1、电动双开塞拉门简介电动双开塞拉门简介Introduction to Electric Bi-parting Sliding Plug Door System 概述概述 General历程历程/History q19971997年进入轨道车辆门系统市场；年进入轨道车辆门系统市场； KN entered the market of door system for railway vehicle in 1997.q19991999年开始研制城市轨道车辆自动门系统；年开始研制城市轨道车辆自动门系统； KN started the development of the automatic door sy
2、stem for mass transit vehicle in 1999.q20002000年进入城市轨道车辆自动门系统市场；年进入城市轨道车辆自动门系统市场； KN entered the market of automatic door system for mass transit vehicle in 2000.q20032003年康尼公司自主开发的城市轨道车辆自动门系统正式投入应用；年康尼公司自主开发的城市轨道车辆自动门系统正式投入应用； The automatic door system developed independently by KN for mass transit
3、 vehicle was officially applied in 2003.设计宗旨设计宗旨/The design principleq高可靠性；高可靠性； High reliability.q低寿命周期费用；低寿命周期费用； Lower LCC.q模块化设计；模块化设计； Modular design.q安全和可靠运行；安全和可靠运行； Safe and reliable operation.q轻的质量和低的能耗；轻的质量和低的能耗； Light weight and lower energy consumptionq简易的简易的使用和使用和维护；维护； Easy use and mai
4、ntenance.概述概述 General乘客入口门概况乘客入口门概况General Situation of Passenger Access Door乘客入口门产品规格乘客入口门产品规格Product Specification of Passenger Access Door门系统类型门系统类型/Door system type双开塞拉门双开塞拉门/Double-leaf sliding plug door 驱动类型驱动类型/Drive type直流无刷电机直流无刷电机/DC brushless motor传动机构传动机构/Driving mechanism丝杆丝杆/Driving sc
5、rew锁闭装置锁闭装置/Locking device无源锁闭装置无源锁闭装置/Unpowered brake解锁装置解锁装置/Unlocking device旋转把手式装置旋转把手式装置/Rotating handle device门控制单元门控制单元/Door control unitEDCU门扇下部导向门扇下部导向/Bottom guiding of Door leaf滚轮摆臂装置滚轮摆臂装置/Roller swing arm device门扇玻璃门扇玻璃/Door leaf glass中空钢化玻璃中空钢化玻璃/Sealed-insulating toughened safety glas
6、s乘客入口门性能乘客入口门性能Characteristics of Passenger Access Door通过宽度通过宽度/Free opening width140010mm 通过高度通过高度/Free opening height1900mm供电电压供电电压/Voltage supplied110VDC+25%/-30%开（关）门时间开（关）门时间/Opening(closing) time3.0 0.5sec.最小可检测障碍物最小可检测障碍物/Min. detectable obstacle3060mm障碍检测后的重开门距离障碍检测后的重开门距离/Reopening distance
7、 after obstacle detected350mm挤压力挤压力/Jamming forceEffective force 150N手动开门力手动开门力/Manual opening door force 150N传热系数传热系数/Heat transmission coefficientK4.5 W/mK隔音量隔音量/Sound insulation31dB(A)车内压力车内压力/Pressure in carMax. 50Pa乘客入口门性能乘客入口门性能Characteristics of Passenger Access Door门扇强度门扇强度Door leaf strength
8、1500N 1500N 作用在作用在2 2扇门扇门高度中部高度中部200200宽的带上：最大变形宽的带上：最大变形8.3mm 8.3mm 1500N exerted at half height of door leaf over a strip of 200 mm width on both door leaves:Maximum deformation 8.3mm35003500N N作用在作用在1 1扇门的整个表面上扇门的整个表面上5 5分钟：分钟：没有永久变形没有永久变形3500N exerted on the whole door leaf on single door leaf f
9、or 5 minutes:No permanent deformation.20002000N N作用在作用在2 2扇门的内表面上不会对门的运动和驱动机构产生有扇门的内表面上不会对门的运动和驱动机构产生有害的影响害的影响2000N exerted on inside surface of both door leaves without bad influence on the driving mechanism and the moving mechanism采用标准采用标准The Adopted StandardEN 147527铁路系统运用铁路系统运用 车辆门系统车辆门系统/Railwa
10、y applications-Door system for rolling stock.EN50121-3-2铁路应用铁路应用电磁兼容性电磁兼容性 第三部分第三部分-2-2车辆车辆设备设备 /Railway applications-Electromagnetic compatibility part3-2:Rolling stock apparatus.EN 50155铁路应用车辆用电气设备铁路应用车辆用电气设备/Railway applications-Electric equipment used on rolling stockEN 50126铁路应用铁路应用 可靠性、可用性、可维护
11、性和安全性（可靠性、可用性、可维护性和安全性（RAMSRAMS）规定和证明）规定和证明 /Railway applications-The specification and demonstration of reliability, availability, maintainability and safety(RAMS).EN287熔焊焊工认证测试熔焊焊工认证测试/Approval testing of welders-fusion welding.EN 50128铁路系统运用铁路系统运用- -通信信号和处理系统控制和保护系统软件通信信号和处理系统控制和保护系统软件/Railway Ap
12、plications Communications, Signalling and Processing Systems Software for Railway Control and Protection Systems.DIN6700-2轨道车辆及其部件的焊接轨道车辆及其部件的焊接C C第第2 2部分：部件分级、焊接企业的认证、一致性的评定部分：部件分级、焊接企业的认证、一致性的评定/Welding of railway vehicles and parts - Part 2: Qualification of manufacturer of welded rolling stock m
13、aterials, quality assurance . DIN5510-1轨道车辆的防火第一部分轨道车辆的防火第一部分: :防火等级、防火技术措施及证明防火等级、防火技术措施及证明/Preventive fire protection in railway vehicles; levels of protection, fire preventive measures and certification .ISO140-3建筑物内及建筑部件隔音的测量建筑物内及建筑部件隔音的测量/Acoustics; Measurement of sound insulation in buildings
14、and of building elements; Part III : Laboratory measurements of airborne sound insulation of building elISO 4578粘接剂粘接剂- -高强度粘接抗剥离力的确定高强度粘接抗剥离力的确定- -浮动滚轮法浮动滚轮法 /Adhesives; determination of peel resistance of high-strength adhesive bonds; floating roller methodTB/T3021铁道机车车辆电子装置铁道机车车辆电子装置/Railway elec
15、tronic equipment for rolling stock.TB/T3034机车车辆电气设备电磁兼容试验及其限值机车车辆电气设备电磁兼容试验及其限值 / Railway applications-Electromagnetic compatibility test and the limit date for rolling stock apparatus.Description of Mechanical Elements机械部分说明机械部分说明机械部件说明机械部件说明Description of Mechanical Parts顶部机构Header operator平衡轮Bala
16、nce roller左门扇Left doorleaf左摆轮Left swing roller右摆轮Right swing roller右门扇Right doorleaf平衡轮Balance roller退出服务锁Out of service lock顶部机构顶部机构Header operator序号序号No. 名称名称 Designation序号序号No. 名称名称 Designation1电机电机motor5横向导柱横向导柱transverse guide rod2丝杆丝杆driving screw6传动螺母传动螺母driving nut3上导轨上导轨Upper guide rail7纵向导
17、柱纵向导柱Longitudinal guide rod4携门架携门架Door leaf carrier运动机构运动机构The Movement Mechanism横向导柱transverse guide rod挂架/直线轴承suspensionlinear bearing纵向导柱longitudinal guide rod携门架/直线轴door leaf carrier linear bearing挂架/直线轴承suspensionlinear bearing横向导柱transverse guide rod携门架/直线轴承door leaf carrier linear bearing驱动装置
18、驱动装置Driving Mechanism门锁：无源锁闭装置门锁：无源锁闭装置 Door lock: Unpowered BrakeNormal working sectionTransitional round anglezero lead self-locking section变升程丝杆的螺旋槽分为三段：普通工作段、零升程自锁段变升程丝杆的螺旋槽分为三段：普通工作段、零升程自锁段和过渡段。在与门连接的传动螺母上，有和过渡段。在与门连接的传动螺母上，有2 2只滚动销，滚动销只滚动销，滚动销在丝杆螺旋槽中滚动，在普通工作段螺旋槽中，电动时，丝在丝杆螺旋槽中滚动，在普通工作段螺旋槽中，电动时，
19、丝杆可以驱动传动螺母以实现电动开关门，无电时，传动螺母杆可以驱动传动螺母以实现电动开关门，无电时，传动螺母可以驱动丝杆以实现手动开关门，当传动螺母的滚动销进入可以驱动丝杆以实现手动开关门，当传动螺母的滚动销进入丝杆的零升程自锁段时，仅丝杆能驱动传动螺母以实现锁闭丝杆的零升程自锁段时，仅丝杆能驱动传动螺母以实现锁闭或解锁，而传动螺母却不能驱动丝杆试图解锁，因此实现对或解锁，而传动螺母却不能驱动丝杆试图解锁，因此实现对门的锁闭和电机开门的锁闭和电机开/ /关门的自动切换。关门的自动切换。Helix groove of driving screw with varied lead is divide
20、d into 3 sections: one is the normal working section, and one is the self-locking section whose lead is 0 as well as the transitional section between the two sections. There are 2 rolling pins on the driving nut connected with the door and the pins can roll in the helix groove of driving screw. In t
21、he normal helix groove, when being powered on, the driving screw can drive the nut to achieve electrical opening and closing, while when powered off, the driving nut can drive the driving screw to achieve manual opening and closing . When the rolling pins of driving nut enter the zero lead self-lock
22、ing section, the driving nut can only be driven by driving screw to realize locking or unlocking (at this time driving nut cant drive driving screw for unlocking attempt), therefore it helps realize the door locking and automatic switch between door opening/closing via motor. 滚动销Rolling pin门锁：无源制动器门
23、锁：无源制动器 Door lock: Unpowered Brake爆炸图爆炸图Exploded drawing传动丝杆传动丝杆Driving screw锁闭端锁闭端Locking section滚动销滚动销Rolling pin丝杆螺母丝杆螺母Driving screw nut滚动销滚动销Rolling pin调节螺母调节螺母Adjustment nut铰链板铰链板Hinge plate门扇门扇Door leaf厚度/Thickness32mm 结构/Structure三明治结构/Sandwich Structure:*一个铝型材框/An Alu-profile frame；*每侧1mm厚的
24、铝皮/Alu. skin of 1mm thick for each side;*填料是铝蜂窝/The stuffer is Alu. honeycomb;被粘接的中空钢化玻璃/Sealed-insulating toughened safety glass be glued;四周安装有黑色EPDM橡胶密封条/Black sealing rubber-EPDM assembled around door leaf;在底部安装有下部轨道/A lower rail be assembled at the bottom;密封结构密封结构The sealing structure周边密封胶条周边密封胶
25、条peripheral sealing rubber护指胶条护指胶条finger protection rubber平衡轮平衡轮Balance Roller平衡轮平衡轮Balance roller门扇门扇Doorleaf滚轮摆臂滚轮摆臂Roller Swing Arm滚轮摆臂装Roller swing arm 防脱销Anti-falling pin下滑道Lower guide rail紧急出口装置紧急出口装置Emergency Egress Deviceq通过钢丝绳与制动器的释放杠杆连接通过钢丝绳与制动器的释放杠杆连接Its connected with the release lever o
26、f brake via cableq钥匙或把手操作钥匙或把手操作Key or handle operationq手动复位手动复位Manual reset四方钥匙四方钥匙Square key把手把手HandlePMMA面板面板PMMA cover紧急入口装置紧急入口装置Emergency Access Deviceq通过钢丝绳与制动器的释放杠杆连接通过钢丝绳与制动器的释放杠杆连接Its connected with the release lever of brake via cableq钥匙操作钥匙操作Key operationq手动复位手动复位Manual reset四方钥匙四方钥匙Squa
27、re key挡销装置挡销装置Keeper pin deviceq 减小门扇的变形减小门扇的变形 To reduce the deformation of doorleaf 挡销挡销keeper pin止挡槽止挡槽keeper groove退出服务锁退出服务锁Out of Service Lockq机械隔离机械隔离mechanical isolation q电气隔离电气隔离electric isolationq装置在右门扇上（内侧看）装置在右门扇上（内侧看）Device is on the right door(see from inside)q四方钥匙操作四方钥匙操作Square operat
28、ionq内或外操作内或外操作Internal or external operation开关盒开关盒Switch box四方钥匙Square key开关杠杆Switch lever锁插销Lock bolt开关盒Switch box电控系统电控系统Electric control system康尼康尼电子门控器电子门控器(EDCU)(EDCU)特点和优点介绍特点和优点介绍Introduction to features and advantages of KNs EDCU q按国际标准按国际标准IEC 60571:2006IEC 60571:2006、EN50155EN50155和和EN5012
29、1-3-2EN50121-3-2及行业标准及行业标准TB/T3021TB/T3021和和TB/T3034TB/T3034进行设计和进行设计和试试验验Carry out design and tests according to IEC 60571:2006 ,EN50155 ，EN50121-3-2 ,TB/T 3021 and TB/T 3034.q基于基于DSPDSP的高性能数字闭环无刷直流电机控制的高性能数字闭环无刷直流电机控制Based on DSP digital Closed loop brushless DC motor control with high performance
30、q模块化设计模块化设计Modular designq多重障碍检测方式（过电流检测和距离多重障碍检测方式（过电流检测和距离- -时间方式）时间方式）Multiple obstacle detection methods (by means of over-current detection and distance-time)q智能化自学习功能智能化自学习功能Intelligent self-learning functionq智能化自动故障监视、诊断和报告智能化自动故障监视、诊断和报告Intelligent fail-safe, diagnosis and report of failureq
31、高安全性设计，单个故障不会导致事故高安全性设计，单个故障不会导致事故High safety design, single failure shall not cause any accidentq支持支持MVBMVB、CANCAN、RS485RS485、HDLCHDLC等不同的网络通讯类型等不同的网络通讯类型Support different kinds of network communication, such as MVB, CAN,RS485, HDLCq维护工作量极低维护工作量极低Quite low maintenance work供电电压Supply voltage 110VDC
32、-30 % +25% 功耗Power consumption 待机 5W，正常操作160W，峰值440W (500ms)Stand by 5W, normal operation 160W, peak value 440W (500ms)控制电机类型Type of control motor 无刷直流电机 Brushless DC motor电机控制方式The control method of motor 数字闭环控制 Digital closed loop controlEDCU处理器EDCU processor 数字信号处理器（DSP） Digital signal processor
33、(DSP) 数据输入Data input 16（I0-I15） 正开关量 （输入电流 4mA，电压为 110VDC）16（I0-I15） positive switching value (input current 4mA, voltage 110VDC) 数据输出Data output4（O0 O3）正开关量，110VDC/0.5A，短路保护，最大15W电灯负载2（O4 O5）继电器干触点，110VDC/0.5A，短路保护，最大15W电灯负载4 (O0 O3) positive switching value, 110VDC/0.5A, short circuit protection,
34、max.15W lamp loading2 (O4 O5) dry contact of relay,110VDC/0.5A, short circuit protection, max.15W lamp loadingEDCU(E1606CB)EDCU(E1606CB)技术数据技术数据Technical data of EDCU (E1606CB)电控系统电控系统Electric control system服务接口Maintenance interfaceUSB 通讯接口Communication interface MVB ，可选 RS485 、HDLC、CANMVB, RS485, H
35、DLC, CAN can be matched温度范围/Temperature range-25C + 70 C 重量/Weight: 约 1kg/Nearly 1kg 开门时间/Door opening time: 30.5s （2s可调整）/30.5s, adjustable range:2s-4s 关门时间/Door closing time:30.5s （2s可调整）/30.5s, adjustable range:2s-4s 障碍检测Obstacle detection挤压力：150N 300N可调 能检测的最小障碍物：30mm60mm（宽高）Squeezing force: 150
36、N 300N (adjustable)Min. detectable obstacle:30mm60mm(widthheight) 对所有输入输出、电机状态、安全继电器、5VDC和故障都有LED指示There are LED indications for all the inputs/outputs, motor status, safety relay, 5VDC and failures. 测试按照： IEC 60571:2006 、 EN 50155:2007、EN 50121-3-2:2006、TB/T 3021、TB/T 3034Tested according to: IEC 6
37、0571:2006 ,EN 50155:2007, EN 50121-3-2:2006,TB/T 3021,TB/T 3034自动门系统自动门系统EDCU(E1606CB)EDCU(E1606CB)技术数据技术数据Technical data of EDCU (E1606CB) of automatic door system电控系统电控系统Electric control systemEDCU平台存储器模块USB接口模块冗余电源模块扩展输入接口模块扩展输出接口模块电源模块输入接口模块输出接口模块CAN接口模块RS485接口模块HDLC接口模块MVB接口模块电机控制模块EDCUEDCU模块化设
38、计模块化设计EDCU modular design电控系统电控系统Electric control systemEDCUPlatformRedundant power supply modulePower supply moduleMemory moduleUSB interface moduleExpanded input interface moduleExpanded output interface moduleInput interface moduleOutput interface moduleCAN interface moduleRS485interface moduleHD
39、LC interface moduleMVB interface moduleMotor control module电控系统电控系统Electric control systemEDCUEDCU模块化设计模块化设计EDCU modular design 康尼公司使用康尼公司使用TITI公司的公司的DSPDSP作为作为EDCUEDCU中央处理器。中央处理器。DSPDSP是为控制应用而优化的处理器。可以采用先进的控制算法是为控制应用而优化的处理器。可以采用先进的控制算法实现对门速度和动作的精确控制，可以实现用软件取代模实现对门速度和动作的精确控制，可以实现用软件取代模拟伺服电路，方便地修改控制策
40、略，修正控制参数，兼具拟伺服电路，方便地修改控制策略，修正控制参数，兼具故障监测、自诊断和上位机管理与通讯等功能故障监测、自诊断和上位机管理与通讯等功能 。EDCUEDCU中中没有需要硬件调节的环节，因此可以保证生产的一致性，没有需要硬件调节的环节，因此可以保证生产的一致性，并且不需要定期维护。并且不需要定期维护。系统系统特点：数字信号处理器（特点：数字信号处理器（DSPDSP）System feature: digital signal processor (DSP)DSP developed by TI is adopted by KN as the central processor o
41、f EDCU. DSP is an kind of optimized processor for the control application. It can adopt advanced control algorithm to realize the accurate control of door speed and movement, and also can conveniently revise the control strategy and correct the control parameter by software instead of simulation ser
42、vo circuit. Meanwhile, it also has functions such as failure detection, self-diagnose, management and communication with master control computer. For hardware adjustment is unnecessary for EDCU, it is possible to keep the consistency of production and there is no need for regular maintenance.电控系统电控系
43、统Electric control system三相单永磁转子无刷直流电机内部结构示意图Schematic of inside structure of three-phase brushless DC motor with single permanent magnetism rotor无刷直流电机外形图Outline figure of brushless DC motor康尼公司使用无刷直流电机，配合其原装的斜齿轮行星减速器，具有可靠性高、重康尼公司使用无刷直流电机，配合其原装的斜齿轮行星减速器，具有可靠性高、重量轻、效率高、使用寿命长的优点，性能优越。可减少定期维护工作量。量轻、效率高
44、、使用寿命长的优点，性能优越。可减少定期维护工作量。KN adopts brushless DC motor from Dunkermotoren in Germany, which is matched with the original helical gear planet reduction gear. It has the advantages such as high reliability, light weight, high efficiency, long service life. It is of excellent performance and can help r
45、educe the regular maintenance efforts.系统系统特点：无刷直流电机特点：无刷直流电机 System feature: Brushless DC motor 电控系统电控系统Electric control system电机模型和控制模型电机模型和控制模型- -数字闭环电机控制数字闭环电机控制Motor module and control module - digital closed loop motor control Power partsCurrent adjustmentPWM Generation and synchronizationPosit
46、ion detectionSpeed adjustmentSpeed settingCurrentsettingCurrent detectionCMPRxSkPm = TPeUIkPmTUIkUEaLaRaIaphase current IaBemf Eaq1 cycle电控系统电控系统Electric control system无刷直流电机控制无刷直流电机控制-PWM-PWM控制和电流采样控制和电流采样Brushless DC motor control - PWM control and current samplingSampling resistanceOvercurrent pr
47、otectionADC Unit setting LDP#0E0hSPLK#0003h,ADCTRL2SPLK #1b6ah,ADCTRL1Timer Control RegisterLDP#0E0HSPLK#0100H,GPTCONCore Mask SettingLDP#0LACC#020H SACLIMRLACCIFRSACLIFRADCmoduleloadRCfilteringFeedback amplifierM1M2M3M4M5M6Conversion results handlingLDP#0E0HCLRCSXMLACCADCFIFO1,10ADDADCFIFO2LDP#CONV
48、1SACHCONV1SACLCONV2LACCCONV2,10SACHCONV2SETC SXMRCoutputTonPWMcycle电控系统电控系统Electric control system无刷直流电机控制无刷直流电机控制- -转子位置检测转子位置检测Brushless DC motor control rotor position detection60120180240300Nhall sensor 1hall sensor 2hall sensor 3 Capture unit 1 Capture unit 2 Capture unit 3Core Mask SettingLDP
49、#0LACC #08h SACL IMRSet I/O Unit as Capt/QEPLDP #00E1hSPLK #0070h, OCRBCapture Unit SettingLDP #00E8hSPLK #0b0fch,CAPCONSPLK #00ffh,CAPFIFOEV Mask Setting, Vect & Flag resetLACC IFRCSACL IFRCSPLK #7,IMRCLACC IVRCCapture Vector HandlingLDP#0E8hLACCIVRCTime elapsed since last capture MAR*,AR2LACLT2CNT
50、SACL*+SUB*+SACL*-ADD*SACL*-Disable CAPTURE Input LDP#0E8hSPLK#8000h,CAPCONSPLK#00ffh,CAPFIFOSet I/O unit as I/LDP#00E1hSPLK#0FF00h, OCRBSPLK#00000h,PCDATDIRWhich 60 sectorLACCPCDATDIRAND#0070H LDP#CAPTSACLCAPTLACCCAPT,12SACHCAPT Disable I/O UnitLDP#0E1hSPLK#0070h, OCRBCapture Unit SettingLDP#0E8HSPL
