A closing control system and method for electric doors of railway locomotives

Abstract

This invention provides a closing control system and method for an electric gate on a railway locomotive, comprising: a controller KK01, a motor driver KK02, a DC servo motor MA01, an electromagnetic lock YA01, an intermediate relay KF01, a buzzer HA01, a closing detection switch ST02, an opening position switch ST01, and at least five sensors RF01, VD01, VD02, VD03, and VD04. The closing process includes speed control, position control, and torque control. Speed ​​control has two speed modes: a speed value V1 corresponding to the normal closing process and a speed value V2 corresponding to the soft closing process. Speed ​​values ​​V1 and V2 are preset in the motor driver KK02 through the controller program, and V1 > V2. When the motor driver KK02 receives a torque value after the soft closing process starts that is greater than the torque value before the soft closing process starts, it determines that the door leaf has completely entered the door frame. After a secondary detection through the release of the electromagnetic lock tongue and the reversal of the motor, it is determined that the door is closed.

Description

Technical Field

[0001] This invention relates to the field of electric door technology, and in particular to a closing control system and method for an electric door on a railway locomotive. Background Technology

[0002] Currently, there are two main types of electric doors on rail transit vehicles: manual and automatic. With the development of electronic control and sensor technologies, automatic doors are becoming increasingly safe and stable, gaining widespread user approval and showing a trend of completely replacing mechanical doors. Automatic doors can be categorized into electric and pneumatic doors based on their implementation method. Pneumatic doors use compressed air to drive cylinders, which, through a mechanical transmission mechanism and electronic control system, complete the opening and closing action of the door. Electric doors use an electric motor to drive a mechanical transmission mechanism to complete the opening and closing action. Electric doors are entirely electrically driven and have significant advantages, including low noise, relatively simpler control algorithms compared to pneumatic doors, lower failure rates, and easier integration with the vehicle. Electric doors occupy a very important position in the application of automatic doors.

[0003] However, traditional electric doors close by slamming the door shut. This method involves the electromagnetic lock tongue striking the door frame's lock groove directly, which is noisy, results in a poor user experience, and more importantly, makes it impossible to accurately sense and judge the door's closed state. It also greatly affects the lifespan of the electromagnetic lock and lock groove. Summary of the Invention

[0004] The purpose of this invention is to provide a closing control system and method for electric doors of railway locomotives, so as to solve at least one of the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides a closing control system and method for an electric door of a railway locomotive, comprising: a controller KK01, a motor driver KK02, a DC servo motor MA01, an electromagnetic lock YA01, an intermediate relay KF01, a buzzer HA01, a closing detection switch ST02, an opening position switch ST01, and at least five sensors RF01, VD01, VD02, VD03, and VD04;

[0006] The motor driver KK02 and the DC servo motor MA01 constitute a DC servo system;

[0007] The sensors VD01, VD02, VD03, VD04 and RF01 constitute a door closing logic judgment system;

[0008] The controller KK01 and the buzzer HA01 constitute an audible and visual alarm and control system.

[0009] The DC servo motor MA01 and the electromagnetic lock YA01 together form the door closing execution system.

[0010] Furthermore, the controller KK01 has a built-in control program that, based on the logical judgment of the signals from sensors VD01, VD02, VD03, VD04, RF01, door closing detection switch ST02, and door opening position switch ST01, controls the motor driver KK02 to drive the DC servo motor MA01 to work.

[0011] Furthermore: The electromagnetic lock YA01 is controlled by the intermediate relay KF01. When the contacts of the intermediate relay KF01 are in the closed energized state, the latch of the electromagnetic lock YA01 retracts.

[0012] A method for controlling the closing of an electric door for a railway locomotive is also provided, which uses a closing control system for an electric door for a railway locomotive, including: a normal closing process and a soft closing process.

[0013] The normal closing process and the soft closing process work together to complete the entire closing process.

[0014] The closing process includes speed control, position control, and torque control. The speed control has two speed modes: a speed value V1 corresponding to the normal closing process and a speed value V2 corresponding to the soft closing process. The speed values ​​V1 and V2 are preset in the motor driver KK02 through the controller program, and V1 > V2.

[0015] The position control mainly records the travel position of the door closing process through the controller KK01, which helps the soft closing process to start when the electromagnetic lock YA01's bolt is about to touch the door frame lock stop;

[0016] The torque control is defined as follows: when the torque value received by the motor driver KK02 after the soft closing process is started is greater than the torque value before the soft closing process is started, it is determined that the door leaf has completely entered the door frame. After secondary detection through the release of the electromagnetic lock tongue and the reversal of the motor, it is determined that the door is closed in place.

[0017] Furthermore: the normal door closing process is mainly controlled collaboratively by controller KK01, motor driver KK02, DC servo motor MA01, buzzer HA01, door closing detection switch ST02, door opening position switch ST01, sensors RF01, VD01, VD02, VD03, and VD04, as detailed below:

[0018] When the door is in the open position, the X-6 port of the controller KK01 is a high-level signal. If the sensors VD01, VD02, VD03, VD04 and RF01 do not detect a human body or object within a certain period of time, the controller KK01 sends a door closing command to the motor driver KK02 through CAN communication. The motor driver KK02 controls the DC servo motor MA01 to rotate and drives the door leaf to perform the door closing action through the linkage mechanism.

[0019] During the closing process, the door opening position switch ST01 is disconnected. When the X-6 port of the controller KK01 is at a low level, it is judged to be normal, indicating that the door can perform the closing action normally, and at this time the closing torque value is set to 1 / 2 of the rated torque value.

[0020] When the X-6 port of controller KK01 is high, it is judged as a fault, indicating that the door leaf has failed to perform the closing action;

[0021] When the door closing detection switch ST02 is open, and the signal at the X-7 port of the controller KK01 is low, it indicates that the door is not closed tightly or is in the process of opening.

[0022] When a malfunction occurs during the door closing process, the X-8 port of the controller KK01 outputs a high-level signal to drive the buzzer HA01 to work and issue an audible and visual alarm.

[0023] Furthermore: the soft door closing process is mainly controlled collaboratively by controller KK01, motor driver KK02, DC servo motor MA01, electromagnetic lock YA01, intermediate relay KF01, and door closing detection switch ST02, as detailed below:

[0024] When the latch of the electromagnetic lock YA01 is about to touch the door frame lock stop, the X-9 port of the controller KK01 outputs a high-level signal to control the intermediate relay KF01 to work, the latch of the electromagnetic lock YA01 retracts, and the controller KK01 controls the motor driver KK02 to output the torque value to the DC servo motor MA01 through CAN communication. The output torque value at this time is the rated output torque value.

[0025] The controller KK01 detects the current feedback torque value. If the feedback torque value is greater than or equal to the rated torque value and is maintained for 0.1 seconds, it determines that the door leaf has been fully entered into the door frame and the door leaf is closed in place. The 0.1 seconds is the maintenance time to eliminate false judgments.

[0026] After the door is closed, the X-9 port of the controller KK01 outputs a low-level signal to de-energize the intermediate relay KF01, and the electromagnetic lock YA01 releases its bolt, which then fully enters the lock groove.

[0027] Furthermore: the DC servo motor MA01 runs in the forward direction until the door is closed and then stops running. After stopping for 0.2 seconds, it runs in the reverse direction towards opening the door. The 0.2-second stop time is a buffer time for the DC servo motor MA01.

[0028] Furthermore: When the reverse operation is running in the opening direction, the electromagnetic lock YA01 triggers the door closing detection of the controller KK01. If the detected torque value is ≥0.5 times the rated torque value and is maintained for 1 second, it is determined that the door is closed. The controller KK01 releases the DC servo motor MA01 enable signal to end the door closing process. The 1 second maintenance time is to prevent false judgment.

[0029] Furthermore: When the controller KK01 cannot detect the door closing torque value and the door closing detection switch ST02 is at a high level, the DC servo motor MA01 is powered off to troubleshoot the fault.

[0030] According to claim 8, a method for controlling the closing of an electric door on a railway locomotive is characterized in that when the controller KK01 cannot detect the closing detection torque value and the closing detection switch ST02 is at a low level, it indicates that the closing operation has failed and the closing action needs to be repeated. When the closing action is repeated more than 6 times, the motor is directly de-energized.

[0031] The beneficial effects achieved by this invention are:

[0032] 1. The electromagnetic lock tongue retracts in advance during the closing process to avoid mechanical collision between the tongue and the lock stop, thus extending the mechanical life of the tongue and lock groove, and with low noise.

[0033] 2. The door leaf is pressed into the door frame by the torque force of the motor, and the system detects the door leaf's position signal and confirms the door leaf's closed position through secondary detection. This accurately senses and judges the door leaf's closed state, effectively reducing the occurrence of closing failures.

[0034] To further understand the features and technical content of the present invention, please refer to the following detailed description and accompanying drawings. However, the drawings provided are for reference and illustration only and are not intended to limit the present invention. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention and the prior art, the drawings used in the description of the embodiments and the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is the system circuit schematic diagram of the present invention;

[0037] Figure 2 This is a flowchart of the soft-closing process control of the present invention. Detailed Implementation

[0038] The specific embodiments of the present invention are described in detail below. The flow of these embodiments is illustrated in the accompanying drawings, wherein the same reference numerals denote the same parameters throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0039] Furthermore, in the following detailed description, numerous specific details are set forth for ease of explanation in order to provide a full understanding of the embodiments disclosed herein; however, it will be apparent that one or more embodiments may be practiced without these specific details.

[0040] Please see Figure 1 and Figure 2 These are, respectively, the system circuit schematic diagram of the present invention and the soft door closing process control flowchart of the present invention;

[0041] The circuit includes a controller KK01, a motor driver KK02, a DC servo motor MA01, an electromagnetic lock YA01, an intermediate relay KF01, a buzzer HA01, a door closing detection switch ST02, a door opening position switch ST01, and sensors RF01, VD01, VD02, VD03, and VD04. Sensors VD01, VD02, VD03, VD04, and RF01 are mainly used for active anti-pinch protection when closing the door and for door closing logic judgment. The controller KK01 has a built-in control program that records the door closing process. The motor driver KK02 mainly controls the DC servo motor MA01. It has pre-set speed values ​​V1 for normal closing and V2 for soft closing. During normal closing, the torque output of motor driver KK02 is half of the rated torque value. During soft closing, the torque output of motor driver KK02 is the rated torque value. In addition, motor driver KK02 also receives the torque value after the soft closing process starts as a basis for judging whether the door is closed normally.

[0042] Specifically:

[0043] During the normal door closing process: The system is primarily controlled by controller KK01, motor driver KK02, DC servo motor MA01, buzzer HA01, door closing detection switch ST02, door opening position switch ST01, and sensors RF01, VD01, VD02, VD03, and VD04. When the door is fully open, the X-6 port of controller KK01 is at a high level. If sensors VD01, VD02, VD03, VD04, and RF01 do not detect a person or object within a certain time, controller KK01 sends a door closing command to motor driver KK02 via CAN communication. Motor driver KK02 then controls the DC servo motor MA01 to rotate, which in turn drives the door through a linkage mechanism. The door performs a closing action. During the closing process, the door-opening switch ST01 is open. When the X-6 port of the controller KK01 is at a low level, it is considered normal, indicating that the door can perform the closing action normally, and the closing torque value is set to 1 / 2 of the rated torque value. When the X-6 port of the controller KK01 is at a high level, it is considered a fault, indicating that the door has failed to perform the closing action. The closing detection switch ST02 is open. When the X-7 port signal of the controller KK01 is at a low level, it indicates that the door is not closed tightly or is in the process of opening. When a fault occurs during the closing process, the X-8 port of the controller KK01 outputs a high level signal to drive the buzzer HA01 to work and issue an audible and visual alarm.

[0044] During the soft-closing process: The system is primarily controlled by controller KK01, motor driver KK02, DC servo motor MA01, electromagnetic lock YA01, intermediate relay KF01, and closing detection switch ST02. When the latch of electromagnetic lock YA01 is about to touch the door frame stop, controller KK01 outputs a high-level signal at its X-9 port to energize intermediate relay KF01, causing the latch of electromagnetic lock YA01 to retract. Simultaneously, controller KK01 controls motor driver KK02 to output torque to DC servo motor MA01 via CAN communication. The output torque at this time is the rated output torque. DC servo motor MA01 runs forward until the door is closed and then stops. After a 0.2-second pause, it reverses direction to open. The 0.2-second pause provides a buffer time for DC servo motor MA01. During the reverse direction, the latch of electromagnetic lock YA01 triggers the closing detection of controller KK01. If the detected torque value is ≥ 0.5 times the rated torque value... If the closing time is maintained for 1 second, it is determined that the door is closed completely. Controller KK01 releases the enable signal for DC servo motor MA01, ending the closing process. The 1-second maintenance time is to prevent false judgments. Controller KK01 detects the current feedback torque value. If the feedback torque value is greater than or equal to the rated torque value and is maintained for 0.1 seconds, it is determined that the door leaf has fully entered the door frame and the door leaf is closed completely. The 0.1-second maintenance time is to eliminate false judgments. After the door leaf is closed completely, the X-9 port of controller KK01 outputs a low-level signal to control the intermediate relay KF01 to de-energize, and the electromagnetic lock YA01 releases its latch, which fully enters the lock groove. If controller KK01 cannot detect the closing torque value and the closing detection switch ST02 is high, DC servo motor MA01 is de-energized to troubleshoot the problem. If controller KK01 cannot detect the closing torque value and the closing detection switch ST02 is low, it indicates that the closing attempt has failed and the closing action needs to be repeated. If the closing action is repeated more than 6 times, the motor is directly de-energized.

[0045] The foregoing has provided a very detailed description of one or more embodiments of the present invention. However, the description is merely a specific example of the present invention and should not be considered as limiting the scope of application of the present invention. All other methods and modifications proposed based on the content of this invention should fall within the scope of patent protection of this invention.

Claims

1. A method for controlling the closing of a railway locomotive electric door, using a railway locomotive electric door closing control system, characterized in that the closing control system comprises a controller KK01, a motor driver KK02, a DC servo motor MA01, an electromagnetic lock YA01, an intermediate relay KF01, a buzzer HA01, a door closing detection switch ST02, a door opening to position switch ST01, at least five sensors RF01, VD01, VD02, VD03 and VD04; the motor driver KK02 and the DC servo motor MA01 form a DC servo system; the sensors VD01, VD02, VD03, VD04 and RF01 form a door closing logic judgment system; the controller KK01 and the buzzer HA01 form an audible and light alarm and control system; the DC servo motor MA01 and the electromagnetic lock YA01 form a door closing execution system; the control method comprises a normal door closing process and a soft door closing process; the normal door closing process and the soft door closing process cooperate to complete the entire door closing process; the door closing process has speed control, position control and torque control; the speed control has two speed modes, corresponding to the normal door closing process and the soft door closing process, respectively, and the speed values V1 and V2 are pre-set in the motor driver KK02 by the controller program, and V1 > V2; the position control mainly records the stroke position of the door closing process by the controller KK01 to help the soft door closing process start when the electromagnetic lock tongue is about to touch the door frame lock; the torque control, when the motor driver KK02 receives a torque value greater than the torque value before the soft door closing process starts, it is determined that the door leaf has completely entered the door frame, and after the electromagnetic lock tongue release and motor reverse rotation for secondary detection, it is determined that the door is closed to position; the normal door closing process is mainly controlled by the controller KK01, the motor driver KK02, the DC servo motor MA01, the buzzer HA01, the door closing detection switch ST02, the door opening to position switch ST01, the sensor RF01, VD01, VD02, VD03 and VD04, and the details are as follows: the X-6 port of the controller KK01 is high level signal under the condition of door opening to position, when the sensors VD01, VD02, VD03, VD04 and RF01 do not sense the human body or object within a certain time, the controller KK01 sends a door closing command to the motor driver KK02 through CAN communication, and the motor driver KK02 controls the DC servo motor MA01 to rotate and drives the door leaf to execute the door closing action through the connecting rod mechanism; during the door closing process, the door opening to position switch ST01 is disconnected, when the X-6 port of the controller KK01 is low level signal, it is judged as normal, indicating that the door leaf can normally execute the door closing action, and the torque value of the door closing is set to 1 / 2 of the rated torque value at this time; when the X-6 port of the controller KK01 is high level signal, it is judged as failure, indicating that the door leaf fails to execute the door closing action. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 2. The method of claim 1, wherein, ​ ​ ​ ​ The door closing detection switch ST02 is disconnected, and when the X-7 port signal of the controller KK01 is low, it indicates that the door is not closed or the door opening process is being performed; When the door closing process fails, the X-8 port of the controller KK01 outputs a high level signal to drive the buzzer HA01 to work, and an audible and visual alarm is issued.

3. The method of claim 1, wherein, The soft door closing process is mainly controlled by the controller KK01, the motor driver KK02, the DC servo motor MA01, the electromagnetic lock YA01, the intermediate relay KF01, and the door closing detection switch ST02, and the specific process is as follows: When the electromagnetic lock YA01 lock tongue is about to touch the door frame lock stop, the X-9 port of the controller KK01 outputs a high level signal to control the intermediate relay KF01 to work, the lock tongue of the electromagnetic lock YA01 is retracted, and the controller KK01 controls the motor driver KK02 to output a torque value to the DC servo motor MA01 at this time. The output torque value is the rated output torque value; The controller KK01 detects the current feedback torque value, and if the feedback torque value is greater than or equal to the rated torque value and maintains for 0.1S, it is determined that the door leaf has completely entered the door frame and the door leaf is closed to the position. 0.1S is the maintenance time to eliminate false determination. After the door leaf is closed to the position, the X-9 port of the controller KK01 outputs a low level signal to control the intermediate relay KF01 to be de-energized, and the lock tongue of the electromagnetic lock YA01 is released and completely enters the lock groove.

4. The method of claim 3, wherein, The DC servo motor MA01 runs forward to the door leaf closing position and then stops running. After stopping for 0.2S, it runs in reverse to the door opening direction. The stop time of 0.2S is the buffer time for the DC servo motor MA01.

5. The method of claim 4, wherein, When the reverse operation runs to the door opening direction, the electromagnetic lock YA01 lock tongue triggers the door closing detection of the controller KK01. If the torque value at this time is ≥0.5 times the rated torque value and maintains for 1S, it is determined that the door is closed to the position. The controller KK01 releases the DC servo motor MA01 enable signal and ends the door closing process. The maintenance time of 1S is to prevent false determination.

6. The method of claim 5, wherein, When the controller KK01 cannot detect the door closing detection torque value and the door closing detection switch ST02 is high, the DC servo motor MA01 is de-energized to troubleshoot the fault.

7. The method of claim 5, wherein the method further comprises: When the controller KK01 cannot detect the door closing detection torque value and the door closing detection switch ST02 is low, it indicates that the door closing fails this time and needs to be closed again. When the re-closing action exceeds 6 times, the motor is directly de-energized.

8. The method of claim 1, wherein, The controller KK01 has a built-in control program, which controls the motor driver KK02 to drive the DC servo motor MA01 to work according to the logic judgment of the inductor VD01, VD02, VD03, VD04, RF01, door closing detection switch ST02 and door opening to the position switch ST01 signal.

9. The method of claim 1, wherein, The electromagnetic lock YA01 is controlled by the intermediate relay KF01. When the intermediate relay KF01 contacts are in the closed energized state, the lock tongue of the electromagnetic lock YA01 is retracted.

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