EP3121366B1 - Detection method for the moving direction of a concealing screen - Google Patents

Description

The invention relates to a method for detecting the direction of movement of an occultation screen.

When setting up an occultation installation comprising a screen and an actuator, it is necessary to detect the direction of movement of the screen, from a direction of rise and a direction of descent, so that the installation can successively automatically recognize the direction of movement, for example when using the installation by a user by means of a remote control or a wall switch.

To do this, it is known, for example EP-A-2 593 626 , to measure a motor torque of the actuator to determine the direction of movement of the screen. In particular, the motor torque is measured by measuring the motor current in the case of a DC motor, the motor current being in the image of torque. However, on an actuator comprising a synchronous motor, the measurement of the engine torque can also be disturbed by the presence of a mechanical brake which comprises a drag torque (or permanent braking force) not negligible.

In the case of an asynchronous motor, the motor torque can be determined by measuring the voltage available across a phase shift capacitor between the motor windings. However, for certain roller shutters, in particular of low weight or for which the motor is oversized, between a rising direction and a direction of descent, the voltage of the phase-shift capacitor varies very little, so that the determination of the direction of movement of the the screen by this voltage reading is not easy nor reliable. As a result, such an approach of determining the direction by determining the torque can be applied exclusively for an actuator equipped with a synchronous motor, for example a BLDC motor. It is these drawbacks that the invention intends to remedy more particularly by proposing a new detection method for an occultation installation that can also be implemented for an actuator comprising a synchronous motor.

1. a) déplacer l'écran d'occultation à l'aide de l'actionneur dans un premier sens de déplacement et mesurer une première valeur d'un paramètre prédéfini de déplacement,
2. b) déplacer l'écran d'occultation à l'aide de l'actionneur dans un deuxième sens de déplacement, opposé au premier sens de déplacement, et mesurer une deuxième valeur du paramètre prédéfini de déplacement,
3. c) comparer les valeurs du paramètre prédéfini mesurées lors des étapes a) et b),
4. d) déterminer la direction des premier et deuxième sens de déplacement en fonction du résultat de l'étape c).

In this spirit, the invention relates to a method for detecting the direction of movement of an occultation screen controlled by an electromechanical actuator, this method comprising the steps of:

1. a) moving the occultation screen using the actuator in a first direction of movement and measuring a first value of a predefined displacement parameter,
2. b) moving the occultation screen using the actuator in a second direction of movement, opposite the first direction of movement, and measuring a second value of the predefined displacement parameter,
3. c) comparing the values of the preset parameter measured in steps a) and b),
4. d) determining the direction of the first and second direction of movement according to the result of step c).

According to the invention, the electromechanical actuator comprises a synchronous electric motor and the predefined displacement parameter is a duty cycle of a supply voltage of the synchronous electric motor.

• Lors de l'étape d), lorsque la première valeur du paramètre prédéfini est inférieure à la deuxième valeur du paramètre prédéfini, le premier sens de déplacement est associé à une direction de descente, alors que, lorsque la première valeur du paramètre prédéfini est supérieure à la deuxième valeur du paramètre prédéfini, le premier sens de déplacement est associé à une direction de montée.
• Lorsque l'actionneur est commuté dans une configuration nominale, le dispositif de contrôle est configuré pour fournir en entrée du moteur électrique synchrone un signal d'alimentation correspondant à une première vitesse de rotation, correspondant à une puissance d'alimentation nominale et, lorsque l'actionneur est commuté dans une configuration d'apprentissage, le dispositif de contrôle est configuré pour fournir en entrée du moteur électrique synchrone un signal correspondant à une deuxième vitesse de rotation, supérieure à la première vitesse de rotation et correspondant à une puissance électrique plus élevée que la puissance d'alimentation nominale.
• La deuxième vitesse de rotation est environ le double de la première vitesse de rotation.
• La commutation entre la configuration d'apprentissage et la configuration nominale de l'actionneur, est effectuée au moyen d'un dispositif de contrôle du moteur électrique synchrone.
• La commutation entre la configuration d'apprentissage et la configuration nominale de l'actionneur, est effectuée au moyen d'un régulateur de vitesse.
• Le procédé comprend :
  • une étape z) préalable aux étapes a) et b), dans laquelle l'actionneur est commuté dans une configuration d'apprentissage, où des performances de l'actionneur sont volontairement altérées par rapport à ses performances nominales, et
  • une étape e), postérieure à l'étape d), dans laquelle l'actionneur est commuté dans une configuration de performance nominale, où les performances de l'actionneur sont rétablies à ses performances nominales.
• L'étape e) de commutation dans la configuration de performance nominale, où les performances de l'actionneur électromécanique sont rétablies à ses performances nominales, a lieu au démarrage d'un mouvement de montée commandé par un utilisateur.

According to advantageous but non-obligatory aspects of the invention, such a method comprises one or more of the following characteristics, taken in any technically permissible combination:

• In step d), when the first value of the predefined parameter is less than the second value of the predefined parameter, the first direction of movement is associated with a direction of descent, whereas, when the first value of the predefined parameter is greater than at the second value of the predefined parameter, the first direction of movement is associated with a rising direction.
• When the actuator is switched to a nominal configuration, the control device is configured to supply at the input of the synchronous electric motor a supply signal corresponding to a first rotational speed, corresponding to a nominal power supply and, when the the actuator is switched into a training configuration, the control device is configured to supply at the input of the synchronous electric motor a signal corresponding to a second rotational speed, greater than the first rotational speed and corresponding to a higher electrical power. than the nominal power supply.
• The second rotational speed is about twice the first rotational speed.
• The switching between the training configuration and the nominal configuration of the actuator is effected by means of a control device of the synchronous electric motor.
• The switching between the training configuration and the nominal configuration of the actuator is effected by means of a speed controller.
• The method comprises:
  • a step z) prior to steps a) and b), wherein the actuator is switched into a learning configuration, where the performance of the actuator is deliberately altered with respect to its nominal performance, and
  • a step e), subsequent to step d), wherein the actuator is switched to a nominal performance configuration, where the performance of the actuator is restored to its nominal performance.
• The e) switching step in the nominal performance configuration, where the performance of the electromechanical actuator is restored to its nominal performance, occurs at the start of a user-controlled rise movement.

• la figure 1 est une représentation schématique d'une installation d'occultation ;
• la figure 2 est un schéma électrique d'un actionneur électromécanique de type synchrone, utilisable avec le procédé de l'invention ;
• la figure 3 est un schéma représentatif d'un signal d'alimentation ayant un premier rapport cyclique pour l'actionneur électromécanique à la figure 2 ;
• la figure 4 est un schéma représentatif d'un signal d'alimentation ayant un deuxième rapport cyclique pour l'actionneur électromécanique à la figure 2 ; et
• la figure 5 est un organigramme d'un procédé de détection du sens de déplacement conforme à l'invention.

The invention will be better understood and other advantages thereof will appear more clearly in the light of the following description of several detection methods according to the invention, given solely by way of nonlimiting example and made with reference to the accompanying drawings, in which:

• the figure 1 is a schematic representation of an occultation installation;
• the figure 2 is a circuit diagram of an electromechanical actuator of the synchronous type, usable with the method of the invention;
• the figure 3 is a representative diagram of a feed signal having a first duty cycle for the electromechanical actuator at the figure 2 ;
• the figure 4 is a representative diagram of a supply signal having a second duty cycle for the electromechanical actuator at the figure 2 ; and
• the figure 5 is a flowchart of a method for detecting the direction of movement according to the invention.

On the figure 1 an occultation installation 1 is shown. The occultation installation 1 comprises a shielding screen 2, an electromechanical actuator 4, communication means 6 and a control unit 8. The installation 1 is thus a motorized device, such as a motorized shutter, suitable for when closing, obscuring or sunscreening an opening O. In practice, the opening O is closed by the screen 2, at the option of a user.

The occultation screen 2 is, in a manner known per se, formed by a plurality of blades hinged together and comprising a lower blade and an upper blade. The lower blade is intended to bear against the threshold of the opening O when in the down position. The upper blade is attached to a winding shaft 5.

The shaft is mounted inside a box, not shown, of the occultation installation 1, with the possibility of rotation about an axis X1, which is horizontal and fixed and which constitutes a central axis for the screen 2 and for the occultation installation 1. In a manner known per se, the shaft is rotated about the axis X1 by means of the actuator 4.

Thus, the lower blade of the occultation screen 2 is movable in translation, along an axis X2 belonging to the plane of the opening O and perpendicular to the axis X1, in a first direction of displacement D1 or in a second direction displacement D2. The first and second movement direction D1 and D2 are opposite each other along the axis X1. In practice, the first and second direction of movement D1 and D2 may be in a rising direction or in a direction of descent of the screen 2, in particular depending on whether the actuator is mounted on the right or on the left of the winding shaft or depending on whether the screen is at the front or rear of the winding shaft.

The actuator 4 is configured to be activated by a user. In particular, the user transmits a control command to the actuator 4 of the installation 1 via a control signal S from the control unit 8. Thus, the actuator 4 is configured to receive the control signal S via the communication means 6.

The communication means 6 are, for example, an antenna. The antenna 6 of the installation 1 is configured to receive the control signal S via a contactless communication link, for example a radio link, and to transmit the control signal S to the actuator 4. In practice, the user can actuate the actuator 4 of the installation 1 with a remote control unit, such as a remote control, which is not shown in the figures.

The actuator 4 is also configured to receive the control signal S via a wired link 10 connected to the wall control unit 8. In practice, the user can activate the actuator 4 directly via the wall control unit 8 which is positioned in the vicinity of the installation 1.

In other words, the installation 1 represented in FIG. figure 1 is configured to be user controlled wirelessly and / or wired.

The actuator 4 comprises two electrical conductors 12 and 14 supply from an electrical distribution network. The electromechanical actuator 4 also comprises an electric motor 16 of the synchronous type.

The figure 2 shows a first embodiment of the actuator 4, wherein the electric motor 16 is an electronically commutated brushless electric motor, also called "BLDC" (acronym for the English term BrushLess Direct Current). The electric motor 16 is powered by a DC voltage supplied by the power supply network. distribution. In particular, the distribution network supplies an AC voltage of the order of 230 volts which is rectified and filtered in order to obtain a DC voltage of approximately 325 V for the supply of the synchronous electric motor 16.

A first electrical conductor 12 of the actuator 4 is able to transmit the DC voltage, while a second conductor 14 is able to connect the actuator 4 to ground.

The actuator 4 comprises the synchronous motor 16, a control module 48 and a control device 50.

The synchronous motor 16 comprises, in a manner known per se, a stator, windings and a rotor. The stator of the synchronous motor 16 comprises a stack of laminations forming a magnetic circuit. Synchronous motor stator windings 16 define three phases of the supply voltage. The three phases are 120 ° out of phase with each other. The rotor of the synchronous motor 16 is, for example, a rotor with permanent magnets. According to an exemplary embodiment, the synchronous motor 16 comprises three sensors 52A, 52B and 52C. These sensors 52A, 52B and 52C are, for example, binary output Hall effect sensors. These sensors are configured to react to the magnetic flux of the rotor magnets of the synchronous motor 16 and to provide a signal representative of the angular position of the rotor. To do this, the sensors 52A, 52B and 52C are mounted on a printed circuit integral with the stator of the synchronous motor 16. Each sensor provides a signal representative of the position of the rotor. The analysis of the different signals makes it possible to determine the position and the speed of the rotor. Only one or two physical sensors can be used, the signal of the other sensors can be reconstituted from the signals of the physical sensor or sensors. Alternatively, this position and speed information can be determined without physical sensors.

The control module 48 is configured to supply sequentially the windings of the synchronous motor 16, so as to create a rotating magnetic field. The control module 48 comprises a plurality of power switches 54A to 54F. In a manner known per se, the power switches are able to close sequentially, in order to supply one of the three windings of the synchronous motor 16. In particular, the power switches are controlled by external control signals.

The control device 50 is configured to control the control module 48. The control device 50 comprises a logic unit 56 and a control signal generation module 58 for the control module 48. In particular, the unit logic 56 receives, via wired links 60, the signals provided by the sensors 52A to 52C. Based on these measurements, the logic unit 56 controls the module 58, which generates the control signals for the power switches 54A through 54F. In particular, wired links 62 connect the module 58 to the power switches 54A to 54F.

The control device 50 thus provides the function of a frequency modulator and supplies the synchronous motor 16 with supply voltages having cyclic ratios adapted to its operation. In particular, the supply voltage which is supplied to the windings of the synchronous motor 16 is calculated as the product of a signal of the rectified DC voltage and a signal of a duty cycle defined by the control device 50. The modulation, more precisely Pulse Width Modulation ( PWM ) realized using the control device 50 is of the order of 16 kHz.

The control device 50 also comprises a speed regulator 64. In particular, the speed regulator 64 comprises at least one regulation loop concerning the speed. It may also include a second current control loop which operates in parallel with the speed control loop. These loops are controlled by speed and current correctors and allow to manage the voltage setpoint to be applied across the motor 16. The advantage of the regulator 64 is to be able to regulate the speed of the motor 16, while possibly having a control of the couple. The main regulation is speed control. However, current regulation, taking place at the same sampling period and in parallel with the speed regulation, makes it possible to ensure torque control at each instant. These two control loops are relatively independent of each other. They are orchestrated by the logic unit 56 which will select the minimum voltage to be applied to the motor 16, that is to say either the supplied voltage of the speed corrector, or the voltage supplied by the current corrector.

Thus, the control device 50 is able, by means of its speed controller 64, to switch the actuator 4 between a so-called nominal configuration C1 and a configuration C2, called learning. In particular, the learning configuration C2 corresponds to a modified performance configuration, in which the engine performance is voluntarily altered, in particular by modifying the speed of rotation of the engine.

A method for detecting the direction of movement of the occultation screen 2 controlled by the electromechanical actuator 4 is implemented during the installation of the installation 1. The installation 1 is in nominal configuration C1, powered by one rated power P1 and is not in a particular position, such as approaching a stop. When setting up the installation 1, the directions of movement D1 and D2 are not known. The detection method is described below.

At the beginning of this process, and during an initial step z), the actuator 4 is switched to its learning configuration C2, where it is powered with a second power P2.

The method comprises a step a) of moving the occultation screen 2, using the actuator 4, in the first direction of movement D1 and measuring a first value V1 of a predefined parameter P of displacement .

The method then comprises a step b) of moving the occultation screen 2, using the actuator 4, in the second direction of displacement D2, which is opposite to the first direction of movement D1, and consisting of measuring a second value V2 of the predefined parameter P of displacement. Step b) may comprise a production time of between 0.5 and 2 s. This time is necessary for the establishment of a regime of stable and for the measurement of the parameter P.

Then, the method comprises a step c) of comparing the values V1 and V2 of the predefined parameter of displacement measured during steps a) and b). The comparison of the values V1 and V2 is carried out by the logic unit 56 of the control device 50 of the actuator 4.

The detection method then comprises a step d) of determining the direction of first and second direction of movement D1 and D2, depending on the result of step c).

In learning configuration C2, the predefined parameter P, which is measured during step a) and step b), is the duty cycle of the supply voltage of the synchronous motor 16. In fact, the Cyclic duty measurement is simple to perform. These duty cycle data are inherent in the power signal and therefore are easily recoverable by a microcontroller. In particular, the first value V1 is a first value DC1 of the duty cycle, as visible in FIG. figure 3 , while the second value V2 is a second value DC2 of the duty cycle, as visible in FIG. figure 4 . During the comparison step c), the difference between the cyclic ratios in the two directions of displacement perfectly identifiable by means of the control device 50. In step d), when the first DC1 value of the duty cycle is lower at the second value DC2 of the duty cycle, the first direction moves D1 is associated with the direction of descent and, consequently, the second direction of movement D2 is associated with the climb direction. The opposite is done when the duty cycle DC2 is greater than the duty cycle DC1.

Finally, the method comprises a step e) in which the actuator 4 is switched back to the nominal performance configuration C1, where it is powered with the nominal power supply P1, in order to be able to operate normally.

According to a second embodiment, an increase in the speed of rotation of the synchronous electric motor 16 input, managed by means of the speed controller 64, increases the differentiation between the measurements of the predefined parameter P displacement. In this second embodiment, the predefined parameter P, which is measured during step a) and step b), is still the duty cycle of the supply voltage of the synchronous motor 16.

At the beginning of this process, and during an initial step z), the logic unit 56 intervenes on the speed regulator 64 so that it provides a higher rotational speed. In other words, the actuator 4 is switched to its learning configuration C2, where it is powered with a second power P3.

When the actuator 4 is switched to the nominal configuration C1, the control device 50 is configured to supply at the input of the synchronous electric motor 16 a supply signal corresponding to a first speed W1 of rotation. Because of this power supply signal, when the actuator 4 is switched to its nominal performance configuration C1, it is powered with the nominal power P1.

When the actuator 4 is switched into the learning configuration C2, the control device is configured to supply at the input of the synchronous electric motor 16 a signal corresponding to a second rotation speed W2, greater than the first rotational speed. Thus, because of this supply signal, when the actuator 4 is switched to its learning configuration C2, it is powered with the power P2 which is higher than the nominal power supply P1. The fact of modifying the speed of displacement, to raise it to the risk of degrading the acoustic and thermal performances of the engine during the configuration steps, can make the difference of measurement more significant and thus to identify the direction of movement, in particular in cases where measurement at rated speed is not safe.

In practice, the second rotational speed is chosen to be about twice the first rotation speed W1.

In the first embodiment, the nominal configurations C1 and learning C2 are visually, for a user, not very distinct. In the second embodiment, the displacements of the screen 2 being at higher speed in the learning configuration, the two configurations are visually distinct. In both embodiments, the determination of the duty cycles during up and down motions for a given regulated speed provides sufficiently significant duty cycle data for the rise and fall to be compared and to determine the direction of travel. . These data can be used to discriminate the direction of rise and the direction of descent whatever the use configuration (normal or learning).

• pour une vitesse régulée à 3000tr/mn : à la descente, pour un couple en sortie de 10mNm, le rapport cyclique est égal à 0.278, alors que, à la montée, pour un couple en sortie de 20mNm, le rapport cyclique est égal à 0.3 soit un écart de 0.022 ;
• pour une vitesse régulée à 1500tr/mn (vitesse nominale) : à la descente, pour un couple en sortie de 10mNm, le rapport cyclique est égal à 0.146, alors que, à la montée, pour un couple en sortie de 20mNm, le rapport cyclique est égal à 0.165 soit un écart = 0.019 ;
• pour une vitesse régulée à 1000tr/mn (sous-vitesse) : à la descente, pour un couple en sortie de 10mNm, le rapport cyclique est égal à 0.098, alors que, à la montée, pour un couple en sortie de 20mNm, le rapport cyclique est égal à 0.116 soit un écart = 0.018.

For example, the duty cycle data has the following results:

• for a speed regulated at 3000rpm: at the descent, for an output torque of 10mNm, the duty cycle is equal to 0.278, whereas, at the climb, for an output torque of 20mNm, the duty cycle is equal to 0.3 is a difference of 0.022;
• for a speed regulated at 1500 rpm (nominal speed): at the descent, for an output torque of 10 mNm, the duty cycle is equal to 0.146, whereas, at the climb, for a torque output of 20 mNm, the ratio cyclic is equal to 0.165 ie a difference = 0.019;
• for a speed regulated at 1000rpm (under-speed): at the descent, for an output torque of 10mNm, the duty cycle is equal to 0.098, whereas, at the climb, for a torque output of 20mNm, the cyclic ratio is equal to 0.116, ie a difference = 0.018.

• pour une vitesse régulée à 3000tr/mn : à la descente, pour un couple en sortie de 10mNm, le rapport calculé est de l'ordre de 7,9%, alors que, à la montée, pour un couple en sortie de 20mNm, le rapport calculé est de l'ordre de 7,3%, soit un écart de 0.6;
• pour une vitesse régulée à 1500tr/mn (vitesse nominale) : à la descente, pour un couple en sortie de 10mNm, le rapport calculé est de l'ordre de 13%, alors que, à la montée, pour un couple en sortie de 20mNm, le rapport calculé est de l'ordre de 11,5%, soit un écart de 1,13;
• pour une vitesse régulée à 1000tr/mn (sous-vitesse) : à la descente, pour un couple en sortie de 10mNm, le rapport calculé est de l'ordre de 18,4%, alors que, à la montée, pour un couple en sortie de 20mNm, le rapport calculé est de l'ordre de 15,5%, soit un écart de 2.9.

According to a third embodiment, the predefined displacement parameter P is a ratio between a deviation of the cyclic ratios measured in each direction of displacement and the value of the duty cycle in each direction of displacement.
For the values given above, the data to be compared in this third embodiment are, for example, as follows:

• for a regulated speed at 3000rpm: at the descent, for a torque output of 10mNm, the calculated ratio is of the order of 7.9%, whereas, at the climb, for a torque output of 20mNm, the calculated ratio is of the order of 7.3%, ie a difference of 0.6;
• for a speed regulated at 1500 rpm (nominal speed): at the descent, for a torque output of 10 mNm, the calculated ratio is of the order of 13%, whereas, at the climb, for a torque output of 20mNm, the calculated ratio is of the order of 11.5%, a difference of 1.13;
• for a speed regulated at 1000rpm (under-speed): at the descent, for a torque output of 10mNm, the calculated ratio is of the order of 18.4%, whereas, on the ascent, for a couple at the output of 20mNm, the calculated ratio is of the order of 15.5%, a difference of 2.9.

It is thus noted that for this third embodiment, the difference is more significant at low speed. However, the precision of the microcontrollers used for the calculations is important not to penalize these results.

The embodiments envisaged above may be combined with one another to generate new embodiments of the invention. In the embodiments presented, the learning configuration C2 can cause the screen 2 to move in the upward direction, and the force required to move the load is greater than can supply the motor. However, the measurement of the predefined parameter P and the determination of the displacement direction by comparison remains possible despite the absence of movement of the screen 2 in one of the directions of movement.

Claims (8)

1. Method of detecting the direction of movement of a privacy screen (2) controlled by an electromechanical actuator (4), the method comprising steps consisting of:

   a) moving the privacy screen in a first direction of movement (D1) by means of the actuator and measuring a first value (V1) of a predefined parameter (P) of movement,

   b) moving the privacy screen by means of the actuator in a second direction of movement (D2), opposite to the first direction of movement, and measuring a second value (V2) of the predefined parameter of movement,

   c) comparing the values of the predefined parameter that were measured in steps a) and b),

   d) determining the direction of the first and second directions of movement based on the result of step c),

   the method being characterised in that the electromechanical actuator (4) includes a synchronous electric motor (16) and in that the predefined parameter (P) of movement is a duty cycle (DC1, DC2) of a supply voltage of the synchronous electric motor.
2. Method according to claim 1, characterised in that, during the step d), when the first value (DC1) of the predefined parameter (P) is less than the second value (DC2) of the predefined parameter, the first direction of movement (D1) is associated with a direction of descent, while when the first value (DC1) of the predefined parameter (P) is greater than the second of value (DC2) of the predefined parameter, the first direction of movement (D1) is associated with a direction of ascent.
3. Method according to either one of claims 1 and 2, characterised in that, when the actuator (4) is switched into a nominal configuration (C1), a control device (50) is configured to furnish at the input of the synchronous electric motor (16) a supply signal corresponding to a first speed (W1) of rotation, corresponding to a nominal power supply (P1) and in that, when the actuator is switched into a learning configuration (C2), the control device is configured to furnish at the input of the synchronous electric motor a signal corresponding to a second speed (W2) of rotation, higher than the first speed of rotation and corresponding to a higher electric power (P2) than the nominal supply power.
4. Method according to claim 3, characterised in that the second speed of rotation (W2) is about double the first speed of rotation (W1).
5. Method according to either one of claims 3 or 4, characterised in that the switching between the learning configuration (C2) and the nominal configuration (C1) of the actuator (4), is performed by a control device (50) of the synchronous electric motor (16).
6. Method according to claim 5, characterised in that the switching between the learning configuration (C2) and the nominal configuration (C1) of the actuator (4) is performed by a speed regulator (64).
7. Method according to any one of the preceding claims, characterised in that it comprises:

   - a step z) prior to steps a) and b), wherein the actuator (4) is switched into a learning configuration (C2), where performances of the actuator are purposefully altered with respect to the nominal performances thereof, and

   - a step e), subsequent to the step d), wherein the actuator is switched into a nominal performance configuration (C1), where the performances of the actuator are reset to the nominal performances thereof.
8. Method according to claim 7, characterised in that the step e) of switching into the nominal performance configuration (C1), where the performances of the electromechanical actuator (4) are reset to the nominal performances thereof, takes place at the start of a movement of ascent ordered by a user.

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