input measurement module, used to measure a system input voltage; an information display module, displaying, by means of an LCD screen, information that needs to be exchanged; a Hall measurement module, being a circuit used to measure a motor speed and the position of a door mechanism; and a current measurement module, used to measure a bus current of the motor. The invention solves the technical problems of poor versatility, high maintenance costs, and long troubleshooting duration.

Description

A door mechanism motor drive system

Technical field

The invention relates to the technical field of door rail transportation, in particular to a door mechanism motor drive system.

Background technique

Rail transit refers to a transportation system that uses vehicles to run on fixed guide rails in cities and is mainly used for urban passenger transportation, generally including high-speed rail, subway and light rail, and modern trams, etc.;

With the continuous development of the domestic rail transit industry, more and more high-speed rail and subway door systems are driven by motors. At present, the door widths and motor models of the door mechanisms of different models are often different, so the door requirements of different models are Develop an independent motor drive system. The motor drive system is not universal and has high maintenance costs. It is also difficult for technicians to quickly troubleshoot the cause of the failure when the door fails.

Summary of the invention

In view of the above-mentioned shortcomings in the related art, the purpose of the present invention is to provide a door mechanism motor drive system to solve the technical problems of poor versatility, high maintenance cost, and long troubleshooting time in the related art.

The technical solution for achieving the objective of the present invention is: a door mechanism motor drive system, including:

CPU processing module, receiving the parameters transmitted by the host computer by the serial communication module, and planning the movement curve of the door mechanism according to the parameters;

The motor drive module is electrically connected to the CPU processing module, receives the motion curve transmitted by the CPU processing module, and drives the motor to act according to the motion curve;

The power control module is electrically connected to the CPU processing module, and is used to output the power supply voltage required by the motor;

The fault storage module is electrically connected to the CPU processing module, and is used to store fault information during the operation of the door mechanism;

The 5G communication module is electrically connected to the CPU processing module for communication between the remote control center and the CPU processing module;

The input detection module is electrically connected to the CPU processing module and is used to detect the input voltage of the system;

The information display module is electrically connected to the CPU processing module, and displays the information that needs to be interacted through the LCD screen;

A Hall detection module, which is electrically connected to the CPU processing module, and is used to detect the motor speed and the position of the door mechanism;

And a current detection module, which is electrically connected to the CPU processing module, and is used to detect the bus current of the motor.

Further: the parameters configured by the host computer include: the voltage level of the motor; the number of pole pairs of the motor; the obstacle detection current threshold; the reduction ratio of the motor gearbox; the gear diameter; the width of the door; the opening time; the closing time; and opening and closing the door The maximum operating speed.

Further: the motion curve includes: a first curve segment, and the curve calculation equation is: V0=at ² /2;

The second curve segment is connected to the first curve segment, and the curve calculation equation is: V1=-a(tT/4) ² /2+Vmax;

The third curve segment is connected to the second curve segment, and the curve calculation equation is: V2=Vmax;

The fourth curve segment is connected to the third curve segment, and the curve calculation equation is: V3=-a(t-3T/4) ² /2+Vmax;

And the fifth curve segment is connected with the fourth curve segment, and the curve calculation equation is: V4=a(tT) ² /2;

V0, V1, V2, V3 and V4 are the movement speeds of the door mechanism, t is the respective time points of the five curve segments, T is the door opening time or closing time set by the host computer, and a is the calculation by the CPU processing module Vmax is the maximum operating speed of opening and closing doors set by the host computer;

The area enclosed by the first curve segment, the second curve segment, the third curve segment, the fourth curve segment and the fifth curve segment is the total door movement stroke S; the total stroke S is set by the host computer.

Further: the fault storage module is also used to store the status information of each switch action for the host computer to query.

Further: the input detection module is also used to detect the switch signal of the door mechanism.

By adopting the above technical solutions, the present invention has the following beneficial effects: a door mechanism motor drive system. Compared with related technologies, the CPU processing module is electrically connected with a motor drive module, a power control module, a fault storage module, 5G communication module, input detection module, information display module, Hall detection module and current detection module; it can control the operation of the motor so that the door mechanism can also operate according to the set parameters. For different motors, only need to set Different parameters form different motion curves. The operation is very convenient, the versatility is relatively good, the system operation reliability is good, and it is equipped with 5G communication module. Compared with the 4G, wifi and other wireless communication technologies in the prior art, it has The advantages of fast transmission rate, strong real-time performance, and longer transmission distance; thus overcome the technical problems of poor versatility, high maintenance costs, and long troubleshooting time, and achieve good versatility, with remote control and maintenance functions, and relatively low maintenance costs , The technical effect of convenient troubleshooting is conducive to widespread promotion.

Description of the drawings

Figure 1 is a schematic structural diagram of an embodiment of the present invention;

Fig. 2 is a schematic diagram of a motion curve in an embodiment of the present invention;

Fig. 3 is a schematic structural diagram of a motor drive module in an embodiment of the present invention;

4 is a schematic diagram of the structure of a 5G communication module in an embodiment of the present invention;

5 is a schematic diagram of the structure of a current detection module in an embodiment of the present invention;

In the picture: 10. CPU processing module, 20. Motor drive module, 30. Power control module, 40. Fault storage module, 50.5G communication module, 60. Input detection module, 70. Information display module, 80. Hall detection module , 90. Current detection module, 100. First curve segment, 200. Second curve segment, 300. Third curve segment, 400. Fourth curve segment, 500. Fifth curve segment.

Detailed ways

In order to make the content of the present invention easier to be understood clearly, the following further describes the present invention in detail based on specific embodiments and in conjunction with the accompanying drawings;

The door mechanism motor drive system of the present invention solves the technical problems of poor versatility, high maintenance cost, and long troubleshooting time in related technologies, and achieves good versatility, has remote control and repair functions, and has relatively low maintenance costs. The overall idea of the positive effect of the convenience of failure is as follows:

Examples:

As shown in Figure 1, Figure 2, Figure 3, Figure 4, Figure 5; a door mechanism motor drive system, including:

The CPU processing module 10 receives the parameters transmitted by the serial communication module from the upper computer, and plans the movement curve of the door mechanism according to the parameters;

The motor drive module 20 is electrically connected to the CPU processing module 10, receives the motion curve transmitted by the CPU processing module 10, and drives the motor 600 to act according to the motion curve;

The power control module 30 is electrically connected to the CPU processing module 10, and is used to output the power supply voltage required by the motor 600;

The fault storage module 40 is electrically connected to the CPU processing module 10, and is used to store fault information during the operation of the door mechanism;

The 5G communication module 50 is electrically connected to the CPU processing module 10, and is used for communication between the remote control center and the CPU processing module 10;

The input detection module 60 is electrically connected to the CPU processing module 10, and is used to detect the input voltage of the system;

The information display module 70 is electrically connected to the CPU processing module 10, and displays information that needs to be interacted through the LCD screen;

The Hall detection module 80 is electrically connected to the CPU processing module 10, and is a circuit for detecting the rotation speed of the motor 600 and the position of the door mechanism;

And a current detection module 90, electrically connected to the CPU processing module 10, for detecting the bus current of the motor 600;

Specifically, during implementation, the CPU processing module 10 is electrically connected to the motor drive module 20, the power control module 30, the fault storage module 40, the 5G communication module 50, the input detection module 60, the information display module 70, and the Hall The detection module 80 and the current detection module 90 can control the operation of the motor 600 so that the door mechanism can also operate according to the set parameters. For different motors 600, only different parameters need to be set to form different motion curves. The operation is very convenient, the versatility is relatively good, the reliability of the system is good, and it is equipped with a 5G communication module 50. Compared with the 4G, wifi and other wireless communication technologies in the prior art, it has a fast transmission rate, strong real-time performance, and transmission. Advantages such as longer distance; thereby overcoming the technical problems of poor versatility, high maintenance cost, and long troubleshooting time, achieving good versatility, with remote control and repair functions, relatively low maintenance costs, and convenient troubleshooting; technical effects;

The following is a detailed description of each component and connection relationship:

Specifically, as shown in Figure 1, the host computer and the serial communication module are commonly used structures in the prior art. Those of ordinary skill in the art can directly communicate with each other after seeing the disclosure of the present invention. Undoubtedly knowing how to choose, does not require creative work or excessive experimentation;

The parameters configured by the host computer include: the voltage level of the motor; the number of motor pole pairs; the obstacle detection current threshold; the reduction ratio of the motor gearbox; the gear diameter; the door width; the door opening time; the door closing time; and the maximum operation of opening and closing the door speed;

For example: the voltage level of the motor: 24V;

Number of motor pole pairs: 5;

Obstacle detection current threshold: 6A;

The reduction ratio of the motor gearbox is 1:10;

Gear diameter: 10cm;

Door width: 900mm;

Opening time: 4s;

Closing time: 4s;

The maximum speed of opening and closing the door: 350mm/s;

Specifically, as shown in Figure 2, the motion profile includes:

The first curve segment 100, t0-t1, the curve calculation equation is: V0=at ² /2;

The second curve segment 200, t1-t2, is connected to the first curve segment 100, and the curve calculation equation is: V1=-a(tT/4) ² /2+Vmax;

The third curve segment 300, t2-t3, is connected to the second curve segment 200, and the curve calculation equation is: V2=Vmax;

The fourth curve segment 400, t3-t4, is connected to the third curve segment 300, and the curve calculation equation is: V3=-a(t-3T/4) ² /2+Vmax;

And the fifth curve segment 500, t4-t5, connected to the fourth curve segment 400, the curve calculation equation is: V4=a(tT) ² /2;

V0, V1, V2, V3 and V4 are the movement speeds of the door mechanism, t is the respective time points of the five curve segments, T is the door opening time or closing time set by the host computer, and a is the CPU processing module 10 The calculated acceleration coefficient, Vmax is the maximum operating speed of opening and closing the door set by the host computer;

The area enclosed by the first curve segment 100, the second curve segment 200, the third curve segment 300, the fourth curve segment 400 and the fifth curve segment 500 and the X axis is the total stroke S of the door movement; the total stroke S Set by the host computer;

For example: t1=T/8, t2=T/4, t3=3T/4, t4=7T/8, t5=T; when T is 4s, t1 is 0.5s, t2 is 1s, t3 is 3s, and t4 is 3.5s, t5 is 4s;

Vmax=350mm/s; Substitute the formula to calculate and get the operating curve, so that the door mechanism can be opened or closed at a certain speed and within a certain time under the action of the motor 600; for different motors 600, only Different parameters need to be set to form different motion curves, the operation is very convenient, and the versatility is relatively good;

Specifically, as shown in FIG. 1, the CPU processing module 10 adopts the STMicroelectronics STM32F767 microcontroller to plan the movement curve of the door mechanism according to the parameters configured by the host computer, and control the motor drive module 20 to make the motor 600 Run according to the proposed motion curve, and receive, convert, send, and control the data of each module, which is the core component;

Specifically, as shown in FIGS. 1 and 3, the motor drive module 20 controls the motor 600 according to the motion curve, so that the operation of the motor 600 conforms to the motion curve, so that the door mechanism can also follow the set Parameter operation;

Specifically, as shown in FIG. 1, the power control module 30, according to the voltage level of the motor input by the host computer, is controlled by the CPU processing module 10 to automatically output the power supply voltage required by the motor 600, such as 24V, 48V, 110V Wait;

Specifically, as shown in FIG. 1, the fault storage module 40 is used to store fault information during the operation of the door mechanism and the status information of each opening and closing action for the host computer to query, ensuring the reliability of system operation ; The fault storage module 40 is a storage unit composed of a chip EEPROM, and the chip EEPROM is AT24C1024 of ATMEL;

Specifically, as shown in FIGS. 1 and 4, the 5G communication module 50 includes: a 5G antenna array 51 and a 5G baseband chip 52; the CPU processing module 10 sends the data that needs to be sent to the 5G communication module 50 through the UART serial port. , The 5G communication module 50 then sends the data from the 5G base station to the remote control center, which realizes remote control and has the function of remote control and maintenance. Compared with the wireless communication technologies such as 4G and wifi in the prior art, it has a fast transmission rate and real-time Strong performance, longer transmission distance, etc.;

Specifically, as shown in FIG. 1, the input detection module 60 adopts a structure in the prior art to detect the system input voltage. For example, the system input voltage is 110V. The input detection module 60 converts the 110V voltage Convert it to 3.3V and transfer it to the pins of the CPU processing module 10 for identification;

It is also used to detect the switch signal of the door mechanism, such as door open/close command, door open end signal detection, door close end signal detection, and door lock end signal detection, etc. The CPU processing module 10 makes corresponding response based on the detected switch signal Logic judgment control ensures the reliability of system operation;

Specifically, as shown in FIG. 1, the information display module 70 adopts an OLED display module of ALINETEK. The module provides a total of 4 interfaces including: 6800 and 8080 parallel interface modes, 4-wire SPI interface mode and IIC Interface mode; the present invention uses a 4-wire SPI interface mode to connect to the CPU processing module 10, which can display the information that needs to be interacted through the LCD screen, such as the current state of the door mechanism, the historical fault information that has occurred, etc., so that the operator can trace the historical operation Record and solve the corresponding failure;

Specifically, as shown in FIG. 1, the Hall detection module 80 adopts a motor Hall detection module in the prior art, which is used to detect the rotation speed of the motor 600 and the position of the door mechanism. The motor 600 passes the Hall detection module during operation. The pulse output by the Er sensor calculates the speed of the motor 600 and determines the position of the door mechanism to ensure the normal operation of the motor 600;

Specifically, as shown in FIGS. 1 and 5, the current detection module 90 is used to detect the bus current of the motor 600, and the Hall detection module 80 forms a double detection to ensure the detection of the motor 600 Accuracy helps to ensure the normal operation of the motor 600;

The working principle of the present invention is as follows: when implemented, the CPU processing module 10 is electrically connected to the motor drive module 20, the power control module 30, the fault storage module 40, the 5G communication module 50, the input detection module 60, and the information display module 70 , Hall detection module 80 and current detection module 90; can control the operation of the motor 600, so that the door mechanism can also operate according to the set parameters, for different motors 600, only need to set different parameters to form different Movement curve, operation is very convenient, versatility is relatively good, system operation reliability is good, and equipped with 5G communication module 50, compared with the existing technology of 4G, wifi and other wireless communication technologies, it has fast transmission rate and real-time Strong, longer transmission distance and other advantages.

In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", "front", "rear" and other indicating orientations or positional relationships are based on the positional relationships described in the drawings. , Only for the convenience of describing the present invention or simplifying the description, rather than indicating the specific orientation that must be possessed; the operation process described in the embodiment is not an absolute use step, and corresponding adjustments can be made during actual use.

Unless defined individually, the technical or scientific terms used here shall be the ordinary meanings understood by persons with ordinary skills in the field to which the present invention belongs; the "first" and "second" terms used in the specification and claims of the present invention "And similar words do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, similar words such as "one" or "one" do not denote quantitative restrictions, but indicate the existence of at least One, it needs to be determined according to the content of the embodiment.

The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited to this. Anyone familiar with the technical field within the technical scope disclosed by the present invention, according to the technical solution of the present invention The equivalent replacement or change of the inventive concept thereof shall all fall within the protection scope of the present invention.

Claims

A door mechanism motor drive system, which is characterized in that it comprises:

The CPU processing module (10) receives the parameters transmitted by the serial communication module from the upper computer, and plans the movement curve of the door mechanism according to the parameters;

The motor drive module (20) is electrically connected to the CPU processing module (10), receives the motion curve transmitted by the CPU processing module (10), and drives the motor to act according to the motion curve;

The power control module (30) is electrically connected to the CPU processing module (10), and is used to output the power supply voltage required by the motor;

The fault storage module (40) is electrically connected to the CPU processing module (10), and is used to store fault information during the operation of the door mechanism;

The 5G communication module (50) is electrically connected to the CPU processing module (10), and is used for communication between the remote control center and the CPU processing module (10);

An input detection module (60), electrically connected to the CPU processing module (10), for detecting system input voltage;

The information display module (70) is electrically connected to the CPU processing module (10), and displays the information that needs to be interacted through the LCD screen;

A Hall detection module (80), which is electrically connected to the CPU processing module (10), and is used to detect the motor speed and the position of the door mechanism;

And a current detection module (90), electrically connected to the CPU processing module (10), for detecting the bus current of the motor.
The door mechanism motor drive system according to claim 1, characterized in that: the parameters configured by the upper computer include: voltage level of the motor; number of pole pairs of the motor; obstacle detection current threshold; reduction ratio of the motor gearbox ; Gear diameter; door width; door opening time; door closing time; and the maximum operating speed of opening and closing the door.
The door mechanism motor drive system according to claim 2, wherein the motion curve includes: a first curve segment (100), and the curve calculation equation is: V0=at 2 /2;

The second curve segment (200) is connected to the first curve segment (100), and the curve calculation equation is: V1=-a(tT/4) 2 /2+Vmax;

The third curve segment (300) is connected to the second curve segment (200), and the curve calculation equation is: V2=Vmax;

The fourth curve segment (400) is connected to the third curve segment (300), and the curve calculation equation is: V3=-a(t-3T/4) 2 /2+Vmax;

And the fifth curve segment (500) is connected to the fourth curve segment (400), and the curve calculation equation is: V4=a(tT) 2 /2;

V0, V1, V2, V3 and V4 are the movement speeds of the door mechanism, t is the respective time points of the five curve segments, T is the door opening time or closing time set by the host computer, and a is the CPU processing module ( 10) The calculated acceleration coefficient, Vmax is the maximum operating speed of opening and closing the door set by the host computer;

The area enclosed by the first curve segment (100), the second curve segment (200), the third curve segment (300), the fourth curve segment (400) and the fifth curve segment (500) is the movement of the door mechanism The total stroke S; the total stroke S is set by the host computer.
The door mechanism motor drive system according to claim 1, characterized in that: the fault storage module (40) is also used to store the status information of each switching action for the host computer to query.
The door mechanism motor drive system according to claim 1, wherein the input detection module (60) is also used to detect the switch signal of the door mechanism.