Apparatus and method of controlling a linear motor door operator

• US 6,137,255 A
• Filed: 07/30/1999
• Issued: 10/24/2000
• Est. Priority Date: 07/30/1999
• Status: Expired due to Term

• Current Assignee: Otis Elevator Company (Otis Worldwide Corp.)
• Original Assignee: Otis Elevator Company (Otis Worldwide Corp.)
• Inventors: Skalski, Clement A.
• Primary Examiner(s): Masih, Karen
• Application Number:
  US09/364,082
• Time in Patent Office: 452 Days
• Field of Search: 318/615, 318/560, 318/616, 318/561, 318/628, 318/687
• US Class Current: 318/687
• CPC Class Codes: E05F 15/60 using electrical actuators
• CPC Class Codes: G05B 19/232 with speed feedback only
• CPC Class Codes: G05B 2219/37313 Derive speed from position
• CPC Class Codes: G05B 2219/37324 Derive position, speed from acceleration
• CPC Class Codes: G05B 2219/37388 Acceleration or deceleration, inertial measurement
• CPC Class Codes: G05B 2219/45242 Door, panel, window operation, opening, closing

Abstract

A control system (10) for a door operator (12) for moving a door includes a position sensor (54) to be coupled to the door (28) for sensing the position of the door and generating a position signal. An acceleration sensor (48) is to be coupled to the door for sensing the acceleration of the door (28) and generating an acceleration signal. An integrator (50) integrates the acceleration signal to generate a first velocity signal. A differentiator (56) differentiates the position signal to generate a second velocity signal. A blending filter (42) blends the first and second velocity signal to generate a filtered velocity signal, and a controller (32) regulates the velocity of the door (28) in response to the time and position of the door in a door open or close operation.

Claims

1. A control system for a door operator for moving a door, comprising:

position means to be coupled to a door movable by a door operator for sensing the position of the door and generating a position signal;

acceleration means to be coupled to the door for sensing the acceleration of the door and generating an acceleration signal;

integration means for integrating the acceleration signal to generate a first velocity signal;

differentiator means for differentiating the position signal to generate a second velocity signal;

filter means for blending the first and second velocity signal to generate a filtered velocity signal; and

control means for controlling the velocity of the door in response to the position and velocity of the door.

2. A control system as defined in claim 1, wherein the position means is a linear encoder.

3. A control system as defined in claim 1, wherein the position means is a linear encoder including a punched metal strip employing optical detection.

4. A control system as defined in claim 1, further including a motor communicating with the control means for moving the door.

5. A control system as defined in claim 1, further including a single-sided linear motor communicating with the control means for moving the door.

6. A control system as defined in claim 4, further including means for exciting the motor at a generally constant frequency.

7. A control system as defined in claim 4, further including means for exciting the motor at a generally constant frequency in the range from about 15 Hz to about 30 Hz.

8. A control system as defined in claim 4, further including means for exciting the motor at a generally constant frequency of about 15 Hz.

9. A control system for a door operator for moving a door, comprising:

a position controller having an input and an output;

a first summing circuit having a positive input, a negative input and an output, the positive input for receiving a position dictation signal, the negative input for receiving a position feedback signal, and the output of the first summing circuit being coupled to the input of the position controller;

a velocity controller having an input, and an output to communicate with a door operator;

a second summing circuit having a positive input, a negative input and an output, the positive input being coupled to the output of the position controller, the negative input for receiving a velocity feedback signal, and the output of the second summing circuit being coupled to the input of the velocity controller;

a position sensor and an acceleration sensor each having an input and an output, the input of each of the position sensor and the acceleration sensor to be coupled to the door movable by the door operator, and the output of the position sensor coupled to the negative input of the first summing circuit for transmitting the position feedback signal thereto;

an integrator having an input and an output, the input to be coupled to the output of the acceleration sensor;

a differentiator having an input and an output, the input to be coupled to an output of the position sensor; and

a blending filter having first and second inputs and an output, the first input coupled to the output of the integrator, the second input coupled to the output of the differentiator, and the output coupled to the negative input of the second summing circuit for transmitting the velocity feedback signal thereto.

10. A control system as defined in claim 9, wherein the position sensor is a linear encoder.

11. A control system as defined in claim 9, wherein the position sensor is a linear encoder including a punched metal strip employing optical detection.

12. A control system as defined in claim 9, further including a motor coupled to an output of the velocity controller for moving the door.

13. A control system as defined in claim 9, further including a single-sided linear motor coupled to an output of the velocity controller for moving the door.

14. A control system as defined in claim 12, further including means for exciting the motor at a generally constant frequency.

15. A control system as defined in claim 12, further including means for exciting the motor at a generally constant frequency in the range from about 15 Hz to about 30 Hz.

16. A control system as defined in claim 12, further including means for exciting the motor at a generally constant frequency of about 15 Hz.

17. A method of controlling a door operator that moves a door, comprising the steps of:

detecting the acceleration of a movable door and generating an acceleration signal therefrom;

generating a first velocity signal from the acceleration signal;

detecting the position of the movable door and generating a position signal therefrom;

generating a second velocity signal from the position signal; and

blending the first velocity signal and the second velocity signal to generate a filtered velocity signal for controlling the door movement.

18. A method of controlling a door operator as defined in claim 17, wherein the step of generating a first velocity signal includes integrating the acceleration signal.

19. A method of controlling a door operator as defined in claim 17, wherein the step of generating the second velocity signal includes differentiating the position signal.

20. A method of controlling a door operator as defined in claim 17, further including the step of energizing a linear motor at a constant frequency with the filtered velocity signal to move the door.