DE3921158A1 - Automatic double-panel door opening and closure drive - has constant closing force with set-point control such that obstruction reduces armature current and torque - Google Patents

Automatic double-panel door opening and closure drive - has constant closing force with set-point control such that obstruction reduces armature current and torque

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Publication number
DE3921158A1
DE3921158A1 DE3921158A DE3921158A DE3921158A1 DE 3921158 A1 DE3921158 A1 DE 3921158A1 DE 3921158 A DE3921158 A DE 3921158A DE 3921158 A DE3921158 A DE 3921158A DE 3921158 A1 DE3921158 A1 DE 3921158A1
Authority
DE
Germany
Prior art keywords
door
drive
torque
motor current
armature current
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
DE3921158A
Other languages
German (de)
Other versions
DE3921158C2 (en
Inventor
Hans-Georg Dipl Ing Hagmeyer
Oskar Dipl Ing Perdok
Ernst Dipl Ing Heissen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pintsch Bamag AG
Original Assignee
Pintsch Bamag AG
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Filing date
Publication date
Application filed by Pintsch Bamag AG filed Critical Pintsch Bamag AG
Priority to DE3921158A priority Critical patent/DE3921158A1/en
Publication of DE3921158A1 publication Critical patent/DE3921158A1/en
Application granted granted Critical
Publication of DE3921158C2 publication Critical patent/DE3921158C2/de
Granted legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
    • H02H7/0851—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load for motors actuating a movable member between two end positions, e.g. detecting an end position or obstruction by overload signal
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/41—Detection by monitoring transmitted force or torque; Safety couplings with activation dependent upon torque or force, e.g. slip couplings
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/605—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for folding wings
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/30—Electronic control of motors
    • E05Y2400/31—Force or torque control
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/30—Electronic control of motors
    • E05Y2400/31—Force or torque control
    • E05Y2400/315—Curve setting or adjusting
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements associated with the wing motor
    • E05Y2400/53—Wing impact prevention or reduction
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements associated with the wing motor
    • E05Y2400/53—Wing impact prevention or reduction
    • E05Y2400/54—Obstruction or resistance detection
    • E05Y2400/55—Obstruction or resistance detection by using load sensors
    • E05Y2400/554—Obstruction or resistance detection by using load sensors sensing motor load
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2800/00—Details, accessories and auxiliary operations not otherwise provided for
    • E05Y2800/40—Physical or chemical protection
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Type of wing
    • E05Y2900/531—Doors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/093—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against increase beyond, or decrease below, a predetermined level of rotational speed

Landscapes

  • Power-Operated Mechanisms For Wings (AREA)

Abstract

The door (10) whose two panels (11, 12) are hinged together vertically (13) is opened and closed by the drive shaft (15) of a DC motor (14). The drive is controlled by a regulator (17) responsive to signals from an incremental angle encoder (18) on the shaft (15) and from an armature current sensor (19). The armature current can be set (20) so as not to exceed a max. permissible value. The force (F) of closure is constant in all positions irrespective of the shaft torque (M). ADVANTAGE - The closing force of the panels is limited and the torque is not proportional to it. Can be used in various door constructions. Suitable for public transport vehicles so that double-folding doors do not injure passengers since they cannot exceed torque threshold value in any position.

Description

Die Erfindung betrifft eine Antriebsvorrichtung für eine selbsttätig öffnende und schließende Tür, insbesondere eine Gelenktür.The invention relates to a drive device for a automatically opening and closing door, especially one Hinged door.

Bei Fahrzeugen des öffentlichen Personen-Verkehrs kommen häufig Gelenktüren zum Einsatz, deren Türblatt aus mehreren gelenkig miteinander verbundenen Segmenten aufgebaut ist. Die Schließ- und Öffnungsbewegung einer derartigen Gelenktür wird mittels einer ansteuerbaren Antriebseinheit erreicht, die eine mit dem Türblatt verbundene Türwelle antreibt. Die geltenden Sicher­ heitsbestimmungen zum Schutz der beförderten Personen schreiben vor, daß die Schließkraft in allen Stellungen der Tür einen vorgegebenen Grenzwert während des Schließens nicht über­ schreiten darf.In vehicles for public transport come frequently Articulated doors for use, the door leaf of several articulated interconnected segments is built. The closing and Opening movement of such an articulated door is by means of reached a controllable drive unit, one with the Door leaf drives connected door shaft. The current security Write safety regulations for the protection of the transported persons before that the closing force in all positions of the door one specified limit during closing does not exceed allowed to walk.

Aus der DE-PS 31 29 163 ist eine Antriebsvorrichtung für eine Fahrstuhltür bekannt, bei der als Antriebseinheit ein an eine Wechselstromquelle angeschlossener Drehstrom-Asynchronmotor vorgesehen ist. Zur Begrenzung der die Türflügel beim Schließen zusammendrückenden Kraft ist ein Regelwiderstand vorgesehen, der die Größe des Antriebsmomentes bestimmt.From DE-PS 31 29 163 is a drive device for a Elevator door known in which one as a drive unit AC source connected three-phase asynchronous motor is provided. To limit the door leaf when closing  compressive force, a control resistor is provided, which determines the size of the drive torque.

Der Erfindung liegt die Aufgabe zugrunde, eine Antriebsvor­ richtung der eingangs genannten Art so auszubilden, daß die Schließkraft einer Tür begrenzt werden kann, deren Drehmoment der Schließkraft nicht proportional ist.The invention has for its object a drive direction of the type mentioned so that the Closing force of a door can be limited, its torque the closing force is not proportional.

Diese Aufgabe wird bei einer gattungsgemäßen Antriebsvorrich­ tung dadurch gelöst, daß eine Antriebseinheit vorgesehen ist, deren Antriebsmoment im wesentlichen dem Motorstrom proportio­ nal ist und der eine den Motorstrom regelnde Regeleinrichtung zugeordnet ist, deren Führungsgröße ein von der Stellung der Tür abhängiger ein zulässiges Antriebsmoment der Antriebsein­ heit begrenzender Sollwert des Motorstromes ist.This task is carried out in a generic drive device device solved in that a drive unit is provided, whose driving torque is essentially proportional to the motor current nal and is a control device that regulates the motor current is assigned, the reference variable one of the position of the Door dependent a permissible drive torque of the drive unit is the limiting setpoint of the motor current.

Der Erfindung liegt die Erkenntnis zugrunde, daß durch den Einsatz einer Antriebseinheit, bei der das Drehmoment im wesentlichen dem Motorstrom proportional ist, eine besonders einfache Begrenzung der Schließkraft bei Türen möglich ist, deren Drehmoment der Schließkraft nicht proportional ist. Durch die Regelung des Motorstromes der Antriebseinheit kann das An­ triebsmoment derart begrenzt werden, daß die beispielsweise bei einer Gelenktür wirkende Schließkraft in allen Stellungen der Tür einen vorgegebenen Grenzwert nicht überschreitet. Zur Rege­ lung des Motorstromes ist eine Regeleinrichtung vorgesehen, deren Führungsgröße ein zulässiges Antriebsmoment begrenzender Sollwert des Motorstromes ist. Dieser Sollwert kann beispiels­ weise experimentell ermittelt werden.The invention is based on the finding that by Use of a drive unit in which the torque in is essentially proportional to the motor current, a particular one simple limitation of the closing force for doors is possible, whose torque is not proportional to the closing force. By the regulation of the motor current of the drive unit can drive torque are limited so that, for example, at a hinged door closing force in all positions Door does not exceed a specified limit. To the rain regulation of the motor current, a control device is provided, whose command value limits a permissible drive torque Setpoint of the motor current is. This setpoint can, for example be determined experimentally.

Vorteilhafte Ausgestaltungen der Erfindung sind in den Unter­ ansprüchen aufgeführt.Advantageous embodiments of the invention are in the sub claims listed.

Bei einer vorteilhaften Ausgestaltung der Erfindung ist als An­ triebseinheit ein Gleichstrom-Nebenschlußmotor vorgesehen, bei dem der im Anker fließende Strom dem Antriebsmoment proportional ist. Die Führungsgröße der hier zum Einsatz kommenden Regeleinrichtung ist ein von der Stellung der Tür abhängiger, ein zulässiges Antriebsmoment des Motors begrenzender Sollwert des Ankerstromes.In an advantageous embodiment of the invention is as An drive unit provided a DC shunt motor, where the current flowing in the armature is the drive torque  is proportional. The benchmark used here coming control device is one from the position of the door dependent, limiting an admissible drive torque of the motor Target value of the armature current.

Bei einer vorteilhaften Weiterbildung ist vorgesehen, daß die Regeleinrichtung eine Einrichtung zum Abspeichern des von der Stellung der Tür abhängigen Sollwertes des Motorstromes ent­ hält. In einer derartigen Einrichtung wird der Verlauf des zu­ lässigen Motorstromes in Abhängigkeit von der Stellung der Tür gespeichert.In an advantageous development it is provided that the Control device a device for storing the Position of the door dependent setpoint of the motor current ent holds. In such a facility, the course of the permissible motor current depending on the position of the door saved.

Es kann vorteilhaft vorgesehen sein, daß der Sollwert des Motorstromes aus der Summe eines gleitenden Mittelwertes, der sich aus dem Istwert des Motorstromes im hindernisfreien Be­ trieb ergibt, und einem Stromwert gebildet ist, der im störungsfreien Betrieb mit einem maximal zulässigen Antriebs­ moment aufgenommen wurde. Um die Zeitabhängigkeit derartiger Reibungsverluste zu berücksichtigen kann vorteilhaft vorgesehen sein, daß eine Ermittlung des Sollwertes nach jedem einwand­ freien Öffnen und Schließen der Tür vorgenommen wird. Hierdurch finden temperatur- und witterungsbedingte Änderungen der Tür­ widerstände Berücksichtigung.It can advantageously be provided that the setpoint of the Motor current from the sum of a moving average, the from the actual value of the motor current in the unobstructed loading Drive results, and a current value is formed, which in trouble-free operation with a maximum permissible drive moment was recorded. To the time dependency of such Taking friction losses into account can advantageously be provided be that a determination of the target value after each problem the door is opened and closed freely. Hereby find temperature and weather-related changes to the door resistances.

Bei einer vorteilhaften Ausgestaltung ist vorgesehen, daß die Regeleinrichtung eine erste Meßeinrichtung zum Erfassen der Stellung der Tür besitzt. Eine derartige Meßeinrichtung kann beispielsweise ein Drehsignalgeber sein, der der Antriebswelle der Antriebseinheit zugeordnet ist. Eine zweite Meßeinrichtung der Regeleinrichtung dient zum Erfassen des Motorstromes der Antriebseinheit.In an advantageous embodiment it is provided that the Control device a first measuring device for detecting the Position of the door. Such a measuring device can For example, a rotary signal generator, the drive shaft is assigned to the drive unit. A second measuring device the control device is used to detect the motor current Drive unit.

Weiterhin ist die Regeleinrichtung mit einem Stellglied zum Einstellen des Motorstromes versehen. Furthermore, the control device with an actuator for Adjust the motor current.  

Die weiteren Glieder der Regeleinrichtung können verschieden­ artig aufgebaut sein. In allen Fällen ist ein Vergleicher er­ forderlich, der den Istwert des Motorstromes mit dem abge­ speicherten Sollwert vergleicht.The other elements of the control device can be different to be well structured. In all cases he is a comparator required that the actual value of the motor current with the abge compares the stored setpoint.

Die erfindungsgemäße Antriebsvorrichtung kann mit Vorteil bei verschiedenartigen Türkonstruktionen zum Einsatz kommen. In allen Fällen ist besonders vorteilhaft, daß die Einstellung auf die jeweils zulässige Schließkraft in besonders einfacher Weise erfolgen kann, wobei der Aufbau der erfindungsgemäßen Antriebs­ vorrichtung einfach und störungsunanfällig ist.The drive device according to the invention can be advantageous different types of door constructions are used. In In all cases it is particularly advantageous that the setting is on the permissible closing force in a particularly simple manner can take place, the structure of the drive according to the invention device is simple and insensitive to faults.

Eine vorteilhafte Ausführungsform der Erfindung ist in der Zeichnung dargestellt und wird nachfolgend beschrieben. Die einzige Figur der Zeichnung zeigt in schematischer Darstellung eine erfindungsgemäße Antriebsvorrichtung, die an einer Doppel­ falttür angeordnet ist.An advantageous embodiment of the invention is in the Drawing shown and is described below. The only figure of the drawing shows a schematic representation a drive device according to the invention on a double folding door is arranged.

In der Zeichnung ist in schematischer Darstellung eine Doppel­ falttür (10) eines nicht näher dargestellten Fahrzeuges des öffentlichen Personen-Verkehrs dargestellt. Die Doppelfalttür (10) baut sich aus Türblattsegmenten (11, 12) auf, die an dem Gelenk (13) miteinander verbunden sind. In der Zeichnung nicht dargestellt sind den Türblattsegmenten (11, 12) zugeordnete Führungsmittel, die die Doppelfalttür (10) an der Fahrzeug­ karosserie des Fahrzeugs führen.In the drawing, a double folding door ( 10 ) of a vehicle of public transport, not shown, is shown in a schematic representation. The double folding door ( 10 ) is made up of door leaf segments ( 11 , 12 ) which are connected to one another at the joint ( 13 ). Not shown in the drawing are the door leaf segments ( 11 , 12 ) associated with guide means which guide the double folding door ( 10 ) to the vehicle body of the vehicle.

Der Antrieb der Doppelfalttür (10) erfolgt über eine Antriebs­ einheit (14), die über eine Antriebswelle (15) die Türwelle (16) der Doppelfalttür (10) antreibt.The double folding door ( 10 ) is driven by a drive unit ( 14 ) which drives the door shaft ( 16 ) of the double folding door ( 10 ) via a drive shaft ( 15 ).

Die geltenden Sicherheitsbestimmungen für Türen in Fahrzeugen des öffentlichen Personen-Nahverkehrs sehen vor, daß die am Türblattsegment (12) wirkende Schließkraft (F) einen vorge­ gebenen Grenzwert nicht überschreiten darf, um Verletzungen der beförderten Personen zu vermeiden. Aufgrund der Türkonstruk­ tion der Doppelfalttür (10) ist die Schließkraft (F) dem an der Türwelle (16) wirkenden Drehmoment (M) nicht proportional. Um in allen Stellungen der Doppelfalttür (10) eine Überschreitung des Grenzwertes der Schließkraft (F) zu verhindern, ist die An­ triebseinheit (14) mit einer Regeleinrichtung versehen, die das zulässige Antriebsmoment der Antriebseinheit (14) abhängig von der Stellung der Doppelfalttür (10) begrenzt.The applicable safety regulations for doors in public transport vehicles stipulate that the closing force (F) acting on the door leaf segment ( 12 ) must not exceed a predetermined limit value in order to avoid injuries to the transported persons. Due to the door construction of the double folding door ( 10 ), the closing force (F) is not proportional to the torque (M) acting on the door shaft ( 16 ). In order to avoid exceeding the limit value of the closing force (F) in all positions of the bi-fold door (10), An is drive unit (14) provided with a control device, that exceed the driving torque of the drive unit (14) from the position of the bi-fold door (10 depends ) limited.

Als Antriebseinheit (14) ist ein Gleichstrom-Nebenschlußmotor vorgesehen, dessen Antriebsmoment dem Ankerstrom proportional ist. Somit kann die Regelung des Antriebsmomentes der Antriebs­ einheit (14) über den Ankerstrom erfolgen.A DC shunt motor is provided as the drive unit ( 14 ), the drive torque of which is proportional to the armature current. Thus, the drive torque of the drive unit ( 14 ) can be regulated via the armature current.

Die Regeleinrichtung der Antriebseinheit (14) besitzt eine in der Zeichnung nicht dargestellte Einrichtung zum Abspeichern des von der Stellung der Doppelfalttür (10) abhängigen Soll­ wertes des Ankerstromes. In dieser Einrichtung sind die Motor­ strom-Kennlinien in Abhängigkeit von dem Drehwinkel der Tür im störungsfreien Lauf und mit dem maximal zulässigen Drehmoment abgespeichert. Diese Stromwerte können experimentell oder rechnerisch gewonnen werden. Um an der Tür wirkende Reibungs­ verluste zu berücksichtigen wird zur Bildung des Sollwertes des Ankerstromes der vorstehend genannte Stromwert mit einem glei­ tenden Mittelwert addiert, der sich aus dem Istwert des Anker­ stromes im hindernisfreien Betrieb ergibt. Somit können auch temperatur- und witterungsbedingte Änderungen des Türwider­ standes berücksichtigt werden. Da die Reibungsverluste an der Doppelfalttür (10) zeitlich veränderlich sind, ist die Ermitt­ lung des Sollwertes nach jedem einwandfreien Öffnen und Schließen der Tür vorgesehen.The control device of the drive unit ( 14 ) has a device, not shown in the drawing, for storing the setpoint value of the armature current which is dependent on the position of the double folding door ( 10 ). In this device, the motor current characteristics are stored as a function of the angle of rotation of the door in trouble-free operation and with the maximum permissible torque. These current values can be obtained experimentally or arithmetically. In order to take into account friction losses acting on the door, the above-mentioned current value is added to form the setpoint of the armature current with a moving average value which results from the actual value of the armature current in unobstructed operation. In this way, temperature and weather-related changes in the door resistance can also be taken into account. Since the frictional losses on the double folding door ( 10 ) are variable over time, the determination of the setpoint is provided after each flawless opening and closing of the door.

Die Regeleinrichtung der Doppelfalttür (10) baut sich aus einem Regler (17) auf, dem ein in der Zeichnung nicht dargestellter Vergleicher zugeordnet ist, der den Istwert des Ankerstromes mit dem zulässigen Sollwert vergleicht. Dem Regler (17) werden Signale einer ersten Meßeinrichtung (18) zugeführt, die mit der Antriebswelle (15) der Antriebseinheit (14) gekoppelt ist. Die erste Meßeinrichtung (18) kann beispielsweise ein Inkrementalgeber sein, der den Drehwinkel der Antriebswelle (15) bestimmt. Eine zweite Meßeinrichtung (19) dient zum Erfassen des Ankerstromes der Antriebseinheit (14). Auch die Signale der zweiten Meßein­ richtung (19) werden dem Regler (17) zugeführt. Der Regler (17) ist mit einem Stellglied (20) verbunden, mit dem Ankerstrom der Antriebseinheit (14) geregelt wird. Mittels des Stellgliedes (20) wird sichergestellt, daß der Ankerstrom den zulässigen Grenzwert nicht überschreitet.The control device of the double folding door ( 10 ) is constructed from a controller ( 17 ) to which a comparator (not shown in the drawing) is assigned, which compares the actual value of the armature current with the permissible setpoint. The controller ( 17 ) is supplied with signals from a first measuring device ( 18 ) which is coupled to the drive shaft ( 15 ) of the drive unit ( 14 ). The first measuring device ( 18 ) can be an incremental encoder, for example, which determines the angle of rotation of the drive shaft ( 15 ). A second measuring device ( 19 ) is used to detect the armature current of the drive unit ( 14 ). The signals of the second Meßein direction ( 19 ) are fed to the controller ( 17 ). The regulator ( 17 ) is connected to an actuator ( 20 ) which regulates the armature current of the drive unit ( 14 ). The actuator ( 20 ) ensures that the armature current does not exceed the permissible limit.

Im hindernisfreien Betrieb ist die Schließkraft (F) in allen Stellungen der Doppelfalttür (10) konstant. Tritt an der Fahr­ zeugtür ein Hindernis auf, beispielsweise eine in der Türöff­ nung stehende Person, so steigt der Istwert des Ankerstromes überproportional an. In dem Vergleicher der Regeleinrichtung wird dieser Istwert mit dem von der Stellung der Doppelfalttür (10) abhängigen zulässigen Sollwert verglichen. Liegt der Ist­ wert des Ankerstromes über dem zulässigen Sollwert, so steuert der Regler (17) das Stellglied (20) so an, daß eine Reduzierung des Ankerstromes und damit auch eine Verringerung des Antriebs­ momentes der Antriebseinheit (14) bewirkt wird.In obstacle-free operation, the closing force (F) is constant in all positions of the double folding door ( 10 ). If an obstacle occurs on the vehicle door, for example a person standing in the door opening, the actual value of the armature current increases disproportionately. In the comparator of the control device, this actual value is compared with the permissible target value, which is dependent on the position of the double folding door ( 10 ). Is the actual value of the armature current above the permissible setpoint, the controller ( 17 ) controls the actuator ( 20 ) so that a reduction in the armature current and thus a reduction in the drive torque of the drive unit ( 14 ) is effected.

Claims (8)

1. Antriebsvorrichtung für eine selbsttätig öffnende und schließende Tür, insbesondere eine Gelenktür, dadurch gekenn­ zeichnet, daß eine Antriebseinheit (14) vorgesehen ist, deren Antriebsmoment im wesentlichen dem Motorstrom proportional ist und der eine den Motorstrom regelnde Regeleinrichtung zugeord­ net ist, deren Führungsgröße ein von der Stellung der Tür (10) abhängiger, ein zulässiges Antriebsmoment der Antriebseinheit (14) begrenzender Sollwert des Motorstromes ist.1. Drive device for an automatically opening and closing door, in particular an articulated door, characterized in that a drive unit ( 14 ) is provided, the drive torque is substantially proportional to the motor current and the one regulating the motor current is assigned, the reference variable is a setpoint of the motor current which is dependent on the position of the door ( 10 ) and limits an admissible drive torque of the drive unit ( 14 ). 2. Antriebsvorrichtung nach Anspruch 1, dadurch gekenn­ zeichnet, daß als Antriebseinheit (14) ein Gleichstrom-Neben­ schlußmotor vorgesehen ist.2. Drive device according to claim 1, characterized in that a DC by-circuit motor is provided as the drive unit ( 14 ). 3. Antriebsvorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß die Regeleinrichtung eine Einrichtung zum Abspeichern des von der Stellung der Tür (10) abhängigen Soll­ wertes des Motorstromes enthält.3. Drive device according to claim 1 or 2, characterized in that the control device includes a device for storing the dependent on the position of the door ( 10 ) target value of the motor current. 4. Antriebsvorrichtung nach Anspruch 3, dadurch gekenn­ zeichnet, daß der Sollwert des Motorstromes aus der Summe eines gleitenden Mittelwertes, der sich aus dem Istwert des Motor­ stromes im hindernisfreien Betrieb ergibt, und einem Stromwert gebildet ist, der im störungsfreien Betrieb mit einem maximal zulässigen Antriebsmoment aufgenommen wurde.4. Drive device according to claim 3, characterized records that the setpoint of the motor current from the sum of one moving average resulting from the actual value of the motor current in obstacle-free operation, and a current value is formed, the in the trouble-free operation with a maximum permissible drive torque was recorded. 5. Antriebsvorrichtung nach Anspruch 4, dadurch gekenn­ zeichnet, daß eine Ermittlung des Sollwertes nach jedem ein­ wandfreien Öffnen und Schließen der Tür (10) vorgesehen ist.5. Drive device according to claim 4, characterized in that a determination of the target value after each wall-free opening and closing of the door ( 10 ) is provided. 6. Antriebsvorrichtung nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, daß die Regeleinrichtung eine erste Meßeinrichtung (18) zum Erfassen der Stellung der Tür (10) besitzt.6. Drive device according to one of the preceding claims, characterized in that the control device has a first measuring device ( 18 ) for detecting the position of the door ( 10 ). 7. Antriebsvorrichtung nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, daß die Regeleinrichtung eine zweite Meßeinrichtung (19) zum Erfassen des Motorstromes der Antriebseinheit enthält.7. Drive device according to one of the preceding claims, characterized in that the control device contains a second measuring device ( 19 ) for detecting the motor current of the drive unit. 8. Antriebsvorrichtung nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, daß die Regeleinrichtung mit einem Stellglied (20) zum Einstellen des Motorstromes versehen ist.8. Drive device according to one of the preceding claims, characterized in that the control device is provided with an actuator ( 20 ) for adjusting the motor current.
DE3921158A 1989-06-28 1989-06-28 Automatic double-panel door opening and closure drive - has constant closing force with set-point control such that obstruction reduces armature current and torque Granted DE3921158A1 (en)

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DE3921158A DE3921158A1 (en) 1989-06-28 1989-06-28 Automatic double-panel door opening and closure drive - has constant closing force with set-point control such that obstruction reduces armature current and torque

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DE3921158A DE3921158A1 (en) 1989-06-28 1989-06-28 Automatic double-panel door opening and closure drive - has constant closing force with set-point control such that obstruction reduces armature current and torque

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DE3921158C2 DE3921158C2 (en) 1993-02-04

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FR2681195A1 (en) * 1991-09-05 1993-03-12 Bosch Gmbh Robert Method and device for setting the short-circuit torque of electric motors, especially of servomotors
EP0592374A1 (en) * 1992-10-09 1994-04-13 APRIMATIC S.p.A. Device for motorizing an overhead swinging door for a garage or the like, and motorized overhead swinging door provided with this device
DE19504032A1 (en) * 1994-05-02 1995-11-09 Dorma Gmbh & Co Kg Motor-driven automatic door control method
DE29612714U1 (en) * 1996-07-23 1996-12-05 Elektrik Elektronik Dingfelder Device for closing and general actuation of flap-like elements
DE4208426B4 (en) * 1992-03-17 2005-10-06 Deltron Elektronische Systeme Gmbh Method for controlling door drives and device therefor
US7339336B2 (en) * 2002-12-31 2008-03-04 The Chamberlain Group, Inc. Movable barrier operator auto-force setting method and apparatus
EP0953705A3 (en) * 1998-05-02 2009-09-23 WABCO GmbH Method of cyclic checking monitoring devices in door closing systems
CN103255976A (en) * 2013-05-24 2013-08-21 无锡伊佩克科技有限公司 Bus door control device
WO2014033205A1 (en) * 2012-08-31 2014-03-06 Leopold Kostal Gmbh & Co Kg Method for controlling the closing process of closing devices by means of an electric motor-driven moving element
WO2015078752A1 (en) * 2013-11-26 2015-06-04 Siemens Aktiengesellschaft Method for controlling, in an open-loop and/or closed-loop manner, an electric drive motor for opening and closing at least one door or door leaf, and door control device
CN109138543A (en) * 2018-10-17 2019-01-04 广州瀚阳工程咨询有限公司 A kind of buffer area of bridge subsection precast plant
US10655377B2 (en) 2016-04-21 2020-05-19 Westinghouse Air Brake Technologies Corporation Method and system for detecting an obstruction of a passenger door

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5546014A (en) * 1991-09-05 1996-08-13 Robert Bosch Gmbh Method and device for setting the short circuit moment in electric motors, particularly in servomotors
FR2681195A1 (en) * 1991-09-05 1993-03-12 Bosch Gmbh Robert Method and device for setting the short-circuit torque of electric motors, especially of servomotors
DE4208426B4 (en) * 1992-03-17 2005-10-06 Deltron Elektronische Systeme Gmbh Method for controlling door drives and device therefor
EP0592374A1 (en) * 1992-10-09 1994-04-13 APRIMATIC S.p.A. Device for motorizing an overhead swinging door for a garage or the like, and motorized overhead swinging door provided with this device
DE19504032A1 (en) * 1994-05-02 1995-11-09 Dorma Gmbh & Co Kg Motor-driven automatic door control method
US5770934A (en) * 1994-05-02 1998-06-23 Dorma Gmbh & Co. Kg Method for the closed-loop control of an automatic door which is propelled by a drive motor
DE29612714U1 (en) * 1996-07-23 1996-12-05 Elektrik Elektronik Dingfelder Device for closing and general actuation of flap-like elements
EP0953705A3 (en) * 1998-05-02 2009-09-23 WABCO GmbH Method of cyclic checking monitoring devices in door closing systems
US7339336B2 (en) * 2002-12-31 2008-03-04 The Chamberlain Group, Inc. Movable barrier operator auto-force setting method and apparatus
US7679301B2 (en) 2002-12-31 2010-03-16 The Chamberlain Group, Inc. Movable barrier operator auto-force setting method and apparatus
WO2014033205A1 (en) * 2012-08-31 2014-03-06 Leopold Kostal Gmbh & Co Kg Method for controlling the closing process of closing devices by means of an electric motor-driven moving element
CN103255976A (en) * 2013-05-24 2013-08-21 无锡伊佩克科技有限公司 Bus door control device
WO2015078752A1 (en) * 2013-11-26 2015-06-04 Siemens Aktiengesellschaft Method for controlling, in an open-loop and/or closed-loop manner, an electric drive motor for opening and closing at least one door or door leaf, and door control device
US10655377B2 (en) 2016-04-21 2020-05-19 Westinghouse Air Brake Technologies Corporation Method and system for detecting an obstruction of a passenger door
CN109138543A (en) * 2018-10-17 2019-01-04 广州瀚阳工程咨询有限公司 A kind of buffer area of bridge subsection precast plant

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