Start-stop control method and system for roller shutter door

Abstract

The invention discloses a start-stop control method and system for a roller shutter door, relates to the technical field of roller shutter door control, and realizes real-time digital representation of an operation state based on synchronous sampling of a door body linear speed Vrun, a direct current bus voltage Udc, an armature current Iarm and a back electromotive force Uemf. The current displacement Hc is obtained by calculating the proportion of the accumulated pulse number Nc and the total pulse number Nt, the residual stroke Hr is further calculated, the tail section operation interval can be accurately recognized and the tail section entering speed Venter can be extracted before the roller shutter door reaches the physical limit, and therefore the follow-up kinetic energy index Qke can be calculated on the basis of actual operation data. Compared with the prior art, the roller shutter door control method has the advantages that the roller shutter door control method does not depend on fixed preset parameters, adaptivity of energy calculation and control strategies is improved, real-time state-based end section recognition is achieved by continuously collecting and calculating operation parameters in the data set Dat, and the roller shutter door can accurately judge the end section entering moment and perform adaptive adjustment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rolling shutter door control, in particular to a start-stop control method and system for a rolling shutter door. BACKGROUND

[0002] As a commonly used electric opening and closing device in building structures, the operation control of the rolling shutter door mainly relies on the motor driving system to realize the lifting and stopping of the door body. With the improvement of automation control level, the start-stop process of the rolling shutter door not only requires rapid action and accurate positioning, but also needs to realize smooth braking and anti-rebound control in the final stage to ensure operation safety and structural reliability. In recent years, the research on the start-stop control of the rolling shutter door has been continuously deepened, and the optimization of the start-stop smoothness and inertia control has become an important technical direction in the field.

[0003] In the existing rolling shutter door control system, direct power-off braking or motor braking is often used to realize stopping. When the rolling shutter door runs in the final stage of downward movement, due to the large inertia, after the motor stops supplying power, the door body will continue to slide downward relying on inertia, causing the phenomenon of reverse rebound after stopping. In the traditional scheme, there is a lack of fine control of the motor back electromotive force and residual kinetic energy, and only mechanical friction or control delay is used to realize braking, which often leads to uneven braking, obvious stopping impact, and even multiple slight rebounds in the rolling shutter door with large inertia, affecting the positioning accuracy and structural life. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application provides a start-stop control method and system for a rolling shutter door, which solves the problems mentioned in the background.

[0005] To achieve the above purpose, the present application realizes the following technical scheme: a start-stop control method for a rolling shutter door, comprising the following steps: S1. During the downward movement of the rolling shutter door, periodically collect the running state data to form a data set; according to the door body position and speed information, extract the final stage entering speed; S2. The final stage entering speed is the initial condition, the final stage kinetic energy index is calculated combined with the motor running data, and the speed decay time constant is determined according to the final stage kinetic energy index to construct a target speed trajectory model; S3. According to the target speed trajectory model, a PWM control signal is generated to drive the rolling shutter door motor; when a reverse deviation exists between the actual speed and the target speed, a reverse speed component is generated to determine the entry into the reverse inertia buffer interval; S4. In the reverse inertia buffer interval, the PWM signal is adjusted according to the reverse speed component to generate a reverse adjustment signal to consume the residual inertia kinetic energy of the rolling shutter door.

[0006] Preferably, the S1 comprises S11. S11. After the roller shutter door starts descending, the operation data acquisition process is periodically executed throughout the entire descending phase. Signal detection and calculation are performed with a fixed sampling period to obtain the door linear velocity Vrun, DC bus voltage Udc, armature current Iarm and back electromotive force Uemf. The data is then integrated and processed synchronously according to the time index to obtain the data set Dat. The door linear velocity Vrun is obtained by the encoder outputting a pulse signal proportional to the rotation angle when the roller rotates. The pulse count read in real time is defined as the cumulative pulse count Nc. Then, the difference between the pulse signals in adjacent sampling periods is calculated as the incremental pulse ΔN. The door linear velocity is calculated based on the incremental pulse ΔN and the sampling interval time and marked as the door linear velocity Vrun. The DC bus voltage Udc is obtained by sampling the bus terminal voltage signal, followed by voltage divider transformation, A / D conversion, and low-pass filtering. The armature current Iarm is obtained by reading the current detection signal in the armature circuit of the roller shutter door, and then marking the stable current average value after amplifying, conditioning and smoothing the detection signal. The back electromotive force Uemf is obtained by detecting the voltage across the motor during the non-conducting gap of the PWM, averaging the sampled values ​​within the gap, and defining the average voltage as the back electromotive force Uemf.

[0007] Preferably, S1 further includes S12; S12. During the downward movement of the roller shutter door, based on the position and speed data in the dataset Dat, identify whether the door has entered the final section and extract the final entry speed Venter. This extraction is completed through steps S121 and S122. S121. Calculation of current position and remaining travel: Calculate the current position of the door based on the cumulative pulse count Nc and the total pulse count Nt obtained during installation calibration; The physical displacement from fully open to fully closed of the roller shutter door is defined as the total travel Ht. The current displacement length is obtained according to the proportional relationship: Hc = Ht × (Nc ÷ Nt); the remaining travel corresponding to the current displacement is defined as the remaining travel Hr = Ht - Hc. S122. Final stage determination and final stage entry speed Venter extraction: When the remaining travel Hr is less than the preset threshold or when the door linear speed Vrun is less than 15% of the rated speed, the roller shutter door is determined to have entered the final stage of operation. At this time, the gate linear velocity Vrun at the corresponding moment is read from the data set Dat, the gate linear velocity Vrun is defined as the final entry velocity Venter, and the time index is recorded and marked as the final entry moment. Then, the final entry time and final entry velocity Venter are written into the data set Dat to form a data sequence with a final segment identifier.

[0008] Preferably, the S2 comprises S21; S21, taking the end section entering speed Venter as the initial speed, combining the variation trend of the armature current Iarm and the back electromotive force Uemf, calculating the instantaneous power of the motor during the end section operation, and the specific calculation formula is as follows: P(t)=Uemf×Iarm; In the formula, P(t) represents the instantaneous power of the motor at time t; During the end section operation time, the instantaneous power is integrated with respect to time, and the specific calculation formula is as follows: E=∫P(t)dt; In the formula, E represents the total energy output of the roller shutter door from entering the end section to stopping; and dt represents the differential of the time variable; According to the structural parameters of the roller shutter door, the equivalent mass Mdorr of the door body is determined; and according to the running position, the variation amount of the gravitational potential energy during the end section is calculated, and the specific calculation formula is as follows: Ep=Mdoor×g×Hr; In the formula, Mdorr represents the equivalent mass of the door body, g represents the acceleration of gravity, and Hr represents the remaining stroke; The total energy output E and the variation amount of the gravitational potential energy Ep are combined to correct the total energy of the door body, and the equivalent kinetic energy Eeq of the door body is obtained, and the specific calculation formula is as follows: Eeq=E-Ep; Then, taking the equivalent mass Mdoor of the door body as the normalization reference, the end section kinetic energy index Qke is calculated, and the specific calculation formula is as follows: Qke=Eeq÷Mdoor.

[0009] Preferably, the S2 further comprises S22; S22, the end section kinetic energy index Qke determines the time constant Tdec of the speed decay model, the time constant Tdec is proportional to the end section kinetic energy index Qke, and is calculated according to the following relationship: Tdec=k1×Qke+k0; In the formula, k1 represents a proportional adjustment coefficient, and k0 represents a basic time bias constant; According to the determined time constant Tdec, the speed decay rate coefficient a is calculated, and the specific calculation formula is as follows: a=1÷Tdec; Taking the end section entering speed Venter as the initial speed, a target speed trajectory model is constructed: ; In the formula, Vref(t) represents the target speed at time t; and e represents the base number of natural logarithm; Discretize the target speed Vref(t) according to the sampling period to obtain a discrete speed sequence set VrefSet={Vref(t1), Vref(t2), …, Vref(tn)}; wherein n represents the total number of sampling periods.

[0010] Preferably, the S3 comprises S31, S31, according to the discrete target speed in the target trajectory set VrefSet, calculate the corresponding PWM control signal to drive the roller shutter door motor speed; Wherein, the PWM control signal is obtained as follows: By comparing the target speed Vref(t) at each moment with the actual speed Vact(t), the speed error ΔV(t)=Vref(t)-Vact(t) at time t is calculated; Then, according to the speed error ΔV(t) at time t, the corresponding PWM duty cycle command is generated: Dpwm(t)=Dbase+Kp×ΔV(t); In the formula, Dpwm(t) represents the PWM duty cycle at time t, Dbase represents the basic duty cycle, and Kp represents the duty cycle adjustment coefficient.

[0011] Preferably, the S3 further comprises S32; S32, according to the obtained PWM duty cycle Dpwm(t) at time t, update the PWM duty cycle at the current sampling time, update the PWM signal at the motor driving end, make the output voltage change in proportion to the duty cycle, and then control the real-time speed Vact(t) of the roller shutter door motor to approach the target speed Vref(t).

[0012] Preferably, the S3 further comprises S33; S33, monitor the deviation between the decay trend of the actual speed Vact(t) and the target speed Vref(t), when the deviation reaches a predetermined threshold, it indicates that the actual speed Vact(t) exists reverse motion compared with the target speed Vref(t), and it is determined that the reverse speed component Vrev appears, and automatically enters the reverse inertia buffer interval.

[0013] Preferably, the S4 comprises S41; S41, after entering the reverse inertia buffer interval, the PWM signal is temporarily adjusted in reverse to generate a reverse adjustment signal, so that the motor generates a micro-braking torque, consumes the remaining inertial kinetic energy, and makes the roller shutter door stop smoothly, avoiding the rebound phenomenon; The reverse adjustment signal is obtained by the following calculation formula: DpwmReverse(t)=Dbase+KpReverse×Er; In the formula, DpwmReverse(t) represents the PWM duty cycle of the reverse braking at time t, which is used to adjust the reverse braking torque of the motor; Dbase represents the base duty cycle; KpReverse represents the reverse correction proportional coefficient, which is used to adjust the force of the reverse braking; and Er represents the remaining inertial kinetic energy. The remaining inertial kinetic energy Er is specifically obtained by the formula Er = 0.5 × Mdoor × (Vrev)², where Mdoor represents the equivalent mass of the door and Vrev represents the reverse velocity component.

[0014] A start-stop control system for roller shutter doors includes a roller shutter door data acquisition module, a speed trajectory establishment module, a reverse buffer module, and a reverse signal generation module. During the downward movement of the roller shutter door, the data acquisition module periodically collects operating status data to form a data set; based on the door's position and speed information, it extracts the final entry speed. The velocity trajectory establishment module uses the final entry velocity as the initial condition, calculates the final kinetic energy index based on the motor operation data, and determines the velocity decay time constant based on the final kinetic energy index to construct the target velocity trajectory model. The reverse buffer module generates a PWM control signal based on the target speed trajectory model to drive the roller shutter door motor. When a reverse deviation is detected between the actual speed and the target speed, a reverse speed component is generated, and the system is determined to enter the reverse inertial buffer zone. Within the reverse inertial buffer zone, the reverse signal generation module adjusts the PWM signal based on the reverse speed component to generate a reverse adjustment signal to consume the remaining inertial kinetic energy of the roller shutter door.

[0015] This invention provides a method and system for controlling the start and stop of roller shutter doors, which has the following advantages: (1) Real-time digital representation of the operating status is achieved by synchronously sampling the door linear velocity Vrun, DC bus voltage Udc, armature current Iarm, and back electromotive force Uemf. The current displacement Hc is obtained by calculating the ratio of the cumulative pulse number Nc to the total pulse number Nt, and the remaining stroke Hr is further calculated. The final operating section can be accurately identified and the final entry speed Venter can be extracted before the roller shutter door reaches the physical limit. This allows the calculation of the subsequent kinetic energy index Qke to be based on actual operating data rather than fixed preset parameters, thereby significantly improving the adaptability of energy calculation and control strategy. By continuously collecting and calculating the operating parameters in the data set Dat, the final stage identification based on the real-time status is realized, enabling the roller shutter door to accurately determine the final entry time and adaptively adjust the subsequent braking strategy, ensuring the accuracy, consistency, and long-term stability of start-stop control.

[0016] (2) Through the real-time detection of the end section entering speed Venter, armature current Iarm and back electromotive force Uemf, the total energy output E of the rolling shutter door in the end section running is accurately calculated, and the equivalent kinetic energy Eeq of the door body is obtained by combining the remaining stroke Hr correction. On this basis, by calculating the end section kinetic energy index Qke, the current inertia level and the remaining kinetic energy storage can be quantified, and the speed decay time constant Tdec is dynamically determined to establish an adaptive speed decay model Vref(t). The modeling process enables the rolling shutter door to automatically adjust the deceleration curve according to the real-time running state, realizing the continuous transition from fast motion to smooth stop.

[0017] Through this energy-aware speed model construction, the rolling shutter door can maintain the same stop smoothness and energy dissipation efficiency under different use environments and running states, significantly improving the intelligence and adaptive ability of the control.

[0018] (3) Real-time adjustment and inertia feedback control of speed deviation during the end section running of the rolling shutter door. By continuously comparing the difference between the target speed Vref(t) and the actual speed Vact(t) to generate a speed error AV(t), and dynamically adjusting the PWM duty cycle Dpwm(t) accordingly, the real-time speed Vact(t) of the rolling shutter door motor can accurately follow the target speed curve. At the same time, when the deviation reaches the threshold and a reverse speed component Vrev is detected, it is automatically determined that the rolling shutter door enters the reverse inertia buffer interval, and a micro-braking torque is applied through the reverse adjustment signal DpwmReverse(t), and the reverse braking force is adaptively controlled according to the remaining inertia kinetic energy Er, so that the door body smoothly absorbs kinetic energy during the inertia release stage. The motor braking process is changed from traditional passive stop to active energy dissipation. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 A start-stop control method for a rolling shutter door according to the present application is shown in the figure. Figure 2 A start-stop control system for a rolling shutter door according to the present application is shown in the figure. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present application.

[0021] Embodiment 1: The present application provides a start-stop control method for a rolling shutter door, please refer to Figure 1 , including the following steps: S1, periodically collect running state data during the process of the roller shutter door descending, form a data set; extract the end section entering speed according to the door body position and speed information; S2, the end section entering speed is the initial condition, calculate the end section kinetic energy index combined with the motor running data, and determine the speed attenuation time constant according to the end section kinetic energy index, construct the target speed trajectory model; S3, generate PWM control signal according to the target speed trajectory model to drive the roller shutter door motor; when detecting that the actual speed and the target speed exist reverse deviation, generate a reverse speed component, and determine to enter the reverse inertia buffer interval; S4, in the reverse inertia buffer interval, adjust the PWM signal according to the reverse speed component, generate a reverse adjustment signal to consume the residual inertia kinetic energy of the roller shutter door.

[0022] In this embodiment, by collecting door body linear speed Vrun, armature current Iarm and back electromotive force Uemf and other data, the end section entering speed Venter is extracted to realize real-time identification of the end section running state; then the end section kinetic energy index Qke is calculated and the target speed trajectory model Vref(t) is constructed, so that the roller shutter door gradually attenuates the speed before stopping, avoiding impact stop caused by excessive inertia; when detecting that the actual speed and the target speed produce reverse deviation, define the reverse speed component Vrev and enter the reverse inertia buffer interval, accurately control the energy release by temporarily adjusting the PWM signal, and smoothly absorb the residual inertia kinetic energy. Thus, the reverse rebound can be effectively inhibited during the stopping process of the end section of the roller shutter door, so that the door body remains stable at the termination position and no longer appears reverse lifting or secondary vibration, ensuring that the limit position accuracy remains stable for a long time. At the same time, this method can prolong the service life of the motor brake element, reduce the transmission wear caused by inertia impact, and is especially suitable for high inertia load scenes such as industrial roller shutter doors and large fireproof doors, to realize the effect of smooth stop without rebound and impact.

[0023] Embodiment 2: Specifically, the S1 includes S11; S11, after the roller shutter door starts descending, periodically execute the running data collection process during the entire descending stage, perform signal detection and calculation at a fixed sampling period (for example, 10 ms), obtain the door body linear speed Vrun, the DC bus voltage Udc, the armature current Iarm and the back electromotive force Uemf, and synchronously integrate and process according to time index to obtain the data set Dat; The door body linear speed Vrun outputs a pulse signal proportional to the angle of rotation when the roller shaft rotates through the encoder, defines the pulse count read in real time as the cumulative pulse number Nc, then calculates the difference of the pulse signal as the incremental pulse ΔN in the adjacent sampling period, and calculates the door body linear speed according to the incremental pulse ΔN and the sampling interval time, which is marked as the door body linear speed Vrun; The direct current bus voltage Udc is obtained by sampling the bus terminal voltage signal, through voltage division conversion, A / D conversion and low pass filter processing, and is used to reflect the transient change of the power supply state; The armature current Iarm is obtained by reading the current detection signal in the roller shutter door armature loop, and the stable current average value marked after amplification, conditioning and smoothing filter processing of the detection signal, and is used to represent the motor load state; The back electromotive force Uemf is obtained by detecting the voltage across the motor during the PWM non-conduction gap, averaging the sampled values in the gap, and defining the average voltage as the back electromotive force Uemf, and is used to reflect the motor rotational inertia and the rate of change of flux linkage; It should be noted that the door linear speed Vrun reflects the true speed state of the roller shutter door movement, and is an important basis for determining the end section entering time; The synchronous recording of the direct current bus voltage Udc and the armature current Iarm can provide the necessary energy input basis for the subsequent step of calculating the end section kinetic energy index Qke; The back electromotive force Uemf provides feedback information related to mechanical inertia, which is used to identify whether there is a lagging inertia effect.

[0024] The S1 further includes S12; S12, in the process of the roller shutter door descending, based on the position and speed data in the data set Dat, identifying whether the door body enters the end section interval, and extracting the end section entering speed Venter, which is completed by steps S121 and S122; S121, current position and remaining stroke calculation: according to the cumulative pulse number Nc and the total pulse number Nt obtained during installation calibration, the current position of the door body is calculated; The physical displacement of the roller shutter door from full opening to full closing is defined as the total stroke Ht, and the current displacement length is obtained according to the proportional relationship: Hc=Ht×(Nc÷Nt); The remaining stroke corresponding to the current displacement is defined as the remaining stroke Hr=Ht-Hc; S122, end section determination and end section entering speed Venter extraction: when the remaining stroke Hr is less than a preset threshold or when the door linear speed Vrun is lower than 15% of the rated speed; Determine that the roller shutter door enters the end section running interval; At this time, the door linear speed Vrun at the corresponding time is read from the data set Dat, the door linear speed Vrun is defined as the end section entering speed Venter, and the time index is recorded, which is marked as the end section entering time; The end section entering time and the end section entering speed Venter are written into the data set Dat to form a data sequence with end section identification; It should be noted that: Total stroke Ht represents the complete displacement length of the roller shutter door from full opening to full closing, which is an installation calibration parameter; Current displacement Hc represents the current door body displacement obtained by pulse proportion conversion; Remaining stroke Hr represents the remaining displacement of the roller shutter door to the lower limit position, which is used for the last segment entry determination; Last segment entry time represents the sampling time point of determining that the roller shutter door enters the last segment interval, which is used for time sequence indexing; Last segment entry speed Venter represents the instantaneous speed of the roller shutter door when entering the last segment interval, which is an input parameter for subsequent kinetic energy calculation.

[0025] In this embodiment, the running data acquisition and last segment identification process realized by step S1 can dynamically establish a complete data set Dat in the entire descending process of the roller shutter door, and realize real-time digital representation of the running state based on synchronous sampling of the door body linear speed Vrun, the DC bus voltage Udc, the armature current Iarm and the back electromotive force Uemf. The method obtains the current displacement Hc by proportional calculation of the cumulative pulse number Nc and the total pulse number Nt, and further calculates the remaining stroke Hr, so that the last segment running interval can be accurately identified and the last segment entry speed Venter can be extracted before the roller shutter door reaches the physical limit. Therefore, the calculation of the subsequent kinetic energy index Qke can be based on actual running data, rather than relying on fixed preset parameters, thereby significantly improving the adaptability of energy calculation and control strategy.

[0026] In actual application, the method can avoid the limit drift problem caused by mechanical wear or load change. For example, in the long-term running of industrial roller shutter doors, the elongation of the transmission chain or the wear of the bearing often causes the shift of the lower limit position, and the traditional detection method relying on limit switches is prone to premature shutdown or overshoot. The present application realizes last segment identification based on real-time state by continuously collecting and calculating the running parameters in the data set Dat, so that the roller shutter door can accurately determine the last segment entry time and adaptively adjust the subsequent braking strategy under any working condition, ensuring the accuracy and consistency of start-stop control and long-term stability.

[0027] Embodiment 3: Specifically, the S2 comprises S21; S21, taking the last segment entry speed Venter as the initial speed, combining the change trend of the armature current Iarm and the back electromotive force Uemf, calculating the instantaneous power of the motor when running in the last segment, and the specific calculation formula is as follows: P(t) = Uemf x Iarm; In the formula, P(t) represents the instantaneous power of the motor at time t, which is used to reflect the energy change rate; During the last segment running time, the instantaneous power is integrated with respect to time, and the specific calculation formula is as follows: E = ∫P(t)dt; In the formula, E represents the total energy output of the roller shutter from the end of entering to the stop, which is used to represent the end of the inertial energy level; dt represents the differential of the time variable, which is used to integrate the time t; According to the structural parameters of the roller shutter, the equivalent mass Mdorr of the door body of the roller shutter is determined, which is specifically converted from the door body weight and the transmission ratio of the transmission mechanism; at the same time, the change amount of the gravitational potential energy during the end is calculated according to the running position, and the specific calculation formula is as follows: Ep = Mdoor x g x Hr; In the formula, Mdorr represents the equivalent mass of the door body, g represents the acceleration of gravity, and Hr represents the remaining stroke; The total energy output E and the change amount of the gravitational potential energy Ep are combined to correct the total energy of the door body, and the equivalent kinetic energy Eeq of the door body is obtained, which reflects the actual kinetic energy part generated by the motor and inertia after deducting the gravitational potential energy component, and the specific calculation formula is as follows: Eeq = E-Ep; Taking the equivalent mass Mdoor of the door body as a normalized reference, the end kinetic energy index Qke is calculated, and the specific calculation formula is as follows: Qke = Eeq ÷ Mdoor.

[0028] The S2 further includes S22; S22, the end kinetic energy index Qke determines the time constant Tdec of the speed decay model, and the time constant Tdec is used to represent the time length required for the roller shutter to decay from the current speed to stable stop, and the time constant Tdec is proportional to the end kinetic energy index Qke, and is calculated according to the following relationship: Tdec = k1 x Qke + k0; In the formula, k1 represents a proportional adjustment coefficient, and k0 represents a basic time offset constant; When the end kinetic energy index Qke is high, the proportional adjustment coefficient k1 is automatically increased according to the inertia intensity, so that the time constant Tdec is increased, thereby prolonging the deceleration time and ensuring smooth stop; When the end kinetic energy index Qke is low, the proportional adjustment coefficient k1 is reduced, so that the time constant Tdec is shortened to improve the response speed of the end stop; According to the determined time constant Tdec, the speed decay rate coefficient a is calculated, and the specific calculation formula is as follows: a = 1 ÷ Tdec; Taking the end entering speed Venter as the initial speed, a target speed trajectory model is constructed: ; In the formula, Vref(t) represents the target speed at time t, a speed output expected to be reached in the buffer interval, used as a reference speed for PWM control, the reference speed decays exponentially until the stop, achieving a smooth transition; e represents the base of the natural logarithm, represents a proportional factor of the exponential decay of the speed with time t, and the exponential term continuously decreases to zero, so that the target speed Vref(t) gradually decreases from the initial speed Venter to zero, where the greater the value of a, the faster the decay, and the smaller the value of a, the slower the decay; The target speed Vref(t) is discretized according to the sampling period to obtain a discrete speed sequence set VrefSet={Vref(t1), Vref(t2), …, Vref(tn)}; where n represents the total number of sampling periods.

[0029] In this embodiment, the end section energy calculation and target speed modeling process realized by step S2 can accurately calculate the total energy output E of the roller shutter during the end section operation based on the real-time detected end section entering speed Venter, armature current Iarm and back electromotive force Uemf, and obtain the equivalent kinetic energy Eeq of the door body by combining the remaining stroke Hr. On this basis, by calculating the end section kinetic energy index Qke, the current inertia level and the remaining kinetic energy storage can be quantified, and the speed decay time constant Tdec is dynamically determined to establish an adaptive speed decay model Vref(t). The modeling process enables the roller shutter to automatically adjust the deceleration curve according to the real-time running state, realizing continuous transition from fast motion to smooth stop.

[0030] Compared with the traditional fixed deceleration algorithm, the energy-driven modeling mechanism of the present application makes the control response no longer dependent on preset parameters, but dynamically determines the decay characteristics according to the current running energy, thereby effectively avoiding the problem of inconsistent braking caused by load changes or environmental temperature differences. For example, when the lubrication resistance increases in cold environments or the load increases due to wind pressure, the decay time constant Tdec can be automatically extended by a higher end section kinetic energy index Qke to ensure smooth stop; while in the case of light load or short stroke, Tdec is automatically shortened to brake quickly. Through this energy-aware speed model construction, the roller shutter can maintain the same stop smoothness and energy dissipation efficiency in different use environments and running states, significantly improving the intelligence and adaptability of the control.

[0031] Embodiment 4: Specifically: the S3 includes S31, S31, according to the discrete target speed in the target trajectory set VrefSet, a corresponding PWM control signal is calculated to drive the roller shutter motor speed; Wherein, the PWM control signal is obtained as follows: The speed error ΔV(t)=Vref(t)-Vact(t) at time t is calculated by comparing the target speed Vref(t) at each time with the actual speed Vact(t); A corresponding PWM duty command is generated according to the speed error ΔV(t) at time t: Dpwm(t)=Dbase+Kp×ΔV(t); In the formula, Dpwm(t) represents the PWM duty at time t, Dbase represents the base duty, which is used to maintain the steady-state driving of the roller shutter motor, and Kp represents the duty adjustment coefficient, which is used to convert the speed error into a duty correction amount.

[0032] The S3 further includes S32; S32, according to the acquired PWM duty Dpwm(t) at time t, updates the PWM duty at the current sampling time, updates the PWM signal at the motor driving end, makes the output voltage change in proportion to the duty, and further controls the real-time speed Vact(t) of the roller shutter motor to approach the target speed Vref(t).

[0033] The S3 further includes S33; S33, monitors the deviation between the decay trend of the actual speed Vact(t) and the target speed Vref(t), and when the deviation reaches a predetermined threshold, it indicates that the actual speed Vact(t) has a reverse motion compared with the target speed Vref(t), and determines that a reverse speed component Vrev is present, and automatically enters the reverse inertia buffer interval; It should be noted that: The reverse speed component Vrev represents the deviation between the actual speed Vact(t) and the target speed Vref(t), that is, Vrev=Vact(t)-Vref(t), when Vrev is positive, it indicates that the actual speed exceeds the target speed; when Vrev is negative, it indicates that a rebound phenomenon occurs, and the door body continues to move due to inertia; Vrev is used to determine whether the door body has a rebound phenomenon and trigger necessary feedback correction.

[0034] The S4 includes S41; S41, after entering the reverse inertia buffer interval, the PWM signal is temporarily adjusted in reverse to generate a reverse adjustment signal, so that the motor generates a micro-braking torque, consumes the remaining inertial kinetic energy, and makes the roller shutter stop smoothly, avoiding the rebound phenomenon; The reverse adjustment signal is obtained by the following calculation formula: DpwmReverse(t)=Dbase+KpReverse×Er; In the formula, DpwmReverse(t) represents the PWM duty cycle of the reverse braking at time t, which is used to adjust the reverse braking torque of the motor; Dbase represents the base duty cycle; KpReverse represents the reverse correction proportional coefficient, which is used to adjust the force of the reverse braking; and Er represents the remaining inertial kinetic energy, which reflects the kinetic energy that needs to be absorbed at present. The remaining inertial kinetic energy Er is specifically obtained by the formula Er=0.5×Mdoor×(Vrev)², where Mdoor represents the equivalent mass of the door and Vrev represents the reverse velocity component, reflecting the difference between the actual velocity and the target velocity.

[0035] In this embodiment, steps S3 and S4 enable real-time adjustment and inertial feedback control of the speed deviation during the final stage of the roller shutter door's operation. A speed error ΔV(t) is generated by continuously comparing the difference between the target speed Vref(t) and the actual speed Vact(t), and the PWM duty cycle Dpwm(t) is dynamically adjusted accordingly to ensure that the real-time rotational speed Vact(t) of the roller shutter door motor accurately follows the target speed curve. Simultaneously, when the deviation reaches a threshold and a reverse speed component Vrev appears, the roller shutter door is automatically determined to have entered the reverse inertial buffer zone. A micro-braking torque is applied through the reverse adjustment signal DpwmReverse(t), and the reverse braking force is adaptively controlled based on the remaining inertial kinetic energy Er, allowing the door to smoothly absorb kinetic energy during the inertial release phase. This transforms the motor braking process from a traditional passive stopping to active energy dissipation. In practical applications, this technology effectively solves the problems of inertial overshoot and rebound when roller shutters stop at the final stage. For example, in high-inertia steel fireproof roller shutters, traditional control methods often cause the door to rebound after sliding to the limit position due to inertial lag, resulting in collisions between the door curtain and the guide rail, and even triggering false limit switches. By detecting the reverse velocity component Vrev and calculating the remaining inertial kinetic energy Er, reverse braking is initiated in a very short time, allowing the kinetic energy to be absorbed uniformly rather than instantly canceled out, thus achieving a stable stop for the door without rebound or impact. This not only improves the smoothness and safety of the roller shutter's stopping, but also significantly reduces the impact load on the motor bearings and reduction mechanism, extending equipment life. It is particularly suitable for industrial and protective applications requiring high stopping accuracy and high reliability.

[0036] Example 5: A start-stop control system for roller shutter doors, please refer to... Figure 2 Specifically, it includes a roller shutter door data acquisition module, a speed trajectory establishment module, a reverse buffer module, and a reverse signal generation module; During the downward movement of the roller shutter door, the data acquisition module periodically collects operating status data to form a data set; based on the door's position and speed information, it extracts the final entry speed. The end section entering speed of the speed trajectory establishing module is an initial condition, the kinetic energy index of the end section is calculated in combination with motor operation data, and the speed decay time constant is determined according to the kinetic energy index of the end section, so as to construct a target speed trajectory model; The reverse buffering module generates a PWM control signal according to the target speed trajectory model to drive the roller shutter door motor; when a reverse deviation between the actual speed and the target speed is detected, a reverse speed component is generated to determine that a reverse inertia buffering interval is entered; and the reverse signal generating module adjusts the PWM signal according to the reverse speed component to generate a reverse adjusting signal to consume the residual inertia kinetic energy of the roller shutter door in the reverse inertia buffering interval.

[0037] Although the embodiments of the present application have been shown and described, it can be understood by those of ordinary skill in the art that various changes, modifications, replacements and modifications can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A method for controlling the start and stop of a roller shutter door, characterized in that: Includes the following steps: S1. During the downward movement of the roller shutter door, periodically collect operating status data to form a data set; extract the final entry speed based on the door's position and speed information. S2. The initial condition is the final entry speed. The final kinetic energy index is calculated based on the motor operation data. The speed decay time constant is determined based on the final kinetic energy index, and the target speed trajectory model is constructed. S3. Generate a PWM control signal based on the target speed trajectory model to drive the roller shutter door motor; when a reverse deviation is detected between the actual speed and the target speed, generate a reverse speed component and determine whether to enter the reverse inertia buffer zone. S4. Within the reverse inertia buffer zone, adjust the PWM signal according to the reverse velocity component to generate a reverse adjustment signal to consume the remaining inertial kinetic energy of the roller shutter door.

2. The start-stop control method for a roller shutter door according to claim 1, characterized in that: S1 includes S11; S11. After the roller shutter door starts descending, the operation data acquisition process is periodically executed throughout the entire descending phase. Signal detection and calculation are performed with a fixed sampling period to obtain the door linear velocity Vrun, DC bus voltage Udc, armature current Iarm and back electromotive force Uemf. The data is then integrated and processed synchronously according to the time index to obtain the data set Dat. The door linear velocity Vrun is obtained by the encoder outputting a pulse signal proportional to the rotation angle when the roller rotates. The pulse count read in real time is defined as the cumulative pulse count Nc. Then, the difference between the pulse signals in adjacent sampling periods is calculated as the incremental pulse ΔN. The door linear velocity is calculated based on the incremental pulse ΔN and the sampling interval time and marked as the door linear velocity Vrun. The DC bus voltage Udc is obtained by sampling the bus terminal voltage signal, followed by voltage divider transformation, A / D conversion, and low-pass filtering. The armature current Iarm is obtained by reading the current detection signal in the armature circuit of the roller shutter door, and then marking the stable current average value after amplifying, conditioning and smoothing the detection signal. The back electromotive force Uemf is obtained by detecting the voltage across the motor during the non-conducting gap of the PWM, averaging the sampled values ​​within the gap, and defining the average voltage as the back electromotive force Uemf.

3. The method for starting and stopping a roller shutter door according to claim 2, characterized in that: S1 further includes S12; S12. During the downward movement of the roller shutter door, based on the position and speed data in the dataset Dat, identify whether the door has entered the final section and extract the final entry speed Venter. This extraction is completed through steps S121 and S122. S121. Calculation of current position and remaining travel: Calculate the current position of the door based on the cumulative pulse count Nc and the total pulse count Nt obtained during installation calibration; The physical displacement from fully open to fully closed of the roller shutter door is defined as the total travel Ht. The current displacement length is obtained according to the proportional relationship: Hc = Ht × (Nc ÷ Nt); the remaining travel corresponding to the current displacement is defined as the remaining travel Hr = Ht - Hc. S122. Final stage determination and final stage entry speed Venter extraction: When the remaining travel Hr is less than the preset threshold or when the door linear speed Vrun is less than 15% of the rated speed, the roller shutter door is determined to have entered the final stage of operation. At this time, the gate linear velocity Vrun at the corresponding moment is read from the data set Dat, the gate linear velocity Vrun is defined as the final entry velocity Venter, and the time index is recorded and marked as the final entry moment. Then, the final entry time and final entry velocity Venter are written into the data set Dat to form a data sequence with a final segment identifier.

4. The start-stop control method for a roller shutter door according to claim 3, characterized in that: S2 includes S21; S21. Using the final entry speed Venter as the initial speed, and combining the changing trends of armature current Iarm and back electromotive force Uemf, calculate the instantaneous power of the motor during the final stage of operation. The specific calculation formula is as follows: P(t) = Uemf × Iarm; In the formula, P(t) represents the instantaneous power of the motor at time t; During the final stage of operation, the instantaneous power is integrated over time, and the specific calculation formula is as follows: E=∫P(t)dt; In the formula, E represents the total energy output of the roller shutter from the moment it enters the final stage until it stops; dt represents the derivative of the time variable. Based on the structural parameters of the roller shutter door, determine the equivalent mass Mdorr of the door body; simultaneously, calculate the change in gravitational potential energy during the final stage based on the operating position, using the following specific calculation formula: Ep = Mdoor × g × Hr; In the formula, Mdorr represents the equivalent mass of the door, g represents the gravitational acceleration, and Hr represents the remaining travel distance; By combining the total energy output E with the change in gravitational potential energy Ep, the total energy of the door is corrected to obtain the equivalent kinetic energy Eeq of the door. The specific calculation formula is: Eeq=E-Ep; Then, using the equivalent mass Mdoor of the door as the normalization benchmark, the final kinetic energy index Qke is calculated. The specific calculation formula is: Qke=Eeq÷Mdoor.

5. The start-stop control method for a roller shutter door according to claim 4, characterized in that: S2 further includes S22; S22. The time constant Tdec of the velocity decay model is determined by the final kinetic energy index Qke. The value of the time constant Tdec is directly proportional to the final kinetic energy index Qke and is calculated according to the following relationship: Tdec = k1 × Qke + k0; In the formula, k1 represents the proportional adjustment coefficient, and k0 represents the base time offset constant; The velocity decay rate coefficient α is calculated based on the determined time constant Tdec. The specific calculation formula is: α = 1 ÷ Tdec; Using the final entry velocity Venter as the initial velocity, construct the target velocity trajectory model: ； In the formula, Vref(t) represents the target velocity at time t; e represents the base of the natural logarithm; The target velocity Vref(t) is discretized according to the sampling period to obtain a discrete velocity sequence set VrefSet={Vref(t1), Vref(t2), ..., Vref(tn)}; where n represents the total number of sampling periods.

6. The start-stop control method for a roller shutter door according to claim 5, characterized in that: S3 includes S31, S31. Calculate the corresponding PWM control signal to drive the roller shutter door motor speed based on the discrete target velocities in the target trajectory set VrefSet; The PWM control signal is obtained in the following way: By comparing the target velocity Vref(t) with the actual velocity Vact(t) at each moment, the velocity error ΔV(t) = Vref(t) - Vact(t) at time t is calculated. Then, based on the velocity error ΔV(t) at time t, the corresponding PWM duty cycle instruction is generated: Dpwm(t) = Dbase + Kp × ΔV(t); In the formula, Dpwm(t) represents the PWM duty cycle at time t, Dbase represents the base duty cycle, and Kp represents the duty cycle adjustment coefficient.

7. The start-stop control method for a roller shutter door according to claim 6, characterized in that: S3 further includes S32; S32. Based on the PWM duty cycle Dpwm(t) at the obtained time t, update the PWM duty cycle at the current sampling time, update the PWM signal at the motor drive end, so that the output voltage changes proportionally to the duty cycle, thereby controlling the real-time speed Vact(t) of the roller shutter door motor to approach the target speed Vref(t).

8. The start-stop control method for a roller shutter door according to claim 7, characterized in that: S3 also includes S33; S33. Monitor the attenuation trend of the actual velocity Vact(t) and the deviation between the target velocity Vref(t). When the deviation reaches a predetermined threshold, it indicates that the actual velocity Vact(t) has reverse motion compared with the target velocity Vref(t). It is determined that a reverse velocity component Vrev has appeared and automatically enters the reverse inertial buffer zone.

9. The start-stop control method for a roller shutter door according to claim 8, characterized in that: S4 includes S41; S41. After entering the reverse inertia buffer zone, the PWM signal is briefly reversed to generate a reverse adjustment signal, which causes the motor to generate micro braking torque, consumes the remaining inertial kinetic energy, and makes the roller shutter door stop smoothly, avoiding the rebound phenomenon. The reverse adjustment signal is obtained through the following calculation formula: DpwmReverse(t)=Dbase+KpReverse×Er; In the formula, DpwmReverse(t) represents the PWM duty cycle of the reverse braking at time t, which is used to adjust the reverse braking torque of the motor; Dbase represents the base duty cycle; KpReverse represents the reverse correction proportional coefficient, which is used to adjust the force of the reverse braking; and Er represents the remaining inertial kinetic energy. The remaining inertial kinetic energy Er is specifically obtained by the formula Er = 0.5 × Mdoor × (Vrev)², where Mdoor represents the equivalent mass of the door and Vrev represents the reverse velocity component.

10. A start-stop control system for a roller shutter door, applied to the start-stop control method for a roller shutter door as described in any one of claims 1 to 9, characterized in that: It includes a roller shutter door data acquisition module, a speed trajectory establishment module, a reverse buffer module, and a reverse signal generation module; During the downward movement of the roller shutter door, the data acquisition module periodically collects operating status data to form a data set; based on the door's position and speed information, it extracts the final entry speed. The velocity trajectory establishment module uses the final entry velocity as the initial condition, calculates the final kinetic energy index based on the motor operation data, and determines the velocity decay time constant based on the final kinetic energy index to construct the target velocity trajectory model. The reverse buffer module generates a PWM control signal based on the target speed trajectory model to drive the roller shutter door motor. When a reverse deviation is detected between the actual speed and the target speed, a reverse speed component is generated, and the system is determined to enter the reverse inertial buffer zone. Within the reverse inertial buffer zone, the reverse signal generation module adjusts the PWM signal based on the reverse speed component to generate a reverse adjustment signal to consume the remaining inertial kinetic energy of the roller shutter door.

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