JP2002004716A - Door opening/closing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce variations in stop positions, caused by a difference in weight, etc., among doors by automatically setting the slowing-down starting position of the door. SOLUTION: A control part 43 calculates the slowing-down starting position from the precedently set stop position in the case of the first opening and closing operations after switch-on. When the position wherein the door 6 is actually stopped is located outside the allowable range of the precedently set stop position in the case of the start of slowing-down in the slowing-down starting position, the slowing-down starting position at the next opening or closing operation is adjusted, the per-operation adjustment of the slowing-down starting position is repeated until the stop position of the door 6 falls within the allowable range for the purpose of storing the slowing-down starting position in a storage part 45 when the stop position of the door 6 falls within the allowable range. Consequently, the slowing-down starting position is automatically adjusted only by the switch-on so as to enable the door 6 to be stopped in a desired position independently of the difference in weight, etc.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a door opening / closing device for opening and closing a door using a motor as a drive source.

[0002]

2. Description of the Related Art Conventionally, various door opening / closing devices for opening and closing a door using a motor as a drive source have been provided. In such a door opening / closing device, the motor is controlled such that the moving speed of the door substantially coincides with a preset target speed. Here, FIG. 5 is a curve (hereinafter, referred to as a “speed curve”) that represents a typical setting example of the target speed, which is a position where the door is fully opened (fully open position) or a position where the door is completely closed (fully closed). Position) as a movement start position, accelerates from the movement start position to a predetermined constant speed (for example, the maximum speed according to the motor capacity) Vc (section a in the figure), and reaches a predetermined deceleration start position at the constant speed Vc. After moving at a constant speed (section b in the figure), deceleration is started from the deceleration start position, stopped at a predetermined stop position (section c in the figure), and stopped at the stop position for a certain time (in the figure). In the section d), the operation moves slowly from the stop position to the fully closed position or the fully opened position at a low speed (section e in the drawing).

[0003]

By the way, there are various kinds of doors having different weights, but the door opening / closing device should be the same regardless of the difference in weight and the difference in frictional resistance when moving. It is desired to move the door. However, the stop distance varies from the start of deceleration at the deceleration start position to the actual stop of the door due to differences in the weight of the door, etc., and the stop position fluctuates. There is a possibility that the moving distance to the position becomes long, or conversely, the vehicle cannot be stopped just before the fully open position or the fully closed position and collides with the door frame. On the other hand, in order to avoid such a problem, a volume resistor for adjustment is provided,
Although it is possible for the builder to adjust the adjustment volume according to the weight of the door and the like, the builder needs to make adjustments while repeatedly opening and closing the door, which requires much time and effort.

The present invention has been made in view of the above circumstances, and an object of the present invention is to automatically set a deceleration start position of a door to reduce a variation in a stop position due to a difference in door weight or the like. An object of the present invention is to provide a door opening / closing device that can be suppressed.

[0005]

According to a first aspect of the present invention, there is provided a motor as a drive source, a position detecting means for detecting a position of a door, and a detecting means for detecting a position of a door. Control means for controlling the moving speed of the door by changing the output to the motor, and storage means for storing various data necessary for controlling the moving speed of the door, the fully open position or the fully closed position. To accelerate to a predetermined constant speed, move at a constant speed to a predetermined deceleration start position, start deceleration from the deceleration start position and stop at a predetermined stop position,
A door opening / closing device in which the control unit performs speed control so as to move the door from the stop position to the fully closed position or the fully open position again after stopping at the stop position for a predetermined time, wherein the control unit includes:
In the initial state where the data of the deceleration start position is not stored in the storage means, the deceleration start is performed from the data of the predetermined stop position stored in the storage means in the first opening operation and the closing operation after the power is turned on. If the position where the door actually stops when deceleration is started from the calculated deceleration start position is outside the permissible range stored in the storage means, the deceleration start position for the next operation is calculated. The adjustment of the deceleration start position is repeated for each operation until the actual stop position of the door falls within the permissible range, and the data of the deceleration start position when it is within the permissible range is stored in the storage means. After that, the speed control is performed so as to start the deceleration at the deceleration start position stored in the storage means, and the constructor adjusts the adjusting volume or the like every time the door is opened or closed as in the related art. There are no longer troublesome such adjust the stop position, only in being adjusted automatically deceleration start position door to power can be stopped at a desired stop position. Therefore, the stop distance does not change due to a change in the braking distance from the start of deceleration at the deceleration start position to the actual stop of the door due to a difference in the weight of the door, and the stop position does not fluctuate. It is possible to prevent such a problem that the moving distance to the fully closed position becomes long, and conversely, the vehicle cannot be stopped just before the fully open position or the fully closed position and collides with the door frame.

According to a second aspect of the present invention, in the first aspect of the present invention, a nonvolatile memory is used as the storage means, and the control unit stores the data of the deceleration start position in the storage means when the power is turned on. The deceleration is started at the deceleration start position stored in the means, and if the data of the deceleration start position is not stored in the storage means, the deceleration start position is adjusted. Since the data at the deceleration start position is stored in the storage means composed of the nonvolatile memory, the data of the deceleration start position does not disappear when the power is turned on and off, and the deceleration start position adjustment operation does not have to be performed every time the power is turned on. .

According to a third aspect of the present invention, in the first aspect of the invention, the control unit presets an adjustment amount of the deceleration start position when the actual stop position of the door during the adjustment is out of the allowable range. When the stop position of the door when decelerating from a certain deceleration start position deviates greatly from the allowable range, the adjustment value of the deceleration start position is determined by the distance between the actual stop position and the allowable range. Too big according to the difference,
It is possible to solve the problem that the stop position when decelerating from the deceleration start position adjusted in the next operation largely deviates in the direction opposite to the allowable range.

According to a fourth aspect of the present invention, in the first aspect of the present invention, the control unit determines the amount of adjustment of the deceleration start position when the actual stop position of the door during the adjustment is out of the allowable range. It is characterized in that it is decreased with an increase in the number of times, and the operation for adjusting the deceleration start position is repeated irrespective of the relationship between the position where the door actually stopped during the adjustment and the position and distance of the allowable range of the stop position This makes it possible to adjust the deceleration start position so that the stop position falls within the allowable range.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which a sliding door is opened and closed using a linear motor in which a mover moves linearly as a drive source of the door will be described below. However, what converted the rotational motion of the rotary motor into a linear motion using a transmission mechanism such as a gear or a belt may be used as the drive source.

As shown in FIGS. 2 and 3, the movable element 2 having the permanent magnet 21 is mounted on the upper part of the sliding door 6 and forms a part of the outer frame 5 to hold the upper part of the door 6. The stator 1 is provided on the Kamoi 51 so as to face the mover 2. A control circuit block 4 to be described later is housed inside the gate 51. The outer frame 5 has the Kamoi 51 as an upper frame, and is provided on both ends of the Kamoi 51 to form a vertical frame.
2 and a sill 53 which is installed on the floor of the building so as to face the lintel 51 and serves as a lower frame. Thus, the door 6 is substantially held so as to be movable in the longitudinal direction by the gate 51 and the threshold 53, and is movable within a range surrounded by the gate 51, the two ridges 52 and the threshold 53 on all sides.

Here, as shown in FIG. 3, the linear motor for moving the door 6 is composed of a plurality of electromagnets, which are composed of a coil 11 and an iron core 12 and are arranged along the direction of travel. The stator 1 composed of the child yoke 13, the permanent magnet 21 disposed opposite the electromagnet so that a plurality of magnetic poles are alternately different in the traveling direction, and the magnetic poles 22 of the permanent magnet 21 are connected to each other. A mover 2 composed of a mover yoke 23 that is magnetically coupled, and a plurality of position sensors 31 that detect the position of the mover 2 relative to the stator 1
To each coil 11 at a timing according to the position of the mover 2 detected by the position sensor block 3 so as to generate a thrust for moving the mover 2 by the interaction between the position sensor block 3 having the And a control circuit block 4 for controlling energization of the control circuit.

The stator yoke 13 is formed of a soft magnetic material in a long shape along the moving direction of the mover 2, and a plurality of holes (not shown) for fixing the electromagnets are arranged at regular intervals. I have. The coil 11 is wound around a coil bobbin 14 formed of an insulating material such as a synthetic resin, and the iron core 12 is inserted into a cylindrical through hole provided at the center of the coil bobbin 14. An electromagnet is configured. Then, a plurality of electromagnets configured as described above are fitted to the holes provided in the stator yoke 13 with the protrusions protruding from one end of the iron core 12 and fixed by an appropriate method such as caulking. The stator 1 is configured. In the present embodiment, the number of phases of the coil 11 is set to three, and a method is adopted in which these coils 11 are Y-connected and current is supplied to each of two phases.

The permanent magnet 21 constituting the mover 2 is provided such that a plurality of magnetic poles 22 are alternately different in the moving direction, and the distance (interval) between adjacent magnetic poles 22 is constant. I have. The mover 2 is formed by magnetizing one magnetic body so that a plurality of magnetic poles 22 are formed, or by attaching a plurality of permanent magnets to a mover yoke 23. In the structure in which a plurality of permanent magnets are attached to the mover yoke 23, each permanent magnet forms one magnetic pole.

Here, in the present embodiment, the distance (interval) between a pair of adjacent electromagnets in the stator 1 is arranged to be constant, and further, at every constant interval according to the length and the moving distance of the mover 2, A space is provided in which the distance between the electromagnets is wider than the above-mentioned fixed distance by two poles of the magnetic poles 22 of the permanent magnet 21, and the position sensor block 3 is arranged in this space.

The position sensor block 3 includes a printed circuit board 3
2, three position sensors 31 are arranged on the stator yoke 13 and fixed to the stator yoke 13 via a spacer 33 made of an insulating material. In the present embodiment, the position sensor 3
As 1, a Hall IC is used in which a circuit in which the analog output of the Hall element is switched between high level and low level when the magnetic pole 22 is switched is integrated with the Hall element. Of course, a configuration in which the Hall element and the above circuit are provided separately may be adopted. The position sensor block 3 is fixed to the stator yoke 13 via a spacer 33 by screws or the like, and is arranged at substantially the same height as the iron core 12 by the spacer 33.

On the other hand, as shown in FIG. 1, the control circuit block 40 comprises a power supply section 41 composed of a DC power supply and a bridge circuit of six switch elements Q to which, for example, a back-electromotive prevention diode D is connected in anti-parallel. And each phase (U
, V-phase, and W-phase), a control unit 43 that controls the switching of each switching element Q of the output unit 42, and a control unit 43 that causes the control unit 43 to start moving the door 6. A start switch 44 for outputting a start signal and a storage unit 45 composed of a nonvolatile memory (EEPROM) for storing various data such as a deceleration start position to be described later are provided. The control unit 43 receives the position detection signal from the position sensor 31 when the start switch 44 is closed and the start signal is input to the input port of the CPU, for example, when the start switch 44 is closed and the CPU is a main component. The switching elements Q of the output unit 42 are sequentially turned on and off based on a program. The control circuit block 40 allows a current to always flow through the two-phase coils 11 of the three-phase coils 11 of the stator 1, so that the length of the movable element 2 is A traveling magnetic field that moves along the direction is generated, and a thrust that can move in a substantially linear longitudinal direction with the permanent magnet 21 can be obtained by the traveling magnetic field.

By the way, the position sensor block 3 is originally for detecting the timing of switching each phase of the coil 1, and as shown in FIGS.
Pulse-like signals output from the three position sensors 31 corresponding to the V and W phases are output as detection signals.
In this embodiment, the control unit 43 generates a pulse signal that rises in synchronization with the rise of the detection signal of any phase and falls in synchronization with the fall of the detection signal of any phase, and performs position detection. Signal (Fig. 4
(D)). That is, since the interval between the adjacent magnetic poles 22 of the permanent magnet 21 is constant, the number of pulses of the position detection signal is counted to determine the reference position (for example, the door 6).
The position of the door 6 can be known as a movement distance from the fully open position or the fully closed position of the door. The position sensor block 3 constitutes a position detecting means. However, a sensor for detecting the position of the door 6 may be separately provided instead of using the position sensor block 3.

Here, the control unit 43 has a non-volatile storage unit 45 in addition to the memory of the CPU. By writing data such as a deceleration start position to be described later into the storage unit 45, the deceleration start position is temporarily set. Is determined, the data of the deceleration start position stored in the storage unit 45 is read immediately after the power is turned on again even if the main power of the CPU is turned off, and the adjustment operation of the deceleration start value need not be performed again. And The start switch 44 is a switch for outputting a trigger signal (start signal) for operating the door 6. The start switch 44 detects a presence or absence of a push button switch or a wireless remote controller operated by a person or a person in a detection area and starts the start. Various configurations such as a human body detection sensor that outputs a signal (detection signal) are possible.

In this embodiment, except for the electromagnets adjacent to the position sensor block 3 in the stator 1, the adjacent pairs of electromagnets are arranged at a constant interval.
The interval between the magnetic poles 22 of the mover 2 is also constant. Assuming that the length of one pole of the magnetic pole 22 of the mover 2 is L, the distance between the electromagnets at a portion where the electromagnets are arranged at a constant pitch is 5L / 3. The distance between adjacent position sensors 31 in the position sensor block 3 is set to 2L / 3.

The symbols U, V and W in FIG. 3 indicate the phase (excitation phase) of each electromagnet (coil 11). here,
The coil 11 of the phase to which minus (-) is added means that the winding direction is opposite to the coil 11 of the same phase to which no minus is added. For example, U
Is energized clockwise when viewed from above, the coil 11 corresponding to -U is energized counterclockwise. That is, if the winding directions of the coils 11 are set to the same direction, in the illustrated example, the coils 11 are U, -V, W, -U,
V, -W, and these coils 11
By energizing sequentially for each phase, U, V → V, W → W,
Energize cyclically as U → U, V. Further, since each coil 11 is Y-connected, two phases, that is, ones to which a minus is added or those to which a minus is added, are energized in opposite directions. For example, when U and W are excited in FIG. 3, the coil 11 corresponding to U and the coil 11 corresponding to W are energized in opposite directions. In other words, two adjacent coils 11 in the stator 1 are simultaneously energized in the same direction, and no current is applied to the left and right adjacent coils 11 of the set of two energized coils 11. The pair of left and right coils 11 is energized in opposite directions with respect to the coil 11 that is not energized.

Here, the speed control of the control unit 43 will be briefly described. For example, as shown in FIG. 5, the target value (target speed) of the moving speed at the time of acceleration, at the time of constant speed, at the time of deceleration, and the like is stored in the storage unit 45 in advance.
Each switching element Q of the output unit 42 is set so that the actual moving speed of the door 6 substantially matches the target speed read from the storage unit 45.
Is varied. Specifically, the control unit 43
The duty ratio of the switching element Q is determined according to the duty command value given from the CPU. That is, the CPU of the control unit 43 measures the pulse width t [sec] of the position detection signal, and changes the pulse width t and the pattern switching pitch L / 3 [mm] to L / (3t) [mm].
/ Sec], the difference (deviation) between the calculated movement speed and the target speed is calculated, and for example, the difference obtained by sampling up to this time is determined according to the value of each difference. By varying the duty ratio of the switch element Q according to a new duty command value obtained by adding a value multiplied by a control gain (proportional gain in general PI control), the deviation is reduced, Control is performed so that the moving speed substantially matches the target speed. The control gain corresponding to each deviation is stored in the storage unit 45 in advance.

By the way, as described in the prior art, it is desired that the door opening / closing device does not cause a large variation in the stop position of the door due to a difference in weight of the door 6 or a difference in frictional resistance during movement. For this purpose, the deceleration start position may be automatically adjusted according to the door 6 actually used. Therefore, in the present invention, at the time of construction or the like, the door 6 is actually moved and the deceleration start position is automatically adjusted so that the stop position falls within a predetermined range. Variations in position can be suppressed.

Next, the operation of adjusting the deceleration start position in this embodiment will be described. The adjustment of the deceleration start position is necessary in both the operation of moving the door 6 from the fully open position to the fully closed position (closing operation) and the operation of moving the door 6 from the fully closed position to the fully open position (open operation). However, since the adjustment operation is common, only the case of the opening operation will be described. Here, the constant speed (maximum speed) Vc, the acceleration at the time of acceleration, the negative acceleration at the time of deceleration, the target position of the stop position, and the allowable range before and after it in the speed curve shown in FIG. It is stored in the built-in memory or the storage unit 45 in advance. In the initial state, the data of the deceleration start position is not stored in the storage unit 45.

When the power is turned on, the control unit 43 confirms whether or not the data of the deceleration start position is stored in the storage unit 45,
If it is stored, the deceleration start position is not adjusted. On the other hand, if the data of the deceleration start position is not stored, the operation of adjusting the deceleration start position is performed. First, the control unit 43 performs speed control to accelerate the door 6 to the constant speed Vc,
Is reached, the door 6 is moved at a constant speed to the deceleration start position calculated from the target value of the stop position stored in advance and the negative acceleration during deceleration. The deceleration start position is calculated, for example, by the movement start position of the door 6 (in this case, the fully closed position).
From the distance to the stop position x [mm], constant speed Vc [m
m] and the negative acceleration during deceleration −a [mm / s ² ] may be substituted into the expression x−1 / 2 × Vc ² / a [mm]. The control unit 43 starts deceleration when the door 6 reaches the deceleration start position obtained by the above calculation.
The adjustment operation after reaching the deceleration start position will be described with reference to the flowchart of FIG.

In the control section 43, the position is detected by the position sensor 31.
When the position of the door 6 reaches the deceleration start position (step
1), speed control is performed, and the door 6 is set to a negative acceleration −a [mm
/ S ^Two] To decelerate (Step 2), and if the door 6 stops,
(Step 3), the deceleration processing is completed and the position sensor 31
The position where the door 6 stops is measured. And the control unit 4
3 is an allowable range in which the stop position at this time is set in advance.
It is determined whether or not it is before the box (step 4), and
If it is determined that the vehicle has stopped before the range,
Because it is too early, set the deceleration start position to a predetermined distance
(This is called the “adjustment value”).
(Step 5), deceleration start position even in the next opening operation
Is continued (step 6).

On the other hand, if it is determined that the door 6 has not stopped before the allowable range, the control unit 43 determines whether the stop position of the door 6 is ahead of the allowable range (step 7). If it is determined that the vehicle has stopped before, the deceleration start position is too late, so the deceleration start position is changed back to the adjustment value (step 8). The adjustment is continued (step 6).

On the other hand, if the vehicle is not stopped before the allowable range,
That is, if the stop position of the door 6 is within the allowable range, the control unit 43 stores the deceleration start position at this time as adjusted data in the storage unit 45 (step 9), and the deceleration start position in the opening operation. After finishing the adjustment of
From the next opening operation, speed control is performed using the adjusted deceleration start position data stored in the storage unit 45 (step 10). Then, the same adjustment is performed for the closing operation,
The above adjustment operation is repeated until the adjustment of the deceleration start position is completed in both the opening operation and the closing operation.

As described above, the control unit 43 of the present embodiment calculates the deceleration start position from the preset stop position at the time of the first opening operation and closing operation after the power is turned on, and calculates the deceleration start position. The door 6
If the stop position is outside the preset allowable range of the stop position, the deceleration start position at the time of the next opening operation or closing operation is adjusted, and 1 is set until the stop position of the door 6 falls within the allowable range. The adjustment of the deceleration start position is repeated for each operation. If the position where the door 6 stops falls within the allowable range, the deceleration start position at that time is stored in the storage unit 45, and thereafter, the deceleration start position stored in the storage unit 45 is used. Start deceleration. For this reason, a manual position adjustment unit such as an adjustment volume is provided in the control unit 43 as in the related art, so that there is no need for the installer to adjust the stop position every time the door 6 is opened or closed. The deceleration start position is automatically adjusted only by being turned on, and the door 6 can be stopped at a desired stop position. Therefore, the braking distance from the start of deceleration at the deceleration start position to the actual stop of the door 6 due to a difference in the weight of the door 6 does not change and the stop position does not fluctuate. It is possible to prevent such a problem that the moving distance to the position or the fully closed position becomes longer, or conversely, the vehicle cannot stop just before the fully open position or the fully closed position and collides with the door frame. Further, the adjusted deceleration start position data is stored in a non-volatile memory (EEPROM).
Is stored in the storage unit 45 consisting of the following. Therefore, the data of the deceleration start position does not disappear when the power is turned on and off, and the adjustment operation of the deceleration start position does not have to be performed every time the power is turned on. There is.

Incidentally, it is desirable that the adjustment value when the stop position of the door 6 during the adjustment is out of the allowable range is equal to or less than a predetermined value set in advance. That is, when the stop position of the door 6 when decelerating from a certain deceleration start position deviates greatly from the allowable range, the adjustment value of the deceleration start position becomes too large according to the difference between the actual stop position and the allowable range, and the next time. The problem that the stop position at the time of deceleration from the deceleration start position adjusted at the time of the above operation is largely shifted in the direction opposite to the allowable range can be solved. Alternatively, the above adjustment value is
The difference between the stop position of the door 6 and the allowable range in the first opening operation (or closing operation) is one half of the difference between the stop position of the door 6 and the allowable range in the second opening operation (or closing operation). Even if it is changed so as to gradually decrease as the number of operations of the door 6 increases, such as one third of the difference between the stop position of the door 6 and the allowable range in the third opening operation (or closing operation). Good. However, even if the adjustment value is gradually decreased in this way, if the adjustment value becomes zero, the deceleration start position cannot be adjusted even when the door 6 stops outside the allowable range. A value must be provided. In this way, the stop position can be reliably determined by repeating the operation for adjusting the deceleration start position regardless of the relationship between the position where the door 6 actually stops during the adjustment and the position or distance of the allowable range of the stop position. The deceleration start position can be adjusted so as to fall within the allowable range.

Further, based on the detection accuracy L / 3 [mm] of the position sensor 31, if the adjustment value falls outside the allowable range in the first operation, for example, 5L / 3 [mm] in the second operation. The number of times the door 6 is operated during the adjustment, such as 4L / 3 if outside the allowable range, 2L / 3 if outside the allowable range in the third operation, and L / 3 if outside the allowable range in the fourth operation. It may be set to an appropriate value only according to the above, or may be set to the difference between the allowable range and the actual stop position in each operation.

[0031]

According to the first aspect of the present invention, a motor as a driving source, position detecting means for detecting a position of a door, and an output to the motor are changed in accordance with a detection result of the position detecting means, thereby changing the output of the door. Control means for controlling the moving speed, and storage means for storing various data necessary for controlling the moving speed of the door, and accelerates from a fully open position or a fully closed position to a predetermined constant speed, and at a constant speed. Moves at a constant speed to the predetermined deceleration start position, starts deceleration from the deceleration start position, stops at the predetermined stop position, stops at the stop position for a certain time, then moves the door again from the stop position to the fully closed position or fully open position A door opening and closing device in which the control means performs speed control so as to perform the first opening operation after the power is turned on in the initial state where the data of the deceleration start position is not stored in the storage means. When closing The deceleration start position is calculated from the data of the predetermined stop position stored in the storage means in advance, and the position where the door actually stops when deceleration is started from the calculated deceleration start position is stored in the storage means in advance. If it is out of the allowable range, adjust the deceleration start position for the next operation and repeat the adjustment of the deceleration start position for each operation until the actual stop position of the door falls within the allowable range. The data of the deceleration start position when stored in the storage means is stored in the storage means, and thereafter, speed control is performed so as to start deceleration at the deceleration start position stored in the storage means. There is no need for the installer to adjust the stop position using the adjustment volume or the like every time the door is opened or closed, and the deceleration start position is automatically adjusted simply by turning on the power, and the door is desired. It is possible to stop at the stop position, and as a result, the braking distance from the start of deceleration at the deceleration start position to the actual stop of the door changes due to a difference in the weight of the door and the stop position fluctuates. The distance from the stop position to the fully open position or the fully closed position becomes longer, and conversely, the vehicle cannot stop before the fully open position or the fully closed position and collides with the door frame. There is an effect that can be prevented.

According to a second aspect of the present invention, in the first aspect of the present invention, a nonvolatile memory is used as the storage means, and the control section stores the data of the deceleration start position in the storage means when the power is turned on. The deceleration is started at the deceleration start position stored in the means, and if the data of the deceleration start position is not stored in the storage means, the deceleration start position is adjusted. Since the data of the deceleration start position is stored in the storage means composed of a nonvolatile memory, the data of the deceleration start position is not lost when the power is turned on and off, and the deceleration start position adjustment operation is not performed every time the power is turned on. This has the effect of ending.

According to a third aspect of the present invention, in the first aspect of the present invention, the control unit presets an adjustment amount of the deceleration start position when the actual stop position of the door during the adjustment is out of the allowable range. When the stop position of the door when decelerating from a certain deceleration start position deviates greatly from the allowable range, the adjustment value of the deceleration start position is determined by the distance between the actual stop position and the allowable range. Too big according to the difference,
This has the effect of solving the problem that the stop position when decelerating from the deceleration start position adjusted in the next operation is largely shifted in the direction opposite to the allowable range.

According to a fourth aspect of the present invention, in the first aspect of the present invention, the control section determines the adjustment amount of the deceleration start position when the actual stop position of the door during the adjustment is out of the allowable range, by using the operation of the door. It is characterized in that it is decreased with an increase in the number of times, and the operation for adjusting the deceleration start position is repeated irrespective of the relationship between the position where the door actually stopped during the adjustment and the position and distance of the allowable range of the stop position Thus, there is an effect that the deceleration start position can be adjusted so that the stop position falls within the allowable range without fail.

[Brief description of the drawings]

FIG. 1 is a schematic circuit configuration diagram showing an embodiment.

FIG. 2 is an overall configuration diagram of the same.

FIG. 3 is a side sectional view of the same.

FIGS. 4A to 4C are output signals of a magnetic sensor;
(D) is a waveform diagram showing each position detection signal.

FIG. 5 is an operation explanatory view of the above.

FIG. 6 is a flowchart for explaining the above operation.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Stator 2 Mover 3 Position sensor block 6 Door 31 Position sensor 43 Control part 45 Storage part

 ────────────────────────────────────────────────── ─── Continuing from the front page (72) Inventor Hiroshi Hori 1048 Kazuma Kadoma, Osaka Prefecture Matsushita Electric Works Co., Ltd. F-term (reference) 2E052 AA01 AA02 BA02 CA06 CA07 DA02 DA04 DA08 DB02 DB04 DB08 EA16 EB01 EC01 GA10 GB12 GB15 GD01 GD06 GD07 KA13 KA14 KA15 5H540 AA10 BA03 BB03 BB06 BB09 DD07 EE05 EE14 FA02 FA03 FA12 FA21 FC10

Claims (4)

[Claims] 1. A motor as a drive source, position detecting means for detecting a position of a door, and control means for controlling a moving speed of the door by changing an output to the motor in accordance with a detection result of the position detecting means. And storage means for storing various data necessary for controlling the moving speed of the door, accelerating from a fully open position or a fully closed position to a predetermined constant speed, and at a constant speed to a predetermined deceleration start position. The control means moves at high speed, starts deceleration from the deceleration start position, stops at the predetermined stop position, stops at the stop position for a certain period of time, and then moves the door again from the stop position to the fully closed position or the fully open position. A door opening / closing device for performing control, wherein the control means stores the data at the time of the first opening operation and closing operation after the power is turned on in an initial state in which the data of the deceleration start position is not stored in the storage means. Pre-stored in the means The deceleration start position is calculated from the data of the predetermined stop position, and the position where the door actually stops when deceleration is started from the calculated deceleration start position is outside the allowable range stored in the storage means in advance. If so, adjust the deceleration start position at the next operation, repeat the adjustment of the deceleration start position for each operation until the actual door stop position falls within the allowable range, and adjust the deceleration start position within the allowable range. A door opening / closing device that stores data of a deceleration start position in a storage unit, and thereafter performs speed control to start deceleration at the deceleration start position stored in the storage unit. 2. A non-volatile memory is used as a storage means, and the control unit starts deceleration at the deceleration start position stored in the storage means if the data of the deceleration start position is stored in the storage means when the power is turned on. 2. The door opening / closing device according to claim 1, wherein the deceleration start position is adjusted unless data on the deceleration start position is stored in the storage means. 3. The control unit according to claim 2, wherein the adjustment amount of the deceleration start position when the actual stop position of the door during the adjustment is out of an allowable range is equal to or less than a predetermined value. 2. The door opening and closing device according to 1. 4. The method according to claim 1, wherein the control unit reduces the adjustment amount of the deceleration start position when the actual stop position of the door during the adjustment is out of the allowable range with an increase in the number of times of operation of the door. The door opening / closing device according to claim 1, wherein