ES2342973T3 - PROCEDURE FOR THE OPERATION OF A CONTROL INSTALLATION FOR A DOOR AND CORRESPONDING CONTROL INSTALLATION. - Google Patents

Abstract

The method involves controlling of door (2) within its force limits in that a value measured by at least one acceleration sensor which measures an acceleration of the rail-mounted transport means (3) or by an inclination sensor which measures the gradient or inclination (beta ) of the rail-mounted transport means is analyzed. An independent claim is also included for the rail-mounted transport means.

Description

Procedure for the operation of a control installation for a door and control installation correspondent.

The invention relates to a method for the operation of a control installation for a door in a means of rail transport, in which the installation of opening and / or closing door installation extend essentially perpendicular to the direction of travel.

On the other hand, the invention relates to a rail transport means with a door operated electrically

On motor-driven doors and, in concrete, both in the simple sliding doors as well as at the elevator doors, through the technical development of General construction, both the weight of the door are increased as well as the closing speed of the door. In this way, it also increases the danger potential of the door for People and animals. To limit it, a closing force monitoring at least for doors Sliding especially large and heavy, but also for Sliding doors especially fast.

It is known from WO 93/16948 a installation for monitoring the kinetic energy of a sliding door But this installation cannot react, for example, to static influence variables.

It is known from document DE 102 36 938 A1 a means of mass calculation in automatic sliding doors and automatic elevator doors, but neither is this procedure can react to static influence variables or dynamic

It is known from documents DE 100 45 341 A1, DE 198 13 513 A1 and DE 40 06 577 A1 procedures and systems for door control in the automotive sector of road traffic.

It is known from document DE 35 36 648 A1 an automatic emergency door activation for cars, in which an acceleration sensor is connected in the door closing and opening mechanism, so that in the If an impulse that exceeds a limit value appears unlocks the closing position of the door, so that it is possible a door opening through manual pressure.

In addition, they are known from trains modern rail automatic doors with an address of close perpendicular to the direction of travel.

By rail transport means understand, for example, trains, meters, "elevators" horizontal, rolling attractions at popular parties, cable cars, magnetic funicular trams, etc.

A door separates or connects two zones or spaces A door may consist of a movable sheet, the door leaf, which is fixed in two or more joints, the door hinges in the door frame, the fence, also called interior trim of the door, or as sliding door, which is retained by means of a rail rolling at the top or bottom in the guide. On the other hand, there are still special forms of doors, for example move or swing up, as well as folding doors, in which the door or leaves can be divided through articulated hinges or flexible bands in several parts, which fall during opening from the closing plane.

The purpose of the invention is to indicate a procedure for the operation of a control facility for a door with an opening and / or closing address that extends essentially perpendicular to the direction of travel, which enables door operation so independent of the state of the means of rail transport with an optimum driving force, without exceeding a closing force  maximum allowed in a discretionary state of the door.

The task is solved because for the control of the door a measurement value of at least one sensor is used acceleration, which measures an acceleration of the means of transport railway, from which and a maximum closing force allowed for the door, a driving force is determined, which takes into account the external influence variables that act on the means of rail transport, for moving parts of the door. The means of rail transport can be considered as a reference system, in which a mobile door is mounted automatic The advantage is that through acceleration sensors external influence variables can be calculated, which act About the reference system. With the knowledge of these influence variables can be greatly optimized the control for a closing and / or opening operation.

By "external influence variables that they act on the reference system "forces are understood physical, such as those that may appear through kinematics, gravitation, circular movements, rotation.

In an advantageous form of configuration, in addition to the measurement value of the acceleration sensor, use a measurement value of at least one tilt sensor, which measures a rise and / or an inclination of the means of transport, for the control of the door.

In another advantageous configuration of the invention, through the measurement value and through a mass of the parts door movers in the opening direction and / or in the direction of closing, a force of influence is determined that acts through of the movement and / or position of the means of transport railway, on the moving parts of the door, especially an acceleration force and / or a downhill force. With the knowledge of the mass m and the acceleration that acts on the mass m, can be determined through physical equations simple, the force acting on a body with mass m. Such calculation is offered for an automatic procedure like algorithm.

Other influence forces may be losses of friction or also strange repercussion. By strange repercussion it is understood, for example, a package or a passenger that are leaning on a sliding door and, therefore, prevent Sliding door gear.

Advantageously, the force of influence acts with at least one component parallel to the direction of opening and / or closing the door. In that case, the means of Rail transport is, for example, on a slope. Due to the pending position, on the means of rail transport and on all the components that are connected to it act downhill forces. In the case of doors heavy slides, for example in a transport container, are they can produce already through a slight inclined position of the transport container forces so large that they act on the sliding doors.

In another application, the force of influence acts with at least one component perpendicular to the direction of opening and / or closing of the door.

The application of the procedure according to the invention is extraordinarily advantageous especially when the measurement value and with a maximum closing force allowed is determines a driving force for the moving parts. In the case of doors operated with force, the force that is necessary  to prevent the closing of the door, it must not be greater than the maximum closing force In the case of mobile application doors without a control installation with acceleration sensors and / or tilt sensors, this criterion can be violated through of the known influence variables that act, for example, over a metropolitan in circulation. Through determination of the driving force that does not exceed its limits, you can actuate a strongly activated door in a manner relevant to the security.

Preferably, the door is operated with the driving force of an engine. Since the engines are can easily control and / or regulate in regard to their force or its torque, these can be used with advantage in the application of the procedure on a device. By way of Especially advantageous, electric motors can be regulated in its torque through its armature current and / or its excitation current

With special advantage you can indicate forces Closing forces or maximum driving forces for a door interior, preferably a sliding door. Specially in the case of sliding doors for commuter vehicles with long-lasting continuous operation operation is essential danger free of doors.

In a convenient configuration form of the invention, the acceleration sensor measures an acceleration longitudinal of the means of rail transport. By acceleration Longitudinal means of rail transport means example, the positive acceleration of the means of transport railway Both in the forward march as well as in the backwards Also the braking of the means of transport railway characterizes a longitudinal acceleration, so that during braking or retardation we also talk about acceleration negative.

With special advantage, the acceleration sensor measures a transverse acceleration of the means of transport railway, especially a centrifugal force.

Static influence variables, that is, when the means of rail transport is at rest, they are detected with advantage because the inclination sensor measures a transverse inclination of the means of transport. To get one high final speed of the means of transport, for example curved outer track bodies for rail vehicles They are arranged high. Both in the case of a type of static consideration as well as in the case of a type of dynamic consideration of the means of transport, it may happen that the sliding doors are operated, so to speak, in "suspended position" due to the rise of the track bodies. The detection of a transverse inclination of the means of transport therefore complements a determination Optimum door force.

In a development configuration, the sensor inclination measures a longitudinal inclination of the middle of railway transport. For example, in the case of trains from montana, which must circulate on extreme slopes during a prolonged period of time, all means of transport railway is exposed to an angle of inclination with respect to the horizontal; therefore, also due to the inclination over the longitudinal axis of a rail transport means is produce static forces, which can act on the doors and / or The door systems.

A preferred embodiment of the invention is that a current is determined for the motor which generates the driving force based on the value of Acceleration sensor and / or tilt sensor measurement. As already mentioned, for example, electric motors are they can regulate through the current in a simple way in what refers to your strength to exercise. One is done continuous determination of the current especially advantageous in a control installation for doors, in which during the closing operation the variables of influence or influence forces.

The role related to the device for a means of rail transport mentioned at the beginning is solves through an electrically operated door and with a control installation for the control of the operated door electrically, in which the control installation can be connect with a drive device, and it presents a unit of calculation for the calculation of a driving force for the door as well as a current regulator for the regulation of the current of a motor of a drive device, and is connected with at least one acceleration sensor, which measures a acceleration of the means of rail transport.

In an advantageous form of configuration, the control facility can be connected with at least one sensor tilt, which measures a rise and / or a tilt of the middle of transport.

Examples are explained in detail below. preferred embodiments, but in no way limiting the invention with the help of drawing. For the illustration, the drawing does not it is represented to scale and certain characteristics are represented only schematically. In particular:

Figure 1 shows a means of transport with a sliding door with a parallel installation to the direction of travel in the downward closing operation in pending.

Figure 2 shows the means of transport with a sliding door with a parallel installation to the direction of the march in the ascent closing operation in pending.

Figure 3 shows the means of transport with a sliding door with a closing installation transversely to the direction of travel in the operation of closure on an elevated body on the left side.

Figure 4 shows the means of transport with a sliding door with a closing installation transversely to the direction of travel in the operation of closure on a raised body on the right side.

Figure 5 shows a force diagram, Y

Figure 6 shows a block diagram of a door control with a drive device and with a door.

       \ vskip1.000000 \ baselineskip
    

Figures 1 to 4 illustrate the problem in the that the invention is based, which the inventors have recognized. A force, which is necessary to prevent, for safety reasons, the closing of a door 2, cannot be greater than F_ {SK, max} = 150 N. Consequently, a driving force F_ {A} of the Door is normally set to a fixed value (F_ {A} = 150 N). This applies to a door 2, on which only the actuation force F_ {A} and otherwise do not act essentially other forces.

one

Figures 1 and 2 show, respectively, a means of transport 3, here a railroad car or train, with a sliding door 2 driven by force, in which there is a opening and closing direction 11 of the sliding door 2 in parallel to a direction of travel of the transport means 3.

Figure 1 shows the case in which the door of slide 2 must be closed at first t_ {1} in a slope position with a gradient angle of α = 10 ° downhill. Figure 2 shows the case in which the Sliding door 2 must be closed in a second instant t_ {2} in a steep position with a gradient angle of? = 10 ° upward slope.

Conditioned by the gradient angle α, in Figure 1, a door mass m of the door 2 acts,  taking into account the earth's acceleration g, as static force F_ {Z} in the closing direction 11 (see figure 5). Starting off of the maximum permissible closing force F_ {SK, max} = 150 N in the door edge and a door mass of m = 35.2 kg, in addition to the driving force F_ {A}, which is set to 150 N, additionally acts a static force of F_Z = 60 N in The closing address. Since both forces act in a direction, add up to get an effective force or force of effective closing F_ {W}.

2

With an effective force of F_ {W} = 210 N, exceeds the maximum allowable closing force F_ {SK, max} in the instant t_ {1} by 40% and therefore can be damaged or destroy the people and / or objects that are between the song of the door and a door stop. Gate 2 can only be still driven with a driving force of F_ {A} = 90 N. Since the static force F_Z of 60 N, acting additionally in the closing direction, it must be subtracted from the maximum allowable closing force F_ {SK}; therefore only 90 N remain as the driving force F_ {A}.

3

To guarantee for the first moment t_ {1} that the effective force F_ {W} is less than or equal to 150 N, the drive force F_ {A} must be fixedly set to 90 N.

4

In figure 2, door 2 of the middle of transport 3 is activated at a later time t_ {2} towards the slope with the angle of gradient of α = 10 ° in slope up in the closing direction. Driving force maximum allowed F_ {A} of 90 N known from Figure 1 must also take into account, as a limit value, because a control installation 1 without other means detection cannot distinguish different positions on slope. If you scroll now the door with the driving force F_ {A} of 90 N in the closing direction, this time the static force must be saved F_ {Z} of 60 N, which acts at time t_ {2} against the closing address Door 2 is now operated with a force effective F_ {W} of 30 N in the closing direction.

5

With such an effective closing force of the door, even small impurities in a guide rail they can prevent the opening or closing of the door 2.

Figures 3 and 4 can be considered as similar to figures 1 and 2. However, the means of transport 3 is now in the inclined position by virtue of an over lift side of the track body with an inclination angle of β = 10 °. The door 2 of the transport means 3 is mounted perpendicular to the direction of travel. In figure 3, in the instant t_ {3} as in figure 1 at the instant t_ {1}, the static force F_ {Z} of 60 N must be subtracted, under the force of the weight F_ {G} of the door 2, of the maximum force of closure F_ {SK, max} = 150 N. Figure 4 shows instantly t_ {4} the case similar to figure 2. Also in the case of a mounting position perpendicular to the direction of travel, at time t_ {4}, the static force of 60 N must be subtracted two times of the maximum closing force F_ {SK} = 150 N. Therefore, only a reduced FA drive force remains again of 30 N, which may not be enough in the event that they occur interferences or influences on the mechanics of the door.

In figures 1 to 4 it has split forces static and / or stationary. The dynamic forces, which appear in the case of delay accelerations of a means of transport 3 or circulating in curves, aggravate the problem in a way Similary.

Figure 5 shows a diagram of forces in a door 2 schematically represented. Door 2 shows a deviation from the horizontal angle α = 101 or the inclination angle β = 10 ° from the horizontal 14. By virtue of the mass m of the door 2, the weight force F_ { G} = m \ gd acts on the door 2 perpendicular to the horizontal plane 14. This results in a normal force F_ {N}, acting on an inclined plane 1, for example given through a guide rail. From the two forces F_ {N} and F_ {G} can be derived in a control installation 1 (see figure 6)
an additional force or external influence force F_Z, which extends parallel to the inclined plane 16, for example:

6

In the case of a curved circulation or a accelerated straight gear, the additional force FZ may present additionally a component of the acceleration force (by example of centrifugal force) or in particular in the case of a transport means 3 aligned horizontally (α = 0 and / or β = 0) can be constituted entirely by it:

7

(r = radius of the curve, v = medium speed of transport).

The following considerations include the same Time these cases.

A driving force F_ {Z}, which affects in a drag element of the door 9, it is determined again now according to the invention starting from the closing force maximum allowed F_ {SK, max} for this door 2, according to the position and / or acceleration of door 2 or of the middle of transport 3. According to the position, speed, place and the closing or opening direction 11 of the door 2 results a determined driving force F_ {A}. For that matter represented in Figures 1 and 2, F_ {A} = F_ {SK, max} applies ± F_ {Z}.

8

The driving force F_ {A} of the door, acting on the drag element of the door 9, is especially a real-time or continuously updated function or an in-line function of the mass m of the door 2, the angles α and / or β, the velocity v of the medium of transport 3 and the maximum closing force F_ {SK, max}.

Figure 6 shows the control installation 1 for the control of the electrically operated door 2. The door 2 is driven by means of a gear motor and incremental transmitter 4 by means of a toothed belt 8 through a drive element of the door 9. The toothed belt 8 is held in tension by means of a deflection roller 7. The gear motor and incremental transmitter 4, the toothed belt 8, the bypass roller 7 and the drive element of the door 9 form a drive unit 10. The drive unit 10 is connected via signal lines and motor power lines with control installation 1. In control installation 1
They are connected through data lines, respectively, an acceleration sensor 5 and an inclination sensor 6.

In acceleration sensors 5 and sensors modern inclination 6, as used here, an electronics for the evaluation of the sensor signal itself is a component of the acceleration sensor 5 and the sensor itself inclination 6, so that a type of construction is used economizer of space and current.

Tilt sensor 6 or sensor acceleration 5 consists essentially of a seismic mass mobilely housed in two flex tabs, which forms with two stationary plates fixed a differential capacitor. Whether deflects the seismic mass from its resting position (α = 0 and / or β = 0), then the capacity is reduced by one of the halves of the differential capacitor while increasing the capacity in the other half. Tilt sensor 6 supplies representative measurement values in the case of accelerations static, such as a component of the acceleration g in function of the angle of inclination? = 0 and / or? = 0. In change, high frequency portions, especially interference caused by vibrations, are suppressed so effective. Acceleration and tilt sensors 5, 6 they work in a direction-sensitive way, that is, in the signal Exit are predictable different signs.

Door 2 is mounted in the example of the Figure 6 in the transport means 3 such that its address of movement 11 is parallel to the direction of middle travel of transport 3.

In the case of a flat straight train ride, the acceleration sensor 5 continuously measures values of the acceleration in horizontal direction as well as in direction vertical. Through a strong braking maneuver of the middle of transport 3 a high acceleration value is measured in the direction of travel of the transport means 3 through the acceleration sensor 5. At the same time, door 2 was located in a closing operation. Through the integral transmitter in the gear motor 4 communicates to control facility 2 the direction of movement of door 2. Through strong delay of the means of transport 3, on the door acts now, in addition to the driving force F_ {A}, an additional force F_ {Z}.

Control installation 1 now deals with which, however, does not exceed the maximum closing force allowed: through the information that door 5 is in the closing operation, and that the value of Acceleration sensor measurement 5, which is already present, in virtue of the electronics integrated in the acceleration sensor 5, as a normalized voltage value, towards the installation of control 1 through the data lines, the unit of calculation continuously calculate in the control installation 1 a force of Optimal current FA drive, which does not exceed the maximum force of close F_ {SK, max}.

The mass m of door 2, which is necessary in this case for the calculation of the additional force F_ {Z}, and the maximum closing force F_ {SK, max} have been previously derived once through a manual terminal in the installation of control. Alternatively, a calculation is conceivable. automatic dough, as known from the publication German DE 102 36 938 A1.

The driving force F_ {A} calculated in control facility 1 is converted to a value of the current, which corresponds to the driving force F_ {A}, for motor 4. Since the calculated current is proportional by force, a current regulator prepares, through a power supply installation of current 13, the current for the motor with gear and incremental transmitter 4. Additionally  continuously measures a current motor current through the current regulator, in this way the force of drive F_ {A} that acts at every moment during each phase of the closing process. The motor current is regulated, with variable acceleration values, during the closing process. In virtue of the acceleration and / or inclination values currently calculated and by virtue of knowledge of the strength of drive F_ {A} that is currently active can now close the door 2 with a maximum allowable closing force F_ {W} \ leq F_ {SK, max} that guarantees safety over the entire closing zone  and largely in all train states.

Obviously, the mass m of the mentioned door in the exemplary embodiment it does not represent any limitation. TO through multiplications and / or reductions in the force of drive can also be operated doors with mass, with preference in the range of 30 to 400 kg. Other examples of realization present a monitoring of a kinetic energy of the door 2 and / or a supervision of a friction of the door 2 in its guide rail The normal force F_ {N} already mentioned can be evaluated for an additional calculation of the frictional force in the Control installation 1 according to the procedure.

Claims (14)

1. Procedure for the operation of a control installation (1) for a door (2) in a railway transport means (3), in which the opening and / or closing direction (11) of the door (2) ) extends essentially perpendicular to the direction of travel, characterized in that for the control of the door (2) a measurement value of at least one acceleration sensor (5) is used, which measures an acceleration of the railway transport means ( 3), from which and from a maximum permissible closing force (F_ {SK, max}) for the door, a driving force (F_ {A}) is determined, which takes into account external influence variables acting on the means of rail transport, for the moving parts of the door (2). 2. Method according to claim 1, characterized in that in addition to the measurement value of the acceleration sensor (5), a measurement value of at least one inclination sensor (6) is used, which measures a rise (?) and / or an inclination (β) of the transport means (3), for the control of the door (2). 3. Method according to claims 1 and 2, characterized in that through the measurement value and through a mass (m) of the moving parts of the door in the opening direction and / or in the closing direction (11 ), a force of influence (F_ {Z}) is determined that acts through the movement and / or the position of the rail transport means (3), on the moving parts of the door (2), especially a force of acceleration and / or a downward descent force. Method according to claim 3, characterized in that the influence force (F Z) acts with at least one component parallel to the opening and / or closing direction (11) of the door (2). Method according to claim 3, characterized in that the influence force (F Z) acts at least with one component perpendicular to the opening and / or closing direction (11) of the door (2). Method according to one of claims 1 to 5, characterized in that the door (2) is driven by the driving force (F_) by a motor (1). Method according to one of claims 2 to 6, characterized in that the door (2) is an interior door, preferably a sliding door. Method according to one of claims 1 to 7, characterized in that the acceleration sensor (5) measures a longitudinal acceleration of the rail transport means (3). Method according to one of claims 1 to 8, characterized in that the acceleration sensor (5) measures a transverse acceleration of the rail transport means (3), especially a centrifugal force. Method according to one of claims 1 to 9, characterized in that the inclination sensor (6) measures a transverse inclination (β) of the rail transport means (10). Method according to one of claims 1 to 10, characterized in that the inclination sensor (6) measures a longitudinal inclination (?), Especially a rise, of the rail transport means (3). Method according to one of claims 6 to 11, characterized in that a current is determined for the motor (1) that generates the driving force as a function of the measurement value of the acceleration sensor (5) and / or the sensor of inclination (6). 13. Means of rail transport (3) with a door (2) electrically operated and with an installation of control (1) for the control of the door (2) actuated electrically, in which the control installation (1) can be connect with a drive device (10), and presents a calculation unit for calculating a driving force (F_ {A}) for the door (2) as well as a current regulator for the regulation of the current of a motor of a device drive (10), and is connected to at least one sensor acceleration (5), which measures an acceleration of the means of transport railway (3). 14. Rail transport means according to claim 13, characterized in that the control installation (1) can be connected with at least one inclination sensor (6), which measures a rise (?) And / or an inclination ( β) of the transport medium (3).