EP1938160B1 - Method and control unit for the automatic determination of the mass of a door system - Google Patents

Abstract

A method is disclosed for automatically determining an effective mass of a door system that is driven by a motor and has at least one door. In this case a speed change accomplished during an acceleration movement is established, and a force variable, for example the motor current or an armature voltage, influencing the drive force of the motor is summed or integrated during the acceleration movement. The effective door mass is established from the sum or the integral of the force variable and the speed change, the summation or the integration of the force variable being performed over a number of operating system cycles of a control device assigned to the door system. Also described is a control device for automatically determining the effective door mass, having a memory for force variable profiles that is designed in such a way that mass can be established for different force variable profiles in the memory in conjunction with an unchanged program code.

Description

The invention relates to a method for the automatic determination of a mass (m _rms ) of a door driven by a motor door system with at least one door, which determines a speed change during acceleration travel and summed during acceleration travel influencing the driving force of the motor force or is integrated and the sum or the integral of the force magnitude and the speed change (ΔV) are used to determine the mass (m _eff ).

The term door is to be understood as a single door leaf, a double door leaf, a roller shutter with a closing and opening direction in any position.

In addition, the invention relates to a control device for automatically determining a mass of a motor-driven door system with at least one door.

Such doors are used for example as building doors, doors in trains or as elevator doors for use. The determination of the effective door mass and the associated kinetic energy is of great importance for safety reasons. In particular, there are regulations to limit the kinetic energy of a sliding door in the closing drive to a specific Joule value.

Methods and apparatus for automatically determining the door mass are known from EP 108 72 79 B1 and WO 2004/021094 A1 , It is disadvantageous in both methods that, for example, two-leaf doors with a very small opening width only half an opening width for a Driving operation for mass determination is available. This short distance is not sufficient to determine the mass with a required accuracy of less than 10%.

Another disadvantage is that the mass determination in any operating drive, for example during normal opening, is not possible. It must be changed for the time being in a mass investigation.

The invention has for its object to simplify the generic method for mass determination so that, without sacrificing the accuracy of the mass determination, the mass determination during any trip is feasible.

This object is achieved by the fact that in a generic method in which a force influencing the driving force of the motor is summed up or integrated and the sum or the integral of the force magnitude and the speed change are used to determine the mass, the summation according to the invention or integration of the force magnitude over several operating cycles (.DELTA.t) of a control system associated with the door system and that a drive of normal operation is used as acceleration drive, wherein during normal operation, the mass (m _eff ) of the door system preferably automatically from time to time, for example 1 once a week, recalculated.

Advantageously, according to the invention, the door mass can now be determined by means of the measured and computationally over at least two intervals or operating cycles during an arbitrary drive, thus also during normal operation, without any influence on the driving characteristics of the door. So it can be worked almost with any driving profiles.

In an expedient and maintenance-friendly embodiment of the invention, a drive of normal operation is used as the acceleration drive, wherein during normal operation, the mass of the door system preferably automatically from time to time, e.g. once a week, recalculated. By the method according to the invention, for example, by applying an arbitrary profile for the force size, the door mass can also be determined while driving in normal operation. Therefore, for example, different temperature effects during a day or a year can be considered.

In an advantageous embodiment of the invention, a current driving the motor, a motor voltage, in particular an armature voltage and / or a pulse-width modulation signal is used as the force magnitude. Since the force magnitude, such as a current driving the motor or a motor voltage, in particular an armature voltage, or even a pulse-width modulation signal can be determined metrologically simple, inexpensive and accurate, the simple determination of the engine power quantities is very advantageous for the inventive method.

It is expedient that the force magnitude is changed at the beginning and / or during acceleration travel. So far, the mass determination had to be done via a constant current, a voltage jump or a constant motor voltage ramp. Now, by using an almost arbitrary force-size profile, for example a sinusoidal profile, the door mass can be determined with an accuracy of less than 10%. The accuracy is now essentially determined by the resolution of the determined values, e.g. the speed, the current, the voltage values.

In a further preferred embodiment, a separate learning run is carried out as acceleration travel outside normal operation. The advantage of learning trips that may be performed at a time interval of about 1 year is that the "aging" of the door system can be detected. Due to the constant operation, for example, the friction in the slide rails may have increased and thus the previously determined value of an effective mass of the door system no longer matches the instantaneous value of an effective mass. The change process is preferably logged in a corresponding automation system in a log file.

To overcome the static friction, it is expedient that the door system is driven at least in slow motion before the acceleration drive, wherein at least one frictional flow flows. If the friction current I _{R is} determined, the effective door mass can be determined even more accurately. The crawl speed is preferably defined by a speed of less than 10 cm / s.

A further increase in the accuracy of the mass determination is achieved by the fact that during acceleration, starting with the crawl speed starting from a first time, the acceleration initially starts with a positive value to then switch back to crawl speed with a negative acceleration. For example, in a learn run, a ramp is applied with a first slope over a certain time. The door system or the door is thereby accelerated. After this acceleration time, the door system or the door is braked with a second negative slope, which can be much steeper than the first slope, until crawl speed is reached again. This procedure has the particular advantage that even the masses of very light doors can be determined within very small opening widths and the door comes to a halt in good time before it hits an end point.

It is expedient that a force constant of the motor is used to determine the mass. The force constant is the force constant transferred from a torque constant of the motor into a translatory system.

It is expedient that the current to be summed or integrated is formed from a difference between a total current measured, in particular during acceleration travel, and the friction current. It is considered advantageous that the determined mass, as an effective mass, contains portions of a translatory mass, a mass of a counterweight and / or a door mass of a door.

For an alternative determination of the mass, it is advantageous that the specific mass contains, as an effective mass, portions of a translatory mass, a mass equivalent to the spring force of a spring, and / or a door mass. With this method, therefore, the mass of two different door systems can be determined, because there are door systems that work with a counterweight and there are door systems that work with a spring force of a spring.

Furthermore, it is expedient that the acceleration drive is achieved by increasing the total flow, in particular beyond the friction flow. Preferably, the friction flow is measured in a separate ride for friction determination. In the simplest case, the current is increased until the door starts to move.

For a safe operation of the door, it is advantageous that a kinetic energy of the door, in particular an impact energy, is determined by means of the mass. By determining the impact energy, the door system or the engine power or the engine speed can be adjusted such that the impact energy does not exceed a certain limit and thus, for example in a fault, does not cause any injuries.

According to the invention the object is also achieved by the above-mentioned control device for automatically determining a mass of a motor-driven door system with at least one door, comprising means for performing the method according to one of the method claims, with a first memory for storing a characteristic of an acceleration course of a force influencing the driving force of the motor, a second memory for storing a program code, a computing unit for program-controlled mass determination, wherein the memory and the arithmetic unit are designed such that for different force magnitude curves in the first memory at unchanged Program code the mass determination is possible. In this case, the two memories can be organized as different memory areas in a common memory module.

With reference to the figure, an embodiment for automatically determining a mass of a door system is explained in detail.
The single FIGURE each shows a motor voltage curve 1 and 2 for an electrically driven door with a mass m _T. About a distance S a motor voltage U is applied in each case. The motor voltage curve 1 is shown on the route S for a drive in the opening direction 6. The motor voltage curve 2 is shown on the route S for a drive in the closing direction 7.

At position 4, the door is closed, which corresponds to a distance S = 0 mm. After a start-up distance of preferably S _A = 100 mm, a total current I _G for the travel distance of a motor voltage ramp applied for 40 operating-cycle cycles Δt with a slope of one pulse-width modulation increment per operating-system cycle Δt is measured from a first instant or measuring point MP1. For this period, a motor current I is added up. The motor current I is composed of the measured total current I _G less a friction current I _R , I = I _G - I _R , together. At position 5, the door is fully open.

To determine the friction current I _R is in a separate learning drive, in which the motor voltage curve 1, contrary to the representation in the figure, a continuous linear course, ie without ramp, from the first measurement point MP1 measured in the opening direction 6. The friction current I _R is from a distance traveled start-up S _A = 100 mm for more 150 mm every 10 mm and stored and provided as an average for a later mass determination calculation.

$$\frac{\mathit{dv}}{\mathit{dt}}=a;\mathrm{\int }\mathit{dv}=\mathrm{\int }adt$$

$$\mathrm{\Delta }V={\displaystyle \sum _{\lambda }}{a}_i\mathrm{\Delta }t$$

For the determination according to the invention of an effective mass m _{eff of} the door, the calculation shown in formula I is carried out: $$m_{\mathit{eff}}=K\mathrm{\Phi }\cdot \frac{\mathrm{\Delta }t}{\mathrm{\Delta }V}\cdot {\displaystyle \underset{i=1}{\overset{40}{\Sigma }}}\left(I_{G_i}-{\tilde{I}}_R\right)$$

$$\frac{\mathit{dv}}{\mathit{dt}}=a;\mathrm{\int }\mathit{dv}=\mathrm{\int }adt$$

$$\mathrm{\Delta }V={\displaystyle \underset{\lambda }{\Sigma }}{a}_i\mathrm{\Delta }t$$

$$a_i=\frac{K\mathrm{\Phi }\cdot I_i}{m}$$

With the physical equation of formula II and a transition of formula II in a summary according to formula III and a use of a motor force constant KΦ according to formula IV and V, the calculation method according to the invention according to formula I. $$K\mathrm{\Phi }\cdot I_{G_i}=F_i;{}_{}F=m\cdot a$$

$$a_i=\frac{K\mathrm{\Phi }\cdot I_i}{m}$$

Finally, the value for the speed change ΔV per operating cycle is determined via an incremental encoder on the motor. The incremental encoder provides pulses per Time unit ready, which are directly proportional to a current speed V.

The measured motor currents I _G and I _R and the speed V determined via the incremental encoder or the speed change ΔV are inserted into the formula I and the effective door mass m _eff can be determined.

For a determination of the counterweight or for a force determination, the respective force with the formula IV is determined at the positions of the route S which correspond to the measuring points MP1 to MP4.

If a spring is used for a counter force in the door system, then the largest force F _{F of} the spring is established at the location of the position or measuring points MP2 or MP3. By comparing the forces in the measuring points MP1 and MP4 with MP2 and MP3, with a larger force at the positions MP2 and MP3 than at the positions MP1 and MP4, a door system with a spring can automatically, preferably solely on the basis of the collected measured values, without that Service technician analyzes the door system, be determined.

$${\mathrm{F}}_{\mathrm{MP}\mathrm{3}}\mathrm{=}\mathrm{-}{\mathrm{F}}_{\mathrm{R}}+{\mathrm{F}}_{\mathrm{G}}$$

$${\mathrm{F}}_{\mathrm{MP}\mathrm{3}}\mathrm{=}\mathrm{-}{\mathrm{F}}_{\mathrm{MP}\mathrm{2}}\mathrm{+}\mathrm{2}\mathrm{\cdot }{\mathrm{F}}_{\mathrm{G}}$$

$${\mathrm{F}}_{\mathrm{G}}\mathrm{=}\left({\mathrm{F}}_{\mathrm{MP}\mathrm{2}}\mathrm{+}{\mathrm{F}}_{\mathrm{MP}\mathrm{3}}\right)\mathrm{/}\mathrm{2}$$

In the event that no spring is detected, a counterweight can be determined as follows. The force F _MP2 at the position MP2 is composed of the friction force F _R and the counterweight force F _G according to formula VI. After further physical power additions one arrives at formula IX with which the counterweight force F _{G is} determined. $${\mathrm{F}}_{\mathrm{MP}\mathrm{2}}\mathrm{=}{\mathrm{F}}_{\mathrm{R}}\mathrm{+}{\mathrm{F}}_{\mathrm{G}}$$

$${\mathrm{F}}_{\mathrm{MP}\mathrm{3}}\mathrm{=}\mathrm{-}{\mathrm{F}}_{\mathrm{R}}+{\mathrm{F}}_{\mathrm{G}}$$

$${\mathrm{F}}_{\mathrm{MP}\mathrm{3}}\mathrm{=}\mathrm{-}{\mathrm{F}}_{\mathrm{MP}\mathrm{2}}\mathrm{+}\mathrm{2}\mathrm{\cdot }{\mathrm{F}}_{\mathrm{G}}$$

$${\mathrm{F}}_{\mathrm{G}}\mathrm{=}\left({\mathrm{F}}_{\mathrm{MP}\mathrm{2}}\mathrm{+}{\mathrm{F}}_{\mathrm{MP}\mathrm{3}}\right)\mathrm{/}\mathrm{2}$$

Since the determined mass m _eff as an effective mass contains fractions of a translatory mass m _lin , a mass m _{G of} the counterweight or a mass equivalent to the spring force F _F or a combination of both and a door mass m _T , the door mass m _T determined according to formula X. $${\mathrm{m}}_{\mathrm{T}}\mathrm{=}{\mathrm{m}}_{\mathrm{eff}}\mathrm{-}{\mathrm{m}}_{\mathrm{lin}}\mathrm{-}{\mathrm{m}}_{\mathrm{G}}$$

The following table shows the mass values of the door determined by the calculation according to the invention in comparison with the actual mass values of the door. The example of a door with an actual mass of 300 kg and another door with an actual mass of 200 kg shows that the percentage deviation between the actual mass and the calculated mass is less than 10%.

The calculated values result from three measurements in each case in which 78 current measurements per 10 ms are evaluated. In addition, a test run of the door is carried out at a start from a left side or from a right side. The effective mass fraction of motor and system or the translatory mass is 10 kg. Current measurement: each 78 values / 10ms (Averaging over all current values).

Mass determination via K Φ : KΦ = 18.4 N / A Measurement1 Measurement2 Measurement3 Measurement1 Measurement2 Measurement3 Measurement1 Measurement2 Measurement3 m _T (Actually) [Kg] m _G (Actually) [Kg] m _T (determined) [Kg] m _T (determined) [Kg] m _T (determined) [Kg] m _G (determined) [Kg] m _G (determined) [Kg] Percentage deviation Percentage deviation Percentage deviation Percentage deviation Start links 300 0 300 283 279 1 1 1 0 -6 -7 Start right 300 0 284 291 290 1 1 1 -5 -3 -3 Start links 200 0 191 192 193 1 1 1 -5 -4 -4 Start right 200 0 182 183 186 0 0 0 -9 -9 -7

Claims (14)

1. Method for automatically determining a mass (m_eff) of a door system that is driven by a motor and has at least one door, a speed change accomplished during an acceleration movement being established, and a force variable influencing the drive force of the motor being summed or integrated during the acceleration movement, and the sum or the integral of the force variable and the speed change (ΔV) being used to determine the mass (m_eff), characterized in that the summation or the integration of the force variable is performed over a number of operating system cycles (Δt) of a control device assigned to the door system, and in that a movement of the normal operation is used as acceleration movement, the mass (m_eff) of the door system being preferably automatically reestablished from time to time, for example once per week, during normal operation.
2. Method according to Claim 1, characterized in that a current (I) driving the motor, a motor voltage (U), in particular an armature voltage, and/or a pulse width modulation signal is/are used as force variable.
3. Method according to Claim 1 or 2, characterized in that the force variable is varied at the start of or/and during the acceleration movement.
4. Method according to one of Claims 1 to 3, characterized in that a separate learning movement is executed outside the normal operation as acceleration movement.
5. Method according to one of Claims 1 to 4, characterized in that before the acceleration movement the door system is driven at least in a creeping movement, at least a friction current (I_R) flowing.
6. Method according to one of Claims 1 to 5, characterized in that during the acceleration movement the acceleration firstly starts, beginning with a creeping movement, with a positive value from a first instant (MP1) and then changes to the creeping movement again with a negative acceleration.
7. Method according to one of Claims 1 to 6, characterized in that a force constant (KΦ) of the motor is used to determine the mass (m_eff).
8. Method according to Claim 7, characterized in that the force constant (KΦ) is derived from a torque constant of the motor transmitted into a translatory system.
9. Method according to one of Claims 5 to 8, characterized in that the current (I) to be summed or to be integrated is formed from a difference between the total current (I_G), particularly measured during the acceleration movement, and the friction current (I_R).
10. Method according to one of Claims 1 to 9, characterized in that as an effective mass (m_eff) the determined mass (m_eff) includes components consisting of a translatory mass (m_lin), a mass (m_G) of a counterweight and/or a door mass (m_T).
11. Method according to one of Claims 1 to 9, characterized in that as an effective mass (m_eff) the determined mass (m_eff) includes components consisting of a translatory mass (m_lin), a mass equivalent to the spring force (F_F) of a spring, and/or a door mass (m_T).
12. Method according to one of Claims 10 to 11, characterized in that the acceleration movement is achieved by an increase (I_G > I_R) in the total current (I_G) - in particular beyond the friction current (I_R) .
13. Method according to one of Claims 1 to 12, characterized in that a kinetic energy of the door, in particular an impact energy, is established by means of the mass (m).
14. Control device for automatically determining a mass (m_eff) of a door system that is driven by a motor and has at least one door, having means for carrying out the method according to one of Claims 1 to 13, having

    - a first memory for storing a profile, characterizing an acceleration movement, of a force variable influencing the drive force of the motor,

    - a second memory for storing a programme code, and

    - an arithmetic logic unit for establishing mass under programmed control,
    the memories and the arithmetic logic unit being designed in such a way that mass can be established for different force variable profiles in the first memory in conjunction with an unchanged programme code.

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