EP3862522A1 - Système de commande de moteur pour portes et portails - Google Patents

Système de commande de moteur pour portes et portails Download PDF

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Publication number
EP3862522A1
EP3862522A1 EP20155947.3A EP20155947A EP3862522A1 EP 3862522 A1 EP3862522 A1 EP 3862522A1 EP 20155947 A EP20155947 A EP 20155947A EP 3862522 A1 EP3862522 A1 EP 3862522A1
Authority
EP
European Patent Office
Prior art keywords
motor
barrier
rotation
switch
branch
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP20155947.3A
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German (de)
English (en)
Inventor
Federico PASQUETTO
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Came SpA
Original Assignee
Came SpA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Came SpA filed Critical Came SpA
Priority to EP20155947.3A priority Critical patent/EP3862522A1/fr
Publication of EP3862522A1 publication Critical patent/EP3862522A1/fr
Pending legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/632—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings
    • E05F15/635—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings operated by push-pull mechanisms, e.g. flexible or rigid rack-and-pinion arrangements
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2201/00—Constructional elements; Accessories therefor
    • E05Y2201/40—Motors; Magnets; Springs; Weights; Accessories therefor
    • E05Y2201/43—Motors
    • E05Y2201/434—Electromotors; Details thereof
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/30—Electronic control of motors
    • E05Y2400/3013—Electronic control of motors during manual wing operation
    • E05Y2400/3016—Overriding existing wing movement
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/32—Position control, detection or monitoring
    • E05Y2400/334—Position control, detection or monitoring by using pulse generators
    • E05Y2400/336—Position control, detection or monitoring by using pulse generators of the angular type
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements associated with the wing motor
    • E05Y2400/53—Wing impact prevention or reduction
    • E05Y2400/54—Obstruction or resistance detection
    • E05Y2400/55—Obstruction or resistance detection by using load sensors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/40—Application of doors, windows, wings or fittings thereof for gates

Definitions

  • the invention relates to the automation of doors, gates, entrances and similar barrier devices moved by one or more electric motors.
  • Sliding gates or swing gates are examples of these barriers.
  • the motor or motors must be able to supply the mechanical energy necessary to operate its opening and/or closing according to a drive command sent by the control unit through ratio motors.
  • the motor control can be replaced, or in any case backed, by manual mechanical movement by the user who may decide to push the barrier open and/or close, e.g. when the motorized system does not work as shown in fig. 1b .
  • Gates or doors closing a reserved area or a mechanical moving device of an access bar are relevant examples.
  • control unit which drives the motor provides actuating commands such that the motor applies a counterthrust which opposes the external thrust, thus preventing the barrier from being moved manually as shown in fig. 1c .
  • control unit For the control unit to be able to provide adequate thrust balancing commands, it is necessary to provide the presence of a sensor, typically an encoder, which accurately detects the movements induced from outside.
  • a sensor typically an encoder
  • the invention achieves the object with a system for controlling the actuation of a movable barrier, such as a gate, bar, door and the like, the system comprising:
  • control unit is configured to set the control device to allow the current to flow into the motor either in one direction or in the opposite direction as a function of the desired direction of rotation when a rotation command is sent to the motor and to short-circuit the terminals of the motor when the motor is not driven to be able to detect the direction of any current generated by the motor as a result of manual movement of the barrier.
  • the inventor noted how the electronics commonly used to send driving commands, typically of the PWM type, if properly configured, can already provide indications about the manual movement of the barrier and, therefore, of the motor associated therewith. Indeed, if put in rotation electric motors behave as generators so they can be used as motion sensors. Hence the idea underlying the invention to divide the detection of the displacement of the barrier into two phases associated with different devices. The measurement of the absolute value of the displacement is entrusted to rotation sensors, e.g. Hall-effect sensors, coupled with the motor shaft, while the detection of the direction of the displacement is entrusted to the measurement of the direction of the current generated at the motor terminals by the induced rotation.
  • rotation sensors e.g. Hall-effect sensors
  • a further aspect of the invention relates to a motor control device for systems for controlling the movement of barriers according to one or more of the preceding claims, wherein the motors are provided with at least two control terminals through which a current flows from a power supply to ground in one direction or the opposite direction as a function of the direction of rotation of the motor.
  • the control device comprises two circuit branches in parallel between a power supply terminal and a ground terminal, each branch comprising a first electronic switch and a second electronic switch arranged in series, with the first switch connected to the power supply terminal and the second switch connected to the ground terminal, two output terminals for connecting to the motor, switches being provided on the intermediate socket in series with the first and second branch respectively, the switches being controllable to achieve at least three operating configurations comprising, when the motor is connected to the output terminals:
  • a typical system for controlling a DC motor 1 comprises an H-bridge consisting of two circuit branches in parallel between a VM power terminal and a ground terminal. Each branch comprises a first electronic switch 102, 102' and a second electronic switch 202, 202' arranged in series, with the first switch 102, 102' connected to the VM power terminal and the second switch 202, 202' connected to the ground terminal.
  • the motor is connected to the intermediate socket of the switches in series on the first and second branch, respectively.
  • the inverter logic 3, 3', 3" shown in the figure can be used, for example. In this manner, the corresponding switch on/off signals can be generated with only one signal coming from the control unit 4, as discussed above.
  • the H-bridges can be built using MOSFETs, relays, discrete junction transistors or integrated circuits such as SN745510, which includes two H-bridges with an independent drive of each bridge branch and an integrated inverter.
  • variable duty cycle square waves PWM - Pulse Width Modulation
  • a shunt 402 to the ground terminal completes the circuit for possible total current measurement.
  • a motor is a reversible electric machine which acts as a generator when rotated.
  • a circuit capable of detecting at least the direction of rotation of the motor by measuring the direction of circulation of a current in a circuit mesh comprising the motor.
  • Fig. 3 shows an example of how the circuit in Fig. 2 can be modified to make such a measurement using a current direction detection circuit.
  • a circuit comprises a first resistor 302' in series with the second switch 202' of the first branch and a second resistor 302' in series with the second switch 202' of the second branch to form a mesh consisting of the motor 1 and the two resistors 302, 302'.
  • the current measuring circuit is connected to one of the two poles not in common between the two resistors. In this manner, it is possible to use the measuring circuit both for detecting the direction of current circulation and for reading the current on the motor via shunt 402 in normal bridge operation.
  • the direction of the current in the flowing mesh can be detected by measuring the voltage drop on one of the two resistors 302, 302' through the measuring circuit 5 shown in fig. 4 in which a sensor 6 interfacing with the control unit 4 capable of detecting the rotation of the motor shaft or of an associated member and which will be discussed in detail later.
  • the two resistors 302', 302' typically have a low value and, therefore, can be advantageously made through printed circuit board tracks.
  • Figures 7 and 8 show an operating example in which it is assumed that the motor, following an induced rotation on its axis, generates a voltage of +50 mV on the first branch of the bridge and -50 mV on the second branch of the bridge for clockwise rotation ( fig. 7 ) and -50 mV on the first branch and +50 mV on the second branch for a counterclockwise rotation ( fig. 8 ) to which ⁇ 3 mV of drop on the resistors correspond, as shown.
  • the circuit for detecting the direction of the current comprises an operational amplifier circuit 501 connected to the pole not in common with one of the two resistors 302, 302' to detect a positive or negative voltage as a function of the direction of the current flowing in the mesh, as shown in the figures.
  • Block 501 is the operational amplifier circuit described above.
  • Block 502 is an analog-digital converter (ADC) which transforms the output voltage values from the operational amplifier circuit 501 into digital values. After any decimation and filtering operations operated by block 503, the digital data are compared with the thresholds in the circuit 504.
  • the output of such a circuit is a signal indicating whether the rotation has occurred in one direction or in the opposite one.
  • the output data from filter block 503 are also used to keep the offset of the measurement of the operational amplifier circuit and therefore, the thresholds applied for direction detection always up to date.
  • control unit 4 can know whether the motor is rotated by an external mechanical action and in which direction such action is applied, entrusting the measurement of the amount of displacement to position sensors.
  • a sensor e.g. a Hall-effect sensor
  • This generates one or more pulses (depending on how many poles the magnet used has) at each turn of the motor axis and the number of pulses is proportional to the movement space of the gate.
  • This is generally used to measure the actual movement of the gate when it is driven by the motor.
  • the direction of displacement is known so that it is not necessary to measure such a direction, but simply the amount of displacement in absolute value.
  • Fig. 5 shows the detail of the displacement detection section of the diagram in fig. 4 , in which the two switches 102' and 102' and the relative controls are omitted for the sake of simplicity, and which will now be used to explain the operation of the system in an embodiment of the invention.
  • the sensor 6 typically comprises a fixed part and a movable part.
  • the movable part is generally designed to be rotatably coupled to the motor shaft or a member associated therewith or to a member associated with the barrier.
  • the fixed part comprises at least one Hall-effect sensor arranged at a certain distance and able to detect the presence of a magnetic field.
  • the movable part correspondingly comprises at least one magnet, preferably a plurality of magnets arranged in angularly offset positions and such as to generate a magnetic field which is detected by the sensor when the motor shaft (or the member with which the movable part is associated) is rotating.
  • each turn of the moving part implies the onset of an impulse (a set of impulses in the case of multiple magnets).
  • quadrature encoder sensors which are much more expensive and complex to manage than a simple Hall-effect sensor like the one described above, are needed to determine displacements and respective directions.
  • control unit 4 since the direction is determined by circuit 5, the control unit 4 is still able to determine the direction and orientation of the displacement and correctly generate the sequence of PWM commands to be sent to the motor to apply a counterthrust as a function of the displacement detected by the sensor and of the direction detected by the current detection circuit.
  • an aspect provides a kit to make an automation system of gates and similar barriers irreversible via software, which system comprises:
  • the kit comprises:

Landscapes

  • Power-Operated Mechanisms For Wings (AREA)
EP20155947.3A 2020-02-06 2020-02-06 Système de commande de moteur pour portes et portails Pending EP3862522A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP20155947.3A EP3862522A1 (fr) 2020-02-06 2020-02-06 Système de commande de moteur pour portes et portails

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP20155947.3A EP3862522A1 (fr) 2020-02-06 2020-02-06 Système de commande de moteur pour portes et portails

Publications (1)

Publication Number Publication Date
EP3862522A1 true EP3862522A1 (fr) 2021-08-11

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP20155947.3A Pending EP3862522A1 (fr) 2020-02-06 2020-02-06 Système de commande de moteur pour portes et portails

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115165211A (zh) * 2022-06-02 2022-10-11 哈尔滨理工大学 一种用于机械臂的单霍尔编码器转动惯量计算方法及装置
WO2022213161A1 (fr) * 2021-04-05 2022-10-13 Indústrias Rossi Eletromecânica Ltda Dispositif d'automatisation de portails

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5136809A (en) * 1988-04-25 1992-08-11 Doorkino, Inc. Apparatus and method for opening and closing a gate
US20190136603A1 (en) * 2014-03-14 2019-05-09 Viking Access Systems, Llc System and method for automated motor actuation in response to a travel-limit displacement of a movable barrier

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5136809A (en) * 1988-04-25 1992-08-11 Doorkino, Inc. Apparatus and method for opening and closing a gate
US20190136603A1 (en) * 2014-03-14 2019-05-09 Viking Access Systems, Llc System and method for automated motor actuation in response to a travel-limit displacement of a movable barrier

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022213161A1 (fr) * 2021-04-05 2022-10-13 Indústrias Rossi Eletromecânica Ltda Dispositif d'automatisation de portails
CN115165211A (zh) * 2022-06-02 2022-10-11 哈尔滨理工大学 一种用于机械臂的单霍尔编码器转动惯量计算方法及装置
CN115165211B (zh) * 2022-06-02 2023-08-08 哈尔滨理工大学 一种用于机械臂的单霍尔编码器转动惯量计算方法

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