A control method for an overlapping linkage door

Abstract

The present invention discloses a control method for an overlapping linkage door, which includes the following steps: 1. Determine the number of overlapping door leaves that run along their respective tracks according to the width of the door body, determine the number of drivers required on the tracks where each door leaf is located according to the stroke of each door leaf, and connect all the drivers in sequence through a CAN communication interface; 2. Set the same power-on waiting parameters and different power-on waiting parameters for each driver. The same power-on waiting parameters include the number of door leaves and the number of drivers, and the different power-on waiting parameters are different address codes of the drivers. The address codes of each driver are encoded in sequence according to the number of drivers, etc. The method of the present invention can remove the linkage accessories of the existing overlapping linkage door, greatly reduce the failure rate, maintenance cost and noise during operation of the automatic door, can support an infinitely extended running stroke, reduce energy consumption and lower energy consumption.

Description

Technical Field

[0001] The present invention belongs to a control method for an automatic door, and particularly relates to a control method for an overlapping linkage door. Background Art

[0002] The application of linear motors (drivers) in automatic doors has developed relatively rapidly in recent years. With the increasing demand of consumers, especially for some application scenarios with longer strokes, the demand for automatic doors is constantly increasing. Currently, most of the linear motor automatic doors applied to long strokes adopt dual-motor control. Limited by the moving rail and position sensor, the running range of the door leaf is generally half of the total length of the door body track. It cannot meet the application scenarios with a long total stroke and a narrow door body. Especially for overlapping linkage doors, mainly linkage accessories are used to ensure the linkage operation of each door leaf. The driver is installed in the inner track with a shorter stroke, so the force required for the motor to drive the door body is 2^(N - 1) times (N is the number of door leaves of the linkage door) that of the motor installed in the outermost longest track. The required cost increases, and the noise and energy consumption also increase significantly. The linkage accessories belong to a deceleration structure and are prone to damage. To solve these problems, there is an urgent need for a control method for an overlapping linkage door without linkage accessories and with an infinitely extendable stroke. Summary of the Invention

[0003] The purpose of the present invention is to provide a control method for an overlapping linkage door without linkage accessories and with an infinitely extendable stroke.

[0004] The technical solution adopted by the present invention to solve its technical problems is as follows:

[0005] The control method for the overlapping linkage door provided by the present invention includes the following steps:

[0006] Step 1: Determine the number of overlapping door leaves running along their respective tracks according to the width of the door body, determine the number of drivers required on the tracks where each door leaf is located according to the stroke of each door leaf, and connect all the drivers in sequence through a CAN communication interface;

[0007] Step 2: Set the same power-on waiting parameters and different power-on waiting parameters for each driver. The same power-on waiting parameters include the number of door leaves and the number of drivers, and the different power-on waiting parameters are different address codes of the drivers. The address codes of each driver are sequentially encoded according to the number of drivers;

[0008] Step 3: After the power-on waiting parameters are set, the drivers on each track drive the door leaves they belong to to reach the end point when closing the door from any position and then return to the same starting point when opening the door simultaneously, so as to automatically learn the stroke required to drive the door leaves they belong to. Among them, the stroke required for the first door leaf with the longest stroke is the width of the door body, and the sum of the door leaf strokes learned by all the drivers on each track is the stroke of the door leaf;

[0009] Step 4: After the stroke learning of each door leaf is completed, for the tracks where the number of drivers is greater than 1 for the door leaf, the first driver of each door sends the stroke data of the door leaf it belongs to to the other drivers on the track where the door leaf is located; according to the stroke of each door leaf, calculate the speed planning of each driver in each door leaf and the stroke speed planning of the entire door leaf composed of the speed planning of these drivers through the algorithm in the program, so as to ensure that each door leaf completes the process from start to acceleration to set speed to deceleration to stop within its own stroke;

[0010] Step 5: Except for the first door, the first drivers of other door leaves read the stroke data of the first door through the reading instruction set by the program, and send the stroke data of the first door to the other drivers of this door leaf. The drivers of these door leaves multiply their own speed planning by the linkage coefficient of this door leaf respectively to ensure that the door leaves with different strokes start and stop in place at the same time. The linkage coefficient of this door leaf is equal to the stroke of this door leaf divided by the stroke of the first door;

[0011] Step 6: When the overlapping linkage doors are running, each door leaf works simultaneously, and each driver on the door leaf track starts or stops automatically according to the position of the door leaf. That is, when the previous driver stops working, the current driver starts working, so that only one driver works at any position during the operation of the door leaf in the stroke, and a vector control method is used to achieve a smooth speed transition between the drivers on the door leaf track;

[0012] In the above Step 3, the drivers on each track automatically learn the strokes required for driving the door leaves they belong to in sequence under the instruction of the program; through the linear Hall on the driver as feedback, calculate the electrical angle of the currently working driver on each track in sequence. Within a fixed time, calculate the difference in the electrical angles of each driver, and calculate the running stroke of each door leaf through the accumulation of the angle differences;

[0013] In the above Step 6, the vector control method includes: the currently required running driver reads the excitation voltage UD, torque voltage UQ and electrical angle θ parameters in the vector control model of the previous running driver, and calculates the electrical angle θ required to compensate its own vector control model through the program algorithm 当前 to achieve a smooth speed transition, θ 当前 is obtained from Equation (1):

[0014] θ 当前 = θ1 + θcomp + θ0 (1)

[0015] Where θ1 is the difference in electrical angle between adjacent drivers calculated in real time through the feedback of the linear Hall of the driver, θ0 is the real-time electrical angle of the currently operating driver calculated based on the linear Hall of the driver, and θcomp is the electrical angle compensation value calculated based on the time difference between the currently operating driver and the previous operating driver. It can be obtained from Equation (2):

[0016] (2)

[0017] Where f c_dsp is the carrier frequency, f dsp is the operating frequency of the motor magnetic field, f base is the reference frequency for detecting the per-unit value, represented in Q16 format;

[0018] In Step 6, to ensure that only one driver works at any position during the travel of each door leaf, control is performed by detecting the magnets on the door leaf through the linear Hall of the driver on each door leaf track. Only the driver that detects the magnet works, and the driver that does not detect the magnet does not work. The detection is implemented by using the first-order low-pass filtering method of the program algorithm. The first-order low-pass filtering formula is as shown in Equation (3):

[0019] (3)

[0020] Where Yn is the current output signal of the filter; τ is the time constant; T is the sampling period; Yn-1 is the previous output of the filter; Xn is the current input of the filter; Xn-1 is the previous input of the filter.

[0021] Beneficial effects

[0022] 1. The linkage accessories of the existing overlapping linkage door can be removed, greatly reducing the failure rate, maintenance cost, and noise during operation of the automatic door.

[0023] 2. The speed of each door leaf with different travel distances is adaptively planned, and the door body runs smoothly and beautifully.

[0024] 3. Real-time data interaction between multiple drivers can support an infinitely extended travel distance under the premise of a limited number of door leaves and the length of the moving track, meeting the requirements of users for a large travel distance.

[0025] 4. Compared with the previous method using linkage accessories, the overlapping linkage door requires much less motor power and force. At the same time, it can ensure that the motors that are not covered are in a working state, reducing energy consumption.

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments. Description of the drawings

[0027] Figure 1 It is an exploded schematic diagram when the overlapping linkage door of the present invention is opened.

[0028] Figure 2 It is a side schematic diagram of the overlapping linkage door of the present invention.

[0029] Figure 3 It is a schematic diagram when the overlapping linkage door of the present invention is closed.

[0030] Figure 4 It is a view of door leaf 1 in the overlapping linkage door of the present invention.

[0031] Figure 5 It is a graph of the planned travel speed of door leaf 1.

[0032] Figure 6 It is a program flow chart of the method of the present invention. Detailed implementation manner

[0033] Now take Figure 1 — Figure 4 The overlapping linkage door shown as an example to illustrate the method of the present invention. The overlapping linkage door includes a track component integrated by parallel tracks 1, 2, and 3, door leaves 1, 2, and 3 corresponding to tracks 1, 2, and 3 respectively and overlapping each other with the same door leaf width. The travel distances of door leaves 1, 2, and 3 are 3 door leaves, 2 door leaves, and 1 door leaf width respectively. According to the travel distances of each door leaf, drivers for driving door leaves 1, 2, and 3 to run along their respective tracks are provided on tracks 1, 2, and 3 respectively. The drivers adopt permanent magnet linear motors. The numbers of drivers on tracks 1, 2, and 3 are 3, 2, and 1 respectively. Moving tracks provided with magnets are arranged on each door leaf to cooperate with the drivers on their respective tracks. When the drivers work, they drive the moving tracks and the door leaves to move back and forth through magnetic field induction.

[0034] The control method of the overlapping linkage door provided by the present invention includes the following steps:

[0035] 1. Determine the number of overlapping doors that run along their respective tracks according to the width of the door body. Determine the number of drivers required on the tracks where each door is located according to the travel of each door. All drivers are sequentially connected through the CAN communication interface; all drivers interact with each other in real time through CAN communication to run data and status, ensuring that any driver knows the status and data of other online drivers; in this embodiment, the number of overlapping doors is 3, the number of drivers required for the door leaf 1 with the longest travel is 3, and the number of drivers required for the door leaf 2 and the door leaf 3 are 2 and 1 respectively. There are a total of 6 drivers. Each driver has a CAN communication line interface and is connected through the CANH and CANL of the two communication lines of the CAN communication interface. The drivers located at the door opening positions of each door leaf on each track are all driver 1, and the subsequent drivers are driver 2, driver 3, driver 4, etc.

[0036] 2. Set the same power-on waiting parameters and different power-on waiting parameters for each driver. The same power-on waiting parameters include the number of door leaves 3 and the number of drivers 6. The different power-on waiting parameters are the different address codes 1-6 of the drivers. The address codes of the 6 drivers are sequentially encoded from driver 1 ranked first on track 1 to driver 1 on track 3 as 6 in accordance with the head-to-tail connection of the 3 tracks. The values of the above parameters can be set through the dip switches on the drivers.

[0037] 3. After the power-on waiting parameters are set, a start signal can be given by short-circuiting the start signal and the ground in the signal interface left on the driver. The drivers on each track sequentially drive the door leaves belonging to them from any position to the end point when they are closed and then return to the same starting point when they open simultaneously to automatically learn the travel required for each of them to drive the door leaves belonging to them. Among them, the travel required for the first door leaf with the longest travel is the width of the door body, and the sum of the travel of the door leaves learned by all the drivers on each track is the travel of the door leaf.

[0038] The drivers on each track automatically learn the travel required for each of them to drive the door leaves belonging to them under the instruction of the program, starting from driver 1 in sequence; using the linear hall on the driver as feedback, calculate the electrical angle of the currently working driver on each track in sequence. Within a fixed time, calculate the difference in the electrical angles of each driver, and calculate the travel of each door leaf through the accumulation of the differences in electrical angles.

[0039] IV. After the travel learning of each door leaf is completed, for the tracks where the number of drivers is greater than 1 for the door leaf, the first driver (driver 1) of each door sends the travel data of the corresponding door leaf to the other drivers on the track where the door leaf is located; according to the travel of each door leaf, the speed planning of each driver in each door leaf and the travel speed planning of the entire door leaf composed of the speed planning of these drivers are calculated through the algorithm in the program, so as to ensure that each door leaf completes the process from start to acceleration to set speed to deceleration to stop within its own travel;

[0040] In this embodiment, the speed planning of each driver in each door leaf adopts a seven-segment motion model control. For example, the travel speed planning curve of door leaf 1 is as Figure 5 shown. In the figure, T1 to T7 are the times required for each stage of the travel SS1 of door leaf 1, SS1 = S1 + S2 + S3, where S1 is the travel of door leaf 1 from start to acceleration to set speed, S2 is the travel of door leaf 1 at the set speed, and S3 is the travel of door leaf 1 from set speed to deceleration to stop. The speed planning curves of drivers 1-3 in track 1 respectively correspond to the travels S1, S2, and S3 of door leaf 1, and they form the travel speed planning curve of door leaf 1. According to their positions, drivers 1-3 will quickly respond to the speeds shown in their respective speed curves;

[0041] V. Except for the first door (door leaf 1), the first driver of other door leaves reads the travel data of the first door through the read instruction set by the program, and sends the travel data of the first door to the other drivers of this door leaf. The drivers of these door leaves multiply their own speed planning by the linkage coefficient of this door leaf to ensure that the door leaves with different travels start and stop in place at the same time. The linkage coefficient of this door leaf is equal to the travel of this door leaf divided by the travel of the first door;

[0042] For example, when driver 1 of door leaf 1 obtains the travel data of door leaf 1, the program will execute to send the data of the door body width of door leaf 1 (i.e., the travel SS1 of door leaf 1) as an instruction through the CAN bus to the drivers 1 of other door leaves, and this driver 1 will send the travel SS1 data of door leaf 1 to all the drivers of this door leaf. The speed planning of the drivers of other door leaves is based on the speed planning of the travel SSn (n = 2, 3) of this door leaf, and is multiplied by the linkage coefficient of this door leaf, and the linkage coefficient = SSn / SS1;

[0043] VI. When the overlapping linkage doors are running, each door leaf works simultaneously, and each driver on the door leaf track starts or stops automatically according to the position of the door leaf, that is, when the previous driver stops working, the current driver starts working, so that only one driver is working at any position during the travel of the door leaf, and a vector control method is used to achieve a smooth speed transition between the various drivers on the door leaf track;

[0044] The vector control method includes: the currently required operating driver reads the excitation voltage UD, torque voltage UQ, and electrical angle θ parameters in the vector control model of the previous operating driver, and calculates the electrical angle θ required to compensate its own vector control model through a program algorithm. 当前 to achieve a smooth speed transition, θ 当前 is obtained from Equation (1):

[0045] θ 当前 = θ1 + θcomp + θ0 (1)

[0046] In the formula, θ1 is the difference in electrical angle between each adjacent driver calculated in real time through the feedback of the linear Hall of the driver, θ0 is the real-time electrical angle of the currently required operating driver calculated according to the linear Hall of the driver, and θcomp is the electrical angle compensation value calculated according to the time difference in communication between the currently required operating driver and the previous operating driver, which can be obtained from Equation (2):

[0047] (2)

[0048] In the formula f c_dsp is the carrier frequency, f dsp is the operating frequency of the motor magnetic field, f base is the reference frequency for detecting the per-unit value, represented in Q16 format;

[0049] The vector control method adopted by the present invention calculates the feedback from the linear Hall based on the electrical angle required for the motion control of the driver; when switching from the operation of the (N - 1)th driver to the operation of the Nth driver, it is necessary to transmit the excitation voltage UD and torque voltage UQ in the current vector motor control model in real time through CAN communication; ideally, the driver N can obtain the real-time rotor angle and the data required for the current vector control model through communication. However, in practice, there is always a large delay in obtaining the rotor position, and there is a large deviation in the phase angle of the vector motor control, resulting in the operating speed being unable to track the given speed and the smooth operation of the door leaf being affected.

[0050] VII. To ensure that only one driver works at any position during the travel of each door leaf, control is performed by detecting the magnet on the door leaf through the linear Hall of the driver on each door leaf track. Only the driver that detects the magnet works, and the driver that does not detect the magnet does not work.

[0051] Since the linear Hall sensor outputs analog signals, it is vulnerable to external vibrations or magnetic field interference, which may lead to inaccurate detection and cause errors in the overlapping interlocking door system. To accurately detect the true information of the magnet, a first-order low-pass filtering method based on program algorithm is adopted for detection. The first-order low-pass filter formula is shown in Equation (3):

[0052] (3)

[0053] In the formula, Yn is the current output signal of the filter; τ is the time constant; T is the sampling period; Yn-1 is the previous output of the filter; Xn is the current input of the filter; and Xn-1 is the previous input of the filter.

[0054] The program flow of the method of the present invention is as Figure 6 shown.

Claims

1. A control method for an overlapping linkage door, characterized in that It includes the following steps: Step 1: Determine the number of overlapping door leaves that run along their respective tracks according to the width of the door body. Determine the number of drivers required on the tracks where each door leaf is located according to the stroke of each door leaf. All the drivers are sequentially connected through a CAN communication interface; Step 2: Set the same power-on waiting parameters and different power-on waiting parameters for each driver. The same power-on waiting parameters include the number of door leaves and the number of drivers. The different power-on waiting parameters are the different address codes of the drivers. The address codes of each driver are sequentially encoded according to the number of drivers; Step 3: After the power-on waiting parameters are set, the drivers on each track sequentially drive the door leaves they belong to from any position to the end point when closing the door and then return to the same starting point when opening the door simultaneously, so as to automatically learn the stroke required to drive the door leaves they belong to. The stroke required by the first door with the longest stroke is the width of the door body. The sum of the strokes of the door leaves learned by all the drivers on each track is the stroke of the door leaf; Step 4: After the stroke learning of each door leaf is completed, for those tracks where the number of drivers is greater than 1, the first driver of each door sends the stroke data of the door leaf it belongs to to the other drivers on the track where the door leaf is located. Calculate the speed planning of each driver in each door leaf and the stroke speed planning of the entire door leaf composed of the speed planning of these drivers according to the algorithm in the program based on the stroke of each door leaf, so as to ensure that each door leaf completes the process from starting to accelerating to the set speed to decelerating to stopping within its own stroke; Step 5: Except for the first door, the first drivers of other door leaves read the stroke data of the first door through the read instruction set by the program and send the stroke data of the first door to the other drivers of this door leaf. The drivers of these door leaves multiply their own speed planning by the linkage coefficient of this door leaf respectively to ensure that the door leaves with different strokes start and reach the stop position simultaneously. The linkage coefficient of this door leaf is equal to the stroke of this door leaf divided by the stroke of the first door; Step 6: When the overlapping linkage door runs, each door leaf works simultaneously, and the drivers on the door leaf tracks automatically start or stop according to the position of the door leaf. That is, when the previous driver stops working, the current driver starts working, so that only one driver works at any position during the stroke of the door leaf, and a vector control method is used to achieve a smooth speed transition between the drivers on the door leaf tracks; 2. The control method of the overlapping linkage door according to claim 1, characterized in that In the said Step 3, the drivers on each track automatically learn the stroke required to drive the door leaves they belong to sequentially under the instruction of the program; through the linear Hall on the driver as feedback, the electrical angle of the currently working driver on each track is calculated sequentially. Within a fixed time, the difference in the electrical angles of each driver is calculated, and the running stroke of each door leaf is calculated through the accumulation of the angle differences.

3. The control method of the overlapping linkage door according to claim 1, characterized in that In step six, the vector control method includes: the currently required operating driver reads the excitation voltage UD, torque voltage UQ, and electrical angle θ parameters in the vector control model of the previous operating driver, and calculates the electrical angle θ required to compensate its own vector control model through a program algorithm 当前 to achieve a smooth transition of speed, θ 当前 It is obtained from Equation (1): θ 当前 = θ1 + θcomp + θ0 (1) Where θ1 is the difference in electrical angle between adjacent drivers calculated in real time through the feedback of the linear Hall of the driver, θ0 is the real-time electrical angle of the currently required driver calculated based on the linear Hall of the driver, and θcomp is the electrical angle compensation value calculated based on the time difference in communication between the currently required driver and the previous driver that is running, which can be obtained from Equation (2): （2） where f c_dsp is the carrier frequency, f dsp is the operating frequency of the motor magnetic field, f base is the reference frequency for detecting the per-unit value, represented in Q16 format.

4. The control method of the overlapping linkage door according to claim 1 or 3, characterized in that In Step 6, to ensure that only one driver works at any position during the travel of each door leaf, control is performed by detecting the magnets on the door leaf through the linear Hall of the driver on each door leaf track. Only the driver that detects the magnet works, and the driver that does not detect the magnet does not work. The detection is implemented by using the first-order low-pass filtering method of the program algorithm. The first-order low-pass filtering formula is as shown in Equation (3): （3） Where Yn is the current output signal of the filter; τ is the time constant; T is the sampling period; Yn-1 is the previous output of the filter; Xn is the current input of the filter; Xn-1 is the previous input of the filter.

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