JP7270191B2 - Motorized switchgear unit, switchgear system, program - Google Patents

Description

The present disclosure relates to motorization technology, and relates to an opening/closing body motorized unit for opening and closing an opening/closing body, an opening/closing body system, and a program.

When opening and closing all of a plurality of electric blinds installed over a window in an office or the like at the same time, if the opening and closing speeds of the blinds are different, the heights of the blinds will differ and the appearance will be poor. In order to prevent this, it is required to match the opening and closing speeds of all the blinds. Therefore, the opening and closing speeds of all the blinds are adjusted based on the rotational speed of the blind drive motor and the blind position information (see, for example, Patent Document 1).

JP-A-2004-124428

Even if only one electric blind or one electric shutter is installed, the opening/closing speed must be stabilized.

The present disclosure has been made in view of such circumstances, and an object thereof is to provide a technique for stabilizing the opening/closing speed of the opening/closing body.

In order to solve the above-described problems, an electric opening/closing body unit according to one aspect of the present disclosure provides an electric unit that outputs rotational power to a winding shaft capable of winding a shutter curtain, and detects the rotational position of the electric unit. A detector and a controller for controlling a value of current for rotating the motorized part in accordance with a speed, which is a change in position detected by the detector. If the acceleration, which is a change in speed, is a positive value, the control unit reduces the value of the current according to the speed, and if the acceleration, which is a change in speed, is a negative value, reduces the value of the current according to the speed. to maintain

Another aspect of the present disclosure is a closure system. This opening/closing system includes a winding shaft capable of winding the shutter curtain, an electric section that outputs rotational power to the winding shaft, a detection section that detects the position of the rotation of the electric section, and a position detected by the detection section. and a control unit for controlling the value of the current for rotating the motorized unit according to the speed, which is the change in the speed. If the acceleration, which is a change in speed, is a positive value, the control unit reduces the value of the current according to the speed, and if the acceleration, which is a change in speed, is a negative value, reduces the value of the current according to the speed. to maintain

It should be noted that any combination of the above-described components and expressions of the present disclosure converted between methods, devices, systems, computer programs, recording media recording computer programs, etc. are also effective as aspects of the present disclosure. be.

According to the present disclosure, the opening/closing speed of the opening/closing body can be stabilized.

1(a) and 1(b) are diagrams showing the structure of the shutter system according to the first embodiment. 2(a)-(d) are diagrams showing the detailed structure of the shutter system of FIGS. 1(a)-(b). 3(a) and 3(b) are sectional views showing the internal structure of the shutter case of FIG. 1(a). Fig. 1(a)-(b) shows the internal structure of the shutter system; FIGS. 5(a) to 5(e) are diagrams for explaining the causes of speed fluctuations when opening and closing the shutter curtain. FIG. 2 is a block diagram showing the configuration of the shutter system of FIGS. 1(a)-(b); FIG. 7 is a diagram showing the data structure of a table held in the current control unit of FIG. 6; FIG. 8(a)-(b) are diagrams showing an outline of the operation in the shutter system of FIG. 6. FIG. 9A and 9B are diagrams showing the configuration of the shutter system according to the second embodiment.

(Example 1)
Before specifically describing the embodiments of the present disclosure, an outline of the present embodiments will be described. Example 1 relates to a shutter system including a shutter installed at an opening of a facility such as a house, and an electrification unit for electrifying the shutter. In the shutter system, a shutter curtain composed of a combination of slats is opened and closed by rotating a take-up shaft. The take-up shaft includes a take-up spring that balances the load of the slats and the load of the take-up spring. Such combined slat and spring loads have non-linear and variable characteristics. Specifically, the non-linearity increases as single slat loading and unloading occurs due to rotation of the take-up shaft. In addition, the characteristics fluctuate due to variations in spring elastic modulus and slat thickness. If such a load becomes unstable, the opening/closing speed becomes unstable, so stabilization of the slat opening/closing speed is required.

The shutter system according to this embodiment controls the speed of rotation of the winding shaft based on the acceleration of opening and closing of the shutter curtain, that is, the acceleration of rotation of the winding shaft. If the speed of rotation of the winding shaft is close to constant, the acceleration of rotation of the winding shaft will be close to zero. On the other hand, when the acceleration of the rotation of the take-up shaft indicates a positive value, the speed of rotation of the take-up shaft increases over time, and when the acceleration of the rotation of the take-up shaft indicates a negative value, The speed of rotation slows down over time. The shutter system controls the speed of rotation of the winding shaft to slow down when the acceleration of rotation of the winding shaft exhibits a positive value. However, the shutter system does not control the speed of rotation of the winding shaft when the acceleration of the rotation of the winding shaft exhibits a negative value, because controlling the speed of rotation of the winding shaft to slow down may create danger. .

1(a)-(b) show the structure of the shutter system 1000. FIG. FIG. 1(a) shows the configuration of the facility when viewed from the outside, and FIG. 1(b) shows the configuration of the facility when viewed from the inside. The shutter system 1000 includes a guide rail 20 , a shutter curtain 30 , a shutter case 40 , a communication line 200 and a controller 300 , and the shutter curtain 30 includes slats 32 . Here, the guide rail 20, the shutter curtain 30, and the shutter case 40 are included in the shutter.

As shown in FIG. 1A, a shutter, which is an opening/closing member, is installed in an opening 10 formed in an outer wall that separates the inside and outside of a facility such as a house or building. The opening 10 is a space that communicates the inside and outside of the facility. The two guide rails 20 have a shape extending in the vertical direction, are separated from each other in the left-right direction of the opening 10, and are fixed to a frame member such as a sash installed in the opening 10 and the outer wall. Each guide rail 20 is a hollow member having a substantially U-shaped internal structure in cross section, and two guide rails 20 are fixed so that the U-shaped openings face each other.

The shutter curtain 30 moves up and down along the longitudinal direction of the guide rail 20 to open and close the opening 10 . Specifically, by inserting the left and right ends of the shutter curtain 30 into the guide rails 20 , the left and right ends of the shutter curtain 30 can be moved vertically by the guide rails 20 . The shutter curtain 30 is constructed by combining a plurality of slats 32 . Each slat 32 is a plate-shaped member that extends along the left-right direction of the opening 10 and is made of, for example, steel, stainless steel, aluminum, or the like. A curled portion (not shown) is provided at the upper end portion and the lower end portion of each slat 32 . It is rotatably connected to the curled portion at the upper end.

The shutter case 40 is a container having a substantially rectangular vertical cross-section provided above the opening 10 and the guide rails 20 . The shutter case 40 has a storage space inside, and the storage space is connected to the outside through a through hole provided on the bottom surface of the shutter case 40 . The storage space is provided with a winding mechanism for winding or unrolling the shutter curtain 30 through the through hole. Here, "winding up" means that the shutter curtain 30 rises along the guide rails 20 to open the opening 10, and "unrolling" means that the shutter curtain 30 moves along the guide rails 20. Descend and the opening 10 is closed.

A sash 12 is attached so as to surround the opening 10, as shown in FIG. 1(b). A communication line 200 connected to the shutter case 40 in FIG. 1A is buried inside the sash 12 and extends indoors. A controller 300 is installed on an indoor wall surface, and a communication line 200 is connected to the controller 300 . Thus, the communication line 200 connects the motorized unit 100 installed outdoors and the controller 300 installed indoors.

2(a)-(d) show the detailed structure of the shutter system 1000. FIG. 2A is a perspective view of the shutter case 40. FIG. Here, the shutter case 40 is shown transparent to show the internal structure of the shutter case 40 . A cylindrical take-up shaft 60 extending in the left-right direction is arranged in the shutter case 40 . The winding shaft 60 is a shaft on which the shutter curtain 30 can be wound. A first bracket 42a and a second bracket 42b, collectively called a bracket 42, are arranged so as to sandwich the winding shaft 60 from the left and right. Specifically, the first bracket 42 a is arranged on the left side of the winding shaft 60 , and the second bracket 42 b is arranged on the right side of the winding shaft 60 . The first bracket 42a is a support portion that rotatably supports the left end portion of the winding shaft 60, and the second bracket 42b is a support portion that rotatably supports the right end portion of the winding shaft 60. When the left end of the winding shaft 60 is called the "first end", the right end of the winding shaft 60 is called the "second end". A wire 50 extends downward from the left side of the shutter case 40 .

FIG. 2(b) is an enlarged perspective view of the right side portion of the shutter case 40 of FIG. 2(a). A left side surface of the second bracket 42b is provided with a second support shaft 44b projecting leftward. The second support shaft 44b has a cylindrical shape, and the second rotating frame 62b is fitted to the side surface of the second support shaft 44b. The second rotating frame 62b is arranged at the right end of the winding shaft 60 and has a shape surrounding the side surface of the second support shaft 44b. With such a structure, the second rotary frame 62b rotates around the second support shaft 44b fixed to the second bracket 42b. The left side portion of the shutter case 40 also has a similar structure, and a first rotating frame 62a (not shown) is mounted around a first support shaft 44a (not shown) fixed to the first bracket 42a. Rotate. Further, the winding shaft 60 is also rotated by the rotation of the first rotary frame 62a and the second rotary frame 62b.

A first area 74 is provided near the right end inside the winding shaft 60 , and a second area 76 is provided inside the winding shaft 60 to the left of the first area 74 . The first area 74 has an opening 68 in part, and is a space through which the electrification unit 80 can be attached and detached. A cover 70 is attached to cover the opening 68 of the first region 74 . The cover 70 is detachable from the winding shaft 60 , and when the cover 70 is detached from the winding shaft 60 , the motorized unit 80 can be attached to and detached from the first area 74 .

A holding portion 46 is arranged in the first region 74 , and the motorized unit 80 is attached to the holding portion 46 . The motorized unit 80 is an electric device that outputs rotational power to the winding shaft 60 . The motorized unit 80 includes a cylindrical main body 82 and a drive wheel 84 arranged at the left end of the motorized unit 80 . A motor is mounted inside the main body 82, and the driving wheels 84 are also rotated by the rotation of the motor.

The holding portion 46 in the first region 74 holds a portion of the side surface of the main body 82 , for example, a portion including the lower side of the side surface of the main body 82 . Also, the right end of the holding portion 46 is connected to the second support shaft 44b. Since the holding portion 46 is fixed to the second bracket 42b by this connection, even if the driving wheel 84 rotates, the main body 82 held by the holding portion 46 does not rotate.

A clutch 64 is provided in a second region 76 that is a region other than the first region 74 inside the winding shaft 60 . The clutch 64 is a driven wheel that is combined with the drive wheel 84 when the main body 82 is held by the holding portion 46 . As shown in FIG. 2(c), when the motorized unit 80 is attached inside the winding shaft 60, the clutch 64 and the drive wheel 84 shown in FIG. causes the clutch 64 to rotate. Further, since the winding shaft 60 is also rotated by the rotation of the clutch 64 , it can be said that the winding shaft 60 is rotated by the rotational power from the motorized unit 80 . On the other hand, as shown in FIG. 2D, when the motorized unit 80 is not attached inside the winding shaft 60, the winding shaft 60 is rotated by manual rotational power.

3A and 3B are sectional views showing the internal structure of the shutter case 40. FIG. As shown in FIGS. 3A and 3B, the holding portion 46 is arranged on the back side of the shutter case 40 . Therefore, when the cover 70 is arranged on the front side of the shutter case 40 , the motorized unit 80 can be attached and detached after removing the cover 70 from the winding shaft 60 .

FIG. 4 shows the internal structure of the shutter system 1000. As shown in FIG. A shutter system 1000 includes a shutter curtain 30 , a shutter case 40 , a wire 50 , a handle 52 , a winding shaft 60 and a motorized unit 80 . The shutter curtain 30 includes a slat 32 and screws 34, and the shutter case 40 includes a first bracket 42a and a second bracket 42b, collectively referred to as a bracket 42, a first support shaft 44a, collectively referred to as a support shaft 44, and a second support. Includes axis 44b. The winding shaft 60 includes a first rotating frame 62a, a second rotating frame 62b, a clutch 64, a winding spring 66, and a fixed portion 72, which are collectively referred to as a rotating frame 62. The motorized unit 80 includes a main body 82, drive wheels 84 , motor 86 , controller 88 , planetary gear 90 and communication line 200 .

As a winding mechanism, a pair of first bracket 42a and second bracket 42b are provided at the left end and the right end of the storage space of the shutter case 40, respectively. A winding shaft 60 is arranged between the first bracket 42a and the second bracket 42b. The winding shaft 60 is a post extending in the left-right direction of the guide rail 20 in FIG. be done. A plurality of fixing portions 72 are provided on the winding shaft 60 , and the shutter curtain 30 is fixed to the plurality of fixing portions 72 using a plurality of screws 34 .

Below, (1) the operation when the electrification unit 80 is not attached to the first region 74 of the electrification unit 80, and (2) the operation when the electrification unit 80 is attached to the first region 74 of the electrification unit 80. (3) Winding and extending the shutter curtain 30 will be described in order.

(1) Operation when the motorized unit 80 is not attached to the first region 74 of the motorized unit 80 In this case, as described above, the winding shaft 60 is rotated by manual rotational power. When the motorized unit 80 is not attached to the first area 74, the drive wheels 84 are not engaged with the clutch 64, so the clutch 64 is disengaged and freely rotatable. When the user rotates the handle 52, rotational power is transmitted to the winding shaft 60 through the wire 50, and the winding shaft 60 rotates. At that time, the winding spring 66 included in the winding shaft 60 and the load of the slat 32 included in the shutter curtain 30 are balanced.

(2) Operation when the motorized unit 80 is attached to the first region 74 of the motorized unit 80 In this case, the winding shaft 60 is rotated by the rotational power from the motorized unit 80 as described above. When the motorized unit 80 is attached to the first region 74 of the motorized unit 80 , the clutch 64 is combined with the drive wheels 84 . In the main body 82 of the motorized unit 80 , the motor 86 is rotated under the control of the controller 88 . Planetary gear 90 amplifies the torque of the rotational power of motor 86 . A well-known technology may be used for the planetary gear 90. For example, the planetary gear 90 has a structure in which a plurality of planetary gears rotate and revolve around the sun gear. When the drive wheel 84 rotates due to the rotation of the planetary gear 90, the clutch 64 combined with the drive wheel 84 also rotates, and the take-up shaft 60 rotates. At that time, the winding spring 66 included in the winding shaft 60 and the load of the slat 32 included in the shutter curtain 30 are balanced.

(3) Winding and unwinding operation of the shutter curtain 30 As shown in FIG. The curtain 30 opens the opening 10 while being wound up along the outer peripheral surface of the winding shaft 60 . As this rotation continues, the shutter curtain 30 is rolled up while being layered on the shutter curtain 30 rolled up in the first round of rotation, thereby opening the entire opening 10 . Further, when the take-up shaft 60 rotates in the unwinding direction from the fully open state in which the shutter curtain 30 opens the opening 10, the shutter curtains 30 stacked on the outer peripheral surface of the take-up shaft 60 are unwound sequentially. As this rotation continues, the shutter curtain 30 closes the entire opening 10 .

The operation of the shutter system 1000 when the motorized unit 80 is attached to the first region 74 of the motorized unit 80 will be mainly described below. The shutter system 1000 drives the motor 86 in a situation where the weight of the slat 32 is being counterbalanced by the load of the take-up spring 66 . FIGS. 5(a) to 5(e) are diagrams for explaining the causes of speed fluctuations when the shutter curtain 30 is opened and closed. FIG. 5( a ) shows changes in the load torque of the winding spring 66 with respect to the rotation angle of the winding shaft 60 . As illustrated, the load torque of the take-up spring 66 is proportional to the rotation angle of the take-up shaft 60 .

FIG. 5(b) shows changes in the load torque of the slat 32 when the first slat 32 is paid out from the winding shaft 60. FIG. Here, the load torque of the slat 32 is shown when the slat 32 is paid out while the rotation angle of the winding shaft 60 changes from 0 degrees to 90 degrees. FIG. 5(c) shows changes in the load torque of the slat 32 when the second slat 32 is paid out from the winding shaft 60. FIG. Here, similarly to FIG. 5B, the load torque of the slat 32 when the slat 32 is paid out while the rotation angle of the winding shaft 60 is changed is shown. FIG. 5(d) is a combination of FIGS. 5(b) and 5(c). 32 shows the change in load torque. As shown, the load changes non-linearly at the section between two adjacent slats 32 .

FIG. 5(e) shows the change in torque of the total load combining the torques so far. As shown, a non-linear trend is exhibited under the influence of the load characteristics of the slats 32. FIG. In addition, since the elastic modulus of the winding spring 66 and the thickness of the slat 32 vary from product to product, individual differences between shutter systems 1000 increase. Therefore, when the winding shaft 60 is rotated to close the shutter curtain 30, the load of the winding spring 66 increases due to the increase in the rotation angle.

FIG. 6 is a block diagram showing the configuration of the shutter system 1000. As shown in FIG. A shutter system 1000 includes a motorized unit 80 , a communication line 200 and a controller 300 . The motorized unit 80 includes a motor 86 and a control section 88. The control section 88 includes a first connection section 410, a first wired communication section 412, a position control section 414, a position detection section 416, a speed control section 418, and a differentiation section. It includes a first differentiation section 420 a , a second differentiation section 420 b , a current control section 422 , and a current detection section 424 , collectively referred to as 420 . The controller 300 includes an operation section 310 , an operation control section 312 , a second wired communication section 314 and a second connection section 316 .

An operation unit 310 of the controller 300 is a user interface having a plurality of buttons and receives user operations. An open button, a stop button, and a close button are provided on the surface of the controller 300 . The open button, the stop button, and the close button are composed of planar switches, for example. The open button is a button for receiving an instruction to move the shutter curtain 30 so as to open the opening 10 (hereinafter referred to as "open instruction"). The stop button is a button for receiving an instruction to stop the moving shutter curtain 30 (hereinafter referred to as "stop instruction"). The close button is a button that receives an instruction (hereinafter referred to as a "close instruction") to move the shutter curtain 30 so as to close the opening 10. FIG. By pressing one of the open button, the stop button, and the close button, an operation signal corresponding to one of the open instruction, the stop instruction, and the close instruction is output from the operation section 310 to the operation control section 312 .

Operation control unit 312 receives an operation signal from operation unit 310 . The operation control unit 312 generates an instruction signal including one of the open instruction, stop instruction, and close instruction indicated in the operation signal. Second wired communication section 314 receives an instruction signal from operation control section 312 and transmits the instruction signal to motorization unit 80 via second connection section 316 and communication line 200 .

A second connection unit 316 is an interface for connecting the communication line 200 to the controller 300 . The first connection portion 410 of the motorized unit 80 is also an interface for connecting the communication line 200 . By connecting communication line 200 to second connection portion 316 and connecting communication line 200 to first connection portion 410 , communication line 200 connects controller 300 and motorization unit 80 . Through such connection, communication line 200 transmits an instruction signal from controller 300 to motorized unit 80 . Since the controller 300 is installed indoors and the motorized unit 80 is installed outdoors, the instruction signal is transmitted from indoors to outdoors.

First wired communication section 412 receives an instruction signal from second wired communication section 314 via second connection section 316 , communication line 200 and first connection section 410 . First wired communication unit 412 outputs one of the open instruction, stop instruction, and close instruction included in the instruction signal to position control unit 414 . Position control unit 414 receives one of an open instruction, a stop instruction, and a close instruction from first wired communication unit 412 .

The position control unit 414 updates the target value of the position (lower end position) of the shutter curtain 30 according to one of the received open instruction, stop instruction, and closed instruction. For example, when the position control unit 414 receives an opening instruction, the position control unit 414 updates the previous target value to be higher. The position control section 414 also receives a feedback value of the position of the shutter curtain 30 from the position detection section 416 . A method of detecting the position feedback value in the position detection unit 416 will be described later. Here, the position of the shutter curtain 30 may be indicated as the angle of rotation of the motor 86, but the angle is also included in the position below for clarity of explanation. The position control unit 414 derives the position deviation by subtracting the feedback value from the target value, and then performs position loop control by multiplying the position deviation by the position gain to derive the target speed value.

The first differentiating section 420a receives the feedback value of the position of the shutter curtain 30 from the position detecting section 416, and derives the feedback value of the speed by differentiating the feedback value of the position. The first differentiating section 420a outputs the speed feedback value to the speed control section 418 and the second differentiating section 420b. The speed control unit 418 receives the target value of speed from the position control unit 414 and receives the feedback value of speed from the first differentiating unit 420a. The speed control unit 418 derives the speed deviation by subtracting the speed feedback value from the speed target value, and then performs speed loop processing such as proportional/integral control to derive the torque (current) target value.

The second differentiating section 420b receives the velocity feedback value from the first differentiating section 420a, and derives the acceleration feedback value by differentiating the velocity feedback value. The second differentiating section 420 b outputs the acceleration feedback value to the current control section 422 . The current control unit 422 receives a torque (current) target value from the speed control unit 418, and receives an acceleration feedback value from the second differentiating unit 420b. Further, the magnitude of the current output from the current control section 422 to the motor 86 is detected by the current detection section 424, and the current control section 422 receives the feedback value of the detected current. The current detection section 424 is composed of, for example, a shunt resistor. When the current detection section 424 is called the first detection section, the position detection section 416 is called the second detection section. The current control unit 422 determines the magnitude of the current to be output to the motor 86 so that the current feedback value approaches the torque (current) target value. A known technique may be used for this determination. In other words, the speed control unit 418 and the current control unit 422 determine the value of the current for rotating the motor 86 according to the change in position detected by the position detection unit 416, that is, the speed.

Also, the current control unit 422 holds a table shown in FIG. As shown in the figure, when the acceleration feedback value is a positive value, the current control unit 422 performs control to decrease the current value determined as described above. For example, the current control unit 422 may reduce the current value by a fixed value, or may reduce the current value by an amount corresponding to the magnitude of the acceleration. On the other hand, when the acceleration feedback value is a negative value, or when the acceleration feedback value is zero, the current control unit 422 maintains the current value determined as described above. The motor 86 rotates at a speed corresponding to the value of the current output from the current control section 422 . The motor 86 outputs rotational power to the winding shaft 60 . If the motor 86 is a three-phase brushless motor, the current control unit 422 outputs a three-phase DC current.

8(a)-(b) show an overview of the operation in the shutter system 1000. FIG. FIG. 8A is a diagram showing temporal changes in the opening/closing speed of the shutter curtain 30 when the motor 86 is rotated under the control of the current control section 422. FIG. The opening/closing speed decreases in period A1. At this time, since the feedback value of acceleration indicates a negative value, a current of a value determined by the feedback value of current and the target value of torque (current) is applied to motor 86 . As a result, the opening and closing speed remains low. On the other hand, the opening/closing speed increases in period A2. At this time, since the feedback value of the acceleration indicates a positive value, the current of the value determined by the feedback value of the current and the target value of the torque (current) is reduced before being applied to the motor 86 . As a result, the opening/closing speed decreases as indicated by the arrows, and variations in the opening/closing speed are suppressed. FIG. 8B will be described later.

With this configuration, the control unit 88 rotates the motor 86 so that the winding shaft 60 rotates in the winding direction when the control signal corresponds to the open instruction, and rotates the motor 86 when the control signal corresponds to the close instruction. , the motor 86 is rotated so that the take-up shaft 60 rotates in the unwinding direction. In these, the rotating direction of the motor 86 is the opposite direction. On the other hand, the control section 88 stops the rotation of the motor 86 when the control signal corresponds to the stop instruction. The motor 86 rotates according to the control unit 88 to supply power to the shutter curtain 30 for opening and closing the opening 10, the winding shaft 60, and the like.

The position of the shutter curtain 30 is detected by the position detector 416 when the shutter curtain 30 is opened and closed according to the rotation direction of the motor 86 . The position detection unit 416 is, for example, provided on the side of the motor 86 and configured by a counter-type limit switch that mechanically counts the number of revolutions of the motor 86 to detect upper and lower limit positions. Further, the position detection unit 416 may be configured to detect the open/close position and the upper and lower limit positions of the shutter curtain 30 by counting pulses with an encoder provided on the motor 86 . Further, the position detection unit 416 may be composed of a current detection circuit of the motor 86 and may be configured to detect the upper and lower limit positions from changes in the current value corresponding to load fluctuations applied to the motor 86 . Furthermore, the position detection section 416 may be a mechanical or electrical limit switch that is provided above and below the guide rail 20 and directly detects the upper and lower limit positions of the shutter curtain 30 .

The subject of an apparatus, system, or method in this disclosure comprises a computer. The main functions of the device, system, or method of the present disclosure are realized by the computer executing the program. A computer has a processor that operates according to a program as its main hardware configuration. Any type of processor can be used as long as it can implement functions by executing a program. The processor is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or LSI (Large Scale Integration). A plurality of electronic circuits may be integrated on one chip or may be provided on a plurality of chips. A plurality of chips may be integrated into one device, or may be provided in a plurality of devices. The program is recorded in a non-temporary recording medium such as a computer-readable ROM, optical disk, hard disk drive, or the like. The program may be pre-stored in a recording medium, or may be supplied to the recording medium via a wide area network including the Internet.

As described above, when the acceleration feedback value is a positive value, the current control unit 422 performs control to decrease the determined current value. At that time, the following control may be executed. If the motor 86 is a 3-phase brushless motor, the 3-phase DC currents output to the 3-phase brushless motor are indicated as u-phase, v-phase, and w-phase. Also, the three-phase brushless motor rotates by periodically changing the angle of the resultant vector of the current vectors of the respective phases.

The current control unit 422 receives u-phase, v-phase, and w-phase current vectors, and executes biaxial conversion to q-axis and d-axis for these vectors. Since a well-known matrix operation may be executed for such conversion, the explanation is omitted here. FIG. 8B shows an outline of biaxial conversion in the current control section 422. As shown in FIG. Mutually orthogonal u-phase, v-phase, and w-phase are shown, and mutually orthogonal d-axis and q-axis are shown. Here, the d-axis indicates the excitation component and the q-axis indicates the torque component. The resultant vector is transformed into a combination of the excitation vector in the d-axis direction and the torque vector in the q-axis direction by biaxial transformation. This corresponds to converting a three-phase current in a three-phase brushless motor into a combination of an excitation component and a torque component. Among the excitation component and the torque component, the torque component has the characteristic of being proportional to the load due to the external force. That is, the torque component reflects changes in the torque of the total load.

Current control unit 422 reduces the determined current value according to the magnitude of the torque vector. For example, the greater the magnitude of the torque vector, the greater the amount of decrease when the value of the current is decreased. Thus, the current control section 422 reflects the change in the torque component in the value of the current.

According to this embodiment, the current value is controlled according to the acceleration, so the opening/closing speed of the shutter curtain 30 can be stabilized. Also, when the acceleration, which is the change in speed, is a positive value, the value of the current corresponding to the speed is reduced, so that the opening/closing speed of the shutter curtain 30 can be stabilized. In addition, when the acceleration, which is the change in speed, is a negative value, the current value corresponding to the speed is maintained, so a low opening/closing speed can be tolerated. In addition, since a low opening/closing speed is permitted, safety can be improved. In addition, since the three-phase current in the three-phase brushless motor is converted into a combination of the excitation component and the torque component, and the change in the torque component is reflected in the current value, the influence of noise contained in the current can be reduced. In addition, since the influence of noise contained in the current is reduced, it is possible to improve the accuracy of estimating changes in the torque of the total load.

A summary of one aspect of the present disclosure is as follows. A motorized unit (80) according to an aspect of the present disclosure includes a motor (86) that outputs rotational power to a winding shaft (60) capable of winding a shutter curtain (30), and a position in rotation of the motor (86). and a speed control unit (418) that controls the current value for rotating the motor (86) according to the speed, which is the change in position detected by the position detection unit (416). ) and a current controller (422). The speed control unit (418) and the current control unit (422) reduce the value of the current according to the speed when the acceleration, which is the change in speed, is a positive value, and the acceleration, which is the change in speed, is a negative value. , then maintain the value of the current according to the speed.

Motor (86) may comprise a three-phase brushless motor. A speed control section (418) and a current control section (422) convert three-phase currents in a three-phase brushless motor into a combination of an excitation component and a torque component, and reflect changes in the torque component in the value of the current. good too.

Another aspect of the present disclosure is the closure system (1000). This opening/closing body system (1000) includes a winding shaft (60) capable of winding a shutter curtain (30), a motor (86) that outputs rotational power to the winding shaft (60), and a motor (86). A position detector (416) that detects the position in rotation, and speed control that controls the current value for rotating the motor (86) according to the speed, which is the change in position detected by the position detector (416). A section (418) and a current control section (422). The speed control unit (418) and the current control unit (422) reduce the value of the current according to the speed when the acceleration, which is the change in speed, is a positive value, and the acceleration, which is the change in speed, is a negative value. , then maintain the value of the current according to the speed.

(Example 2)
Next, Example 2 will be described. Example 2, like Example 1, relates to a shutter system including a shutter installed at an opening of a facility such as a house, and an electrification unit for electrifying the shutter. The first embodiment is intended for the case where the shutter system operates alone. On the other hand, the second embodiment is intended for a case where a plurality of shutter systems operate in conjunction with each other. Here, the description will focus on the differences from the first embodiment.

9A and 9B show the configuration of the shutter system 1000. FIG. FIG. 9A shows the appearance of a first shutter system 1000a and a second shutter system 1000b that operate in cooperation with each other. Although the number of shutter systems 1000 that operate in cooperation is set to "2" here, it may be larger than "2". The first shutter system 1000a includes a first shutter curtain 30a and a first shutter case 40a, and the second shutter system 1000b includes a second shutter curtain 30b and a second shutter case 40b. Since the appearance of the first shutter system 1000a and the second shutter system 1000b may be the same as the shutter system 1000 of FIGS.

FIG. 9(b) shows the configuration of the first shutter system 1000a and the second shutter system 1000b (hereinafter collectively referred to as "shutter system 1000") in FIG. 9(a). In this configuration, a communication unit 92 is added to the configuration of FIG. For example, when the user operates the controller 300 of the first shutter system 1000a, the motorized unit 80 of the first shutter system 1000a operates to open and close the first shutter curtain 30a, as in the first embodiment. do. Position detection unit 416 detects the position of controller 300 and outputs it to communication unit 92 . The communication unit 92 is a communication device capable of communicating with the communication unit 92 of the second shutter system 1000b. As communication, for example, wireless communication is performed, but wired communication may be performed. The communication unit 92 transmits position information detected by the position detection unit 416 .

The communication unit 92 of the second shutter system 1000b receives position information from the communication unit 92 of the first shutter system 1000a. The communication unit 92 of the second shutter system 1000 b outputs position information to the position control unit 414 . The position control section 414 of the second shutter system 1000 b receives position information from the communication section 92 . The position control unit 414 updates the target value according to the position information. The subsequent processing is the same as in FIG. 6, and the motorized unit 80 of the second shutter system 1000b operates to open and close the second shutter curtain 30b. That is, the speed control section 418 and the current control section 422 of the second shutter system 1000b control the value of the current so that the position detected by the position detection section 416 approaches the position received by the communication section 92 .

According to this embodiment, the current value is controlled so that the position detected by the position detection unit 416 approaches the position received by the communication unit 92. Therefore, the opening and closing speeds of the shutter curtains 30 in the plurality of shutter systems 1000 are controlled. can be matched. In addition, since it is possible to prevent a situation in which some shutter curtains 30 open and close at different speeds, the shutter system 1000 can be used without discomfort.

A summary of one aspect of the present disclosure is as follows. A communication section (92) that receives the position detected in the other motorized unit (80) from the other motorized unit (80) may be further provided. The speed control section (418) and current control section (422) may control the value of the current so that the position detected by the position detection section (416) approaches the position received by the communication section (92). .

The present disclosure has been described above based on the embodiments. It should be understood by those skilled in the art that this embodiment is an example, and that various modifications are possible in the combination of each component or each treatment process, and such modifications are within the scope of the present disclosure. .

The motorized unit 80 in Examples 1 and 2 has a structure that can be attached to and detached from the winding shaft 60 . However, the present invention is not limited to this, and for example, the motorized unit 80 may not be detachable from the winding shaft 60 . According to this modified example, the degree of freedom in structure can be improved.

10 opening 12 sash 20 guide rail 30 shutter curtain 32 slat 34 screw 40 shutter case 42 bracket 44 support shaft 46 holder 50 wire 52 handle 60 winding shaft 62 rotating frame . planetary gear 200 communication line 300 controller 310 operation unit 312 operation control unit 314 second wired communication unit 316 second connection unit 410 first connection unit 412 first wired communication unit 414 position control unit 416 position detection unit 418 speed control unit 420 differentiation unit 422 current control unit 424 current detection unit 1000 shutter system.

Claims (5)

an electric part that outputs rotational power to a winding shaft capable of winding the shutter curtain;
a detection unit that detects a position in rotation of the electric unit;
a control unit that controls the value of the current for rotating the electric unit according to the speed, which is the change in position detected by the detection unit;
The control unit reduces the value of the current according to the speed when the acceleration, which is the change in speed, is a positive value, and reduces the value of the current according to the speed, when the acceleration, which is the change in speed, is a negative value. a switchgear motorized unit that maintains the value of said current in response to . The electric part includes a three-phase brushless motor,
2. The opening and closing member according to claim 1, wherein the control unit converts the three-phase current in the three-phase brushless motor into a combination of an excitation component and a torque component, and reflects a change in the torque component in the value of the current. electrified unit. further comprising a communication unit that receives the position detected by the other motorized opening/closing body unit from the other motorized opening/closing body unit;
3. The opening/closing body motorized unit according to claim 1, wherein the control section controls the value of the current so that the position detected by the detection section approaches the position received by the communication section. a winding shaft capable of winding the shutter curtain;
an electric section that outputs rotational power to the winding shaft;
a detection unit that detects a position in rotation of the electric unit;
a control unit that controls the value of the current for rotating the electric unit according to the speed, which is the change in position detected by the detection unit;
The control unit reduces the value of the current according to the speed when the acceleration, which is the change in speed, is a positive value, and reduces the value of the current according to the speed, when the acceleration, which is the change in speed, is a negative value. A switchgear system that maintains the value of said current in response to the current. A program for an opening/closing member motorized unit comprising an electric section that outputs rotational power to a winding shaft capable of winding a shutter curtain, and a detection section that detects a position of the electric section in rotation,
A velocity, which is a change in position detected by the detection unit, is derived, and an acceleration, which is a change in the velocity, is derived,
if the acceleration is a positive value, decreasing the value of the current for rotating the electric part according to the speed;
and maintaining a current value for rotating the motorized portion when the acceleration is a negative value.

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