Door control method, system, electronic device and readable storage medium

Abstract

The present application discloses a door control method, system, electronic device, and readable storage medium. The method includes: obtaining the operating parameters of the motor during the process of the motor driving the door wing to move, wherein the operating parameters correspond to the inertia of the door wing; searching for a speed value corresponding to the operating parameters in a corresponding relationship based on the operating parameters of the motor, wherein the corresponding relationship is a pre-configured relationship between different operating parameters and speed values; the speed value is the speed used by the motor to drive the door wing during the door opening and / or closing process. This application solves the problem of excessive or insufficient current caused by the mismatch between the door wings of different inertias of the electric door opener and the set speed value, thereby enabling the speed value to be selected according to the inertia of the door wing, taking into account both the performance and life of the motor.

Description

Technical Field

[0001] The present application relates to the field of electric doors, and more specifically, to a door control method, system, electronic device, and readable storage medium. Background Art

[0002] An electric door opener is a device used to drive and control the operation of doors. For example, it can drive and control the operation of swing doors, folding doors, sliding doors, and telescopic doors. The electric door opener mainly includes a motor and a control system.

[0003] Inertia is a physical quantity that measures the magnitude of a substance's inertia based on its mass. Its magnitude is proportional to the mass of the substance. That is, the greater the mass of an object, the greater its inertia, and the smaller the mass of an object, the smaller its inertia.

[0004] The inventor discovered that when an electric door opener is used on site, the inertia of the door wing is unknown. Therefore, when setting the door opening and closing speed gear, the following problems will occur when door wings with different inertias operate at the same speed gear value: if the door wing load with large inertia requires a large torque current, the torque will be too large and damage the reduction gear, connecting rod and other structural parts, affecting the service life; if the door wing load with small inertia, the required torque current is small, the performance of the motor body is not brought into play, resulting in a waste of resources.

[0005] Since the influence of the door wing inertia on the electric door opener has not been noticed in the prior art, no suitable solution has been provided for this problem. Summary of the Invention

[0006] The embodiments of the present application provide a door control method, system, electronic device and readable storage medium to at least solve the problem of excessive or insufficient current caused by the mismatch between the door wings of the electric door opener with different inertias and the set speed value.

[0007] According to one aspect of the present application, a door control method is provided, including: obtaining the operating parameters of the motor during the process of the motor driving the door wing to move, wherein the operating parameters correspond to the inertia of the door wing; searching for a speed value corresponding to the operating parameter in a corresponding relationship according to the operating parameters of the motor, wherein the corresponding relationship is a pre-configured relationship between different operating parameters and speed values; the speed value is the speed used by the motor to drive the door wing during the process of opening and / or closing the door.

[0008] Furthermore, the operating parameters of the motor include: the value of the torque current of the motor.

[0009] Furthermore, obtaining the operating parameters of the motor in the process of the motor driving the door wing to move includes: in the process of the motor driving the door wing to perform learning self-test, recording the maximum value of the torque current of the motor during the acceleration process of the door wing from the open position to the closed position, wherein the learning self-test is used to learn the open position and the closed position; and using the maximum value of the torque current of the motor as the operating parameter of the motor.

[0010] Furthermore, searching for the speed value corresponding to the operating parameter in the corresponding relationship according to the operating parameter of the motor includes: determining the interval to which the operating parameter of the motor belongs, wherein the corresponding relationship includes speed values ​​corresponding to different intervals; and searching for the speed value corresponding to the interval to which the operating parameter of the motor belongs in the corresponding relationship.

[0011] Furthermore, the difference between the upper limit value and the lower limit value of each interval in the multiple intervals included in the corresponding relationship is equal, and the upper limit value of the previous interval is the lower limit value of the next interval.

[0012] Furthermore, searching for the speed value corresponding to the interval to which the operating parameters of the motor belong in the corresponding relationship includes: obtaining identification information of the interval to which the operating parameters of the motor belong; searching for the speed value corresponding to the identification information in two-dimensional data, wherein the two-dimensional data is the corresponding relationship, the first dimension element included in the two-dimensional data is the identification information of the interval, and the second dimension element included in the two-dimensional data is the speed value corresponding to each interval.

[0013] Furthermore, the correspondence between the operating parameters of the motor and the speed value is obtained in advance through testing; and / or, the greater the inertia of the door wing indicated by the operating parameters of the motor, the smaller the speed value.

[0014] According to another aspect of the present application, a door control system is provided, comprising: a motor for driving the door wing to move; and software for executing the above method.

[0015] According to another aspect of the present application, an electronic device is also provided, comprising a memory and a processor; wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the above-mentioned method steps.

[0016] According to another aspect of the present application, a readable storage medium is provided, on which computer instructions are stored, wherein the computer instructions implement the above method steps when executed by a processor.

[0017] In an embodiment of the present application, the operating parameters of the motor are obtained during the process of the motor driving the door wings to move, wherein the operating parameters correspond to the inertia of the door wings; the speed value corresponding to the operating parameters is searched in a corresponding relationship based on the operating parameters of the motor, wherein the corresponding relationship is a pre-configured relationship between different operating parameters and speed values; the speed value is the speed used by the motor to drive the door wings during the door opening and / or closing process. This application solves the problem of excessive or insufficient current caused by the mismatch between the door wings of different inertias of the electric door opener and the set speed value, thereby enabling the speed value to be selected based on the inertia of the door wings, taking into account both motor performance and life. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of this application. The exemplary embodiments and descriptions of this application are intended to explain this application and do not constitute an improper limitation on this application. In the accompanying drawings:

[0019] Figure 1 1 is a schematic block diagram of the structure of a three-loop position control solution based on FOC according to an embodiment of the present application;

[0020] Figure 2 is a flow chart of a door control method according to an embodiment of the present application;

[0021] Figure 3 is a schematic diagram of reaching a target position using different ramp values ​​according to an embodiment of the present application;

[0022] Figure 4 is a schematic structural diagram of a position three-loop control scheme with an additional speed control module according to an embodiment of the present application; and

[0023] Figure 5 2 is a schematic diagram of torque-current interval mapping according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0025] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0026] In the following embodiments, an electric door opener is involved. The technical terms involved in the technical solutions in the following embodiments are first explained.

[0027] brushless DC motors

[0028] Brushless DC motors are motors without brushes or commutators. They can be permanent magnet synchronous motors with trapezoidal air gap magnetic fields.

[0029] RAMP

[0030] RAMP: Under certain conditions, the set value is required to gradually increase or decrease within a certain time range or at a certain slope, rather than suddenly jump.

[0031] PWM

[0032] Pulse width modulation (PWM) is an analog control method that modulates the bias of the transistor base or MOS tube gate according to the change of the corresponding load to achieve a change in the conduction time of the transistor or MOS tube.

[0033] SVPWM

[0034] SVPWM stands for Space Vector Pulse Width Modulation. The key concept behind SVPWM is to use the ideal stator flux circle of a three-phase symmetrical motor powered by a three-phase symmetrical sinusoidal voltage as a reference standard. By appropriately switching the three-phase inverter's switching modes, PWM waves are generated, and the resulting actual flux vector is used to track the exact flux circle. While traditional SPWM methods focus on the power supply, generating a sinusoidal power supply with adjustable frequency and voltage, SVPWM considers the inverter system and motor as a single entity. This results in a simpler model and facilitates real-time microprocessor control.

[0035] Field-oriented control

[0036] Field-Oriented Control (FOC), also known as vector control, is a technique used to control permanent magnet synchronous motors (PMSMs) and AC induction motors (ACIMs). FOC provides excellent control capabilities across the entire torque and speed range. FOC implementation requires converting the stator current from a fixed reference frame to the rotor flux reference frame (also known as the dq reference frame).

[0037] Vector control, based on an accurate mathematical model of the controlled object, extends AC motor control from external macroscopic steady-state control to transient control of the motor's internal electromagnetic processes. Through coordinate transformation, vector control transforms the complexly coupled nonlinear variables within the AC motor into DC variables (current, flux, voltage, etc.) that are stationary relative to the coordinate system. This achieves approximate decoupled control, identifies constraints, and obtains the optimal control strategy for a given objective. The fundamental principle of FOC is to decouple the stator current into a current component that controls the magnetic field and a current component that controls the torque. After decoupling, the two current components are independently controlled without interfering with each other.

[0038] The following transformations are used in FOC:

[0039] The CLARK transformation converts the abc coordinate system to the αβ coordinate system. The PARK transformation converts the stationary αβ coordinate system to the rotating dq coordinate system. The inverse transformation: The ICLARK transformation converts the αβ coordinate system to the abc coordinate system. The IPARK transformation converts the rotating dq coordinate system to the stationary αβ coordinate system.

[0040] In the αβ coordinate system, the α and β axes have a phase difference of 90°. In the abc coordinate system, the a, b, and c axes have a phase difference of 120°. In the dq coordinate system, the dq coordinates are a rotating coordinate system relative to the stator and a stationary coordinate system relative to the rotor (the angular velocity of the dq coordinates is the same as the angular velocity of the rotor). The d-axis coincides with the direction of the rotor's magnetic flux and is also called the direct axis. The q-axis is perpendicular to the rotor's magnetic flux and is also called the quadrature axis.

[0041] Figure 1 is a schematic block diagram of the structure of the FOC-based position three-loop control solution according to an embodiment of the present application, Figure 1 The control scheme adopted by the structure shown can realize the motor-driven door wing opening and closing of the door, such as Figure 1 As shown, the target position of the door wing is Pos targ After being processed by RAMP ramp function and low-pass filter function, it is used as the position reference Pos ref , and the actual motor position Pos fed back fd The difference is processed by the proportional P regulator and used as the speed reference n ref , which is then compared with the calculated actual feedback speed n fd The torque current reference iq is obtained after the difference is processed by the proportional integral PI regulator ref , FOC uses the excitation current i dref =0 vector current control mode, the torque current and excitation current reference iq ref 、i dref Input FOC algorithm module, and the quadrature and direct axis feedback current i is obtained by sampling calculation q and i dThe reference voltage u is obtained after the difference is processed by the PI regulator q 、u d , and then after IPARK transformation, we get the reference voltage u in the two stationary coordinate systems α 、u β , this reference voltage is modulated by SVPWM to generate six PWM waves, which in turn drive the three-phase inverter circuit. Finally, the voltage output by the three-phase inverter drives the motor to drive the door wing load to the target position.

[0042] When the inertia of the door wing load is unknown, when setting the operating speed for the electric door opener, there may be a problem where the door wing inertia is too large and the torque current is too large to start at the set speed, and even damage to the structural parts; or the door wing inertia is too small and the motor performance will be wasted at the set maximum operating speed. It should be noted that the above uses FOC as an example to illustrate the possible problems when the inertia of the door wing load is unknown. This problem not only occurs when FOC is used for door wing control, but also occurs in other control schemes, and the problems that ultimately arise are the same. Similarly, the following implementation methods can be used not only in schemes using FOC for control, but can also be applied to schemes using other control strategies.

[0043] In order to solve the above problems, a door control method is provided in the following optional implementation manner: Figure 2 is a flow chart of a door control method according to an embodiment of the present application, such as Figure 2 As shown below, Figure 2 The steps involved in the method are described.

[0044] Step S202 , obtaining operating parameters of the motor when the motor drives the door wing to move, wherein the operating parameters correspond to the inertia of the door wing.

[0045] In this step, the working condition of the motor during the movement of the door wings can be tested first. For example, the door wings can be moved at a speed less than a certain threshold. This speed is not an official door opening speed, but a speed used in advance to test and obtain the operating parameters of the motor. Different door wings have different inertias. Therefore, when the motor drives door wings with different inertias, its operating parameters will also be different. At this time, one of the parameters that will change with door wings with different inertias when the motor drives the door wings can be selected as the operating parameter of the motor in this step. This operating parameter corresponds to the inertia of the door wings. That is, when the same motor drives door wings with different inertias at the same speed, the operating parameter of the motor will vary with the inertia of the door wings. The relationship between the operating parameters of the motor and the inertia of different door wings can be obtained through pre-testing. After obtaining the operating parameters of the motor when the door wings move, the inertia of the door wings can be determined based on the relationship obtained in the pre-test. It should be noted that the purpose of the following implementation is to obtain the speed value for controlling the movement of the door wing. Therefore, during implementation, the speed value can be directly found using the operating parameters of the motor, namely, the following step S204.

[0046] Step S204: searching for a speed value corresponding to the operating parameter in a corresponding relationship according to the operating parameter of the motor, wherein the corresponding relationship is a pre-configured relationship between different operating parameters and speed values; the speed value is the speed used by the motor to drive the door wing during the process of opening and / or closing the door.

[0047] The correspondence in this step is preconfigured. Since the motor's operating parameters can represent the door's inertia, a predetermined correspondence can be established to indicate which operating parameters correspond to which speeds. This speed is the speed at which the motor drives the door. This correspondence can be empirically derived or pre-tested. For example, the corresponding door's inertia to the motor's operating parameters can be pre-tested to determine the speeds that correspond to different door's inertias.

[0048] In the above steps, the motor no longer drives the door wings at the same speed, but automatically selects the appropriate speed value according to the different inertias of the driven door wings. Therefore, the above steps solve the problem of excessive or insufficient current caused by the mismatch between the door wings with different inertias and the set speed value of the electric door opener. The speed value can be selected according to the inertia of the door wings, taking into account both the performance and life of the motor.

[0049] In the door control system, different gears are sometimes set. For example, the user can set two gears to open the door, one of which is named the slow gear and the other is named the fast gear. For door wings with different inertia, even if the user selects the slow gear, the speed values ​​of the movement of door wings with different inertia are different. For the same door wing, the speed value can also be a speed range. For example, the correspondence of the pre-selected configuration can be that different motor operating parameters correspond to different speed ranges. For example, if the motor operating parameter is A, its corresponding speed range is V1 to V2. In this case, V1 can be configured as the speed value of the slow gear, and V2 can be configured as the speed value of the fast gear. If the configuration of fast and slow gears is not provided, then the correspondence can be that the motor operating parameter corresponds to a speed value without corresponding to a speed range. In actual implementation, you can flexibly choose according to the actual situation.

[0050] When driving different door wings to move at the same speed, the different inertias of the door wings will result in differences in the operating parameters of the motor, for example, the output power of the motor will be different. Therefore, it is possible to select which operating parameters to use to characterize the inertia of the door wings as needed. In an optional embodiment, considering that the value of the torque current is closely related to the inertia of the driven door wings, the value of the torque current of the motor can be selected as the operating parameter of the motor. For example, the greater the inertia of the door wing indicated by the operating parameters of the motor, the smaller the speed value, and the greater the value of the torque current, the greater the inertia of the door wing.

[0051] After selecting the motor's torque current as the motor's operating parameter, the motor's torque current can be tested at different times as needed. For example, the user can be prompted to drive the door wing at a predetermined speed (a relatively slow speed) to open the door, thereby testing the motor's torque current. The speed value is then obtained and used as the speed value for future door openings. In this example, the user needs to perform an additional test to obtain the speed value. Considering that automatic door control systems typically have a learning self-test process for learning the open and closed positions, the torque current value can be obtained during this process. Thus, through a single learning self-test, not only the open and closed positions are learned, but also the motor's torque current value. In other words, in one optional embodiment, obtaining the motor's operating parameter while the motor drives the door wing can include the following steps: recording the maximum value of the motor's torque current during the acceleration of the door wing from the open position to the closed position during the learning self-test, wherein the learning self-test is used to learn the open and closed positions; and using the maximum value of the motor's torque current as the motor's operating parameter.

[0052] In the above optional embodiment, the maximum value of the motor's torque current is used as the basis for searching for the speed value. If each different maximum value of the motor's torque current corresponds to a speed value, a large amount of data will be stored in the corresponding relationship. In fact, when implementing the application, the torque current value can be considered as a range, that is, the torque current value of a range corresponds to a speed value. In order to distinguish it from the range of the above speed value, in the following embodiment, the motor's operating parameter is represented as an interval, that is, searching the corresponding relationship for the speed value corresponding to the operating parameter according to the motor's operating parameter can include the following steps: determining the interval to which the motor's operating parameter belongs, wherein the corresponding relationship includes speed values ​​corresponding to different intervals; searching the corresponding relationship for the speed value corresponding to the interval to which the motor's operating parameter belongs.

[0053] For example, the maximum torque current value of the motor is A1, and its corresponding interval is [A0, A2]. Among them, A0 is less than A1, and A2 is greater than A1. The speed value corresponding to this interval can be V0. In this case, V0 can be used to control the speed of the door wing. The speed value corresponding to this interval can also be a range [V1, V2]. V1 can be configured as the speed of the slow gear and V2 as the speed of the fast gear. Alternatively, if there is only one gear and the speed value corresponding to this interval is a range, the average value of the range can be selected to control the speed of the door wing, for example, (V1+V2) / 2 can be selected to control the speed of the door wing.

[0054] Intervals can be configured in different ways, for example, some intervals can be large, others can be small. In one optional embodiment, step-by-step intervals are selected, meaning that the difference between the upper and lower limits of each of the multiple intervals included in the correspondence is equal, and the upper limit of the previous interval is the lower limit of the next interval. For example, [0A - 0.5A], [0.5A - 1A], and [1A - 1.5A] are step-by-step intervals. The advantage of selecting such intervals is that speed values ​​can be found more accurately.

[0055] Speed ​​values ​​and intervals can be stored in a variety of ways. In one optional embodiment, searching the corresponding relationship for the speed value corresponding to the interval to which the motor's operating parameters belong includes: obtaining identification information for the interval to which the motor's operating parameters belong; and searching two-dimensional data for the speed value corresponding to the identification information, wherein the two-dimensional data represents the corresponding relationship, a first dimension of the two-dimensional data represents the identification information for the interval, and a second dimension of the two-dimensional data represents the speed value corresponding to each interval. Storing relevant information in a two-dimensional array can both save storage space and improve search speed.

[0056] The above optional embodiment can be implemented entirely by software. Specifically, in one optional embodiment, a door control system is provided, comprising: a motor and software, wherein the motor is configured to drive the door wing to move; and the software is configured to execute the above method. This control system is described below with reference to an optional embodiment.

[0057] In the following optional embodiment, considering the problem of excessive or insufficient current caused by door wings of different inertias not matching the set speed value, a method is proposed for achieving different speed values ​​for door wings of different inertias at the same speed level. After the control board is powered on, the electric door opener's drive motor drives the door wings at the same speed value to perform a learning and self-test of the door opening and closing positions. The maximum value of the motor torque current during acceleration from the open position to the closed position is sampled and recorded. Different maximum values ​​of the torque current during acceleration reflect different load inertias, with larger torque currents corresponding to larger load inertias and smaller torque currents corresponding to smaller load inertias. Furthermore, n step-by-step torque current intervals are established and sorted from smallest to largest. If the maximum value of the torque current during acceleration falls within a current interval, the corresponding load inertia is considered to be mapped within that interval. Finally, an n*m two-dimensional array is established to store the set speed values. The first dimension of the two-dimensional array represents the sequence number of the torque current interval, i.e., the sequence number corresponding to the current interval within which the different maximum values ​​of the torque current fall. The corresponding relationship is determined through testing. The second dimension of the two-dimensional array represents the different speed level values ​​defined for the product. After the above settings are completed, the first dimension element of the speed table is automatically selected based on the current range within which the maximum motor torque current falls during the acceleration process from the open to the closed position during the self-test. The second dimension element of the speed table is selected using the product speed setting function. The first dimension element corresponds to different maximum torque current values, that is, different load inertias. Therefore, after the self-test is completed, the first dimension element can be determined for door wings with different load inertias. At the same time, by selecting different second-dimensional speed gears for operation, when the same speed gear is used, door wings with large load inertias can operate at lower speeds, while door wings with small load inertias can operate at higher speeds, taking into account both motor performance and lifespan.

[0058] It should be noted that the above structure can be applied to various control structures. Figure 1 The structure shown is described as an example. Figure 3 is a schematic diagram of using different ramp values ​​to reach the target position according to an embodiment of the present application. Figure 3 In the electric door opener, the operating speed is set in Figure 1The RAMP module in the program gives different ramp values, that is, the increasing value of each calculation cycle. The larger the ramp value, the faster the value after ramp processing reaches the target position Pos targ , the corresponding set speed is greater. Figure 3 , ramp1>ramp2>ramp3.

[0059] It should be noted that in Figure 3 The horizontal axis represents time, and the vertical axis represents position. Position is distance. Therefore, Figure 3 The slope is the distance divided by the time, that is, the ramp represents the speed.

[0060] Figure 4 This is a schematic block diagram of the structure of a position three-loop control scheme with an additional speed control module according to an embodiment of the present application. Figure 4 The position of the speed control module in the position three-loop control block diagram is shown in the figure. Figure 4 The function of the speed control module is explained as follows: After the control board is powered on, the electric door opener uses the same small ramp value to drive the door wings for all door wings with different inertias to perform self-test. The purpose of the self-test is to obtain the door opening and closing positions. During the self-test, the maximum value of the motor torque current during the acceleration process from the open position to the closed position is sampled and recorded. Different maximum torque current values ​​during the acceleration process reflect different load inertias. A larger torque current corresponds to a larger load inertia, and a smaller torque current corresponds to a smaller load inertia.

[0061] Figure 5 Schematic diagram of torque current interval mapping according to an embodiment of the present application, such as Figure 5 As shown, n step-by-step torque current intervals are established, and the current intervals are sorted from small to large. The maximum value of the torque current in the above acceleration process falls within a certain current interval, and it can be considered that the corresponding load inertia is also mapped in this interval.

[0062] Create an n*m two-dimensional array to store the set speed ramp value, defined as a two-dimensional speed table, the first dimension element of the two-dimensional array is the above Figure 5 The serial numbers of the torque current intervals shown are the serial numbers corresponding to the maximum values ​​of different torque currents falling within the corresponding current intervals. This correspondence was determined through testing. The second-dimensional elements of the two-dimensional array represent the different speed gear values ​​defined for the product. For elements with the same first-dimensional serial numbers in the two-dimensional speed table, the values ​​of the second-dimensional elements increase from smallest to largest, meaning that the larger the speed gear, the larger the speed ramp value, and the faster the speed. For elements with the same second-dimensional serial numbers in the two-dimensional speed table, the values ​​of the first-dimensional elements decrease from smallest to largest, meaning that the larger the maximum torque current during self-test acceleration, the smaller the corresponding speed ramp value selected for door opening and closing.

[0063] After the above settings are completed, the first-dimensional element in the speed table is automatically selected by the current interval into which the maximum value of the motor torque current during the acceleration process from the open door position to the closed door position falls during the self-test, and the second-dimensional element in the speed table is selected through the product speed setting function. The first-dimensional element corresponds to different maximum values ​​of the torque current, that is, different load inertias. Therefore, the first-dimensional element can be determined for door wings with different load inertias after the self-test is completed. At the same time, by selecting different second-dimensional speed gears for operation, it can be achieved that when the same speed gear is used, the speed ramp value selected for the door wing with large load inertia is smaller, and the speed ramp value selected for the door wing with small load inertia is larger. This maximizes the performance of the motor without affecting the service life of the motor. The above solution can be implemented through pure software, and the engineering implementation is simple.

[0064] In the above embodiment, the point-to-point position three-loop control module is implemented based on the standard FOC. Of course, it can also be implemented in other motor control schemes. Similarly, the scheme in the above embodiment can also be applied to various structures of electric door opener position control systems. For example, the control system may include: motor driver, DC brushless motor, reducer, Hall sensor, connecting rod, etc. Among them, during the door wing position control process, the motor position Pos can be measured in real time by the Hall sensor. fd To reflect the real-time position of the swing gate wing, by comparing it with the reference position Pos ref In the process of controlling the door wing speed, the position of the motor can be measured in real time by the Hall sensor, and then the actual speed n of the motor or door wing can be calculated in real time using the measured position signal. fd , by comparing with the reference speed n ref In the process of current control, the three-phase current flowing through the motor can be detected by the sampling resistor and the actual feedback current i of the motor can be provided through coordinate transformation. q and i d , through the reference current iq ref 、i dref This constitutes a current closed-loop control.

[0065] It should be noted that the above solution can be implemented by pure software, so its scope of application is not limited by the specific structure of the electric door opener position control system. In addition to the control system of the above structure, it can also be applied to other control systems. The functions implemented by pure software may include the following: establishing n current intervals, sorting the current intervals, and recording the maximum value of the torque current in the acceleration process from the open position to the closed position during the self-test process, and the serial number of the current interval where the maximum value is located; then establishing an n*m two-dimensional array, defined as a two-dimensional speed table, and selecting the first-dimensional element in the speed table that matches the load inertia by the serial number of the recorded current interval; by selecting different second-dimensional speed gears for operation, it can be achieved that under the same speed gear, the speed value selected when the door wing with large load inertia is running is smaller, and the speed value selected when the door wing with small load inertia is running is larger.

[0066] Through the above optional implementation, the speed of the electric door opener can be controlled for door wings with different load inertias based on the standard FOC vector control-based position three-ring control module. This speed control method selects speed values ​​of different sizes by the current interval in which the maximum value of the torque current corresponding to the load inertia falls. After the power-on self-test is completed, the speed table corresponding to the load inertia is determined; a two-dimensional speed table is set to meet the speed selection when door wings with different load inertias are in operation, and the performance of the motor is brought into play without affecting the life of the motor. Therefore, through the above optional implementation, it is possible to achieve a smaller speed value when the door wing with a large load inertia is in operation, and a larger speed value when the door wing with a small load inertia is in operation, taking into account both the performance and life of the motor.

[0067] In this embodiment, an electronic device is provided, including a memory and a processor. The memory stores a computer program, and the processor is configured to run the computer program to execute the method in the above embodiment.

[0068] The above program can be run in the processor, or it can be stored in the memory (or computer-readable medium), which includes permanent and non-permanent, removable and non-removable media and can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0069] These computer programs can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable device to implement the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps of the functions specified in one or more blocks can be implemented by different modules corresponding to different steps.

[0070] This embodiment provides such a device or system. The device is referred to as a door control device and includes: an acquisition module for acquiring operating parameters of a motor during movement of a door wing driven by the motor, wherein the operating parameters correspond to the inertia of the door wing; a search module for searching, based on the operating parameters of the motor, for speed values ​​corresponding to the operating parameters in a correspondence relationship, wherein the correspondence relationship is a preconfigured relationship between different operating parameters and speed values; the speed value is the speed used by the motor to drive the door wing during the door opening and / or closing process.

[0071] The system or device is used to implement the functions of the method in the above-mentioned embodiment. Each module in the system or device corresponds to each step in the method, which has been explained in the method and will not be repeated here.

[0072] Optionally, the operating parameters of the motor include: the value of the torque current of the motor.

[0073] Optionally, obtaining the operating parameters of the motor during the process of the motor driving the door wing to move includes: in the process of the motor driving the door wing to perform learning self-test, recording the maximum value of the torque current of the motor during the acceleration process of the door wing from the open position to the closed position, wherein the learning self-test is used to learn the open position and the closed position; and using the maximum value of the torque current of the motor as the operating parameter of the motor.

[0074] Optionally, searching for the speed value corresponding to the operating parameter in the corresponding relationship according to the operating parameter of the motor includes: determining the interval to which the operating parameter of the motor belongs, wherein the corresponding relationship includes speed values ​​corresponding to different intervals; and searching for the speed value corresponding to the interval to which the operating parameter of the motor belongs in the corresponding relationship.

[0075] Optionally, the difference between the upper limit value and the lower limit value of each interval in the multiple intervals included in the corresponding relationship is equal, and the upper limit value of the previous interval is the lower limit value of the next interval.

[0076] Optionally, searching for the speed value corresponding to the interval to which the operating parameters of the motor belong in the corresponding relationship includes: obtaining identification information of the interval to which the operating parameters of the motor belong; searching for the speed value corresponding to the identification information in two-dimensional data, wherein the two-dimensional data is the corresponding relationship, the first dimension element included in the two-dimensional data is the identification information of the interval, and the second dimension element included in the two-dimensional data is the speed value corresponding to each interval.

[0077] Optionally, the correspondence between the operating parameters of the motor and the speed value is obtained in advance through testing; and / or, the greater the inertia of the door wing indicated by the operating parameters of the motor, the smaller the speed value.

[0078] The above optional implementation solves the problem of excessive or insufficient current caused by the mismatch between the door wings of the electric door opener with different inertias and the set speed value, thereby enabling the speed value to be selected according to the inertia of the door wings, taking into account both the motor performance and life.

[0079] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A door control method, characterized in that: include: Acquire operating parameters of the motor during the process of the motor driving the door wing to move, wherein the operating parameters correspond to the inertia of the door wing; the operating parameters of the motor include: the value of the torque current of the motor; searching, according to the operating parameters of the motor, for a speed value corresponding to the operating parameters in a corresponding relationship, wherein the corresponding relationship is a pre-configured relationship between different operating parameters and speed values; the speed value is the speed at which the motor drives the door wing during the door opening and / or closing process; Among them, obtaining the operating parameters of the motor in the process of the motor driving the door wing to move includes: in the process of the motor driving the door wing to perform learning self-test, recording the maximum value of the torque current of the motor during the acceleration process of the door wing from the open position to the closed position, wherein the learning self-test is used to learn the open position and the closed position; and taking the maximum value of the torque current of the motor as the operating parameter of the motor.

2. The method according to claim 1, characterized in that Searching, according to the operating parameters of the motor, for a speed value corresponding to the operating parameters in the corresponding relationship includes: Determining the interval to which the operating parameters of the motor belong, wherein the corresponding relationship includes speed values ​​corresponding to different intervals; The speed value corresponding to the interval to which the operating parameter of the motor belongs is searched in the corresponding relationship.

3. The method according to claim 2, characterized in that The difference between the upper limit value and the lower limit value of each interval in the plurality of intervals included in the corresponding relationship is equal, and the upper limit value of the previous interval is the lower limit value of the next interval.

4. The method according to claim 2, characterized in that Searching the corresponding relationship for a speed value corresponding to the interval to which the operating parameter of the motor belongs includes: Obtaining identification information of the interval to which the operating parameters of the motor belong; Searching for a speed value corresponding to the identification information in two-dimensional data, wherein the two-dimensional data is the corresponding relationship, a first-dimensional element included in the two-dimensional data is the identification information of the interval, and a second-dimensional element included in the two-dimensional data is a speed value corresponding to each interval.

5. The method according to claim 1, wherein The correspondence between the operating parameters of the motor and the speed value is obtained in advance through testing; and / or, the greater the inertia of the door wing indicated by the operating parameters of the motor, the smaller the speed value.

6. A door control system, characterized in that: include: A motor, used to drive the door wings to move; Software for executing the method according to any one of claims 1 to 5.

7. An electronic device comprising a memory and a processor; wherein: The memory is configured to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method according to any one of claims 1 to 5.

8. A readable storage medium having computer instructions stored thereon, wherein: When the computer instructions are executed by a processor, the method according to any one of claims 1 to 5 is implemented.

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