WO2016037832A1

WO2016037832A1 - Control device and operating method for a closure drive, closure drive, and closure thus driven

Info

Publication number: WO2016037832A1
Application number: PCT/EP2015/069271
Authority: WO
Inventors: Lothar Nagel
Original assignee: Hörmann KG Antriebstechnik
Priority date: 2014-09-12
Filing date: 2015-08-21
Publication date: 2016-03-17
Also published as: EP3191670A1; EP3191670B1; DE102015000582A1

Abstract

The invention relates to a control unit (42) for a closure drive (41) for driving a wing (24) of a closure (22) for openings in buildings (20) or enclosures. The control device (42) comprises a closing edge motion detecting unit (52) and a closure drive control unit (54). The closing edge motion detecting unit (52) is designed to detect an instantaneous connecting edge velocity (v_m) and/or an instantaneous connecting edge acceleration (a_m) of a closing edge (44, 46) of the wing (24). The closure drive control unit (54) is designed to control the closure drive (41) based on the detected instantaneous connecting edge velocity (v_m) and/or the instantaneous connecting edge acceleration (a_m).

Description

CONTROL APPARATUS AND OPERATING METHOD FOR A FINAL DRIVE AND FINAL DRIVE AND ASSEMBLY THEREOF

The invention relates to a control device and an operating method for a final drive. Furthermore, the invention relates to a final drive,

in particular a door or door drive, with such a control device and a closure, in particular a door or a gate, with such a

Final drive.

Doors for buildings or enclosures, such as doors or gates, are increasingly being equipped with power drives in the private sector.

Power-driven doors or gates should be designed in such a way that they do not pose any danger to the user.

This presents a particular challenge in the case of tilting doors. FIG. 1 shows a tilt gate 10 according to the prior art. The tilt gate 10 comprises a tilt gate 12, which is shown by way of example in five positions, which are numbered I to V. With I the open position is designated. With V is the

Closed position called. Designate the positions II to IV

Intermediate positions during the closing process.

Fig. 2 shows an example of the movement of the Kipptorflügels 12 as

Speed-time chart. It can be seen that the tilt gate initially accelerates when closing, until a maximum speed is reached. Then, the movement of the Kipptorflügels 12 is braked until the

Closed position is reached. This results depending on the momentary movement speed of the

Kipptorflügels 12 different impact forces, such as when hitting an obstacle. In particular, at high speeds of movement, it can lead to serious injuries if the Kipptorflügel 12 encounters a person.

EP 2 388 424 A2 describes a door drive device for driving a gate leaf. The door drive device automatically detects its installation state and monitors and controls the movement of the door leaf in dependence of

Mounting.

WO 201 1/095 474 A1 discloses a door drive device which can automatically detect a door model.

From WO 2012/076 619 A1 a sectional door wing is known which has a

Can detect relative movement between a Endpaneel and an adjacent panel.

The aforementioned control devices according to the prior art control the engine speed. The engine speed is controlled as a function of engine parameters, such as the current. Other sensors only cause a shutdown on contact and detect no instantaneous speed of the gate over the entire door travel.

The energy that arises when a gate strikes an obstacle is basically the mass of the door and the speed of the door

Main closing edge dependent. Due to the special kinematics of gates, the speed of the main closing edge is often not proportional to the speed of the drive motor. This is particularly pronounced for example in the case of overhead doors; but also in other door types, such as swing gates or shutters to note. It usually follows that at constant engine speed the

Speed at the main closing edge varies. This can lead to different impact forces over the entire doorway. That can be unfavorable for compliance with permissible forces. One idea is to provide a nearly constant speed of the main closing edge.

It is an object of the invention to improve closures of buildings or enclosures in terms of their safety.

The object is solved by the features of the independent claims.

Advantageous developments are the subject of the dependent claims.

In one aspect, the invention provides a tailgate control apparatus for driving a wing of a closure for openings in structures or enclosures. The control device comprises a

Closing edge movement detecting means for detecting a

Momentanschließkantengeschwindigkeit and / or a

Momentary edge acceleration of a closing edge of the wing and a final drive control device for operating the final drive based on the determined Momentanschließkantengeschwindigkeit and / or the Momentanschließkantenbeschleunigung.

It is preferable that the closing edge movement detecting means comprises at least one closing edge movement sensor unit for detecting movement data.

It is preferable that the movement data be at least one of the following

Data types contains:

Acceleration data indicating the amount of acceleration acting on the wing and / or the closing edge; and or

Directional data indicating the direction of the acceleration acting on the wing and / or the closing edge; and / or engine speed data indicative of the speed of a final drive motor; and or Engine performance data indicating the instantaneous engine power of an engine of the final drive.

It is preferable that the closing edge movement sensor unit comprises at least one of the following sensors:

an acceleration sensor for detecting a

Acceleration; and or

a position sensor for detecting a direction; and / or an engine speed sensor for detecting an engine speed; and or

a current sensor for detecting an electric current; and or

a voltage sensor for detecting an electrical

Tension; and or

a power sensor for detecting an electric power.

It is preferred that at least one sensor is designed to be arranged on the wing and / or on the closing edge.

It is preferred that the closing edge movement sensor unit is designed to be arranged on the wing and / or on the closing edge.

It is preferable that the closing edge movement detecting means includes a closing edge movement detecting unit for detecting the

Instantaneous edge speed and / or the

Instantaneous edge acceleration from motion data.

It is preferred that the closing edge movement detection device has a closing edge movement data transmission unit for the wired and / or wireless transmission of movement data of the closing edge to the closing edge movement determination unit. It is preferred that the final drive control device comprises at least one of the following units:

a storage unit for storing a

Closing edge normal speed setpoint and / or a closing edge normal acceleration setpoint; and / or a comparison unit for comparing a

Closing edge normal speed setpoint with a

Momentanschließkantengeschwindigkeit and / or a

Closing edge normal acceleration set point with one

Momentary edge acceleration to turn on

To obtain closing edge movement comparison result; and / or an operating state determination unit for determining an operating state of the final drive from the instantaneous closing edge speed and / or the

Currently closing edge acceleration; and / or an operating state control unit for controlling the final drive depending on an operating condition.

It is preferred that the operating state determination unit comprises at least one of the following modules:

a counterbalance failure detection module configured to detect a failure of a counterbalancing device; and or

a motor rotation direction detection module for detecting a motor rotation direction; and or

a passenger rider recognition module for recognizing a person traveling with the wing; and or

an obstacle detection module for detecting an obstacle in the range of movement of the wing.

In another aspect, the invention provides a terminal drive for driving a wing of a closure for openings in structures or enclosures with a preferred control device. According to a further aspect, the invention provides a conclusion to the

Closing openings in structures or enclosures, in particular door and / or gate, with a wing and with a preferred control device and / or with a preferred final drive.

According to a further aspect, the invention provides a method for operating on a wing of a closure of an opening in structures or

Enclosures connected to the final drive, with the steps:

Determining an instantaneous edge velocity and / or an instantaneous edge acceleration of a closing edge of the vane from motion data;

Controlling the final drive in dependence on the determined instantaneous edge speed and / or the

Currently closing edge acceleration.

It is preferred that the determination of an instantaneous closing edge speed and / or an instantaneous closing edge acceleration of a closing edge of the blade from movement data comprises at least one of the following steps:

Detecting the movement data by means of a arranged on the wing and / or on the closing edge

Closing edge motion sensor unit; and / or comparing a closing edge normal speed setpoint with the instantaneous closing edge speed and / or a closing edge normal acceleration setpoint with the

Instantaneous edge acceleration for determining a closing edge movement comparison result; and or

Determining an operating state of the final drive from the Momentanschließkantengeschwindigkeit and / or

Instantaneous edge acceleration and / or one

Closing edge movement comparison result.

Preferably, the method further comprises the step Save the determined during a faultless door travel

Instantaneous edge speed as

Closing edge normal speed setpoint and / or the instantaneous edge acceleration as

Closing edge normal acceleration setpoint in one

Storage unit.

It is preferred that the control of the final drive in dependence on the determined Momentanschließkantengeschwindigkeit and / or the

Instantaneous edge acceleration comprises at least one of the following steps:

Controlling the final drive as a function of the closing edge movement comparison result; and or

Controlling the final drive depending on the operating condition; and or

Outputting a control signal to the tail drive for stopping the wing; and or

Issuing a control signal to the final drive to reverse the wing.

Further preferred embodiments will become apparent from the claims of German Patent Applications 10 2014 1 15 189.5 and 10 2014 842.8. Therein is described as another embodiment, a door drive for a swing door, in which the mounting method is entered. By entering the type of mounting an accurate path-dependent relation between the rotational movement of a motor shaft and the closing edge of the driven wing is known. Thus, the control can determine the speed of the closing edge by monitoring the rotational speed taking into account the path dependence and the

Regulate control depending on this speed. For example, will the

Rotational speed optimized so that the speed is chosen so large that nowhere is a limit for the kinetic energy of the driven wing is exceeded throughout the way. This embodiment of the invention relates to the application of the above ideas to a swing door operator for a swing door. Furthermore, the invention relates to a rotary door operator driven swing door and a control device for a swing door operator.

Turntable door drives are known, for example, from DE 20 2005 021 752 U1, DE 10 2006 062 333 A1, DE 10 2005 001 328 A1, DE 10 2004 061 630 B4, DE 10 2004 061 629 A1, DE 10 2004 061 624 B3 known.

Doors, such as swing doors, are increasingly being equipped with power drives in the private sector. Power-driven doors should be designed so that they do not pose any danger to the user.

The aforementioned door drives are provided with safety devices. For example, the recorded power of the drive motor can serve as a measure of whether the door leaf has struck an obstacle.

The energy that is generated when a gate strikes an obstacle is fundamentally dependent on the mass of the door leaf, which is also referred to as a rotary wing, and its speed. Due to the kinematics of the frequently encountered rod transmission, for example in the form of a

Scissors linkage, which is sometimes referred to as standard linkage, or a slide linkage, the speed of the door leaf is not proportional to the speed of the drive motor. It usually follows that the speed of the door leaf varies at a constant engine speed. In particular, when opening the door leaf, the speed can increase sharply towards the end of the movement.

So far, it is common to specify dimensions, how to connect the door drive to the door. When using a slide, for example, a certain depth in the soffit is proposed. Furthermore, currently can only be programmed whether a scissor linkage or a slide rail is used. Different installation variants provide for swing door operators for completely different kinematic conditions. The standard DIN-EN 16005 suggests for a so-called low-energy operation, that the maximum kinetic energy at the main closing edge does not exceed 1, 69 J.

The energy is determined from the speed of the main closing edge, i. H. derives from the time over a certain door angle. Therefore, it is so far checked in a decrease with the stopwatch, whether the times are respected.

But this also means that if you start gently and gently stops in the high-speed drive, although the energy requirement may be violated, but still the

Energy condition seems to comply.

It is therefore preferred that the control device is a control device for a swing door operator for driving a pivotable about a vertical axis rotary wing of a swing door and is provided with a mounting-type input device for inputting or detecting a

Swing door drive assembly of the swing door operator is formed.

It is preferable that the mounting input means for inputting or

Detecting the distance between a swing door drive shaft and the

Vertical axis is formed.

It is preferred that the mounting input device is designed to determine a range of values for the distance and / or the relative position of a rotary door drive shaft and the vertical axis from the input or detected swing door drive mounting type.

It is preferable that at least two in the mounting input device

Rotary door drive assembly types selected from the following group:

Lintel mounting, sliding linkage, hinge side;

Lintel mounting, sliding linkage, counterband side; Lintel mounting, scissors linkage, counterband side;

Rotary wing assembly, slide linkage, hinge side;

Rotary vane mounting, sliding linkage, counterband side;

Turntable assembly, scissors linkage, hinge side;

It is preferable that the mounting input means is configured to input or detect a lintel mounting position.

It is preferable that the mounting input means is configured to input or detect a rotary wing mounting position.

It is preferable that the mounting input means is configured to input or detect a reveal depth.

It is preferable that the mounting input means is configured to input or detect a rotary blade flashover.

Preferably, the control device for the swing door operator comprises a closing edge movement detection device, which is used to determine a

Momentanschließkantengeschwindigkeit and / or a

Instantaneous edge acceleration of a closing edge of the rotary wing based on the stored rotary door drive assembly type is formed.

It is preferable that the closing edge movement detecting means comprises a rotary encoder measuring module for detecting a rotary door operator motor speed and / or a rotary door operator motor rotating angle.

It is preferable that the closing edge movement detecting means comprises a closing edge movement determining module that is formed of the swing door drive motor rotational speed and / or the

Swing door drive motor turning angle and the swing door drive mounting type the moment connecting edge speed and / or the To determine the instantaneous edge acceleration of the closing edge of the rotary vane.

A preferred swing door operator comprises a rotary vane drive means for driving the rotary vane and a

Rotary vane drive device control means for controlling the

Rotary vane drive device on the basis of the rotary door drive assembly type and the determined Momentanschließkantengeschwindigkeit and / or the determined Momentanschließkantenbeschleunigung.

In another aspect, the invention provides a swing door having a preferred rotary door operator described above.

An advantageous embodiment of the invention relates to a control device for a swing door operator for driving a rotary wing of a swing door with a mounting-type input device, which is designed for inputting or detecting a swing door drive assembly of the swing door operator, with a closing edge movement detection device, which is used to determine a

Momentanschließkantengeschwindigkeit and / or a

Momentanschließkantenbeschleunigung a closing edge of the rotary wing based on the rotary door drive assembly type is formed and with a

A swing door operator control device for controlling the swing door operator based on the swing door drive assembly type and the determined one

Momentanschließkantengeschwindigkeit and / or the determined

Currently closing edge acceleration.

Essential for the kinematics of the rotary wing, so the determination of

Dependence between rotational speed or opening angle of the rotary vane and closing edge speed and thus the impact energy when hitting an obstacle is the distance / the relative position between the pivot point of the drive and the pivot point of the door. The distance perpendicular to the wall in

Passage direction of the swing door between the swing door drive shaft and the vertical axis generally influences the kinematic behavior more than the distance parallel to the door plane.

The swing door drive forms the basis for a high level of comfort, eg. B. the highest possible speed on the main closing edge, taking into account the requirements of low energy operation. This can be achieved, inter alia, by the drive-side programming of the various types of installation.

Because of the programmed mounting method, the kinematic conditions

are widely known, the speed at the main closing edge can be controlled to be substantially at the upper limit set by the power condition during the high speed running.

For example, the maximum allowable speed at the

Main closing edge of a swing door with a mass of 80 kg and a width of 1 100 mm about 350 mm / s.

With the preferred devices and methods, in particular, the advantages described below can be achieved.

A preferred embodiment is suitable, regardless of the kinematics of the building completion to be driven for a nearly constant

Speed of the main closing edge.

A preferred embodiment is suitable for closures that have no direct proportionality between closing edge speed and drive time, drive path and / or engine speed, the closing edge speed over a range of Torfahrt based on the measurement of

Instantaneous edge speed and / or

Momentary edge acceleration to keep substantially constant. In a preferred embodiment, a sensor unit is mounted in the region of the closing edge. The sensor unit includes, for example, a

Acceleration sensor and a position sensor. The sensor unit can the

Acceleration and the direction of acceleration capture. The measured values are routed to a motor control unit and processed. The type of signal transmission is less relevant. The engine control unit allows a substantially constant speed of the main closing edge by means of a suitable algorithm.

The main closing edge moves at a nearly constant speed. This allows a more even force shutdown across the entire doorway. The gate system can become safer. There are also more

Applications.

In a vertically guided gate often compensates a spring, the weight of the gate. One then speaks of a weight-balanced goal. If the weight compensation device fails, for example due to a breakage of the spring, the gate accelerates abruptly in the direction of the ground. This acceleration differs significantly from the normal drive. It can therefore be suspected a spring break. The control device goes on the basis of the measured

Acceleration values in a safe state.

When installing door drives, errors can occur. For example, to a wrong connected motor. In this case, it is possible that the engine is turning upside down. The gate will OPEN instead of CLOSE and vice versa. This error can lead to security problems. In particular, if properties of the wrong direction of movement are assigned. An example of one

motion-dependent property is the force limit. The force limit acts in the closing direction, i. TO, often more sensitive than in the

Opening direction, d. H. ON. However, when using conventional single-channel incremental encoders, the information about the direction of movement is missing. This can be too

Lead to security problems. Through the use of the sensor unit is the Direction of movement of the gate detected. The controller can switch to a safe state.

In addition, there is the possibility that a person drives along when opening the gate in the case of vertically guided gates, for example roller shutter gates. The person could fall from a great height or be wrapped in the so-called roller shutter. Due to the additional load, a person moving along changes the acceleration profile. This deviation can be detected with the sensor unit and processed with a gate control, which in turn can establish a safe state.

Similar to recognizing a traveling person, a sudden obstacle changes the acceleration profile. This deviation can in turn be detected with the sensor unit and processed with a gate control.

Embodiments of the invention will be explained in more detail with reference to the accompanying drawings. It shows:

Fig. 1 shows an embodiment of a tilt gate according to the prior

Technology;

Fig. 2 is a diagram of the instantaneous edge speed

opposite the time of the tilt gate of Fig. 1;

Fig. 3 shows an embodiment of a tilting gate with a preferred

Controller;

4 is a schematic diagram of a preferred control device;

Fig. 5 is a diagram of the instantaneous edge rate

against the time of the tilt gate of Fig. 3; a graph of the instantaneous edge velocity versus time to illustrate the detection of a failure of a weight balancer; a graph of the instantaneous edge speed versus time to illustrate the detection of a person traveling; a graph of the instantaneous edge velocity versus time to illustrate the detection of an obstacle; a schematic representation of the tilting gate of Figure 3 in a closing operation. and an embodiment of an operating method; a speed-wing opening angle diagram of the main closing edge of a swing door without controlled drive for different types of installation; a schematic view of an embodiment of a swing door operator; a view from above on a swing door with a

Swing door operator in a mounting manner; a side view of the swing door of FIG. 13; a view from above on a swing door with a

Swing door operator in another type of installation;

Fig. 16 is a side view of the swing door of Fig. 15; Fig. 17 is a top view of a swing door with a

Swing door operator in another type of installation;

Fig. 18 is a side view of the swing door of Fig. 17;

19 is a view from above of a swing door with a

Swing door operator in another type of installation;

Fig. 20 is a side view of the swing door of Fig. 19;

Fig. 21 is a top view of a swing door with a

Swing door operator in another type of installation;

FIG. 22 is a side view of the swing door of FIG. 21; FIG.

Fig. 23 is a top view of a swing door with a

Swing door operator in another type of installation and

FIG. 24 is a side view of the swing door of FIG. 23. FIG.

In particular, reference is made below to FIGS. 3 and 4.

A building 20 is provided with a termination 22. The conclusion 22 has a wing 24 for closing an opening 25 of the structure 20.

The structure 20 is for example a garage 26. The opening 25 is as

Garage opening 28 of a garage space to be closed 30 formed.

The closure 22 serves to close off the opening 25 and is designed, for example, as a gate 32, in particular a tilting gate 34. The gate 32 is disposed at the opening 25 for closing the structure 20. The gate 32 comprises a gate frame 35, a gate leaf 36, a

Weight compensation device 38 and a door drive 40 and a

Control device 42.

The door frame 35 is attached to the structure 20 and arranged at the opening 25.

The door leaf 36 is an example of a wing 24 and suitable to complete the opening 25 completely. The door leaf 36 has a main closing edge 44. The gate leaf 36 may have three auxiliary closing edges 46. The

Hauptschließkante 44 and the secondary closing edges 46 are examples of

Closing edge.

The weight compensation device 38 serves to equalize the weight of the gate leaf 36. The weight compensation device 38 preferably has a spring 48 and a lever rod 50. The spring 48 is attached, for example, at a lower end of the door frame 35 and connected to the lever rod 50. The lever rod 50 is preferably pivotally mounted on the door frame 35 and connected to the door leaf 36. This design is also known as the so-called Berry Gate.

The door drive 40 is suitable to drive the door leaf 36. The door operator 40 is an example of a final drive 41.

The control device 42 is provided for controlling the closing drive 41. The control device 42 comprises a

Closing edge movement detecting means 52 and a

Final drive control device 54.

The closing edge movement detection device 52 is used to determine a Momentanschließkantengeschwindigkeit v _m and / or one Momentanschließkantenbeschleunigung a _m a closing edge, in particular the main closing edge 44th

The closing edge movement detecting device 52 includes a

Locking edge movement sensor unit 58, a

Closing edge movement determining unit 60 and a

Closing edge movement data transfer unit 62.

The closing edge movement sensor unit 58 is configured to detect movement data 59 of the wing 24 and / or a closing edge, such as the main closing edge 44. The motion data may include acceleration data, direction data, engine speed data, and / or engine performance data.

The acceleration data is a measure of the amount of acceleration acting on the wing 24 and / or a closing edge, such as the main closing edge 44. The direction data contain information about the direction of the

Acceleration on the wing 24 and / or a closing edge, like the

Hauptschließkante 44, acts.

The engine speed data provides information about the instantaneous speed of a motor of the final drive 41.

The engine performance data describe the instantaneous engine power of the engine of the final drive 41.

The closing edge movement sensor unit 58 is configured to detect magnitude and / or direction of acceleration. In addition, the

Locking edge motion sensor unit 58 may be configured to detect engine speed data and / or engine performance data.

The closing edge movement sensor unit 58 includes, for example, an acceleration position sensor 64. The acceleration position sensor 64 is

designed to detect magnitude and direction of an acceleration. such Sensors are available as integrated circuits. Of the

Acceleration position sensor 64 provides acceleration data and direction data for the closing edge movement determination unit 60. Alternatively or additionally, an acceleration sensor 65 can be used, which detects only the amount of acceleration. Alternatively or additionally, a position sensor 67 can be used which only detects the direction of the acceleration. In addition, current, voltage and power sensors may be provided.

The closing edge movement determining unit 60 is formed from the movement data of the closing edge movement sensor unit 58

Instantaneous edge acceleration a _m and / or the

Instantaneous edge velocity v _m . In particular, the closing edge movement determining unit 60 is formed, which

Instantaneous edge acceleration a _m and / or the

Momentanschließkantengeschwindigkeit v _m as vector quantities, ie with magnitude and direction to determine. The closing edge movement determination unit 60 may be formed, for example, by a microcontroller.

The instantaneous edge acceleration a _m is taken directly from the

Acceleration position sensor 64 detected. The

Instantaneous edge rate v _m can be calculated, for example, by integrating the instantaneous edge acceleration a _m .

The closing edge movement data transfer unit 62 is configured to transfer the movement data from the closing edge movement sensor unit 58 to the closing edge movement determination unit 60. Preferably, the closing edge movement data transmission unit 62 comprises a transmitter 66 and a receiver 68 for wireless transmission of the movement data. The transmitter 66 is provided on the closing edge movement sensor unit 58. The receiver 68 is at the closing edge movement determining unit 60

intended. The final drive control device 54 serves to control the closing drive 41 and comprises a bench-state determination unit 70 and an operating state control unit 71.

The final drive controller 54 is formed, the

Instantaneous edge velocity v _m and / or the

Instantaneous edge acceleration a _m .

The final drive control device 54 preferably has a memory unit 72 and a comparison unit 74.

In the storage unit 72, closing edge normal speed command values 73 and / or closing edge normal acceleration target values 75 are stored as they are detected in an ordinary door travel.

The comparison unit 74 is formed, a

Closing edge movement comparison result 77 from a comparison between a closing edge normal speed command value 73 and the

Instantaneous edge velocity v _m and / or des

Closing edge normal acceleration setpoint 75 with the

Instantaneous edge acceleration a _m . For example, the values to be compared are deducted from each other. The obtained difference represents an example of the closing edge movement comparison result 77.

As shown in Fig. 5, the kinematics of the gate 32 through the

Control device 42 are balanced. The direct measurement of

Momentanschließkantengeschwindigkeit v _m and / or the

Momentary edge acceleration a _m allows a controlled approach of the wing 24 (area A), a largely constant speed of movement of the wing 24 (area B) and a controlled deceleration of the wing 24 at the end of the movement (area C). In a faultless door ride agree

Instantaneous edge velocity v _m and the

Closing edge normal speed setpoint 73 substantially coincide. In an advantageous embodiment, the

Operating state determination unit 70 at least one of the following modules. A counterbalance failure detection module 76, a motor-rotation-direction detection module 78, a passenger-driving-detection module 80, and an obstacle-detection module 82.

The mode of operation of the control device 42 will be explained in more detail below with reference to FIGS. 5 to 9. The graph of the normal closing speed set points 73 is denoted by S, to is the time when an event occurs, ti is the time when the event is detected by the control device 42, t.2 is the time when the control device 42 has responded to the event and the drive completion 41 has taken the desired state.

The acceleration position sensor 64 is on the wing 24 in the region of

Main closing edge 44 is arranged. The acceleration position sensor 64 detects the magnitude and direction of acceleration of the main closing edge 44

Movement data 59 is sent from the transmitter 66 to the receiver 68

transmitted. The movement data 59 are sent to the

Close edge movement determination unit 60 transferred.

The closing edge movement determining unit 60 determines from the

Motion data 59 the instantaneous edge acceleration a _m and / or the instantaneous edge velocity v _m . It can the

Momentary edge acceleration a _m, for example, equal to the

Motion data 59 are set. It is also possible that the

Instantaneous edge acceleration a _m by averaging the motion data 59 is determined.

The instantaneous connection edge speed v _m can be achieved, for example, by

Integrate the instantaneous edge acceleration a _m and / or the

Motion data 59 are determined. During the installation of the control device 42 and / or for maintenance, the time profile of the values of the instantaneous edge acceleration a _{m may} be the closing edge normal acceleration setpoint values 75 and / or the time profile of the values of the instantaneous closing edge speed v _m

Closing edge normal speed command values 73 are stored in the memory unit 72. This is the course of a faultless Torfahrt in the

Control device 42 taught.

In normal operation, those of the

Closing edge movement determination unit 60 determined

Momentary edge acceleration a _m and / or

Momentanschließkantengeschwindigkeit v _{m passed} to the comparison unit 74. The comparison unit 74 compares, for example by subtraction, the instantaneous closing edge speed v _m and / or

Momentary edge acceleration a _m with the respective

Closing edge normal speed reference 73 or

Closing edge normal acceleration set point 75, which is expected at the moment of the door travel, ie at a certain position of the wing. The comparison unit 74 based thereon

Closing edge movement comparison result 77, such as the difference of the values in the case of the comparison by subtraction.

Subsequently, the operating state determination unit 70 determines from the

Closing edge movement comparison result 77 an operating state 84, optionally by means of the modules 76, 78, 80, 82.

In an error-free door travel, the operating state determination unit 70 outputs the operating state "NORMAL" to the operating state control unit 71.

If a failure of the weight balancing device 38, for example due to a breakage of the spring 48, on, so the wing 24 accelerates and thus also the

Main closing edge 44. The instantaneous edge acceleration a _m and / or Instantaneous edge rate v _m deviate from their respective setpoints. The abrupt increase in speed of the main closing edge 44 and / or its acceleration in the direction of the ground is of the

Counterbalance failure detection module 76 is detected, for example, when a threshold value S1 is exceeded. The

Operation state determination unit 70 outputs the operation state "FAILURE" to the operation state control unit 71.

The engine rotation direction detection module 78 is configured to be a wrong one

Direction of rotation of a motor of the final drive 41 to recognize. The motor rotates in a predetermined direction, such as the closing direction, and the

Instantaneous edge speed v _m deviates from the normal normal speed limit value 73 within a certain time, gives the

Operating state determining unit 70 outputs the operating state "MOTOR" to the operating state control unit 71. In particular, FIG

Motor rotation direction detection module 78, the direction of

Instantaneous edge rate v _m for detecting the wrong one

Rotation. Alternatively or additionally, the

Instantaneous edge acceleration a _m and the respective ones

Closing edge normal acceleration setpoints 75 are used.

The passenger ride recognition module 80 is configured to recognize a person riding on the wing 24. The extra weight of the person changes the instantaneous edge velocity v _m and / or the

Momentary closing edge acceleration a _{m of} the wing 24, in particular the main closing edge 44. The instantaneous closing edge speed v _m remains in this case, for example, always below the

Closing edge normal speed setpoints 73. The

Operation state determination unit 70 outputs the operation state "PERSON" to the operation state control unit 71.

The obstacle detection module 82 is configured to detect an obstacle in the door area. Hits the wing 24, in particular the main closing edge 44, a Obstacle, the instantaneous connection edge velocity v _m decreases abruptly, and a large instantaneous connection edge acceleration a _m acts opposite to the current direction of movement. It can also be the

Momentanschließkantengeschwindigkeit v _m abruptly increase, with a

Instantaneous edge acceleration a _m in the current one

Movement direction acts. If, for example, a threshold value S2

exceeded, the operating state determining unit 70 outputs the operating state "OBSTRUCTION" to the operating state control unit 71.

The output operating state 84 is evaluated by the operating state control unit 71, which generates a control signal 86 for controlling the closing drive 41. In the case of the "NORMAL" state, the door travel is continued.

When one of the states "FAILURE" or "MOTOR" is output, the operation state control unit 71 outputs the control signal 86 for stopping the wing 24 to the final drive 41. The wing 24 is stopped and stands still. After troubleshooting, you can continue.

If one of the states "PERSON" or "OBSTRUCTION" is output, the operation state control unit 71 gives the control signal 86 to stop and

Reversing the wing 24 to the final drive 41 off. The wing 24 is stopped and moved a short distance back, for example, to lower the person or release the obstacle. After troubleshooting, you can continue.

If none of the defined states occur, the operating state control unit 71 outputs the control signal 86 for stopping the vane 24 to the final drive 41 in order to prevent unsafe operation.

The controller 42 controls the speed and / or acceleration of the main closure edge 44 based on its current velocity or acceleration. Thus, for example, the non-uniform movement of a wing 24 can be compensated. In addition, different operating states 84 are recognized and processed. The controller 42 may therefore increase the safety of use of power operated shutters 22.

Further exemplary embodiments are explained in more detail below with reference to the representations of FIGS. 1 to 23.

Fig. 1 1 shows a speed vane opening angle diagram of the main closing edge of a rotary vane 106 of a swing door 100 without controlled drive for different types of installation (I to VI). How to recognize

the rotary wing 106 exceeds the allowable speed, if none

Control / regulation is used. Curve I is for lintel mounting with a drawn slide rail; Curve II is at door leaf assembly and pressed

slide rail; Curve III is in fall installation with a depressed slide rail; Curve IV is in lintel assembly with pushed scissors linkage; Curve V has been taken with door leaf assembly with pulled slide rail and curve VI has been included in door leaf assembly with drawn scissors linkage.

Hereinafter, an embodiment of a swing door drive 1 16 is explained in detail with reference to FIGS. 12 to 24.

The swing door 100 is arranged, for example as a room door, in a wall 102. The swing door 100 has a door leaf 104 which forms the rotary wing 106. The rotary wing 106 is defined around one of door hinges 108

Vertical axis 1 10 rotatably supported between an open position and a closed position.

The vertical long edge of the rotary wing 106, which faces away from the door bands 108 is also referred to as the main closing edge 1 12. The horizontal upper and lower edges of the rotary wing 106 are each also referred to as

Nebenschließkante 1 14 denotes. The main closing edge 1 12 and the

Secondary closing edges 14 are examples of closing edges. Further, the swing door operator 1 16 is provided for driving the rotary wing 106. The swing door operator 1 16 can be mounted in different ways for driving the rotary wing 106, as will be described later.

The swing door operator 1 16 includes a swing door drive housing 1 18, a rotary wing drive device 120 for driving the rotary wing 106, and a rotary wing drive controller 122 for controlling the swing door drive 1 16

Rotary vane drive device 120. In the present case are the

Rotary vane drive device 120 and the

Rotary vane drive controller 122 in the

Swing door drive housing 1 18 housed. It is also conceivable that the vane drive controller 122 may be located outside of the

Swing door drive housing 1 18, for example, in or on the wall 102 is arranged.

The rotary-wing drive device 120 comprises a rotary-wing drive motor 121, which drives a rotary-door drive shaft 124, for example via a toothed-wheel transmission. The vane drive motor 121 is, for example, with a

Encoder sensor 126 is provided which outputs an electrical signal in response to a rotary door drive motor rotation angle α. Alternatively or additionally, the encoder sensor 126 may output an electrical signal in response to a swing door drive motor speed RPM.

Furthermore, the swing door operator 120 includes a rack gear 128 that mechanically connects the swing door drive shaft 124 to the rotor blade 106. In the present case, the rod gear 128 comprises a slide linkage 130. The slide linkage 130 has a slide rail 132 and a slide rod 134. The slide rail 132 is attached to the rotary wing 106. The slide bar 134 is slidably disposed in the slide rail 132. Alternatively, as

Rod gear 128 a scissor linkage 131 may be provided which is fixed to the swing door drive shaft 124 and the rotary wing 106. The vane drive controller 122 is configured

Swing door operator 120 based on a

Instantaneous edge velocity v _m and / or

To control instantaneous edge acceleration a _m , in particular to regulate. The vane drive controller 122 may be formed by, for example, a microcontroller 136 and includes a

Mounting type input device 138 and a

Closing edge movement detecting device 140.

The mounting-type input device 138 is for inputting a

Swing door operator assembly DMA trained. This can be done for example by buttons 142, switch 144 or via wireless interface 146. The selected swing door drive assembly DMA may be used in the

Closing edge movement detection device 140 are stored. The mounting-type input device 138 may also be separate from the

Swing door operator 122 may be arranged.

The closing edge movement detecting device 140 is formed, the instantaneous closing edge speed v _m and / or

Momentary edge acceleration a _m with the help of

Determine swing door operator assembly DMA. The

Locking edge movement detection device 140 includes

Encoder measurement module 148, memory module 150 and a closing edge movement determination module 152.

The rotary encoder measuring module 148 is configured to process the signals of the rotary encoder 126 and, for example, from a rotary door drive motor running time T of the rotary vane drive motor 124 and from the

Swing door drive motor speed UPM

To determine swing door operator engine rotation angle α. Alternatively or additionally, the rotary door operator motor rotation angle α can also be measured directly. The memory module 150 includes the stored rotary door operator assembly DMA. For example, the swing door door mount DMA includes information as to whether the swing door operator 16 is mounted on the lintel 106, the belt or mating belt side of the swing door 100, and what type of rack gear 128 is used. In addition, the

Revolving door drive assembly DMA Information about the reveal depth and the

Rotary vane flashover and an x-distance dx of the swing door drive shaft 124 in the x-direction of the vertical axis 1 10 included.

The closing edge movement determination module 152 is configured as one

Instantaneous edge velocity v _m and / or

Instantaneous edge acceleration a _m . The

Instantaneous edge velocity v _m and / or

Momentary edge acceleration a _m essentially depends on a y distance d _y . From the knowledge of Drehflügeltürmontageart DMA from the closing edge movement detecting module 152 for the y-distance d _y in the y direction between the vertical axis 1 10 and the swing door drive shaft 124, a

Value range determined. Knowing the width of the rotary wing 106 is the

Transmission ratio between rotary door operator motor speed UPM and the instantaneous edge speed v _m and / or

Momentary edge acceleration a _{m of} the main closing edge 1 12

Approximately known, so that the energy of the main closing edge 1 12 is approximately known.

In general, the y-distance d _{y has} a greater influence on the kinematics than the x-distance d _x . In principle, the x-distance d _x can be measured more easily.

Preferably, the encoder measurement module 148, the memory module 150 and the closing edge movement determination module 152 together form one

Rotary vane drive device control unit 158. The encoder measurement module 148 provides an actual value 160 to a certain extent, whereas in the memory module 150 setpoint values 162 are stored. The closing edge movement Determining module 152 determines from the actual value 160 and the desired value 162, in particular approximately the momentary closing edge velocity v _m and / or momentary closing edge acceleration a _m and a manipulated variable 164 to be output, such as the motor current of the

Swing door drive motor 121.

The path / time dependent gear ratios for different

Rotary door drive assembly DMA are stored in the memory module 150 in the form of a look-up table, for example. Each position of the rotary wing 106 or each rotary door drive motor rotation angle

α / swing door drive motor running time T of the swing door drive motor 122 is associated with a gear ratio. It is also conceivable to store a function adapted to the speeds shown in FIG. 11 in the memory module 150.

Thus, the path / time dependent gear ratio between the

Swing door drive motor speed UPM and the

Instantaneous edge velocity v _m and / or

Momentanschließkantenbeschleunigung a _{m of} the main closing edge 1 12 for each position of the rotary wing 106 between the open position and the closed position known. The user, however, only needs the chosen one

Swing door operator assembly DMA and does not require any knowledge of the kinematics of swing door operator 1 16.

In a further embodiment, the y-distance d _y in the

Swing door operator assembly type DMA can also be entered.

The vane drive controller 122 controls the

Rotary vane drive device 120 such that the energy of the main closing edge 1 12 remains approximately below a selected energy.

A preferred control device 154 includes the mounting-type input device 138, the closing-edge-motion detecting device 140, and a Swing door operator 156. The

Hinged door operator 156 is configured to control sash door drive 16 and includes a sash drive controller 122 for controlling sash drive 120.

Hereinafter, different types of mounting will be explained with reference to FIGS 13 to 24. The swing door operator assembly DMA is preferably programmed when installing the swing door operator 1 16.

In Figures 13 and 14, the swing door operator 1 16 is mounted on the lintel of the wall 102 and has a pulling slide linkage 130th Der

Swing door operator 1 16 is arranged on the hinge side. Typical soffit depths are in this type of mounting between about 20 mm and about 40 mm. Also, a rotary blade overlap of about 0 mm to about 40 mm is possible.

In Figures 15 and 16, the swing door operator 1 16 is mounted on the rotary wing 106 and has a slide linkage 130. The swing door operator 1 16 is arranged on the band side. A rotary vane overlap up to about 50 mm is possible.

In Figures 17 and 18, the swing door operator 1 16 is mounted on the lintel of the wall 102 and has a slide linkage 130. The swing door operator 1 16 is arranged on the Gegenbandseite. Typical reveal depths in this type of installation are between 0 mm and 50 mm, preferably 20 mm, 30 mm, 40 mm or 50 mm.

In FIGS. 19 and 20, the swing door operator 1 16 is mounted on the rotary wing 106 and has a scissors linkage 131. The swing door operator 1 16 is arranged on the band side. A rotary vane overlap between about 0 mm to 200 mm is possible. Preferably, the rotary blade flashover is 10 mm, 90 mm, 125 mm or 200 mm. In Figures 21 and 22, the swing door operator 1 16 is mounted on the lintel of the wall 102 and has a scissor linkage 131. The swing door drive 1 16 is arranged on the Gegenbandseite. Typical reveal depths in this type of installation are between 30 mm and 200 mm. Preferably, the reveal depth is 30 mm, 60 mm, 90 mm, 125 mm or 200 mm.

In Figures 23 and 24, the swing door operator 1 16 is mounted on the rotary wing 106 and has a slide linkage 130. The swing door operator 1 16 is arranged on the opposite hinge side. The reveal depth is between about 0 mm and 50 mm, preferably 20 mm or 50 mm.

In one embodiment, 6 possible types of mounting are suggested from which to choose. For each type of mounting, a predetermined range is assumed internally for the x-distance d _x and the y-distance d _y . The x-distance d _x can be determined for example by specifications to the fitter; for the y-distance d _y , a range is provided, eg 0 mm to 30 mm reveal depth corresponds to 70 mm to 1 10 mm y-distance d _y for the distance between the fulcrums.

The standard specifies a maximum impact energy of 1.69 J. So far, only the times for opening and closing the swing door wing are measured and used to determine an average speed. However, the speed in the course of opening / closing can change significantly.

In the embodiments described above, the predetermined

Energy value approximated below. Nevertheless, the greatest possible comfort (eg quick closure, smooth start and gentle braking, in between as fast as possible) can be obtained. This succeeds, for example because of the knowledge of kinematics. For each swing door operator assembly DMA, a range for the y-distance d _y can be determined or predetermined and from this the energy can be estimated. For further details, reference is expressly made to DE 10 2014 1 15 189.5 and DE 10 2014 1 14 842.8.

Kipptor

Kipptorflügel

building

graduation

wing

opening

garage

garage opening

Garage space

gate

overhead door

door frame

leaf

Weight balancer

door drive

final drive

control device

Main closing edge

Secondary closing edge

feather

lever bar

Closing edge movement detection device final drive control device

Closing edge motion sensor unit

Transaction data

Closing edge movement determination unit closing edge movement data transmission unit acceleration position sensor

accelerometer

transmitter

position sensor 68 recipients

70 operating state determination unit

71 operating state control unit

72 storage unit

73 closing edge normal speed setpoint

74 comparison unit

75 closing edge normal acceleration setpoint

76 counterbalance failure detection module

77 closing edge movement comparison result

78 Motor direction of rotation detection module

80 passenger car recognition module

82 obstacle detection module

84 operating state

86 Control signal a _m Momentary edge acceleration

At the instantaneous edge rate

Worth a threshold

52 worth the threshold

100 swing door

102 wall

104 door leaf

106 rotary wing

108 door hinge

1 10 vertical axis

1 12 main closing edge

1 14 secondary closing edge

1 16 Swing door operator

1 18 Swing door drive housing

120 rotary wing drive device

121 rotary wing drive motor

122 rotary-wing drive device controller 124 swing door drive shaft

126 encoder sensor

128 bar gearbox

130 sliding linkage

131 scissors linkage

132 slide rail

134 sliding bar

136 microcontroller

138 mounting type input device

140 closing edge movement detecting device

142 button

44 switches

146 Wireless Interface

148 encoder measuring module

150 memory module

152 closing edge movement determination module

154 control device

156 swing door operator control device

158 rotary vane drive control unit

160 actual value

162 target values

164 manipulated variable

DMA swing door drive assembly type

T swing door drive motor runtime

UPM rotary door operator motor speed

α swing door drive motor turning angle

3m instantaneous edge acceleration

V _m Momentary edge speed d _x x distance

dy y distance

Claims

claims

1 . Control device (42) for a closing drive (41) for driving a wing (24) of a closure (22) for openings in structures (20) or enclosures,

with a closing edge movement detecting means (52) for

Determining a Momentanschließkantengeschwindigkeit (v _m ) and / or a Momentanschließkantenbeschleunigung (a _m ) of a closing edge (44, 46) of the wing (24), and

with an end drive controller (54) for controlling the end drive (41) based on the determined one

Instantaneous edge speed (v _m ) and / or the

Instantaneous edge acceleration (a _m ).

2. Control device (42) according to claim 1, characterized in that the closing edge movement detecting means (52) at least one

Closing edge movement sensor unit (58) for detecting movement data (59).

3. Control device (42) according to claim 2, characterized in that the movement data (59) contains at least one of the following types of data:

3.1 acceleration data indicating the amount of acceleration acting on the wing (24) and / or the closing edge (44, 46); and or

3.2 directional data indicating the direction of the wing (24)

and / or acceleration acting on the closing edge (44, 46); and or

3.3 Engine speed data, which is the speed of a motor of the

Indicate final drive; and or

3.4 Engine performance data indicating the instantaneous engine power of a final drive motor.

4. Control device (42) according to claim 2 or 3, characterized in that the closing edge movement sensor unit (58) comprises at least one of the following sensors:

4.1 an acceleration sensor (64) for detecting a

Acceleration; and or

4.2 a position sensor (64) for detecting a direction; and or

4.3, an engine speed sensor for detecting an engine speed; and or

4.4, a current sensor for detecting an electric current; and or

4.5 a voltage sensor for detecting an electrical

Tension; and or

4.6 a power sensor for detecting an electric power.

5. Control device (42) according to claim 4, characterized in that the closing edge movement sensor unit (58) is adapted to be arranged on the wing (24) and / or on the closing edge (44, 46).

6. Control device (42) according to one of the preceding claims, characterized in that the closing edge movement detection device (52) has a closing edge movement determination unit (60) for determining the

Instantaneous edge speed (v _m ) and / or the

Instantaneous edge acceleration (a _m ) from motion data (59).

7. Control device (42) according to one of the preceding claims, characterized in that the closing edge movement detection device (52) has a closing edge movement data transmission unit (62) for

wired and / or wireless transmission of movement data (59) of the closing edge (44, 46) to the closing edge movement detection unit (60).

8. Control device (42) according to one of the preceding claims, characterized in that the final drive control device (54) has at least one of the following units:

8.1 a memory unit (72) for storing a

Closing edge normal speed setpoint (73) and / or a closing edge normal acceleration setpoint (75);

and or

8.2 a comparison unit (74) for comparing a

Closing edge normal speed setpoint (73) having an instantaneous edge speed (v _m ) and / or a normally closed acceleration setpoint (75) with an instantaneous edge acceleration (a _m ) to obtain a closing edge motion comparison result (77); and or

8.3 a Betriebszustandsermittelungseinheit (70) for determining an operating condition of the final drive (41) from the

Instantaneous edge speed (v _m ) and / or the

Instantaneous edge acceleration (a _m ); and or

8.4 an operation state control unit (72) for controlling the

Final drive (41) based on an operating condition (84).

9. Control device (42) according to claim 8, characterized in that the operating state determination unit (70) comprises at least one of the following modules:

9.1 a counterbalance failure detection module (76) adapted to detect a failure of a

Weight compensation device (38) is formed; and or

9.2 a motor rotation direction detection module (78) for detecting a motor rotation direction; and or

9.3 a passenger rider recognition module (80) for recognizing a person traveling with the wing (24); and or

9.4 an obstacle detection module (82) for detecting a

Obstacle in the range of movement of the wing (24).

10. Control device according to one of the preceding claims,

characterized,

it is a control device for a swing door operator (1 16) for driving a rotary wing (106) of a swing door (100) which is rotatable about a vertical axis (110) and is provided with a mounting-type input device (138) suitable for inputting or detecting a swing-door drive-mounting type ( DMA) of the

Swing door operator (1 16) is formed.

1 1. A control device according to claim 10, characterized in that the mounting input means (138) is adapted to input or detect the distance (d _x , d _y ) between a rotary door drive shaft (124) and the vertical axis (1 10).

12. Control device according to claim 10 or 1 1, characterized in that the mounting input device (138) is formed from the input or detected swing door drive assembly (DMA) a range of values for the distance (d _y ) and / or the relative position of a swing door drive shaft (124 ) and the vertical axis (1 10).

13. Control device according to one of claims 10 to 12, characterized

in that at least two rotary door drive assembly (DMA) types are selected from the assembly input device (138) and selected from the following group:

13.1 lintel mounting, sliding linkage, hinge side;

13.2 lintel mounting, sliding linkage, opposite hinge side;

13.3 lintel mounting, scissors linkage, opposite hinge side;

13.4 rotary vane mounting, slide linkage, hinge side;

13.5 rotary-wing installation, sliding linkage, counter-belt side;

13.6 Turntable mounting, scissors linkage, hinge side.

14. Control device according to one of claims 10 to 13, characterized

characterized in that the mounting input means (138) for inputting or detecting at least one of the following parameters

Rotary door drive assembly (DMA) is designed:

14.1 a lintel mounting position or a vane mounting position and / or

14.2 a reveal depth and / or

14.3 of a rotary wing rollover.

15. Control device according to one of claims 10 to 14, characterized by a closing edge movement detection device (140), the

Determining a Momentanschließkantengeschwindigkeit (v _m ) and / or a Momentanschließkantenbeschleunigung (a _m ) of a closing edge (1 12, 1 14) of the rotary wing (106) based on the stored rotary door drive assembly (DMA) is formed.

The control apparatus according to claim 15, characterized in that said closing edge movement detecting means (140) comprises a rotary encoder measuring module (148) for detecting a swing door drive motor rotation angle (a) and / or the swing door drive motor speed (UPM) and a closing edge movement determination module (152) formed of the

Swing door operator motor rotation angle (a) and / or

Swing door drive motor speed (rpm) and the

Swing door operator assembly type (DMA) the

Instantaneous edge velocity (v _m ) and / or the

To determine instantaneous edge acceleration (a _m ) of the closing edge (1 12, 1 14) of the rotary vane (106).

17. Control device according to one of the preceding claims, formed as a control device (154) for a swing door operator (1 16) for driving a rotary wing (106) of a swing door (100) a mounting-type input device (138) configured to input or detect a swing-door-door-drive-type (DMA) of the rotary-door operator (1 16);

with a closing edge movement detection device (140) which is used to determine a momentary closing edge speed (v _m ) and / or a momentary closing edge acceleration (a _m ) of a closing edge (1 12, 1 14) of the rotary vane (106) based on the rotary door drive assembly (DMA) type.

is trained and

with a swing door drive control means (156) for controlling the swing door operator (1 16) based on the swing door operator assembly type (DMA) and the determined instantaneous edge rate (v _m ) and / or the determined instantaneous edge rate acceleration (a _m ).

18. vane drive comprising a control device according to one of claims 10 to 17, a rotary vane drive means (120) for driving the rotary vane (106), wherein the control device (122) for controlling the

Rotary vane drive means (120) based on the rotary door drive assembly (DMA) and the determined Momentanschließkantengeschwindigkeit (v _m ) and / or the determined Momentanschließkantenbeschleunigung (a _m ) is established.

19. termination drive (41) for driving a wing (24) of a closure (22) for openings in structures (20) or enclosures characterized by a control device (42) according to any one of the preceding claims.

20. termination (22) for closing openings in structures (20) or enclosures, in particular door and / or gate (32), with a wing (24) and with a control device (42) according to one of claims 1 to 17 and / or with a closing drive (41) according to claim 19.

21. A method of operating a terminal drive (41) connected to a wing (24) of a closure (22) of an opening in structures (20) or enclosures, comprising the steps of:

21 .1 determining a Momentanschließkantengeschwindigkeit (v _m ) and / or a Momentanschließkantenbeschleunigung (a _m ) of a closing edge (44, 46) of the wing (24) from movement data (59);

21 .2 controlling the final drive in dependence on the determined instantaneous edge speed (v _m ) and / or the

Instantaneous edge acceleration (a _m ).

22. Method according to claim 21, characterized in that step 12.1 comprises at least one of the following steps:

22.1 detecting the movement data (59) by means of a on the wing (24) and / or on the closing edge (44, 46) arranged

Closing edge movement sensor unit (58); and or

22.2 comparing a closing edge normal speed setpoint (73) with the instantaneous closing edge speed (v _m ) and / or a closing edge normal acceleration setpoint (75) with the instantaneous closing edge acceleration (a _m ) to determine a closing edge movement comparison result (77); and or

22.3 determining an operating state (84) of the closing drive (41) from the instantaneous closing edge speed (v _m ) and / or the instantaneous closing edge acceleration (a _m ) and / or a closing edge movement comparison result (77).

23. The method according to claim 21 or 22, characterized by the step 23.1 storing the determined in a fault-free door travel

Instantaneous edge speed (vm) as

Closing edge normal speed setpoint (73) and / or the instantaneous edge acceleration (am) as

Closing edge normal acceleration setpoint (75) in one

Storage unit (72).

24. The method according to any one of claims 21 to 23, characterized in that step 12.2 comprises at least one of the following steps: Control of the final drive (41) depending on the

Closing edge movement comparison result (77); and / or controlling the final drive (41) in dependence of

Operating state (84); and or

Outputting a control signal (86) to the terminal drive (41) for stopping the wing (24); and or

Outputting a control signal (86) to the terminal drive (41) for reversing the wing (24).