WO2015078752A1 - Method for controlling, in an open-loop and/or closed-loop manner, an electric drive motor for opening and closing at least one door or door leaf, and door control device - Google Patents

Abstract

The invention relates to the open-loop and/or closed-loop control of an electric drive motor (2) for opening and closing at least one door (3) or door leaf, in particular at least one sliding door or sliding door leaf of an elevator, railway platform, or machine tool, wherein a force (Fa) with which the door (3) or the door leaf moves in an opening and/or closing direction (0 or S) must be limited to a limit value (F_M) for safety reasons. According to invention, an improvement of this safety function is possible in that a friction force (F_R) of the door (3) or the door leaf, preferably of the entire door system (10), during the movement of the door (3) or the door leaf is determined, preferably during a learning run, and a driving force of the drive motor (2) is then limited in dependence on the determined friction force (F_R) and on the limit value (F_M).

Description

description

Method for controlling and / or regulating an electric drive motor for opening or closing at least one door or door leaf and door control device

The invention relates to a method according to claim 1 and a door control device according to claim 5. Door control devices are used to control and / or regulating at least one electric drive motor to open or close at least one door or door leaf, in particular ^¬ special at least one sliding door or a wing of a sliding door ,

Sliding doors are mainly used in elevators, on platforms for access control to trains, at the entrance of buildings or for personal protection in industrial environments, e.g. on machine tools.

As electric drive motors for example, direct current motors ^¬ or, more recently, electronically commutated, brushless, permanent-magnet synchronous motors come with or without egg ^¬ nem downstream unit to use it.

Examples of door drives with such a door control device are disclosed in EP 1 894 877 A2, DE 10 2011 004 019 A1 and EP 1 102 390 A2. Such door operators typically include a safety ^¬ function that limits the force with which moves the door or door leaf in opening and closing direction to a limit value. In this way, for example, persons can be protected against being pinched by an opening or closing door or door leaf.

It is an object of the present invention to provide a method for controlling and / or regulating an electric drive motor indicate for opening or closing at least one door or door leaf and a door control device with which this safety function can be further improved.

The solution to this problem is achieved by a method according to claim 1 and a door control device according to claim 5. Advantageous embodiments are each Ge ^¬ object of the dependent claims.

According to the invention, preferably determined in a learning journey, a frictional force of the door or door leaf, preferably the ge ^¬ entire door system, wherein the movement of the door or door leaf, and a drive force of the motor in dependence on the detected frictional force and of the limit value for the force with which the door or the door leaf is allowed to move in opening and closing direction.

It is thus a dynamic adaptation of the force limit of the engine to the frictional force, i. a friction compensation in the force limit, possible. This provides maximum dynamics in the movement of the door while maintaining the safety function, i. the limitation of the force with which the door or the door leaf moves in the opening and / or closing direction is possible to a set limit value. The safety function, with which the force is limited in the opening and / or closing direction, is thereby improved. The friction force can be determined, preferably automatically, during a learning run. This can for example be initiated automatically by the door control during commissioning of the door drive.

The invention, further advantages and further advantageous embodiments of the invention are explained in more detail below with reference to embodiments with the aid of the figure.

The determination of the frictional force is preferably carried out during ei ^¬ ner learning trip (for example, at the start of a Door system). Such learning trips are known in the context of door drives in and of itself, so that it need not be discussed further. For example, a friction force profile of the door system can be ^accommodated with the aid of a current measuring device of a door control. The measurement data recording takes place during the learning ^¬ ride, preferably for both opening and closing ^¬ direction. In the geöffnet- or closed positions of the door or of the door leaf on the basis of the measurement data each of which ^¬ weilig direction-dependent values are Reibkraftmittelwert and

Standard deviation calculated. At this time, all values as a current are internally angege ^¬ ben (for example, in [mA]). The coefficient of frictional force calculated corresponding to the standard deviation is converted into a force [N] with the aid of the motor constant [N / A] and added internally to the parameterized forces. a) Measurement data acquisition

Opening:

The acquisition of the measurement data is divided into two areas, as there is no ^¬ there during the learning journey over the whole process off constant door movement. The ranges are divided into door width <= a first limit, preferably <= 25cm, and door width>"end of mass detection." The measurement data in the range <= first limit (preferably <= 25 cm) are in the second opening movement and after reaching the From this moment, an approximately constant door movement is present, the measured data are preferably acquired at least every 2 cm, with the first measured value being recorded 2 cm after the trigger level position (transient distance) Measured data in the range>"End of mass determination" are recorded after the mass determination has been completed and the speed trigger level has been reached (learn-ahead speed). From this moment on there is an almost constant door movement. The measured data are recorded every 2 cm, with the first measured value 2 cm after the trigger level position (transient) is recorded.

Closing direction:

The data acquisition is performed during the complete closing movement within the learning journey and after reaching the speed trigger level (learning run-VELOCITY ^¬ ness). As of this moment there is a nearly constant Türbe ^¬ movement. The measuring data is preferably detected at least every 2 cm, the first measured value is recorded by the 2 cm ^¬ trigger level position (Einschwingstrecke). The measured values are recorded until the system is in the range of the swordline. b) calculations

 Mean and standard deviation:

 The mean and standard deviation is calculated using the measurement data from section a) Measurement data acquisition and the following formulas. The results are in the unit amperes [A].

swerte For the mean value calculation X, the following applies:

Swerte

For the standard deviation S, the following applies:

 Frictional force:

The mean value and the standard deviation are converted by means of the motor constants into a friction force with the unit Newton. Assuming a normal distribution of the Messda ^¬ th 95.4% of the values are in a scattering interval of 2- Sigma. That means you would add more value, then the ^¬ se values with a probability of 95.4% in the loading were rich Χ ± 2σ .For the frictional force is used, the negative interval. For the friction force F _R applies: F _R = k _motor - {X ~ 2a) For further illustration, Figure 1 shows this still a free body image and FIG 2 shows further details of a door control.

Figures 1 and 2 show a door control device 1 for controlling and / or regulating an electric drive motor 2 for opening or closing at least one door 3. The door control device 1 serves to power the drive motor 2 and includes a current measuring device 4 for measuring the in the electrical Drive motor 2 during a movement of the door 3 fed electric current I.

The drive motor 2 may be designed as a gearless motor or it may have a gear arranged on the output side, in particular an angular gear. The drive motor 2 or the downstream winging drive drive a tough elastic toothed belt 5, which is guided over a deflection roller 6 and to which the door 3 is attached. Alternatively, instead of the toothed belt 5, a rack or a flat rope can be used.

The drive motor 2, a possibly downstream transmission, the toothed belt 5, the guide roller 6, the door 3 and other components not shown in detail such. a door storage form a door system 10.

Equation of Force:

With

F _M = limit value for closing and opening force of motor 2 set in door control 1

F _R = determined value of the friction force

F _{a =} actual closing and opening force on an edge 8 of the door 3 during its movement The limit value F _M may be specified ^differently, for example by a standard and amounted to 150 N for example. The parameterization of the limit value F _M , ie its setting and storage in a memory 7 of the door control 1, takes place, for example, when the door control 1 is started up.

In case F _R> 0 N (this was the case in a real door system always) the set limit F _M for the closing and opening forces of Motors2 not correspond to actual measured force F _a on the door edge 8, ie F _Mo tor> Fa.

Is set for the engine 2 as a safety function of the limit value F _M for the closing and opening forces in the door control 1, then due to the friction, the force F _a to the door 8 in the opening or closing direction, ie, the force with which moves the door or the door, dress ^¬ ner than this set limit F _M. Sometimes, however, it is required that the set limit value F _M for the closing and opening forces of the engine 2 also corresponds to the actual force F _a on the door 8. Of course, the system limits must not be exceeded (maximum torque of the drive).

This can be achieved with the consideration according to the invention of the friction in the door system. The friction is not parameterizable, but dynamically determined in the learning run and can then be added to the set control limit F _M soft-internal in the door control 1 for the control of the motor 2.

This results in a calculated new limit value F ' _M for the closing and opening forces of the engine 2 as a function of the "set" limit value F _M for the closing and opening forces of the engine 2 (or the door 3) and the Rei ^¬ force F. _{R of} the engine 2.

The motor is then operated by the door controller 1 with this calculated threshold F ' _M instead of the set threshold F _M.

The friction force is preferably determined both in the opening direction 0 and in the closing direction S, and a separate new limit value F ^' _M for the opening direction 0 and for the closing direction S is determined from this

By measuring the force F _{R it} is ensured that the force F _A at the door edge 8 then approximately corresponds to the set limit value F _M for the closing and opening forces of the motor 2, ie F _M ~ F _A. Here, of course, the Sys ^¬ temgrenzen must not be exceeded (max. Torque of the drive).

By "parameterized forces" is meant that the closing and opening forces can be parameterized in the control.

Constant movement of the door or the door leaf is understood to mean a movement at a constant speed. The movement is caused by the drive system.

Preferably, two ranges are used: A measurement ^¬ area in the range x <= 25 cm. The second measuring range starts after completion of the mass determination. The mass determination ends in the range 10 cm <= x <= 20 cm, thus overlapping the measuring ranges, which is not critical.

Trigger level position (Einschwingstrecke) and speed Trigger Level (learning travel speed): After About ^¬ stride the velocity trigger level the first value is vorzugswei ^¬ se made to ^¬ after a Einschwingstrecke of 2 cm. Sword distance: Is preferably a parameterizable distance 0..10 cm before the closed position.

Negative Interval: This ensures that the "lowest" frictional force (mean-2 * standard deviation) is used, an assumption that is important to ensure that any closing and opening forces defined in the standard are not exceeded throughout the door.

Claims

claims 1. A method for controlling and / or regulating an electric drive motor (2) for opening or closing at least one door (3) or a door leaf, in particular at least one sliding door or a sliding door leaf of a lift, platform or a machine tool, for safety ^¬ reasons a force (Fa) with which the door (3) or the door leaf moves in the opening and / or closing direction (0 or S) is limited to a limit value (F _M ), characterized in that, it is determined before ^¬ preferably in a learning journey, a frictional force (F _R) of the door (3) or of the door leaf, preferably the entire door system (10) during the movement of the door or door leaf, and a drive force (F ' _M ) of the drive motor (2) is then limited as a function of the determined friction force (F _R ) and of the limit value (F _M ). 2. The method according to claim 1, characterized in that (F _R) by a measurement of the electric current (I) of the drive motor (2) is He ^¬ mediation of the friction force during a BEWE ^¬ supply of the door (3) or of the door leaf. 3. The method according to claim 2, characterized in that for the determination of the friction force (F _R ), preferably both for the opening direction (0) and for the closing direction (S), a mean value and a standard deviation of the electric current (I) are calculated. 4. The method according to claim 1, 2 or 3, characterized in that the frictional force (F _R) from the mean and the standard deviation of the electric current (I) and using a Motorkon ^¬ constants of the drive motor (2) is determined. 5. door control device (1) for controlling and / or regulating an electric drive motor (2) to open or close at least one door (3) or a door leaf, insbeson ^¬ particular at least one sliding door or a sliding door leaf of an elevator, the platform or a machine tool, where ^¬ when a force (Fa) at which the door (3) or the door ^¬ wings in opening and / or closing direction (B) moved to a limit value (F _M) can be limited, That is, that it is designed such that it, preferably in one Learning ride, a frictional force (F _R ) of the door (3) or the Türflü ^¬ gel, preferably of the entire door system (10), in the Be ^¬ movement of the door (3) or the door determined and a driving force (F ' _M ) of the Drive motor (3) then limited as a function of the determined friction force (F _R ) and of the limit value (F _M ). 6. door control device (1) according to claim 5, characterized by a current measuring device (4) for measuring the electric current of the drive motor (3) during a movement of the door (3) or the Türflü ^¬ gel. 7. door control device (1) according to claim 6, characterized in that it is designed to determine the frictional force (F _R ) by measuring the electric current (I) of the drive motor (2) during movement of the door (3) or the door leaf. 8. door control device (1) according to claim 7, characterized in that it is designed such that it calculates a mean value and a standard deviation of the electric current (I) for determining the frictional force (F _R ), preferably both for the opening direction (O) and for the closing direction (S). 9. door control device (1) according to claim 8, characterized in that it is designed to determine the friction force (F _R ) from the mean value and the standard deviation of the electrical current (I) and with the aid of an engine constant of the drive motor (3).