CN107683362A - Method and apparatus for moving door - Google Patents

Method and apparatus for moving door Download PDF

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Publication number
CN107683362A
CN107683362A CN201680032115.6A CN201680032115A CN107683362A CN 107683362 A CN107683362 A CN 107683362A CN 201680032115 A CN201680032115 A CN 201680032115A CN 107683362 A CN107683362 A CN 107683362A
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CN
China
Prior art keywords
door
driver
control device
invalid
speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201680032115.6A
Other languages
Chinese (zh)
Inventor
乌韦·布拉茨
乌韦·诺尔特
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of CN107683362A publication Critical patent/CN107683362A/en
Pending legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/632—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings
    • E05F15/643—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings operated by flexible elongated pulling elements, e.g. belts, chains or cables
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B17/00—Systems involving the use of models or simulators of said systems
    • G05B17/02—Systems involving the use of models or simulators of said systems electric
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/404—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/30—Electronic control of motors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/45—Control modes
    • E05Y2400/452—Control modes for saving energy, e.g. sleep or wake-up
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
    • E05Y2900/13—Type of wing
    • E05Y2900/132—Doors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45242—Door, panel, window operation, opening, closing

Landscapes

  • Engineering & Computer Science (AREA)
  • Power-Operated Mechanisms For Wings (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)

Abstract

The present invention relates to for a kind of method for moving door (11,12) and a kind of device.In addition, the present invention relates to a kind of door drive system (1), wherein advantageously using this method and the device.The purpose that the present invention is based on is：A kind of saving energy and simple method and device are provided, door (11,12) can be moved by methods described and device.It is advisable that：Door (11,12) is carried out from original position (s0) to final position (sE) movement, wherein by driver (20) driving gate (11,12), the driver is driven by control device (200).Control device (200) is according to the kinetic energy (E of doorK) and current position (s) make driver (20) invalid.

Description

Method and apparatus for moving door
Technical field
The present invention relates to for a kind of method for moving door and a kind of device.In addition, the present invention relates to a kind of driving of door System, wherein advantageously using this method and the device.
Background technology
This method and this device can be for example applied in the drive system for elevator door, railway platform curtain door or train door In.In addition to for example for other door drive systems of lathe, the device and this method can also be applied at those it He, in door system that it must be moved.
In electrically driven (operated) system of various modern, so-called recovery is typical for the purpose of energy efficiency. When electric drive is braked, instead of using the brake of machinery, the energy of surplus is reclaimed into electric energy again.It is too short in its movement System in desirably：The method for researching and developing selectable saving energy, wherein the electric drive of the system can not be in order to right Energy back optimizes or can not feed back energy for the reason for cost or structure space.
The content of the invention
The purpose that the present invention is based on is：There is provided and save energy and the simple, method and apparatus for moving door, by Methods described and device can effectively move door in a straightforward manner.
The purpose is realized by the method with the feature illustrated in claim 1.Here, door should be carried out from Beginning position to final position movement, wherein by driver driving gate, the driver is driven by control device.Control device Make driver invalid according to the kinetic energy of door and current position.Here, for example it can determine from current position up to final The remaining distance of position.
Here, the present invention is based on following knowledge：Also energy can be saved by making driver invalid in advance, this is advantageously Influence the total power consumption of gate driver.Door is then able to by the kinetic energy of its own across until the remaining road of final position Journey.The kinetic energy E of door is calculated from door speed v and door quality mK：
If final speed v is arrived in door brakingE, then draw and braking procedure EKEThe kinetic energy difference Δ E of kinetic energy afterwardsK：
In the case where the back door of braking procedure is totally stationary be applicable be：
EKE=vE=0
It is particularly advantageous：By the necessity for eliminating mechanical brake so that gate driver on the whole can it is smaller and It is lighter.Similarly, this is applied to the size determination of driver in itself, and the driver need not also almost absorb braking energy, and And if necessary, size mainly can be more advantageously determined in terms of thermal design.
In an especially advantageous executive mode, control device, which is based on model, makes driver invalid.Here, model need not It is the complete model of whole drivetrain, alternatively it can be considered that multiple true feasibilities.In one simple case, it is a kind of It would is that using the following speed of door and/or position as the control function that parameter stores enough, substantially protected in boundary condition Hold it is constant in the case of in the speed and/or opening position driver can be made invalid.This parameter for example can be directly at this It is stored in during the manufacture of kind control device in control device.Can also be when door starts or automatically in the operation just carried out Period determines and/or storage parameter.If it is considered that other boundary conditions, then can also use obvious more complicated model. This this have the advantage that：Different complicated moulds can be used according to the demand to driver and according to the efficiency of control device Type.Thus, it is possible to which this method is more flexibly used.
In another advantageous embodiment, model considers the disturbance variable acted on door, and the disturbance variable is especially It is frictional force.From frictional force FfrictIn calculate until final position sEFrictional energy Efrict：
Efrict=Ffrict·(sE-s)
If set frictional energy EfrictΔ E poor equal to kinetic energyK：
Efrict=Δ EK,
So obtained according to current location s for reaching target location sEWith target velocity vERequired speed v (s)：
Now, feasible mathematical modeling is obtained by the formula.In this case, the model considers Men Cong original positions It is moved to the constant friction that must pull against during final position.If it is considered as other disturbance variables, then it is possible that：Also appoint Meaning ground is to the model extension.Frictional force can also have related, constant to door movement, linear or other correlations. In a particularly simple embodiment, constant frictional force is only assumed that.If considering disturbance variable bigger, the model It is more accurate.Certainly, increasingly complex and the model the calculating of establishing of the model more expends.Anyway all can be significant It is：Only consider to account for main disturbance variable.Therefore hypothesis below can be applicable：The friction that door is subjected to is to account for main effect. This this have the advantage that：Sufficiently accurate model can be established with method in a straightforward manner, reliably to determine to be used for make Driver invalid time point or position.
In another embodiment, model considers the related parameter of abrasion.If should occur during gate driver is run Abrasion, then it is contemplated that changing frictional force.This change can be considered by model and then ensure the lasting accurate of door It is mobile.
In another advantageous embodiment, control device performs the study operation of door, to determine for making driver Invalid related parameter.Here, it can be the particular location of door.But friction parameter is also can determine, so as to by the ginseng Count more complicated model parameterization.Parameter in itself really usual practice if being carried out by simple iteration.On the other hand, driver is existed Checked in the case of constant airspeed in a manner of repeatedly switching off and on：Whether door terminates along moving for correct direction.Same energy Enough consider other method of testings, such as the speed of change.It is particularly advantageous：Only drive parametrization automation and in door Device can be performed using ground, and without performing in production.This this have the advantage that：Directly consider perimeter strip Part, situation and/or position and then the Men Yuqi mass actually to be used for example are installed.
In an especially advantageous embodiment, control device by the speed of door and/or position compared with theory locus, And reactivate driver when in deviation in terms of speed and/or distance.Theory locus are the distances that should be undergone through moving into one's husband's household upon marriage Speed change curves.Because all boundary condition can not be modeled, then desirably：After making driver invalid Also perform the option for intervention.To this needs：The speed of control device recognitiion gate.For example, this can be by directly in motor Place is by rotary encoder or decomposes instrument measurement to carry out.If now determine that：In the presence of and theory locus deviation, then control set It is standby to reactivate driver and returned to by briefly intervening to reboot at door on theory locus.The of short duration intervention is for example It can be the torque pulsation of driver.
In another advantageous embodiment, control device consider theory locus near tolerance range in the case of again Activate driver.Tolerance range is the deviation born between theory locus and measured value in this case.The tolerance range It can be applicable in terms of speed and in terms of position.If current measured value is also located within the tolerance range, then control is set It is standby that driver can be made invalid.If present measured value differs markedly from theory locus, then there is also control device herein to do Pre- feasibility.Therefore control device activates driver, to control the speed of door or position to be again in tolerance range.This This have the advantage that：Not further obvious little deviation can be tolerated in during operation, and can keep making driver without Effect.It is thus possible to enough more effectively apply this method.
In another advantageous embodiment, control device considers tolerance range when making driver invalid.This has The advantages of be：Control device merely have to respectively in one direction, driver is driven in a manner of braking or in the way of acceleration, because The tolerance range of whole width along direction opposite to be respectively present, any of control device is not needed within the whole width Action.
The purpose for performing the device of the method according to the invention also by realizing, wherein device has：Driving Device, the driver are designed for driving gate；And control device, for driving driver.
The especially advantageous application of apparatus and method is door drive system, and it has at least one door.Especially it is mobile When moving in system, such as train or the door drive system of subway or tramcar or at the same time substantial amounts of door, such as railway platform curtain door, It is important that energy-efficient.Unrelated with its, the energy efficiency and driver that can also improve such as elevator door can design Obtain smaller and then lighter.
Brief description of the drawings
Below, with reference to the accompanying drawings in the embodiment that shows be described in detail and illustrate the present invention.It shows：
Fig. 1 shows door drive system,
Fig. 2 shows the control of driver,
Fig. 3 shows the speed change curves of door, and
Fig. 4 shows the superposition of the speed change curves according to Fig. 3.
Embodiment
Fig. 1 shows door drive system 1, and it has：2, two driver 20, control device 200, driving element wheels 21 and 22 Two doors of one-level 11 and 12, the two doors are coupled in driving element 2 via retaining element 23 respectively.Control device 200 is to drive The dynamic supply control signal of device 20 and power.For example, can be rectification circuit and the motor of electricity commutation herein.Door 11 and 12 is being opened Position in show.Door 12 now should be from original position S0It is moved to final position SE.Arrow s shows moving direction and door 12 The known coordinate system from formula.But door 11 similarly mobile relative to the mirror image of door 12, therefore abandon in the side of door 12 Face carries out separated consideration.Now, if door 12 is accelerated to speed v by driver 20, then door has kinetic energy EK.Now, root According to the present invention, by control device 200 according to door 12, for example on final position sECurrent position s and kinetic energy EKMake driving Device 20 is invalid.The kinetic energy E of door 11 and 12KTherefore in order to across until final position sERemaining distance and reduce.Here, for example It can be considered that frictional force.Therefore it is possible that：By ahead of time make driver 20 invalid save following energy, it is necessary to the energy with Just across remaining distance and however need not at all be suffered a loss in terms of the final position of door by the driver 20 of activation. This is especially favourable in following system, and the driver of the system is unsuitable for reclaiming in structure and the reasons why electric.
Fig. 2 shows model M, and the model obtains current position s, current speed v and disturbance variable X as input Variable.Disturbance variable X represents interfering influence of OR gate driver on the door herein, can for example represent complete in motor whereby The frictional force or dragging torque of category type.Control signal 222 is sent to control device 200 by model M, and the control device drives again Make driver 20.Regulate signal 222 for example can be for making the invalid signal of driver.In the case of constant airspeed, do It is as proportional to motor current I as possible to disturb variable X.Therefore, disturbance variable X can also derive from motor current.In addition, mould Type M can be integrated into control device 200.What can also be considered is：It is furnished with velocity sensor to driver 20.For example, herein Can be that the encoder of one signal of output or decomposition instrument, the signal can be converted into speed v.Sensor sheet can be passed through Body, control device 200 or model M carry out the signal transacting.It is same it can be considered that be：Speed v via other variables, for example Curtage calculates.This can be carried out in itself by model M and mainly driver 20 the regulation without sensor feelings There is provided under condition by control device 20.
Fig. 3 shows two speed change curves 31,32 by distance S.Speed change curves 31 are conventional system institute energy The speed change curves enough undergone.Here, door is accelerated until constant speed in the I of first area.Then, the constant speed exists Kept in second area II, until speed returns again to final speed V in the 3rd region IIIE.In gate driver, speed Therefore degree can be also returned until static.The curve that door of the speed change curves 32 without driver is undergone.In this case, example Such as consider constant friction power.Also as can be seen：The intersection point 33 of two speed change curves 31 and 32.Intersection point 33 marks following point, In the point driver can be made invalid, to reach and the identical final position S of speed change curves 31E。
Fig. 4 shows the superposition of two known speed change curves 31 and 32 from Fig. 3.The superposition is hereinafter referred to as theory Track 40.Theory locus 40 are by distance S speed change curves, when door is linearly added by driver in the I of first area Speed obtains the speed change curves when constant speed.Second area II terminates constant speed and made at point 33 Driver is invalid.3rd region III is speed v change curve, and the change curve of the speed v is by turning off driver and true It is fixed.In addition, it is seen that tolerance range Δ v, Δ S.Tolerance range Δ v, Δ S are the regions for surrounding theory locus 40, in this region certainly Point 33, the actual speed change curve of door should move.If the actual speed change curve of door be located at tolerance range Δ v, Δ S it Outside, then therefore control device 200 recognizes the measured value outside the tolerance range Δ v, Δ S, therefore energy can be again Reactivate driver.Under nonlinear friction condition and other disturbance variable X, therefore it can also ensure that an arrival just True final position SE.Described function can for example be configured to the software module in control device 200, similar comparator Or other common controllers.
In summary, the present invention relates to the method and device for moving door 11,12.In addition, the present invention relates to this door Drive system 1, wherein advantageously using this method and the device.The purpose that the present invention is based on is：It is proposed to save energy and letter Single method and device, door 11,12 can be moved by it.It is proposed：Door 11,12 is performed from original position s0To final position sEMovement, wherein door 11,12 driven by driver 20, and the driver is driven by control device 200.Control device 200 According to the kinetic energy E of doorKMake driver 20 invalid with current position s.

Claims (10)

1. one kind is used for the method for moving, especially opening or closing door (11,12), wherein the door (11,12) is carried out from starting Position (s0) to final position (sE) movement, wherein drive the door (11,12) by driver (20), the driver by Control device (200) drives, and wherein described control device (200) is according to the kinetic energy (E of the doorK) and current position (s) make the driver (20) invalid.
2. according to the method for claim 1, wherein, the control device (200), which is based on model (M), makes the driver (20) it is invalid.
3. according to the method for claim 2, wherein, the model (M) considers the interference acted on the door (11,12) Variable (X), especially frictional force.
4. according to the method in claim 2 or 3, wherein, the model (M) considers the related parameter of abrasion.
5. according to any method of the preceding claims, wherein, the control device (200) perform the door (11, 12) study operation, to determine for making the invalid related parameter of the driver (20).
6. according to any method of the preceding claims, wherein, the control device (200) is by the speed of the door (v) and/or the position (s) is compared with theory locus (40), and when having deviation in terms of speed (v) and/or distance (s) Reactivate the driver (20).
7. according to the method for claim 6, wherein, the control device (200) is considering that the theory locus (40) are attached The driver (20) is reactivated in the case of near tolerance range (Δ v, Δ S).
8. according to any method of the preceding claims, wherein, the control device (200) is considering the theory Make the driver (20) invalid in the case of the tolerance range (Δ v, Δ S) of track (40) nearby.
9. a kind of be used to perform device according to any method of the preceding claims, described device has：
Driver (20), the driver are designed for driving the door (11,12), and
Control device (200), for controlling the driver (20).
10. a kind of door drive system (1), has device according to claim 9, the door drive system also has at least One door (11,12).
CN201680032115.6A 2015-06-10 2016-04-26 Method and apparatus for moving door Pending CN107683362A (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102015210594.6 2015-06-10
DE102015210594.6A DE102015210594A1 (en) 2015-06-10 2015-06-10 Method and device for moving a door
PCT/EP2016/059250 WO2016198204A1 (en) 2015-06-10 2016-04-26 Method and device for moving a door

Publications (1)

Publication Number Publication Date
CN107683362A true CN107683362A (en) 2018-02-09

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ID=55913607

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201680032115.6A Pending CN107683362A (en) 2015-06-10 2016-04-26 Method and apparatus for moving door

Country Status (4)

Country Link
EP (1) EP3281069A1 (en)
CN (1) CN107683362A (en)
DE (1) DE102015210594A1 (en)
WO (1) WO2016198204A1 (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB852876A (en) * 1958-05-22 1960-11-02 Henry Walter Mayer King Improvements in or relating to sliding doors
US4498033A (en) * 1981-08-11 1985-02-05 Hokuyo Automatic Co., Ltd. Automatic door actuator
EP1064448B1 (en) * 1998-03-16 2001-10-24 GEZE GmbH Sliding door with emergency opening or closing device
CN1754817A (en) * 2004-10-01 2006-04-05 因温特奥股份公司 Inputting or adjusting reference positions in a door controller
CN1804356A (en) * 2005-01-11 2006-07-19 多玛两合有限公司 Power operator opening and/or closing a door
US20100115853A1 (en) * 2008-11-12 2010-05-13 Globe Motors, Inc. Method of controlling an automatic door system
DE102012210592A1 (en) * 2012-06-22 2013-12-24 Geze Gmbh Automatic revolving door system for use in wall of building, has drive device operable based on signal of position detection device and comprising calculating unit that automatically adjust brake point based on variable parameter

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004061687A1 (en) * 2004-12-22 2006-07-06 Daimlerchrysler Ag Vehicle door with a braking function
WO2007028850A1 (en) * 2005-09-05 2007-03-15 Kone Corporation Elevator arrangement

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB852876A (en) * 1958-05-22 1960-11-02 Henry Walter Mayer King Improvements in or relating to sliding doors
US4498033A (en) * 1981-08-11 1985-02-05 Hokuyo Automatic Co., Ltd. Automatic door actuator
EP1064448B1 (en) * 1998-03-16 2001-10-24 GEZE GmbH Sliding door with emergency opening or closing device
CN1754817A (en) * 2004-10-01 2006-04-05 因温特奥股份公司 Inputting or adjusting reference positions in a door controller
CN1804356A (en) * 2005-01-11 2006-07-19 多玛两合有限公司 Power operator opening and/or closing a door
US20100115853A1 (en) * 2008-11-12 2010-05-13 Globe Motors, Inc. Method of controlling an automatic door system
DE102012210592A1 (en) * 2012-06-22 2013-12-24 Geze Gmbh Automatic revolving door system for use in wall of building, has drive device operable based on signal of position detection device and comprising calculating unit that automatically adjust brake point based on variable parameter

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Publication number Publication date
EP3281069A1 (en) 2018-02-14
DE102015210594A1 (en) 2016-12-15
WO2016198204A1 (en) 2016-12-15

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