EP3963164A1

EP3963164A1 - Controller for door or window drive

Info

Publication number: EP3963164A1
Application number: EP20727204.8A
Authority: EP
Inventors: Stefan SCHIMON
Original assignee: Gotthard 3 Mechatronic Solutions AG
Current assignee: Gotthard 3 Mechatronic Solutions AG
Priority date: 2019-05-15
Filing date: 2020-05-15
Publication date: 2022-03-09
Also published as: CN113825887A; CH716195A1; WO2020229676A1; US20220205302A1

Abstract

The invention relates to a method for controlling a drive (5) for a leaf (1), in particular for a door leaf or a window leaf, the method comprising the following steps: measuring a measurement value (vr) of a movement variable of the leaf (1); comparing the measurement value (vr) with a tolerance range (TB) of a target movement characteristic (SFK); driving the leaf (1) by means of the drive (5) according to the target movement characteristic (SFK). If the measurement value (vr) is outside the tolerance range (TB), the leaf (1) is set into a free-running state (FL) in which the drive (5) cuts out.

Description

CONTROL FOR DOOR OR WINDOW DRIVE

Notice of related registrations

This application claims the priority of the Swiss patent application 0635/19, which was filed on May 15, 2019 and the entire disclosure of which is hereby incorporated by reference.

Technical area

The invention relates to a method for controlling a drive for a leaf, in particular for a door leaf or a window leaf.

background

It is known to automatically drive a door or a window with a drive, e.g. an electric motor to operate. As a result, a user does not have to exert a force himself to open or close the door or the window. Corresponding automatic drives include a control for the drive that is triggered by the user, for example, by pressing a door handle or a window handle or by approaching a proximity sensor. The control then initiates a predetermined movement of the door or window. When the door or window is in an open or closed position, the drive generally does not exert any force on the door or window.

Conventional drives have several disadvantages. If the user applies an external force to the door or window while being controlled by the drive, the drive works against the external force. On the one hand, this is uncomfortable for the user and undesirable, since the user may want to quickly open or close the door or window against the drive or keep it in a central position. On the other hand, such behavior of the drive can lead to damage to a drive mechanism.

Presentation of the invention

The present invention is based on the object of eliminating the disadvantages of conventional drives for doors or windows. This object is achieved by a method for controlling a drive according to claim 1 and by the automatic drive according to claim 13.

For better understanding, a few terms should be defined at the beginning that have a specific meaning beyond their normal meaning in the present application.

Leaf: In the following, the movable part of a door, a window or a similar device is referred to as a leaf, also called a door or window sash. In addition to the door leaf, a door also has, for example, a door frame, also called a door frame. The term leaf in the context of the invention is not limited to rotatably mounted leaves, but also includes leaves that are pushed to open or close, and other conceivable embodiments.

Movement quantity: In the following, a movement quantity is a physical quantity that can be used to describe a movement of the leaf. The movement variable can in particular be a position or a speed, the latter representing the first derivation of the position with respect to time. Other temporal derivatives of the position are also conceivable. In the special case of a rotatably mounted leaf, for example in the case of a conventional swing door, the movement variable can accordingly be an angular position or an angular speed.

Target travel curve: In the following, the target travel curve is a relation between a first movement variable and a second movement variable, e.g. between speed and position, or between a movement quantity and time, e.g. between position and time, understood. The course of the target travel curve or at least certain parameters or criteria for the target travel curve are specified. The target travel curve can be saved as a curve, function or look-up table, for example. As a rule, a drive drives the sheet, the movement size being controlled according to setpoints according to the setpoint travel curve, e.g. a speed control depending on the position of the sheet.

Tolerance range: In the following, the tolerance range denotes a range of values for the movement quantity above and / or below the setpoint values according to the setpoint travel curve. The tolerance range is limited in particular by a lower tolerance value and an upper tolerance value. The lower tolerance value is smaller than the target value and the upper tolerance value is greater than the target value. The lower and / or the upper tolerance value can be variable, that is to say depend, for example, on the position of the sheet. Leaving the tolerance range means that measured values of the movement variable fall below the lower tolerance value or exceed the upper tolerance value. The drive of the

The blade is especially dimensioned so that it can regulate the amount of movement of the blade without leaving the tolerance range, if only omnipresent forces such as gravity and frictional forces act on the blade.

Measure: In the following, under measuring a quantity, the direct measurement of a physical one In addition to size, it is also used to denote the derivation of other sizes from the directly measured one. For example, the angular position of a sheet can be determined by an encoder or rotary encoder using a voltage or a number of voltage pulses. In this case, measuring would also include determining the angular velocity from the angular position, in particular by deriving it from time.

Free-wheeling: Usually the drive is controlled by a control unit, whereby a voltage is applied to the drive, the value of which is determined by the control unit. In freewheeling mode, however, the drive fails. There is advantageously no voltage on the drive in freewheeling. In freewheeling mode, only a force preferably acts on the blade that is smaller than a minimum force. This force can for example come from friction, e.g. in a door bearing or in the drive, or from a generator effect that occurs, for example, when the drive is short-circuited, or from springs that may be present in the drive. The minimum force is in particular 67 N. This value comes from the standard EN 16005 for power-operated doors and gives a maximum value of how hard a user must press on the leaf when the drive is suspended. The freewheel defined in this way is in contrast to the driven state of the blade. In particular, a blade moves freely as expected by the user, since only omnipresent forces such as gravity and frictional forces act on the blade.

One aspect of the invention is a method for controlling a drive for a leaf, in particular for a door leaf or a window leaf, comprising the following steps: measuring a measured value of a movement variable of the leaf, comparing the measured value with a tolerance range of a target travel curve, and driving of the sheet by the drive according to the target travel curve. If you leave the tolerance range, the sheet will turn into a Freewheel offset, in which the drive stops. In the case of a measured value within the tolerance range, on the other hand, the blade is preferably driven by the drive. In addition, the measured value is preferably also compared with a target value according to the target travel curve. If the measured value is within the tolerance range, the control preferably regulates the drive in such a way that the movement variable approaches the setpoint.

In particular, the method regulates the amount of movement via the drive, namely e.g. the position and / or the speed of the sheet on the basis of the measured value and the specified target travel curve. One advantage of the process is the freewheel, which starts under defined criteria. Leaving the tolerance range can be caused by a user or an object who wants to open or close the sheet as quickly as possible or also to stop in a middle position that corresponds neither to the closed nor to the fully open position. In freewheeling mode, the described control enables the user to do this without working against him through the drive. On the one hand, this leads to a pleasant behavior of the sheet that is perceived as natural and expected by the user. Injuries caused by unexpected behavior of a leaf, e.g. a heavy door, leaning forward. On the other hand, the behavior spares the mechanics and any gear and rod parts of the drive.

In the following, further preferred criteria and parameters are described which can be prescribed for the control of the blade and which further increase the user-friendliness of an automatic drive with this control. Thus, after a period of time defined for the freewheel, the drive of the blade according to the target travel curve preferably starts again. The defined period of time can for example be between 1 s and 60 s, and in particular between 2 s and 10 s. Thereby the sheet is preferably brought into a defined position by the drive after the period of time defined for the freewheeling, which in particular can be a closed or an open position of the sheet. The stated specifications for the control have the advantage that the blade does not remain permanently in freewheeling, which represents an unregulated state. The user who comes to the sheet after the defined period of time and a subsequent opening or closing process finds it in an expected state, be it closed or open. The user does not have to worry about opening or closing the sheet completely, but can save time and leave the sheet in any position without the sheet remaining in an unsecured position and, for example, uncontrolled strikes.

The target travel curve preferably comprises the following sections: accelerating the sheet from a resting speed, which is in particular zero, in a zero position to a first speed in a first position; Moving the sheet at the first speed to a second position; Decelerating the sheet from the first speed to the resting speed so that it has the resting speed when it reaches a third position. The target travel curve can describe one of the following processes: an opening process of the sheet, the zero position being a closed position of the sheet and the third position being an open position of the sheet, in particular in the stop; or a closing process of the sheet, the zero position being an open position of the

Sheet and the third position are a closed position of the sheet. The resting speed in the zero position and the third position should preferably be zero. This ensures that the drive does not strike the blade with force, which could result in damage to the blade, frame or drive. Moreover this prevents noise emissions and injuries to the user.

Now, however, it can happen that a user or an object, e.g. a hospital bed, or some other external force, e.g. a draft that has accelerated the sheet so much that it is no longer possible to slow down to rest speed until reaching the third position. In order to avoid this case, a further criterion can be established for the control: Preferably, the free-running of the sheet is ended and the sheet is driven by the drive when the measured value of the movement variable is above a maximum value.

The maximum value depends in particular on a maximum braking force of the drive and the position of the blade. The maximum braking force of the drive can be determined in advance and saved as a parameter for the control. The maximum value that can just be braked by the drive, e.g. a maximum speed that can be braked is lower the closer the blade is to the third position. It is therefore particularly provided that the drive brakes the blade with the maximum braking force after freewheeling has ended, so that it has the speed of rest when it reaches the third position.

In a further preferred embodiment of the method, the sheet is braked or accelerated with a defined acceleration value in the direction of the setpoint as an option when it leaves the tolerance range - that is, especially when it would actually go into freewheel mode, before it freewheels goes. The application of a defined force to the sheet over a defined period of time, for example for 1 s, is particularly suitable as a defined acceleration value. Instead of the blade going into freewheel mode, the drive is then preferably resumed according to the target travel curve when the movement variable corresponds to the defined acceleration value changes. Otherwise the sheet will actually be put into free run. Whether the movement size changes in accordance with the defined acceleration value can be determined by recording a time series of measured values of the movement size and comparing it with a time series expected on the basis of equations of movement. The additional benefit of “braking” or “briefly accelerating” when the blade goes into freewheel mode is that it tends to be between a willful force by a user and another force, for example a temporary draft, on the blade - can be divorced. Only in the event of a sustained external force, for example from a user or an object, should the blade preferably go into freewheel mode.

In addition, it can be defined how the drive of the blade can be activated, in particular by a user: the drive of the blade is preferably triggered by an opening or closing command according to the target travel curve. This can include one of the following events: an actuation of a switch or button, in particular a pressing of a door handle or a window handle; or a signal from a device communicating with the drive, for example an external system or a mobile device that is connected to the drive wirelessly or by cable; or a signal from a sensor communicating with the drive; or the action of a force on the sheet from the outside, which is exerted in particular by a person or by an object, for example a hospital bed. Taking up the control after an external force has been applied is also referred to as "Push &Go". The user only has to push the blade briefly so that the drive starts; then, thanks to the control described, he can simply continue without worrying about the To make position in which the sheet remains In a preferred embodiment finished the opening or closing command also allows the leaf to run freely. This therefore represents a further criterion for how the blade can move from the freewheel to the driven state - in addition to the possible criteria of the defined time duration and the maximum braking force.

Another aspect of the invention relates to an automatic drive for a leaf, in particular for a door leaf or a window leaf. The automatic drive comprises a sensor for measuring a quantity of movement of the sheet, a drive and a control unit for carrying out the method described above. In particular, an encoder, also called a rotary encoder, or an electrical resistor that can be changed via the position of the blade can be used to measure the movement variable. However, other measuring principles and sensors are also conceivable, e.g. capacitive. The drive can in particular be designed as an electric motor or an actuator. In a preferred embodiment, the automatic drive also comprises a sensor for measuring a drive voltage. Further parameters that can be used for the control can be derived from the drive voltage, e.g. a power or a force that the drive absorbs or has to exert in order to achieve a certain value of the movement quantity, especially when an external force works against the drive. In a further preferred embodiment, the drive comprises a braking device for braking the sheet. The braking device can effect the braking of the blade in addition to a braking force exerted by the electric motor or the actuator. One embodiment of the braking device is a blocker in a transmission or linkage of the drive.

Another aspect of the invention relates to a computer program which, when executed on a processor, enables the described method to be carried out. rens causes. For implementation, the computer program can be stored on a computer-readable data carrier.

It is obvious to the person skilled in the art that synergistic effects can result from the combination of features of different embodiments and aspects. Although these are not described in detail, they are expressly included in the disclosure content of the present document.

Brief description of the images

Further advantageous refinements of the invention result from the exemplary embodiments which are shown below with reference to the figures. Show it:

1 shows a perspective view of a door including drive, control and various sensors and switches according to an embodiment;

2 shows a diagram of a target travel curve with target values of a movement variable and a tolerance range according to an exemplary embodiment;

3 shows a flow diagram of a method for controlling a drive for a leaf, in particular for a door leaf or window leaf, according to an exemplary embodiment;

4 shows a flow diagram of an alternative method for controlling a drive for a leaf, in particular for a door leaf or window leaf, according to an exemplary embodiment.

Ways of Carrying Out the Invention

1 shows a perspective view of a door in a room according to an exemplary embodiment. The door comprises a door leaf 1, a door frame 2 and a door handle 3 for manual opening and closing of the Door. The embodiment of FIG. 1 shows a revolving door in which the door leaf 1 is rotatably mounted on its left side via door hinges 4 on the door frame 2. However, the devices and methods described below are not limited to swing doors, but can also be used on other leaves, for example window leaves, and on other types of storage, for example sliding doors or sliding windows.

According to the invention, the door leaf 1 can be driven by a drive 5. The drive 5 is often an electric motor or an actuator which is attached to the door lintel above the door frame 2 and is connected to the door leaf 1 via a linkage. Alternatively, the drive 5 can also be attached to the door leaf 1. The drive 5 is controlled by a controller which can be integrated in a housing of the drive 5 or can be outsourced. The power required for drive 5 and control is provided by a power supply 6.

The control of the drive 5 can be triggered or switched in various ways, some of which are shown in FIG. A signal via one of the paths is sufficient to trigger or switch the controller. On the one hand, the door handle 3 can be connected to the control, e.g. Via an electrical connection or by radio, so that a manual opening or closing command is communicated to the control by pressing the door handle 3. However, various other types of pulse generators, such as a switch 7 or a button 8, in particular also a switch that can be operated with a key or a fingerprint, are also possible. Furthermore, a closing or opening command can be triggered by a proximity sensor 9 when a user approaches the door.

A radio switch 10 is also advantageous, which is triggered, for example, by a token or a mobile phone 11 that the user carries with him when he approaches. The user can easily open the door and go through without having to have his hands free. A triggering of the control by a mobile phone 11 is particularly advantageous, since via a radio connection, for example via Bluetooth, from the mobile phone 11 to the radio switch 10 or directly to the control not only an opening or

Closing command can be forwarded, but further functionalities are enabled. For example, various parameters of the control can be set via an app, e.g. a maximum opening angle, an opening or closing speed or a predefined period of time for a freewheel. The drive 5 can also be calibrated in this way.

Furthermore, the closing or opening command can also come from an external system 12 that is connected to the drive 5 or its control. An example of such an external system 12 is a fire alarm system which triggers the closing of all doors in order to spread a fire. In another embodiment, the closing or opening command can be triggered by a signal from a sensor which communicates with the drive 5 or its control.

2 shows a diagram of a target travel curve SFK, which specifies target values of a movement variable to which the controller regulates the door leaf 1. In the case shown, the controlled movement variable is a speed v as a function of an angular position a. Such a control can be used, for example, for the swing door from FIG. 1. In the angular position a0, also called the zero position, the door leaf 1 is in the closed position, a3 denotes a third angular position for which the angular position when the door leaf 1 hits the stop or another value between the closed position and the stop is sensible - represents. In the target travel curve SFK shown in FIG. 2, the drive is regulated by the controller as a function of the angular position a, which is known from a measurement, for example with an encoder. A typical door leaf opening process can therefore be divided into the following sections, which can also be used for a closing process:

When the control receives an opening command, the drive 5 accelerates the door leaf 1 in a first angular range A1 between the zero position a0 and a first angular position a1 from a resting speed v0, which is zero, to a first speed v1. In a second angular range A2 between a1 and a second angular position a2, the door leaf 1 is moved at the first speed vl. In a third angular range A3 between a2 and a3, the door leaf 1 is braked by the drive 5 so that it again reaches the resting speed v0 at the third angular position a3. Accordingly, the door is opened gently, whereby apart from an opening command, no further external action is necessary.

There is a tolerance range TB around the target travel curve SFK. Under normal circumstances, in particular in the absence of external action, the drive 5 is able to control the speed v of the door leaf 1 within the tolerance range TB. At the same time, it applies that the door leaf 1 is driven by the drive 5 as long as the measured speed values vr are within the tolerance range TB. In the example of FIG. 2, the tolerance range TB in the second angular range A2 is limited downwards by the lower tolerance value v11 and upwards by the upper tolerance value v12, 0 <v11 <v1 and v12> v1.

If a force now acts on the door leaf 1 from the outside, for example by a user or a draft, it may be that the door leaf 1 is so severely affected. brakes or accelerates so that it leaves the tolerance range TB, so that vr <v11 or vr> v12. In the case of a user who intentionally brakes or accelerates the door, it makes sense that the drive 5 does not continue to work against the user. Therefore, when the door leaf 1 leaves the tolerance range TB, it changes to a freewheel mode FL in which the drive 5 fails and in particular in which the drive 5 is de-energized. In the freewheel FL, preferably at most a minimum force of, for example, 67 N acts on the door leaf 1. In the freewheel FL, the user has the option of moving the door leaf 1 and, in particular, also of braking it, as he is used to from a door without a drive.

Various criteria are conceivable in order to return from the freewheel FL to the driven state of the door leaf 1 according to the target travel curve SFK. The criteria can be implemented individually or together. In order to return to the driven state, however, one of the criteria is preferably fulfilled: The drive 5 could regulate the speed v of the door leaf again according to the target travel curve SFK as soon as the measured speed values vr are within the tolerance range TB again lie. Two other criteria are also advantageous: on the one hand, a defined time period TFL is specified for the freewheeling FL, after which the control by the drive 5 is automatically resumed according to the target travel curve SFK. On the other hand, a user can trigger a return to the driven state by a new opening or closing command. For this purpose, a force impulse acting on the door leaf 1 from outside is also interpreted as an opening or closing command if it causes a specific acceleration of the door leaf 1 from the idle speed v0. Such a functionality is called “Push & Go”. The method for controlling the drive 5 as well as an interaction of the various criteria become clear in FIG. FIG. 3 shows a flow chart of a method for controlling a drive for a leaf, in particular for a door leaf, for example according to FIG. 1, or a window leaf according to an exemplary embodiment. The method shown contains steps S1 to S9. One

The control process is triggered by an opening or closing command in step S1. In step S2, a sensor, e.g. an encoder, the current angular position ar and the current speed vr are measured. Step S3 represents a safety criterion: the drive 5 can brake the door leaf 1 at most with a maximum braking force FBmax, which can be determined for the drive 5 and viewed as a fixed parameter for the door leaf 1. If, according to the measurement, the door leaf 1 is already very close to the third angular position a3, e.g. the stop, is, but continues to move at a speed vr that is equal to or higher than a maximum decelerable speed vBmax, so vr ³ vBmax, then the drive 5 brakes the door leaf 1 in step S4 immediately with the maximum braking force FBmax to reach the resting speed v0 at a3 if possible and to avoid the door leaf 1 from falling shut in an uncontrolled manner. The maximum speed vBmax that can be braked depends not only on the parameter FBmax but also on the angular position ar or the angular distance to the maximum angular position, namely | a3-ar |. In addition, step S3 can include further security criteria, e.g. Commands from safety sensors or external safety systems such as a fire alarm system.

If the maximum decelerable speed vBmax is not exceeded, a comparison of the measured speed vr with the speeds according to the tolerance range TB is carried out in step S5.

If vr is in the tolerance range TB, the door leaf 1 is driven in step S6 by the drive 5 according to the target travel curve SFK. This process is continued by measuring ar and vr again in step S2. If, however, vr is outside the tolerance range TB, the door leaf 1 goes into freewheel FL in step S7, in which the drive 5 stops. The criteria for exiting the freewheel FL have already been briefly mentioned in connection with FIG. 2: In step S8 it is checked whether the time that has elapsed since entering the freewheel FL is greater than a predefined time TFL. If so, there is a change to the driven state according to step S6. If not, ie if the predefined time TFL of, for example, 6 s has not yet passed, the freewheel FL is continued.

Furthermore, the freewheel FL can also be ended in accordance with step S9 when the control receives a new opening or closing command. In this case, the drive of the door leaf 1 continues in step S6 according to the target travel curve SFK. If no new opening or closing command is received, the sequence continues with the measurement of ar and vr in step S2.

Fig. 4 shows a flow diagram of an alternative method for controlling a drive for a leaf, in particular for a door leaf, e.g. according to FIG. 1, or a window leaf according to an embodiment. As in FIG. 3, the method comprises steps S1 to S9. However, the order of the steps has been changed in one essential point. The criterion in S3 that the door leaf 1 is immediately braked with the maximum braking force FBmax when the maximum brakable speed vBmax is exceeded according to S4 is moved to the end of the flow chart. After measuring the movement variables ar and vr in S2, the process continues directly with S5, i.e. decided whether the measured speed vr lies within the tolerance range TB.

The maximum force criterion and any other safety criteria according to S3 only come into play in FIG. 4 if no further opening or closing command is detected in step S9. If the measured If the speed vr in S3 does not exceed the maximum speed that can be braked, the method steps are run through again from the measurement of the movement variables ar and vr in S2. In contrast to FIG. 3, the maximum force criterion is therefore only checked in FIG. 4 when the door leaf 1 is in freewheel mode FL.

Figs. 3 and 4 therefore show exemplary embodiments of a method for controlling a drive for a door or window leaf. A different sequence of steps is also conceivable. For example, steps S8 and S9, which represent criteria for leaving the freewheel FL, can also be run through in the reverse order.

Preferably, the described method for controlling a drive for a door or window leaf is computer-implemented, e.g. on a microprocessor with a corresponding memory, which controls the drive 5.

Claims

Expectations

1. A method for controlling a drive (5) for a leaf (1), in particular for a door leaf or a window leaf, comprising the following steps:

- Measuring a measured value (vr) of a movement quantity of the sheet (1),

- Comparison of the measured value (vr) with a tolerance range (TB) of a target travel curve (SFK),

- Driving the sheet (1) by the drive (5) according to the target travel curve (SFK), whereby when leaving the tolerance range (TB) due to the measured value (vr), the sheet (1) is put into a free run (FL) in which the drive (5) fails.

2. The method according to claim 1,

where, when leaving the tolerance range (TB), a force less than a minimum force acts on the blade (1),

in particular where the minimum force is 67N.

3. The method according to claim 1 or 2, wherein in the event of a measured value (vr) within the tolerance range (TB), the sheet (1) is driven by the drive (5).

4. Procedure according to one of the preceding

Expectations,

whereby the tolerance range (TB) is limited by a lower tolerance value (v11) and an upper tolerance value (v12),

where the lower tolerance value (v11) is smaller than a target value (vSFK) according to the target travel curve (SFK), and

where the upper tolerance value (v12) is greater than the target value (vSFK), in particular where the lower and / or the upper tolerance value (v11, v12) are variable,

in particular where leaving the tolerance range (TB) means that the measured value (vr) falls below the lower tolerance value (v11) or exceeds the upper tolerance value (v12).

5. Procedure according to one of the preceding

Expectations,

where the amount of movement is a position (a) or a speed (v),

in particular an angular position or a

Angular velocity.

6. Procedure according to one of the preceding

Expectations,

after a period of time (TFL) defined for freewheeling (FL), the blade (1) being driven by the drive (5) according to the target travel curve (SFK),

in particular, the defined period of time (TFL) being between 2 s and 10 s.

7. The method according to one of the preceding claims,

where the target travel curve (SFK) is the following

Sections includes:

(A1) Accelerating the sheet (1) from a resting speed (v0) in a zero position (a0) to a first speed (v1) at a first position (a1),

(A2) moving the sheet (1) at the first speed (v1) to a second position (a2),

(A3) Braking of the sheet (1) from the first speed (v1) to the resting speed (v0) so that when it reaches a third position (a3) has the resting speed (v0).

8. The method according to claim 7,

where the target travel curve (SFK) describes one of the following processes:

an opening process of the sheet (1), the zero position (a0) being a closed position of the sheet (1) and the third position (a3) being an open position of the sheet (1), or

a closing process of the sheet (1), the zero position (a0) being an open position of the sheet (1) and the third position (a3) being a closed position of the sheet (1).

9. Procedure according to one of the preceding

Expectations,

the freewheeling (FL) of the sheet (1) being terminated and the sheet (1) being driven by the drive (5) when the measured value (vr) is above a maximum value (vBmax), in particular by a maximum

Braking force (FBmax) of the drive (5) and the position (a) of the blade (1) is dependent,

In particular, the drive (5) brakes the blade (1) with the maximum braking force (FBmax) after freewheeling (FL) has ended, so that it has the resting speed (v0) when it reaches the third position (a3).

10. Procedure according to one of the preceding

Expectations,

wherein the sheet (1) leaves the tolerance range (TB) before the freewheel (FL) with a defined acceleration value in the direction of the setpoint (vSFK) is braked or accelerated and the drive is resumed according to the target travel curve (SFK) without the blade (1) being set to freewheel (FL) when the movement size changes according to the defined acceleration value.

11. Procedure according to one of the preceding

Expectations,

wherein the driving of the sheet (1) by the drive (5) according to the target travel curve (SFK) is triggered by an opening or closing command which includes one of the following events:

- actuation of a switch (7) or button (8), in particular pressing a door handle (3) or a window handle, or

- A signal from a device communicating with the drive (5), in particular from an external system or from a smartphone, or

- A signal from a sensor communicating with the drive (5), or

- the action of a force on the sheet (1) from outside, which force is exerted in particular by a person or an object.

12. The method according to claim 11, wherein the opening or closing command ends the freewheeling (FL) of the sheet (1).

13. Automatic drive for a leaf (1), in particular for a door leaf or a window leaf, including

a sensor for measuring a movement quantity of the sheet (1), in particular an encoder, a drive (5), in particular one

Electric motor or an actuator, and a control unit for carrying out the method according to one of the preceding claims.

14. An automatic drive for a sheet according to claim 13, additionally comprising one or more of the following features:

a sensor for measuring a drive voltage,

a braking device for braking the sheet (1).

15. Computer program containing instructions for carrying out a method according to one of claims 1 to 12 when it is executed on a processor.