CN105064869B - The door body magnetic suspension structure and its control method of a kind of door system - Google Patents
The door body magnetic suspension structure and its control method of a kind of door system Download PDFInfo
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- CN105064869B CN105064869B CN201510566622.5A CN201510566622A CN105064869B CN 105064869 B CN105064869 B CN 105064869B CN 201510566622 A CN201510566622 A CN 201510566622A CN 105064869 B CN105064869 B CN 105064869B
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Abstract
The present invention relates to the door body magnetic suspension structure and its control method of a kind of door system, the door body magnetic suspension structure of door system includes doorframe and door body；Door body is I-shaped, and doorframe includes upper end doorframe and lower end doorframe, and upper end doorframe is provided with " trapezoidal " inside groove with lower end doorframe；Electromagnet is set in door body and doorframe.Door body is suspended in doorframe by the electromagnetic force of electromagnet, making a concerted effort of making that it is subject to is the tractive force in its direction of motion.The physical location of door body is detected by door body position sensor, control input adjusts the position of door body, it is ensured that door body even suspension in whole motion process to the size and Orientation of electric current in electromagnet respectively, completes the actual act of whole door system.The door body magnetic suspension structure can well solve the problems, such as frictional dissipation and the dynamic response of door opening and closing system.Contactless magnetic inductive control method, the driving that can effectively solve current door system is complicated, and control is cumbersome, the problems such as with high costs.
Description
Technical field
The invention belongs to door system technical field, a kind of door body magnetic suspension structure for realizing door system and its control are referred specifically to
Method.
Background technology
With the economic development with science and technology, door system develops into multifunction gate system via traditional manually operated door, more next
More door systems are applied to each corner of city.But because it is generally using door body and door frame contact formula structure, door body fortune
Friction is produced during dynamic, the abrasion of door body and doorframe is caused, ear-piercing noise can be also produced, and increase the need to driving force
Ask, dynamic response is poor.Simultaneously generally using the contact control mode of conventional motors dragging, driving structure is complicated, control process
It is cumbersome, whole door system it is with high costs.
Magnetic suspension is enjoyed compared with some the advantages of tradition machinery control system dynamic property is good, mechanical loss is small and is easily achieved
Concern.But so far, real application of the magnetic levitation technology on door system still falls within a blind spot.Most of door system is still
It is so the partial suspended that door body is realized by some mechanical structures, some so-called magnetic suspension door systems, are still to utilize one
A little specific type of electric machines or suspension bearing realize the partial suspended of door system, and cost is high, high to mechanical design requirements, while dimension
Shield is very inconvenient, is still not belonging to magnetic suspension door system truly.
Traditional accelerator control system, still be unable to do without the driving of motor, or even some suspension door systems are needed with some spies
Different complicated machinery drive mechanism, special drive device or specific type of electric machine are cost, although solve traditional door system control
Some problems, but bring increasingly complex actual application problem, and it realizes the so-called control that suspends, can not be fundamentally complete
Portion solve door system some such as be lost, sensitivity, cost performance, safely requirement.
The content of the invention
Goal of the invention：
The present invention discloses the door body magnetic suspension structure and its control method of a kind of door system.The door body suspension structure, can be with
After solving the problems, such as that current door system frictional dissipation and dynamic response during switch motion, door body suspend well, Ke Yitong
The power for crossing very little is controlled to door body motion state.Contactless magnetic inductive control method, can effectively solve current door system
The driving of system is complicated, and control is cumbersome, the problems such as with high costs.
The technical scheme is that：
A kind of door body magnetic suspension structure of door system, including doorframe and door body；It is characterized in that：Door body is I-shaped,
Doorframe includes upper end doorframe and lower end doorframe, and upper end doorframe is provided with " trapezoidal " inside groove with lower end doorframe；In door body and doorframe
Electromagnet is set；Electromagnet is divided into：Vertical magnet, levels electromagnetic iron and balance electromagnet；Vertical magnet is respectively placed at
In door body upper end side-lower and corresponding upper end doorframe open end inner side and door body bottom inside front and and its
Corresponding lower end doorframe open end inner side；Levels electromagnetic iron is placed in the vertical component of door body, symmetrical above and below；Balanced electromagnetic iron
It is respectively placed at the door body upper end left and right sides and the bottom left and right sides, and upper end corresponding with them doorframe and lower end door
The inframe portion left and right sides；The upside at middle part is provided with door body position sensor with the left and right sides in door body upper end；Door body middle part peace
Equipped with ultrasonic distance-measuring sensor；Upper end doorframe top is provided with control unit.
It is placed in electromagnet in door body isometric with door body, is placed in electromagnet on doorframe isometric with doorframe.
Setting magnetic property is good in door body and doorframe and is wound with the electromagnet of good wire.
Control unit includes rectification unit, current regulation unit and master controller, and rectification unit connects electric current regulation respectively
Unit, master controller, door body position sensor and ultrasonic distance-measuring sensor；Door body position sensor and ultrasonic ranging are sensed
Device connects master controller, and master controller connection current regulation unit, current regulation unit connects levels electromagnetic iron, vertical electricity respectively
Magnet and balance electromagnet.
A kind of contactless magnetic inductive control method of door system as described above, it is characterised in that：With levels electromagnetic iron generation
For current door system motor driver；After vertical magnet is powered, door body is subject to electromagnet on upper end doorframe and lower end doorframe
Electromagnetism make a concerted effort to be suspended in upper end doorframe and lower end doorframe with its suffered gravitational equilibrium, door body；Door body position sensor is detected
Door body position signalling, is adjusted by vertical magnet and balance electromagnet opposite house body position, makes the outstanding of door body uniform and stable
In floating on upper end doorframe and lower end doorframe；Stream of people's signal in front of the door is gathered by ultrasonic distance-measuring sensor, and the signal is incoming
To in control unit, control unit controlled level electromagnet internal current size direction makes door body be subject to horizontal cross change
Electromagnetic force, steady suspended motion, realizes the actual act mode of whole door body in upper end doorframe and lower end doorframe.
Advantage and effect：
Present invention employs new door body magnetic suspension structure and its control method, change in traditional door system structure with
Control method, devises the new door body doorframe structure of suitable door system control, with the new contactless magnetic strength based on electromagnet
Answer formula control method.
Make door body even suspension in doorframe to ensure door body frictionless motion, after door body suspension, can be by very little
Electromagnetic force is controlled to door body motion state, door system frictional dissipation and dynamic during switch motion is solved well and is rung
Answer problem.Driven instead of conventional motors using electromagnet simultaneously, realize contactless magnetic inductive control method, can effectively solved
The driving of current door system is complicated, and control is cumbersome, the problems such as with high costs.
Brief description of the drawings：
Fig. 1 is the sectional structure chart of door system door body magnetic suspension structure.
Fig. 2 is door system door body magnetic suspension structure door body three-dimensional structure diagram.
Fig. 3 is door system door body magnetic suspension structure upper end doorframe three-dimensional structure diagram.
Fig. 4 is door system door body magnetic suspension structure overall plan view.
Fig. 5 is control unit structural representation.
Fig. 6 is the main controller circuit figure of control unit.
Fig. 7 is the rectification unit circuit diagram of control unit.
Fig. 8 is the detection module of control unit（That is door body position sensor 7 and ultrasonic distance-measuring sensor 11）Circuit diagram.
Fig. 9 is the current regulation unit circuit diagram of control unit.
Specific embodiment：
Door opening and closing system design philosophy of the invention is：New door body doorframe structure is designed, door body is suspended in doorframe,
Making a concerted effort suffered by door body is the tractive force of the control door body direction of motion, because door body and doorframe do not come in contact formula friction, greatly
The big dynamic response time and required driving force reduced during door body action control, only need to produce traction by changing
The electromagnet inside conductor size of current of power and direction, it is possible to control door body actual motion state.
The present invention will be described in detail below in conjunction with the accompanying drawings.
A kind of door body magnetic suspension structure of door system, as Figure 1-Figure 4, including doorframe and door body；It is characterized in that：Door
Body 4 is I-shaped, and doorframe includes upper end doorframe 1 and lower end doorframe 6, upper end doorframe 1 and lower end doorframe 6 be provided with door body
Adaptable " trapezoidal " inside groove in bottom；Electromagnet is set in door body and doorframe；Electromagnet is divided into：Vertical magnet 2, level electricity
Magnet 3 and balance electromagnet 5；Vertical magnet 2 is respectively placed at side-lower and corresponding upper end door in the upper end of door body 4
The open end of frame 1 inner side and the bottom inside front of door body 4 and the corresponding open end of lower end doorframe 6 inner side；Level electricity
Magnet 3 is placed in the vertical component of door body 4, symmetrical above and below；Balanced electromagnetic iron 5 is respectively placed at the upper end left and right sides of door body 4
With the bottom left and right sides, and upper end corresponding with them doorframe 1 and the inside left and right sides of lower end doorframe 6；In the upper end of door body 4
The upside at middle part is provided with door body position sensor 7 with the left and right sides；The middle part of door body 4 is provided with ultrasonic distance-measuring sensor 11；
The top of upper end doorframe 1 is provided with control unit 12.
As shown in figure 5, control unit 12 includes rectification unit 8, current regulation unit 9 and master controller 10, rectification unit 8
Current regulation unit 9, master controller 10, door body position sensor 7 and ultrasonic distance-measuring sensor 11 are connected respectively；Door body position
Sensor 7 and the connection master controller 10 of ultrasonic distance-measuring sensor 11, the connection current regulation unit 9 of master controller 10, electric current are adjusted
Section unit 9 connects levels electromagnetic iron 3, vertical magnet 2 and balance electromagnet 5 respectively.
The door system is also attached with power supply simultaneously；Power supply is directly connected to the input of control unit 12, control unit 12
Output terminates to electromagnet lead-out wire.The alternating current that be passed through for power supply by rectification unit 8 and current regulation unit 9 in control unit
It is modulated to during the direct current of different directions size each leads into each electromagnet, adjusts the position of door body 4, controls the opening and closing of door body 4,
So that door system can be with normal work.
It is placed in electromagnet in door body isometric with door body, is placed in electromagnet on doorframe isometric with doorframe.So can be with
Ensure that whole door body continues uniform force between stress, and the electromagnet of any two pieces of interactions in motion process, it is to avoid
Door body run-off the straight, even if receiving external force run-off the straight, it is also possible to quickly recover to normal operating conditions.
Door body is with setting magnetic property is good in doorframe and is wound with the electromagnet of good wire.One side conductor resistance is small, magnetic conduction
Performance is good so that loss is small, it is to avoid the waste of energy；On the other hand, generate heat few, reduce the temperature inside doorframe and door body
Degree so that whole system is more stablized.
The contactless magnetic inductive control method of above-mentioned door system, replaces current door system motor to drive with levels electromagnetic iron 3
Dynamic device；After vertical magnet 2 is powered, door body 4 is subject to the electromagnetism of electromagnet on upper end doorframe 1 and lower end doorframe 6 to make a concerted effort and it
Suffered gravitational equilibrium, door body 4 is suspended in upper end doorframe 1 and lower end doorframe 6；The detection door body of door body position sensor 7 position letter
Number, positional information is passed in control unit 12, control unit 12 controls to be passed into vertical magnet 2 and balanced electromagnetic respectively
The size and Orientation of electric current in iron 5, is adjusted by vertical magnet 2 and balance electromagnet 5 to the position of door body 4, makes door body 4
Uniform and stable is suspended in upper end doorframe 1 and lower end doorframe 6；The stream of people in front of the door is gathered by ultrasonic distance-measuring sensor 11 to believe
Number, and the signal is passed in control unit 12, the internal current size direction of 12 controlled level electromagnet of control unit 3 makes
Door body 4 is subject to the electromagnetic force of horizontal cross change, and steady suspended motion, realizes whole door in upper end doorframe 1 and lower end doorframe 6
The actual act mode of body.
As shown in Fig. 6-Fig. 9, Fig. 6, Fig. 7, Fig. 8 and Fig. 9 constitute control unit to the circuit diagram of control unit 12 on the whole
Circuit diagram, because a width figure is failed to lay down, Fig. 6 is split as main controller circuit figure according to module, and Fig. 7 is rectification unit circuit
Figure, Fig. 8 is detection module circuit diagram, and Fig. 9 is current regulation unit circuit diagram.
Wherein, master controller 10 can be main control chip from stm32F103C8, be D/A converter from PCF8591.It is main
Control chip exports digital quantity signal after computing, in D/A converter, D/A converter output analog quantity voltage value.
The function of current regulation unit 9 is that adjustment is input to the electric current that is wound with the electromagnet of good wire and is added in thereon
Voltage.Voltage from D/A converter output is by in-phase proportion amplifying circuit（That is LM741 and resistance R1, R7, R9, R13 composition
Circuit, in addition seven it is same）Amplify, be input to DC/DC conversion modules, voltage is further amplified, be then input into
To rheostat and electromagnet, rheostatic effect is regulation electric current so that connect each branch road electricity on same DC/DC converters
Stream is essentially identical, and another effect is protection circuit, limits electric current.
Solenoid modules in figure in current regulation unit are electromagnet, and L and R above refer to electromagnet the right and left
Each connector lug.Magnetic property is good and is wound with the electromagnet of good wire, could be arranged to 20 pieces, is powered and divides 8 groups.Iron core is length
Cube, all of electromagnet winding mode is the same, and the two pieces of electromagnet placement directions for interacting are consistent, to ensure two phases
The direction of power is correct between the electromagnet of interaction.For example, the vertical electromagnetism on door body upper vertical electromagnet and upper door frame
Iron is the electromagnet of a Thermodynamic parameters, if direction of winding is consistent and placement direction consistent, if electromagnet in door body from
Left side connector lug is powered, and the electromagnet on doorframe is powered from the right connector lug, then they are powered in opposite direction, but their phase
Interreaction force is attracting.
By alternating current 220V, 50Hz AC conversions are 15V, 5V, 3.3V direct current, to electricity to the rectification unit being connected with power supply
Road powers.
Detection module includes door body position sensor 7 and ultrasonic distance-measuring sensor 11, and two HC-SR04 are used for people in front of the door
The ultrasound examination of stream；Three KS103 are used for the detection of door body position.
Operation principle of the present invention is as follows：
（1）Door body magnetic suspension structure is designed：
By the active force of vertical magnet, door body is suspended in doorframe, the electromagnetism that door body is received in vertical direction is closed
Power is equal to self gravitation, it is the tractive force for controlling it to move that door body is made a concerted effort by electromagnetism in the horizontal direction.Door body with
Doorframe installs electromagnet and distance measuring sensor in position as shown in Figure 1, Figure 2, and the electric current in electromagnet is by the power supply electricity of controller
Stream.Under actual state, due to the error of manufacturing process, electromagnet generation electromagnetic force size may have fine error, when this
When error exceeds allowed numerical value, it is necessary to which the reduction error that takes measures reaches allowed scope.
Door body will be arranged on carries out actual test with the vertical magnet generation electromagnetic force size of doorframe top and direction, manages
In the case of thinking, door body is uniformly equidistantly suspended among doorframe.Distance measuring sensor is collected into door body position signalling and setting value
It is compared in the controller, is not adjusted when electromagnetic force error is limited in certain range of tolerable variance；Work as distance（Including door
The distance up and down and left and right distance of body and doorframe）Error has exceeded given tolerance, controller control respectively vertical magnet and
The ferromagnetic power of balanced electromagnetic, adjustment door body position, it is ensured that door body even suspension.
（2）Contactless magnetic inductive control section design：
Direct current after control unit output rectification, is powered to vertical magnet, and door body is suspended in doorframe.Door body is subject to
Make a concerted effort for control door body actual act tractive force, by changing electric current in a pair of levels electromagnetic iron in door body direction of action
Size and direction, control the actual loading effect of door body, realize actual act effect of the door body in doorframe.
Source current is drawn by rectification unit and is connected to master controller and current regulation unit, passed using ultrasonic ranging
Sensor, gathers stream of people's signal in front of the door, is sent in master controller.Ultrasonic distance-measuring sensor every in the very little time in front of the door
Distance of obstacle is gathered once, and the range difference that will be measured twice carries out computing, the average speed size of acquired disturbance movement and direction,
When twice, measured distance reduces, and judges that people will enter, and performs enabling；When measured distance is constant or increase, the parallel door fortune of people is judged
Move or gone from Men Yuan, without opening the door.
After master controller receives the position signalling that ultrasonic distance-measuring sensor sends, control rectification unit and electric current are adjusted
The electric current in the correspondingly sized and direction of unit output, is passed into levels electromagnetic iron, and levels electromagnetic iron obtains different size and direction
Electric current can reach the purpose that control door body is opened and closed with friction speed.
In motion process, door body may be because of some reasons, and the tractive force of the levels electromagnetic iron being such as subject to slightly has mistake
Difference, External force interference etc., cause door body position deviation, if deviation is excessive may to cause door system cisco unity malfunction, so,
Distance measuring sensor is laid in door body to detect door body position.And by position signalling input controller, controller receives position
After signal, logical operation is carried out, by current control in each electromagnet, adjusting door body physical location, it is ensured that door body is whole
Even suspension during individual.
By control unit output current, vertical magnet obtains electric, door body is suspended in doorframe.Detection door body position is
No suitable, control unit is judged, and makes corresponding adjustment.Stream of people's detection module obtains stream of people's signal in front of the door, input in front of the door
To control unit, master controller judge the stream of people be into or leave, control door body is opened or closed.In whole process, door
If body is subject to external force or self reason to deviate, door body position detecting module collects door body position signalling, is input to control
Unit, control unit is adjusted in real time.
Door body magnetic suspension structure of the invention can well solve the frictional dissipation of door opening and closing system and dynamic response is asked
Topic.Its contactless magnetic inductive control method, the driving that can effectively solve current door system is complicated, controls cumbersome, high cost
High the problems such as.
Claims (5)
1. the door body magnetic suspension structure of a kind of door system, including doorframe and door body；It is characterized in that：Door body（4）It is I-shaped,
Doorframe includes upper end doorframe（1）With lower end doorframe（6）, upper end doorframe（1）With lower end doorframe（6）It is provided with " trapezoidal " inside groove；
Electromagnet is set in door body and doorframe；Electromagnet is divided into：Vertical magnet（2）, levels electromagnetic iron（3）With balance electromagnet（5）；
Vertical magnet（2）It is respectively placed at door body（4）Side-lower and corresponding upper end doorframe in upper end（1）In open end
Side and door body（4）Bottom inside front and corresponding lower end doorframe（6）Open end inner side；Levels electromagnetic iron（3）Peace
It is placed on door body（4）Vertical component, it is symmetrical above and below；Balanced electromagnetic iron（5）It is respectively placed at door body（4）The upper end left and right sides and
The bottom left and right sides, and upper end corresponding with them doorframe（1）With lower end doorframe（6）The internal left and right sides；Door body（4）On
The upside at middle part is provided with door body position sensor with the left and right sides in end（7）；Door body（4）Middle part is provided with ultrasonic ranging biography
Sensor（11）；Upper end doorframe（1）Top is provided with control unit（12）.
2. the door body magnetic suspension structure of door system according to claim 1, it is characterised in that：It is placed in electromagnet in door body equal
It is isometric with door body, it is placed in electromagnet on doorframe isometric with doorframe.
3. the door body magnetic suspension structure of door system according to claim 1, it is characterised in that：Set in door body with doorframe and led
Magnetic property is good and is wound with the electromagnet of good wire.
4. the door body magnetic suspension structure of door system according to claim 1, it is characterised in that：Control unit（12）Including rectification
Unit（8）, current regulation unit（9）And master controller（10）, rectification unit（8）Current regulation unit is connected respectively（9）, master control
Device processed（10）, door body position sensor（7）And ultrasonic distance-measuring sensor（11）；Door body position sensor（7）And ultrasound
Away from sensor（11）Connection master controller（10）, master controller（10）Connection current regulation unit（9）, current regulation unit（9）
Levels electromagnetic iron is connected respectively（3）, vertical magnet（2）With balance electromagnet（5）.
5. a kind of contactless magnetic inductive control method of the door body magnetic suspension structure of door system as claimed in claim 1, it is special
Levy and be：Use levels electromagnetic iron（3）Instead of current door system motor driver；Vertical magnet（2）After energization, door body（4）
By upper end doorframe（1）With lower end doorframe（6）The electromagnetism of upper electromagnet is made a concerted effort and its suffered gravitational equilibrium, door body（4）It is suspended in
Upper end doorframe（1）With lower end doorframe（6）In；Door body position sensor（7）Detection door body position signalling, by vertical magnet
（2）With balance electromagnet（5）To door body（4）Position is adjusted, and makes door body（4）Uniform and stable is suspended in upper end doorframe（1）
With lower end doorframe（6）In；By ultrasonic distance-measuring sensor（11）Stream of people's signal in front of the door is gathered, and the signal is passed to control
Unit（12）In, control unit（12）Controlled level electromagnet（3）Internal current size direction, makes door body（4）It is horizontal by level
To the electromagnetic force of change, in upper end doorframe（1）With lower end doorframe（6）In steady suspended motion, realize that the reality of whole door body is moved
Make mode.
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| CN201510566622.5A CN105064869B (en) | 2015-09-08 | 2015-09-08 | The door body magnetic suspension structure and its control method of a kind of door system |
Applications Claiming Priority (1)
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| CN201510566622.5A CN105064869B (en) | 2015-09-08 | 2015-09-08 | The door body magnetic suspension structure and its control method of a kind of door system |
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| CN105064869A CN105064869A (en) | 2015-11-18 |
| CN105064869B true CN105064869B (en) | 2017-06-06 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105696914B (en) * | 2016-01-31 | 2017-12-29 | 云南自然空间门窗有限公司 | A kind of magnetic suspension complex-aperture with air-cleaning function |
| CN107168162B (en) | 2017-05-25 | 2021-10-08 | 北京东软医疗设备有限公司 | Control device |
| CN109184442B (en) * | 2017-07-07 | 2020-05-05 | 王九洲 | Magnetic suspension door and window control system |
| CN110754906A (en) * | 2018-07-27 | 2020-02-07 | 深圳博科智能科技有限公司 | Curtain control method and intelligent curtain |
| CN109236124B (en) * | 2018-08-24 | 2020-12-04 | 大英县青少年学生校外活动中心 | Suspension non-resistance door and window |
| CN209687246U (en) * | 2018-10-16 | 2019-11-26 | 清远市首一建筑新材料有限公司 | A kind of magnetic suspension push-and-pull side pressure door and window |
| CN110821326A (en) * | 2019-10-16 | 2020-02-21 | 宁波腾宇金属制品有限公司 | Non-contact magnetic swing stopping device of sliding door |
| CN111794626A (en) * | 2020-06-08 | 2020-10-20 | 吉利汽车研究院（宁波）有限公司 | Vehicle window glass lifting system and control method thereof and automobile door |
| CN111766906B (en) * | 2020-06-30 | 2022-06-03 | 深圳创维－Rgb电子有限公司 | Intelligent dressing table system and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102005035669B4 (en) * | 2005-07-29 | 2007-12-06 | Siemens Ag | Surface element with a plurality of basic elements |
| US8429929B2 (en) * | 2009-08-24 | 2013-04-30 | Cold Chain, Llc | Flexible door panel cold storage door system |
| CN101875173A (en) * | 2010-05-21 | 2010-11-03 | 沈阳工业大学 | Gantry type milling and boring machine adopting electromagnet and permanent magnet mixed magnetic pole suspending and control method thereof |
| CN201843458U (en) * | 2010-09-29 | 2011-05-25 | 乔登卫浴(江门)有限公司 | Magnetic suspension movable door |
| CN103485673B (en) * | 2013-09-23 | 2016-02-10 | 深圳市华力特电气股份有限公司 | A kind of metro non-contact type shield door unit and system |
| CN204609601U (en) * | 2015-03-10 | 2015-09-02 | 中北大学 | Magnetic suspension self-powered vertical hinged automatic door |
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