JP5300980B2 - Door control device for vehicle - Google Patents

Description

  The present invention relates to a vehicle door control device that controls opening and closing of a side door of a vehicle.

  Generally, a vehicle having a door on a side surface of a vehicle includes an automobile or a railway vehicle. Among these, in a railway vehicle that transports passengers, a sliding door is provided as a side door on the side of the vehicle in order to get on and off a general passenger. Conventionally, a device using compressed air has been used as a drive source of the slide door, but in recent years, a device using an electric motor controlled by a microcomputer has become mainstream (Patent Document 1). Recently, electric sliding doors are often used as side doors of automobiles.

  In the railway door side door opening and closing device described in Patent Document 1, a brushless DC motor is used as an electric motor in order to improve maintainability.

JP 2002-309849 A

  Now, in order to ensure the safety of passengers and passengers, even if a control device that controls an electric motor or the like fails or malfunctions, it is against the platform even when the railway vehicle is running or stopped. The side doors on the side must not open. The same applies to automobiles.

  In order to prevent such an unintentional opening of the door, for example, when the electric motor is a brushed DC motor, in the current path for rotating the brushed DC motor in the direction of opening the door, It is conceivable to provide a relay that opens and closes based on a signal from a host system of an automobile. When the electric motor is a brushless DC motor, a relay for selecting whether to supply power to the brushless DC motor may be opened and closed based on a signal from a host system of a railway vehicle or automobile.

However, in the former case, the door will not open unintentionally even if a failure or malfunction occurs in the control device that controls the electric motor or the like, but it cannot be realized unless it is a motor with a brush, Issues remain in terms of maintainability.
On the other hand, in the latter case, if the relay is operating to supply power to the brushless DC motor, the door can be moved in either the open or closed direction. If a malfunction occurs, the time for which the relay for power feeding is operating is short, so the probability is very low, but it is assumed that the door opens unintentionally.

  Accordingly, an object of the present invention is to provide a vehicle door control device capable of maintaining and improving the reliability of the vehicle side door opening / closing control.

(1)
In the vehicle door control device according to the present invention, the motor encoder signal is directly or inverted based on a signal from a brushless motor that drives the door to open and close, a motor encoder that detects the position of the brushless motor, and a host system. And a direction switching unit that outputs a signal and a drive signal having a pattern that matches the drive signal input to the driving unit when the door is driven to be closed are provided so that the direction switching unit can be output in accordance with a signal from the host system. And a control unit that outputs a drive signal based on the output signal.
The host system means a door command control system provided for each railway vehicle organization, a central control system, etc., and a main control device that controls the entire automobile, and a control unit is provided for each vehicle door. It is provided.

  As described above, the control unit is configured to output only the drive signal that matches the drive signal input to the drive unit when the door is driven to be closed, so that the control unit may have a failure or malfunction. Even if it occurs, the control unit cannot open the door unless the direction switching unit is switched, that is, unless the signal from the host system is defective. Therefore, an unintended opening operation of the vehicle door can be reliably prevented. As a result, the reliability of vehicle door opening / closing control can be maintained and improved.

(2)
The signal from the host system is composed of a first signal input to the control unit and a second signal input to the direction switching unit and different from the first signal. The direction switching unit is based on the first signal. It is preferable that the signal of the motor encoder is output directly or inverted based on the signal output from the second signal and the second signal.

  With this configuration, the direction switching unit directly or inverts the signal of the motor encoder based on two different signals from the host system (for example, the first signal is a transmission signal and the second signal is a contact signal). Therefore, even if one of the signals from the host system is defective, the unintended opening operation of the vehicle door can be more reliably prevented.

(3)
The direction switching unit may include an exclusive OR circuit that receives the signal output from the control unit and the second signal and outputs a signal to the control unit.

  If configured in this way, a failure due to a mechanical part does not occur, so the failure rate can be reduced without incurring costs.

(4)
The direction switching unit includes an inverting circuit to which a motor encoder signal is input, and a relay that switches to output either the output signal of the inverting circuit or the signal of the motor encoder, and reverses when the door is driven to open. The relay may be configured so that the output signal of the circuit is output.

  If comprised in this way, even if an inverting circuit breaks down, since it does not influence the door closing drive, the unintentional opening operation of the door for vehicles can be prevented more reliably. It also contributes to the regular operation of railway vehicles.

(5)
The control unit is preferably configured to be able to input a motor encoder signal input to the direction switching unit, and configured to compare the signal output from the direction switching unit with the input motor encoder signal.

  With this configuration, the difference between the motor encoder signal input to the control unit and the signal output from the direction switching unit to the control unit is added to all phases (for example, three phases) in consideration of the signal from the host system. If all the phases match, it is determined to be normal, and if some of the phases do not match, the direction switching unit can be determined to be faulty. Therefore, the unintended opening operation of the vehicle door can be prevented more reliably.

(6)
The vehicle door control device may further include a self-switching unit that sets a door closing direction between the direction switching unit and the control unit.

  In this case, the vehicle door control device further includes a self-switching unit that sets the door closing direction between the direction switching unit and the control unit, so that one type of vehicle door control device can cope with a mistake. can do. That is, in the case of a single door, whether or not the door closing direction is the front direction of the vehicle is determined according to the vehicle specifications, but this can be set by the self-switching unit. Since it is not necessary to manufacture or store the door control device, it is possible to reduce the labor of management in the factory.

(7)
The selfish switching unit may comprise a changeover switch for switching the selfish direction and an exclusive OR circuit.

  In this case, since the self-switching unit includes a changeover switch for switching the self-directed direction and an exclusive OR circuit, the configuration can be simplified and the door control device for the vehicle can be miniaturized.

FIG. 1 is a schematic structural diagram showing an example of a railroad vehicle door control device according to a first embodiment. Flow chart for explaining an example of the operation of the control unit Schematic diagram showing an example of the relationship between the encoder signal and the motor drive signal Schematic diagram showing an example of the relationship between the encoder signal and the motor drive signal Schematic structure figure which shows an example of the door control apparatus for rail vehicles which concerns on 2nd Embodiment. Schematic structure figure which shows an example of the door control apparatus for rail vehicles which concerns on 3rd Embodiment. Flow chart for explaining an example of the operation of the control unit Schematic structure figure showing an example of a door control device for rail vehicles concerning a 4th embodiment

100, 100a Rail vehicle door control device 200 Control unit 300 Driving unit 400 DC motor 500 Motor encoder 600, 600a Direction switch 610U, 610V, 610W Inversion circuit (direction switching unit)
620U, 620V, 620W Relay 640U, 640V, 640W Exclusive OR circuit (direction switching unit)
650U, 650V, 650W exclusive OR circuit (arbitrary switching unit)
660U, 660V, 660W Inversion circuit (arbitrary switching unit)
SIG1, SIG2, SIG3 control signal 800 DIP switch (DIPSW) circuit 810 for arbitrary setting dip switch BEST MODE FOR CARRYING OUT THE INVENTION

  Embodiments according to the present invention will be described below. In the following embodiments, an example of a rail vehicle door control device having a slide door provided when a general passenger is transported will be described as a vehicle door control device. In addition, this invention is not limited to a rail vehicle, It can apply also to vehicles which have other doors, such as a motor vehicle.

(First embodiment)
FIG. 1 is a schematic structural diagram showing an example of a railcar door control device 100 according to a first embodiment of the present invention.

  The railway vehicle is provided with a railway vehicle door control device 100 for each passenger entrance. As shown in FIG. 1, a door control device 100 for a rail vehicle includes a control unit (local control unit: LCU) 200, a drive unit 300, a three-phase DC brushless motor (hereinafter referred to as a DC motor) 400, and a motor encoder 500. , A direction changer 600 and an encoder monitor 700. The normal door control device is provided with a door lock switch (DLS), which is unlocked when the door is opened and locked when the door is closed. In the following embodiments, description of the door lock switch is omitted.

  A pair of power devices (IGBT, power MOSFET) that can supply power from the power source to the drive unit 300 according to the U phase, V phase, and W phase of the DC motor 400 in accordance with a signal from the control unit 200 3) is formed according to the phase of the DC motor 400.

  The DC motor 400 is connected to a power transmission device (not shown) that can open and close a door for a railway vehicle. For example, examples of the power transmission device include a rack and pinion mechanism, a ball screw mechanism, and a belt mechanism. When the DC motor 400 rotates in a predetermined direction, the door can be opened, and when the DC motor 400 rotates in the opposite direction, the door can be closed.

  As the motor encoder 500, three Hall elements (sensor 510U, sensor 510V, sensor 510W) provided for detecting the phase of the magnet of the DC motor are used. The motor encoder 500 can detect the rotation of the DC motor 400.

  Next, the direction switcher 600 includes inverting circuits 610U, 610V, 610W, relays 620U, 620V, 620W, and a logical product circuit 630. The logical product circuit 630 is provided with a control signal SIG1 which is a transmission format signal transmitted from the host system via the RS-485 line as a control signal SIG3 which is a digital signal via the control unit 200, and further from the host system. A control signal SIG2 which is a contact signal to be sent is given. The relays 620U, 620V, and 620W are of a two-point input and one-point output type. Here, the host system is a door command control system provided for each railway vehicle organization or a system that supervises control information of railway vehicle organization, and commands to open or close the door based on the operation of the conductor 200 is received, and the open / closed state of the door is received from the control unit 200 and managed.

Now, the signal line from the sensor 510U is branched into two, each connected to the two inputs of the relay 620U. The inverting circuit 610U is inserted into one of the branched signal lines.
Similarly, the signal line from sensor 510V is branched into two, each connected to the two inputs of relay 620V. One of the branched signal lines is inserted with an inverting circuit 610V, the signal line from the sensor 510W is branched into two, and each is connected to two inputs of the relay 620W. The inverting circuit 610W is inserted into one of the branched signal lines. Hereinafter, the signal line in which the inverting circuit is inserted is called an inverter line, and the signal line in which the inverting circuit is not inserted is called a non-inserted signal line.

  Relays 620U, 620V, and 620W are switched to select either one of an inverter line and a non-insertion signal line branched based on the output of AND circuit 630, respectively. The output sides of relays 620U, 620V, and 620W are connected to control unit 200. In this embodiment, the non-insertion signal line is selected when the door is closed, and the inverter line is selected when the door is opened.

  Subsequently, the control unit 200 incorporates a control program capable of outputting only a motor drive signal that matches the motor drive signal input to the drive unit 300 when the door is closed. Therefore, even if a failure or malfunction occurs in the control unit 200, the door can output a motor drive signal only in the closing direction as the control unit 200, thereby preventing an unintended opening operation of the door. The details of the relationship between the signal from the encoder input to the control unit 200 and the motor drive signal will be described later.

  Next, FIG. 2 is a flowchart for explaining an example of the operation of the control unit 200.

  As shown in FIG. 2, the control unit 200 stands by until an open command is received from the host system (step S1). Here, the opening command is a transmission format signal and is included in the control signal SIG1, and instructs to open the door.

  Next, when an opening command is received (Yes in step S1), the control unit 200 outputs a control signal SIG3 for switching the direction switch 600 in the door opening direction (step S2). Here, the control signal SIG3 is input to the logical product circuit 630 of the direction switch 600. Further, the control signal SIG2 is directly input to the AND circuit 630 from the host system. Here, the control signal SIG2 includes a speed detection signal (5 km / h detection signal), a simultaneous unlocking signal, an opening permission signal, and the like.

  Here, when the control signal SIG3 is an ON signal indicating that the door is open and the control signal SIG2 indicates the direction of opening the door, the AND circuit 630 selects the inverter line side of the relays 620U, 620V, and 620W ( (See FIG. 1). In this case, the sensors 510U, 510V, and 510W are inverted and input to the control unit 200 as corrected encoder input signals H1, H2, and H3.

  On the other hand, when either one of the control signal SIG3 and the control signal SIG2 does not indicate that the door is open, the AND circuit 630 outputs the non-insertion signal line side of the relays 620U, 620V, and 630W to be selected. In this case, the sensors 510U, 510V, and 510W are directly input to the control unit 200 as corrected encoder input signals H1, H2, and H3.

  In this case, as will be described later, when signals from sensors 510U, 510V, and 510W are directly input as corrected encoder input signals H1, H2, and H3, control unit 200 rotates DC motor 400 in the direction in which the door closes. Control is performed. As a result, even if a failure or malfunction occurs in the control unit 200, the door is prevented from opening the door unintentionally because the motor drive signal is output only in the closing direction.

  Next, when all the signals of the control signal SIG3 and the control signal SIG2 indicate that the door is opened, the control unit 200 transmits the corrected encoder input signals H1, H2, and H3, and the signals H11 and H11 from the encoder monitors 710U, 710V, and 710W. H21 and H31 are compared (step S3).

  Here, the control unit 200 moves the door when the corrected encoder input signals H1, H2, and H3 and the inverted signals H11, H21, and H31 from the encoder monitors 710U, 710V, and 710W do not coincide at all. Without returning, the process returns to step S1. In this case, the control unit 200 outputs a signal indicating that any one of the direction switch 600, the sensors 510U, 510V, and 510W and the encoder monitor 700 is broken so that the signal can be viewed from the outside of the railroad vehicle door control device 100. May be. Further, the failure signal may be transmitted to a host system.

  When the corrected encoder input signals H1, H2, and H3 and the inverted signals of the signals H11, H21, and H31 from the encoder monitors 710U, 710V, and 710W are completely identical in all phases, the control unit 200 The motor control program is executed, and a motor drive signal is output to the drive unit 300 based on the corrected encoder input signals H1, H2, and H3. Then, the DC motor 400 is driven by the drive unit 300, the encoder signal is detected by the motor encoder 500, and the control unit 200 continues to control the drive unit 300 based on the corrected encoder signal (step S4).

  Subsequently, the control unit 200 determines whether or not the door is at the fully open position (step S5). Here, when it is determined that the door is not in the fully open position, the control unit 200 repeats the processing from step S4.

  On the other hand, when it is determined that the door is in the fully open position, the control unit 200 waits until a close command is received from the host system (step S6). Here, the close command is a transmission format signal and is included in the control signal SIG1, and instructs the door to close.

Next, a control signal SIG3 for switching the direction switch 600 in the door closing direction is output from the control unit 200 (step S7).
Here, when the control signal SIG3 is an OFF signal indicating that the door is closed, or the control signal SIG2 indicates the direction in which the door is closed, the AND circuit 630 selects the non-insertion signal line side of the relays 620U, 620V, and 620W. To do. As a result, the encoder signals of the sensors 510U, 510V, and 510W are directly input to the control unit 200 as corrected encoder input signals H1, H2, and H3.

  The control unit 200 executes a built-in motor control program and outputs a motor drive signal to the drive unit 300 based on the input corrected encoder input signals H1, H2, and H3. Then, the DC motor 400 is driven by the drive unit 300, the encoder signal is detected by the motor encoder 500, and the control unit 200 continues to control the drive unit 300 based on the encoder signal (step S8).

  Subsequently, the control unit 200 determines whether or not the door is in the fully closed position (step S9). Here, when it is determined that the door is not in the fully closed position, the control unit 200 repeats the process from step S8.

  On the other hand, if the control unit 200 determines that the door is in the fully closed position, the control unit 200 returns to step S1.

  In the above flow chart (FIG. 2), the process of step S3 may be inserted between the process of step S7 and the process of step S8 to check for equipment failure or the like.

  Next, FIG. 3 and FIG. 4 are schematic diagrams showing an example of the relationship between the encoder signal input to the control unit 200, that is, the corrected encoder input signal and the motor drive signal. FIG. 3 shows a corrected encoder input signal and a motor drive signal in the door opening direction, and FIG. 4 shows a corrected encoder input signal and a motor drive signal in the door closing direction.

  As shown in FIG. 3 (a1), in the case of rotation in the door opening direction, the corrected encoder input signals H1, H2, and H3 repeat ON and OFF. In FIG. 3B1, the driving signals U, V, and W for the driving unit 300 repeat HIGH, OFF, LOW, and OFF.

  On the other hand, as shown in FIG. 4A2, in the case of rotation in the door opening direction, the correction encoder input signals H1, H2, and H3 repeat ON and OFF. In FIG. 4B2, the driving signals U, V, and W for the driving unit 300 repeat HIGH, OFF, LOW, and OFF.

Here, as shown in FIG. 3 and FIG. 4, when timings T1 to T2 are compared with FIG. 3 (a1) and FIG. And the OFF timing.
Moreover, the relationship of HIGH, OFF, and LOW of FIG.3 (b1) and FIG.4 (b2) from timing T1 to timing T2 corresponds completely.

  From the above, when the sensors 510U, 510V, and 510W are directly input as the corrected encoder input signals H1, H2, and H3, the door can be closed and the input is reversed. Can open the door. As a result, only one type of drive phase (drive signal pattern) of the drive phase of the drive unit 300 that drives the DC motor 400 is required. Therefore, as described above, the control unit 200 has a control program capable of outputting only a motor drive signal (that is, only one type) that matches the motor drive signal input to the drive unit 300 when the door is closed. Built in. Since it is configured in this way, even if a failure or malfunction occurs in the control unit 200, the door can only output the motor drive signal in the closing direction as the control unit 200, and therefore the direction switch 600 does not switch the door. As long as the door is not opened unintentionally. Furthermore, the direction changer 600 is highly reliable because the door is not switched so that the door is opened until both of the control signals SIG1 and SIG2 having different types meet predetermined conditions.

(Second Embodiment)
Next, another example of the rail vehicle door control device 100 according to the present invention will be described. Hereinafter, differences from the railcar door control device 100 shown in FIG. 1 will be described.

  FIG. 5 is a schematic structural diagram showing an example of a railroad vehicle door control device 100a according to the second embodiment of the present invention.

  As shown in FIG. 5, the rail vehicle door control device 100 a includes a direction switch 600 a instead of the direction switch 600 of FIG. 1.

The direction switch 600a includes exclusive OR circuits 640U, 640V, 640W and an AND circuit 630. The AND circuit 630 receives the control signal SIG1 given from the host system as the control signal SIG3 via the control unit 200, and further receives the control signal SIG2 from the host system directly. The output of the AND circuit 630 is input to one input of the exclusive OR circuits 640U, 640V, and 640W.

A signal line from the sensor 510U is input to the other input of the exclusive OR circuit 640U. Similarly, the signal line from the sensor 510V is input to the other input of the exclusive OR circuit 640V, and the signal line from the sensor 510W is input to the other input of the exclusive OR circuit 640W. Further, the output sides of the exclusive OR circuits 640U, 640V, and 640W are connected to the control unit 200, and the modified encoder input signals H1, H2, and H3 that are the outputs of the exclusive OR circuits 640U, 640V, and 640W are supplied to the control unit 200. give.

  In this case, in the rail vehicle door control device 100a, as in the rail vehicle door control device 100, the signals of the sensors 510U, 510V, and 510W are inverted unless all the outputs from the AND circuit 630 are ON. The corrected encoder input signals H1, H2, and H3 are input to the control unit 200. Therefore, unless the door signal of control signal SIG2 and control signal SIG3 is input to AND circuit 630, drive unit 300 is not driven to open the door, and drive unit 300 is driven to close the door. The

  As described above, in the railway vehicle door control device 100a according to the present invention, even when an abnormality or failure occurs in the control unit 200, the control unit 200 outputs the motor drive signal only in the closing direction. Since it cannot output, the unintentional opening operation of a door can be prevented reliably.

Moreover, since the direction switching device 600 in the door control device 100 for a railway vehicle according to the first embodiment includes the inverting circuits 610U, 610V, and 610W and the relays 620U, 620V, and 620W, the inverting circuit 610U is temporarily assumed. Even if a part or all of 610V, 610W breaks down, the door closing drive is not affected, so that the unintended opening operation of the railcar door can be prevented more reliably. It also contributes to the regular operation of railway vehicles. Moreover, since the direction switch 600a in the door control apparatus 100a for railway vehicles which concerns on 2nd Embodiment is comprised by the exclusive OR circuit 640U, 640V, 640W, since the failure by a mechanical part does not generate | occur | produce. The failure rate can be lowered without cost.

  Further, the difference between the motor encoder signals H11, H21, H31 detected by the encoder monitor 700 and the modified encoder input signals H1, H2, H3 is confirmed in consideration of the switching status of the direction changers 600, 600a, If even some of them do not match, it can be determined that the direction changers 600 and 600a are out of order. In this case, when the direction changers 600 and 600a are switched to the side for opening the door, the signals obtained by inverting the signals H11, H21 and H31 are compared with the corrected encoder input signals H1, H2 and H3. This means that when the direction changers 600 and 600a are switched to the door closing side, the signals H11, H21 and H31 are compared with the corrected encoder input signals H1, H2 and H3. To do.

  In the present embodiment, the three-phase DC brushless motor 400 has been described as an example. However, the present invention is not limited to this, and a motor having any other number of phases may be used. In the first embodiment, when the door is opened, the motor encoder signals H11, H21, and H31 pass through the inverting circuits 610U, 610V, and 610W. However, the present invention is not limited to this. You may make it pass in the case of closing operation. Further, the signals from the host system are the control signal SIG1 and the control signal SIG2, but are not limited to this, and may be one or three or more. The relay can be a contactless relay or a contactless relay. Further, the control signal SIG1 is a transmission format and the control signal SIG2 is a contact signal. However, the present invention is not limited to this, and both the control signal SIG1 and the control signal SIG2 may be contact signals, or both may be transmission formats. Good.

(Third embodiment)
Next, another example of the rail vehicle door control device 100 according to the present invention will be described. In the door control device 100b for a railway vehicle according to the third embodiment, a door control device 100b that can deal with a different side door of the railway vehicle, that is, a door with a different closing direction will be described. Hereinafter, differences from the railcar door control device 100 and the railcar door control device 100a shown in FIGS. 1 to 5 will be described.

  FIG. 6 is a schematic structural diagram showing an example of a railway vehicle door control device 100b according to a third embodiment of the present invention.

  As shown in FIG. 6, a door control device 100b for a railway vehicle includes a direction switch 600b instead of the direction switch 600, 600a. The direction switch 600b includes an inversion circuit 610U, 610V, 610W, a relay 620U, 620V, 620W, AND circuit 630, and exclusive OR circuit 650U, 650V, 650W.

  The rail vehicle door control device 100b further includes a self-setting dip switch (DIPSW) circuit 800. The self-setting dip switch circuit 800 has a dip switch 810 for setting the closing direction of the door. The dip switch 810 is set to either ON (+24 V) or OFF (0 V), and the desired signal KSIG is given to the control unit 200. The selfish signal KSIG is given to the exclusive OR circuits 650U, 650V, and 650W by the control unit 200.

  The logical product circuit 630 is provided with a control signal SIG1 which is a transmission format signal transmitted from the host system via the RS-485 line as a control signal SIG3 which is a digital signal via the control unit 200, and further from the host system. A control signal SIG2 which is a contact signal to be sent is given. The relays 620U, 620V, and 620W are of a two-point input and one-point output type. Further, the exclusive OR circuits 650U, 650V, and 650W are composed of 2-input 1-output exclusive OR circuits.

As shown in FIG. 6, the signal line from the sensor 510U is branched into two, and each is connected to the two inputs of the relay 620U. The inverting circuit 610U is inserted into one of the branched signal lines.
Similarly, the signal line from sensor 510V is branched into two, each connected to the two inputs of relay 620V. One of the branched signal lines is inserted with an inverting circuit 610V, the signal line from the sensor 510W is branched into two, and each is connected to two inputs of the relay 620W. The inverting circuit 610W is inserted into one of the branched signal lines. Hereinafter, similarly to FIG. 1, a signal line in which an inverting circuit is inserted is called an inverter line, and a signal line in which no inverting circuit is inserted is called a non-inserted signal line.

Relays 620U, 620V, and 620W are switched to select either one of an inverter line and a non-insertion signal line branched based on the output of AND circuit 630, respectively. The output side of relays 620U, 620V, and 620W is connected to one of the two inputs of exclusive OR circuits 650U, 650V, and 650W.
In addition, a selfish signal is connected to one of the two inputs of the exclusive OR circuits 650U, 650V, and 650W. The exclusive OR circuits 650U, 650V, and 650W input the modified encoder input signals H1, H2, and H3 to the control unit 200 based on the arbitrary signal KSIG and the relays 620U, 620V, and 620W.

  That is, in the door control device 100b for a railway vehicle, since the door moving direction (selfish direction) can be changed by a selfish signal KSIG, the door control device 100b is manufactured or managed in a different manner, that is, two types of door control devices. It is possible to reduce the number of man-hours for management at the factory of the door control device.

  Next, FIG. 7 is a flowchart for explaining an example of the operation of the control unit 200 according to the third embodiment.

  As shown in FIG. 7, the control unit reads the contents of a self-setting dip switch (DIPSW) circuit 800 (step S11). And a selfish signal (KSIG) is output based on the read content (step S12). Specifically, by switching the dip switch 810 of the self-setting dip switch (DIPSW) circuit 800, it is possible to control one of the left and right doors.

  Subsequently, the control unit 200 stands by until an open command is received from the host system (step S21). Here, the opening command is a transmission format signal and is included in the control signal SIG1, and instructs to open the door.

  Next, when an opening command is received (Yes in step S21), the control unit 200 outputs a control signal SIG3 for switching the direction switch 600 in the door opening direction (step S22). Here, the control signal SIG3 is input to the logical product circuit 630 of the direction switch 600. Further, the control signal SIG2 is directly input to the AND circuit 630 from the host system. Here, the control signal SIG2 includes a speed detection signal (5 km / h detection signal), a simultaneous unlocking signal, an opening permission signal, and the like.

  Here, when the control signal SIG3 is an ON signal indicating that the door is open and the control signal SIG2 indicates the direction of opening the door, the AND circuit 630 selects the inverter line side of the relays 620U, 620V, and 620W ( (See FIG. 6). In this case, the sensors 510U, 510V, and 510W are inverted and given to the exclusive OR circuits 650U, 650V, and 650W, and the arbitrary signal KSIG is also given to the exclusive OR circuits 650U, 650V, and 650W, and the exclusive OR Outputs of the circuits 650U, 650V, and 650W are input to the control unit 200 as corrected encoder input signals H1, H2, and H3.

  On the other hand, when the control signal SIG3 and the control signal SIG2 do not indicate that the door is open, the AND circuit 630 outputs the non-insertion signal line side of the relays 620U, 620V, and 630W to be selected. In this case, the sensors 510U, 510V, 510W are input to the control unit 200 as corrected encoder input signals H1, H2, H3 via the exclusive OR circuits 650U, 650V, 650W.

  In this case, as described later, when signals from sensors 510U, 510V, and 510W are input as corrected encoder input signals H1, H2, and H3, control unit 200 rotates DC motor 400 in the direction in which the door closes. Control as follows.

  Next, when all the signals of the control signal SIG3 and the control signal SIG2 indicate that the door is opened, the control unit 200 transmits the corrected encoder input signals H1, H2, and H3, and the signals H11 and H11 from the encoder monitors 710U, 710V, and 710W. H21 and H31 are compared (step S23).

  Here, the control unit 200 moves the door when the corrected encoder input signals H1, H2, and H3 and the inverted signals H11, H21, and H31 from the encoder monitors 710U, 710V, and 710W do not coincide at all. Without returning, the processing returns to step S21. In this case, the control unit 200 outputs a signal indicating that any of the direction switch 600, the sensors 510U, 510V, 510W, and the encoder monitor 700 has failed to the outside of the door control device 100b. Also good.

  When the corrected encoder input signals H1, H2, and H3 and the inverted signals of the signals H11, H21, and H31 from the encoder monitors 710U, 710V, and 710W are completely identical in all phases, the control unit 200 The motor control program is executed, and a motor drive signal is output to the drive unit 300 based on the corrected encoder input signals H1, H2, and H3. Then, the DC motor 400 is driven by the drive unit 300, the encoder signal is detected by the motor encoder 500, and the control unit 200 continues to control the drive unit 300 based on the corrected encoder signal (step S24). In this case, it is assumed that the setting state of the hand signal KSIG is Low, but the comparison is made by inverting the signals H11, H21, H31 from the encoder monitors 710U, 710V, 710W, but the setting state of the hand signal KSIG When is high, the comparison is performed without inversion.

  Subsequently, the control unit 200 determines whether or not the door is in the fully open position (step S25). Here, if the control unit 200 determines that the door is not in the fully open position, the control unit 200 repeats the processing from step S24.

  On the other hand, when it is determined that the door is in the fully open position, the control unit 200 waits until a close command is received from the host system (step S26). Here, the close command is a transmission format signal and is included in the control signal SIG1, and instructs the door to close.

Next, the control signal SIG3 for switching the direction switch 600 in the door closing direction is output from the control unit 200 (step S27).
Here, when the control signal SIG3 is an OFF signal indicating that the door is closed, or the control signal SIG2 indicates the direction in which the door is closed, the AND circuit 630 selects the non-insertion signal line side of the relays 620U, 620V, and 620W. To do. As a result, the encoder signals of the sensors 510U, 510V, and 510W are input to the control unit 200 as corrected encoder input signals H1, H2, and H3 via the exclusive OR circuits 650U, 650V, and 650W.

  The control unit 200 executes a built-in motor control program and outputs a motor drive signal to the drive unit 300 based on the input corrected encoder input signals H1, H2, and H3. Then, the DC motor 400 is driven by the drive unit 300, the encoder signal is detected by the motor encoder 500, and the control unit 200 continues to control the drive unit 300 based on the encoder signal (step S28). In this example, it is described that the setting state of the hand signal KSIG is Low, but if the setting state is High, the modified encoder input signals H1, H2, and H3 are inverted and input.

  Subsequently, the control unit 200 determines whether or not the door is in the fully closed position (step S29). Here, when it is determined that the door is not in the fully closed position, the control unit 200 repeats the process from step S28.

  On the other hand, when it is determined that the door is in the fully closed position, the control unit 200 returns to step S21.

  In the above flowchart (FIG. 7), the process of step S23 may be inserted between the process of step S27 and the process of step S28 to check for equipment failure or the like.

(Fourth embodiment)
Next, another example of the rail vehicle door control device 100 according to the present invention will be described. Hereinafter, differences from the railroad vehicle door control devices 100, 100a, 100b shown in FIGS. 1 to 7 will be described.

  FIG. 8 is a schematic structural diagram showing an example of a railroad vehicle door control device 100c according to the fourth embodiment of the present invention.

  As shown in FIG. 8, a door control device 100c for a railway vehicle includes a direction changer 600c instead of the direction changers 600, 600a, and 600b. The direction changer 600c includes inversion circuits 610U, 610V, and 610W, a relay. 620U, 620V, 620W, AND circuit 630, inverting circuits 660U, 660V, 660W and relays 670U, 670V, 670W.

  The rail vehicle door control device 100c further includes a self-setting dip switch (DIPSW) circuit 800c. The self-setting dip switch circuit 800c has a dip switch and sets the closing direction of the door. In the present embodiment, the selfish signal KSIG can be given without going through the control unit 200. As a result, the control unit 200 is not affected by a failure or the like.

  In addition, since a dip switch (DIPSW) circuit 800 for arbitrary setting is further provided, it is possible to cope with a wrong door. That is, in the case of double doors, the pair of doors are moved in the opposite direction in both the opening operation and the closing operation, and the operations are performed. Therefore, these can be set by a self-setting dip switch (DIPSW) circuit 800. it can. Further, by providing a self-setting DIP switch (DIPSW) circuit 800, even if the control unit 200 malfunctions in a door having a different closing direction, for example, when a command to open the microcomputer is mistaken, the signal of the motor encoder 500 Is output directly or inverted so that even if one of the signals SIG1, SIG2 from the host system is defective, the unintended opening operation of the vehicle door can be prevented more reliably and unintentionally. The door does not open during driving and the door on the opposite side of the platform does not open. Therefore, an unintended opening operation of the vehicle door can be reliably prevented. As a result, the reliability of vehicle door opening / closing control can be maintained and improved. In addition, since it is not necessary to separately manufacture a door control device for each of the doors of the pair of doors, it is possible to reduce labor during management.

In the embodiment of the present invention, the rail vehicle door control devices 100, 100a, 100b, and 100c correspond to the vehicle door control device, the DC motor 400 corresponds to the brushless motor, and the drive unit 300 serves as the drive unit. The motor encoder 500 corresponds to the motor encoder, the control signal SIG1 and the control signal SIG2 correspond to signals from the host system, the control unit 200 corresponds to the control unit, and the control signal SIG1 corresponds to the first signal. The control signal SIG2 corresponds to the second signal, the direction switching devices 600, 600a, 600b, and 600c correspond to the direction switching unit, the relays 620U, 620V, and 620W, the relays 670U, 670V, and 670W correspond to the relay, The exclusive OR circuits 640U, 640V, and 640W correspond to the exclusive OR circuit of the direction switching unit, and the exclusive OR circuit 6 50U, 650V, and 650W correspond to the exclusive OR circuit of the self-switching unit, the self-setting DIP switch (DIPSW) circuit 800 corresponds to the self-switching unit, the DIP switch 810 corresponds to the switch, and the inverting circuit 610U , 610V and 610W correspond to the inverting circuit of the direction switching unit, and the inverting circuits 660U, 660V and 660W correspond to the inverting circuit of the arbitrary switching unit.

  A preferred embodiment of the present invention is as described above, but the present invention is not limited thereto. It will be understood that various other embodiments may be made without departing from the spirit and scope of the invention. Furthermore, in this embodiment, although the effect | action and effect by the structure of this invention are described, these effect | actions and effects are examples and do not limit this invention.

Claims (7)

A door control device for a vehicle that controls opening and closing of a vehicle door,
A brushless motor that opens and closes the door;
A drive unit for driving the brushless motor;
A motor encoder for detecting the position of the brushless motor;
Based on a signal from a host system, a direction switching unit that outputs a signal by directly or inverting the signal of the motor encoder;
Based on a signal output by the direction switching unit according to a signal from the host system, provided that only a drive signal having a pattern that matches a drive signal input to the drive unit when the door is driven to be closed is provided. And a control unit that outputs the drive signal. The signal from the host system is composed of a first signal input to the control unit and a second signal different from the first signal input to the direction switching unit,
The direction switching unit is configured to output the signal of the motor encoder directly or inverted based on the signal output from the control unit based on the first signal and the second signal. The vehicle door control device according to claim 1, wherein   3. The direction switching unit includes an exclusive OR circuit that receives a signal output from the control unit and the second signal and outputs a signal to the control unit. Door control device for vehicles.   The direction switching unit includes an inverting circuit to which a signal of the motor encoder is input, and a relay that switches to output either the output signal of the inverting circuit or the signal of the motor encoder, and the door is driven to open 2. The vehicle door control device according to claim 1, wherein the relay is configured so that an output signal from the inverting circuit is output when the relay is performed.   The control unit is configured to be able to input the motor encoder signal input to the direction switching unit, and the signal output from the direction switching unit and the input motor encoder signal are added to the signal from the host system. 5. The vehicle door control device according to claim 1, wherein the vehicle door control device is configured to be compared.   The vehicle-use vehicle according to any one of claims 1 to 5, further comprising a self-switching unit that sets a closing direction of the door between the direction switching unit and the control unit. Door control device. The door control device for a vehicle according to claim 6, wherein the selfish switching unit includes a changeover switch for switching a selfish direction and an exclusive OR circuit.

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