VEHICLE DOOR OPENING AND CLOSING CONTROL DEVICE |
|||||||
申请号 | EP14849539.3 | 申请日 | 2014-09-16 | 公开(公告)号 | EP3050772A1 | 公开(公告)日 | 2016-08-03 |
申请人 | Nabtesco Corporation; | 发明人 | UNO,Hiroki; | ||||
摘要 | A vehicle door is operated in accordance with a desired speed pattern. A vehicle door opening-closing control device 1 includes a power-supply voltage detecting unit 2 that outputs a detection value of a power-supply voltage of an electric motor 13, a reference control pattern storage unit 3 that stores a reference control pattern that indicates a voltage command value or a speed command value for the electric motor 13, the reference control pattern is a control pattern of the electric motor when the detection value is within a predetermined range, a control pattern generating unit 4a that generates a corrected control pattern that is obtained by correcting the reference control pattern based on the detection value, and a PWM control unit 4 that controls the electric motor 13 based on the corrected control pattern. |
||||||
权利要求 | |||||||
说明书全文 | The present invention relates to a vehicle door opening-closing control device that controls opening and closing of a door of a vehicle. A vehicle door opening-closing control device that controls opening and closing of a door(s) of vehicles has been known. For instance, a door driving control device disclosed in Patent Document 1 identifies each of a plurality of doors and their positions and drives them individually. More specifically, when a driving speed of a door is below a predetermined value, a torque used for driving a door to be opened and closed is switched to a higher torque to perform opening and closing of the door. At this point, the door driving control device sets a door high-powered time window for each door such that the time window in which a door is opened and closed by using the high torque does not overlap between doors or between predetermined sets of the doors. The high-torqued powered opening and closing of a door is performed only in the corresponding door high-powered time window. Patent Literature 1: Meanwhile, in order to operate a door of a vehicle in accordance with a desired speed pattern, a rotational speed of an electric motor when the electric motor is operated may be fed back to the control device and a duty ratio of a voltage applied to the electric motor may be adjusted. However, in a case of a railroad car and the like, for example, power supplied to the electric motor from an overhead line often fluctuates and when a sufficient power is not supplied to the electric motor from the overhead line, a power source for the electric motor is changed from the overhead line to other power supply (for example, a battery or the like). When there is such a power fluctuation or power source change, a steep rising control occurs in order to maintain a normal opening-closing speed of a door, and may result in overshoot. This means that the opening and closing speed of the door largely deviates from a desired speed pattern. Even in the case of vehicles other than the railroad cars, the opening and closing speeds of a door may deviate from a desired speed pattern due to fluctuation of power supplied to a motor or due to a power source change. In view of the above, one object of the invention is to operate a door(s) of a vehicle in accordance with a desired speed pattern.
In the above-described configuration, it is possible to reduce a fluctuation in the detection value caused by instantaneous change of the power supply voltage that does not largely affect the speed of the electric motor. Therefore it is possible to stably operate the electric motor in accordance with a desired speed pattern. According to the aspect of the invention, it is possible to operate a door(s) of a vehicle in accordance with a desired speed pattern.
The embodiments of the present invention will now be described with reference to the drawings. Note that a door opening-closing control unit or a vehicle door opening-closing control device according to one embodiment of the invention is not limited to hereunder-described embodiment and examples but may be applied to various vehicle door opening-closing control devices that control opening and closing of a vehicle door(s). Note that the term "railroad" is used herein in a broad sense and may encompasses not only a railway in which a car moves on two iron rails but also other means of transportation (a monorail and the like) using vehicles to which electric power is supplied from an overhead line and which travel as guided along a guideway such as a guide track other than the two iron rails. Before describing a door opening-closing control unit 1 (a vehicle door opening-closing control device) according to one embodiment of the invention, a door opening-closing driving mechanism 10 activated by the door opening-closing control unit 1 and a door 51 opened and closed by the door opening-closing driving mechanism 10 will be firstly described. The door 51 illustrated in The pair of racks 11 a, 11 b may extend horizontally and may be situated over the sliding doors 51 a, 51 b with a predetermined gap interposed between the racks 11a, 11b in the vertical direction. The rack 11a may be fixed over the sliding door 51a through a connecting member 14a and the rack 11b may be fixed over the sliding door 51b through a connecting member 14b. The pinion 12 may be provided in a space formed between the pair of racks 11a, 11b in the vertical direction. The pinion 12 may mesh with teeth of the pair of racks 11a, 11b. The electric motor 13 may be provided above the door 51. In this embodiment, the electric motor 13 may be an alternate-current brushless motor. An output shaft (not shown) of the electric motor 13 may be fixed at the center of the pinion 12. In this way, the electric motor 13 can rotate the pinion 12. In the door opening-closing driving mechanism 10, the electric motor 13 may be powered by a power supply 20 (not shown in Note that the invention may be applied to various door opening-closing driving mechanisms in addition to the above-described door opening-closing driving mechanism 10 that includes the pair of racks 11 a, 11 b and the pinion 12. For example, the invention can also be applied to a door opening-closing driving mechanism that includes a pulley and belt. The power-supply voltage detecting unit 2 may be configured to detect a voltage value of the power supply 20 and output a voltage value corresponding to the detected voltage value as a detection value. The power-supply voltage detecting unit 2 may include a sensor 2a, a set voltage-value storage unit 2b, and an output unit 2c. The power supply 20 may include a power unit (not shown) that converts an alternating-current voltage supplied from an overhead line to a constant direct-current voltage, and a battery (not shown). The power unit is normally used as the power supply 20 but when there is some trouble in supplying power from the overhead line, the battery may be used as the power supply 20. The sensor 2a may detect a voltage value of the power supply 20. In the embodiment, the sensor 2a may estimate a moving average of the power supply 20 as an average value and output the average value as the voltage value of the power supply 20. The set voltage-value storage unit 2b may store a plurality of set voltage values which are discrete voltage values corresponding to the values detected by the sensor 2a. In the embodiment, the set voltage values may be incremented by 10 volts (V), for example, the set voltage values may be 80 V, 90 V, 100 V and the like. The output unit 2c may output a value (the set voltage value) corresponding to the voltage value detected by the sensor 2a. Referring to the chart of In the chart of When the detected voltage value is within the above-described hysteresis width, the output unit 2c may output, as the detection value, the set voltage value corresponding to the power-supply region that includes the most recent voltage value from among the voltage values that are outside the hysteresis width. More specifically, when a voltage of the power supply 20 increases and is situated within the hysteresis width, for example, when the voltage increases from the point A (102 V) to the point B (104 V) in Whereas when a voltage of the power supply 20 decreases and is situated within the hysteresis width, for example, when the voltage decreases from the point C (106 V) to the point D (104 V) in When the above-described hysteresis width is set, the detection value may be different depending on the direction (increase or decrease) of the voltage value even when the voltage of the power supply 20 is same. In this manner, it is possible to reduce fluctuation of the detection value (so-called hunting) that may occur when the voltage goes up and down around the voltage threshold value. Consequently, the control system in the door opening-closing control unit 1 can be stabilized. The reference voltage command pattern storage unit 3 may be provided in, for example, memory of a microcomputer circuit (not shown). The reference voltage command pattern storage unit 3 stores a reference voltage command pattern (reference control pattern) that is used for controlling a speed of opening and closing of the door 51 according to a predetermined speed pattern. The PWM control unit 4 may be provided in, for example, a CPU of a microcomputer circuit (not shown). The PWM control unit 4 is configured to control a duty ratio of a voltage applied to the electric motor 13 based on the reference voltage command pattern stored in the reference voltage command pattern storage unit 3 and the detection value detected by the power-supply voltage detecting unit 2. The PWM control unit 4 may include a voltage command pattern generating unit 4a (a control pattern generating unit). Note that the duty ratio of the voltage is obtained by dividing a pulse width T by a period T wherein the voltage is represented as pulsed waves with the period T. Each time a detection value is output by the power-supply voltage detecting unit 2, the voltage command pattern generating unit 4a may generate a corrected voltage command pattern based on the detection value. The voltage command pattern generating unit 4a may replace the stored corrected voltage command pattern by a newly generated corrected voltage command pattern. The PWM control unit 4 may control the duty ratio of the voltage based on the corrected voltage command pattern generated by the voltage command pattern generating unit 4a. More specifically, the PWM control unit 4 may gradually increase the duty ratio when the voltage command value of the corrected voltage command pattern increases over time. Whereas when the voltage command value decreases over time, the PWM control unit 4 may gradually decrease the duty ratio. When the voltage command value is constant, the PWM control unit 4 may maintain the duty ratio as of the start time of this time window. The Hall signal detecting unit 5 may detect a rotational position of the electric motor 13 using a Hall element 13a provided in the electric motor 13. The power-supply voltage detecting unit 2 may perform detection of a voltage of the power supply 20 (Step S1) and sequentially output the detection value to the PWM control unit 4. In the PWM control unit 4, the voltage command pattern generating unit 4a may generate a corrected voltage command pattern based on the detection value output by the power-supply voltage detecting unit 2. The voltage command pattern generating unit 4a may store a latest corrected voltage command pattern from among the generated corrected voltage command patterns (Step S2). When the PWM control unit 4 receives a command to close the door 51 from the controller 25 (Yes in Step S3), the PWM control unit 4 may control a duty ratio of a voltage applied to the motor driving unit 6 based on the corrected voltage command pattern stored at the time in the voltage command pattern generating unit 4a (Step S4). The motor driving unit 6 adequately drives and rotates the electric motor 13 based on the duty ratio of the voltage controlled by the PWM control unit 4, the rotational position of the electric motor 13 detected by the Hall signal detecting unit 5 and the like (Step S5). In this manner, the door 51 may be closed in accordance with the desired speed pattern (Step S6). When the PWM control unit 4 does not receive the command to close the door 51 from the controller 25 (No in Step S3), the above-described Steps S4-S6 are not performed and the current flow is ended and a new flow starts again from Step S1. As described above, in the door opening-closing control unit 1 according to the embodiment, the PWM control unit 4 controls the electric motor. More specifically, the PWM control unit 4 controls a duty ratio of voltage applied to the electric motor 13 based on the voltage command pattern. The motor driving unit 6 drives the electric motor 13 based on the duty ratio controlled by the PWM control unit 4. In this way, behavior of the electric motor 13 is controlled by adjusting electric power supplied to the electric motor 13. In the door opening-closing control unit 1, the voltage command pattern is used for controlling the duty ratio of the voltage. More specifically, the voltage command pattern is a corrected pattern generated by correcting, based on the detection value corresponding to the voltage detected by the power-supply voltage detecting unit 2, the reference voltage command pattern which is used when the voltage is within a predetermined voltage range including the reference voltage value, and this corrected pattern (corrected voltage command pattern) is used. Generally, electric power consumed by the door opening-closing control unit 1 in a railroad car is supplied from an overhead line. Accordingly, a voltage applied to the door opening-closing control unit 1 tends to fluctuate. Furthermore, if any trouble occurs in an electric power supply system that supplies power to the door opening-closing control unit 1 in the railroad car from the overhead line, a battery instead supplies electric power to the door opening-closing control unit 1. The voltage largely fluctuates when such a switching of the power source occurs. Conventionally a revolution speed of the electric motor was detected and the duty ratio was controlled based on the detected revolution speed. However, in this case, a steep rise control occurs in order to maintain the opening and closing speed of the door when a voltage applied to the door opening-closing control unit largely fluctuate as described above. Consequently overshoot could occur and the opening and closing speeds largely deviate from a desired speed pattern. Whereas in the door opening-closing control unit 1 according to the embodiment, the duty ratio of the voltage is controlled based on the corrected voltage command pattern as described above. In this way, it is possible to control the duty ratio of the voltage such that a difference of speed of the electric motor 13 from a desired pattern caused by the voltage fluctuation of the power supply 20 is reduced before the difference is increased. Consequently, it is possible to bring the opening-closing speed of the door 51 close to desired speed patterns. As a result, the door opening-closing control unit 1 is able to operate a door(s) of a vehicle in accordance with a desired speed pattern. Moreover, in the door opening-closing control unit 1, the detection value output by the power-supply voltage detecting unit 2 is set to one of the set voltage values which are discreet values. By adequately setting an increment for the set voltage values, a normal control can be applied when the fluctuation in the power supply voltage is small and does not largely affect the speed of the electric motor 13. Therefore it is possible to reduce a burden on the voltage command pattern generating unit 4a. When the voltage of the power supply 20 largely fluctuates, it is possible to make the actual speed of the electric motor follow a desired motor speed pattern by changing the duty ratio depending on the amount of the fluctuation. Furthermore, according to the door opening-closing control unit 1, it is possible to reduce a fluctuation in the detection value that occurs when the voltage value detected by the power-supply voltage detecting unit 2 goes up and down around the voltage threshold value. Therefore the control system in this configuration can be stabilized. Moreover, in the door opening-closing control unit 1, a voltage command value at each time point of the reference voltage command pattern is multiplied by a value that is obtained by dividing the reference voltage value by the detection value. In this manner, the corrected voltage command pattern can be adequately obtained. Furthermore, the door opening-closing control unit 1 detects a voltage value of the power supply 20 by estimating a moving average of the voltage value. In this manner, it is possible to reduce a fluctuation in the detection value caused by instantaneous change of the power supply voltage that does not largely affect the speed of the electric motor 13. Therefore it is possible to stably operate the electric motor 13 in accordance with a desired speed pattern. Although the embodiments of the present invention have been described above, the present invention is not restricted to the above-described embodiments, and various modifications are possible within the scope of the claims. For example, the following exemplary variation is possible.
The invention can be widely applied as the vehicle door opening-closing control device that controls opening and closing of a vehicle door(s).
|