Door Control Device Braking Force Correction
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Solution Overview
Problem
Existing door control devices may stop a door at a position away from an adjacent object even when it is desired to stop it closer, due to variations in opening speed, leading to potential collisions with obstacles.
Innovation Solution
A door control device that calculates the distance to an obstacle, actual door speed, and sets a braking condition to adjust the braking force based on the transition of estimated and actual speeds, correcting the braking force to ensure precise stopping without collision, by increasing the braking force when the actual speed's time gradient is gentler and reducing it when steeper than the estimated speed's gradient.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If door braking control starts when opening angle reaches a predetermined control start angle, then the door can be braked to prevent collision with adjacent objects, but the stop position varies according to opening speed causing the door to stop away from the desired position
Solution Approach 1:
The control device continuously acquires actual door opening speed information and compares it with target speed information. Based on this feedback comparison, the controller adjusts the braking torque in real-time to maintain the door opening speed within the target range, ensuring the door stops at the precise desired position regardless of initial opening speed variations
Solution Approach 2:
The braking torque is dynamically adjusted based on the difference between actual and target door opening speeds. The control system transitions from a static braking approach (fixed start angle) to a dynamic braking approach where braking force varies continuously with speed conditions, enabling precise stop position control
2Reliability
If braking force is increased to ensure door stops closer to obstacle, then collision prevention improves, but the door may stop too early or with excessive force when opening speed is already low
Solution Approach 1:
The control system continuously monitors actual door opening speed and adjusts braking torque accordingly. When opening speed is already low, the system applies minimal braking force, preventing excessive force application and ensuring smooth door operation while still maintaining collision prevention capability
Solution Approach 2:
The braking torque parameter is dynamically changed based on the actual door opening speed. The controller modifies the braking force magnitude according to speed conditions, applying stronger braking when speed is high and reducing braking when speed is already low, thereby maintaining both safety and operational smoothness
Data Source
AI summary
A door control device stops a door such that the door does not come into contact with an obstacle existing in a rotation range of the door. The door control device includes: a distance calculation unit configured to calculate a distance from the door to the obstacle; a speed calculation unit configured to calculate an actual speed of the door; a braking force setting unit configured to set a braking condition indicating transition of a braking force applied to the door; a speed estimation unit configured to estimate transition of an estimated speed of the door from start of braking until the door stops; and a braking force correction unit configured, during braking, to correct a braking force such that the braking force is increased, or reduced, when a time gradient of the actual speed is gentler than, or steeper than, that of the estimated speed.