阅读说明：本技术 一种站台门遇阻控制方法、门控制单元及站台门 (Platform door resistance meeting control method, door control unit and platform door ) 是由 张林鸿 王柏森 袁世荣 胡志涛 张俊明 陈文才 于 2019-09-26 设计创作，主要内容包括：本发明涉及一种站台门遇阻控制方法、门控制单元及站台门,所述方法包括如下步骤：检测编码器堵转,根据检测编码器堵转结果,站台门相应地进入正常环境驱动模式和遇阻控制模式二者的其中之一者,遇阻控制模式包括人物遇阻驱动模式和风压遇阻驱动模式,站台门进入遇阻控制模式后,检测电机转动,根据检测电机转动结果,站台门相应地进入人物遇阻驱动模式和风压遇阻驱动模式二者的其中之一者。本发明能够准确判断站台门的遇阻情况,使得能够精准地对站台门遇阻进行控制；还能够判断站台门遇阻是否为风压遇阻,从而判断是否进入风压遇阻控制模式,并能够很好地控制由于风压引起门阻的站台门开闭操作。(The invention relates to a platform door blockage control method, a door control unit and a platform door, wherein the method comprises the following steps: detecting the blockage of the encoder, correspondingly entering one of a normal environment driving mode and a blockage control mode by the platform door according to the blockage result of the detection encoder, wherein the blockage control mode comprises a person blockage driving mode and a wind pressure blockage driving mode, detecting the rotation of the motor after the platform door enters the blockage control mode, and correspondingly entering one of the person blockage driving mode and the wind pressure blockage driving mode by the platform door according to the rotation result of the detection motor. The invention can accurately judge the blocking condition of the platform door, so that the blocking of the platform door can be accurately controlled; and the system can also judge whether the platform door is blocked by wind pressure or not so as to judge whether the platform door enters a wind pressure blocking control mode or not and well control the opening and closing operation of the platform door caused by the door blocking due to the wind pressure.)

1. A method for controlling the blockage of a platform door is characterized by comprising the following steps:

detecting the blockage of the encoder, and according to the blockage result of the encoder, the platform door correspondingly enters one of a normal environment driving mode and a blockage control mode, wherein the blockage control mode comprises a person blockage driving mode and a wind pressure blockage driving mode,

after the platform door enters the obstacle control mode, the rotation of the motor is detected, and according to the rotation result of the motor, the platform door correspondingly enters one of a person obstacle driving mode and a wind pressure obstacle driving mode,

the normal environment driving mode refers to an operation that the platform door can be normally opened and closed without touching a human body and/or an object, the person resistance driving mode refers to an operation that the platform door is opened and closed when touching the human body or the object, and the wind pressure resistance driving mode refers to an operation that the platform door is opened and closed when the platform door is subjected to door resistance caused by wind pressure.

2. The method according to claim 1, wherein the step of entering the platform door into one of the normal driving mode and the emergency control mode according to the detection result of the encoder stall includes the following steps:

if the locked-rotor result of the encoder is detected to be that the encoder is locked-rotor, the platform door enters a blockage control mode, otherwise, the platform door enters a normal environment driving mode.

3. The method of claim 1, wherein the step of entering the specific implementation of one of the person-encounter driving mode and the wind-pressure-encounter driving mode according to the rotation result of the detection motor comprises the steps of:

if the rotation result of the motor is detected to be that the motor rotates reversely, the platform door enters a figure blockage driving mode, otherwise, the platform door enters a wind pressure blockage driving mode.

4. The method according to claim 1, wherein the detecting the rotation of the motor is detecting whether the motor is reversed within a predetermined time t, and if the motor is reversed within the time t, the platform door enters a person-encountering-blockage driving mode, otherwise, the platform door enters a wind-pressure-encountering-blockage driving mode.

5. The method of claim 4, wherein t is 100 ms.

6. The method of claim 1, wherein if the platform door enters the wind pressure blocking driving mode, the method further comprises the following steps:

closing a speed loop of the motor and opening a current loop of the motor so as to enable the motor to enter a torque mode, increasing the current of the current loop of the motor so as to adjust a torque value output by the motor to a maximum value, overcoming door resistance caused by wind pressure and enabling the platform door to be safely and completely opened and closed; if the motor does not rotate forward in the process of increasing the current to the maximum value, the platform door jumps from the wind pressure resistance driving mode to the human resistance driving mode, otherwise, the platform door is continuously in the wind pressure resistance driving mode.

7. The method according to claim 1, wherein the time limit for starting to increase the current to the maximum value is Δ t, where Δ t is the time from the time when the platform door enters the wind pressure encounter driving mode to the current time; if the motor does not rotate forwards within the time delta t, the platform door jumps from the wind pressure resistance driving mode to the human resistance driving mode, otherwise, the platform door is continuously in the wind pressure resistance driving mode.

8. A door control unit, door control unit includes collection module, judgment module and output module, its characterized in that, collection module is used for gathering encoder stall signal and motor rotation signal, judgment module basis encoder stall signal output platform door gets into normal environment drive mode and meets the judgement result signal of hindering one of the two of control mode to with judgement result signal send to output module, output module output corresponding output signal a, platform door gets into normal environment drive mode and meets one of the two of hindering the control mode according to output signal a, the chance hinders the control mode and includes personage and hinders the drive mode with wind pressure chance,

after the platform door enters a blockage control mode, the acquisition module acquires a rotation signal of the motor, wherein the rotation signal comprises a forward rotation signal, a non-rotation signal and a reverse rotation signal and sends the rotation signal to the judgment module, the judgment module outputs a judgment result signal of the platform door entering one of a person blockage driving mode and a wind pressure blockage driving mode according to the rotation signal and sends the judgment result signal to the output module, the output module outputs a corresponding output signal b, and the platform door enters one of the person blockage driving mode and the wind pressure blockage driving mode according to the output signal b;

the normal environment driving mode refers to an operation that the platform door can be normally opened and closed without touching a human body and/or an object, the person resistance driving mode refers to an operation that the platform door is opened and closed when touching the human body or the object, and the wind pressure resistance driving mode refers to an operation that the platform door is opened and closed when the platform door is subjected to door resistance caused by wind pressure.

9. The door control unit of claim 8, wherein if the platform door enters the emergency stop control mode according to the output signal b, further comprising,

the output module outputs a control signal which controls the motor to close a speed loop of the motor and open a current loop of the motor so that the motor enters a torque mode, the current of the current loop of the motor is increased to adjust a torque value output by the motor to a maximum value so as to overcome door resistance caused by wind pressure and ensure that the platform door is safely and completely opened and closed; if the motor does not rotate forward in the process of increasing the current to the maximum value, the platform door jumps from the wind pressure resistance driving mode to the human resistance driving mode, otherwise, the platform door is continuously in the wind pressure resistance driving mode.

10. A platform door comprising the door control unit according to claim 8 or 9, the door control unit controlling opening and closing of the platform door.

Technical Field

The invention relates to the technical field of platform door control, in particular to a platform door resistance control method, a door control unit and a platform door.

Background

Platform doors of urban rail transit such as subways are susceptible to tunnel wind pressure, foreign matter obstruction and the like, so that the platform doors can not be normally opened and closed, the station operation efficiency is influenced, and the tunnel wind pressure is usually caused by piston wind. The wind pressure can cause extra frictional force to the platform door, and the resistance increase when the platform door opens or closes, that is the door resistance increase of the platform door, can be caused by the extra frictional force increase. The dynamic wind pressure can oppress the platform door and lead to the door of platform door to hinder and produce the change, and the door hinders the change and can influence the detection to obstacles such as foreign matter and produce the erroneous judgement to influence the normal switching of platform door, probably lead to the train delay even.

The conventional subway platform door only comprises a normal environment driving mode and a person resistance driving mode, the normal environment driving mode refers to the door opening and closing process of the platform door, the opening and closing process can be normally performed without any obstruction of foreign matters and the like, the person resistance driving mode refers to the door opening and closing process of the platform door, the platform door cannot be normally opened and closed due to the obstruction of the person or the foreign matters, for example, if the platform door is closed and the person is blocked, the platform door needs to retreat (towards the door opening direction) to avoid the injury to the person, and the same control operation needs to be performed when the platform door is blocked by the foreign matters.

At present, a control method for preventing a platform door from being blocked due to wind pressure is seldom considered when the platform door of rail traffic such as subways runs. Under the condition that the wind pressure is not considered to block the platform door, the platform door can cause misjudgment and delay of opening and closing, thereby not only affecting the normal operation of the train, but also affecting the safe operation of the train.

Disclosure of Invention

Aiming at the defects of the prior art, one of the purposes of the invention is to provide a platform door blockage control method, which can solve the problem that the platform door blockage control is not accurate;

the second object of the present invention is to provide a door control unit, which can solve the problem of inaccurate control when a platform door is blocked;

the third objective of the present invention is to provide a platform door, which can solve the problem of inaccurate control when the platform door is blocked.

The technical scheme for realizing one purpose of the invention is as follows: a method for controlling the blockage of a platform door comprises the following steps:

detecting the blockage of the encoder, and according to the blockage result of the encoder, the platform door correspondingly enters one of a normal environment driving mode and a blockage control mode, wherein the blockage control mode comprises a person blockage driving mode and a wind pressure blockage driving mode,

after the platform door enters the obstacle control mode, the rotation of the motor is detected, and according to the rotation result of the motor, the platform door correspondingly enters one of a person obstacle driving mode and a wind pressure obstacle driving mode,

the normal environment driving mode refers to an operation that the platform door can be normally opened and closed without touching a human body and/or an object, the person resistance driving mode refers to an operation that the platform door is opened and closed when touching the human body or the object, and the wind pressure resistance driving mode refers to an operation that the platform door is opened and closed when the platform door is subjected to door resistance caused by wind pressure.

Further, the specific implementation that the platform door correspondingly enters one of the normal environment driving mode and the blocking control mode according to the detection encoder stalling result includes the following steps:

if the locked-rotor result of the encoder is detected to be that the encoder is locked-rotor, the platform door enters a blockage control mode, otherwise, the platform door enters a normal environment driving mode.

Further, the concrete implementation that the platform door correspondingly enters one of the person resistance-encountering driving mode and the wind pressure resistance-encountering driving mode according to the rotation result of the detection motor comprises the following steps:

if the rotation result of the motor is detected to be that the motor rotates reversely, the platform door enters a figure blockage driving mode, otherwise, the platform door enters a wind pressure blockage driving mode.

Further, the detection motor rotation result is whether the motor is rotated reversely within a certain time t, if the motor is rotated reversely within the time t, the platform door enters a person blocking driving mode, otherwise, the platform door enters a wind pressure blocking driving mode.

Further, t is 100 ms.

Further, after the platform door enters the wind pressure blocking driving mode, the method further comprises the following steps:

closing a speed loop of the motor and opening a current loop of the motor so as to enable the motor to enter a torque mode, increasing the current of the current loop of the motor so as to adjust a torque value output by the motor to a maximum value, overcoming door resistance caused by wind pressure and enabling the platform door to be safely and completely opened and closed; if the motor does not rotate forward in the process of increasing the current to the maximum value, the platform door jumps from the wind pressure resistance driving mode to the human resistance driving mode, otherwise, the platform door is continuously in the wind pressure resistance driving mode.

Further, the limiting time from the beginning of increasing the current to the maximum value is delta t, wherein the delta t is the time from the moment when the platform door enters the wind pressure meeting driving mode to the current time; if the motor does not rotate forwards within the time delta t, the platform door jumps from the wind pressure resistance driving mode to the human resistance driving mode, otherwise, the platform door is continuously in the wind pressure resistance driving mode.

The second technical scheme for realizing the aim of the invention is as follows: a door control unit, door control unit includes collection module, judgment module and output module, collection module is used for gathering encoder stall signal and motor rotation signal, judgment module is according to encoder stall signal output platform door gets into normal environment drive mode and meets the judgement result signal that hinders one of the two of control mode to send judgement result signal for output module, output module output corresponding output signal a, platform door gets into normal environment drive mode and meets one of the two of hindering the control mode according to output signal a, it hinders drive mode and wind pressure and hinders drive mode to meet to hinder the control mode including personage,

after the platform door enters a blockage control mode, the acquisition module acquires a rotation signal of the motor, wherein the rotation signal comprises a forward rotation signal, a non-rotation signal and a reverse rotation signal and sends the rotation signal to the judgment module, the judgment module outputs a judgment result signal of the platform door entering one of a person blockage driving mode and a wind pressure blockage driving mode according to the rotation signal and sends the judgment result signal to the output module, the output module outputs a corresponding output signal b, and the platform door enters one of the person blockage driving mode and the wind pressure blockage driving mode according to the output signal b;

the normal environment driving mode refers to an operation that the platform door can be normally opened and closed without touching a human body and/or an object, the person resistance driving mode refers to an operation that the platform door is opened and closed when touching the human body or the object, and the wind pressure resistance driving mode refers to an operation that the platform door is opened and closed when the platform door is subjected to door resistance caused by wind pressure.

Furthermore, if the platform door enters the emergency control mode according to the output signal b, further comprising,

the output module outputs a control signal which controls the motor to close a speed loop of the motor and open a current loop of the motor so that the motor enters a torque mode, the current of the current loop of the motor is increased to adjust a torque value output by the motor to a maximum value so as to overcome door resistance caused by wind pressure and ensure that the platform door is safely and completely opened and closed; if the motor does not rotate forward in the process of increasing the current to the maximum value, the platform door jumps from the wind pressure resistance driving mode to the human resistance driving mode, otherwise, the platform door is continuously in the wind pressure resistance driving mode.

The technical scheme for realizing the third aim of the invention is as follows: a platform door comprises the door control unit, and the door control unit is used for controlling the platform door to open and close.

The invention has the beneficial effects that: the invention can accurately judge the blocking condition of the platform door, so that the blocking of the platform door can be accurately controlled; the device can also judge whether the platform door is blocked by wind pressure or not, so as to judge whether the platform door enters a wind pressure blocking control mode or not, well control the opening and closing operation of the platform door due to door blocking caused by wind pressure, effectively avoid the problem of prolonging the door opening and closing time caused by misjudgment of obstacles caused by the wind pressure, improve the running efficiency of the train and ensure the normal operation of the train.

Drawings

Fig. 1 is a schematic diagram of a platform door jam control method according to an embodiment;

fig. 2 is an example of the operation principle of the motor for normally opening the platform door according to the first embodiment;

fig. 3 is an example of the operation principle of the motor when the platform door is normally closed according to the first embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, specific embodiments of the present application will be described in detail with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some but not all of the relevant portions of the present application are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.