EP3191670B1 - Control device and operating method for a closure drive, closure drive, and closure thus driven - Google Patents

Description

The invention relates to a door operator and a gate with such a door operator.

Gates for buildings or enclosures are increasingly being equipped with power drives in the private sector too. Power gates should be designed so that they do not pose a risk to the user.

This is a challenge, especially with up-and-over doors Fig. 1 is shown a tilting gate 10 according to the prior art. The tilting gate 10 comprises a tilting gate wing 12, which is shown by way of example in five positions, which are numbered I to V. I is the opening position. V is the closed position. Positions II to IV indicate intermediate positions during the closing process.

Fig. 2 shows an example of the sequence of movements of the tilt gate wing 12 as a speed-time diagram. From this it can be seen that the tilt gate initially accelerates when closing until a maximum speed is reached. Then the movement of the tilt gate wing 12 is braked until it reaches the closed position.

This results in 12 different impact forces, depending on the current speed of movement of the tilt gate wing, for example when hitting an obstacle. In particular at high speeds of movement, serious injuries can occur if the tilt gate wing 12 hits a person.

EP 2 388 424 A2 describes a gate drive device for driving a gate leaf. The door drive device automatically recognizes its installation status and monitors and controls the movement of the gate leaf depending on the type of installation.

WO 2011/095 474 A1 discloses a door drive device that can automatically recognize a door model.

Out WO 2012/076 619 A1 a sectional gate is known which can detect a relative movement between an end panel and an adjacent panel.

The aforementioned control devices according to the prior art control the engine speed. The engine speed is controlled depending on engine parameters, such as the current. Other sensors only switch off on contact and do not record the current speed of the gate wing over the entire gate travel.

US 2006/0 244 271 A1 discloses a swing door drive that switches its motor into generator operation to charge an energy store.

DE 20 2010 007 951 U1 and EP 1 722 339 A1 disclose a closing edge detection to avoid injuries. The motor is driven in the opposite direction if there is a collision with an obstacle.

The energy that arises when a door impacts an obstacle is fundamentally dependent on the mass of the door and the speed of the main closing edge. Due to the special kinematics of gates, the speed of the main closing edge is often not proportional to the speed of the drive motor. This is particularly pronounced, for example, with up-and-over doors; but also with other types of gates, such as swing gates or roller gates. It usually follows that the speed at the main closing edge varies at constant engine speed. This can lead to different impact forces over the entire path. Again, this can be unfavorable for compliance with the permissible forces. One idea is to ensure an almost constant speed of the main closing edge.

It is an object of the invention to improve gates in terms of their security.

The object is solved by the features of the independent claims. Advantageous further developments are the subject of the dependent claims.

The invention provides a door drive which is designed to drive a gate wing of a gate for openings in structures or enclosures and in which no direct proportionality between the closing edge speed and the drive time and / or the drive path and / or the motor speed is provided, the door drive has a control device which comprises a closing edge movement detection device which is designed to determine a momentary closing edge speed and / or a momentary leading edge acceleration of a closing edge of the gate wing and which comprises at least one closing edge movement sensor unit for detecting movement data, and a final drive control device for controlling the door drive based on the determined momentary closing edge speed and / or the momentary leading edge acceleration, wherein the control device is designed to control the closing edge speed over a range d he keep the door travel constant based on the measurement of the instantaneous leading edge speed and / or instantaneous leading edge acceleration.

• Beschleunigungsdaten, welche den Betrag der auf den Torflügel und/oder die Schließkante wirkenden Beschleunigung angeben; und/oder
• Richtungsdaten, welche die Richtung der auf den Torflügel und/oder die Schließkante wirkenden Beschleunigung angeben; und/oder
• Motordrehzahldaten, welche die Drehzahl eines Motors des Torantriebs angeben; und/oder
• Motorleistungsdaten, welche die momentane Motorleistung eines Motors des Torantriebs angeben.

It is preferred that the movement data contains at least one of the following types of data:

• Acceleration data which indicate the amount of acceleration acting on the gate wing and / or the closing edge; and or
• Directional data indicating the direction of the acceleration acting on the gate wing and / or the closing edge; and or
• Motor speed data indicating the speed of a motor of the door operator; and or
• Motor performance data, which indicate the current motor performance of a motor of the door operator.

• einen Beschleunigungssensor zum Erfassen einer Beschleunigung; und/oder
• einen Lagesensor zum Erfassen einer Richtung; und/oder
• einen Motordrehzahlsensor zum Erfassen einer Motordrehzahl; und/oder
• einen Stromsensor zum Erfassen einer elektrischen Stromstärke; und/oder
• einen Spannungssensor zum Erfassen einer elektrischen Spannung; und/oder
• einen Leistungssensor zum Erfassen einer elektrischen Leistung.

It is preferred that the closing edge movement sensor unit comprises at least one of the following sensors:

• an acceleration sensor for detecting an acceleration; and or
• a position sensor for detecting a direction; and or
• an engine speed sensor for detecting an engine speed; and or
• a current sensor for detecting an electric current; and or
• a voltage sensor for detecting an electrical voltage; and or
• a power sensor for detecting electrical power.

It is preferred that at least one sensor is designed to be arranged on the gate wing and / or on the closing edge.

It is preferred that the closing edge movement sensor unit is designed to be arranged on the gate wing and / or on the closing edge.

It is preferred that the closing edge movement detection device comprises a closing edge movement determination unit for determining the instantaneous leading edge speed and / or the instantaneous leading edge acceleration from movement data.

It is preferred that the closing edge movement detection device has a closing edge movement data transmission unit for the wired and / or wireless transmission of movement data of the closing edge to the closing edge movement determination unit.

• eine Speichereinheit zum Speichern eines Schließkantennormalgeschwindigkeitssollwertes und/oder eines Schließkantennormalbeschleunigungssollwertes; und/oder
• eine Vergleichseinheit zum Vergleichen eines Schließkantennormalgeschwindigkeitssollwertes mit einer Momentanschließkantengeschwindigkeit und/oder eines Schließkantennormalbeschleunigungssollwertes mit einer Momentanschließkantenbeschleunigung, um ein Schließkantenbewegungsvergleichsergebnis zu erhalten; und/oder
• eine Betriebszustandsermittelungseinheit zum Ermitteln eines Betriebszustandes des Abschlussantriebes aus der Momentanschließkantengeschwindigkeit und/oder der Momentanschließkantenbeschleunigung; und/oder
• eine Betriebszustandsteuereinheit zum Steuern des Torantriebs in Abhängigkeit eines Betriebszustandes.

It is preferred that the final drive control device comprises at least one of the following units:

• a storage unit for storing a closing edge normal speed target value and / or a closing edge normal acceleration target value; and or
• a comparison unit for comparing a closing edge normal speed setpoint with a current trailing edge speed and / or a closing edge normal acceleration setpoint with a current trailing edge acceleration to obtain a closing edge movement comparison result; and or
• an operating state determination unit for determining an operating state of the final drive from the instantaneous leading edge speed and / or the instantaneous leading edge acceleration; and or
• an operating state control unit for controlling the door drive as a function of an operating state.

• ein Gewichtsausgleichseinrichtungsausfallerkennungsmodul, das zum Erkennen eines Ausfalls einer Gewichtsausgleichseinrichtung ausgebildet ist; und/oder
• ein Motordrehrichtungserkennungsmodul zum Erkennen einer Motordrehrichtung; und/oder
• ein Personenmitfahrerkennungsmodul zum Erkennen einer mit dem Torflügel mitfahrenden Person; und/oder
• ein Hinderniserkennungsmodul zum Erkennen eines Hindernisses im Bewegungsbereich des Torflügels.

It is preferred that the operating state determination unit comprises at least one of the following modules:

• a weight balancer failure detection module configured to detect a weight balancer failure; and or
• a motor rotation direction detection module for detecting a motor rotation direction; and or
• a passenger detection module for detecting a person traveling with the gate wing; and or
• an obstacle detection module for detecting an obstacle in the range of movement of the gate wing.

According to a further aspect, the invention provides a gate for closing off openings in buildings or enclosures with a gate wing and with a preferred gate drive.

With the preferred devices and methods, in particular the advantages described below can be achieved.

In a preferred embodiment, a sensor unit is attached in the area of the closing edge. The sensor unit includes, for example, an acceleration sensor and a position sensor. The sensor unit can detect the acceleration and the direction of the acceleration. The measured values are sent to an engine control unit and processed. The type of signal transmission is less relevant. The motor control unit enables an essentially constant speed of the main closing edge with the aid of a suitable algorithm.

The main closing edge moves at an almost constant speed. This enables a more even power cut-off over the entire door travel. The gate system can become more secure. There are also other possible uses.

With a vertically guided door, a spring often compensates for the weight of the door. One then speaks of a weight-balanced goal. If the weight compensation device fails, for example due to a break in the spring, the door accelerates suddenly in the direction of the floor. This acceleration differs significantly from normal door travel. A spring break can therefore be suspected. The control device goes into a safe state on the basis of the measured acceleration values.

Errors can occur when installing gate operators. For example, an incorrectly connected motor. In this case the motor may turn upside down. The gate moves OPEN instead of CLOSED and vice versa. This mistake can lead to security problems. Especially when properties are assigned to the wrong direction of movement. Force limitation is an example of a motion-dependent property. The force limitation acts in the closing direction, i.e. CLOSED, often more sensitive than in the opening direction, i.e. H. ON. When using conventional single-channel incremental encoders, however, there is no information about the direction of movement. This can lead to security problems. By using the sensor unit, the direction of movement of the door is recognized. The controller can switch to a safe state.

In addition, in the case of vertically guided gates, for example in the case of rolling grille gates, there is the possibility of a person traveling along when the gate is opened. The person could fall from a great height or be wrapped in the so-called roller shutter curtain. A passenger changes the acceleration profile due to the additional load. This deviation can be detected with the sensor unit and processed with a gate control, which in turn can establish a safe state.

Similar to recognizing a passenger, a sudden obstacle changes the acceleration profile. This deviation can in turn be detected with the sensor unit and processed with a gate control.

Fig. 1

ein Ausführungsbeispiel eines Kipptores nach dem Stand der Technik;

Fig. 2

ein Diagramm der Momentanschließkantengeschwindigkeit gegenüber der Zeit des Kipptores aus Fig. 1;

Fig. 3

ein Ausführungsbeispiel eines Kipptores mit einer bevorzugten Steuervorrichtung;

Fig. 4

eine schematische Skizze einer bevorzugten Steuervorrichtung;

Fig. 5

ein Diagramm der Momentanschließkantengeschwindigkeit gegenüber der Zeit des Kipptores aus Fig. 3;

Fig. 6

ein Diagramm der Momentanschließkantengeschwindigkeit gegenüber der Zeit zur Veranschaulichung der Erkennung eines Ausfalls einer Gewichtsausgleichseinrichtung;

Fig. 7

ein Diagramm der Momentanschließkantengeschwindigkeit gegenüber der Zeit zur Veranschaulichung der Erkennung einer mitfahrenden Person;

Fig. 8

ein Diagramm der Momentanschließkantengeschwindigkeit gegenüber der Zeit zur Veranschaulichung der Erkennung eines Hindernisses;

Fig. 9

eine schematische Darstellung des Kipptores aus Fig. 3 bei einem Schließvorgang; und

Fig. 10

ein Ausführungsbeispiel eines Betriebsverfahrens.

Embodiments of the invention are explained in more detail below with reference to the accompanying drawings. It shows:

Fig. 1

an embodiment of a tilting gate according to the prior art;

Fig. 2

a diagram of the instantaneous leading edge speed versus the time of the tilt gate Fig. 1 ;

Fig. 3

an embodiment of a tilt gate with a preferred control device;

Fig. 4

a schematic sketch of a preferred control device;

Fig. 5

a diagram of the instantaneous leading edge speed versus the time of the tilt gate Fig. 3 ;

Fig. 6

a diagram of the momentary trailing edge speed over time to illustrate the detection of a failure of a weight balancer;

Fig. 7

a diagram of the momentary trailing edge speed over time to illustrate the detection of a passenger;

Fig. 8

a diagram of the momentary trailing edge speed over time to illustrate the detection of an obstacle;

Fig. 9

a schematic representation of the tilt gate Fig. 3 during a closing process; and

Fig. 10

an embodiment of an operating method.

It is specifically referred to below 3 and 4 Referred.

A building 20 is provided with a termination 22. The closure 22 has a wing 24 for closing an opening 25 of the structure 20.

The structure 20 is, for example, a garage 26. The opening 25 is designed as a garage opening 28 of a garage space 30 to be locked.

The closure 22 serves to close the opening 25 and is designed, for example, as a gate 32, in particular a tilting gate 34.

The gate 32 is arranged at the opening 25 to complete the structure 20. The door 32 comprises a door frame 35, a door wing 36, a weight compensation device 38 as well as a door drive 40 and a control device 42.

The door frame 35 is fastened to the structure 20 and arranged at the opening 25.

The gate wing 36 is an example of a wing 24 and is suitable for completely closing the opening 25. The gate wing 36 has a main closing edge 44. The gate wing 36 can have three secondary closing edges 46. The main closing edge 44 and the secondary closing edge 46 are examples of closing edges.

The weight compensation device 38 is used to balance the weight of the gate wing 36. The weight compensation device 38 preferably has a spring 48 and a lever rod 50. The spring 48 is fastened, for example, to a lower end of the door frame 35 and connected to the lever rod 50. The lever rod 50 is preferably arranged on the door frame 35 and is pivotable connected to the gate wing 36. This design is also known as the so-called Berry gate.

The door drive 40 is suitable for driving the gate wing 36. The door operator 40 is an example of a final operator 41.

The control device 42 is provided for controlling the final drive 41. The control device 42 includes a closing edge movement detection device 52 and a final drive control device 54.

The closing edge movement detection device 52 serves to determine a momentary connection edge speed v _m and / or a momentary connection edge acceleration a _{m of} a closing edge, in particular the main closing edge 44.

The closing edge movement detection device 52 comprises a closing edge movement sensor unit 58, a closing edge movement determination unit 60 and a closing edge movement data transmission unit 62.

The closing edge movement sensor unit 58 is designed to record movement data 59 of the leaf 24 and / or a closing edge, such as the main closing edge 44. The motion data can include acceleration data, direction data, engine speed data and / or engine performance data.

The acceleration data are a measure of the amount of acceleration that acts on the wing 24 and / or a closing edge, such as the main closing edge 44. The direction data contains information about the direction of the acceleration which acts on the wing 24 and / or a closing edge, such as the main closing edge 44.

The engine speed data provide information about the current speed of a motor of the final drive 41.

The engine performance data describe the current engine performance of the motor of the final drive 41.

The closing edge movement sensor unit 58 is designed to detect the amount and / or direction of an acceleration. In addition, the closing edge movement sensor unit 58 can be designed to detect engine speed data and / or engine performance data.

The closing edge movement sensor unit 58 comprises, for example, an acceleration position sensor 64. The acceleration position sensor 64 is designed to detect the amount and direction of an acceleration. Such sensors are available as integrated circuits. The acceleration position sensor 64 provides acceleration data and direction data for the closing edge movement determination unit 60. Alternatively or additionally, an acceleration sensor 65 can be used, which only detects the amount of acceleration. Alternatively or additionally, a position sensor 67 can be used, which only detects the direction of the acceleration. In addition, current, voltage and power sensors can also be provided.

The closing edge movement determination unit 60 is designed to determine the instantaneous leading edge acceleration a _m and / or the instantaneous leading edge speed v _m from the movement data of the closing edge movement sensor unit 58. In particular, the closing edge movement determination unit 60 is designed to determine the instantaneous leading edge acceleration a _m and / or the instantaneous leading edge speed v _m as vector variables, that is to say with magnitude and direction. The closing edge movement determination unit 60 can be formed, for example, by a microcontroller.

The instantaneous trailing edge acceleration a _m is determined directly by the acceleration position sensor 64. The instantaneous trailing edge speed v _m can be calculated, for example, by integrating the instantaneous trailing edge acceleration a _m .

The closing edge movement data transmission unit 62 is designed to transmit the movement data from the closing edge movement sensor unit 58 to the closing edge movement determination unit 60. The closing edge movement data transmission unit 62 preferably comprises a transmitter 66 and a receiver 68 for wireless transmission of the movement data. The transmitter 66 is provided on the closing edge movement sensor unit 58. The receiver 68 is provided on the closing edge movement determination unit 60.

The final drive control device 54 serves to control the final drive 41 and comprises an operating state determination unit 70 and an operating state control unit 71.

The final drive control device 54 is designed to process the instantaneous leading edge speed v _m and / or the instantaneous leading edge acceleration a _m .

The final drive control device 54 preferably has a storage unit 72 and a comparison unit 74.

In the storage unit 72, closing edge normal speed setpoints 73 and / or closing edge normal acceleration setpoints 75 are stored, as are detected during normal door travel.

The comparison unit 74 is designed to produce a closing edge movement comparison result 77 from a comparison between a closing edge normal speed setpoint 73 and the instantaneous connecting edge speed v _m and / or the Obtain closing edge normal acceleration setpoint 75 with the instantaneous closing edge acceleration a _m . For example, the values to be compared are subtracted from one another. The difference obtained is an example of the closing edge movement comparison result 77.

As in Fig. 5 shown, the kinematics of the gate 32 can be compensated for by the control device 42. The direct measurement of the instantaneous leading edge speed v _m and / or the instantaneous leading edge acceleration a _m permits a controlled approach to the wing 24 (area A), a largely constant movement speed of the wing 24 (area B) and a controlled braking of the wing 24 at the end of the movement (area C). In the event of an error-free door travel, the instantaneous closing edge speed v _m and the closing edge normal speed setpoint 73 essentially coincide.

In an advantageous embodiment, the operating state determination unit 70 comprises at least one of the following modules. A counterbalance device failure detection module 76, an engine rotation direction detection module 78, a passenger detection module 80, and an obstacle detection module 82.

The mode of operation of the control device 42 is described below with reference to FIG Figures 5 to 9 explained in more detail. The graph of the normal closing speed setpoints 73 is denoted by S. t ₀ denotes the time at which an event occurs. t ₁ denotes the point in time at which the event is recognized by the control device 42. t ₂ denotes the point in time at which the control device 42 reacted to the event and the drive termination 41 assumed the desired state.

The acceleration position sensor 64 is arranged on the wing 24 in the region of the main closing edge 44. The acceleration position sensor 64 detects the amount and direction of the acceleration of the main closing edge 44. This movement data 59 is sent from the transmitter 66 to the receiver 68 transmitted. The movement data 59 are transmitted to the closing edge movement determination unit 60.

The closing edge movement determination unit 60 determines the instantaneous leading edge acceleration a _m and / or the instantaneous leading edge speed v _m from the movement data 59. In this case, the instantaneous leading edge acceleration a _{m can,} for example, be set equal to the movement data 59. It is also possible for the instantaneous leading edge acceleration a _{m to be} determined by averaging the movement data 59.

The instantaneous leading edge speed v _m can be determined, for example, by integrating the instantaneous leading edge acceleration a _m and / or the movement data 59.

When the control device 42 is installed and / or for maintenance, the time profile of the values of the instantaneous leading edge acceleration a _m can be stored in the storage unit 72 as the closing edge normal acceleration target values 75 and / or the temporal profile of the values of the current leading edge speed v _m can be stored as the closing edge normal speed target values 73. The course of an error-free door travel is thus learned in the control device 42.

In normal operation, the instantaneous leading edge acceleration a _m and / or the instantaneous leading edge speed v _m determined by the closing edge movement determination unit 60 are passed to the comparison unit 74. The comparison unit 74 compares, for example by forming the difference, the instantaneous leading edge speed v _m and / or instantaneous trailing edge acceleration a _m with the respective closing edge normal speed setpoint 73 or closing edge normal acceleration setpoint 75 which is expected at the current time of the door travel, that is to say at a certain position of the leaf becomes. Based on this, the comparison unit 74 outputs the closing edge movement comparison result 77, for example the difference in the values in the case of the comparison by forming a difference.

The operating state determination unit 70 then determines an operating state 84 from the closing edge movement comparison result 77, if appropriate by means of the modules 76, 78, 80, 82.

In the event of an error-free door travel, the operating state determination unit 70 outputs the operating state “NORMAL” to the operating state control unit 71.

If a failure of the counterbalancing means 38, for example due to breakage of the spring 48, so the vane 24 and therefore also the main closing edge 44. accelerates the instantaneous closing edge acceleration a _m and / or instantaneous closing edges speed v _m soft their respective setpoints from. The abrupt increase in speed of the main closing edge 44 and / or its acceleration in the direction of the floor is detected by the weight compensation device failure detection module 76, for example when a threshold value S1 is exceeded. The operating state determination unit 70 outputs the operating state “FAILURE” to the operating state control unit 71.

The motor rotation direction detection module 78 is designed to detect an incorrect direction of rotation of a motor of the final drive 41. If the motor rotates in a predetermined direction, for example the closing direction, and the instantaneous leading edge speed v _m deviates from the closing edge normal speed setpoint 73 within a certain time, the operating state determination unit 70 outputs the operating state “MOTOR” to the operating state control unit 71. In particular, the motor rotation direction detection module 78 uses the direction of the current trailing edge speed v _m to detect the wrong direction of rotation. Alternatively or additionally, the Instantaneous trailing edge acceleration a _m and the respective trailing edge normal acceleration setpoints 75 are used.

The passenger rider recognition module 80 is designed to recognize a person traveling on the wing 24. The additional weight of the person changing the instantaneous closing edges speed v _m and / or the instantaneous closing edge acceleration a _m of the vane 24, in particular the main closing edge 44. The instantaneous closing edges speed v _m will remain in this case, for example always under the closing edge normal speed target values 73. The Betriebszustandsermittelungseinheit 70 outputs the operating condition "person" to the operating state control unit 71.

The obstacle detection module 82 is designed to detect an obstacle in the gate area. If the wing 24, in particular the main closing edge 44, encounters an obstacle, the instantaneous leading edge speed v _m drops abruptly, and a large instantaneous leading edge acceleration a _m acts counter to the current direction of movement. The instantaneous leading edge speed v _m can also increase abruptly, an instantaneous leading edge acceleration a _m acting in the current direction of movement. If a threshold value S2 is exceeded, for example, the operating state determination unit 70 outputs the operating state “OBSTRUCTION” to the operating state control unit 71.

The output operating state 84 is evaluated by the operating state control unit 71, which generates a control signal 86 for controlling the final drive 41. In the case of the "NORMAL" state, the door travel is continued.

If one of the states "FAILURE" or "MOTOR" is output, the operating state control unit 71 outputs the control signal 86 for stopping the wing 24 to the final drive 41. The wing 24 is stopped and stands still. You can continue after troubleshooting.

If one of the states "PERSON" or "OBSTACLE" is output, the operating state control unit 71 outputs the control signal 86 for stopping and reversing the wing 24 to the final drive 41. The wing 24 is stopped and is moved back a short distance, for example, to lower the person or to release the obstacle. You can continue after troubleshooting.

If none of the defined states occurs, the operating state control unit 71 outputs the control signal 86 for stopping the wing 24 to the final drive 41 in order to prevent unsafe operation.

The control device 42 controls the speed and / or acceleration of the main closing edge 44 based on its current speed or acceleration. For example, the uneven movement of a wing 24 can be compensated for. In addition, various operating states 84 can be recognized and processed. The control device 42 can therefore increase the security of use of power-driven closures 22.

Reference list

10

Up-and-over gate

12th

Tilt gate wing

20th

Building

22

graduation

24

wing

25

opening

26

garage

28

Garage opening

30

Garage space

32

goal

34

Up-and-over gate

35

Door frame

36

Gate wing

38

Weight balancing device

40

Gate operator

41

Final drive

42

control device

44

Main closing edge

46

Secondary closing edge

48

feather

50

Lever rod

52

Closing edge movement detection device

54

Final drive control device

58

Closing edge motion sensor unit

59

Transaction data

60

Trailing edge movement detection unit

62

Trailing edge movement data transmission unit

64

Acceleration position sensor

65

Acceleration sensor

66

Channel

67

Position sensor

68

receiver

70

Operating state determination unit

71

Operating state control unit

72

Storage unit

73

Closing edge normal speed setpoint

74

Comparison unit

75

Closing edge normal acceleration setpoint

76

Weight balancer failure detection module

77

Closing edge movement comparison result

78

Motor rotation direction detection module

80

Passenger ride detection module

82

Obstacle detection module

84

Operating status

86

Control signal

a _m

Instantaneous trailing edge acceleration

v _m

Instantaneous trailing edge speed

S1

Threshold

S2

Threshold

Claims (9)

1. Door drive (40) which is designed to drive a door wing (36) of a door (32) for openings in buildings (20) or enclosures, and in which no direct proportionality is provided between the closing edge speed and the drive time and/or the drive path and/or the motor speed, the door drive (40) having a control device (42) which comprises:

   a closing edge movement detection device (52) which is designed to determine an instantaneous closing edge speed (v_m) and/or an instantaneous closing edge acceleration (a_m) of a closing edge (44, 46) of the door leaf (36) and which comprises at least one closing edge movement sensor unit (58) for collecting movement data (59), and

   a closure drive control device (54) for controlling the door drive (40) on the basis of the determined instantaneous closing edge speed (v_m) and/or the instantaneous closing edge acceleration (a_m),

   wherein the control device (42) is adapted to keep the closing edge speed constant over a range of door travel based on the measurement of the instantaneous closing edge speed (v_m) and/or instantaneous closing edge acceleration (a_m).
2. Door drive (40) according to claim 1, characterized in that the movement data (59) include at least one of the following types of data:

   2.1 acceleration data indicating the magnitude of acceleration acting on the door leaf (36) and/or the closing edge (44, 46); and/or

   2.2 directional data indicating the direction of the acceleration acting on the door leaf (36) and/or the closing edge (44, 46); and/or

   2.3 motor speed data indicating the speed of a motor of the door operator (40); and/or

   2.4 motor power data indicating the current motor power of a motor of the door operator (40).
3. Door drive (40) according to claim 1 or 2, characterized in that the closing edge movement sensor unit (58) comprises at least one of the following sensors:

   3.1 an acceleration sensor (64) for detecting an acceleration; and/or

   3.2 a position sensor (64) for detecting a direction; and/or

   3.3 an engine speed sensor for detecting an engine speed; and/or

   3.4 a current sensor for detecting an electric current; and/or

   3.5 a voltage sensor for detecting an electrical voltage; and/or

   3.6 a power sensor for measuring an electrical power.
4. Door drive (40) according to claim 3, characterized in that the closing edge movement sensor unit (58) is designed to be arranged on the door leaf (36) and/or on the closing edge (44, 46).
5. Door drive (40) according to any one of the preceding claims, characterized in that the closing edge movement detection device (52) comprises a closing edge movement determination unit (60) for determining the instantaneous closing edge speed (v_m) and/or the instantaneous closing edge acceleration (a_m) from movement data (59).
6. Door drive (40) according to any one of the preceding claims, characterized in that the closing edge movement detecting device (52) comprises a closing edge movement data transmitting unit (62) for transmitting movement data (59) of the closing edge (44, 46) to the closing edge movement detecting unit (60) by wire and/or wireless.
7. Door drive (40) according to any one of the preceding claims, characterized in that the closure drive control device (54) comprises at least one of the following units:

   7.1 a memory unit (72) for storing a closing edge normal speed set value (73) and/or a closing edge normal acceleration set value (75); and/or

   7.2 a comparison unit (74) for comparing a closing edge normal speed set value (73) with an instantaneous closing edge speed (v_m) and/or a closing edge normal acceleration set value (75) with an instantaneous closing edge acceleration (a_m) to obtain a closing edge motion comparison result (77); and/or

   7.3 an operating state determination unit (70) for determining an operating state of the door drive (40) from the instantaneous closing edge speed (v_m) and/or the instantaneous closing edge acceleration (a_m); and/or

   7.4 an operating condition control unit (72) for controlling the door drive (40) based on an operating condition (84).
8. Door drive (40) according to claim 7, characterized in that the operating state determination unit (70) comprises at least one of the following modules:

   8.1 a counterbalance device failure detection module (76) adapted to detect a failure of a counterbalance device (38); and/or

   8.2 a motor rotation direction detection module (78) for detecting a motor rotation direction; and/or

   8.3 a passenger detection module (80) for detecting a person travelling with the door wing (36); and/or

   8.4 an obstacle detection module (82) for detecting an obstacle in the movement range of the door wing (36).
9. Door (32) for closing openings in buildings (20) or enclosures with a door wing (36) and with a door drive (40) according to one of the preceding claims.

Images