阅读说明：本技术 一种电动门速度控制方法及系统 (Electric door speed control method and system ) 是由 杨朝光 罗富章 彭锦文 赖时伍 于 2020-12-23 设计创作，主要内容包括：本发明提供了一种电动门速度控制方法及系统,所述方法包括：电动门启动后,实时获取电动门的位置信息,根据预设的电动门的位置与电机转速的关系曲线计算控制电动门运动的电机的目标转速；根据所述目标转速对电机进行控制,使得电机的转速符合所述预设的电动门的位置与电机转速的关系曲线。采用本发明的技术方案,可以精确地控制电动门的运动速度。(The invention provides a speed control method and a system of an electric door, wherein the method comprises the following steps: after the electric door is started, acquiring position information of the electric door in real time, and calculating a target rotating speed of a motor for controlling the movement of the electric door according to a preset relation curve between the position of the electric door and the rotating speed of the motor; and controlling the motor according to the target rotating speed, so that the rotating speed of the motor accords with the preset relation curve of the position of the electric door and the rotating speed of the motor. By adopting the technical scheme of the invention, the movement speed of the electric door can be accurately controlled.)

1. A method of controlling the speed of an electric door, comprising:

after the electric door is started, acquiring position information of the electric door in real time, and calculating a target rotating speed of a motor for controlling the movement of the electric door according to a preset relation curve between the position of the electric door and the rotating speed of the motor;

and controlling the motor according to the target rotating speed, so that the rotating speed of the motor accords with the preset relation curve of the position of the electric door and the rotating speed of the motor.

2. The power door speed control method of claim 1, wherein controlling the motor according to the target rotation speed comprises:

outputting the target rotating speed serving as a reference rotating speed to a speed ring to adjust the rotating speed of the motor to obtain a reference current;

and inputting the reference current into a current loop to regulate the current of the motor to obtain the control voltage of the motor.

3. The electric door speed control method according to claim 1, wherein the position information is calculated by the number of stroke pulses fed back from the motor.

4. The power door speed control method as claimed in claim 1, wherein the predetermined power door position versus motor speed curve is S-shaped.

5. The power door speed control method and system according to claim 4, wherein the predetermined relationship between the position of the power door and the rotational speed of the motor comprises:

Y=X²，0<X<K;

Y=K²- X²,X≥K,

wherein X and K are integers, and K is a set constant.

6. An electric door speed control system, comprising:

the position acquisition module is used for acquiring the position information of the electric door in real time after the electric door is started;

the target rotating speed calculating module is used for calculating the target rotating speed of a motor for controlling the movement of the electric door according to a preset relation curve between the position of the electric door and the rotating speed of the motor;

and the motor control module is used for controlling the motor according to the target rotating speed so that the rotating speed of the motor conforms to the preset relation curve between the position of the electric door and the rotating speed of the motor.

7. The power door speed control system of claim 6, wherein the motor control module comprises:

the speed loop adjusting unit is used for adjusting the current rotating speed of the motor according to the target rotating speed and outputting reference current;

and the current loop adjusting unit is used for adjusting the current of the motor according to the reference current and outputting the control voltage of the motor.

8. The electric door speed control system according to claim 6, wherein the position obtaining module obtains the position information according to a stroke pulse fed back by a motor.

9. The electric door speed control system according to claim 6, wherein the predetermined electric door position versus motor speed curve is S-shaped.

10. The power door speed control system according to claim 9, wherein the predetermined power door position versus motor speed profile comprises:

Y=X²，0<X<K;

Y=K²- X²,X≥K,

wherein X and K are integers, and K is a set constant.

Technical Field

The invention relates to the field of automatic gate control, in particular to a speed control method and system for an electric door.

Background

The application of the servo controller on the market at present on the electric door is very extensive, and particularly the application on the channel gate can realize high-precision and high-efficiency control and can easily realize position control, speed control and torque control. The common gate machine uses position control, speed control and moment control.

As shown in fig. 1, a three-loop control PI D algorithm is commonly used in the current servo driver, that is, an outer loop is a position loop, an intermediate loop is a speed loop, an inner loop is a current loop, the outer loop is programmed according to a given position, speed, acceleration and deceleration, and an output speed value is used as a reference of the speed loop. In the prior art, the acceleration and deceleration control of the motor is basically realized by a speed control curve with time as an abscissa and speed as an ordinate. This control method cannot accurately control the corresponding speed of each position, because the speed change continues over time, the speed of each position is uncertain, and the speed is uncontrollable.

Disclosure of Invention

The invention aims to provide a method and a system for controlling the speed of an electric door, so that the movement speed of the electric door can be accurately controlled.

In an embodiment of the present invention, a method for controlling a speed of an electric door is provided, which includes:

after the electric door is started, acquiring position information of the electric door in real time, and calculating a target rotating speed of a motor for controlling the movement of the electric door according to a preset relation curve between the position of the electric door and the rotating speed of the motor;

and controlling the motor according to the target rotating speed, so that the rotating speed of the motor accords with the preset relation curve of the position of the electric door and the rotating speed of the motor.

In the embodiment of the present invention, controlling the motor according to the target rotation speed includes:

outputting the target rotating speed serving as a reference rotating speed to a speed ring to adjust the rotating speed of the motor to obtain a reference current;

and inputting the reference current into a current loop to regulate the current of the motor to obtain the control voltage of the motor.

In the embodiment of the invention, the position information is obtained by calculating the stroke pulse fed back by the motor.

In the embodiment of the invention, the relation curve of the preset position of the electric door and the rotating speed of the motor is S-shaped.

In an embodiment of the present invention, the preset relationship curve between the position of the electric door and the rotation speed of the motor includes:

Y＝X²，0<X<K；

Y＝K²-X²,X≥K,

wherein X and K are integers, and K is a set constant.

In an embodiment of the present invention, there is also provided an electric door speed control system, including:

the position acquisition module is used for acquiring the position information of the electric door in real time after the electric door is started;

the target rotating speed calculating module is used for calculating the target rotating speed of a motor for controlling the movement of the electric door according to a preset relation curve between the position of the electric door and the rotating speed of the motor;

and the motor control module is used for controlling the motor according to the target rotating speed so that the rotating speed of the motor conforms to the preset relation curve between the position of the electric door and the rotating speed of the motor.

In an embodiment of the present invention, the motor control module includes:

the speed loop adjusting unit is used for adjusting the current rotating speed of the motor according to the target rotating speed and outputting reference current;

and the current loop adjusting unit is used for adjusting the current of the motor according to the reference current and outputting the control voltage of the motor.

In the embodiment of the invention, the position acquisition module acquires the position information according to the stroke pulse fed back by the motor.

In the embodiment of the invention, the relation curve of the preset position of the electric door and the rotating speed of the motor is S-shaped.

In an embodiment of the present invention, the preset relationship curve between the position of the electric door and the rotation speed of the motor includes:

Y＝X²，0<X<K；

Y＝K²-X²,X≥K,

wherein X and K are integers, and K is a set constant.

Compared with the prior art, by adopting the electric door speed control method and the electric door speed control system, after the electric door is started, the position information of the electric door is acquired in real time, the target rotating speed of the motor for controlling the movement of the electric door is calculated according to the preset relation curve between the position of the electric door and the rotating speed of the motor, and the motor is controlled according to the target rotating speed, so that the rotating speed of the motor accords with the preset relation curve between the position of the electric door and the rotating speed of the motor, the speed of each position of the electric door is controlled in the movement process of the electric door, the movement speed of the electric door can be accurately controlled, and various complex algorithms can be realized conveniently; in addition, the S-shaped acceleration and deceleration curve is adopted, so that the acceleration and deceleration movement is very stable.

Drawings

Fig. 1 is a schematic control diagram of a servo motor of a prior art power door.

Fig. 2 is a flow chart of a method for controlling an electric door according to an embodiment of the present invention.

FIG. 3 is a graph of motor speed versus position of a power door in accordance with an embodiment of the present invention.

Fig. 4 is a schematic structural view of an electric door control system according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The following describes the implementation of the present invention in detail with reference to specific embodiments.

As shown in fig. 2, in the embodiment of the present invention, there is provided a power door speed control method, which includes steps S1-S3. The following description will be made separately.

Step S1: and after the electric door is started, acquiring the position information of the electric door in real time.

In the embodiment of the invention, the position information is obtained by calculating the stroke pulse fed back by the motor. It should be noted that the electric door moves for a fixed stroke every time the servo motor rotates one turn. When the servo motor rotates for one circle, a stroke pulse is fed back, and the position of the electric door can be obtained by counting the stroke pulse.

Step S2: and calculating the target rotating speed of the motor for controlling the motion of the electric door according to a preset relation curve between the position of the electric door and the rotating speed of the motor.

As shown in fig. 3, in the embodiment of the present invention, the relationship curve between the preset position of the power door and the rotation speed of the motor is S-shaped. Specifically, the preset relationship curve between the position of the electric door and the rotation speed of the motor includes:

Y＝X²，0<X<K；

Y＝K²-X²,X≥K,

wherein X and K are integers, and K is a set constant.

In the embodiment of the invention, a relation curve of the position of the electric door and the rotating speed of the motor is preset, so that the moving speed of the electric door at each position is determined, and the speed of the electric door can be accurately controlled; in addition, the S-shaped acceleration and deceleration curve is adopted, so that the acceleration and deceleration movement is very stable.

Step S3: and controlling the motor according to the target rotating speed, so that the rotating speed of the motor accords with the preset relation curve of the position of the electric door and the rotating speed of the motor.

It should be noted that the motor control of the power gate usually adopts a three-loop control PI D algorithm as shown in fig. 1, i.e., the outer loop is a position loop, the intermediate loop is a speed loop, and the inner loop is a current loop. In the embodiment of the invention, the target rotating speed of the motor is determined for each position, so that a position ring is not needed, and only a speed ring and a current ring are needed to control the rotating speed of the motor. Specifically, in step S3, the controlling the motor according to the target rotation speed includes:

outputting the target rotating speed serving as a reference rotating speed to a speed ring to adjust the rotating speed of the motor to obtain a reference current;

and inputting the reference current into a current loop to regulate the current of the motor to obtain the control voltage of the motor.

As shown in fig. 4, corresponding to the electric door speed control method, in the embodiment of the present invention, an electric door speed control system is further provided, which includes a position obtaining module 1, a target rotation speed calculating module 2, and a motor control module 3. The following description will be made separately.

The position acquisition module 1 is used for acquiring the position information of the electric door in real time after the electric door is started. In the embodiment of the invention, the position obtaining module 1 obtains the position information according to the stroke pulse fed back by the motor.

And the target rotating speed calculating module 2 is used for calculating the target rotating speed of the motor for controlling the movement of the electric door according to a preset relation curve between the position of the electric door and the rotating speed of the motor. In an embodiment of the present invention, a relationship curve between the position of the preset electric door and the rotational speed of the motor is S-shaped, and specifically, the relationship curve between the position of the preset electric door and the rotational speed of the motor includes:

Y＝X²，0<X<K；

Y＝K²-X²,X≥K,

wherein X and K are integers, and K is a set constant.

And the motor control module 3 is used for controlling the motor according to the target rotating speed, so that the rotating speed of the motor accords with the preset relation curve between the position of the electric door and the rotating speed of the motor. In the embodiment of the present invention, the motor control module 3 includes a speed loop adjusting unit and a current loop adjusting unit. The speed loop adjusting unit is used for adjusting the current rotating speed of the motor according to the target rotating speed and outputting reference current; and the current loop adjusting unit is used for adjusting the current of the motor according to the reference current and outputting the control voltage of the motor.

In summary, with the electric door speed control method and system of the present invention, after the electric door is started, the position information of the electric door is obtained in real time, the target rotation speed of the motor for controlling the movement of the electric door is calculated according to the preset relationship curve between the position of the electric door and the rotation speed of the motor, and the motor is controlled according to the target rotation speed, so that the rotation speed of the motor conforms to the preset relationship curve between the position of the electric door and the rotation speed of the motor, and the speed of each position of the electric door is controlled during the movement process, thereby accurately controlling the movement speed of the electric door, and facilitating the realization of various complex algorithms; in addition, the S-shaped acceleration and deceleration curve is adopted, so that the acceleration and deceleration movement is very stable.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.