CN102493729A - Clamping preventing method for automatic translation door - Google Patents
Clamping preventing method for automatic translation door Download PDFInfo
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- CN102493729A CN102493729A CN2011104055527A CN201110405552A CN102493729A CN 102493729 A CN102493729 A CN 102493729A CN 2011104055527 A CN2011104055527 A CN 2011104055527A CN 201110405552 A CN201110405552 A CN 201110405552A CN 102493729 A CN102493729 A CN 102493729A
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- door leaf
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Abstract
The invention relates to a clamping preventing method for an automatic translation door. The traditional method can also be used for realizing a clamping preventing function of the automatic translation door, but has the problems of difficulty in installation, high production cost, short service life and high fault rate. According to the method disclosed by the invention, two clamping preventing regions are arranged, whether a door is clamped is judged through detecting the rotating speed Sn and the operating current Cn of a motor and comparing the same with sampled data in the first five times. The clamping preventing method for the automatic translation door has the advantages of no need of changing the foundation of the traditional circuit or mechanical structure, low cost, high accuracy rate in detecting clamping actions and high clamping preventing reaction speed.
Description
Technical field
The invention belongs to technical field of automatic control, particularly relate to a kind of anti-clamping method that is used for automatic translation door.
Background technology
Automatic translation door is widely used in occasions such as gate control system, track traffic, hotel, market; These application scenario common characteristic are that flow of personnel is intensive; Therefore need automatic translation door to possess pinch resistant functionality; In order to avoid cause personal injury, do not check in the standard of relevant automatic translation door anti-pinch aspect at present as yet.
The subject matter that the automatic translation door anti-clamping method need solve comprises: (1) in the anti-pinch zone of setting (5mm-maximum opening position) accurately detects the generation of holding action and discharges caught object rapidly; (2) size of guaranteeing chucking power is less than setting value (80N-300N); (3) suppress automatic translation door mechanical friction fluctuation and electric parameter and change influence the anti-pinch algorithm;
Automatic translation door control system with pinch resistant functionality mainly is made up of controller, actuating motor, reducing gear, belt gear and doorframe; Anti-clamping method mainly changes according to actuating motor speed and torque; Adopt effective holding action decision algorithm to solve the anti-pinch problem; This method need not to increase extra anti-pinch sensor, low, the high reliability features of cost of production.Traditional automatic translation door method mainly adopts methods such as echelette, crash sensor, though these class methods also can realize the pinch resistant functionality of automatic translation door, exists difficult installation, cost of production height, the problem that the life-span is short, fault rate is high.
Summary of the invention
The present invention is directed to the deficiency of prior art, a kind of anti-clamping method that is used for automatic translation door is provided.
The concrete steps of the inventive method are:
Step (1) is to the initialization of controller, and the initialization object comprises single-chip microcomputer clock frequency, input/output port, global variable, register, clock interruption, the mounting means of executing agency, anti-pinch power threshold value, the regional setting of first anti-pinch and the setting of second anti-pinch zone in the controller.
Step (2) judges whether controller carries out the action of closing the door, if controller is in the execution action of closing the door, execution in step (3).
Step (3) is judged whether door leaf moves and is arrived first anti-pinch zone or second anti-pinch zone, if arrive execution in step (4).
Step (4) judges that door leaf is in still second anti-pinch zone, first anti-pinch zone, if be in first anti-pinch zone, execution in step (5) is if door leaf is in second anti-pinch zone, execution in step (8).
Step (5) detects motor speed S in timer interrupts
nWith motor operating current C
n, the time interval that this timer interrupts is T, the size of T can be adjusted, and is used for adjusting the sensitivity of anti-pinch.
The motor speed S that step (6) arrives current detection
nRespectively with S
N-1/ 2, S
N-2/ 2, S
N-3/ 2, S
N-4/ 2, S
N-5/ 2 compare, if S
nLess than S
N-1/ 2, S
N-2/ 2, S
N-3/ 2, S
N-4/ 2 or S
N-5/ 2, then execution in step (7), wherein S
N-1, S
N-2, S
N-3, S
N-4, S
N-5Be preceding 5 detected motor speeds.
The motor operating current C that step (7) arrives current detection
nWith the detected value C of the first five time
N-1, C
N-2, C
N-3, C
N-4, C
N-5Carry out 5 comparisons, if Cn-C
N-1, Cn-C
N-2, Cn-C
N-3, Cn-C
N-4Or Cn-C
N-5Greater than anti-pinch power threshold value, show that execution in step (9) takes place holding action.
Step (8) judges whether door leaf is plugged, if block, shows that holding action takes place, and execution in step (9), the condition that described door leaf is blocked are the motor speed S that current detection arrives
n≤60 rev/mins.
Step (9) starter motor runs to the setting opening position towards opening the door direction operation, stops motor, execution in step (2).
The advantage that the inventive method had is:
(1) cost is low, and the realization of pinch resistant functionality is on the basis that does not change available circuit or mechanical mechanism, realizes through software function.
(2) according to the kinetic characteristic of door leaf, adopt different anti-pinch algorithms, improve holding action and detect accuracy rate in different anti-pinch zones.
(3) anti-pinch zone and anti-pinch power adjustable size, flexibility is high, and the anti-pinch reaction speed is fast.
Description of drawings
Fig. 1 divides figure for automatic translation door moving region among the present invention.
The specific embodiment
The anti-clamping method practical implementation step that is used for automatic translation door is:
The microprocessor that the realization of this anti-clamping method of step (1) is adopted is the MC9S08AC16 chip of Freescale company, and the CPU running frequency is 32MHz; To the initialization of controller, the initialization object comprises that single-chip microcomputer clock frequency, input/output port, global variable, register, the clock in the controller interrupts; The mounting means of executing agency, described mounting means are meant left side installation or right the installation, because different mounting meanss, when same the opening the door or close the door of execution moved, the direction of rotation of actuating motor was opposite; The initialization of anti-pinch power threshold value, when being used for confirming that holding action takes place, the size of actuating motor torque increase value; And then judge whether holding action takes place, and initialization anti-pinch zone 1 and anti-pinch zone 2, anti-pinch zone 1 is the quick operation area of actuating motor; Anti-pinch zone 2 is actuating motor slow running zones, and this moment, the actuating motor rotating speed was slower, had also limited the torque of motor simultaneously; Even make that actuating motor is plugged, the running current of actuating motor is also less; The automatic translation door moving region is divided as shown in Figure 1.
Step (2) is judged storage actuating motor running status variable R unByte, and whether the 3rd record of this state variable actuating motor carries out the action of closing the door, and this position is 1; The expression actuating motor is in the execution action of closing the door; This position is 0, and the expression actuating motor confirms not in the execution action of closing the door whether actuating motor carries out the action of closing the door; If actuating motor is in the execution action of closing the door, execution in step (3).
Step (3) judges whether controller carries out the action of closing the door; Judge storage translation door information structure variable Machine; This structure variable comprises a current location CurPos, maximum opening position Length, anti-pinch zone PitchPos and door mounting means Magic, and location variable is as the zero position reference point with maximum opening position; The door positional information is confirmed through the umber of pulse that detection is installed in the Hall feedback signal on the actuating motor; Confirm through CurPos relatively and PithcPos size whether door leaf moves and arrive the anti-pinch zone, if CurPos PithchPos, show that to arrive anti-pinch regional, execution in step (4).
Step (4) judges that it still is anti-pinch zone 2 that door leaf is in anti-pinch zone 1; Through CurPos variable and actuating motor are run slowly location variable BrakePos relatively; BrakePos represents the distance of door leaf low cruise, if CurPos>(Length-BrakePos), then door leaf is in anti-pinch zone 1; Execution in step (5); If CurPos=(Length-BrakePos), door leaf is in anti-pinch zone 2, execution in step (8).
Step (5) detects motor speed S in timer interrupts
nWith motor operating current C
n, the time interval that this timer interrupts is T, and the size of T can be adjusted, and is used for adjusting the sensitivity of anti-pinch, and the T value is more little, and the anti-pinch detection sensitivity is high more.
The motor speed S that step (6) arrives current detection
nRespectively with S
N-1/ 2, S
N-2/ 2, S
N-3/ 2, S
N-4/ 2, S
N-5/ 2 compare, if S
nLess than S
N-1/ 2, S
N-2/ 2, S
N-3/ 2, S
N-4/ 2 or S
N-5/ 2, then execution in step (7), wherein S
N-1, S
N-2, S
N-3, S
N-4, S
N-5Be preceding 5 detected motor speeds.
The motor operating current C that step (7) arrives current detection
nWith the detected value C of the first five time
N-1, C
N-2, C
N-3, C
N-4, C
N-5Carry out 5 comparisons, if C
n-C
N-1, C
n-C
N-2, C
n-C
N-3, C
n-C
N-4Or C
n-C
N-5Greater than anti-pinch power threshold value, show that execution in step (9) takes place holding action.
Step (8) judges whether door leaf is plugged, if block, shows that holding action takes place, and execution in step (9), the condition that described door leaf is blocked are the motor speed S that current detection arrives
n≤60 rev/mins.
Step (9) starter motor runs to the setting opening position towards opening the door direction operation, stops motor, execution in step (2).
Claims (1)
1. the anti-clamping method that is used for automatic translation door is characterized in that this method may further comprise the steps:
Step (1) is to the initialization of controller, and the initialization object comprises single-chip microcomputer clock frequency, input/output port, global variable, register, clock interruption, the mounting means of executing agency, anti-pinch power threshold value, the regional setting of first anti-pinch and the setting of second anti-pinch zone in the controller;
Step (2) judges whether controller carries out the action of closing the door, if controller is in the execution action of closing the door, execution in step (3);
Step (3) is judged whether door leaf moves and is arrived first anti-pinch zone or second anti-pinch zone, if arrive execution in step (4);
Step (4) judges that door leaf is in still second anti-pinch zone, first anti-pinch zone, if be in first anti-pinch zone, execution in step (5) is if door leaf is in second anti-pinch zone, execution in step (8);
Step (5) detects motor speed S in timer interrupts
nWith motor operating current C
n, the time interval that this timer interrupts is T, the size of T can be adjusted, and is used for adjusting the sensitivity of anti-pinch;
The motor speed S that step (6) arrives current detection
nRespectively with S
N-1/ 2, S
N-2/ 2, S
N-3/ 2, S
N-4/ 2, S
N-5/ 2 compare, if S
nLess than S
N-1/ 2, S
N-2/ 2, S
N-3/ 2, S
N-4/ 2 or S
N-5/ 2, then execution in step (7), wherein S
N-1, S
N-2, S
N-3, S
N-4, S
N-5Be preceding 5 detected motor speeds;
The motor operating current C that step (7) arrives current detection
nWith the detected value C of the first five time
N-1, C
N-2, C
N-3, C
N-4, C
N-5Carry out 5 comparisons, if Cn-C
N-1, Cn-C
N-2, Cn-C
N-3, Cn-C
N-4Or Cn-C
N-5Greater than anti-pinch power threshold value, show that execution in step (9) takes place holding action;
Step (8) judges whether door leaf is plugged, if block, shows that holding action takes place, and execution in step (9), the condition that described door leaf is blocked are the motor speed S that current detection arrives
n≤60 rev/mins;
Step (9) starter motor runs to the setting opening position towards opening the door direction operation, stops motor, execution in step (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104055527A CN102493729A (en) | 2011-12-08 | 2011-12-08 | Clamping preventing method for automatic translation door |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011104055527A CN102493729A (en) | 2011-12-08 | 2011-12-08 | Clamping preventing method for automatic translation door |
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| Publication Number | Publication Date |
|---|---|
| CN102493729A true CN102493729A (en) | 2012-06-13 |
Family
ID=46185583
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011104055527A Pending CN102493729A (en) | 2011-12-08 | 2011-12-08 | Clamping preventing method for automatic translation door |
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|---|---|
| CN (1) | CN102493729A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103112337A (en) * | 2013-02-27 | 2013-05-22 | 北京经纬恒润科技有限公司 | Anti-pinch state judging method and system and anti-pinch method and system for electric tailgates |
| CN107038776A (en) * | 2017-03-24 | 2017-08-11 | 新疆习美人工智能科技有限公司 | A kind of gate control system and access control method |
| CN108731218A (en) * | 2018-06-01 | 2018-11-02 | 珠海格力电器股份有限公司 | The control method of control system, air conditioner and air conditioner |
| CN114263412A (en) * | 2020-09-16 | 2022-04-01 | 纳博特斯克有限公司 | Door clamp detection device, railway door device, and storage medium |
| CN115247935A (en) * | 2021-12-29 | 2022-10-28 | 苏州英特森科技有限公司 | Intelligent cold storage door anti-clamping system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103112337A (en) * | 2013-02-27 | 2013-05-22 | 北京经纬恒润科技有限公司 | Anti-pinch state judging method and system and anti-pinch method and system for electric tailgates |
| CN103112337B (en) * | 2013-02-27 | 2015-07-15 | 北京经纬恒润科技有限公司 | Anti-pinch state judging method and system and anti-pinch method and system for electric tailgates |
| CN107038776A (en) * | 2017-03-24 | 2017-08-11 | 新疆习美人工智能科技有限公司 | A kind of gate control system and access control method |
| CN108731218A (en) * | 2018-06-01 | 2018-11-02 | 珠海格力电器股份有限公司 | The control method of control system, air conditioner and air conditioner |
| CN114263412A (en) * | 2020-09-16 | 2022-04-01 | 纳博特斯克有限公司 | Door clamp detection device, railway door device, and storage medium |
| CN115247935A (en) * | 2021-12-29 | 2022-10-28 | 苏州英特森科技有限公司 | Intelligent cold storage door anti-clamping system |
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Application publication date: 20120613 |