FR2968700A1 - METHOD FOR OPERATING AN ACTUATOR OF MANEUVER OF A SHUTTER - Google Patents

Abstract

A method of operating an actuating actuator of a mobile rolling element closing, occultation or sun protection, the movable element comprising stackable blades and interconnected by perforated parts, the actuator being provided with means for measuring a parameter related to the movement of the moving element, the method comprising the following steps: analyzing the variations of the parameter during a displacement of the movable element; - determination of a reference position from this analysis; characterized in that it comprises a step of using this reference position and executing a resetting action of a means for determining the position of the mobile closure, concealment or protection element solar and / or an action of defining a position of the movable element causing a change of speed of the actuator.

Description

The invention relates to the field of electromechanical actuators for operating the openings of a house or a building, in particular for the operation of a roller shutter whose apron consists of stackable blades, the blades being connected together by means of openwork parts retractable.

It is known from the patent application W003 / 081357 to automatically determine the position in which the final blade of the shutter is in contact limit with the lower stop of the shutter installation, said final blade position. The final blade position is determined by analysis of the torque exerted on the actuator, because of the weight variations of the deck during the winding or unwinding of the deck, in particular, because of the amount of non-wound suspended blades on the tube.

In this patent, it is a question of determining an intermediate stop position that can be automatically configured according to the installation (in particular the size, the weight of the blades, etc.). This intermediate open position is deduced from the final blade position by a mathematical law and is close to the latter.

Similarly, application EP967360 discloses an actuator device making it possible to identify the type of connection between the flap and the winding tube by analyzing the engine torque and to adapt the stop command to the type of actuator. determined link. This document does not relate to the use of a reference position locatable in a reproducible manner over time.

The object of the invention is to improve the known operating methods of the prior art, as well as to solve problems which will be described later. In particular, the invention provides a method of operating a shutter actuator for many automatic functions.

According to the invention, the method governs the operation of an actuating actuator of a mobile rolling element closing, occultation or sun protection, the movable element comprising stackable blades and interconnected by perforated parts, the actuator being provided with a means for measuring a parameter related to the movement of the movable element. The method comprises the following steps: analysis of the variations of the parameter during a displacement of the mobile element; - determination of a reference position from this analysis; - use of this reference position; and performing a resetting action of a means for determining the position of the movable closure, occultation or sun protection element and / or an action for defining a position of the element. mobile causing a change of speed of the actuator.

The method may include a step of defining a stopping position of the movable member in an extreme position.

The method may comprise a step of adapting the stop position in the extreme position depending on the type of attachment link of the movable member to a winding tube.

The reference position may be an intermediate position between two extreme stops of the movable member. The reference position may be a total stacking position of the blades of the movable member.

The reference position can be used in a configuration mode of the actuator.

The reference position can be used in a mode of use of the actuator.

A docking area can be defined using the reference position.

According to the invention, an actuator comprises hardware and / or software means for implementing the previously defined operating method.

The material means may comprise a torque measuring means, a torque analysis means and calculation means.

The material means may comprise means for determining the position of the movable element, for example a determination means without a position sensor.

The invention will be better understood on reading the description which will follow, given solely by way of example and with reference to the appended drawings in which: FIG. 1 represents a closure device comprising an actuator operating according to a method according to the invention. FIG. 2a shows a set of stackable blades of the closure device 30, these blades being represented in different successive configurations in an opening phase of the device.

FIG. 2b is a diagram giving the torque to be supplied by the actuator as a function of the position of the final blade of the closure device in such an opening phase. Figure 3a shows a set of stackable blades of the closure device, these blades being shown in different successive configurations in a closing phase of the device. FIG. 3b is a diagram giving the torque to be supplied by the actuator as a function of the position of the final blade of the closure device in such a closing phase.

Figure 4 is a flow chart of an embodiment of the method of operation according to the invention. Figure 5 is a flow chart of an embodiment of the method of operation according to the invention.

Figure 1 schematically shows an embodiment of a device 100 motorized roller shutter according to the invention. More generally, it may be a motorized closure device, occultation or sun protection. The motorized closure, concealment or sun protection device 100 comprises a rollable mobile element 101, such as a shutter, comprising an apron 1 composed of blades 2 winding around a drum or winding tube 5. The blade final 3 constituting the free end of the deck and the first apron blade 3 'closest to the tube are particular blades. The blades 2 are connected to each other by parts 4 retractable and openwork. The apron is held in the winding tube by fastening links 6. The shutter is controlled in motion by an electromechanical actuator 10, in particular a tubular electromechanical actuator, arranged in the winding drum. The actuator comprises an electromechanical part 11 (motor, gear, brake), connected to an electronic control unit 13. The control unit controls the operations of the electromechanical part of the actuator by an information transfer symbolized by a double boom 15. The actuator is held against a fixed structure by a fixed point 16, said head of the actuator.

A torque measuring means 12, such as a torque sensor, or a torque variation sensor, measures the torque seen by the actuator (exerted by the actuator or by the shutter apron driving the actuator). The torque sensor corresponds for example to a means for measuring the torque at the output axis of the actuator, or at the output axis of the motor (for example direct measurement at the rotor). It may also correspond to a force measuring means, such as a strain gauge, a piezoelectric sensor, placed in this case at the head of the actuator. The knowledge of the winding radius of the movable element makes it possible to make the link between force measurement and torque measurement.

The actuator may also include other sensors. It comprises, for example, a means for determining the position of the movable element, such as a position sensor 14 or a determination means using activation time data of the actuator, as well as memories and material means and / or software for governing its operation in accordance with the method of the invention. The software means may in particular comprise a computer program code adapted to performing the steps of the method according to the invention, when the program runs on a computer. The actuator also comprises means for studying and / or analyzing torque and calculating means for determining a reference position and for using this reference position. The calculating means make it possible in particular: the resetting of the means for determining the position of the movable closing, concealment or sun protection element, and / or the definition of a position of the mobile element causing a change. the speed of the actuator, and / or - the definition of a stopping position of the movable element in an extreme position, and / or - the adaptation of the stopping position in extreme position according to the type linkage attachment of the movable member to a winding tube.

The device also includes a control point 30 connected by a wired or wireless communication network 40. The control point includes, for example, three keys 31, 32, 33, which allow a user to control an opening, closing, or stopping of the shutter. Special support on the central key 31 also makes it possible to control a displacement towards an intermediate position, for example as defined in the patent application WO03 / 081357. A light diode 34 (or any other graphic interface, for example a screen) allows information display at the control point.

Figure 2a shows the flap during an opening movement. The different blades 2, 3, 3 ', connected to each other by the retractable and perforated parts 4, rise one after the other, while the final blade 3 still rests on the lower abutment of the device (window sill or similar). When all the perforated parts are deployed, the final blade is also lifted.

The torque variations observed during this opening movement are shown in FIG. 2b, as a function of the angular position of the winding tube, during a winding movement of the apron (opening). They correspond to the variations in the weight of the rolling shutter suspended from the winding drum, as well as to the variations related to the winding diameter, the winding diameter increasing over the opening due to the superposition of the windings of blades on the winding tube. The data is smoothed to more simply represent the locatable positions defined below.

The position M1 of detachment of the final blade can be reliably pinpointed by a local maximum of torque, found during a learning movement in a configuration mode or during a movement in use in a control mode. 'use. The open position corresponds to approximately 80% of the total travel of the shutter from the high position. We note this position M1 "intermediate reference position".

The position M2 corresponding to the maximum torque on the total stroke can also be determined. It is referred to as "maximum reference position". The maximum torque on the total stroke is generally observed when approximately one-third of the total stroke has been traveled from the down position. Figure 3a shows the shutter during a closing movement. The blades 2 are stacked on the final blade when it reached the low stop, thus masking the openings arranged in the parts 4 and completely closing the shutter.

As during the closing movement, it is possible to observe characteristic variations of the movement, in particular torque variations or accelerations, in particular from the perforated closed position and to identify the maximum stacking position of the blades. regardless of the nature of the link (rigid or flexible) which connects the first blade 3 '(the closest to the winding drum) to the winding drum. These variations (in absolute value) are represented in FIG. 3b.

Figure 3b is similar to Figure 3a (with motion reversal), but assuming a much higher load bar mass and / or a much higher torque detection sensitivity, highlighting the movement of each blade. The measurements represented in FIG. 3b are similar to raw measurements, without filtering as in FIG. 3a. They are obtained more mainly from strain gauges or accelerometers which make it possible to obtain torque values independent of the mechanics of the actuator.

The detection method of this low reference position consists, for example, in detecting the end of a decay sequence of the torque applied to the motor by the flap (the load being at the end of the driving path because of its weight).

Indeed, during the unfolding of the deck, the torque to which the actuator is subject increases gradually, the weight of the unrolled deck portion being in constant progression. This torque reaches its maximum near the position where the final blade comes to a stop (on a window sill or ground constituting a stop to the displacement of the deck). This position is a so-called openwork position.

The final blade then suddenly settles flat on the stop, corresponding to a unwinding position D1. In the case where the final blade is ballasted, this results in a sudden decrease in the torque to which the actuator is subjected. Due to the perforated parts between the blades, at each blade stack on the previous one, it is observed at the of the actuator a substantially periodic decay sequence on the torque curve. This decay sequence is marked by decay steps.

These steps are substantially all the same height if the blades have a comparable weight, only the winding radius then has an influence on the torque.

The decay sequence can also be characterized by time intervals between the various substantially identical steps, in the case where the motor rotates at a continuous speed, only the winding radius then having an influence on the time interval.

Finally, the torque curve can be characterized by predictable time intervals, in the case where the motor is at controlled speed and if it rotates at a continuous speed during the stacking of the first blades or if the controlled speed is known. The regular decay rate makes it possible to predict each new decay step. After stacking the first blade (the blade closest to the winding tube), however, no sudden and significant decay is observed, expected for a running position D2.

The comparison between the expected torque and the measured torque shows the stack of the first blade, that is to say when all the blades are stacked on each other. This comparison takes place in a given time interval and limited from the expected decay time. The actuator can thus estimate the end position of stacking of the blades over a limited position range and deduce a reference position of the movable member.

Thus, there are several reference positions, specific to the device, which do not correspond to stop positions and which can be reliably and reproducibly spotted. The term "intermediate reference position" is referred to as the position where the final blade is at the limit of contact with the device's lower stop (or position "perforated blades") and "reference position low" the position corresponding to the maximum of blades stacked on on each other.

A first known case of using the intermediate reference position is the use as a perforated intermediate position, as described in document WO03 / 081357. According to an embodiment of an operating method of the actuator according to the invention, there are other use cases which are detailed below and shown in FIG. 4.

During a step C1, the measured torque (and / or torque variations) is studied or analyzed. The study or the analysis of these variations makes it possible to determine a reference position during a step C2. This reference position is used during a step C3 to achieve optimal operation of the device, which can be broken down into several automatic actions, that is to say without requiring the registration of these reference positions manually by a installer: - C3a: registration at a reference position, - C3b: variation of drive speed from the reference position, - C3c: determination of the low end position.15 Other uses, such as for example, the adaptation of the stop position according to the type of attachment link or the counting of the blades can also be envisaged as described below.

Recalibration The intermediate reference position, the maximum reference position or the low reference position can be used as the resetting position for the device.

There are different application cases in which it is necessary to periodically or occasionally recalibrate the device automatically and transparently for a user. In particular, a registration may be necessary in the following cases: - Expansion of the deck over time; - Use of a manual override; - Actuator without position sensor; - Installation without physical stops.

An example of a registration procedure is described below with reference to FIG. 5.

During a step E1, the actuator finds that a registration is necessary. This step is performed for example when a stop is encountered 25 while the position determining means does not correspond to this stop position. Alternatively, a detection of mains power failure and movement during this break also defines a case of necessary registration. Exceeding a predefined number of maneuvers since the last resetting can also be interpreted as a necessary registration indication. In the case of an actuator without a position sensor, the passage during a movement at the reference position constitutes in itself a case of necessary registration.

During a step E2, if necessary, the actuator controls the flap in the direction of the reset position (or one of the reset positions). If necessary, the control includes displacements in different directions until the location of the reference position. In this reset position which is detectable without requiring information from the position sensor, an update, in particular a reset to a predefined value or a reset of a position counter is then performed during a step E3.

The current position, or a position deduced from the current position is then known unambiguously. The other operating positions of the device, for example the end-of-travel positions or the prerecorded intermediate positions, are then deducted from this reset position during a step E4.

Known devices perform resets on abutment positions (fixed abutment or rigid connection between the deck and the winding tube creating maximum extension a stop). However, in some devices, such positions are not available, the stop in the end position being done only on information of a time counter or position.

In other cases, it is interesting not to look for a stop to make the registration. The device is less stressed, the resetting can be done while moving transparently for the user for example.30 The particular case of an actuator without position sensor is explained below. It is known to use actuators without position sensors: actuator control to particular operating positions is then achieved either by time management (management of the travel time in one direction and the other) or by a management of motor parameters such as voltage, current. Note that the actuator includes a "counter" position.

For these known cases of actuators without position sensor, other constraints are imposed on the device, in particular the presence of two stops marking the extreme operating positions.

The use of an off-limit reference position makes it possible to overcome these constraints. During the passage in this reference position (intermediate reference position or low reference position), identified during the movement and observation of a parameter of the actuator in operation, the actuator deduces its actual position and the 20 movements to be made to reach the different operating positions (stop in end position or intermediate position). In particular, it updates the position counter.

Thus, contrary to the prior art cited, reference position monitoring can be performed systematically and not only during a training cycle in a configuration mode.

In a complementary manner, the two intermediate and low reference positions could be used for the position management of a sensorless actuator, in particular to the extent that one is more easily detectable on the ascent and the other is easier to detect. descent.

Shifting It is known to define on a roller shutter path between two end positions, so-called docking zones, in which the operation of the actuator is changed. In particular, the torque or the speed of the actuator is limited to prevent abutments abut in nominal regime, causing significant stresses on the flap.

Visually, it is also interesting to significantly change the speed of arrival in abutment (docking speed) compared to the nominal speed of opening or closing. This "soft start, soft finish" operation with optimal travel speed along the stroke and smooth finishes at the end of the race improves the quality of the device perceived by the user.

The docking areas are generally defined by a fixed ratio relative to the extreme positions once they are known.

The invention proposes to take into account the intermediate reference position defined above to define the point of entry (or exit) in the low docking zone. Thus, the speed change is related to a physical feature of the device (detachment of the final blade at the opening and increase in speed, positioning of the final blade on the lower stop when closing and decreasing speed) and this fact is perfectly understandable and expected.

In addition, the fact that the speed change occurs in a known position and relative to the structure of the device makes it possible to simply ensure a constant speed of displacement during the stacking of the blades. This is particularly of interest in the following.

Alternatively, the low docking zone can be deduced from the intermediate reference position. One could thus provide, for example, a speed change for an entry into a docking zone at the mid-height of stacking or unstacking of the blades, for the high-rise flaps, for example.

Stop in extreme position As mentioned above, the maximum stacking position of the blades is also detectable (low reference position). The actuator can thus estimate this position of end stacking blades, at least over a range of limited position, and deduce an end position.

The stop position can be defined as confused with the reference position or as a position deduced therefrom by a mathematical function or be defined by a learning maneuver.

In particular, a numerical value defining the stop position can be deduced from a numerical value defining the reference position by an affine type mathematical function, in particular a linear function.

No stop is therefore necessary to mark this end position. Of course, the low abutment required for the stacking of the blades is present, but in the case of flexible links between the first blade and the winding drum, this bottom stop is not exploitable for stopping the actuator , the apron can completely unfold completely and then wind in the opposite direction if no stop is commanded (thus risking damage to the device).

Choice of the stop position according to the type of attachment links As was seen above, it is possible to use the low reference position for the automatic learning of a stop position at the end of race. It can also be used to adapt this stop position according to the type of fastening links of the apron on the winding tube.

Indeed, from the definition of the reference position, it is possible to test on a limited path the evolution of the couple reflecting the presence or absence of rigid links. This test can take place only during a learning cycle or in a configuration mode. This procedure is described in the patent application EP1451654, but it requires in the prior art a prior step of recording a first end position. On the contrary in the invention, the stop position selection procedure depending on the type of link can take place completely automatically.

Once defined the presence of rigid links, the reference position low will not be used for the stop at the end of the race. The stop will be systematically on detection of stop. If, on the contrary, the test shows the presence of flexible links, the stop may take place in the low reference position or in a position deduced therefrom.

Other reasoning can be deduced from this step of detecting the type of links without changing the spirit of the invention. Advantageously, the stopping procedure in the extreme position as just described is compatible with fully automatic adjustment of all devices regardless of the type of attachment link (that is to say comprising fasteners or rigid or flexible fastening links between the deck and the winding tube). In principle, the rigid links act as a stop and it is not necessary to define a limit position. Only these can be used with fully automatic actuators on the market. However, during learning cycles, the control unit can monitor the torque evolution from the moment when the low reference position is reached, and then exceeded in a limited range (test flow). If the torque increases, translating an arrival in abutment on the rigid links, the stop position is that defined by the stopping stop (detection of exceeding a threshold torque or under-speed). In the opposite case (the absence of increase of torque translating the presence of soft links, straps or foils), the engine is stopped and the position of end of race is that defined starting from the position of reference increased or not of the test flow.

Counting the Blades The detection of the decay sequence of the torque from the perforated position can also allow the counting of the blades. This detection then makes it possible for example to approximately determine the size of the shutter or the model actuated, and according to these data, improve the management of the operating conditions (speed, definition of the docking areas, etc.), or even to deduce from it a winding radius.

The detection of the intermediate and low reference positions is subject to the fine detection capacity of the torque variations seen by the actuator. The presence of a brake having a drag torque and / or other mechanical components of the actuator (for example an elastic compensation of the weight of the deck) may disturb this detection, at least on a part of the race covered by the final blade. In this case, mathematical deduction methods can replace all or part of the usable measurements from the torque sensor.

In particular, the use of inter-correlation methods for the analysis of variations makes it possible to obtain more robust results than those obtained from a simple comparison between maximum or minimum values.

Claims (11)

1. A method of operating an actuator (10) for operating a movable member (101) windable closing, occultation or sun protection, the movable member comprising blades (2, 3, 3 ') ) stackable and interconnected by perforated parts (4), the actuator being provided with means (12) for measuring a parameter related to the movement of the movable element, the method comprising the following steps: - analysis variations of the parameter during a displacement of the movable element; - determination of a reference position from this analysis; characterized in that it comprises a step of using this reference position and executing a resetting action of a means for determining the position of the mobile closure, concealment or protection element solar and / or an action of defining a position of the movable element causing a change of speed of the actuator. 2. Operating method according to claim 1, characterized in that it comprises a step of defining a stop position of the movable member in an extreme position. 3. Operating method according to claim 1, characterized in that it comprises a step of adapting the stop position in extreme position depending on the type of attachment link of the movable member to a tube of winding. 4. Operating method according to one of claims 1 to 3, characterized in that the reference position is an intermediate position between two extreme stop positions of the movable member. 5. Operating method according to one of claims 1 to 3, characterized in that the reference position is a total stacking position of the blades of the movable member. 6. Operating method according to one of the preceding claims, characterized in that the reference position is used in a configuration mode of the actuator. 7. Operating method according to one of the preceding claims, characterized in that the reference position is used in a mode of use of the actuator. 8. Operating method according to one of the preceding claims, characterized in that a docking area is defined using the reference position. 20 9. Actuator (10) comprising hardware means (11, 12, 13, 14, 15) and / or software implementation of the operating method according to one of the preceding claims. 10. Actuator according to the preceding claim, characterized in that the material means comprise a torque measuring means (12), a torque analysis means and calculation means. Actuator according to the preceding claim, characterized in that the material means comprise a means for determining the position of the movable element (14), for example a determination means without a position sensor.