Multi-stage variable speed silent control method and system for electrically driven air-tight door drive

Abstract

This invention discloses a multi-segment variable speed silent control method and system for driving electric airtight doors, relating to the field of intelligent control technology. The method includes: dividing the travel of the electric airtight door into segments; establishing a mapping travel strategy based on the travel segmentation results; if the real-time travel state satisfies a fifth-order speed response strategy, generating an initial response scheme using the fifth-order speed response strategy; activating a servo motor using the initial response scheme, with the servo motor driving the electric airtight door through a transmission mechanism; establishing monitoring feedback based on an acceleration sensor, a motor torque sensor, and a current sensor; reconstructing an acceleration strategy based on the monitoring feedback, establishing acceleration dynamic feedback, and performing multi-segment variable speed silent control based on the acceleration dynamic feedback. This solves the technical problem of high noise levels during the operation of electric airtight doors in the prior art, achieving improved operational stability and reduced noise through multi-segment variable speed silent control.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology, specifically to a multi-stage variable speed silent control method and system for driving electric airtight doors. Background Technology

[0002] Electric airtight doors are widely used in hospitals, laboratories, cleanrooms, and other places with high environmental requirements. The main function of an electric airtight door is to ensure good sealing performance during opening and closing to effectively isolate air, dust, and contaminants. However, existing electric airtight doors often produce significant noise during operation, and the speed control is not smooth enough, affecting the user experience and environmental comfort. Especially during the opening and closing process, due to imprecise control strategies, speed fluctuations, vibrations, and excessive noise often occur, seriously affecting the performance and lifespan of the equipment. Summary of the Invention

[0003] This application provides a multi-stage variable speed silent control method and system for driving electric airtight doors, which solves the technical problem of high noise during the operation of electric airtight doors in the prior art.

[0004] A first aspect of this application provides a multi-stage variable speed noise control method for an electric airtight door drive, the method comprising:

[0005] The electric airtight door's travel is segmented, and a mapping travel strategy is established based on the travel segmentation results. This mapping travel strategy includes a fifth-order speed response strategy and a low-speed operation strategy. The real-time travel state of the electric airtight door is read. If the real-time travel state satisfies the fifth-order speed response strategy, an initial response scheme is generated using the fifth-order speed response strategy. The initial response scheme is used to activate a servo motor, which drives the electric airtight door through a transmission mechanism. Monitoring feedback is established based on acceleration sensors, motor torque sensors, and current sensors installed on the electric airtight door. This monitoring feedback includes resistance feedback, acceleration feedback, and current feedback. The acceleration strategy of the fifth-order speed response strategy is reconstructed based on the monitoring feedback, and acceleration dynamic feedback is established. Multi-segment variable speed silent control is performed based on the acceleration dynamic feedback.

[0006] A second aspect of this application provides a multi-stage variable speed silent control system for electric airtight door actuation, the system comprising:

[0007] The system includes a strategy establishment module for segmenting the travel of the electric airtight door and establishing a mapped travel strategy based on the segmentation results. This mapped travel strategy includes a fifth-order speed response strategy and a low-speed operation strategy. A state judgment module reads the real-time travel state of the electric airtight door. If the real-time travel state satisfies the fifth-order speed response strategy, an initial response scheme is generated using the fifth-order speed response strategy. An activation module activates the servo motor using the initial response scheme, and the servo motor drives the electric airtight door through a transmission mechanism. A monitoring feedback module establishes monitoring feedback based on acceleration sensors, motor torque sensors, and current sensors installed on the electric airtight door. This monitoring feedback includes resistance feedback, acceleration feedback, and current feedback. A noise control module reconstructs the acceleration strategy of the fifth-order speed response strategy based on the monitoring feedback and establishes acceleration dynamic feedback. Multi-segment variable speed noise control is then performed based on this acceleration dynamic feedback.

[0008] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0009] First, the travel of the electric airtight door is segmented, and a mapping travel strategy is established based on the travel segmentation results. This mapping travel strategy includes a fifth-order speed response strategy and a low-speed operation strategy. Next, the real-time travel state of the electric airtight door is read. If the real-time travel state satisfies the fifth-order speed response strategy, an initial response scheme is generated using this strategy. Then, the servo motor is activated using the initial response scheme, and the servo motor drives the electric airtight door through a transmission mechanism. Monitoring feedback is established based on acceleration sensors, motor torque sensors, and current sensors installed on the electric airtight door. This monitoring feedback includes resistance feedback, acceleration feedback, and current feedback. Finally, the acceleration strategy of the fifth-order speed response strategy is reconstructed based on the monitoring feedback, and acceleration dynamic feedback is established. Multi-segment variable speed silent control is then implemented based on this acceleration dynamic feedback. This solves the technical problem of high noise levels during the operation of electric airtight doors in existing technologies. Through multi-segment variable speed silent control, the technical effects of improving the operational stability of the electric airtight door and reducing noise are achieved. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a schematic flowchart of a multi-stage variable speed silent control method for driving an electric airtight door, provided in an embodiment of this application.

[0012] Figure 2 This is a schematic diagram of a multi-segment speed-changing silent control system for driving an electric airtight door, provided in an embodiment of this application.

[0013] Figure labeling: Strategy establishment module 11, status judgment module 12, activation module 13, monitoring feedback module 14, and mute control module 15. Detailed Implementation

[0014] This application provides a multi-stage variable speed silent control method and system for driving electric airtight doors, which solves the technical problem of high noise during the operation of electric airtight doors in the prior art.

[0015] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0016] It should be noted that the terms "comprising" and "having" are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or modules that are not explicitly listed or that are inherent to these processes, methods, products, or devices.

[0017] Example 1, as Figure 1 As shown, this application provides a multi-stage variable speed silent control method for electric airtight door drives, wherein the method includes:

[0018] The electric airtight door is divided into stroke segments, and a mapping stroke strategy is established based on the stroke segmentation results. The mapping stroke strategy includes a fifth-order speed response strategy and a low-speed operation strategy.

[0019] By segmenting the stroke of the electric airtight door, different working ranges of the door during the opening and closing process can be determined. Specifically, stroke segmentation divides the complete stroke of the electric airtight door into multiple small segments, so that different control strategies can be set for each segment, thereby ensuring smooth operation of the door and reducing noise.

[0020] After the stroke is segmented, a mapping stroke strategy is established based on the segmentation results. This strategy includes a fifth-order speed response strategy and a low-speed operation strategy. The fifth-order speed response strategy controls the speed changes of the electric airtight door during acceleration, constant speed, and deceleration, ensuring smooth transitions and avoiding abrupt speed changes, thus reducing noise and vibration. The fifth-order speed response strategy uses a fifth-order polynomial for speed adjustment, enabling the door to operate smoothly according to a preset speed curve during opening and closing, avoiding abrupt speed changes. The low-speed operation strategy is suitable for the low-speed stroke range of the electric airtight door, especially when the door is near the open or closed position. This strategy ensures that the electric airtight door can smoothly and accurately stop at the predetermined position during low-speed operation, further reducing noise during operation and improving the sealing effect.

[0021] Furthermore, a mapping strategy for trips is established based on the trip segmentation results, including:

[0022] A travel threshold is obtained, and the travel is segmented based on the travel threshold. The travel segmentation results that meet the travel threshold are used as acceleration control travel, and the travel segmentation results that do not meet the travel threshold are used as low-speed control travel. A fifth-order speed response strategy is established based on the acceleration control travel. The fifth-order speed response strategy includes a start strategy, an acceleration strategy, a constant speed strategy, a deceleration strategy, and a stop strategy. The fifth-order speed response strategy is based on the factory test strategy and is constructed through self-optimization of the installation environment. A low-speed operation strategy is established based on the low-speed control travel. The fifth-order speed response strategy and the low-speed operation strategy are output as a mapped travel strategy.

[0023] Specifically, the travel threshold of the electric airtight door is obtained. The travel threshold refers to a critical value for the door's travel length during the opening and closing process, set according to specific requirements and design standards. Based on the travel threshold, the complete travel of the electric airtight door is divided. The portion of the travel that meets the threshold is designated as the acceleration control travel, primarily used to control the door's acceleration, constant speed, and deceleration phases. The portion of the travel that does not meet the threshold is designated as the low-speed control travel, used to control the door's precise low-speed operation, ensuring smooth stopping when the door approaches the open or closed position. Then, based on the acceleration control travel, a fifth-order speed response strategy is established. This strategy includes a start-up strategy, an acceleration strategy, a constant speed strategy, a deceleration strategy, and a stopping strategy. The fifth-order speed response strategy controls the speed change of the electric airtight door through a fifth-order polynomial, ensuring smooth speed changes during start-up, acceleration, constant speed, deceleration, and stopping, avoiding noise or vibration caused by abrupt speed changes. The baseline strategy of the fifth-order speed response strategy is set based on factory test results and has undergone environmental self-optimization adjustments to adapt to specific installation environments, enabling the electric airtight door to achieve optimal speed response under different usage scenarios. Based on the low-speed control stroke, a low-speed operation strategy is established. This strategy is primarily used when the electric airtight door approaches the open or closed position, ensuring that the door can smoothly and accurately stop at the predetermined position, thereby achieving precise control, reducing noise, and improving the door's sealing performance. Finally, the above fifth-order speed response strategy and low-speed operation strategy are combined to output a mapped stroke strategy. This mapped stroke strategy ensures smooth speed control and reduced noise throughout the entire opening and closing process of the electric airtight door, and can intelligently optimize and adjust according to the actual usage conditions of the electric airtight door, achieving optimal operating performance under different working conditions.

[0024] Read the real-time travel status of the current electric airtight door. If the real-time travel status satisfies the fifth-order speed response strategy, then generate an initial response scheme through the fifth-order speed response strategy.

[0025] The real-time travel status of the electric airtight door is read by sensors to obtain its current motion state. This real-time travel status includes parameters such as the door's current actual travel position, current speed, and acceleration. If the real-time travel status satisfies a fifth-order speed response strategy (i.e., the current travel status matches the conditions of a certain stage in the fifth-order speed response strategy), an initial response plan is generated based on the fifth-order speed response strategy. This initial response plan includes control parameters such as the speed, acceleration, and target position for the next stage, ensuring that the electric airtight door operates smoothly according to the predetermined fifth-order speed response curve.

[0026] Furthermore, reading the real-time travel status of the current electric airtight door also includes:

[0027] If the real-time travel status meets the low-speed operation strategy, the servo motor is activated using the low-speed operation strategy, and the servo motor drives the electric airtight door to operate through the transmission mechanism.

[0028] The system reads the real-time travel status of the electric airtight door using sensors. Based on parameters such as travel position, speed, and acceleration in the real-time travel status, it determines whether the electric airtight door is in a low-speed operation phase. If the real-time travel status meets the conditions for a low-speed operation strategy, the system will activate the low-speed operation strategy and control the operation of the servo motor accordingly. This ensures that the electric airtight door can operate smoothly at a low speed when approaching the final position, avoiding impact, noise, or vibration caused by excessive speed.

[0029] Furthermore, the initial response scheme is generated through a fifth-order velocity response strategy, including:

[0030] Obtain the optimal travel ratio corresponding to the fifth-order speed response strategy; perform fifth-order response travel segmentation based on the real-time travel status and the optimal travel ratio to establish the fifth-order response travel segmentation result; use the fifth-order response travel segmentation result to perform adaptation and inversion optimization of the highest speed, and reconstruct the acceleration strategy based on the adaptation and inversion optimization result to generate the initial response scheme.

[0031] First, the optimal travel ratio corresponding to the fifth-order speed response strategy is obtained. This optimal travel ratio is derived through precise calculation and experimental optimization based on the operating characteristics of the electric airtight door, load changes, and control requirements under different operating conditions, ensuring that the door's speed control achieves optimal performance at different stages. Next, the fifth-order response travel is segmented based on the real-time travel status and the optimal travel ratio. Specifically, the complete opening and closing travel is divided into multiple response segments based on the electric airtight door's current travel position and speed, combined with the optimal travel ratio. Then, the fifth-order response travel segmentation results are used for adaptation and inversion optimization of the highest speed. Through this inversion optimization process, the optimal speed and acceleration of the electric airtight door at different stages are determined to ensure a smooth transition during acceleration and deceleration, avoiding abrupt speed changes and unnecessary vibration or noise. Finally, based on the adaptation and inversion optimization results, the acceleration strategy is reconstructed and combined with the fifth-order speed response strategy to generate the initial response scheme. The initial response scheme will serve as the control basis during the opening and closing process of the electric airtight door, guiding the servo motor to precisely adjust the speed and acceleration of the electric airtight door, ensuring that the door operates smoothly according to the fifth-order speed response strategy and achieves the best performance.

[0032] The servo motor is activated using the initial response scheme, and the servo motor drives the electric airtight door to operate through the transmission mechanism.

[0033] The system activates the servo motor by sending a drive signal. After receiving the control signal, the servo motor adjusts its speed and direction of motion according to the speed and acceleration parameters in the initial response scheme. Through the transmission mechanism, the servo motor drives the electric airtight door to complete the predetermined opening and closing actions, ensuring that the electric airtight door operates smoothly according to the initial response scheme during acceleration, constant speed, deceleration, and stopping.

[0034] A monitoring feedback system is established based on an acceleration sensor, a motor torque sensor, and a current sensor installed on the electric airtight door. The monitoring feedback includes resistance feedback, acceleration feedback, and current feedback.

[0035] Based on accelerometers, motor torque sensors, and current sensors installed on electric airtight doors, a monitoring and feedback system was established for real-time monitoring of the door's operating status. Specifically, the accelerometers detect changes in the door's acceleration during operation, thereby determining whether there are any abnormal accelerations or vibrations at different stages. The motor torque sensors acquire the output torque applied by the servo motor during door operation, reflecting the force on the transmission system and changes in external resistance. The current sensors detect the current variation trend of the servo motor during operation, thereby indirectly reflecting the motor load and resistance fluctuations during movement.

[0036] Through real-time data acquisition and comprehensive analysis from acceleration sensors, motor torque sensors, and current sensors, the system can establish a complete monitoring and feedback mechanism, including resistance feedback, acceleration feedback, and current feedback. Resistance feedback can promptly reflect whether the door encounters abnormal resistance during operation, ensuring smooth operation of the electric airtight door; acceleration feedback helps determine whether the door starts and stops with stable acceleration, avoiding excessive vibration during acceleration and deceleration; current feedback helps identify whether the motor is under excessive load, preventing equipment damage due to motor overload.

[0037] Furthermore, a monitoring feedback system is established based on the acceleration sensor, motor torque sensor, and current sensor installed on the electric airtight door, including:

[0038] Determine whether the resistance feedback in the monitoring feedback meets the resistance setting threshold; if the resistance feedback meets the resistance setting threshold, generate a resistance anomaly warning; control the servo motor to stop running according to the resistance anomaly warning and report the resistance anomaly.

[0039] The system acquires real-time operating data of the electric airtight door using an accelerometer, motor torque sensor, and current sensor. The torque sensor provides feedback on the door's operating resistance. Based on a preset resistance threshold, the system assesses the resistance feedback to determine if it exceeds the normal range. In this assessment, the system further combines the duration characteristics, stroke position characteristics, and resistance change trends of the resistance feedback to comprehensively analyze and classify the current resistance state. When the resistance feedback fluctuates within a short period, and the corresponding resistance change does not continuously exceed a preset duration threshold, the system classifies this resistance state as an adjustable disturbance state. In this state, the system does not trigger immediate stop control of the servo motor. Instead, based on the combined feedback from the accelerometer, motor torque sensor, and current sensor, it dynamically corrects the acceleration strategy during operation to suppress impacts, vibrations, and noise generated under disturbance conditions. When the resistance feedback continuously exceeds the preset threshold, or repeatedly occurs at the same travel position, and the resistance amplitude exceeds the safe operating range, it indicates that the electric airtight door may have encountered an abnormal, unadjustable resistance, which could lead to obstruction of door operation or equipment damage. In this case, the system generates a resistance anomaly warning and immediately instructs the servo motor to stop operating based on this warning to prevent the electric airtight door from continuing to operate under abnormal resistance conditions, thereby avoiding motor overload or further equipment damage. Simultaneously, the system will report the resistance anomaly through system display or other communication methods, informing the operator of the type of fault or abnormality, facilitating timely maintenance or inspection.

[0040] Furthermore, determining whether the resistance feedback in the monitoring feedback meets the resistance setting threshold includes:

[0041] If the resistance feedback cannot meet the resistance setting threshold, then resistance type analysis is performed on the resistance feedback, transient resistance records and uniform resistance records are established, and the location is backtracked and located according to the resistance time node. The location backtracking and location results are added to the transient resistance records and uniform resistance records. After establishing anomaly markers for the transient resistance records and uniform resistance records, the anomaly markers are marked using a visualization model and displayed visually.

[0042] The system monitors the resistance feedback of the electric airtight door in real time. If the resistance feedback fails to meet the preset resistance threshold, further analysis is performed. Specifically, resistance type analysis is conducted to identify different types of resistance, which may include transient resistance (such as instantaneous impact or brief jamming during startup) and uniform resistance (such as continuous friction or load). Through analysis, the system records the characteristics of different types of resistance, thereby establishing transient resistance records and uniform resistance records, and performs location backtracking based on the time nodes of the resistance. By analyzing the relationship between the time and location of resistance changes, the system can accurately determine where abnormal resistance occurred in the electric airtight door. The backtracking results are added to the transient resistance record and uniform resistance record for subsequent tracking and processing. After anomaly identification in the transient resistance record and uniform resistance record, the system further annotates the data in the visualization model and displays it visually through a graphical interface, allowing operators to intuitively view the location and type of abnormal resistance encountered by the electric airtight door during operation.

[0043] The acceleration strategy is reconstructed based on the monitoring feedback, and the acceleration dynamic feedback is established. Multi-stage variable speed and noise control is then performed based on the acceleration dynamic feedback.

[0044] Based on monitoring feedback, the acceleration strategy of the fifth-order speed response strategy is adjusted and optimized in real time. Simultaneously, a dynamic acceleration feedback mechanism is established to monitor the operating status of the electric airtight door during acceleration and adjust acceleration parameters based on actual feedback. The system adjusts each key parameter (such as acceleration and rate of change of speed) during acceleration through this dynamic feedback, ensuring the door remains in optimal condition throughout acceleration and avoiding vibration and noise caused by uneven acceleration. Based on this dynamic acceleration feedback, the system achieves multi-segment variable speed silent control. During multi-segment speed changes, the system adjusts acceleration and deceleration parameters based on feedback information at different stages, achieving gradual speed control. Specifically, in each speed change segment, the system dynamically adjusts the speed and acceleration of the electric airtight door based on real-time acceleration feedback and resistance data, ensuring that the start-up, acceleration, constant speed, deceleration, and stopping of the electric airtight door are all completed smoothly and quietly.

[0045] Furthermore, the acceleration strategy for reconstructing the fifth-order velocity response strategy based on the monitoring feedback includes:

[0046] The system acquires the current travel position and real-time speed data, wherein the travel position is within the acceleration segment of the fifth-order speed response strategy; it invokes the resistance feedback and current feedback in the monitoring feedback to perform load calculation and establishes the actual resistance value based on the load calculation results; it establishes the initial remaining acceleration travel using the travel position and acceleration segment, and establishes the speed difference based on the real-time speed data and the operating speed of the stable operation segment; and it reconstructs the acceleration strategy based on the actual resistance value, the initial remaining acceleration travel, and the speed difference.

[0047] The system acquires the current travel position and real-time speed data of the electric airtight door. The travel position is within the acceleration phase of the fifth-order speed response strategy. The system determines whether the door is in the acceleration phase based on its current travel position. If the door is in the acceleration phase, the control system optimizes the acceleration strategy based on this position and real-time speed data. Next, the system calls upon resistance and current feedback data from the monitoring feedback and performs load calculations using this feedback information. By combining resistance and current feedback, the system can calculate the actual load on the electric airtight door and further determine the actual resistance value. Then, using the travel position and acceleration phase of the electric airtight door, the system establishes the initial remaining acceleration travel, which refers to the remaining distance the electric airtight door needs to continue accelerating within the current acceleration phase. By using real-time speed data and the operating speed of the stable operating phase, the system can calculate the difference between the current speed and the target stable speed, i.e., the speed difference. The speed difference reflects the door's acceleration requirements in the current stage, helping the system accurately adjust speed changes during acceleration. Finally, the control system reconstructs the acceleration strategy by combining the actual resistance value, the initial remaining acceleration travel, and the speed difference. During this process, the system will comprehensively consider the impact of resistance on the acceleration process and adjust the acceleration curve to ensure that the electric airtight door can smoothly transition during acceleration, avoiding excessive impact force or unnecessary noise. Through this reconfiguration process, the control system can ensure that the electric airtight door can achieve efficient acceleration while maintaining stable and quiet operation during the acceleration phase.

[0048] Preferably, monitoring data from the accelerometer, motor torque sensor, and current sensor are collected synchronously within each control cycle, based on the real-time torque value collected by the motor torque sensor. and the operating current collected by the current sensor Combined with the motor's no-load reference current And a preset conversion coefficient, perform load calculation to obtain the actual resistance value during the current gate operation. The actual resistance value satisfies: ,in, This is the torque-resistance conversion coefficient. This is the current-resistance compensation coefficient; the actual resistance value is... Reference resistance value corresponding to the current acceleration phase Compare and when the conditions are met or within multiple consecutive control cycles When the load shows a monotonically increasing trend, it is determined that there is a load change in the current acceleration phase and acceleration strategy reconfiguration is triggered. After triggering acceleration strategy reconfiguration, the acceleration correction coefficient is calculated based on the proportional relationship between the actual resistance value and the reference resistance value. ,in: ; and based on the acceleration correction coefficient, adjust the target acceleration in the current acceleration strategy. After correction, the reconstructed target acceleration is obtained: The reconstructed target acceleration Together with real-time speed parameters, it is used to generate new speed control commands, which are then sent to the servo motor controller in the next control cycle, thereby enabling adaptive reconfiguration of the acceleration strategy based on resistance feedback and current feedback during the gate's operation.

[0049] Furthermore, the acceleration strategy is reconstructed based on the actual resistance value, the remaining initial acceleration distance, and the speed difference, including:

[0050] A silent and stable constraint network is constructed. Based on the actual resistance value and the speed difference, the network is used to perform a smooth optimization fitting of acceleration continuity and jitter suppression to establish a first fitting constraint. An adaptive travel extension constraint is established. Based on the actual resistance value and the remaining travel after initial acceleration, the adaptive travel extension constraint is used to perform a travel extension fitting to establish a second fitting constraint. The first fitting constraint and the second fitting constraint are balanced and optimized to complete the acceleration strategy reconstruction.

[0051] The system uses the actual resistance value and speed difference as inputs to establish a silent and stable constraint network. This network optimizes the acceleration changes of the electric airtight door during acceleration to ensure acceleration continuity and vibration suppression, thereby achieving smooth and quiet operation. Specifically, the system uses acceleration continuity constraints to ensure that acceleration does not change abruptly during acceleration, avoiding vibration and noise caused by sudden acceleration changes. Simultaneously, vibration suppression constraints ensure that irregular speed fluctuations do not occur during acceleration, further reducing mechanical vibration caused by uneven acceleration. Through stable optimization fitting, the system generates an acceleration curve that meets the requirements for quiet and smooth operation. Based on this curve, a first fitting constraint is established. This first fitting constraint ensures that the acceleration changes during acceleration meet the optimized stability requirements, achieving the effects of reducing noise, reducing vibration, and improving acceleration efficiency. Next, the system establishes adaptive stroke extension constraints. These constraints optimize the allocation of remaining stroke during acceleration based on the actual resistance value and the initial acceleration remaining stroke. Specifically, the actual resistance value affects the force required to be applied to the door during acceleration, while the initial acceleration remaining stroke determines the remaining acceleration distance required for the door to reach the target speed from its current speed. By analyzing these two parameters, the system dynamically adjusts the length and intensity of the acceleration segment based on the door's current load and remaining stroke, ensuring a smoother acceleration process that meets the actual operational requirements of the electric airtight door. Based on this, the system generates a second fitting constraint to ensure the acceleration curve during stroke extension meets adaptive requirements. Finally, the system performs a balance optimization on the first and second fitting constraints. Through this optimization, the system can dynamically adjust various control parameters during acceleration based on parameters such as actual resistance, speed difference, and remaining stroke, ensuring the electric airtight door's stability, efficiency, and quietness during acceleration.

[0052] During the balancing optimization process, the system first evaluates the priority of the first and second fitting constraints, and weighs their impact based on the real-time operating status, load, and acceleration requirements of the electric airtight door. For example, under high loads or with significant resistance, the system may prioritize the adaptive stroke extension constraint to ensure smooth door acceleration; while when the door is in a relatively stable state, the system may prioritize optimizing the quiet and stable constraint to further reduce noise and vibration. The optimization algorithm integrates the objectives of the two fitting constraints, dynamically adjusting the acceleration curve and stroke distribution during acceleration. By continuously adjusting the parameters of the acceleration segment, the algorithm seeks the optimal acceleration strategy, ensuring that acceleration changes remain smooth while adapting to actual load and stroke requirements. After balancing optimization, the system reconstructs the acceleration strategy of the electric airtight door based on the optimization results. This reconstructed acceleration strategy significantly reduces noise and vibration during acceleration, while improving acceleration efficiency and stability.

[0053] Specifically, the silent, stable constraint network uses the actual resistance value at the current moment. Speed ​​difference and current acceleration As input, a continuity constraint function is constructed to constrain the rate of change of acceleration, wherein the rate of change of acceleration is limited as follows: ;in, A preset acceleration variation threshold is used to limit abrupt changes in acceleration within adjacent control cycles, thereby suppressing mechanical vibration and noise caused by sudden changes in control commands. Simultaneously, based on the actual drag value... Difference between speed and velocity Construct jitter suppression weight coefficients The jitter suppression weighting coefficient is used to scale and correct the acceleration adjustment amplitude, and its calculation method is as follows: ,in, and The drag and velocity weight coefficients obtained from experience are set. Based on the jitter suppression weight coefficients, the target acceleration adjustment is weighted and smoothed to generate a first fitting constraint that satisfies the requirements of acceleration continuity and jitter suppression, which is used for subsequent acceleration strategy reconstruction.

[0054] The adaptive travel extension constraint is used to dynamically correct the original acceleration segment travel allocation when a change in the actual resistance value is detected. Specifically, it is based on the initial remaining acceleration travel of the current acceleration segment. and actual resistance value Constructing the trip extension factor The travel extension factor is used to characterize whether the acceleration process needs to be extended under the current load conditions to reduce the magnitude of acceleration change per unit travel. Its calculation method is as follows: ,in, For reference resistance value, This is the travel extension sensitivity coefficient.

[0055] Based on the aforementioned travel extension factor, the initial acceleration of the remaining travel is calculated. Make corrections to obtain an extended acceleration stroke. : By extending the acceleration stroke, the acceleration change is completed within a longer stroke range, thereby reducing the peak value of transient acceleration, achieving the purpose of reducing noise and mechanical shock, and constructing a second fitting constraint based on this.

[0056] Preferably, a comprehensive evaluation function for acceleration strategy is constructed for balanced optimization. This comprehensive evaluation function considers both quiet stability constraints and adaptive travel extension constraints, and its expression is: ;in, This represents the acceleration stability evaluation index calculated based on the first fitting constraint. This represents the travel adaptability evaluation index calculated based on the second fitting constraint. and Let be the weight coefficient, and satisfy... In each control cycle, the system iterates through different candidate acceleration adjustment schemes and selects the acceleration strategy that makes the comprehensive evaluation function J obtain the optimal value as the target acceleration strategy under the current control cycle, thereby completing the acceleration strategy reconstruction.

[0057] The silent stability constraint network is a feedforward silent optimization mechanism used to constrain and fit the acceleration continuity and jitter suppression of the electric airtight door under normal load and no significant abnormal disturbance. Its target is the acceleration strategy parameters in the fifth-order velocity response strategy, which is used to generate the basic control curve that meets the requirements of stability and low noise.

[0058] After feedforward noise optimization, a sixth-order velocity response strategy is applied. This sixth-order velocity response strategy is a post-hoc correction mechanism based on the feedback of the running results. It does not replace the noise-stable constraint network, but rather, after the complete control scheme is executed, it focuses on identifying high-noise-sensitive sections in the existing control scheme based on the time-series noise data collected by the noise sensor, and makes targeted corrections to the velocity response parameters of the corresponding travel sections in subsequent running cycles.

[0059] Furthermore, after performing multi-stage variable speed noise control based on the aforementioned acceleration dynamic feedback, the following is included:

[0060] During the operation of the electric airtight door, a noise sensor is simultaneously activated to collect the operating noise of the electric airtight door and establish a time-series noise dataset. After recording the complete control scheme, the time-series noise dataset is used to identify the focus of the complete control scheme and establish the region of interest. After constructing the focus response strategy with the region of interest, it is fused with the fifth-order velocity response strategy to construct a sixth-order velocity response strategy.

[0061] During the operation of the electric airtight door, the system synchronously activates the noise sensor to begin collecting noise data. The noise sensor collects noise data and establishes a time-series noise dataset by monitoring the frequency and intensity of the sound generated during the operation of the electric airtight door in real time. The time-series noise dataset includes the noise level generated by the electric airtight door at different time points during operation, as well as the trend of noise change over time.

[0062] After collecting the time-series noise dataset, the system records the complete control scheme and uses the collected time-series noise data to identify key noise stages during the acceleration process of the electric airtight door, especially areas where noise intensity changes abruptly or increases abnormally. By analyzing the noise data, the system can identify periods of high noise generation during acceleration, which are marked as regions of interest. Based on the identified regions of interest, the system constructs a focus response strategy. This strategy dynamically adjusts the control strategy (such as acceleration curves and acceleration segment allocation) in areas of high noise during the operation of the electric airtight door, thereby reducing noise or vibration. For example, in identified noise peak areas, the system can optimize the acceleration strategy, reduce acceleration, smooth the acceleration process, or adjust the motor's operating state to reduce noise generation. Finally, the system merges the focus response strategy with the fifth-order velocity response strategy to construct a sixth-order velocity response strategy. This sixth-order velocity response strategy is an acceleration control scheme obtained by further optimizing the fifth-order velocity response strategy and combining it with noise control requirements. The sixth-order velocity response strategy not only considers the smoothness, efficiency, and quietness of the acceleration process but also further considers noise suppression to achieve more precise acceleration process control. The integrated sixth-order strategy can balance acceleration efficiency and noise suppression in actual operation, ensuring that the electric airtight door can operate smoothly, quietly and efficiently during startup, acceleration, deceleration and stopping.

[0063] Establish a region of interest, specifically: time-series noise data collected by noise sensors. Perform sliding window processing to calculate the noise mean within each time window. and noise change rate When the average noise exceeds the preset noise threshold When the noise change rate exceeds a preset change threshold, the corresponding travel interval is marked as the region of interest.

[0064] After identifying the region of interest using a temporal noise dataset, a corresponding attention response strategy is generated. This attention response strategy is not an independent control strategy, but rather a response strategy obtained by locally adaptively modifying the control parameters of the fifth-order velocity response strategy based on the region of interest. Specifically, the travel interval corresponding to the region of interest is mapped to the acceleration or deceleration segment in the fifth-order speed response strategy, and a corresponding set of target control variables is determined. The target control variables include at least an upper limit of acceleration, a threshold for the rate of change of acceleration, and a travel allocation ratio for the acceleration segment. For control cycles falling into the region of interest, a noise suppression adjustment factor is calculated based on the time-series noise data collected by the noise sensor. The noise suppression adjustment factor is used to characterize the degree of deviation of the current noise level from the reference noise threshold. Based on the noise suppression adjustment factor, the upper limit of acceleration, the threshold for the rate of change of acceleration, and the travel allocation ratio for the acceleration segment are subject to suppressive or extended corrections to reduce the magnitude of acceleration change per unit travel and prolong the speed change process, thereby suppressing the generation of noise peaks within the corresponding travel interval and generating a response strategy for interest. During the operation of the electric airtight door, the control system only activates the response strategy for interest when the real-time travel state is within the region of interest. When the real-time travel state leaves the region of interest or the noise level falls below the reference noise threshold, the original fifth-order speed response strategy or its corresponding adaptive reconstruction result is automatically restored.

[0065] In summary, the embodiments of this application have at least the following technical effects:

[0066] First, the travel of the electric airtight door is segmented, and a mapping travel strategy is established based on the travel segmentation results. This mapping travel strategy includes a fifth-order speed response strategy and a low-speed operation strategy. Next, the real-time travel state of the electric airtight door is read. If the real-time travel state satisfies the fifth-order speed response strategy, an initial response scheme is generated using this strategy. Then, the servo motor is activated using the initial response scheme, and the servo motor drives the electric airtight door through a transmission mechanism. Monitoring feedback is established based on acceleration sensors, motor torque sensors, and current sensors installed on the electric airtight door. This monitoring feedback includes resistance feedback, acceleration feedback, and current feedback. Finally, the acceleration strategy of the fifth-order speed response strategy is reconstructed based on the monitoring feedback, and acceleration dynamic feedback is established. Multi-segment variable speed silent control is then implemented based on this acceleration dynamic feedback. This solves the technical problem of high noise levels during the operation of electric airtight doors in existing technologies. Through multi-segment variable speed silent control, the technical effects of improving the operational stability of the electric airtight door and reducing noise are achieved.

[0067] Example 2, based on the same inventive concept as the multi-segment speed-changing silent control method for electric airtight door drive in the foregoing examples, such as... Figure 2As shown, this application provides a multi-stage variable speed silent control system for driving electric airtight doors, wherein the system includes:

[0068] The strategy establishment module 11 is used to divide the travel of the electric airtight door and establish a mapped travel strategy based on the travel division result. The mapped travel strategy includes a fifth-order speed response strategy and a low-speed operation strategy. The state judgment module 12 is used to read the real-time travel state of the electric airtight door. If the real-time travel state satisfies the fifth-order speed response strategy, an initial response scheme is generated through the fifth-order speed response strategy. The activation module 13 is used to activate the servo motor using the initial response scheme, and the servo motor drives the electric airtight door to run through the transmission mechanism. The monitoring feedback module 14 is used to establish monitoring feedback based on the acceleration sensor, motor torque sensor, and current sensor installed on the electric airtight door. The monitoring feedback includes resistance feedback, acceleration feedback, and current feedback. The noise control module 15 is used to reconstruct the acceleration strategy of the fifth-order speed response strategy based on the monitoring feedback, establish acceleration dynamic feedback, and perform multi-segment variable speed noise control based on the acceleration dynamic feedback.

[0069] Furthermore, the mute control module 15 is used to perform the following method:

[0070] The system acquires the current travel position and real-time speed data, wherein the travel position is within the acceleration segment of the fifth-order speed response strategy; it invokes the resistance feedback and current feedback in the monitoring feedback to perform load calculation and establishes the actual resistance value based on the load calculation results; it establishes the initial remaining acceleration travel using the travel position and acceleration segment, and establishes the speed difference based on the real-time speed data and the operating speed of the stable operation segment; and it reconstructs the acceleration strategy based on the actual resistance value, the initial remaining acceleration travel, and the speed difference.

[0071] Furthermore, the mute control module 15 is used to perform the following method:

[0072] A silent and stable constraint network is constructed. Based on the actual resistance value and the speed difference, the network is used to perform a smooth optimization fitting of acceleration continuity and jitter suppression to establish a first fitting constraint. An adaptive travel extension constraint is established. Based on the actual resistance value and the remaining travel after initial acceleration, the adaptive travel extension constraint is used to perform a travel extension fitting to establish a second fitting constraint. The first fitting constraint and the second fitting constraint are balanced and optimized to complete the acceleration strategy reconstruction.

[0073] Furthermore, the strategy establishment module 11 is used to perform the following method:

[0074] A travel threshold is obtained, and the travel is segmented based on the travel threshold. The travel segmentation results that meet the travel threshold are used as acceleration control travel, and the travel segmentation results that do not meet the travel threshold are used as low-speed control travel. A fifth-order speed response strategy is established based on the acceleration control travel. The fifth-order speed response strategy includes a start strategy, an acceleration strategy, a constant speed strategy, a deceleration strategy, and a stop strategy. The fifth-order speed response strategy is based on the factory test strategy and is constructed through self-optimization of the installation environment. A low-speed operation strategy is established based on the low-speed control travel. The fifth-order speed response strategy and the low-speed operation strategy are output as a mapped travel strategy.

[0075] Furthermore, the monitoring feedback module 14 is used to perform the following methods:

[0076] Determine whether the resistance feedback in the monitoring feedback meets the resistance setting threshold; if the resistance feedback meets the resistance setting threshold, generate a resistance anomaly warning; control the servo motor to stop running according to the resistance anomaly warning and report the resistance anomaly.

[0077] Furthermore, the monitoring feedback module 14 is used to perform the following methods:

[0078] If the resistance feedback cannot meet the resistance setting threshold, then resistance type analysis is performed on the resistance feedback, transient resistance records and uniform resistance records are established, and the location is backtracked and located according to the resistance time node. The location backtracking and location results are added to the transient resistance records and uniform resistance records. After establishing anomaly markers for the transient resistance records and uniform resistance records, the anomaly markers are marked using a visualization model and displayed visually.

[0079] Furthermore, the state determination module 12 is used to execute the following method:

[0080] Obtain the optimal travel ratio corresponding to the fifth-order speed response strategy; perform fifth-order response travel segmentation based on the real-time travel status and the optimal travel ratio to establish the fifth-order response travel segmentation result; use the fifth-order response travel segmentation result to perform adaptation and inversion optimization of the highest speed, and reconstruct the acceleration strategy based on the adaptation and inversion optimization result to generate the initial response scheme.

[0081] Furthermore, the mute control module 15 is used to perform the following method:

[0082] During the operation of the electric airtight door, a noise sensor is simultaneously activated to collect the operating noise of the electric airtight door and establish a time-series noise dataset. After recording the complete control scheme, the time-series noise dataset is used to identify the focus of the complete control scheme and establish the region of interest. After constructing the focus response strategy with the region of interest, it is fused with the fifth-order velocity response strategy to construct a sixth-order velocity response strategy.

[0083] Furthermore, the state determination module 12 is used to execute the following method:

[0084] If the real-time travel status meets the low-speed operation strategy, the servo motor is activated using the low-speed operation strategy, and the servo motor drives the electric airtight door to operate through the transmission mechanism.

[0085] It should be noted that the order of the embodiments described above is for descriptive purposes only and does not represent the superiority or inferiority of the embodiments. Furthermore, the above description focuses on specific embodiments of this specification. The processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired results. In some implementations, multitasking and parallel processing are possible or may be advantageous.

[0086] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0087] This specification and accompanying drawings are merely illustrative examples of this application and are intended to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from its scope. Therefore, if such modifications and modifications fall within the scope of this application and its equivalents, this application intends to include such modifications and modifications.

Claims

1. A multi-stage variable speed silent control method for driving electric airtight doors, characterized in that, The method includes: The electric airtight door is segmented into strokes, and a mapping stroke strategy is established based on the stroke segmentation results. The mapping stroke strategy includes a fifth-order speed response strategy and a low-speed operation strategy. Read the real-time travel status of the current electric airtight door. If the real-time travel status satisfies the fifth-order speed response strategy, then generate an initial response scheme through the fifth-order speed response strategy. The servo motor is activated using the initial response scheme, and the servo motor drives the electric airtight door to operate through the transmission mechanism. A monitoring feedback system is established based on an acceleration sensor, a motor torque sensor, and a current sensor installed on the electric airtight door. The monitoring feedback includes resistance feedback, acceleration feedback, and current feedback. The acceleration strategy is reconstructed based on the monitoring feedback, and the acceleration dynamic feedback is established. Multi-segment variable speed and silent control is performed based on the acceleration dynamic feedback. The acceleration strategy reconstructed based on the monitoring feedback for the fifth-order velocity response strategy includes: Obtain the current travel position and real-time speed data, wherein the travel position is in the acceleration segment position of the fifth-order speed response strategy; The resistance feedback and current feedback in the monitoring feedback are invoked to perform load calculation, and the actual resistance value is established based on the load calculation result. The initial acceleration remaining stroke is established using the stroke position and acceleration segment, and the speed difference is established based on real-time speed data and the operating speed of the stable operation segment; The acceleration strategy is reconstructed based on the actual resistance value, the remaining initial acceleration stroke, and the speed difference. The acceleration strategy is reconstructed based on the actual resistance value, the remaining initial acceleration distance, and the speed difference, including: A silent and stable constraint network is constructed. Based on the actual resistance value and the speed difference, the silent and stable constraint network is used to perform a stable optimization fitting based on acceleration continuity and jitter suppression, and a first fitting constraint is established. An adaptive stroke extension constraint is established, which is based on the actual resistance value and the initial acceleration remaining stroke to fit the stroke extension, and a second fitting constraint is established. The first fitting constraint and the second fitting constraint are balanced and optimized to complete the acceleration strategy reconstruction; During each control cycle, monitoring data from the acceleration sensor, motor torque sensor, and current sensor are collected synchronously, and the real-time torque value collected by the motor torque sensor is used as the basis for the control cycle. and the operating current collected by the current sensor Combined with the motor's no-load reference current And a preset conversion coefficient, perform load calculation to obtain the actual resistance value during the current gate operation. The actual resistance value satisfies: ,in, This is the torque-resistance conversion coefficient. This is the current-resistance compensation coefficient; the actual resistance value is... Reference resistance value corresponding to the current acceleration phase Compare them, when the conditions are met or within multiple consecutive control cycles When the load shows a monotonically increasing trend, it is determined that there is a load change in the current acceleration phase and acceleration strategy reconfiguration is triggered. After triggering acceleration strategy reconfiguration, the acceleration correction coefficient is calculated based on the proportional relationship between the actual resistance value and the reference resistance value. ,in: ; and based on the acceleration correction coefficient, adjust the target acceleration in the current acceleration strategy. After correction, the reconstructed target acceleration is obtained: The reconstructed target acceleration Together with real-time speed parameters, they are used to generate new speed control commands; The silent, stable constraint network uses the actual resistance value at the current moment. Speed ​​difference and current acceleration As input, a continuity constraint function is constructed to constrain the rate of change of acceleration, as follows: ;in, A preset acceleration variation threshold is used to limit abrupt changes in acceleration within adjacent control cycles, thereby suppressing mechanical vibration and noise caused by sudden changes in control commands, based on the actual resistance value. Difference between speed and velocity Construct jitter suppression weight coefficients The jitter suppression weighting coefficient is used to scale and correct the acceleration adjustment amplitude, and is calculated as follows: ,in, and The drag weighting coefficient and speed weighting coefficient are determined based on experience; Based on the initial acceleration and remaining distance of the current acceleration segment and actual resistance value Constructing the trip extension factor The travel extension factor is used to characterize whether the acceleration process needs to be extended under the current load conditions to reduce the magnitude of acceleration change per unit travel. It is calculated as follows: ,in, For reference resistance value, This is the travel extension sensitivity coefficient; Based on the aforementioned travel extension factor, the initial acceleration of the remaining travel is calculated. Make corrections to obtain an extended acceleration stroke. : ; The comprehensive evaluation function considers both the silent stability constraint and the adaptive travel extension constraint, and its expression is: ;in, This represents the acceleration stability evaluation index calculated based on the first fitting constraint. This represents the travel adaptability evaluation index calculated based on the second fitting constraint. and Let be the weight coefficient, and satisfy... .

2. The multi-segment speed-changing silent control method for electric airtight door drive as described in claim 1, characterized in that, The step of establishing a mapping trip strategy based on the trip segmentation results includes: Obtain a stroke threshold, segment the stroke based on the stroke threshold, use the stroke segmentation result that meets the stroke threshold as the acceleration control stroke, and use the stroke segmentation result that does not meet the stroke threshold as the low speed control stroke; A fifth-order speed response strategy is established based on the acceleration control stroke. The fifth-order speed response strategy includes a start strategy, an acceleration strategy, a constant speed strategy, a deceleration strategy, and a stop strategy. The fifth-order speed response strategy is based on the factory test strategy and is constructed through self-optimization of the installation environment. A low-speed operation strategy is established based on the low-speed control stroke, and the fifth-order speed response strategy and the low-speed operation strategy are output as a mapped stroke strategy.

3. The multi-segment speed-changing silent control method for electric airtight door drive as described in claim 1, characterized in that, The monitoring feedback established based on the acceleration sensor, motor torque sensor, and current sensor installed on the electric airtight door includes: Determine whether the resistance feedback in the monitoring feedback meets the resistance setting threshold; If the resistance feedback meets the resistance setting threshold, an abnormal resistance warning is generated; The servo motor is stopped based on the aforementioned resistance anomaly warning, and a resistance anomaly is reported.

4. The multi-stage variable speed silent control method for electric airtight door drive as described in claim 3, characterized in that, The step of determining whether the resistance feedback in the monitoring feedback meets the resistance setting threshold includes: If the resistance feedback cannot meet the resistance setting threshold, then the resistance feedback is analyzed for resistance type, transient resistance record and uniform resistance record are established, and the position is backtracked and located according to the resistance time node. The position backtracking and location results are added to the transient resistance record and uniform resistance record. After establishing anomaly markers for transient resistance records and uniform resistance records, the anomaly markers are labeled using a visualization model and then displayed visually.

5. The multi-segment speed-changing silent control method for electric airtight door drive as described in claim 1, characterized in that, The method of generating the initial response scheme through the fifth-order velocity response strategy includes: Obtain the optimal travel ratio corresponding to the fifth-order velocity response strategy; Based on the real-time travel status and the optimal travel ratio, a fifth-order response travel segmentation is performed to establish a fifth-order response travel segmentation result; The highest speed is optimized by adapting and inverting the fifth-order response path segmentation results. The acceleration strategy is then reconstructed based on the optimization results to generate the initial response scheme.

6. The multi-stage variable speed silent control method for electric airtight door drive as described in claim 1, characterized in that, After performing multi-stage variable speed and noise control based on the acceleration dynamic feedback, the following steps are included: During the operation of the electric airtight door, noise sensors are activated synchronously to collect the operating noise of the electric airtight door and establish a time-series noise dataset. After recording the complete control scheme, the time-series noise dataset is used to identify the area of ​​interest in the complete control scheme and establish the region of interest. After constructing the attention response strategy based on the aforementioned region of interest, it is fused with the fifth-order velocity response strategy to construct a sixth-order velocity response strategy.

7. The multi-stage variable speed silent control method for electric airtight door drive as described in claim 1, characterized in that, The process of reading the real-time travel status of the current electric airtight door also includes: If the real-time travel status meets the low-speed operation strategy, the servo motor is activated using the low-speed operation strategy, and the servo motor drives the electric airtight door to operate through the transmission mechanism.

8. A multi-stage variable speed silent control system for driving electric airtight doors, characterized in that, For implementing the multi-stage variable speed silent control method for electric airtight door drive according to any one of claims 1-7, the system comprises: The strategy establishment module is used to divide the stroke of the electric airtight door and establish a mapped stroke strategy based on the stroke division result. The mapped stroke strategy includes a fifth-order speed response strategy and a low-speed operation strategy. The status judgment module is used to read the real-time travel status of the current electric airtight door. If the real-time travel status satisfies the fifth-order speed response strategy, an initial response scheme is generated through the fifth-order speed response strategy. An activation module is used to activate the servo motor using the initial response scheme, and the servo motor drives the electric airtight door to operate through a transmission mechanism. The monitoring feedback module is used to establish monitoring feedback based on the acceleration sensor, motor torque sensor and current sensor installed on the electric airtight door. The monitoring feedback includes resistance feedback, acceleration feedback and current feedback. The noise control module is used to reconstruct the acceleration strategy of the fifth-order speed response strategy based on the monitoring feedback, establish acceleration dynamic feedback, and perform multi-segment variable speed noise control based on the acceleration dynamic feedback.

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