CN110344706A - A kind of self-adaptation control method and adaptive control system for sliding door - Google Patents
A kind of self-adaptation control method and adaptive control system for sliding door Download PDFInfo
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- CN110344706A CN110344706A CN201810879216.8A CN201810879216A CN110344706A CN 110344706 A CN110344706 A CN 110344706A CN 201810879216 A CN201810879216 A CN 201810879216A CN 110344706 A CN110344706 A CN 110344706A
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- door
- door body
- doorframe
- weight
- displacement
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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
- E05F15/60—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
-
- E—FIXED CONSTRUCTIONS
- E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
- E06B—FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES
- E06B7/00—Special arrangements or measures in connection with doors or windows
- E06B7/28—Other arrangements on doors or windows, e.g. door-plates, windows adapted to carry plants, hooks for window cleaners
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Power-Operated Mechanisms For Wings (AREA)
Abstract
The present invention relates to a kind of self-adaptation control methods and adaptive control system for sliding door, it is capable of the door weight and doorframe width of automatic identification difference door body, then according to recognition result, self adaptive control is carried out to the movement of door body, thus without measurement doorframe width and Men Chong in advance, experience and quality to installation personnel also do not require excessively, even if doorframe width and door weight parameter change can automatic identification, without readjust.
Description
Technical field
The present invention relates to sliding door field, in particular to a kind of self-adaptation control method for sliding door and self-adaptive controlled
System processed.
Background technique
Automatically-controlled door refers under the control action of controller, can be automatically realized the opening and closing of door.It opens the door every time
Or at closing time, in order to guarantee even running, door body is subjected to acceleration, at the uniform velocity with three processes of slowing down, and this requires controllers
It must accomplish: 1, apply driving force appropriate on the door, door is enable to become motion state from stationary state, the energy in motion state
It is enough to carry out acceleration and retarded motion as needed, and the size of control force and the weight of door have direct relation, when door is heavier, need
The driving force to be applied is correspondingly larger, on the contrary then small；2, door body accelerates section, the fortune of uniform motion section and retarded motion section
Row length needs are determined according to the developed width and the speed of service of door, for door body of different size, each motor segment
Running length is not also identical.It can be seen that gate-width and door weight have a direct impact the motion control of door body, and currently on the market
Door machine controller be typically all that preparatory manual measurement goes out gate-width and Men Chong, the measured value is then input to control system, with
Just motion control is carried out to door body, this mode of operation is high to the experience and competency profiling of installation personnel, needs professional
With practical operation experience, and when gate-width and door recurrence change, it is necessary to readjust, can not accomplish to adapt to gate-width automatically
With the variation of door weight.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, improve for the prior art, provide one kind and are used for
The self-adaptation control method and adaptive control system of sliding door can adapt to the variation of door body parameter automatically.
In order to solve the above technical problems, technical solution provided by the invention is as follows:
A kind of self-adaptation control method for sliding door, comprising the following steps:
S101: doorframe width is measured when system electrification；
S102: the accelerated motion of door body movement is determined according to the doorframe width, Men Chong, the scheduled speed of service of the measurement
Section, uniform motion section, retarded motion section；
S103: door body movement is controlled according to the determining accelerated motion section, uniform motion section, retarded motion section
System.
It when controlling sliding door, needs first to measure the width of doorframe, with Yishanmen it is possible that successively
It is mounted in different doorframes, and in different applications, doorframe width is different, therefore the measurement for doorframe width
It requires to carry out one-shot measurement in each system electrification.After measurement obtains doorframe width, so that it may according to doorframe width and
Men Chong, and the speed of service of setting, determine the motion model of a door body, since during switch gate, door body is usual
Can undergo acceleration, at the uniform velocity with deceleration three phases, therefore door body motion model mainly be exactly determine door body movement accelerated motion
Next section, uniform motion section and retarded motion section are exactly to control the movement of door body, make after motion model determines
It is according to identified motion model, within scheduled time and displacement range, carry out it is corresponding accelerate, at the uniform velocity with slow down transport
It is dynamic.
Further, the measurement doorframe width the following steps are included:
S201: so that door is moved to doorframe a side position, and displacement at this time is denoted as zero；
It width of frame to measure on the door, first have to a side position for allowing door to be moved to doorframe, thus, it is preferable that
When powering on, door body low speed is first made to open the door, then judge whether the door body opened the door encounters doorframe side, if not encountering frame side
Side then makes door body continue low speed mobile, and continues to test and whether encounter doorframe side, once door body encounters doorframe side,
0 then is set by displacement at this time, and in this, as the starting point of measurement.
S202: door is mobile towards doorframe other side side position, and displacement on the door measures；
After completing above-mentioned steps, then low speed is closed the door, make it is mobile towards doorframe other side side position, at the same time, on the door
Displacement carries out real-time measurement, and judges whether door body encounters another side edge door frame.
S203: judging whether door encounters another lateral location, if door does not encounter another lateral location, makes a continuation
It is mobile；If door encounters another lateral location, make a stopping movement, the displacement of door at this time is equal to doorframe width.
In order to guarantee the accuracy of measurement result, it can use above-mentioned doorframe method for measuring width and take multiple measurements,
Then the average value repeatedly measured is sought, and using the average value as the doorframe width parameter value finally measured.
Further, the door weight is by measuring and storing when installation door body system electrification for the first time.
Door is also one of the important parameter for influencing door body movement again, and driving force required for the not door body of fellow disciple's weight is driven to be
It is different, therefore door body is being installed for the first time, when system electrification, it is also necessary to while measuring again on the door, then by the Men Chongcan
Number stores, the important basis as subsequent output driving power.
Further, the door is focused on when door body is installed rear system electrification and is selectively measured according to instruction.
For Yishanmen body, no matter which type of doorframe be mounted on, the weight of door body itself will not all become,
Therefore door weight does not need to carry out double measurement under normal conditions other than it must measure when installing door body for the first time, still,
After door body is installed, it also can according to need and instruct, selectively carry out double measurement.
Further, the door includes static gates weight and dynamic gate weight again, and the static gates include enabling static gates weight again
With shutdown static gates weight.
Men Chong is divided into static gates weight and dynamic gate weight, so-called static gates weight refer to what door body was subject to during switch gate
From the change in friction force of track, and dynamic gate refers to the quality of door body itself again, to realize the good control to door body, must
Static gates weight and dynamic gate weight must be measured respectively.For door body during enabling and shutdown, suffered frictional force size may
It is different, therefore in order to realize finer control, and static gates is divided into enabling static gates weight and shutdown static gates again
Weight, and measured respectively.
Further, enabling static gates weight measurement the following steps are included:
S601: whether detection door body there is enabling to move and detect whether door body moves to enabling terminal；
Since enabling static gates refer to change in friction force suffered in door opening process again, it is therefore desirable to detect first and true
Recognize when whether front door body is in enabling motion state, during door body low-speed motion, it is also desirable to which whether synchronous detection door body
Reach the final position of enabling.
S602: moving and when detecting that door body does not move to terminal when detecting that door body is not opened the door, increase control force,
And return to S601；When detecting that there is door body enabling to move and detect that door body does not move to terminal, reduce control force, and
Return to S601；
This step is primarily to guarantee that door body is in the state of low-speed motion always, when door body does not move, gradually
Increase control force, moves door body, and when detecting that door body is in motion state, and need gradually smaller control
Power, make door body be unlikely to move it is too fast.
S603: when detecting that door body has been moved to enabling terminal, control force is flat in calculating door body enabling motion process
Mean value, to obtain enabling static gates weight.
If door body does not reach enabling final position, repeatedly above step, continue to keep low-speed motion, and one
Denier has had arrived at enabling final position, then the average value of control force applied in the low-speed motion process is calculated, due to door
Body is in the motion state of low speed always, and therefore, the average value of control force can be approximately equal to door body in low speed door opening process
Average friction force, the average friction force are exactly the static gates weight that opens the door.
Further, shutdown static gates weight measurement the following steps are included:
S701: whether detection door body there is shutdown to move；
Since shutdown static gates refer to change in friction force suffered in door closing procedure again, it is therefore desirable to detect first and true
Recognize when whether front door body is in shutdown motion state.During door body low-speed motion, it is also desirable to which whether synchronous detection door body
Reach the final position of shutdown.
S702: moving and when detecting that door body does not move to terminal when detecting that door body is not closed the door, increase control force,
And return to S701；When detecting that there is door body shutdown to move and detect that door body does not move to terminal, reduce control force, and
Return to S701；
This step is primarily to guarantee that door body is in the state of low-speed motion always, when door body does not move, gradually
Increase control force, moves door body, and when detecting that door body is in motion state, and need gradually smaller control
Power, make door body be unlikely to move it is too fast.
S703: when detecting that door body has been moved to shutdown terminal, control force is flat in calculating door body shutdown motion process
Mean value, to obtain enabling static gates weight.
If door body does not reach shutdown final position, repeatedly above step, continue to keep low-speed motion, and one
Denier has had arrived at shutdown final position, then the average value of control force applied in the low-speed motion process is calculated, due to door
Body is in the motion state of low speed always, and therefore, the average value of control force can be approximately equal to door body in low speed door closing procedure
Average friction force, the average friction force are exactly static gates weight of closing the door.
Further, dynamic gate weight measurement the following steps are included:
S801: apply a constant driving force F on the basis of overcoming the driving force of static gates weight, then to door, make door
It moves；
S802: displacement L on the door is measured；
S803: time t needed for record completes displacement L；
S804: mass M=F*t of door is calculated2/(2*L)。
Driving force F is comprehensive result after having fully considered the influence of static gates weight and having eliminated the influence.In order to protect
The accurate of result is demonstrate,proved, can take multiple measurements and then be averaged.
Further, described that door body is moved according to the determining accelerated motion section, uniform motion section, retarded motion section
Carrying out control includes the control to door body driving force size in different motion section.
For the control of door body movement, key is that driving force is of different sizes to the control of door body driving force size, energy
Control door body is at acceleration, at the uniform velocity and the decelerating phase.
A kind of adaptive control system for sliding door, comprising:
Doorframe width measurement module, for measuring doorframe width in system electrification；
When controlling sliding door, need first to measure the width of doorframe, which is by doorframe width
Measurement module is realized.With Yishanmen it is possible that being successively mounted in different doorframes, and in different applications, doorframe
Width is different, therefore the measurement of doorframe width is required to carry out one-shot measurement in each system electrification.
Computing module determines door body movement for the doorframe width, Men Chong, the scheduled speed of service according to the measurement
Accelerate section, uniform motion section, retarded motion section；
After measurement obtains doorframe width, so that it may according to doorframe width and Men Chong, and the speed of service of setting, and lead to
The calculating for crossing computing module obtains the motion model of a door body, adds since during switch gate, door body would generally be undergone
Speed, at the uniform velocity with deceleration three phases, therefore door body motion model mainly be exactly determine door body movement accelerated motion section, at the uniform velocity transport
Dynamic section and retarded motion section.
Motion-control module, for according to the determining accelerated motion section, uniform motion section, retarded motion section to door body
Movement is controlled.
After motion model determines, next it is exactly to be controlled by motion-control module the movement of door body, makes it
According to identified motion model, within scheduled time and displacement range, corresponding accelerate, at the uniform velocity and retarded motion is carried out.
Further, the doorframe width measurement module includes:
Initialization module, for being zero by displacement record at this time when door is moved to doorframe a side position；
It width of frame to measure on the door, first have to a side position for allowing door to be moved to doorframe, thus, it is preferable that
When powering on, door body low speed is first made to open the door, then judge whether the door body opened the door encounters doorframe side, if not encountering frame side
Side then makes door body continue low speed mobile, and continues to test and whether encounter doorframe side, once door body encounters doorframe side,
0 then is set by displacement at this time, and in this, as the starting point of measurement.
Displacement measurement module, for when door is mobile towards doorframe other side side position, displacement on the door to be measured；
After measurement starting point has been determined by initialization module, then low speed is closed the door, and makes to move towards doorframe other side side position
Dynamic, at the same time, displacement on the door carries out real-time measurement, and judges whether door body encounters another side edge door frame.
Doorframe width determining module, for judging whether door encounters another lateral location, if door does not encounter the other side
Side position, then door continues to move to；If door encounters another lateral location, door stops movement, and the displacement of door at this time is equal to doorframe
Width.
In order to guarantee the accuracy of measurement result, it can use above-mentioned doorframe method for measuring width and take multiple measurements,
Then the average value repeatedly measured is sought, and using the average value as the doorframe width parameter value finally measured.
It further, further include a remeasurement module, for pacifying in installation door body system electrification for the first time or in door body
It selectively measures and stores again on the door according to instruction when system electrification after the completion of dress.
Door is also one of the important parameter for influencing door body movement again, and driving force required for the not door body of fellow disciple's weight is driven to be
It is different, therefore door body is being installed for the first time, when system electrification again, it is necessary to measure on the door, then by door weight parameter storage
Get up, the important basis as subsequent output driving power.
For Yishanmen body, no matter which type of doorframe be mounted on, the weight of door body itself will not all become,
Therefore door weight does not need to carry out double measurement under normal conditions other than it must measure when installing door body for the first time, still,
After door body is installed, it also can according to need and instruct, selectively carry out double measurement.
It is completed when the measurement of door weight by door remeasurement module.
Further, the door remeasurement module includes:
Displacement measurement module, for applying a constant driving force F to door, displacement L when keeping a generation mobile on the door
It measures；
Time recording module is recorded for time t needed for the displacement L occurs on the door；
Door re-computation module, for calculating door weight according to the driving force F, the displacement L, the time t.
Driving force F is comprehensive result after having fully considered the influence of static gates weight and having eliminated the influence.In order to protect
The accurate of result is demonstrate,proved, can take multiple measurements and then be averaged.
Further, institute's displacement measurement module is linear hall sensor.
Selecting linear hall sensor is to have the advantages that installation is simple, measurement accuracy is high, lower deployment cost is low etc. because of it.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to the structure shown in these attached drawings.
Fig. 1 is the flow chart of the self-adaptation control method for sliding door；
Fig. 2 is the flow chart for measuring doorframe width；
Fig. 3 is the flow chart of static gates remeasurement；
Fig. 4 is the flow chart of dynamic gate remeasurement；
Fig. 5 is the frame diagram of the adaptive control system for sliding door；
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that the directional instruction of institute in the embodiment of the present invention (such as up, down, left, right, before and after, it is outer,
It is interior ...) it is only used for the relative positional relationship explained under a certain particular pose (as shown in the picture) between each component, movement feelings
Condition etc., if the particular pose changes, directionality instruction is also correspondingly changed correspondingly.
A kind of self-adaptation control method for sliding door, as shown in Figure 1, comprising the following steps:
S101: doorframe width is measured when system electrification；
S102: according to the doorframe width, Men Chong, the scheduled speed of service of measurement determine door body movement accelerated motion section,
Uniform motion section, retarded motion section；
S103: door body movement is controlled according to determining accelerated motion section, uniform motion section, retarded motion section.
It when controlling sliding door, needs first to measure the width of doorframe, with Yishanmen it is possible that successively
It is mounted in different doorframes, and in different applications, doorframe width is different, therefore the measurement for doorframe width
It requires to carry out one-shot measurement in each system electrification.After measurement obtains doorframe width, so that it may according to doorframe width and
Men Chong, and the speed of service of setting, determine the motion model of a door body, since during switch gate, door body is usual
Can undergo acceleration, at the uniform velocity with deceleration three phases, therefore door body motion model mainly be exactly determine door body movement accelerated motion
Next section, uniform motion section and retarded motion section are exactly to control the movement of door body, make after motion model determines
It is according to identified motion model, within scheduled time and displacement range, carry out it is corresponding accelerate, at the uniform velocity with slow down transport
It is dynamic.
Further, as shown in Fig. 2, measurement doorframe width the following steps are included:
S201: so that door is moved to doorframe a side position, and displacement at this time is denoted as zero；
It width of frame to measure on the door, first have to a side position for allowing door to be moved to doorframe, thus, it is preferable that
When powering on, door body low speed is first made to open the door, then judge whether the door body opened the door encounters doorframe side, if not encountering frame side
Side then makes door body continue low speed mobile, and continues to test and whether encounter doorframe side, once door body encounters doorframe side,
0 then is set by displacement at this time, and in this, as the starting point of measurement.
S202: door is mobile towards doorframe other side side position, and displacement on the door measures；
After completing above-mentioned steps, then low speed is closed the door, make it is mobile towards doorframe other side side position, at the same time, on the door
Displacement carries out real-time measurement, and judges whether door body encounters another side edge door frame.
S203: judging whether door encounters another lateral location, if door does not encounter another lateral location, makes a continuation
It is mobile；If door encounters another lateral location, make a stopping movement, the displacement of door at this time is equal to doorframe width.
In order to guarantee the accuracy of measurement result, it can use above-mentioned doorframe method for measuring width and take multiple measurements,
Then the average value repeatedly measured is sought, and using the average value as the doorframe width parameter value finally measured.
Further, door weight is by measuring and storing when installation door body system electrification for the first time.
Door is also one of the important parameter for influencing door body movement again, and driving force required for the not door body of fellow disciple's weight is driven to be
It is different, therefore door body is being installed for the first time, when system electrification, it is also necessary to while measuring again on the door, then by the Men Chongcan
Number stores, the important basis as subsequent output driving power.
Further, door is focused on when door body is installed rear system electrification and is selectively measured according to instruction.
For Yishanmen body, no matter which type of doorframe be mounted on, the weight of door body itself will not all become,
Therefore door weight does not need to carry out double measurement under normal conditions other than it must measure when installing door body for the first time, still,
After door body is installed, it also can according to need and instruct, selectively carry out double measurement.
Further, door includes static gates weight and dynamic gate weight again, and static gates include enabling static gates weight and close the door quiet again
State door weight.
Men Chong is divided into static gates weight and dynamic gate weight, so-called static gates weight refer to what door body was subject to during switch gate
From the change in friction force of track, and dynamic gate refers to the quality of door body itself again, to realize the good control to door body, must
Static gates weight and dynamic gate weight must be measured respectively.For door body during enabling and shutdown, suffered frictional force size may
It is different, therefore in order to realize finer control, and static gates is divided into enabling static gates weight and shutdown static gates again
Weight, and measured respectively.
Further, as shown in figure 3, enabling static gates weight measurement the following steps are included:
S601: whether detection door body there is enabling to move；
Since enabling static gates refer to change in friction force suffered in door opening process again, it is therefore desirable to detect first and true
Recognize when whether front door body is in enabling motion state.During door body low-speed motion, it is also desirable to which whether synchronous detection door body
Reach the final position of enabling.
S602: moving and when detecting that door body does not move to terminal when detecting that door body is not opened the door, increase control force,
And return to S601；When detecting that there is door body enabling to move and detect that door body does not move to terminal, reduce control force, and
Return to S601；
This step is primarily to guarantee that door body is in the state of low-speed motion always, when door body does not move, gradually
Increase control force, moves door body, and when detecting that door body is in motion state, and need gradually smaller control
Power, make door body be unlikely to move it is too fast.
S603: when detecting that door body has been moved to enabling terminal, control force is flat in calculating door body enabling motion process
Mean value, to obtain enabling static gates weight.
If door body does not reach enabling final position, repeatedly above step, continue to keep low-speed motion, and one
Denier has had arrived at enabling final position, then the average value of control force applied in the low-speed motion process is calculated, due to door
Body is in the motion state of low speed always, and therefore, the average value of control force can be approximately equal to door body in low speed door opening process
Average friction force, the average friction force are exactly the static gates weight that opens the door.
Further, as shown in figure 3, shutdown static gates weight measurement the following steps are included:
S701: whether detection door body there is shutdown to move；
Since shutdown static gates refer to change in friction force suffered in door closing procedure again, it is therefore desirable to detect first and true
Recognize when whether front door body is in shutdown motion state.During door body low-speed motion, it is also desirable to which whether synchronous detection door body
Reach the final position of shutdown.
S702: moving and when detecting that door body does not move to terminal when detecting that door body is not closed the door, increase control force,
And return to S701；When detecting that there is door body shutdown to move and detect that door body does not move to terminal, reduce control force, and
Return to S701；
This step is primarily to guarantee that door body is in the state of low-speed motion always, when door body does not move, gradually
Increase control force, moves door body, and when detecting that door body is in motion state, and need gradually smaller control
Power, make door body be unlikely to move it is too fast.
S703: when detecting that door body has been moved to shutdown terminal, control force is flat in calculating door body shutdown motion process
Mean value, to obtain enabling static gates weight.
If door body does not reach shutdown final position, repeatedly above step, continue to keep low-speed motion, and one
Denier has had arrived at shutdown final position, then the average value of control force applied in the low-speed motion process is calculated, due to door
Body is in the motion state of low speed always, and therefore, the average value of control force can be approximately equal to door body in low speed door closing procedure
Average friction force, the average friction force are exactly static gates weight of closing the door.
Further, as shown in figure 4, dynamic gate weight measurement the following steps are included:
S801: apply a constant driving force F on the basis of overcoming the driving force of static gates weight, then to door, make door
It moves；
S802: displacement L on the door is measured；
S803: time t needed for record completes displacement L；
S804: mass M=F*t of door is calculated2/(2*L)。
Driving force F is comprehensive result after having fully considered the influence of static gates weight and having eliminated the influence.In order to protect
The accurate of result is demonstrate,proved, can take multiple measurements and then be averaged.
Further, door body movement is controlled according to determining accelerated motion section, uniform motion section, retarded motion section
Including the control to door body driving force size in different motion section.
For the control of door body movement, key is that driving force is of different sizes to the control of door body driving force size, energy
Control door body is at acceleration, at the uniform velocity and the decelerating phase.
A kind of adaptive control system for sliding door, as shown in Figure 5, comprising:
Doorframe width measurement module, for measuring doorframe width in system electrification；
When controlling sliding door, need first to measure the width of doorframe, which is by doorframe width
Measurement module is realized.With Yishanmen it is possible that being successively mounted in different doorframes, and in different applications, doorframe
Width is different, therefore the measurement of doorframe width is required to carry out one-shot measurement in each system electrification.
Computing module determines the acceleration of door body movement for the doorframe width, Men Chong, the scheduled speed of service according to measurement
Motor segment, uniform motion section, retarded motion section；
After measurement obtains doorframe width, so that it may according to doorframe width and Men Chong, and the speed of service of setting, and lead to
The calculating for crossing computing module obtains the motion model of a door body, adds since during switch gate, door body would generally be undergone
Speed, at the uniform velocity with deceleration three phases, therefore door body motion model mainly be exactly determine door body movement accelerated motion section, at the uniform velocity transport
Dynamic section and retarded motion section.
Motion-control module, for being moved according to determining accelerated motion section, uniform motion section, retarded motion section to door body
It is controlled.
After motion model determines, next it is exactly to be controlled by motion-control module the movement of door body, makes it
According to identified motion model, within scheduled time and displacement range, corresponding accelerate, at the uniform velocity and retarded motion is carried out.
Further, as shown in figure 5, doorframe width measurement module includes:
Initialization module, for being zero by displacement record at this time when door is moved to doorframe a side position；
It width of frame to measure on the door, first have to a side position for allowing door to be moved to doorframe, thus, it is preferable that
When powering on, door body low speed is first made to open the door, then judge whether the door body opened the door encounters doorframe side, if not encountering frame side
Side then makes door body continue low speed mobile, and continues to test and whether encounter doorframe side, once door body encounters doorframe side,
0 then is set by displacement at this time, and in this, as the starting point of measurement.
Displacement measurement module, for when door is mobile towards doorframe other side side position, displacement on the door to be measured；
After measurement starting point has been determined by initialization module, then low speed is closed the door, and makes to move towards doorframe other side side position
Dynamic, at the same time, displacement on the door carries out real-time measurement, and judges whether door body encounters another side edge door frame.
Doorframe width determining module, for judging whether door encounters another lateral location, if door does not encounter the other side
Side position, then door continues to move to；If door encounters another lateral location, door stops movement, and the displacement of door at this time is equal to doorframe
Width.
In order to guarantee the accuracy of measurement result, it can use above-mentioned doorframe method for measuring width and take multiple measurements,
Then the average value repeatedly measured is sought, and using the average value as the doorframe width parameter value finally measured.
It further, further include a remeasurement module, for pacifying in installation door body system electrification for the first time or in door body
It selectively measures and stores again on the door according to instruction when system electrification after the completion of dress.
Door is also one of the important parameter for influencing door body movement again, and driving force required for the not door body of fellow disciple's weight is driven to be
It is different, therefore door body is being installed for the first time, when system electrification again, it is necessary to measure on the door, then by door weight parameter storage
Get up, the important basis as subsequent output driving power.
For Yishanmen body, no matter which type of doorframe be mounted on, the weight of door body itself will not all become,
Therefore door weight does not need to carry out double measurement under normal conditions other than it must measure when installing door body for the first time, still,
After door body is installed, it also can according to need and instruct, selectively carry out double measurement.
It is completed when the measurement of door weight by door remeasurement module.
Further, as shown in figure 5, door remeasurement module includes:
Displacement measurement module, for applying a constant driving force F to door, displacement L when keeping a generation mobile on the door
It measures；
Time recording module is recorded for time t needed for being subjected to displacement L on the door；
Door re-computation module, for calculating door weight according to driving force F, displacement L, time t.
Driving force F is comprehensive result after having fully considered the influence of static gates weight and having eliminated the influence.In order to protect
The accurate of result is demonstrate,proved, can take multiple measurements and then be averaged.
Further, displacement measurement module is linear hall sensor.
Selecting linear hall sensor is to have the advantages that installation is simple, measurement accuracy is high, lower deployment cost is low etc. because of it.
Although hereinbefore by reference to some embodiments, invention has been described, of the invention not departing from
In the case where range, various improvement can be carried out to it and can replace component therein with equivalent.Especially, as long as not
There are structural conflict, the various features in presently disclosed each embodiment can be combined with each other by any way
The case where using, not combining in the present specification to these carries out the description of exhaustive merely for the sake of omission length and saves money
The considerations of source.Therefore, the invention is not limited to specific embodiments disclosed herein, but including falling into the scope of the claims
Interior all technical solutions.
Claims (14)
1. a kind of self-adaptation control method for sliding door, which comprises the following steps:
S101: doorframe width is measured when system electrification；
S102: according to the doorframe width, Men Chong, the scheduled speed of service of the measurement determine door body movement accelerated motion section,
Uniform motion section, retarded motion section；
S103: door body movement is controlled according to the determining accelerated motion section, uniform motion section, retarded motion section.
2. being used for the self-adaptation control method of sliding door as described in claim 1, it is characterised in that:
The measurement doorframe width the following steps are included:
S201: so that door is moved to doorframe a side position, and displacement at this time is denoted as zero；
S202: door is mobile towards doorframe other side side position, and displacement on the door measures；
S203: judging whether door encounters another lateral location, if door does not encounter another lateral location, makes to continue to move
It is dynamic；If door encounters another lateral location, make a stopping movement, the displacement of door at this time is equal to gate-width.
3. being used for the self-adaptation control method of sliding door as described in claim 1, it is characterised in that: the door weight by pacifying for the first time
It measures and stores when filling door body system electrification.
4. being used for the self-adaptation control method of sliding door as described in claim 1, it is characterised in that:
The door is focused on when door body is installed rear system electrification and is selectively measured according to instruction.
5. the self-adaptation control method for sliding door as described in claim 3 or 4, it is characterised in that:
The door includes static gates weight and dynamic gate weight again, and the static gates include enabling static gates weight and shutdown static gates again
Weight.
6. being used for the self-adaptation control method of sliding door as claimed in claim 5, which is characterized in that
The measurement of enabling static gates weight the following steps are included:
S601: whether detection door body there is enabling to move and detect whether door body moves to enabling terminal；
S602: it is moved and when detecting that door body does not move to terminal when detecting that door body is not opened the door, increases control force, and return
Return S601；When detecting that there is door body enabling to move and detect that door body does not move to terminal, reduce control force, and return
S601；
S603: when detecting that door body has been moved to enabling terminal, calculating the average value of control force in door body enabling motion process,
To obtain enabling static gates weight.
7. being used for the self-adaptation control method of sliding door as claimed in claim 5, which is characterized in that
The measurement of shutdown static gates weight the following steps are included:
S701: whether detection door body there is shutdown to move；
S702: it is moved and when detecting that door body does not move to terminal when detecting that door body is not closed the door, increases control force, and return
Return S701；When detecting that there is door body shutdown to move and detect that door body does not move to terminal, reduce control force, and return
S701；
S703: when detecting that door body has been moved to shutdown terminal, calculating the average value of control force in door body shutdown motion process,
To obtain enabling static gates weight.
8. being used for the self-adaptation control method of sliding door as claimed in claim 5, it is characterised in that:
The measurement of dynamic gate weight the following steps are included:
S801: applying a constant driving force F on the basis of overcoming the driving force of static gates weight, then to door, makes a generation
It is mobile；
S802: displacement L on the door is measured；
S803: time t needed for record completes displacement L；
S804: the quality of door is calculated:
M=F*t2/(2*L)。
9. being used for the self-adaptation control method of sliding door as described in claim 1, it is characterised in that: described according to determining institute
Stating accelerated motion section, uniform motion section, retarded motion section and carrying out control to door body movement includes driving to door body in different motion section
The control of power size.
10. a kind of adaptive control system for sliding door characterized by comprising
Doorframe width measurement module, for measuring doorframe width in system electrification；
Computing module determines the acceleration of door body movement for the doorframe width, Men Chong, the scheduled speed of service according to the measurement
Motor segment, uniform motion section, retarded motion section；
Motion-control module, for being moved according to the determining accelerated motion section, uniform motion section, retarded motion section to door body
It is controlled.
11. being used for the adaptive control system of sliding door as claimed in claim 10, which is characterized in that
The doorframe width measurement module includes:
Initialization module, for being zero by displacement record at this time when door is moved to doorframe a side position；
Displacement measurement module, for when door is mobile towards doorframe other side side position, displacement on the door to be measured；
Doorframe width determining module, for judging whether door encounters another lateral location, if door does not encounter another side position
It sets, then door continues to move to；If door encounters another lateral location, door stops movement, and the displacement of door at this time is equal to doorframe width.
12. being used for the adaptive control system of sliding door as claimed in claim 10, which is characterized in that
It further include a remeasurement module, in installation door body system electrification for the first time or the system after door body is installed
It selectively measures and stores again on the door according to instruction when electric.
13. being used for the adaptive control system of sliding door as claimed in claim 12, which is characterized in that
The door remeasurement module includes:
Displacement measurement module, for applying a constant driving force F to door, displacement L when keeping a generation mobile on the door is carried out
Measurement；
Time recording module is recorded for time t needed for the displacement L occurs on the door；
Door re-computation module, for calculating door weight according to the driving force F, the displacement L, the time t.
14. the adaptive control system for sliding door as described in claim 11 or 13, which is characterized in that
Institute's displacement measurement module is linear hall sensor.
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