Method and a door drive unit for defining tension of a belt of an automatic door
A method for defining a tension of a belt of an automatic door includes exciting a resonant frequency of the belt to cause a vibration of the belt, obtaining motion data representing motion of an electric motor that moves the belt, defining vibration information representing the vibration of the belt based on the obtained motion data, and defining the tension of the belt based on the defined vibration in-formation and predefined characteristics of the belt. The method may be performed by a door drive unit and a computer program for defining a tension of a belt of an automatic door.
1. A method for defining a tension of a belt of an automatic door by a control unit of a door drive unit, the method comprising the control unit:
exciting a resonant frequency of the belt to cause a vibration of the belt;
obtaining motion data representing motion of an electric motor configured to move the belt;
defining vibration information representing the vibration of the belt based on the obtained motion data; and
defining the tension of the belt based on the defined vibration information and predefined characteristics of the belt,
wherein the exciting the resonant frequency of the belt comprises providing a drive signal to the electric motor to control the electric motor to move the belt according to a position reference of the electric motor, a speed reference of the electric motor, or a torque reference of the electric motor, with a pseudo-random-binary signal comprising a plurality of frequencies including the resonant frequency of the belt added to the drive signal.
2. The method according to claim 1 , wherein the vibration information representing the vibration of the belt is a vibration frequency of the belt.
3. The method according to claim 1 , wherein the predefined characteristics of the belt comprise at least one of a vibrating span length of the belt, mass per unit length and width of the belt, and the width of the belt.
4. The method according to claim 1 , wherein the motion data is position, speed, acceleration, or jerk.
5. The method according to claim 1 , wherein the vibration of the belt is longitudinal, transversal, or torsional.
6. A door drive unit for defining a tension of a belt of an automatic door, the door drive unit including a control unit comprising:
at least one processor; and
at least one memory storing at least one portion of computer program code,
wherein the at least one processor being configured, based on the at least one portion of computer program code, to cause the control unit to
excite a resonant frequency of the belt to cause a vibration of the belt,
obtain motion data representing motion of an electric motor configured to move the belt,
define vibration information representing the vibration of the belt based on the obtained motion data, and
define the tension of the belt based on the defined vibration information and predefined characteristics of the belt,
wherein the control unit is configured to excite the resonant frequency of the belt by providing a drive signal to the electric motor to control the electric motor to move the belt according to a position reference of the electric motor, a speed reference of the electric motor, or a torque reference of the electric motor, with a pseudo-random-binary signal comprising a plurality of frequencies including the resonant frequency of the belt added to the drive signal.
7. The door drive unit according to claim 6 , wherein the vibration information representing the vibration of the belt comprises a vibration frequency.
8. The door drive unit according to claim 6 , wherein the predefined characteristics of the belt comprises at least one of a vibrating span length of the belt, mass per unit length and width of the belt, and the width of the belt.
9. The door drive unit according to claim 6 , wherein the motion data is position, speed, acceleration of the electric motor, or jerk.
10. The door drive unit according to claim 6 , wherein the vibration of the belt is longitudinal, transversal, or torsional.
11. The door drive unit according to claim 6 , wherein the motion data is obtained from a rotation angle sensor.
12. A non-transitory computer-readable medium that stores a computer program comprising instructions which, when executed by the control unit of the door drive unit, cause the control unit to perform the method according to claim 1 .
13. The door drive unit according to claim 6 , wherein the at least one memory comprises a non-transitory computer-readable medium storing the at least one portion of computer program code.
14. The method according to claim 1 , wherein the tension of the belt is defined as
T st =4 f 2 L 2 m×d,
wherein T st is a static tension of the belt, f is a vibration frequency of the belt, L is a vibrating span length of the belt, m is mass per unit length and width of the belt, and d is the width of the belt.
15. The door drive unit according to claim 6 , wherein the control unit is configured to define the tension of the belt as
T st =4 f 2 L 2 m×d,
wherein T st is a static tension of the belt, f is a vibration frequency of the belt, L is a vibrating span length of the belt, m is mass per unit length and width of the belt, and d is the width of the belt.