DE10306569A1 - Operating method for gate, involves retarding movement of gate when comparison result exceeds threshold value such that comparison result is obtained by comparing actual and desired values of drive characteristic as function of distance - Google Patents

Abstract

The method involves retarding the movement of a gate when the comparison result exceeds a threshold value. The comparison result is obtained by comparing the measured actual value of a drive characteristic as a function of distance or time and the desired value of the drive characteristic.

Description

The present invention relates to a method for controlling an electric gate operator, wherein while the movement of the gate along a distance the actual value of a Characteristic of the drive dependent on is measured by the distance or the time.

During the closing process or also during the opening process of a gate must be recognized whether the gate hits an obstacle or opens normally or closes. This is the force that occurs when the gate hits an obstacle arises, do not exceed a certain limit, for example 400 N.

It is the object of the invention a method and an apparatus for controlling an electrical To create a door operator with which in a simple but safe way a surveillance the gate movement can take place.

This task is solved by the features of claim 1.

According to the invention, the measured actual value with one before during smooth movement Recorded setpoint compared, the comparison result is compared with a threshold and when the threshold is exceeded the gate movement is at least delayed, i.e. slowed down, stopped or reversed.

Advantageous embodiments of the invention are described in the description, the drawing and the subclaims.

According to a first advantageous embodiment is determined based on the recorded setpoints The type of door it is and the threshold is dependent selected from the determined door type.

Basically there are different types known of gate types, for example sectional doors, internal Tilt-and-swing goals, Tilt-and-swing goals, Swing gates and the like. Each of these gates has a characteristic Force curve when opening or Conclude. If so during a trouble-free Movement of the door, the setpoints have been recorded, can be determine the type of door from the setpoints is. For example, the supply current can be used as a parameter of the drive be measured. Dependent on the driven door type then results in a characteristic for each door type Current curve, that is a distribution of current dependent on on the distance or the time. By comparing the recorded Setpoints (setpoint curve) with stored setpoint curves can be determine the existing door type and the permissible threshold can then dependent on can be optimized based on the determined door type.

After another advantageous one embodiment the gate type can be measured by measuring the drive current of the electrical Door operator depending on the distance or time and by comparing the current measured values can be determined with stored comparison values. In this procedure according to the invention is based on the knowledge that the necessary to move the gate Force along the movement path depending on the one used The door type varies because the door leaf depends on the one used Different door types in different closed positions Closing forces.

After another advantageous one embodiment becomes dependent a maximum permissible difference from the determined door type as a threshold determined between the actual value and the setpoint, depending on on the distance or the time. This enables that the control of the door operator automatically recognizes which one Gate type is used and ensures after recognizing the gate type, a maximum in all positions for the type of door used permissible force (clamping force) is not exceeded.

It can be particularly advantageous here be dependent on the distance or time and depending on the determined Door type by measuring the drive current on an obstacle in the To determine the maximum force acting in the range of the gate movement if exceeded a permissible Force to delay the gate movement to stop or reverse.

According to another aspect of the invention the ambient temperature and / or the temperature of the drive is measured and depending the setpoints are changed from the measured temperature or the threshold with which the comparison result is compared, is changed. In this embodiment is based on the basic idea that the ambient temperature or the temperature of the drive influences the current flowing to the drive may have. Unless the drive current is used to provide information about a Temperature changes can reach maximum clamping force influence the determination of this maximum clamping force. For example, the Copper resistance of the windings of the drive motor as a function the temperature with about 0.4% per ° C, what with a temperature fluctuation of 50 ° C a change in resistance of 20%. Since the drive current changes approximately linearly with the copper resistance, by measuring the temperature a corresponding compensation at the Determination of the maximum clamping force based on the maximum Drive current.

In addition, the ambient temperature also has an impact on running behavior as well on the mechanics of a door, as greases, oils and seals behave differently at different temperatures. If, during a fault-free movement, target values are recorded during the movement of the door along a distance, it may be necessary to change these target values depending on the temperature, in order to ensure a constant maximum clamping force even at different temperatures.

There are basically several options existing temperature fluctuations when controlling an electrical Door drive. Either you can the setpoints resulting in a setpoint curve as a function of the temperature are adjusted, taking the thresholds with which the comparison result between the actual value and the setpoint, remain constant. In this case, an algorithm can be used that essentially the change of the copper resistance in the area of the drive motor is taken into account. Alternatively, it is also possible the threshold values depending of the temperature so that over a wide temperature range constant maximum clamping force is achieved. This can also be done through a Algorithm to be implemented.

Due to the temperature-dependent variation of the Target values or the threshold values are achieved on the one hand that the Goal even with big ones Temperature fluctuations always close reliably. On the other hand, they have to changes the parameter, for example of the drive current, due to the temperature not from the beginning be included in the comparison results, so that slight differences between the actual value and the setpoint can be used. This in turn allows that with all types of doors used and in all positions of the door a maximum permitted clamping force is not exceeded.

After another advantageous one embodiment of the invention the setpoints are recorded again at time intervals, which is preferably done automatically by the controller. By such an adjustment can changes be taken into account in the behavior of the gate movement, caused, for example, by aging, contamination or wear.

Advantageous devices for performing the Methods described above are described in the device claims.

In the following the invention will be pure by way of example using an advantageous embodiment and with reference on the attached Described drawings. Show it:

1 is a schematic side view of a door drive according to the invention using the example of an internal tilting swing gate in an almost fully open position; and

2 the gate of 1 in an almost closed position.

The 1 and 2 show the example of an internal tilting swing gate electric door drive according to the invention, wherein a door leaf 10 over two suspensions 12 and 13 in an essentially L-shaped guide rail 14 is pivotally mounted. An electric drive 16 is via a power transmission element 17 , for example a revolving chain, with the door leaf 10 connected so that the door leaf 10 from its in 1 shown, substantially open position with a tilt angle of about 10 ° can be pivoted into a fully closed position. 2 shows in this context an almost completely closed position of the door leaf with a tilt angle of approximately 70 °.

The drive 16 is controlled by an electrical control 18 controlled, on the one hand, the drive current of the electric drive 16 measures and on the other hand is connected to sensors which record the distance traveled by the door leaf and / or the time elapsed during the movement of the door leaf. Such sensors, for example incremental clocks or timers, are well known to the person skilled in the art in this field.

Furthermore, the control 18 with a temperature sensor 20 connected, for example on the board of the controller 18 can be arranged. Alternatively, the temperature sensor 18 also be arranged in the area of the drive in order to directly record the temperature of the drive.

When closing the in the 1 and 2 shown gate or door leaf, it must be recognized whether the gate hits an obstacle or closes normally. The same applies to the opening process. Here, a maximum force that arises when the gate hits an obstacle must not exceed a predetermined value, for example 400 N. This maximum force is referred to in this application as the maximum clamping force.

The controller controls to monitor this maximum clamping force 18 a parameter of the drive 16 , In the illustrated embodiment, its drive current, which is a measure of the clamping force acting on an obstacle, which, however, is not identical to that of the drive due to the door geometry 16 generated driving force. By comparing this parameter of the drive with a target curve recorded and stored in the trouble-free operation, it can be recognized whether an obstacle is in the way, so that the door movement by the drive can at least be delayed, i.e. the door movement can be slowed down, stopped or reversed ,

In the illustrated embodiment, the supply current I of the drive 16 measured and the parameter I _ist (x) is dependent on the distance measured by the door leaf, for example at 64 equidistant points during opening and closing. The number of selected measuring points is basically arbitrary. Subsequently, the characteristic is I _(x) with a recorded in the fault-free operation target curve I _to (x) compared. If the comparison result, i.e. the difference ΔI (x) = I _ist (x) - I _soll (x), exceeds a defined threshold value, which can vary depending on the distance traveled or the elapsed time, this leads to a stop and / or a reversal of the dangerous movement. In addition, the target curve I _is (x), t adjusted at certain time intervals to carry any changes due to aging, soiling or wear bill.

According to the control 18 of the drive 16 used to automatically, that is to say during a first initialization, recognize the door type used, so that the control according to the invention can also be used universally for different door types without having to be adapted to the respective door type. This is based on the knowledge that the relationship between the driving force (i.e. the drive current) and the clamping force depends on the geometry and the respective position of the door, since the movement of the door occurs in different proportions for each door type due to different positions of the door leaf the clamping force leads. Each different type of door, for example sectional doors, internal up-and-over overhead doors, up-and-over doors and swinging doors, has a characteristic current profile I (x, t, door type), which can be used to clearly identify the door type. From the knowledge of the type of door and the position of the door, a statement can be made about the clamping force.

The relationship between the driving force and the clamping force can be easily represented by the different door types using mathematical algorithms. On the basis of the captured target curve I _is (x, t, door type) may thereby the respective door type are detected, whereupon determines the maximum allowable difference between the actual and the desired curve of the drive current in dependence on the distance or elapsed time for each type of door can (ΔI (x, gate type)). In this way it can be ensured that the maximum permitted clamping force is not exceeded for all door types and in all positions.

For each of the measuring points of the actual value is a setpoint and a determined differential value in normal operation given. The difference value depends on the position of the door as well as the gate type. exceeds the difference value is the specified threshold value (target curve), then the gate movement slows down, stops or vice versa.

When using the drive current to determine the clamping force occurring, it is advantageous if Parameters that have an influence on the drive current are taken into account become. An important point here is the temperature of the drive or the ambient temperature. The resistance of copper changes as a function of temperature at about 0.4% per ° C. This causes a temperature fluctuation from 50 ° already 20% fluctuations in the resistance of the copper are linked, with the drive current is approximately linear with the change in copper resistance changed. Due to the temperature fluctuations, both the shape and also the individual values of the current curve I (x, t, gate type, T) also from depending on the temperature.

To take account of temperature variations according to the invention can be either the target curve I _is (x, t, door type, T) to be adjusted, wherein the differential values remain constant. This can be done on the basis of an algorithm that essentially takes into account the change in the copper resistance. As an alternative or in addition, the difference values ΔI (x, gate type, T) can also be adapted, which can also be done using an algorithm.

10

door leaf

12 13

suspension

14

guide rail

16

drive

17

Power transmission means

18

control

20

temperature sensor

Claims (12)

Method for controlling an electric gate operator, being during the movement of the gate along a distance the actual value of a Characteristic of the drive dependent on measured by distance or time and with one previously during a trouble-free Motion recorded setpoint is compared, the comparison result with a threshold value is compared and if the threshold value is exceeded the gate movement is at least delayed becomes. A method according to claim 1, characterized in that is determined based on the recorded setpoints The type of gate it is, and that the threshold is dependent selected from the determined door type becomes. A method according to claim 2, characterized in that the door type by measuring the drive current depending of the distance or the time and by comparing the measured values with stored comparison values is determined. Method according to at least one of claims 2 or 3, characterized in that depending on the determined Door type as threshold a maximum permissible difference between the actual value and the setpoint depending is determined by the distance or the time. Method according to one of claims 2 to 4, characterized in that that depending on the distance or time and depending on the determined Door type by measuring the drive current on an obstacle force acting in the area of the gate movement is determined. Method according to one of the preceding claims, characterized characterized that the ambient temperature and / or the temperature of the drive is measured and depending on the measured Temperature, the setpoints and / or the threshold value are changed. A method according to claim 6, characterized in that depending the setpoints are changed by the temperature but the threshold value is unchanged becomes. A method according to claim 6, characterized in that depending the setpoints of the temperature are retained but the threshold value changed becomes. Method according to at least one of the preceding claims, characterized characterized in that the setpoints at time intervals that especially larger than 24 hours are recorded again. Method according to at least one of the above Expectations, characterized in that the comparison between the actual value and Setpoint without consideration of change the actual value is made according to the distance or time. Device for carrying out a method according to any of the preceding claims, with an electric drive and a controller that has a memory has, in which a target course of a parameter of the drive, in particular of the drive current, depending saved from the distance or the time for different types of gates is. Device, in particular according to claim 11, for execution of a method according to one of the preceding claims 1 to 10, with an electric drive and a controller that one Has memory in which a set course of a parameter of the drive can be stored, a temperature sensor being connected to the control and the measurement signals of the temperature sensor from the controller to change the target course or a threshold value are processed.