CN106351533A - Control system of automatic revolving door - Google Patents
Control system of automatic revolving door Download PDFInfo
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- CN106351533A CN106351533A CN201510430322.4A CN201510430322A CN106351533A CN 106351533 A CN106351533 A CN 106351533A CN 201510430322 A CN201510430322 A CN 201510430322A CN 106351533 A CN106351533 A CN 106351533A
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Abstract
The invention discloses a control system of automatic revolving door. The control system, which adopts a closed-loop control structure formed by location, speed and current, comprises an input module, a closed loop and speed controller of door leaf, a speed governor, a first current regulator, a second current regulator, a reverse transformation module, a space vector pulse width modulator, a motor driven module, a current sampling module, a signal conversion module, a motor, and a module for calculation of pole location and speed of the motor; the control flow is: first, a setting signal is provided to the closed-loop control formed by location, speed, and current; second, the output signal of the closed-loop control goes through the space vector pulse width modulator and reverse transformation module and forms the three-phase AC signal of the drive motor; finally, terminal voltage and phase current of the motor are acquired by the sampling module and processed by the signal conversion module to be the feedback signal of the closed-loop control structure. The control system of automatic revolving door is energy saving and environmental friendly, low in noise, reliable in operation, easy to install and debug, and has the anti-clip function.
Description
Technical field
The present invention relates to a kind of automatically-controlled door technical equipment field, particularly to a kind of automatic rotating door control system.
Background technology
With stepping up of the development of social economy, the progress of science and technology and people's living standard, automatic rotary
Revolving door is increasingly used in enterprise and public place.With the expansion of revolving door application, market pair
The increase in demand of automatic revolving door, leads to rotation accelerator control system controllability, security proposes new wanting
Ask.In order to respond the call of the national science view of development, energy-conserving and environment-protective also become the most important thing.
Adopting AC asynchronous motor control system rotation accelerator control system on the market more.Technically exist with
Lower deficiency: 1. AC asynchronous motor typically adopts VFC, low-speed performance is poor, and power factor (PF) is low, no
Beneficial to energy-saving consumption-reducing.2. AC asynchronous motor control system adopts frequency converter+plc structure, and control system is multiple
Miscellaneous, high cost, and because using Motor drive and gate separate mode it is impossible to controlled motor output torque is big
Little, therefore in order to prevent door leaf from crushing people, numerous sensing devices need to be installed, thus leading to system complex,
Reliability reduces.3., when door body is run, generation noise vibration is larger, interference free performance is poor, is unfavorable for ring
Protect.4. the control system of the revolving door of asynchronous machine is not suitable for other types of motor of arranging in pairs or groups, and leads to revolving door
Limited by selection of Motor.
Content of the invention
For solving above-mentioned technical problem, overcome the shortcomings of that background technology exists, the invention provides a kind of performance
The control system of the automatic revolving door good, reliability is high, its structure, simply it is easy to installation and debugging, has section
Can, environmental protection, low noise, the advantages of low speed high torque.
For reaching above-mentioned technical purpose, the technical solution used in the present invention is:
A kind of automatic rotating door control system, this control system adopts three closed loop controls of position, speed and electric current
Structure processed, adjusts including input module, door leaf position closed loop and speeds control, speed regulator, the first electric current
Section device, the second current regulator, inverse transform module, space vector pulse width modulation device, motor drive module,
Current sample module, signal conversion module, motor, motor pole position and speed calculation module；Described
Motor is permagnetic synchronous motor, and its control flow is: first, to using position, speed, electric current three closed loop
Control a Setting signal；Secondly, the output end signal of Three-loop control is through space vector pulse width modulation mould
Block and the three-phase ac signal motor of inverter module formation motor；Come finally by sampling module
Collection motor terminal voltage and phase current process the feedback signal as Three-loop control through signal conversion module.
Further, described speed regulator is a pi controller.
Further, the first described current regulator is a pi controller.
Further, the second described current regulator is a pi controller.
Further, the output end of described space vector pulse width modulation device is one or six phase output terminals, described
The input of motor drive module is one or six phase inputs, the input of motor drive module and space vector arteries and veins
The output end electrical connection of wide modulator.
Further, the output end of described motor drive module is a three-phase output end, motor drive module
Output end electrically connect with the input of motor.
Further, described inverse transform module is clark and park inverse transform module, and described first is electric
The output signal of throttle regulator and the second current regulator is through clark and park inverse transformation as space vector
Pulse width modulator input signal.
Further, described signal conversion module is clark and park conversion module, signal conversion module
Input electrically connect with the output end of current sample module, the described input of current sample module and electricity
The output end electrical connection of machine drive module, realizes the current-voltage sampling to motor drive module output end, is
Electric current, speed, position feedback end provide feedback signal.
Further, described input module is that rs232, controller area network or programmable i/o input.
Further, described motor is provided with magnetic induction encoder, the output end of magnetic induction encoder with
The input electrical connection of motor pole position and speed calculation module.
Compared with prior art, it is an advantage of the current invention that:
Automatic revolving door is driven using AC permanent magnet synchronous motor, optimizes structure, reduce loss, energy-saving ring
Protect, noise is low；Transmission efficiency is high, eliminates the installation of deceleration device；By closed-loop current control, permissible
Precise control motor output torque size, prevents that moment is too big the event that door body crushes human or animal,
Do not need limit switch is installed, its operational reliability is high, have intelligent anti-clip function, and safety coefficient is high；Adopt
With permagnetic synchronous motor+encoder+controller architecture, reducing gear that need not be extra, reach simplified system
The purpose of structure, has that performance projects, pollution resistance is strong, structure is simple, noise is little, reliability is high, be easy to
The advantage of installation and debugging.
Brief description
Fig. 1 is the structured flowchart of the embodiment of the present invention one.
Fig. 2 is the structured flowchart of the embodiment of the present invention two.
Specific embodiment
Below in conjunction with the accompanying drawings the specific embodiment of the present invention is described further:
Embodiment one:
A kind of automatic rotating door control system, its structured flowchart is as shown in figure 1, the control system of the present invention is led to
Cross input module 3 given rotating speed value, motor pole position and speed calculation module 2 provide position to feed back respectively
Signal to door leaf position closed loop and speeds control 4 feedback end 42, provide feedback speed signal to first node
13 feedback end 132, the sampled signal values of current sample module 11 are through park and clark conversion module
To the feedback end 152 and 142 of the 3rd node 15 and Section Point 14 after 12 conversion.Door leaf position closed loop and
Speeds control 4 is according to the input state output speed set-point of input module 3 to output end 43, speed preset
Value and value of feedback are made difference and are sent into speed regulator 5, and speed regulator 5 enters row operation to the data of input, obtains
Go out q axle torque current component, and it is sent to Section Point 14 by the input 141 of Section Point 14
In.It is poor that the q axle torque current component that motor q shaft current component and feedback end 142 input is compared,
Realize Current Negative Three-Point Capacitance, obtain the value of feedback of Current Negative Three-Point Capacitance, and this value is sent into the first current regulator 6
In, the first current regulator 6 enters row operation to the data of input, draws q axial vector signal vq.Second electricity
The control mode that throttle regulator 7 is zero (id=0) using d-axis armature supply, with the first current regulator 6
Principle is the same, draws d axial vector signal vd through computing.Vd and vq is through clark and park inverse transformation
Signal value after module 8 inverse transformation is sent to the input 91,92 of space vector pulse width modulation device 9, through svpwm
By space vector pulse width modulation device 9 output end output pulse signal and be sent to motor drive module after computing
In 10, the pulse signal that motor drive module 10 passes through input is controlled to motor 1, thus realizes
Closed-loop current control to motor 1.
Wherein, motor 1 be low speed AC permagnetic synchronous motor, have structure simple, reliable, output
The advantages of torque is big, control is accurate, realizes the control more accurate, stable to revolving door, energy-conservation.
Wherein, the output end of motor drive module 10 is a three-phase output end, and motor drive module 10 exports
Three-phase alternating current supplies electricity to the rotor of motor 1, and three-phase current has symmetry, therefore, current sample module 11 with
In three-phase output end any two are connected, and biphase current are sampled, current sample module 11 gathers wherein appoints
The meaning electric current of two-phase is simultaneously converted to current signal and is respectively fed in clark and park conversion module 12.Motor 1
Speed and positional information can be provided by the photoelectric encoder that is contained on motor 1 rotor, motor pole position and
The signal of the signal output part input from motor 1 is carried out calculating the magnetic of motor 1 by speed calculation module 2
Pole position and rotating speed.
Wherein, the output end of space vector pulse width modulation device 9 is one or six phase output terminals, motor drive module 10
Input be one or six phase inputs.Space vector pulse width modulation device 9 by the u obtaining after svpwm computing,
V, w, three groups of six pulse width signals of x, y, z are input to motor drive module 10, defeated by motor drive module 10
Go out the three-phase alternating current for motor 1.
Wherein, input module 3 can be rs232, controller area network or programmable i/o input, rs232,
The input of controller area network or programmable i/o input can be connected with computer, by computer and phase
Close software and realize the control to motor operating state.
Wherein, closed-loop current control can prevent moment from going out greatly very much with precise control motor output torque size
Existing door body crushes the event of human or animal it is not necessary to install limit switch, and its operational reliability is high and has intelligence
Energy pinch resistant functionality, improves moreover it is possible to preferably overcome the impact of voltage ripple of power network to the safety coefficient of user,
And speed ring can suppress by the impact of the links disturbance of its encirclement, and finally eliminate rotating speed deviation, position
Ring makes accurate positioning.
Embodiment two:
A kind of automatic rotating door control system, its structured flowchart as shown in Fig. 2 different from embodiment one it
Place is, the output end of the motor 1 of the control system of the present invention includes the magnetic induction being arranged on motor 1
Encoder 16, the output end of magnetic induction encoder 16 is concentric with the rotor of motor 1, magnetic induction encoder 16
Output end be connected with the input 21 of motor pole position and speed calculation module 2, with magnetic induction encoder
The inductive magnetic steel of 16 connections is arranged in the rotating shaft of motor 1, by the operating of the rotor of motor 1, senses
Magnet steel is with respect to magnetic induction encoder 16 with the rotor identical center of circle rotation with motor 1, wherein, magnetic induction
Encoder 16 is surveyed to the running status of motor 1 by the inductive magnetic steel being arranged in the rotating shaft of motor 1
Measure and be entered in motor pole position and speed calculation module 2.
Present invention rotor when permagnetic synchronous motor runs well does not produce aluminium loss and eddy-current loss reduces electricity
The energy loss of machine, no excitation loss on rotor, the friction loss between brushless and slip ring is damaged with contacting electricity
Consumption, mechanical loss is lower than asynchronous machine.Permagnetic synchronous motor can ensure very in higher range of operation
High power factor, energy-saving effect is notable, and High Power Factor makes stator current less, stator winding resistance
Less, efficiency high is lost, power-saving, detent torque is high, invariablenes turning speed, and high precision does not throw switch.Structure
Simply, temperature rise is low, and wearability is good, long service life.Due to the svpwm using space vector pulse width modulation
Algorithm, makes ac motor produce circular magnetic field, makes the actual magnetic linkage of motor approach preferable magnetic linkage circle as far as possible,
Produce svpwm sine pulse modulation waveform, reach the stability contorting of dynamic.Stator current drives for sine wave
Dynamic, pulsation of current is little, and during operation, noise is less, and better performances during low cruise.Motor drive and door
Control integral structure carries out segmentation position plus magnetic coder and is accurately positioned, deployed position closed loop, speed closed loop,
Current closed-loop three closed loop space vector pwm control principle, by closed-loop current control, can be with precise control electricity
Motivation output torque size, prevent moment too big occur door body crush human or animal event it is not necessary to install
Safety sensing device, its operational reliability height, accurate positioning simultaneously have intelligent anti-clip function, and safety coefficient carries
High.Using the structure of low speed permanent magnet synchronous motor+encoder+controller, any limit switch need not be installed,
Transmission adopts d-axis connected mode, using slowspeed machine, reducing gear that need not be extra, there is performance
Project, pollution resistance is strong, structure is simple, noise is little, reliability is high, be easily installed debugging.
The detailed description it is emphasized that although above-mentioned embodiment is contrasted to the present invention, this
A little explanations are simply illustrative to the present invention, rather than limitation of the present invention, any real without departing from the present invention
Innovation and creation in matter spirit, all fall within all one's effort scope of insurance coverage of the present invention.
Claims (10)
1. a kind of automatic rotating door control system is it is characterised in that this control system adopts position, speed and electric current
Three-loop control structure, including input module, door leaf position closed loop and speeds control, speed regulator,
First current regulator, the second current regulator, inverse transform module, space vector pulse width modulation device, motor
Drive module, current sample module, signal conversion module, motor, motor pole position and speed calculate mould
Block；Described motor is AC permanent magnet synchronous motor, and its control flow is: first, to using position, speed
Degree, one Setting signal of electric current Three-loop control；Secondly, the output end signal of Three-loop control is through space
Vector Pulse Width Modulation module and the three-phase ac signal motor of inverter module formation motor；Finally
Gather motor terminal voltage and phase current by sampling module and process through signal conversion module and be used as three closed loop controls
The feedback signal of system.
2. automatic rotating door control system as claimed in claim 1 is it is characterised in that described speed regulator
For a pi controller.
3. automatic rotating door control system as claimed in claim 1 is it is characterised in that the first described electric current is adjusted
Section device is a pi controller.
4. automatic rotating door control system as claimed in claim 1 is it is characterised in that the second described electric current is adjusted
Section device is a pi controller.
5. automatic rotating door control system as claimed in claim 1 is it is characterised in that described space vector arteries and veins
The output end of wide modulator is one or six phase output terminals, and the input of described motor drive module is mutually defeated for one or six
Enter end, the input of motor drive module is electrically connected with the output end of space vector pulse width modulation device.
6. automatic rotating door control system as claimed in claim 1 is it is characterised in that described Motor drive mould
The output end of block is a three-phase output end, and the output end of motor drive module is electrically connected with the input of motor.
7. automatic rotating door control system as claimed in claim 1 is it is characterised in that described inverse transform module
For clark and park inverse transform module, the output of the first described current regulator and the second current regulator
Signal is through clark and park inverse transformation as space vector pulse width modulation device input signal.
8. automatic rotating door control system as claimed in claim 1 is it is characterised in that described signal becomes die change
Block is clark and park conversion module, the output end of the input of signal conversion module and current sample module
Electrical connection, the described input of current sample module is electrically connected with the output end of motor drive module, realizes
Current-voltage sampling to motor drive module output end, provides feedback for electric current, speed, position feedback end
Signal.
9. automatic rotating door control system as claimed in claim 1 is it is characterised in that described input module is
Rs232, controller area network or programmable i/o input.
10. automatic rotating door control system as claimed in claim 1 is it is characterised in that install on described motor
Have a magnetic induction encoder, the output end of magnetic induction encoder and motor pole position and speed calculation module defeated
Enter end electrical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510430322.4A CN106351533A (en) | 2015-07-21 | 2015-07-21 | Control system of automatic revolving door |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510430322.4A CN106351533A (en) | 2015-07-21 | 2015-07-21 | Control system of automatic revolving door |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106351533A true CN106351533A (en) | 2017-01-25 |
Family
ID=57842798
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510430322.4A Pending CN106351533A (en) | 2015-07-21 | 2015-07-21 | Control system of automatic revolving door |
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| CN (1) | CN106351533A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106836059A (en) * | 2017-04-06 | 2017-06-13 | 深圳市嘉昱机电有限公司 | Intelligent swing turnstile system |
| CN107145094A (en) * | 2017-07-06 | 2017-09-08 | 深圳市嘉昱机电有限公司 | gate control device and system |
| CN107180471A (en) * | 2017-07-06 | 2017-09-19 | 深圳市嘉昱机电有限公司 | Gate control device and system based on RS485 communication protocols |
| CN108590455A (en) * | 2018-03-19 | 2018-09-28 | 北京宝瑞达自动门科技有限公司 | a kind of revolving door |
| CN108847750A (en) * | 2018-06-04 | 2018-11-20 | 东南大学 | Electricity generation system and its control method based on cylindrical linear vibration motor |
| CN111962999A (en) * | 2020-08-26 | 2020-11-20 | 南京工程学院 | Rail transit sliding plug door control method and system based on compliance control |
| CN114488797A (en) * | 2022-01-07 | 2022-05-13 | 南京工程学院 | Automatic door opening and closing motion curve planning method, controller and control method |
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| CN201797479U (en) * | 2010-08-06 | 2011-04-13 | 苏州莫康控制技术有限公司 | Refrigeration house door control system |
| CN103244002A (en) * | 2012-02-08 | 2013-08-14 | 苏州恒翔自动化设备工程有限公司 | Lift gate control device driven by permanent magnet synchronous motor |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106836059A (en) * | 2017-04-06 | 2017-06-13 | 深圳市嘉昱机电有限公司 | Intelligent swing turnstile system |
| CN107145094A (en) * | 2017-07-06 | 2017-09-08 | 深圳市嘉昱机电有限公司 | gate control device and system |
| CN107180471A (en) * | 2017-07-06 | 2017-09-19 | 深圳市嘉昱机电有限公司 | Gate control device and system based on RS485 communication protocols |
| CN107145094B (en) * | 2017-07-06 | 2023-11-14 | 深圳市嘉昱机电有限公司 | Gate control device and system |
| CN108590455A (en) * | 2018-03-19 | 2018-09-28 | 北京宝瑞达自动门科技有限公司 | a kind of revolving door |
| CN108847750A (en) * | 2018-06-04 | 2018-11-20 | 东南大学 | Electricity generation system and its control method based on cylindrical linear vibration motor |
| CN111962999A (en) * | 2020-08-26 | 2020-11-20 | 南京工程学院 | Rail transit sliding plug door control method and system based on compliance control |
| CN114488797A (en) * | 2022-01-07 | 2022-05-13 | 南京工程学院 | Automatic door opening and closing motion curve planning method, controller and control method |
| CN114488797B (en) * | 2022-01-07 | 2024-07-02 | 南京工程学院 | Automatic door opening and closing motion curve planning method, controller and control method |
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Application publication date: 20170125 |