EP2694766A1

EP2694766A1 - Method for controlling a door drive

Info

Publication number: EP2694766A1
Application number: EP12711822.2A
Authority: EP
Inventors: Michael Laumann; Matthias Langer
Original assignee: Langer & Laumann Ingenieurbuero GmbH
Current assignee: Langer & Laumann Ingenieurbuero GmbH
Priority date: 2011-04-07
Filing date: 2012-03-22
Publication date: 2014-02-12
Anticipated expiration: 2032-03-22
Also published as: EP2694766B2; DE102011001884B3; WO2012136485A1; EP2694766B1

Abstract

The invention relates to a method for controlling a door drive so as to determine whether a chain breakage or belt rupture has occurred in said door drive, which comprises an electric motor for generating a driving force, the motor having an angle transmitter for generating an angle signal that is proportional to the rotation angle of the motor, and a chain or belt that is guided in the opening and closing directions of a door leaf for transmitting the driving force to the door leaf. Said method comprises the following steps: moving the door leaf to an end position; determining a first value of the motor current and/or a first value of the angle signal; continuing the movement beyond the end position; determining a second value of the motor current and/or a second value of the angle signal; comparing the first value to the second value, and outputting an error message if the second value of the motor current is smaller than or equal to the first value of the motor current, or if the second value of the angle signal is greater than the first value of the angle signal.

Description

Method for controlling a door drive

The present invention relates to a method for controlling a door drive, wherein the door drive comprises an electric motor for generating a driving force with angle sensor for generating an angle of rotation of the motor proportional angle signal and guided in the opening and closing direction of a door leaf chains or belts

Transmission of the driving force has on the door leaf.

Door drives of the type mentioned are used for example in machine doors, department store doors, elevator doors or other automatic doors. An important aspect to be monitored in the control of the door operator is whether the belt for transmitting the driving force of the electric motor to the door leaf is functional or cracked. According to EP 0 429 835 A1, a type of continuous toothed belt monitoring is known. According to EP 0 429 835 A1, it is continuously monitored whether there is a change in speed or force during the door's procedure, which exceeds a threshold value above or below. For example, if the current speed exceeds the current reference value for the speed by more than a predetermined speed difference, this is interpreted as a belt break.

It is an object of the present invention to provide an alternative method for controlling a door drive, with the help of which it can be checked whether in the opening or closing direction of a door leaf guided chains or belts for the transmission of

Driving force of an electric motor on the door leaf are functional or not.

This object is achieved by a method for controlling a door drive, wherein the door drive on an electric motor for generating a driving force with angle sensor for generating an angle of rotation of the motor proportional angle signal and a guided in the opening and closing direction of a door leaf chain or belt for transmitting the driving force the door leaf has, with the steps:

- Driving the door leaf in a final position;

Determining a first value of the motor current and / or a first value of the

Angle signal;

- Continue beyond the end position; - Determining a second value of the motor current and / or a second value of the angle signal;

Comparing the first with the second value and outputting an error message if the second value of the motor current is less than or equal to the first value of the motor current or if the second value of the angle signal is greater than the first value of the angle signal.

The error message corresponds to the fact that there is a chain break or a belt break. The proposed method for controlling a door drive allows the testing of the functionality of a chain or a belt for transmitting the driving force from an electric motor on a door leaf, especially in a final position of the door leaf, where this information is particularly important for safety reasons. The method proposed here is characterized, inter alia, by the fact that this test takes place with the aid of parameters which are used for the purpose of controlling the

Electric motor can be read anyway on the electric motor. Thus, in a first approach, the value of the motor current in the end position is compared with the value of the motor current measured when trying to continue beyond the end position. If the motor current does not increase, this is an indication that no force is transmitted to the door leaf by the electric motor in order to drive against the resistance of a repository. Alternatively or cumulatively, an angle signal in the

End position with an angle signal when attempting to drive over the

End position be compared. In the same way, the change in the angle value can be compared to the time in the end position and beyond, which would be a measure of the speed. If the angular value only changes insignificantly when moving against the end bearing or the change in the angle value drops sharply over time, this would be an indication that the chain or the drive belt is functional and the power of the motor is transmitted to the door leaf. An advantage of the proposed method is that parameters are measured and evaluated on the engine, which are measured and evaluated anyway.

Therefore, no additional components are required for the door drive to perform the test proposed here on the functionality of the chain or the drive belt. As a result, the door drive can be made particularly compact.

In addition, a corresponding door drive has a comparatively lower Susceptibility to interference. Because of its simple and compact design, the corresponding door drive is not only suitable as a door drive for newly manufactured automatic doors, but also for retrofitting existing doors. In a preferred embodiment, when the error message is output

Electric motor switched off. Since the output of the error message corresponds to a break or a crack of the drive chain or the drive belt, the safety inside and outside of the door leaf is best ensured in such an event by a complete stop of the door drive. If the powered door is integrated into a larger system, such as a machine tool or an elevator, the machine tool or elevator may also be stopped due to the error message.

It has proven to be particularly advantageous if both the first and second values of the motor current and the first and second values of the angle signal are determined and the error message is output if the second value of the motor current is less than or equal to the first value of the motor current the second value of the angle signal is greater than the first value of the angle signal. By checking via two independent parameters whether in the end position the chain or the belt is still functional and the error message is issued, as soon as one or the other

If a break or a snatch was detected, a higher level of security can be achieved in detecting such an event.

The redundancy in determining the functionality of the chain or the belt is preferably further increased by determining the values of the motor current and / or the values of the angle signal in two independent ways in each case. This can

For example, a second angle sensor can be used on the electric motor or the current of the electric motor can be measured at different locations. Particularly preferably, both the motor current and the angle signal are measured and these two parameters are each determined redundantly in order to ensure a particularly high level of safety.

In a preferred embodiment, the reaching of the end position is determined from the angle signal and confirmed by an increase of the motor current. Depending on the angle encoder used, the door leaf position can be determined as an absolute value via the angle signal or can be determined by comparison with a defined one Reference value, the current door leaf position can be determined. In case that

Drive belt or drive chain are fully functional, as stated above, the motor current would increase when trying to continue beyond the final position. By combining these two pieces of information, the achievement of the

Determine end position with particularly high safety. This allows a further simplification of the door drive, since depending on the safety requirements, the security thus achieved can be high enough to hitherto usually as mechanical

Safety switch equipped limit switch to dispense. Advantageously, as long as the door leaf is in the end position, a corresponding "end position reached" signal is output This signal can be used outside the door drive If, for example, an automatic machine door outputs this signal, it can be used behind the door In the case of, for example, the door of an elevator car, the missing signal may be used

"End position reached" among other things prevented that the elevator car starts when the door is open.

In a further preferred embodiment, the travel speed of the door leaf is set faster or slower in response to an external signal. This variant is particularly suitable for the use of the door drive in the

Carrying out the procedure described here for automatic machine doors. Thus, for example, the traversing speed of the door leaf can be set more slowly if, for example, via sensors, such as motion detectors, light barriers,

Light grids or pressure-sensitive foot mats, near the machine door

Operating personnel is detected in order not to jeopardize this. There is no

Operating personnel near the door, they can be moved at the maximum traversing speed, to delay the machining process by the behind the

Machine door lying machines to avoid.

In a comparable manner, depending on an external signal during the process of the door leaf, its speed and / or in the process

occurring forces are monitored. This variant is not only suitable for machine doors but also for elevator doors, in particular doors of freight elevators. Is reported via the external signal that, for example, user is in the door area, By monitoring the door leaf speed and / or the forces encountered in moving the door leaf, it is possible to ensure that no one is injured by the door leaf being traversed, for example by crushing, shearing, bumping or pulling in.

In a particularly preferred embodiment, it is determined during the whereabouts of the door leaf in the end position, whether a change in the angle signal takes place and in the positive case, the door leaf is moved in the direction of the angle signal change. In this way, the movement of the door leaf can be started by gently bumping in the desired direction. This variant has proven to be particularly advantageous in goods lifts. Especially when retrofitting existing ones

Hoists can be avoided in this way, that on each floor additional switches must be installed to close or open the respective

To arrange goods lift door. This significantly reduces the structural and the

Workload when retrofitting freight lifts.

The present invention will be explained in more detail with reference to a preferred embodiment. 1 shows a perspective view of a door drive;

Figure 2 is a side view of the door drive of Figure 1;

Figure 3 is a schematic functional diagram of the door drive of Figures 1 and 2;

Figure 4 is a schematic sketch of a final position;

Figures 5a, b show the course of the motor current with time when driving in the

End position and functional drive belt or chain or torn drive belt or chain;

Figures 6a-d the course of the angular value and the angular velocity with the

Time when driving in the end position and functional Drive belt or chain or torn drive belt or chain; and

Figure 7 shows schematically the course of a preferred embodiment of the method proposed here for controlling a door drive.

In Figures 1 and 2, a door drive 1 is shown in perspective (Figure 1) and in side view (Figure 2). As important components, the door drive 1 to an electric motor 2, which is connected via a toothed belt 4 with a door leaf holder 8. The electric motor 2 of the embodiment of a door drive 1 shown here is a brushless electric motor which has Hall sensors for controlling the motor in its interior. These Hall sensors, not shown here, can be used as absolute angle encoder. In addition, the electric motor 2 as a

Incremental angle encoder trained angle encoder 3, which is arranged coaxially to the gear 5 in the present example, over which the toothed belt 4 extends and is driven by the electric motor 2. In a variant, the incremental angle encoder 3 may for example also be arranged coaxially with the motor shaft. Alternatively, the

Angle encoder 3 also be arranged on the gear 5 ', which is not driven by the electric motor 2.

The electric motor 2 as well as the gears 5, 5 'are attached to a drive bracket 7, via which the door drive can be attached to objects to be closed. End bearings 6 are also attached to the drive holders 7, which are exploded in the present illustrations according to FIGS. 1 and 2.

In the example shown here, a door leaf is moved over the toothed belt 4, which can be fastened to the door leaf holder 8. The door leaf holder 8 also has stops 9. These stops 9 are mounted relative to the door leaf holder 8 such that they come into abutment in the respective end bearing 6 when the end position is reached. In the example shown here, the door leaf, which may be attached to the door leaf holder 8, occupy two end position positions, one of which corresponds to a position of a fully opened position of the door leaf and the other end position corresponds to a fully closed position of the door leaf. Since the brushless electric motor 2 on the one hand has Hall sensors, and on the other hand via an incremental encoder 3, two independent of each other

Angular signals are obtained at the motor 2. The two angle signals differ i.a. by the fact that the two angle encoders have different resolutions. The incremental encoder generally has a much higher resolution than the Hall sensors as absolute angle encoder. Usually, the resolutions of

Incremental encoders at several 100 steps per revolution, while the

Resolution of the Hall sensors is a few steps per revolution. The resolution of the angle sensor formed by the Hall sensors can be further increased by the number of Hall sensors. When determining the door position from the respective angle signal, the transmission will usually have to be taken into account with its respective gear ratio. The gearbox corresponds to a constant factor with a gear ratio.

Furthermore, the motor current can be measured at different locations on the electric motor 2. In order to obtain two independent measured values, in the example shown here, the respective current value is determined once at the input of the electric motor and once at the output of the electric motor. Using the two independent current values in conjunction with the two independent angle values, it is very easy to determine in the end position position whether a break in the toothed belt 4 is present or not. Furthermore, from these signals with very high security and the

Determine the final position itself, so that the door drive in the example, as shown in Figures 1 and 2, need not have a limit switch.

It should be noted that as an angle encoder and a third gear can be provided over which the toothed belt 4 runs to measure its speed. In addition, as an angle sensor and sensors can be used, which count visually and / or magnetically, how many teeth of the respective gear are moved past them. In Figure 3, the operation of the door drive is shown schematically. By means of the toothed belt 4, the door leaf 10 which is fixed to the door leaf holder 8, in

Arrow direction between the two end bearings 6 are moved back and forth, wherein the movement is stopped by abutment of the stops 9 to the respective end bearing 6. As shown in FIG. 4, in the end position in which the stop 9 collides with the end bearing 6, the respective angular value cpR, which corresponds to the end position, which can be defined as position x = 0, for example, can be set in a first reference run , If, for example, the angle values of an incremental angle encoder are used, starting from the reference angle value cpR, the respective current door leaf position x can be determined by counting the increments. Advantageously, it also takes into account the direction of rotation of the angle change, since in the example shown here, the door leaf can be moved in opposite directions. According to the position determination on the angle value φ, the door leaf can now be moved via the toothed belt 4 and the door leaf holder 8 into an end position at x = 0. If the end position is reached, which is reached in the figures 5a, b, 6a-d at the time tO, according to the method proposed here, it is attempted to continue infinitesimally beyond this end position. Here you can watch, for example, the motor current. This is shown schematically in FIGS. 5a, b. In FIG. 5a, for the sake of simplicity, it is assumed that the door leaf is in a constant position

Motor current is moved to the end position. Of course, the door can be moved with any movement patterns of different power distribution. At the moment tO, in which the end position is reached, abuts the stop 9 at the

Door leaf holder 8 against the end bearing 6. With functioning timing belt 4, this means that when trying to go beyond the final position a little further, the end bearing 6 acts as a resistance that generates a counterforce, the over the functioning timing belt 4 on the Motor 2 is transmitted. This has the consequence that the motor current increases. If, for example, the motor current remained constant, as shown in FIG. 5b, this would mean that the counterforce normally exerted by the counter bearing is not transmitted to the motor. This would be a strong indication that the timing belt 4 is broken.

The increase in the motor current I when passing over the end position also confirms the information that was determined with respect to the position from the angle sensor signal that the end position has been reached. Then, the engine can be turned off, or be switched to idle, which is shown in Figure 5a by the decrease of the motor current at times greater than tO. Alternatively or in addition to the testing of the toothed belt in the end position via the motor current, the functionality of the toothed belt 4 can also be carried out by evaluating the angle sensor signal φ. In this case, on the one hand φ directly

6a, b or, for example, a variable derived from φ such as the angular velocity dcp / dt shown in FIGS. 6c, d. According to the movement pattern of the door leaf 8 shown in FIG. 6 a, the angle φ changes continuously with time until the end position is reached at the time t 0. When functioning timing belt 4, the opposing force of the repository 6 over the

Toothed belt transferred to the motor so that it can no longer rotate and consequently there is no change in angle. Therefore, after that stays

Reaching the end position even when trying to drive beyond the angle φ constant.

If the toothed belt were torn, as shown in FIG. 6 b, the angle would continue to change continuously as the engine continues to run. Similarly, according to FIG. 6c, the angle change with time dcp / dt is, for example, constant until the end position is reached at time t0 and the angle change dq) / dt is reduced to zero. If the toothed belt 4 were torn as in FIG. 6d, the angle change dcp / dt would still be non-zero.

It should be noted that, unlike a ride with constant

Speed to the end position to, any speeds can be adjusted. It should also be noted that in electric motors a certain degree of slippage may be present, so that when moving out beyond the final position even with a functioning timing belt, a slight change of φ can take place. The

Reduction of the angular velocity dcp / dt would nevertheless be clear.

In Figure 7, the sequence of a preferred embodiment of the proposed

Method for controlling a door drive in a kind of flow diagram shown. In a comprehensive variant of the method is first used in the commissioning of

Door drive the door leaf or door leaf holder against a stop moved (step 701). This position is based on one in any case

Electric encoder existing angle sensor signal as the reference angle cpR set, from which all the following positions determined by enumerating the angular changes cpXi can be (step 703). By using the angle sensor signals for position determination, it is possible to move selectively into an end position (step 705).

In this end position, first angle signals φΑ1 and φΒ1 can now be measured at an angle transmitter A and optionally an angle transmitter B. In addition, in the example shown here, first motor currents IA1 and IB1 are also measured at two different points A and B on the motor. The motor is then activated in such a way that an attempt is made to drive the door leaf beyond the end position (step 709) and at the same time a second angle signal q) A2, φΒ2 or at two different locations another current signal IA2 at two different angle encoders. IB2 measured (step 71 1). Subsequently, it is checked in a following step 713 whether the amounts of the angles in the end position φΑ1, φΒ1 and beyond the end position φΑ2, φΒ2 are unequal or whether the corresponding angle changes in the time interval between tO and tO + ε approaches zero and whether the current signals IA1, IB1 after reaching end position is less than or equal to the current signals IA2, IB2 when attempting to go beyond the end position.

If it turns out that at least one of these conditions is met, an error message is issued in a following step 715, which means that the toothed belt is torn with high probability. This leads in the example shown here in step 717 to a stop not only the door drive itself by turning off the

Electric motor, but possibly also the higher-level system, such as a machine tool or a lift.

If it turns out that none of the conditions tested in step 713 are satisfied, not only is it ensured that the V-belt is not cracked with very high safety, but it is also confirmed independently that the final position is actually reached (step 719). This information may be forwarded in step 721 to other units within a door operator superordinate system, for example to the control of a machine tool shielded by a door-driven door, or to an elevator controller.

As long as the door leaf is in an end position, it can be monitored continuously or by sampling whether the angle signal φ changes, even though there is no significant change in the motor current (step 723). This can

in particular, be the case when the door leaf from its final position easily is pushed to open the door or close, ie to remove it from the current end position. In the example shown here for carrying out the proposed method, upon detection of such a change in the angle signal in step 725, this is taken as a start signal in order to control the motor in such a way that the door leaf is moved out of the end position in the desired direction.

Incidentally, it should be noted that in the choice of movement or

Speed profiles when moving the door leaf external signals can be taken into account, which may lead to, for example, the speed is increased or decreased.

Claims

claims

A method of controlling a door operator, wherein the door operator comprises an electric motor for generating a driving force with an angle sensor for generating an angle signal proportional to the angle of rotation of the motor and a chain or belt guided in the opening and closing direction of a door leaf for transmitting the driving force to the door leaf, with the steps:

- Driving the door leaf in a final position;

Determining a first value of the motor current and / or a first value of the angle signal;

- Continue beyond the end position;

- Determining a second value of the motor current and / or a second value of the angle signal;

Comparing the first and second values and outputting an error message if the second value of the motor current is less than or equal to the first value of the motor

Motor current is or if the second value of the angle signal is greater than the first value of the angle signal.

2. The method according to claim 1, characterized in that at output of the

Error message the electric motor is turned off.

3. The method of claim 1 or 2, characterized in that both the first and second values of the motor current and the first and second values of the angle signal are determined and error message is output, if the second value of the

Motor current is less than or equal to the first value of the motor current or the second value of the angle signal is greater than the first value of the angle signal.

4. The method according to any one of claims 1 to 3, characterized in that the values of the motor current and / or the values of the angle signal are determined in two independent ways.

5. The method according to any one of claims 1 to 4, characterized in that the reaching of the end position is determined from the angle signal and is confirmed by an increase in the motor current.

6. The method according to claim 5, characterized in that as long as the door leaf is in the end position, a signal "end position reached" is output.

7. The method according to any one of claims 1 to 6, characterized in that the traversing speed of the door leaf is set faster or slower in response to an external signal.

8. The method according to any one of claims 1 to 7, characterized in that in response to an external signal during the process of the door leaf whose speed and / or the forces are monitored.

9. The method according to any one of claims 1 to 8, characterized in that it is determined during the whereabouts in the end position, whether a change in the angle signal takes place, and in the positive case, the door leaf in the direction of

Angle signal change is moved.