CN111130400A - Control method, controller and control system of platform door - Google Patents
Control method, controller and control system of platform door Download PDFInfo
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- CN111130400A CN111130400A CN201811296132.8A CN201811296132A CN111130400A CN 111130400 A CN111130400 A CN 111130400A CN 201811296132 A CN201811296132 A CN 201811296132A CN 111130400 A CN111130400 A CN 111130400A
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- 238000010586 diagram Methods 0.000 description 7
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- 238000012545 processing Methods 0.000 description 5
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another
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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
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/40—Application of doors, windows, wings or fittings thereof for gates
- E05Y2900/404—Application of doors, windows, wings or fittings thereof for gates for railway platform gates
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- Power-Operated Mechanisms For Wings (AREA)
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Abstract
The disclosure relates to a control method, a controller and a control system of a platform door, wherein the method comprises the following steps: when a control command sent by external equipment is received, synchronously acquiring the current phase of the first motor and the current phase of the second motor; determining a set speed of the first motor according to the current phase of the first motor, and synchronously determining a set speed of the second motor according to the current phase of the second motor; generating a first Pulse Width Modulation (PWM) signal corresponding to the first motor according to the set speed of the first motor and the current speed of the first motor, and synchronously generating a second PWM signal corresponding to the second motor according to the set speed of the second motor and the current speed of the second motor; synchronously transmitting the first PWM signal and the second PWM signal to the first motor and the second motor, respectively. Therefore, the two door bodies are high in synchronism.
Description
Technical Field
The present disclosure relates to the field of automatic control technologies, and in particular, to a control method, a controller, and a control system for a platform door.
Background
The shielding door (platform door) is arranged on the edge of a station platform along the rail transit and used for separating a waiting area of the platform from a running area of the rail transit. In the related art, the platform door adopts a control mode of one controller and one motor to control two door bodies of the platform door, so that the platform door is high in manufacturing cost and poor in synchronism of the two door bodies.
Disclosure of Invention
In view of the above, the present disclosure provides a method, a controller and a system for controlling a platform door.
According to a first aspect of the present disclosure, there is provided a control method for a platform door, applied to a controller of the platform door, the platform door including a first door body and a corresponding first motor thereof, and a second door body and a corresponding second motor thereof, the control method including:
when a control command sent by external equipment is received, synchronously acquiring the current phase of the first motor and the current phase of the second motor;
determining a set speed of the first motor according to the current phase of the first motor, and synchronously determining a set speed of the second motor according to the current phase of the second motor;
generating a first Pulse Width Modulation (PWM) signal corresponding to the first motor according to the set speed of the first motor and the current speed of the first motor, and synchronously generating a second PWM signal corresponding to the second motor according to the set speed of the second motor and the current speed of the second motor;
and synchronously sending the first PWM signal and the second PWM signal to the first motor and the second motor respectively, wherein the first motor drives the first door body according to the first PWM signal, and the second motor synchronously drives the second door body according to the second PWM signal.
In one form of implementation, the first and second electrodes are,
determining a set speed of the first motor based on the current phase of the first motor, comprising:
traversing a phase truth table corresponding to the first motor according to the current phase of the first motor;
turning on a part of all MOSFET transistors for controlling the rotation of the first motor and turning off another part of MOSFET transistors according to the traversal result; and
acquiring the current pulse number of the first motor, determining the speed corresponding to the current pulse number of the first motor as the set speed of the first motor,
generating a first Pulse Width Modulation (PWM) signal corresponding to the first motor according to the set speed of the first motor and the current speed of the first motor, wherein the generating comprises the following steps:
correcting the set speed of the first motor according to the current speed of the first motor; and
and converting the corrected set speed into a first PWM signal corresponding to the first motor.
In one form of implementation, the first and second electrodes are,
determining a set speed of the second motor based on the current phase of the second motor, comprising:
traversing a phase truth table corresponding to the second motor according to the current phase of the second motor;
turning on a part of all MOSFET transistors for controlling the rotation of the second motor and turning off another part of MOSFET transistors according to the traversal result; and
acquiring the current pulse number of the second motor, determining the speed corresponding to the current pulse number of the second motor as the set speed of the second motor,
generating a second Pulse Width Modulation (PWM) signal corresponding to the second motor according to the set speed of the second motor and the current speed of the second motor, wherein the second PWM signal comprises:
correcting the set speed of the second motor according to the current speed of the second motor; and
and converting the corrected set speed into a second PWM signal corresponding to the second motor.
In one implementation, the method further comprises:
acquiring the current position of the first door body and the current position of the second door body;
and monitoring whether the platform door completes the action specified by the control command or not according to the current position of the first door body and the current position of the second door body.
In one implementation, the method further comprises:
when the control command is a door closing command for closing the platform door and the platform door is monitored to finish a door closing action, locking a first electromagnetic lock installed on the first door body to the first door body, and synchronously locking a second electromagnetic lock installed on the second door body to the second door body;
receiving a lock signal indicating that the first door is locked, and synchronously receiving a lock signal indicating that the second door is locked.
In one implementation, the method further comprises:
when the control command is a door opening command for opening the platform door and the locking signal is received, enabling the first electromagnetic lock to release the locking of the first door body, and synchronously enabling the second electromagnetic lock to release the locking of the second door body;
receiving an unlocking signal indicating that the first door body is unlocked and synchronously receiving an unlocking signal indicating that the second door body is unlocked;
synchronously transmitting the first PWM signal and the second PWM signal to the first motor and the second motor, respectively.
In one implementation, the method further comprises:
synchronously acquiring the current value of the first motor and the current value of the second motor, and synchronously judging whether the current values of the first motor and the second motor exceed a current threshold value;
under the condition that the current value of the first motor and the current value of the second motor are judged to exceed the current threshold, synchronously counting a first time period when the current value of the first motor exceeds the current threshold and a second time period when the current value of the second motor exceeds the current threshold, and synchronously judging whether the first time period and the second time period exceed a time threshold;
and detecting that an obstacle exists in the action range of the platform door when the first time period and the second time period are both judged to exceed the time threshold.
According to a second aspect of the present disclosure, there is provided a platform door controller, the platform door including a first door body and a corresponding first motor, and a second door body and a corresponding second motor, the controller comprising:
the acquisition module is used for synchronously acquiring the current phase of the first motor and the current phase of the second motor when receiving a control command sent by external equipment;
the determining module is used for determining the set speed of the first motor according to the current phase of the first motor and synchronously determining the set speed of the second motor according to the current phase of the second motor;
the generating module is used for generating a first Pulse Width Modulation (PWM) signal corresponding to the first motor according to the set speed of the first motor and the current speed of the first motor, and synchronously generating a second PWM signal corresponding to the second motor according to the set speed of the second motor and the current speed of the second motor;
the sending module is used for synchronously sending the first PWM signal and the second PWM signal to the first motor and the second motor respectively, wherein the first motor drives the first door body according to the first PWM signal, and the second motor drives the second door body according to the second PWM signal.
In one form of implementation, the first and second electrodes are,
the determination module is configured to:
traversing a phase truth table corresponding to the first motor according to the current phase of the first motor;
turning on a part of all MOSFET transistors for controlling the rotation of the first motor and turning off another part of MOSFET transistors according to the traversal result; and
acquiring the current pulse number of the first motor, determining the speed corresponding to the current pulse number of the first motor as the set speed of the first motor,
the generation module is configured to:
correcting the set speed of the first motor according to the current speed of the first motor; and
and converting the corrected set speed into a first PWM signal corresponding to the first motor.
In one form of implementation, the first and second electrodes are,
the determination module is configured to:
traversing a phase truth table corresponding to the second motor according to the current phase of the second motor;
turning on a part of all MOSFET transistors for controlling the rotation of the second motor and turning off another part of MOSFET transistors according to the traversal result; and
acquiring the current pulse number of the second motor, determining the speed corresponding to the current pulse number of the second motor as the set speed of the second motor,
the generation module is configured to:
correcting the set speed of the second motor according to the current speed of the second motor; and
and converting the corrected set speed into a second PWM signal corresponding to the second motor.
In one form of implementation, the first and second electrodes are,
the acquisition module is further configured to: acquiring the current position of the first door body and the current position of the second door body,
wherein the controller further comprises:
and the monitoring module is used for monitoring whether the platform door completes the action specified by the control command or not according to the current position of the first door body and the current position of the second door body.
In one implementation, the method further comprises:
the locking module is used for locking a first electromagnetic lock installed on the first door body to the first door body and synchronously locking a second electromagnetic lock installed on the second door body to the second door body when the control command is a door closing command for closing the platform door and the monitoring module monitors that the platform door completes the door closing action;
and the receiving module is used for receiving a locking signal indicating that the first door body is locked and synchronously receiving a locking signal indicating that the second door body is locked.
In one implementation, the method further comprises:
a releasing module, configured to enable the first electromagnetic lock to release the locking of the first door body and to enable the second electromagnetic lock to release the locking of the second door body synchronously when the control command is a door opening command for opening the platform door and the receiving module receives the locking signal,
wherein,
the receiving module is further configured to: receiving an unlocking signal indicating that the first door body is unlocked and synchronously receiving an unlocking signal indicating that the second door body is unlocked;
the sending module is further configured to: synchronously transmitting the first PWM signal and the second PWM signal to the first motor and the second motor, respectively.
In one form of implementation, the first and second electrodes are,
the acquisition module is further configured to: synchronously acquiring the current value of the first motor and the current value of the second motor,
wherein the controller further comprises:
the first judgment module is used for synchronously judging whether the current value of the first motor and the current value of the second motor exceed a current threshold value;
the counting module is used for synchronously counting a first time period when the current value of the first motor exceeds the current threshold and a second time period when the current value of the second motor exceeds the current threshold under the condition that the current value of the first motor and the current value of the second motor both exceed the current threshold;
the second judging module is used for synchronously judging whether the first time period and the second time period exceed a time threshold;
a detection module, configured to detect that an obstacle exists within an action range of the platform door when it is determined that both the first time period and the second time period exceed the time threshold.
According to a third aspect of the present disclosure, there is provided a control system for a platform door, comprising: a first motor, a second motor, an external device and the controller,
wherein the external device sends a control command to the controller;
the first motor receives the first PWM signal and drives the first door body according to the first PWM signal;
and the second motor receives the second PWM signal synchronously with the first motor and drives the second door body according to the second PWM signal.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: each platform door comprises a controller and two motors, only one controller synchronously acquires the current phases of the two motors based on a clock source of the controller, synchronously determines the set speeds of the two motors according to the synchronously acquired current phases, synchronously generates PWM signals according to the synchronously determined set speeds and the current speeds of the two motors, and synchronously sends the synchronously generated PWM signals to the two motors, so that the two motors synchronously drive the two door bodies according to the synchronously received PWM signals, and the two door bodies are high in synchronism.
Compared with the prior art in which each platform door includes two controllers, each platform door in the embodiment includes only one controller, so that the embodiment can reduce the manufacturing cost of the platform door, the maintenance cost of the platform door, and the troubleshooting time in the post-maintenance process.
Other features and aspects of the present invention will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the invention and, together with the description, serve to explain the principles of the invention.
Fig. 1 shows a flowchart of a method for controlling a platform door according to an example embodiment.
Fig. 2 shows a block diagram of a controller of a platform door according to an example embodiment.
Fig. 3 shows a flowchart of the detailed operation of a platform door according to an example embodiment.
Fig. 4 shows a flow diagram of a door closing action according to an example embodiment.
FIG. 5 illustrates a flow chart of a door opening action according to an exemplary embodiment.
Fig. 6 shows a block diagram of a controller of a platform door according to an example embodiment.
Fig. 7 shows a block diagram of a control system for a platform door according to an example embodiment.
Detailed Description
Various exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present invention. It will be understood by those skilled in the art that the present invention may be practiced without some of these specific details. In some instances, methods, procedures, components, and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present invention.
Fig. 1 shows a flowchart of a method for controlling a platform door according to an example embodiment. The control method is applied to a controller of a platform door, which is exemplified by a door unit controller. As shown in fig. 1, the control method may include the following steps.
In step S110, upon receiving a control command transmitted from an external device, a current phase of the first motor and a current phase of the second motor are synchronously acquired.
In this embodiment, each platform door includes a controller and a pair of first and second doors, each door corresponds to one motor, that is, the first door corresponds to the first motor and is driven by the first motor, and the second door corresponds to the second motor and is driven by the second motor.
FIG. 2 illustrates a block diagram of a controller according to an exemplary embodiment. As shown in fig. 2, the controller may include a power supply module, a central processor, and an optical coupler. Wherein, the external power supply supplies power to the central processing unit through the power module. The optical coupling device receives a control command sent by external equipment and forwards the received control command to the central processing unit. The central processing unit processes the received control command and synchronously sends PWM signals to the first motor and the second motor through two internal interfaces by using a clock source of the central processing unit. The first motor and the second motor synchronously receive the PWM signals sent by the controller through respective motor driving interfaces, and synchronously control the rotation angle and/or the rotation speed of the first motor and the second motor according to the received PWM signals, so that the opening amplitude, the closing amplitude, the opening speed or the closing speed of the corresponding door body are synchronously controlled.
The first motor and the second motor synchronously send status information such as a lock-out signal to the controller through their own motor drive interfaces. The central processor receives the state information transmitted by the first motor through one internal interface and synchronously receives the state information transmitted by the second motor through the other internal interface, so that the controller can control and monitor the opening and closing of the platform door and detect the operation state of the platform door according to the synchronously received state information.
The external device is, for example, a platform unit controller, and the control command includes, but is not limited to, a door opening command for opening a platform door, a door closing command for closing the platform door, and the like.
The operation mode of the controller includes, but is not limited to, a door closing learning mode, a door opening learning mode, a door closing standby mode, a door opening standby mode, an obstacle double-door synchronous stop mode, an obstacle double-door synchronous retraction mode, and the like. And in the door opening learning mode, the controller acquires door opening related information and executes door opening action. In the door opening standby mode, the controller controls to maintain the current door opening state. In the door closing learning mode, the controller acquires door closing related information and executes a door closing action. In the door closing standby mode, the controller maintains a current door closing state. In the barrier double-door synchronous stop mode, the controller synchronously stops the two door bodies. Under the barrier double-door synchronous retraction mode, the controller synchronously retracts the two door bodies.
Fig. 3 shows a flowchart of the detailed operation of a platform door according to an example embodiment. As shown in fig. 3, when power is supplied to the platform door (i.e., the platform door is powered on for initialization), the controller determines whether the door opening command is valid. And if the door opening command is judged to be effective, enabling the platform door to be in a door opening learning mode. Subsequently, the door open standby mode is entered. The controller performs a door closing motion if the control command received in the door open standby mode is a door closing command. The processing of the door closing action can be seen in the flow chart of the door closing action shown in fig. 4. Otherwise, if the door opening command is judged to be invalid, the platform door is in a door closing learning mode. Subsequently, the door closing standby mode is entered. If the control command received in the door closing standby mode is a door opening command, the controller performs a door opening action. The process of the door opening operation can be referred to a flowchart of the door opening operation shown in fig. 5.
As shown in fig. 4, upon receiving the door open command, the controller synchronously reads the HALL phases of the left and right motors, thereby synchronously acquiring the current phases of the left and right motors. As shown in fig. 5, the process of acquiring the phase of the motor is similar to that of fig. 4, and will not be described again. For convenience of explanation, the following description will be given taking an example in which the left motor corresponds to the first motor and the right motor corresponds to the second motor.
In step S130, a set speed of the first motor is determined according to the current phase of the first motor, and a set speed of the second motor is synchronously determined according to the current phase of the second motor.
In one possible implementation, determining the set speed of the first motor according to the current phase of the first motor may include:
traversing a phase truth table corresponding to the first motor according to the current phase of the first motor;
turning on a part of all MOSFET transistors for controlling the rotation of the first motor and turning off another part of MOSFET transistors according to the traversal result; and
and acquiring the current pulse number of the first motor, and determining the speed corresponding to the current pulse number of the first motor as the set speed of the first motor.
In one possible implementation, determining the set speed of the second motor according to the current phase of the second motor may include:
traversing a phase truth table corresponding to the second motor according to the current phase of the second motor;
turning on a part of all MOSFET transistors for controlling the rotation of the second motor and turning off another part of MOSFET transistors according to the traversal result; and
and acquiring the current pulse number of the second motor, and determining the speed corresponding to the current pulse number of the second motor as the set speed of the second motor.
In this embodiment, as shown in fig. 4, the controller synchronously searches the "forward phase truth table" (i.e., the phase truth table corresponding to the first motor) and the "reverse phase truth table" (i.e., the phase truth table corresponding to the second motor) according to the synchronously read phases; synchronously turning on or turning off the corresponding MOSFET transistors according to the search result; synchronously reading the pulse number of the left motor and the pulse number of the right motor; synchronously searching a door opening 'pulse number-speed' table according to the synchronously read pulse number, and synchronously determining the searched speed as the set speed of the motor. As shown in fig. 5, the process of determining the set speed of the motor according to the current phase of the motor is similar to that of fig. 4, and is not described again here.
In step S150, a first PWM signal corresponding to the first motor is generated according to the set speed of the first motor and the current speed of the first motor, and a second PWM signal corresponding to the second motor is synchronously generated according to the set speed of the second motor and the current speed of the second motor.
In one possible implementation, generating a first Pulse Width Modulation (PWM) signal corresponding to the first motor according to the set speed of the first motor and the current speed of the first motor includes:
correcting the set speed of the first motor according to the current speed of the first motor; and
and converting the corrected set speed into a first PWM signal corresponding to the first motor.
In one possible implementation, generating a second PWM signal corresponding to the second motor according to the set speed of the second motor and the current speed of the second motor includes:
correcting the set speed of the second motor according to the current speed of the second motor; and
and converting the corrected set speed into a second PWM signal corresponding to the second motor.
In the present embodiment, as shown in fig. 4, the controller synchronously reads the current speed of the left motor and the current speed of the right motor; synchronously correcting the set speed of the left motor and the set speed of the right motor according to the synchronously read current speed; the corrected speed (revised speed) is synchronously converted into a PWM value. As shown in fig. 5, the process of generating the PWM signal is similar to that of fig. 4, and is not described again here.
In step S170, the first PWM signal and the second PWM signal are synchronously transmitted to the first motor and the second motor, respectively, wherein the first motor drives the first door body according to the first PWM signal, and the second motor synchronously drives the second door body according to the second PWM signal.
In this embodiment, as shown in fig. 4 and 5, the controller synchronously outputs the synchronously generated PWM signals to the turned-on MOSFET transistors, so that the synchronously generated PWM signals are synchronously transmitted to the left and right motors, and thus the left and right motors synchronously drive the first and second door bodies.
In the prior art, each platform door comprises two controllers and two motors, each controller controls one corresponding motor, and if the two controllers cannot be synchronized with each other, the two motors cannot be synchronously controlled, so that the two door bodies of the platform door cannot be synchronously controlled to be opened and closed, and the synchronism of the two door bodies is poor.
In contrast, in this embodiment, each platform door includes one controller and two motors, and only one controller synchronously controls the two motors based on its own clock source, specifically, synchronously obtains the current phases of the two motors, synchronously determines the set speeds of the two motors according to the synchronously obtained current phases, synchronously generates PWM signals according to the synchronously determined set speeds and the current speeds of the two motors, and synchronously sends the synchronously generated PWM signals to the two motors, so that the two motors synchronously drive the two door bodies according to the synchronously received PWM signals, and the two door bodies are highly synchronized.
Moreover, compared with the prior art in which each platform door includes two controllers, each platform door in the present embodiment includes only one controller, so that the present embodiment can reduce the cost of the platform door, the maintenance cost of the platform door, and the troubleshooting time in the post-maintenance process.
In one implementation, the control method may further include:
acquiring the current position of the first door body and the current position of the second door body;
and monitoring whether the platform door completes the action specified by the control command or not according to the current position of the first door body and the current position of the second door body.
In this embodiment, the current phases of the first motor and the second motor may be read synchronously; calculating the current position of the door body according to the read current phase; judging whether the door body reaches a specified position corresponding to the action specified by the control command; if the door body reaches the designated position, monitoring the door body to finish the action designated by the control command; otherwise, the door body is monitored to not complete the action specified by the control command.
In one implementation, the control method may further include:
when the control command is a door closing command for closing the platform door and the platform door is monitored to finish a door closing action, locking a first electromagnetic lock installed on the first door body to the first door body, and synchronously locking a second electromagnetic lock installed on the second door body to the second door body;
receiving a lock signal indicating that the first door is locked, and synchronously receiving a lock signal indicating that the second door is locked.
In this embodiment, when the door closing command is received and the door closing action is completed, the electromagnetic lock may be controlled to lock the door body, thereby preventing the user from opening the door body by hand. In addition, the first electromagnetic lock and the second electromagnetic lock synchronously feed back a locking signal indicating that the door body is locked to the controller through current sampling and locking checking. Therefore, the platform door cannot be opened by the bare hands of the user, and the safety of the platform door is improved.
In one implementation, the control method may further include:
when the control command is a door opening command for opening the platform door and the locking signal is received, enabling the first electromagnetic lock to release the locking of the first door body, and synchronously enabling the second electromagnetic lock to release the locking of the second door body;
receiving an unlocking signal indicating that the first door body is unlocked and synchronously receiving an unlocking signal indicating that the second door body is unlocked;
synchronously transmitting the first PWM signal and the second PWM signal to the first motor and the second motor, respectively.
In this embodiment, when the door opening command and the locking signal are received in the door closing standby mode, the electromagnetic lock may be controlled to unlock the door body, and the door opening operation is performed after the door body is locked by contact. In addition, the first electromagnetic lock and the second electromagnetic lock synchronously feed back a locking signal indicating that the door body is unlocked to the controller through current sampling and locking inspection.
In one implementation, the control method may further include:
synchronously acquiring the current value of the first motor and the current value of the second motor, and synchronously judging whether the current values of the first motor and the second motor exceed a current threshold value;
under the condition that the current value of the first motor and the current value of the second motor are judged to exceed the current threshold, synchronously counting a first time period when the current value of the first motor exceeds the current threshold and a second time period when the current value of the second motor exceeds the current threshold, and synchronously judging whether the first time period and the second time period exceed a time threshold;
and detecting that an obstacle exists in the action range of the platform door when the first time period and the second time period are both judged to exceed the time threshold.
In this embodiment, the operation range of the platform door is a range obtained by adding the movable range of the first door body and the movable range of the second door body. As shown in fig. 3, the current values of the left and right motors are synchronously read; synchronously judging whether the current value exceeds a judgment value (current threshold value); if the current exceeds the judgment value, calculating the duration time that the current exceeds the judgment value; judging whether the duration time exceeds a set time (time threshold value); if the number of the obstacles exceeds the predetermined number, the obstacle is detected to be present in the range of motion of the platform door. Accordingly, the "door open obstacle detection" flag may be set.
In one implementation, the platform door is provided with a fault indicating device and a fault warning device, and the fault indicating device can be controlled to display information representing the fault of the platform door and control the fault warning device to warn a user. As an example, the fault indicating means and the fault warning means are audible and visual alarm indicator lights.
Fig. 6 shows a block diagram of a controller of a platform door according to an example embodiment. As shown in fig. 6, the controller 600 may include an acquisition module 510, a determination module 520, a generation module 530, and a transmission module 540.
The obtaining module 510 is configured to obtain a current phase of the first motor and a current phase of the second motor synchronously when a control command sent by an external device is received.
The determining module 520 is connected to the obtaining module 510 and is configured to determine the set speed of the first motor according to the current phase of the first motor, and synchronously determine the set speed of the second motor according to the current phase of the second motor.
The generating module 530 is connected to the determining module 520 and configured to generate a first PWM signal corresponding to the first motor according to the set speed of the first motor and the current speed of the first motor, and synchronously generate a second PWM signal corresponding to the second motor according to the set speed of the second motor and the current speed of the second motor.
The sending module 540 is connected to the generating module 530 and configured to synchronously send the first PWM signal and the second PWM signal to the first motor and the second motor, respectively, where the first motor drives the first door body according to the first PWM signal, and the second motor drives the second door body according to the second PWM signal.
In one implementation, the determining module 520 is configured to:
traversing a phase truth table corresponding to the first motor according to the current phase of the first motor;
turning on a part of all MOSFET transistors for controlling the rotation of the first motor and turning off another part of MOSFET transistors according to the traversal result; and
acquiring the current pulse number of the first motor, determining the speed corresponding to the current pulse number of the first motor as the set speed of the first motor,
the generation module 530 is configured to:
correcting the set speed of the first motor according to the current speed of the first motor; and
and converting the corrected set speed into a first PWM signal corresponding to the first motor.
In one implementation, the determining module 520 is configured to:
traversing a phase truth table corresponding to the second motor according to the current phase of the second motor;
turning on a part of all MOSFET transistors for controlling the rotation of the second motor and turning off another part of MOSFET transistors according to the traversal result; and
acquiring the current pulse number of the second motor, determining the speed corresponding to the current pulse number of the second motor as the set speed of the second motor,
the generation module 530 is configured to:
correcting the set speed of the second motor according to the current speed of the second motor; and
and converting the corrected set speed into a second PWM signal corresponding to the second motor.
In one implementation, the obtaining module 510 is further configured to: acquiring the current position of the first door body and the current position of the second door body,
wherein the controller 600 may further include:
and a monitoring module (not shown) for monitoring whether the platform door completes the action specified by the control command according to the current position of the first door body and the current position of the second door body.
In one implementation, the controller 600 may further include:
a locking module (not shown) configured to, when the control command is a door closing command for closing the platform door and the monitoring module monitors that the platform door completes a door closing operation, cause a first electromagnetic lock installed on the first door body to lock the first door body, and synchronously cause a second electromagnetic lock installed on the second door body to lock the second door body;
a receiving module (not shown) for receiving a locking signal indicating that the first door is locked and synchronously receiving a locking signal indicating that the second door is locked.
In one implementation, the controller 600 may further include:
a release module (not shown) for causing the first electromagnetic lock to release the locking of the first door body and synchronously causing the second electromagnetic lock to release the locking of the second door body when the control command is a door opening command for opening the platform door and the receiving module receives the locking signal,
wherein,
the receiving module is further configured to: receiving an unlocking signal indicating that the first door body is unlocked and synchronously receiving an unlocking signal indicating that the second door body is unlocked;
the sending module 540 is further configured to: synchronously transmitting the first PWM signal and the second PWM signal to the first motor and the second motor, respectively.
In one implementation, the obtaining module 510 is further configured to: synchronously acquiring the current value of the first motor and the current value of the second motor,
wherein the controller 600 may further include:
a first judging module (not shown) for synchronously judging whether the current values of the first and second motors exceed a current threshold;
a counting module (not shown) configured to synchronously count a first time period during which the current value of the first motor exceeds the current threshold and a second time period during which the current value of the second motor exceeds the current threshold when it is determined that the current values of the first motor and the second motor both exceed the current threshold;
a second judging module (not shown) for synchronously judging whether the first time period and the second time period exceed a time threshold;
a detecting module (not shown) configured to detect that an obstacle exists within an action range of the platform door when it is determined that the first time period and the second time period both exceed the time threshold.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
Fig. 7 shows a block diagram of a control system for a platform door according to an example embodiment. As shown in fig. 7, the control system of the platform door may include: a first motor 610, a second motor 620, an external device 630, and a controller 600.
The external device 630 transmits a control command to the controller 600;
the first motor 610 receives the first PWM signal and drives the first door body according to the first PWM signal;
the second motor 620 receives the second PWM signal in synchronization with the first motor 610, and drives the second door body according to the second PWM signal.
The detailed description of the controller 600 can refer to the description of the controller, and will not be repeated herein.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (15)
1. A control method of a platform door is applied to a controller of the platform door, and is characterized in that the platform door comprises a first door body and a corresponding first motor thereof, and a second door body and a corresponding second motor thereof, and the control method comprises the following steps:
when a control command sent by external equipment is received, synchronously acquiring the current phase of the first motor and the current phase of the second motor;
determining a set speed of the first motor according to the current phase of the first motor, and synchronously determining a set speed of the second motor according to the current phase of the second motor;
generating a first Pulse Width Modulation (PWM) signal corresponding to the first motor according to the set speed of the first motor and the current speed of the first motor, and synchronously generating a second PWM signal corresponding to the second motor according to the set speed of the second motor and the current speed of the second motor;
and synchronously sending the first PWM signal and the second PWM signal to the first motor and the second motor respectively, wherein the first motor drives the first door body according to the first PWM signal, and the second motor synchronously drives the second door body according to the second PWM signal.
2. The control method according to claim 1,
determining a set speed of the first motor based on the current phase of the first motor, comprising:
traversing a phase truth table corresponding to the first motor according to the current phase of the first motor;
turning on a part of all MOSFET transistors for controlling the rotation of the first motor and turning off another part of MOSFET transistors according to the traversal result; and
acquiring the current pulse number of the first motor, determining the speed corresponding to the current pulse number of the first motor as the set speed of the first motor,
generating a first Pulse Width Modulation (PWM) signal corresponding to the first motor according to the set speed of the first motor and the current speed of the first motor, wherein the generating comprises the following steps:
correcting the set speed of the first motor according to the current speed of the first motor; and
and converting the corrected set speed into a first PWM signal corresponding to the first motor.
3. The control method according to claim 1,
determining a set speed of the second motor based on the current phase of the second motor, comprising:
traversing a phase truth table corresponding to the second motor according to the current phase of the second motor;
turning on a part of all MOSFET transistors for controlling the rotation of the second motor and turning off another part of MOSFET transistors according to the traversal result; and
acquiring the current pulse number of the second motor, determining the speed corresponding to the current pulse number of the second motor as the set speed of the second motor,
generating a second Pulse Width Modulation (PWM) signal corresponding to the second motor according to the set speed of the second motor and the current speed of the second motor, wherein the second PWM signal comprises:
correcting the set speed of the second motor according to the current speed of the second motor; and
and converting the corrected set speed into a second PWM signal corresponding to the second motor.
4. The control method according to claim 1, characterized by further comprising:
acquiring the current position of the first door body and the current position of the second door body;
and monitoring whether the platform door completes the action specified by the control command or not according to the current position of the first door body and the current position of the second door body.
5. The control method according to claim 4, characterized by further comprising:
when the control command is a door closing command for closing the platform door and the platform door is monitored to finish a door closing action, locking a first electromagnetic lock installed on the first door body to the first door body, and synchronously locking a second electromagnetic lock installed on the second door body to the second door body;
receiving a lock signal indicating that the first door is locked, and synchronously receiving a lock signal indicating that the second door is locked.
6. The control method according to claim 5, characterized by further comprising:
when the control command is a door opening command for opening the platform door and the locking signal is received, enabling the first electromagnetic lock to release the locking of the first door body, and synchronously enabling the second electromagnetic lock to release the locking of the second door body;
receiving an unlocking signal indicating that the first door body is unlocked and synchronously receiving an unlocking signal indicating that the second door body is unlocked;
synchronously transmitting the first PWM signal and the second PWM signal to the first motor and the second motor, respectively.
7. The control method according to any one of claims 1 to 6, characterized by further comprising:
synchronously acquiring the current value of the first motor and the current value of the second motor, and synchronously judging whether the current values of the first motor and the second motor exceed a current threshold value;
under the condition that the current value of the first motor and the current value of the second motor are judged to exceed the current threshold, synchronously counting a first time period when the current value of the first motor exceeds the current threshold and a second time period when the current value of the second motor exceeds the current threshold, and synchronously judging whether the first time period and the second time period exceed a time threshold;
and detecting that an obstacle exists in the action range of the platform door when the first time period and the second time period are both judged to exceed the time threshold.
8. A controller of a platform door, the platform door comprising a first door body and a corresponding first motor, and a second door body and a corresponding second motor, the controller comprising:
the acquisition module is used for synchronously acquiring the current phase of the first motor and the current phase of the second motor when receiving a control command sent by external equipment;
the determining module is used for determining the set speed of the first motor according to the current phase of the first motor and synchronously determining the set speed of the second motor according to the current phase of the second motor;
the generating module is used for generating a first Pulse Width Modulation (PWM) signal corresponding to the first motor according to the set speed of the first motor and the current speed of the first motor, and synchronously generating a second PWM signal corresponding to the second motor according to the set speed of the second motor and the current speed of the second motor;
the sending module is used for synchronously sending the first PWM signal and the second PWM signal to the first motor and the second motor respectively, wherein the first motor drives the first door body according to the first PWM signal, and the second motor drives the second door body according to the second PWM signal.
9. The controller of claim 8,
the determination module is configured to:
traversing a phase truth table corresponding to the first motor according to the current phase of the first motor;
turning on a part of all MOSFET transistors for controlling the rotation of the first motor and turning off another part of MOSFET transistors according to the traversal result; and
acquiring the current pulse number of the first motor, determining the speed corresponding to the current pulse number of the first motor as the set speed of the first motor,
the generation module is configured to:
correcting the set speed of the first motor according to the current speed of the first motor; and
and converting the corrected set speed into a first PWM signal corresponding to the first motor.
10. The controller of claim 8,
the determination module is configured to:
traversing a phase truth table corresponding to the second motor according to the current phase of the second motor;
turning on a part of all MOSFET transistors for controlling the rotation of the second motor and turning off another part of MOSFET transistors according to the traversal result; and
acquiring the current pulse number of the second motor, determining the speed corresponding to the current pulse number of the second motor as the set speed of the second motor,
the generation module is configured to:
correcting the set speed of the second motor according to the current speed of the second motor; and
and converting the corrected set speed into a second PWM signal corresponding to the second motor.
11. The controller of claim 8,
the acquisition module is further configured to: acquiring the current position of the first door body and the current position of the second door body,
wherein the controller further comprises:
and the monitoring module is used for monitoring whether the platform door completes the action specified by the control command or not according to the current position of the first door body and the current position of the second door body.
12. The controller of claim 11, further comprising:
the locking module is used for locking a first electromagnetic lock installed on the first door body to the first door body and synchronously locking a second electromagnetic lock installed on the second door body to the second door body when the control command is a door closing command for closing the platform door and the monitoring module monitors that the platform door completes the door closing action;
and the receiving module is used for receiving a locking signal indicating that the first door body is locked and synchronously receiving a locking signal indicating that the second door body is locked.
13. The controller of claim 12, further comprising:
a releasing module, configured to enable the first electromagnetic lock to release the locking of the first door body and to enable the second electromagnetic lock to release the locking of the second door body synchronously when the control command is a door opening command for opening the platform door and the receiving module receives the locking signal,
wherein,
the receiving module is further configured to: receiving an unlocking signal indicating that the first door body is unlocked and synchronously receiving an unlocking signal indicating that the second door body is unlocked;
the sending module is further configured to: synchronously transmitting the first PWM signal and the second PWM signal to the first motor and the second motor, respectively.
14. The controller according to any one of claims 8 to 13,
the acquisition module is further configured to: synchronously acquiring the current value of the first motor and the current value of the second motor,
wherein the controller further comprises:
the first judgment module is used for synchronously judging whether the current value of the first motor and the current value of the second motor exceed a current threshold value;
the counting module is used for synchronously counting a first time period when the current value of the first motor exceeds the current threshold and a second time period when the current value of the second motor exceeds the current threshold under the condition that the current value of the first motor and the current value of the second motor both exceed the current threshold;
the second judging module is used for synchronously judging whether the first time period and the second time period exceed a time threshold;
a detection module, configured to detect that an obstacle exists within an action range of the platform door when it is determined that both the first time period and the second time period exceed the time threshold.
15. A control system for a platform door, comprising: a first motor, a second motor, an external device, and a controller according to any one of claims 8 to 14,
wherein the external device sends a control command to the controller;
the first motor receives the first PWM signal and drives the first door body according to the first PWM signal;
and the second motor receives the second PWM signal synchronously with the first motor and drives the second door body according to the second PWM signal.
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| CN201811296132.8A CN111130400B (en) | 2018-11-01 | 2018-11-01 | Control method, controller and control system of platform door |
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