CN102472075B - Door control device for vehicles - Google Patents
Door control device for vehicles Download PDFInfo
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- CN102472075B CN102472075B CN201080028434.2A CN201080028434A CN102472075B CN 102472075 B CN102472075 B CN 102472075B CN 201080028434 A CN201080028434 A CN 201080028434A CN 102472075 B CN102472075 B CN 102472075B
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Classifications
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/40—Safety devices, e.g. detection of obstructions or end positions
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
- E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
- E05F15/632—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings
- E05F15/655—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings specially adapted for vehicle wings
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2201/00—Constructional elements; Accessories therefor
- E05Y2201/40—Motors; Magnets; Springs; Weights; Accessories therefor
- E05Y2201/43—Motors
- E05Y2201/434—Electromotors; Details thereof
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/30—Electronic control of motors
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/40—Control units therefor
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
- E05Y2400/10—Electronic control
- E05Y2400/40—Control units therefor
- E05Y2400/41—Control units therefor for multiple motors
- E05Y2400/415—Control units therefor for multiple motors for multiple wings
- E05Y2400/42—Control units therefor for multiple motors for multiple wings for multiple openings
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2800/00—Details, accessories and auxiliary operations not otherwise provided for
- E05Y2800/40—Physical or chemical protection
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2800/00—Details, accessories and auxiliary operations not otherwise provided for
- E05Y2800/40—Physical or chemical protection
- E05Y2800/404—Physical or chemical protection against component faults or failure
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2800/00—Details, accessories and auxiliary operations not otherwise provided for
- E05Y2800/40—Physical or chemical protection
- E05Y2800/424—Physical or chemical protection against unintended use, e.g. protection against vandalism or sabotage
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/51—Application of doors, windows, wings or fittings thereof for vehicles for railway cars or mass transit vehicles
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
- E05Y2900/53—Type of wing
- E05Y2900/531—Doors
Landscapes
- Power-Operated Mechanisms For Wings (AREA)
Abstract
Provided is a door control device for vehicles wherein the reliability of the control for opening and closing the door on a vehicle side can be maintained and improved. The door control device (100) for rail cars according to the present invention is constituted of a DC motor (400) that drives the opening and closing of the door; a drive unit (300) that drives the DC motor (400); and a control unit (200) that outputs a motor drive signal to the drive unit (300). The motor drive signal output from the control unit (200) is programmed so as to only be able to output a motor drive signal that matches a motor drive signal input into the drive unit (300) when the door is driven to close.
Description
Technical field
The invention relates to for motor vehicle car door controller of the side opening/closing door of vehicle controlling vehicle.
Background technology
Generally, the vehicle having a car door as the side at vehicle has automobile or rolling stock etc.Wherein, the rolling stock of passenger-carrying is got on or off the bus to enable general passenger, is provided with slip car door as the side car door being positioned at vehicular sideview.Traditionally, as the drive source of this slip car door, use and make use of compressed-air actuated device, and in recent years, use the device by micro-processor controlled electrical motor to become main flow (patent documentation 1).And recently, the slip car door that the many employings of side car door of automobile are electronic.
In the side gate operating lock of the rolling stock described in patent documentation 1, in order to promote maintainability, use brushless DC motor as electrical motor.
Patent documentation 1: Japanese Unexamined Patent Publication 2002-309849 publication
Summary of the invention
In order to ensure the safety of passenger or attendant, even if when the control setup et out of order or the misoperation that control electronic electrical motor etc., no matter be in the driving process of rolling stock or in stopping, the situation with the side car door opening of railway platform opposition side all can not occur.For automobile too.
In order to the anti-situation opening unintentionally car door of planting here occurs, such as, when electrical motor is the DC motor of band brush, in the current path for making the DC motor of band brush rotate towards the direction of opening car door, installation warrants carries out the relay of opening and closing from the signal of the superior system of rolling stock or automobile.When electrical motor is brushless direct current motor, then according to the signal of the superior system from rolling stock or automobile make selection whether feed to the relay of brushless direct current motor carry out opening and closing.
But the former situation, although even if be also can not open unintentionally car door when controlling the control setup et out of order of electrical motor etc. or missing start, must be that the electrical motor of band brush could realize, bid father farewell and have problems on maintainability.
And the situation of the latter, make relay work with feed to brushless direct current motor time, likely move to the either direction opening car door and closed door, thus when controlling the control setup et out of order of electrical motor etc. or missing start, the relay work-hours used due to feed is shorter, thus extremely low on probability and can open car door unintentionally.
So, the object of the present invention is to provide and a kind ofly can maintain and improve for motor vehicle car door controller of the reliability that for motor vehicle side opening/closing door of vehicle controls.
(1)
The for motor vehicle car door controller of one of the present invention comprises: brushless motor car door being carried out to driven for opening and closing; Detect the motor encoder of the position of brushless motor; According to from the signal of superior system, the signal of motor encoder is directly carried out signal output or anti-phase after carry out the changes direction end of signal output; And be arranged to the control part of drive singal of the only pattern that the exportable drive singal with carrying out being input to when closing and drive drive division to car door is consistent, this control part is according to the signal from superior system, and the signal output drive signal that foundation changes direction end exports.
Superior system refers to the car door order control system being located at the marshalling of each rolling stock, or centralized management system etc., or controlling the main control unit of whole automobile, control part is located at each car door for motor vehicle.
As mentioned above, the control part drive singal that only the exportable drive singal with carrying out being input to when closing and drive drive division to car door is consistent, even if thus hypothesis is in control part et out of order or start by mistake, as long as changes direction end is not changed, as long as that is do not have bad from the signal of superior system, control part cannot open driving to car door.Therefore, the action that really can prevent for motor vehicle car door from inadvertently opening.Its result, can maintain and improve the reliability of the open and close controlling of Door for vehicle.
(2)
Preferably be made up of the 1st signal being input to control part and the 2nd signal not identical with the 1st signal that be input to changes direction end from the signal of superior system, the signal of motor encoder, according to the signal exported from control part based on the 1st signal and the 2nd signal, directly exports or anti-phase rear output by changes direction end.
If so form, according to the two kinds of not identical signals from superior system, (such as the 1st signal is signal transmission to changes direction end, and the 2nd signal is contact point signal), the signal of motor encoder is directly exported or anti-phase rear output, even if thus hypothesis is bad from there being a side in the signal of superior system, the action that for motor vehicle car door is inadvertently opened also can be prevented more reliably.
(3)
Changes direction end also can be made up of logic XOR circuit, the signal exported to the input of this logic XOR circuit from control part and the 2nd signal, and this logic XOR circuit carries out signal output to control part.
If so form, then can not occur, because of the fault caused by mechanicalness part, thus can reduce fault rate and can not expense be increased.
(4)
Changes direction end also can possess the phase inverter of the signal input accepting motor encoder and carry out the relay of the arbitrary signal switching to export in the output signal of phase inverter and the signal of motor encoder, when opening driving to car door, relay exports the output signal of phase inverter.
If so form, even if hypothesis phase inverter there occurs fault, also can not drive the closedown of car door and affect to some extent, thus can prevent the action that for motor vehicle car door is inadvertently opened more reliably.Also the punctual operation of rolling stock is contributed to again.
(5)
Control part is preferably configured to the input of the motor encoder signal that can accept to be input to changes direction end, and compares with the motor encoder signal inputted the signal that changes direction end exports.
If so form, add the motor encoder signal that is input to control part and the difference of signal outputting to control part from changes direction end in from the signal of superior system, and confirm in all phases (such as 3 phases), if all consistent time, then be judged to be normal, if and when a part mutually inconsistent, then changes direction end et out of order can be judged to be.Therefore, the action that can prevent for motor vehicle car door from inadvertently opening more reliably.
(6)
For motor vehicle car door controller also can at the switch changes direction end being provided with setting closing of the door direction between changes direction end and control part further.
Now, for motor vehicle car door controller is provided with the switch changes direction end in setting closing of the door direction further between changes direction end and control part, thus just can correspond to different situations with a kind of vehicle controlling device for doors.That is, when opening car door on one side, whether closing of the door direction is the specification that the front extreme direction of vehicle depends on vehicle, but just can set closing of the door direction owing to utilizing switch changes direction end, thus need not manufacture or the car door controller of the different situations such as keeping, therefore can reduce the trouble on factory management.
(7)
Switch changes direction end also can be made up of the change-over swith in change-over swith direction and logic XOR circuit.
At this moment, switch changes direction end is made up of the change-over swith in change-over swith direction and logic XOR circuit, thus can simplified structure, can make for motor vehicle car door controller miniaturization.
Accompanying drawing explanation
Fig. 1 is the model utility constructional drawing of an example of the car door controller of the rolling stock representing the 1st example.
Fig. 2 is the diagram of circuit of an example of the action that control part is described.
Fig. 3 (a1) and Fig. 3 (b1) is the mode chart of an example of the relation of presentation code device signal and motor drive signal.
Fig. 4 (a2) and Fig. 4 (b2) is the mode chart of an example of the relation of presentation code device signal and motor drive signal.
Fig. 5 is the model utility constructional drawing of an example of the car door controller of the rolling stock representing the 2nd example.
Fig. 6 is the model utility constructional drawing of an example of the car door controller of the rolling stock representing the 3rd example.
Fig. 7 is the diagram of circuit of an example of the action that control part is described.
Fig. 8 is the model utility constructional drawing of an example of the car door controller of the rolling stock representing the 4th example.
Nomenclature
100,100a: the car door controller of rolling stock
200: control part
300: drive division
400: DC motor
500: motor encoder
600,600a: direction conv
610U, 610V, 610W: phase inverter (changes direction end)
620U, 620V, 620W: relay
640U, 640V, 640W: logic XOR circuit (changes direction end)
650U, 650V, 650W: logic XOR circuit (switch changes direction end)
660U, 660V, 660W: phase inverter (switch changes direction end)
SIG1, SIG2, SIG3: control signal
800: switch direction setting dual-in-line switch (DIPSW) circuit
810: dual-in-line switch
Detailed description of the invention
Below, be directed to example of the present invention to be illustrated.In following example, as motor vehicle car door controller, the example enumerating the car door controller of the rolling stock with the slip car door set when transporting general passenger is illustrated.In addition, the present invention is not limited to rolling stock person, is also applicable to the vehicle that automobile etc. has other car door.
(the 1st example)
Fig. 1 is the model utility constructional drawing of an example of the car door controller 100 of the rolling stock representing the 1st example of the present invention.
On rolling stock, each mouth of getting on or off the bus for passenger is provided with the car door controller 100 of rolling stock.As shown in Figure 1, the car door controller 100 of rolling stock comprises control part (local control unit; LCU) 200, drive division 300, three-phase DC brushless electric motor (hereinafter referred to as DC motor) 400, motor encoder 500, direction conv 600 and encoders monitor device 700.Usually in car door controller, be provided with vehicle door lock switch (DLS), lock when opening car door and removed, and lock after closed door.In following example, omit the explanation to vehicle door lock switch.
At drive division 300, three pairs of (PCC) powers (IGBT, MOS FT etc.) are formed mutually corresponding to DC motor 400, arbitrary can according to the signal from control part 200 to (PCC) power, corresponding to the U phase of DC motor 400, V phase, W phase and provide the electric power from power supply.
DC motor 400 with can the power transmission device (non-icon) that the car door of rolling stock carries out opening and closing be connected.Such as, as the example of power transmission device, there are tooth bar and pinion gear mechanism or ball screw mechanism or are with mechanism etc.Car door can be made to carry out the action of opening by DC motor 400 rotates towards prescribed direction, car door can be made to carry out the action of closing by DC motor 400 rotates towards direction in contrast to this.
As motor encoder 500, utilize the phase place of the magnet in order to detect DC motor and three Hall elements (sensor 510U, sensor 510V, sensor 510W) arranged.Utilize motor encoder 500 can detect the rotation of DC motor 400.
In addition, direction conv 600 is by phase inverter 610U, 610V, 610W, relay 620U, 620V, 620W and formed with circuit 630.The control signal SIG1 as transformat signal sent by RS-485 circuit from superior system is via control part 200, as digital signal control signal SIG3 and be supplied to and circuit 630, the control signal SIG2 as contact point signal sent from superior system is also provided to this and circuit 630.Relay 620U, 620V, 620W are the types that 2 inputs a bit export.At this, superior system refers to the system of the car door order control system being located at the marshalling of each rolling stock or the control information of being all together rolling stock marshalling, according to the operation of vehicle commander, the instruction opening or closing car door is transmitted to control part 200, or accepts the open and-shut mode of car door from control part 200 and managed.
The signal wire (SW) carrying out sensor 510U is divided into two-way, is connected to two inputs of relay 620U.Phase inverter 610U is inserted with in the signal wire (SW) of a road branch wherein.
Similarly, the signal wire (SW) carrying out sensor 510V is also divided into two-way, is connected to two inputs of relay 620V.Be inserted with phase inverter 610V in the signal wire (SW) of a road branch wherein, the signal wire (SW) carrying out sensor 510W is also divided into two-way, is connected to two inputs of relay 620W.Phase inverter 610W is inserted with in the signal wire (SW) of a road branch wherein.Below, the signal wire (SW) being inserted with phase inverter is called paraphase line, and the signal wire (SW) not being inserted with phase inverter is called without inserting signal wire (SW).
Relay 620U, 620V, 620W be respectively according to the output of circuit 630 and select the paraphase line of branch and change without the mode inserting one of both signal wire (SW)s.The outgoing side of relay 620U, 620V, 620W is connected to control part 200.In the present embodiment, be configured to select without inserting signal wire (SW) when making car door carry out closing movement, and select paraphase line when making car door carry out opening action.
The control program of the only motor drive signal that the exportable motor drive signal being input to drive division 300 when carrying out closing movement with car door is consistent is provided with in control part 200.So even if in control part 200 et out of order or start by mistake, control part 200 also towards closing of the door direction output motor drive singal, thus can only can prevent the action that car door is inadvertently opened.For the detailed relation be input between the signal from coder of control part 200 and motor drive signal, will set forth below.
Fig. 2 is the diagram of circuit of an example of the action that control part 200 is described.
As shown in Figure 2, control part 200 standby before receiving OPEN from superior system (step S1).At this, OPEN is the signal of transformat, and is included in control signal SIG1, opens car door in order to instruction.
Then, when receiving OPEN (be yes in step S1), exporting from control part 200 and making direction conv 600 towards the control signal SIG3 (step S2) of direction conversion opening car door.At this, control signal SIG3 be input to direction conv 600 with circuit 630.From superior system to input control signal SIG2 direct with circuit 630.At this, control signal SIG2 is the signal comprising speed detection signal (5km/h detection signal), simultaneously unlocking signal, open enabling signal etc.
At this, when control signal SIG3 represents the Continuity signal opening car door, when control signal SIG2 represents the direction of opening car door, with the paraphase line (with reference to Fig. 1) of circuit 630 selective relay 620U, 620V, 620W.At this time, sensor 510U, 510V, 510W carry out anti-phase, then to control part 200 Introduced Malaria encoder input signal H1, H2, H3.
On the other hand, when either party in control signal SIG3 and control signal SIG2 be not represent open car door time, are exporting without inserting signal line side of selective relay 620U, 620V, 620W with circuit 630.At this moment, sensor 510U, 510V, 510W is directly to control part 200 Introduced Malaria encoder input signal H1, H2, H3.
At this moment, as described below, as correction encoder input signal H1, H2, H3, when directly input carrys out the signal of sensor 510U, 510V, 510W, control part 200 is that the mode that DC motor 400 is rotated towards the direction of closing of the door controls.Its result, even if in control part 200 et out of order or start by mistake, also only towards closing of the door direction output motor drive singal, thus can prevent the action that car door is inadvertently opened.
Then, when all signals of control signal SIG3 and control signal SIG2 all represent open car door time, control part 200 is to correction encoder input signal H1, H2, H3 and compare (step S3) from signal H11, H21, H31 of encoders monitor device 710U, 710V, 710W.
At this, when revise encoder input signal H1, H2, H3 with future own coding device monitor 710U, 710V, 710W signal H11, H21, H31 anti-phase after the signal that obtains some inconsistent time, control part 200 gets back to the process of step S1, and does not make car door be moved.At this moment, control part 200 also outbound course conv 600, either party in sensor 510U, 510V, 510W and encoders monitor device 700 can there occurs the signal of fault, can see with the outside of the car door controller 100 from rolling stock.Also this breakdown signal can be sent to superior system.
When revise encoder input signal H1, H2, H3 with future own coding device monitor 710U, 710V, 710W signal H11, H21, H31 anti-phase after the signal that obtains all mutually completely the same time, then perform above-mentioned in the motor control program established, according to revising encoder input signal H1, H2, H3 to drive division 300 output motor drive singal.Then, drive DC motor 400 by drive division 300, detect code device signal by motor encoder 500, control part 200 continues to control drive division 300 (step S4) according to correction code device signal.
Then, control part 200 judges that whether car door is at full open position of coupler (step S5).At this, control part 200, when being judged to be car door not at full open position of coupler, repeats process from step S4.
On the other hand, control part 200, when being judged to be car door at full open position of coupler, carried out standby (step S6) before receiving out code from superior system always.At this, out code is the signal of transformat, and is included in control signal SIG1, in order to indicate closed door.
Then, the control signal SIG3 (step S7) that direction conv 600 is changed towards closing of the door direction is exported from control part 200.
At this, when control signal SIG3 is the cut-off signal representing closing of the door, and when control signal SIG2 represents the direction of closed door, then insert signal wire (SW) side with the nothing of circuit 630 selective relay 620U, 620V, 620W.By this, the code device signal of sensor 510U, 510V, 510W is directly inputted to control part 200 as correction encoder input signal H1, H2, H3.
The motor control program established in control part 200 performs, according to correction encoder input signal H1, H2, H3 of inputting to drive division 300 output motor drive singal.Then, drive DC motor 400 by drive division 300, detect code device signal by motor encoder 500, control part 200 continues to control drive division 300 (step S8) according to code device signal.
Then, control part 200 judges that whether car door is at full close position (step S9).At this, control part 200, when being judged to be that car door is not at full close position, repeats process from step S8.
On the other hand, control part 200 when being judged to be car door at full close position, then gets back to step S1.
In above-mentioned diagram of circuit (Fig. 2), also can the process of inserting step S3 between the process of step S7 and the process of step S8, to confirm the fault etc. of machine.
Next, Fig. 3 and Fig. 4 is the signal representing the coder being input to control part 200, that is, revise the mode chart of an example of the relation of code signal and motor drive signal.Fig. 3 is the correction encoder input signal and the motor drive signal that represent car door opening direction, and Fig. 4 is the correction encoder input signal and the motor drive signal that represent closing of the door direction.
As shown in Fig. 3 (a1), when rotating to car door opening direction, then revise encoder input signal H1, H2, H3 repeatedly conducting and disconnection.In Fig. 3 (b1), to drive singal U, V, W of drive division 300 repeatedly high, disconnect, low, disconnect.
On the other hand, as shown in Fig. 4 (a2), when rotating to car door opening direction, revise encoder input signal H1, H2, H3 repeatedly conducting and disconnection.In Fig. 4 (b2), to drive singal U, V, W of drive division 300 repeatedly occur high, disconnect, low, disconnect.
At this, as shown in Figures 3 and 4, from moment T1 to moment T2, when comparison diagram 3 (a1) and Fig. 4 (a2), after the moment reversion of the conducting of a side and disconnection, consistent with the conducting of the opposing party and the moment of disconnection.
From moment T1 to the height of moment T2, Fig. 3 (b1) and Fig. 4 (b2), disconnection, low relation be on all four.
As known from the above, as correction encoder input signal H1, H2, H3, when sensor 510U, 510V, 510W directly input, the action of closed door can be carried out, and when reversing input, the action of opening car door can be carried out.Result: drive the driving direction (pattern of drive singal) of the driving phase of the drive division 300 of DC motor 400 as long as one.Therefore, as mentioned above, in control part 200, be provided with the control program of motor drive signal that only the exportable motor drive signal with being input to drive division 300 when carrying out the action of closed door is consistent (that is only a kind of motor drive signal).Owing to adopting this structure, even if et out of order or start by mistake in control part 200, control part 200 also towards closing of the door direction output motor drive singal, as long as thus direction conv 600 is not changed, just can only can prevent the action that car door is inadvertently opened.And direction conv 600 can not convert to and make car door carry out opening action before the different control signal SIG1 of form and SIG2 both sides do not reach rated condition, thus had high reliability.
(the 2nd example)
Below, other example for the car door controller 100 of rolling stock of the present invention is described.Below, the difference for the car door controller 100 with the rolling stock shown in Fig. 1 is described.
Fig. 5 is the model utility constructional drawing of an example of the car door controller 100a of the rolling stock representing the 2nd example of the present invention.
As shown in Figure 5, the car door controller 100a of rolling stock comprises direction conv 600a, to replace the direction conv 600 of Fig. 1.
Direction conv 600a is formed by logic XOR circuit 640U, 640V, 640W and with circuit 630.The control signal SIG1 that superior system provides is transfused to and circuit 630 as control signal SIG3 via control part 200, and directly inputs control signal SIG2 from superior system to circuit 630.Side's input to logic XOR circuit 640U, 640V, 640W inputs the output with circuit 630 respectively.
The signal wire (SW) carrying out sensor 510U is input to the opposing party's input of logic XOR circuit 640U.Similarly, the signal wire (SW) carrying out sensor 510V is input to the opposing party's input of logic XOR circuit 640V, and the signal wire (SW) carrying out sensor 510W is input to the opposing party's input of logic XOR circuit 640W.The outgoing side of logic XOR circuit 640U, 640V, 640W is connected with control part 200, namely the output of logic XOR circuit 640U, 640V, 640W is revised encoder input signal H1, H2, H3 and is supplied to control part 200.
At this moment, in the car door controller 100a of rolling stock, same with the car door controller 100 of rolling stock, as long as be not whole conducting from the output with circuit 630, the signal of sensor 510U, 510V, 510W is just anti-phase, is input to control part 200 as correction encoder input signal H1, H2, H3.Therefore, only otherwise to the signal opening car door with circuit 630 input control signal SIG2 and control signal SIG3, would not drive drive division 300 to make the mode of car door opening, but to make the mode of closing of the door drive drive division 300.
As mentioned above; in the car door controller 100a of rolling stock of the present invention; even if when exception or fault occur control part 200, control part 200 also can only towards closing of the door direction output motor drive singal, the action that thus can reliably prevent car door from inadvertently opening.
Direction conv 600 in the car door controller 100 of the rolling stock of the 1st example is made up of phase inverter 610U, 610V, 610W and relay 620U, 620V, 620W, thus part or all et out of order of phase inverter 610U, 610V, 610W is supposed, also can not drive the closedown of car door and have impact, thus can prevent the action that the car door of rolling stock is inadvertently opened more reliably.Punctual operation for rolling stock is also helpful.Direction conv 600a in the car door controller 100a of the rolling stock of the 2nd example is made up of logic XOR circuit 640U, 640V, 640W, thus can not occur because of the fault caused by mechanicalness part, thus fault rate can be reduced and without the need to increasing expense.
In addition, the difference of signal H11, H21, H31 of the motor encoder detected by encoders monitor device 700 and correction encoder input signal H1, H2, H3 is added direction conv 600,600a transformation condition and confirmed, even if when some is inconsistent, also can be judged to be direction conv 600,600a has fault.At this, when it is finger direction conv 600 that what is called adds, 600a converts to and makes car door carry out the side of opening action, signal after signal H11, H21, H31 reversion and correction encoder input signal H1, H2, H3 are compared, and when direction conv 600,600a convert to and make car door carry out the side of closing movement, signal H11, H21, H31 and correction encoder input signal H1, H2, H3 are compared.
In this example, be illustrated exemplified with three-phase DC brushless electric motor 400, but be not limited thereto, other also can be used to have the electrical motor of any phase.In addition, in the 1st example, when car door carries out opening action, signal H11, H21, H31 of motor encoder are via phase inverter 610U, 610V, 610W, but be not limited thereto, also can when car door carries out closing movement via phase inverter 610U, 610V, 610W.In addition, the signal from superior system is these two kinds of signals of control signal SIG1 and control signal SIG2, but is not limited thereto, and also can be a kind of or more than three kinds signals.In addition, relay, except having contact relay, also can use non-contact relay.In addition, control signal SIG1 is made transformat, and control signal SIG2 is made contact point signal, but is not limited thereto, and also can be that the both sides of control signal SIG1 and control signal SIG2 are contact point signal, or both sides is transformat.
(the 3rd example)
Below, other example for the car door controller 100 of rolling stock of the present invention is described.In the car door controller 100b of the rolling stock of the 3rd example, for the car door controller 100b that can correspond to the different situations of the side car door of rolling stock, that is the car door controller 100b that can correspond to the different car door of closing direction is described.Below, be described for the difference with the car door controller 100 of the rolling stock shown in Fig. 1 to Fig. 5 and the car door controller 100a of rolling stock.
Fig. 6 is the model utility constructional drawing of an example of the car door controller 100b of the rolling stock representing the 3rd example of the present invention.
As shown in Figure 6, the car door controller 100b of rolling stock comprises direction conv 600b, to replace direction conv 600,600a, direction conv 600b is by phase inverter 610U, 610V, 610W, relay 620U, 620V, 620W, form with circuit 630 and logic XOR circuit 650U, 650V, 650W.
The car door controller 100b of rolling stock also comprises switch direction setting dual-in-line switch (DIPSW) circuit 800.Switch direction setting dual-in-line switch circuit 800 has dual-in-line switch 810, the closing direction of setting car door.Dual-in-line switch 810 is set at conducting (+24V) or disconnects either party of (0V), and this switch direction signal KSIG is supplied to control part 200.This switch direction signal KSIG is supplied to logic XOR circuit 650U, 650V, 650W by control part 200.
The transformat signal sent by RS-485 circuit from superior system and control signal SIG1 are via control part 200, as digital signal control signal SIG3 and be supplied to and circuit 630, and provide to circuit 630 contact point signal and control signal SIG2 that send from superior system.Relay 620U, 620V, 620W are the types that 2 inputs a bit export.The logic XOR circuit that logic XOR circuit 650U, 650V, 650W are exported by two inputs one formed.
As shown in Figure 6, the signal wire (SW) carrying out sensor 510U is divided into two-way, is connected to two inputs of relay 620U.Phase inverter 610U is inserted with in the signal wire (SW) of a wherein road branch.
Equally, the signal wire (SW) carrying out sensor 510V is also divided into two-way, is connected to two inputs of relay 620V.Be inserted with phase inverter 610V in the signal wire (SW) of a wherein road branch, the signal wire (SW) carrying out sensor 510W is also divided into two-way, is connected to two inputs of relay 620W.Phase inverter 610W is inserted with in the signal wire (SW) of a wherein road branch.Below, in the same manner as Fig. 1, the signal wire (SW) being inserted with phase inverter is called paraphase line, and the signal wire (SW) not being inserted with phase inverter is called without inserting signal wire (SW).
Relay 620U, 620V, 620W respectively with according to the output of circuit 630 and select the paraphase line of branch and change without the mode inserting one of both signal wire (SW)s.The outgoing side of relay 620U, 620V, 620W is connected to a wherein side of two inputs of logic XOR circuit 650U, 650V, 650W.
A wherein side of two inputs of logic XOR circuit 650U, 650V, 650W, be connected with switch direction signal.Correction encoder input signal H1, H2, H3, according to switch direction signal KSIG and relay 620U, 620V, 620W, are input to control part 200 by logic XOR circuit 650U, 650V, 650W.
That is, in the car door controller 100b of rolling stock, the moving direction (switch direction) of car door can be changed by switch direction signal KSIG, thus that need not manufacture or manage different situations that is two kinds of car door controllers, can reduce the management number of car door controller in factory etc.
Fig. 7 is the diagram of circuit of an example of the action of the control part 200 that the 3rd example is described.
As shown in Figure 7, the control part read switch direction setting content (step S11) of dual-in-line switch (DIPSW) circuit 800.Then, come output switch direction signal (KSIG) (step S12) according to the content read.Specifically, by the dual-in-line switch 810 of change-over swith direction setting with dual-in-line switch (DIPSW) circuit 800, either party of the car door opened left and right just can be controlled.
Control part 200 before receiving OPEN from superior system always standby (step S21).At this, OPEN is the signal of transformat, and is contained in control signal SIG1, opens car door in order to instruction.
Then, when receiving OPEN (be yes in step S21), exporting from control part 200 and making direction conv 600 towards the control signal SIG3 (step S22) opening the conversion of car door direction.At this, control signal SIG3 be transfused to direction conv 600 with circuit 630.From superior system to input control signal SIG2 direct with circuit 630.At this, control signal SIG2 comprises speed detection signal (5km/h detection signal), simultaneously unlocking signal, opens enabling signal etc.
At this, when control signal SIG3 represents to open the Continuity signal of car door, and control signal SIG2 represents when opening the direction of car door, with the paraphase line side (with reference to Fig. 6) of circuit 630 selective relay 620U, 620V, 620W.At this moment, sensor 510U, 510V, 510W carry out anti-phase, and be supplied to logic XOR circuit 650U, 650V, 650W, switch direction signal KSIG is also provided to logic XOR circuit 650U, 650V, 650W, and the output of logic XOR circuit 650U, 650V, 650W is as correction encoder input signal H1, H2, H3 and input control portion 200.
On the other hand, when control signal SIG3 and control signal SIG2 be not represent open car door time, with circuit 630 exporting without the mode inserting signal line side with selective relay 620U, 620V, 620W.At this moment, sensor 510U, 510V, 510W via logic XOR circuit 650U, 650V, 650W, to control part 200 Introduced Malaria encoder input signal H1, H2, H3.
At this moment, as mentioned below, as correction encoder input signal H1, H2, H3, when inputting the signal of sensor 510U, 510V, 510W, control part 200 controls DC motor 400 makes its direction towards closed door rotate.
When all signals of control signal SIG3 and control signal SIG2 all represent open car door time, control part 200 is to correction encoder input signal H1, H2, H3 and compare (step S23) from signal H11, H21, H31 of encoders monitor device 710U, 710V, 710W.
At this, when revise encoder input signal H1, H2, H3 with future own coding device monitor 710U, 710V, 710W signal H11, H21, H31 reverse after the signal that obtains some inconsistent time, control part 200 gets back to the process of step S21, and does not make car door be moved.At this moment, control part 200 also outbound course conv 600, either party in sensor 510U, 510V, 510W and encoders monitor device 700 can there occurs the signal of fault, to inform to the outside of car door controller 100b.
When revise encoder input signal H1, H2, H3 with future own coding device monitor 710U, 710V, 710W signal H11, H21, H31 reverse after the signal that obtains all mutually completely the same time, the motor control program established in control part 200 execution is above-mentioned, according to revising encoder input signal H1, H2, H3 to drive division 300 output motor drive singal.Then, drive DC motor 400 by drive division 300, and detect code device signal by motor encoder 500, control part 200 continues to control drive division 300 (step S24) according to correction code device signal.At this, the setting situation of switch direction signal KSIG is low (Low), and the signal obtained after signal H11, H21, H31 reversion of in the future own coding device monitor 710U, 710V, 710W is as comparison other, but when the situation that sets of switch direction signal KSIG is as high (High), nonreversiblely just to compare.
Then, control part 200 judges that whether car door is at full open position of coupler (step S25).At this, control part 200, when being judged to be car door not at full open position of coupler, repeats process from step S24.
On the other hand, control part 200 when being judged to be car door at full open position of coupler, then before receiving out code from superior system always standby (step S26).At this, out code refers to the signal of transformat, and is included in control signal SIG1, in order to indicate closed door.
Then, the control signal SIG3 (step S27) that direction conv 600 is changed towards closing of the door direction is exported from control part 200.
At this, when control signal SIG3 is the cut-off signal representing closing of the door, and when control signal SIG2 represents the direction of closed door, then insert signal wire (SW) with the nothing of circuit 630 selective relay 620U, 620V, 620W.By this, the code device signal of sensor 510U, 510V, 510W, via logic XOR circuit 650U, 650V, 650W, is input to control part 200 as correction encoder input signal H1, H2, H3.
The motor control program established in control part 200 performs, according to correction encoder input signal H1, H2, the H3 inputted to drive division 300 output motor drive singal.Then, drive DC motor 400 by drive division 300, and detect code device signal by motor encoder 500, control part 200 continues to control drive division 300 (step S28) according to code device signal.At this, the setting situation of switch direction signal KSIG is recited as low (Low), if but the situation that sets as high (High), then input again after revising encoder input signal H1, H2, H3 reversion.
Then, control part 200 judges that whether car door is at full close position (step S29).At this, control part 200 when being judged to be that car door is not at full close position, then repeats process from step S28.
On the other hand, control part 200, when being judged to be car door at full close position, gets back to step S21.
In above-mentioned diagram of circuit (Fig. 7), also can the process of inserting step S23 between the process of step S27 and the process of step S28, to confirm the fault etc. of machine.
(the 4th example)
Below, other example for the car door controller 100 of rolling stock of the present invention is described.Below, be described for the car door controller 100 of the rolling stock shown in Fig. 1 to Fig. 7, the difference of 100a, 100b.
Fig. 8 is the model utility constructional drawing of an example of the car door controller 100c of the rolling stock representing the 4th example of the present invention.
As shown in Figure 8, the car door controller 100c of rolling stock comprises direction conv 600c, to replace direction conv 600,600a, 600b, direction conv 600c is by phase inverter 610U, 610V, 610W, relay 620U, 620V, 620W, forms with circuit 630, phase inverter 660U, 660V, 660W and relay 670U, 670V, 670W.
The car door controller 100c of rolling stock also comprises switch direction setting dual-in-line switch (DIPSW) circuit 800c.Switch direction setting dual-in-line circuit 800c has dual-in-line switch, the closing direction of setting car door.In this example, just can provide switch direction signal KSIG without control part 200.As a result, the impact of the fault in portion 200 etc. can not be controlled.
Owing to also possessing switch direction setting dual-in-line switch (DIPSW) circuit 800, thus may correspond to the different situations in car door.That is, for the situation of left and right two door opening, a pair car door carry out opening action and closing movement all oppositely mobile and carry out, thus by this being set in a bit switch direction setting dual-in-line switch (DIPSW) circuit 800.Again, can set these car doors by arranging switch direction setting dual-in-line switch (DIPSW) circuit 800.And, by arranging switch direction setting dual-in-line switch (DIPSW) circuit 800, for the car door that closing direction is not identical, suppose that control part 200 has carried out misoperation, such as microcomputer misidentification OPEN, also the signal of motor encoder 500 directly can be exported or anti-phase rear output, even if thus hypothesis is from the signal SIG1 of superior system, a side in SIG2 is bad, the action that also can prevent Door for vehicle from inadvertently opening more reliably, can not occur to open car door unintentionally in the process of moving, or the situation of the car door opening with railway platform opposition side.Therefore, the action that can reliably prevent Door for vehicle from inadvertently opening.As a result, the reliability of the open and close controlling of also lifting vehicle car door can be maintained.Also need not be split up into a pair car door and manufacture car door controller separately, thus can reduce management time during manufacture.
In an embodiment of the present invention, the car door controller 100 of rolling stock, 100a, 100b, 100c is equivalent to for motor vehicle car door controller, DC motor 400 is equivalent to brushless types, drive division 300 is equivalent to drive division, motor encoder 500 is equivalent to motor encoder, control signal SIG1 and control signal SIG2 is equivalent to the signal from superior system, and control part 200 is equivalent to control part, and control signal SIG1 is equivalent to the 1st signal, control signal SIG2 is equivalent to the 2nd signal, direction conv 600, 600a, 600b, 600c is equivalent to changes direction end, relay 620U, 620V, 620W, relay 670U, 670V, 670W is equivalent to relay, logic XOR circuit 640U, 640V, 640W is equivalent to the logic XOR circuit of changes direction end, logic XOR circuit 650U, 650V, 650W is equivalent to the logic XOR circuit of switch changes direction end, and switch direction setting dual-in-line switch (DIPSW) circuit 800 is equivalent to switch changes direction end, and dual-in-line switch 810 is equivalent to change-over swith, phase inverter 610U, 610V, 610W is equivalent to the phase inverter of changes direction end, phase inverter 660U, 660V, 660W is equivalent to the phase inverter of switch changes direction end.
Better example of the present invention is described above, but the present invention is not limited thereto.Also should be understood to be included not exceeding the various examples in spirit of the present invention and scope.In this example, describe the functions and effects according to formation of the present invention, but these functions and effects are only examples, are not limited to the present invention.
Claims (1)
1. a for motor vehicle car door controller, controls the opening/closing door of vehicle of vehicle, it is characterized by and comprise:
Above-mentioned car door is carried out to the brushless motor of driven for opening and closing;
Drive the drive division of above-mentioned brushless motor;
Detect the motor encoder of the position of above-mentioned brushless motor; According to the signal from superior system, after the signal of above-mentioned motor encoder directly being carried out signal output or reversion, carry out the changes direction end of signal output; And
Be arranged to the control part of the drive singal of the only pattern that the exportable drive singal with carrying out being input to when closing and drive above-mentioned drive division to above-mentioned car door is consistent, this control part is according to the signal from above-mentioned superior system, the signal exported according to above-mentioned changes direction end exports above-mentioned drive singal
Signal from above-mentioned superior system is made up of the 1st signal being input to above-mentioned control part and the 2nd signal different from above-mentioned 1st signal that be input to above-mentioned changes direction end,
The signal of above-mentioned motor encoder, according to the signal exported from above-mentioned control part based on above-mentioned 1st signal and above-mentioned 2nd signal, directly exports or exports after reversing by above-mentioned changes direction end.
2. for motor vehicle car door controller as claimed in claim 1, is characterized by,
Above-mentioned changes direction end is made up of logic XOR circuit, the signal exported to the input of this logic XOR circuit from above-mentioned control part and above-mentioned 2nd signal, and this logic XOR circuit carries out signal output to above-mentioned control part.
3. a for motor vehicle car door controller, controls the opening/closing door of vehicle of vehicle, it is characterized by and comprise:
Above-mentioned car door is carried out to the brushless motor of driven for opening and closing;
Drive the drive division of above-mentioned brushless motor;
Detect the motor encoder of the position of above-mentioned brushless motor;
According to the signal from superior system, signal that is direct or above-mentioned motor encoder of reversing carries out the changes direction end of signal output; And
Be arranged to the control part of the drive singal of the only pattern that the exportable drive singal with carrying out being input to when closing and drive above-mentioned drive division to above-mentioned car door is consistent, this control part is according to the signal from above-mentioned superior system, the signal exported according to above-mentioned changes direction end exports above-mentioned drive singal
Above-mentioned changes direction end possesses the phase inverter of the signal input accepting above-mentioned motor encoder and carries out the relay of the arbitrary signal in the signal of output signal and the above-mentioned motor encoder changing to export above-mentioned phase inverter, when opening driving to above-mentioned car door, above-mentioned relay exports the output signal from above-mentioned phase inverter.
4. for motor vehicle car door controller as described in any one of claims 1 to 3, wherein,
Above-mentioned control part is configured to the input of the above-mentioned motor encoder signal that can accept to be input to above-mentioned changes direction end, adds signal and above-mentioned inputted motor encoder signal that above-mentioned changes direction end exports and compare in the signal from above-mentioned superior system.
5. for motor vehicle car door controller as described in any one of claims 1 to 3, wherein,
Between above-mentioned changes direction end and above-mentioned control part, be also provided with the switch changes direction end of the closing direction setting above-mentioned car door.
6. for motor vehicle car door controller as claimed in claim 5, wherein,
Above-mentioned switch changes direction end is made up of the change-over swith in change-over swith direction and logic XOR circuit.
Applications Claiming Priority (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009157099 | 2009-07-01 | ||
| JP2009-157099 | 2009-07-01 | ||
| JP2009-192495 | 2009-08-21 | ||
| JP2009192495 | 2009-08-21 | ||
| PCT/JP2010/003823 WO2011001604A1 (en) | 2009-07-01 | 2010-06-09 | Door control device for vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102472075A CN102472075A (en) | 2012-05-23 |
| CN102472075B true CN102472075B (en) | 2015-03-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201080028434.2A Expired - Fee Related CN102472075B (en) | 2009-07-01 | 2010-06-09 | Door control device for vehicles |
Country Status (6)
| Country | Link |
|---|---|
| EP (1) | EP2450515A4 (en) |
| JP (1) | JP5300980B2 (en) |
| CN (1) | CN102472075B (en) |
| HK (1) | HK1168137A1 (en) |
| TW (1) | TWI385087B (en) |
| WO (1) | WO2011001604A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102545747A (en) * | 2012-03-16 | 2012-07-04 | 诺丁智能科技(安徽)有限公司 | Automatic door brush motor control device |
| CN104806111A (en) * | 2015-03-25 | 2015-07-29 | 华东交通大学 | Pure hardware circuit based subway vehicle door control system |
| JP2016183523A (en) * | 2015-03-26 | 2016-10-20 | オムロンオートモーティブエレクトロニクス株式会社 | Opening/closing body control device and opening/closing body control method |
| JP7491799B2 (en) | 2020-09-25 | 2024-05-28 | ナブテスコ株式会社 | Door drive device, door drive method, and door drive program |
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| CN1239696A (en) * | 1998-06-18 | 1999-12-29 | 西屋气刹车公司 | Transit vehicle door |
| CN2492661Y (en) * | 2001-08-04 | 2002-05-22 | 傅海山 | Automatic door unit with brushless motor |
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| JPH0467792A (en) * | 1990-07-04 | 1992-03-03 | Hitachi Ltd | Reversible rotation controller of dc motor |
| JPH0898578A (en) * | 1994-09-19 | 1996-04-12 | Shibaura Eng Works Co Ltd | Driver for direct current motor |
| JP3779378B2 (en) * | 1996-05-09 | 2006-05-24 | ナブテスコ株式会社 | Railway vehicle side door control device |
| JPH11180303A (en) * | 1997-12-18 | 1999-07-06 | Nabco Ltd | Monitoring device for rolling stock |
| US7032349B2 (en) * | 2000-04-27 | 2006-04-25 | Atoma International Corp. | Coreless motor door closure system for motor vehicles |
| JP3485315B2 (en) | 2001-04-17 | 2004-01-13 | 東日本トランスポ−テック株式会社 | Rail vehicle door opening and closing device |
| JP2005048356A (en) * | 2003-07-29 | 2005-02-24 | Ykk Corp | Control method and control device of automatic door |
| JP4167621B2 (en) * | 2004-05-19 | 2008-10-15 | アスモ株式会社 | Pinching detection method and vehicle movable body drive device |
| JP2005336804A (en) * | 2004-05-26 | 2005-12-08 | Nabtesco Corp | Self-propelled automatic door |
| JP2007215281A (en) * | 2006-02-08 | 2007-08-23 | Mitsuba Corp | Drive control device of brushless motor |
-
2010
- 2010-06-09 CN CN201080028434.2A patent/CN102472075B/en not_active Expired - Fee Related
- 2010-06-09 WO PCT/JP2010/003823 patent/WO2011001604A1/en active Application Filing
- 2010-06-09 JP JP2011520758A patent/JP5300980B2/en not_active Expired - Fee Related
- 2010-06-09 EP EP10793781.5A patent/EP2450515A4/en not_active Withdrawn
- 2010-06-10 TW TW099118934A patent/TWI385087B/en not_active IP Right Cessation
-
2012
- 2012-09-07 HK HK12108779.6A patent/HK1168137A1/en not_active IP Right Cessation
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1239696A (en) * | 1998-06-18 | 1999-12-29 | 西屋气刹车公司 | Transit vehicle door |
| CN2492661Y (en) * | 2001-08-04 | 2002-05-22 | 傅海山 | Automatic door unit with brushless motor |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2011001604A1 (en) | 2011-01-06 |
| HK1168137A1 (en) | 2012-12-21 |
| EP2450515A4 (en) | 2014-01-29 |
| TWI385087B (en) | 2013-02-11 |
| JP5300980B2 (en) | 2013-09-25 |
| EP2450515A1 (en) | 2012-05-09 |
| CN102472075A (en) | 2012-05-23 |
| TW201107171A (en) | 2011-03-01 |
| JPWO2011001604A1 (en) | 2012-12-10 |
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