The invention discloses a rail transit sliding plug door control method based on compliance control. The rail transit sliding plug door control method comprises the following steps of establishing a conventional loop control mode for closing a sliding plug door; calculating the maximum speed difference and the maximum position difference in the mode, and determining a speed difference threshold value and a position difference threshold value according to the maximum speed difference and the maximum position difference; after closing of the sliding plug door is started and before the sliding plug door is closed, switching a compliant anti-pinch control mode of closing the sliding plug door, and conducting anti-pinch judgment according to the actual running speed and position of closing thedoor; in the anti-pinch mode, collecting the actual torque and the actual rotating speed of a motor for torque output processing, controlling the output torque of the motor in combination with a set speed curve, thus achieving anti-pinch control. A rail transit sliding plug door control system based on compliance control comprises an encoder, a door controller, a control motor and a sliding plug door transmission chain, wherein the door controller is connected with the motor, the encoder is installed on a motor shaft, the encoder is connected with the door controller, and the motor is connected with the sliding plug door transmission chain.
本发明公开了一种基于柔顺控制的轨道交通塞拉门控制方法,包括如下步骤:建立塞拉门关门的常规回路控制模式;计算该模式下的最大速度差和最大位置差,根据最大速度差和最大位置差确定速度差阈值和位置差阈值;在拉赛门关门启动后和闭合前,切换塞拉门关门的柔顺防夹控制模式,根据关门的实际运行速度和位置进行防夹判断;在防夹模式下,采集电机的实际转矩和实际转速进行转矩输出处理,结合设定的速度曲线,控制电机的输出转矩,实现防夹控制。一种基于柔顺控制的轨道交通塞拉门控制系统,包括编码器,门控制器、控制电机、塞拉门传动链,门控制器与电机连接,编码器安装在电机轴上,编码器与门控制器连接,电机与塞拉门传动链连接。
Rail transit sliding plug door control method and system based on compliance control
一种基于柔顺控制的轨道交通塞拉门控制方法及系统
2020-11-20
Patent
Electronic Resource
Chinese
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