Control device for electrically driven door
A control device for an electrically driven door is provided that can enhance the sensitivity of detection of a door pinch state and that can prevent a passenger from being pressed when the door pinch state occurs. The control device includes a driving force instruction value producing unit that outputs a driving force instruction value of the electrically driven door, a state observing unit that estimates a mechanical resistant force to a door driving system, a reference model that determines a dynamic characteristic of the electrically driven door to the mechanical resistant force estimated by the state observing unit, a gain compensator that computes a control compensation value that makes an output of the reference model coincide with an actual speed of the electrically driven door; and an adder that adds the control compensation value computed by the gain compensator to the driving force instruction value outputted by the driving force instruction value producing unit.
1. A control device of an electrically driven door opened or closed by an electric motor, the control device comprising:
a driving force instruction value producing unit that outputs a driving force instruction value of the electrically driven door;
a door driving mechanism that drives the electrically driven door on a basis of the driving force instruction value output from the driving force instruction value producing unit;
a state observing unit that estimates a mechanical resistant force to the door driving mechanism; and
a door pinch detecting unit that detects a door pinch state when the mechanical resistant force detected by the state observing unit exceeds a specified value
wherein the door pinch detecting unit detects the door pinch state when a value obtained by subtracting a previously set offset value from the mechanical resistant force of the door driving mechanism estimated by the state observing unit exceeds a specified value or a state where the value exceeds the specified value continues for a specified time.
2. The control device of an electrically driven door as claimed in claim 1 , wherein the door pinch detecting unit detects the door pinch state when a state where the mechanical resistant force of the door driving mechanism estimated by the state observing unit continues for a specified time.
3. The control device of an electrically driven door as claimed in claim 1 , wherein an offset value for each position of the electrically driven door is set as an offset value to be subtracted from the mechanical resistant force of the door driving mechanism estimated by the state observing unit.
4. The control device of an electrically driven door as claimed in claim 1 , wherein an average value of the mechanical resistant forces of the door driving mechanism that have been estimated by the state observing unit when the electrically driven door has been opened or closed until then is used as an offset value to be subtracted from the mechanical resistant force of the door driving mechanism estimated by the state observing unit.
5. The control device of an electrically driven door as claimed in claim 4 , wherein the average value of the mechanical resistant forces of the door driving mechanism having been estimated by the state observing unit is set for each position of the electrically driven door.
6. The control device of an electrically driven door as claimed in claim 1 , wherein the electrically driven door comprises a side sliding door of a rail car.
7. A method of controlling an electrically driven door opened or closed by an electric motor, the method comprising:
generating a driving force instruction value of the electrically driven door using a driving force instruction value producing unit;
driving the electrically driven door using a door driving mechanism on a basis of the driving force instruction value output from the driving force instruction value producing unit;
estimating a mechanical resistant force to the door driving mechanism using a state observing unit; and
detecting a door pinch state using a door pinch detecting unit when the mechanical resistant force detected by the state observing unit exceeds a specified value;
wherein the door pinch detecting unit detects the door pinch state when a value obtained by subtracting a previously set offset value from the mechanical resistant force of the door driving mechanism estimated by the state observing unit exceeds a specified value or a state where the value exceeds the specified value continues for a specified time.
8. The method of claim 7 , wherein the door pinch detecting unit detects the door pinch state when a state where the mechanical resistant force of the door driving mechanism estimated by the state observing unit continues for a specified time.
9. The method of claim 7 , wherein an offset value for each position of the electrically driven door is set as an offset value to be subtracted from the mechanical resistant force of the door driving mechanism estimated by the state observing unit.
10. The method of claim 7 , wherein an average value of the mechanical resistant forces of the door driving mechanism that have been estimated by the state observing unit when the electrically driven door has been opened or closed until then is used as an offset value to be subtracted from the mechanical resistant force of the door driving mechanism estimated by the state observing unit.
11. The method of claim 10 , wherein the average value of the mechanical resistant forces of the door driving mechanism having been estimated by the state observing unit is set for each position of the electrically driven door.