EP1529251A1 - Mass determination for automatic sliding door and lift door control systems - Google Patents

Mass determination for automatic sliding door and lift door control systems

Info

Publication number
EP1529251A1
EP1529251A1 EP03790660A EP03790660A EP1529251A1 EP 1529251 A1 EP1529251 A1 EP 1529251A1 EP 03790660 A EP03790660 A EP 03790660A EP 03790660 A EP03790660 A EP 03790660A EP 1529251 A1 EP1529251 A1 EP 1529251A1
Authority
EP
European Patent Office
Prior art keywords
door
door system
mass
drive device
control unit
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
EP03790660A
Other languages
German (de)
French (fr)
Other versions
EP1529251B1 (en
Inventor
Alois Recktenwald
Guido Sonntag
Marcus Gutzmer
Uwe Nolte
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Siemens AG
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Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Publication of EP1529251A1 publication Critical patent/EP1529251A1/en
Application granted granted Critical
Publication of EP1529251B1 publication Critical patent/EP1529251B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
    • B66B13/02—Door or gate operation
    • B66B13/14—Control systems or devices
    • B66B13/143—Control systems or devices electrical
    • B66B13/146—Control systems or devices electrical method or algorithm for controlling doors

Definitions

  • the invention relates to a method and a device for controlling an electrically operated door system by means of a control unit that configures itself, the door system being moved by means of an electrical drive device.
  • EP 0 848 309 AI describes a device for monitoring and limiting the static closing force of a door which is moved by means of a drive motor.
  • a control device as described in EP 0 848 309 AI not only causes a high level of maintenance and associated costs, but also the installation and adaptation of the control device to a door system, e.g. to an elevator system, has proven to be extremely time consuming and costly.
  • the invention is therefore based on the object of providing a method and a device of the type mentioned at the outset in such a way that the disadvantages described above are avoided and current devices and methods in particular with regard to the time required for installing or maintaining the door system and the associated time Costs are optimized.
  • This object is achieved according to the invention in that the mass of the door system is automatically determined for the configuration of the door control unit, the door system being accelerated in a controlled manner during at least one controlled journey and then stopped again, the motor voltage of the drive device being predetermined. This ensures that any door system equipped with a control unit according to the invention is guaranteed to be operated only if the maximum permissible closing speeds and the maximum permissible kinetic energy of the door system, which are prescribed by international standards, are not exceeded.
  • the motor voltage of the drive device is advantageously specified by means of pulse-width modulation. In this way, the system acceleration can be determined very precisely.
  • the friction in the system, one or more counterweights and the electrical voltage of the drive device are advantageously used as input parameters for the automatic mass determination.
  • the friction should be as negligible as possible.
  • the time, instantaneous speed and starting speed of an acceleration ramp which is advantageously predetermined by pulse-width modulation are used as further input variables. In this way it is possible to be effective, sluggish Calculate the mass of the system at any time of the acceleration ramp.
  • a closing and an opening run are advantageously carried out to determine the mass.
  • the mass determination runs advantageously start and end in a resting position.
  • a resting position is not only the (almost) completely open or the (almost) completely closed door position of the elevator system. Any other positions of the elevator system are also to be regarded as a resting position, provided that the door system is largely not moved in the corresponding position.
  • the controlled travel of the door system advantageously has at least two phases, the friction of the system being determined during a first phase at constant speed and then the system mass being determined during a second phase at constant acceleration by means of an instantaneous speed of the system.
  • a target tolerance of 20% or less can be maintained when determining the mass.
  • a device according to the invention is particularly advantageous when the door system to be controlled has at least two door components which are connected to the drive device by means of a mechanical device for power transmission, for example a toothed belt.
  • Figure 1 shows an elevator control according to the invention, wherein the door control unit 1 is connected to the drive device 2.
  • the drive device 2 preferably an electric motor, is connected to the door system 3.
  • This connection is designed, for example, such that two door components 5, as shown in FIG. 2, which are components of the door system 3, are connected to the motor pinion of the drive device 2 by means of a toothed belt.
  • a handheld terminal 4 is connected to the door control unit 1.
  • Components 1, 2 and 4 can send measurement and control signals to each other.
  • presettings can be made, for example by entering parameters, or values can be read out from the door control unit 1, using a service tool on the door control unit 1.
  • Possible motor data of the drive device 2 are advantageously stored in a memory unit of the door control unit 1.
  • FIG. 2 shows an elevator device in which a door control according to the invention is used.
  • the door control unit 1 which is only shown schematically, is in turn connected to the drive device 2 and the hand terminal 4. Both the drive device and the door control unit 1 is connected to the door system 3, which is composed here of a two-part cabin door 5 and the counterweights 7.
  • the door system 3 which is composed here of a two-part cabin door 5 and the counterweights 7.
  • One or more, for example, two-part shaft doors 6, which are attached on different floors, are, for example, depending on the position of the elevator car 8, at least temporary components of the door system 3 and in particular mechanically connected to the car door 5.
  • the drive device 2 is also advantageously firmly connected to the elevator car 8.
  • the door control unit 1 is also advantageously connected to the elevator car 8.
  • Detectors or light barriers for opening the doors are provided on the doors 5 and 6, each consisting of two components.
  • the maximum permissible kinetic energy of the door system should preferably be between 9.49 joules and 10 joules if the door contains a detector or a light barrier to open the door. If no opening devices are active, the maximum permissible kinetic energy should be between 3.39 joules and 4 joules.
  • the maximum permissible speed of the door system depends on the system mass and the kinetic energy.
  • the mass determination is influenced by the friction in the system 3, the counterweight or weights 7, which are used, for example, to close the elevator door 5, and the motor voltage on the drive device 2.
  • the drive device 2 is given a voltage ramp by the door control unit 1.
  • the following voltage equation applies to a DC motor:
  • Ki is a conversion factor
  • v 0 corresponds to the starting speed of the door system 3
  • VW M corresponds to the speed component due to the pulse width modulation. The following must apply to the driving force of the motor:
  • F R corresponds to the frictional force of the system and F ⁇ the inertial force for an accelerated mass, here the mass of the door system 1.
  • the relationships above are used to determine the effective inertial mass of the system during the acceleration ramp.
  • the time t, the instantaneous speed v and the starting speed v 0 of the acceleration ramp serve as input variables.
  • the door control unit 1 in a preferred embodiment of the invention has a time-critical operating system, e.g. an 8-bit microcontroller, an almost friction-free door system 1 with the smallest possible door mass is first selected to determine calibration values of the speed.
  • a time-critical operating system e.g. an 8-bit microcontroller
  • calibration values can initially be determined independently of the system friction and the counterweight 7 as a function of the pulse width modulation. For example, it is possible to store determined speed values for different masses in a table in order to process the processor
  • Such a table contains values for the pulse-width modulation at the start of the mass determination and for the door speed at the end of the measurement runs of the door system 3.
  • the door system 3 is preferably accelerated from a closed rest position and via a a short distance, for example 10 cm regulated in the opening direction. This is preferably done at a speed of 9 cm / sec in order to largely avoid overshoot and the occurrence of static friction components.
  • the pulse-width modulation value is increased by preferably 3 increments at intervals of 10 msec until the final value is reached. In this way, an almost constant acceleration is achieved.
  • a four-quadrant controller is used and up to a total of 128 increments are run through.
  • the pulse width modulation value is reduced again to a constant speed, for example of 9 cm / sec, and the door is finally moved into an open, rest position.
  • the process can then be repeated analogously in the closing direction.
  • the system mass can be determined in particular at this point in time using the relationship (9).
  • the friction is preferably calculated in a first movement section, that is to say, for example, during the first 10 cm door movement at 9 cm / sec on the basis of the current pulse width modulation value.
  • the pulse width modulation value increases with increasing friction.
  • the counterweights 7 are compensated for by two mass determinations, that is to say by successive opening and closing runs.
  • the mass can be determined with sufficient tolerance and norm-related limit values for the operation of the door system 3 are reliably maintained.

Abstract

The invention relates to a method for controlling a door system (3) by means of a self-configuring door control unit (1). Said door system (3) moves by means of an electrical drive device (2) and may not exceed prescribed maximum speeds, wherefore the mass of the door system (3) is automatically determined for the configuration of the door control unit (1), in that the door system (3) is accelerated in a regulated manner during a controlled opening course and optionally during a subsequent closing course, and is then stopped, and the motor voltage of the drive device (2) is pre-determined by means of pulse width modulation for the mass determination.

Description

Beschreibungdescription
Masseermittlung bei automatischen Schiebe- und AufzugtürsteuerungenMass determination with automatic sliding and elevator door controls
Die Erfindung betrifft ein Verfahren und eine Vorrichtung zur Steuerung eines elektrisch betriebenen Türsystems mittels einer Steuereinheit, die sich selbst konfiguriert, wobei das Türsystem mittels einer elektrischen Antriebsvorrichtung be- wegt wird.The invention relates to a method and a device for controlling an electrically operated door system by means of a control unit that configures itself, the door system being moved by means of an electrical drive device.
Türsysteme, die mittels elektrischer Antriebsvorrichtungen und insbesondere automatisch bewegt werden, also beispielsweise automatische Schiebetüren bzw. Aufzugstüren, unterlie- gen internationalen Normen wie z.B. der CSA B44-M94, CENDoor systems that are moved by means of electrical drive devices and in particular automatically, for example automatic sliding doors or elevator doors, are subject to international standards such as the CSA B44-M94, CEN
EN81: 1:1985, ASME A17.1-1996 bzw. der ASME A17.1-2000, in denen unter anderem die maximal zulässige kinetische Energie für derartige TürSysteme festgelegt wird.EN81: 1: 1985, ASME A17.1-1996 and the ASME A17.1-2000, in which, among other things, the maximum permissible kinetic energy for such door systems is specified.
Die EP 0 848 309 AI beschreibt eine Vorrichtung zur Überwachung und Begrenzung der statischen Schließkraft einer Tür, die mittels eines Antriebsmotors bewegt wird. Eine Steuervorrichtung wie sie in der EP 0 848 309 AI beschrieben wird, verursacht nicht nur einen hohen Wartungsaufwand und damit verbundene Kosten, sondern auch die Installation und Anpassung der Steuereinrichtung an ein Türsystem, z.B. an ein Aufzugssystem, hat sich als äußerst zeitraubend und kostenintensiv erwiesen.EP 0 848 309 AI describes a device for monitoring and limiting the static closing force of a door which is moved by means of a drive motor. A control device as described in EP 0 848 309 AI not only causes a high level of maintenance and associated costs, but also the installation and adaptation of the control device to a door system, e.g. to an elevator system, has proven to be extremely time consuming and costly.
Der Erfindung liegt daher die Aufgabe zugrunde, ein Verfahren und eine Vorrichtung der eingangs genannten Art derart bereitzustellen, dass die zuvor beschriebenen Nachteile vermieden werden und gegenwärtige Vorrichtungen bzw. Verfahren insbesondere hinsichtlich des zur Installation bzw. zur Wartung des Türsystems benötigten Zeitaufwands und der damit verbundenen Kosten optimiert werden. Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass zur Konfiguration der Türsteuereinheit die Masse des Türsystems automatisch ermittelt wird, wobei das Türsystem während mindestens einer kontrollierten Fahrt geregelt beschleunigt und anschließend wieder angehalten wird, wobei die Motorspannung der Antriebsvorrichtung vorgegeben wird. Auf diese Weise wird sichergestellt, dass für jedwedes mit einer erfindungsgemäßen Steuereinheit ausgerüstete Türsystem gewährleistet ist, dass es nur dann betrieben wird, wenn insbesondere durch interna- tionale Normen vorgeschriebene maximal zulässige Schließgeschwindigkeiten und die maximal zulässige kinetische Energie des Türsystems nicht überschritten werden. Durch die selbständige Masseermittlung verringert sich der Installationsaufwand des Türsystems erheblich und auch die Sicherheit des Türsystems wird verbessert, da bereits vor Aufnahme des normalen Betriebsmodus automatisch sichergestellt wird, dass sicherheitsrelevante Grenzwerte nicht überschritten werden. Kosten werden insbesondere auch dadurch eingespart, dass der Aufwand zur Anpassung der Türsteuereinheit an unterschiedli- ehe Motoren und Türmechaniken durch die Erfindung erheblich gesenkt wird.The invention is therefore based on the object of providing a method and a device of the type mentioned at the outset in such a way that the disadvantages described above are avoided and current devices and methods in particular with regard to the time required for installing or maintaining the door system and the associated time Costs are optimized. This object is achieved according to the invention in that the mass of the door system is automatically determined for the configuration of the door control unit, the door system being accelerated in a controlled manner during at least one controlled journey and then stopped again, the motor voltage of the drive device being predetermined. This ensures that any door system equipped with a control unit according to the invention is guaranteed to be operated only if the maximum permissible closing speeds and the maximum permissible kinetic energy of the door system, which are prescribed by international standards, are not exceeded. The independent determination of mass reduces the installation effort of the door system considerably and also the security of the door system is improved, since before the normal operating mode is started it is automatically ensured that safety-related limit values are not exceeded. Costs are also saved in particular by the fact that the effort to adapt the door control unit to different motors and door mechanisms is considerably reduced by the invention.
Vorteilhafterweise wird die Motorspannung der Antriebsvorrichtung mittels Puls-Weiten-Modulation vorgegeben. Auf diese Weise lässt sich die Systembeschleunigung sehr präzise ermitteln.The motor voltage of the drive device is advantageously specified by means of pulse-width modulation. In this way, the system acceleration can be determined very precisely.
Vorteilhafterweise werden die Reibung im System, ein oder mehrere Gegengewichte und die elektrische Spannung der An- triebsvorrichtung als Eingangsparameter für die automatische Massenermittlung verwendet. Zur Kalibrierung soll die Reibung jedoch möglichst vernachlässigbar sein. Gegebenenfalls werden als weitere Eingangsgrößen die Zeit, Momentangeschwindigkeit und Startgeschwindigkeit einer mit Vorteil durch die Puls- Weiten-Modulation vorgegebenen Beschleunigungsrampe verwendet. Auf diese Weise ist es möglich, die effektive, träge Masse des Systems zu jedem Zeitpunkt der Beschleunigungsrampe zu berechnen.The friction in the system, one or more counterweights and the electrical voltage of the drive device are advantageously used as input parameters for the automatic mass determination. For calibration, however, the friction should be as negligible as possible. If appropriate, the time, instantaneous speed and starting speed of an acceleration ramp which is advantageously predetermined by pulse-width modulation are used as further input variables. In this way it is possible to be effective, sluggish Calculate the mass of the system at any time of the acceleration ramp.
Vorteilhafterweise wird zur Massenermittlung eine Schließ- und eine Öffnungsfahrt durchgeführt. Indem auf diese Weise zwei Masseermittlungen realisiert werden, können Gegengewichte bei der Berechnung kompensiert werden.A closing and an opening run are advantageously carried out to determine the mass. By carrying out two mass determinations in this way, counterweights can be compensated for in the calculation.
Die Masseermittlungsfahrten beginnen und enden mit Vorteil in einer ruhenden Position. Eine ruhende Positionen ist jedoch nicht nur die (nahezu) vollständig geöffnete bzw. die (nahezu) vollständig geschlossene Türposition des Aufzugssystems . Beliebig andere Positionen des Aufzugssystems sind ebenfalls als ruhende Position anzusehen, sofern das Türsystem in der entsprechenden Position weitestgehend nicht bewegt wird.The mass determination runs advantageously start and end in a resting position. However, a resting position is not only the (almost) completely open or the (almost) completely closed door position of the elevator system. Any other positions of the elevator system are also to be regarded as a resting position, provided that the door system is largely not moved in the corresponding position.
Damit Reibungskomponenten des Türsystems bei der Kalibrierung weitestgehend vernachlässigbar sind, ist es besonders zweckmäßig, die Masseermittlungsfahrten mit einer Schleichge- schwindigkeit, also einer äußerst geringen Geschwindigkeit, zu beginnen und zu beenden.So that friction components of the door system are largely negligible during calibration, it is particularly expedient to start and end the mass determination runs at a creep speed, that is to say an extremely low speed.
Vorteilhafterweise weist die kontrollierte Fahrt des Türsystems mindestens zwei Phasen auf, wobei während einer ersten Phase bei konstanter Geschwindigkeit die Reibung des Systems bestimmt wird und dann während einer zweiten Phase bei konstanter Beschleunigung mittels einer Momentangeschwindigkeit des Systems die Systemmasse bestimmt wird. So kann bei der Masseermittlung eine angestrebte Toleranz von 20% oder weni- ger eingehalten werden.The controlled travel of the door system advantageously has at least two phases, the friction of the system being determined during a first phase at constant speed and then the system mass being determined during a second phase at constant acceleration by means of an instantaneous speed of the system. A target tolerance of 20% or less can be maintained when determining the mass.
Der Einsatz einer erfindungsgemäßen Vorrichtung ist vor allem dann äußerst vorteilhaft, wenn das zu steuernde Türsystem mindestens zwei Türkomponenten aufweist, die mittels einer mechanischen Einrichtung zur Kraftübertragung, beispielsweise einem Zahnriemen, mit der Antriebsvorrichtung verbunden sind. Weitere Vorteile und erfinderische Einzelheiten ergeben sich aus der nachfolgenden Beschreibung eines Ausführungsbei- spiels, anhand der Zeichnungen und in Verbindung mit den Unteransprüchen.The use of a device according to the invention is particularly advantageous when the door system to be controlled has at least two door components which are connected to the drive device by means of a mechanical device for power transmission, for example a toothed belt. Further advantages and inventive details emerge from the following description of an exemplary embodiment, using the drawings and in conjunction with the subclaims.
Dabei zeigenShow
FIG 1 ein Blockschaltbild der Aufzugssteuerung und1 shows a block diagram of the elevator control and
FIG 2 ein Aufzugssystem.2 shows an elevator system.
Figur 1 zeigt eine erfindungsgemäße Aufzugssteuerung, wobei die Türsteuereinheit 1 mit der Antriebsvorrichtung 2 verbunden ist. Die Antriebsvorrichtung 2, vorzugsweise ein Elektro- motor, ist mit dem Türsystem 3 verbunden. Mittels einer vorzugsweise formschlüssigen Verbindung der Komponenten 2 und 3 wird es möglich, die Türbewegung beispielsweise durch Messung der Motorumdrehungen zu ermitteln. Diese Verbindung ist beispielsweise derart gestaltet, dass zwei, wie in Figur 2 dar- gestellte Türbestandteile 5, die Bestandteile des Türsystems 3 sind, mittels eines Zahnriemens mit dem Motorritzel der Antriebsvorrichtung 2 verbunden sind. Ein Handterminal 4 ist mit der Türsteuereinheit 1 verbunden. Die Komponenten 1, 2 und 4 können aneinander Mess- bzw. Steuersignale versenden. Mittels des Handterminals 4 können gegebenenfalls unter Verwendung eines Servicetools an der Türsteuereinheit 1 Voreinstellungen beispielsweise durch Eingabe von Parametern getätigt werden bzw. Werte aus der Türsteuereinheit 1 ausgelesen werden. Mögliche Motordaten der Antriebsvorrichtung 2 sind vorteilhafterweise in einer Speichereinheit der Türsteuereinheit 1 abgelegt.Figure 1 shows an elevator control according to the invention, wherein the door control unit 1 is connected to the drive device 2. The drive device 2, preferably an electric motor, is connected to the door system 3. By means of a preferably form-fitting connection of components 2 and 3, it becomes possible to determine the door movement, for example by measuring the engine revolutions. This connection is designed, for example, such that two door components 5, as shown in FIG. 2, which are components of the door system 3, are connected to the motor pinion of the drive device 2 by means of a toothed belt. A handheld terminal 4 is connected to the door control unit 1. Components 1, 2 and 4 can send measurement and control signals to each other. By means of the hand-held terminal 4, presettings can be made, for example by entering parameters, or values can be read out from the door control unit 1, using a service tool on the door control unit 1. Possible motor data of the drive device 2 are advantageously stored in a memory unit of the door control unit 1.
Figur 2 zeigt eine Aufzugsvorrichtung in der eine erfindungsgemäße Türsteuerung eingesetzt wird. Die lediglich schema- tisch dargestellte Türsteuereinheit 1 ist wiederum mit der Antriebsvorrichtung 2 und dem Handterminal 4 verbunden. Sowohl die Antriebsvorrichtung als auch die Tursteuereinheit 1 ist mit dem Türsystem 3 verbunden, dass sich hier aus einer zweiteiligen Kabinentür 5 und den Gegengewichten 7 zusammensetzt. Eine oder mehrere beispielsweise zweiteilig ausgeführte Schachttüren 6, die in verschiedenen Stockwerken ange- bracht sind, sind beispielsweise in Abhängigkeit von der Position der Aufzugskabine 8 zumindest temporäre Bestandteile des Türsystems 3 und insbesondere mechanisch mit der Kabinentür 5 verbunden. Neben der Kabinentür 5 und den Gegengewichten 7 ist mit Vorteil auch die Antriebsvorrichtung 2 mit der Aufzugskabine 8 fest verbunden. Auch die Türsteuereinheit 1 ist mit Vorteil mit der Aufzugskabine 8 verbunden.FIG. 2 shows an elevator device in which a door control according to the invention is used. The door control unit 1, which is only shown schematically, is in turn connected to the drive device 2 and the hand terminal 4. Both the drive device and the door control unit 1 is connected to the door system 3, which is composed here of a two-part cabin door 5 and the counterweights 7. One or more, for example, two-part shaft doors 6, which are attached on different floors, are, for example, depending on the position of the elevator car 8, at least temporary components of the door system 3 and in particular mechanically connected to the car door 5. In addition to the car door 5 and the counterweights 7, the drive device 2 is also advantageously firmly connected to the elevator car 8. The door control unit 1 is also advantageously connected to the elevator car 8.
An den jeweils aus zwei Komponenten bestehenden Türen 5 und 6 sind beispielsweise Melder oder Lichtschranken zum Öffnen der Türen vorgesehen. Die maximal zulässige kinetische Energie des Türsystems soll vorzugsweise zwischen 9,49 Joule und 10 Joule liegen, wenn die Tür einen Melder oder eine Lichtschranke zum Öffnen der Tür enthält. Sind keine Öffnungsvorrichtungen aktiv, soll die maximal zulässige kinetische Ener- gie zwischen 3,39 Joule und 4 Joule liegen. Die maximal zulässige Geschwindigkeit des Türsystems ist von der Systemmasse und der kinetischen Energie abhängig.Detectors or light barriers for opening the doors, for example, are provided on the doors 5 and 6, each consisting of two components. The maximum permissible kinetic energy of the door system should preferably be between 9.49 joules and 10 joules if the door contains a detector or a light barrier to open the door. If no opening devices are active, the maximum permissible kinetic energy should be between 3.39 joules and 4 joules. The maximum permissible speed of the door system depends on the system mass and the kinetic energy.
Insbesondere wird die Masseermittlung durch die Reibung im System 3, das oder die Gegengewichte 7, die beispielsweise zum Schließen der Aufzugstür 5 eingesetzt werden, und die Motorspannung an der Antriebsvorrichtung 2 beeinflusst.In particular, the mass determination is influenced by the friction in the system 3, the counterweight or weights 7, which are used, for example, to close the elevator door 5, and the motor voltage on the drive device 2.
Zur Masseermittlung wird der Antriebsvorrichtung 2 von der Türsteuereinheit 1 eine Spannungsrampe vorgegeben. Für den mit Gleichspannung betriebenen Motor 2 gilt dabei die folgende Spannungsgleichung für einen Gleichstrommotor:To determine the mass, the drive device 2 is given a voltage ramp by the door control unit 1. For motor 2 operated with DC voltage, the following voltage equation applies to a DC motor:
( 1 ) UM M :— U -ΈRMK "■" -i L-MM ' R'M(1) UM M: - U -Έ R MK " ■ " -i L -MM 'R'M
Für die elektromotorische Kraft EMK des Motors gilt die folgende Gleichung: (2) UEMK := • v mit v := v0 + vPWM The following equation applies to the electromotive force EMF of the motor: (2) U EMF : = • v with v: = v 0 + v PWM
Dabei ist Ki ein Umrechnungsfaktor, v0 entspricht der Startgeschwindigkeit des Türsystems 3 und VWM entspricht dem Ge- schwindigkeitsanteil aufgrund der Puls-Weiten-Modulation. Für die Antriebskraft des Motors muss gelten:Ki is a conversion factor, v 0 corresponds to the starting speed of the door system 3 and VW M corresponds to the speed component due to the pulse width modulation. The following must apply to the driving force of the motor:
(3) FM := K2 • iM (3) F M : = K 2 • i M
(4) FM :=FR +FT (4) F M : = F R + F T
FR entspricht dabei der Reibungskraft des Systems und Fτ der Trägheitskraft für eine beschleunigte Masse, hier also der Masse des Türsystems 1.F R corresponds to the frictional force of the system and F τ the inertial force for an accelerated mass, here the mass of the door system 1.
Aus den Gleichungen (3) und (4) und der Trägheitskraft für eine beschleunigte Masse ergibt sich folgende Gleichung für den Motorström iM:From equations (3) and (4) and the inertial force for an accelerated mass, the following equation for the motor current i M results:
Zusammen mit den Beziehungen (1) und (2) ergibt sich daraus für die MotorSpannung UM:Together with the relationships (1) and (2), this results in the motor voltage U M :
Erfindungsgemäß wird nun für die MotorSpannung UM eine Spannungsrampe mittels Puls-Weiten-Modulation vorgegeben:According to the invention, a voltage ramp is now specified for the motor voltage U M by means of pulse width modulation:
(7) UM:=K3-t(7) U M : = K 3 -t
Setzt man die Beziehungen (6) und (7) gleich, löst nach K3-t auf und integriert schließlich über t, so ergibt sich die nachfolgende Gleichung: If relationships (6) and (7) are set equal, resolved according to K 3 -t and finally integrated over t, the following equation results:
Nach Bestimmen der Integrationskonstanten Ci erhält man die nachfolgende Beziehung für die Systemmasse mgeS:After determining the integration constant Ci, the following relationship for the system mass m g e S is obtained :
Anhand der voranstehenden Beziehungen wird die effektive träge Masse des Systems während der Beschleunigungsrampe ermit- telt. Als Eingangsgrößen dienen die Zeit t, die Momentangeschwindigkeit v und die Startgeschwindigkeit v0 der Beschleunigungsrampe .The relationships above are used to determine the effective inertial mass of the system during the acceleration ramp. The time t, the instantaneous speed v and the starting speed v 0 of the acceleration ramp serve as input variables.
Da die Türsteuereinheit 1 in einer bevorzugten Ausgestaltung der Erfindung ein zeitkritisches Betriebssystem aufweist, z.B. einen 8-Bit-Mikrokontroller, wird zunächst zur Ermittlung von Kalibrierwerten der Geschwindigkeit ein nahezu reibungsfreies Türsystem 1 mit möglichst geringer Türmasse gewählt.Since the door control unit 1 in a preferred embodiment of the invention has a time-critical operating system, e.g. an 8-bit microcontroller, an almost friction-free door system 1 with the smallest possible door mass is first selected to determine calibration values of the speed.
So können Kalibrierwerte zunächst unabhängig von der Systemreibung und dem Gegengewicht 7 in Abhängigkeit von der Puls- Weiten-Modulation bestimmt werden. Es ist beispielsweise möglich ermittelte Geschwindigkeitswerte für verschiedene Massen in eine Tabelle abzulegen, um die Prozessorauslastung derIn this way, calibration values can initially be determined independently of the system friction and the counterweight 7 as a function of the pulse width modulation. For example, it is possible to store determined speed values for different masses in a table in order to process the processor
Türsteuereinheit 1 nicht unnötig zu erhöhen. Eine derartige Tabelle enthält Werte für die Puls-Weiten-Modulation bei Start der Masseermittlung und für die Türgeschwindigkeit am Ende der Messfahrten des Türsystems 3.Do not increase door control unit 1 unnecessarily. Such a table contains values for the pulse-width modulation at the start of the mass determination and for the door speed at the end of the measurement runs of the door system 3.
Zur Masseermittlung selbst wird das Türsystem 3 vorzugsweise aus geschlossener Ruheposition beschleunigt und über eine kurze Strecke, beispielsweise 10 cm in Öffnungsrichtung geregelt gefahren. Dies erfolgt vorzugsweise bei einer Geschwindigkeit von 9 cm/sek um Überschwingen und das Auftreten von Haftreibungskomponenten weitestgehend zu vermeiden.To determine the mass itself, the door system 3 is preferably accelerated from a closed rest position and via a a short distance, for example 10 cm regulated in the opening direction. This is preferably done at a speed of 9 cm / sec in order to largely avoid overshoot and the occurrence of static friction components.
In einem darauffolgenden Streckenabschnitt wird in einem Abstand von jeweils 10 msek der Puls-Weiten-Modulationswert um vorzugsweise jeweils 3 Inkre ente erhöht, bis der Endwert erreicht wird. So wird eine nahezu konstante Beschleunigung er- reicht. Beispielsweise wird hierbei ein Vier-Quadranten- Regler eingesetzt und es werden bis zu insgesamt 128 Inkremente durchlaufen.In a subsequent section of the route, the pulse-width modulation value is increased by preferably 3 increments at intervals of 10 msec until the final value is reached. In this way, an almost constant acceleration is achieved. For example, a four-quadrant controller is used and up to a total of 128 increments are run through.
Im gleichen Verfahren wird der Puls-Weiten-Modulations-Wert wieder bis zu einer konstanten Geschwindigkeit, beispielsweise von 9 cm/sek verringert und die Tür schließlich bis in eine geöffnete Ruheposition gefahren. Der Vorgang lässt sich dann analog in Schließrichtung wiederholen.In the same process, the pulse width modulation value is reduced again to a constant speed, for example of 9 cm / sec, and the door is finally moved into an open, rest position. The process can then be repeated analogously in the closing direction.
Da am Ende der durch die Puls-Weiten-Modulation vorgegebenen Beschleunigungsrampe die Geschwindigkeitsänderung nahezu konstant ist, lässt sich insbesondere zu diesem Zeitpunkt die Systemmasse mit Hilfe der Beziehung (9) ermitteln.Since at the end of the acceleration ramp predetermined by the pulse-width modulation, the change in speed is almost constant, the system mass can be determined in particular at this point in time using the relationship (9).
Die Reibung wird vorzugsweise in einem ersten Bewegungsabschnitt, also beispielsweise während den ersten 10 cm Türbewegung mit 9 cm/sek anhand des aktuellen Puls-Weiten-Modulations-Wertes berechnet. Der Puls-Weiten-Modulations-Wert steigt mit zunehmender Reibung an.The friction is preferably calculated in a first movement section, that is to say, for example, during the first 10 cm door movement at 9 cm / sec on the basis of the current pulse width modulation value. The pulse width modulation value increases with increasing friction.
Die Gegengewichte 7 werden durch zwei Masseermittlungen, also durch aufeinanderfolgende Öffnungs- bzw. Schließfahrten kompensiert. Durch das erfindungsgemäße Verfahren kann die Masse mit ausreichender Toleranz bestimmt werden und normbedingte Grenzwerte für den Betrieb des Türsystems 3 werden zuverlässig eingehalten. The counterweights 7 are compensated for by two mass determinations, that is to say by successive opening and closing runs. By means of the method according to the invention, the mass can be determined with sufficient tolerance and norm-related limit values for the operation of the door system 3 are reliably maintained.

Claims

Patentansprüche claims
1. Verfahren zur Steuerung eines Türsystems (3) mittels einer Türsteuereinheit (1) , welche sich selbst konfiguriert, wobei das Türsystem (3) mittels einer elektrischen Antriebsvorrichtung (2) bewegt wird, d a d u r c h g e k e n n z e i c h n e t , dass zur Konfiguration der Türsteuereinheit (1) die Masse des Türsystems (3) automatisch ermittelt wird, wobei das Türsystem (3) wäh- rend mindestens einer kontrollierten Fahrt geregelt beschleunigt und anschließend wieder angehalten wird, wobei die Motorspannung der Antriebsvorrichtung (2) vorgegeben wird.1. A method for controlling a door system (3) by means of a door control unit (1) which configures itself, the door system (3) being moved by means of an electrical drive device (2), characterized in that the mass is used to configure the door control unit (1) of the door system (3) is determined automatically, the door system (3) being accelerated in a controlled manner during at least one controlled journey and then stopped again, the motor voltage of the drive device (2) being predetermined.
2. Verfahren nach Patentanspruch 1, d a d u r c h g e k e n n z e i c h n e t , dass die Motorspannung der Antriebsvorrichtung (2) mittels Puls-Weiten- Modulation vorgegeben wird.2. The method according to claim 1, so that the motor voltage of the drive device (2) is predetermined by means of pulse-width modulation.
3. Verfahren nach einem der vorstehenden Patentansprüche, d a d u r c h g e k e n n z e i c h n e t , dass als Eingangsparameter zur automatischen Massenermittlung, die Reibung im System (3), ein oder mehrere Gegengewichte (7) und die elektrische Spannung der Antriebsvorrichtung (2) verwendet werden.3. The method according to any one of the preceding claims, d a d u r c h g e k e n n z e i c h n e t that as an input parameter for automatic mass determination, the friction in the system (3), one or more counterweights (7) and the electrical voltage of the drive device (2) are used.
4. Verfahren nach einem der vorstehenden Patentansprüche, d a d u r c h g e k e n n z e i c h n e t , dass zur Massenermittlung eine Schließ- und eine Öffnungsfahrt durchgeführt wird.4. The method according to any one of the preceding claims, d a d u r c h g e k e n e z e i c h n e t that a closing and an opening drive is carried out for mass determination.
5. Verfahren nach einem der vorstehenden Patentansprüche, d a d u r c h g e k e n n z e i c h n e t , dass die kontrollierte Fahrt des Türsystems (3) mindestens zwei Phasen aufweist, wobei - während einer ersten Phase bei konstanter Geschwindigkeit die Reibung des Systems (3) bestimmt wird und dann während einer zweiten Phase bei konstanter Beschleunigung mittels einer Momentangeschwindigkeit des Systems (3) die Systemmasse bestimmt wird.5. The method according to any one of the preceding claims, characterized in that the controlled travel of the door system (3) has at least two phases, wherein - during a first phase at constant speed, the friction of the system (3) is determined and then the system mass is determined during a second phase with constant acceleration by means of an instantaneous speed of the system (3).
β. Verfahren nach einem der vorstehenden Patentansprüche, d a d u r c h g e k e n n z e i c h n e t , dass die Fahrten zur Massenermittlung aus bzw. in einer ruhenden Position beginnen bzw. beendet werden.β. Method according to one of the preceding claims, so that the journeys for determining the mass start or end in a resting position are started or ended.
7. Verfahren nach einem der Patentansprüche 1 bis 5, d a d u r c h g e k e n n z e i c h n e t , dass die Fahrten zur Massenermittlung mit Schleichgeschwindigkeit beginnen bzw. beendet werden.7. The method according to any one of claims 1 to 5, d a d u r c h g e k e n n z e i c h n e t that the trips for mass determination begin or end at crawl speed.
8. Vorrichtung (1) zur Steuerung eines elektrisch betriebenen Türsystems (3), wobei die Vorrichtung (1) mit einer Antriebsvorrichtung (2) des Türsystems verbunden ist, eine Speichereinheit zum Ablegen von Kalibrierwerten des Türsystems (3) sowie einen Modulator und Mittel zur Regelung der Antriebs- Vorrichtung (2) aufweist, und eine Steuer- und Recheneinheit zur Durchführung eines Verfahrens gemäß einem der vorstehenden Patentansprüche aufweist 8. Device (1) for controlling an electrically operated door system (3), the device (1) being connected to a drive device (2) of the door system, a storage unit for storing calibration values of the door system (3) and a modulator and means for Has control of the drive device (2), and has a control and computing unit for performing a method according to one of the preceding claims
EP03790660A 2002-08-12 2003-07-30 Mass determination for automatic sliding door and lift door control systems Expired - Lifetime EP1529251B1 (en)

Applications Claiming Priority (3)

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DE10236938 2002-08-12
DE10236938A DE10236938A1 (en) 2002-08-12 2002-08-12 Mass determination with automatic sliding and elevator door controls
PCT/DE2003/002563 WO2004021094A1 (en) 2002-08-12 2003-07-30 Mass determination for automatic sliding door and lift door control systems

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EP1529251A1 true EP1529251A1 (en) 2005-05-11
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AT (1) ATE338970T1 (en)
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ES2271686T3 (en) 2007-04-16
ATE338970T1 (en) 2006-09-15
WO2004021094A1 (en) 2004-03-11
PT1529251E (en) 2007-01-31
DE50304972D1 (en) 2006-10-19
EP1529251B1 (en) 2006-09-06

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