阅读说明：本技术 低压伺服摆闸机芯的控制系统 (Control system of low-voltage servo swing gate machine core ) 是由 王生 杨喜昕 于 2019-10-15 设计创作，主要内容包括：本发明公开了一种低压伺服摆闸机芯的控制系统,其包括电源、摆闸机芯、伺服逻辑控制器、功率驱动器、霍尔传感器,还包括：增量编码器、上位机控制机构、用于控制摆闸机芯停车的刹车装置和用于在断电时控制摆闸机芯回到开门状态的断电回位装置,所述刹车装置通过离合器实现摆闸机芯的刹车功能,所述断电回位装置通过电磁铁和扭簧实现摆闸机芯的断电回位功能；所述增量编码器设置于所述伺服电机上,用以获取所述伺服电机的位置信息,所述离合器、电磁铁和上位机控制机构均与所述伺服逻辑控制器连接。本发明还提供了一种应用于上述控制系统的控制方法。本发明能够提高摆闸机芯控制精度和电气稳定性,降低维护成本。(the invention discloses a control system of a low-voltage servo swing gate machine core, which comprises a power supply, a swing gate machine core, a servo logic controller, a power driver and a Hall sensor, and also comprises: the brake device realizes the brake function of the swing gate movement through a clutch, and the power-off return device realizes the power-off return function of the swing gate movement through an electromagnet and a torsion spring; the incremental encoder is arranged on the servo motor and used for acquiring the position information of the servo motor, and the clutch, the electromagnet and the upper computer control mechanism are all connected with the servo logic controller. The invention also provides a control method applied to the control system. The invention can improve the control precision and the electrical stability of the swing gate movement and reduce the maintenance cost.)

1. the control system of the low-voltage servo swing gate machine core comprises a power supply, a swing gate machine core, a servo logic controller, a power driver and a Hall sensor, wherein the swing gate machine core controls a swing gate to rotate through a servo motor, the power supply supplies power to the servo logic controller and the power driver, the power driver is connected with the servo motor to drive the servo motor to simultaneously acquire driving current information of the servo motor and feed the driving current information back to the servo logic controller, the Hall sensor is arranged on the servo motor to acquire position information of a rotor of the servo motor, the Hall sensor is also connected with the power driver to enable the power driver to supply power to the Hall sensor, and the power driver also feeds the position information of the rotor of the servo motor acquired by the Hall sensor back to the servo logic controller, the servo logic controller controls the power driver to drive the rotor of the servo motor to rotate according to the driving current information of the servo motor and the position information of the rotor, and is characterized by further comprising:

The brake device realizes the brake function of the swing gate movement through a clutch, and the power-off return device realizes the power-off return function of the swing gate movement through an electromagnet and a torsion spring;

the incremental encoder is arranged on the servo motor and used for acquiring the position information of the servo motor, and is also connected with the power driver so that the power driver supplies power to the incremental encoder and the power driver feeds back the position information of the rotor of the servo motor acquired by the incremental encoder to the servo logic controller;

the clutch is connected with the servo logic controller so as to be attracted or separated under the control of the servo logic controller;

The electromagnet is connected with the servo logic controller so as to attract or separate the electromagnet under the control of the servo logic controller;

And the upper computer control mechanism is connected with the servo logic controller and is used for acquiring a swing door action signal and sending the swing door action signal to the servo logic controller.

2. The control system of the low-voltage servo swing gate movement according to claim 1, wherein the servo logic controller is connected with the upper computer control mechanism through an I/O gate control interface and an RS232 interface, an FOC servo control algorithm and a swing gate movement logic control algorithm are integrated in the servo logic controller at the same time, and the swing gate movement logic control algorithm includes an I/O gate control communication protocol, a brake start-stop logic control algorithm and a return device logic control algorithm.

3. The control system of the low-voltage servo swing gate movement according to claim 1, wherein the servo logic controller and the power driver are respectively integrated on different circuit boards.

4. The control system of a low-voltage servo swing gate movement according to claim 1, wherein the servo motor is a PMSM motor with a rated voltage of 24V.

5. The control system of the low-voltage servo swing gate movement according to claim 1, wherein a dial switch is arranged on the servo logic controller.

6. the control system of the low-voltage servo swing gate movement according to claim 2, wherein the I/O gating interface comprises 3 input signal lines and 3 output signal lines, and 1 emergency signal line, and the signal format is a combination of high and low levels.

7. The control system of the low-voltage servo swing gate movement according to claim 1, wherein a nixie tube display is further arranged on the servo logic controller and used for displaying the real-time running state of the swing gate movement.

8. the control system of the low-voltage servo swing gate movement according to claim 1, wherein a housing is fixedly arranged outside the swing gate movement, a servo motor housing of the swing gate movement is fixed in the housing, and an output shaft of the servo motor is vertically and upwards coaxially connected with a swing door rotating shaft through a coupler;

The clutch is annular jaw clutch, and it is established including all the cover clutch fixed part and clutch movable part outside the shaft coupling, clutch fixed part top is connected with annular first fixed plate, first fixed plate and shell rigid coupling, the clutch movable part with the shaft coupling rigid coupling.

9. The control system of a low-voltage servo swing gate movement according to claim 8, wherein the power-off return means is disposed at an upper end of the swing door rotating shaft, and the power-off return means comprises:

the support plate is fixedly connected to the top plate of the shell, a shaft hole is formed in the support plate, and the upper end of the swing door rotating shaft is rotatably connected in the shaft hole;

The torsion spring is wound at the upper end of the swing door rotating shaft and is positioned below the supporting plate, and the top end of the torsion spring is fixedly connected with the bottom end of the supporting plate;

The electromagnet is an annular sucking disc type electromagnet and comprises an electromagnet fixing part and an electromagnet moving part which are sleeved outside the torsion spring, the electromagnet fixing part is fixedly connected with the supporting plate, the lower end of the electromagnet moving part is connected with an annular second fixing plate sleeved at the upper end of the swing door rotating shaft, the lower end of the torsion spring is fixedly connected onto the second fixing plate, a lower bulge is arranged on the lower plate surface of the second fixing plate, an upper bulge is arranged on the shoulder of the swing door rotating shaft, and the lower bulge and the upper bulge are mutually abutted;

Wherein the restoring force generated by the torsion spring is minimum or maximum when the swing door is at the 0 deg. position or the 180 deg. position.

10. the control method applied to the control system according to claim 1, characterized by comprising:

Acquiring driving current information of a servo motor through a power driver, and acquiring position information of a rotor of the servo motor through a Hall sensor;

the servo logic controller calculates a servo motor real-time control signal through an FOC servo control algorithm according to the driving current information and the position information of the servo motor rotor and sends the servo motor real-time control signal to the power driver, the power driver drives the servo motor to start according to the servo motor real-time control signal, and when the servo motor rotor meets an incremental encoder zero position signal for the first time, the servo logic controller switches the Hall sensor into an incremental encoder to acquire the position information of the servo motor rotor;

rotating the swing door to a position vertical to the swing gate channel, and prestoring angle position information of the swing door in the servo logic controller at the moment as an initial position of the swing door;

Setting a corresponding relation between a swing door action signal and a rotation angle of a servo motor rotor and a corresponding relation between the swing door action signal and a power supply condition of a power-off return interface, and storing the corresponding relations into a servo logic controller;

When the swing door is closed, whether the rotation angle of the servo motor rotor exceeds a first threshold value is detected through the incremental encoder, and/or detecting whether the angular acceleration of the rotor of the servo motor exceeds a second threshold value through an incremental encoder, if the angular acceleration exceeds the first threshold value and/or exceeds the second threshold value, controlling the clutch to attract so as to brake the swing brake movement by the servo logic controller, and after a preset time, controlling the clutch to separate so as to release the swing brake movement by the servo logic controller, and simultaneously detecting whether the rotation angle of the rotor of the servo motor exceeds a first threshold value through the incremental encoder again, and/or detecting whether the angular acceleration of the rotor of the servo motor exceeds a second threshold value through an incremental encoder, if the angular acceleration still exceeds the first threshold value and/or exceeds the second threshold value, the servo logic controller continuously controls the clutch to pull in to brake the swing brake core until the angular acceleration does not exceed the first threshold value and/or exceeds the second threshold value.

Technical Field

The invention relates to the technical field of gates. More particularly, the invention relates to a control system for a low-voltage servo swing gate movement.

background

The gate is used as an important access control terminal, and is more and more widely applied to various occasions, such as: railway stations, office buildings, factory parks, and the like. The swing gate movement is used as a final action executing mechanism of the gate system and bears the most important human-computer interaction, so that the movement is required to be safe, stable and flexible to execute. The swing door is a machine core, and is popular due to the characteristics of attractive action, high safety and the like.

At present most pendulum floodgate movement uses the mode drive that the direct current has brush motor to add the speed reducer, judges as the position through plus encoder, perhaps uses proximity switch and photoelectric switch sensor to judge as target in place, and these several kinds of mode precision are not high, and the structure is comparatively complicated, and reducing gear box friction noise occasionally uses.

in addition, a servo motor direct driving mode is adopted in a part of swing gate machine cores, but a special servo motor driver is adopted for controlling the controller, and other peripheral functions of the machine cores need to be additionally provided with a control panel, so that the later maintenance cost is high, and the electrical stability is not high enough.

disclosure of Invention

an object of the present invention is to solve at least the above problems and to provide at least the advantages described later.

Still another object of the present invention is to provide a control system for a low-voltage servo swing gate machine core, which improves control accuracy and electrical stability, and reduces maintenance cost.

In order to achieve these objects and other advantages and in accordance with the purpose of the invention, a control system for a low voltage servo swing gate mechanism is provided, which includes a power supply, a swing gate mechanism, a servo logic controller, a power driver, and a hall sensor, wherein the swing gate mechanism controls a swing gate to rotate through a servo motor, the power supply supplies power to the servo logic controller and the power driver, the power driver is connected to the servo motor to drive the servo motor and simultaneously acquire driving current information of the servo motor and feed back the driving current information to the servo logic controller, the hall sensor is disposed on the servo motor to acquire position information of a rotor of the servo motor, the hall sensor is further connected to the power driver to enable the power driver to supply power to the hall sensor, and the power driver also feeds back the position information of the rotor of the servo motor acquired by the hall sensor to the servo logic controller, the servo logic controller controls the power driver to drive the rotor of the servo motor to rotate according to the driving current information of the servo motor and the position information of the rotor, and the servo logic controller further comprises:

The power-off return device realizes the power-off return function of the swing gate movement through an electromagnet and a torsion spring;

The incremental encoder is arranged on the servo motor and used for acquiring the position information of the servo motor, and is also connected with the power driver so that the power driver supplies power to the incremental encoder and the power driver feeds back the position information of the rotor of the servo motor acquired by the incremental encoder to the servo logic controller;

the clutch is connected with the servo logic controller so as to be attracted or separated under the control of the servo logic controller;

The electromagnet is connected with the servo logic controller so as to attract or separate the electromagnet under the control of the servo logic controller;

And the upper computer control mechanism is connected with the servo logic controller and is used for acquiring a swing door action signal and sending the swing door action signal to the servo logic controller.

Preferably, the servo logic controller is connected with the upper computer control mechanism through an I/O gate control interface or an RS232 interface, an FOC servo control algorithm and a swing gate movement logic control algorithm are integrated in the servo logic controller at the same time, and the swing gate movement logic control algorithm comprises an I/O gate control communication protocol, a brake start-stop logic control algorithm and a return device logic control algorithm.

preferably, the servo logic controller and the power driver are respectively integrated on different circuit boards.

Preferably, the servo motor is a PMSM motor, and the rated voltage is 24V.

Preferably, a dial switch is arranged on the servo logic controller.

Preferably, the I/O gating interface comprises 3 input signal lines and 3 output signal lines, and 1 emergency signal line, and the signal format is a high-low level combination.

Preferably, the servo logic controller is further provided with a nixie tube display for displaying the real-time running state of the swing gate movement.

Preferably, a shell is fixedly arranged outside the swing gate machine core, a servo motor shell of the swing gate machine core is fixed in the shell, and an output shaft of the servo motor is vertically upwards and coaxially connected with a swing door rotating shaft through a coupler;

the clutch is annular jaw clutch, and it is established including all the cover clutch fixed part and clutch movable part outside the shaft coupling, clutch fixed part top is connected with annular first fixed plate, first fixed plate and shell rigid coupling, the clutch movable part with the shaft coupling rigid coupling.

preferably, the outage return means set up in the upper end of swing door pivot, the outage return means includes:

the support plate is fixedly connected to the top plate of the shell, a shaft hole is formed in the support plate, and the upper end of the swing door rotating shaft is rotatably connected in the shaft hole;

the torsion spring is wound at the upper end of the swing door rotating shaft and is positioned below the supporting plate, and the top end of the torsion spring is fixedly connected with the bottom end of the supporting plate;

the electromagnet is an annular sucking disc type electromagnet and comprises an electromagnet fixing part and an electromagnet moving part which are sleeved outside the torsion spring, the electromagnet fixing part is fixedly connected with the supporting plate, the lower end of the electromagnet moving part is connected with an annular second fixing plate sleeved at the upper end of the swing door rotating shaft, the lower end of the torsion spring is fixedly connected onto the second fixing plate, a lower bulge is arranged on the lower plate surface of the second fixing plate, an upper bulge is arranged on the shoulder of the swing door rotating shaft, and the lower bulge and the upper bulge are mutually abutted;

wherein the restoring force generated by the torsion spring is minimum or maximum when the swing door is at the 0 deg. position or the 180 deg. position.

The invention also provides a control method applied to the control system, which comprises the following steps:

acquiring driving current information of a servo motor through a power driver, and acquiring position information of a rotor of the servo motor through a Hall sensor;

The servo logic controller calculates a servo motor real-time control signal through an FOC servo control algorithm according to the driving current information and the position information of the servo motor rotor and sends the servo motor real-time control signal to the power driver, the power driver drives the servo motor to start according to the servo motor real-time control signal, and when the servo motor rotor meets an incremental encoder zero position signal for the first time, the servo logic controller switches the Hall sensor into an incremental encoder to acquire the position information of the servo motor rotor;

rotating the swing door to a position vertical to the swing gate channel, and prestoring angle position information of the swing door in the servo logic controller at the moment as an initial position of the swing door;

Setting a corresponding relation between a swing door action signal and a rotation angle of a servo motor rotor and a corresponding relation between the swing door action signal and a power supply condition of a power-off return interface, and storing the corresponding relations into a servo logic controller;

When the swing door is closed, whether the rotation angle of the servo motor rotor exceeds a first threshold value is detected through the incremental encoder, and/or detecting whether the angular acceleration of the rotor of the servo motor exceeds a second threshold value through an incremental encoder, if the angular acceleration exceeds the first threshold value and/or exceeds the second threshold value, controlling the clutch to attract so as to brake the swing brake movement by the servo logic controller, and after a preset time, controlling the clutch to separate so as to release the swing brake movement by the servo logic controller, and simultaneously detecting whether the rotation angle of the rotor of the servo motor exceeds a first threshold value through the incremental encoder again, and/or detecting whether the angular acceleration of the rotor of the servo motor exceeds a second threshold value through an incremental encoder, if the angular acceleration still exceeds the first threshold value and/or exceeds the second threshold value, the servo logic controller continuously controls the clutch to pull in to brake the swing brake core until the angular acceleration does not exceed the first threshold value and/or exceeds the second threshold value.

The invention at least comprises the following beneficial effects: 1. an FOC (Field-Oriented Control) servo Control algorithm and a swing gate movement logic Control algorithm are integrated on the servo logic controller at the same time. The logic control algorithm of the swing gate movement comprises a direct I/O gating communication protocol, a brake start-stop logic control algorithm and a return device logic control algorithm, and the accuracy and the flexibility of system control are improved. 2. The logic control part and the power driving part are respectively arranged in a separated layout mode by using one circuit board, so that weak current and strong current physical isolation is realized, the anti-interference performance of the system is effectively improved, and the stability of the control system is enhanced; meanwhile, the power driving part is a vulnerable part, so that the separated layout mode can be replaced and maintained more conveniently, and compared with an integrated layout mode, the maintenance cost of a circuit board in the later period can be greatly reduced. 3. The control interface of the servo logic controller adopts a direct I/O communication mode, and the I/O communication interface comprises 3 input signal lines, 3 output signal lines, an emergency signal line and a ground wire. The I/O communication mode has high efficiency, and can shorten the response time of the swing gate movement. 4. The servo motor adopts two modes of the Hall sensor and the incremental encoder to acquire the position of the rotor, the Hall sensor is used for acquiring the position information when the servo motor is started, and the initial process is switched to the incremental encoder to acquire the position information after meeting the zero position signal of the incremental encoder for the first time, so that the stability and the running accuracy of the servo motor when the servo motor is started are improved.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

drawings

FIG. 1 is a schematic structural diagram of a control system according to an embodiment of the present invention;

Fig. 2 is a schematic structural diagram of a swing gate movement according to an embodiment of the present invention;

Fig. 3 is a schematic structural diagram of the power-off return device according to an embodiment of the present invention;

Fig. 4 is a schematic position diagram of the swing door in different states according to an embodiment of the present invention.

Detailed Description

The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.

It is to be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials, if not otherwise specified, are commercially available; in the description of the present invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

as shown in fig. 1, the present invention provides a control system for a low voltage servo swing gate movement, which includes a power supply 1, a swing gate movement, a servo logic controller 2, a power driver 3, and a hall sensor 4, wherein the swing gate movement controls a swing gate to rotate through a servo motor 5 (referred to as a motor for short), the power supply 1 supplies power to the servo logic controller 2 and the power driver 3, a 24V power interface 6 is generally disposed on the servo logic controller 2, the servo logic controller 2 is supplied power through a 24V DC low voltage power supply 1, meanwhile, a power supply interface 6 is disposed on the power driver 3, and the power driver 3 is electrically connected to the servo logic controller 2 through a power supply interface 7, so that the 24V DC low voltage power supply 1 can also supply power to the power driver 3. The whole swing gate movement control system uses a 24V direct-current low-voltage power supply 1, is lower than the human body safety voltage, ensures the safety of personnel and has small external radiation.

the servo logic controller 2 and the power driver 3 are also in communication connection through respective servo control and feedback signal interfaces, a servo motor power output interface 9 is arranged on the power driver 3 and is electrically connected with the servo motor 5 through the interface so as to drive the servo motor 5 to simultaneously acquire driving current information of the servo motor 5 and feed the driving current information back to the servo logic controller 2, the current of the servo motor 5 driven by the power driver 3 is transferred from the servo logic controller 2, the power driver 3 comprises a power inverter circuit and a three-phase current sampling circuit, the power inverter circuit is connected with a three-phase power line 10 of the servo motor 5, and the three-phase current sampling circuit is used for acquiring the driving current information of the servo motor 5 and feeding the driving current information back to the servo logic controller 2.

The hall sensors 4 are arranged on the servo motor 5 to obtain position information of a rotor of the servo motor 5, the number of the hall sensors 4 is generally three, the power driver 3 is provided with a sensor interface 11, the hall sensors 4 are connected with the power driver 3 through the interface, so that the power driver 3 supplies power to the hall sensors 4, the power driver 3 also feeds back the position information of the rotor of the servo motor 5 acquired by the hall sensors 4 to the servo logic controller 2, the servo logic controller 2 is internally provided with a related algorithm, and then the power driver 3 is controlled to drive the rotor of the servo motor 5 to rotate according to drive current information of the servo motor 5 and the position information of the rotor, and the control system further comprises:

the device comprises an incremental encoder 12, an upper computer control mechanism 13, a brake device for controlling the swing gate movement to stop and a power-off return device for controlling the swing gate movement to return to a door-opening state during power-off, wherein the brake device realizes the brake function of the swing gate movement through a clutch 14, and the power-off return device realizes the power-off return function of the swing gate movement through an electromagnet 15 and a torsion spring;

Here the incremental encoder 12 may be an ABZ incremental encoder.

the upper computer control mechanism 13 may be a card-swiping access control system, a face recognition access control system or a fingerprint recognition access control system.

the braking device and the power-off return device are prior art and will not be described in detail, but the embodiments shown in the following examples can also be used to better implement the function of the present invention.

the incremental encoder is arranged on the servo motor 5 and used for acquiring position information of the servo motor 5, and the incremental encoder 12 is also connected with the power driver 3 through a sensor interface 11, so that the power driver 3 supplies power to the incremental encoder 12 and the power driver 3 also feeds back the position information of the rotor of the servo motor 5 acquired by the incremental encoder 12 to the servo logic controller 2;

the servo logic controller 2 is provided with a brake interface 16, and the clutch 14 is connected with the servo logic controller 2 through the brake interface 16, so that the clutch 14 is attracted or separated under the control of the servo logic controller 2;

The servo logic controller 2 is provided with a power-off return interface 17, and the electromagnet 15 is connected with the servo logic controller 2 through the power-off return interface 17 so that the electromagnet 15 is attracted or separated under the control of the servo logic controller 2;

the servo logic controller 2 is provided with an I/O gate control interface 18 and an RS232 interface 19, the upper computer control mechanism 13 is connected with the servo logic controller 2 through the I/O gate control interface 18 and the RS232 interface 19 and is used for acquiring a swing door action signal and sending the swing door action signal to the servo logic controller 2, and the swing door action signal comprises: when the system is used normally, the I/O gating interface 18 and the RS232 interface 19 are selected to be enabled alternatively, and the I/O gating interface 18 is generally used.

in the use process of the embodiment, after a control system of the swing gate movement is powered on, a 24VDC low-voltage power supply 1 supplies power to a servo logic controller 2 and a power driver 3 through a 24V power interface 6, the power driver 3 supplies power to a hall sensor 4 and an incremental encoder 12, the servo logic controller 2 controls a servo motor 5 to be stably started, and an initialization process of the swing gate movement is started, in the process, when the motor first encounters a zero position signal of the incremental encoder 12, the servo logic controller 2 immediately switches the acquisition mode of the rotor position of the motor from the hall sensor 4 to the incremental encoder 12, and once the switching is successful, the subsequent switching is not performed, because the servo logic controller 2 can maximally multiply the input pulse number of the incremental encoder 12 by 4, for example: the frequency multiplication of the 2500ppr encoder can reach 10000ppr, and the frequency multiplication of the 5000ppr encoder can reach 20000ppr, so that the position signal is more accurate, and the control precision can be greatly improved.

After the motor initialization in the previous step is completed, the servo logic controller 2 controls the electromagnet 15 to attract through the power-off return interface 17, and cuts off the torsion of the torsion spring on the swing gate movement, so that the swing gate movement is only controlled by the motor, the swing gate movement stops at the door closing position, and then the initialization of the upper computer control mechanism 13 is completed through the I/O gate control signal interface 18.

When the upper computer control mechanism 13 acquires a pass command, it will send a "door open" signal to the servo logic controller 2; after the door closing command is obtained, a door closing signal is sent to the servo logic controller 2; upon receipt of the pause command, a "pause" signal is sent to the servo logic controller 2. These signals sent by the upper computer control mechanism 13 to the servo logic controller 2 are collectively referred to as "gating signals", and the gating signals are received and transmitted by the I/O gating interface 18, and include 3 input signal lines, 3 output signal lines, and 1 emergency signal line, and the signal format is a combination of high and low levels. The gate control signal is not limited to only the above three signals, but various control signals can be transmitted in this manner. After receiving the door opening signal, the servo logic controller 2 calculates a real-time control signal of the servo motor 5 according to rotor position information acquired by the incremental encoder 12 and driving current information acquired by the power driver 3 by combining with a built-in algorithm of the servo logic controller 2, the real-time control signal is sent to the power driver 3 through a servo control and feedback interface to be driven by a three-phase inverter circuit, and an inverter output signal is connected with a three-phase power line 10 of the servo motor 5 through a servo motor power output interface 9, so that the servo motor 5 is driven to rotate by a fixed angle, and the swing gate machine core executes a door opening action. After receiving the 'door closing' signal, the servo logic controller 2 controls the power driver 3 to drive the servo motor 5 to execute the door closing action, and if receiving the 'pause' signal in the door closing process, the servo motor 5 immediately stops moving to wait for the next command. Meanwhile, the servo logic controller 2 will inform the upper computer control mechanism 13 of the execution result after each action is executed through 3 output signal lines in the I/O gating interface 18, and the execution result includes but is not limited to: the forward door opening is in place, the reverse door opening is in place, the door closing is in place and is suspended.

when people or objects do not obtain 'door opening' authorization to forcibly pass through in a door closing state, namely the door opening is called 'break-through', at the moment, the servo logic controller 2 controls the clutch 14 to suck through the brake interface 16, and at the moment, the swing brake mechanism is locked and is not moved to block people or objects from passing through; if the swing door rotation angle or the angular acceleration reaches a certain degree during the break-through, the servo logic controller 2 controls the clutch 14 to be separated so as to protect the swing gate movement from being damaged.

In another embodiment, the servo logic controller 2 is connected to the upper computer control mechanism 13 through an I/O gating interface 18 and an RS232 interface 19, and the servo logic controller 2 simultaneously integrates an FOC servo control algorithm and a swing gate core logic control algorithm, where the swing gate core logic control algorithm includes an I/O gating communication protocol, a brake start/stop logic control algorithm, and a return device logic control algorithm.

In another embodiment, the servo logic controller 2 and the power driver 3 are respectively integrated on different circuit boards, so that weak current and strong current physical isolation is realized, the anti-interference performance of the system is effectively improved, and the stability of the control system is enhanced; meanwhile, the power driver 3 is a vulnerable part, so that the separated layout mode can be replaced and maintained more conveniently, and compared with an integrated layout mode, the maintenance cost of a circuit board in the later period can be greatly reduced.

In another embodiment, the servo motor 5 is a PMSM motor with a rated voltage of 24V, and since the driving voltage of the motor is lower than the human body safety voltage, the problem of electric shock is not worried about during the use process, which is safer.

in another embodiment, the servo logic controller 2 is provided with a dial switch 20, each gear of the dial switch 20 can be respectively corresponding to different types of swing gate cores or left and right door wings of the swing gate cores, and other items, such as selecting the left and right swing gate cores through the dial switch 20, selecting a standard door wing or a widened door wing, selecting whether to enter an aging test mode, selecting whether to set an accurate position when the door wing is closed, and the like.

In another embodiment, the I/O gating interface 18 includes 3 input signal lines and 3 output signal lines, and 1 emergency signal line, with the signal format being a high-low combination. The I/O communication mode has high efficiency, and can shorten the response time of the swing gate movement.

in another embodiment, the servo logic controller 2 is further provided with a nixie tube display 21 for displaying the real-time running state of the swing gate movement, and the current state of the movement can be obtained through the numbers and characters of the nixie tube display 21, so that field maintenance and problem troubleshooting are facilitated.

as shown in fig. 2, in another embodiment, a housing 22 is fixedly arranged outside the swing gate mechanism, a casing of the servo motor 5 of the swing gate mechanism is fixed in the housing 22, where the upper end of the casing of the servo motor 5 is fixed on a first support plate 23 through a bolt, the edge of the first support plate 23 is connected to the inner wall of the housing 22, and an output shaft of the servo motor 5 is vertically and upwardly coaxially connected with a swing gate rotating shaft 25 through a coupling 24;

clutch 14 is annular jaw clutch 14, and it is established including all the cover clutch fixed part 27 and clutch movable part 28 outside shaft coupling 24, clutch fixed part 27 top is connected with annular first fixed plate 29, first fixed plate 29 and shell 22 rigid coupling, and here the edge of first fixed plate 29 also connects on shell 22 inner wall, is provided with a plurality of support columns 30 between first fixed plate 29 and the first backup pad 23, is used for preventing first fixed plate 29 or first backup pad 23 because the suction tensile deformation between the clutch 14, clutch movable part 28 with shaft coupling 24 rigid coupling.

When the servo logic controller 2 controls the clutch fixing part 27 and the clutch moving part 28 to be attracted, the clutch moving part 28 is locked by the clutch fixing part 27 because the first fixing plate 29 already fixes the clutch fixing part 27 and does not rotate along with the torque of the servo motor 5, thereby achieving the purpose of braking the swing brake core.

In another embodiment, as shown in fig. 3, the power-off return means is disposed at an upper end of the swing door rotating shaft 25, and includes:

A second support plate 31 fixedly connected to the top plate of the housing 22, wherein the second support plate 31 is provided with a shaft hole, the upper end of the swing door rotating shaft 25 is rotatably connected in the shaft hole, and the diameter of the upper end of the swing door rotating shaft 25 is smaller than the diameter of the middle part of the swing door rotating shaft 25, so that a step-shaped shoulder can be formed;

The torsion spring 32 is wound on the upper end of the swing door rotating shaft 25 and is positioned below the second support plate 31, the top end of the torsion spring 32 is fixedly connected with the bottom end of the second support plate 31, ideally, a guide sleeve 33 is sleeved on the upper end of the swing door rotating shaft 25, and the torsion spring 32 is sleeved on the periphery of the guide sleeve 33;

The electro-magnet 15 is annular sucking disc formula electro-magnet 15, and it includes all to overlap and establishes the electro-magnet fixed part 34 and the electro-magnet movable part 35 in the torsional spring 32 outside, electro-magnet fixed part 34 with the second backup pad 31 rigid coupling, electro-magnet movable part 35 lower extreme is connected with the annular second fixed plate 36 of cover in swing door pivot 25 upper end, the lower extreme rigid coupling of torsional spring 32 is on second fixed plate 36, second fixed plate 36 lower plate facial features is provided with down the arch, be provided with protruding 37 on the shoulder of swing door pivot 25, protruding and last protruding 37 mutual butt of protruding 37 down, here go up protruding 37 and protruding down can all set up to around establishing the semi-annular or sectorial block on swing door pivot 25, go up protruding 37 and protruding swing door pivot 25 down and just splice annular or be close annular structure down, go up protruding 37 and protruding mutual butt under and can transmit the moment of torsion like this, the shoulder of the swing door rotating shaft 25 can support the second fixing plate 36 and the electromagnet movable part 35;

Wherein the restoring force of the torsion spring is at a minimum or a maximum when the swing door 26 is at the 0 ° position or the 180 ° position, i.e., the swing door is parallel to the gate passage direction, wherein if the swing door 26 is at the 0 ° position in fig. 4, the restoring force of the torsion spring is at a minimum, the restoring force of the torsion spring is at a maximum when the swing door 26 is at the 180 ° position in fig. 4, and vice versa, the swing door is at the 90 ° position in fig. 4 when the swing door 26 is perpendicular to the gate passage direction.

when the swing gate core normally operates, after receiving a door closing signal sent by the upper computer control mechanism, the servo logic controller 2 controls the jaw clutch 14 not to be powered on so as to enable the swing gate core to be in a normally open state, the output shaft of the motor of the servo motor 5 rotates to drive the coupler 24, then the swing gate rotating shaft 25 drives the swing gate 26 to rotate, when the swing gate moves to a 90-degree position from a 0-degree position or a 180-degree position, the servo logic controller 2 controls the servo motor 5 to decelerate to stop, the position of the swing gate rotating shaft 25 is fixed, and the door closing function is achieved.

When the swing gate core normally operates, after the servo logic controller 2 receives a door opening signal sent by the upper computer control mechanism, the servo logic controller 2 controls the servo motor 5 to rotate to drive the coupler 24, and further drives the swing door 26 to rotate through the swing door rotating shaft 25, when the swing door moves to a position of 0 degrees or 180 degrees from a position of 90 degrees, the servo logic controller 2 controls the servo motor 5 to decelerate to stop, and the position of the swing door rotating shaft 25 is fixed, so that the door opening function is realized.

When the swing gate movement control system is powered off, the power-off return interface is powered off passively, the electromagnet fixing part 34 cannot attract the electromagnet moving part 35, the swing door 26 is opened under the action of the torsion spring 32, and the power-off return function is realized.

The invention also provides a control method applied to the control system, which comprises the following steps:

acquiring driving current information of a servo motor 5 through a power driver 3, and acquiring position information of a rotor of the servo motor 5 through a Hall sensor 4;

The servo logic controller 2 calculates a real-time control signal of the servo motor 5 through an FOC servo control algorithm according to the driving current information and the position information of the rotor of the servo motor 5 and sends the real-time control signal to the power driver 3, the power driver 3 drives the servo motor 5 to start according to the real-time control signal of the servo motor 5, and when the rotor of the servo motor 5 meets a zero position signal of an incremental encoder, the servo logic controller 2 switches the Hall sensor 4 into the incremental encoder to acquire the position information of the rotor of the servo motor 5;

The Hall sensor 4 is used for collecting the position information when the motor is started, so that the stability of the motor during starting is higher, and the initialization is switched to the incremental encoder for collecting the position information after the initialization is completed, so that the accuracy of the motor during operation is improved.

the swing door 26 is rotated to a position vertical to the swing gate channel, and the angular position information of the swing door at the moment is prestored in the servo logic controller 2 and is used as the initial position of the swing door 26, wherein when the swing door 26 is vertical to the swing gate channel, the gate channel cannot pass through, and the swing door 26 is in a door closing state, so that the initial state of the swing gate movement is in a door closing in-place state;

setting a corresponding relation between a swing door action signal and a rotation angle of a rotor of the servo motor 5 and a corresponding relation between the swing door action signal and a power-off return interface power supply condition, and storing the corresponding relations into the servo logic controller 2, wherein the swing door action signal comprises: when the swing door action signal is in an emergency, the corresponding servo motor 5 is controlled by the servo logic controller 2 to emergently decelerate to stop, the position of the swing door rotating shaft 25 is fixed, and when the swing door action signal is in an emergency, the corresponding power-off return interface is powered off, the electromagnet 15 is separated, and the swing door 26 returns to a door opening state under the action of the torsion spring 32;

When the swing door 26 is in a door closing state, if a person or an object does not obtain the door opening authorization to forcibly pass through the door closing state, the door opening authorization is called as a 'break-through brake', at the moment, the servo logic controller 2 controls the jaw clutch 14 to suck through the brake interface, at the moment, the swing brake core is locked and is not moved, the person or the object is blocked from passing through the swing brake core, and meanwhile, the servo motor 5 is protected from being impacted by external force. The 'gate break' is judged by detecting the following two data: whether the rotation angle of the rotor of the servo motor 5 exceeds a first threshold value or not is detected through an incremental encoder, and/or whether the angular acceleration of the rotor of the servo motor 5 exceeds a second threshold value or not is detected through the incremental encoder, if the rotation angle exceeds the first threshold value and/or exceeds the second threshold value, the door wing receives large external impact, the door wing is considered to break the brake, and the servo logic controller 2 controls the clutch 14 to suck to brake the swing brake core. After the preset time, the servo logic controller 2 controls the clutch 14 to be separated to loosen the swing gate movement, meanwhile, whether the rotation angle of the rotor of the servo motor 5 exceeds a first threshold value is detected through the incremental encoder again, and/or whether the angular acceleration of the rotor of the servo motor 5 exceeds a second threshold value is detected through the incremental encoder, if the rotation angle still exceeds the first threshold value and/or exceeds the second threshold value, the servo logic controller 2 continues to control the clutch 14 to be attracted to brake the swing gate movement, namely, after the brake break occurs, the control system releases the brake once in a short time at regular intervals, if the brake break condition is still met at the moment, the brake continues to be attracted until the rotation angle does not exceed the first threshold value and/or exceeds the second threshold value, and the servo logic controller 2 controls the swing gate 26 to be restored to the normal door closing position.

When the swing gate core is powered off, if the swing gate 26 is in a door closing state, the power-off return interface is powered off passively, the electromagnet fixing part 34 cannot attract the electromagnet moving part 35, and the swing gate 26 is opened under the action of the torsion spring 32, so that personnel can pass safely under special conditions.

While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.