DE102019209391A1 - DEVICE AND METHOD FOR DOOR MOVEMENT CONTROL - Google Patents

Abstract

A door movement control device has a base body, a generator (11) which can be actuated by a relative movement of a door (105) with respect to a fixed point (109) of the door, an electrical energy store (12) which can be charged by the generator (11) during a first door movement (41) , a controller (15) and an electrically controllable braking device (16, 17) for braking the relative movement during a second door movement (42) following the first door movement (41). The generator (11) is designed to generate less energy during the second door movement (41) with a duration above a minimum duration (tm) than is necessary for the operation of the control (15) and the braking device (16, 17). The electrical energy store (12) is designed to store sufficient energy to enable the operation of the control (15) and the braking device (16, 17) during a second door movement with a limit time period (tg) which is longer than the minimum period (tm) is to enable.

Description

The invention relates to a device and a method for controlling a door movement. Such devices are used to control the movement of doors with a view to security and comfort needs.

Doors, windows and gates have security functions on the one hand and a certain risk potential on the other. They are designed to be reversibly movable with respect to certain suitable receptacles (frames) in order to be able to open and close building openings such as door openings or window openings. If the closing happens quickly, a shear mechanism occurs when a door leaf / window sash falls into the associated frame, which can cause injuries to people, for example if limbs or only fingers are trapped with rapid movements. In this respect, it is desirable to limit the dynamics of door leaves and window sashes to a certain maximum dynamic in order to minimize the risk of injury. At the same time, doors and windows have security functions. In the event of fire, they should close in order to prevent or slow down the spread of smoke and fire.

In order to meet the above requirements, door movement control devices are provided which suitably control the movement of an individual door. The control regularly includes the fact that a door movement that is too fast ("slamming") is braked. Braking can be done by suitably short-circuited the winding of a rotating electrical machine, which is moved along with the door movement via a gear (rotary movement), in order to generate a reactive force that slows the door back into the mechanics. The electrical machine is a rotating electrical machine and can be a specially provided brake motor or a separate brake winding of a generator or the generator itself.

6th shows a known arrangement in which the generator is used for braking. With 105 a door leaf or a window sash is indicated. A control device is attached to it 100 with a base body 103 attached to the door leaf. An arm is also provided 107 at a stationary support or fixed point 109 supported, wherein the connection with a sliding shoe 107.1 can be designed to slide. The arm 107 is opposite the main body 103 rotatable. 127 symbolizes the axis of rotation for the rotary movement. According to the rotation of the door leaf 105 turns the arm 107 relative to the base body 103 the device 100 including the axis of rotation 127. In the example shown, there is a mechanical energy store 128 intended. 126 symbolizes a gear, for which the axis 127 represents the drive shaft. 124 is the output shaft of the transmission, which is a generator 122 operates. The generator generates electrical energy that is used to supply energy to a controller 101 is needed. The control 101 can have analog and / or digital components. On the digital side, a processor or a suitable logic or the like can be provided in order to perform control or regulation tasks in an incoming, processing (regulator) and (to actuator) manner (e.g. from sensors). On the analog side, sensors and / or actuators and suitable drivers / converters / switches can be provided as part of the braking device.

The motion control in the embodiment of 6th (Braking with generator winding) takes place in that the generator terminals are either electrically short-circuited or not. If they are not short-circuited, this corresponds to electrical idling, and the reactive forces back into the mechanics (braking forces) are comparatively low. If, on the other hand, the terminals are short-circuited, this corresponds to loading the electrical circuit with a load corresponding to the electrical values (internal resistance) of the generator 122 . Then the repercussions in the mechanical system are correspondingly greater, it is braked. The short circuit can be set electronically. It can be set with pulse width modulation.

In other known devices, generator winding and brake winding are provided separately from one another in a machine, or even the motor and generator are provided as separate electrical machines. When the door movement is slowed down, the otherwise open brake winding is short-circuited while the generator winding remains unaffected, or the winding of the specially provided brake motor is short-circuited, which also leaves the generator unaffected.

The mechanical energy storage 128 can be provided to drive or support a door movement. It is loaded from a previous door movement. It can be a spring mechanism that absorbs mechanical energy. It can be charged by the shaft 127 and via this also release the energy stored in it again. Instead of a mechanical energy store, however, provision can also be made to support one of the door movements simply driven by gravity.

In any case, it is desirable to control / limit a door movement driven by gravity or a mechanical energy storage device, or also a door movement caused by users, in such a way that accidents, for example, due to Bruises or shear effects are unlikely or will not have any problems. Assuming a conventional device such that a door leaf is opened by a person against a spring of a mechanical energy storage device and the door is then automatically closed again by the mechanical energy storage device, it is both desirable to open the door quickly to acceptable values limit and also limit the speed of the door closing when the door is subsequently closed.

The door movement control devices mentioned cause an electromechanical intervention for the desired limits. Compared to mechanical limitations, they have the advantage that they are easier to control / regulate and are therefore less subject to aging phenomena and environmental influences (such as temperature). In any case, a generator is required for control in order to generate the energy required for control. It is assumed here that the control device has no external energy supply, but that power / energy must be generated on site, which is necessary in the various operating states in order to comply with safe operating states and / or normative specifications.

One problem with the design of the electrical and electronic components is that very different operating conditions can occur. 4a shows various processes that can occur. The abscissa is a non-linear time axis with seconds below. The ordinate is a rotational or translational location of a door leaf. In this context, it should be pointed out once again that “door” can actually be understood here as a door in the common sense of the word. Unless expressly excluded, the term should also include closures of other building openings, such as gates or casements. Rotational movements (door or window around the axis) can be identified with angle φ or translatory movements (sliding windows, sliding doors) with distance x.

First and second door movements are addressed below. The first door movement can be imagined as opening the door, while the second door movement is an inverse closing of the door. In some types of application, the definition can also be understood the other way round (first door movement closing, second door movement opening). As far as time-weighted movements are considered, an opening and closing movement of 90 ° (rotary) or from 0% opening to 100% opening (translational) is considered, unless otherwise stated.

4a shows a first, very conventional movement of a door with reference numerals 41a, 43a. It is assumed that the first door movement (opening) takes two seconds and maybe only 70 ° (starting from 0 ° = completely closed). This corresponds to the first door movement 41a. Immediately thereafter follows the second door movement 43a, during which the door closes again within three more seconds, for example driven by the mechanical energy store. This is a comparatively uncritical, conventional process.

Another process is with 41 b , 42b and 43b designated. 41 b corresponds to a slower opening (first door movement) within about 6 seconds to a rotary opening of a little over 90 °, then holding it open for about 2 seconds ( 42b ) and then a very slow closing within a further 82 seconds ( 43b ).

In this context, reference is made to the fact that the normative stipulates that door controls can initiate a door closure from 90 ° to 0 ° for 90 seconds. This means that the energy supply of the required components must also be ensured over this period.

Another scenario is with curve 41c , 42c , 43c shown. The door is opened wide within, for example, 4 seconds (part of the curve 41c ), for example up to a mechanical stop, and then remains open for a long time (up to 5,000 seconds, i.e. over 1 hour), which corresponds to a door that is kept open during a move (part of the curve 42c ). Then the door closes within 3 seconds (part of the curve 43c ). The control runs continuously a priori. However, since there is neither an external energy supply nor substantial internal energy storage, it is shortly after the start of the phase 42c suspend and only when energy is generated again by the generator at the beginning of the phase 43c start walking again.

It can be assumed that a generator coupled to the door movement generates energy during both the first and the second door movement. If one assumes that it is alternating current energy, a priori voltage curve would result at the terminals of the generator as with the envelope curve 44 in 4b shown. It can be a conventional sinusoidal curve with a frequency that correlates via an intermediate gear with the rotational frequency of the generator and thus the door speed. B. in the range of a few 10 Hertz to a few 100 Hertz.

One problem here, however, is that the speed of the generator also differs greatly in a directly correlated manner, corresponding to the widely differing door closing times (1.5 s to 90 s, for example - factor 60). Now, however, generators can only be operated sensibly in certain speed ranges or, if they are to be used in large speed ranges, must be built in a complex and large manner. In particular, low speeds (correspondingly slow door movements) cause problems here. Energy production is low here.

The lower diagram shows the effect of a pulse width controlled short circuit control on a winding used for braking purposes, which is used as a motion brake. Control pulses are generated cyclically with cycle time tz 45 generated whose duration is less than tz and is denoted by tk. The ratio tk / tz is called the duty cycle and can be between 0 and theoretically 100%. It is believed that in the times of the impulses 45 a short-circuit switch short-circuits the clamping voltage of the brake winding. This means that the ideal sinusoidal oscillation is chopped up and has time ranges of voltage 0, as with the individual pulses 46 with breaks 47 shown in between. If the generator winding is used as the brake winding, no energy can be generated during these times.

The timeline of the 4b does not match that of the 4a match. One can imagine that the 4b depicts a period of 10 milliseconds, but then the cycle times of the pulse width modulation (PWM) are unrealistically long, in reality they would be much shorter. The cycle time tz of the pulse width modulation can be significantly shorter than the oscillation periods of the voltage generated by the generator. Typical pulse width modulation frequencies are 20 kilohertz, corresponding to a cycle time of 50 microseconds.

Assuming that for very slow door movements (especially curve 43b , 82 seconds, or 90 seconds required by the standard) high braking effects and correspondingly high duty cycle of the pulse width modulation are necessary, the result is that in such cases the generation of usable energy decreases due to the low generator speed. If the latter is also used for braking, the energy harvest also decreases inversely to the duty cycle. It is therefore difficult to generate enough energy for very slow movements in order to manage the control of the process over the required time.

One possibility is to provide the generator so large that it delivers sufficient energy even with relatively long closing times (correspondingly slow generator rotation) in order to then still provide sufficient energy for the control etc. However, this leads to very large and correspondingly expensive generators and has the further disadvantage that very high voltages arise during rapid movements (correspondingly high speeds), which in turn create problems that have to be absorbed.

The object of the invention is to provide a door movement control device and a method for controlling a door movement which, with a small construction, also allow long-lasting movement patterns to be controlled.

This object is achieved with the features of the independent claims. Dependent claims are directed to preferred embodiments of the invention.

A door movement control device has a base body which can be attached to the door or to a fixed point with respect to which the door is movable. It has a generator that can be actuated due to the relative movement of the door with respect to the fixed point. A storage device for electrical energy is also provided, which can be charged by the generator. An electrical controller for controlling the electrical processes is provided. In addition, an electrically controllable braking device is provided for braking the relative movement. The generator is designed to be comparatively small, in particular so small that it generates less energy during a very slow door movement (in particular closing movement, second door movement) than is necessary for operating the controller and the braking device during this closing movement. In contrast, the energy storage device is designed to be so large that it stores sufficient energy to operate the controller and the braking device, even for very slow movement patterns.

The generator can then be made relatively small because it no longer has to supply sufficient energy with very slow processes (second door movement) with very little energy generation. Rather, a storage device for electrical energy is provided which has been charged beforehand (during a faster first door movement) and which is designed in such a way that it contributes the missing electrical energy during the aforementioned very slow (second door) movements.

• • eine elektrische Maschine (Motorgenerator) mit mindestens zwei getrennten Wicklungen bzw. Wicklungsgruppen, deren eine permanent mit dem Ladekreis verbunden ist und bei hinreichender Energieerzeugung (Drehzahl) den Elektroenergiespeicher lädt und deren andere für die Bewegungsbremsung verwendet wird (Fall „getrennte Wicklungen“),
• • zwei getrennte elektrische Maschinen, nämlich ein Generator, der für das Laden des Elektroenergiespeichers verwendet wird, und ein separater Motor für die Bewegungsbremsung (auch Fall „getrennte Wicklungen“),
• • eine elektrische Maschine (Motorgenerator) mit einer einzelnen Wicklung bzw. Wicklungsgruppe, die abwechselnd für das Laden des Elektroenergiespeichers und für das Bremsen der Türbewegung verwendet wird (Fall „gemeinsame Wicklung“),
• • eine Mischform derart, dass ein Teil der Generatorwicklung „getrennt“ ist und ausschließlich der Energieerzeugung dient und ein anderer Teil „gemeinsam“ abwechselnd/wahlweise für Energieerzeugung und für die Bewegungsbremsung verwendet werden kann.

Both the charging generator and the braking device use movements correlated with the door movement in order to bring about the desired effects. In principle, different construction methods are possible:

• • an electrical machine (motor generator) with at least two separate windings or groups of windings, one of which is permanently connected to the charging circuit and charges the electrical energy storage device when there is sufficient energy generation (speed) and the other of which is used for braking the movement (case of "separate windings"),
• • two separate electrical machines, namely a generator that is used to charge the electrical energy storage device, and a separate motor for braking movement (also in the case of "separate windings"),
• • an electrical machine (motor generator) with a single winding or winding group, which is used alternately for charging the electrical energy storage device and for braking the door movement (case of "common winding"),
• • A hybrid form in such a way that part of the generator winding is “separate” and is used exclusively to generate energy and another part can be used “jointly” alternately / alternatively for energy generation and for movement braking.

The design of the generator and in particular the generator winding (rated power) depends on whether it is present as a common or separate winding or winding group. With a common winding (group of windings), the generation of energy (generator operation) is interrupted during the period of braking (braking operation), so that the design of the common winding must be such that the generation of energy is sufficient during the time in which there is no braking.

The provision of a common winding or winding group instead of separate ones therefore does not necessarily have a positive effect on the size of the generator and thus the overall device. There is no need to install a separate brake winding. But the common winding, which is to be provided anyway, then has to be designed larger, so that the size saving is at least partially consumed again.

The design of the generator (the generator winding) can be so large, but also limited to this size, that with a comparatively fast first door movement (usually door opening), he / she charges the storage device for electrical energy that was previously assumed to be empty sufficiently in order to the desired slow movement pattern (second door movement, usually door closing), which require a long-term control process with slow and then insufficient generator speed, to be able to control the loading. The dimensions can be such that the previously empty electrical energy storage device is sufficiently charged by a first door movement within 2 s or 3 s or 5 s or 10 s or 20 s, but preferably greater than 0.5 seconds or greater than 1 second, preferably at about 1.5 seconds. It is then ensured that “normal” door movements charge the adequately dimensioned energy storage device with the correspondingly dimensioned generator to such an extent that a subsequent very slow door movement can be supplied with energy.

As the first door movement, opening the door z. B. from 0 ° to 90 ° of a hinged door or from 0% to 100% opening of a sliding door, while the second door movement is usually the automatic closing of the door from 90 ° to 0 ° or 100% nasch 0%. However, the conditions can also be set up in reverse. During the first door movement, mechanical energy can also be stored, which is used to drive the second door movement. In simple cases, it is simply gravity against which the first door movement occurs and which drives the second door movement. However, an energy store for mechanical energy can also be provided in the control device, which is charged during the first door movement and induces the second door movement. It can be, for example, a compression spring accumulator or a hydraulic accumulator (gas spring) or the like.

The door can be a stop door that is rotated in a reversing manner around an axis, or a sliding door that can be moved in translation. Insofar as the duration of door movements is considered, this is done, if not stated otherwise, for swing doors for a movement over a definition pivoting range that can be limited by 0 ° = door closed and target angle = door open, the target angle being between 80 ° and 180 °, preferably between 80 ° and 120 °, further preferably 90 °, or can be determined by a standardization or regulatory stipulation. For sliding doors, the sliding path from 0% opening to 100% opening is considered.

The generator can be an alternating current generator that charges the energy store via a rectifier. The rectifier can be a half-wave rectifier or a full-wave rectifier which is constructed using diodes or switchable elements. The generator can also deliver DC voltage at its terminals and feed this to the electrical energy storage device.

If the braking device has a short-circuit switch for a common winding, the electrical energy storage device can also be connected to the generator in the case of direct current via diodes be connected to prevent a set short circuit from also shorting the electrical energy storage.

The control device can have sensors in order to detect required parameters. The sensor system can include dynamic sensors and / or position sensors. The dynamic sensor system can evaluate electrical values such as the voltage induced by the generator or the frequency / period, which is a measure of the speed of the generator movement and thus the dynamics of the door movement. The position sensor system can have a resistance that is dependent on the door position and thus makes the door position electrically detectable.

The controller can have a setting device for setting a target speed profile of the second door movement, which is then implemented by the braking device and the associated controller. The setting can take place in accordance with sensor signals or through external inputs or through settings in the control.

The braking of the second door movement can be regulated in accordance with sensor signals, in particular those already mentioned, in order to achieve a predetermined target profile. Instead of a regulation, however, a control for setting a set profile can also be provided.

The control or control circuit has a voltage supply. The electrical energy storage device and a power supply fed by the generator (such as the mentioned rectifier or the generator directly if it outputs pulsating DC voltage) can be connected to it in parallel.

The generator has at least one generator winding, at the connections of which the generated power or energy for supplying energy to the circuit and for charging the electrical energy store is tapped. In one embodiment ("separate windings" case), a separate brake winding or even a separate braking electrical machine (motor) is provided in addition to the generator winding, which a priori also generates energy / power, but which is used for braking by preferably pulse width modulating its terminals short-circuited in a controlled or regulated manner, while the generator winding is not short-circuited, but supplies energy that can be tapped continuously. In another embodiment (“common winding” case, see above) the generator winding is also used for braking, in that its terminals are preferably short-circuited in a pulse-width-modulated manner or in a regulated manner.

The electrical energy store can be a chargeable battery or a capacitor. In particular, it can be an electrolytic capacitor or a power capacitor. Its capacitance can be greater than 10 mF (millifarad) or greater than 100 mF or greater than 200 mF and can be above 0.5 F and / or below 5 F. The size of the electrical energy store can be in the range of 8 mm by 15 mm. A specialist usually interprets the expression “in the range of” as +/- 10%.

In a method for controlling a door movement, an electrical machine (motor, motor generator, generator) is mechanically coupled to a door movement and generates an adjustable reaction to the movement of the door via a short circuit that can be controlled by an electronic controller on winding terminals. The design is such that so much electrical energy is generated by a generator during a first door movement and stored in a memory that during a subsequent second door movement, together with the stored electrical energy, enough energy is available for long-lasting second door movements to be able to supply the required energy.

• 1 eine schematische Darstellung der Erfindung,
• 2 Zeitdiagramme zu Generatorleistungen,
• 3 eine Schaltung einer Steuerungsvorrichtung,
• 4 Zeitdiagramme von Türbewegungen und von elektrischen Signalen,
• 5 Energiediagramme zu Türbewegungen, und
• 6 einen bekannten mechanischen Aufbau einer Türsteuerungsvorrichtung.

Embodiments of the invention are described below with reference to the drawings, which show

• 1 a schematic representation of the invention,
• 2 Time diagrams for generator outputs,
• 3 a circuit of a control device,
• 4th Time diagrams of door movements and electrical signals,
• 5 Energy diagrams for door movements, and
• 6th a known mechanical structure of a door control device.

1 shows a general circuit diagram of the electrical part of the door movement control device in the case of a common winding. Components according to this circuit diagram can be used in the device of 6th be built in. It can be attached to the movable door leaf or to an associated fixed point (wall around the door, door frame) and be connected to the respective opposite (fixed point or door leaf) with a force fit.

11 symbolizes a generator which is actuated by the door movement and which can also exert a braking reaction of a selectable strength on the door movement. It can be a DC or AC generator. He lies in Power flow between the door and the fixed point of the door (the fixed surroundings of the door including the door frame). A suitable drive mechanism drives the generator mechanically when a first door movement is caused (e.g. opening the door) and also initiates the reaction of the generator into the mechanical components.

In the case of hinged doors, an arm that can be rotated about an axis can generate a rotary movement that can be translated into a gear mechanism that in turn drives the generator. In the case of sliding doors, for example, a fixed toothed rack, which is to be understood as a fixed point, can cause a rotary movement of a translationally guided gearwheel, which in turn drives a gearbox that drives the generator in the output.

12 symbolizes the electrical energy storage. It can be a capacitor, in particular an electrolytic capacitor. But it can also be a battery. The capacitor can have a capacitance greater than 10 mF or greater than 100 mF. It can be between 0.5 F and 5 F.

14 symbolizes a charging circuit by means of which the generator 11 resulting electrical power for charging the electrical energy storage 12 leads. In the simplest case it is a simple connection between the terminals of the generator 11 (then direct current generator) and the terminals of the electrical energy storage system 12 . The charging circuit can also contain, for example, a rectifier circuit, for example a full-wave rectifier made up of diodes or switching elements, or just a half-wave rectifier with diodes.

15 symbolizes a control or control circuit. Their energy supply is at least temporarily, but preferably permanently, from the generator 11 or from its rectified power output and / or from the electrical energy storage 12 accomplished. The control 15th performs all of the control processes described. It can be digital and have a suitably dimensioned processor with associated other hardware (bus, RAM, ROM, interface, A / D conversion and vice versa). Among other things, the control generates 15th Output signals for controlling the braking device that brakes the door movement.

The braking device has a switch 17th on one winding of the generator 11 either short-circuits (switch closed) or not short-circuit (switch open). If braking is not carried out with the generator, but with a specially provided winding or a separate machine, the switch works 17th on your own winding or your own machine. The desk 17th is preferably an electronic switch, in particular a FET , such as a MOSFET, especially a power MOSFET. The desk 17th is from a driver 16 supplied with suitable switching signals. The circuit diagram of the switch 17th can be pulse width modulation (PWM). The driver 16 is then a PWM driver that depends on input signals from the controller 15th hand control signals for the switch 17th generated. The control signals then have a suitable pulse duty factor.

With 18th is referred to as sensors that control the control 15th provides suitable signals. Although it is drawn in such a way that it suggests the acquisition of external variables, it can at least partially work internally, for example by picking up amplitudes at the generator output in order to obtain information about the movement dynamics.

The dimensioning of the generator 11 is such that it is large enough to be able to manage the power supply to control a slow, safe second door movement on its own (e.g. if the energy storage device fails). This means the control of a second door movement for a closing time between about 2 and 5 seconds. The definition can also be made in accordance with legal or other regulatory requirements. Standard specifications can be taken into account here, in particular those of EN 16005.

The control and its power supply can include the operation of the control logic, possibly the sensors and the switch driver, as well as the switching of the switch itself, possibly with consideration of safety margins. Energy for braking the door movement itself can be disregarded here. The braking itself can be done by short-circuit control, so that no separate energy has to be used for this.

If, however, significantly longer second door movements are required, the dimensioning of the generator is sufficient 11 no longer there to effect their power supply. Instead is the electrical energy storage 12 dimensioned so large that it can store so much energy beforehand that the energy required to control them (possibly defined as above) is available for long-lasting second door movements. On the input side, this energy can be composed of what is generated by the generator 11 also contributes and what on the other hand from the electrical energy storage 12 is completed here. In short, it is the dimensioning of the generator 11 comparatively small, while the dimensions of the electrical energy storage 12 is comparatively large.

As I said it is possible to use the generator 14th to be provided with separate windings for generating electrical energy and for generating the mechanical reaction on the door movement (braking of the same).

The nominal power to be provided for the generator (based on uninterrupted operation) depends on whether the generator winding is also used for braking (common winding) or not (separate winding or winding group). With a common winding (sgroup), energy generation (generator operation) and braking (braking operation) alternate, so that the design of the common winding must be such that the energy generation in (interrupted) generator operation is overall sufficient so that it can be used in the event of a common winding is to be dimensioned larger than with separate windings / machines.
The sensors 18th is provided if regulation or control of the door closing process (second door movement) towards setpoints is desired. The dynamics can be derived from the recorded amplitudes or frequency / period duration of the generator output. The position can be derived from the resistance value of a position-dependently actuated potentiometer or from an integration over the speed.

2 shows energy schemes depending on time periods. The upper part of the 2 shows the first door movement, which is usually the opening of the door and which is used to charge the storage, in particular the electrical energy storage 12 and the mechanical energy store that may also be present. The lower half of the 2 shows the second door movement, usually the closing of the door, during which the storage (electrical energy storage 12 and possibly mechanical storage) energy is taken. The time axis is roughly logarithmic. The representations are not to be understood as the course of a movement over time. Rather, they are the time indications of the total duration of the movement shown in each case, i.e. the total duration of the first door movement in the upper half and the total duration of the second door movement in the lower half. Periods of less than 1 second are practically irrelevant. When the door is first moved (opened), they practically do not occur and can then also be limited by applying the brake. When closing the door (second door movement), security requirements require a minimum duration of t2 of approx. 3 seconds in order to avoid or at least reduce injuries caused by door leaves shearing. Here, too, faster dynamics can be regulated.

When a door is opened (first door movement) there is a time range 21st , 22nd starting at about t1 = 1.5 seconds as the fastest possible opening time and ending at approx. t3 = 15 seconds, during which the energy generated by the generator is sufficient to carry out control interventions during the first door movement and also the memory 12 to load sufficiently / fully. If the door takes longer to open (e.g. between t3 = 15 seconds and t4 = 20 seconds), the energy supply from the generator is sufficient to control the electronics during opening itself, but not to charge the electrical energy storage 12 . Even slower first door movements are not considered as they are practically irrelevant.

In the case of closing a door (second door movement) the energy is generated by the generator 11 , even if it is temporarily short-circuited for the purpose of braking, it is still sufficient if the movement profile to be controlled for the second door movement requires a period of time between the lower limit of about t2 = 3 seconds and upper limit approximately t3 = 15 seconds. In this case, energy is from the electrical energy storage 12 unnecessary. In other words, such processes can also occur without energy from the store 12 or when the storage tank is completely discharged 12 be controlled. The generator can be sufficiently dimensioned to allow a second door movement with a duration corresponding to the range 24 the 2 out of itself without the aid of the electrical energy store 12 to steer.

In a transition area 25 of about t3 until about t4 = 20 seconds the generated and available power (in spite of the temporarily short-circuited generator coil) is roughly the same as what is required to initiate the process. If, on the other hand, the duration of the second door movement (closing) should last longer than t4 , the energy generated by the generator is no longer sufficient to control this process. The missing energy can then be transferred to the previously charged electrical energy storage device 12 can be removed. It is dimensioned in such a way that together with the energy still generated by the generator 11 door closing times up to t5 can be generated, with t5 at 80 seconds or 90 seconds or 100 Seconds. Overall, this corresponds to the area 26th the 2 .

3 shows in more detail an electrical circuit diagram of the electrical part of the control in the case of a common winding for power generation and for braking. With 11 the generator is symbolized that the generator 11 in 1 corresponds. At its terminals K1 and K2 an alternating voltage U (t), I (t) is present. A full wave rectifier consisting of the diodes D5 , D7 , D1 and D2 rectifies the AC voltage and charges a capacitor 12 , which is used as an electrical energy storage 12 serves. The capacitor is dimensioned as described above. In the prior art, however, it is completely different, namely only dimensioned in such a way that it eliminates the short circuit interruptions 47 in the voltage generation in 4b are shown, smooths and can bridge for the power supply of the controller, i.e. time ranges in the millisecond or microsecond range. The component Dz is a zener diode for voltage limitation. This creates a DC voltage supply for the control circuit 15th .

3 below shows a switch 17th , which as a field effect transistor FET is trained. It is connected via a resistor R6 as part of the PWM driver 16 from the controller 15th including other components of the PWM driver 16 controlled. It is used to short-circuit the generator output and thus serves to optionally set the generator reaction to the door movement, i.e. to brake the door movement. If a separate brake winding / brake machine is provided, the switch works 17th not on the generator winding, but on the separate winding / machine.

More specific sensors 18a-c are drawn in the middle of the circuit diagram. The diodes D3 and D4 pick up the respective half-waves and lead them to voltage dividers R1 , R2 and R3 , R4 to. With these they can be scaled appropriately and then fed into an evaluation. They can be converted into digital and processed in this way. A position sensor system is shown at 18c, which makes the position of the door to be controlled electronically detectable, for example with a potentiometer Rp and series resistor R5 .

19 is a data memory for storing control parameters. However, entries can also be made here, such as specifications / entries / selection of locking profiles and the like. A setting device can be provided for setting a setpoint value for the duration or the speed of the second door movement. It can receive external inputs or generate setpoints based on internal processes. The pulse duty factor for the braking device can be set according to the setpoint value.

In 3 At the bottom right, the designs of the invention are compared with the known designs. This part of the drawing is to be understood qualitatively. The figure shows that compared to the prior art (100%) the generator 11 is designed comparatively small, while the energy storage 12 is designed to be comparatively large. Overall, this significantly reduces the size of the generator and the overall size of the device, as well as their costs.

5 shows qualitative energy quantities as a function of the time of the second door movement plotted as the abscissa. The curves are not the time courses of electrical quantities. The curve 51 shows the energy required to initiate a second door movement for the specified period. The energy is required on the one hand to operate the control circuit and on the other hand to operate the driver circuit and to control the switch. In simple cases, the energy requirement is proportional to the duration of the process, since the control activity and the switching activity run continuously and thus require more energy the longer they are operated. There are also energy-saving approaches for long-term processes. But even with them, the energy requirement increases over time, but possibly under-linear.

Curve 52 shows that from the generator 11 energy generated during the second door movement. Due to various effects, it decreases the longer the second door movement lasts, i.e. the less dynamic it is. The induced voltage decreases proportionally to the decreasing speed of the door movement, which by itself, however, could be absorbed by the longer movement. However, other effects lead to reduced energy generation. The use of the generator coil as a short-circuit operated brake is very important for this. No energy can be tapped during the short-circuit times. The slower the process should be (in 5 i.e. looking to the right), the harder you have to brake and the longer the short-circuit times ( 47 in 4b) on the generator, so that the energy generation times are correspondingly shorter ( 46 in 4b) are. Therefore, the energy generated during closing (second door movement) decreases 52 depending on the total duration of the process.

53 finally shows the initial state of charge of the electrical energy store 12 . It is independent of the duration of the second door movement, as the electrical energy storage is being charged 12 previously takes place independently of the subsequent second door movement during and by means of the first door movement. Only special operating cases such as a curve 41c , 42c , 43c in 4a can generate deviations. Normal operating modes, however, have a fully or adequately charged electrical energy store at the beginning of the second door movement 12 like with curve 53 indicated.

Starting from the (practically irrelevant) duration 0 of the second door movement towards longer durations, there is initially an excess of the generated energy (curve 52 ) versus the required energy (curve 51 ) in front. In this operating area there is energy from the electrical energy storage 12 not necessary, although it is there because of the previous loading and is available. Therefore, in such areas, even if there are special operating conditions such as the curve mentioned 41c-42c-43c the 4a are present, a safe (not too fast) closing of a door can still be controlled, because sufficient energy can be generated from the generator output alone. From a minimum duration tm and above, the conditions are reversed. The generated energy 52 is no longer sufficient to generate the required energy 51 to deliver. The difference is the charged electrical energy storage 12 taken from the curve 53 provides sufficient energy.

The design is also such that comparatively very slow second door movements can be initiated, for example up to a total duration of at least tg = 90 seconds. In 5 the ratios are designated in such a way that at tg = 90 seconds the required energy E3 even exceeds the initial energy content E2 of the electrical energy store 12 exceeds. Together with the still generated energy E1 from the generator 11 However, there is enough energy available to control the entire process (E1 + E2> E3). Only with even slower processes can the overall energy balance be insufficient. However, these are practically no longer relevant. The memory 12 but can also store significantly more energy, i.e. have a reserve, for example enough energy for operation for more than 100 s or for more than 150 s.

• • den Betrieb der zugeordneten Steuerungsschaltung (analog und/oder digital),
• • ggf. den Betrieb der verwendeten Sensorik,
• • den Betrieb des Schalttreibers und/oder des Kurzschlussschalters selbst,
• • regulatorische Vorgaben, und
• • Sicherheitsmargen, z. B. + 20% oder + 50% oder + 100%,

umfassen. Außer Betracht kann hier Energie für das Bremsen selbst der Türbewegung sein. Das Bremsen selbst kann durch Kurzschlusssteuerung erfolgen, so dass hierfür keine eigene Energie aufgewendet werden muss. Sollte allerdings aktiv gebremst werden, kann auch die hierfür benötigte Energiemenge mit einbezogen werden.As far as the sufficient amount of generated and / or stored amounts of energy to control door movements is considered, the considered input and accordingly the required amounts of energy can be considered

• • the operation of the assigned control circuit (analog and / or digital),
• • if necessary, the operation of the sensors used,
• • the operation of the switching driver and / or the short-circuit switch itself,
• • regulatory requirements, and
• • Safety margins, e.g. B. + 20% or + 50% or + 100%,

include. Energy for braking the door movement itself can be disregarded here. The braking itself can be done by short-circuit control, so that no separate energy has to be used for this. However, if the brakes are actively used, the amount of energy required for this can also be included.

The (time-dependent) generator power P (t), the consumed and lost energy Ek, the stored energy Eg, the capacitor capacity C and the capacitor voltage U are related in a simple approximation as follows: $${\displaystyle \int \text{P}\left(\text{t}\right)\text{German}=\text{Ek}+\text{Eg}=\text{Ek}+\text{C.}}\text{/ 2}*{\text{<figure-callout id="2" label="U" filenames="DE102019209391A1\_0002.png,DE102019209391A1\_0003.png" state="{{state}}">U</figure-callout>}}^{\text{2}}$$

When loading, Ek can be viewed as low and neglected or approximately taken as a fixed portion of Eg. A value above 5V or above 10V can be desired as the voltage on the capacitor (electrical energy storage) when it is sufficiently charged. At a speed that corresponds to a slow first door movement (0 ° to 90 ° in, for example, 5 s or 10 s or 20 s), the generator can produce a power of less than 2 W or less than 1 W or less than 0.5 Bring W or less than 0.2 W or less than 0.1 W. Furthermore, the generator can be designed in such a way that it generates more energy than is required at a speed that corresponds to a first door movement (0 ° to 90 °) in, for example, 5 s or 10 s or 15 s or 20 s, so that excess energy can be stored during this time, while it generates less energy than required with slower movements than those mentioned and the shortfall is added from the electrical energy storage.

Due to the dimensions mentioned, it is permissible to adapt the generator only to a smaller speed range (approximately corresponding to door movement times 1.5 s to 20 s - approximately factor 13th ). In contrast, it can be designed to be “deficient”, especially for slower movements, because in these areas energy is injected from the energy store, which is previously stored.

Unless expressly stated otherwise, the term “door” in this description and in the claims should also be understood to mean a window or a gate. Their movement is controlled in the same qualitative manner as that of a door in the true sense of the word.

Features in this description should be viewed as combinable with one another, even if their combination is not expressly described, provided that the combination is technically possible. Features that are described in a context, a figure, an embodiment or a patent claim are also to be seen as can be inferred from this context, this figure, this embodiment or this patent claim and can be combined with other contexts, figures, embodiments or patent claims, insofar as technically possible. Descriptions of method steps or methods should also be understood as a description of devices implementing these method steps or methods, and vice versa.

List of reference symbols

10

Door movement control device

11

generator

12th

Electric energy storage

13

control

14th

Charging circuit

15th

Control circuit

16

driver

17th

counter

18th

Sensors

21 to 26

Duration ranges

t1 to t5

Durations

41 a to 41c

First door movement

42b, 42c

Stop times

43a to 43c

Second door movement

44

Envelope curve

45

PWM pulses

46

Energy generation times

47

Short circuit times

51

Required energy

52

Generated energy

53

Stored energy

100

Door closer

101

Evaluation and control electronics

103

casing

105

Door leaf

107

Sliding arm

107.1

Sliding block

109

Slide rail

120

Braking device

122

Electric motor

124

Motor shaft

126

transmission

128

Mechanical energy storage

BG

Full wave rectifier

D1 to D8

Diodes

Dz

Zener diode

FET

Field effect transistor

K1, K2

Clamps

R1 to R6

Resistances

Rp

Potentiometer

Claims (19)

Door movement control device with a base body, a generator (11) which can be actuated by a relative movement of a door (105) with respect to a fixed point (109) of the door, and an electrical energy store which can be charged with electrical energy by the generator (11) during a first door movement (41) (12), a controller (15) that can be fed with electrical energy from the generator (11) and the electrical energy store (12), and an electrically controllable braking device (16, 17) for braking the relative movement during a second door movement following the first door movement (41) (42), characterized in that the generator (11) is designed to generate less energy during a second door movement (41) with a duration above a minimum duration (tm) than for the operation of the control (15) and the braking device (16, 17) is necessary during this second door movement, and the electrical energy store (12) is designed to store sufficient energy in order to enable the control (15) and the braking device (16, 17) to operate during a second door movement with a limit period (tg) which is longer than the minimum period (tm). Device according to Claim 1 , in which the generator (11) is further designed to have an emptied electrical energy store (12) for the operation of the control (15) and the braking device (16, 17) for the second door movement over the minimum or limit period during the preceding first To fill door movement sufficiently if its duration (ts) is less than 20 seconds or less than 10 seconds or less than 5 seconds or less than 3 seconds or less than 2 seconds and / or greater than 0.5 seconds or greater than 1 second, preferably 1.5 seconds. Device according to one of the preceding claims, in which, for the design, the first door movement (41) is defined as a pivoting movement from 0 ° to a target angle or vice versa or as a translational movement from 0% opening to 100% opening or vice versa, and in which for the design, the second door movement (42) is defined inversely to the first door movement (41), the target angle has a value between 80 ° and 180 °, preferably 90 °, or can be standardized or prescribed by regulations. Device according to one of the preceding claims, in which the minimum duration (tm) of a second door movement is greater than 10 s or greater than 15 s and / or less than 30 s or less than 25 s, and / or in which the limit period (tg) is greater than 80 s or greater than 85 s and / or less than 100 s or less than 95 s. Device according to one of the preceding claims, in which the braking device has a short-circuit switch (17) which can be actuated by the controller (15) in order to short-circuit current from a pair of terminals of a brake winding or the winding of the generator (11). Device according to Claim 5 , with a pulse width modulator (16) for generating pulse width modulated control signals for the short-circuit switch or switches (17). Device according to one of the preceding claims, with a sensor system (18) for detecting one or more movement parameters, the sensor system having a dynamic sensor system for detecting the speed of the door movement and / or a position sensor system for detecting the position of the movable door. Device according to one of the preceding claims, with a setting device for setting a closing profile and controlling the braking device according to the closing profile. Device according to one of the preceding claims, with a charging circuit (14) connected to the generator (11) and the electrical energy store (12) for charging the electrical energy store (11), wherein the charging circuit can have a rectifier. Device according to one of the preceding claims, in which the electrical energy store (12) and a power supply fed by the generator are connected to the voltage supply of the control in parallel. Device according to one of the preceding claims, with a mechanical energy store which is designed to be charged during the first door movement and to drive or support the second door movement. Device according to one of the preceding claims, in which the electrical energy store (12) is a capacitor whose capacitance is greater than 100 mF or greater than 200 mF or greater than 500 mF. Device according to one of the preceding claims, in which the base body can be attached to the movable door or a fixed point for this purpose. Device according to one of the preceding claims, with an arm which is rotatable relative to the base body and which is movable relative to its fixed point due to the relative movement of the door. Device according to one of the preceding claims, with a wheel or toothed wheel which is rotatable with respect to the base body and which is rotatable by the relative movement of the door with respect to its fixed point. Device according to one of the preceding claims, with a setting device for setting a setpoint value for the duration or the speed of the second door movement. Device according to one of the preceding claims, in which the generator (11) generates a power of less than 2 W or less than 1 at a speed corresponding to a first door movement from 0 ° to 90 ° in 5 s or 10 s or 20 s W or less than 0.5 W or less than 0.2 W or less than 0.1 W. Device according to one of the preceding claims, in which a motor is provided as part of the braking device (16, 17) and the generator (11), or in which a braking winding independent of the generator winding is provided in the generator (11) as part of the braking device (16, 17) is provided, or in which the generator winding is also part of the braking device (16, 17). Method for controlling a door movement, in which an electrical machine, in particular a motor or a motor generator or a generator, is driven via the door movement and generates an adjustable reaction to the door movement via a short circuit that can be controlled by an electronic controller at its terminals, whereby during a process When the door is opened, so much electrical energy is generated by the generator and stored in a memory that the electronic control can be operated with it when the door is then closed

Images