WO1995014151A1 - Method and device for controlling a motor-driven door leaf - Google Patents

Abstract

Proposed is a method of controlling the motion of a door leaf which is driven to move between two end positions and whose drive unit can be operated in at least two different torque ranges and inputs a series of pulses mapping out the motion of the door leaf into a storage and counting unit which controls the motion of the door leaf. In order to provide protection against damage by means of centralized signal processing with the minimum of signal distortion, the invention calls for the door leaf, on installation at the place of use, to be driven with a low kinetic energy from any starting position towards one of the end positions. Arrival at the end position is detected by virtue of a mechanical stop and by the change thus produced in the drive parameters determined by the storage and counting unit and is marked as the end position in that direction. The door leaf is then driven in the opposite direction, with the same low kinetic energy, to the other end position, the motion pulses generated by the incremental pulse generator being counted until the door leaf reaches the other end position where this end position is detected by virtue of a mechanical stop and by the change thus produced in the drive parameters, this end position also being marked and stored.

Description

 METHOD AND SYSTEM FOR CONTROLLING A MOTORIZED DOOR LEAF

The invention relates to a method and a system for reading, monitoring and / or controlling the sequence of movements of a door leaf which is movable by motor, in particular driven by an electric motor, between its closed and open positions, preferably a one-piece or removable movable door leaf a plurality of panels of door leaf which are articulated to one another, the motor drive unit of which can be operated in a controlled manner in at least two different speeds or torque ranges and has an incremental encoder which inputs a series of pulses which represent the movement distance into a storage and counting device which, depending on the Pulse number and thus the distance of the door leaf controls its movement.

According to conventional conception and design, motorized door leaves - this can be one or more pieces, in particular door leaves that can be moved overhead, for example also overhead link, roller and lifting gates - switching devices are provided that are in place and Place the retraction of the door leaf into the respective end position - closed or open position - display and corresponding signals to the control device for the door drive submit. In this way, the drive is directly influenced by the door leaf position itself, which has proven itself.

However, the attachment of such switches has the disadvantage of a corresponding installation outlay and the risk of damage, in particular in the closed position area of the door leaf due to ramming influences from vehicles and the like.

In order to avoid such switch arrangements which directly indicate the door leaf position, it is known to provide so-called path simulators, i.e. devices which map the movement distance of the door leaf in a small space, for which purpose signals, which are dependent on the door leaf position or the drive control, are used reproduce the highly translated path in relation to the door leaf movement in the sense of a reduction, for example in the form of a worm gear.

Finally, it is known to derive a reference value from the door leaf movement, from which the gate is monitored to the respective end position with respect to the respective remaining distance on the basis of previously recorded distance impulses.

All these ideas from the prior art are based on the aim of controlling the door leaf in a targeted manner in the respective end position in such a way that a start of the door against mechanical resistance, for example an impact with the lower edge on the bottom frame or in In the open position, run-up of guide rollers in guide rail borders or the like is prevented because of the kinetic forces and risk of destruction associated therewith. For this purpose, at least in the case of limit switches directly assigned to the door leaf or of path simulators, a relatively large amount of effort, a risk of mechanical impairment of the limit switches or the inaccuracy of highly translated simulators are accepted. The invention has for its object to carry out a detection, storage and control of the door leaf movement in such a way that the least possible risk of damage to parts relevant for the movement control of the door leaf enables signal processing that is as distortion-free and central as possible.

Starting from a procedure of the type mentioned at the outset, this object is achieved in that the door leaf, after it has been attached at the place of use, is driven with a low kinetic energy from any starting position in the direction of one of the end positions - closed or open position , whereupon the storage and counting device recognizes and marks it as one of the end positions when starting into this end position by a mechanical stop and the resulting change in the drive parameters, whereupon the door leaf is operated in the opposite direction of movement again with the low kinetic energy in the opposite end position is moved, namely counting the movement distance pulses emitted by the incremental encoder, until after this opposite end position has been reached, the changes in the drive parameters of the storage and counting device occur again by mechanical stop is recognized and stored as a mark of this other end division, whereupon the intended operating cycle of the door leaf movement is evaluated by evaluating the end position markings and the stored pulses describing the movement distance between the end positions with respect to the movement sequence of the door leaf in such a way that the door leaf between the end positions or at least before the respectively controlled end position with a small section of section in front is driven at high operating speed. A system for carrying out the method is characterized by a memory, counting and control device with a memory input for receiving the incremental encoder of the drive unit for the gate. leaf in dependence on the movement distance, with a monitoring device which records the values of the energy supply of the drive unit and with a control device which determines the movement sequence of the door leaf as a function of the stored distance impulses.

Unlike ^" according to the ideas of the prior art, the actual final state assumed in each case by mechanical limitation of the movement sequence of the door leaf in the open position and / or the closed position of the door leaf is recorded and used for the subsequent control of the operating sequence of the door leaf movement. The prerequisite for this is the use of a drive unit, the motor - in particular electric motor - of which can be operated in at least two stages, in which relatively different energies are applied to the door leaf or by the door leaf to the mechanical stop approached in the respective end position In the case of the preferably electrical design of the drive unit, pole-changing motors can be used, one can work with phase control or, in a particularly preferred manner, with a direct current motor, the speed control of which is known.

It is fundamentally possible to achieve the above-mentioned gradation of the energy by a corresponding gradation of the delivered torque, but in particular one will provide an output speed control in a corresponding gradation between slow operation and normal operation, so that in slow operation the kinetic energy occurring due to the inertia of the door leaf is accordingly low.

It is therefore consciously accepted in accordance with the invention under the above conditions that the door leaf is mechanically braked to its respective end position as a secondary effekt di ° reports this end position condition to the storage, counting and control device.

The drive unit is provided with an incremental encoder, that is to say a device which emits pulses as a function of the rotational movement of a shaft of this unit, so that the number of pulses reflects the movement distance of the door leaf between the end positions. Delays are noticeable through larger time intervals in the pulse train. It is therefore fundamentally possible to monitor this time interval between impulses for determining the end position of the door leaf and to derive the signal for reaching the end position if the door leaf is at a standstill. In a preferred embodiment and in this respect also faster, which is important for the protection of the drive, the reaching of the end position and therefore the standstill of the door leaf is determined by a mechanical stop in that the power consumption of the drive unit changes accordingly, that is to say in In the case of a direct current motor, for example due to the torque requirement which has increased to infinity, a corresponding current consumption occurs. This change in the absorbed energy can be determined very quickly, can be used to switch off the drive unit, and can be stored as a mark for the end position of the door leaf.

In principle, therefore, the door leaf is deliberately driven into the respective end position and is only controlled with respect to the drive unit after feedback of a mechanical stop that has taken place there. This procedure is used at least when the installed door is put into operation in order to determine and save the end positions. Since the increment encoder of the drive unit also stores or counts the pulse number of the increment encoder representing the distance, the subsequent operating movements of the door leaf can be controlled according to this pulse number by the storage, counting and control device. This basically happens characterized in that the door leaf is accelerated to the relatively high speed of movement or driven with a correspondingly high torque when a corresponding command - open or closed - and in that the rotational speed of the drive unit and thus the speed of the door leaf or the given torque is reduced, so that the entry into this end position takes place accordingly gently; this is done by subtracting a few pulses from the previously recorded number of pulses representing the total movement distance of the door leaf.

The procedure according to the invention comprises an initial phase for ascertaining the end positions of the door leaf in such a way that it is driven from any initial position into one of the end positions, specifically at a low speed or torque of the drive unit. The door leaf thus reaches the actuated end position and, in response to the drive or its energy values recorded, indicates the mechanically forced stop state, which is stored as one of the two end positions in the storage, counting and control device. The drive direction is then switched over so that the door leaf in turn travels the entire movement distance to the other end position with low drive energy. The number of pulses emitted by the incremental encoder is stored as a "movement distance mirror". In the other end position started in this way, the door leaf is in turn stopped by a stop and the power changes occurring in the drive unit for marking the second end position are stored. If the door leaf is already in one of the end positions during this running-in process (reading in the operating parameters of the movement path), this is recognized as the first end position when the drive unit is running in the appropriate direction or is not perceived in the opposite drive direction, so that the "start-up" takes place arbitrary position of the door leaf "in this case assumes one end position and the door leaf moves back and forth through both movements runs to enter the two end positions in the memory.

As already explained, on the basis of the values obtained via this reading-in process - storage of end positions and the number of pulses representing the movement distance - the gate can subsequently be force-controlled on the basis of these entered parameters, i.e. it is driven with high torque or high speed over the majority of the movement to be covered in each case.

However, it is also possible to save the actual movement sequence of the door leaf again, taking into account impairments in the movement sequence - wind influence, aging etc. - for example at certain time intervals or after certain operating cycles, preferably even after each movement sequence. For this purpose, the reduction in the energy quantity entered into the door leaf towards the end of the respective movement sequence is not only useful for a gentle or gentle entry into the closed position, but also for the new marking of the end position in the above sense.

The monitoring of the time interval between successive pulses, but in particular the electrical energy supply of the drive unit - current as a function of the torque - can also be used to switch off or reverse the movement of the drive unit if the movement of the door leaf is impaired by an obstacle in its path of movement.

An attractive design results from the fact that a drive motor of the type in question here - direct current motor in the short circuit - develops a considerable resistance to drive via its output axis. Nonetheless occurring drive movements, starting from the door leaf without a corresponding control command, For example, in the event of a burglary attempt on which the drive unit is exerted, the incremental encoder expresses itself in the delivery of some impulses which the storage, counting and control device can evaluate as "system-contrary" and thus attempted burglary due to the lack of a simultaneous control command , for example by alarm triggering of an optical and / or acoustic type.

Preferred embodiments result from the subclaims, in particular with reference to the embodiment shown in the drawing, the following description of which explains the invention in more detail. Show it

Figure 1 diagrams for the sequence of movements in the

"Measurement run" and in "normal operation";

Figure 2 is a block diagram of a circuit

Execution of the embodiment.

FIG. 1 shows, under the title "Sequence of movements during the measurement run", the phase of commissioning a newly installed door leaf with reading in the number of pulses for the movement distance and the end positions of the door leaf. As shown under "I. Movement" in the diagram of speed over distance (v over s), an initial movement from a central position of the door leaf between its end positions is assumed and a movement in the direction of the arrow to the left is assumed. The movement takes place at low speed and ends with a mechanical stop in the first end position (e.g. closed position of the door leaf). "2nd movement" then shows the movement sequence of the door leaf in the opposite direction of movement after the start-up in the first end position according to FIG. 1 has been stored and a corresponding reversal of movement of the drive unit has been triggered. In the other end position of the door leaf shown on the right, forced by mechanical stop, around which a signal is stored which characterizes the second end position. Over the movement distance, the pulse number of the incremental encoder of the drive unit, which corresponds strictly to the movement distance, was also recorded and stored. A first test run under normal conditions is shown under "S.Motion". After the second end position has been reached and saved, the drive unit is driven in the opposite direction again, with the intended operating speed vjrnax. Shortly before reaching the end position recorded first, the drive is switched back to the low speed intended for reading in, depending on the route, in that a few pulses are subtracted from the number of pulses recorded under "2nd movement" for the entire movement distance, so that for the operating speed vmax a lower Str e is specified.

As shown under "Movement sequence in normal operation", in the subsequent operation of the door leaf, the respective movement process is repeated as in the diagrams "advance movement" on the one hand and "backward movement" on the other hand, namely in such a way that acceleration occurs at the beginning of the movement process v _max follows, while at the end of the movement process the speed is reduced to a low speed by subtracting a few line pulses. Thus, on the one hand, a smooth entry into the respectively controlled end position is achieved, and on the other hand, due to the low speed, the same conditions are present as are present when reading in, so that a new end position is always used for the respectively controlled end position Reference size can be saved.

FIG. 2 shows a possible embodiment of the circuit arrangement in which the drive motor M is shown as a DC motor with an incremental encoder. The symbols and their names largely speak for themselves and are basically known in their individual configuration. A power supply unit for converting an AC line voltage into a 24 V DC voltage feeds the drive motor via a power unit, a subsequent gear and in particular the door leaf driven thereby are not shown. The motor operates, rigidly coupled, an incremental encoder in the form of a perforated disk, which is queried by an electro-optical scanning system in particular and thus emits a pulse for each angular path given by the hole spacing. A control processor monitors, among other things, the pulses given by the increment encoder and displays an alarm if they occur without a switch-on command - break-in. In a known manner, auxiliary devices for operation in the form of display fields and an operation processor are provided. Additional devices can be provided as internally / externally effective lighting, as remote control by radio and the like. “Parking aid” is to be understood as a laser device that provides a guideline or a guiding field for the driver of a vehicle as an orientation aid in the case of a garage door, for example when an opening command is given.

Claims

Expectations 1. Methods for reading in, monitoring and / or controlling the Sequence of movements of a door leaf which is movable between its closed and its open position by a motor, in particular driven by an electric motor, preferably a door leaf which can be moved in one piece or consists of a plurality of hinged panels, the motor drive unit of which in at least two different speeds or torque ranges can be operated in a controlled manner and has an incremental encoder, which inputs a series of pulses depicting the movement distance into a storage and counting device, which controls its movement process as a function of the number of pulses and thus the distance traveled by the door leaf, characterized in that the door leaf, after it has been installed at the place of use, from any starting position in the direction of one of the end positions - closed or open position - is driven with a low kinetic energy, whereupon when starting into this end position by mechanical stop and the change in the drive parameters caused thereby is recognized by the storage and counting device and is marked as one of the end positions, whereupon the door leaf is moved in the opposite direction of movement, again operated with the low kinetic energy, into the opposite end position, and that is counting the movement distance impulses emitted by the incremental encoder until after reaching the opposite The end position, in turn, is recognized and stored by the storage and counting device as a mark of this other end position by means of a mechanical stop, whereupon the intended operating cycle of the door leaf movement with evaluation of the end position markings and the stored description of the movement distance between the end positions The impulses with regard to the movement sequence of the door leaf are controlled in such a way that the door leaf is driven between the end positions or at least before the respectively controlled end position with a small section of section in front of it at high operating speed. 2. The method of claim 1, dad u rc h ge ken nze net that the end position marker in the course of the operational movement sequences several times, in particular per movement cycle between the closed and open position, preferably after each movement sequence, is queried and saved anew. 3. The method according to claim 1 or 2, characterized by the fact that the door leaf is driven at least in two different speeds, namely on the one hand with a relatively high movement speed for the majority of the distance between the ends ¬ were in the operating state and, on the other hand, at a relatively low speed during commissioning for the purpose of reading the end positions into the storage and counting device and, if necessary, during the run-in to the respectively controlled end position. 4. The method of claim 1 or 2, d ad u rch geken nzeic h net that the door leaf is driven at least in two different torque ranges, namely on the one hand with a relatively high Torque for the majority of the distance between the end positions in the operating state and, on the other hand, with a relatively low torque when starting up for the purpose of reading the end positions into the storage and counting device and, if necessary, in the course of the entry into the respectively controlled end position. 5. Control system for carrying out the method according to any one of the preceding claims, characterized by a storage, counting and control device with a storage input for receiving an incremental encoder of the drive unit for the door leaf as a function of the movement ¬ distance emitted pulses, with a monitoring device which records the values of the power supply of the drive unit and with a control device which determines the movement sequence of the door leaf as a function of the stored route pulses. 6. Control system according to claim 5, d ad u rc h ge ken nzeic h net that a detector circuit is provided which receives the delivery of incremental pulses in the absence of a control command triggering the movement of the door leaf for triggering an intrusion signal.