Operating procedure, control and building or fence closure drive device with frequency converter

Abstract

Operating method for a building or fence closure drive device (34) for motor-driven movement of at least one leaf (20) of a building or fence closure (10), wherein the building or fence closure drive device (34) has a building or fence closure drive (38) with an electric motor (46), a load parameter detection device (40) for detecting a load parameter dependent on a load on the building or fence closure drive (38), and a frequency converter (42) for controlling the electric motor (46), comprising: Step a) Operating the frequency converter (42) in a control mode to control the electric motor (46) with the load parameter detected by the load parameter detection device (40) as an input variable, Step b)Monitoring, based on the course of the load parameter, whether the wing (20) driven by the building or enclosure closure drive (38) runs smoothly, and Step c) Switching the frequency converter (42) from control mode to U / f mode if uneven running of the blade (20) is detected in step b).

Description

The invention relates to an operating method for a building or enclosure closure drive device for the motorized movement of at least one wing of a building or enclosure closure. The invention further relates to a controller for such a building or enclosure termination drive device. The invention further relates to a building or containment completion drive device having the controller and the building or containment completion drive device. The invention further relates to a building or containment closure provided therewith. Finally, the invention relates to a computer program or a computer program product having machine-readable control instructions for carrying out the operating method.For technological background and prior art, reference is made to the following references: [1] "Rollore and Rollgrid", company brochure of Hormann KG Sales Company with the printed note "State 04.2020 / Press 04.2020 / HF 84555 DE / PDF", downloaded from the Internet at www.hoermann.com on 20.04.2021; [2] "Dual and Collection Garageore" company brochure of Hormann KG Sales Company with the printed note "State 04.2018 / Press 09.2018 / HF 86972 DE / PDF", downloaded from the Internet at www.hoermann.com on 20.04.2021; [3] "Fast-Travel Gate", company brochure of the Hormann KG sales company with the print entry "Stand 04.2019 / Print 04.2019 / HF 84894 de / G.xx", downloaded from the Internet at www.hoermann.com on 20.04.2021; [4] "Industrial-Sectional Store", company brochure of the Hormann KG sales company with the print entry "Stand 04.2020 / Print 04.2020 / HF 86465 DE / PDF", downloaded from the Internet at www.hoermann.com on 20.04.2021; [5] "Instruction for Assembly, Operation and Maintenance - Shaft Drive for Industrial Sectionaltor", Company brochure of the Hormann KG Sales Company with the print letter "TR10E001-J RE / 06.2016", downloaded from the Internet at www.hoermann.com on 20.04.2021; [6] "Industrial drives for sectional doors - shaft drives, controls and accessories - Fire protection message for fire protection sliding doors - Substitute part overview - Valid starting from 01.03.2020" ", Company brochure of the Hormann KG Sales Company with the print record "Stand: 03.2020 HF 85609 / PMD12265-09 RE / de", downloaded from the Internet at www.hoermann.com on 20.04.2021; [7] WO2019 / 007764 A1 [8] DE 199 17 831 A1 [9] WO 2017 / 125257 A1

[10] DE 10 2018 112 439 A1

[11] "Frequency converter" - Wikipedia, Retrieved on 20.03.2021 under "https: / / de.wikipedia.org / w / index.php?titute=Frequency Converter&old=209 910364"

[12] Instruction for Mounting, Operation and Service Industry Gate Controller B 460 FU STA for Sliding Gates, Operation Internal Document

[13] Instruction for Mounting, Operation and Service Industry Gate Controller B 460 FU K for Tilting Gates, Operation Internal Document

[14] Instruction for Mounting, Operation and Service Industry Gate Controller B 460 FU for Shaft Drive WA 400 FU / WA 400 M-FU / ITO 400 FU, In-house document

[15] EP 1 882 802 B1

[16] DE 101 42 431 B4

[17] US 2015 / 0188471 A1Some terms used herein will be explained and defined below. Building terminations serve to close openings in buildings. Containment terminations serve to close openings in enclosures, such as hoards. The building or containment enclosures in question here have a movable wing for opening and closing the opening. Examples of building and containment terminations are windows, doors and gates, in particular of the type shown in references [1] to [4]. Examples of building or enclosure terminations are door drives and door drives. The building or containment closure drives in question here have an electric motor, in particular a three-phase motor, and a transmission. For example, the building or containment terminations are designed as shaft gate drives for driving a shaft, which is connected in a driven manner to the wing, of a building and containment termination designed as a gate or as drag drives having a carriage, which is guided such that it can be moved back and forth by the electric motor and to which the wing can be articulated. Examples of building or enclosure termination drives of the type in question here are shown and explained in the documents [1] to [6]. In particular, the references [1] to [6] disclose building or containment closure drive devices for motor-driven movement of at least one wing of a building or containment closure, wherein the building or containment closure drive device has a building or containment closure drive with an electric motor and a load parameter detection device for detecting a load parameter dependent on a load on the building or containment closure drive. In particular, an absolute value transmitter, also known from [7], for example, is provided for detecting an absolute angle of rotation of an output shaft of the building or enclosure termination drive designed as a door drive, by means of which the respective door position of the connected door leaf and thus also the movement path and also the movement speed of the door leaf can be detected. The movement speed is usually dependent on the load and can be used as a load parameter for detecting a load. Alternatively or additionally, instantaneous current intensity or instantaneous power can be used as load parameters.References [8] to

[10] disclose different methods of operation and correspondingly configured controllers for building or enclosure termination propulsion facilities. The reference

[11] defines the term "frequency converter" and a typical structure is explained therein.As can be seen from the references [1] to [6], building or containment terminations are constructed in a wide variety of ways, the wings often being moved vertically and connected to springs or the like for weight compensation. Depending on the operation or weather conditions or ageing phenomena, loads can deviate at different positions of the movement path. Certain variances may result in uneven travel of the wing during certain modes of operation, which may result in end customer advertisements and increased service expenses.The reference

[15] discloses a method for positively braking a gate. In this case, an actual value of a travel speed of an electric motor-driven gate is determined by means of a position sensor and permanently compared with a setpoint value. In normal operation, a frequency converter receives a specification for the frequency and direction of rotation to be output from a control device. If the actual value deviates from the setpoint value outside a predefined range, the frequency converter receives from the control device a frequency specification of 0 hertz in order to reduce or bring to a standstill the speed of the electromotive drive. Thus,

[15] discloses an operating method for a building or containment termination drive device for the motorized movement of at least one wing of a building or containment termination, wherein the building or containment termination drive device has a building or containment termination drive with an electric motor, a load parameter detection device for detecting a load parameter dependent on a load on the building or containment termination drive and a frequency converter for actuating the electric motor, comprising the step of: monitoring, on the basis of the load parameter, whether the wing driven by the building or containment termination drive runs uniformly.The literature reference

[16] discloses a control device for fast-speed doors having a frequency converter and a control unit, wherein the control unit generates setpoint value specifications for an emitted frequency of a frequency converter on the basis of position data of an absolute value transmitter connected to the control unit and force-time profiles stored in the control unit and controls the door movement.Reference

[17] discloses a controller of a 3-phase brushless AC motor of an eco-friendly vehicle that can ensure normal operation of the 3-phase brushless AC motor when a current sensor of the three-phase brushless AC motor installed in a motor-driven electric drive system of the eco-friendly vehicle is in a failure state. Here, a method for controlling the 3-phase AC motor is proposed, including the steps of: converting an upper control torque command signal into a voltage command; generating a current measurement value for a current flowing in two phases of the 3-phase AC motor depending on the voltage command using a current sensor; generating a current estimation value by using drive detection information of the 3-phase AC motor depending on the voltage command; calculating a current estimation error using the current measurement value and the current estimation value; comparing with a preset reference value using the calculated current estimation error; and performing a state transition that changes a drive control type of the 3-phase AC motor depending on the comparison result.The object of the invention is to create a more efficient operating method with which an improved running of the driven wing can be achieved with a reduced risk of advertisements and service uses while preserving resources.To achieve this object, the invention provides an operating method according to claim 1. a correspondingly configured controller, a building or enclosure termination drive device provided therewith and a computer program [product] are specified in the dependent claims.Advantageous embodiments are the subject matter of the dependent claims.According to one aspect thereof, the invention provides an operating method for a building or containment termination drive device for the motorized movement of at least one wing of a building or containment termination, wherein the building or containment termination drive device has a building or containment termination drive with an electric motor, a load parameter detection device for detecting a load parameter dependent on a load on the building or containment termination drive and a frequency converter for actuating the electric motor, comprising: a) operating the frequency converter in a regulating operation in order to regulate the three-phase motor with the load parameter detected by the load parameter detection device fed back as an input variable, b) monitoring, on the basis of the profile of the load parameter, whether the wing driven by the building or containment termination drive runs uniformly, and c) switching the frequency converter from the closed-loop control mode to a U / f mode if an uneven running of the blade is detected in step b).It is preferred that step a) comprises:a1) detecting as load parameters at least one parameter from the group comprising a rotational speed of a shaft provided as part of the power transmission path, such as motor shaft or output shaft, of the building or containment termination drive, an instantaneous current of the electric motor, a torque on a power-transmitting shaft, such as motor shaft or output shaft, of the building or containment termination drive, an instantaneous power of the electric motor and a slip on the electric motor, and carrying out the regulation on the basis of this at least one parameter.It is preferred that step a) comprises:a2) Carrying out vector control in order to control the instantaneous reactive and active current components of the electric motor as input variable on the basis of the load parameter on the basis of a characteristic diagram with motor characteristic values.According to one possible embodiment, step b comprises:b1) forming an average of a difference of an actual value and a target value of the load parameter over time or the travel path of the wing or the angle of rotation of the building or enclosure termination drive and comparing the average with a threshold value.In a preferred embodiment, it is provided that step b) comprises:b2) forming an integral of a difference value formed from the actual value and the target value of the load parameter over time or the movement path of the wing or the angle of rotation of the building or containment termination drive and comparing the integral with a predetermined threshold value in order to determine a smooth or non-uniform running of the wing.According to a further aspect, the invention provides a controller for a building or containment termination drive device, which controller has a building or containment termination drive with an electric motor, a load parameter detection device for detecting a load parameter dependent on a load on the building or containment termination drive and a frequency converter for actuating the electric motor, wherein the controller is configured to carry out the operating method according to one of the preceding configurations.It is preferable that the controller includes a switching means for switching a plurality of control modes. A first control mode comprises carrying out the operating method according to one of the preceding configurations. By means of the changeover control, it is possible to switch to at least one other control mode. This can be a second control mode in which the frequency converter is operated continuously in the U / f mode. This can alternatively or additionally be a third control mode in which the execution of steps b) and c) is deactivated and the frequency converter is operated permanently in the closed-loop control mode (step a)).It is preferred that the switching device is configured to select the control modes via a program menu of the controller.According to a further aspect, the invention provides a building or containment termination drive device comprising a building or containment termination drive device which has a building or containment termination drive with an electric motor, a load parameter detection device for detecting a load parameter dependent on a load on the building or containment termination drive and a frequency converter for actuating the electric motor, and a controller according to one of the preceding embodiments.According to a further aspect, the invention provides a building or containment closure comprising a wing movable for opening and closing, optionally a weight balancing device for the wing, and a building or containment closure drive device of the above-mentioned type.It is preferred that the closure for buildings or enclosures is a sectional door, tilting door, rolling door or lifting door with a door leaf as leaf moving at least partially in the vertical direction, wherein the weight compensation device has at least one spring.According to a further aspect, the invention provides a computer program or computer program product comprising machine-readable control instructions which, when loaded into a controller of the building or enclosure termination device or of the building or enclosure termination according to one of the preceding embodiments, cause said computer program or computer program product to carry out the operating method according to one of the above-mentioned embodiments.Some advantages and functions of some preferred embodiments of the invention are explained in more detail below.Preferred embodiments of the invention relate to an operating method and a control for a gate drive.Preferred embodiments of the invention provide a possibility for adaptive door-run control: in particular, an analysis of the door-run behavior and an automatic changeover into an emergency operation in the case of non-uniform door-run are provided.In order to achieve a maximum rotational speed and a maximum torque of the motor with a minimum design, the actuation of the motor with the aid of an efficient and regulated frequency converter is advantageous. If dead times result in the overall system over time, this can lead to deviating control behavior. As an example, a torsion spring in a spring balanced door may be mentioned here. Over time, the spring sets, as a result of which the gate is consequently no longer balanced. If this imbalance exceeds a critical value, this may result in uneven gate travel. This is optically perceptible. Moreover, this has a negative effect on the gate mechanism and ultimately results in increased wear.Due to the described problem, it has been proposed as an internal solution for the field of spring balanced doors to drive the motor with a frequency converter which, however, is always operated in U / f operation without regulation. If the drive were operated with regulation, otherwise, an uneven door movement can occur earlier or later, which leads to increased customer assignments and cost-intensive service uses, since the customer does not accept the door movement behavior.Disadvantages of prior art approaches are, for example: 1. limited power in the U / f mode or more expensive, larger-dimensioned drive technology with comparable power 2. additional costs due to service usage 3. risk of an early failure of the gate system in a control without adaptive gate control if this is not repaired promptly.In particularly preferred embodiments of the invention, it is proposed to use the more efficient regulation considered from a technical point of view and to counteract increased customer discounts and expensive service uses, for example on account of decreasing spring stresses. For this purpose, it is preferred that the adaptive door travel control automatically recognizes and evaluates the door travel and, as a result, derives measures which improve the door travel by switching to the U / f operation.Preferably, automatic recognition and assessment of the running of the driven blade is provided.In a preferred embodiment, for the automatic evaluation of the travel of the wing, such as e.g. the door travel, the control deviation (desired to actual value) is continuously calculated.The result of the control deviation is preferably first weighted, since empirical investigations have shown that only oscillations (control deviations) with a specific fundamental frequency are transmitted to the gate structure and thus have a negative effect on the uniform gate movement.For example, for evaluating the travel of the wing, such as gate travel, the resulting speed deviation is mathematically integrated in the time domain. In the normal case, the actual value fluctuates about the setpoint value, which consequently results in an integral of 0. The controller thus operates correctly and compensates for the control deviation.However, if there is a longer-term deviation between the desired value and the actual value, as is the case with non-uniform running, e.g. door running, the integral of the control deviation increases. If the integral exceeds a defined threshold value, an uneven travel of the wing, for example door travel, is detected. Preferably, the measurement is carried out continuously during the complete wing movement, e.g. gate movement.Instead of the speed, it is of course also possible to use other load parameters, such as, for example, current consumption, power consumption, torque, etc., for the regulation and to monitor the travel of the blade for uniformity over the course of the difference between the actual value and the desired value.Preferably, measures are provided for better door travel.After the uneven blade travel, e.g. gate travel, has been detected, the frequency converter preferably switches over to a U / f operation. This mode is not feedback control, but the voltage and frequency are adjusted (see

[11] ). This reduces the efficiency of the engine, but this results in a homogeneous running of the vane (e.g. gate running), which results in a reduction of the mechanical load and thus in lower wear.In addition to the automatic recognition by the adaptive wing-run control, in preferred embodiments there is also the possibility of permanently setting the operating mode from the control, e.g. vector control, to the U / f operation via the program menu of the control, in order to enable the possibility of permanently protecting the closure for buildings or enclosures (e.g. gates) with reduced wear.It is also possible to deactivate the adaptive wing-control with its automatic recognition so that the building closure always opens and closes at the maximum possible speed, in order to reduce heating costs or draft air in the buildings as much as possible.Advantageous embodiments of the invention offer advantages with regard to the production costs on account of the possible higher performance levels with a comparable design.Advantageous embodiments of the invention provide advantages with regard to functional fulfilment: the gate or the like can be operated continuously or further automatically by the automatic changeover in the case of an uneven wing / gate movement until the next turn of service use.Advantageous embodiments of the invention offer advantages with regard to saving installation space / weight: With comparable performance, drives with U / f operation would have a larger design than drives with regulation.Advantageous embodiments of the invention provide advantages with regard to additional functions: Adaptive door movement control with automatic switching in the case of non-uniform door movement is possible.An exemplary embodiment is explained in more detail below with reference to the attached drawings. The following shows: FIG. 1 shows a schematic view of an embodiment of a building or containment completion with a building or containment completion drive device comprising a building or containment completion drive and a controller, FIG. 2 shows a graph which shows a temporal profile of the control deviation of the building or containment termination drive formed, for example, by a difference between an actual value and a setpoint value of a load parameter during controlled operation and during normal, uniform running of a wing of the building or containment termination driven by the building or containment termination drive, FIG. 3 is a graph similar to FIG. 2 for an uneven travel of the blade; and FIG. 4 shows a graph which shows the profile of voltage U and magnetic flux during a U / f operation over the frequency f.Figure 1 schematically shows a building or containment closure 10 having a wing 20 for closing an opening 12 in a building 14 or containment. In the exemplary embodiment shown, the building or containment closure 10 is designed as a gate 16.As in the exemplary embodiment shown, the gate 16 is optionally equipped with a weight compensation device 18 which compensates for the weight of an at least partially vertically movable leaf 20-here in the form of a gate leaf 22. In the exemplary embodiment shown, the gate 16 is a sectional gate 24, for example of the type shown in [4] to [6], in other exemplary embodiments not shown, the gate is a rolling gate, a lifting gate, a tilting gate, a fast-running gate or the like. For more details on possible configurations of the gate, reference is made to the literature references [1] to [6]. In further embodiments, which are not shown, the gate 16 can also be designed as a fine travel gate, for example as a sliding gate or as a rotating sash gate, or as a folding ceiling gate or as a fire protection sliding gate or the like.In the embodiment shown, the gate 16 is provided with a gate shaft 26 which is connected to the leaf 20 in a driven manner, for example by means of cable drums 64 and cable cables 66. In the exemplary embodiment shown, the door shaft 26 is part of the weight compensation device 18.The weight compensation device 18 further comprises at least one mechanical energy accumulator 28. A spring, for example, in the form of a torsion spring 30, which engages on the door shaft 26, is provided as the mechanical energy storage 28. Other mechanical energy accumulators 28 are also possible, such as tension springs or weights.The building or containment closure 10 further includes a building or containment closure drive device 32 for driving the movement of the wing 20. The building or containment completion driving device 32 includes a building or containment completion driving device 34 and a controller 36. The building or containment terminating drive device 34 comprises a building or containment terminating drive 38, a load parameter detection device 40 and a frequency converter 42.The building or containment completion drive 38 is configured to be drivingly connected to the wing 20 to drive movement thereof. According to the design of the building or containment closure 10, the building or containment closure drive 38 can be designed quite differently. In embodiments not shown, it can be designed as a drag drive with a slide guided in a longitudinally movable manner on a guide, as a rotary gate drive, as a sliding gate drive or the like. In the exemplary embodiment shown, the building or enclosure termination drive 38 is designed as a shaft gate drive 44.In general, the building or enclosure termination drive 38 has an electric motor 46, in particular in the form of a three-phase motor, which can be controlled by the frequency converter 42, and a transmission 48.The load parameter acquisition device 40 is designed to acquire at least one load parameter which is dependent on a load applied to the building or enclosure termination drive 38. For example, the load parameter detector 40 may include a current sensor for detecting current currently flowing through the electric motor, a power sensor for detecting motor power, and / or a speed sensor for detecting a rotational speed v on a shaft, such as the shaft of the electric motor or the output shaft of the transmission, the building or enclosure termination drive 38. In the exemplary embodiment shown, the load parameter detection device 40 has a transmitter G in the form of a multiturn absolute value transmitter 52 for detecting the absolute angle of rotation of the shaft of the building or enclosure termination drive 38. After carrying out a learning procedure after installation of the building or containment closure 10, the current position of the wing 20 can be determined therefrom. By means of corresponding time derivation, the rotational speed v of the shaft of the building or enclosure termination drive 38 can also be detected as load parameter from the signal of the multiturn absolute value generator 52. Further details for a possible embodiment of the multiturn absolute value transmitter 52 are described and shown in [7], to which express reference is made.The possible structure of a frequency converter 42 is generally known and will not be described in more detail here; reference is made to

[11] for further details.The controller includes a controller 54, a U / F operation device 56, a changeover device 58 and a blade running evaluation device 60.The controller 54 is configured to perform a control operation of the frequency converter 42 by feedback controlling the electric motor 46 with the load parameter detected by the load parameter detector 40 as an input. Thus, an optimum operation of the building or enclosure termination drive 38 with regard to efficiency and speed and torque can be achieved. In particular, the controller is designed to carry out vector control in which the electric motor 46 is characteristic-map-controlled on the basis of a motor model stored in a memory, corresponding to a plurality of input variables. In particular, the actual speed vi is regulated on the basis of a predefined setpoint speed vs. The setpoint speed can be, but does not have to be, predefined as constant. For example, the setpoint speed can increase smoothly at the beginning of the movement of the blade and drop smoothly at the end (soft start and soft stop), and the setpoint speed vs can also be predefined with respect to a maximum permissible closing edge speed in accordance with transmission ratios, which change as a function of travel, between speed at the closing edge 62 of the blade 20 and the shaft detected by the encoder G, as is described and shown in more detail in [9]. Corresponding data for the setpoint values vs are stored in a memory 63 of the controller 36.A control operation performed by the controller 54 is shown in FIGS. 2 and 3 under different conditions. This will be discussed in more detail below.The U / f operating device 56 is configured to operate the frequency converter 42 in U / f operation. No feedback control is effected. A U / f characteristic curve is shown in FIG. 4, which is also discussed in more detail below.The changeover device 58 is designed to connect the regulator device 54 or the U / f operating device 56 to the frequency converter 42 as desired. The switching device 58 can be actuated automatically in a first control mode as a function of an output signal of the blade travel evaluation device 60 - in order to perform an adaptive control of the travel of the blade 20 and to switch over into an emergency operation in the event of an uneven travel - or can be actuated manually in order to keep the regulator device 54 permanently active and to keep the U / F operating device 56 inactive in a second control mode or to keep the regulator device permanently inactive and to keep the U / F operating device 58 permanently active in a third control mode.In particular, the individual devices 54, 56, 58 and 60 of the controller 36 are implemented as software and can be configured via a menu guide at a connected user terminal (not shown) or at a user interface 68 of the controller 36, via which the manual control of the switching device 58 and the switching between the first to third control modes can also take place. The menu guides can be configured, for example, in a manner comparable to the menu guides explained in

[12] to

[14] . Corresponding computer programs, the control instructions also for providing the functions described here to the controller 36 and for carrying out the operating method described here of the building or enclosure termination drive device 34, are stored in the memory 63.The blade travel evaluation device 60 monitors the at least one load parameter from the load parameter detection device 40, in particular its temporal profile or its profile over the path (for example over the absolute angle of rotation), for a uniform travel of the blade 20 and is designed to carry out the following function. If a uniform running of the wing 20 is detected, the control device 54 is kept active. If an uneven running of the wing 20 is detected, the switching device 58 is automatically activated in order to activate the U / f operating device 56 and deactivate the regulator device 54.An uneven running can occur in particular when the blade 20 opposes a different resistance to the drive movement in different directions at least in a partial region of the movement path. This can be done, for example, by there being a fault in the weight compensation device 18, so that the weight of the wing 20 is no longer compensated. For example, in the embodiment, the torsion springs 30 may deviate from their original setting due to permanent mechanical load.A possible embodiment for the assessment of the running of the blade 20 for uniformity is explained in more detail below with reference to the illustration in FIGS. 2 and 3.For the continuous evaluation of the travel of the blade 20, the control deviation (setpoint value to actual value of the load parameter, e.g. speed setpoint value vs to actual speed value vi) is calculated continuously in the blade travel evaluation device 60. Empirical determinations have shown that only oscillations with a specific fundamental frequency are transferred to the movement of the blade 20 in such a way that it runs so non-uniformly that this is perceived by a user. Therefore, the result of the control deviation is first weighted, control deviations with fundamental frequencies which are transmitted strongly to the blade 20 being included in the calculation with a particularly strong weighting factor.In FIGS. 2 and 3, the respectively obtained control deviation, in particular the difference vi-vs from the actual speed vi and the setpoint speed vs, over the time t is shown in arbitrary units. vi is naturally different at different times t and stands for shortened vi(t). The predefined setpoint speed vs can also be a function dependent on time, as is specified, for example, in the literature reference [9], and stands for a shortened vs(t).In the illustrated method of evaluation, the time domain is mathematically integrated to judge whether or not the travel of the blade 20 is smooth. In addition to the control deviation vi-vs, FIGS. 2 and 3 accordingly also indicate the temporal profile of the temporal integral Int.In Fig. 2 the normal case is indicated in which the building or containment closure 10 is correctly installed and operates correctly. In this normal case, the actual value vi fluctuates uniformly about the setpoint value vs, resulting in an integral of approximately 0. The control loop with the regulator device 54 thus operates correctly and compensates for the control deviation. FIG. 2 shows the speed IST to Target with the example of the gate 16 with good gate travel.If, however, the building or containment termination 10 runs non-uniformly, this leads to a longer-term deviation between actual value and setpoint value of the load parameter in the course of the regulation operation of the frequency converter 42 carried out by the regulator device 54. If, as seen from the example of the gate 16, non-uniform gate running occurs, for example due to an imbalance at the weight compensation device 18 or due to other disturbances at the gate 16, there is a longer-term deviation between setpoint value vs and actual value vi, and the integral Int increases, as can be seen in the box shown in dash-dot lines in FIG. 3. Also shown in FIGS. 2 and 3 are defined thresholds SW, -SW (this is an example, other upper and lower thresholds may be set). If the integral Int exceeds the threshold thus defined (or falls below the negative sector), an uneven running of the blade 20 is detected. Preferably, the measurement is made by the wing motion evaluator 60 during the complete wing motion.The evaluation method illustrated in FIGS. 2 and 3 is only an example. Of course, other automatic methods for judging whether or not the travel of the blade 20 is smooth are also possible. These can also be, for example, measurement methods with sensors on the blade 20, e.g. acceleration sensors, or coarser methods than by integral formation, e.g. averaging over time intervals. While the curve over time has been considered in FIGS. 2 and 3, the curve can of course also be considered over the path s detected, for example, by the encoder G.If an uneven travel of the blade 20 has been detected by the blade travel evaluation device 60, the switching device 58 is automatically actuated in order to deactivate the controller device 54 and activate the U / f operating device 56. The frequency converter is then operated in a backup mode, as in particular in the U / f mode here, as is indicated in FIG. 4. This mode is not a feedback control, but the voltage U and the frequency f are set.The U / f operation is the simplest operation for the frequency converter 42. the frequency converter 42 sets the motor voltage U and the frequency f at a constant ratio. Frequency f and voltage U are kept proportional to one another up to the rated voltage U N and the rated frequency f N of the electric motor 46. This is necessary because of the inductive behavior of the electric motor 46 and leads to a torque which is constant over wide ranges (indicated in FIG. 4 by the magnetic flux Φ) without overloading the electric motor 46 in terms of current. At very low speeds, however, this mode of operation results in lower torque due to the ohmic resistance of the winding.The efficiency of the electric motor 46 is reduced by the U / f operation. The speed is also greatly dependent on the load, so that the total times for opening and closing are shorter for the same size and design of the electric motor 46 than in the closed-loop control operation. However, this mode of operation results in a more homogeneous running of the vane 20, which results in a reduction of the load and thus a lower wear.The possibility of manual control of the changeover device 58 also makes it possible to permanently change the operating mode from vector control by the controller device 54 to U / f operation, for example via the program menu of the controller 36.It is also possible to deactivate the adaptive wing-run control by the wing-run evaluation device 60 with its automatic recognition as a function of the gate construction and the safety device of the main closing edge in order to activate the regulating operation permanently. Then the wing is always opened and / or closed at the maximum possible speed. This makes it possible to reduce, for example, heating costs or draft air in buildings 14 as much as possible.The building or enclosure termination drive device 32 is preferably configured to perform a speed control also on conical rope drums 64, see [9] for further details.The building or enclosure termination drive device 32 is preferably configured to drive industrial gates. High door speed, for example of up to 1 m / s, is possible. Also, a soft start and a soft stop are preferably set up for a gentle door run. By specifying the type of fittings on the control 36, a constant door speed is also possible with higher-run and vertical fittings (H and V fittings).In particular for driving sectional doors with a correspondingly small amount of lateral space and for driving doors without a door shaft, such as tilting doors or sliding doors, for example, the building or containment termination drive 38 can also be designed as a ceiling tractor drive with frequency converter 46 on the basis of the shaft door drive 44 shown in FIG. 1, which is connected as a drive head to a corresponding carriage guide (not shown but known from the documents [1] to [5]).The controller 36 may be housed in a separate controller housing 70 having a power input 72 for connection to a power grid, signal inputs and outputs 74 for encoders, sensors, peripherals and for controlling an external frequency converter 46, and a power output 76.On the outside of the control housing 70, the user interface 68 is provided, which has, for example, a 4-fold 7-segment display for time stamps for events and as a display device and keys, possibly illuminated, as an input device and an optionally main network switch. A CEE plug with a power supply line is preferably provided as the standard.The controller 36 can furthermore be configured with a wireless and / or wired communication interface, which can connect the controller 36 wirelessly, for example via Bluetooth or WLAN to the Internet or to user terminals such as PC, smartphone, tablet. This allows simple installation by BlueControl app by Bluetooth connection of a smartphone or tablet. Changes to the computer programs in the memory 63, such as updates, or transmission of data and settings of the computer programs can also take place via the communication interface.The controller 36 preferably has an energy saving function in which individual electrical or electronic assemblies are deactivated for a standby mode, for example after a timer has expired, and input or interfaces are kept active in order to transfer the controller from a standby mode into an operating mode. Preferably, automatic admission of the blade 20 after a predetermined time after opening is programmable. Preferably, a masking function is provided when installing a light barrier in the door frame. The signal inputs and outputs 74 preferably comprise an HCP bus interface for smart accessories such as a smart card gateway for remote predictive maintenance.Furthermore, the controller 36 can be configured for the following functions:• Setting and driving a separate partial opening position• Connection of peripheral devices to an option relay, for example for connection of end position messages, locks, lights etc.• extendable to road regulation• A plurality of time switches for programming scenarios in two different time periodsThe frequency converter 46 can be accommodated in the control housing 70 or in a separate frequency converter housing 78 or in an electronic unit of the building or enclosure termination drive 38.By means of the controller 36 and the frequency converter, an operating method for a building or containment termination drive device (34) for the motorized movement of at least one wing (20) of a building or containment termination (10) can be carried out, wherein the building or containment termination drive device (34) has a building or containment termination drive (38) with an electric motor (46), a load parameter detection device (40) for detecting a load parameter dependent on a load on the building or containment termination drive (38), and a frequency converter (42) for driving the electric motor (46), comprising: a) operating the frequency converter (42) in a closed-loop control operation in order to closed-loop the electric motor (46) with the load parameter detected by the load parameter detection device (40) as an input variable, b) monitoring, on the basis of the profile of the load parameter, whether the wing (20) driven by the building or containment termination drive (38) is running uniformly, and c) switching the frequency converter (42) to a U / f operation if an uneven running of the wing (20) is detected in step b).Although in the exemplary embodiment described above the speed is mentioned as a load parameter which is to be regulated in the regulating operation and on the basis of which the travel of the blade is evaluated, in further embodiments additionally or alternatively other parameters can also be used on the drive. In this case, parameters are preferred which depend on the load on the drive in uncontrolled operation and can thus provide information about the blade travel. For example, in step a), at least one parameter from the group comprising a rotational speed (vi) of a motor shaft or output shaft of the building or containment termination drive (38), an instantaneous current of the electric motor (46), a torque at a motor shaft or output shaft of the building or containment termination drive (38), an instantaneous power of the electric motor (46) and a slip at the electric motor (46) is used as load parameters. In the closed-loop control mode, these aforementioned parameters can be controlled alternatively or in multiple cumulative terms. One or more of these parameters can also be used to evaluate the run of the wing.Further details of possible configurations of the control and for its assembly and startup, adapted to different gate types, can be found in the references

[12] to

[14] , which are not freely available but are appended here, to which express reference is made and which are incorporated by reference.List of reference numbers:10 Building or containment closure 12 Opening 14 Building 16 Door 18 Weight compensation device 20 Wing 22 Door leaf 24 Sectional door 26 Door shaft 28 Mechanical energy store 30 Torsion spring 32 Building or containment closure drive device 34 Building or containment closure drive device 36 Controller 38 Building or containment closure drive 40 Load parameter detection device 42 Frequency converter 44 Shaft door drive 46 Electric motor 48 Transmission (on the drive) 50 Speed sensor 52 Multiturn absolute value transmitter 54 Regulator device 56 U / f operating device 58 Changeover device 60 Wing travel evaluation device 62 Closing edge 63 Store 64 Cable drum 66 Cable cable 68 User interface 70 Control housing 72 Current input 74 Signal inputs and outputs 76 Current output 78 Frequency converter housing G Transmitter M Motor

Claims

Operating method for a building or containment termination drive device (34) for the motorized movement of at least one wing (20) of a building or containment termination (10), wherein the building or containment termination drive device (34) has a building or containment termination drive (38) with an electric motor (46), a load parameter detection device (40) for detecting a load parameter dependent on a load on the building or containment termination drive (38) and a frequency converter (42) for controlling the electric motor (46), comprising: step a) operating the frequency converter (42) in a closed-loop control operation in order to closed-loop control the electric motor (46) with the load parameter detected by the load parameter detection device (40) as an input variable, step b) operating the electric motor on the basis of the profile of the load parameter, whether the wing (20) driven by the building or containment termination drive (38) runs uniformly and step c) switching the frequency converter (42) from the closed-loop control operation to a U / f operation if an uneven running of the wing (20) is detected in step b).Operating method according to Claim 1, characterized in that step a) comprises at least one or more of the following steps: a1) detecting as load parameters at least one parameter from the group comprising a rotational speed (vi) of a motor shaft or output shaft of the building or containment termination drive (38), an instantaneous current of the electric motor (46), a torque on a motor shaft or output shaft of the building or containment termination drive (38), an instantaneous power of the electric motor (46) and a slip on the electric motor (46), and carrying out the regulation on the basis of this at least one parameter; a2) carrying out vector regulation in order, on the basis of a characteristic diagram with motor characteristic values, to regulate the instantaneous reactive and active current components of the electric motor (46) as input variable.Operating method according to one of the preceding claims, characterized in that step b) comprises at least one or more of the steps: 3.1 forming an average value of a control deviation formed from an actual value (vi) and a setpoint value (vs) of the load parameter over time (t) or the movement path of the wing (20) or the angle of rotation of the building or enclosure termination drive (38) and comparing the average value with a threshold value (SW); 3.2 Forming an integral (Int) of a control deviation (vi-vs) over time or the path of movement of the wing or the angle of rotation of the building or containment completion drive formed from the actual value (vi) and the setpoint value of the load parameter and comparing the integral (Int) with a predetermined threshold value (SW) in order to determine a smooth or non-uniform running of the wing (20).Controller (36) for a building or containment termination drive device (34), which has a building or containment termination drive (38) with an electric motor (46), a load parameter detection device (40) for detecting a load parameter dependent on a load on the building or containment termination drive (38), and a frequency converter (42) for actuating the electric motor (46), wherein the controller (36) is configured to carry out the operating method according to one of the preceding claims.Controller (36) according to Claim 4, characterized in that the controller (36) has a switching device (58) for switching between a plurality of control modes, of which a first control mode comprises carrying out the operating method according to one of Claims 1 to 3, at least one further of the following control modes being settable: 5.1 a second control mode in which the frequency converter (42) is operated permanently in the U / f mode, 5.2 a third control mode in which the carrying out of steps b) and c) is deactivated and the frequency converter (42) is operated permanently in the closed-loop control mode of step a).Controller (36) according to Claim 5, characterized in that the changeover device (58) is set up to select the control modes via a program menu of the controller (36).Building or enclosure termination drive device (32), comprising a building or enclosure termination drive device (34) which has a building or enclosure termination drive (38) with an electric motor (46), a load parameter detection device (40) for detecting a load parameter dependent on a load on the building or enclosure termination drive (38) and a frequency converter (42) for driving the electric motor (46), and a controller (36) according to one of Claims 4 to 6.A building or enclosure closure (10) comprising an opening and closing movable wing (20), a weight balancer (18) for the wing (20), and a building or enclosure closure drive device (32) according to claim 7.Building or containment closure (10) according to claim 8, characterised in that it is a sectional door, tilting door, rolling door or lifting door with a door leaf moving at least partially in the vertical direction as leaf (20), wherein the weight compensation device (18) has at least one spring.A computer program comprising machine readable control instructions which, when loaded into a controller (36) of the building or enclosure termination device (32) of claim 7, cause the building or enclosure termination device (32) to perform the operating method of any one of claims 1 to 3.

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