EP1529251B1 - Determination de masse pour commandes automatiques de porte coulissante et d'ascenseur - Google Patents

Determination de masse pour commandes automatiques de porte coulissante et d'ascenseur Download PDF

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Publication number
EP1529251B1
EP1529251B1 EP03790660A EP03790660A EP1529251B1 EP 1529251 B1 EP1529251 B1 EP 1529251B1 EP 03790660 A EP03790660 A EP 03790660A EP 03790660 A EP03790660 A EP 03790660A EP 1529251 B1 EP1529251 B1 EP 1529251B1
Authority
EP
European Patent Office
Prior art keywords
door
door system
mass
drive device
determined
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.)
Expired - Lifetime
Application number
EP03790660A
Other languages
German (de)
English (en)
Other versions
EP1529251A1 (fr
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
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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/fr
Application granted granted Critical
Publication of EP1529251B1 publication Critical patent/EP1529251B1/fr
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 which configures itself, wherein the door system is moved by means of an electric drive device.
  • Door systems that are moved by means of electric drive devices and in particular automatically, for example, automatic sliding doors or elevator doors, are subject to international standards such as e.g. CSA B44-M94, CEN EN81: 1: 1985, ASME A17.1-1996 and ASME A17.1-2000, respectively, which specify, among other things, the maximum permissible kinetic energy for such door systems.
  • EP 0 848 309 A1 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 A1 not only causes high 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 to provide a method and an apparatus of the aforementioned type such that the disadvantages described above are avoided and current devices or methods, in particular with regard to the time required for installation or maintenance of the door system and the associated time Costs are optimized.
  • the motor voltage of the drive device is predetermined by means of pulse-width modulation.
  • 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 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 predetermined with advantage by the pulse-width modulation are used as further input variables. In this way it is possible to be effective, lethargic Mass of the system at each instant of the acceleration ramp.
  • a closing and opening travel is performed for mass determination.
  • two mass determinations counterweights can be compensated in the calculation.
  • a stationary 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 stationary position, provided that the door system is largely not moved in the appropriate position.
  • the controlled travel of the door system has at least two phases, wherein during a first phase at constant speed, the friction of the system is determined and then the system mass is 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.
  • the use of a device according to the invention is especially advantageous if 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 transmitting power, 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 for example designed such that two, as shown in Figure 2 door components 5, the components of the door system 3, are connected by means of a toothed belt with the motor pinion of the drive device 2.
  • a handheld terminal 4 is connected to the door control unit 1.
  • the components 1, 2 and 4 can send measurement or control signals to one another.
  • presettings can be made, for example by entering parameters, or values can be read out of 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 shown only schematically is in turn connected to the drive device 2 and the handheld terminal 4.
  • Both the drive device and the door control unit 1 is connected to the door system 3, that here is composed of a two-part cabin door 5 and the counterweights 7.
  • the drive device 2 is also firmly connected to the elevator car 8 with advantage.
  • the door control unit 1 is also advantageously connected to the elevator car 8.
  • detectors or photocells for opening the doors are provided.
  • the maximum allowable kinetic energy of the door system should preferably be between 9.49 joules and 10 joules when the door contains a detector or photocell 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 counterweights 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.
  • U M : U EMK + i M ⁇ R M
  • K 1 is a conversion factor
  • v 0 corresponds to the starting speed of the door system 3
  • v PWM corresponds to the speed component due to the pulse width modulation.
  • F R corresponds to the frictional force of the system and F T of the inertial force for an accelerated mass, in this case the mass of the door system 1.
  • the effective inertial mass of the system is determined during the acceleration ramp.
  • the input times are the time t, the instantaneous velocity v and the starting velocity v 0 of the acceleration ramp.
  • the door control unit 1 in a preferred embodiment of the invention has a time-critical operating system, e.g. an 8-bit microcontroller, a virtually friction-free door system 1 with the lowest possible door mass is initially selected to determine calibration values of the speed.
  • a time-critical operating system e.g. an 8-bit microcontroller
  • calibration values can first 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 not to unnecessarily increase the processor utilization of the door control unit 1. 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 the closed rest position and via a short distance, for example, 10 cm driven regulated in the opening direction. This is preferably done at a speed of 9 cm / sec to avoid overshoot and the occurrence of static friction components as much as possible.
  • the pulse-width modulation value is increased at a distance of in each case 10 msec by preferably 3 increments in each case until the final value is reached. This achieves a nearly constant acceleration.
  • a four-quadrant controller is used here and up to a total of 128 increments are passed through.
  • the pulse-width modulation value is reduced again to a constant speed, for example 9 cm / sec, and the door is finally moved to an open rest position.
  • the process can then be repeated analogously in the closing direction.
  • the system mass can be determined with the aid of the relationship (9), in particular at this point in time.
  • the friction is preferably calculated in a first movement section, that is, 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 by two mass determinations, that is to say by successive opening or closing movements.
  • the inventive method the mass can be determined with sufficient tolerance and norm facultye limits for the operation of the door system 3 are reliably maintained.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Door Apparatuses (AREA)
  • Power-Operated Mechanisms For Wings (AREA)
  • Walking Sticks, Umbrellas, And Fans (AREA)

Claims (8)

  1. Procédé pour configurer une unité de commande de porte (1) d'un système de porte (3), dans lequel
    le système de porte (3) se déplace au moyen d'un dispositif d'entraînement (2) électrique,
    la masse (mges) du système de porte (3) est déterminée automatiquement afin de configurer l'unité de commande de porte (1),
    le système de porte (3)est, pour déterminer la masse (mges) du système de porte (3), accéléré de manière réglée pendant au moins un trajet contrôlé, puis est de nouveau arrêté,
    caractérisé en ce que l'on prescrit la tension de moteur (UM) au dispositif d'entraînement (2), la tension de moteur (UM) augmentant ou diminuant linéairement pour accélérer ou arrêter de manière réglée le système de porte (3) et on détermine la masse à partir des données ainsi établies.
  2. Procédé selon la revendication 1, caractérisé en ce que l'on prescrit la tension de moteur ou le dispositif d'entraînement (2) par modulation d'impulsions en largeur.
  3. Procédé selon l'une des revendications précédentes, caractérisé en ce que le frottement dans le système (3), un ou plusieurs contrepoids (7) et la tension électrique du dispositif d'entraînement (2) sont utilisés comme paramètres d'entrée pour déterminer automatiquement la masse.
  4. Procédé selon l'une des revendications précédentes, caractérisé en ce qu'on effectue un trajet d'ouverture et un trajet de fermeture pour déterminer la masse.
  5. Procédé selon l'une des revendications précédentes, caractérisé en ce que le trajet contrôlé du système de porte (3) comprend au moins deux phases,
    - pendant une première phase, on détermine le frottement du système (2) à vitesse constante et
    - ensuite pendant une deuxième phase on détermine la masse du système à accélération constante à l'aide d'une vitesse instantanée du système (3).
  6. Procédé selon l'une des revendications précédentes, caractérisé en ce que les trajets pour déterminer la masse commencent ou se terminent dans une position de repos.
  7. Procédé selon l'une des revendications 1 à 5, caractérisé en ce que les trajets pour déterminer la masse commencent ou se terminent à une vitesse lente.
  8. Dispositif (1) pour commander un système de porte (3) à fonctionnement électrique, dans lequel le dispositif (1) est relié à un dispositif d'entraînement (2) du système de porte, comporte une unité de mémorisation pour enregistrer des valeurs d'étalonnage du système de porte (3) ainsi qu'un modulateur d'impulsions en largeur pour augmenter ou diminuer linéairement une tension de moteur et des moyens pour régler le dispositif d'entraînement (2) et comporte une unité de commande et de calcul pour exécuter un procédé selon l'une des revendications précédentes de telle manière qu'il soit possible de déterminer une masse du système de porte à partir des données déterminées pendant la modification linéaire de la tension de moteur.
EP03790660A 2002-08-12 2003-07-30 Determination de masse pour commandes automatiques de porte coulissante et d'ascenseur Expired - Lifetime EP1529251B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10236938A DE10236938A1 (de) 2002-08-12 2002-08-12 Masseermittlung bei automatischen Schiebe- und Aufzugtürsteuerungen
DE10236938 2002-08-12
PCT/DE2003/002563 WO2004021094A1 (fr) 2002-08-12 2003-07-30 Determination de masse pour commandes automatiques de porte coulissante et d'ascenseur

Publications (2)

Publication Number Publication Date
EP1529251A1 EP1529251A1 (fr) 2005-05-11
EP1529251B1 true EP1529251B1 (fr) 2006-09-06

Family

ID=31501739

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03790660A Expired - Lifetime EP1529251B1 (fr) 2002-08-12 2003-07-30 Determination de masse pour commandes automatiques de porte coulissante et d'ascenseur

Country Status (6)

Country Link
EP (1) EP1529251B1 (fr)
AT (1) ATE338970T1 (fr)
DE (2) DE10236938A1 (fr)
ES (1) ES2271686T3 (fr)
PT (1) PT1529251E (fr)
WO (1) WO2004021094A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014201399A1 (de) 2014-01-27 2015-07-30 Siemens Aktiengesellschaft Ermittlung der bewegten Masse eines Türsystems

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4488210B2 (ja) * 2002-09-27 2010-06-23 三菱電機株式会社 エレベータドアの制御装置
DE102006043896A1 (de) 2005-10-18 2007-04-19 Siemens Ag Verfahren und Steuereinrichtung zur automatischen Bestimmung einer Masse eines Türsystems
DE102009021249B3 (de) * 2009-05-14 2010-11-11 Aufzugswerke M. Schmitt & Sohn Gmbh & Co. Aufzugsanlage
EP2565142A4 (fr) * 2010-04-30 2017-12-27 Mitsubishi Electric Corporation Dispositif de commande de porte pour ascenseur
DE102010064217B3 (de) * 2010-12-27 2012-04-26 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur Ermittlung einer Kraft
DE102015200609B4 (de) * 2015-01-16 2017-03-16 Geze Gmbh Verfahren zur automatischen Bestimmung der Reibung und der Masse eines Türsystems
US9834414B2 (en) * 2015-06-17 2017-12-05 Mitsubishi Electric Research Laboratories, Inc. System and method for controlling elevator door systems
CN105347130B (zh) * 2015-12-04 2017-08-25 安徽省特种设备检测院 一种电梯自动门平均关门速度下关门动能检测方法及装置
CN115123901A (zh) * 2022-07-15 2022-09-30 菱王电梯有限公司 关门控制方法及装置、存储介质、电梯门系统

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2086615T3 (es) * 1991-12-24 1996-07-01 Inventio Ag Procedimiento y dispositivo para determinar la masa dinamica y la fuerza media de rozamiento de una puerta de ascensor.
DE19526559A1 (de) * 1995-07-20 1997-01-23 Tornado Antriebstech Gmbh Steuersystem für motorische Antriebe
DE29621617U1 (de) * 1996-12-12 1997-03-13 Siemens AG, 80333 München Vorrichtung zur Überwachung und Begrenzung der statischen Schließkraft einer längsgeführt hin und her bewegbaren Masse
SE9700767D0 (sv) * 1997-03-04 1997-03-04 Asea Brown Boveri Förfarande för bestämning av lastparametrar hos en industrirobot
DE19944125C2 (de) * 1999-09-15 2003-02-13 Schmitt & Sohn Aufzugwerke Verfahren zur automatischen Bestimmung der Auftreffgeschwindigkeit einer Aufzugtür auf einem Hindernis
DE19956076A1 (de) * 1999-11-22 2001-05-31 Siemens Ag Antriebseinrichtung für Aufzugtüren

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014201399A1 (de) 2014-01-27 2015-07-30 Siemens Aktiengesellschaft Ermittlung der bewegten Masse eines Türsystems
WO2015110341A1 (fr) 2014-01-27 2015-07-30 Siemens Aktiengesellschaft Détermination de la masse en mouvement d'un système de porte

Also Published As

Publication number Publication date
PT1529251E (pt) 2007-01-31
DE50304972D1 (de) 2006-10-19
DE10236938A1 (de) 2004-03-11
ES2271686T3 (es) 2007-04-16
ATE338970T1 (de) 2006-09-15
EP1529251A1 (fr) 2005-05-11
WO2004021094A1 (fr) 2004-03-11

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