Swing door control device

Abstract

The present invention provides a control device for a swing door that applies the brakes when the door's acceleration value exceeds an acceleration threshold due to the door's opening or closing direction and the door's tailwind or headwind. [Solution] The system includes an acceleration threshold setting unit 170 which has a first acceleration threshold to be compared with a first acceleration detection value and a second acceleration threshold that is lower than the first acceleration threshold to be compared with a second acceleration detection value, and a first brake control unit 180 which generates a first brake restraint signal to restrain the brake 52 when the first acceleration detection value exceeds the first acceleration threshold while the motor 31 is rotating in a first rotation direction based on the generation of a first speed command signal, and generates a second brake restraint signal to restrain the brake 31 when the motor 31 rotates in the reverse direction based on the generation of a first speed command signal and the second acceleration detection value exceeds the second acceleration threshold.

Description

Technical Field

[0001] The present invention relates to a control device for a swing door.

Background Art

[0002] A swing door has a swing door mechanism that opens and closes the door by a hinge based on the rotation of a motor, and rotates the motor via power conversion means based on a speed command signal to open and close the door. The swing door mechanism is rotatable via a timing belt hung on a main pulley provided on the rotation axis of the motor, and has a transmission member whose one end is fixed to the rotation axis of the driven pulley, and a first rotating part rotatably connected to the other end of the transmission member. The swing door mechanism further includes a rotating member having one end connected to the first rotating part and the other end fixed to the door via a second rotating part.

[0003] Here, as described in Patent Document 1 below, a conventional control device for a swing door includes a speed control unit that generates a speed output command signal based on a speed deviation signal, and a speed pattern generation means generates a first speed command signal when opening the door from the closed state, and generates a second speed command signal when closing the door from the open state. The gain change unit is configured to increase the control gain of the speed control unit higher in a first constant high speed section than in a first deceleration section, and higher in a second constant high speed section than in a second deceleration section.

[0004] According to this swing door control device, as the motor rotates, the transmission member rotates, and the rotating member rotates via the first rotating part, allowing the door to be opened and closed. The speed pattern generation means generates the first speed command signal to open the door from closed, and generates the second speed command signal to close the door from open. The gain changing means increases the control gain in the first constant high-speed section compared to the first deceleration section, and increases it in the second constant high-speed section compared to the second deceleration section. As a result, even if the opening speed or closing speed of the door gradually gains momentum due to the moment of inertia during the opening or closing operation of the door, it becomes easier to follow the first or second speed command signal, so that the door can be opened and closed smoothly. [Prior art documents] [Patent Documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2022-155745 [Overview of the Initiative] [Problems that the invention aims to solve]

[0006] However, the inventor noticed that the behavior of a swing door differs depending on the relationship between the direction of opening or closing the door and the strong wind hitting the door. Specifically, in a tailwind, where the direction of the wind hitting the door coincides with the direction of opening or closing the door, the door's acceleration tends to increase. On the other hand, in a headwind, where the direction of the wind hitting the door is opposite to the direction of opening or closing the door, if the wind is strong enough to push the door back, the door will move in the opposite direction to the open or close command signal. In this case, the acceleration of the door is suppressed compared to the tailwind case described above. Thus, the inventor discovered that the behavior of the door and its acceleration differ depending on the direction of opening or closing the door and whether there is a tailwind or headwind.

[0007] The present invention aims to solve the above-mentioned problems and provides a control device for a swing door that restrains the brake when the acceleration value of the door exceeds an acceleration threshold due to the opening or closing direction of the door and the tailwind or headwind of the door. [Means for solving the problem]

[0008] A control device for a swing door according to the first invention has a brake for restraining or releasing the motor, a swing door mechanism that allows the door to be opened and closed by a hinge, and opens and closes the door based on the rotation of the motor, and a control device for a swing door that opens and closes the door by rotating the motor via a power conversion means based on an open command signal or a close command signal for the door, The swing door mechanism has a driven pulley that is made rotatable via a timing belt that is attached to a main pulley provided on the first rotating shaft of the motor, A long transmission member having a first end and a first other end, the first end being connected and fixed to the second rotation shaft of the driven pulley, The device comprises a long rotating member having a second end and a second other end, the second end being rotatably connected to the first other end, and the second other end being connected and fixed to the door via the second rotating part, A speed travel pattern generation means that generates a first speed command signal based on the door open command signal, Speed ​​detection means that detects a first rotational speed and the first rotational direction in which the motor rotates in a first rotational direction and generates a first speed detection signal, and also detects a second rotational direction opposite to the first rotational direction and a second rotational speed in the second rotational direction and generates a second speed detection signal, Acceleration detection means that generates a first acceleration detection signal by differentiating the first velocity detection signal and generates a second acceleration detection signal by differentiating the second velocity detection signal, An acceleration threshold setting means having a first acceleration threshold that is compared with a first acceleration detection value based on the first acceleration detection signal, and a second acceleration threshold that is lower than the first acceleration threshold that is compared with a second acceleration detection value based on the second acceleration detection signal, A brake control means that, when the motor is rotating in the first rotational direction based on the generation of the first speed command signal, generates a first brake restraint signal to restrain the brake when the first acceleration detection value exceeds the first acceleration threshold, and when the motor is rotating in the first rotational direction based on the generation of the first speed command signal, generates a second brake restraint signal to restrain the brake when the motor rotates in the reverse direction and the second acceleration detection value exceeds the second acceleration threshold, It is characterized by having the following features.

[0009] With this type of swing door control device, the speed travel pattern generation means generates a first speed command signal based on the door open command signal, and when a strong tailwind hits the door while the door is moving in the opening direction, the door accelerates rapidly in the opening direction. As the first speed detection value detected by the speed detection means increases, the first acceleration detection signal detected by the acceleration detection means also increases. When the first acceleration detection value exceeds the first acceleration threshold, the brake control means generates a first brake restraint signal to restrain the brakes and stop the door from opening. Furthermore, if a strong headwind hits the door while it is moving in the opening direction based on the first speed command signal, the door will move from the opening direction to the closing direction. The speed detection means detects a second speed detection value that is in the opposite direction to the speed command signal, and when the second acceleration detection value exceeds the second acceleration threshold, the brake control means generates a second brake restraint signal, restraining the brake and stopping the door from opening. As a result, if a tailwind or headwind hits the door while it is moving in the opening direction, the door's behavior can be detected from the acceleration detection value, etc., and the brake can be restrained to stop the door. The above explanation described the case where a tailwind hits the door while the door is moving in the opening direction, but the same effect occurs when a tailwind hits the door while the door is moving in the closing direction.

[0010] The control device for a swing door according to the second invention includes a speed abnormality determination means that generates a speed abnormality signal when the speed detection value based on the first or second speed detection signal falls below a predetermined speed threshold and the time during which it remains below the threshold exceeds a predetermined time, A current detection means that detects the current flowing through the motor and generates a current detection signal, A current abnormality determination means generates a current abnormality signal when the current detection value based on the current detection signal exceeds a predetermined current threshold, Preferably, the first brake control means further generates a third brake restraint signal that restrains the brakes based on the occurrence of the speed abnormality signal and the current abnormality signal.

[0011] With this type of swing door control device, when the door is moving in the opening direction based on a speed command signal, a headwind collides with the door, causing it to move slowly in the opening direction or stop. As a result, the speed abnormality determination means generates a speed abnormality signal when the speed detection value based on the first or second speed detection signal falls below a predetermined speed threshold and the time it remains below the threshold exceeds a predetermined time. The current abnormality determination means generates a current abnormality signal when the current detection value based on the current detection signal exceeds a predetermined current threshold. The first brake control means generates a third brake restraint signal based on the occurrence of the speed abnormality signal and the current abnormality signal, restraining the brake and stopping the door. Therefore, when the door is moving in the opening or closing direction based on a speed command signal, and a headwind collides with the door, causing it to move slowly in the opening direction or stop, the door can be stopped at an appropriate timing.

[0012] The control device for a swing door according to the third invention includes a speed deviation determination means that, when the motor is rotating in the first rotation direction based on the generation of the speed command signal, generates a first speed abnormality signal if the first speed deviation value, which is the difference between a first speed command value based on the speed command signal and a first speed detection value based on the first speed detection signal, exceeds a predetermined first speed deviation threshold, In place of the first brake control means of the second invention described above, Preferably, the second brake control means generates a fourth brake restraint signal that restrains the brakes based on the occurrence of all of the speed abnormality signal, the current abnormality signal, and the speed deviation abnormality signal. With this type of swing door control device, a speed detection means detects a first speed detection value, and a speed deviation means generates a speed deviation abnormality signal when the speed deviation signal exceeds a predetermined speed deviation threshold. A second brake control means generates a fourth brake restraint signal based on the speed abnormality signal, current abnormality signal, and speed deviation abnormality signal, restraining the brake and stopping the door from opening. Therefore, in addition to the effects of the second invention, it is also easier to prevent the door from stopping due to malfunction. [Effects of the Invention]

[0013] According to the present invention, a control device for a swing door can be obtained that restrains the brake when the acceleration value of the door exceeds an acceleration threshold due to the opening or closing direction of the door and the tailwind or headwind of the door. [Brief explanation of the drawing]

[0014] [Figure 1] This is an overall view of a swing door according to one embodiment of the present invention, as seen from the rear. [Figure 2] Figure 1 is a plan view of the swing door. [Figure 3] Figure 1 is a right side view of the swing door. [Figure 4] This is a block diagram showing the control device for a swing door as shown in Figure 1. [Figure 5]The figure shows the speed running pattern of the swing door according to FIG. 1. [Figure 6] When the swing door shown in FIG. 2 is in the opening operation, it is a plan view (a) of the swing door showing a state where wind blows in the same direction as the opening direction, and a flowchart (b) showing the operation of the control device of the swing door. [Figure 7] When the swing door shown in FIG. 2 is in the opening operation, it is a plan view (a) of the swing door showing a state where wind blows in the opposite direction to the opening direction, and a flowchart (b) showing the operation of the control device of the swing door. [Figure 8] It is a block diagram showing a control device for a swing door according to another embodiment of the present invention. [Figure 9] When the swing door shown in FIG. 2 is in the opening operation, it is a plan view (a) of the swing door showing a state where wind blows in the opposite direction to the opening direction, and flowcharts (b) and (c) showing the operation of the control device of the swing door.

Best Mode for Carrying Out the Invention

[0015] Embodiment 1. A control device for a swing door showing an embodiment of the present invention will be described with reference to FIGS. 1 to 5. In FIGS. 1 to 3, the swing door 1 is composed of a swing door mechanism 30 and a control device 100. Inside the dwelling, a rectangular opening 9 formed by a lower frame 3, an upper frame 5, and two side frames 7 has a hanging-type rectangular plate-shaped door 10 provided therein. The control device 100 is connected and fixed to the upper frame 5. The swing door 1 is formed such that the door 10 can be opened or closed by the swing door mechanism 30 with hinges 12 at two locations on the side frame 3. On the side frame 7, an open button switch 101 and a close button switch 103 are arranged side by side. A door knob 10a for manually opening and closing the door 10 is provided on the door 10.

[0016] The swing door mechanism 30 has a motor 31 as a drive source and a main pulley 33 provided on the first rotating shaft 31a of the motor 31. A driven pulley 54, which is rotatable via the main pulley 33 and a timing belt 35, is provided on the second rotating shaft 52a of the electromagnetic brake 52. Here, the diameter of the driven pulley 54 is made larger than that of the main pulley 33 so that the torque transmitted to the driven pulley 54 is greater than the torque generated by the motor 31. The motor 31 is fixed to the upper frame 5 via an L-shaped member 22.

[0017] Furthermore, the swing door mechanism 30 has a plate-shaped, elongated transmission member 60 with one end 60a connected and fixed to the second rotation shaft 54a of the driven pulley 54, and a plate-shaped, elongated rotating member 62 with a second end 62a connected to the other end 60c of the transmission member 60 by a first rotating part 70, and the other end 62c of the rotating member 62 is fixed to the back surface of the door 10 by an L-shaped mounting bracket 90 via a second rotating part 80. As a result, the swing door mechanism 30 is configured so that, as the motor 31 rotates, the driven pulley 54 and transmission member 60 rotate via the main pulley 33 and timing belt 35, and the rotating member 62 also rotates via the first rotating part 70, allowing the door 10, which is fixed to the mounting bracket 90 via the second rotating part 80, to open and close. Here, the transmission member 60, the first rotating part 70 and the rotating member 62 form a link.

[0018] In Figure 3, the first rotating part 70 has a first hole 60e provided at the first other end 60c of the transmission member 60 and a second hole 62e provided at the second one end 62a of the rotating member 62, and is equipped with a first bolt 72 having a first body portion 72d that loosely inserts into the first and second holes 60e and 62e. The head 72a of the first bolt 72 is formed to contact the bottom surface of the rotating member 62, and a first thread 72n is formed on the first body portion 72d.

[0019] As shown in Figure 3, the first body portion 72d of the first bolt 72 has a second nut 79, a first nut 77, and a first spring washer 75 arranged from top to bottom, with the first washer 75 resting on the first other end 60c of the transmission member 60. The first flat washer 73 inserted into the first body portion 72d of the first bolt 72 is inserted between the first other end 60c of the transmission member 60 and the second end 62a of the rotating member 62.

[0020] In Figure 3, the second rotating part 80 has a first mounting hole 62e provided at the other end 62c of the second part, and a second mounting hole 90e provided in the mounting bracket 90. It is equipped with a second bolt 82 having a second body portion 82d that loosely fits into the first and second mounting holes 62e and 90e. The second bolt 82 has a second thread 82n formed on it, and its head 82a is formed to contact the bottom surface of the mounting bracket 90. The first nut 77 and the second nut 79 are preferably hard lock nuts.

[0021] As shown in Figure 3, the second body 82d of the second bolt 82 has a fourth nut 89, a third nut 87, and a second spring washer 85 arranged from top to bottom, with the second washer 85 resting on the second other end 62c of the rotating member 62. The second flat washer 83 inserted into the second body 82d of the second bolt 82 is inserted between the second other end 62c of the rotating member 62 and the mounting bracket 90. The third nut 87 and the fourth nut 89 are preferably hard lock nuts.

[0022] In Figure 4, the control device 100 is configured such that when the open button switch 101 and the close button switch 103 are turned on, the open / closed position command unit 111 generates an open position command signal and a closed position command signal for the door 10, respectively, and inputs them to the speed detection unit 113. The open position command signal and the closed position command signal are collectively referred to as the position command signal. When the position command signal is input, the brake control unit 180 opens the brake switch 50 from closed to cut off the DC voltage V and releases the brake 52. When the position command signal is off, the brake control unit 180 closes the brake switch 50 from open to apply the DC voltage V and restrains the brake 52. When the door 10 is in the open or closed position, the end detection unit 130 inputs an end detection signal to the brake control unit 180, and the brake 52 is restrained.

[0023] As shown in Figure 5, the speed command unit 113, as a speed pattern generation means, is configured to generate a first speed running pattern consisting of a first acceleration, a first constant high speed, and a first deceleration for the door 10 when an open position command signal is input, thereby generating a first speed command signal. When a closed position command signal is input, it is configured to generate a second speed running pattern consisting of a second acceleration, a second constant high speed, and a second deceleration for the door 10, thereby generating a second speed command signal. The first speed command signal and the second speed command signal together are referred to as the speed command signal.

[0024] The encoder 121 detects a first rotational position in a clockwise direction, which is the first rotational direction of the motor 31, and generates a first position detection signal. It also detects a second rotational position in a counterclockwise direction, which is the second rotational direction of the motor 31, and generates a second position detection signal. The first rotational direction is the opening direction of the door 10, and the second rotational direction is the closing direction of the door 10. The speed detection unit 123 is configured to generate a first speed detection signal by differentiating the first position detection signal, and to generate a second speed detection signal by differentiating the second position detection signal.

[0025] The speed deviation indicator es receives a speed command signal and a speed detection signal, generates a speed deviation signal which is the difference between the speed command signal and the speed detection signal, and inputs it to the speed controller 115. When the speed deviation signal is input to the speed control unit 115, the speed output command signal is input to the power converter 119. The power converter 119 is configured to apply a variable voltage, variable frequency three-phase AC to the motor 31 in response to the speed output command signal.

[0026] The acceleration detection unit 160 is configured to generate a first acceleration detection signal by differentiating the first velocity detection signal, and to generate a second acceleration detection signal by differentiating the second velocity detection signal. The acceleration threshold setting unit 170 sets a first acceleration threshold to be compared with a first acceleration value based on the first acceleration detection signal, and a second acceleration threshold to be compared with a second acceleration value based on the second acceleration detection signal. The reason why the second acceleration threshold is set lower than the first acceleration threshold is that when there is a headwind blowing on the door 10, the acceleration of the door 10 does not increase as much as when there is a tailwind. The first brake control unit 180 is configured to generate a first brake restraint signal to restrain the brake 52 when the motor 31 is rotating in a first rotational direction based on the generation of a first speed command signal and the first acceleration detection value exceeds a first acceleration threshold, and to generate a second brake restraint signal to restrain the brake 52 when the motor 31 is rotating in the first rotational direction based on the generation of a first speed command signal and the second acceleration detection value exceeds a second acceleration threshold when the motor 31 is rotating in the reverse direction in a second rotational direction.

[0027] The operation of the swing door configured as described above will be explained with reference to Figures 1 to 7. <When the door is in the opening direction and a tailwind is blowing in the opening direction: See Figure 6(a)> Now, with door 10 closed, when the open button switch 101 is turned on (step S101), the open / closed position command unit 111 generates an open position command signal and inputs it to the speed detection unit 113. The speed detection unit 123 then generates a first speed travel pattern and generates a first speed command signal, causing door 10 to start opening (step S103).

[0028] As shown in Figure 6(a), when the door 10 is moving in the opening direction, if a tailwind blows in the direction of opening the door, the door 10 moves in the opening direction at a faster speed than usual, and the first speed detection signal and the first acceleration detection signal increase. Therefore, when the first acceleration detection value exceeds the first acceleration threshold (step S105), the brake control unit 180 generates a first brake restraint signal, closes the brake switch 50 from open, restrains the brake 52, and the door 10 stops (step S107). After the door 10 has stopped and a predetermined time has elapsed, the speed detection unit 113 generates a new speed command signal, and the door 10 moves to the closed end and stops. The operation described above assumes that the door 10 is in the opening direction and a tailwind is blowing in the opening direction. However, the same operation will occur if the door 10 is in the closing direction and a tailwind is blowing in the closing direction.

[0029] <When the door is in the opening direction and a headwind is blowing in the opening direction: See Figure 7(a)> Currently, with the door 10 closed, steps S101 and S103 are executed. With the door 10 moving in the opening direction, as shown in Figure 7(a), if a headwind blows in the opposite direction to the opening direction of the door 10, the door 10 moves in the closing direction and the motor 31 rotates in the reverse direction. This generates a second speed detection signal and a second acceleration detection signal. When the second acceleration detection value exceeds the second acceleration threshold (step S205), the brake control unit 180 generates a second brake restraint signal, closes the brake switch 50 from open, restrains the brake 52, and stops the door 10 (step S207). After the door 10 has stopped and a predetermined time has elapsed, the speed detection unit 113 generates a new speed command signal, and the door 10 moves to the closed end and stops. The operation described above assumes that the door 10 is in the opening direction and a headwind is blowing in that direction. However, the operation will be similar if the door 10 is in the closing direction and a headwind is blowing in that direction.

[0030] Embodiment 2. While Embodiment 1 described above aimed to provide a swing door control device 100 that restrains the brake 52 when the acceleration value of the door 10 exceeds an acceleration threshold due to the opening or closing direction of the door 10 and the tailwind or headwind of the door 10, the control device 200 according to the embodiment of the present invention detects when the door 10 is moving in the opening direction and a headwind collides with the door 10, causing the door 10 to move slowly in the opening or closing direction or to stop, and then restrains the brake 52 to stop the door 10.

[0031] Another embodiment of the present invention will be illustrated with reference to Figure 8. In Figure 8, the same reference numerals as in Figure 4 indicate the same parts, and their descriptions are omitted. In Figure 8, the swing door control device 200 has a speed abnormality determination unit 203 and a current abnormality determination unit 207 added to Embodiment 1. The speed abnormality determination unit 203 generates a speed abnormality signal Sm when the speed detection value based on the first or second speed detection signal falls below a predetermined speed threshold and the time during which it falls below the threshold exceeds a predetermined time. The current abnormality determination unit 207 is configured to generate a current abnormality signal when the current detection value based on the current detection signal generated by the current detector 205 detecting the current flowing through the motor 31 exceeds a predetermined current threshold. When the speed abnormality signal Sm or the current abnormality signal is input to the first brake control unit 180, it generates a third brake restraint signal to restrain the brake 52. The speed deviation unit 309 within the dotted line is configured in Embodiment 3 and will be described later.

[0032] The operation of the control device for the swing door configured as described above will be explained with reference to Figures 8 and 9(a) and (b). When the door 10 is moving in the opening direction and a headwind collides with the door 10, causing the door to move slowly in the opening direction, steps S101 and S103 are executed as in Embodiment 1. If the speed detection value based on the first or second speed detection signal falls below a predetermined speed threshold and the time during which it falls below the threshold exceeds a predetermined time, the speed abnormality determination unit 203 generates a speed abnormality signal Sm and inputs it to the brake control unit 280 (step S305). If the current abnormality determination unit 207 generates a current abnormality signal and inputs it to the brake control unit 280 if the current detection value based on the current detection signal generated when the current detector 205 detects the current flowing through the motor 31 exceeds a predetermined current threshold, the current abnormality determination unit 207 generates a current abnormality signal and inputs it to the brake control unit 280 (step S307). The brake control unit 280 restrains the brake 52 and stops the door 10 (step S309).

[0033] Embodiment 3. Another embodiment of the present invention will be illustrated with reference to Figure 8. In Figure 8, the same reference numerals as in Figure 4 indicate the same parts, and their descriptions are omitted. In Figure 8, the control device 200 for the swing door has a speed deviation determination unit 309 added to it in the second embodiment. The speed deviation determination unit 309 is configured to generate a first speed deviation abnormality signal when the motor 31 is rotating in a first rotation direction based on the generation of a speed command signal, and the first speed deviation value, which is the difference between a first speed command value based on the speed command signal and a first speed detection value based on a first or second speed detection signal, exceeds a predetermined first speed deviation threshold. The second brake control unit 280 generates a fourth brake restraint signal to restrain the brake 52 when all of the speed abnormality signal, current abnormality signal, and speed deviation abnormality signal are input.

[0034] The operation of the control device for the swing door configured as described above will be explained with reference to Figures 8 and 9(a) and (c). Similarly, when a headwind collides with the door 10 and the door moves slowly in the opening direction, steps S101, S103, S305, and S307 are executed as in Embodiment 2. The speed deviation unit 309 generates a first speed deviation abnormality signal (step S409) when the first speed deviation value, which is the difference between a first speed command value based on a speed command signal and a first speed detection value based on a first or second speed detection signal, exceeds a predetermined first speed deviation threshold. The brake control unit 280 restrains the brake 52 and stops the door 10 (step S411).

[0035] The present invention is not limited in any way to the embodiments described above. Various modifications that can be easily conceived by a person skilled in the art without departing from the scope of the claims are also included in the present invention. [Explanation of symbols]

[0036] 10 Door, 12 Hinge, 30 Swing door mechanism, 31 Motor, 33 Main pulley, 35 Timing belt, 52 Brake, 54 Driven pulley, 60 Transmission member, 62 Rotating member, 70 First rotating part, 80 Second rotating part, 100, 200 Control device, 111 Open / close command unit, 113 Speed ​​command unit, 123 Speed ​​detection unit (speed detection means), 160 Acceleration detection unit (acceleration detection means), 170 Acceleration threshold setting unit (acceleration threshold setting means), 180, 280 Brake control unit (brake control means), 203 Speed ​​abnormality judgment unit (speed abnormality judgment means), 205 Current detector (current detection judgment means), 207 Current abnormality judgment unit (current abnormality judgment means), 309 Speed ​​deviation judgment unit (speed deviation judgment means).

Claims

1. A control device for a swing door, comprising a brake for restraining or releasing the motor, a swing door mechanism that allows the door to be opened and closed by a hinge, and a swing door mechanism that opens and closes the door based on the rotation of the motor, and which rotates the motor via a power conversion means to open and close the door based on an open command signal or a close command signal for the door, The swing door mechanism has a driven pulley that is made rotatable via a timing belt that is attached to a main pulley provided on the first rotating shaft of the motor, A long transmission member having a first end and a first other end, the first end being connected and fixed to the second rotation shaft of the driven pulley, The device comprises a long rotating member having a second end and a second other end, the second end being rotatably connected to the first other end, and the second other end being connected and fixed to the door via the second rotating part, A speed travel pattern generation means that generates a first speed command signal based on the door open command signal, Speed ​​detection means that detects a first rotational speed and the first rotational direction of the motor as it rotates in a first rotational direction and generates a first speed detection signal, and also detects a second rotational direction opposite to the first rotational direction and a second rotational speed in the second rotational direction and generates a second speed detection signal, Acceleration detection means that generates a first acceleration detection signal by differentiating the first velocity detection signal and generates a second acceleration detection signal by differentiating the second velocity detection signal, Acceleration threshold setting means having a first acceleration threshold that is compared with a first acceleration detection value based on the first acceleration detection signal, and a second acceleration threshold that is lower than the first acceleration threshold that is compared with a second acceleration detection value based on the second acceleration detection signal, The first brake control means generates a first brake restraint signal to restrain the brake when the motor is rotating in the first rotational direction based on the generation of the first speed command signal and the first acceleration detection value exceeds the first acceleration threshold, and generates a second brake restraint signal to restrain the brake when the motor is rotating in the first rotational direction based on the generation of the first speed command signal and the motor rotates in the reverse direction to the second rotational direction and the second acceleration detection value exceeds the second acceleration threshold, A control device for a swing door, characterized by having the following features.

2. A speed abnormality determination means generates a speed abnormality signal when the speed detection value based on the first or second speed detection signal falls below a predetermined speed threshold, and the time during which it remains below the threshold exceeds a predetermined time. A current detection means that detects the current flowing through the motor and generates a current detection signal, A current abnormality determination means generates a current abnormality signal when the current detection value based on the current detection signal exceeds a predetermined current threshold, The first brake control means further generates a third brake restraint signal that restrains the brakes based on the occurrence of the speed abnormality signal and the current abnormality signal. A control device for a swing door according to feature 1.

3. The system includes a speed deviation determination means that, when the motor is rotating in the first rotation direction based on the generation of the speed command signal, generates a first speed deviation abnormality signal if the first speed deviation value, which is the difference between a first speed command value based on the speed command signal and a first speed detection value based on the first speed detection signal, exceeds a predetermined first speed deviation threshold, In place of the first brake control means of claim 2, The second brake control means generates a fourth brake restraint signal that restrains the brakes based on the occurrence of all of the speed abnormality signal, the current abnormality signal, and the speed deviation abnormality signal. The control device for a swing door according to feature 2.

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