JP6901651B1 - Switchgear of the switchgear - Google Patents

Abstract

PROBLEM TO BE SOLVED: To appropriately detect an obstacle based on a motor current value of a DC motor in a switchgear of an opening / closing body using a DC motor. SOLUTION: A first calculation means S15 in which a section current reference value updating means obtains a maximum current-voltage conversion value in a section which is a maximum value in the section of a motor current-voltage conversion value detected by a motor current detection means for each section. , S35, and the second calculation for obtaining the front-rear section average maximum current-voltage conversion value, which is the average value of the in-section maximum current-voltage conversion value in each section and the in-section maximum current-voltage conversion value in each section before and after that section. Means S201 and S401, and the third calculation means S202 for obtaining the maximum current-voltage conversion value after comparison between the front-rear section, which is the larger value of the maximum current-voltage conversion value in the section and the average maximum current-voltage conversion value in the front-rear section for each section. , S402, and the switching device 1 of the switching body 10 that updates the section current reference value based on the maximum current-voltage conversion value after comparing the front and rear sections. [Selection diagram] Fig. 5

Description

The present invention relates to an opening / closing device for an opening / closing body such as various shutters installed in an opening of a building / structure such as a house, a building, a factory, a warehouse, or a garage.

The switchgear opening / closing device includes a motor for opening / closing the opening / closing body and a position detecting unit for detecting the opening / closing position of the opening / closing body in conjunction with the rotation of the motor. By controlling the motor based on the position information, the opening / closing operation of the opening / closing body is performed.
As a motor used for an opening / closing device for such an opening / closing body, many AC motors such as a condenser run type single-phase 100V induction motor and a three-phase 200V induction motor have been conventionally used. A DC motor such as a three-phase DC brushless motor may be used as in the shutter opening / closing device described. As described in Patent Document 1, when a DC motor is used as a switchgear for an opening / closing body, feedback control is generally performed so that the rotation speed of the DC motor becomes a target rotation speed. There is.

Further, the switchgear opening / closing device has an obstacle detecting means for detecting an obstacle that hinders the opening / closing operation of the opening / closing body as a safety device. When the feedback control of the rotation speed of the DC motor is performed and the obstacle is detected based on the rotation speed of the motor, the time until the detection is delayed. Therefore, in the opening / closing device of the opening / closing body using such a DC motor, as described in Patent Document 1, the motor flowing through the DC motor because the torque of the DC motor and the motor current value are in a proportional relationship. The current value is detected, and obstacles are detected based on the motor current value.

Japanese Unexamined Patent Publication No. 2011-80280

An example of an application of a switchgear opening / closing device using a DC motor is a so-called lightweight balance shutter, which is a small shutter installed in a garage of a general house and has a balance spring provided at the winding part of the opening / closing body. In addition to the shutter switchgear for spring-combined shutters, large shutters installed in factories and warehouses are classified as so-called heavy shutters, which have a large opening and closing body, and lightweight shutters, but do not have a balance spring. Examples include a shutter switchgear for a shutter that is not a spring-combined type such as a shutter.
In a switchgear opening / closing device using such a DC motor, if the opening / closing operation is hindered by the opening / closing body colliding with an obstacle, the motor current value of the DC motor changes due to a change in load torque. Therefore, obstacles can be detected by appropriately detecting the change in the motor current value.
However, it should be noted that the change in the motor current value due to an obstacle differs depending on the load state of the opening / closing body such as the shutter, which is the load of the DC motor, and the difference between the opening operation and the closing operation.

For example, considering a shutter switch for a shutter that is not a spring-combined type such as the heavy-duty shutter described above, the DC motor is in a power running state during the normal operation of the opening operation, and the motor current value is a state in which the power running current is large. It has become. Then, when the opening operation is hindered by an obstacle in this state, the motor current changes in the direction in which the power running current increases, that is, in the direction in which the power running current becomes larger.
On the other hand, during the normal operation of the closing operation, the DC motor is in the regenerative operation state, and the motor current value is in the state where the regenerative current is large. Then, if the closing operation is hindered by an obstacle in this state, the motor current changes in the direction in which the regenerative current decreases.

Also, considering the shutter switch for a spring-combined shutter such as the lightweight balance shutter described above, the load state of the opening operation and the closing operation differs depending on the adjustment condition of the balance spring, and the load state of the opening operation and the closing operation is exactly the same. In some cases, it is in a balanced state, in some cases it is in an ascending state where the load state of the open operation is lighter than the load state of the closed operation, and in some cases the load state of the closed operation is the load of the open operation. In some cases, it is in a state of selfishness, which is lighter than the state.
Therefore, whether the DC motor is in the power running operation state or the regenerative operation state in each of the normal operations of the opening operation and the closing operation differs depending on the adjustment condition of the balance spring.
However, in any case, it is known that when the opening operation or the closing operation is hindered by an obstacle, the motor current changes in the direction in which the power running current increases and in the direction in which the regenerative current decreases.

In addition to this, the load state of the opening / closing body is not constant from the fully open position to the fully closed position, and is affected by various factors such as a change in the winding diameter of the shutter take-up portion and a change in friction with the shutter rail. Therefore, it changes from moment to moment according to the opening / closing position of the opening / closing body during each operation of the opening operation and the closing operation. In addition, aging deterioration and changes in mechanical friction due to long-term use also have an effect.

Therefore, when detecting an obstacle based on the motor current value of the DC motor, the difference between the opening operation and the closing operation and the opening and closing of the opening / closing body are required to detect the obstacle appropriately with high sensitivity and without false detection. There is a problem of how to determine a reference value for comparison with a motor current value in obstacle detection and a threshold value for determination according to the position, the load state of the target opening / closing body, the influence of aging deterioration, and the like.

An object of the present invention is to solve the above-mentioned problems, and to enable a switchgear of an opening / closing body using a DC motor to appropriately detect an obstacle based on a motor current value of the DC motor. It is in.

One aspect of the present invention for solving the above problems is a DC motor for performing an opening / closing operation of an opening / closing body operably supported in both an opening direction and a closing direction, and interlocking with the rotation of the DC motor. The position detection unit that detects the opening / closing position of the opening / closing body and the rotation speed of the DC motor during each operation of the opening operation in the opening direction and the closing operation in the closing direction are set to the target rotation speeds, respectively. An opening / closing device including a control unit that controls the DC motor based on the position information detected by the position detection unit while performing feedback control. The control unit is a motor that flows through the DC motor. A predetermined section is between the motor current detecting means that converts the current into a motor current-voltage conversion value that is a voltage value within a predetermined voltage range and detects the current, and the fully open position and the fully closed position that are the operating ranges of the opening / closing body. A section for storing the current reference value as a reference for comparison with the motor current-voltage conversion value for each section corresponding to the opening / closing position of the opening / closing body during each operation of the opening operation and the closing operation. The current reference value storage means, the motor current-voltage conversion value detected by the motor current detection means and the section current reference value stored by the section current reference value storage means for each operation of the opening operation and the closing operation. An obstacle detecting means for detecting an obstacle that hinders the opening operation and the closing operation based on the comparison result of using a comparison coefficient predetermined for each section, and each operation of the opening operation and the closing operation. When an obstacle is not detected by the obstacle detecting means between the start and the end of the above, the motor current-voltage conversion value detected by the motor current detecting means during each of the opening operation and the closing operation. It has a section current reference value updating means for updating the section current reference value stored in the section current reference value storage means using the above, and the motor current-voltage conversion value is the voltage when the motor current is 0. As a predetermined reference voltage value within the range, the larger the power running current of the DC motor, the larger the voltage value than the reference voltage value, while the larger the regenerative current of the DC motor, the smaller the voltage value than the reference voltage value. The section current reference value updating means is the maximum current-voltage conversion within the section, which is the maximum value of the motor current-voltage conversion value detected by the motor current detecting means for each section. In the first calculation means for obtaining the value, the maximum current-voltage conversion value in the section in the section for each section, and each section before and after the conversion value. The second calculation means for obtaining the average maximum current-voltage conversion value in the front-rear section, which is the average value with the maximum current-voltage conversion value in the section, and the maximum current-voltage conversion in the section obtained by the first calculation means for each section. The front-rear section includes the value and the third calculation means for obtaining the maximum current-voltage conversion value after comparison of the front-rear section, which is the larger value of the front-rear section average maximum current-voltage conversion value obtained by the second calculation means. It is an opening / closing device of an opening / closing body that updates the section current reference value based on the maximum current / voltage conversion value after comparison.

The switchgear opening / closing device uses a DC motor as a motor for opening / closing the opening / closing body, and in the control unit, the rotation speed of the DC motor during each operation of the opening operation and the closing operation is the target rotation speed. While performing feedback control so as to be, the DC motor is controlled based on the position information detected by the position detection unit. Then, the control unit stores the section current reference value that serves as a comparison reference between the motor current detecting means that converts the motor current flowing through the DC motor into the motor current-voltage conversion value and detects it, and the motor current-current-voltage conversion value. The current reference value storage means, the obstacle detection means for detecting obstacles that hinder the opening and closing operations of the opening / closing body, and the section current reference value updating means for updating the section current reference value stored in the section current reference value storage means. And have.
That is, the opening / closing device of this opening / closing body detects obstacles based on the motor current / voltage conversion value which is the detection value of the motor current of the DC motor, and sets the section current reference value which is the comparison reference of the motor current / voltage conversion value. While the section current reference value storage means stores the stored section current reference value, the section current reference value updating means updates the stored section current reference value.

The motor current-voltage conversion value detected by the motor current detecting means is a voltage value within a predetermined voltage range, and the reference voltage value is when the motor current is 0. The larger the power running current of the DC motor, the larger the reference voltage value. On the other hand, as the regenerative current of the DC motor increases, the voltage value becomes smaller than the reference voltage value.
As a motor current detecting means for detecting such a motor current-voltage conversion value, a voltage between both ends of a current detection resistor inserted between the ground side of the motor drive circuit for driving the DC motor and the ground of the DC power supply is used. Examples thereof include a differential amplification circuit that differentially amplifies with reference to a predetermined reference voltage value.

For example, in a differential amplifier circuit using an operational amplifier (arithmetic amplifier), the positive electrode power supply terminal of the operational amplifier is set to + 5V and the negative electrode power supply terminal is set to 0V, so that the voltage range of the motor current-voltage conversion value is set to 0V to + 5V. Can be done. Then, of both ends of the current detection resistor, one end on the side connected to the ground of the DC power supply is connected to the inverting input terminal of the operational amplifier via the input resistor, and this inverting input terminal is connected to the output terminal via the feedback resistor. Connecting. Here, the ratio of the input resistance and the feedback resistance is the amplification factor of the differential amplifier circuit forming the inverting amplifier circuit. On the other hand, the other end of the current detection resistor connected to the ground side of the motor drive circuit is connected to the non-inverting input terminal of the operational amplifier via a resistor having the same resistance value as the above input resistance, and this non-inverting input terminal. Is offset to + 2.5V, which is the reference voltage value, by dividing the voltage by resistance. In the case of resistance voltage division, the combined resistance when two resistors used for resistance voltage division are connected in parallel may be the same as the resistance value of the feedback resistor described above. By setting the non-inverting input terminal to + 2.5V, the inverting input terminal also operates at approximately + 2.5V within the range in which amplification by the differential amplifier circuit is normally performed.

When the power running current of the DC motor exceeds the regenerative current, the current flows from the other end (ground side of the motor drive circuit) to one end (ground of the DC power supply) to the non-inverting input terminal. Since the other end of the current detection resistor connected to is higher in potential than one end of the current detection resistor connected to the inverting input terminal, the output voltage of the differential amplification circuit has a voltage value larger than + 2.5V. Become. The output voltage of this differential amplifier circuit becomes a voltage value larger than + 2.5 V as the power running current increases.
When the regenerative current of the DC motor exceeds the power running current, the current flows through the current detection resistor from one end (ground of the DC power supply) to the other end (ground side of the motor drive circuit), so that the non-inverting input terminal Since the other end of the current detection resistor connected to is lower in potential than one end of the current detection resistor connected to the inverting input terminal, the output voltage of the differential amplification circuit is smaller than + 2.5V. Become. The output voltage of this differential amplifier circuit becomes smaller than + 2.5V as the regenerative current increases.
When the motor current is 0, the potential difference between both ends of the current detection resistor becomes 0, so that the output voltage of the differential amplifier circuit becomes + 2.5V.
From the above, when the motor current is 0, the reference voltage value becomes + 2.5V, the larger the power running current of the DC motor, the larger the voltage value than + 2.5V, and the larger the regenerative current of the DC motor, the more + 2.5V. A motor current-voltage conversion value that changes in the voltage range of 0V to + 5V such that the voltage value is smaller than that of the current value can be obtained.

When the opening / closing operation is hindered by an obstacle during the opening operation of the opening / closing body, the power running current does not matter whether the DC motor is in the power running state or the regenerating state during the normal operation. Since the motor current changes in the direction in which the current increases and in the direction in which the regenerative current decreases, the motor current-voltage conversion value changes in the direction in which the voltage value increases.
Further, even if the closing operation is hindered by an obstacle during the closing operation of the opening / closing body, similarly, regardless of whether the DC motor is in the power running state or the regenerating state during the normal operation. Since the motor current changes in the direction in which the force current increases and in the direction in which the regenerative current decreases, the motor current-voltage conversion value changes in the direction in which the voltage value increases.
As a result, if the operation is obstructed by an obstacle in either the open operation or the closed operation, the motor current-voltage conversion value becomes large. Therefore, the magnitude of the motor current-voltage conversion value is used as an index to obtain an obstacle. It can detect objects.

Further, the section reference current value storage means divides between the fully open position and the fully closed position, which are the operating ranges of the opening / closing body, into a predetermined section, and the opening / closing position of the opening / closing body during each operation of the opening operation and the closing operation. The section current reference value for each section corresponding to is stored.
The section current reference value is stored for each divided section in order to finely respond to changes in the load state that change from moment to moment according to the opening / closing position of the opening / closing body during each operation of the opening operation and the closing operation.

The obstacle detecting means defines in advance the motor current-voltage conversion value detected by the motor current detecting means and the section current reference value stored by the section current reference value storage means for each operation of the opening operation and the closing operation. Obstacles are detected based on the comparison result of comparison using the comparison coefficient.
The comparison coefficient is, for example, a predetermined constant larger than 1 defined for each section, and the value obtained by multiplying the section current reference value by this comparison coefficient is compared with the motor current-voltage conversion value to convert the motor current / voltage. If the value is larger, it can be determined that an obstacle has been detected. Further, this comparison coefficient is not limited to one value. For example, if a plurality of patterns of values are prepared and can be arbitrarily selected, a desired value can be obtained according to the load state of the actual machine. It can be adjusted to the detection sensitivity.

The section current reference value updating means is in the opening operation and the closing operation when no obstacle is detected by the obstacle detecting means between the start and the end of the opening operation and the closing operation. The section current reference value is updated using the motor current-voltage conversion value detected by the motor current detecting means.
In order to respond to changes in the load state of the open / close body due to the effects of aging, etc., when normal operation is performed without obstacles being detected, the section current reference is used using the latest motor current-voltage conversion value during operation. Update the value each time.

Further, the section reference current value updating means includes the following first to third calculation means.
In the first calculation means, the maximum current-voltage conversion value in the section, which is the maximum value in the section of the motor current-voltage conversion value detected by the motor current detection means for each section, is obtained.
In order to detect that the motor current-voltage conversion value becomes larger than that during normal operation due to an obstacle, first, the maximum value within the section of the motor current-voltage conversion value for each section detected during normal operation is obtained.

In the second calculation means, the average maximum current-voltage conversion value in the front-rear section, which is the average value of the maximum current-voltage conversion value in the section in the section and the maximum current-voltage conversion value in the section in each section before and after the section, is obtained for each section.
Since the maximum current-voltage conversion value in a section has a large variation in size for each section, here, the average value of the maximum current-voltage conversion value in a section for each of the three sections of the section and each section before and after the section. Seeking.

In the third calculation means, the front-rear section which is the larger value of the maximum current-voltage conversion value in the section obtained by the first calculation means and the average maximum current-voltage conversion value in the front-rear section obtained by the second calculation means for each section. After comparison, find the maximum current-voltage conversion value.
For example, when the maximum current-voltage conversion value in the section of the section is larger than that of the section before and after, the maximum current-voltage conversion value in the section of the section is larger than the average maximum current-voltage conversion value in the section before and after the section. The maximum current-voltage conversion value in the section is the maximum current-voltage conversion value after comparing the previous and next sections. On the other hand, if the maximum current-voltage conversion value in each section before and after is larger than the maximum current-voltage conversion value in the section, the average maximum current in the front-rear section is larger than the maximum current-voltage conversion value in the section. Since the voltage conversion value is larger, the average maximum current-voltage conversion value in the front-rear section becomes the maximum current-voltage conversion value after comparison in the front-rear section.
As a result, when updating the section current reference value, the maximum current-voltage conversion value after comparison between the front and rear sections suppresses the variation in size for each section in the front and rear sections, and eliminates the change to a small value due to this variation. I try to adopt a larger value.
Then, the section current reference value updating means updates the section current reference value based on the maximum current-voltage conversion value after the comparison between the front and rear sections thus obtained.

Based on the above, the section current reference value is converted to the motor current voltage during the latest operation according to the difference between the opening operation and the closing operation, the opening / closing position of the opening / closing body, the load state of the target opening / closing body, the influence of aging deterioration, etc. It will be the value updated using the value. Then, by comparing the motor current-voltage conversion value detected by the obstacle detecting means with the section current reference value updated as described above using a comparison coefficient predetermined for each section, obstacle detection is appropriately performed. It can be performed.

Further, in the above-mentioned opening / closing device of the opening / closing body, the section current reference value updating means is obtained after the front-rear section comparison for each section obtained by the third calculation means when updating the section current reference value. It is preferable to use an opening / closing device for an opening / closing body including a specified number of times averaging means for averaging the maximum current / voltage conversion value for the past specified number of operations including the latest operation.

In the switching device of this switching body, the section current reference value updating means includes the specified number of times averaging means, and when updating the section current reference value, the maximum current after comparing the front and rear sections for each section obtained by the third calculation means. The voltage conversion value is averaged for the past specified number of operations including the latest operation. As a result, the updated section current reference value becomes a value that suppresses variation for each operation, and obstacles can be detected more appropriately.

Further, in any of the above-mentioned switchgear opening / closing devices, the control unit has a motor temperature detecting means for detecting the motor temperature of the DC motor, and the obstacle detecting means has the motor current-voltage conversion. A switchgear opening / closing device including an obstacle detection temperature correcting means that corrects a value according to the motor temperature detected by the motor temperature detecting means when comparing the value and the section current reference value using the comparison coefficient. It is good to say.

In the opening / closing device of this opening / closing body, the control unit has a motor temperature detecting means for detecting the motor temperature of the DC motor, and the obstacle detecting means includes the obstacle detecting temperature compensating means. When comparing with the current reference value using the comparison coefficient, the correction is performed according to the motor temperature, so that the obstacle can be detected more appropriately in consideration of the change in the motor current due to the motor temperature.
Examples of the motor temperature detecting means include a thermistor installed inside the DC motor and a detection circuit for detecting the resistance value thereof.

According to the switchgear opening / closing device of the present invention, in the switchgear opening / closing device using a DC motor, obstacles can be appropriately detected based on the motor current-voltage conversion value obtained by detecting the motor current of the DC motor. it can.

An explanatory view of the entire appearance showing a slat curtain of a shutter which is an opening / closing body according to the embodiment and an attached state of a shutter opening / closing device which is an opening / closing device thereof. Explanatory drawing which shows the electric structure of the shutter switch which concerns on embodiment. The flowchart which shows the whole processing of the opening operation of the shutter opening / closing machine which concerns on embodiment. The flowchart which shows the obstacle detection processing at the time of opening operation of the shutter opening / closing machine which concerns on embodiment. The flowchart which shows the section current reference value update processing at the time of opening operation of the shutter opening / closing machine which concerns on embodiment. The flowchart which shows the whole processing of the closing operation of the shutter opening / closing machine which concerns on embodiment. The flowchart which shows the obstacle detection processing at the time of closing operation of the shutter opening / closing machine which concerns on embodiment. The flowchart which shows the section current reference value update processing at the time of closing operation of the shutter opening / closing machine which concerns on embodiment.

Hereinafter, embodiments embodying the present invention will be described with reference to the drawings. In this embodiment, an example in which the present invention is applied to an electric shutter installed in a garage or the like is shown. FIG. 1 is an explanatory view of the entire appearance showing the attached state of the shutter slat curtain 10 which is the opening / closing body according to the present embodiment and the shutter opening / closing device 1 which is the opening / closing device. Further, FIG. 2 is an explanatory diagram showing an electrical configuration of the shutter switch 1.
First, with reference to FIG. 1, the mechanical structure of the shutter slat curtain 10 and the shutter switch 1 will be described.

As shown in FIG. 1, the shutter slat curtain 10 which is an opening / closing body has a configuration in which a plurality of substantially rectangular plate-shaped metal plates extending in the horizontal direction are vertically connected, and guide rails are provided on both sides in the horizontal direction. It is sandwiched between 11 and supported in a suspended state, and is installed in an opening of a building such as a garage. Further, a lintel portion 12 is provided at the upper end of the opening of the building, and a shutter case 13 is provided above the lintel portion 12.
Further, a winding shaft 14 for winding the slat curtain 10 is supported and fixed in the shutter case 13, and the slat curtain 10 wound around the winding shaft 14 is housed in the shutter case 13. It has become like.

Further, in the shutter case 13, a shutter switchgear 1 which is an opening / closing device and a drive transmission system 15 including a speed reduction mechanism and the like are provided, and when the shutter switchgear 1 operates, the slat curtain 10 is in the vertical direction. The upper end side is wound around the take-up shaft 14 via the drive transmission system 15, whereby the slat curtain 10 is arranged in the opening direction DO (upper in FIG. 1) and the closing direction DC (upper in FIG. 1) in the vertical direction thereof. It is possible to operate in both directions (lower in FIG. 1).

The shutter opening / closing machine 1 includes a DC motor 2 which is a three-phase DC brushless motor as a motor for opening / closing the slat curtain 10, and also includes a control unit 3 for controlling the DC motor 2.
Further, on the wall surface of the building close to the slat curtain 10 and the guide rail 11, a push button switch box 4 electrically connected to the control unit 3 of the shutter switch 1 is installed. The pushbutton switch box 4 is provided with an ascending (opening) button PBU, a descending (closing) button PBD, and a stop button PBS, and the slat curtain 10 is opened (up) and closed (down) according to the operation of each button. ) And stop.
The shutter structure described in FIG. 1 mainly shows a structure of a shutter that is not a spring-combined type such as a so-called heavy-duty shutter, and a shutter switchgear to which the present invention is applied is such a shutter switchgear. The present invention is not limited to shutters that are not spring-combined, and the present invention may be applied to shutter switches for spring-combined shutters such as lightweight balance shutters provided with a balance spring in the take-up portion.

Next, the electrical configuration of the shutter switch 1 according to the present embodiment will be described with reference to FIG.
As described above, the shutter opening / closing machine 1 includes a DC motor 2 (three-phase DC brushless motor) for opening / closing the slat curtain 10 and a control unit 3 for controlling the DC motor 2. Further, inside the DC motor 2, a Hall sensor 2b composed of three Hall elements or Hall ICs for detecting the rotation position of a magnet of a rotor (not shown) of the DC motor 2 and a motor temperature of the DC motor are detected. A thermistor 2c for this is installed.

The control unit 3 includes a microprocessor 3a that executes a control program, an EEPROM 3f of a non-volatile memory that is connected to the microprocessor 3a and is used to store various set values, a rectifying smoothing circuit 3b, and a motor drive. A circuit 3c, a motor current detection circuit 3d, a push button input circuit 3e, a hall sensor signal input circuit 3g, and a thermista input circuit 3h are provided.
Further, the microprocessor 3a has an internal RAM 3a1 of a volatile memory inside itself in addition to the above-mentioned EEPROM 3f, and the internal RAM 3a1 is used for temporary storage and calculation of various data, and the EEPROM 3f. Various setting values read from are also expanded into the internal RAM 3a1 and used.

The rectifying and smoothing circuit 3b consists of a plurality of diodes and a high-capacity electrolytic capacitor, and is connected to a commercial AC power supply such as an AC100V power supply to generate a DC voltage that has undergone rectification by a diode and smoothing by a capacitor from this commercial AC power supply. .. This DC voltage is supplied to the motor drive circuit 3c described below, and serves as a DC power source for driving the motor for driving the DC motor 2.

The motor drive circuit 3c is a circuit for PWM driving a DC motor 2 which is a three-phase DC brushless motor, and has six power elements (high side side × 3 elements + low side side × 3) such as an IGBT or a power MOS-FET. It is composed of an IPM (intelligent power module) having an element) and a circuit for a gate drive of these elements inside. The motor drive circuit 3c is connected to the DC power supply for driving the motor generated by the rectifying and smoothing circuit 3b, and is also connected to the emitter side (or source side) of the high side element of the IPM and the collector side of the low side element. Three output terminals, which are connection points (or drain side), are connected to each phase of the DC motor 2. Further, each element of the IPM of the motor drive circuit 3c is turned on / off by a control signal output from the microprocessor 3a.
When connecting the motor drive circuit 3c and the DC power supply generated by the rectifying smoothing circuit 3b, the high voltage of the motor drive circuit 3c, which is a common line on the collector side (or drain side) of the high side element of the IPM. The side is directly connected to the positive side of the DC power supply generated by the rectifying and smoothing circuit 3b, while the ground side of the motor drive circuit 3c, which is a common line on the emitter side (or source side) of the low side element of the IPM. Is connected to the negative side (ground) of the DC power supply generated by the rectifying smoothing circuit 3b via the current detecting resistor 3d1 having a resistance value Rf forming a part of the motor current detecting circuit 3d described below.

The motor current detection circuit 3d is a circuit for detecting the motor current flowing through the DC motor 2 on the ground side of the motor drive circuit 3c. In addition to the above-mentioned current detection resistor 3d1, an operational amplifier (arithmetic amplifier) 3d2 and a plurality of resistors It is a differential amplifier circuit composed of a device.
The positive electrode power supply terminal of the operational amplifier 3d2 is connected to + 5V of the control power supply generated by the control power supply circuit (not shown), and the negative electrode power supply terminal of the operational amplifier 3d2 is also connected to the ground (0V) of the control power supply. There is. The ground of this control power supply is connected to the ground of the DC power supply generated by the rectifying smoothing circuit 3b and has the same potential.

Further, one end of the current detection resistance 3d1 on the side connected to the ground of the DC power supply generated by the rectifying smoothing circuit 3b is connected to the inverting input terminal of the operational amplifier 3d2 via the input resistance of the resistance value Ra. Further, this inverting input terminal is connected to the output terminal of the operational amplifier 3d2 via the feedback resistance of the resistance value Rb. Here, the ratio (= Rb / Ra) of the resistance value Ra of the input resistance and the resistance value Rb of the feedback resistance is the amplification factor of the differential amplifier circuit forming the inverting amplifier circuit.
On the other hand, the other end of the current detection resistor 3d1 connected to the ground side of the motor drive circuit 3c is connected to the non-inverting input terminal of the operational amplifier 3d2 via a resistor having the same resistance value Ra as the above input resistance. Further, this non-inverting input terminal is also connected to + 5V and ground (0V) of the control power supply by two resistors having a resistance value of 2Rb, and these two resistors are between + 5V and 0V of the control power supply. It is shaped to divide the voltage by resistance. Since the input terminal of the operational amplifier 3d2 has a high input impedance, the non-inverting input terminal of the operational amplifier 3d2 is offset to + 2.5V as a result of the resistance voltage division of the + 5V voltage by the two resistors having the resistance value 2Rb. By setting the non-inverting input terminal to + 2.5V, the inverting input terminal also operates at approximately + 2.5V within the range in which amplification by the differential amplifier circuit is normally performed. As a result, the output voltage of the differential amplifier circuit changes within the voltage range of 0V to + 5V with + 2.5V as the reference voltage value.
The resistance value 2Rb of the two resistors is such that the combined resistance when these are connected in parallel matches the resistance value Rb of the feedback resistor described above.

When the DC motor 2 is driven by the motor drive circuit 3c, a power running current may flow in the DC motor 2 or a regenerative current may flow in the DC motor 2 depending on the load state of the DC motor 2.
When a force current flows, the DC motor 2 operates as an electric motor and consumes electric power. In FIG. 2, the direction of the solid line arrow, that is, the DC power source generated by the rectifying and smoothing circuit 3b is transferred to the motor drive circuit 3c. A force current flows in the direction of the direction.
On the other hand, when a regenerative current flows, the DC motor 2 operates as a generator and returns electric power to the power source. In FIG. 2, it is generated in the direction of the broken line arrow, that is, from the motor drive circuit 3c by the rectifying smoothing circuit 3b. A regenerative current flows in the direction of returning to the DC power supply.

When the power running current of the DC motor 2 exceeds the regenerative current, the current detection resistance 3d1 is directed from the other end (ground side of the motor drive circuit 3c) to one end (ground of the DC power supply generated by the rectifying smoothing circuit 3b). The other end of the current detection resistor 3d1 connected to the non-inverting input terminal of the operational amplifier 3d2 has a higher potential than the one end of the current detection resistor 3d1 connected to the inverting input terminal of the operational amplifier 3d2. Therefore, the output voltage of the differential amplification circuit becomes a voltage value larger than the reference voltage value of + 2.5V. The output voltage of this differential amplifier circuit becomes larger than the reference voltage value of + 2.5V as the power running current increases.
When the regenerative current of the DC motor exceeds the power running current, the current detection resistance 3d1 is applied from one end (ground of the DC power supply generated by the rectifying smoothing circuit 3b) to the other end (ground side of the motor drive circuit 3c). Because the current flows, the other end of the current detection resistor 3d1 connected to the non-inverting input terminal of the operational amplifier 3d2 has a lower potential than the one end of the current detection resistor 3d1 connected to the inverting input terminal of the operational amplifier 3d2. The output voltage of the differential amplifier circuit is smaller than the reference voltage value of + 2.5V. The output voltage of this differential amplifier circuit becomes smaller than the reference voltage value of + 2.5V as the regenerative current increases.
Further, when the motor current of the DC motor 2 is 0, the potential difference between both ends of the current detection resistor 3d1 becomes 0, so that the output voltage of the differential amplification circuit becomes + 2.5V of the reference voltage value.
Assuming that the magnitude of the current flowing in the direction of the power running current indicated by the solid arrow in FIG. 2 is I, the output voltage of the motor current detection circuit 3d, which is a differential amplifier circuit, is (I × Rf) × (Rb / Ra). It becomes + 2.5V.

As described above, the output voltage of the motor current detection circuit 3d, which is a differential amplification circuit, becomes + 2.5V of the reference voltage value when the motor current of the DC motor 2 is 0, and the force running current of the DC motor 2 increases. A voltage value that changes in the voltage range of 0V to + 5V so that the voltage value becomes larger than the reference voltage value of + 2.5V and becomes smaller than the reference voltage value of + 2.5V as the regenerative current of the DC motor 2 increases. This voltage value becomes the motor current-voltage conversion value of the present invention in which the motor current flowing through the DC motor 2 is detected.
This motor current-voltage conversion value is input to the A / D input 1 which is one of the A / D input ports of the microprocessor 3a.

In addition, the pushbutton input circuit 3e is an input circuit for inputting operation signals of the up (open) button PBU, down (close) button PBD, and stop button PBS of the pushbutton switch box 4 to the microprocessor 3a. Is. The microprocessor 3a detects the input of the operation signal of each button and performs the processing corresponding to the input.

The Hall sensor signal input circuit 3g is an input circuit for inputting a Hall sensor signal from the Hall sensor 2b attached to the DC motor 2 to the microprocessor 3a. The Hall sensor signal is a three-phase pulse signal that detects the rotation position of the rotor of the rotor of the DC motor 2. By inputting this Hall sensor signal, the microprocessor 3a energizes each phase of the DC motor 2. It can be switched appropriately. Further, by counting the pulse of the hall sensor signal at the same time as performing this energization switching, it is possible to detect the open / closed position of the slat curtain 10 of the shutter in conjunction with the rotation of the DC motor 2. .. Further, the rotation speed of the DC motor 2 can be known from the change in the pulse count number of the Hall sensor signal per unit time.

The thermistor input circuit 3h is an input circuit for detecting the resistance value of the thermistor 2c attached to the DC motor 2 and inputting it to the microprocessor 3a, and the detected resistance value of the thermistor 2c is converted into a voltage value. It is input to the A / D input 2 which is one of the A / D input ports of the microprocessor 3a. As a result, the motor temperature of the DC motor 2 can be detected.

Next, with reference to FIGS. 3 to 5, each process in the opening operation of the shutter switch 1 according to the present embodiment will be described.
FIG. 3 is a flowchart showing the entire processing of the opening operation of the shutter opening / closing machine 1 according to the present embodiment. Further, FIG. 4 is a flowchart showing an obstacle detection process during the opening operation of the shutter switch 1 according to the present embodiment. Further, FIG. 5 is a flowchart showing a section current reference value update process at the time of opening operation of the shutter switch 1 according to the present embodiment. Each of these flowcharts shows the processing content of the control program executed by the microprocessor 3a of the control unit 3.

As shown in FIG. 3, when the shutter opening / closing device 1 starts the processing of the opening operation, first, in step S11, the input of the opening operation signal (rising (opening) button PBU) is detected via the push button input circuit 3e. Judge whether or not. If the release operation signal is not detected (No), this step S11 is repeated, and if the release operation signal is detected (Yes), the process proceeds to step S12 and the release operation is started. During this opening operation, feedback control is performed so that the rotation speed of the DC motor 2 becomes the target rotation speed.

After the opening operation is started in step S12, the section corresponding to the current opening / closing position during the opening operation is obtained in the following step S13. As described above, the opening / closing position of the slat curtain 10 which is the opening / closing body is obtained by counting the pulse of the hall sensor signal from the hall sensor 2b. The section corresponding to the opening / closing position is divided into a predetermined number between the fully open position and the fully closed position of the slat curtain 10 in accordance with the opening / closing position. Then, this section is provided separately for the case of the opening operation and the case of the closing operation described later.

Further, in the following step S14, the motor current detection circuit 3d detects the motor current-voltage conversion value during the open operation. As described above, the motor current-voltage conversion value is detected by converting the motor current flowing through the DC motor 2 into a voltage value, and the larger the power running current of the DC motor 2, the higher the reference voltage value of + 2.5V. It is a voltage value that changes in the voltage range of 0V to + 5V so that the voltage value becomes large and becomes smaller than the reference voltage value of + 2.5V as the regenerative current of the DC motor 2 increases. Then, this motor current-voltage conversion value is used for the obstacle detection process and the section current reference value update process described below.

In the case of a shutter switch for a shutter that is not a spring-combined type such as a heavy-duty shutter, the DC motor 2 is in a power running state during the normal operation of the opening operation, and the motor current of the DC motor 2 is in a state of a large power running current. It has become. Then, if the opening operation is hindered by an obstacle in this state, the motor current of the DC motor 2 changes in the direction in which the power running current becomes larger. As a result, the motor current-voltage conversion value also changes in the direction in which the voltage value increases.
In the case of a shutter switch for a spring-combined shutter such as a lightweight balance shutter, the balance spring determines whether the DC motor is in the power running operation or the regenerative operation during the normal operation of the opening operation. In any case, when the opening operation is hindered by an obstacle, the motor current changes in the direction in which the power running current increases and in the direction in which the regenerative current decreases. As a result, the motor current-voltage conversion value changes in the direction in which the voltage value increases, as in the above case.

Further, in the following step S15, the maximum current-voltage conversion value in the section, which is the maximum value in the section of the motor current-voltage conversion value detected during the opening operation in step S14, is obtained for each section, and this is stored in the memory (micro). It is stored in the internal RAM 3a1) of the processor 3a. Every time the section changes during the opening operation, the first detected motor current-voltage conversion value is temporarily stored in the memory as the maximum value in the section, and the newly detected motor current-voltage conversion value in the same section is used. If it is larger than the previously stored motor current-voltage conversion value, the newly detected motor current-voltage conversion value is overwritten and stored as the maximum value in the section, so that the maximum value of the motor current-voltage conversion value in the section is used. The maximum current-voltage conversion value within a certain section can be obtained. The maximum current-voltage conversion value in this section is used for the section current reference value update process.

Then, in the following step S16, the obstacle detection determination process at the time of the opening operation, which is described in detail in steps S161 to S164 of FIG. 4, is performed.
First, in step S161, the section current reference value corresponding to the current section during the opening operation is referred from the memory. This section current reference value is a value that serves as a reference for comparison with the motor current-voltage conversion value for each section when an obstacle is detected, and is stored in the EEPROM 3f of the non-volatile memory in case the power is cut off. At the same time, the value read from the EEPROM 3f is expanded and stored in the internal RAM 3a1 of the microprocessor 3a. In this step S161, the value stored in the internal RAM 3a1 is referred to.

Next, in step S162, a value obtained by multiplying the section current reference value by the comparison coefficient corresponding to the current section during the opening operation is obtained. This comparison coefficient is a predetermined constant larger than 1 predetermined for each section in order to be used when comparing the motor current-voltage conversion value and the section current reference value in the obstacle detection determination process. It is stored as a fixed value in the data area of the program ROM (not shown) of the processor 3a. As for this comparison coefficient, values of a plurality of patterns are prepared, and they can be arbitrarily selected when the shutter is installed. As a result, the detection sensitivity of obstacle detection can be adjusted to a desired detection sensitivity according to the load state of the actual shutter machine.

Further, in the following step S163, the motor temperature of the DC motor 2 is detected from the resistance value of the thermistor 2c detected by the thermistor input circuit 3h, and the motor current-voltage conversion value is corrected according to the motor temperature. When the motor temperature changes, the motor current when the same torque is generated changes. Therefore, the detected motor current-voltage conversion value is corrected according to the temperature characteristics of the motor. As shown by the broken line in FIG. 4, this step S163 is not an essential component of the present invention, but by providing this step S163, a change in the motor current due to the motor temperature is taken into consideration, and a failure occurs more appropriately. It can detect objects.

Then, in the following step S164, the value obtained by multiplying the comparison coefficient obtained in step S162 by the interval current reference value is compared with the corrected motor current-voltage conversion value corrected in step S163. Then, the process proceeds to step S17 of FIG. 3, and the obstacle detection is determined according to the size of the step S17.
If the motor current-voltage conversion value is equal to or greater than the value obtained by multiplying the comparison coefficient by the section current reference value, it is determined in step S17 that there is an obstacle detection (Yes), and the process proceeds to step S21 to stop the DC motor 2. I do. Then, this completes the processing of the opening operation.
On the other hand, if the motor current-voltage conversion value is less than the value obtained by multiplying the comparison coefficient by the section current reference value, it is determined in step S17 that there is no obstacle detection (No), and the process proceeds to step S18.

In step S18, it is determined whether or not the input of the stop operation signal (stop button PBS) is detected via the push button input circuit 3e, or whether or not the fully open position of the slat curtain 10 is detected. If neither the stop operation signal nor the fully open position is detected (No), the process returns to step S13, and the opening operation is continued while repeating the processes of steps S13 to S18.
On the other hand, when either the stop operation signal or the fully open position is detected (Yes), the process proceeds to step S19 to stop the DC motor 2. Then, in this case, the opening operation is normally completed without detecting an obstacle, and further, the process proceeds to step S20, and the section current reference during the opening operation shown in detail in steps S201 to S204 of FIG. Performs value update processing.

The section current reference value update process during the open operation is executed when no obstacle is detected between the start and end of the open operation, and is detected during the open operation during the normal operation. This is a process of updating the section current reference value stored in the memory using the motor current-voltage conversion value. Further, by repeating step S15 during the opening operation, at the time when the processing of step S20 (steps S201 to S204 in FIG. 5) is started, the maximum current-voltage conversion value in each section in which the opening operation is performed is determined. It has already been stored in the memory, and the process of step S15 is also a part of the section current reference value update process during the open operation. In step S15, in order to detect that the motor current-voltage conversion value becomes larger than that during normal operation due to an obstacle, first, it is the maximum value within the section of the motor current-voltage conversion value for each section detected during normal operation. The maximum current-voltage conversion value in the section is calculated.

Then, in step S201 of FIG. 5, for each section during the opening operation, the maximum current-voltage conversion value in the section stored through the process of step S15 is used, and the maximum current-voltage conversion value in the section and each before and after the section are used. The average maximum current-voltage conversion value in the front-rear section, which is the average value with the maximum current-voltage conversion value in the section in the section, is obtained.
Since the maximum current-voltage conversion value in a section has a large variation in magnitude for each section, in this step S201, the maximum current-voltage conversion value in the section for each of the three sections of the section and each section before and after the section is used. The average maximum current-voltage conversion value in the front-rear section, which is the average value, is obtained.

In the following step S202, for each section during the open operation, the larger value of the maximum current-voltage conversion value in the section stored through the process of step S15 and the average maximum current-voltage conversion value in the front-rear section obtained in step S201 is used. Obtain the maximum current-voltage conversion value after comparing a certain front-back section.
When the maximum current-voltage conversion value in the section of the section is larger than that of the sections before and after, the maximum current-voltage conversion value in the section of the section becomes the maximum current-voltage conversion value after comparison between the front and rear sections. On the other hand, if the maximum current-voltage conversion value in each section before and after is larger than the maximum current-voltage conversion value in the section, the average maximum current-voltage conversion value in the front-rear section is the maximum current-voltage conversion after comparison in the front-rear section. It becomes a value.
As a result, the maximum current-voltage conversion value after comparison between the front and rear sections suppresses the variation in magnitude for each section in the front and rear sections, eliminates the change to a small value due to this variation, and adopts a larger value. ..

Further, in the following step S203, the maximum current-voltage conversion value after comparison between the front and rear sections for each section obtained in step S202 is averaged for the past specified number of times (for example, four times) including the latest operation. As a result, the maximum current-voltage conversion value after comparing the front and rear sections after averaging the operations for the specified number of times becomes a value that suppresses the variation for each operation.
Then, in the following step S204, each section during the open operation stored in the memory (both the internal RAM 3a1 of the microprocessor 3a and the EEPROM 3f) based on the maximum current-voltage conversion value after the comparison between the front and rear sections thus obtained. Update the section current reference value of. Then, this completes the processing of the opening operation.
Note that step S203 is not an essential component of the present invention as shown by the broken line in FIG. 5, but by providing step S203, the updated section current reference value becomes a value that suppresses variation for each operation. Obstacles can be detected more appropriately.

Next, with reference to FIGS. 6 to 8, each process in the closing operation of the shutter switch 1 according to the present embodiment will be described.
FIG. 6 is a flowchart showing the entire processing of the closing operation of the shutter switch 1 according to the present embodiment. Further, FIG. 7 is a flowchart showing an obstacle detection process during the closing operation of the shutter switch 1 according to the present embodiment. Further, FIG. 8 is a flowchart showing a section current reference value update process during the opening operation of the shutter switch 1 according to the present embodiment. Each of these flowcharts shows the processing content of the control program executed by the microprocessor 3a of the control unit 3. Then, these are the ones in which each process at the time of the opening operation of FIGS. 3 to 5 is replaced with the process at the time of the closing operation. Therefore, the same parts as those in FIGS. 3 to 5 will be briefly described.

As shown in FIG. 6, when the shutter opening / closing device 1 starts the closing operation process, it is first determined in step S31 whether or not the input of the closing operation signal (downward (closed) button PBD) is detected. If the closing operation signal is not detected (No), this step S31 is repeated, and if the closing operation signal is detected (Yes), the process proceeds to step S32 to start the closing operation. During this closing operation, feedback control is performed so that the rotation speed of the DC motor 2 becomes the target rotation speed, as in the opening operation.

After starting the closing operation in step S32, in the following step S33, a section corresponding to the current opening / closing position during the closing operation is obtained.
Further, in the following step S34, the motor current detection circuit 3d detects the motor current-voltage conversion value during the closing operation.

In the case of a shutter switch for a shutter that is not a spring-combined type such as a heavy-duty shutter, the DC motor 2 is in a regenerative operation state during the normal operation of the closing operation, and the motor current of the DC motor 2 is in a state where the regenerative current is large. It has become. Then, if the closing operation is hindered by an obstacle in this state, the motor current of the DC motor 2 changes in the direction in which the regenerative current decreases. As a result, the motor current-voltage conversion value changes in the direction in which the voltage value increases.
In the case of a shutter switch for a spring-combined shutter such as a lightweight balance shutter, the balance spring determines whether the DC motor is in the power running operation or the regenerative operation during the normal operation of the closing operation. In any case, when the closing operation is hindered by an obstacle, the motor current changes in the direction in which the power running current increases and in the direction in which the regenerative current decreases. As a result, the motor current-voltage conversion value changes in the direction in which the voltage value increases, as in the above case.
That is, in any of the above cases, regardless of whether the DC motor is in the power running state or the regenerative operation state during the normal operation of the closing operation, if the closing operation is hindered by an obstacle, the motor The current-voltage conversion value changes in the direction in which the voltage value increases. This is the same during the opening operation and the closing operation.

Further, in the following step S35, for each section, the maximum current-voltage conversion value in the section, which is the maximum value in the section of the motor current-voltage conversion value detected during the closing operation in step S34, is obtained and stored in the memory. To do.
Then, in the following step S36, the obstacle detection determination process at the time of the closing operation, which is described in detail in steps S361 to S364 of FIG. 7, is performed.
First, in step S361, the section current reference value corresponding to the current section during the closing operation is referred from the memory.
Next, in step S362, a value obtained by multiplying the section current reference value by the comparison coefficient corresponding to the current section during the closing operation is obtained.
Further, in the following step S363, the motor temperature of the DC motor 2 is detected, and the motor current-voltage conversion value is corrected according to the motor temperature. As shown by the broken line in FIG. 7, this step S363 is not an essential component of the present invention, but by providing this step S363, obstacles can be detected more appropriately as in the case of the opening operation. Can be done.

Then, in the following step S364, the value obtained by multiplying the interval current reference value by the comparison coefficient obtained in step S362 and the corrected motor current-voltage conversion value corrected in step S363 are compared. Then, the process proceeds to step S37 of FIG. 6, and the obstacle detection is determined according to the size of the step S37.
If the motor current-voltage conversion value is equal to or greater than the value obtained by multiplying the comparison coefficient by the section current reference value, it is determined in step S37 that there is an obstacle detection (Yes), and the process proceeds to step S41 to stop the DC motor 2. I do. And this completes the processing of the closing operation.
On the other hand, if the motor current-voltage conversion value is less than the value obtained by multiplying the comparison coefficient by the section current reference value, it is determined in step S37 that there is no obstacle detection (No), and the process proceeds to step S38.

In step S38, it is determined whether or not the input of the stop operation signal (stop button PBS) is detected, or whether or not the fully closed position of the slat curtain 10 is detected. If neither the stop operation signal nor the fully closed position is detected (No), the process returns to step S33, and the closing operation is continued while repeating the processes of steps S33 to S38.
On the other hand, when either the stop operation signal or the fully closed position is detected (Yes), the process proceeds to step S39 to stop the DC motor 2. Then, in this case, the closing operation is normally completed without detecting an obstacle, and further, the process proceeds to step S40, and the section current reference at the time of closing operation, which is described in detail in steps S401 to S404 of FIG. Performs value update processing.

The section current reference value update process during the closing operation is executed when no obstacle is detected between the start and the end of the closing operation, as in the case of the opening operation. This is a process of updating the section current reference value stored in the memory using the motor current-voltage conversion value detected during the closing operation. Further, by repeating step S35 during the closing operation, at the time when the processing of step S40 (steps S401 to S404 in FIG. 8) is started, the maximum current-voltage conversion value in each section in which the closing operation is performed is determined. It is stored in the memory, and the process of step S35 is also a part of the section current reference value update process at the time of closing operation. In step S35, in order to detect that the motor current-voltage conversion value becomes larger than that during normal operation due to an obstacle, first, it is the maximum value within the section of the motor current-voltage conversion value for each section detected during normal operation. The maximum current-voltage conversion value in the section is calculated.

Then, in step S401 of FIG. 8, for each section during the closing operation, the maximum current-voltage conversion value in the section stored through the process of step S35 is used, and the maximum current-voltage conversion value in the section and each before and after the section are used. The average maximum current-voltage conversion value in the front-rear section, which is the average value with the maximum current-voltage conversion value in the section in the section, is obtained.
In the following step S402, the larger value of the maximum current-voltage conversion value in the section stored through the process of step S35 and the average maximum current-voltage conversion value in the front-rear section obtained in step S401 is used for each section during the closing operation. Obtain the maximum current-voltage conversion value after comparing a certain front-back section.

Further, in the following step S403, the maximum current-voltage conversion value after comparison between the front and rear sections for each section obtained in step S402 is averaged for the past specified number of times (for example, four times) including the latest operation. Although this step S403 is not an essential component of the present invention as shown by the broken line in FIG. 8, by providing step S403, it is possible to detect obstacles more appropriately as in the case of the opening operation. it can.
Then, in the following step S404, the section current reference value for each section during the opening operation stored in the memory is updated based on the maximum current-voltage conversion value after the comparison between the front and rear sections thus obtained. And this completes the processing of the closing operation.

As described above, the section current reference values updated for each of the opening operation and the closing operation are the difference between the opening operation and the closing operation, the opening / closing position of the slat curtain 10 which is an opening / closing body, the load state of the slat curtain 10, and the aged deterioration. It becomes a value updated using the motor current-voltage conversion value at the time of the latest operation according to the influence of. Then, by comparing the detected motor current-voltage conversion value with the section current reference value updated as described above using a comparison coefficient predetermined for each section, obstacles can be appropriately detected. .. As a result, obstacles can be appropriately detected based on the motor current-voltage conversion value obtained by detecting the motor current of the DC motor 2.

Further, as already described, in both the opening operation and the closing operation, regardless of whether the DC motor is in the power running operation state or the regenerative operation state, the opening operation and the opening operation are performed by an obstacle. When the closing operation is hindered, the motor current-voltage conversion value changes in the direction of increasing the voltage value. Because of this relationship, in the present invention, the section current is based on the maximum current-voltage conversion value after comparison between the front and rear sections obtained from the maximum current-voltage conversion value in the section, which is the maximum value in the section of the motor current-voltage conversion value. The standard value is being updated. Therefore, the present invention can be applied to both a shutter switch for a shutter that is not a spring-combined type such as a heavy-duty shutter and a shutter switch for a spring-combined shutter such as a lightweight balance shutter.

As described above, the switchgear of the present invention has been described according to the embodiment, with the switchgear as the shutter slat curtain 10 and the switchgear as the shutter switchgear 1.
In the present embodiment, the hall sensor 2b attached to the DC motor 2 and the hall sensor signal input circuit 3g of the control unit 3 correspond to the position detection unit of the present invention. Further, the motor current detection circuit 3d of the control unit 3, steps S14 and step S34 executed by the microprocessor 3a correspond to the motor current detection means of the present invention, and the internal RAM 3a1 of the microprocessor 3a and the control unit. The EEPROM 3f of 3 corresponds to the section current reference value storage means of the present invention.

Further, in the present embodiment, steps S16 (steps S161 to S164) to S17 and steps S36 (steps S361 to S364) to S37 executed by the microprocessor 3a correspond to the obstacle detecting means of the present invention. Further, steps S15, steps S20 (steps S201 to S204), steps S35, and steps S40 (steps S401 to S404) executed by the microprocessor 3a correspond to the section current reference value updating means of the present invention.

Further, in the present embodiment, steps S15 and S35 executed by the microprocessor 3a correspond to the first calculation means of the present invention, and steps S201 and S401 executed by the microprocessor 3a correspond to the first calculation means of the present invention. 2 Corresponds to the calculation means. Further, step S202 and step S402 executed by the microprocessor 3a correspond to the third calculation means of the present invention.

Further, in the present embodiment, step S203 and step S403 executed by the microprocessor 3a correspond to the designated number of times averaging means of the present invention. Further, the thermistor 2c attached to the DC motor 2 and the thermistor input circuit 3h of the control unit 3 correspond to the motor temperature detecting means of the present invention, and steps S163 and S363 executed by the microprocessor 3a are the present invention. Corresponds to the obstacle detection temperature correction means.

In the above, the present invention has been described according to the embodiment, but it goes without saying that the present invention is not limited to this embodiment and can be appropriately modified and applied without departing from the gist thereof.
For example, in the embodiment, the motor current configured by a differential amplifier circuit using an operational amplifier (arithmetic amplifier) as shown in FIG. 2 as a motor current detecting means for converting the motor current into a motor current-voltage conversion value and detecting the motor current. Although the detection circuit 3d is shown, this is an example, and a circuit having another configuration may be used as long as it is a circuit capable of detecting the motor current-voltage conversion value.
Further, when the above differential amplification circuits are provided in a total of three sets, one set for each phase of the DC motor, and a circuit for detecting the motor current of each phase of the DC motor is used separately, those circuits are used. The motor current / voltage conversion value detected by the motor current detecting means of the present invention may be obtained by synthesizing the detection result according to the above by the calculation of the microprocessor.

1 Shutter switchgear (switchgear)
2 DC motor 2b Hall sensor (position detector)
2c thermistor (motor temperature detecting means)
3 Control unit 3a Microprocessor 3a1 Internal RAM (interval current reference value storage means)
3b Rectifier smoothing circuit 3c Motor drive circuit 3d Motor current detection circuit (motor current detection means)
3e Pushbutton input circuit 3f EEPROM (interval current reference value storage means)
3g Hall sensor signal input circuit (position detector)
3h thermistor input circuit (motor temperature detecting means)
4 Push button switch box 10 Slat curtain (opening and closing body)
11 Guide rail 12 Magusa 13 Shutter case 14 Winding shaft 15 Drive transmission system DO Opening direction DC closing direction PBU up (open) button PBD down (close) button PBS stop button S14, S34 Motor current detection means S16 (S161-) S164) to S17, S36 (S361 to S364) to S37 Obstacle detection means S15, S20 (S201 to S204), S35, S40 (S401 to S404) Section current reference value updating means S15, S35 First calculation means S201,401 2nd calculation means S202,402 3rd calculation means S203,403 Specified number of times averaging means S163, S363 Obstacle detection temperature correction means

Claims (3)

A DC motor for opening and closing the opening and closing body supported so that it can operate in both the opening and closing directions,
A position detection unit that detects the open / closed position of the open / close body in conjunction with the rotation of the DC motor, and
Position information detected by the position detection unit while performing feedback control so that the rotation speed of the DC motor during each operation of the opening operation in the opening direction and the closing operation in the closing direction reaches the target rotation speed. An opening / closing device for an opening / closing body including a control unit that controls the DC motor based on the above.
The control unit
A motor current detecting means for detecting by converting the motor current flowing through the DC motor into a motor current-voltage conversion value which is a voltage value within a predetermined voltage range.
The section between the fully open position and the fully closed position, which is the operating range of the opening / closing body, is divided into a predetermined section, and each of the sections corresponding to the opening / closing position of the opening / closing body during each operation of the opening operation and the closing operation. A section current reference value storage means for storing a section current reference value that serves as a reference for comparison with the motor current-voltage conversion value of
The motor current-voltage conversion value detected by the motor current detecting means and the section current reference value stored by the section current reference value storage means are predetermined for each section during each of the opening operation and the closing operation. An obstacle detecting means for detecting an obstacle that hinders the opening operation and the closing operation based on the comparison result of comparison using the comparison coefficient.
When an obstacle is not detected by the obstacle detecting means between the start and end of each of the opening operation and the closing operation, the motor current is detected during each of the opening operation and the closing operation. It has a section current reference value updating means for updating the section current reference value stored in the section current reference value storage means using the motor current-voltage conversion value detected by the means.
The motor current-voltage conversion value is a predetermined reference voltage value within the voltage range when the motor current is 0, and the larger the power running current of the DC motor, the larger the voltage value than the reference voltage value. As the regenerative current of the DC motor increases, the voltage value becomes smaller than the reference voltage value.
The section current reference value updating means
A first calculation means for obtaining the maximum current-voltage conversion value in a section, which is the maximum value in the section of the motor current-voltage conversion value detected by the motor current detection means for each section.
A second calculation means for obtaining the average maximum current-voltage conversion value in the front-rear section, which is the average value of the maximum current-voltage conversion value in the section in the section and the maximum current-voltage conversion value in the section in each section before and after the section. When,
Comparison of the front-rear section, which is the larger value of the maximum current-voltage conversion value in the section obtained by the first calculation means and the average maximum current-voltage conversion value in the front-rear section obtained by the second calculation means for each section. Including a third calculation means for obtaining the post-maximum current-voltage conversion value,
A switchgear switchgear that updates the section current reference value based on the maximum current-voltage conversion value after comparison between the front and rear sections. The opening / closing device for the opening / closing body according to claim 1.
The section current reference value updating means
When updating the section current reference value, the maximum current-voltage conversion value after comparison between the front and rear sections for each section obtained by the third calculation means is averaged for the past specified number of operations including the latest operation. A switchgear opening / closing device that includes a specified number of times averaging means. The opening / closing device for the opening / closing body according to claim 1 or 2.
The control unit
It has a motor temperature detecting means for detecting the motor temperature of the DC motor, and has
The obstacle detecting means is
Includes an obstacle detection temperature correction means that corrects according to the motor temperature detected by the motor temperature detection means when comparing the motor current-voltage conversion value and the section current reference value using the comparison coefficient. A switchgear for the switchgear.

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