DE102005019973A1 - Door`s e.g. sliding door, drive controlling method, involves controlling leaf according to given movement profile, and initiating phase with lower speed through determined leaf position, while leaf is guided slowly into its final position - Google Patents

Abstract

The method involves evaluating drive magnitudes from parameters of a drive. An angular speed of a position-sensor less motor is measured from motor parameters, input voltage and input current, and a leaf position is determined from the speed. The leaf is controlled according to a given movement profile. A phase with less speed is initiated through the determined leaf position, while the leaf is guided slowly into its final position.

Description

The The invention relates to a method for controlling a drive of a Door behind the preamble of claim 1.

From the DE 196 01 359 A1 For example, there is known a method of controlling a DC drive to open and close doors and gates, wherein two states of the DC drive are detected, from which an applied load or resistance moment is determined, which is compared to a predetermined load or resistance moment, and an abnormal one Situation when exceeding the predetermined, is determined by the specific load or resistance torque.

adversely It is that with this procedure several learning trips are required are the behavior of the drive over the entire range of motion the door or gate, with an additional sensor on the engine necessary is to the position of the grand piano to determine.

Farther are automatic door drives for the wing of doors known, in particular of automatic sliding doors, which according to a predetermined Movement profile to be moved. This movement profile consists of an acceleration phase, a subsequent phase with a constant Speed of the wing, and a subsequent one Braking phase to the wing to stop. The movement of the wing points both in the opening direction as well as in the closing direction such a movement profile.

Around the movement of the grand piano according to this To control given profile, a position determination is performed. there are provided by a rotary or incremental encoder located on the motor of the drive, dependent on the number of revolutions of the output shaft of the motor generated pulses recorded and evaluated. The disadvantage is that it is with such Sensors at slow speed of the wing is problematic, the actual Position of the wing to determine.

Of the Invention is based on the object, a simplified method to control the movement of the wing of a door, being inexpensive on additional Sensors can be dispensed with.

The The object is solved by the features of claim 1.

The under claims form advantageous embodiments of the invention.

Of the automatically powered wings a door, for example, a revolving door or a sliding door, will Moved according to a given movement profile to a high level of comfort to reach.

Around the movement of the grand piano to control such a movement profile is a sensorless Position determination carried out, i.e. without arranging a sensor on the drive, with which the position of the grand piano would let determine.

According to the invention Input variables of the Motors of the drive determines from which by modeling the Angular velocity of the engine is calculated. From the angular velocity of the engine leaves then calculate the speed and the path of the powered wing.

there it is necessary to record the input quantities voltage and current, and it must be the system-specific parameters, such as resistance and torque constant be known of the system. Modeling is thus the transmission behavior of the system can be represented mathematically and with the motor equation calculable, with two options to offer.

To the one is a simplified calculation possible by during the wing movement at regular intervals the Power supply to the motor interrupted and only the input voltage is measured, with no current flowing (i = 0). This can be up the acquisition of different engine parameters for calculation omitted but with an electronic circuitry overhead for the shutdown is required.

It is still possible in addition to the input voltage to measure the input current, and to calculate the angular velocity from the motor equation, where However, the engine parameters are known have to. The advantage here is the low circuit complexity required.

Advantageous is the positional deviation resulting from the modeling between the calculated and the actual position of the wing irrelevant.

In a safe distance from the end positions of the wing this is at a low Slowed down speed and gently moved to the end position. The End position of the wing is detected by a current increase on the motor and the drive is switched off.

in the The following will be an embodiment explained in detail in the drawing with reference to the figures.

there demonstrate:

1 a graphical representation of the movement of a wing of a door;

2 a model circuit used for the equivalent circuit diagram of an engine.

The 1 shows a movement profile of an electric motor-driven wing, in particular an automatic sliding door, which is controlled by the inventions to the invention process. The movement profile has a plurality of partial areas or movement phases a, b, c, d, e, the speed v of the wing being represented via its path s.

During the Acceleration phase a is the wing from its starting position, out of the open or closed position, to its intended maximum forward speed accelerates which of the wings during the Phase with at least approximate constant speed b maintains. When approaching the opposite one Position becomes the wing first while Braking phase c braked to a lower speed d. In open or closed position the wing comes while a stop phase e to a standstill.

2 shows the underlying as a model for the calculation equivalent circuit of the drive motor. At the motor terminals is the input voltage u _E , whereby an input current i _E via the resistor R and the inductance L of the motor with the motor constant K flows. The output quantities of the system are the torque M, the angular velocity ω and the mass moment of inertia J.

From the electrical equivalent circuit follows the motor equations:

The model can be used to calculate the angular velocity:

With the method according to the invention are two options given the position determination.

On the one hand, during the rotation of the motor the input current i _{E is} interrupted at regular intervals, whereby no input current flows (i _E = 0). The angular velocity ω can be determined from the applied input voltage u _E and the motor constant K.

With i _E = 0 it follows from equation [3]:

It is advantageous with this possibility to determine the angular velocity ω that only the input voltage u _{E has to be} measured. It is clear from equation [4] that as system parameter only the motor constant K is to be determined and the determination of further parameters of the model can be dispensed with.

Furthermore, the angular velocity ω can also be determined from the equation [3], advantageously requiring less circuit complexity than the first option. However, it is necessary for the calculation to know the motor parameters and to measure the input current i _E.

The due to the modeling and calculation of position conditional Position deviation between the calculated and the actual Position of the wing is advantageously collected by the method.

The Deviation from the actual wing position could too early or too late Stopping the wing to lead. It is inventively avoided the, that the wing its end position is not reached or at too high a speed v moves to the end position.

That in the 1 shown movement profile, after which the wing movement is controlled, therefore, after the deceleration of the wing on the phase at low speed. In the vicinity of the calculated end position of the wing, the speed v is reduced so that the wing is gently moved to its end position. If the wing reaches this position, its movement comes to a standstill, whereby the drive motor comes to a standstill. Due to the resulting steep rise of the input current i _{E of} the engine takes place an immediate shutdown of the drive. This advantageously avoids damage to the drive and the door system.

v

speed

s

path

a

acceleration phase

b

phase at a constant speed

c

braking phase

d

phase at low speed

e

stop phase

u

tension

i

electricity

u _E

input voltage

i _e

input current

R

resistance

L

inductance

K

motor constant

ω

angular velocity

M

torque

J

Moment of inertia

Claims (3)

Method for controlling a drive of a door, having an automatically movable wing, wherein the parameters of the drive are determined, from which drive variables are calculated and evaluated for controlling the drive, characterized in that the drive has a position sensorless motor whose angular velocity (ω) is calculated from the motor parameters and the drive quantities input voltage (u _E ) and input current (i _E ), whereby the vane position is determined, and that the vane is controlled according to a predetermined motion profile, whereby a certain low-speed phase is determined by the determined vane position (d) is initiated while the wing slowly in his final position is led. Method for controlling a drive of a door according to claim 1, characterized in that the input voltage (u _E ) is measured while the input current (i _E ) of the drive is switched off (i _E = 0), whereby only the motor constant (K) for Calculation must be known. Method for controlling a drive of a door according to claim 1 or 2, characterized in that the rise of the input current (i _E ) causes a shutdown of the drive in the end position of the wing.