DE102021114570A1 - Method of operation, control and building or enclosure closure drive device with frequency converter - Google Patents

Abstract

In order to optimize an opening and closing movement while at the same time saving personnel and material resources, the invention creates an operating method for a building or enclosure closure drive device (34) for motorized movement of at least one wing (20) of a building or enclosure closure (10), the A building or fence closure drive device (34), a building or fence closure drive (38) with an electric motor (46), a load parameter detection device (40) for detecting a load parameter dependent on a load on the building or fence closure drive (38), and a frequency converter (42) for controlling the electric motor (46), comprising:a) operating the frequency converter (42) in a closed-loop control mode in order to control the electric motor (46) with the load parameter detected by the load parameter detection device (40) as an input variable,b) monitoring on the basis of the course d it load parameters whether the wing (20) driven by the building or enclosure closure drive (38) runs evenly, andc) switching the frequency converter (42) to U/f operation if in step b) an uneven running of the wing (20 ) is detected.

Description

The invention relates to an operating method for a building or enclosure closure drive device for motorized movement of at least one wing of a building or enclosure closure. The invention further relates to a controller for such a building or enclosure closure drive device. Further, the invention relates to a building or enclosure closure drive device having the controller and the building or enclosure closure drive means. The invention further relates to a building or enclosure closure provided therewith. Finally, the invention relates to a computer program or a computer program product with machine-readable control instructions for carrying out the operating method.

1. [1] „Rolltore und Rollgitter“, Firmenbroschüre der Hörmann KG Verkaufsgesellschaft mit dem Druckvermerk „Stand 04.2020 / Druck 04.2020 / HF 84555 DE / PDF“, heruntergeladen aus dem Internet unter www.hoermann.com am 20.04.2021;
2. [2] „Doppel- und Sammelgaragentore“ Firmenbroschüre der Hörmann KG Verkaufsgesellschaft mit dem Druckvermerk „Stand 04.2018 / Druck 09.2018 / HF 86972 DE / PDF“, heruntergeladen aus dem Internet unter www.hoermann.com am 20.04.2021;
3. [3] „Schnelllauftore“, Firmenbroschüre der Hörmann KG Verkaufsgesellschaft mit dem Druckvermerk „Stand 04.2019 / Druck 04.2019 / HF 84894 de / G.xx“, heruntergeladen aus dem Internet unter www.hoermann.com am 20.04.2021;
4. [4] „Industrie-Sektionaltore“, Firmenbroschüre der Hörmann KG Verkaufsgesellschaft mit dem Druckvermerk „Stand 04.2020 / Druck 04.2020 / HF 86465 DE / PDF“, heruntergeladen aus dem Internet unter www.hoermann.com am 20.04.2021;
5. [5] „Anleitung für Montage, Betrieb und Wartung - Wellenantrieb für Industrie-Sectionaltore“ ", Firmenbroschüre der Hörmann KG Verkaufsgesellschaft mit dem Druckvermerk „TR10E001-J RE / 06.2016“, heruntergeladen aus dem Internet unter www.hoermann.com am 20.04.2021;
6. [6] „Industrieantriebe für Sektionaltor - Wellenantriebe, Steuerungen und Zubehör - Brandschutzmeldung für Feuerschutz-Schiebetore - Ersatzteil-Übersicht - Gültig ab 01.03.2020“ '', Firmenbroschüre der Hörmann KG Verkaufsgesellschaft mit dem Druckvermerk „Stand: 03.2020 HF 85609 / PMD12265-09 RE / de“, heruntergeladen aus dem Internet unter www.hoermann.com am 20.04.2021;
7. [7] WO2019/007764 A1
8. [8] DE 199 17 831 A1
9. [9] WO 2017/125257 A1
10. [10] DE 10 2018 112 439 A1
11. [11] „Frequenzumrichter“ - Wikipedia, abgerufen am 20.03.2021 unter „https://de.wikipedia.org/w/index.php?title=Frequenzumrichter&oldid=209 910364“
12. [12] Anleitung für Montage, Betrieb und Service Industrietor-Steuerung B 460 FU STA für Schiebetore, betriebsinternes Dokument
13. [13] Anleitung für Montage, Betrieb und Service Industrietor-Steuerung B 460 FU K für Kipptore, betriebsinternes Dokument
14. [14] Anleitung für Montage, Betrieb und Service Industrietor-Steuerung B 460 FU für Wellenantrieb WA 400 FU / WA 400 M-FU / ITO 400 FU, betriebsinternes Dokument

For the technological background and the state of the art, reference is made to the following references:

1. [1] "Rolling shutters and rolling grilles", company brochure of Hörmann KG Vertriebsgesellschaft with the printer's note "Stand 04.2020 / Druck 04.2020 / HF 84555 DE / PDF", downloaded from the Internet at www.hoermann.com on 04/20/2021;
2. [2] "Double and collective garage doors" company brochure from Hörmann KG Vertriebsgesellschaft with the printer's note "Status 04.2018 / Print 09.2018 / HF 86972 DE / PDF", downloaded from the Internet at www.hoermann.com on 04/20/2021;
3. [3] "High-speed doors", company brochure of Hörmann KG Vertriebsgesellschaft with the printer's note "Stand 04.2019 / Druck 04.2019 / HF 84894 de / G.xx", downloaded from the Internet at www.hoermann.com on April 20, 2021;
4. [4] "Industrial Sectional Doors", company brochure of Hörmann KG Vertriebsgesellschaft with the printer's note "Stand 04.2020 / Druck 04.2020 / HF 86465 DE / PDF", downloaded from the Internet at www.hoermann.com on 04/20/2021;
5. [5] "Instructions for assembly, operation and maintenance - shaft drive for industrial sectional doors"", company brochure of Hörmann KG Vertriebsgesellschaft with the print note "TR10E001-J RE / 06.2016", downloaded from the Internet at www.hoermann.com on April 20th. 2021;
6. [6] "Industrial drives for sectional doors - shaft drives, controls and accessories - fire protection notification for fire protection sliding doors - spare parts overview - valid from March 1st, 2020"'', company brochure of Hörmann KG Vertriebsgesellschaft with the print note "Status: 03.2020 HF 85609 / PMD12265- 09 RE / de”, downloaded from the Internet at www.hoermann.com on April 20, 2021;
7. [7] WO2019/007764 A1
8. [8th] DE 199 17 831 A1
9. [9] WO 2017/125257 A1
10. [10] DE 10 2018 112 439 A1
11. [11] "Frequency converter" - Wikipedia, accessed on March 20, 2021 under "https://de.wikipedia.org/w/index.php?title=Frequency converter&oldid=209 910364"
12. [12] Instructions for the installation, operation and service of the B 460 FU STA industrial door control for sliding doors, in-house document
13. [13] Instructions for the installation, operation and service of the B 460 FU K industrial door control for up-and-over doors, in-house document
14. [14] Instructions for installation, operation and service of industrial door control B 460 FU for shaft drive WA 400 FU / WA 400 M-FU / ITO 400 FU, internal company document

Some of the terms used here are explained and defined below. Building closures are used to close openings in buildings. Enclosure closures are used to close off openings in enclosures, such as driveways. The building or enclosure closures in question have a mobile wing for opening and closing the opening. Examples of building and enclosure closures are windows, doors and gates, particularly of the type shown in references [1] to [4]. Examples of building or enclosure closures are door operators and gate operators. The building or fence closure drives in question here have an electric motor, in particular a three-phase motor, and a gear. For example, the building or fence closures are designed as shaft gate drives for driving a shaft connected to the wing in a geared manner of a building and fence closure designed as a gate or as towing drives with a carriage guided to move back and forth by the electric motor, to which the wing can be articulated, educated. Examples of building or enclosure closure drives of the type under discussion here are shown and explained in references [1] to [6]. In particular, references [1] to [6] disclose little about building or enclosure closure driving means for power moving at least one wing of a building or fence closure, wherein the building or fence closure drive means comprises a building or fence closure drive having an electric motor and load parameter detection means for detecting a load parameter dependent on a load on the building or fence closure drive. In particular, an absolute value encoder, also known from [7], for example, is provided for detecting an absolute angle of rotation of an output shaft of the building or enclosure closing drive designed as a gate drive, by means of which the respective gate position of the connected gate leaf and thus also the movement path and also the movement speed of the gate leaf can be recorded is. The speed of movement is mostly dependent on the load and can be used as a load parameter for detecting a load. Alternatively or additionally, instantaneous current strength or instantaneous power can be used as load parameters.

References [8] to [10] disclose different operating methods and appropriately implemented controls for building or enclosure closure drives. A definition of the term "frequency converter" can be found in reference [11] and a typical structure is explained there.

As can be seen from references [1] to [6], building or enclosure closures are constructed very differently, with the wings often being moved vertically and being connected to springs or the like for weight balancing. Depending on operation or weather conditions or signs of aging, loads can vary at different positions in the movement path. Certain deviations can lead to uneven running of the sash in certain operating modes, which can result in complaints from the end customer and increased service calls.

The invention has set itself the task of creating a more efficient operating method with which improved operation of the driven wing can be achieved with a reduced risk of complaints and service calls while conserving resources.

In order to achieve this object, the invention provides an operating method according to claim 1. A correspondingly configured control, a building or enclosure closure drive device provided therewith, and a computer program [product] are specified in the dependent claims.

Advantageous configurations are the subject matter of the dependent claims.

1. a) Betreiben des Frequenzumrichters in einem Regelungsbetrieb, um den Drehstrommotor mit dem durch die Lasterfassungserfassungseinrichtung erfassten Lastparameter als Eingangsgröße rückgeführt zu regeln,
2. b) Überwachen anhand des Verlaufs des Lastparameters, ob der durch den Gebäude- oder Einfriedungsabschlussantrieb angetriebene Flügel gleichmäßig läuft, und
3. c) Umschalten des Frequenzumrichters auf einen U/f-Betrieb, wenn ein in Schritt b) ein ungleichmäßiger Lauf des Flügels festgestellt wird.

According to one aspect thereof, the invention provides an operating method for a building or fence closure drive device for motor-driven movement of at least one wing of a building or fence closure, the building or fence closure drive device having a building or fence closure drive with an electric motor, a load parameter detection device for detecting one of a load having a load parameter dependent on the building or enclosure closure drive and a frequency converter for driving the electric motor, comprising:

1. a) operating the frequency converter in a closed-loop control mode in order to control the three-phase motor with the load parameter detected by the load detection device as an input variable,
2. b) monitoring whether the blade driven by the building or enclosure closure drive is running smoothly based on the history of the load parameter, and
3. c) Switching the frequency converter to V/f operation if an uneven running of the wing is determined in step b).

• a1) Erfassen als Lastparameter wenigstens einen Parameter aus der Gruppe, die eine Drehgeschwindigkeit einer als Teil des Kraftübertragungsweges vorgesehenen Welle, wie Motorwelle oder Abtriebswelle, des Gebäude- oder Einfriedungsabschlussantriebs, einen Momentanstrom des Elektromotors, ein Drehmoment an einer kraftübertragenden Welle, wie Motorwelle oder Abtriebswelle, des Gebäude- oder Einfriedungsabschlussantriebs, eine Momentanleistung des Elektromotors und einen Schlupf an dem Elektromotor umfasst, und Durchführen der Regelung anhand dieses wenigstens einen Parameters.

It is preferred that step a) comprises:

• a1) Detect as a load parameter at least one parameter from the group that includes a rotational speed of a shaft provided as part of the power transmission path, such as a motor shaft or output shaft, of the building or enclosure closure drive, an instantaneous current of the electric motor, a torque on a power-transmitting shaft, such as a motor shaft or output shaft , the building or enclosure closure drive, an instantaneous output of the electric motor and a slippage at the electric motor, and carrying out the control based on this at least one parameter.

• a2) Durchführen einer Vektorregelung, um anhand eines Kennfeldes mit Motorkennwerten die momentanen Blind- und Wirkstromkomponenten des Elektromotors auf Basis des Lastparameters als Eingangsgröße zu regeln.

It is preferred that step a) comprises:

• a2) Carrying out a vector control in order to control the instantaneous reactive and active current components of the electric motor on the basis of the load parameter as an input variable using a characteristic map with motor parameters.

• b1) Bilden eines Mittelwerts einer Differenz eines Istwerts und eines Sollwerts des Lastparameters über die Zeit oder den Bewegungsweg des Flügels oder den Drehwinkel des Gebäude- oder Einfriedungsabschlussantriebs und Vergleichen des Mittelwerts mit einem Schwellwert.

According to one possible embodiment, step b includes):

• b1) Forming an average of a difference between an actual value and a target value of the loadpa rameters over time or wing travel or rotation angle of the building or enclosure closure drive and comparing the mean value to a threshold value.

• b2) Bilden eines Integrals eines aus Istwert und Sollwert des Lastparameters gebildeten Differenzwerts über die Zeit oder den Bewegungsweg des Flügels oder den Drehwinkel des Gebäude- oder Einfriedungsabschlussantriebs und Vergleichen des Integrals mit einem vorbestimmten Schwellwert, um einen gleichmäßigen oder ungleichmäßigen Lauf des Flügels festzustellen.

In a preferred embodiment, it is provided that step b) includes:

• b2) Forming an integral of a difference value formed from the actual value and the setpoint value of the load parameter over time or the movement path of the wing or the angle of rotation of the building or enclosure closure drive and comparing the integral with a predetermined threshold value in order to determine whether the wing runs smoothly or unevenly.

According to a further aspect, the invention provides a controller for a building or fence closure drive device, which has a building or fence closure drive with an electric motor, a load parameter detection device for detecting a load parameter dependent on a load on the building or fence closure drive, and a frequency converter for controlling the electric motor. wherein the controller is set up to carry out the operating method according to one of the above configurations.

It is preferable that the controller has switching means for switching a plurality of control modes. In this case, a first control mode includes carrying out the operating method according to one of the above configurations. The switching control can be used to switch to at least one other control mode. This can be a second control mode in which the frequency converter is permanently operated in V/f operation. Alternatively or additionally, this can be a third control mode in which the implementation of steps b) and c) is deactivated and the frequency converter is operated permanently in closed-loop control mode (step a)).

It is preferred that the switching device is set up for selecting the control modes via a program menu of the control.

According to a further aspect, the invention provides a building or fence closure drive device, comprising a building or fence closure drive device which has a building or fence closure drive with an electric motor, a load parameter detection device for detecting a load parameter dependent on a load on the building or fence closure drive, and a frequency converter for driving of the electric motor, and a controller according to one of the preceding configurations.

According to a further aspect, the invention provides a building or enclosure closure comprising a wing movable for opening and closing, optionally a counterbalancing device for the wing, and a building or enclosure closure drive device of the aforesaid type.

It is preferred that the building or enclosure closure is a sectional door, overhead door, roller door or lifting door with a door leaf that moves at least partially in the vertical direction as the leaf, with the weight balancing device having at least one spring.

According to a further aspect, the invention provides a computer program or computer program product, comprising machine-readable control instructions which, when loaded into a controller of the building or enclosure closure device or the building or enclosure closure according to one of the above configurations, cause this to use the operating method according to one of the abovementioned to carry out configurations.

Some advantages and functions of some preferred embodiments of the invention are explained in more detail below.

Preferred refinements of the invention relate to an operating method and a controller for a door drive.

Preferred refinements of the invention create the possibility of an adaptive door travel control: In particular, an analysis of the door travel behavior and an automatic switchover to a protective mode in the event of uneven door travel are provided.

In order to achieve a maximum speed and maximum torque of the motor with a minimal design, it is advantageous to control the motor using an efficient and regulated frequency converter. If dead times occur in the overall system over time, this can lead to deviating control behavior. A torsion spring in a spring-balanced door is an example. Over time, the spring will settle and the door will consequently become unbalanced. If this imbalance exceeds a critical value, it can lead to uneven door travel. This is visually perceptible. In addition, this has a negative effect on the door mechanics and ultimately results in increased wear.

Due to the problem described, an internal solution for the field of spring-balanced gates has been proposed to control the motor with a frequency converter, which is always operated in V/f operation without control. If the drive were to be operated with control, sooner or later the door could run unevenly, leading to increased customer complaints and cost-intensive service calls, since the customer does not accept the door's running behavior.

1. 1. Eingeschränkte Leistung im U/f Betrieb oder teurere, größer dimensionierte Antriebstechnik bei vergleichbarer Leistung
2. 2. Zusätzliche Kosten durch Serviceeinsätze
3. 3. Gefahr eines frühzeitigen Ausfalls der Toranlage bei einer Regelung ohne adaptive Torlaufkontrolle, falls diese nicht zeitnah instandgesetzt wird.

Shortcomings of previous solutions are z. e.g.:

1. 1. Limited performance in V/f operation or more expensive, larger drive technology with comparable performance
2. 2. Additional costs due to service calls
3. 3. Danger of an early failure of the door system with a controller without adaptive door travel control if it is not repaired in a timely manner.

In particularly preferred configurations of the invention, it is proposed to use the more efficient regulation that is considered technically economical and to avoid increased customer complaints and expensive service calls, e.g. B. to counteract due to decreasing spring tension. For this purpose, it is preferred that the adaptive door travel control automatically recognizes and evaluates the door travel and, as a result, derives measures that improve the door travel by switching to V/f operation.

An automatic detection and evaluation of the running of the driven wing is preferably provided.

In a preferred embodiment, the control deviation (setpoint to actual value) is continuously calculated for the automatic evaluation of the movement of the wing, such as the door movement.

The result of the control deviation is preferably first weighted, since empirical investigations have shown that only vibrations (control deviations) with a specific basic frequency are transmitted to the door construction and thus have a negative effect on the uniform door travel.

For example, the resulting speed deviation is mathematically integrated in the time domain to evaluate the movement of the wing, such as door travel. Normally, the ACTUAL value fluctuates around the target value, resulting in an integral of 0. The controller thus works correctly and compensates for the control deviation.

However, if there is a long-term deviation between the setpoint and the actual value, as is the case with uneven movement, e.g. door movement, the integral of the control deviation increases. If the integral exceeds a defined threshold value, an uneven movement of the leaf, for example door movement, is determined. The measurement is preferably carried out continuously during the complete wing movement, e.g. gate movement.

Instead of the speed, of course, other load parameters such as current consumption, power consumption, torque, etc. can also be used for regulation and the course of the difference between the actual value and the desired value can be used to monitor the running of the wing for uniformity.

Measures for better door travel are preferably provided.

After the uneven leaf movement, e.g. door movement, has been detected, the frequency converter preferably switches over to V/f operation. This operating mode is not a control with feedback, but the voltage and frequency are set (see reference [11]). This reduces the efficiency of the motor, but this results in a homogeneous run of the sash (e.g. gate travel), which results in a reduction in mechanical stress and thus less wear.

In addition to the automatic detection by the adaptive wing operation control, there is also the possibility in preferred configurations to permanently set the operating mode from the control, e.g - or Enclosure closures (e.g. Tors) with reduced wear.

There is also the option of deactivating the adaptive leaf movement control with its automatic detection so that the building closure always opens and closes at the maximum possible speed in order to reduce heating costs or drafts in the buildings as much as possible.

Advantageous configurations of the invention offer advantages in terms of production costs due to the possible higher performance with a comparable design.

Advantageous configurations of the invention offer advantages in terms of functional performance: the gate or the like can be automatically switched over when there is an uneven flow be operated continuously or automatically until the next regular service call.

Advantageous configurations of the invention offer advantages in terms of space/weight savings: with comparable power, drives with V/f operation would have a larger design than drives with control.

Advantageous refinements of the invention offer advantages with regard to additional functions: An adaptive door travel control with automatic switching in the event of uneven door travel is possible.

• 1 eine schematische Ansicht eines Ausführungsbeispiel eines Gebäude- oder Einfriedungsabschlusses mit einer Gebäude- oder Einfriedungsabschlussantriebsvorrichtung, die einen Gebäude- oder Einfriedungsabschlussantrieb und eine Steuerung aufweist;
• 2 einen Graphen, der einen zeitlichen Verlauf der z.B. durch Differenz zwischen einem Istwert und einem Sollwert eines Lastparameters gebildeten Regelabweichung des Gebäude- oder Einfriedungsabschlussantriebs bei einem geregelten Betrieb und bei einem normalen, gleichmäßigen Lauf eines durch den Gebäude- oder Einfriedungsabschlussantrieb angetriebenen Flügels des Gebäude- oder Einfriedungsabschlusses zeigt,
• 3 einen Graphen vergleichbar zu 2 bei einem ungleichmäßigen Lauf des Flügels; und
• 4 einen Graphen, der den Verlauf von Spannung U und magnetischen Fluss bei einem U/f-Betrieb über die Frequenz f zeigt.

An exemplary embodiment is explained in more detail below with reference to the accompanying drawings. It shows:

• 1 Figure 12 is a schematic view of an embodiment of a building or enclosure closure with a building or enclosure closure drive apparatus having a building or enclosure closure drive and a controller;
• 2 a graph that shows a time course of the control deviation of the building or enclosure closure drive, formed, for example, by the difference between an actual value and a setpoint value of a load parameter, during controlled operation and with normal, even running of a wing of the building or enclosure closure drive driven by the building or enclosure closure drive enclosure completion shows
• 3 comparable to a graph 2 with an uneven run of the wing; and
• 4 a graph that shows the course of voltage U and magnetic flux in a U / f operation over the frequency f.

1 12 schematically shows a building or enclosure closure 10 having a wing 20 for closing off an opening 12 in a building 14 or enclosure. In the exemplary embodiment shown, the building or enclosure closure 10 is in the form of a gate 16 .

The door 16 is optionally, as in the illustrated embodiment, equipped with a weight compensation device 18 which compensates for the weight of an at least partially vertically movable wing 20 - in the form of a door leaf 22 here. In the exemplary embodiment shown, the gate 16 is a sectional gate 24, for example of the type shown in [4] to [6]; Reference is made to references [1] to [6] for further details on possible configurations of the gate. The gate 16 can also be designed as a courtyard entrance gate, for example as a sliding gate or as a swing gate, or as a ceiling folding gate or as a fire protection sliding gate or the like in other designs that are not shown.

In the exemplary embodiment shown, the door 16 is provided with a door shaft 26 which is connected to the leaf 20 in a geared manner, e.g. by means of cable drums 64 and traction cables 66 . In the illustrated embodiment, the door shaft 26 is part of the weight compensation device 18. In other configurations, such as a roller door, the door shaft 26 can also be designed as a winding shaft for winding and unwinding the leaf 20 designed as a roller door curtain or roller door curtain.

The weight compensation device 18 also has at least one mechanical force accumulator 28 . A spring, here e.g. in the form of a torsion spring 30, which acts on the door shaft 26, is provided as the mechanical energy accumulator 28, for example. Other mechanical energy accumulators 28, such as tension springs or weights, are also possible.

The building or enclosure closure 10 further includes a building or enclosure enclosure drive mechanism 32 for driving movement of the wing 20 . The building or enclosure closure driver 32 includes a building or enclosure closure driver 34 and a controller 36 . The building or enclosure closure drive means 34 includes a building or enclosure closure drive 38, a load parameter sensing means 40 and a frequency converter 42.

The building or enclosure closure drive 38 is adapted to be geared to the wing 20 to drive movement thereof. Depending on the type of building or enclosure closure 10, the building or enclosure closure drive 38 can be configured in many different ways. In exemplary embodiments that are not shown, it can be in the form of a towing drive with a carriage guided in a longitudinally movable manner on a guide, a swing gate drive, a sliding gate drive or the like. In the illustrated embodiment, the building or fence closure drive 38 is designed as a wave gate drive 44 .

In general, the building or enclosure closure drive 38 has an electric motor 46 that can be controlled by the frequency converter 42 , in particular in the form of a three-phase motor, and a gear 48 .

The load parameter detection device 40 is designed to detect at least one load parameter which is dependent on a load applied to the building or enclosure closure drive 38 . For example, the load parameter detection device 40 can have a current sensor for detecting a current currently flowing through the electric motor, a power sensor for detecting the engine power and/or a speed sensor for detecting a rotational speed v on a shaft, such as the shaft of the electric motor or the output shaft of the transmission, the Building or enclosure completion drive 38 have. In the exemplary embodiment shown, the load parameter detection device 40 has a transmitter G in the form of a multiturn absolute value transmitter 52 for detecting the absolute angle of rotation of the shaft of the building or enclosure closure drive 38 . The current position of the wing 20 can be determined from this—after a learning procedure has been carried out after the building or enclosure closure 10 has been installed. The rotational speed v of the shaft of the building or enclosure closure drive 38 can also be detected as a load parameter from the signal of the multiturn absolute value transmitter 52 by means of a corresponding time derivation. More details for a possible embodiment of the multiturn absolute encoder 52 are described and shown in [7], to which reference is expressly made.

The possible structure of a frequency converter 42 is generally known and is not described in detail here; reference is made to [11] for further details.

The controller has a regulator device 54, a V/f operating device 56, a switchover device 58 and a vane movement evaluation device 60.

The controller device 54 is designed to carry out a closed-loop control operation of the frequency converter 42 in which the electric motor 46 is controlled in a feedback manner using the load parameter detected by the load parameter detection device 40 as an input variable. In this way, optimal operation of the building or enclosure closure drive 38 can be achieved in terms of efficiency and speed and torque. In particular, the controller device is designed to carry out a vector control in which the electric motor 46 is map-controlled using a motor model stored in a memory according to a plurality of input variables. In particular, the actual speed vi is controlled using a predefined target speed vs. The setpoint speed can, but does not have to, be specified as constant. For example, the target speed can rise gently at the beginning of the movement of the wing and fall gently at the end (soft start and soft stop), the target speed vs can also change according to path-dependent translations between the speed at the closing edge 62 of the wing 20 and that recorded by the encoder G Shaft are specified with regard to a maximum permissible closing edge speed, as described and shown in more detail in [9]. Corresponding data for the target values vs are stored in a memory 63 of the controller 36 .

A control operation carried out by the controller device 54 is in under different conditions 2 and 3 shown. This is discussed in more detail below.

The V/f operating device 56 is set up to operate the frequency converter 42 in V/f operation. There is no feedback control. A U/f characteristic is in 4 shown, which will also be discussed in more detail below.

The switching device 58 is designed to selectively connect the controller device 54 or the V/f operating device 56 to the frequency converter 42 . In a first control mode, the switching device 58 can be actuated automatically as a function of an output signal from the wing running evaluation device 60 - in order to carry out an adaptive control of the running of the wing 20 and switch to gentle operation in the event of uneven running - or be actuated manually in order in a second control mode to switch the control device 54 permanently active and to keep the V/f operating device 56 inactive or, in a third control mode, to keep the controller device permanently inactive and to keep the V/f operating device 58 permanently active.

In particular, the individual devices 54, 56, 58 and 60 of the controller 36 are implemented as software and can be configured via menu navigation on a connected user terminal (not shown) or on a user interface 68 of the controller 36, which also enables manual activation of the switching device 58 and the switching can be made between the first to third control modes. The menu guides can, for example, be designed in a manner comparable to the menu guides explained in [12] to [14]. Corresponding computer programs, the control instructions for providing the functions of the controller 36 described here and for carrying out the operating method of the building or enclosure closure drive device 34 described here are stored in the memory 63 .

The wing movement evaluation device 60 monitors the at least one load parameter from the load parameter detection device 40, in particular its progression over time or its progression over the path (e.g. via the absolute angle of rotation) for a uniform movement of the wing 20 and is designed to carry out the following function. If a smooth running of the wing 20 is detected, the control device 54 is kept active. If an uneven running of the wing 20 is detected, the switching device 58 is activated automatically in order to activate the V/f operating device 56 and to deactivate the controller device 54 .

Irregular running can occur in particular when the vane 20 opposes a different resistance to the drive movement in different directions, at least in a partial area of the movement path. This can happen, for example, if there is a fault in the counterbalancing device 18, such that the weight of the wing 20 is no longer balanced. For example, in the exemplary embodiment, the torsion springs 30 can deviate from their original setting due to continuous mechanical stress.

A possible embodiment for evaluating the running of the wing 20 for evenness is described below using the illustration in FIGS 2 and 3 explained in more detail.

For the continuous evaluation of the running of the wing 20, the control deviation (nominal to actual value of the load parameter, e.g. nominal speed value vs. actual speed value vi) is continuously calculated in the wing running evaluation device 60. Empirical investigations have shown that only vibrations with a specific fundamental frequency are transmitted to the movement of the wing 20 in such a way that it runs so unevenly that a user notices this. Therefore, the result of the control deviation is first weighted, with control deviations with fundamental frequencies that are strongly transmitted to the wing 20 being included in the calculation with a particularly strong weighting factor.

In the 2 and 3 the correspondingly obtained control deviation, in particular the difference vi-vs from the actual speed vi and the target speed vs, is shown over time t in arbitrary units. vi is naturally different at different times t and stands for vi(t). The specified setpoint speed vs can also be a function dependent on time, as is specified, for example, in reference [9], and stands for vs(t) in abbreviated form.

angegeben.In the evaluation method presented, mathematical integration is carried out in the time domain in order to assess whether the running of the wing 20 is smooth or not. In the 2 and 3 is therefore in addition to the control deviation vi-vs also the time profile of the time integral Int with $\text{international}={\displaystyle {\int }_0^t\left(vi-vs\right)}$

specified.

In 2 indicates the normal case where the building or enclosure closure 10 is correctly installed and operating correctly. In this normal case, the actual value vi fluctuates evenly around the setpoint vs, resulting in an integral of about 0. The control loop with the control device 54 thus works correctly and compensates for the control deviation. 2 Using the example of door 16, shows the ACTUAL to target speed for a good door run.

However, if the building or enclosure closure 10 runs unevenly, this leads to a longer-term deviation between the actual value and the setpoint value of the load parameter in the course of the excitation operation of the frequency converter 42 carried out by the controller device 54. If, as seen from the example of the gate 16, an uneven gate travel occurs, for example due to an imbalance at the weight balancer 18 or due to other disturbances at the gate 16, there is a long-term deviation between the desired value vs and the actual value vi, and the integral Int increases, as indicated in the dot-dash box in 3 you can see. In 2 and 3 Defined threshold values SW, -SW (this is an example, other upper and lower thresholds can also be set) are also shown. If the integral Int exceeds the threshold thus defined (or falls below it in the negative sector), uneven running of the vane 20 is detected. Preferably, the measurement is performed by the wing run evaluation device 60 during the complete wing movement.

In the 2 and 3 The valuation method shown is only an example. Of course, other automatic methods for judging whether the blade 20 is running smoothly or not are also possible. This can, for example, also be a measurement method using sensors on the wing 20, eg acceleration sensors, or methods that are coarser than by integral formation, eg averaging over time intervals. while in the 2 and 3 the progression over time was viewed, the progression can of course also be viewed over the path s recorded by the encoder G, for example.

If uneven running of the wing 20 has been determined by the wing running evaluation device 60, the switching device 58 is automatically actuated in order to deactivate the controller device 54 and the V/f operating device 56 to activate. Then the frequency converter is operated in a protective mode, as in particular here in the V/f mode, as is shown in 4 is indicated. This operating mode is not a control with feedback, but the voltage U and the frequency f are set.

The U/f operation is the simplest mode of operation for the frequency converter 42. The frequency converter 42 sets the motor voltage U and the frequency f in a constant ratio. Frequency f and voltage U are kept proportional to each other up to the nominal voltage U _N and the nominal frequency f _N of the electric motor 46 . This is necessary due to the inductive behavior of the electric motor 46 and leads to a constant torque (in 4 indicated by the magnetic flux Φ) without overloading the electric motor 46 in terms of current. At very low speeds, however, this mode of operation leads to a lower torque due to the ohmic resistance of the winding.

The efficiency of the electric motor 46 is reduced by the V/f operation. The speed is also heavily dependent on the load, so that the total times for opening and closing the same size and design of the electric motor 46 are shorter than in closed-loop operation. However, this mode of operation leads to a more homogeneous running of the wing 20, which results in a reduction in the load and thus less wear.

The possibility of manually controlling the switching device 58 also makes it possible to permanently switch the operating mode from vector control to V/f operation using the controller device 54, for example via the program menu of the controller 36. This allows, for example, permanent protection of the building or enclosure finish 10 with reduced wear.

There is also the possibility of deactivating the adaptive wing movement control by the wing movement evaluation device 60 with its automatic recognition depending on the door construction and the safety device of the main closing edge in order to permanently activate the closed-loop control mode. Then the sash is always opened and/or closed at the maximum possible speed. This can be used to reduce e.g. heating costs or drafts in buildings 14 as much as possible.

The building or enclosure closure drive device 32 is preferably set up to also perform speed control on conical cable drums 64, see [9] for further details.

The building or enclosure closure drive device 32 is preferably adapted to drive industrial doors. High gate travel speeds, e.g. of up to 1 m/s, are possible. A soft start and soft stop are also preferably set up for gentle door travel. By specifying the fitting types on the control 36, a constant door travel speed is also possible with higher and vertical fittings (H and V fittings).

In particular, for driving sectional doors with correspondingly little lateral space and for driving gates without a door shaft such as tilting gates or sliding gates, the building or enclosure closure drive 38 can also be used as an overhead tractor drive with a frequency converter 46 based on the 1 shown shaft gate drive 44, which is connected as a drive head to a corresponding carriage guide (not shown but known from references [1] to [5]).

The controller 36 can be housed in a separate controller housing 70 which has a power input 72 for connection to a power supply, signal inputs and outputs 74 for transmitters, sensors, peripheral devices and for controlling an external frequency converter 46 and a power output 76 .

The user interface 68 is provided on the outside of the control housing 70, which has, for example, a 4-way 7-segment display for time stamps on events and as a display device and keys, possibly illuminated, as an input device and an optional main power switch. A CEE plug with mains cable is preferably provided as standard.

The controller 36 can also be designed with a wireless and/or wired communication interface, which can connect the controller 36 wirelessly, e.g. via Bluetooth or WLAN, to the Internet or to user end devices such as a PC, smartphone, tablet. This allows easy installation using the BlueControl app by connecting a smartphone or tablet via Bluetooth. Changes to the computer programs in the memory 63, such as updates, or transmission of data and settings of the computer programs can also be made via the communication interface.

The controller 36 preferably has an energy-saving function in which individual electrical or electronic assemblies - for example after a timer has expired - are deactivated for a standby mode and input or interfaces are kept active in order to control the controller from a To convert standby mode into an operating mode. Preferably, an automatic closing of the wing 20 can be programmed after a predetermined time after opening. A blanking function is preferably provided when a light barrier is installed in the door frame. The signal inputs and outputs 74 preferably include an HCP bus interface for intelligent accessories such as a SmartControl gateway for remote predictive maintenance.

• • Einstellen und Ansteuern einer separate Teilöffnungsposition
• • Anschließen von Peripheriegeräten an einem Optionsrelais z. B. zum Anschluss von Endlagenmeldungen, Verriegelungen, Leuchten etc.
• • auf Fahrbahnregelung erweiterbar
• • mehrere Zeitschaltuhren zur Programmierung von Szenarien in zwei unterschiedlichen Zeitabschnitten

Furthermore, the controller 36 can be set up for the following functions:

• • Setting and controlling a separate partial opening position
• • Connecting peripheral devices to an option relay, e.g. B. for the connection of end position signals, locking devices, lights, etc.
• • Expandable to lane control
• • several timers for programming scenarios in two different time periods

The frequency converter 46 can be housed in the controller housing 70 or in a separate frequency converter housing 78 or in an electronic unit of the building or enclosure closure drive 38 .

1. a) Betreiben des Frequenzumrichters (42) in einem Regelungsbetrieb, um den Elektromotor (46) mit dem durch die Lastparametererfassungserfassungseinrichtung (40) erfassten Lastparameter als Eingangsgröße rückgeführt zu regeln,
2. b) Überwachen anhand des Verlaufs des Lastparameters, ob der durch den Gebäude- oder Einfriedungsabschlussantrieb (38) angetriebene Flügel (20) gleichmäßig läuft, und
3. c) Umschalten des Frequenzumrichters (42) auf einen U/f-Betrieb, wenn in Schritt b) ein ungleichmäßiger Lauf des Flügels (20) festgestellt wird.

The controller 36 and the frequency converter can be used to carry out an operating method for a building or enclosure closure drive device (34) for motor-driven movement of at least one wing (20) of a building or enclosure closure (10), the building or enclosure closure drive device (34) driving a building - or enclosure closure drive (38) with an electric motor (46), a load parameter detection device (40) for detecting a load parameter dependent on a load on the building or enclosure closure drive (38) and a frequency converter (42) for controlling the electric motor (46), full:

1. a) operating the frequency converter (42) in a closed-loop control mode in order to control the electric motor (46) with the load parameter detected by the load parameter detection device (40) as an input variable in a feedback manner,
2. b) monitoring whether the wing (20) driven by the building or enclosure closure drive (38) is running smoothly based on the history of the load parameter, and
3. c) Switching the frequency converter (42) to a V/f operation if in step b) uneven running of the wing (20) is determined.

Although in the exemplary embodiment described above the speed is mentioned as the load parameter that is to be regulated in the control mode and on the basis of which the movement of the wing is evaluated, other additional or alternative parameters on the drive can also be used in other embodiments. Preference is given to parameters that depend on the load on the drive in unregulated operation and can therefore provide information about the running of the blades. For example, in step a) at least one parameter from the group comprising a rotational speed (vi) of a motor shaft or output shaft of the building or enclosure closure drive (38), an instantaneous current of the electric motor (46), a torque on a motor shaft or output shaft of the building or enclosure closure drive (38), an instantaneous power of the electric motor (46), and a slip on the electric motor (46). In closed-loop control mode, these aforementioned parameters can be controlled alternatively or cumulatively. One or more of these parameters can also be used to evaluate the running of the wing.

Further details on possible configurations of the control and on its assembly and commissioning, adapted to different door types, can be found in references [12] to [14], which are not freely available but are attached here, to which reference is expressly made and which are incorporated by reference will.

reference list

10

Building or enclosure closure

12

opening

14

building

16

Goal

18

weight balancing device

20

wing

22

gate leaf

24

sectional door

26

gate wave

28

mechanical energy store

30

torsion spring

32

Building or enclosure closure drive device

34

Building or enclosure closure drive facility

36

steering

38

Building or enclosure completion engine

40

load parameter detection detection device

42

frequency converter

44

wave gate drive

46

electric motor

48

gearbox

50

speed sensor

52

Multiturn absolute encoder

54

controller device

56

U/f operating equipment

58

switching device

60

wing run evaluation device

62

closing edge

63

Storage

64

cable drum

66

pull rope

68

user interface

70

control housing

72

power input

74

Signal inputs and outputs

76

current output

78

frequency converter housing

G

giver

M

engine

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• WO 2019/007764 A1 [0002]
• DE 19917831 A1 [0002]
• WO 2017/125257 A1 [0002]
• DE 102018112439 A1 [0002]

Claims (10)

Operating method for a building or enclosure closure drive device (34) for motor-driven movement of at least one wing (20) of a building or enclosure closure (10), the building or enclosure closure drive device (34) having a building or enclosure closure drive (38) with an electric motor (46 ), a load parameter detection device (40) for detecting a load parameter dependent on a load on the building or enclosure closure drive (38) and a frequency converter (42) for driving the electric motor (46), comprising: a) operating the frequency converter (42) in a closed-loop control mode in order to control the electric motor (46) with the load parameter detected by the load parameter detection device (40) as an input variable in a feedback manner, b) monitoring whether the wing (20) driven by the building or enclosure closure drive (38) is running smoothly based on the history of the load parameter, and c) Switching the frequency converter (42) to a V/f operation if in step b) uneven running of the wing (20) is determined. operating procedures claim 1 , characterized in that step a) comprises at least one or more of the following steps: a1) detecting as a load parameter at least one parameter from the group comprising a rotational speed (vi) of a motor shaft or output shaft of the building or enclosure closure drive (38), an instantaneous current of the electric motor (46), a torque on a motor shaft or output shaft of the building or enclosure closure drive (38), an instantaneous power of the electric motor (46) and a slip on the electric motor (46), and performing the control based on this at least one parameter; a2) Carrying out a vector control in order to control the instantaneous reactive and active current components of the electric motor (46) on the basis of the load parameter as the input variable using a characteristic map with motor parameters. Operating method according to one of the preceding claims, characterized in that step b) comprises at least one or more of the steps: 3.1 forming an average value of a control deviation formed from an actual value (vi) and a setpoint (vs) of the load parameter over time (t) or the travel of the wing (20) or the angle of rotation of the building or enclosure closure drive (38) and comparing the average value to a threshold value (SW); 3.2 Forming an integral (Int) of a control deviation (vi-vs) formed from the actual value (vi) and the setpoint of the load parameter over time or the movement path of the wing or the angle of rotation of the building or enclosure closure drive and comparing the integral (Int) with a predetermined one Threshold (SW) to determine whether the wing (20) runs smoothly or unevenly. Control (36) for a building or fence closure drive device (34) comprising a building or fence closure drive (38) with an electric motor (46), a load parameter detection device (40) for detecting a load on the building or fence closure drive (38). Having load parameters and a frequency converter (42) for controlling the electric motor (46), wherein the controller (36) is set up for carrying out the operating method according to one of the preceding claims. control (36) after claim 4 , characterized in that the controller (36) has a switching device (58) for switching several control modes, of which a first control mode comprises carrying out the operating method according to one of the preceding claims, wherein at least one further of the following control modes can be set: 5.1 a second control mode , in which the frequency converter (42) is permanently operated in V/f operation, 5.2 a third control mode in which the implementation of steps b) and c) is deactivated and the frequency converter (42) is permanently in the control mode of step a) is operated. control (36) after claim 5 , characterized in that the switching device (58) for selecting the control modes via a program menu of the controller (36) is set up. A building or fence closure drive apparatus (32) comprising a building or fence closure drive means (34) including a building or fence closure drive (38) having an electric motor (46), load parameter sensing means (40) for sensing a load on the building or fence closure drive (38) dependent load parameters and a frequency converter (42) for driving the electric motor (46), and a controller (36) according to one of Claims 4 until 6 . A building or enclosure closure (10) comprising a wing (20) movable to open and close, a counterbalancing device (18) for the wing (20) and a Building or enclosure closure drive device (32). claim 7 . Building or Enclosure completion (10) after claim 8 , characterized in that it is a sectional door, tilting door, roller door or lifting door with a door wing moving at least partially in the vertical direction as the wing (20), the weight balancing device (18) having at least one spring. A computer program comprising machine-readable control instructions which, when entered into a controller (36) of the building or enclosure termination device (32). claim 7 loaded causing the building or enclosure termination device (32) to perform the method of operation according to any one of Claims 1 until 3 to perform.

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