WO2006074782A1

WO2006074782A1 - Sliding door comprising a magnetic drive system and control device

Info

Publication number: WO2006074782A1
Application number: PCT/EP2005/013395
Authority: WO
Inventors: Sven Busch
Original assignee: Dorma Gmbh & Co. Kg
Priority date: 2005-01-14
Filing date: 2005-12-13
Publication date: 2006-07-20
Also published as: DE102005002040A1

Abstract

The invention relates to a sliding door comprising a magnetic drive system for at least one door leaf, comprising a row of magnets which are arranged in the drive direction, whereby the magnetisation thereof changes it polarity in the longitudinal direction thereof at specified intervals, and a support carriage whereon the door leaf can be secured, in addition to a winding assembly which consists of several individual windings and cores, said assembly causing an interaction with the row of magnets (1) that initiates feed forces when the individual windings are controlled in a corresponding manner, and a control element which controls the individual windings or groups of individual windings in a pulse width modulated manner.

Description

A-

Title: Sliding door with a magnetic drive system and control

description

The invention relates to a sliding door with a magnetic drive system and a control provided for this purpose. The magnetic drive system has a linear drive unit with at least one magnet row. The term magnet series also includes elongated individual magnets. The magnet series can be arranged stationary or mobile. The magnetic drive system is preferably designed as a magnetic support and drive system.

From DE 40 16 948 A1 a sliding door guide is known, in which mutually interacting magnets cause a contact-free floating guide held in a sliding guide door or the like under normal load, wherein in addition to the stationary magnet arranged the sliding guide a stator of a linear motor is arranged whose runner is arranged on the sliding door. The selected V-shaped arrangement of the permanent magnets of the disclosed permanently excited magnetic support means no laterally stable guideway can be realized, which is why a relatively complicated arrangement and design of the stator and rotor is required.

From WO 00/50719 A1 a combined storage and drive system for an automatically operated door is known, in which a permanently energized magnetic support system is symmetrical and has stationary and movable magnet rows, which are each arranged in a plane, wherein the support system is in a labile equilibrium, and in which the support system is symmetrically arranged has lateral guide elements that can be stored in a roll shape. Due to the laterally stable guideway achieved in this way, a simple design and arrangement of the stator and rotor of a linear motor accommodated in a common housing results, namely the possibility of being able to arbitrarily arrange the stator and rotor of the linear motor in relation to the support system and with regard to the shaping from stand and runner not to be limited by the support system.

What these two storage systems have in common is that they work according to the principle of the repulsive force effect, which principle of action enables a stable state of suspension without expensive electrical control. The disadvantage of this, however, is that both at least one stationary and at least one positionable magnet array must be present, ie, be arranged over the entire path of the sliding guide or the bearing of the automatically operated door and on the movable along this guide support carriage for the door magnets What makes such a system, which is characterized by the absence of mechanical friction to carry the door by extreme ease and noiseless operation and is almost wear and maintenance-free, is very expensive to manufacture.

From DE 196 18 518 C1 an electromagnetic drive system for magnetic levitation and support systems is further known, in which a stable levitation and support state is achieved by a suitable arrangement of permanent magnet and ferromagnetic material. For this purpose, the permanent magnet puts the ferromagnetic material in the state of a magnetic partial saturation. Electromagnets are arranged so that the permanent magnets are moved solely by a change in the saturation in the support rail, and the coil cores are in the permanent magnetic partial saturation, which leads to the floating and wearing state, included.

Furthermore, WO 94/13055 shows a stator drive for an electric linear drive and a door provided with such a stand, which is suspended by means of magnets in the lintel of a frame. For this purpose, a plurality of magnets or magnet groups are arranged on the door panel, the magnetic field strength is so large that an attraction force is achieved to a guide plate, which is arranged on the underside of the lintel, the attraction force is sufficient to lift the weight of the door.

The two systems described in these documents have in common that a caking of the magnets is prevented on the ferromagnetic material by means of rollers, so an air gap between the magnet and the ferromagnetic material is adjusted by means of rollers. These rollers must absorb large forces in the selected arrangements, since the magnetic field strength can not be chosen so that only the respective magnetically suspended door is held, but due to safety regulations a certain additional load capacity must be present so that the door is not unintentional drops. Consequently, the roles must be interpreted in a similar way as in purely roller-mounted sliding doors, which results in a mechanical friction for adjusting the air gap is present. This eliminates the extreme smoothness and noiseless operation of the bearings operating on the repulsive force principle and leads to wear and maintenance. In addition, the magnetic attraction must be precisely adjusted to the particular load to be carried during manufacture, making these systems unsuitable for practical use or too expensive. Next, although these publications lead to the use of a coupled with a magnetic support device or integrated linear drive, the design of such a linear drive or its control are not described.

It is therefore the object of the invention to further develop a sliding door with a magnetic drive system for at least one door leaf, which has a linear drive unit with at least one magnet row, so that the advantages mentioned above remain at low production costs and a simple control is possible.

This object is achieved by a sliding door with the features specified in patent claim 1. Advantageous embodiments are specified in the subclaims.

The sliding door according to the invention comprises a magnetic drive system for at least one door leaf, with a magnet row arranged in the drive direction, the magnetization of which changes sign in its longitudinal direction at certain distances, and a support slide on which the door leaf can be fastened, and with one of several Single coils and coil cores existing coil arrangement, which causes an appropriate interaction with the magnetic series, which causes feed forces with appropriate control of the individual coils, and a controller that controls the individual coils or groups of individual coils pulse width modulated.

Accordingly, a particularly simple actuation of the drive device configured as a linear drive is achieved by the invention the direction of movement and the opening or closing speed of the at least one door leaf of the sliding door according to the invention can be controlled or regulated in a simple manner. Furthermore, a particularly simple choice of the course of the effective voltage is possible by the pulse width modulated control according to the invention, whereby the running properties of the sliding door according to the invention, eg in terms of smoothness, running speed or acceleration, can be particularly easily optimized.

The pulse-width-modulated control according to the invention further facilitates an embodiment of the control according to the invention with control logic, that is to say a digital configuration, since the time-varying pulse widths can be determined directly by a control logic. In this case, a particularly simple control of multiple doors in a track, so several runners on a stator, possible because the individual door flights (runners) can be easily addressed or identified individually by means of a digital control logic and controlled accordingly or moved.

In the case of the sliding door according to the invention, the controller preferably controls the individual coils or groups of individual coils in multiple phases. Here, in particular, at least three electrical outputs are preferably present on the controller according to the invention, in which the effective motor voltage is changed over time by means of the method of pulse width modulation for the purpose of stator commutation and of speed control or regulation. In this three-phase configuration, for example, every third individual coil of the coil arrangement can be driven in the same way. The individual coils that are driven in the same way form a group of individual coils. In the case of the sliding door according to the invention, the pulse-width-modulated drive alternatively or additionally preferably simulates a voltage curve lying between two potentials which is applied to an individual coil or to a group of individual coils. By such a sinusoidal or sinusoidal effective voltage according to the invention a particular smoothness is achieved. According to the invention, such a sinusoidal or sinusoidal effective voltage can be adjusted as easily and with as little catch as a square wave voltage otherwise used in a simply realized control, but entails the disadvantage of disturbing noise development.

In this preferred embodiment of the sliding door according to the invention, the frequency of the sinusoidal or sinusoidal voltage curve is further preferably chosen such that a time interval between a maximum and a minimum of the sinusoidal or sinusoidal voltage curve is equal to a duration of movement of the magnetic series by the length of a pole pitch of two adjacent individual magnets of the magnetic series having a different polarity in the direction of the coil arrangement, and a time interval between two maxima of the sinusoidal or sinusoidal voltage profile equal to a duration of the movement of the magnetic row by the length of a pole spacing of two adjacent individual magnets the row of magnets having the same polarity in the direction of the coil arrangement. In other words, in this embodiment according to the invention, the distance or travel path between maximum and minimum of the sinusoidally or sinusoidally modulated voltage is equal to the distance between two adjacent magnetic poles of the permanent magnet series of the rotor and the distance or travel distance between two maxima of the sinusoidal or sinusoidally similar dulled voltage equal to the distance between two adjacent magnetic poles of the permanent magnet series of the rotor with the same designation. Such a tuning according to the invention of the course of the effective voltage achieves a preferred adaptation to the magnetic series of the drive device of the sliding door according to the invention.

Alternatively or additionally, in this preferred embodiment of the sliding door according to the invention, the controller preferably controls the individual coils or groups of individual coils in a multi-phase manner, wherein a phase position between two adjacent phases is shifted corresponding to the quotient of the time interval between two maxima of one phase and the number of phases , In other words, the phase position of the sinusoidally or sinusoidally modulated voltage at the preferably at least three outputs is shifted in each case by the distance or travel path between two maxima divided by the number of outputs or electrical phases. This results in uniform phase shifts between adjacent individual coils and thus a particularly good smoothness.

In the case of the sliding door according to the invention, the control further alternatively or additionally preferably controls the individual coils as a function of a relative position between the individual coils and the magnet row. Further preferably, the sliding door according to the invention has an optical or magnetic displacement sensor for detecting the relative position between the individual coils and the magnet series. Such a control implicitly implements a monitoring of the method of the door leaf of the sliding door according to the invention, that is to say a sensorless detection of hindrance of a magnetically operated sliding door, ie an ne obstacle detection achieved without separately executed collision sensors.

In the case of the sliding door according to the invention, the control further has, alternatively or additionally, preferably a number of power outputs corresponding to the number of door leaves of the sliding door. By such a preferred embodiment, a plurality of door leaves can be moved individually and independently.

In the case of the sliding door according to the invention, the controller preferably synchronizes a movement of at least two mechanically independently movable door leaves of the sliding door.

By means of this embodiment according to the invention, an individual movement of a plurality of door wings is achieved in a coordinated manner. In particular, it can be provided that a door leaf for opening the sliding door according to the invention is moved either to the right or to the left, depending on the direction from which a person or an object approaches the sliding door according to the invention. Further, it is possible that two or more in a stator running door are controlled differently, for example, only one is moved to open the sliding door, while the other stops, ie the sliding door is only half open, or one is fast to its final position moved and the other is simultaneously moved slowly, for example, at half speed, to a half-open position, whereby a total of three quarters opened sliding door is achieved and creates the impression of evenly opening door leaves. Also, it may be possible in an embodiment with two door leaves, to control the stator so that both leaves are moved side by side and so the impression of a door leaf is created, the sliding door is opened completely or only half.

In this embodiment according to the invention, there are in particular the advantages that the individual door leaves can be moved independently of one another, resulting in more flexible possible uses for the sliding door according to the invention, the door leaves can only be opened one-sided or partially depending on the direction of the walk, and unbalanced door systems become possible.

In summary, the two last-named preferred embodiments of the sliding door according to the invention provide, in particular, the following possible functions which-as already mentioned above-can be realized particularly simply by the pulse-width-modulated activation of the individual coils according to the invention, with the control according to the invention also providing particularly simple switching between these (and other) features:

- Symmetrical opening and closing of the sliding door. - Synchronous opening and closing of a single-ended door.

- Both doors of a single-ended door open at the same time and simultaneously reach their open position. For this purpose one of the door leaves is operated at reduced speed.

- Both door leaves of a symmetrical door start their closing movement at the same time and simultaneously reach the closed position. For this purpose one of the door leaves is operated at reduced speed.

- One-sided opening of a double-winged door. - Operating a door with three or more wings in a raceway.

Operating a door with three or more running wings in two or more raceways, e.g. a telescopic sliding door. - Double-leaf door opens slower on one side and only on a smaller opening in the same ratio.

- Opening the door gap in the direction of a side, obliquely to the door entering person with a smaller required opening gap, causing less air exchange is caused. - Energy saving mode: The opening width of the sliding door depends on the number and direction of the persons using the door. For example, recognizing a single person only partially opens the door and closes immediately after recognizing that person has passed through the door.

The sliding door according to the invention preferably further comprises for each door a connected to the Tragschiitten roller assembly which fulfills a supporting function with respect to the door leaf and ensures a certain gap-shaped distance between the magnet row and the coil cores.

By such a design of the magnetic drive system as a magnetic support and drive system, in which the required load capacity is partially absorbed by the magnetic support and drive system and partially by the roller assembly, the advantage over the prior art that the roller assembly neither has to carry the entire load of the door leaf, nor must take a due to safety regulations high load capacity in purely by means of magnet-hung door leaves. This will above a pure roller bearing or a magnetic suspension supported by rollers achieves the following advantages:

- Larger life of the rollers, - Reduction of the roller size and thus a reduction in space bezüg lent the roller bearing.

a reduction in roll noise,

- Reduction of rolling resistance or rolling friction.

Furthermore, in this embodiment of the sliding door according to the invention compared with a purely magnetic support and guide system, the advantages that the load-bearing capacity stiffness in the design of the system need not be taken into account, during acceleration and deceleration no rolling movements of the carried load, e.g. of the door, arise, and that different deflections at different door weights do not necessarily have to be considered or compensated. Further, the magnetic support and drive system of the present invention thus constructed for at least one door panel can be manufactured in series without disregarding the actual later use, without differences in the series. without an adjustment required during production to the weight to be carried later.

For these reasons, according to the invention, in such a bearing operating according to the attracting force principle, there is a very good ease of operation and noiseless operation, despite the use of an unstable due to the roller arrangement used, which ensures the particular gap-like distance between the magnet array and the coil arrangement Equilibrium state no electrical see or electronic control device needs to be provided. A gap-like distance in the sense of this invention is a distance between two parallel or slightly inclined surfaces. Here, in particular, between a pole face of one of the (at least one) magnet row and one of these face of the coil cores of the coil arrangement arranged opposite to it, essentially parallel thereto.

In the carrying device according to the invention, the magnet row is preferably magnetized parallel to the supporting direction and transversely to the drive direction.

According to the invention, the magnet series preferably consists of one or more high-performance magnets, preferably rare-earth high-performance magnets, more preferably neodymium-iron-boron (NeFeB) or Sarnarium-Cobait (Sm ₂ Co) or plastic-bonded magnet materials. The use of high-performance magnets of this kind allows much higher power densities to be generated than with ferrite magnets because of the higher remanence induction. Consequently, the magnet system can be constructed geometrically small and thus save space for a given load capacity with high-performance magnets. The higher material costs of the high-performance magnets compared to ferrite magnets are at least compensated by the comparatively small magnet volume.

The drive system according to the invention or combined support and drive system is used to drive at least one door leaf of a sliding door, which is preferably designed as a curved sliding door or horizontal sliding wall. In addition to this insert, it can also be used to drive gate leaves or in feed devices, handling devices or transport systems. The invention will now be described in more detail by means of exemplary embodiments. Showing:

1 is a longitudinal sectional view of the invention used in principle combined support and drive system,

2 shows an electrical connection of the coils of the linear

Drive unit of the combined support and drive system shown in Fig. 1,

3 is a diagram for explaining a first possibility of

Voltage profile at the as shown in Figure 2 connected coils of the drive system according to the invention,

4 is a diagram for explaining a second possibility of

Fig. 5 is a diagram for explaining a third possibility of

6 is a cross-sectional view of a sliding door according to a preferred embodiment of the invention, Fig. 7 is a step-shaped effective voltage generating

Output signal of a control according to the invention according to a preferred embodiment of the invention,

Fig. 8 is a sinusoidal effective voltage generating

9 shows a three-phase system of sinusoidal effective voltage generating output signals of a control according to the invention according to a preferred embodiment of the invention,

10 shows a three-phase system of sinusoidal effective voltage generating output signals of a control according to the invention according to a preferred embodiment of the invention together with a magnetic series of the linear drive according to the invention, and

Fig. 11 is a four-phase system of a sinusoidal effective

Voltage generating output signals of a controller according to the invention according to a preferred embodiment of the invention together with a magnetic series of the linear drive according to the invention.

Fig. 1 shows a schematic diagram of two drive segments of a drive system preferably used according to the invention, here as a combined magnetic support and drive system, in a longitudinal section, in which the magnetic linear actuator used in the invention acts on the magnetic row 1, which on a support carriage 4 is fixed, which holds a door 5. The magnet array 1 is attached to a support profile 6 and has in each case alternately polarized individual magnets. In the supporting direction above the magnetic row 1 coils 2 are arranged with a certain gap-shaped distance, that a respective coil core 3 in the supporting direction, ie z-direction extends. The coil cores are in attractive force with the magnetic series 1 and thus bring a portion of a load capacity for the door 5 on.

In order to ensure a continuous feed of the magnetic row 1, the stator coils 2 are arranged with their respective coil cores 3 in different relative positions to the grid of the permanent magnets. The more different relative positions are formed, the more uniform the thrust force can be realized over the travel. Since, on the other hand, each relative position must be assigned to an electrical phase of a drive system required for the linear drive, as few electrical phases as possible should be used. Because of the three-phase three-phase network available, a three-phase system, as shown by way of example in FIG. 2, is very simple to set up ,

In this case, a respective drive segment and thus a coil module of the linear drive unit consists of three coils which have an extension of three length units in the drive direction, ie x-direction, ie between the centers of adjacent coil cores 3 is a grid Rs = 1 unit length. The length of a magnet of the magnetic number 1 in the driving direction and the length of the lying between the individual magnets of the magnet row 1 gap is so selected here that length Agne a magnet L _M _t + length of a gap L _L uecke = magnetic raster R _M = 3/4 unit length (= 3/4 Rs). FIG. 2 shows the interconnection of the coils of the two drive segments shown in FIG. 1 of the linear drive unit preferably used in accordance with the invention. Here, a first coil 2a with a first coil core 3a is connected between a first phase and a second phase of a three-phase three-phase system whose three phases are uniformly distributed, ie the second phase at 120 ° and a third phase at 240 ° lie when the first phase is at 0 °. The second coil 2b with coil core 3b of a drive segment of the linear drive unit lying in the positive drive direction, ie + x direction, next to the first coil 2a with coil core 3a is connected between the second phase and the third phase and in the positive drive direction, ie + x direction next to the second coil 2b with coil core 3b lying third coil 2c with coil core 3c is connected between the third phase and the first phase. In addition to such a drive segment of the linear drive unit lying drive segments of the linear drive unit are connected in the same way to the three phases of the three-phase system.

If one assigns the angle formed by the permanent magnets Polraster, analogous to the arrangement in a two-pole DC motor, phase angle, so the linear coil arrangements can be mapped in a circular phase diagram. Since this can be interpreted both magnetically as a drive effect on the permanent magnets and electrically as a control of the coils, this diagram can uniformly describe the relationship between switching states and drive effect.

Such a circular phase diagram with drawn coils is shown in FIG. Here, on the ordinate, the electric potential is given in V and on the abscissa the magnetic potential. A circle around the origin of this coordinate system, which represents a zero potential for both the electric potential and the magnetic potential, represents the phase angles of the voltage applied to the respective coils, with an 0 ° phase position at the point of intersection of the circle with the positive ordinate and the phase clockwise to a 90 ° phase position in the intersection of the circle with the negative abscissa, which represents the magnetic potential of the south pole, a 180 ° phase position in the intersection of the circle with the negative ordinate, which represents the minimum voltage potential, a 270 ° phase at the intersection of the circle with the positive abscissa representing the magnetic potential of the north pole, up to a 360 ° phase equal to the 0 ° phase at the intersection of the circle with the positive ordinate, represents the maximum voltage potential changes.

As shown in FIG. 2, there is a relationship in which the first coil 2a with coil core 3a is disposed between an 0 ° phase position and a 120 ° phase position, the second coil 2b with coil core 3b is disposed between a 120 ° phase position and a 240 ° phase position ° phase position and the third coil 2c with coil steering 3c between a 240 ° phase position and a 360 ° phase position lie. In three-phase operation, the hands of these coils now rotate in a clockwise direction in accordance with the alternating frequency of the three-phase current, with one of the electrical potential difference between the ordinate projected starting and ending points of the pointer corresponding voltage applied to the coils.

In the magnetic interpretation of the phase diagram, a phase pass of 180 ° corresponds to a displacement of the rotor by the distance between the centers of two adjacent magnets, ie the magnetic grid RM-. By the alternating polarization of the magnet Neten in the rotor is carried out at a shift to the magnetic grid R _M a pole change. After a 360 ° phase pass, the rotor displacement is two R _M. In this case, the magnets are in the starting position relative to the grid R _{s of} the stator coils again, comparable to a 360 ° rotation of the rotor of a two-pole DC motor.

For the electrical interpretation of the phase diagram, the ordinate is considered, on which the applied electrical voltage potential is shown. At 0 °, the maximum potential, at 180 °, the minimum potential and at 90 ° or 270 °, an average voltage potential. As mentioned above, the coils are represented in the diagram by arrows whose start and end points represent the contacts. The respectively applied coil voltage can be read off by projection from start and end point of the arrows to the potential axis. By the direction of the arrow, the current direction and thereby the magnetization direction of the coil is set.

Instead of a continuous sinusoidal voltage source, which has a phase diagram according to FIG. 3, a controller with a rectangular characteristic can also be used for cost reasons. In a corresponding phase diagram, which is shown in Fig. 4, the rectangular characteristic is represented by switching thresholds. In this case, the phase connections can each assume the three states plus potential, minus potential and potential-free. The positive potential is for example in a range between 300 ° and 60 ° and the negative potential in a range of 120 ° to 240 ° and the ranges between 60 ° and 120 ° and 240 ° and 300 ° represent the potential-free state in which the coils are not connected. In rectangular voltage control, the more uneven thrust compared to sinusoidal control is disadvantageous. Of course, a large number of further coil configurations and potential distributions can be constructed, for example the potential distribution shown in FIG. 5, in which a minimum potential of 0 V in a range between 105 ° and 255 °, a maximum potential of 24 V in a range from 285 ° to 75 ° and potential-free ranges of 75 ° to 105 ° and from 255 ° to 285 °. Again, the more uneven thrust compared to sinus control is disadvantageous. For this reason, according to the invention, a pulse-width-modulated control of the coils takes place, wherein preferably a sinusoidal or sinusoidal effective voltage is generated, as will be described below with reference to FIGS. 7 to 11.

By suitable controls according to the principles set out above, different traversing speeds and travel paths can be achieved. For this purpose, position sensors for each door can be provided or it can also be built controls that do without position sensors, the position of the door is estimated.

FIG. 6 shows a cross-section of a carrying and driving device of a sliding door according to a preferred embodiment of the invention.

A basically U-shaped support profile 6 has a bottom 9 and two perpendicular thereto side portions 10, each having recesses 11, in which on the support carriage 4 mounted arrangements 7, 8 run by individual rollers, which cause a vertical guide. Here, two identical arrangements 7, 8 of individual rollers are selected, of which a left arrangement 7 in the positive transverse direction y to the left of a right arrangement 8 is located. The left-hand arrangement 7 is fastened on the supporting carriage 4 in the positive transverse direction y on the left and the right-hand arrangement 8 is fastened on the supporting carriage 4 on the right in the positive transverse direction y.

Within the here in principle U-shaped support carriage 4, on whose side regions 12 the arrangements 7, 8 are fastened by individual rollers, the magnet row 1 is arranged on the bottom 13 of the support carriage 4. Between the side regions 12 of the support carriage 4, a coil arrangement consisting of coils 2 and coil cores 3 is arranged with a gap-shaped spacing a to the magnet array 1, which is fastened to the bottom 9 of the support profile 6. Since the support profile 6 may be made of non-magnetic material, e.g. Aluminum, is arranged between the coil assembly 2, 3 and the support section 6, a soft magnetic return rail 14 having holes through which the coil cores 3 are fixed to the bottom 9 of the support section 6. The coil cores 3 and the soft magnetic return rail 18 may also be integrally formed.

For stabilization, it points in principle upwards, i. in the negative supporting direction, ie the -z direction, open U-shaped support carriages 4 at the upper edges of its lateral regions 12 in the transverse direction, i. positive and negative y-direction, protruding ribs, which are interrupted in the area of the individual roles of the arrangements 7, 8 of the roller assembly.

In these embodiments of the invention, the recesses 11 of the support profile 6 are arranged in the vertical direction next to the coils 2 and coil cores 3, which is why the support carriage 4 is designed so that not only the magnetic row 1 attached thereto is arranged within its side regions 12, but also Parts of the support profile. 6 attached coils 2 and coil cores 3. This results in a particularly flat design.

Further, the recesses 11 are provided with running surfaces 15, which are designed so that a unrolling of the individual rollers of the assemblies 7, 8 of the roller assembly is quiet. The treads 15 may for this purpose consist of two or more material components, e.g. of a soft cushion layer 15b provided on the support profile 6, and a hard overlay 15a on which the single rollers run.

On the support carriage 4 is further provided a horizontal guide member (not shown) which holds the support carriage 4 in a stable position in the y-direction. Below the supporting carriage 4, on the outside of its bottom 13, a scale 16 of a position measuring system is mounted, which cooperates with a measuring transducer 17 provided in the supporting profile 6 in order to determine the position of the supporting carriage 4 running in the supporting profile 6.

Next to the support section 6, a panel 19 is provided, within which also a circuit arrangement 18 for driving the linear drive unit is received, which has a controller 21 for driving the individual coils 2 and electrically to the transducer 17 of the position measuring system, with the coils 2 of Coil arrangement, with a (not shown) power supply and with a (not shown) sensor for initiating the opening and closing of the sliding door according to the invention is connected.

According to the invention, of course, the magnet row 1 on the housing 6 and the coil 2, coil cores 3 and possibly a weichmag- net return rail 14 existing coil unit may be attached to the support carriage 4.

The controller 21 may select one or more door panels 5, i. E., By selecting the controlled individual coils 2 and applying respective voltage waveforms to the individual coils 2 being driven. move each with a row of magnets 1 supporting carriage 4 move.

FIG. 7 shows an output signal UA, which generates a step-like effective voltage, of a controller 21 according to the invention according to a preferred embodiment of the invention.

Here, an output signal U _{A of} the controller 21, which is optionally generated by a control module 21a whose output signal is still amplified by means of a power stage 21 b, formed by a pulse width modulated signal that between a first potential U _P i, eg Up ₁ = 0 volts, and a second potential U _P2 , eg U _P2 = U _max , is switched back and forth. In particular, it is shown that a pulse width modulated output signal UA with a duty cycle of 10%, ie a 90% share of the first (lower) potential U _P i and a 10% share of the second (higher) potential U _P2 per clock cycle, an effective voltage of 10% of the difference between the second potential and the first potential, ie Uw = 0.1 ^* (U _P2 -U _P i), has a pulse-width-modulated output signal U _A with a duty cycle of 50%, ie a 50% share of the first (lower) potential U _P i and a 50% share of the second (higher) potential U _P2 per clock cycle, an effective voltage of 50% of the difference of the second potential and the first potential, ie Uw = 0.5 * (U _P2 -U _P i), and that a pulse-width-modulated output signal UA having a duty cycle of 90%, ie a 10% share of the first (lower) potential U _P i and a 90% duty cycle proportion of of the second (higher) potential U _P2 per clock cycle, an effective voltage of 90% of the difference of the second potential and the first potential, ie Uw = 0.9 * (U _P 2-UPI). Since the pulse-width-modulated output signal UA is applied to a coil 2, the effective voltage Uw is obtained by integrating the pulse-width-modulated output signal UA with a time constant determined by the coil 2, resulting in a smoothed course in which no abrupt voltage changes take place.

8 shows a sinusoidal effective voltage generating output signal U _{A of} the controller 21 according to the invention according to a preferred embodiment of the invention, which is obtained by changing with each clock cycle duty cycles. This output signal UA is preferred according to the invention, since in this way a particularly low-noise drive is achieved.

9 shows a three-phase system of a sinusoidally effective voltage generating output signals U _A i, UA2, UA3 a control according to the invention according to a preferred embodiment of the invention. Here, three output signals UAI, UA2, UA3 are generated in accordance with the output signal U _A shown in FIG. 8 such that 120 ° phase shifts exist between the generated corresponding effective voltages Uwi, Uw2, Uw3, whereby effective voltages U _W i, U _W 2 , Uw3 according to the phase diagram shown in FIG. 3. In particular, a first output signal UA-I corresponding to a first phase, which is shown in the upper part of FIG. 9, corresponds to the output signal UA shown in FIG. 8, thus producing one of the effective voltages Uwi corresponding to the effective voltage Uw shown in FIG , an output signal U _A2 corresponding to a second phase, that in the middle part 9, generates a second effective voltage Uw2 _> leading the first effective voltage U _W1 by 120 °, and a third phase output signal UA ₃ shown in the lower part of FIG. 9 generates a third effective voltage Uw ₃ , which lags the first effective voltage Uwi by 120 °.

FIG. 10 shows a three-phase system of sinusoidal effective voltage-generating output signals of the control according to the invention in accordance with FIG. 9 together with a magnetic row 1 of the linear drive according to the invention.

Here it is shown that the frequency of the effective voltages is chosen such that a first maximum of the first effective voltage U _W1 applied to a single coil 2 corresponds to a first single magnet 1a having a first pole direction, a first minimum of the first effective voltage Uwi _> The voltage applied to the single coil 2, a second to the first individual magnet 1 a adjacent individual magnet 1 b corresponds to a polarity reversed to the first polarity direction, a second maximum of the first effective voltage Uwi, which abuts the individual coil 2, a third to the second individual magnets 1b adjacent individual magnets 1c corresponds to one of the first pole direction corresponding polarity, and a second minimum of the first effective voltage Uwi, which abuts the single coil 2, a fourth to the third individual magnet 1c adjacent individual magnet 1d with one of the second »Polrichtung corresponding polar direction corresponds. This means that at a location, namely that of the individual coil 2, at which the first output signal U _A i is applied, the potential curve generated by the effective voltage Uwi successively the first individual magnet 1a, the second single magnet 1b, the third single magnet 1c and fourth single magnet 1d face, so that with the through four individual magnets 1 a, 1 b, 1 c, 1 d formed magnetic series 1 connected support carriage 4 at the location of the current fed by the first output signal U _A i single coil 2 passes. Of the second and the third output signal UA2, UA ₃ adjacent individual coils 2 are energized in each case to the single coil 2 energized by the first output signal UAI. The stator of the linear drive of the sliding door according to the invention is formed of successive arrangements of such individual coils 2 energized with the three output signals U _A i, U _A 2, U _A 3.

11 shows a four-phase system of a sinusoidal effective voltage Uw-i, U _W 2, U _W 3, U _W 4 generating output signals U _A i, U _A2 , U _A3 , U _{A4 of} the controller 21 according to the invention according to a preferred embodiment of the invention together with a magnetic row of the linear drive according to the invention as shown in FIG. 10. In contrast to the system shown in FIG. 10, the phase differences are not 120 °, but 90 °.

LIST OF REFERENCE NUMBERS

1 a, b, c, d Magnet series

2a, b, c coil

3a, b, c spool core

4 carrying carriages

5; 5a, 5b door leaf

6 supporting profile

7 roller arrangement, left arrangement

8 roller arrangement, right arrangement

9 bottom of the supporting profile

10 side area of the supporting profile

11 recesses in the side areas of the supporting profile

12 side area of the support carriage

13 bottom of the support carriage

14 return flow rail

15 treads

16 scale of a position measuring system

17 transducers of the displacement encoder

18 circuit arrangement

19 paneling

21 control

21a control module

21b power level a distance

X drive direction y transverse direction

Z supporting direction

RM magnetic grid

L gap gap

I-magnet magnet length

Claims

claims

1. Sliding door with a magnetic drive system for at least one door leaf (5), with a drive in the direction of magnet series (1) whose magnetization in its longitudinal direction at certain intervals changes the sign, and a support carriage (4) on which the door leaf (5) can be fastened, as well as with a coil arrangement consisting of a plurality of coils (2a, 2b, 2c) and coil cores (3a, 3b, 3c), which with appropriate control of the individual coils (2a, 2b, 2c) interact with the Magnetic series (1) causes the feed forces, and a

Control (21) which controls the individual coils (2a, 2b, 2c) or groups of coils (2a, 2b, 2c) pulse width modulated.

2. Sliding door according to claim 1, characterized in that the control (21) the individual coils (2) or groups of coils (2 a, 2 b, 2 c) drives multiphase.

3. Sliding door according to claim 1 or 2, characterized in that the pulse width modulated drive simulates a sinusoidal or sinusoidal lying between two potentials voltage waveform, which is applied to a coil (2a, 2b, 2c) or to a group of coils.

4. Sliding door according to claim 3, characterized in that the frequency of the sinusoidal or sinusoidal voltage curve is selected so that a time interval between a maximum and a minimum of the sinusoidal or sinusoidal voltage waveform equal to a duration of movement of the magnetic series (1) is the length of a pole pitch of two adjacent individual magnets (1a, 1b, 1b, 1c, 1c, 1d) of the magnet row (1) facing in the direction pointing to the coil arrangement having a different polarity, and that a time interval between two maxima of the sinusoidal or sinusoidal voltage waveform equal to a duration of movement of the magnet array (1) by the length of a pole spacing of two adjacent individual magnets (1a, 1c; 1 b, 1d ) of the magnet array (1) having an equal polarity in the direction of the coil arrangement.

5. Sliding door according to claim 3 or 4, characterized in that the controller (21) the coil (2) or groups of coils (2 a, 2 b, 2 c) drives multiphase and a phase angle between two adjacent phases corresponding to the quotient of the time interval is shifted between two maxima of one phase and the number of phases.

6. Sliding door according to one of the preceding claims, character- ized in that the controller (21) controls the coils (2) as a function of a relative position between the coils (2) and the magnet array (1).

7. Sliding door according to claim 6, characterized by an optical or magnetic displacement sensor for detecting the relative position between the coils (2) and the magnet array (1).

8. Sliding door according to one of the preceding claims, characterized in that the controller (21) has a number of power outputs corresponding to the number of the door leaves (5) of the sliding door.

9. Sliding door according to one of the preceding claims, characterized in that the controller (21) movement of wenigs- at least two mechanically independently movable door leaves (5) of the sliding door synchronized.

10. Sliding door according to one of the preceding claims, characterized by a with the support carriage (4) connected Rollenanord- tion (7, 8), which fulfills a supporting function with respect to the door leaf (5) and a certain gap-shaped distance (a) between the magnet series ( 1) and the coil cores (3) guaranteed.

11. Sliding door according to one of the preceding claims, characterized in that the magnet row (1) parallel to the supporting direction (z) and transversely to the drive direction (x) is magnetized.

12. Sliding door according to one of the preceding claims, characterized in that the magnet array (1) consists of one or more high-performance magnets, preferably rare earth high-performance magnets, more preferably of the NeFeB or Sm ₂ Co type.

13. Sliding door according to one of the preceding claims, characterized in that the sliding door is designed as a curved sliding door or Hori- zontal sliding wall.