EP1938160B1 - Procede et dispositif de commande pour determiner automatiquement la masse d'un systeme de porte - Google Patents

Procede et dispositif de commande pour determiner automatiquement la masse d'un systeme de porte Download PDF

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Publication number
EP1938160B1
EP1938160B1 EP06807203A EP06807203A EP1938160B1 EP 1938160 B1 EP1938160 B1 EP 1938160B1 EP 06807203 A EP06807203 A EP 06807203A EP 06807203 A EP06807203 A EP 06807203A EP 1938160 B1 EP1938160 B1 EP 1938160B1
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EP
European Patent Office
Prior art keywords
mass
door
motor
force
eff
Prior art date
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Not-in-force
Application number
EP06807203A
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German (de)
English (en)
Other versions
EP1938160A1 (fr
Inventor
Uwe Krause
Heinz Ludwig
Uwe Nolte
Guido Sonntag
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Siemens AG
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Siemens AG
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Publication of EP1938160A1 publication Critical patent/EP1938160A1/fr
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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 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 ( ⁇ V) are used to determine the mass (m eff ).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the mass of the door system preferably automatically from time to time, e.g. once a week, recalculated.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the acceleration drive is achieved by increasing the total flow, in particular beyond the friction flow.
  • the friction flow is measured in a separate ride for friction determination.
  • the current is increased until the door starts to move.
  • a kinetic energy of the door in particular an impact energy, is determined by means of the mass.
  • 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.
  • 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.
  • the two memories can be organized as different memory areas in a common memory module.
  • 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.
  • a total current I G for the travel distance of a motor voltage ramp applied for 40 operating-cycle cycles ⁇ t with a slope of one pulse-width modulation increment per operating-system cycle ⁇ t is measured from a first instant or measuring point MP1.
  • a motor current I is added up.
  • the door is fully open.
  • 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 value for the speed change ⁇ V 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 ⁇ V are inserted into the formula I and the effective door mass m eff can be determined.
  • 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.
  • 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.
  • 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.
  • F MP ⁇ 2 F R + F G
  • F MP ⁇ 3 - F R + F G
  • F MP ⁇ 3 - F MP ⁇ 2 + 2 ⁇ F G
  • F G F MP ⁇ 2 + F MP ⁇ 3 / 2
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Power-Operated Mechanisms For Wings (AREA)
  • Elevator Door Apparatuses (AREA)

Claims (14)

  1. Procédé de détermination automatique d'une masse ( meff ) d'un système de porte entraîné par un moteur et comprenant au moins une porte, dans lequel on détermine une variation de la vitesse, se produisant pendant une marche d'accélération et on somme ou on intègre, pendant la marche d'accélération, une grandeur de force influençant la force d'entraînement du moteur et, dans lequel on utilise la somme ou l'intégrale de la grandeur de force et la variation ( ΔV ) de la vitesse pour la détermination de la masse ( meff )
    caractérisé en ce que
    on effectue la sommation ou l'intégration de la grandeur de force sur plusieurs cycles ( Δt ) de système de fonctionnement d'un dispositif de commande associé au système de porte et en ce que l'on utilise, comme marche d'accélération, une marche du fonctionnement normal, en redéterminant, pendant le fonctionnement normal, la masse ( meff ) du système de porte, de préférence automatiquement de temps en temps, par exemple une fois par semaine.
  2. Procédé suivant la revendication 1,
    caractérisé en ce que l'on utilise, comme grandeur de force, un courant ( I ) entraînant le moteur et une tension ( U ) du moteur, notamment une tension d'induit et/ou un signal à modulation d'impulsion en largeur.
  3. Procédé suivant la revendication 1 ou 2,
    caractérisé en ce que l'on modifie la grandeur de force au début ou/et pendant la marche d'accélération.
  4. Procédé suivant l'une des revendications 1 à 3,
    caractérisé en ce que l'on effectue, comme marche d'accélération, une marche d'apprentissage particulière en dehors du fonctionnement normal.
  5. Procédé suivant l'une des revendications 1 à 4,
    caractérisé en ce qu'avant la marche d'accélération, on entraîne le système de force, au moins dans une marche de rampage, avec passage d'au moins un courant ( IR ) de frottement.
  6. Procédé suivant l'une des revendications 1 à 5,
    caractérisé en ce que, pendant la marche d'accélération, on fait débuter, en commençant par une marche de rampage à partir d'un premier instant ( MP1 ), l'accélération d'abord, avec une valeur positive, et on repasse ensuite, avec une accélération négative, dans la marche de rampage.
  7. Procédé suivant l'une des revendications 1 à 6,
    caractérisé en ce que l'on utilise une constante ( KΦ ) de force du moteur pour la détermination de la masse ( meff ).
  8. Procédé suivant la revendication 7,
    caractérisé en ce que l'on déduit la constante ( KΦ ) de force d'une constante de couple de rotation du moteur transposé dans un système de translation.
  9. Procédé suivant l'une des revendications 5 à 8,
    caractérisé en ce que l'on forme le courant ( I ) à sommer ou à intégrer, à partir d'une différence entre le courant ( IG ) global mesuré, notamment pendant la marche d'accélération, et le courant ( IR ) de frottement.
  10. Procédé suivant l'une des revendications 1 à 9, caractérisé en ce que la masse ( meff ) déterminée renferme, comme masse ( meff ) effective, des proportions provenant d'une masse ( mlin ) de translation, d'une masse ( MG ) d'un contrepoids et/ou d'une masse ( mT ) de porte.
  11. Procédé suivant l'une des revendications 1 à 9, caractérisé en ce que la masse ( meff ) déterminée renferme, comme masse ( meff ) efficace, des proportions d'une masse ( mlin ) de translation, d'une force ( FF ) de ressort, d'une masse équivalente de ressort et/ou d'une masse ( mT ) de porte.
  12. Procédé suivant l'une des revendications 10 à 11, caractérisé en ce que l'on atteint la marche d'accélération par une augmentation ( IG > IR ) du courant ( IG ) global, notamment au-delà du courant ( IR ) de frottement.
  13. Procédé suivant l'une des revendications 1 à 12, caractérisé en ce que l'on détermine, au moyen de la masse ( m ), une énergie cinétique de la porte, notamment d'une énergie d'impact.
  14. Dispositif de commande pour la détermination automatique d'une masse ( meff ) d'un système de porte entraîné par un moteur et comprenant au moins une porte comportant des moyens pour effectuer le procédé suivant l'une des revendications 1 à 13, comprenant
    - une première mémoire de mémorisation d'une courbe, caractérisant la marche d'accélération, d'une grandeur de force influant sur la force d'entraînement du moteur,
    - une deuxième mémoire de mémorisation d'un code de programme,
    - une unité informatique pour la détermination de la masse commandée par le programme,
    dans lequel les mémoires et l'unité informatique sont telles que la détermination de masse est rendue possible pour des courbes différentes de la grandeur de force dans la première mémoire, alors que le code de programme reste inchangé.
EP06807203A 2005-10-18 2006-10-12 Procede et dispositif de commande pour determiner automatiquement la masse d'un systeme de porte Not-in-force EP1938160B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102005050125 2005-10-18
DE102006043896A DE102006043896A1 (de) 2005-10-18 2006-09-19 Verfahren und Steuereinrichtung zur automatischen Bestimmung einer Masse eines Türsystems
PCT/EP2006/067337 WO2007045596A1 (fr) 2005-10-18 2006-10-12 Procede et dispositif de commande pour determiner automatiquement la masse d'un systeme de porte

Publications (2)

Publication Number Publication Date
EP1938160A1 EP1938160A1 (fr) 2008-07-02
EP1938160B1 true EP1938160B1 (fr) 2010-11-24

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Application Number Title Priority Date Filing Date
EP06807203A Not-in-force EP1938160B1 (fr) 2005-10-18 2006-10-12 Procede et dispositif de commande pour determiner automatiquement la masse d'un systeme de porte

Country Status (5)

Country Link
US (1) US8183815B2 (fr)
EP (1) EP1938160B1 (fr)
AT (1) ATE489663T1 (fr)
DE (2) DE102006043896A1 (fr)
WO (1) WO2007045596A1 (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 (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112009005200B4 (de) * 2009-09-03 2013-12-12 Mitsubishi Electric Corp. Türvorrichtung eines Fahrstuhls
DE102012201608A1 (de) * 2012-02-03 2013-08-08 Siemens Aktiengesellschaft Medizinanlage und Verfahren zur Bestimmung der Masse eines Patienten
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
EP3296755B1 (fr) * 2016-09-14 2022-03-23 Siemens Aktiengesellschaft Détermination d'ampleurs de charge en cours de fonctionnement
EP3569553A1 (fr) * 2018-05-18 2019-11-20 Otis Elevator Company Système d'ascenseur et procédé de commande d'une porte dans un système d'ascenseur
CN114622796B (zh) * 2021-12-13 2024-07-09 杭州安可智控科技有限公司 一种自动门自重测量优化方法

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2059948T5 (es) * 1989-11-27 1997-07-16 Inventio Ag Procedimiento y dispositivo para reducir el peligro de aprisionamiento en puertas automaticas.
DE19944125C2 (de) 1999-09-15 2003-02-13 Schmitt & Sohn Aufzugwerke Verfahren zur automatischen Bestimmung der Auftreffgeschwindigkeit einer Aufzugtür auf einem Hindernis
DE10236938A1 (de) 2002-08-12 2004-03-11 Siemens Ag Masseermittlung bei automatischen Schiebe- und Aufzugtürsteuerungen

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
US10059564B2 (en) 2014-01-27 2018-08-28 Siemens Aktiengesellschaft Method for determining moving mass of a door system

Also Published As

Publication number Publication date
DE102006043896A1 (de) 2007-04-19
EP1938160A1 (fr) 2008-07-02
US20100013425A1 (en) 2010-01-21
DE502006008400D1 (de) 2011-01-05
WO2007045596A1 (fr) 2007-04-26
US8183815B2 (en) 2012-05-22
ATE489663T1 (de) 2010-12-15

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